OEM7 Commands And Logs Reference Manual

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OEM7®
Commands and Logs
Reference Manual

OM-20000169 v7

September 2018

OEM7 Commands and Logs Reference Manual
Publication Number: OM-20000169
Revision Level: v7
Revision Date: September 2018
Firmware Versions:
l
l

7.05 / OM7MR0500RN0000
PP7 07.05 / EP7PR0500RN0000

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.
NovAtel, ALIGN, GLIDE, GrafNav/GrafNet, Inertial Explorer, NovAtel CORRECT, OEM7, PwrPak7,
RELAY, SPAN, STEADYLINE, VEXXIS and Waypoint are registered trademarks of NovAtel Inc.
NovAtel Connect, OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720 and RTK ASSIST
are trademarks of NovAtel Inc.
All other brand names are trademarks of their respective holders.

© Copyright 2018 NovAtel Inc. All rights reserved. Unpublished rights reserved under International copyright laws.

OEM7 Commands and Logs Reference Manual v7

2

Table of Contents
Figures
Tables
Customer Support
Foreword
Chapter 1 Messages
1.1
1.2
1.3
1.4
1.5

ASCII
Abbreviated ASCII
Binary
Description of ASCII and Binary Logs with Short Headers
Message Responses
1.5.1 Abbreviated ASCII Response
1.5.2 ASCII Response
1.5.3 Binary Response
1.6 GLONASS Slot and Frequency Numbers
1.6.1 PRN Numbers
1.7 GPS Reference Time Status
1.8 Message Time Stamps
1.9 Decoding of the GPS Reference Week Number
1.10 32-Bit CRC

27
29
29
40
41
41
41
41
43
44
45
46
47
47

Chapter 2 Core Commands
2.1 Command Formats
2.1.1 Optional Parameters
2.2 Command Settings
2.3 Factory Defaults
2.4 Command Reference
2.5 ADJUST1PPS
2.6 ALIGNAUTOMATION
2.7 ANTENNAPOWER
2.8 ASSIGN
2.9 ASSIGNALL
2.10 ASSIGNLBANDBEAM
2.11 AUTH
2.12 AUTOSURVEY
2.13 BASEANTENNAPCO
2.14 BASEANTENNAPCV
2.15 BASEANTENNATYPE
2.16 BDSECUTOFF
2.17 BESTVELTYPE
2.18 CANCONFIG
2.19 CCOMCONFIG
2.20 CLOCKADJUST
2.21 CLOCKCALIBRATE
2.22 CLOCKOFFSET
2.23 CNOUPDATE

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95
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101
103
106
107

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2.24 COMCONTROL
2.25 DATADECODESIGNAL
2.26 DATUM
2.27 DGPSTXID
2.28 DIFFCODEBIASCONTROL
2.29 DLLTIMECONST
2.30 DNSCONFIG
2.31 DUALANTENNAPORTCONFIG
2.32 DYNAMICS
2.33 ECHO
2.34 ECUTOFF
2.35 ELEVATIONCUTOFF
2.36 ETHCONFIG
2.37 EVENTINCONTROL
2.38 EVENTOUTCONTROL
2.39 EXTERNALCLOCK
2.40 FILEAUTOTRANSFER
2.41 FILECONFIG
2.42 FILEDELETE
2.43 FILEMEDIACONFIG
2.44 FILEROTATECONFIG
2.45 FILETRANSFER
2.46 FIX
2.47 FIXPOSDATUM
2.48 FORCEGALE6CODE
2.49 FORCEGLOL2CODE
2.50 FORCEGPSL2CODE
2.51 FREQUENCYOUT
2.52 FRESET
2.53 GALECUTOFF
2.54 GENERATEALIGNCORRECTIONS
2.55 GENERATEDIFFCORRECTIONS
2.56 GENERATERTKCORRECTIONS
2.57 GGAQUALITY
2.58 GLIDEINITIALIZATIONPERIOD
2.59 GLOECUTOFF
2.60 HDTOUTTHRESHOLD
2.61 HEADINGOFFSET
2.62 ICOMCONFIG
2.63 INTERFACEMODE
2.63.1 SPAN Systems
2.64 IONOCONDITION
2.65 IPCONFIG
2.66 IPSERVICE
2.67 ITBANDPASSCONFIG
2.68 ITDETECTCONFIG
2.69 ITFRONTENDMODE
2.70 ITPROGFILTCONFIG
2.71 ITSPECTRALANALYSIS
2.72 J1939CONFIG

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2.73 LOCKOUT
2.74 LOCKOUTSYSTEM
2.75 LOG
2.75.1 Binary
2.75.2 ASCII
2.76 LOGIN
2.77 LOGOUT
2.78 LUA
2.79 MAGVAR
2.80 MARKCONTROL
2.81 MEDIAFORMAT
2.82 MODEL
2.83 MOVINGBASESTATION
2.84 NAVICECUTOFF
2.85 NMEAFORMAT
2.86 NMEATALKER
2.87 NMEAVERSION
2.88 NTRIPCONFIG
2.89 NTRIPSOURCETABLE
2.90 NVMRESTORE
2.91 NVMUSERDATA
2.92 PDPFILTER
2.92.1 GLIDE Position Filter
2.93 PDPMODE
2.94 PGNCONFIG
2.95 POSAVE
2.96 POSTIMEOUT
2.97 PPPBASICCONVERGEDCRITERIA
2.98 PPPCONVERGEDCRITERIA
2.99 PPPDYNAMICS
2.100 PPPDYNAMICSEED
2.101 PPPRESET
2.102 PPPSEED
2.103 PPPSOURCE
2.104 PPPTIMEOUT
2.105 PPSCONTROL
2.106 PPSCONTROL2
2.107 PROFILE
2.108 PSRDIFFSOURCE
2.109 PSRDIFFSOURCETIMEOUT
2.110 PSRDIFFTIMEOUT
2.111 QZSSECUTOFF
2.112 RADARCONFIG
2.113 RAIMMODE
2.113.1 Detection strategy
2.113.2 Isolation strategy
2.114 REFERENCESTATIONTIMEOUT
2.115 RESET
2.116 RFINPUTGAIN
2.117 RTKANTENNA

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2.118
2.119
2.120
2.121
2.122
2.123
2.124
2.125
2.126
2.127
2.128
2.129
2.130
2.131
2.132
2.133
2.134
2.135
2.136
2.137
2.138
2.139
2.140
2.141
2.142
2.143
2.144
2.145
2.146
2.147
2.148
2.149
2.150
2.151
2.152
2.153
2.154
2.155
2.156
2.157
2.158
2.159
2.160
2.161
2.162
2.163
2.164
2.165
2.166
2.167

RTKASSIST
RTKASSISTTIMEOUT
RTKDYNAMICS
RTKINTEGERCRITERIA
RTKMATCHEDTIMEOUT
RTKNETWORK
RTKPORTMODE
RTKQUALITYLEVEL
RTKRESET
RTKSOURCE
RTKSOURCETIMEOUT
RTKSVENTRIES
RTKTIMEOUT
SAVECONFIG
SAVEETHERNETDATA
SBASCONTROL
SBASECUTOFF
SBASTIMEOUT
SELECTCHANCONFIG
SEND
SENDHEX
SERIALCONFIG
SERIALPROTOCOL
SETADMINPASSWORD
SETAPPROXPOS
SETAPPROXTIME
SETBASERECEIVERTYPE
SETBESTPOSCRITERIA
SETDIFFCODEBIASES
SETIONOTYPE
SETNAV
SETROVERID
SETTIMEBASE
SETTROPOMODEL
SETUTCLEAPSECONDS
SOFTLOADCOMMIT
SOFTLOADDATA
SOFTLOADRESET
SOFTLOADSETUP
SOFTLOADSREC
STATUSCONFIG
STEADYLINE
STEADYLINEDIFFERENTIALTIMEOUT
SURVEYPOSITION
THISANTENNAPCO
THISANTENNAPCV
THISANTENNATYPE
TRACKSV
TUNNELESCAPE
UALCONTROL

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346
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352
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368
369
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6

2.168 UNASSIGN
2.169 UNASSIGNALL
2.170 UNDULATION
2.171 UNLOCKOUT
2.172 UNLOCKOUTALL
2.173 UNLOCKOUTSYSTEM
2.174 UNLOG
2.174.1 Binary
2.174.2 ASCII
2.175 UNLOGALL
2.176 USBSTICKEJECT
2.177 USERDATUM
2.178 USEREXPDATUM
2.179 USERI2CREAD
2.180 USERI2CWRITE
2.181 UTMZONE
2.182 WIFIAPCHANNEL
2.183 WIFIAPIPCONFIG
2.184 WIFIAPPASSKEY
2.185 WIFIMODE

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381
382
383
384
384
385
386
387
388
390
393
395
398
400
401
402
403

Chapter 3 Logs
3.1 Log Types
3.1.1 Log Type Examples
3.2 Log Reference
3.3 ALIGNBSLNENU
3.4 ALIGNBSLNXYZ
3.5 ALIGNDOP
3.6 ALMANAC
3.7 AUTHCODES
3.8 AVEPOS
3.9 BDSALMANAC
3.10 BDSCLOCK
3.11 BDSEPHEMERIS
3.12 BDSIONO
3.13 BDSRAWNAVSUBFRAME
3.14 BESTPOS
3.15 BESTSATS
3.16 BESTUTM
3.17 BESTVEL
3.18 BESTXYZ
3.19 BSLNXYZ
3.20 CHANCONFIGLIST
3.21 CLOCKMODEL
3.22 CLOCKSTEERING
3.23 DUALANTENNAHEADING
3.24 ETHSTATUS
3.25 FILELIST
3.26 FILESTATUS
3.27 FILESYSTEMCAPACITY

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3.28 FILESYSTEMSTATUS
3.29 FILETRANSFERSTATUS
3.30 GALALMANAC
3.31 GALCLOCK
3.32 GALCNAVRAWPAGE
3.33 GALFNAVEPHEMERIS
3.34 GALFNAVRAWPAGE
3.35 GALINAVEPHEMERIS
3.36 GALINAVRAWWORD
3.37 GALIONO
3.38 GLMLA
3.39 GLOALMANAC
3.40 GLOCLOCK
3.41 GLOEPHEMERIS
3.42 GLORAWALM
3.43 GLORAWEPHEM
3.44 GLORAWFRAME
3.45 GLORAWSTRING
3.46 GPALM
3.47 GPGGA
3.48 GPGGALONG
3.49 GPGLL
3.50 GPGRS
3.51 GPGSA
3.52 GPGST
3.53 GPGSV
3.54 GPHDT
3.55 GPHDTDUALANTENNA
3.56 GPRMB
3.57 GPRMC
3.58 GPSEPHEM
3.59 GPVTG
3.60 GPZDA
3.61 HEADING2
3.62 HEADINGRATE
3.63 HEADINGSATS
3.64 HWMONITOR
3.65 IONUTC
3.66 IPSTATS
3.67 IPSTATUS
3.68 ITBANDPASSBANK
3.69 ITDETECTSTATUS
3.70 ITFILTTABLE
3.71 ITPROGFILTBANK
3.72 ITPSDFINAL
3.73 J1939STATUS
3.74 LBANDBEAMTABLE
3.75 LBANDTRACKSTAT
3.76 LOGLIST
3.76.1 Binary

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3.76.2 ASCII
3.77 LUAFILELIST
3.78 LUAFILESYSTEMSTATUS
3.79 LUAOUTPUT
3.80 LUASTATUS
3.81 MARKPOS, MARK2POS, MARK3POS and MARK4POS
3.82 MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME
3.83 MASTERPOS
3.84 MATCHEDPOS
3.85 MATCHEDSATS
3.86 MATCHEDXYZ
3.87 MODELFEATURES
3.88 NAVICALMANAC
3.89 NAVICEPHEMERIS
3.90 NAVICIONO
3.91 NAVICRAWSUBFRAME
3.92 NAVICSYSCLOCK
3.93 NAVIGATE
3.94 NMEA Standard Logs
3.95 NOVATELXOBS
3.96 NOVATELXREF
3.97 OCEANIXINFO
3.98 OCEANIXSTATUS
3.99 PASSCOM, PASSAUX, PASSUSB, PASSETH1, PASSICOM, PASSNCOM
3.100 PASSTHROUGH
3.101 PDPPOS
3.102 PDPSATS
3.103 PDPVEL
3.104 PDPXYZ
3.105 PORTSTATS
3.106 PPPPOS
3.107 PPPSATS
3.108 PROFILEINFO
3.109 PSRDOP
3.110 PSRDOP2
3.111 PSRPOS
3.112 PSRSATS
3.113 PSRVEL
3.114 PSRXYZ
3.115 QZSSALMANAC
3.116 QZSSEPHEMERIS
3.117 QZSSIONUTC
3.118 QZSSRAWALMANAC
3.119 QZSSRAWCNAVMESSAGE
3.120 QZSSRAWEPHEM
3.121 QZSSRAWSUBFRAME
3.122 RAIMSTATUS
3.123 RANGE
3.124 RANGECMP
3.125 RANGECMP2

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9

3.126 RANGECMP4
3.127 RANGEGPSL1
3.128 RAWALM
3.129 RAWCNAVFRAME
3.130 RAWEPHEM
3.131 RAWGPSSUBFRAME
3.132 RAWGPSWORD
3.133 RAWSBASFRAME
3.134 RAWSBASFRAME2
3.135 REFSTATION
3.136 REFSTATIONINFO
3.137 ROVERPOS
3.138 RTCMV3 Standard Logs
3.138.1 Legacy Observable Messages
3.138.2 MSM Observable Messages
3.138.3 Station and Antenna Messages
3.138.4 Ephemeris Messages
3.139 RTKASSISTSTATUS
3.140 RTKDOP
3.141 RTKDOP2
3.142 RTKPOS
3.143 RTKSATS
3.144 RTKVEL
3.145 RTKXYZ
3.146 RXCONFIG
3.147 RXSTATUS
3.148 RXSTATUSEVENT
3.149 SAFEMODESTATUS
3.150 SATVIS2
3.151 SATXYZ2
3.152 SAVEDSURVEYPOSITIONS
3.153 SBAS0
3.154 SBAS1
3.155 SBAS2
3.156 SBAS3
3.157 SBAS4
3.158 SBAS5
3.159 SBAS6
3.160 SBAS7
3.161 SBAS9
3.162 SBAS10
3.163 SBAS12
3.164 SBAS17
3.165 SBAS18
3.166 SBAS24
3.167 SBAS25
3.168 SBAS26
3.169 SBAS27
3.170 SBAS32
3.171 SBAS33

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784
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789
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809
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10

3.172
3.173
3.174
3.175
3.176
3.177
3.178
3.179
3.180
3.181
3.182
3.183
3.184
3.185
3.186
3.187
3.188
3.189
3.190

SBAS34
SBAS35
SBAS45
SBASALMANAC
SOFTLOADSTATUS
SOURCETABLE
TERRASTARINFO
TERRASTARSTATUS
TIME
TIMESYNC
TRACKSTAT
TRANSFERPORTSTATUS
UPTIME
USERI2CRESPONSE
VALIDMODELS
VERIPOSINFO
VERIPOSSTATUS
VERSION
WIFIAPSETTINGS

818
820
822
824
826
829
832
835
837
840
841
843
845
846
849
851
853
854
857

Chapter 4 SPAN Commands
4.1 ALIGNMENTMODE
4.2 ASYNCHINSLOGGING
4.3 CONNECTIMU
4.4 EXTERNALPVAS
4.5 HEAVEFILTER
4.6 INPUTGIMBALANGLE
4.7 INSALIGNCONFIG
4.8 INSCALIBRATE
4.9 INSCOMMAND
4.10 INSSEED
4.11 INSTHRESHOLDS
4.12 INSZUPT
4.13 RELINSAUTOMATION
4.14 RELINSCONFIG
4.15 SETALIGNMENTVEL
4.16 SETHEAVEWINDOW
4.17 SETIMUPORTPROTOCOL
4.18 SETIMUSPECS
4.19 SETINITAZIMUTH
4.20 SETINSPROFILE
4.21 SETINSROTATION
4.22 SETINSTRANSLATION
4.23 SETINSUPDATE
4.24 SETMAXALIGNMENTTIME
4.25 SETRELINSOUTPUTFRAME
4.26 SETUPSENSOR
4.27 SETWHEELPARAMETERS
4.28 TAGNEXTMARK
4.29 TIMEDEVENTPULSE

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896
899
902
903
904
906
908
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910

11

4.30 WHEELVELOCITY

912

Chapter 5 SPAN Logs
5.1 Logs with INS or GNSS Data
5.2 BESTGNSSPOS
5.3 BESTGNSSVEL
5.4 CORRIMUDATA
5.5 CORRIMUDATAS
5.6 DELAYEDHEAVE
5.7 GIMBALLEDPVA
5.8 HEAVE
5.9 IMURATECORRIMUS
5.10 IMURATEPVA
5.11 IMURATEPVAS
5.12 INSATT
5.13 INSATTQS
5.14 INSATTS
5.15 INSATTX
5.16 INSCALSTATUS
5.17 INSCONFIG
5.18 INSPOS
5.19 INSPOSS
5.20 INSPOSX
5.21 INSPVA
5.22 INSPVAS
5.23 INSPVAX
5.24 INSSEEDSTATUS
5.25 INSSPD
5.26 INSSPDS
5.27 INSSTDEV
5.28 INSSTDEVS
5.29 INSUPDATESTATUS
5.30 INSVEL
5.31 INSVELS
5.32 INSVELX
5.33 MARK1PVA, MARK2PVA, MARK3PVA and MARK4PVA
5.34 PASHR
5.35 RAWIMU
5.36 RAWIMUS
5.37 RAWIMUSX
5.38 RAWIMUX
5.39 RELINSPVA
5.40 SYNCHEAVE
5.41 SYNCRELINSPVA
5.42 TAGGEDMARK1PVA, TAGGEDMARK2PVA, TAGGEDMARK3PVA and
TAGGEDMARK4PVA
5.43 TIMEDWHEELDATA
5.44 TSS1
5.45 VARIABLELEVERARM
5.46 WHEELSIZE

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976
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984
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1008
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1015
1018
1019
1022
1024
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1028
1029

12

Chapter 6 Responses
APPENDIX A Example of Bit Parsing a RANGECMP4 Log
A.1 Reference Log Decoding
A.1.1 Reference Header
A.1.2 Reference Satellite and Signal Block: GPS
A.1.3 Reference Measurement Block Header: GPS
A.1.4 Reference Measurement Block: GPS
A.1.5 Reference Primary Signal Measurement Block: GPS PRN 10 – L1CA
A.1.6 Reference Secondary Signals Measurement Block: GPS PRN 10 – L2Y
A.1.7 Reference Third Signals Measurement Block: GPS PRN 10 – L5Q
A.1.8 Reference Satellite and Signal Block: GLONASS
A.1.9 Reference Measurement Block Header: GLONASS PRN 38
A.1.10 Reference Primary Signal Measurement Block: GLONASS PRN 38 – L1CA
A.2 Differential Log Decoding
A.2.1 Differential Header
A.2.2 Differential Satellite and Signal Block
A.2.3 Differential Measurement Block Header
A.2.4 Differential Measurement Block
A.2.5 Differential Primary Signal Measurement Block GPS PRN 10 – L1CA
A.2.6 Differential Secondary Signals Measurement Block GPS PRN 10 – L2Y
A.2.7 Differential Third Signals Measurement Block GPS PRN 10 – L5Q

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Figures
Figure 1: Byte Arrangements

26

Figure 2: 1PPS Alignment

54

Figure 3: ADJUST1PPS Connections

57

Figure 4: Pulse Width and 1PPS Coherency

172

Figure 5: Illustration of Magnetic Variation and Correction

232

Figure 6: TTL Pulse Polarity

234

Figure 7: Moving Base Station ‘Daisy Chain’ Effect

240

Figure 8: Using the SEND Command

329

Figure 9: Illustration of SETNAV Parameters

346

Figure 10: Illustration of Undulation

379

Figure 11: The WGS84 ECEF Coordinate System

449

Figure 12: Navigation Parameters

612

Figure 13: Pass Through Log Data

627

Figure 14: Channel Tracking Example

675

OEM7 Commands and Logs Reference Manual v7

14

Tables
Table 1: Field Type

25

Table 2: ASCII Message Header Structure

28

Table 3: Binary Message Header Structure

30

Table 4: Detailed Port Identifier

31

Table 5: Available Port Types

39

Table 6: Short ASCII Message Header Structure

40

Table 7: Short Binary Message Header Structure

40

Table 8: Binary Message Response Structure

42

Table 9: Binary Message Sequence

43

Table 10: PRN Numbers for Commands and Logs

44

Table 11: GPS Reference Time Status

45

Table 12: COM Port Signals Available for 1PPS

54

Table 13: ADJUST1PPS Mode

59

Table 14: Channel State

67

Table 15: Channel System

69

Table 16: L-Band Assignment Option

72

Table 17: AUTH Command State

74

Table 18: Frequency Type

80

Table 19: Antenna Type

83

Table 20: Radome Type

91

Table 21: Velocity Types

95

Table 22: CAN Port Speed

96

Table 23: CAN Protocol

100

Table 24: Tx, DTR and RTS Availability

110

Table 25: GNSS Signal Default and Configurability

111

Table 26: Signal Type (DATADECODESIGNAL)

113

Table 27: Reference Ellipsoid Constants

116

Table 28: Datum Transformation Parameters

117

Table 29: Signal Type

125

Table 30: User Dynamics

130

Table 31: Communications Port Identifiers

132

Table 32: Clock Type

148

Table 33: Pre-Defined Values for Oscillators

148

Table 34: FIX Parameters

162

Table 35: Fix Types

163

Table 36: GLONASS L2 Code Type

167

Table 37: Signals Tracked – Channel Configuration and L2type Option

168

Table 38: GPS L2 Code Type

169

OEM7 Commands and Logs Reference Manual v7

15

Tables

Table 39: Signals Tracked – Channel Configuration and L2type Option

170

Table 40: FRESET Target

175

Table 41: Serial Port Interface Modes

196

Table 42: RF Path Selection

206

Table 43: Frequency Bands

209

Table 44: Mode

209

Table 45: Programmable Filter ID

211

Table 46: Programmable Filter Mode

211

Table 47: Data Sources for PSD Samples

213

Table 48: Frequency Types

214

Table 49: FFT Sizes

215

Table 50: NMEA Talkers

247

Table 51: Profile Option

279

Table 52: DGPS Type

281

Table 53: Response Modes

288

Table 54: RAIM Mode Types

290

Table 55: Network RTK Mode

304

Table 56: System Types

320

Table 57: SBAS Time Out Mode

323

Table 58: COM Port Identifiers

333

Table 59: Parity

333

Table 60: Handshaking

333

Table 61: Ports Supporting RS-422

335

Table 62: Selection Type

341

Table 63: Ionospheric Correction Models

344

Table 64: System Used for Timing

350

Table 65: Available Set Up Commands

357

Table 66: STEADYLINE Mode

362

Table 67: TRACKSV Command Condition

371

Table 68: User Accuracy Level Supplemental Position Types and NMEA Equivalents

374

Table 69: UTM Zone Commands

399

Table 70: Log Type Triggers

404

Table 71: Position Averaging Status

417

Table 72: Data Source

427

Table 73: Solution Status

431

Table 74: Position or Velocity Type

432

Table 75: GPS and GLONASS Signal-Used Mask

434

Table 76: Galileo and BeiDou Signal-Used Mask

435

Table 77: Extended Solution Status

435

Table 78: Supplemental Position Types and NMEA Equivalents

436

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Tables

Table 79: Observation Statuses

438

Table 80: BESTSATS GPS Signal Mask

439

Table 81: BESTSATS GLONASS Signal Mask

440

Table 82: BESTSATS Galileo Signal Mask

440

Table 83: BESTSATS BeiDou Signal Mask

440

Table 84: Definitions

449

Table 85: CHANCONFIGLIST Signal Type

453

Table 86: Clock Model Status

458

Table 87: Clock Source

460

Table 88: Steering State

461

Table 89: File Type

466

Table 90: Mass Storage Device

468

Table 91: File Status

468

Table 92: Mass Storage Status

472

Table 93: File Transfer Status

474

Table 94: Kp UTC Leap Second Descriptions

495

Table 95: GLONASS Ephemeris Flags Coding

499

Table 96: P1 Flag Range Values

499

Table 97: GPS Quality Indicators

512

Table 98: Position Precision of NMEA Logs

516

Table 99: NMEA Positioning System Mode Indicator

529

Table 100: URA Variance

535

Table 101: Solution Source

541

Table 102: Satellite System

545

Table 103: HWMONITOR Status Table

548

Table 104: DDC Filter Type

561

Table 105: ITFILTTable Status Word

561

Table 106: Filter Switches

562

Table 107: Spectral Analysis Status Word

566

Table 108: Node Status

569

Table 109: L-Band Signal Tracking Status

573

Table 110: File System Status

580

Table 111: Lua Data Source

581

Table 112: Script Status

582

Table 113: Feature Status

599

Table 114: Feature Type

600

Table 115: GNSS Time Scales

611

Table 116: Navigation Data Type

614

Table 117: Oceanix Subscription Type

621

Table 118: Oceanix Subscription Details Mask

621

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Tables

Table 119: Oceanix Region Restriction

621

Table 120: Decoder Data Synchronization State

622

Table 121: Region Restriction Status

623

Table 122: Position Type

640

Table 123: Status Word

644

Table 124: Integrity Status

670

Table 125: Protection Level Status

670

Table 126: Channel Tracking Status

675

Table 127: Tracking State

677

Table 128: Correlator Type

678

Table 129: RINEX Mappings

678

Table 130: Range Record Format (RANGECMP only)

681

Table 131: StdDev-PSR Values

683

Table 132: Satellite Block of the Range Record Format (RANGECMP2 only)

686

Table 133: Signal Block of the Range Record Format (RANGECMP2 only)

687

Table 134: Std Dev PSR Scaling

688

Table 135: Std Dev ADR Scaling

689

Table 136: L1/E1/B1 Scaling

690

Table 137: Signal Type (only in RANGECMP2)

691

Table 138: Header

695

Table 139: Satellite and Signal Block

696

Table 140: Measurement Block Header

697

Table 141: Primary Reference Signal Measurement Block

698

Table 142: Secondary Reference Signals Measurement Block

699

Table 143: Primary Differential Signal Measurement Block

700

Table 144: Secondary Differential Signals Measurement Block

701

Table 145: Signal Bit Mask

702

Table 146: Lock Time

703

Table 147: ADR Std Dev

704

Table 148: Pseudorange Std Dev

705

Table 149: Base Station Status

721

Table 150: Station Type

721

Table 151: Legacy Observable Messages

726

Table 152: MSM Type Descriptions

727

Table 153: MSM Log Names

727

Table 154: MSM Message IDs

728

Table 155: Station and Antenna Messages

729

Table 156: Ephemeris Messages

729

Table 157: Receiver Error

751

Table 158: Receiver Status

753

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Tables

Table 159: Version Bits

755

Table 160: Auxiliary 1 Status

755

Table 161: Auxiliary 2 Status

757

Table 162: Auxiliary 3 Status

758

Table 163: Antenna Gain State

759

Table 164: Auxiliary 4 Status

760

Table 165: Status Word

763

Table 166: Event Type

763

Table 167: Safe Mode States

765

Table 168: Evaluation of UDREI

779

Table 169: Evaluation of UDREI

814

Table 170: SBAS Subsystem Types

825

Table 171: SoftLoad Status Type

826

Table 172: TerraStar Subscription Type

833

Table 173: TerraStar Subscription Details Mask

833

Table 174: TerraStar Region Restriction

834

Table 175: Decoder Data Synchronization State

836

Table 176: TerraStar Local Area Status

836

Table 177: TerraStar Geogating Status

836

Table 178: USB Detection Type

843

Table 179: USB Mode

844

Table 180: Error Code

847

Table 181: Operation Mode Code

848

Table 182: Veripos Operating Mode

851

Table 183: Veripos Subscription Details Mask

852

Table 184: Decoder Data Synchronization State

853

Table 185: Component Types

855

Table 186: VERSION Log Field Formats

856

Table 187: Wi-Fi Band

858

Table 188: Wi-Fi Security Protocol

858

Table 189: Wi-Fi Encryption Type

858

Table 190: Regulatory Region

859

Table 191: IMU Type

865

Table 192: EXTERNALPVAS Updates Mask

868

Table 193: EXTERNALPVAS Options Mask

869

Table 194: COM Ports

887

Table 195: Rotational Offset Types

897

Table 196: Translation Offset Types

900

Table 197: Translation Input Frame

901

Table 198: Inertial Solution Status

936

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Tables

Table 199: Extended Solution Status

941

Table 200: Alignment Indication

943

Table 201: NVM Seed Indication

944

Table 202: Offset Type

946

Table 203: Source Status

946

Table 204: Injection Status

963

Table 205: Validity Status

963

Table 206: Heading Update Values

973

Table 207: INS Update Status

974

Table 208: iIMU-FSAS IMU Status

986

Table 209: HG1700 IMU Status

987

Table 210: LN200 IMU Status

989

Table 211: ISA-100C IMU Status

990

Table 212: IMU-CPT IMU Status

991

Table 213: IMU-KVH1750 IMU Status

993

Table 214: HG1900 and HG1930 IMU Status

994

Table 215: HG4930 IMU Status

996

Table 216: ADIS16488 and IMU-IGM-A1 IMU Status

997

Table 217: STIM300 and IMU-IGM-S1 IMU Status

999

Table 218: µIMU IMU Status

1000

Table 219: G320N IMU Status

1002

Table 220: Raw IMU Scale Factors

1006

Table 221: Response Messages

1030

OEM7 Commands and Logs Reference Manual v7

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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:

If logging data over an RS-232 serial cable, ensure that the configured baud rate can support the data bandwidth (see SERIALCONFIG command). NovAtel recommends a minimum suggested baud rate of 230400 bps.
1. Log the following data to a file on your computer for 15 minutes:
RXSTATUSB onchanged
RAWEPHEMB onchanged
GLORAWEPHEMB onchanged
BESTPOSB ontime 1
RANGEB ontime 1
RXCONFIGA once
VERSIONA once
For SPAN systems, add the following logs to the above list in the file created on your computer:
RAWIMUSXB onnew
INSUPDATESTATUSB onnew
INSPVAXB ontime 1
INSCONFIGA 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:

OEM7 Commands and Logs Reference Manual v7

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Customer Support

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

OEM7 Commands and Logs Reference Manual v7

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Foreword
This manual describes each command and log the OEM7 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
OEM7 products include the following:
l
l
l
l

l
l

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, 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 OEM7 Installation and Operation User Manual 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.

Prerequisites
As this reference manual is focused on the OEM7 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 OEM7 Installation and Operation User Manual for OEM7
receivers.

Logs and Commands Defaults and Structure
l

l

l
l

l

l

l
l

The factory defaults for commands and logs are shown after the syntax but before the
example in the command or log 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 Binary on page 29.
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.
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

OEM7 Commands and Logs Reference Manual v7

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Foreword

l

l

fixed in 4-bits boundary. For an example of this type of conversion, see the RANGE log,
Table 126: Channel Tracking Status on page 675.
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 addenda from the
Support section of the NovAtel website.

OEM7 Commands and Logs Reference Manual v7

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Chapter 1 Messages
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
OEM7 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 RTCMV3,
NOVATELX and NMEA format messaging.
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 Binary on page 29).
Table 1: Field Type below below, describes the field types used in the description of messages.
Table 1: Field Type
Type

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

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Chapter 1 Messages

Type

Binary
Size
(bytes)

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

Hex
Ulong

4

An unsigned, 32-bit integer in hexadecimal format. Values are in the range
from +0 to +4294967295

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

String

Description

Figure 1: Byte Arrangements

Byte Arrangements above shows the arrangement of bytes, within each field type, when
used by IBM PC computers. All data sent to or from the OEM7 family of receivers is
ordered least significant bit (LSB) first (little-endian). This is opposite to the most significant bit first (big-endian) ordering that is shown in Byte Arrangements above. 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 126: Channel Tracking Status on
page 675 for a more detailed example.

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Chapter 1 Messages

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:
l

l

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 32-Bit CRC on page 47 for the algorithm used to generate the CRC.
5. The receiver only accepts the following ASCII characters.
l

characters between space (ASCII value 32) and '~' (ASCII value 126) inclusive,

l

vertical tab (ASCII value 9)

l

line feed (ASCII value 10)

l

horizontal tab (ASCII value 11)

l

carriage return (ASCII value 13)

Other values are discarded and can lead to unexpected results.
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 Responses on page 1030 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
on the next page.

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Chapter 1 Messages

Table 2: ASCII Message Header Structure
Field
Name

Field

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

N

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

Y

N

3

Port

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

5

% Idle
Time

Float

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 11: GPS Reference Time Status on page 45)

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 158: Receiver Status on page 753)

Y

10

Reserved

Ulong

Reserved for internal use.

Y

11

Receiver
S/W
Version

Ulong

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

Y

12

;

Char

The character indicates the end of the header

N

Example Log:
#RAWEPHEMA,COM1,0,35.0,SATTIME,1364,496230.000,02100000,97b7,2310;30,1364,
496800,8b0550a1892755100275e6a09382232523a9dc04ee6f794a0000090394ee,
8b0550a189aa6ff925386228f97eabf9c8047e34a70ec5a10e486e794a7a,
8b0550a18a2effc2f80061c2fffc267cd09f1d5034d3537affa28b6ff0eb*7a22f279

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Chapter 1 Messages

1.2 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 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) 2

1

7

N3

8

Message
Length

Ushort

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

2

8

N

1Bits 0-4 are used to indicate the measurement source. For dual antenna receivers, if bit 0 is set, the log is from

the secondary antenna.
2The 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.
3Recommended value is THISPORT (binary 192).

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Chapter 1 Messages

Field

9

Field
Name

Sequence

Field
Type

Description

Binary
Bytes

Binary
Offset

Ignored
on
Input

Ushort

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
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

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

13

N2

10

Idle Time

11

Time
Status

Enum

Indicates the quality of the GPS
reference time (see Table 11: GPS
Reference Time Status on page 45).

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
158: Receiver Status on page 753)

4

20

Y

15

Reserved

Ushort

Reserved for internal use

2

24

Y

16

Receiver
S/W
Version

Ushort

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

2

26

Y

Table 4: Detailed Port Identifier
ASCII Port
Name

Hex Port
Value

Decimal Port
Value

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

Description

1This ENUM is not 4-bytes long but, as indicated in the table, is only 1-byte.
2Fields 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.

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Chapter 1 Messages

ASCII Port
Name

Hex Port
Value

Decimal Port
Value

THISPORT_ALL

6

6

All virtual ports for the current port

FILE_ALL

7

7

All virtual ports for logging to file

ALL_PORTS

8

8

All virtual ports for all ports

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 AUX

COM4_ALL

13

19

All virtual ports for COM4

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

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

ICOM4_ALL

1d

29

All virtual ports for ICOM4

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_1

41

65

COM1, virtual port 1

COM2_31

5f

95

COM2, virtual port 31

COM3

60

96

COM3, virtual port 0

Description

...

...

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Chapter 1 Messages

ASCII Port
Name

Hex Port
Value

Decimal Port
Value

61

97

COM3, virtual port 1

COM3_31

7f

127

COM3, virtual port 31

SPECIAL

a0

160

Unknown port, virtual port 0

SPECIAL_1

a1

161

Unknown port, virtual port1

SPECIAL_31

bf

191

Unknown port, virtual port 31

THISPORT

c0

192

Current COM port, virtual port 0

THISPORT_1

c1

193

Current COM port, virtual port 1

THISPORT_31

df

223

Current COM port, virtual port 31

FILE

e0

224

Virtual port 0 for logging to file

FILE_1

e1

225

Virtual port 1 for logging to file

ff

255

Virtual port 31 for logging to file

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_1

6a1

1967

USB2, virtual port 1

USB2_31

6bf

1727

USB2, virtual port 31

USB3

7a0

1952

USB3, virtual port 0

USB3_1

7a1

1953

USB3, virtual port 1

7bf

1983

USB port 3, virtual port 31

COM3_1

Description

...

...

...

...
FILE_31

...

...

...
USB3_31

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Chapter 1 Messages

ASCII Port
Name

Hex Port
Value

Decimal Port
Value

AUX

8a0

2208

AUX port, virtual port 0

AUX_1

8a1

2209

AUX port, virtual port 1

AUX_31

8bf

2239

AUX port, virtual port 31

COM4

ba0

2976

COM4, virtual port 0

COM4_1

ba1

2977

COM4, virtual port 1

COM4_31

bbf

3007

COM4, virtual port 31

ETH1

ca0

3232

ETH1, virtual port 0

ETH1_1

ca1

3233

ETH1, virtual port 1

ETH1_31

cbf

3263

ETH1, virtual port 31

IMU

da0

3488

IMU, virtual port 0

IMU_1

da1

3489

IMU, virtual port 1

IMU_31

dbf

3519

IMU, virtual port 31

ICOM1

fa0

4000

ICOM1, virtual port 0

ICOM1_1

fa1

4001

ICOM1, virtual port 1

fbf

4031

ICOM1, virtual port 31

ICOM2

10a0

4256

ICOM2, virtual port 0

ICOM2_1

10a1

4257

ICOM2, virtual port 1

ICOM2_31

10bf

4287

ICOM2, virtual port 31

ICOM3

11a0

4512

ICOM3, virtual port 0

ICOM3_1

11a1

4513

ICOM3, virtual port 1

Description

...

...

...

...

...
ICOM1_31

...

...

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ASCII Port
Name

Hex Port
Value

Decimal Port
Value

ICOM3_31

11bf

4543

ICOM3, virtual port 31

NCOM1

12a0

4768

NCOM1, virtual port 0

NCOM1_1

12a1

4769

NCOM1, virtual port 1

NCOM1_31

12bf

4799

NCOM1, virtual port 31

NCOM2

13a0

5024

NCOM2, virtual port 0

NCOM2_1

13a1

5025

NCOM2, virtual port 1

NCOM2_31

13bf

5055

NCOM2, virtual port 31

NCOM3

14a0

5280

NCOM3, virtual port 0

NCOM3_1

14a1

5281

NCOM3, virtual port 1

NCOM3_31

14bf

5311

NCOM3, virtual port 31

ICOM4

15a0

5536

ICOM4, virtual port 0

ICOM4_1

15a1

5537

ICOM4, virtual port 1

ICOM4_31

15bf

5567

ICOM4, virtual port 31

WCOM1

16a0

5792

WCOM1, virtual port 0

WCOM1_1

16a1

5793

WCOM1, virtual port 1

WCOM1_31

16bf

5823

WCOM1, virtual port 31

COM5_ALL

16c0

5824

All virtual ports for COM5

COM6_ALL

16c1

5825

All virtual ports for COM6

BT1_ALL

16c2

5826

All virtual ports for the Bluetooth
device

COM7_ALL

16c3

5827

All virtual ports for COM7

COM8_ALL

16c4

5828

All virtual ports for COM8

Description

...

...

...

...

...

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ASCII Port
Name

Hex Port
Value

Decimal Port
Value

COM9_ALL

16c5

5829

All virtual ports for COM9

COM10_ALL

16c6

5830

All virtual ports for COM10

CCOM1_ALL

16c7

5831

All virtual ports for CCOM1

CCOM2_ALL

16c8

5832

All virtual ports for CCOM2

CCOM3_ALL

16c9

5833

All virtual ports for CCOM3

CCOM4_ALL

16ca

5834

All virtual ports for CCOM4

CCOM5_ALL

16cb

5835

All virtual ports for CCOM5

CCOM6_ALL

16cc

5836

All virtual ports for CCOM6

ICOM5_ALL

16cf

5839

All virtual ports for ICOM5

ICOM6_ALL

16d0

5840

All virtual ports for ICOM6

ICOM7_ALL

16d1

5841

All virtual ports for ICOM7

SCOM1_ALL

16d2

5842

All virtual ports for SCOM1

SCOM2_ALL

16d3

5843

All virtual ports for SCOM2

SCOM3_ALL

16d4

5844

All virtual ports for SCOM3

SCOM4_ALL

16d5

5845

All virtual ports for SCOM4

COM5

17a0

6048

COM5, virtual port 0

COM5_1

17a1

6049

COM5, virtual port 1

COM5_31

17bf

6079

COM5, virtual port 31

COM6

18a0

6304

COM6, virtual port 0

COM6_1

18a1

6305

COM6, virtual port 1

COM6_31

18bf

6335

COM6, virtual port 31

BT1

19a0

6560

Bluetooth device, virtual port 0

BT1_1

19a1

6561

Bluetooth device, virtual port 1

19bf

6591

Bluetooth device, virtual port 31

Description

...

...

...
BT1_31

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ASCII Port
Name

Hex Port
Value

Decimal Port
Value

COM7

1aa0

6816

COM7, virtual port 0

COM7_1

1aa1

6817

COM7, virtual port 1

COM7_31

1abf

6847

COM7, virtual port 31

COM8

1ba0

7072

COM8, virtual port 0

COM8_1

1ba1

7073

COM8, virtual port 1

COM8_31

1bbf

7103

COM8, virtual port 31

COM9

1ca0

7328

COM9, virtual port 0

COM9_1

1ca1

7329

COM9, virtual port 1

COM9_31

1cbf

7359

COM9, virtual port 31

COM10

1da0

7584

COM10, virtual port 0

COM10_1

1da1

7585

COM10, virtual port 1

COM10_31

1dbf

7615

COM10, virtual port 31

CCOM1

1ea0

7840

CAN COM1, virtual port 0

CCOM1_1

1ea1

7841

CAN COM1, virtual port 1

CCOM1_31

1ebf

7871

CAN COM1, virtual port 31

CCOM2

1fa0

8096

CAN COM2, virtual port 0

CCOM2_1

1fa1

8097

CAN COM2, virtual port 1

CCOM2_31

1fbf

8127

CAN COM2, virtual port 31

CCOM3

20a0

8352

CAN COM3, virtual port 0

CCOM3_1

20a1

8353

CAN COM3, virtual port 1

Description

...

...

...

...

...

...

...

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ASCII Port
Name

Hex Port
Value

Decimal Port
Value

CCOM3_31

20bf

8383

CAN COM3, virtual port 31

CCOM4

21a0

8608

CAN COM4, virtual port 0

CCOM4_1

21a1

8609

CAN COM4, virtual port 1

CCOM4_31

21bf

8639

CAN COM4, virtual port 31

CCOM5

22a0

8864

CAN COM5, virtual port 0

CCOM5_1

22a1

8865

CAN COM5, virtual port 1

CCOM5_31

22bf

8895

CAN COM5, virtual port 31

CCOM6

23a0

9120

CAN COM6, virtual port 0

CCOM6_1

23a1

9121

CAN COM6, virtual port 1

CCOM6_31

23bf

9151

CAN COM6, virtual port 31

ICOM5

26a0

9888

ICOM5, virtual port 0

ICOM5_1

26a1

9889

ICOM5, virtual port 1

ICOM5_31

26bf

9919

ICOM5, virtual port 31

ICOM6

27a0

10144

ICOM6, virtual port 0

ICOM6_1

27a1

10145

ICOM6, virtual port 1

ICOM6_31

27bf

10175

ICOM6, virtual port 31

ICOM7

28a0

10400

ICOM7, virtual port 0

ICOM7_1

28a1

10401

ICOM7, virtual port 1

ICOM7_31

28bf

10431

ICOM7, virtual port 31

SCOM1

29a0

10656

SCOM1, virtual port 0

SCOM1_1

29a1

10657

SCOM1, virtual port 1

Description

...

...

...

...

...

...

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ASCII Port
Name

Hex Port
Value

Decimal Port
Value

SCOM1-31

29bf

10687

SCOM1, virtual port 31

SCOM2

2aa0

10912

SCOM2, virtual port 0

SCOM2_1

2aa1

10913

SCOM2, virtual port 1

SCOM2_31

2abf

10943

SCOM2, virtual port 31

SCOM3

2ba0

11168

SCOM3, virtual port 0

SCOM3_1

2ba1

11169

SCOM3, virtual port 1

SCOM3_31

2bbf

11199

SCOM3, virtual port 31

SCOM4

2ca0

11424

SCOM4, virtual port 0

SCOM4_1

2ca1

11425

SCOM4, virtual port 1

2cbf

11455

SCOM4, virtual port 31

Description

...

...

...

...
SCOM4_31

COM1_ALL, COM2_ALL, COM3_ALL, COM4_ALL, COM5_ALL, THISPORT_ALL, FILE_ALL,
ALL_PORTS, USB1_ALL, USB2_ALL, USB3_ALL, AUX_ALL, ETH1_ALL, ICOM1_ALL,
ICOM2_ALL, ICOM3_ALL, ICOM4_ALL, ICOM5_ALL, ICOM6_ALL, ICOM7_ALL, CCOM1_ALL,
CCOM2_ALL, CCOM3_ALL, CCOM4_ALL, CCOM5_ALL, CCOM6_ALL, NCOM1_ALL, NCOM2_
ALL, NCOM3_ALL, SCOM1_ALL, SCOM2_ALL, SCOM3_ALL, SCOM4_ALL and WCOM1_ALL
are only valid for the UNLOGALL command.

The ports available vary based on the receiver.
Table 5: Available Port Types below provides examples of where each port type might be used.
Table 5: Available Port Types
Port
Type
AUX

Description
Auxiliary
"serial" ports

Example of where it might be used
An additional UART serial port available only on certain platforms

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Chapter 1 Messages

Port
Type

Description

Example of where it might be used

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

SCOMx

Script ports

Ports used by the Scripted User Interface (i.e. Lua)

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

1.4 Description of ASCII and Binary Logs with Short Headers
These logs are set up in the same way as normal ASCII or binary logs except a normal ASCII or
binary header is replaced with a short header (see Table 6: Short ASCII Message Header Structure below and Table 7: Short Binary Message Header Structure below).
Table 6: Short ASCII Message Header Structure
Field

Field Name

Field Type

Description

1

%

Char

% symbol

2

Message

Char

This is the name of the log

3

Week Number

Ushort

GNSS week number

4

Milliseconds

GPSec

Seconds from the beginning of the GNSS week
(Same byte arrangement as a Float type)

Table 7: Short Binary Message Header Structure
Field

Field
Name

Field
Type

Binary
Bytes

Description

Binary
Offset

1

Synch

Char

Hex 0xAA

1

0

2

Synch

Char

Hex 0x44

1

1

3

Synch

Char

Hex 0x13

1

2

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Chapter 1 Messages

Field

Field
Name

Field
Type

Binary
Bytes

Description

Binary
Offset

4

Message
Length

Uchar

Message length, not including header
or CRC

1

3

5

Message ID

Ushort

Message ID number

2

4

6

Week
Number

Ushort

GNSS week number

2

6

GPSec

Milliseconds from the beginning of the
GNSS week
(Same byte arrangement as a Long
type)

4

8

7

Milliseconds

1.5 Message Responses
By default, if you input a message you get back a response. If desired, the INTERFACEMODE
command (see page 193) can be used to disable response messages. The response will be in the
exact format you entered the message (that is, binary input = binary response).

1.5.1 Abbreviated ASCII 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
ulCount - Number of bytes in the data block
ucBuffer - Data block
-------------------------------------------------------------------------- */
unsigned long CalculateBlockCRC32( unsigned long ulCount, unsigned char
*ucBuffer ) {
unsigned long ulTemp1;
unsigned long ulTemp2;
unsigned long ulCRC = 0;
while ( ulCount-- != 0 ) {
ulTemp1 = ( ulCRC >> 8 ) & 0x00FFFFFFL;
ulTemp2 = CRC32Value( ((int) ulCRC ^ *ucBuffer++ ) & 0xFF );

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Chapter 1 Messages

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:
BESTPOSB and BESTPOSA from an OEM7 family receiver.
Binary Log Message:
0xAA,
0x90,
0x45,
0x1B,
0x7C,
0xA6,
0xCD,
0x00,
0x00,

0x44,
0xB4,
0x61,
0x04,
0x82,
0x2A,
0x9E,
0x00,
0x06,

0x12,
0x93,
0xBC,
0x50,
0x5C,
0x82,
0x98,
0x00,
0x00,

0x1C,
0x05,
0x0A,
0xB3,
0xC0,
0xC1,
0x3F,
0x00,
0x03,

0x2A,
0xB0,
0x00,
0xF2,
0x00,
0x3D,
0xDB,
0x00,
0x42,

0x00,
0xAB,
0x00,
0x8E,
0x60,
0x00,
0x66,
0x00,
0xdc,

0x02, 0x20,
0xB9, 0x12,
0x00, 0x00,
0x49, 0x40,
0x76, 0x9F,
0x00, 0x00,
0x40, 0x40,
0x00, 0x00,
0x4c,0x48

0x48,
0x00,
0x10,
0x16,
0x44,
0x12,
0x00,
0x0B,

0x00,
0x00,
0x00,
0xFA,
0x9F,
0x5A,
0x30,
0x0B,

0x00,
0x00,
0x00,
0x6B,
0x90,
0xCB,
0x30,
0x00,

0x00,
0x00,
0x00,
0xBE,
0x40,
0x3F,
0x30,
0x00,

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. It is 42dc4c48.
Binary Checksum Calculation:
#include 
#include 
#include 
void main() {
// Expect checksum 0x42, 0xDC, 0x4C, 0x48 (42dc4c48)
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,

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Chapter 1 Messages

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};
//Note that the CRC on the binary data will be little-endian ordered.
unsigned long CRCle = CalculateBlockCRC32(sizeof(buffer), buffer);
//big-endian users (such as x86 users) may swap endianness as follows
unsigned long CRCbe = __builtin_bswap32(CRCle);
printf("\n\n%s %lx \n", "Computed binary checksum (little-endian): ",
CRCle);
printf("%s %" PRIx64 "\n", "Computed binary checksum (big-endian): ",
CRCbe);
}
Note that the above checksum function (CalculateBlockCRC32) must also be included to
execute this code.
ASCII Log Message:
#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
The checksum for this log is given above, it is 9c9a92bb.
ASCII:
#include 
#include 
void main() {
//Remember to escape " characters as \"
char *msgBlock =
"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";
unsigned long CRC = CalculateBlockCRC32(strlen(msgBlock), (unsigned
char*)msgBlock);

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printf("\n%s %s\n", "Demonstrating CRC computed for the block:",
msgBlock);
printf("\n\n%s %lu\n", "CRC32 in Decimal is: ", CRC);
printf("%s %lx\n", "CRC32 in Hex is: ", CRC);
}
Note that the above checksum function (CalculateBlockCRC32) must also be included to
execute this code.

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Chapter 2 Core Commands
The commands used to configure the OEM7 receiver and GNSS functions are described in the following sections.
For information about SPAN specific commands, refer to the SPAN Commands on page 860.

2.1 Command Formats
The receiver accepts commands in 3 formats as described in Messages on page 25:
l

Abbreviated ASCII

l

ASCII

l

Binary

Abbreviated ASCII is the easiest to use for your input. The other two formats include a CRC for
error checking and are intended for use when interfacing with other electronic equipment.
The following are examples of the same command in each format:
Abbreviated ASCII Example:
LOG COM1 BESTPOSB ONTIME 1[CR]
ASCII Example:
#LOGA,THISPORT,0,0,UNKNOWN,0,0.0,0,0,0;COM1,BESTPOSB,ONTIME,1.000000,0.000000,N
OHOLD*ec9ce601[CR]
Binary Example:
AA44121C 010000C0 20000000 00FF0000 00000000 00000000 00000000 20000000
2A000000 02000000 00000000 0000F03F 00000000 00000000 00000000 34D32DC1

2.1.1 Optional Parameters
Many commands have nested optional parameters where an optional parameter requires the
optional parameter before it to be present. This is noted in the Abbreviated ASCII Syntax as:
Command [OPT_1 [OPT_2 [OPT_3]]]
In this syntax example, OPT_1 and OPT_2 must be provided if you want to provide a value for
OPT_3. These leading two options are required even if you want to use the defaults for OPT_1
and OPT_2.

2.2 Command Settings
There are several ways to determine the current command settings of the receiver:
1. Request an RXCONFIG log (see page 746). 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 575) shows all active logs in the receiver beginning with the LOG

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Chapter 2 Core Commands

command (see page 220).
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
 OFF) before the port speed
can be changed.
Table 22: CAN Port Speed
ASCII Value

Binary Value

10K

0

20K

1

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ASCII Value

Binary Value

50K

2

100K

3

125K

4

250K

5

500K

6

1M

7

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2.19 CCOMCONFIG
Configure the CAN COM port
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Bind a CAN communication port to a J1939 node (see J1939CONFIG command on page 216)
and specify the CAN protocol, PGN, priority and address for messages transmitted and received
over the CCOM port.
Message ID: 1902
Abbreviated ASCII Syntax:
CCOMCONFIG port node protocol [pgn [priority [address]]]
Factory Default:
CCOMCONFIG ccom1 node1 J1939 61184 7 fe
CCOMCONFIG ccom2 node2 J1939 61184 7 fe
CCOMCONFIG ccom3 node1 J1939 126720 7 fe
CCOMCONFIG ccom4 none none 0 0 0
CCOMCONFIG ccom5 none none 0 0 0
CCOMCONFIG ccom6 none none 0 0 0
ASCII Example :
ccomconfig ccom1 node1 j1939 1792 6 1b

Field

1

2

3

Field Type
CCOMCONFIG
Header

ASCII
Value

Binary
Value

-

-

CCOM1

38

CCOM2

39

CCOM3

40

CCOM4

41

CCOM5

42

CCOM6

43

NODE1

1

NODE2

2

port

node

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Name of CCOM port

Enum

4

H

The J1939 node to use.
This binds a CCOM port to
the CAN NAME/address
associated with the node.

Enum

4

H+4

Description

98

Chapter 2 Core Commands

Field

4

Field Type

protocol

ASCII
Value

Binary
Value

See Table 23:
CAN Protocol on
the next page

Description
CAN transport protocol to
use

Format

Binary
Bytes

Binary
Offset

Enum

4

H+8

Ulong

4

H+12

Uchar

1

H+16

Hex

1

H+17

Any valid PGN as defined
by the J1939 protocol.
All messages transmitted
over this CCOM port will
contain this PGN value.
5

pgn

0 - 131071

Only messages with this
PGN will be received on
this CCOM port
Note: This value is
ignored if the protocol is
NMEA2000.

6

priority

0-7

Default CAN message
priority for transmitted
messages. (Priority 0 is
the highest priority)
Note: This value is
ignored if the protocol is
NMEA2000.
00 – FD:
Transmit and receive
messages to/from this
address only

7

address

00 – FF

FE:
Transmit and receive
message to/from the
address of the first
message received
FF:
Broadcast messages and
receive messages from
all addresses.
Note: This value is
ignored if the protocol is
NMEA2000.

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Chapter 2 Core Commands

Table 23: CAN Protocol
Binary

ASCII

Description

2

J1939

J1939 single packet

3

NMEA2000

NMEA2000 (single packet, multi-packet, fast packet)

5

ISO11783

ISO 11783 transport protocol

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2.20 CLOCKADJUST
Enables clock adjustments
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 146)
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 171).
3. When using the EXTERNALCLOCK and CLOCKADJUST commands together, issue the
EXTERNALCLOCK command (see page 146) 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 837).
7. A discussion on GPS reference time may be found in GPS Reference Time Status on
page 45.
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.

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Field

1

2

Field Type
CLOCKADJUST
header

ASCII
Value

Binary
Value

Description

-

-

Command header. See
Messages on page 25
for more information.

DISABLE

0

Disallow adjustment of
internal clock

1

Allow adjustment of
internal clock

switch
ENABLE

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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Chapter 2 Core Commands

2.21 CLOCKCALIBRATE
Adjusts clock steering parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 command (see page 459).

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 FRESET command on page 174 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 146)
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 171). 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

1

Field
Type
CLOCK
CALIBRATE
header

ASCII Binary
Value Value
-

-

Description
Command header. See
Messages on page 25 for
more information.

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

-

H

0

103

Chapter 2 Core Commands

Field

Field
Type

ASCII Binary
Value Value

0

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 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

2

Terminates a calibration
process currently underway
(default)

SET

2

Description

mode

Format

Binary
Bytes

Binary
Offset

Enum

4

H

Ulong

4

H+4

Ulong

4

H+8

Signal period in 10 ns steps.
3

4

period

pulsewidth

0 to 262144

The valid range
for this
parameter is
10% to 90% of
the period

Frequency Output =
100,000,000 / Period
(default=11000)
Sets the initial pulse width
that should provide a near
zero drift rate from the
selected oscillator being
steered. The valid range for
this parameter is 10% to
90% of the period. If this
value is not known, (in the
case of a new external
oscillator) then it should be
set to ½ the period and the
mode should be set to AUTO
to force a calibration
(default=6600)

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Field

5

6

Field
Type

ASCII Binary
Value Value

Format

Binary
Bytes

Binary
Offset

slope

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 -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. 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 459). This process
should be repeated until the
measured slope value
remains constant (less than a
5% change)
(default=0.774)

Float

4

H+12

bandwidth

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
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)

Float

4

H+16

Description

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2.22 CLOCKOFFSET
Adjusts for delay in 1PPS output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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:
l

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

l

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

Field Type

ASCII Binary
Value Value

1

CLOCKOFFSET
header

-

2

offset

±200

-

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Specifies the offset in
nanoseconds

Long

4

H

Description

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Chapter 2 Core Commands

2.23 CNOUPDATE
Sets the C/No update rate
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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:
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

Field Type

1

CNOUPDATE
header

ASCII
Value

Binary
Value

-

-

DEFAULT

0

Description
Command header. See
Messages on page 25 for
more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

C/No update rate:
2

rate
20HZ

1

0 = Turn off C/No
enhancement
default = 4 Hz
1 = 20 Hz C/No updates

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2.24 COMCONTROL
Controls the serial port hardware control lines
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to control the hardware control lines of the serial communication (COM)
ports. The TOGGLEPPS mode of this command is typically used to supply a timing signal to a
host PC computer by using the RTS and DTR lines. The accuracy of controlling the COM control
signals is better than 900 µs. 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
serial 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
COMCONTROL
COMCONTROL
COMCONTROL
COMCONTROL

COM1
COM2
COM3
COM4
COM5

RTS
RTS
RTS
RTS
RTS

DEFAULT
DEFAULT
DEFAULT
DEFAULT
DEFAULT

ASCII Example 1:
SERIALCONFIG COM1 9600 N 8 1 N (to disable handshaking)
COMCONTROL COM1 RTS FORCELOW
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

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or
COMCONTROL COM1 TX FORCEHIGH

Field

1

2

3

Field
Type
COM
CONTROL
header

port

signal

ASCII Value

Binary
Value

-

-

COM1

1

COM2

2

COM3

3

COM4

19

COM5

31

RTS

0

DTR

1

TX

2

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Serial port to control.

Enum

4

H

COM signal to control.
The controllable COM
signals are RTS, DTR
and TX. (Default =
RTS)

Enum

4

H+4

Description

See also Table 24:
Tx, DTR and RTS
Availability on the
next page

109

Chapter 2 Core Commands

Field

4

Field
Type

ASCII Value

Binary
Value

Description

DEFAULT

0

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

4

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

PULSEPPSLOW

5

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

PULSEPPSHIGH

6

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

control
TOGGLEPPS

Format

Binary
Bytes

Binary
Offset

Enum

4

H+8

Table 24: Tx, DTR and RTS Availability
Tx Available On

DTR Available On

RTS Available On

OEM719

COM1, COM2, COM3

N/A

N/A

OEM729

COM1, COM2, COM3

N/A

COM1 and COM2

OEM7600

COM1, COM2, COM3, COM4, COM5

N/A

COM2

OEM7700

COM1, COM2, COM3, COM4, COM5

N/A

COM2

OEM7720

COM1, COM2, COM3, COM4, COM5

N/A

COM2

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2.25 DATADECODESIGNAL
Enable/Disable navigation data decoding for GNSS signal
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to enable or disable framing and decoding of the navigation message for each
GNSS signal. When disabled, the receiver will no longer output raw frame data, ephemeris or
almanac data from that signal. Signals which do not yet have the built in capability to output raw
frame data are not configurable. Note that if a primary signal such as GPSL1CA is disabled, it
may cause the receiver to no longer function normally because this signal’s data is essential for
setting receiver time and computing positions.
The default setting for each GNSS signal, and which signals can be configured, is available in
Table 25: GNSS Signal Default and Configurability below. 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 29: Signal Type on page 125.
Table 25: GNSS Signal Default and Configurability
Primary
Signal

Default

Configurable

Used for satellite
positioning

GPSL1C

No

Disabled

No

No

GPSL1CA

Yes

Enabled

Yes

Yes

GPSL2Y

No

Disabled

No

No

GPSL2C

No

Disabled

Yes

No

GPSL2P

No

Disabled

No

No

GPSL5

No

Disabled

Yes

No

GLOL1CA

Yes

Enabled

Yes

Yes

GLOL2CA

No

Disabled

No

No

GLOL2P

No

Disabled

No

No

GLOL3

No

Disabled

No

No

SBASL1

No

Enabled

Yes

Yes

SBASL5

No

Enabled

Yes

Yes

GALE1

Yes

Enabled

Yes

Yes

GALE5A

No

Enabled

Yes

No

GALE5B

No

Enabled

Yes

Yes

GALALTBOC

No

Disabled

No

No

Signal

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Primary
Signal

Default

Configurable

Used for satellite
positioning

GALE6B

No

Enabled

Yes

No

GALE6C

No

Enabled

Yes

No

BDSB1C

No

Disabled

No

No

BDSB1D1

Yes

Enabled

Yes

Yes

BDSB1D2

Yes

Enabled

Yes

Yes

BDSB2A

No

Disabled

No

No

BDSB2D1

No

Disabled

No

No

BDSB2D2

No

Disabled

No

No

BDSB3D1

No

Disabled

No

No

BDSB3D2

No

Disabled

No

No

QZSSL1C

No

Disabled

No

No

QZSSL1CA

Yes

Enabled

Yes

Yes

QZSSL2C

No

Disabled

Yes

No

QZSSL5

No

Disabled

Yes

No

QZSSL6

No

Disabled

No

No

NAVICL5SPS

Yes

Enabled

Yes

Yes

Signal

Message ID: 1532
Abbreviated ASCII Syntax:
DATADECODESIGNAL signaltype switch
Abbreviated ASCII Example:
DATADECODESIGNAL GPSL2C enable

Field

1

ASCII
Value

Field Type

DATADECODE
SIGNAL
header

-

Binary
Value

-

OEM7 Commands and Logs Reference Manual v7

Description
Command
header. See
Messages on
page 25 for more
information.

Format

Binary
Bytes

Binary
Offset

-

H

0

112

Chapter 2 Core Commands

Field

Field Type

2

signal type

3

switch

ASCII
Value

Binary
Value

See Table 26: Signal
Type
(DATADECODESIGNAL)
below
Disable

0

Enable

1

Format

Binary
Bytes

Binary
Offset

GNSS Signal
Type

Enum

4

H

Enable or disable
the data decoding

Enum

4

H+4

Description

Table 26: Signal Type (DATADECODESIGNAL)
Value (Binary)

Signal (ASCII)

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

2662

GLOL3

GLONASS L3

4129

SBASL1

SBAS L1

4194

SBASL5

SBAS L5

16737

LBAND

LBAND

10433

GALE1

Galileo E1

10466

GALE5A

Galileo E5A

10499

GALE5B

Galileo E5B

10565

GALE6C

Galileo E6C

10572

GALE6B

Galileo E6B

12673

BDSB1D1

BeiDou B1 with D1 navigation data

12674

BDSB1D2

BeiDou B1 with D2 navigation data

12803

BDSB2D1

BeiDou B2 with D1 navigation data

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Description

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Chapter 2 Core Commands

Value (Binary)

Signal (ASCII)

12804

BDSB2D2

BeiDou B2 with D2 navigation data

12877

BDSB3D1

BeiDou B3 with D1 navigation data

12880

BDSB3D2

BeiDou B3 with D2 navigation data

12979

BDSB1C

BeiDou B1C

13012

BDSB2A

BeiDou B2a

14753

QZSSL1CA

QZSS L1 C/A-code

14787

QZSSL2C

QZSS L2 C/A-code

14820

QZSSL5

QZSS L5

19073

NAVICL5SPS

NavIC L5 SPS

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2.26 DATUM
Chooses a datum name type
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 (see page 388) 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 OEM7 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 BursaWolf.
See Table 28: Datum Transformation Parameters on page 117 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 27: Reference Ellipsoid Constants on the next page 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 and Veripos use ITRF2008, which is coincident with WGS84 at about
the decimetre level.

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Field

Field
Type

ASCII
Value

Binary
Value

1

DATUM
header

-

2

Datum
Type

See Table 28: Datum
Transformation
Parameters on the next
page

-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25
for more information.

-

H

0

The datum to use

Enum

4

H

Description

Table 27: 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

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The default user datum is WGS84.
See also the USERDATUM command (see page 388) and USEREXPDATUM
command (see page 390).
The following logs report the datum used according to the Datum ID column:
l

BESTPOS log (see page 428)

l

BESTUTM log (see page 441)

l

MATCHEDPOS log (see page 591)

l

PSRPOS log (see page 648)
Table 28: Datum Transformation Parameters

Datum
ID#

NAME

DX1

DY1

DZ1

DATUM DESCRIPTION

ELLIPSOID

1

ADIND

-162

-12

206

This datum has been updated, see
ID# 652

Clarke 1880

2

ARC50

-143

-90

-294

ARC 1950 (SW & SE Africa)

Clarke 1880

3

ARC60

-160

-8

-300

This datum has been updated, see
ID# 662

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

1The DX, DY and DZ offsets are from your local datum to WGS84.
2The 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.

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Datum
ID#

NAME

DX1

DY1

DZ1

DATUM DESCRIPTION

ELLIPSOID

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 instead2

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
instead3

Clarke 1866

20

KAUAI

45

-290

-172

Do not use. Use ID# 78 or ID# 82
instead3

Clarke 1866

21

MAUI

65

-290

-190

Do not use. Use ID# 79 or ID# 83
instead3

Clarke 1866

22

OAHU

56

-284

-181

Do not use. Use ID# 80 or ID# 84
instead3

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# 682

International
1924

27

INDIA

289

734

257

Do not use. Use ID# 69 or ID# 70
instead3

Everest (EA)

28

IRE65

506

-122

611

Do not use. Use ID# 71 instead3

Modified Airy

29

KERTA

-11

851

5

Kertau 1948 (West Malaysia and
Singapore)

Everest (EE)

1The DX, DY and DZ offsets are from your local datum to WGS84.
2Use the corrected datum only (with the higher ID#) as the old datum is incorrect.

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Datum
ID#

NAME

DX1

DY1

DZ1

DATUM DESCRIPTION

ELLIPSOID

30

KANDA

-97

787

86

Kandawala (Sri Lanka)

Everest (EA)

31

LIBER

-90

40

88

Liberia 1964

Clarke 1880

32

LUZON

-133

-77

-51

Do not use. Use ID# 72 instead3

Clarke 1866

33

MINDA

-133

-70

-72

This datum has been updated, see
ID# 732

Clarke 1866

34

MERCH

31

146

47

Merchich (Morocco)

Clarke 1880

35

NAHR

-231

-196

482

This datum has been updated, see
ID# 742

Clarke 1880

36

NAD83

0

0

0

N. American 1983 (Includes Areas 3742)

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# 752

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

1The DX, DY and DZ offsets are from your local datum to WGS84.

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Datum
ID#

NAME

DX1

DY1

DZ1

DATUM DESCRIPTION

ELLIPSOID

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# 852

Everest (EB)

56

TOKYO

-128

481

664

This datum has been updated, see
ID# 862

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# 672

Hough 1960

60

WGS72

0

0

4.5

World Geodetic System - 72

WGS72

61

WGS84

0

0

0

World Geodetic System - 84

WGS84

62

ZANDE

-265

120

-358

Zanderidj (Surinam)

International
1924

63

USER

0

0

0

User Defined Datum Defaults

User

64

CSRS

Time-variable 7 parameter transformation

65

ADIM

-166

-15

204

Adindan (Ethiopia, Mali, Senegal &
Sudan)2

Clarke 1880

66

ARSM

-160

-6

-302

ARC 1960 (Kenya, Tanzania)2

Clarke 1880

67

ENW

102

52

-38

Wake-Eniwetok (Marshall Islands)2

Hough 1960

1The DX, DY and DZ offsets are from your local datum to WGS84.

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Datum
ID#

NAME

DX1

DY1

DZ1

DATUM DESCRIPTION

ELLIPSOID

68

HTN

-637

-549

-203

Hu-Tzu-Shan (Taiwan)2

International
1924

69

INDB

282

726

254

Indian (Bangladesh)3

Everest (EA)

70

INDI

295

736

257

Indian (India, Nepal)3

Everest (EA)

71

IRL

506

-122

611

Ireland 1965 3

Modified Airy

72

LUZA

-133

-77

-51

Luzon (Philippines excluding
Mindanoa Is.)3, 2

Clarke 1866

73

LUZB

-133

-79

-72

Mindanoa Island2

Clarke 1866

74

NAHC

-243

-192

477

Nahrwan (Saudi Arabia)2

Clarke 1880

75

NASP

-3

142

183

N. American Caribbean2

Clarke 1866

76

OGBM

375

-111

431

Great Britain 1936 (Ordinance
Survey)3

Airy 1830

77

OHAA

89

-279

-183

Hawaiian Hawaii3

Clarke 1866

78

OHAB

45

-290

-172

Hawaiian Kauaii3

Clarke 1866

79

OHAC

65

-290

-190

Hawaiian Maui3

Clarke 1866

80

OHAD

58

-283

-182

Hawaiian Oahu3

Clarke 1866

81

OHIA

229

-222

-348

Hawaiian Hawaii3

International
1924

82

OHIB

185

-233

-337

Hawaiian Kauai3

International
1924

83

OHIC

205

-233

-355

Hawaiian Maui3

International
1924

84

OHID

198

-226

-347

Hawaiian Oahu3

International
1924

85

TIL

-679

669

-48

Timbalai (Brunei and East Malaysia)
19482

Everest (EB)

86

TOYM

-148

507

685

Tokyo (Japan, Korea and Okinawa)2

Bessel 1841

1The DX, DY and DZ offsets are from your local datum to WGS84.
2The original LUZON values are the same as for LUZA but the original has an error in the code.

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2.27 DGPSTXID
Sets DGPS station ID
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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:
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

Field

1

2

Field
Type
DGPSTXID
header

type

ASCII
Value

Binary
Value

-

-

RTCM

0

RTCA

1

CMR

2

AUTO

10

RTCMV3

13

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

See Table 52: DGPS Type
on page 281

Enum

4

H

Char[5]

8

H+4

Description

Base Station ID String
3

ID

Char[5]

See Table 52: DGPS Type
on page 281

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2.28 DIFFCODEBIASCONTROL
Enables /disables satellite differential code biases
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 342.
Message ID: 913
Abbreviated ASCII Syntax:
DIFFCODEBIASCONTROL switch
Factory Default:
DIFFCODEBIASCONTROL enable
Example:
DIFFCODEBIASCONTROL disable

Field

1

2

Field Type
DIFFCODEBIAS
CONTROL
header

ASCII
Value

Binary
Value

Description

-

-

Command header. See
Messages on page 25
for more information.

DISABLE

0

Disable the differential
code bias

1

Enable the differential
code bias

switch
ENABLE

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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2.29 DLLTIMECONST
Sets carrier smoothing
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command 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 at each receiver (DLLTIMECONST  100).
3. There are several considerations when using the DLLTIMECONST command:
l

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

l

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

l

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

l

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

4. To get unsmoothed psuedorange measurements, choose 0 as the time constant.
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.

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Also, increased carrier smoothing may cause problems when satellite signals are
strongly affected by the ionosphere. The rate of divergence between the pseudoranges
and phase-derived 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
ASCII
Value

Binary
Value

DLLTIMECONST
header

-

-

2

signal type

See Table 29:
Signal Type
below

3

time const

Field

1

Field Type

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Signal type

Enum

4

H

Time constant (sec)

Ulong

4

H+4

Description

Table 29: Signal Type
Value (Binary)

Signal (ASCII)

33

GPSL1CA

GPS L1 C/A-code

47

GPSL1CP

GPS L1C P-code

68

GPSL2Y

GPS L2 P(Y)-code

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Value (Binary)

Signal (ASCII)

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

2662

GLOL3

GLONASS L3

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

10565

GALE6C

Galileo E6C

10572

GALE6B

Galileo E6B

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

12877

BDSB3D1

BeiDou B3 with D1 navigation data

12880

BDSB3D2

BeiDou B3 with D2 navigation data

12979

BDSB1C

BeiDou B1C

13012

BDSB2A

BeiDou B2a

14753

QZSSL1CA

QZSS L1 C/A-code

14760

QZSSL1CP

QZSS L1C P-code

14787

QZSSL2C

QZSS L2 C/A-code

14820

QZSSL5

QZSS L5

14891

QZSSL6P

QZSS L6P

19073

NAVICL5SPS

NavIC L5 SPS

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2.30 DNSCONFIG
Manually configures Ethernet DNS servers
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
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.
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

1

2

Field Type

DNSCONFIG
Header

ASCII
Value

Format

Binary
Bytes

Binary
Offset

-

H

0

H

-

-

0

0

Number of DNS
servers
Enum

4

1

If this field is set to
0, an IP address is
not required.
IP address of
primary DNS server

String
[16]

variable

NumDNSServers

IP

Data Description
Command header.
See Messages on
page 25 for more
information.

1

3

Binary
Value

ddd.ddd.
ddd.ddd

1

H+4

1In 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.

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2.31 DUALANTENNAPORTCONFIG
Select Dual Antenna Source Port
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7

This command was replaced in OEM7 firmware version 7.04 (OM7MR0400RN0000). If
the receiver is using OEM 7.04 or later, use the INSALIGNCONFIG command on
page 873.
When the SPAN system is configured for dual antenna, it automatically attempts to connect to an
ALIGN capable rover to establish dual antenna corrections. It also attempts to re-establish these
corrections should they stop.
The default port for connecting to the ALIGN rover is COM2. If an IMU is connected to COM2,
COM1 is used instead.
This command is used to designate a different serial port to be used for dual antenna positioning, or to disable this automatic configuration altogether. If automatic configuration is disabled, dual antenna corrections can still be used, but ALIGN corrections must be manually
configured.
Message ID: 1356
Abbreviated ASCII Syntax:
DUALANTENNAPORTCONFIG Port_Selection
Abbreviated ASCII Example:
DUALANTENNAPORTCONFIG COM3

Field

1

2

Field Type
DUALANTENNA
PORTCONFIG
header

ASCII
Value

Binary
Value

-

-

0

NOPORT

1

COM1

2

COM2

3

COM3

19

COM4

31

COM5

Port_Selection

OEM7 Commands and Logs Reference Manual v7

Description
Command header. See
Messages on page 25 for
more information.
Specify which serial port
should be used to
communicate with an
external ALIGN capable
receiver.

Binary Binary
Format Bytes

Binary
Offset

-

h

0

Enum

4

H

Selecting NOPORT
disables automatic dual
antenna configuration.

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Chapter 2 Core Commands

2.32 DYNAMICS
Tunes receiver parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 127: Tracking State on page 677. When the receiver loses the position solution, see
Table 73: Solution Status on page 431, 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

1

2

Field
Type

ASCII
Value

Binary
Value

DYNAMICS
header

-

settings

See Table 30:
User Dynamics on
the next page

-

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Receiver dynamics based
on the current
environment

Enum

4

H

Description

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Chapter 2 Core Commands

Table 30: 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

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.

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2.33 ECHO
Sets port echo
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

(not supported on OEM719)

ECHO COM4 OFF

(OEM7600, OEM7700 and OEM7720 only)

ECHO COM5 OFF

(OEM7600, OEM7700 and OEM7720 only)

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

(not supported on OEM719)

ECHO ICOM2 OFF

(not supported on OEM719)

ECHO ICOM3 OFF

(not supported on OEM719)

ECHO ICOM4 OFF

(not supported on OEM719)

ECHO ICOM5 OFF

(not supported on OEM719)

ECHO ICOM6 OFF

(not supported on OEM719)

ECHO ICOM7 OFF

(not supported on OEM719)

ECHO SCOM1 OFF
ECHO SCOM2 OFF
ECHO SCOM3 OFF
ECHO SCOM4 OFF
ASCII Example:
ECHO COM1 ON
ECHO ON

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Field

Field
Type

ASCII
Value

1

ECHO
Header

-

2

port

3

echo

Binary
Value

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

See Table 31:
Communications Port
Identifiers below

Port to configure
(default = THISPORT)

Enum

4

H

OFF

0

Sets port echo to off
Enum

4

H+4

ON

1

Sets port echo to on

-

Description

Table 31: Communications Port
Identifiers
ASCII Port Name

Binary Value

ALL

8

BT1

33

CCOM1

38

CCOM2

39

CCOM3

40

CCOM4

41

CCOM5

42

CCOM6

43

COM1

1

COM2

2

COM3

3

COM4

19

COM5

31

COM6

32

COM7

34

COM8

35

COM9

36

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ASCII Port Name

Binary Value

COM10

37

ETH1

20

FILE

7

ICOM1

23

ICOM2

24

ICOM3

25

ICOM4

29

ICOM5

46

ICOM6

47

ICOM7

48

IMU

21

NCOM1

26

NCOM2

27

NCOM3

28

NOPORT

0

SCOM1

49

SCOM2

50

SCOM3

51

SCOM4

52

THISPORT

6

USB1

13

USB2

14

USB3

15

WCOM1

30

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2.34 ECUTOFF
Sets satellite elevation cut-off for GPS Satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 65).
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:
l

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

l

Satellites are visible below the horizon due to atmospheric refraction

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.

Use the ELEVATIONCUTOFF command (see page 136) to set the cut-off angle for any
system.

For dual antenna 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

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Field

Field
Type

ASCII
Value

Binary
Value
-

1

ECUTOFF
header

-

2

angle

±90.0 degrees

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for more
information.

-

H

0

Elevation cut-off angle relative
to horizon

Float

4

H

Description

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 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.

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2.35 ELEVATIONCUTOFF
Sets the elevation cut-off angle for tracked satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 65).
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:
l

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

l

Satellites are visible below the horizon due to atmospheric refraction

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.

This command combines the following commands into one convenient command:
ECUTOFF, GLOECUTOFF, GALECUTOFF, QZSSECUTOFF, SBASECUTOFF,
BDSECUTOFF and NAVICECUTOFF.

For dual antenna 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.

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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

Field

1

ASCII
Value

Field Type
ELEVATION
CUTOFF
header

-

Binary
Value
-

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Description
Command header. See
Messages on page 25 for
more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Field

Field Type

ASCII
Value

Description

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.

GALILEO

5

Sets the cut-off angle
for Galileo constellation
satellites only.

6

Sets the cut-off angle
for BeiDou constellation
satellites only.

QZSS

7

Sets the cut-off angle
for QZSS constellation
satellites only.

NAVIC

9

Sets the cut-off angle
for NavIC constellation
satellites only.

32

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

GPS

2

Binary
Value

Constellation
BEIDOU

ALL

Format

Binary
Bytes

Binary
Offset

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

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2.36 ETHCONFIG
Configures Ethernet physical layer
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
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
ETHCONFIG etha auto auto auto auto

(OEM7 receiver cards)

(PwrPak7)

ASCII Example:
ETHCONFIG etha 100 full mdix normal

Field

Field Type

ASCII Value

1

ETHCONFIG
Header

-

2

interface_
name

ETHA

Binary
Value

Format

Binary
Bytes

Binary
Offset

-

Command header.
See Messages on
page 25 for more
information.

-

H

0

2

Name of the Ethernet
interface

Enum

4

H

Enum

4

H+4

Description

Auto-negotiate speed
(default)

AUTO
3

1

AUTO is the
recommended value
for the speed
parameter.
If setting speed to
AUTO, duplex must
be set to AUTO at the
same time otherwise
a “parameter 3 out of
range” error occurs.

speed

10

2

Force 10BaseT

100

3

Force 100BaseT

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Field

Field Type

ASCII Value

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

Enum

4

H+8

Enum

4

H+12

Enum

4

H+16

Auto-negotiate
duplex (default)
AUTO
4

5

6

1

duplex

crossover

power_
mode

If setting duplex to
AUTO, speed must be
set to AUTO at the
same time otherwise
a “parameter 3 out of
range” error occurs.

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

POWERDOWN

2

Soft power down
mode (default for
OEM7 receiver cards)

NORMAL

3

Normal mode

Energy detect mode
(default for PwrPak7)

The crossover parameter is ignored on OEM7 receivers, as the hardware automatically
detects the cable connection and configures the interface for proper communication. For
backwards compatibility, the crossover options are still accepted, but have no functional
impact.

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2.37 EVENTINCONTROL
Controls Event-In input triggers
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command controls up to four Event-In input triggers. Each input can be used as an event
strobe.
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 MARKTIME, MARK2TIME, MARK3TIME and
MARK4TIME log on page 586, MARKPOS, MARK2POS, MARK3POS and MARK4POS log on
page 583 or MARK1PVA, MARK2PVA, MARK3PVA and MARK4PVA log on page 980). 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.
Message ID: 1637
Abbreviated ASCII Syntax:
EVENTINCONTROL mark switch [polarity] [t_bias] [t_guard]
ASCII Example:
EVENTINCONTROL MARK1 ENABLE

Field

1

2

3

Field
Type
EVENTIN
CONTROL
header

ASCII
Value

Binary
Value

-

-

MARK1

0

MARK2

1

mark

Description
Command header. See
Messages on page 25 for
more information.

MARK3

2

MARK4

3

DISABLE

0

Disables Event Input

EVENT

1

Enables Event Input

3

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

ENABLE

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Enum

4

H+4

Choose which Event-In
Mark to change. This value
must be specified.
Note: MARK3 and MARK4
are available only on
OEM7600, OEM7700 and
OEM7720 receivers.

switch

Format

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Field

4

5

6

Field
Type

ASCII
Value

Binary
Value

Description

NEGATIVE

0

Negative polarity (default)

POSITIVE

1

Positive polarity

polarity

t_bias

t_guard

default: 0
minimum: 999,999,999
maximum:
999,999,999

default: 4
minimum: 2
maximum:
3,599,999

A constant time bias in
nanoseconds can be
applied to each event
pulse. Typically this is used
to account for a
transmission delay.

Format

Binary
Bytes

Binary
Offset

Enum

4

H+8

Long

4

H+12

Ulong

4

H+16

This field is not used if the
switch field is set to
COUNT.
The time guard specifies
the minimum number of
milliseconds between
pulses. This is used to
coarsely filter the input
pulses.
If Field 3 is COUNT, this
field is not used.

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2.38 EVENTOUTCONTROL
Control Event-Out properties
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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.

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

The EVENTOUT outputs cannot synchronize with GPS time until the receiver reaches
FINESTEERING time status. As the receiver transitions to GPS time, there may be additional, unexpected pulses on the EVENTOUT signals.
Message ID: 1636
Abbreviated ASCII Syntax:
EVENTOUTCONTROL mark switch [polarity] [active_period] [non_active_period]
ASCII Example:
EVENTOUTCONTROL MARK3 ENABLE

Field

1

Field
Type
EVENTOUT
CONTROL
header

ASCII
Value
-

Binary
Value
-

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Description
Command header. See
Messages on page 25 for
more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Chapter 2 Core Commands

Field

2

3

Field
Type

mark

ASCII
Value

MARK2

1

MARK3

2

MARK4

3

MARK5

4

MARK6

5

MARK7

6

Note: On OEM7600,
OEM7700 and OEM7720
receivers, only MARK1
through MARK4 are
available.

DISABLE

0

Disables the Event output

ENABLE

1

Enables the Event output

0

Negative polarity (active
= 0V)
(default)

Note: On OEM719 and
OEM729 receivers, only
MARK1 is available.

switch

polarity

active_
perioda

1

default:
500,000,000
minimum: 10
maximum:
999,999,990

Format

Binary
Bytes

Binary
Offset

Enum

4

H

Enum

4

H+4

Enum

4

H+8

Ulong

4

H+12

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

0

POSITIVE

5

Description

MARK1

NEGATIVE
4

Binary
Value

Positive polarity (active =
3.3V)
Active period of the Event
Out signal in
nanoseconds.
10ns steps must be used.
Note: If the value
entered is not a multiple
of 10, it will be rounded
down to the nearest 10
ns.

aThe sum of the active period and inactive period should total 1,000,000,000 ns. 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 1,000,000,000 ns, but should divide
evenly into 1,000,000,000 ns. For example, if the active period is 150,000,000 and the inactive period is
50,000,000, the sum of the periods is 200,000,000 ns 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 100 MHz clock is used internally to create these output signals. As a result, all period values are limited to 10
ns steps.

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Field

6

Field
Type

non_
active_
perioda

ASCII
Value

Binary
Value

default:
500,000,000
minimum: 10
maximum:
999,999,990

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Description

Format

Binary
Bytes

Binary
Offset

Ulong

4

H+16

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

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2.39 EXTERNALCLOCK
Sets external clock parameters
Platform: OEM729
The EXTERNALCLOCK command is used to enable the OEM7 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 171). 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 command and CLOCKADJUST command 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 OEM7 Installation and Operation User Manual to connect
an external oscillator to the OEM7.
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.
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:

where f is the sampling frequency and Sy(f) is the clock’s power spectrum. Typically only h0, h1, and h-2 affect the clock’s Allan variance and the clock model’s process noise elements.
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

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in Table 32: Clock Type on the next page. 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 OEM7 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 OEM7.
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

Field
Type

ASCII
Value

Binary
Value
-

1

EXTERNAL
CLOCK
header

-

2

clocktype

See Table 32:
Clock Type on
the next page

3

5MHz

1

10MHz

2

freq

4

h0

1.0 e-35 to
1.0 e-18

5

h-1

1.0 e-35 to
1.0 e-18

6

h-2

1.0 e-35 to
1.0 e-18

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Clock type

Enum

4

H

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

Enum

4

H+4

Double

8

H+8

Double

8

H+16

Double

8

H+24

Description

Optional timing standards.
These fields are only valid
when the USER clocktype is
selected. Do not use h values
with VCTCXO, OCXO, CESIUM
or RUBIDIUM clock types. The
h values for these options are
fixed, see Table 33: PreDefined Values for Oscillators
on the next page
(default=0.0)

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Table 32: 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 33: Pre-Defined Values for Oscillators
h0

h -1

h -2

1.0 e-21

1.0 e-20

1.0 e-20

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
VCTCXO
OCXO

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2.40 FILEAUTOTRANSFER
Enables/Disables automatic file transfer
Platform: PwrPak7
Use this command to configure the automatic transfer function from internal memory to an
external USB stick. If the mode is set to COPY or MOVE, all log files, except the file currently
being logged to, will be automatically transferred to a USB stick when the USB stick is inserted.
This command will transfer all recorded log files to the USB stick provided the USB stick has
enough free space to hold all the data. Files too large to fit in the remaining space on the
USB stick are skipped.
The command must be issued before the USB stick is inserted. If the command is not issued
first, the USB stick must be removed and reinserted to trigger the auto transfer.
The status of the transfer can be viewed by logging the FILETRANSFERSTATUS log (see page
473).
A transfer in progress can be canceled by issuing the FILETRANSFER CANCEL command.
The settings for this command can be saved using the SAVECONFIG command (see page 316).
Message ID: 2135
Abbreviated ASCII Syntax:
FILEAUTOTRANSFER [FileAutoTransferMode]
ASCII Example:
FILEAUTOTRANSFER COPY

Field

1

2

Field Type

FILEAUTOTRANSFER
header

ASCII Binary
Value Value

Description

-

-

Command header.
See Messages on
page 25 for more
information.

1

OFF

Automatic
copy/move is
disabled (default)

2

COPY

Automatically
copies all files

MOVE

Automatically
copies all files and
then deletes them
from internal
memory after a
successful copy

FileAutoTransferMode

3

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Binary Binary
Format Bytes

Binary
Offset

-

H

0

Ulong

4

H

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Chapter 2 Core Commands

For the fastest transfer of files to an external memory stick, it is recommended that logging to a file be stopped.

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2.41 FILECONFIG
Open or close a log file
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
To record logs, log requests are sent to the FILE port. Before the logs sent to the FILE port can
be saved in a file, the file must be opened using the FILECONFIG command.
When configured to be open, a log file will be opened when the active file media is ready and has
sufficient space. Once a log file is opened, any logs requested for the FILE port are recorded to
the file.
Use the FILESTATUS log (see page 467) to determine the state of the log file.
The file media is separately configured:
l

l

On core cards, this is always USBSTICK, which is the only media available.
On Enclosure products, the active file media is configured using a product-specific command, such as FILEMEDIACONFIG command on page 154.

When a file is opened, the file name is automatically generated based on the following format:
_.LOG
where:
l

 is the PSN of the receiver

l

 is a number from 1 to 511.
The lowest number that produces an unused file name is selected. If there is no such
number available, the FILESTATUS log (see page 467) will report an error.
The number is not zero-padded (i.e. the sequence is as follows: 1,2, ... ,9,10,11,12, ...
,99,100, ... , 510,511).

When a file is closed and the receiver has a valid time, the file is renamed based on the following format:
__.LOG
where:
l

 is the PSN of the receiver

l

 is the UTC date in the format YYYY-MM-DD

l

 is the UTC time in the format HH-MM-SS
Example file name: NOV12001200A_2017-01-10_12-14-34.LOG

When a file is closed, but the receiver does not have a valid time, the file is left with its automatically generated name.
Other Notes:
l

l

The FILE port represents the internal logging to flash memory. It has a NOVATEL Interface
Mode - output only, no input is possible.
Only logs that are published after the log file is open are recorded.

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l

l

l

l

l

Only one log file can be open at a time.
Logs requested to the FILE port are still produced even if the log file is closed; however the
logs are not recorded. (This is similar to requesting logs to COM4 when there's no cable on
COM4.) If a new log file is opened, recording of the previously requested logs continues with
the new file.
When a file is closed, the log file is renamed to the format __.LOG, where the UTC time is the time when the file is closed. If the time is not available, the file is not renamed. If there is already a file with the intended name, the file is not
renamed.
After closing a file, the file system will be flushed to ensure that all data is written to the
media.
A disk is considered "full" when is has <= 10 MB of free space. This buffer is left in place to
allow the system time and space to open up a new file if required.

Message ID: 2116
Abbreviated ASCII Syntax:
FILECONFIG FileOperation
Factory Default:
FILECONFIG CLOSE
Example:
FILECONFIG OPEN

Field

1

2

Field Type
FILECONFIG
header

ASCII Binary
Value Value

Description

-

-

Command header. See
Messages on page 25 for
more information.

1

OPEN

Open (create) a new
logging file

FileOperation
2

CLOSE

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Close the logging file

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2.42 FILEDELETE
Deletes files from the currently selected mass storage device
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to delete a single file, or use the wild card symbol (*) to delete all files, from
the logging directory of the currently selected file media. This command will not delete a file if it
is currently open for logging. Use the FILESTATUS log (see page 467) to determine the state of
the log file.

The wild card symbol deletes all files in the directory. It cannot be used to delete a subset of the files in the directory. For example, the command FILEDELETE *.LOG will be
rejected by the receiver.
The file media is separately configured:
l

l

On receiver cards, the file media is always USBSTICK, which is the only media available.
On enclosure products, the active file media is configured using a product-specific command,
such as FILEMEDIACONFIG command (see page 154).

The list of files stored on the currently selected file media can be retrieved using the FILELIST
log on page 465.
Message ID: 2190
Abbreviated ASCII Syntax:
FILEDELETE FileName
Example:
FILEDELETE NMNE17130016A_2017-12-11_18-17-06.LOG
NMNE17130016A_2017-12-11_18-17-06.LOG

Field

Field Type

Description

1

FILEDELETE
header

Command header. See Messages on
page 25 for more information.

2

FileName

Name of file to delete, or the wild card
symbol (*)

– Delete the file

Format

String
(Max
128)

Binary
Bytes

Binary
Offset

H

0

variable
1

H

1In 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.

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2.43 FILEMEDIACONFIG
Specify the file media
Platform: PwrPak7
Use this command to specify which storage media is used for File operations.
To determine what storage device is currently being used for File operations, log this command.
For example:
LOG FILEMEDIACONFIG

On OEM7 receiver cards, the file media is always USBSTICK, which is the only media
available.
On PwrPak7 products, the active file media is configured using the FILEMEDIACONFIG
command.
Message ID: 2117
Abbreviated ASCII Syntax:
FILEMEDIACONFIG MassStorage
ASCII Example:

Field

1

2

FILEMEDIACONFIG INTERNAL_FLASH

– Use internal flash as the media

FILEMEDIACONFIG USBSTICK

– Use a USB stick as the media

Field Type

FILEMEDIACONFIG
header

ASCII
Value

Binary
Value

Description

-

-

Command
header. See
Messages on
page 25 for more
information.

1

USBSTICK

Use a USB stick
as the mass
storage device

INTERNAL_
FLASH

Use Internal
storage as the
mass storage
device

MassStorageDevice
2

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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2.44 FILEROTATECONFIG
Set the maximum size and duration of a log file
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to configure the maximum size and duration for a log file. This command also
configures the action taken when the log file media is full.
A file rotation is when a new file is opened, the currently opened file is closed and logging on the
FILE port is rerouted to this new file. There is no data loss during this process and individual logs
within the file are not spread between log files.
Message ID: 2133
Abbreviated ASCII Syntax:
FILEROTATECONFIG [MaxFileTime] [MaxFileSize] [DiskFullAction]
Factory Default:
FILEROTATECONFIG 0 4096 STOP
Example:
FILEROTATECONFIG 2 4096 STOP
The file is left open for 2 hours or until the file size reaches 4096 MB. When the log file media
is full, the file is closed.
FILEROTATECONFIG 4 4096 OVERWRITE
The file is left open for 4 hours or until the file size reaches 4096 MB. When the log media file
is full, the oldest file on the log media file will be deleted.

Field

1

2

Field Type
FILEROTATE
CONFIG
header

MaxFileTime

ASCII
Value

-

Binary
Value

-

0 to 24

Description
Command header.
See Messages on
page 25 for more
information.
Maximum number of
hours to leave a file
open before
triggering a file
rotation.

Format

Binary
Bytes

Binary
Offset

-

H

0

Ushort

2

H

Set to 0 for no
maximum time.
Maximum value is 24.
Default is 0.

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Field

3

Field Type

MaxFileSize

ASCII
Value

Binary
Value

1 to 4096

Description
Maximum number of
mega bytes (MB) for
the file size. A file
rotation is triggered
when the file is within
1 MB of this size.

Format

Binary
Bytes

Binary
Offset

Ushort

2

H+2

Maximum value is
4096 MB
Default is 4096 MB (4
GB).

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Field

4

Field Type

DiskFullAction

ASCII
Value

0

Binary
Value

STOP

Description
Stops logging when
the file media has 1
MB of free space or
less.

Format

Binary
Bytes

Binary
Offset

Enum

4

H+4

Default is STOP.

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Field

Field Type

ASCII
Value

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

Deletes the oldest log
file when the file
media has 10 MB of
free space or less.
To be selected for
deletion a file must
satisfy these
requirements:
l

l

1

OVERWRITE

The 
value must
match the current receiver.

File age is
determined using the
FILECONFIG
command (see page
151) file name
format.
l

l

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The file must use
the
FILECONFIG
command (see
page 151) file
name format.

Temporary files
(i.e. those with
an 
value) are considered oldest.
Such files will be
sorted by their
 value
with lower values considered
older.
Non-temporary
files will be sorted by the date
reported in the
file format.

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2.45 FILETRANSFER
Copy files from internal memory
Platform: PwrPak7
Use this command to copy files from internal memory to a USB stick. This command can also be
used to cancel the file transfer in progress.

This command returns a response immediately to show that the copy/move operation
started. However, the actual transfer of files will take some time. Use the
FILETRANSFERSTATUS log (see page 473) to monitor the status of the file transfer.
To view the names of the files in memory, log the FILELIST log (see page 465).
Message ID: 2109
Abbreviated ASCII Syntax:
FILETRANSFER FileTransferOperation 
ASCII Examples:
– Copies all files on internal memory

FILETRANSFER COPY ALL

FILETRANSFER MOVE BMHR16460033T_2017-3-16_21-18-48.log
– Cancels file transfer operation

FILETRANSFER CANCEL

Field

1

Field Type

FILETRANSFER
header

ASCII
Value

Description

-

-

Command
header. See
Messages on
page 25 for more
information.

1

COPY

Copy the file

MOVE

Copy the file and
then delete file
from internal
memory

2
2

Binary
Value

FileTransferOperation

3

CANCEL

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Binary
Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Cancels the file
transfer
currently in
progress

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Field

Field Type

ASCII
Value

Binary
Value

Description

Binary
Format

Binary
Bytes

Binary
Offset

String

Variable

H+4

The name of the
file to be moved
or copied.
3

FileName

To move or copy
all of the files on
internal memory,
use ALL.

When a FILETRANSFER CANCEL ALL command is issued, the file currently being transferred, and any pending files, are not transferred to the destination media. Any files
already transferred are unaffected.

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2.46 FIX
Constrains to fixed height or position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 165), the FIX command is then issued
internally with the FIXPOSDATUM command (see page 165) values translated to WGS84. It is
the FIX command that appears in the RXCONFIG log. If the FIX command or the
FIXPOSDATUM command (see page 165) 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 (see page 239) is set to ENABLE.
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 command (see page 379) 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 34: FIX Parameters on the next page).
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.
l

SOL_COMPUTED: The entered position has been confirmed by measurement.

l

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

l

l

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 289).
Message ID: 44

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

Field
Type

Field

ASCII
Value

Binary
Value
-

1

FIX
header

-

2

type

See Table 35: Fix
Types on the next
page

3

param1

4

param2

5

param3

See Table 34: FIX
Parameters below

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Fix type

Enum

4

H

Parameter 1

Double

8

H+4

Parameter 2

Double

8

H + 12

Parameter 3

Double

8

H + 20

Description

Table 34: FIX Parameters
ASCII
Type
Name
AUTO
HEIGHT

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

Parameter 2

Parameter 3

Not used

Not used

Not used

Not used

1See also Note #4 above.

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ASCII
Type
Name

Parameter 1

Parameter 2

Parameter 3

NONE

Not used

Not used

Not used

Lon (-360 to 360 degrees)
where a ‘-’ sign denotes west
and a ‘+’ sign denotes east

Default MSL height 1

POSITION

Lat (-90 to 90 degrees)
where a ‘-’ sign denotes
south and a ‘+’ sign denotes
north

(-1000 to 20000000 m)

For a discussion on height, refer to An Introduction to GNSS available on our website.
Table 35: Fix Types
ASCII
Name
NONE

AUTO

HEIGHT

Binary
Value

Description

0

Unfix. Clears any previous FIX commands

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

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 428 (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.

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ASCII
Name

Binary
Value

Description
Configures the receiver with its position fixed. This command is used when it
is necessary to generate differential corrections.
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 using the RTCMV3 differential corrections data log
format. See the OEM7 Installation and Operation User Manual for information
about using the receiver for differential applications.

POSITION

3

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 (see page 115) is defaulted as such. The datum in which
you choose to operate (by changing the DATUM command (see page 115)) 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.

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2.47 FIXPOSDATUM
Sets position in a specified datum
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 161) is then issued internally with the FIXPOSDATUM command values. It is the FIX command (see page 161) that appears in the RXCONFIG log (see page 746). If the FIX command
(see page 161) 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

Field
Type

ASCII
Value

Binary
Value

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Description

FIXPOS
DATUM
header

-

2

datum

See Table 28: Datum
Transformation
Parameters on
page 117

Datum ID

Enum

4

H

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)

Double

8

H+20

1

-

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

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2.48 FORCEGALE6CODE
Force receiver to track Galileo E6C or E6B signal
Platform: OEM719, OEM729, OEM7700, PwrPak7
Use this command to force Galileo E6 channels to track E6B or E6C.
Message ID: 2222
Abbreviated ASCII Syntax:
FORCEGALE6CODE E6codetype
Factory Default:
FORCEGALE6CODE E6B

Field

Field Type

1

FORCEGALE6CODE

2

E6codetype

ASCII Binary
Value Value

Description

-

-

Command header.
See Messages on
page 25 for more
information.

E6B

0

Galileo E6 code type

E6C

1

(default = E6B)

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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2.49 FORCEGLOL2CODE
Forces receiver to track GLONASS satellite L2 P or L2 C/A code
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

Field
Type

ASCII
Value

Binary
Value
-

1

FORCEGLO
L2CODE
header

-

2

L2type

See Table 36:
GLONASS L2 Code
Type below

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

GLONASS L2 code type

Enum

4

H

Description

Table 36: 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

The following table lists which L2 signal is tracked based on the channel configuration and the
setting used for the L2type parameter.

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Table 37: Signals Tracked – Channel Configuration and
L2type Option
L2type Setting
Channel Configuration for L2 Signal

P

C

DEFAULT

L2

P

C

P

L2C

P

C

C

L2PL2C

Both

Both

Both

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2.50 FORCEGPSL2CODE
Forces receiver to track GPS satellite L2 P or L2C code
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

Field
Type

ASCII
Value

Binary
Value
-

1

FORCEGPS
L2CODE
header

-

2

L2type

See Table 38:
GPS L2 Code
Type below

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

GPS L2 code type

Enum

4

H

Description

Table 38: 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

The following table lists which L2 signal is tracked based on the channel configuration and the
setting used for the L2type parameter.

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Table 39: Signals Tracked – Channel Configuration and L2type Option
L2type Setting
Channel
Configuration
for 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

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2.51 FREQUENCYOUT
Sets output pulse train available on VARF
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to set the output pulse train available on the Variable Frequency (VARF)
or EVENT_OUT1 pin. The output waveform is coherent with the 1PPS output, see the usage note
and Figure 4: Pulse Width and 1PPS Coherency on the next page.

If the CLOCKADJUST command (see page 101) command is ENABLED and the receiver
is configured to use an external reference frequency (set in the EXTERNALCLOCK command (see page 146) 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.

Figure 4: Pulse Width and 1PPS Coherency on the next page 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.

The EVENTOUT outputs cannot synchronize with GPS time until the receiver reaches
FINESTEERING time status. As the receiver transitions to GPS time, there may be additional, unexpected pulses on the EVENTOUT signals.
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.

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Figure 4: Pulse Width and 1PPS Coherency

When using ENABLE option, the VARF and 1PPS are not necessarily in phase as described
in Figure 4: Pulse Width and 1PPS Coherency above. 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

Field Type

FREQUENCYOUT
header

switch

ASCII
Value

Binary
Value

Description

-

Command header.
See Messages on
page 25 for more
information.

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

-

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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Field

Field Type

ASCII
Value

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

Ulong

4

H+4

Ulong

4

H+8

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

3

pulsewidth

(0 to 1073741823)

Duty cycle =
pulsewidth / period. If
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)

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2.52 FRESET
Clears selected data from NVM and reset
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 RXCONFIG log on page 746) 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

Field
Type

ASCII
Value

Binary
Value

1

FRESET
header

-

2

target

See Table 40:
FRESET Target on
the next page

-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

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

Enum

4

H

Description

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

l

l

Verify that the receiver is tracking satellites by logging the TRACKSTAT log (see
page 841) and checking that the receiver is tracking at least four 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)

l

Switch COM ports

l

Issue the FRESET command.
Table 40: FRESET Target

Binary

ASCII

Description
Resets commands (except CLOCKCALIBRATION and MODEL),
ephemeris and almanac (default).

0

STANDARD

Also resets all L-Band related data except for the subscription
information.
Does not reset the Ethernet settings or stored Profile configurations.

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

10

USERDATA

Resets the user data saved using the NVMUSERDATA command
(see page 253)

11

CLKCALIBRATION

Resets the parameters entered using the CLOCKCALIBRATE
command (see page 103)

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

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Binary

ASCII

Description

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 PSN)

64

ETHERNET

Resets the stored Ethernet settings

85

SRTK_
SUBSCRIPTIONS

Resets the Secure RTK Subscription data stored on the rover receiver

87

NAVICEPHEMERIS

Resets the NavIC ephemeris

88

NAVICALMANAC

Resets the NavIC almanac

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2.53 GALECUTOFF
Sets elevation cut-off angle for Galileo satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 65).
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:
l

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

l

Satellites are visible below the horizon due to atmospheric refraction

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.

Use the ELEVATIONCUTOFF command (see page 136) to set the cut-off angle for any
system.

For dual antenna receivers, this command applies to both the primary and secondary
antennas.
Message ID: 1114
Abbreviated ASCII Syntax:
GALECUTOFF angle
Factory Default:
GALECUTOFF 5.0
ASCII Example:
GALECUTOFF 10.0

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Field

Field Type

ASCII Binary
Value Value

1

GALECUTOFF
header

-

2

angle

±90.0 degrees

-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Elevation cut-off angle
relative to horizon

Float

4

H

Description

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2.54 GENERATEALIGNCORRECTIONS
Configure ALIGN Master
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to configure the ALIGN Master and starts sending out ALIGN corrections
through the specified port. This command is like sending the following commands to the Master,
assuming the use of a serial port and default ALIGN corrections:
unlogall [port]
fix none
movingbasestation enable
interfacemode [port] novatel rtca
serialconfig [port] [baud] N 8 1 N 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]
[interfacemode]
ASCII Example:
GENERATEALIGNCORRECTIONS COM2 230400 10 10

Field

ASCII
Value

Field Type

Binary
Value

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Description

GENERATEALIGN
CORRECTIONS
header

-

2

port

See Table 31:
Communications Port
Identifiers on
page 132

Port identifier
(default =
THISPORT)

Enum

4

H

3

baud

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

Communication
baud rate (bps)
(default = 9600)

Ulong

4

H+4

4

obsreqrate

1, 2, 4, 5, 10, 20, 50
or 100

RTCAOBS3 data
rate in Hz
(default = 1)

Ulong

4

H+8

refextreqrate

0, 1, 2, 4, 5, 10, 20,
50 or 100

RTCAREFEXT data
rate in Hz
(default = 1)

Ulong

4

H+12

1

5

-

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Field

6

Field Type

ASCII
Value

Binary
Value

RTCA

3

NOVATELX

35

interfacemode

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Description
Correction
interface mode
(default = RTCA)

Format

Binary
Bytes

Binary
Offset

Enum

4

H+16

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2.55 GENERATEDIFFCORRECTIONS
Sends a preconfigured set of differential corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

1

2

Field Type
GENERATEDIFF
CORRECTIONS
header

ASCII
Value

Binary
Value

-

-

RTCM

2

mode
RTCA

3

port

3

See Table 58:
COM Port
Identifiers on
page 333

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25
for more information.

-

H

0

Serial port interface
mode identifier. See
Table 41: Serial Port
Interface Modes on
page 196

Enum

4

H

Port to configure

Enum

4

H+4

Description

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2.56 GENERATERTKCORRECTIONS
Sends a preconfigured set of RTK corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

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Field

1

2

3

ASCII
Value

Field Type
GENERATERTK
CORRECTIONS
header

mode

port

Binary
Value

-

-

RTCM

2

RTCA

3

CMR

4

RTCMV3

14

NOVATELX

35

See Table 58: COM
Port Identifiers on
page 333

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Serial port interface
mode identifier. For
more information,
see Table 41: Serial
Port Interface Modes
on page 196

Enum

4

H

Port to configure

Enum

4

H+4

Description

For information about the RTCM, RTCA and CMR messages, refer to the official standards
document for those messages.

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2.57 GGAQUALITY
Customizes the GPGGA GPS quality indicator
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to customize the NMEA GPGGA GPS quality indicator. See also the
GPGGA log on page 510.
Message ID: 691
Abbreviated ASCII Syntax:
GGAQUALITY #entries pos_type quality
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 74: Position or Velocity Type on page 432, 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 97:
GPS Quality Indicators on page 512.

Field

Field Type

ASCII
Value

Binary
Value
-

1

GGAQUALITY
header

-

2

#entries

0-20

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

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

Ulong

4

H

Description

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Chapter 2 Core Commands

Field

Field Type

ASCII
Value

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

pos_type

See Table 74:
Position or
Velocity Type on
page 432

The position type that is
being remapped

Enum

4

H+4

4

quality

See Table 97:
GPS Quality
Indicators on
page 512

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

Ulong

4

H+8

...

Next solution type and quality indicator set, if applicable

3

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2.58 GLIDEINITIALIZATIONPERIOD
Configures the GLIDE initialization period
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 is, 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

Field Type

ASCII Binary
Value Value

Description

1

GLIDEINITIALIZATION
PERIOD header

-

-

Command
header. See
Messages on
page 25 for more
information.

2

initialization

0 -1200 s

Initialization
period for GLIDE
in seconds

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Binary
Format

Binary
Bytes

Binary
Offset

-

H

0

Double

8

H

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2.59 GLOECUTOFF
Sets GLONASS satellite elevation cut-off
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 65).
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:
l

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

l

Satellites are visible below the horizon due to atmospheric refraction

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.

Use the ELEVATIONCUTOFF command (see page 136) to set the cut-off angle for any
system.

For dual antenna 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

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Field

Field Type

ASCII Binary
Value Value

1

GLOECUTOFF
header

-

2

angle

±90.0 degrees

-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Elevation cut-off angle
relative to horizon

Float

4

H

Description

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2.60 HDTOUTTHRESHOLD
Controls GPHDT log output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to control the output of the NMEA GPHDT log (see page 525). 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 Binary
Value Value

1

HDTOUTTHRESHOLD
header

-

2

thresh

0.0 - 180.0

-

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Heading standard
deviation threshold
(degrees)

Float

4

H

Description

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2.61 HEADINGOFFSET
Adds heading and pitch offset values
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to add an offset in the heading and pitch values of the HEADING2 log
(see page 539) and GPHDT log (see page 525).
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

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Description

1

HEADINGOFFSET
header

-

2

headingoffsetindeg

-180.0 - 180.0

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

Float

4

H

-90.0 - 90.0

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

Float

4

H+4

3

pitchoffsetindeg

-

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2.62 ICOMCONFIG
Configures IP virtual COM port
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
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 202).
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
ICOMCONFIG ICOM4 TCP :3004
ICOMCONFIG ICOM5 TCP :3005
ICOMCONFIG ICOM6 TCP :3006
ICOMCONFIG ICOM7 TCP :3007
ASCII Example:
ICOMCONFIG ICOM1 TCP :2000 All

Due to security concerns, configuring and enabling ICOM ports should only be done to
receivers 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

-

OEM7 Commands and Logs Reference Manual v7

Data Description
Command header.
See Messages on
page 25 for more
information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Chapter 2 Core Commands

Field

2

3

Field Type

ASCII
Value

Binary
Value

THISPORT

6

ICOM1

23

ICOM2

24

ICOM3

25

ICOM4

29

ICOM5

46

ICOM6

47

ICOM7

48

DISABLED

1

Will disable the
service

TCP

2

Use Raw TCP

UDP

3

Use Raw UDP

port

protocol

Host:Port
4

endpoint

For example:
10.0.3.1:8000
mybase.com:3000

5

bindInterface

Data Description

ALL
(default)

1

Name of the port
(default =
THISPORT).

Endpoint to wait on,
or to connect to
where host is a host
name or IP address
and port is the
TCP/UDP port
number. If host is
blank, act as a
server
Not supported. Set
to ALL for future
compatibility.

Format

Binary
Bytes

Binary
Offset

Enum

4

H

Enum

4

H+4

String

variable

[80]

1

H+8

Enum

4

H+88

1In 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.

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2.63 INTERFACEMODE
Sets receive or transmit modes for ports
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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
RTCMV3 differential corrections, set the receive type on the port to RTCMV3.
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 41: Serial Port Interface
Modes on page 196, 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, PASSAUX and PASSUSB. See PASSCOM, PASSAUX, PASSUSB, PASSETH1,
PASSICOM, PASSNCOM on page 624 for details on these logs along with the Operation chapter in
the OEM7 Installation and Operation User Manual for information about pass-through logging.
See also the SERIALCONFIG command on page 331.If you intend to use the SERIALCONFIG
command (see page 331), ensure you do so before the INTERFACEMODE command on each
port. The SERIALCONFIG command (see page 331) 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 331) 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.

2.63.1 SPAN Systems
The INTERFACEMODE of the receiver is also configured for the serial port dedicated to the IMU.
This mode changes automatically upon sending a CONNECTIMU command (see page 864) and
the change is reflected when logging this command. This is normal operation.

When the CONNECTIMU command (see page 864) is used to configure the IMU connected to the receiver, the correct interface mode for the IMU port is automatically set.
The IMU port should not be altered using the INTERFACEMODE command in normal
operation. Doing so may result in the loss of IMU communication.

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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 ICOM1 NOVATEL NOVATEL ON
INTERFACEMODE ICOM2 NOVATEL NOVATEL ON
INTERFACEMODE ICOM3 NOVATEL NOVATEL ON
INTERFACEMODE ICOM4 NOVATEL NOVATEL ON
INTERFACEMODE ICOM5 NOVATEL NOVATEL ON
INTERFACEMODE ICOM6 NOVATEL NOVATEL ON
INTERFACEMODE ICOM7 NOVATEL NOVATEL ON
INTERFACEMODE NCOM1 RTCMV3 NONE OFF
INTERFACEMODE NCOM2 RTCMV3 NONE OFF
INTERFACEMODE NCOM3 RTCMV3 NONE OFF
INTERFACEMODE CCOM1 NOVATELBINARY NOVATELBINARY ON
INTERFACEMODE CCOM2 NOVATELBINARY NOVATELBINARY ON
INTERFACEMODE CCOM3 AUTO NOVATEL OFF
INTERFACEMODE CCOM4 AUTO NOVATEL OFF
INTERFACEMODE CCOM5 AUTO NOVATEL OFF
INTERFACEMODE CCOM6 AUTO NOVATEL OFF
INTERFACEMODE SCOM1 NOVATEL NOVATEL ON
INTERFACEMODE SCOM2 NOVATEL NOVATEL ON
INTERFACEMODE SCOM3 NOVATEL NOVATEL ON
INTERFACEMODE SCOM4 NOVATEL NOVATEL ON
ASCII Example 1:
INTERFACEMODE COM1 RTCMV3 NOVATEL ON
ASCII Example 2:
INTERFACEMODE COM2 MRTCA NONE

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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.
However, 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.

Field

1

2

3

4

5

Field Type

ASCII
Value

Binary
Value

Description
Command header.
See Messages on
page 25 for more
information.

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

INTERFACEMODE
header

-

port

See Table 31:
Communications
Port Identifiers on
page 132

rxtype

See Table 41:
Serial Port
Interface Modes on
the next page

Receive interface
mode

Enum

4

H+4

txtype

See Table 41:
Serial Port
Interface Modes on
the next page

Transmit interface
mode

Enum

4

H+8

OFF

0

Turn response
generation off
Enum

4

H+12

1

Turn response
generation on
(default)

-

responses
ON

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Serial port
identifier
(default =
THISPORT)

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Table 41: Serial Port Interface Modes
Binary
Value

ASCII Value

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

Reserved

6

Reserved

7

IMU

This port supports communication with a NovAtel supported IMU.

8

RTCMNOCR

9

Reserved

10

TCOM1

11

TCOM2

When RTCMNOCR is used as the txtype, the port generates RTCM
corrections without the CR/LF appended.
When RTCMNOCR is used as the rxtype, the port accepts RTCM
corrections with or without the CR/LF appended.

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 331. 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

12

TCOM3
SERIALCONFIG COM1 115200
INTERFACEMODE AUX TCOM1 NONE OFF
INTERFACEMODE COM1 TAUX NONE OFF
1

13

TAUX

14

RTCMV3

The tunnel is fully configured to receive/transmit at a baud rate of
115200 bps
The port accepts/generates RTCM Version 3.0 corrections

1Only available on specific models.

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Binary
Value

15

16-17

ASCII Value

NOVATELBINARY

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

Reserved

18

GENERIC

The port accepts/generates nothing. The SEND command (see
page 328) or SENDHEX command (see page 330) from another
port generate data on this port. Any incoming data on this port can
be seen with PASSCOM logs on another port, see PASSCOM,
PASSAUX, PASSUSB, PASSETH1, PASSICOM, PASSNCOM log
on page 624

19

IMARIMU

This port supports communication with an iMAR IMU.

20

MRTCA

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

21-22

Reserved

23

KVHIMU

24-26

Reserved

27

AUTO

28-34

Reserved

35

NOVATELX

36-40

Reserved

41

KVH1750IMU

This port supports communication with a KVH CG5100 IMU.

For auto-detecting different RTK correction formats and incoming
baud rate (over serial ports).
The change of baud rate will not appear when SERIALCONFIG is
logged as this shows the saved baud rate for that port.

The port accepts/generates NOVATELX corrections

This port supports communication with a KVH 17xx series IMU.

42-45

Reserved

46

TCCOM1

CCOM1 Tunnel

47

TCCOM2

CCOM2 Tunnel

48

TCCOM3

CCOM3 Tunnel

49

NOVATELMINBINARY

NovAtel binary message with a minimal header.
Only available for CCOM ports.

50

TCCOM4

CCOM4 Tunnel

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Binary
Value

ASCII Value

Description

51

TCCOM5

CCOM5 Tunnel

52

TCCOM6

CCOM6 Tunnel

53-57

Reserved

60

TSCOM1

SCOM1 Tunnel

61

TSCOM2

SCOM2 Tunnel

62

TSCOM3

SCOM3 Tunnel

63

TSCOM4

SCOM4 Tunnel

64

LUA

Lua stdin/stdout/stderr.
Use the LUA PROMPT command to set this Interface Mode.

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2.64 IONOCONDITION
Sets ionospheric condition
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

ASCII
Value

Field Type

IONOCONDITION
header

Binary
Value

Description

-

-

Command header.
See Messages on
page 25 for more
information.

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

10

Receiver monitors
the ionosphere
activity and adapts
behavior
accordingly

mode

AUTO

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

H

Enum

4

H

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Chapter 2 Core Commands

2.65 IPCONFIG
Configures network IP settings
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
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.
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

Field

Field
Type

ASCII
Value

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

1

IPCONFIG
Header

-

-

Command header. See
Messages on page 25 for
more information.

-

H

0

2

interface
name

ETHA

2

Name of the Ethernet
interface
(default = ETHA)

Enum

4

H

address
mode

DHCP

1

Use Dynamic IP address

3

Enum

4

H+4

STATIC

2

Use Static IP address

4

IP
address

ddd.ddd.ddd.ddd
(For example:
10.0.0.2)

IP Address-decimal dot
notation

String
[16]

variable

5

netmask

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

Netmask-decimal dot
notation

String
[16]

variable

1

1

H+8

H+24

1In 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.

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Field

6

Field
Type
gateway

ASCII
Value

Binary
Value

ddd.ddd.ddd.ddd
(For example:
10.0.0.1)

Description
Gateway-decimal dot
notation

OEM7 Commands and Logs Reference Manual v7

Format
String
[16]

Binary
Bytes
variable
1

Binary
Offset
H+40

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Chapter 2 Core Commands

2.66 IPSERVICE
Configure availability of networks ports/services
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use the IPSERVICE command to configure the availability of specific network ports/services.
When disabled, the service does not accept incoming connections.

On most OEM7 receivers, the FTP Server is disabled by default. The exception is the
PwrPak7 which has FTP enabled by default.

We have found two problems in the Microsoft® FTP clients contained within the Internet
Explorer® and Edge browsers which make them unsuitable for retrieving files from a
NovAtel receiver. When using a Windows® computer to transfer files off a NovAtel
receiver, we suggest using a 3rd party FTP client.
Message ID: 1575
Abbreviated ASCII Syntax:
IPSERVICE IPService switch
Factory Default:
IPSERVICE WEB_SERVER DISABLE (OEM719 and OEM7500)
IPSERVICE WEB_SERVER ENABLE (OEM729, OEM7600 OEM7700 and OEM7720)
IPSERVICE SECURE_ICOM DISABLE
ASCII Example:
IPSERVICE FTP_SERVER ENABLE

Field

1

Field
Type
IPSERVICE
header

ASCII
Value
-

Binary
Value
-

OEM7 Commands and Logs Reference Manual v7

Description
Command header. See
Messages on page 25 for
more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Chapter 2 Core Commands

Field

Field
Type

ASCII
Value
NO_
PORT

FTP_
SERVER

WEB_
SERVER

2

Binary
Value

Description

0

No port

1

FTP server port.
For most OEM7 receivers
the default = DISABLE.
For the PwrPak7 the
default = ENABLE.

2

Web server port
For most OEM7 receivers
the default = ENABLE.
For the OEM7500 and
OEM719 the default =
DISABLE.
Enables or disables
security on ICOM ports.

ipservice

Format

Binary
Bytes

Binary
Offset

Enum

4

H

Enum

4

H+4

When security is enabled,
a login is required as part
of the connection process
(see the LOGIN command
on page 226).

3

SECURE_
ICOM

3

DISABLE

0

Disable the IP service
specified.

1

Enable the IP service
specified.

Default = DISABLE
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

switch
ENABLE

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2.67 ITBANDPASSCONFIG
Enable and configure bandpass filter on receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to apply a bandpass filter at a certain frequency to mitigate interference in
the pass band of GNSS signals. The ITBANDPASSBANK log (see page 555) provides information on the allowable configuration settings for each frequency band. The bandpass filter is symmetrical in nature, which means that specifying one cutoff frequency will apply a cutoff on both
the low side and high side of the spectrum center frequency. Only one filter can be applied for
each signal.

On OEM7720 and PwrPak7D receivers, any filter enabled for GPS L2 or GLONASS L2 on
the secondary antenna will be applied to both GPS L2 and GLONASS L2. For this reason,
care must be taken to avoid attenuating the signals with a bandpass filter that is too narrow in bandwidth. The recommended maximum lower cutoff frequency is 1221 MHz. The
recommended minimum upper cutoff frequency is 1254 MHz.
Message ID: 1999
Abbreviated ASCII Syntax:
ITBANDPASSCONFIG frequency switch [cutofffrequency]
ASCII Example:
ITBANDPASSCONFIG gpsl5 enable 1165.975

Field

Field Type

ASCII
Value

Binary
Value

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Enum

4

H

Enum

4

H+4

Description

1

ITBANDPASS
CONFIG header

-

2

frequency

See Table 48:
Frequency Types
on page 214

Set the frequency
band on which to
apply the filter

DISABLE

0

Disable filter

3

switch
ENABLE

1

Enable filter

-

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Field

4

Field Type

ASCII
Value

Binary
Value

cutofffrequency

OEM7 Commands and Logs Reference Manual v7

Description
Cut off frequency for
band pass filter
(MHz).
(default = 0)
Refer to
ITBANDPASSBANK
log (see page 555) for
the allowable values.

Format

Binary
Bytes

Binary
Offset

Float

4

H+8

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Chapter 2 Core Commands

2.68 ITDETECTCONFIG
Enable interference detection on receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to enable or disable interference detection on the receiver. It is applicable to both Spectral Analysis Detection and Statistical Analysis Detection at the same time.
Detection can be enabled on all RF paths, only one RF path (L1, L2, or L5), or no RF paths. By
default, only the RF paths connecting to the first antenna are enabled.
Message ID: 2143
Abbreviated ASCII Syntax:
ITDETECTCONFIG RFPath [reserved1] [reserved2] [reserved3]
Factory Default:
ITDETECTCONFIG all
ASCII Example:
ITDETECTCONFIG L1
ITDETECTCONFIG none

Field

Field Type
ITDETECTCONFIG
header

1

ASCII Binary
Value Value
-

-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25
for more information.

-

H

0

Enum

4

H

Description

2

RFPath

See Table 42:
RF Path
Selection below

RF path selected for
detection. By default,
all paths are turned
on. The receiver will
cycle through all
active paths.

3

reserved1

0

Reserved parameter

Ulong

4

H+4

4

reserved2

0

Reserved parameter

Ulong

4

H+8

5

reserved3

0

Reserved parameter

Ulong

4

H+12

Table 42: RF Path Selection
ASCII Value

Binary Value

Description

NONE

0

Turn off detection on all paths

ALL

1

Turn on detection on all paths (cycle through all active paths)

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ASCII Value

Binary Value

Description

L1

2

Turn on detection only on L1 path

L2

3

Turn on detection only on L2 path

L5

4

Turn on detection only on L5 path

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2.69 ITFRONTENDMODE
Configure the front end mode settings
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to configure the front end mode for the L1, L2 and L5 RF paths to use the
default third-order CIC mode or HDR (High Dynamic Range) mode. The HDR mode is used in an
interference environment to obtain best interference rejection in general. However, the power
consumption will increase in this mode.
Message ID: 2039
Abbreviated ASCII Syntax:
ITFRONTENDMODE frequency mode
Factory Default
ITFRONTENDMODE L1 cic3
ITFRONTENDMODE L2 cic3
ITFRONTENDMODE LBAND cic3
ITFRONTENDMODE L5 cic3
ASCII Example:
ITFRONTENDMODE L1 hdr

On the OEM7500, the default mode for all frequency bands is HDR.

Field

Field Type

ASCII
Value

Binary
Value

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Description

1

ITFRONTENDMODE
header

-

2

frequency

See Table 43:
Frequency Bands
on the next page

Set the frequency
band for
adjustment

Enum

4

H

3

mode

See Table 44:
Mode on the next
page

Select the desired
mode

Enum

4

H+4

-

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Table 43: Frequency Bands
Binary Value

ASCII Value

Description

2

L1

Selects the L1 frequency

3

L2

Selects the L2 frequency

4

LBAND

Selects the L-Band frequency

5

L5

Selects the L5 frequency
Table 44: Mode

Binary Value

ASCII Value

0

CIC3

3rd order CIC (CIC3) mode (default)

1

HDR

High Dynamic Range (HDR) mode

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2.70 ITPROGFILTCONFIG
Enable and configure filtering on the receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to set the programmable filter to be either a notch filter or a bandpass filter
to mitigate interference in the pass band of GNSS signals. The notch filter is used to attenuate a
very narrow band of frequencies (specified by the notch width) around the center frequency.
The bandpass filter is symmetrical in nature, which means that specifying one cutoff frequency
will apply a cutoff on both the low side and high side of the spectrum center frequency.
The ITPROGFILTBANK log (see page 563) provides information on the allowable configuration
settings for the programmable filter (i.e. the allowable settings for the notch filter and bandpass
filter) for each frequency band. Only one filter can be applied for each frequency.
Message ID: 2000
Abbreviated ASCII Syntax:
ITPROGFILTCONFIG frequency filterid switch [filtermode] [cutofffreq]
[notchwidth]
ASCII Example:
ITPROGFILTCONFIG gpsl1 pf0 enable notchfilter 1580 1
ASCII
Value

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25
for more information.

-

H

0

See Table 48:
Frequency Types on
page 214

Set the frequency band
on which to apply the
filter

Enum

4

H

See Table 45:
Programmable
Filter ID on the next
page

Select the filter ID to
use

Enum

4

H+4

DISABLE

0

Disable the filter
Enum

4

H+8

ENABLE

1

Enable the filter

Enum

4

H+12

Field

Field Type

1

ITPROGFILT
CONFIG
header

-

2

frequency

3

filterid

4

switch

5

filtermode

Binary
Value
-

See Table 46:
Programmable
Filter Mode on the
next page

OEM7 Commands and Logs Reference Manual v7

Description

Configure the type of
filter to use
(default = NONE)

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Chapter 2 Core Commands

Field

ASCII
Value

Field Type

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

Float

4

H+16

Float

4

H+20

Center frequency for
notch filter or cut off
frequency for bandpass
filter (MHz).
6

cutofffreq

Refer to
ITPROGFILTBANK log
(see page 563) for the
allowable values.
(default = 0)
Notch width (MHz).

7

Refer to
ITPROGFILTBANK log
(see page 563) for the
allowable values.

notchwidth

(default = 0)
Table 45: Programmable Filter ID
Binary Value

ASCII Value

Description

0

PF0

Programmable Filter 0

1

PF1

Programmable Filter 1

Table 46: Programmable Filter Mode
Binary
Value

ASCII Value

Description

0

NOTCHFILTER

Configure the filter as a notch filter

1

BANDPASSFILTER

Configure the filter as a bandpass filter
Turn off filter

2

NONE

If the switch parameter is set to ENABLED while the filtermode
parameter is set to NONE, the system will return a parameter out of
range message.

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2.71 ITSPECTRALANALYSIS
Enable and configure spectral analysis on receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to view the spectrum in a range of frequencies. The ITSPECTRALANALYSIS
command enables and configures the spectral analysis. The spectrum is viewed by plotting the
PSD samples in the ITPSDFINAL log (see page 565). The FFT windowing used is Hanning.

Decreasing the update period or increasing the FFT size will impact receiver idle time.
The idle time should be monitored to prevent adverse effects on receiver performance.
Message ID: 1967
Abbreviated ASCII Syntax:
ITSPECTRALANALYSIS mode [frequency] [updateperiod] [FFTsize] [timeavg]
[subcarrier_integration]
Factory Default:
ITSPECTRALANALYSIS off
ASCII Example:
ITSPECTRALANALYSIS predecimation gpsl1 100 16k 0 0

Field

1

2

3

ASCII
Value

Binary
Value

Format

Binary
Bytes

Binary
Offset

ITSPECTRAL
ANALYSIS
header

-

-

Command header. See
Messages on page 25 for
more information.

-

H

0

mode

See Table 47:
Data Sources for
PSD Samples on
the next page

Set the view mode

Enum

4

H

frequency

See Table 48:
Frequency
Types on
page 214

Set the frequency band to
view

Enum

4

H+4

Field Type

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Field

Field Type

ASCII
Value

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

Ulong

4

H+8

Enum

4

H+12

Ulong

4

H+16

Ulong

4

H+20

The spectrum update rate
in milliseconds

4

updateperiod

50 to 100000

The update period is
limited by the FFT size
chosen. For 32k the
minimum update period is
100 ms and for 64k the
minimum update period is
200 ms.
(default = 1000)

5

6

7

FFTsize

timeavg

subcarrier_
integration

See Table 49:
FFT Sizes on
page 215

The frequency resolution
of the spectrum
(default = 1k)
Time averaging window in
seconds (default = 10)

0 to 50

1 to 1024

The sliding window
average over a number of
FFT samples
(default = 5)

Table 47: Data Sources for PSD Samples
Binary
Value

ASCII Value

0

OFF

1

PREDECIMATION

2

POSTDECIMATION

3

POSTFILTER

Description
Disable spectral analysis
Perform spectrum analysis on the pre-decimated spectrum.
This can be used to see a wide view of the spectrum for an RF path
(L1, L2 or L5).
Perform spectrum analysis on the post-decimated spectrum.
This is narrower than predecimation and is used to see the
spectrum for a given signal.
Perform spectrum analysis on the post-filtered spectrum.
This can be used when either bandpass or notch filters have been
enabled to see the spectrum after the filters are applied.

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Table 48: Frequency Types
Binary Value

ASCII Value

Description

0

GPSL1

GPS L1 frequency

1

GPSL2

GPS L2 frequency

2

GLONASSL1

GLONASS L1 frequency

3

GLONASSL2

GLONASS L2 frequency

4

Reserved

5

GPSL5

GPS L5 frequency

61

LBAND

Inmarsat L-Band 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

16

QZSSL6

QZSS L6 frequency

17

GALILEOE6

Galileo E6 frequency

18

BEIDOUB3

BeiDou B3 frequency

19

GLONASSL3

GLONASS L3 frequency

20

NAVICL5

NavIC L5 frequency

21

BEIDOUB1C

BeiDou B1C frequency

22

BEIDOUB2A

BeiDou B2a frequency

The post-decimation spectrum is not available for the Galileo AltBOC frequency. Only the
pre-decimation spectrum is available for Galileo AltBOC.

1Must first enable L-Band using the ASSIGNLBANDBEAM command.

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Table 49: FFT Sizes
Binary Value

ASCII Value

Description

0

1K

1K FFT, 1024 samples

1

2K

2K FFT, 2048 samples

2

4K

4K FFT, 4096 samples

3

8K

8K FFT, 8192 samples

4

16K

16K FFT, 16384 samples

5

32K

32K FFT, 32768 samples

6

64K

64K FFT, 65536 samples

The 64k FFT is not available in post-decimation or post-filter modes.

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2.72 J1939CONFIG
Configure CAN network-level parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to configure the CAN J1939 network-level parameters (NAME, etc).
Issuing this command may initiate a CAN 'Address Claim' procedure. The status of the node and
address claim are reported in the J1939STATUS log (see page 568).
Once a "node" is configured using J1939CONFIG, and the "port" is configured to ON using
CANCONFIG "port" ON, J1939CONFIG "node" cannot be entered again until the "port" is configured to "OFF" using CANCONFIG "port" OFF. (See the CANCONFIG command on page 96
Message ID: 1903
Abbreviated ASCII Syntax:
J1939CONFIG node port [pref_addr [alt_addr_range_start] [alt_addr_range_end]
[mfgcode] [industry] [devclass] [devinstance] [func] [funcinstance]
[ECUinstance]]
Factory Default:
J1939CONFIG NODE1 CAN1 1C 0 FD 305 2 0 0 23 0 0
J1939CONFIG NODE2 CAN2 1C 0 FD 305 2 0 0 23 0 0
ASCII Example :
J1939CONFIG NODE1 CAN1 AA 0 FD 305 2 0 0 23 0 0

Field

Field Type

1

J1939CONFIG
header

2

node

3

4

ASCII
Value

Binary
Value

-

-

NODE1

1

NODE2

2

CAN1

1

CAN2

2

port

pref_addr

0x0 - 0xFD

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Identifies the J1939 Node
(i.e. CAN NAME)

Enum

4

H

Physical CAN port to use

Enum

4

H+4

Preferred CAN address.
The receiver attempts to
claim this address

Ulong

4

H+8

Description

(default = 0x0)

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Field

5

Field Type

alt_addr_
range_start

ASCII
Value

Binary
Value

0x0 - 0xFD

Description
When the pref_addr
cannot be claimed, the
receiver attempts to claim
an address from this
range.

Format

Binary
Bytes

Binary
Offset

Ulong

4

H+12

Ulong

4

H+16

Ulong

4

H+20

Ulong

4

H+24

Ulong

4

H+28

Ulong

4

H+32

Ulong

4

H+36

Ulong

4

H+40

Ulong

4

H+44

(default: 0x0)

6

7

alt_addr_
range_end

mfgcode

0x0 - 0xFD

End of alternative address
range.
(default: 0xFD)

0-2047

NAME: Manufacturer
Code. Refer to ISO 117835.
(default: 0)

8

industry

0-7

9

devclass

0 - 127

10

devinstance

0 - 15

NAME: Industry Group
(default: 2)
NAME: Device Class
(default: 0)
NAME: Device Class
Instance
(default: 0)

11

func

0 - 255

12

funcinstance

0 - 31

13

ECUinstance

0-7

NAME: Function
(default: 23)
NAME: Function instance
(default: 0)
NAME: ECU Instance
(default: 0)

Due to current limitations in the CAN stack, NODE1 can only be associated with CAN1
and NODE2 can only be associated with CAN2. A mismatch combination results in an
'invalid parameter' error.

Node statistics are reported in the J1939STATUS log (see page 568).

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2.73 LOCKOUT
Prevents the receiver from using a satellite
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to prevent the receiver from using a satellite in the solution computations.
The LOCKOUT command does not prevent the receiver from tracking an undesirable
satellite.
LOCKOUT command and UNLOCKOUT command (see page 381) 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 381 and UNLOCKOUTALL command on page 382.
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.

Field

Field
Type

ASCII
Value

Binary
Value
-

1

LOCKOUT
header

-

2

prn

Refer to PRN
Numbers on
page 44

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for more
information.

-

H

0

Unique identifier for the
satellite being locked out

Ulong

4

H

Description

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2.74 LOCKOUTSYSTEM
Prevents the receiver from using a system
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 383 and UNLOCKOUTALL command on page 382.
Message ID: 871
Abbreviated ASCII Syntax:
LOCKOUTSYSTEM system
Factory Defaults:
LOCKOUTSYSTEM galileo
LOCKOUTSYSTEM sbas
LOCKOUTSYSTEM navic

The LOCKOUTSYSTEM command removes one or more systems from the solution
while leaving other systems available.

Field

1

2

Field Type

ASCII
Value

Binary
Value

LOCKOUTSYSTEM
header

-

system

See Table 102:
Satellite System
on page 545

-

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Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

A single satellite
system to be locked
out

Enum

4

H

Description

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2.75 LOG
Requests logs from the receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 Logs on page 404 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 (see page 386), 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 384). To remove
all logs that have the [hold] parameter, use the UNLOGALL command (see page 386) with the
held field set to 1.
The [port] parameter is optional. If [port] is not specified, [port] is defaulted to the port that the
command was received on.
1. The OEM7 family of receivers can handle 80 simultaneous log requests. If an attempt
is made to log more than 80 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 80.
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, MARK3POS and MARK4POS log (see page 583),
MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME log (see page 586) 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 MARKPOS, MARK2POS, MARK3POS and
MARK4POS log (see page 583) and MARKTIME, MARK2TIME, MARK3TIME and
MARK4TIME log (see page 586).
5. Polled log types do not all allow fractional offsets.
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.
7. Published logs are not placed in a queue if there is no physical or virtual connection
when the log is generated. Thus, a log requested ONNEW or ONCHANGED that is in
SAVECONFIG may not be received if it is published before connections are made. This
can happen if there's no cable connected or if the communication protocol has not been
established yet (e.g. CAN, Ethernet, USB, etc).
Message ID: 1
Abbreviated ASCII Syntax:

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LOG
LOG
LOG
LOG
LOG
LOG

[port]
[port]
[port]
[port]
[port]
[port]

message
message
message
message
message
message

ONNEW
ONCHANGED
ONTIME period [offset [hold]]
ONNEXT
ONCE
ONMARK

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

COM1 RXSTATUSEVENTA ONNEW
COM2 RXSTATUSEVENTA ONNEW
COM3 RXSTATUSEVENTA ONNEW
AUX RXSTATUSEVENTA ONNEW
USB1 RXSTATUSEVENTA ONNEW
USB2 RXSTATUSEVENTA ONNEW
USB3 RXSTATUSEVENTA ONNEW
ICOM1 RXSTATUSEVENTA ONNEW
ICOM2 RXSTATUSEVENTA ONNEW
ICOM3 RXSTATUSEVENTA ONNEW
ICOM4 RXSTATUSEVENTA ONNEW
ICOM5 RXSTATUSEVENTA ONNEW
ICOM6 RXSTATUSEVENTA ONNEW
ICOM7 RXSTATUSEVENTA ONNEW

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 386).
To send a log once, the trigger option can be omitted.
Abbreviated ASCII Example 2:
LOG COM1 BESTPOS ONCE

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.

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2.75.1 Binary
Field
Type

Binary Value

1

LOG
(binary)
header

See Table 3: Binary
Message Header
Structure on page 30

2

port

3

message

Field

Format

Binary
Bytes

Binary
Offset

This field contains the
message header

-

H

0

See Table 4:
Detailed Port
Identifier on page 31

Output port

Enum

4

H

Any valid message
ID

Message ID of the log to
output

Ushort

2

H+4

Message type of log

Char

1

H+6

Char

1

H+7

Description

Bits 0-4 =
Measurement
source1
Bits 5-6 = Format
00 = Binary
01 = ASCII

4

message
type

10 = Abbreviated
ASCII, NMEA
11 = Reserved
Bit 7 = Response Bit
(Binary Response on
page 41)
0 = Original
Message
1 = Response
Message

5

Reserved

1Bits 0-4 are used to indicate the measurement source. For dual antenna receivers, if bit 0 is set, the log is from

the secondary antenna.

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Field

6

Field
Type

Binary Value

Description

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 only the current
message (default). 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 1 2

trigger

Format

Binary
Bytes

Binary
Offset

Enum

4

H+8

1Refer to the Technical Specifications appendix in the OEM7 Installation and Operation User Manual 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.
2Once 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, MARK2POS, MARK3POS and MARK4POS log on page 583 and the
MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME log on page 586.

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Field

Field
Type

Binary Value

Description

Format

Binary
Bytes

Binary
Offset

Double

8

H+12

Double

8

H+20

Enum

4

H+28

Log period (for ONTIME
trigger) in seconds

7

period

Valid values for the
high rate logging are
0.05, 0.1, 0.2, 0.25
and 0.5. For logging
slower than 1 Hz any
integer value is
accepted

If the value entered is
lower than the minimum
measurement period, the
command will be rejected.
See Appendix A in the
OEM7 Installation and
Operation User Manual for
the maximum raw
measurement rate to
calculate the minimum
period.
A valid value is any integer
(whole number) smaller
than the period.

8

9

offset

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 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
(see page 386)

1 = HOLD

Prevent log from being
removed by the default
UNLOGALL command (see
page 386)

hold

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2.75.2 ASCII
Field

1

2

3

4

5

6

7

Field
Name

ASCII Value

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

LOG
(ASCII)
header

-

port

Table 4:
Detailed Port
Identifier on
page 31

message

Any valid
message name,
with an optional
A or B suffix

Message name of log to output

ONNEW

Output when the message is updated (not
necessarily changed)

ONCHANGED

Output when the message is changed

ONTIME

Output on a time interval

ONNEXT

Output only the next message

ONCE

Output only the current message (default)

ONMARK

Output when a pulse is detected on the mark 1
input, MK1I 2, 3

Output port
(default = THISPORT)

trigger

Format

-

Enum

Char [ ]

Enum

Log period (for ONTIME trigger) in seconds
(default = 0)

period

Any positive
double value
larger than the
receiver’s
minimum raw
measurement
period

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 the period to 60 and the offset to 1
(default = 0)

NOHOLD

To be removed by the UNLOGALL command (see
page 386) (default)

HOLD

Prevent log from being removed by the default
UNLOGALL command (see page 386)

If the value entered is lower than the minimum
measurement period, the command will be
rejected. See Appendix A in the OEM7 Installation
and Operation User Manual for the maximum raw
measurement rate to calculate the minimum
period.

hold

Double

Double

Enum

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2.76 LOGIN
Start a secure ICOM/SCOM connection to the receiver
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
When ICOM/SCOM ports have security enabled (see the IPSERVICE command on page 202), a
session to the ICOM/SCOM 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/SCOM command interpreter to accept further commands and returns OK. An unsuccessful login does not release the
secured ICOM/SCOM command interpreter and returns Login Failed.
Entering a LOGIN command on any command port other than the ICOM/SCOM 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

Field
Type
LOGIN
header

ASCII
Value

Binary
Value

-

-

Description
Command header. See
Messages on page 25 for
more information.

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Bytes

Binary
Offset

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Field

2

Field
Type

commport

3

username

4

password

ASCII
Value

Binary
Value

ICOM1

23

ICOM2

24

ICOM3

25

ICOM4

29

ICOM5

46

ICOM6

47

ICOM7

48

SCOM1

49

SCOM2

50

SCOM3

51

SCOM4

52

Format

Binary
Bytes

Binary
Offset

Enum

4

H

String

variable

The user name is not case
sensitive.

[32]

1

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

String

variable

[28]

1

Description

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

Provide the user name for
the login command.

H+4

variable

1In 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.

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2.77 LOGOUT
End a secure ICOM/SCOM session started using the LOGIN
command
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use the LOGOUT command to sign out of an ICOM/SCOM connection after a user has successfully logged in using the LOGIN command. After the sending the LOGOUT command, the
ICOM/SCOM connection will not accept further commands, other than a new LOGIN command.
The session itself is not ended. This only applies to ICOM/SCOM ports that have had security
enabled (see the IPSERVICE command on page 202).
Message ID: 1672
Abbreviated ASCII Syntax:
LOGOUT [commport]
ASCII Example:
LOGOUT

Field

1

2

Field
Type
LOGOUT
header

commport

ASCII
Value

Binary
Value

-

-

ICOM1

23

ICOM2

24

ICOM3

25

ICOM4

29

ICOM5

46

ICOM6

47

ICOM7

48

SCOM1

49

SCOM2

50

SCOM3

51

SCOM4

52

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

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

Enum

4

H

Description

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2.78 LUA
Configure Lua Interpreter
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to configure the execution of the Lua interpreter on the receiver. Scripts that
appear within the LUAFILELIST log (see page 578) can be executed by the Lua interpreter.
Message ID: 2049
Abbreviated ASCII Syntax:
LUA option [LuaInterpreterArguments]
Abbreviated ASCII Example:
lua start "printarguments.lua 1 2 3 4 5"

Field

1

Field Type

Lua header

ASCII
Value
-

START

2

Binary
Value
-

Command header. See
Messages for more
information.

1

Start the Lua
interpreter in the
background. The file
descriptors stdout,
stdin and stderr will not
be accessible outside
the receiver.

2

Start the Lua
interpreter in
interactive mode and
connect stdout, stdio
and stderr to the port
on which the command
was entered. The
INTERFACEMODE of
that port will be
changed to LUA for
both RX and TX.

option

PROMPT

Description

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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Field

Field Type

ASCII
Value

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

String
[400]

Variable

H+4

String containing Lua
interpreter options
including the name of
the script file to run
and arguments to pass
to the script.
3

LuaInterpreter
Arguments

STRING

This string must be
enclosed in quotes if it
contains any spaces.
String arguments
within the field must
be enclosed by single
quotes.

The format of the Lua Interpreter Arguments is as follows as adapted from the standard Lua 5.3
interpreter:
[options] [script [args]]
Available options are:
-e stat execute string 'stat'
-i
enter interactive mode after executing 'script'.
(This is added to the arguments when using the PROMPT option of the
LUA command)
-l name require library 'name'

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2.79 MAGVAR
Sets a magnetic variation correction
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 the next page.
The receiver calculates values of magnetic variation for given values of latitude, longitude and
time using the International Geomagnetic Reference Field (IGRF) 2015 spherical harmonic coefficients and IGRF time corrections to the harmonic coefficients. (IGRF-2015 is also referred to
as IGRF-12.) The model is intended for use up to the year 2020. The receiver will compute for
years beyond 2020 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

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Figure 5: Illustration of Magnetic Variation and Correction

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, OEM7 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.

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Field

1

2

Field
Type
MAGVAR
header

ASCII
Value

Binary
Value

Description

-

-

Command header. See
Messages on page 25
for more information.

AUTO

0

Use IGRF corrections

CORRECTION

1

Use the correction
supplied

type

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Float

4

H+4

Float

4

H+8

Magnitude of correction
3

4

correction

std_dev

± 180.0 degrees

± 180.0 degrees

(Required field if type
= Correction)
Standard deviation of
correction
(default = 0)

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2.80 MARKCONTROL
Controls processing of mark inputs
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 MARKPOS,
MARK2POS, MARK3POS and MARK4POS on page 583 and MARKTIME, MARK2TIME, MARK3TIME
and MARK4TIME on page 586).
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

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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, MARK2POS,
MARK3POS and MARK4POS command on page 583 and the MARKTIME,
MARK2TIME, MARK3TIME and MARK4TIME command on page 586.

Field

1

2

ASCII
Value

Field Type

MARKCONTROL
header

-

-

MARK1

0

MARK2

1

signal
MARK3

MARK4

DISABLE
3

Binary
Value

2

3

0

switch
ENABLE

1

OEM7 Commands and Logs Reference Manual v7

Description
Command header.
See Messages on
page 25 for more
information.
Specifies which mark
input the command
should be applied to.
Set to MARK1 for the
Event1 input, MARK2
for Event2, MARK3
for Event3 and
MARK4 for Event4. All
of the mark inputs
have 10 K pull-up
resistors to 3.3 V and
are leading edge
triggered

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Enum

4

H+4

MARK3 and MARK4
are available only on
the OEM7600,
OEM7700 and
OEM7720
Disables or enables
processing of the
mark input signal for
the input specified. If
DISABLE is selected,
the mark input signal
is ignored (default =
ENABLE)

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Field

Field Type

ASCII
Value

Binary
Value

NEGATIVE
4

polarity
POSITIVE

5

0

timebias

1

Any valid long
value

default: 4
minimum: 2
6

timeguard

Any valid Ulong
value larger than
the receiver’s
minimum raw
measurement
period 1

Format

Binary
Bytes

Binary
Offset

Optional field to
specify the polarity of
the pulse to be
received on the mark
input. See Figure 6:
TTL Pulse Polarity on
page 234 for more
information (default=
NEGATIVE)

Enum

4

H+8

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

Long

4

H+12

Optional field to
specify a time period,
in milliseconds,
during which
subsequent pulses
after an initial pulse
are ignored

Ulong

4

H+16

Description

1See Appendix A in the OEM7 Installation and Operation User Manual 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.

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2.81 MEDIAFORMAT
Format the media for PwrPak7
Platform: PwrPak7
Formats the specified media as FAT32, using PwrPak7 specific cluster size and other parameters.

Only the internal flash memory can be formatted.

Entering this command results in complete loss of all data stored on the media.
Entering this command initiates the format operation. An error is reported if formatting could
not be initiated, for example due to the media being disconnected.
Formatting progress can be observed using the FILESYSTEMSTATUS log on page 471, which
will report BUSY, followed by MOUNTED.

The receiver may reboot in the process.
Message ID: 2128
Abbreviated ASCII Syntax:
MEDIAFORMAT MassStorage
Example:
MEDIAFORMAT INTERNAL_FLASH

Field

ASCII
Value

Field Type

Binary
Value

Description

1

MEDIAFORMAT
header

-

-

Command header.
See Messages on
page 25 for more
information.

2

MassStorage

INTERNAL_
FLASH

4

Format the internal
memory in the
PwrPak7.

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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2.82 MODEL
Switches to a previously authorized model
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to switch the receiver between models previously added with the AUTH
command (see page 73). 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 849) to output a list of available models on the receiver.
Use the VERSION log (see page 854) to output the active model. Use the AUTHCODES log (see
page 414) to output a list of the auth codes present on the receiver.

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 73). 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

1

MODEL
header

-

model

Max 16 character nullterminated string
(including the null)

2

ASCII
Value

Binary
Value
-

Description
Command header. See
Messages on page 25 for
more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

String
Model name

[max
16]

Variable
1

H

1In 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.

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2.83 MOVINGBASESTATION
Enables the use of a moving base station
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 OEM7 Installation and Operation User Manual). 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 V3 operation.
3. RTCM V3 support includes GPS + GLONASS operation.
Message ID: 763
Abbreviated ASCII Syntax:
MOVINGBASESTATION switch
Factory Default:
MOVINGBASESTATION disable
ASCII Example:
MOVINGBASESTATION ENABLE

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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

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.
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

2

Field Type
MOVING
BASESTATION
header

ASCII
Value

Binary
Value

Description

-

-

Command header. See
Messages on page 25
for more information.

DISABLE

0

Do not transmit
corrections without a
fixed position

switch
ENABLE

1

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Transmit corrections
without a fixed position

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2.84 NAVICECUTOFF
Sets elevation cut-off angle for NavIC satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to set the elevation cut-off angle for tracked NavIC satellites. The
receiver does not start automatically searching for a NavIC satellite until it rises above the cutoff 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 65).
In either case, satellites below the NAVICECUTOFF 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:
l

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

l

Satellites are visible below the horizon due to atmospheric refraction

Care must be taken when using NAVICECUTOFF 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.

Use the ELEVATIONCUTOFF command on page 136 to set the cut-off angle for all other
systems.

For dual antenna receivers, this command applies to both the primary and secondary
antennas.
Message ID: 2134
Abbreviated ASCII Syntax:
NAVICECUTOFF angle
Factory Default:
NAVICECUTOFF 5.0
ASCII Example:
NAVICECUTOFF 10.0

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Field

Field Type

ASCII Binary
Value Value

1

NAVICECUTOFF
header

-

2

angle

±90.0 degrees

-

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Elevation cut-off angle
relative to horizon

Float

4

H

Description

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2.85 NMEAFORMAT
Customize NMEA output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use the NMEAFORMAT command to customize the NMEA GPGGA and GPGGALONG output.

Modifying the NMEA output will make it not compliant with the NMEA standard.
Message ID: 1861
Abbreviated ASCII Syntax:
NMEAFORMAT field format
Factory Default:
NMEAFORMAT GGA_LATITUDE 9.4
NMEAFORMAT GGA_LONGITUDE 10.4
NMEAFORMAT GGA_ALTITUDE .2
NMEAFORMAT GGALONG_LATITUDE 12.7
NMEAFORMAT GGALONG_LONGITUDE 13.7
NMEAFORMAT GGALONG_ALTITUDE .3
Example:
The following settings increase the precision of the GPGGA latitude and longitude fields:
NMEAFORMAT GGA_LATITUDE 11.6
NMEAFORMAT GGA_LONGITUDE 12.6
The following settings decrease the precision of the GPGGALONG latitude and longitude fields:
NMEAFORMAT GGALONG_LATITUDE 11.6
NMEAFORMAT GGALONG_LONGITUDE 12.6
The following setting stops the undulation fields of the GPGGALONG log being filled, making a log
like the GPGGARTK log that was in NovAtel's OEM6 firmware:
NMEAFORMAT GGALONG_UNDULATION !0

Field

1

Field
Type
NMEA
FORMAT
Header

ASCII Value

Binary
Value

-

-

OEM7 Commands and Logs Reference Manual v7

Description
Command header. See
Messages on page 25 for
more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Chapter 2 Core Commands

Field

2

Field
Type

ASCII Value

Binary
Value

GGA_
LATITUDE

0

GPGGA latitude field

GGA_
LONGITUDE

1

GPGGA longitude field

GGA_
ALTITUDE

2

GPGGA altitude (height)
field

GGA_
UNDULATION

3

GPGGA undulation field

GGALONG_
LATITUDE

10

GPGGALONG latitude
field

GGALONG_
LONGITUDE

11

GPGGALONG longitude
field

GGALONG_
ALTITUDE

12

GPGGALONG altitude
(height) field

GGALONG_
UNDULATION

13

GPGGALONG undulation
field

Description

Field

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Enum

4

H

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Chapter 2 Core Commands

Field

Field
Type

ASCII Value

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

Char[8]

8

H+4

The Format field has a
syntax similar to the
printf function commonly
found in programming
languages. The format
is:
!x.y
Where:
y is the number of
digits to display after
the decimal point

3

Format

Char[8]

x sets the minimum
field width including
the decimal point. X
is optional if ! is not
used. If the value
requires fewer digits
than x, leading zeros
are added to the output.
! forces the field
width to x. ! is
optional. If a value
exceeds the permitted width, the
value will be saturated. If ! is used, y
must be less than x.
Examples (GGA_
LATITUDE):
.5 = 5106.98120
2.3 = 5106.981
7.1 = 05107.0
!7.2 = 5106.98
!7.3 = 999.999

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2.86 NMEATALKER
Sets the NMEA talker ID
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 other NMEA logs are not affected by the
NMEATALKER command.

On SPAN systems, the GPGGA position is always based on the position solution from the
BESTPOS log which incorporate GNSS + INS solutions as well.
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.
As well, the default GPS NMEA message outputs GP as the talker ID regardless of the position
type given in position logs such as BESTPOS. 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.

If the solution comes from SPAN, the talker ID is IN.
Message ID: 861
Abbreviated ASCII Syntax:
NMEATALKER id
Factory Default:
NMEATALKER gp
ASCII Example:
NMEATALKER auto

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Field

1

2

Field Type
NMEATALKER
header

ASCII Binary
Value Value

Description

-

-

Command header. See
Messages on page 25 for
more information.

GP

0

GPS (GP) only

AUTO

1

GPS, Inertial (IN) and/or
GLONASS

ID

Format

Binary
Bytes

Binary
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 50: NMEA Talkers below shows the NMEA logs and whether they use GPS (GP),
GLONASS (GL), Galileo (GA) or combined (GN) talkers with NMEATALKER AUTO.
Table 50: 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

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2.87 NMEAVERSION
Sets the NMEA Version for Output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

Field Type
NMEAVERSION
header

ASCII Binary
Value Value
-

V31
2

Description

-

Command header. See
Messages on page 25 for
more information.

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

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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Chapter 2 Core Commands

2.88 NTRIPCONFIG
Configures NTRIP
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
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

ASCII
Value

Field Type

NTRIPCONFIG
Header

port

Binary
Value

-

-

NCOM1

26

NCOM2

27

NCOM3

28

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Name of the port see
Table 31:
Communications Port
Identifiers on
page 132

Enum

4

H

Description

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Chapter 2 Core Commands

Field

3

4

Field Type

type

ASCII
Value

Binary
Value

DISABLED

1

CLIENT

2

SERVER

3

V1

1

V2

2

protocol

Format

Binary
Bytes

Binary
Offset

NTRIP type

Enum

4

H+4

Protocol (default V1)

Enum

4

H+8

String
[80]

variable

Description

5

endpoint

Max 80 character
string

Endpoint to wait on
or to connect to
where host is a
hostname or 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]

variable

7

user name

Max 30 character
string

Login user name

String
[30]

variable

8

password

Max 30 character
string

Password

String
[30]

variable
1

variable

9

bindInterface

ALL
(default)

Not supported. Set to
ALL for future
compatibility.

Enum

4

variable

1

1

1

1

H+12

variable
variable

1In 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.

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2.89 NTRIPSOURCETABLE
Set NTRIPCASTER ENDPONTS
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is used to set the NTRIPCASTER ENDPOINTS to be used for the SOURCETABLE
log (see page 829).
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

Field Type
NTRIP
SOURCETABLE
header

ASCII Binary
Value Value

Description

Format

Binary
Bytes

Binary
Offset
0

-

Command header. See
Messages on page 25 for
more information.

-

H

String
[80]

variable
1

H

2

Endpoint

Max 80
character string

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

3

Reserved1

Reserved

Reserved

Ulong

4

variable

4

Reserved2

Reserved

Reserved

Ulong

4

variable

1In 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.

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2.90 NVMRESTORE
Restores NVM data after an NVM failure
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 command
on page 748 and RXSTATUSEVENT command on page 762). 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
OEM7 Installation and Operation User Manual 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.

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2.91 NVMUSERDATA
Write User Data to NVM
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command writes the data provided in the data array to NVM. This data can be retrieved by
issuing the command LOG NVMUSERDATA.
The user data is maintained through power cycles and a standard FRESET command (see page
174). To clear the user data, use the FRESET USERDATA command.

The user data may be deleted if the NVMRESTORE command (see page 252) is sent.
NVMRESTORE should be used with caution and is meant for use only in the event of a
NVM receiver error.
Message ID: 1970
Abbreviated ASCII Syntax:
NVMUSERDATA N DATA
Field

Field Type

Binary
Value

Description

Binary Binary
Format Bytes

Binary
Offset

1

NVMUSERDATA
header

-

Command header. See Messages
on page 25 for more information.

-

H

0

2

N

-

Number of bytes of data to follow

Ulong

4

H

Uchar

2000

H+4

User input data up to a maximum
of 2000 bytes.
3

DATA

-

Data is entered in hexadecimal
values with no separators
between the values. For example,
1a2b3c4e

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2.92 PDPFILTER
Enables, disables or resets the PDP filter
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to enable, disable or reset the Pseudorange/Delta-Phase (PDP) filter. The
main advantages of the PDP implementation are:
l

l

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)
Enable the PDP filter to output the PDP solution in the BESTPOS log (see
page 428), BESTVEL log (see page 444) and NMEA Standard Logs on
page 615.
Refer to the Operation chapter of the OEM7 Installation and Operation User
Manual for information on configuring your receiver for PDP or GLIDE®
operation.

2.92.1 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 and DGPS
VBS modes. See also the PDPMODE command on page 256 and the PDPPOS log on page 630,
PDPVEL log on page 634 and PDPXYZ log on page 635.
Message ID: 424
Abbreviated ASCII Syntax:
PDPFILTER switch
Factory Default:
PDPFILTER disable
ASCII Example:
PDPFILTER enable

1Refer also to our application note APN038 on Pseudorange/Delta-Phase (PDP), available on our website a

www.novatel.com/support/search.

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Field

1

2

Field
Type
PDPFILTER
header

ASCII
Value

Binary
Value

Description

-

-

Command header. See
Messages on page 25 for
more information.

DISABLE

0

Disable the PDP filter.

ENABLE

1

Enable the PDP filter.

2

Reset the PDP filter. A
reset clears the filter
memory so that the PDP
filter can start over

switch
RESET

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Bytes

Binary
Offset

-

H

0

Enum

4

H

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2.93 PDPMODE
Selects the PDP mode and dynamics
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to select the mode and dynamics of the PDP filter.
The PDPFILTER ENABLE command (see the PDPFILTER command on page 254) must
be entered before the PDPMODE command.
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 344.
Message ID: 970
Abbreviated ASCII Syntax:
PDPMODE mode dynamics
Factory Default:
PDPMODE normal auto
ASCII Example:
PDPMODE relative dynamic

Field

1

2

3

Field
Type
PDPMODE
header

mode

dynamics

ASCII
Value
-

Binary
Value
-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

In relative mode, GLIDE
performance is optimized
to obtain a consistent error
in latitude and longitude
over time periods of 15
minutes or less, rather than
to obtain the smallest
absolute position error. See
also GLIDE Position Filter
on page 254 for GLIDE
mode additional
information

Enum

4

H

Enum

4

H+4

Description

NORMAL

0

RELATIVE

1

GLIDE

3

AUTO

0

Auto detect dynamics mode

STATIC

1

Static mode

DYNAMIC

2

Dynamic mode

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2.94 PGNCONFIG
Configure NMEA2000 PGNs.
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to configure the PGNs of the proprietary NMEA 2000 fast-packet messages
the OEM7 receivers produce.
The receiver must be reset after issuing a SAVECONFIG command (see page 316) for all the
configuration changes to take affect.
Message ID: 1892
Abbreviated ASCII Syntax:
PGNCONFIG message_id pgn priority
Factory Default:
PGNCONFIG INSPVACMP 130816 7
PGNCONFIG INSPVASDCMP 130817 7
ASCII Example:
PGNCONFIG INSPVACMP 129500 3
This example sets the INSPVACMP message to PGN 129500 with priority 3.

Field

Field Type

1

PGNCONFIG
Header

2

message_id

ASCII Value

Binary
Value

-

-

INSPVACMP

1889

INSPVASDCMP

1890

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

NovAtel message
ID

Ulong

4

H

Description

3

pgn

0 to 4294967295

PGN to use for
message_id

Ulong

4

H+4

4

priority

0-7

CAN priority to use

Uchar

1

H+8

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2.95 POSAVE
Implements base station position averaging
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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. See the FIX command on page 161.
If differential logging is initiated, then issue the POSAVE command followed by the
SAVECONFIG command (see page 316). 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

1

POSAVE
header

2

state

ASCII Binary
Value Value

Description

-

-

Command header. See
Messages on page 25 for more
information.

ON

1

Enable position averaging

OFF

0

Disable position averaging

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

3

maxtime

0.01 - 100
hours

Maximum amount of time that
positions are to be averaged
(default=0.01)

Float

4

H+4

4

maxhstd

0 - 100 m

Desired horizontal standard
deviation
(default = 0.0)

Float

4

H+8

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Field

5

Field
Type
maxvstd

ASCII Binary
Value Value
0 - 100 m

Description
Desired vertical standard
deviation
(default = 0.0)

Format

Binary
Bytes

Binary
Offset

Float

4

H+12

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.

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2.96 POSTIMEOUT
Sets the position time out
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This commands is used to set the time out value for the position calculation in seconds.
In position logs, for example BESTPOS log (see page 428) or PSRPOS log (see page 648),
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 the BESTPOS log (see page 428) or PSRPOS log (see page 648) is based
on a recent calculation. All position calculations are then recalculated using the most
recent satellite information.

Field

Field Type

ASCII Binary
Value Value

1

POSTIMEOUT
header

-

2

sec

0-86400

-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Time out in seconds

Ulong

4

H

Description

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2.97 PPPBASICCONVERGEDCRITERIA
Configures decision for PPP Basic convergence
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
The PPPBASICCONVERGEDCRITERIA command sets the threshold that determines if the solution has converged for lower accuracy PPP solutions. These are the PPP solutions reported with
the PPP_BASIC and PPP_BASIC_CONVERGING position types.

The convergence threshold for high-accuracy PPP solutions (reported with PPP and PPP_
CONVERGING position types) is set using the PPPCONVERGEDCRITERIA command
(see page 262).

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: 1949
Abbreviated ASCII Syntax:
PPPBASICCONVERGEDCRITERIA criteria tolerance
Factory Default:
PPPBASICCONVERGEDCRITERIA horizontal_stddev 0.60
ASCII Example:
PPPBASICCONVERGEDCRITERIA total_stddev 0.45

Field

Field Type

1

PPPBASIC
CONVERGED
CRITERIA
header

2

ASCII Value

Description

Format

Binary
Bytes

Binary
Offset

-

H

0

-

-

Command header.
See Messages on
page 25 for more
information.

TOTAL_
STDDEV

1

Use the total, 3D,
standard deviation
Enum

4

H

2

Use the horizontal,
2D, standard
deviation
Tolerance (m)

Float

4

H+4

Criteria
HORIZONTAL_
STDDEV

3

Binary
Value

Tolerance

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2.98 PPPCONVERGEDCRITERIA
Configures decision for PPP convergence
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
The PPPCONVERGEDCRITERIA command sets the threshold that determines if the solution
has converged for high-accuracy PPP solutions. These are the PPP solutions reported with the
PPP and PPP_CONVERGING position types.

The convergence threshold for lower accuracy PPP solutions (reported with PPP_BASIC
and PPP_BASIC_CONVERGING position types) is set using the
PPPBASICCONVERGEDCRITERIA command (see page 261).

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

Field Type

1

PPP
CONVERGED
CRITERIA
header

2

ASCII Value

Description

Format

Binary
Bytes

Binary
Offset

-

H

0

-

-

Command header.
See Messages on
page 25 for more
information.

TOTAL_
STDDEV

1

Use the total, 3D,
standard deviation
Enum

4

H

2

Use the horizontal,
2D, standard
deviation
Tolerance (m)

Float

4

H+4

Criteria
HORIZONTAL_
STDDEV

3

Binary
Value

Tolerance

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2.99 PPPDYNAMICS
Sets the PPP dynamics mode
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command configures the dynamics assumed by the PPP filter. AUTO detects the antenna
dynamics and adapts filter operation accordingly.

The automatic dynamics detection 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
PPPDYNAMICS
header

Binary
Value

Description

-

-

Command header. See
Messages on page 25
for more information.

AUTO

0

Automatically
determines dynamics
mode

STATIC

1

Static mode

DYNAMIC

2

Dynamic mode

Mode

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Bytes

Binary
Offset

-

H

0

Enum

4

H

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2.100 PPPDYNAMICSEED
Seed the PPP filter in any platform motion state
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command enables seeding of the PPP engine regardless of the receiver motion state. Accurate seeds can be used to improve initial PPP convergence and re-convergence following signal
outages.
The seed position given by the PPPDYNAMICSEED command must be in a datum consistent
with the PPP corrections that are in use. For NovAtel CORRECT with PPP, the datum is ITRF2008.
The dynamic seed’s time must refer to receiver time and cannot be more than 15 seconds in the
past. A valid PPP solution (the PPPPOS log (see page 639) solution status is SOL_COMPUTED)
must have been computed for the same epoch as the seed in order for the seed to be used.
See the PPPSEED command on page 267 for stationary-only seeding and for other control over
seeding.
Message ID: 2071
Abbreviated ASCII Syntax:
PPPDYNAMICSEED week seconds latitude longitude height northing_std_dev
easting_std_dev height_std_dev [northing_easting_covariance] [northing_
height_covariance] [easting_height_covariance]
Example :
PPPDYNAMICSEED 1817 247603 51.2086442297 -113.9810263055 1071.859 0.02 0.02
0.04

Field

Field Type

ASCII Binary
Value Value

Description

Format

Command header.
See Messages on
page 25 for more
information.

Binary
Bytes

Binary
Offset

H

0

1

PPPDYNAMICSEED
header

-

2

week

0-9999

GPS Week number

Ulong

4

H

3

seconds

0-604800

Number of seconds
into GPS week

Ulong

4

H+4

4

latitude

±90

Latitude (degrees)

Double

8

H+8

5

longitude

±180

Longitude (degrees)

Double

8

H+16

6

height

> -2000.0

Ellipsoidal height
(metres)

Double

8

H+24

7

northing_std_dev

Northing standard
deviation (metres)

Float

4

H+32

-

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Field

Field Type

ASCII Binary
Value Value

Description

Format

Binary
Bytes

Binary
Offset

8

easting_std_dev

Easting standard
deviation (metres)

Float

4

H+36

9

height_std_dev

Ellipsoidal height
standard deviation
(metres)

Float

4

H+40

10

northing_easting_
covariance

Covariance between
northing and easting
components (metres)

Float

4

H+44

11

northing_height_
covariance

Covariance between
northing and height
components (metres)

Float

4

H+48

12

easting_height_
covariance

Covariance between
easting and height
components (metres)

Float

4

H+52

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2.101 PPPRESET
Reset the PPP filter
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command resets the PPP filter. After a reset, the PPP filter is restored to its initial state and
PPP convergence will start over.

If deletion of the NVM-saved PPP seed information is also required, then a PPPSEED
CLEAR command must be applied before the PPPRESET command. See the PPPSEED
command on the next page.
Message ID: 1542
Abbreviated ASCII Syntax:
PPPRESET [Option]
ASCII Example :
PPPRESET

Field

1

Field
Type
PPPRESET
header

ASCII
Value

Binary
Value

-

-

Description
Command header. See
Messages on page 25 for
more information.

Binary
Bytes

Binary Binary
Format Offset

-

H

0

4

Enum

H

Reset the PPP filter.
2

Option

FILTER

1

This is an optional parameter.
(default = FILTER)

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2.102 PPPSEED
Control the seeding of the PPP filter
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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. The PPPSEED SET command can only be used to give seed positions for stationary
platforms. If the platform is moving, use the PPPDYNAMICSEED command (see page 264).

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 263) 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 316).
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

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Field

1

2

Field
Type
PPPSEED
header

option

ASCII
Value

Binary
Value

Description

-

-

Command header. See
Messages on page 25 for
more information.

CLEAR

0

Resets the stored seed, and
prevents any auto seeding
from occurring.

SET

1

Immediately apply the
specified co-ordinates as a
seed position.

STORE

2

Store the current PPP
position in NVM for use as a
future seed.

RESTORE

3

Retrieve and apply a seed
position that was previously
saved in NVM via the STORE
or AUTO options.

AUTO

4

Automatically store and
restore PPP seed positions.

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

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

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2.103 PPPSOURCE
Specifies the PPP correction source
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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.
Message ID: 1707
Abbreviated ASCII Syntax:
PPPSOURCE source
Factory Default:
PPPSOURCE auto
ASCII Example:
PPPSOURCE none

Field

1

ASCII
Value

Field Type

PPPSOURCE
header

-

Binary
Value

-

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Command header.
See Messages on
page 25 for more
information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Chapter 2 Core Commands

Field

2

Field Type

source

ASCII
Value

Binary
Value

Description

NONE

0

Reject all
PPP corrections.
Disable 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

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Binary
Bytes

Binary
Offset

Enum

4

H

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Chapter 2 Core Commands

2.104 PPPTIMEOUT
Sets the maximum age of the PPP corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

Field Type

ASCII Binary
Value Value

1

PPPTIMEOUT
header

-

2

delay

5 to 900 s

-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Maximum corrections age

Ulong

4

H

Description

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2.105 PPSCONTROL
Controls the PPS output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command provides a method for controlling the polarity, period and pulse width of the PPS
output on the OEM7. 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

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Field

1

Field Type

PPSCONTROL
header

ASCII Value

-

H

0

Enum

4

H

Optional field to
specify the polarity
of the pulse to be
generated on the
PPS output. See
Figure 6: TTL Pulse
Polarity on
page 234 for more
information
(default=
NEGATIVE)

Enum

4

H+4

Optional field to
specify the period
of the pulse, in
seconds
(default=1.0)

Double

8

H+8

DISABLE

0

Disable the PPS

ENABLE

1

Enable the PPS
(default)

2

Enable the PPS only
when FINE or
FINESTEERING
time status has
been reached

3

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

switch

0

polarity

POSITIVE

period

Binary
Offset

-

NEGATIVE

4

Binary
Bytes

-

ENABLE_
FINETIME_
MINUTEALIGN

3

Format

Description
Command header.
See Messages on
page 25 for more
information.

ENABLE_
FINETIME
2

Binary
Value

1

0.05, 0.1, 0.2, 0.25,
0.5, 1.0, 2.0,
3.0,...20.0

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Field

5

Field Type

pulsewidth

ASCII Value

Binary
Value

Any positive value less
than or equal to half the
period

OEM7 Commands and Logs Reference Manual v7

Description
Optional field to
specify the pulse
width of the PPS
signal in
microseconds. This
value should
always be less than
or equal to half the
period
(default=1000)

Format

Binary
Bytes

Binary
Offset

Ulong

4

H+16

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2.106 PPSCONTROL2
Controls polarity, period, pulse width and estimated error limit of the
PPS output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
The PPSCONTROL2 command provides a method for controlling the polarity, period, pulse
width, and estimated error limit of the PPS output on the OEM7. The PPS output can also be disabled using this command.
This command is identical to the PPSCONTROL command (see page 272) with the addition of a
new parameter that represents the Estimated Error Limit.

If the value of a field shared with PPSCONTROL is changed in PPSCONTROL2, the value
of that field is also changed in PPSCONTROL. For example, if the polarity is changed
using the PPSCONTROL2 command, the polarity is also changed in PPSCONTROL 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

Field Type

PPSCONTROL2
header

ASCII Value

-

Binary
Value

-

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Description
Command header.
See Messages on
page 25 for more
information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Field

Field Type

ASCII Value

Binary
Value

DISABLE

0

Disable the PPS

ENABLE

1

Enable the PPS
(default)

2

Enable the PPS
only when FINE or
FINESTEERING
time status has
been reached

3

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

ENABLE_
FINETIME
2

switch

ENABLE_
FINETIME_
MINUTEALIGN

NEGATIVE

3

polarity

POSITIVE

4

0

period

1

0.05, 0.1, 0.2, 0.25,
0.5, 1.0, 2.0,
3.0,...20.0

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Enum

4

H

Optional field to
specify the
polarity of the
pulse to be
generated on the
PPS output. See
Figure 6: TTL
Pulse Polarity on
page 234 for more
information
(default =
NEGATIVE).

Enum

4

H+4

Optional field to
specify the period
of the pulse in
seconds (default
= 1.0).

Double

8

H+8

Description

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Field

5

6

Field Type

pulse width

estimated
error limit

ASCII Value

Binary
Value

Any value less than or
equal to half the pulse
period in microseconds.

0 to 2147483647 in
nanoseconds

Description
Optional field to
specify the pulse
width of the PPS
signal in
microseconds.
This value should
always be equal
to half the period
(default = 1000).
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 offset is
within this limit.

Format

Binary
Bytes

Binary
Offset

Ulong

4

H+16

Long

4

H+20

An estimated
error limit of 0
removes the
estimated error
limit restraint on
the PPS.

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2.107 PROFILE
Profile in Non-Volatile Memory (NVM)
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to configure multiple profiles in the NVM at receiver startup. The output is
in the PROFILEINFO log (see page 643).
Message ID: 1411
Abbreviated ASCII Syntax:
PROFILE Option Name [command]
ASCII Examples:
PROFILE create Base
PROFILE createelement Base “log com1 versiona”
PROFILE createelement Base “serialconfig com2 115200”
PROFILE createelement Base “log com2 rtca1 ontime 1”
PROFILE activate Base

Field

Field
Type

ASCII
Value

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25
for more information.

-

H

0

Profile options

Enum

4

H

Name

Profile name

String
[Max 20]

variable

Command

Profile command

String
[Max 200]

variable

1

PROFILE
header

-

2

Option

Refer to Table 51:
Profile Option on
the next page

3
4

-

1

1

H+4
variable

1In 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.

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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 profiles are deleted by a FRESET PROFILEINFO command (see the FRESET command on page 174).
7. The receiver resets after a profile is activated.
8. Some commands optionally accept a port parameter and will default to THISPORT if no
port is provided (e.g.LOG command). Since the commands in a profile are not sent
from a port THISPORT is undefined in this case. When adding such commands to a profile, be sure to specify the port for the command rather than letting the command use
the default, which may result in incorrect behavior.
9. Commands that lead to a reset of the receiver are rejected by the PROFILE command
(see page 278).

Table 51: 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

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2.108 PSRDIFFSOURCE
Sets the pseudorange differential correction source
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 311.
1. When a valid PSRDIFFSOURCE command is received, the current correction is
removed immediately rather than in the time specified in the
(PSRDIFFSOURCETIMEOUT command (see page 283)).
2. To use L-Band differential corrections, an L-Band receiver and NovAtel Correct with
PPP 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 RTK and PSRDIFF from RTCM, with a fall-back to SBAS:
RTKSOURCE RTCM ANY
PSRDIFFSOURCE RTCM ANY
SBASCONTROL ENABLE AUTO
3. Disable all corrections:
RTKSOURCE NONE
PSRDIFFSOURCE none

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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.

Field

Field Type
PSRDIFFSOURCE
header

1

ASCII Binary
Value Value
-

-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25
for more information.

-

H

0

Enum

4

H

Char[5]

82

H+4

Description

2

type

See Table 52:
DGPS Type
below

ID Type. All types
(except NONE) may
revert to SBAS (if
enabled) or SINGLE
position types. See
Table 74: Position or
Velocity Type on
page 432 1

3

Base station ID

Char [5] or ANY

ID string

Table 52: DGPS Type
Binary

ASCII

Description

0

RTCM

RTCM ID: 0 ≤ RTCM ID ≤ 1023 or ANY

1

RTCA

RTCA ID: A four character string containing only alpha (a-z) or numeric
characters (0-9) or ANY

2

CMR3

CMR ID: 0 ≤ CMR ID ≤ 31 or ANY

3

Reserved

4

Reserved

1If ANY is chosen, the receiver ignores the ID string. Specify a Type when using base station IDs.
2In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.
3This cannot be used in the PSRDIFFSOURCE command.

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Binary

5

ASCII

SBAS1

Description
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 (see page 311), it can not
provide carrier phase positioning and returns an error

6

10

RTK4

AUTO4

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 (see page 311)
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 RTCMV3 and RTK will be preferred over SBAS messages. If
RTCMV3 and RTK are all available then the type of the first received
message will be used.
In the RTKSOURCE command (see page 311), AUTO means that both the
NovAtel RTK filter is enabled. The NovAtel RTK filter selects the first
received RTCMV3 message.

11

NONE4

12

Reserved

13
14

RTCMV3 3,
2

NOVATELX

Disables all differential correction types

RTCM Version 3.0 ID: 0 ≤ RTCMV3 ID ≤ 4095 or ANY
NovAtel proprietary message format ID: A four character string containing
alpha (a-z) or numeric characters (0-9) or ANY

All PSRDIFFSOURCE entries fall back to SBAS (except NONE).

1Available only with the PSRDIFFSOURCE command.
2Base station ID parameter is ignored.

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2.109 PSRDIFFSOURCETIMEOUT
Sets pseudorange differential correction source timeout
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

1

PSRDIFFSOURCE
TIMEOUT header

2

option

3

timeout

ASCII Binary
Value Value
-

-

AUTO

1

SET

2

0 to 3600 sec

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25
for more information.

-

H

0

Use AUTO or SET to set
the time

Enum

4

H

Specify the timeout
(default=0)

Ulong

4

H+4

Description

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2.110 PSRDIFFTIMEOUT
Sets maximum age of pseudorange differential data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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
Value

Binary
Value
-

1

PRSDIFF
TIMEOUT
header

-

2

delay

2 to 1000 s

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for more
information.

-

H

0

Maximum pseudorange
differential age

Ulong

4

H

Description

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2.111 QZSSECUTOFF
Sets QZSS satellite elevation cutoff
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to set the elevation cut-off angle for tracked 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 satellites that fall below the cut-off angle are no
longer tracked unless they are manually assigned (see the ASSIGN command on page 65).
In either case, satellites below the QZSSECUTOFF 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:
l

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

l

Satellites are visible below the horizon due to atmospheric refraction

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.

Use the ELEVATIONCUTOFF command (see page 136) to set the cut-off angle for any
system.

For dual antenna 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

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Field

Field Type

ASCII Binary
Value Value

1

QZSSECUTOFF
header

-

2

angle

±90 degrees

-

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Elevation cutoff angle
relative to the horizon

Float

4

H

Description

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2.112 RADARCONFIG
Configure the Emulated Radar Output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to configure the Emulated Radar (ER) output.

The ER signal is output on the VARF or EVENT_OUT1 pin of the receiver.
Message ID: 1878
Abbreviated ASCII Syntax:
RADARCONFIG switch [frequency_step [update_rate [response_mode
[threshold]]]]
Factory Default:
radarconfig disable
ASCII Example:
radarconfig enable 26.11 5hz 2 3.5

Field

1

2

Field Type
RADARCONFIG
header

ASCII
Value

Binary
Value

Description

-

-

Command header. See
Messages on page 25
for more information.

DISABLE

0

Disables radar
emulation

1

Enables radar
emulation

switch
ENABLE

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Double

8

H+4

10.06
16.32
3

freq_step

26.11
28.12
34.80

Frequency step per
kilometer per hour.
(default = 36.11
Hz/kph)

36.11

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Field

4

5

Field Type

update_rate

resp_mode

ASCII
Value

Binary
Value

Description

1HZ

1

2HZ

2

5HZ

5

Rate at which the
output frequency is
adjusted

10HZ

10

(default = 10HZ)1

20HZ

20

See Table 53:
Response Modes
below

Specify how responsive
radar emulation is to
changes in velocity

Format

Binary
Bytes

Binary
Offset

Enum

4

H+12

Integer

4

H+16

Double

8

H+20

(Default = 500)1
The speed threshold at
which to switch
between response
mode 1000 and
response mode 500.

6

threshold

2 to 50 kph

The threshold is only
applicable when the
response mode is set
to 2.
(default = 5 kph)

Table 53: Response Modes
Mode

Description

1

Immediate. This results in the lowest latency at the cost of higher noise

2

Automatically switch between 1000 and 500 depending on speed. When speed is below the
Threshold parameter, use Response Mode 500. Otherwise, use Response Mode 1000.

500

Signal is minimally smoothed resulting in low latency but increased noise.

1000

Output signal is smoothed over a smaller window resulting in less latency than 2000 and
less noise than 500.

2000

Output signal is smoothed to reduce noise at the cost of higher latency

1The number of samples used for smoothing depends on both the update_rate and resp_mode parameters. For

instance, if the update_rate is 5 Hz and the resp_mode is 2000 ms, the number of samples used will be 10.

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2.113 RAIMMODE
Configures RAIM mode
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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.

2.113.1 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.

2.113.2 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

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Abbreviated ASCII Syntax:
RAIMMODE mode [hal [val [pfa]]]
Factory Default:
RAIMMODE default
Input Example:
RAIMMODE user 100 100 0.01
RAIMMODE terminal

Field

Field
Type

ASCII Binary
Value Value

Description
Command header. See
Messages on page 25 for
more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

1

RAIMMODE
Header

-

2

MODE

See Table 54: RAIM Mode Types below

Enum

4

H

3

HAL

5 ≤ HAL ≤
9999.99

Horizontal alert limit (m)
(Default = 0.0)

Double

8

H+4

4

VAL

5 ≤ VAL ≤
9999.99

Vertical alert limit (m)
(Default = 0.0)

Double

8

H+12

5

PFA

(Pfa) = 1e-7≤
Pfa ≤ 0.25

Probability of false alert
(Default = 0.0)

Double

8

H+20

-

Table 54: 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 = 3710 m (2
nm), no VAL requirement

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2.114 REFERENCESTATIONTIMEOUT
Sets timeout for removing previously stored base stations
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

Field Type

REFERENCESTATION
TIMEOUT header

ASCII Binary
Value Value

-

-

Description
Command header.
See Messages on
page 25 for more
information.

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Ulong

4

H+4

Sets the Timeout to
90 seconds1
AUTO

2

option

SET

3

1

timeout

2

1 to 3600 s

The Timeout field is
optional for AUTO
and has no effect
Must set the
timeout value using
the Timeout field
0 is not accepted
when using the SET
option
Specify the time

1This behavior is subject to change.

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2.115 RESET
Performs a hardware reset
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command performs a hardware 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 174 and SAVECONFIG command on page 316.
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
The RESET command can be used to erase any unsaved changes to the receiver
configuration.
Unlike the FRESET command on page 174, the RESET command does not erase data
stored in the NVM, such as Almanac and Ephemeris data.

Field

Field
Type

ASCII
Value

Binary
Value

1

RESET
header

-

-

2

delay
(0-60)

Format

Binary
Bytes

Binary
Offset

Command header. See Messages
on page 25 for more information.

-

H

0

Seconds to wait before resetting
(default = 0)

Ulong

4

H

Description

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2.116 RFINPUTGAIN
Configure the Calibrated Antenna Gain (CAG)
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to select the mode (AUTO or MANUAL) of setting the CAG for the purpose of
interference detection.
If auto mode is used, the receiver will automatically compute the CAG at start up. In this case it
is assumed that the receiver is powered up with its antenna connected and no interference is
present.

If the antenna is changed, either reset the receiver or reissue this command to allow
receiver to re-compute the CAG.
If manual mode is used, the CAG input by the user is used by the receiver to detect interference.
The CAG is defined to be the cascaded RF gain before receiver input plus LNA noise figure (NF),
counting active antenna LNA gain, in-line amplifier, RF cable or distribution loss prior to receiver
input connector.
A typical GNSS active antenna (of reasonable quality) has a noise figure of ~2dB (dominated by
the LNA in an active antenna).
RFINPUTGAIN = Cascaded Gain before receiver + LNA NF

For advanced users.
If using this command in manual mode, the antenna gain must be accurately measured
when the system is not experiencing any interference. If an erroneous CAG is injected,
the interference detection performance can be degraded.
Message ID: 2155
Abbreviated ASCII Syntax:
RFINPUTGAIN RFPath [mode] [CAG]
Factory Default:
RFINPUTGAIN L1 AUTO
RFINPUTGAIN L2 AUTO
RFINPUTGAIN L5 AUTO
ASCII Example:
RFINPUTGAIN L1 MANUAL 30
RFINPUTGAIN L2 30

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Field

1

2

3

Field Type
RFINPUTGAIN
header

RFPath

ASCII
Value

Binary
Value

-

-

L1

2

L2

3

L5

5

AUTO

0

mode
MANUAL

1

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

RF path selection

Enum

4

H

Calibrated Antenna Gain
(CAG) mode.

Enum

4

H+4

Float

4

H+8

Description

Default = MANUAL
Calibrated Antenna Gain
value

4

CAG

0.0-100.0

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If the mode is MANUAL,
a value for CAG must be
entered.

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2.117 RTKANTENNA
Specifies L1 phase center (PC) or ARP and enables/disables PC
modeling
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to specify whether to use L1 phase center or Antenna Reference Point (ARP)
positioning.
There is also an option 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 79 and THISANTENNAPCO command on page 367. Phase center variation parameters
can be entered using the BASEANTENNAPCV command on page 81 and THISANTENNAPCV
command on page 368.
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. An example of
these error conditions is:
l

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

ASCII
Value

Field Type
RTKANTENNA
header

-

Binary
Value
-

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Description
Command header. See
Messages on page 25
for more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Chapter 2 Core Commands

Field

2

3

Field Type

posref

ASCII
Value

Binary
Value

Description

L1PC

0

L1 phase center
position reference

ARP

1

ARP position reference

UNKNOWN

2

Unknown position
reference

DISABLE

0

Disable PCV modeling

ENABLE

1

Enable PCV modeling

pcv

Format

Binary
Bytes

Binary
Offset

Enum

4

H

Enum

4

H+4

4

Reserved

Bool

4

H+8

5

Reserved

Bool

4

H+12

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2.118 RTKASSIST
Enable or disable RTK ASSIST
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 with L-Band tracking capability and RTK ASSIST capability is needed. The duration of RTK ASSIST operation can
be limited using the RTKASSISTTIMEOUT command (see page 298).
When active, RTK ASSIST is shown in the RTKPOS and BESTPOS extended solution status field
(see Table 77: Extended Solution Status on page 435). The active status and further details on
the RTK ASSIST status are available through the RTKASSISTSTATUS log on page 731.

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

Field
Type

1

RTKASSIST
header

2

switch

ASCII
Value

Binary
Value

Description

-

-

Command header. See
Messages on page 25 for
more information.

DISABLE

0

Disable RTK ASSIST

ENABLE

1

Enable RTK ASSIST

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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2.119 RTKASSISTTIMEOUT
Set the maximum RTK ASSIST duration
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command sets how long the receiver will report an RTK solution when RTK is being maintained by RTK ASSIST. The maximum permitted duration of RTK ASSIST operation is determined by the subscription and receiver model. 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
RTKASSIST
TIMEOUT
header

ASCII Value

Binary
Value

Description

-

-

Command header.
See Messages on
page 25 for more
information.

SUBSCRIPTION
_LIMIT

0

Use maximum
permitted duration
limit.

1

The maximum RTK
ASSIST duration is
user set, up to the
limit permitted by
the subscription and
model.

limit_type
USER_LIMIT

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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Chapter 2 Core Commands

Field

Field
Type

ASCII Value

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

Ulong

4

H+4

Time out value in
seconds.
3

limit_value

OEM7 Commands and Logs Reference Manual v7

Only valid for the
USER_LIMIT Limit
Type.

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2.120 RTKDYNAMICS
Sets the RTK dynamics mode
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

1

2

ASCII
Value

Field Type
RTKDYNAMICS
header

Binary
Value

Description

-

-

Command header. See
Messages on page 25
for more information.

AUTO

0

Automatically
determines dynamics
mode

STATIC

1

Static mode

DYNAMIC

2

Dynamic mode

mode

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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2.121 RTKINTEGERCRITERIA
Report inaccurate fixed-integer RTK positions with float solution
type
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

Field Type

1

RTKINTEGER
CRITERIA
header

ASCII Value

-

TOTAL_
STDDEV
2

Binary
Value

-

Command header.
See Messages on
page 25 for more
information.

1

Test the threshold
against the
estimated total, 3D,
standard deviation

2

Test the threshold
against the
estimated
horizontal standard
deviation

criteria
HORIZONTAL_
STDDEV

Description

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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Chapter 2 Core Commands

Field

3

Field Type

threshold

ASCII Value

Binary
Value

0.01 m and higher

OEM7 Commands and Logs Reference Manual v7

Description
Estimated solution
standard deviation
(m) required for
solution to be
reported as integer

Format

Binary
Bytes

Binary
Offset

Float

4

H+4

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2.122 RTKMATCHEDTIMEOUT
Sets RTK filter reset time after corrections are lost
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

Field Type

ASCII Binary
Value Value

1

RTKMATCHED
TIMEOUT
header

-

2

timeout

1 to 3600 s

-

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Time out period

Ulong

4

H

Description

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Chapter 2 Core Commands

2.123 RTKNETWORK
Specifies the RTK network mode
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

Field Type
RTKNETWORK
header

1

2

3

ASCII Binary
Value Value
-

-

mode

Table 55:
Network RTK
Mode below

network#

0 to
4294967295

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

RTK network mode. The
factory default is auto
where the receiver
switches to the first
available network RTK
source

Enum

4

H

Ulong

4

H+4

Description

Specify a number for the
network
(default = 0)

Table 55: Network RTK Mode
Binary

ASCII

0

DISABLE

Description
Single reference station RTK mode. All received network RTK corrections are
ignored.

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Binary

ASCII

1-4

Reserved

5

VRS

Description

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.

6

7

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.

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Binary

ASCII

8

MAX

9

Reserved

10

AUTO

Description
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.

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.

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2.124 RTKPORTMODE
Assigns the port for RTK and ALIGN messages
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7

This command only applies to receivers with both RTK and ALIGN enabled.
A rover receiver with RTK and ALIGN enabled can receive RTK and ALIGN corrections at the
same time. However, the two different sources (RTK and ALIGN) must be sent to different ports.
Use the RTKPORTMODE command to route correction feeds to different ports. RTK and ALIGN
can be routed to any user specified ports.
Failing to specify the mode for the incoming source could cause unexpected behavior of RTK or
ALIGN.

Ports configured using the RTKPORTMODE command must also be configured using the
INTERFACEMODE command (see page 193).
Message ID: 1936
Abbreviated ASCII Syntax:
RTKPORTMODE [port] mode
Factory Default:
RTKPORTMODE COM1 RTK
RTKPORTMODE COM2 RTK
RTKPORTMODE COM3 RTK
RTKPORTMODE COM4 RTK
RTKPORTMODE COM5 RTK
RTKPORTMODE COM6 RTK
RTKPORTMODE ICOM1 RTK
RTKPORTMODE ICOM2 RTK
RTKPORTMODE ICOM3 RTK
RTKPORTMODE ICOM4 RTK
RTKPORTMODE ICOM5 RTK
RTKPORTMODE ICOM6 RTK
RTKPORTMODE ICOM7 RTK
RTKPORTMODE NCOM1 RTK
RTKPORTMODE NCOM2 RTK
RTKPORTMODE NCOM3 RTK

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RTKPORTMODE USB1 RTK
RTKPORTMODE USB2 RTK
RTKPORTMODE USB3 RTK
RTKPORTMODE WCOM1 RTK
RTKPORTMODE BT1 RTK
RTKPORTMODE AUX RTK
RTKPORTMODE CCOM1 RTK
RTKPORTMODE CCOM2 RTK
RTKPORTMODE CCOM3 RTK
RTKPORTMODE CCOM4 RTK
RTKPORTMODE CCOM5 ALIGN
RTKPORTMODE CCOM6 RTK
ASCII Example:
RTKPORTMODE COM2 RTK
RTKPORTMODE COM3 ALIGN

Field

ASCII
Value

Field Type

Binary
Value

RTKPORTMODE
header

-

2

Port

See Table 31:
Communications
Port Identifiers on
page 132

3

Mode

1

-

RTK

0

ALIGN

1

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Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Port identifier
(default =
THISPORT)

Enum

4

H

Mode for this port

Enum

4

H+4

Description

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2.125 RTKQUALITYLEVEL
Sets an RTK quality mode
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 mode 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

1

2

Field Type
RTKQUALITYLEVEL header

ASCII
Value

Binary
Value

Description

-

-

Command header. See
Messages on page 25 for
more information.

NORMAL

1

Set the RTK quality level
mode to Normal RTK

4

Set the RTK quality level
mode to Extra Safe RTK

mode
EXTRA_
SAFE

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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Chapter 2 Core Commands

2.126 RTKRESET
Reset the RTK filter
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command resets the RTK filter and causes the AdVanceRTK filter to undergo a complete
reset, forcing the system to restart the ambiguity resolution calculations.
Message ID: 2082
Abbreviated ASCII Syntax:
RTKRESET [Switch]
Example :
RTKRESET

Field

Field
Type

ASCII
Value

Binary
Value

1

RTKRESET
header

-

-

2

Switch

FILTER

1

Description
Command header. See
Messages on page 25 for
more information.
Reset the RTK filter.
This is an optional parameter

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Format

Binary
Byte

Binary
Offset

-

H

0

Enum

4

H

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Chapter 2 Core Commands

2.127 RTKSOURCE
Sets the RTK correction source
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to identify from which base station to accept RTK (RTCMV3) differential
corrections. This is useful when the receiver is receiving corrections from multiple base stations. See also the PSRDIFFSOURCE command on page 280.
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 RTCM3 5
RTKSOURCE RTCMV3 6
2. Select only SBAS:
RTKSOURCE NONE
PSRDIFFSOURCE SBAS
SBASCONTROL ENABLE AUTO
3. Enable RTK and PSRDIFF from RTCM, with a fall-back to SBAS:
RTKSOURCE RTCMV3 ANY
PSRDIFFSOURCE RTCMV3 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.

Field

Field Type

1

RTKSOURCE
header

ASCII
Value
-

Binary
Value
-

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Description
Command header. See
Messages on page 25 for
more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Chapter 2 Core Commands

Field

Field Type

ASCII
Value

Binary
Value

2

type

See Table 52:
DGPS Type on
page 281

3

Base station
ID

Char [4] or ANY

Format

Binary
Bytes

Binary
Offset

ID Type 1

Enum

4

H

ID string

Char[5]

82

H+4

Description

1If ANY chosen, the receiver ignores the ID string. Specify a type when using base station IDs.
2In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.

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2.128 RTKSOURCETIMEOUT
Sets RTK correction source timeout
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

Field Type

ASCII Binary
Value Value

1

RTKSOURCE
TIMEOUT
header

-

AUTO
2

-

1

Description
Command header. See
Messages on page 25 for
more information.

SET

2

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Ulong

4

H+4

Sets the timeout according
to network type or other
self-detected conditions.
Timeout field is optional for
AUTO and has no effect

option

Format

Sets the timeout to the
value entered in the timeout
field.
Specify the time

3

timeout

1 to 3600 s
(maximum)

0 is not accepted if SET is
entered in the option field
(default=0 for the AUTO
option)

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2.129 RTKSVENTRIES
Sets number of satellites in corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command sets the number of satellites (at the highest elevation) that are transmitted in the
RTK corrections from a base station receiver. 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

-

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

The number of SVs to be
transmitted in correction
messages

Ulong

4

H

Description

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Chapter 2 Core Commands

2.130 RTKTIMEOUT
Sets maximum age of RTK data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 298).
Message ID: 910
Abbreviated ASCII Syntax:
RTKTIMEOUT delay
Factory Default:
RTKTIMEOUT 60
ASCII Example (rover):
RTKTIMEOUT 20

Field

Field Type

ASCII Binary
Value Value

1

RTKTIMEOUT
header

-

2

delay

5 to 60 s

-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Maximum RTK data age

Ulong

4

H

Description

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2.131 SAVECONFIG
Save current configuration in NVM
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 746). See also the FRESET command on page 174.

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

Field Type
SAVECONFIG
header

ASCII Binary
Value Value
-

-

Description
Command header. See
Messages on page 25 for
more information.

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Format

Binary
Bytes

Binary
Offset

-

H

0

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2.132 SAVEETHERNETDATA
Save the configuration data associated with an Ethernet interface
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
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 command (see page 139), IPCONFIG command (see
page 200) and DNSCONFIG command (see page 127). The configuration data that is saved will
survive a RESET command (see page 292) and FRESET command (see page 174). To clear the
Ethernet interface configuration data, the FRESET ETHERNET command is used. It is not necessary to issue the SAVECONFIG command (see page 316) 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

1

2

Field Type
SAVEETHERNET
DATA header

Interface

ASCII Binary
Value Value
-

ETHA

Format

Binary
Bytes

Binary
Offset

-

Command header. See
Messages on page 25 for
more information.

-

H

0

2

The Ethernet interface to
save the configuration
data for. The default is
ETHA.

Enum

4

H

Description

Note that the configurations set using the ICOMCONFIG command (see page 191) and
NTRIPCONFIG command (see page 249) 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
ICOMCONFIG
ICOMCONFIG
ICOMCONFIG
ICOMCONFIG

ICOM1
ICOM2
ICOM3
ICOM4
ICOM5

TCP
TCP
TCP
TCP
TCP

:3001
:3002
:3003
:3004
:3005

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ICOMCONFIG ICOM6 TCP :3006
ICOMCONFIG ICOM7 TCP :3007
See also the following commands:
l

ETHCONFIG command on page 139

l

IPCONFIG command on page 200

l

DNSCONFIG command on page 127

l

FRESET command on page 174

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2.133 SBASCONTROL
Sets SBAS test mode and PRN
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 (see page 65).
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

ASCII
Value

Field Type

SBASCONTROL
header

-

Binary
Value

-

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Description
Command header.
See Messages on
page 25 for more
information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Field

ASCII
Value

Field Type

Binary
Value

DISABLE
2

0

switch
ENABLE

3

4

5

system

1

Receiver does not
use the SBAS
corrections it
receives (default)

Choose the SBAS
the receiver will
use

0

Receiver uses any
PRN (default)

120-158 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)

1

Receiver
interprets Type 0
messages as Type
2 messages

2

Receiver ignores
the usual
interpretation of
Type 0 messages
(as do not use)
and continues

ZEROTOTWO

IGNOREZERO

Format

Binary
Bytes

Binary
Offset

Enum

4

H

Enum

4

H+4

Ulong

4

H+8

Enum

4

H+12

Receiver uses the
SBAS corrections
it receives

See Table 56: System
Types below

prn

testmode

Description

Table 56: System Types
ASCII
NONE

Binary
0

Description
Does not use any SBAS satellites
(Default for SBASCONTROL DISABLE)

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ASCII

AUTO

Binary

1

Description
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

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2.134 SBASECUTOFF
Sets SBAS satellite elevation cut-off
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command sets the elevation cut-off angle for tracked 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 cut-off angle are no
longer tracked unless they are manually assigned (see the ASSIGN command on page 65).
This command permits a negative cut-off angle and can be used in the following situations:
l

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

l

Satellites are visible below the horizon due to atmospheric refraction

Use the ELEVATIONCUTOFF command (see page 136) to set the cut-off angle for any
system.
Message ID: 1000
Abbreviated ASCII Syntax:
SBASECUTOFF angle
Factory Default:
SBASECUTOFF -5.0
ASCII Example:
SBASECUTOFF 10.0

Field

Field Type

ASCII Binary
Value Value

1

SBASECUTOFF
header

-

2

angle

±90.0 degrees

-

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Elevation cut-off angle
relative to horizon

Float

4

H

Description

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Chapter 2 Core Commands

2.135 SBASTIMEOUT
Sets the SBAS position time out
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

Field Type

ASCII
Value

Binary
Value
-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Description

1

SBASTIMEOUT
header

-

2

mode

See Table 57:
SBAS Time Out
Mode below

Time out mode

Enum

4

H

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

Description

0

Reserved

1

AUTO

Set the default value (180 s)

2

SET

Set the delay in seconds

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2.136 SELECTCHANCONFIG
Sets the channel configuration
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Some software models come with support for more than one channel configuration, which can
be verified by logging CHANCONFIGLIST log (see page 452). 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 (see page 452)
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

1

ASCII
Value

Field Type

SELECTCHANCONFIG
header

-

Binary
Value

-

Description

Format

Binary
Bytes

Binary
Offset

Command
header. See
Messages on
page 25 for
more
information.

-

H

0

Channel
configuration
to use

Ulong

4

H

1 to n
2

chanconfigsetting

where n is the number
of channel
configurations in the
CHANCONFIGLIST
log (see page 452)

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Below is a use case example of the SELECTCHANCONFIG command. Abbreviated ASCII
commands and logs are used to better illustrate the example.
1. LOG CHANCONFIGLIST to show what the channel configuration options are and which
channel configuration set is being used.
CHANCONFIGLIST COM1 0 69.5 FINESTEERING 2005 317450.284 02000000
d1c0 14860
1 5
7
16 GPSL1L2PL5
4 QZSSL1CAL2CL5
4 SBASL1
14 GLOL1L2
16 GALE1E5B
22 BEIDOUB1B2
3 LBAND
7
16 GPSL1L2
4 QZSSL1CAL2C
4 SBASL1
14 GLOL1L2
16 GALE1E5B
22 BEIDOUB1B2
3 LBAND
7
16 GPSL1L2PL2CL5
4 QZSSL1CAL2CL5
4 SBASL1
14 GLOL1L2PL2C
16 GALE1E5AE5BALTBOC
22 BEIDOUB1B2
3 LBAND
8
16 GPSL1L2PL2CL5
4 QZSSL1CAL2CL5
4 SBASL1L5
14 GLOL1L2PL2C
16 GALE1E5AE5BALTBOC
22 BEIDOUB1B2B3
7 NAVICL5
3 LBAND
8
16 GPSL1L2PL2CL5L1C
4 QZSSL1CAL2CL5L1CL6
4 SBASL1L5
14 GLOL1L2PL2CL3
11 GALE1E5AE5BALTBOCE6
16 BEIDOUB1B1CB2B3
7 NAVICL5
3 LBAND

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2. There are two options given for the model and the first channel configuration set is currently being used.
3. If the user would like to use the third channel configuration set enter,
SELECTCHANCONFIG 3 command.
4. The receiver receives the command and resets. At startup, the third channel configuration set is configured.
5. To verify that setting has changed, enter LOG CHANCONFIGLIST.
CHANCONFIGLIST COM1 0 69.5 FINESTEERING 2005 317450.284 02000000
d1c0 14860
1 5
7
16 GPSL1L2PL5
4 QZSSL1CAL2CL5
4 SBASL1
14 GLOL1L2
16 GALE1E5B
22 BEIDOUB1B2
3 LBAND
7
16 GPSL1L2
4 QZSSL1CAL2C
4 SBASL1
14 GLOL1L2
16 GALE1E5B
22 BEIDOUB1B2
3 LBAND
7
16 GPSL1L2PL2CL5
4 QZSSL1CAL2CL5
4 SBASL1
14 GLOL1L2PL2C
16 GALE1E5AE5BALTBOC
22 BEIDOUB1B2
3 LBAND
8
16 GPSL1L2PL2CL5
4 QZSSL1CAL2CL5
4 SBASL1L5
14 GLOL1L2PL2C
16 GALE1E5AE5BALTBOC
22 BEIDOUB1B2B3
7 NAVICL5
3 LBAND
8
16 GPSL1L2PL2CL5L1C
4 QZSSL1CAL2CL5L1CL6
4 SBASL1L5
14 GLOL1L2PL2CL3
11 GALE1E5AE5BALTBOCE6

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16 BEIDOUB1B1CB2B3
7 NAVICL5
3 LBAND
6. This log shows that the third set is selected. To further verify, enter LOG TRACKSTAT
to show all the configured channels.

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2.137 SEND
Sends an ASCII message to a COM port
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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.

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Figure 8: Using the SEND Command

Field

Field
Type

ASCII
Value

Binary
Value

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

4

H

Description

1

SEND
header

-

2

port

See Table 4: Detailed
Port Identifier on
page 31

Output port
(default=THISPORT)

Enum

message

Max 100 character string
(99 typed visible chars
and a null char added by
the firmware
automatically)

ASCII data to send

String
[max
100]

3

-

Variable
1

H+4

1In 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.

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2.138 SENDHEX
Send non-printable characters in hex pairs
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is like the SEND command (see page 328) 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

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Description

1

SENDHEX
header

-

2

port

See Table 4: Detailed
Port Identifier on page 31

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 from
set of 0-9, A-F. No
spaces are allowed
between pairs of
characters

Data

String
[max
700]

4

-

Variable
a

H+8

aIn 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.

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2.139 SERIALCONFIG
Configures serial port settings
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to configure the receiver’s asynchronous serial port communications
drivers.
1. Also refer to the ECHO command on page 131.
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:
l

Stop the logging of data on the current port (see the UNLOGALL command on page 386)

l

Clear the transmit and receive buffers on the current port

l

Return the current port to its default settings (see Factory Defaults on page 52 for details)

l

Set the interface mode to NovAtel for both input and output (see the INTERFACEMODE command on page 193)

This break detection can be disabled using the SERIALCONFIG command.
1. The COMCONTROL command (see page 108) 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 and 460800
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]]]]]

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Factory Defaults:
SERIALCONFIG
SERIALCONFIG
SERIALCONFIG
SERIALCONFIG
SERIALCONFIG

COM1
COM2
COM3
COM4
COM5

9600
9600
9600
9600
9600

N
N
N
N
N

8
8
8
8
8

1
1
1
1
1

N
N
N
N
N

ON
ON
ON
ON
ON

ASCII Example:
SERIALCONFIG com1 9600 n 8 1 n off

Field

ASCII
Value

Field Type

Binary
Value

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Description

1

SERIALCONFIG
Header

-

2

port

See Table 58: COM
Port Identifiers on
the next page

Port to configure
(default =
THISPORT)

Enum

4

H

3

bps/baud

2400, 4800, 9600,
19200, 38400,
57600, 115200,
230400 and 460800

Communication
baud rate (bps).

Ulong

4

H+4

4

parity

See Table 59: Parity
on the next page

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

handshake1

See Table 60:
Handshaking on the
next page

Handshaking

Enum

4

H+20

OFF

0

Disable break
detection
Enum

4

H+24

1

Enable break
detection (default)

8

-

break
ON

1The OEM719 does not support hardware handshaking. Only transmit and receive lines exist for the OEM719

ports.

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Table 58: COM Port Identifiers
Binary

ASCII

Description

Applicable Receiver

1

COM1

COM port 1

OEM719, OEM729, OEM7600, OEM7700, OEM7720,
PwrPak7, SPAN CPT7

2

COM2

COM port 2

OEM719, OEM729, OEM7600, OEM7700, OEM7720,
PwrPak7, SPAN CPT7

3

COM3

COM port 3

OEM729, OEM7600, OEM7700, OEM7720, PwrPak7

6

THISPORT

The current COM
port

OEM719, OEM729, OEM7600, OEM7700, OEM7720,
PwrPak7, SPAN CPT7

19

COM4

COM port 4

OEM7700, OEM7600, OEM7720

21

IMU

IMU COM port

dependent on hardware configuration

31

COM5

COM port 5

OEM7700, OEM7600, OEM7720

32

COM6

COM port 6

33

BT1

Bluetooth COM
port

34

COM7

COM port 7

35

COM8

COM port 8

36

COM9

COM port 9

37

COM10

COM port 10

dependent on hardware configuration

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

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2.140 SERIALPROTOCOL
Sets the protocol to be used by a serial port
Platform: OEM729, PwrPak7
On some OEM7 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.

RS-422/RS-232 selection is available only on COM1 of the OEM729 or COM1 and COM2 on
the PwrPak7.
Message ID: 1444
Abbreviated ASCII Syntax:
SERIALPROTOCOL port protocol
ASCII Example:
SERIALPROTOCOL COM1 RS422

Field

1

2

Field
Type
SERIAL
PROTOCOL
header

port

ASCII
Value
-

-

See Table 61: Ports
Supporting RS-422
on the next page

RS232
3

Binary
Value

Description
Command header. See
Messages on page 25 for
more information.

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Enum

4

H+4

Select the COM port on
which the protocol is
being set.
The port that can be
entered depends on the
hardware platform being
used.

0

Set the port to use RS232 protocol

1

Set the port to use RS422 protocol

protocol
RS422

Format

After switching a COM port from RS-232 to RS-422, send a carriage return (CR) on the
newly configured port to flush the buffer prior to sending new commands on the port.

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Table 61: Ports Supporting RS-422
OEM7 Receiver Type

Allowable Ports

Binary Value

OEM719

None

OEM729

COM1

OEM7600

None

OEM7700

None

OEM7720

None

PwrPak7, PwrPak7-E1,
PwrPak7D, PwrPak7D-E1

COM1

1

COM2

2

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2.141 SETADMINPASSWORD
Sets the administration password
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command sets the administration password used to log into various web services.
l

The administration password is required for Secure ICOM access.

The default admin password is the receiver‘s PSN. For OEM7 enclosures, such as the PwrPak7,
the default password is the enclosure PSN. The enclosure PSN is shown on the label on the bottom of the enclosure and in the ENCLOSURE line in the VERSION log (see page 854). The default
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

Field Type

ASCII Binary
Value Value

Description

Binary
Bytes

Format

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Maximum 28
character string

Previous password.

String
[28]

variable1

H

Maximum 28
character string

New password.

String
[28]

variable1

variable

1

SETADMIN
PASSWORD
header

-

2

OldPassword

3

NewPassword

-

This password can be restored to default (the receiver‘s PSN) by issuing the FRESET
USER_ACCOUNTS command (see FRESET on page 174).

1In 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.

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2.142 SETAPPROXPOS
Sets an approximate position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 the next page), can improve satellite acquisition times and
Time To First Fix (TTFF). For more information about TTFF and Satellite Acquisition, refer to An
Introduction to GNSS available on our website.
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.
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 the next page.

Field

Field Type

ASCII Binary
Value Value

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

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

-

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2.143 SETAPPROXTIME
Sets an approximate GPS reference time
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 the previous page) to improve Time To First
Fix (TTFF). For more information TTFF and Satellite Acquisition, refer to An Introduction to
GNSS available on our website.

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 1930 501232
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 337).
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 OEM7 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.

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Field

Field Type

ASCII Binary
Value Value

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25
for more information.

-

H

0

Description

1

SETAPPROXTIME
header

-

2

week

0-9999

GPS reference week
number

Ulong

4

H

3

sec

0-604800

Number of seconds into
GPS reference week

Double

8

H+4

-

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2.144 SETBASERECEIVERTYPE
Sets base receiver type
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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.

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

SETBASERECEIVER
TYPE header

Binary
Value

Description

-

-

Command header.
See Messages on
page 25 for more
information.

unknown

0

Unknown Base

novatel

1

NovAtel Base

trimble

2

Trimble Base

topcon

3

Topcon Base

magellan

4

Magellan Base

leica

5

Leica Base

base_type

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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2.145 SETBESTPOSCRITERIA
Sets selection criteria for BESTPOS
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to set the criteria for the BESTPOS log (see page 428) and choose between
2D and 3D standard deviation to obtain the best position from the BESTPOS log (see page 428).
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.

The SETBESTPOSCRITERIA command is also used as the basis for the UALCONTROL
command (see page 374) standard deviations.
Message ID: 839
Abbreviated ASCII Syntax:
SETBESTPOSCRITERIA type [delay]
Factory Default:
SETBESTPOSCRITERIA pos3d 0
Input Example:
SETBESTPOSCRITERIA pos2d 5

Field

Field Type

ASCII Binary
Value Value

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Description

SETBESTPOS
CRITERIA
header

-

2

type

See Table 62:
Selection Type
below

Select a 2D or 3D standard
deviation type to obtain the
best position from the
BESTPOS log

Enum

4

H

3

delay

0 to 100 s

Set the number of seconds
to wait before changing the
position type. Default=0

Ulong

4

H+4

1

-

Table 62: Selection Type
ASCII

Binary

Description

POS3D

0

3D standard deviation

POS2D

1

2D standard deviation

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2.146 SETDIFFCODEBIASES
Sets satellite differential code biases
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7

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/CODE_FULL.DCB.
Message ID: 687
Abbreviated ASCII Syntax:
SETDIFFCODEBIASES bias_type biases
ASCII Example:
>, 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 65: Available Set Up Commands on the next page, 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

Field
Type

ASCII Binary
Value Value

SOFTLOAD
SETUP
header

-

Setup type

See Table 65:
Available Set
Up Commands
on the next
page

-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

The type of setup command

Enum

4

H

Description

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Field

3

Field
Type

Setup data

ASCII Binary
Value Value

-

-

Description
ASCII setup data string. See
Table 65: Available Set Up
Commands below for details
on this data. This data can be
pulled from the S0 records of
the hex file being loaded
onto the receiver. If the
ASCII form of this command
is used, this string must be
enclosed in double quotes
(“ “)

Format

Binary
Bytes

String

variable

[512]

1

Binary
Offset

H+4

Table 65: 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~OEM729,OEM7700,OEM719, translates to SOFTLOADSETUP PLATFORM
"OEM729,OEM7700,OEM719"

2

Version

Version of the data to be uploaded. This corresponds to S0~V~. For example,
the S-Record S0~V~OMP070400RN0000, translates to SOFTLOADSETUP
VERSION "OMP070400RN0000"

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

Authcode

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 PSN:AuthCode string. For example:
SOFTLOADSETUP AUTHCODE "BFN10260115:
T48JF2,W25DBM,JH46BJ,2WGHMJ,8JW5TW,G2SR0RCCR,101114"

1In 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.

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2.157 SOFTLOADSREC
Sends an S-Record to the receiver for the SoftLoad process
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to send S-Records to the receiver for the SoftLoad process. Refer to the
OEM7 Installation and Operation User Manual 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 826 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

Field Type

ASCII Binary
Value Value

1

SOFTLOADSREC
header

-

2

SREC

-

3

Reserved

-

-

Description
Command header. See
Messages on page 25
for more information.
ASCII S-Record string
copites from firmware
*.shex file

1

Reserved. Set to 1 in
the binary case

Format

Binary
Bytes

Binary
Offset

-

H

0

String

variable

[515]

1

H

Ulong

4

variable

1In 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.

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2.158 STATUSCONFIG
Configures RXSTATUSEVENT mask fields
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command is used to configure the various status mask fields in the RXSTATUSEVENT log
(see page 762). 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 log (see page 762). 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 log (see page 762) on the appropriate ports. Refer also to the Built in Status
Tests chapter in the OEM7 Installation and Operation User Manual.
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.

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Field

1

2

3

4

ASCII
Value

Field Type

STATUSCONFIG
header

type

word

mask

Binary
Value

Description

-

-

Command header.
See Messages on
page 25 for more
information.

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

AUX4

5

Auxiliary 4 Status
word

8 digit
hexadecimal

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The hexadecimal bit
mask

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Enum

4

H+4

Ulong

4

H+8

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2.159 STEADYLINE
Configures position mode matching
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 374) 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

Field Type

ASCII Binary
Value Value

1

STEADYLINE
header

-

-

Description
Command header. See
Messages on page 25 for
more information.

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Binary
Bytes

Binary
Offset

-

H

0

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Field

Field Type

ASCII Binary
Value Value

2

mode

See Table 66:
STEADYLINE
Mode below

Transition
time

3

Format

Binary
Bytes

Binary
Offset

STEADYLINE mode

Enum

4

H

Time over which solutions
will transition in seconds.
The minimum rate of
change is 0.005 m/s
regardless of this
parameter.

Ulong

4

H+4

Description

Table 66: 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 (see page 374):
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

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2.160 STEADYLINEDIFFERENTIALTIMEOUT
Sets how long the receiver will report RTK/PPP after corrections are
lost
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to set how long STEADYLINE will report RTK or PPP solutions after a loss of
corrections. If able, STEADYLINE will report an RTK or PPP solution until this timeout expires or
until the RTK/PPP timeout expires, whichever is higher.
For example:
l

l

If the RTKTIMEOUT is 60 seconds and the STEADYLINEDIFFERENTIALTIMEOUT is 300
seconds, STEADYLINE will report an RTK solution for 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:
STEADYLINEDIFFERENTIALTIMEOUT 60
ASCII Example:
STEADYLINEDIFFERENTIALTIMEOUT 300

Field

Field Type

ASCII Binary
Value Value

1

STEADYLINE
DIFFERENTIALTIMEOUT
header

-

2

timeout

5 to 1200

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-

Format

Binary
Bytes

Binary
Offset

Command
header. See
Messages on
page 25 for
more
information.

-

H

0

Timeout period
in seconds

Float

4

H

Description

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2.161 SURVEYPOSITION
Saves or deletes a surveyed position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to add or delete a surveyed position saved in the receiver NVM.
The surveyed positions added or deleted with this command are used in conjunction with the
AUTOSURVEY command on page 76.
Message ID: 1952
Abbreviated ASCII Syntax:
SURVEYPOSITION option id [latitude] [longitude] [height] [tolerance]
ASCII Examples:
SURVEYPOSITION save auto 51.116 -114.038 1065.0 10.0
SURVEYPOSITION delete cal2

Field

1

2

Field
Type
SURVEY
POSITION
header

ASCII
Value

Binary
Value

Description

-

-

Command header. See
Messages on page 25 for
more information.

SAVE

1

Save the surveyed position in
the receiver NVM

2

Delete the surveyed position
from the receiver NVM

option
DELETE

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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Chapter 2 Core Commands

Field
Type

Field

ASCII
Value

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

String
[5]

8

H+4

Double

8

H+12

Double

8

H+20

Double

8

H+28

ID for the saved position
When saving a position,
"AUTO" can be entered and
the receiver will
automatically generate a
unique ID for the position.
"AUTO" cannot be used when
deleting a position.
3

id

4 character
string

To determine the ID for a
saved position, use the
SAVEDSURVEYPOSITIONS
log on page 773.
Note: In the Binary case, the
ID string must be null
terminated and additional
bytes of padding must be
added to make the total
length of the field 8 bytes.

4

latitude

-90 to 90

Latitude of the position in
degrees
(default=0.0)
A "-" sign denotes south and
a "+" sign denotes north

5

longitude

-360 to 360

Longitude of the position in
degrees
(default=0)
A "-" sign denotes west and a
"+" sign denotes east

6

height

-1000 to
20000000

Mean Sea Level height of the
position in metres
(default=0.0)

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Field

Field
Type

ASCII
Value

Binary
Value

Description

Format

Binary
Bytes

Binary
Offset

Double

8

H+36

Position tolerance in metres
(default=10.0)

7

tolerance

3 - 100

The maximum distance
between the position
calculated during an selfsurvey and the saved
position. During the selfsurvey, if the distance
between the calculated
position and the previously
surveyed position is less than
this value, the previous
position is used.

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2.162 THISANTENNAPCO
Sets the PCO model of this receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

Binary
Value

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

The frequency for
which the phase
center offsets are
valid.

Enum

4

H

Description

THISANTENNAPCO
header

-

2

Frequency

See Table 18:
Frequency Type
on page 80

3

North Offset

NGS standard Phase
Center North Offset
(millimetres).1

Double

8

H+4

4

East Offset

NGS standard Phase
Center East Offset
(millimetres).1

Double

8

H+12

5

Up Offset

NGS standard Phase
Center Up Offset
(millimetres).1

Double

8

H+20

1

-

1Enter values as per the NGS standards and tables to define which direction is plus or minus.

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2.163 THISANTENNAPCV
Sets the PCV model of this receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

1

2

3

Field Type

ASCII Binary
Value Value

THISANTENNAPCV
header

-

Frequency

See Table 18:
Frequency Type
on page 80

-

PCV Array

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

The frequency for
which the phase
center variations is
valid.

Enum

4

H

Double
Array

152

H+4

Description

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.

[19]

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2.164 THISANTENNATYPE
Sets the antenna type of this receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

Field Type

ASCII
Value

Binary
Value

Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Description

1

THISANTENNATYPE
header

-

2

antenna type

See Table 19:
Antenna Type on
page 83

NGS Antenna Name

Enum

4

H

radome type

See Table 20:
Radome Type on
page 91

NGS Radome Name

Enum

4

H+4

3

-

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2.165 TRACKSV
Overrides automatic satellite assignment criteria
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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, BeiDou and NavIC default = GOODHEALTH
SBAS default = ANYHEALTH
TRACKSV QZSS 198 NEVER
TRACKSV QZSS 202 NEVER

QZSS 198 and QZSS 202 are excluded because they are defined as test PRNs in the
QZSS ICD.
Input Example:
TRACKSV GALILEO 0 ANYHEALTH

For dual antenna receivers, this command applies to both the primary and secondary
antennas.

Field

Field
Type

ASCII
Value

Binary
Value

1

TRACKSV
header

-

2

System

See Table 102:
Satellite System on
page 545

-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

System that the SVID
belongs to

Enum

4

H

Ulong

4

H+4

Description

Satellite SVID number
3

SVID

Refer to PRN
Numbers on page 44

OEM7 Commands and Logs Reference Manual v7

"0" is allowed and applies
to all SVIDs for the
specified system type

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Chapter 2 Core Commands

Field

4

Field
Type
Condition

ASCII
Value

Binary
Value

See Table 67:
TRACKSV Command
Condition below

Description

Tracking condition

Format

Binary
Bytes

Binary
Offset

Enum

4

H+8

Table 67: 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

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2.166 TUNNELESCAPE
Breaks out of an established tunnel
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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.
Use the TUNNELESCAPE command to specify the tunnel escape sequence. The escape
sequence is applied independently to all active tunnels. Use the SAVECONFIG command (see
page 316) 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 193).
Message ID: 962
Abbreviated ASCII Syntax:
TUNNELESCAPE switch length escseq
Factory Default:
TUNNELESCAPE disable 0
ASCII Example:
TUNNELESCAPE enable 1 aa

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Field

Field Type

1

TUNNELESCAPE
header

2

switch

3

4

length

ASCII
Value

Binary
Value

-

-

DISABLE

0

ENABLE

1

1 to 8

escseq

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25
for more information.

H

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

Description

If using the SAVECONFIG command (see page 316) 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.

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2.167 UALCONTROL
Setup User Accuracy levels
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 68: User Accuracy Level Supplemental Position Types and NMEA Equivalents
Value

BESTPOS Position Type1

NMEA Equivalent2

70

OPERATIONAL

4

71

WARNING

5

72

OUT_OF_BOUNDS

1

The SETBESTPOSCRITERIA command (see page 341) determines which standard deviations
are compared against the provided thresholds. When using the STEADYLINE command (see
page 361) together with the UALCONTROL command, the UAL setting is recommended. Refer
to Table 66: STEADYLINE Mode on page 362 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:

1As reported in the BESTPOS log (see page 428).
2Refers to the GPGGA quality indicator (see GPGGA on page 510 for details).

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UALCONTROL enable 0.10 0.20

Field

1

Field Type
UALCONTROL
header

ASCII
Value

-

Command header. See
Messages on page 25 for
more information.

DISABLE

0

Disables this feature

1

Replace BESTPOS and
GPGGA position types
with OPERATIONAL,
WARNING or OUT_OF_
BOUNDS based on the
entered standard
deviations (refer to
Table 68: User Accuracy
Level Supplemental
Position Types and NMEA
Equivalents on the
previous page)

Action

CLEAR

3

4

Description

-

ENABLE
2

Binary
Value

2

Operational
Limit

Warning
Limit

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Double

8

H+4

Double

8

H+12

Disable this feature and
reset the entered
standard deviations.
Standard deviation in
metres to report
OPERATIONAL
Standard deviation in
metres to report
WARNING
Note: OUT_OF_BOUND
reports when the
standard deviation
exceeds this value

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Chapter 2 Core Commands

2.168 UNASSIGN
Unassigns a previously assigned channel
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command cancels a previously issued ASSIGN command (see page 65) 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 (see page 65) has no effect.

For dual antenna 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 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

Field
Type

ASCII
Value

Binary
Value

UNASSIGN
header

-

channel

0 to n, where n is the
number of the last channel in
the current channel
configuration

-

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command
header. See
Messages on
page 25 for
more
information.

-

H

0

Channel number
reset to
automatic
search and
acquisition
mode

Ulong

4

H

Description

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Chapter 2 Core Commands

Field

3

Field
Type

state

ASCII
Value

Binary
Value

These return SV channel
control to the automatic
search engine immediately
(see Table 14: Channel
State on page 67)

OEM7 Commands and Logs Reference Manual v7

Description
Set the SV
channel state
(currently
ignored)

Format

Binary
Bytes

Binary
Offset

Enum

4

H+4

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Chapter 2 Core Commands

2.169 UNASSIGNALL
Unassigns all previously assigned channels
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 (see page 65).

Field

1

2

ASCII
Value

Binary
Value

UNASSIGNALL
header

-

-

system

See Table 15:
Channel System
on page 69

Field Type

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

System that will be
affected by the
UNASSIGNALL
command (default = ALL)

Enum

4

H

Description

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Chapter 2 Core Commands

2.170 UNDULATION
Chooses undulation
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 dropoffs 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 below.
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

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Field

1

2

3

Field Type
UNDULATION
header

option

separation

ASCII
Value

Binary
Value

-

-

Command header. See
Messages on page 25 for
more information.

USER

1

Use the user specified
undulation value

OSU89B

2

Use the OSU89B
undulation table

EGM96

3

Use global geoidal height
model EGM96 table

±1000.0 m

OEM7 Commands and Logs Reference Manual v7

Description

The undulation value
(required for the USER
option) (default = 0.000)

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Float

4

H+4

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Chapter 2 Core Commands

2.171 UNLOCKOUT
Reinstates a satellite in the solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command allows a satellite which has been previously locked out (LOCKOUT command on
page 218) 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

Field Type

ASCII
Value

Binary
Value

1

UNLOCKOUT
header

-

-

2

prn

Refer to PRN
Numbers on
page 44

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

A single satellite PRN
number to be reinstated

Ulong

4

H

Description

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2.172 UNLOCKOUTALL
Reinstates all previously locked out satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command allows all satellites which have been previously locked out (LOCKOUT command
on page 218 or LOCKOUTSYSTEM command on page 219) to be reinstated in the solution computation.
Message ID: 139
Abbreviated ASCII Syntax:
UNLOCKOUTALL
Input Example:
UNLOCKOUTALL

Field

1

Field Type
UNLOCKOUTALL
header

ASCII Binary
Value Value
-

-

OEM7 Commands and Logs Reference Manual v7

Description
Command header. See
Messages on page 25 for
more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Chapter 2 Core Commands

2.173 UNLOCKOUTSYSTEM
Reinstates previously locked out system
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command allows a system which has been previously locked out (refer to the
LOCKOUTSYSTEM command on page 219) 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.
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.

ASCII
Value

Binary
Value

Field

Field Type

1

UNLOCKOUT
SYSTEM
header

-

2

system

See Table 102:
Satellite System
on page 545

-

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

A single satellite system
to be reinstated

Enum

4

H

Description

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Chapter 2 Core Commands

2.174 UNLOG
Removes a log from logging control
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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.

2.174.1 Binary
Field

Field
Name

Binary Value

Description

Format

Binary
Bytes

Binary
Offset

UNLOG
(binary)
header

(See Table 3: Binary Message
Header Structure on page 30)

This field
contains the
message
header

-

H

0

2

port

See Table 4: Detailed Port
Identifier on page 31 (decimal
port values greater than 16 may
be used)

Port to which
log is being
sent

Enum

4

H

3

message

Any valid message ID

Message ID
of log to
output

Ushort

2

H+4

1

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Field

Field
Name

Binary Value

Description

Format

Binary
Bytes

Binary
Offset

Message type
of log

Char

1

H+6

Char

1

H+7

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Ulong

4

H+4

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

10 = Abbreviated ASCII,
NMEA

message
type

11 = Reserved
Bit 7 = Response Bit (Message
Responses on page 41)
0 = Original Message
1 = Response Message
5

Reserved

2.174.2 ASCII
Field

1

2

3

Field
Type

ASCII
Value

Binary
Value

UNLOG
(ASCII)
header

-

port

See Table 4:
Detailed Port
Identifier on
page 31 (decimal
port values greater
than 16 may be
used)

message

Message
Name

-

N/A

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

Port to which log is being
sent
(default = THISPORT)

Message Name of log to be
disabled

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2.175 UNLOGALL
Removes all logs from logging control
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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.

Field

1

2

Field
Type

ASCII
Value

UNLOGALL
header

-

port

See Table 4: Detailed Port
Identifier on page 31
(decimal values greater
than 16 may be used)

FALSE

3

Binary
Value

-

Command header.
See Messages on
page 25 for more
information.

(default = ALL_
PORTS)

0

1

Removes
previously held
logs, even those
with the HOLD
parameter

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Bool

4

H+4

Port to clear

Does not remove
logs with the HOLD
parameter
(default)

held
TRUE

Description

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Chapter 2 Core Commands

2.176 USBSTICKEJECT
Prepare a USB stick for removal
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to unmount the USB stick and prepare it for safe physical removal.
This command may fail with a Busy error if there is an ongoing USB stick mounting or unmounting operation.
The FILETRANSFERSTATUS log (see page 473) indicates the USBSTICK UNMOUNTED status
when it is safe to physically remove the stick. This may take up to 10 seconds.
Message ID: 2115
Abbreviated ASCII Syntax:
USBSTICKEJECT
Example:
USBSTICKEJECT

Field

1

Field Type

USBSTICKEJECT
header

ASCII Value

Binary
Value

-

OEM7 Commands and Logs Reference Manual v7

-

Description
Command
header. See
Messages on
page 25 for more
information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Chapter 2 Core Commands

2.177 USERDATUM
Sets user customized datum
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 on page 390 is
then issued internally with the USERDATUM command values. It is the USEREXPDATUM command that appears in the RXCONFIG log (see page 746). If the USEREXPDATUM command or
USERDATUM command are used, their newest values overwrite the internal USEREXPDATUM
values.
The transformation for the WGS84 to Local used in the OEM7 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 BursaWolf.
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.

ASCII Binary
Value Value

Field

Field Type

1

USERDATUM
header

-

2

semimajor

6300000.0 6400000.0

-

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Datum Semi-major Axis (a)
(metres)

Double

8

H

Description

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Field

Field Type

ASCII Binary
Value Value

3

flattening

290.0 - 305.0

4

dx

± 2000.0

5

dy

± 2000.0

6

dz

± 2000.0

7

rx

± 10.0 radians

8

ry

± 10.0 radians

9

rz

± 10.0 radians

10

scale

± 10.0 ppm

Description
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)
(metres)
Datum rotation angle about
X, Y and Z. These values
are the rotation from your
local datum to WGS84. A
positive sign is for counter
clockwise rotation and a
negative sign is for
clockwise rotation
Scale value is the
difference in ppm between
the user datum and WGS84

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Format

Binary
Bytes

Binary
Offset

Double

8

H+8

Double

8

H+16

Double

8

H+24

Double

8

H+32

Double

8

H+40

Double

8

H+48

Double

8

H+56

Double

8

H+64

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2.178 USEREXPDATUM
Set custom expanded datum
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Like the USERDATUM command, this command allows you to enter customized ellipsoidal
datum parameters. However, USEREXPDATUM literally means user expanded datum which
allows 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 (USERDATUM command on page 388). 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.

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Field

Field Type

ASCII Binary
Value Value

Format

Binary
Bytes

Binary
Offset

Command header. See
Messages on page 25
for more information.

-

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

4

dx

± 2000.0 m

Double

8

H+16

5

dy

± 2000.0 m

Double

8

H+24

6

dz

± 2000.0 m

Double

8

H+32

7

rx

± 10.0 radians

Double

8

H+40

8

ry

± 10.0 radians

Double

8

H+48

9

rz

± 10.0 radians

Double

8

H+56

Double

8

H+64

-

Datum offsets from
local to WGS84. These
are the translation
values between the user
datum and WGS84
(internal reference)
Datum rotation angle
about X, Y and Z. These
values are the rotation
from your local datum
to WGS84. A positive
sign is for counter
clockwise rotation and a
negative sign is for
clockwise rotation

10

scale

± 10.0 ppm

Scale value is the
difference in ppm
between the user datum
and WGS84

11

xvel

± 2000.0 m/yr

Velocity vector along Xaxis

Double

8

H+72

12

yvel

± 2000.0 m/yr

Velocity vector along Yaxis

Double

8

H+80

13

zvel

± 2000.0 m/yr

Velocity vector along Zaxis

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

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Field
17

Field Type
scalev

ASCII Binary
Value Value
± 10.0 ppm/yr

Description
Change in scale from
WGS84 over time

Format

Binary
Bytes

Binary
Offset

Double

8

H+120

Double

8

H+128

Reference date of
parameters
18

refdate

0.0 year

Example:
2011.00 = Jan 1, 2011
2011.19 = Mar 11, 2011

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2.179 USERI2CREAD
Read data from devices on the I2C bus
Platform: OEM7600, OEM7700, OEM7720
Use this command to read data from devices on the I2C bus.

This command only applies to OEM7 receivers that have I2C signals available on the
interface connector. The compatible receivers are listed in the Platform section above.
The USERI2CRESPONSE log (see page 846) can be used to check the completion or status of
the read operation. An optional user defined Transaction ID can be provided to help synchronize
requests with responses in the USERI2CRESPONSE log (see page 846). This command is
primarily intended to be used by Lua applications that need to interact with external devices.
Reading from an I2C device requires a device address, to distinguish which physical device is to
be accessed, a register within the device, and the expected number of bytes to be read. Depending on the type of I2C device, register addresses can be 1 to 4 bytes in length, so the actual number of bytes for the register address must be specified.
For some I2C devices there are no registers within the device. In this case, the Register Address
Length is 0 and no bytes are supplied for the Register Address.
The USERI2CREAD command is flexible to handle all of these situations.
Message ID: 2232
Abbreviated ASCII Syntax:
USERI2CREAD DeviceAddress RegisterAddressLen RegisterAddress RequestReadLen
[TransactionID]
Examples:
USERI2CREAD 70 1 AB 12 1234
USERI2CREAD 74 3 ABCDEF 234 5678
USERI2CREAD 74 0 234 5678

Field
1

Field Type
USERI2CREAD
header

Description
Command header. See Messages for
more information.

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Bytes

Binary
Offset

-

H

0

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Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

Uchar

11

H

Ulong

4

H+4

Uchar
Array

X1

H+8

Ulong

4

H+122

Ulong

4

H+163

The 7 bit address of the I2C device.
Valid values are 0 through 127.
2

DeviceAddress

3

RegisterAddressLen

4

RegisterAddress

For ASCII and Abbreviated commands,
this field is a hexadecimal string of two
digits. There is no 0x prefix and spaces
are not allowed in the string.
The length of the register address that
follows. Valid values are 0 through 4.
The actual address of the register to be
read. The number of bytes here must
match the RegisterAddressLen. In
particular, when RegisterAddressLen is
0, this field is empty (even for a binary
command)
For ASCII and Abbreviated commands,
this field is a hexadecimal string of two
digits for each byte in the register
address. There is no 0x prefix and
spaces are not allowed in the string.

5

RequestReadLen

The length of data expected to be
retrieved from the device. Valid values
are 1 through 256.
An optional user provided ID for this
transaction. Default = 0.

6

TransactionID

This transaction ID will be copied to the
USERI2CRESPONSE log (see page
846) created for this read operation.

1In the binary case, additional bytes of padding are added after this field to maintain 4-byte alignment for the fields

that follow.
2H+8 if X=0
3H+12 if X=0

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2.180 USERI2CWRITE
Write data to device on I2C bus
Platform: OEM7600, OEM7700, OEM7720
Use this command to write data to devices on the I2C bus.

This command only applies to OEM7 receivers that have I2C signals available on the
interface connector. The compatible receivers are listed in the Platform section above.
The USERI2CRESPONSE log (see page 846) can be used to check the completion or status of
the write operation. An optional user defined Transaction ID can be provided to help synchronize
requests with responses in the USERI2CRESPONSE log (see page 846). This command is
primarily intended to be used by Lua applications that need to interact with external devices.
Writing to an I2C device requires a device address, to distinguish which physical device is to be
accessed, a register within the device and the data. Depending on the type of I2C device,
register addresses can be 1 to 4 bytes in length, and so the actual number of bytes for the
register address must be specified.
For some I2C devices there are no registers within the device. In this case, the Register Address
Length is 0, and no bytes are supplied for the Register Address.
For some other I2C devices, write operations are done in two stages:
1. The first stage sends a write command with a register address, but no data. This is a dummy
write to set the register within the device for write operations that follow.
2. The second stage sends a write command with no register address, but does send a stream
of data.
The USERI2CWRITE command is flexible to handle all of these situations.
Message ID: 2233
Abbreviated ASCII Syntax:
USERI2CWRITE DeviceAddress RegisterAddressLen RegisterAddress
WriteDataLength WriteData [TransactionID]
Examples:
USERI2CWRITE 70 1 AB 12 3132333435363738393A3B3C 1234
USERI2CWRITE 74 3 ABCDED 5 1234567890 1234
USERI2CWRITE 40 0 5 1234567890 1234
USERI2CWRITE 40 2 AABB 0 1234 (a dummy write)

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Field
1

Field Type
USERI2CWRITE
header

Description
Command header. See Messages
for more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

Uchar

11

H

Ulong

4

H+4

Uchar
Array

X1

H+8

Ulong

4

H+122

The 7 bit address of the I2C
device. Valid values 0 through
127.
2

3

4

DeviceAddress

RegisterAddressLen

RegisterAddress

For ASCII and Abbreviated
commands, this field is a
hexadecimal string of two digits.
There is no 0x prefix and spaces
are not allowed in the string.
The length of the register
address that follows. Valid values
are 0 through 4.
The actual address of the register
to be written. The number of
bytes here must match the
RegisterAddressLen. In
particular, when
RegisterAddressLen is 0, this
field is empty (even for a binary
command)
For ASCII and Abbreviated
commands, this field is a
hexadecimal string of two digits
for each byte in the register
address. There is no 0x prefix
and spaces are not allowed in the
string.

5

WriteDataLength

The length of data to be written
in bytes. Valid values are 0
through 256.

1In the binary case, additional bytes of padding are added after this field to maintain 4-byte alignment for the fields

that follow.
2H+8 if X=0

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Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

Uchar
Array

Y1

H+162

Ulong

4

H+16+4*INT
((Y+3)/4)3

The data to be written. The
number of bytes in this data
block must match the
WriteDataLength. In particular,
when WriteDataLength is 0, this
field is empty.
6

WriteData

For ASCII and Abbreviated
commands, this field is a
hexadecimal string of two digits
for each byte in the data block.
There is no 0x prefix and spaces
are not allowed in the string.
Data is streamed to the device as
a series of bytes in the order
provided.
An optional user provided ID for
this transaction. Default = 0.

7

TransactionID

This transaction ID will be copied
to the USERI2CRESPONSE log
(see page 846) created for this
write operation.

1In the binary case, additional bytes of padding are added after this field to maintain 4-byte alignment for the fields

that follow.
2H+12 if X=0
3H+12+4*INT((Y+3)/4) if X=0

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2.181 UTMZONE
Sets UTM parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 (see page 441) 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

1

Field
Type
UTMZONE
header

ASCII Binary
Value Value
-

-

Description
Command header. See
Messages on page 25 for
more information.

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-

Binary
Bytes

Binary
Offset

H

0

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Field

Field
Type

ASCII Binary
Value Value

Description

Format

Binary
Bytes

Binary
Offset

2

command

See Table 69: UTM Zone Commands below

Enum

4

H

3

parameter

See Table 69: UTM Zone Commands below

Long

4

H+4

Table 69: 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°

MERIDIAN

Sets the central meridian as specified in the parameter field. In the
BESTUTM log (see page 441), the zone number is output as 61 to indicate
the manual setting (zones are set by pre-defined central meridians not userset ones)

3

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2.182 WIFIAPCHANNEL
Set the channel for the Wi-Fi access point
Platform: PwrPak7
Use this command to set the operating channel for the Wi-Fi module when operating as an
access point. The new channel will be used the next time the WIFIMODE AP command is
received.
Message ID: 2091
Abbreviated ASCII Syntax:
WIFIAPCHANNEL channel
Factory Default:
WIFIAPCHANNEL 11
Example:
WIFIAPCHANNEL 6

Field

Field Type

ASCII Binary
Value Value

1

WIFIAPCHANNEL
header

-

2

channel

1-14

-

Format

Binary
Value

Binary
Offset

Command header. See
Messages on page 25
for more information.

-

H

0

802.11 channel

Long

4

H

Description

For best performance, choose one of the non-overlapping channels: 1, 6, or 11.

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2.183 WIFIAPIPCONFIG
Set the IP address and netmask for the Wi-Fi access point
Platform: PwrPak7
Use this command to set the Wi-Fi IP address and netmask for Wi-Fi module when operating as
an access point. The new network configuration takes effect the next time the WIFIMODE AP
command is received.
Message ID: 2096
Abbreviated ASCII Syntax:
WIFIAPIPCONFIG ip_address ip_netmask
Factory Default:
WIFIAPIPCONFIG 192.168.19.1 255.255.255.0
Example:
WIFIAPIPCONFIG 192.162.55.20 255.255.0.0

Field

Field Type

ASCII Binary
Value Value

1

WIFIAPIPCONFIG
header

-

2

ip_address

Null-terminated
ASCII string

3

ip_netmask

-

Null-terminated
ASCII string

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Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

IP address, dot
decimal format

String
[16]

Variable

H

String
[16]

Variable

Variable

Description

IP netmask, dot
decimal format
(optional)
Default
=255.255.255.0

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Chapter 2 Core Commands

2.184 WIFIAPPASSKEY
Set Wi-Fi access point passkey
Platform: PwrPak7
Use this command to set the WPA2 PSK ASCII passkey for the Wi-Fi module when the receiver is
operating as an access point.
The default passkey is printed on the receiver label.
The new passkey takes effect the next time the WIFIMODE AP command is received.

The term passkey and password are the same.
Message ID: 2090
Abbreviated ASCII Syntax:
WIFIAPPASSKEY passkey
Factory Default:
The default passkey/password is printed on the receiver label.
Example:
WIFIAPPASSKEY "bysP3zE6SZmFQeyd"

Field

1

2

Field Type

ASCII
Value

Binary
Value

WIFIAPPASSKEY
header

-

passkey

Null-terminated
ASCII string, 8 to
64 characters

-

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Format

Binary
Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

WPA2 PSK ASCII
passkey

String
[65]

Variable

H

Description

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Chapter 2 Core Commands

2.185 WIFIMODE
Configure the receiver Wi-Fi mode
Platform: PwrPak7
Use this command to enable or disable Wi-Fi on the receiver.
Message ID: 2144
Abbreviated ASCII Syntax:
WIFIMODE mode
Factory Default:
WIFIMODE AP
Example:
WIFIMODE OFF

Field

1

2

Field
Type
WIFIMODE
header

ASCII Binary
Value Value

Description

-

-

Command header. See
Messages on page 25 for
more information.

OFF

0

Power off the Wi-Fi module

AP

1

Configure the Wi-Fi module
as an Access Point (AP)

ON

3

Supply power to the Wi-Fi
module, but do not configure
it.

mode

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Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

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Chapter 3 Logs
3.1 Log Types
See the LOG command on page 220, 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 70: Log Type Triggers
Type

Recommended Trigger

Illegal Trigger

Synch

ONTIME

ONNEW, ONCHANGED

Asynch

ONCHANGED or ONCE

-

Polled

ONCE or ONTIME a

ONNEW, ONCHANGED

See Message Time Stamps on page 46 for information about how the message time stamp is set
for each type of log.
1. The OEM7 family of receivers can handle 80 logs at a time. If an attempt is made to
log more than 80 logs at a time, the receiver responds with an Insufficient Resources
error.
2. 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.
3. Use the ONNEW trigger with the MARKTIME or MARKPOS logs.
4. 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 28 and
Table 3: Binary Message Header Structure on page 30. There is no header information
before Abbreviated ASCII output, see Abbreviated ASCII on page 29.

3.1.1 Log Type Examples
For polled logs, the receiver only supports an offset that is:
l

l

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 220.

The following are valid examples for a polled log:
log portstats ontime 4 2

aPolled log types do not allow fractional offsets and cannot do ontime rates faster than 1 Hz.

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log version once
For polled logs, the following examples are invalid:
log serialconfig ontime 1 2

[offset is larger than the logging period]

log serialconfig ontime 4 1.5

[offset is not an integer]

For synchronous and asynchronous logs, the receiver supports any offset that is:
l

smaller than the logging period

l

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]

3.2 Log Reference
Logs are the mechanism used to extract information from the receiver.

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3.3 ALIGNBSLNENU
ENU baselines using ALIGN
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 dual antenna 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,1629,259250.000,02040000,100b,39448;SO
L_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

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Format

Log header. See Messages on page 25 for
more information.

1

ALIGNBSLNENU

2

sol stat

3

pos type

Position type, see Table 74: Position or
Velocity Type on page 432

Enum

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 standard deviation in metres

Float

4

H+32

8

North σ

North Baseline standard deviation in
metres

Float

4

H+36

Solution status, see Table 73: Solution
Status on page 431

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Field
9

10

Field type

Description

Format

Binary
Bytes

Binary
Offset

Up σ

Up Baseline standard deviation in metres

Float

4

H+40

Rover id

Rover Receiver ID
Set using the SETROVERID command (see
page 348) on the Rover

Char[4]

4

H+44

Char[4]

4

H+48

e.g., setroverid RRRR

11

Master id

Master Receiver ID
Set using the DGPSTXID command (see
page 122) on the Master
Default: AAAA

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, B2

Uchar

1

H+55

16

Reserved

Hex

1

H+56

17

ext sol stat

Extended solution status, see Table 77:
Extended Solution Status on page 435

Hex

1

H+57

18

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see
Table 76: Galileo and BeiDou Signal-Used
Mask on page 435)

Hex

1

H+58

19

GPS and
GLONASS sig
mask

GPS and GLONASS signals used mask (see
Table 75: GPS and GLONASS Signal-Used
Mask on page 434)

Hex

1

H+59

20

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+60

21

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

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3.4 ALIGNBSLNXYZ
XYZ baselines using ALIGN
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log outputs the RTK quality XYZ baselines from ALIGN.

On dual antenna 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,1629,259250.000,02040000,9d28,39448;SO
L_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

H

0

1

ALIGNBSLNXYZ

Log header. See Messages on page 25 for
more information.

2

sol stat

Solution status, see Table 73: Solution
Status on page 431

Enum

4

H

3

pos type

Position type, see Table 74: Position or
Velocity Type on page 432

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 standard deviation in metres

Float

4

H+32

8

dY σ

Y Baseline standard deviation in metres

Float

4

H+36

9

dZ σ

Z Baseline standard deviation in metres

Float

4

H+40

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

Uchar
[4]

4

H+44

Uchar
[4]

4

H+48

Rover Receiver ID
10

Rover id

Set using SETROVERID command (see
page 348) on the Rover
e.g. SETROVERID RRRR
Master Receiver Id

11

Master id

Set using the DGPSTXID command (see
page 122) on the Master
Default: AAAA

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, B2

Uchar

1

H+55

16

Reserved

Hex

1

H+56

17

ext sol stat

Extended solution status, see Table 77:
Extended Solution Status on page 435

Hex

1

H+57

18

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see
Table 76: Galileo and BeiDou Signal-Used
Mask on page 435)

Hex

1

H+58

19

GPS and
GLONASS sig
mask

GPS and GLONASS signals used mask (see
Table 75: GPS and GLONASS Signal-Used
Mask on page 434)

Hex

1

H+59

20

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+60

21

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

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3.5 ALIGNDOP
Calculated DOP values
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1629,259250.000,02040000,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. See Messages on page 25 for
more information.

2

GDOP

Geometric DOP

3

PDOP

4

Format

Binary
Bytes

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

Next sat offset = H+28+(#sats * 4)

11

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+28+
(#sats *
4)

12

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.6 ALMANAC
Decoded GPS Almanac
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 OEM7 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,1364,409278.000,02000000,06de,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-12,1.45856541e04,2.6560037e+07,4.45154034e-02,1,0,0,FALSE,
2,1364,589824.0,9.173393e-03,-8.16033991e09,1.9308788e+00,1.9904300e+00,6.60915023e-01,-1.62124634e05,0.00000000,1.45860023e-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-05,0.00000000,1.45859775e04,2.6559644e+07,1.80122900e-02,1,0,0,FALSE,
29,1364,589824.0,9.435177e-03,-7.57745849e-09,-2.2673888e+00,-9.56729511e01,1.1791713e+00,5.51223755e-04,1.09139364e-11,1.45855297e04,2.6560188e+07,4.36225787e-02,1,0,0,FALSE,
30,1364,589824.0,8.776665e-03,-8.09176563e-09,-1.97082451e01,1.2960786e+00,2.0072936e+00,2.76565552e-05,0.00000000,1.45849410e04,2.6560903e+07,2.14517626e-03,1,0,0,FALSE*de7a4e45

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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).

Field

Field type

Description

1

ALMANAC

Log header. See Messages on page 25 for
more information.

2

#messages

The number of satellite PRN almanac
messages to follow. Set to zero until
almanac data is available

3

PRN

4

Format

Binary
Bytes

Binary
Offset

H

0

Long

4

H

Satellite PRN number for current message
(dimensionless)

Ulong

4

H+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

6

ecc

Eccentricity (dimensionless)

Double

8

H+20

7

ώ

Rate of right ascension (radians/second)

Double

8

H+28

8

ωo

Right ascension (radians)

Double

8

H+36

9

ω

Argument of perigee (radians)

Double

8

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 π
(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

SV health from Page 25 of subframe 4 or 5
(6 bits)
SV health from almanac (8 bits)

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

Bool

4

H+112

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)

-

-

-

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3.7 AUTHCODES
List of authorization codes
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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. For more information about firmware signatures see the “Upgrading Using the AUTH Command” section of the OEM7 Installation and
Operation User Manual.
The following situations will cause an authorization code to be marked invalid:
l

Authorization Code is for a different receiver

l

Authorization Code has expired

l

Authorization Code was entered incorrectly

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,0,10.775,024c0000,2ad2,12143;VALID,2,SIGNATURE,
TRUE,"63F3K8,MX43GD,T4BJ2X,924RRB,BZRWBT,D2SB0G550",STANDARD,TRUE,"CJ43M9,2RNDB
H,F3PDK8,N88F44,8JMKK9,D2SB0G550"*6f778e32

Field
1

Field type
AUTHCODES
header

Description

Format

Log header. See Messages on
page 25 for more information.

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Ulong

4

H+4

Status of the Firmware Signature
1 = NONE
2

AUTHCODES
Signature Status

2 = INVALID
3 = VALID
4 = RESERVED
5 = HIGH_SPEED

3

Number of Auth
Codes

# of Auth Codes to follow
(max is 24)

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

Enum

4

H+8

4

H+12

1=STANDARD
4

Auth code type

2=SIGNATURE
3=EMBEDDED

5

Valid

TRUE if the Auth Code has been
verified

Bool

6

Auth Code
String

ASCII String of the Auth Code

String
[max
80]

7...

Next AuthCode = H+8+ (#AuthCodes*variable)

8

xxxx

32-bit CRC (ASCII and Binary
only)

9

[CR][LF]

Sentence terminator (ASCII only)

variable
1

H+16

Hex

4

H+8+
(#AuthCodes*
variable)

-

-

-

1In 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.

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3.8 AVEPOS
Position averaging
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
When position averaging is underway, the various fields in the AVEPOS log contain the parameters being used in the position averaging process. Table 71: Position Averaging Status on the
next page 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 258. For general positioning information,
refer to An Introduction to GNSS available on our website.

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,1364,492100.000,82000000,e3b4,2310;51.1163558
9900,114.03833558937,1062.216134356,1.7561,0.7856,1.7236,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 GPGST log on page 521 for CEP and RMS definitions.

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Field

Field
type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

AVEPOS
header

Log header. See Messages on page 25 for
more information.

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 σ

Estimated average standard deviation of
latitude solution element (m)

Float

4

H+24

6

lon σ

Estimated average standard deviation of
longitude solution element (m)

Float

4

H+28

7

hgt σ

Estimated average standard deviation of
height solution element (m)

Float

4

H+32

8

posave

Position averaging status (see Table 71:
Position Averaging Status below)

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 71: Position Averaging Status
Binary

ASCII

Description

0

OFF

Receiver is not averaging

1

INPROGRESS

Averaging is in progress

2

COMPLETE

Averaging is complete

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3.9 BDSALMANAC
Decoded BDS Almanac
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 OEM7 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,1727,518438.000,02000000,24ad,44226;1,371,245
760,6493.394531,2.9134750366e-04,-2.289514637,-0.021819903,2.456844003,1.30291141e-09,2.7785425443e-02,-1.096725e-04,2.18279e11,0*77017e1b
...
#BDSALMANACA,COM1,0,88.5,SATTIME,1727,518108.000,02000000,24ad,44226;14,371,217
088,5282.558105,1.4486312866e-03,-2.970093901,2.846651891,1.512957087,6.91457373e-09,1.7820542434e-02,7.438660e-05,0.00000,d8*ce944672
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).

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

BDSALMANAC
header

Log header. See Messages on page 25 for
more information.

2

satellite ID

Satellite ID/ranging code

Ulong

4

H

3

week

Week number

Ulong

4

H+4

4

toa

Time of almanac (seconds)

Ulong

4

H+8

5

RootA

Square root of semi-major axis (sqrt
(metres))

Double

8

H+12

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Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

6

ecc

Eccentricity (dimensionless)

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 according to reference time
(radians)

Double

8

H+44

10

Ώ

Rate of right ascension (radians/second)

Double

8

H+52

11

δi

Correction of orbit reference inclination at
reference time (radians)

Double

8

H+60

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)

-

-

-

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3.10 BDSCLOCK
BeiDou time parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1730,193994.000,02000000,3b16,44290;
-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
Type

Description

Binary
Bytes

Binary
Offset

1

BDSCLOCK
header

Log header. See Messages on page 25 for more
information.

H

0

2

A0UTC

BDT clock bias relative to UTC (seconds)

Double

8

H

3

A1UTC

BDT clock rate relative to UTC
(seconds/second)

Double

8

H+8

4

ΔTLS

Delta time due to leap seconds before the new
leap second is effective (seconds)

Short

2

H+16

5

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

Field

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Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

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)

-

-

-

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3.11 BDSEPHEMERIS
Decoded BDS ephemeris
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1774,162464.000,02000000,2626,45436;13,418,2
.00,1,8.20e-09,3.10e-09,11,162000,2.33372441e-04,5.73052716e-12,8.53809211e19,12,162000,5282.609060,2.3558507673e-03,3.122599126,4.1744595973e-09,0.654635278,1.950232658e+00,-6.98564812e-09,9.5674299203e-01,3.164417525e10,4.325527698e-06,8.850824088e-06,179.3593750,87.5312500,7.171183825e08,1.024454832e-08*d8b97536

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

BDSEPHEMERIS
header

Log header. See Messages on page 25 for
more information.

2

satellite ID

ID/ranging code

Ulong

4

H

3

Week

Week number

Ulong

4

H+4

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 satellite is good and 1 means
not.

Ulong

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
(seconds)

Ulong

4

H+40

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Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

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/seconds^2)

Double

8

H+60

13

AODE

Age of data, ephemeris

Ulong

4

H+68

14

toe

Reference time of ephemeris parameters
(seconds)

Ulong

4

H+72

15

RootA

Square root of semi-major axis (sqrt
(metres))

Double

8

H+76

16

ecc

Eccentricity (dimensionless)

Double

8

H+84

17

ω

Argument of perigee (radians)

Double

8

H+92

18

ΔN

Mean motion difference from computed
value (radians/second)

Double

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

Ώ

Rate of right ascension (radians/second)

Double

8

H+124

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 radius (metres)

Double

8

H+172

28

cic

Amplitude of cosine harmonic correction
term to the angle of inclination (radians)

Double

8

H+180

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Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

29

cis

Amplitude of sine harmonic correction
term to the angle of inclination (radians)

Double

8

H+188

30

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+196

31

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.12 BDSIONO
BeiDou Klobuchar ionosphere delay model
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1734,58094.000,02080000,1956,44836;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
Header

Log header. See Messages on page 25 for
more information.

2

ID

Transmitting satellite ID

3

α0

4

Format

Binary
Bytes

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 secondorder term (seconds/π2)

Double

8

H+20

6

α3

Klobuchar cosine curve amplitude thirdorder 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

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Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

11

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+68

12

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.13 BDSRAWNAVSUBFRAME
Raw BeiDou subframe data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1774,162554.000,02000000,88f3,45436;84,
13,B1D1,1,e24049ebb2b00d113c685207c4d0ee9fd1bf364e41f8f4b57003268c*6b1f478b

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

BDSRAWNAVSUBFRAME
header

Log header. See Messages on
page 25 for more information.

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 72:
Data Source below)

Enum

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 72: Data Source
ASCII

Binary

Description

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

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3.14 BESTPOS
Best position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 521 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.

SPAN Systems
On systems with SPAN enabled, this log contains the best available combined GNSS and
Inertial Navigation System (INS - if available) position (in metres) computed by the
receiver.
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 (see
page 284). If the receiver is SPAN enabled, the GNSS+INS combined solution is also a candidate
for BESTPOS output.

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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 (see page 591) 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. 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 (see page 736) contains the LowLatency 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 or pseudorange-based position, whichever has the smallest standard deviation.

Multi-frequency GNSS receivers offer two major advantages over single-frequency
equipment:
l

l

Ionospheric errors, inherent in all GNSS observations, can be modeled and significantly reduced by combining satellite observations made on two different frequencies.
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.

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) and 20 Hz for PPP.

BESTPOS always outputs positions at the antenna phase center.

Message ID: 42
Log Type: Synch
Recommended Input:
log bestposa ontime 1
ASCII Example 1:

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#BESTPOSA,COM1,0,90.5,FINESTEERING,1949,403742.000,02000000,b1f6,32768;SOL_
COMPUTED,SINGLE,51.11636937989,-114.03825348307,1064.533,16.9000,WGS84,1.3610,1.0236,2.4745,"",0.000,0.000,19,19,19,19,00,06,00,33*6e08f
a22
ASCII Example 2:
#BESTPOSA,COM1,0,78.5,FINESTEERING,1419,336208.000,02000040,6145,2724;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*3d9fbd4
8

Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

BESTPOS
header

Log header. See Messages on page 25 for
more information.

2

sol stat

Solution status, see Table 73: Solution
Status on the next page

Enum

4

H

3

pos type

Position type, see Table 74: Position or
Velocity Type on page 432

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 (metres)

Double

8

H+24

Float

4

H+32

Undulation - the relationship between the
geoid and the ellipsoid (m) of the chosen
datum

7

undulation

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.

8

datum id#

Datum ID number (see Table 28: Datum
Transformation Parameters on page 117)

Enum

4

H+36

9

lat σ

Latitude standard deviation (m)

Float

4

H+40

10

lon σ

Longitude standard deviation (m)

Float

4

H+44

11

hgt σ

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

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

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

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 77:
Extended Solution Status on page 435)

Hex

1

H+69

21

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see
Table 76: Galileo and BeiDou Signal-Used
Mask on page 435)

Hex

1

H+70

22

GPS and
GLONASS sig
mask

GPS and GLONASS signals used mask (see
Table 75: GPS and GLONASS Signal-Used
Mask on page 434)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 73: Solution Status
Binary

ASCII

Description

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

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Binary

ASCII

Description

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

10-12
13
14-17

Reserved
INTEGRITY_
WARNING

Large residuals make position unreliable

Reserved
When a FIX position command is entered, the receiver computes its
own position and determines if the fixed position is valid

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.

18

PENDING

19

INVALID_FIX

The fixed position, entered using the FIX position command, is not
valid

20

UNAUTHORIZED

Position type is unauthorized

21

Reserved

22

INVALID_RATE

The selected logging rate is not supported for this solution type.
Table 74: Position or Velocity Type

Binary

ASCII

Description

0

NONE

No solution

1

FIXEDPOS

Position has been fixed by the FIX position command or by
position averaging.

2

FIXEDHEIGHT

Position has been fixed by the FIX height or FIX auto command
or by position averaging

3

Reserved

4

FLOATCONV

Solution from floating point carrier phase ambiguities

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Binary

ASCII

Description

5

WIDELANE

Solution from wide-lane ambiguities

6

NARROWLANE

Solution from narrow-lane ambiguities

7

Reserved

8

DOPPLER_
VELOCITY

9-15

Reserved

Velocity computed using instantaneous Doppler

16

SINGLE

Single point position

17

PSRDIFF

Pseudorange differential solution

18

WAAS

Solution calculated using corrections from an SBAS

19

PROPAGATED

Propagated by a Kalman filter without new observations

20-31

Reserved

32

L1_FLOAT

Floating L1 ambiguity solution

33

IONOFREE_FLOAT

Floating ionospheric-free ambiguity solution

34

NARROW_FLOAT

Floating narrow-lane ambiguity solution

35-47

Reserved

48

L1_INT

Integer L1 ambiguity solution

49

WIDE_INT

Integer wide-lane ambiguity solution

50

NARROW_INT

Integer narrow-lane ambiguity solution

51

RTK_DIRECT_INS

RTK status where the RTK filter is directly initialized from the INS
filter

52

INS_SBAS

INS calculated position corrected for the antenna

53

INS_PSRSP

INS pseudorange single point solution – no DGPS corrections

54

INS_PSRDIFF

INS pseudorange differential solution

55

INS_RTKFLOAT

INS RTK floating point ambiguities solution

56

INS_RTKFIXED

INS RTK fixed ambiguities solution

57-67

Reserved

68

PPP_CONVERGING

Converging TerraStar-C solution

69

PPP

Converged TerraStar-C solution

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Binary

ASCII

Description

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

73

INS_PPP_
CONVERGING

INS NovAtel CORRECT Precise Point Positioning (PPP) solution
converging

74

INS_PPP

INS NovAtel CORRECT PPP solution

77

PPP_BASIC_
CONVERGING

Converging TerraStar-L solution

78

PPP_BASIC

Converged TerraStar-L solution

79

INS_PPP_BASIC
_CONVERGING

INS NovAtel CORRECT PPP basic solution converging

80

INS_PPP_BASIC

INS NovAtel CORRECT PPP basic solution

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.
Table 75: GPS and GLONASS SignalUsed 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

6

0x40

GLONASS L3 used in Solution

7

0x80

Reserved

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Table 76: Galileo and BeiDou Signal-Used
Mask
Bit

Mask

Description

0

0x01

Galileo E1 used in Solution

1

0x02

Galileo E5A used in Solution

2

0x04

Galileo E5B used in Solution

3

0x08

Galileo ALTBOC used in Solution

4

0x10

BeiDou B1 used in Solution

5

0x20

BeiDou B2 used in Solution

6

0x40

BeiDou B3 used in Solution

7

0x80

Reserved

Table 77: 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 the RTKANTENNA command on page 295

6-7

0xC0

Reserved

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Table 78: 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

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3.15 BESTSATS
Satellites used in BESTPOS
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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

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Value

Name

Description

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

23

OBSB1

A B1 observation not directly used in the solution

24

OBSB3

A B3 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 80: 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

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Table 81: BESTSATS GLONASS Signal Mask
Bit

Mask

Description

0

0x01

GLONASS L1 used in Solution

1

0x02

GLONASS L2 used in Solution

2

0x04

GLONASS L3 used in Solution

Table 82: BESTSATS Galileo Signal Mask
Bit

Mask

Description

0

0x01

Galileo E1 used in Solution

1

0x02

Galileo E5A used in Solution

2

0x04

Galileo E5B used in Solution

3

0x08

Galileo ALTBOC used in Solution

Table 83: BESTSATS BeiDou Signal Mask
Bit

Mask

Description

0

0x01

BeiDou B1 used in Solution

1

0x02

BeiDou B2 used in Solution

2

0X04

BeiDou B3 used in Solution

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3.16 BESTUTM
Best available UTM data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains the best available position computed by the receiver in UTM coordinates.
See also the UTMZONE command on page 398 and the BESTPOS log on page 428.

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,1419,336209.000,02000040,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*a6d0632
1

Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

BESTUTM
header

Log header. See Messages on page 25 for
more information.

2

sol status

Solution status, see Table 73: Solution Status
on page 431

Enum

4

H

3

pos type

Position type, see Table 74: Position or
Velocity Type on page 432

Enum

4

H+4

4

z#

Longitudinal zone number

Ulong

4

H+8

5

zletter

Latitudinal zone letter

Ulong

4

H+12

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Format

Binary
Bytes

Binary
Offset

northing

Northing (m) where the origin is defined as
the equator in the northern hemisphere and
as a point 10000000 metres south of the
equator in the southern hemisphere (that is, a
‘false northing’ of 10000000 m)

Double

8

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

Float

4

H+40

Field

6

Field type

Description

Undulation - the relationship between the
geoid and the ellipsoid (m) of the chosen
datum

9

undulation

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.

10

datum id#

Datum ID number (see Table 28: Datum
Transformation Parameters on page 117)

Enum

4

H+44

11

Nσ

Northing standard deviation (m)

Float

4

H+48

12

Eσ

Easting standard deviation (m)

Float

4

H+52

13

hgt σ

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

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

22

ext sol stat

Extended solution status (see Table 77:
Extended Solution Status on page 435)

Hex

1

H+77

23

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see
Table 76: Galileo and BeiDou Signal-Used
Mask on page 435)

Hex

1

H+78

24

GPS and
GLONASS sig
mask

GPS and GLONASS signals used mask (see
Table 75: GPS and GLONASS Signal-Used
Mask on page 434)

Hex

1

H+79

25

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+80

26

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.17 BESTVEL
Best available velocity data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 95.

In a BESTVEL log, the actual speed and direction of the receiver antenna over ground is
provided. The receiver does not determine the direction a vessel, craft or vehicle is pointed (heading) but rather the direction of motion of the GNSS antenna relative to ground.
The RTK, PDP 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:

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#BESTVELA,COM1,0,61.0,FINESTEERING,1337,334167.000,02000000,827b,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
header

Log header. See Messages on page 25 for more
information.

2

sol
status

Solution status, see Table 73: Solution Status on
page 431

Enum

4

H

3

vel type

Velocity type, see Table 74: Position or Velocity
Type on page 432

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 (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)

-

-

-

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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.

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3.18 BESTXYZ
Best available cartesian position and velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 11: The WGS84 ECEF Coordinate System on page 449, for a definition of the ECEF
coordinates.
See also the BESTPOS log on page 428 and BESTVEL log on page 444.

These quantities are always referenced to the WGS84 ellipsoid, regardless of the use of
the DATUM command (see page 115) or USERDATUM command (see page 388).
Message ID: 241
Log Type: Synch
Recommended Input:
log bestxyza ontime 1
ASCII Example:
#BESTXYZA,COM1,0,55.0,FINESTEERING,1419,340033.000,02000040,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*e9ea
feca

Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

BESTXYZ
header

Log header. See Messages on page 25 for
more information.

2

P-sol status

Solution status, see Table 73: Solution
Status on page 431

Enum

4

H

3

pos type

Position type, see Table 74: Position or
Velocity Type on page 432

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 σ

Standard deviation of P-X (m)

Float

4

H+32

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

8

P-Y σ

Standard deviation of P-Y (m)

Float

4

H+36

9

P-Z σ

Standard deviation of P-Z (m)

Float

4

H+40

10

V-sol status

Solution status, see Table 73: Solution
Status on page 431

Enum

4

H+44

11

vel type

Velocity type, see Table 74: Position or
Velocity Type on page 432

Enum

4

H+48

12

V-X

Velocity vector along X-axis (m/s)

Double

8

H+52

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 σ

Standard deviation of V-X (m/s)

Float

4

H+76

16

V-Y σ

Standard deviation of V-Y (m/s)

Float

4

H+80

17

V-Z σ

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. It should be subtracted from
the time to give improved results

Float

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 77:
Extended Solution Status on page 435)

Hex

1

H+109

28

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see
Table 76: Galileo and BeiDou Signal-Used
Mask on page 435)

Hex

1

H+110

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

29

GPS and
GLONASS sig
mask

GPS and GLONASS signals used mask (see
Table 75: GPS and GLONASS Signal-Used
Mask on page 434)

Hex

1

H+111

30

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+112

31

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Figure 11: The WGS84 ECEF Coordinate System

Table 84: 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.

These definitions are analogous to the BIH Defined Conventional Terrestrial System
(CTS), or BTS, 1984.0.

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3.19 BSLNXYZ
RTK XYZ baseline
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 11: The WGS84 ECEF Coordinate
System on the previous page 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 596.

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,1419,340033.000,02000040,5b48,2724;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

H

0

1

BSLNXYZ
header

Log header. See Messages on page 25 for
more information.

2

sol status

Solution status, see Table 73: Solution
Status on page 431

Enum

4

H

3

bsln type

Baseline type, see Table 74: Position or
Velocity Type on page 432

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 σ

Standard deviation of B-X (m)

Float

4

H+32

8

B-Y σ

Standard deviation of B-Y (m)

Float

4

H+36

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Field

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

9

B-Z σ

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

13

#ggL1

Number of GPS plus GLONASS plus BDS
L1/B1 used in solution

Uchar

1

H+50

14

#solnMultiSVs

Number of satellites with L1/E1/B1 signals
used in solution

Uchar

1

H+51

15

Reserved

Uchar

1

H+52

16

ext sol stat

Extended solution status (see Table 77:
Extended Solution Status on page 435)

Hex

1

H+53

17

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see
Table 76: Galileo and BeiDou Signal-Used
Mask on page 435)

Hex

1

H+54

18

GPS and
GLONASS sig
mask

GPS and GLONASS signals used mask (see
Table 75: GPS and GLONASS Signal-Used
Mask on page 434)

Hex

1

H+55

19

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+56

20

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.20 CHANCONFIGLIST
Channel configuration list
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 (see page 324).
Message ID: 1148
Log Type: Polled
Recommended Input:
log chanconfiglista once
Abbreviated ASCII Example:
CHANCONFIGLIST COM1 2 73.5 FINESTEERING 1783 585128.718 02000040 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

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

CHANCONFIGLIST
header

Log header. See Messages on page 25
for more information.

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

Ulong

4

H

3

#chanconfigs

Number of channel configurations to
follow

Ulong

4

H+4

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 85: CHANCONFIGLIST Signal
Type below

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)

-

-

-

1

Table 85: CHANCONFIGLIST Signal Type
Value

Name

Description

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

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Value

Name

Description

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

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 B2I/B2a signal

31

GALE1E5B

Galileo E1 and E5b signal

32

BEIDOUB1B3

BeidDou B1, B3

33

BEIDOUB3

BeiDou B3

34

BEIDOUB1B2B3

BeiDou B1, B2I/B2a and B3 signal

35

GALE1E5AE5BALTBOCE6

Galileo E1, E5A, E5B, AltBOC, E6

36

GPSL1L2PL2CL5L1C

GPS L1CA, L2P, L2C, L5, L1C

37

QZSSL1CAL2CL5L1C

QZSS L1CA, L2C, L5, L1C

38

QZSSL1CAL2CL5L1CL6

QZSS L1CA, L2C, L5, L1C, L6

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Value

Name

Description

39

GLOL1L3

GLONASS L1CA, L3

40

GLOL3

GLONASS L3

41

GLOL1L2PL2CL3

GLONASS L1CA, L2P, L2CA, L3

42

GPSL1L2PL2CL1C

GPS L1CA, L2P, L2C, L1C

43

QZSSL1CAL2CL1C

QZSS L1CA, L2C, L1C

44

NAVICL5

NavIC L5

45

BEIDOUB1C

BeiDou B1C

46

BEIDOUB1B1C

BeiDou B1I, B1C

47

BEIDOUB1B1CB2B3

BeiDou B1I, B1C, B2I/B2a, B3

48

BEIDOUB1B1CB2

BeiDou B1I, B1C, B2I/B2a

Configurations with BeiDou B2 will automatically track either the B2I or B2a signal
provided that the receiver RF supports both frequencies. Phase 2 BDS satellites transmit
B2I but not B2a, while phase 3 satellites transmit B2a but not B2I.

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3.21 CLOCKMODEL
Current clock model status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 =
Message ID: 16
Log Type: Synch
Recommended Input:
log clockmodela ontime 1
ASCII Example:
#CLOCKMODELA,COM1,0,52.0,FINESTEERING,1364,489457.000,82000000,98f9,2310;VALID,
0,489457.000,489457.000,7.11142843e+00,6.110131956e-03,4.93391151e+00,3.02626565e+01,2.801659017e-02,-2.99281529e+01,2.801659017e02,2.895779736e-02,-1.040643538e-02,-2.99281529e+01,-1.040643538e02,3.07428979e+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.

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

CLOCKMODEL
header

Log header. See Messages on page 25 for
more information.

2

clock status

Clock model status as computed from current
measurement data, see Table 86: Clock
Model Status on the next page

Enum

4

H

3

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

8

H+24

8

8

H+32

9

8

H+40

10

8

H+48

11

8

H+56

8

H+64

8

H+72

14

8

H+80

15

8

H+88

16

8

H+96

17

8

H+104

6
7

parameters

Clock correction parameters (a 1x3 array of
length 3), listed left-to-right

Double

12
13

cov data

Covariance of the straight line fit (a 3x3
array of length 9), listed left-to-right by rows

Double

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

Bool

4

H+128

21

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+132

22

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Table 86: 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

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3.22 CLOCKSTEERING
Clock steering status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 (see page 101) is ENABLED and the receiver is configured to use an external reference frequency (set in the EXTERNALCLOCK command
(see page 146)), then the clock steering process takes over the VARF output pins and
may conflict with a previously entered FREQUENCYOUT command (see page 171).
Message ID: 26
Log Type: Asynch
Recommended Input:
log clocksteeringa onchanged
ASCII Example:
#CLOCKSTEERINGA,COM1,0,56.5,FINESTEERING,1337,394857.051,02000000,0f61,1984;INT
ERNAL,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 146.

Field

Field type

Description

1

CLOCKSTEERING
header

Log header. See Messages on page 25 for
more information.

2

source

Clock source, see Table 87: Clock Source
on the next page

3

steering state

Steering state, see Table 88: Steering
State on page 461

OEM7 Commands and Logs Reference Manual v7

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Enum

4

H+4

Format

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Chapter 3 Logs

Format

Binary
Bytes

Binary
Offset

period

Period of the FREQUENCYOUT signal used
to control the oscillator, refer to the
FREQUENCYOUT command on page 171.
This value is set using the
CLOCKCALIBRATE command (see page
103)

Ulong

4

H+8

pulse width

Current pulse width of the
FREQUENCYOUT signal. The starting point
for this value is set using the
CLOCKCALIBRATE command (see page
103). The clock steering loop continuously
adjusts this value in an attempt to drive
the receiver clock offset and drift terms to
zero

Double

8

H+12

bandwidth

The current band width of the clock
steering tracking loop in Hz. This value is
set using the CLOCKCALIBRATE
command (see page 103)

Double

8

H+20

7

slope

The current clock drift change in m/s/bit
for a 1 LSB pulse width. This value is set
using the CLOCKCALIBRATE command
(see page 103)

Float

4

H+28

8

offset

The last valid receiver clock offset
computed (m). It is the same as Field #
18 of the CLOCKMODEL log on page 456

Double

8

H+32

9

drift rate

The last valid receiver clock drift rate
received (m/s). It is the same as Field #
19 of the CLOCKMODEL log (see page
456)

Double

8

H+40

10

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+48

11

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field

4

5

6

Field type

Description

Table 87: 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

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Table 88: 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.
This state corresponds to when the calibration process is measuring at the
"High" pulse width setting.

2

CALIBRATE_
HIGH

The CALIBRATE_HIGH state is only seen if you force the receiver to do a
clock steering calibration using the CLOCKCALIBRATE command (see
page 103). With the CLOCKCALIBRATE command (see page 103), 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.
This state corresponds to when the calibration process is measuring at the
"Low" pulse width setting.

3

4

CALIBRATE_
LOW

CALIBRATE_
CENTER

The CALIBRATE_LOW state is only seen if you force the receiver to do a
clock steering calibration using the CLOCKCALIBRATE command (see
page 103). With the CLOCKCALIBRATE command (see page 103), 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.
This state corresponds to the "Center" calibration process. Once the center
has been found, the modulus pulse width, center pulse width, loop
bandwidth and measured slope values are saved in NVM and are used from
now on for the currently selected oscillator (INTERNAL or EXTERNAL).
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.

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3.23 DUALANTENNAHEADING
Synchronous heading information for dual antenna product
Platform: OEM7720, PwrPak7D, PwrPak7D-E1, SPAN CPT7
The heading is the angle from True North of the primary antenna to secondary antenna vector in
a clockwise direction.

You must have an ALIGN capable, dual antenna receiver to use this log.
Message ID: 2042
Log Type: Synch
Recommended Input:
log dualantennaheadinga ontime 1
ASCII Example:
#DUALANTENNAHEADINGA,UNKNOWN,0,66.5,FINESTEERING,1949,575614.000,02000000,d426,
32768;SOL_COMPUTED,NARROW_INT,1.000000000,255.538528442,0.006041416,0.0,0.043859947,0.052394450,"J56X",24,18,
18,17,04,01,00,33*1f082ec5

Field

Field type

Description

Binary Binary
Format Bytes

Binary
Offset

1

DUALANTENNA
HEADING
header

Log header. See Messages on page 25 for
more information.

-

H

0

2

sol stat

Solution status, see Table 73: Solution
Status on page 431

Enum

4

H

3

pos type

Position type, see Table 74: Position or
Velocity Type on page 432

Enum

4

H+4

Float

4

H+8

Baseline length in metres
For ALIGN Heading models, this field is -1.
4

length

For ALIGN Relative Positioning models with
a fixed position, this field is -1.
For ALIGN Relative Positioning models, this
field is the baseline length in metres, unless
the position is fixed.

5

heading

Heading in degrees (0° to 359.999°)

Float

4

H+12

6

pitch

Pitch (±90 degrees)

Float

4

H+16

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Field

Field type

Description

Binary Binary
Format Bytes

Binary
Offset

Float

4

H+20

7

Reserved

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 101: Solution
Source on page 541)

Hex

1

H+40

16

ext sol stat

Extended solution status (see Table 77:
Extended Solution Status on page 435)

Hex

1

H+41

17

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see
Table 76: Galileo and BeiDou Signal-Used
Mask on page 435)

Hex

1

H+42

18

GPS and
GLONASS sig
mask

GPS and GLONASS signals used mask (see
Table 75: GPS and GLONASS Signal-Used
Mask on page 434)

Hex

1

H+43

19

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+44

20

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.24 ETHSTATUS
Current Ethernet status
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
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,1609,500138.174,02000000,e89d,6259;1,ETHA,
"00-21-66-00-05-A2",100_FULL*98d86b04

Format

Binary
Bytes

Log header. See Messages on page 25
for more information.

-

H

0

#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 or network interface card

String
[18]

variable
a

H+8

5

interface
configuration

Current connectivity, speed and duplex
settings of the Ethernet interface

Enum

4

H+26

6...

Next interface = H+4+(# of interfaces * 26)

7

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+(# of
interfaces *
26)

8

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field

Field Type

Description

1

ETHSTATUS
header

2

Binary
Offset

Refer to the ETHCONFIG command (see page 139) for enum values.

aIn 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.

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3.25 FILELIST
Display the storage media contents
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this log to display the root directory of the active media. A log is produced for each file and
directory in the root directory.
The active media is set with the FILEMEDIACONFIG command on page 154.
Message ID: 2100
Log Type: Asynch
Recommended Input:
log filelista
ASCII Example:
#FILELISTA,COM1,0,95.0,UNKNOWN,0,77428.011,024c4009,e8c9,32768;USBSTICK,0,20161
117,104430,"blah.txt"*a212a600
#FILELISTA,COM1,1,94.5,UNKNOWN,0,77428.011,024c4009,e8c9,32768;USBSTICK,0,19700
101,0,"BMHR15470145U_1930_501232.LOG"*d12f9c46

Field
1

Field Type
FILELIST header

Description
Log header. See Messages on
page 25 for more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Mass Storage Device
2

MassStorageDevice

3

FileType

The type of entry for this log. See
Table 89: File Type on the next page

Enum

4

H+4

4

FileSize

File Size (in Bytes)

Ulong

4

H+8

5

ChangeDate

Date of the last change

Ulong

4

H+12

6

ChangeTime

Time of last change

Ulong

4

H+16

7

FileName

Name of the file or directory File
Name STRING Variable H + 20

String

Variable

H+20

8

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

Variable

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

See Table 90: Mass Storage Device
on page 468

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Table 89: File Type
Binary

ASCII

Description

0

NONE

Indicates there are no entries in the selected media

1

FILE

File

2

DIR

Directory

When there no files or directories on the specified media, a single FILELIST log is output with FileType set to NONE and file information set to 0 and empty strings.

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3.26 FILESTATUS
Displays the state of the data log file
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this log to display the current state of the data log file. Typically the FILESTATUS log is
used to determine if the log file is open for writing or closed. However, it also shows any error
that has occurred.
Message ID: 2127
Log Type: Asynch
Recommended Input:
log filestatusa
ASCII Example
#FILESTATUSA,USB3,0,75.0,FINESTEERING,1983,171080.615,02104020,4dbd,14434;INTER
NAL_FLASH,CLOSED,"",0,14039057,15754462,""*7de99c77

Field

1

Field Type

FILESTATUS Header

Description
Log header. See
Messages on page 25
for more information.

Binary
Bytes

Format

Binary
Offset

-

H

0

Enum

4

H

Enum

4

H+4

MAX_
FILENAME_
LENGTH
(MFL)

H+8

The type of recording
device
2

MassStorageDevice

See Table 90: Mass
Storage Device on the
next page.
File status

3

FileStatus

See Table 91: File
Status on the next
page.

4

FileName

Filename of the log file

Fixed
UCHAR
Array

5

FileSize

File Size (bytes)

Ulong

4

H+MFL+8

6

MediaRemainingCapacity

Remaining capacity on
the storage media (kb)

Ulong

4

H+MFL+12

7

MediaTotalCapacity

Total capacity of the
storage media (kb)

Ulong

4

H+MFL+16

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Field

Field Type

Description

Binary
Bytes

Format

Binary
Offset

8

ErrorMsg

Error Message

String

Variable

H+MFL+20

9

xxxx

32-bit CRC (ASCII and
Binary only)

Hex

4

Variable

10

[CR][LF]

Sentence terminator
(ASCII only)

-

-

-

Table 90: Mass Storage Device
Binary

ASCII

Description

1

USBSTICK

USB mass storage device

2

RAMDRIVE

-

3

NO_STORAGE

No mass storage

4

INTERNAL_FLASH

Internal eMMC flash

Table 91: File Status
Binary

ASCII

Description

0

OPEN

Log file is open

1

CLOSED

Log file is closed

3

ERROR

An error has occurred

5

PENDING

Operation during initialization state

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3.27 FILESYSTEMCAPACITY
Displays storage capacity available
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this log to check the amount of storage capacity available in both the internal and external
storage.
Message ID: 2137
Log Type: Polled
Recommended Input:
log filesystemcapacity
Abbreviated ASCII Example:
1 is a hyperbola.

7

ecc

8

alm ref
time

to a almanac reference time 3

hh

87

9

incl angle

(sigma)i, inclination angle 3

hhhh

OD68

10

omegadot

OMEGADOT, rate of right ascension 3

hhhh

FD30

11

rt axis

(A)1/2, root of semi-major axis 3

hhhhhh

A10CAB

1Variable 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.
2Reference paragraph 20.3.3.5.1.3, Table 20-VII and Table 20-VIII, ICD-GPS-200, Rev. B.
3Reference Table 20-VI, ICD-GPS-200, Rev. B for scaling factors and units.

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Field

Structure

Description

Symbol

Example

omega, argument of perigee 3
12

omega

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.

hhhhhh

6EE732

13

long asc
node

(OMEGA)°, longitude of ascension node 3

hhhhhh

525880

14

Mo

Mo, mean anomaly 3

hhhhhh

6DC5A8

15

af0

af0, clock parameter 3

hhh

009

16

af1

af1, clock parameter 3

hhh

005

17

*xx

Check sum

*hh

*37

18

[CR][LF]

Sentence terminator

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Chapter 3 Logs

3.47 GPGGA
GPS fix data and undulation
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains time, position and fix related data of the GNSS receiver. See also Table 98:
Position Precision of NMEA Logs on page 516.
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 837) 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.

The GPGGA log can be customized using the NMEAFORMAT command (see page 243).
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 a two-letter prefix identifying the type
of sending device (for example 'GP', '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 246.

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Field

Structure

Description

Symbol

Example

1

$GPGGA

Log header. See Messages on page 25
for more information.

2

utc

UTC time status of position
(hours/minutes/seconds/ decimal
seconds)

hhmmss.ss

202134.00

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 97: GPS Quality
Indicators on the next page

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

$GPGGA

Age of correction data (in seconds)
14

age

The maximum age reported here is
limited to 99 seconds.

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

Check sum

*hh

*48

17

[CR][LF]

Sentence terminator

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Table 97: GPS Quality Indicators
Indicator
0

Description
Fix not available or invalid
Single point

1
Converging PPP (TerraStar-L)
Pseudorange differential
2

Converged PPP (TerraStar-L)
Converging PPP (TerraStar-C)

4

RTK fixed ambiguity solution
RTK floating ambiguity solution

5
Converged PPP (TerraStar-C)
6

Dead reckoning mode

7

Manual input mode (fixed position)

8

Simulator mode

9

WAAS (SBAS)1

Refer to the BESTPOS log (see page 428) and Table 78: Supplemental Position Types
and NMEA Equivalents on page 436.

1An 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.

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3.48 GPGGALONG
Fix data, extra precision and undulation
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 98: Position Precision of NMEA Logs on page 516.
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 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.

The GPGGALONG log can be customized using the NMEAFORMAT command (see page
243).
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 Note in the GPGGA log (see page 510) that applies to all NMEA logs.

Field
1

Structure

Description

Symbol

Example

$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

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Field

Structure

Description

Symbol

Example

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 97: GPS Quality
Indicators on page 512

x

1

8

# sats

Number of satellites in use (00-12).
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 msl

x.x

1062.376

11

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

xx

10
(empty when no
differential data is
present)

14

age

Age of Differential GPS data (in
seconds)
The maximum age reported here is
limited to 99 seconds.

15

stn ID

Differential base station ID, 00001023

xxxx

AAAA
(empty when no
differential data is
present)

16

*xx

Check sum

*hh

*48

17

[CR][LF]

Sentence terminator

[CR][LF]

Refer to the BESTPOS log (see page 428) and Table 78: Supplemental Position Types
and NMEA Equivalents on page 436.

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3.49 GPGLL
Geographic position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains latitude and longitude of present vessel position, time of position fix and
status.
Table 98: Position Precision of NMEA Logs on the next page 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 837) 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 246) 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 Note in the GPGGA log (see page 510) that applies to all NMEA logs.

Field

Structure

Description

1

$GPGLL

Log header. See Messages on page 25 for more information.

$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

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Field

Structure

Description

Example

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

A

8

mode ind

Positioning system mode indicator, see Table 99: NMEA
Positioning System Mode Indicator on page 529

A

9

*xx

Check sum

*1B

10

[CR][LF]

Sentence terminator

[CR][LF]

Table 98: Position Precision of NMEA Logs
Latitude
(# of decimal places)

Longitude
(# of decimal places)

Altitude
(# of decimal places)

GPGGA

4

4

2

GPGGALONG

7

7

3

GPGLL

7

7

N/A

GPRMC

7

7

N/A

NMEA Log

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3.50 GPGRS
GPS range residuals for each satellite
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 837) 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 246) 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: 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 Note in the GPGGA log (see page 510) that applies to all NMEA logs.

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Field

Structure

1

$GPGRS

Log header. See Messages on page 25 for more
information.

2

utc

UTC time status of position
(hours/minutes/seconds/decimal seconds)

3

mode

Description

Mode 0= residuals were used to calculate the
position given in the matching GGA line (apriori)
(not used by OEM7 receivers)

Symbol

Example
$GPGRS

hhmmss.ss

192911.0

x

1

Mode 1= residuals were recomputed after the
GGA position was computed (preferred mode)

415

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

Check sum

*hh

*65

17

[CR][LF]

Sentence terminator

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3.51 GPGSA
GPS DOP and active satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 837) 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 246) 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.

See the Note in the GPGGA log (see page 510) that applies to all NMEA logs.

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Field

Structure

1

$GPGSA

2

mode MA

3

mode 123

Description

Symbol

Log header. See Messages on page 25 for more
information.
A = Automatic 2D/3D
M = Manual, forced to operate in 2D or 3D
Mode: 1 = Fix not available; 2 = 2D; 3 = 3D

$GPGSA

M

M

x

3

PRN numbers of satellites used in solution (null for
unused fields), total of 12 fields
415

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 1
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

Check sum

*hh

*3F

20

[CR][LF]

Sentence terminator

[CR][LF]

1The 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 onorbit spares.

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3.52 GPGST
Pseudorange measurement noise statistics
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 log (see page 428) and
GPGGA log (see page 510), 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 648).
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 837) 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 246) 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

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1. See the Note in the GPGGA log (see page 510) that applies to all NMEA logs.
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:
l

l

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)

Field

Structure

Description

1

$GPGST

Log header. See Messages on page 25 for more
information.

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

Check sum

*hh

*6E

11

[CR][LF]

Sentence terminator

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Example
$GPGST

[CR][LF]

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Chapter 3 Logs

3.53 GPGSV
GPS satellites in view
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 837) 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 246) 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 246) 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

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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 Note in the GPGGA log (see page 510) that applies to all NMEA logs.

Field

Structure

Description

Symbol

Example

1

$GPGSV

Log header. See Messages on page 25 for more
information.

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 of satellites in use (see also the
GPGGA log on page 510)

xx

09

xx

03

$GPGSV

Satellite PRN number
5

prn

GPS = 1 to 32
SBAS = 33 to 64 (add 87 for PRN#s)
GLO = 65 to 96 1

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

Check sum

*hh

*72

variable

[CR][LF]

Sentence terminator

[CR][LF]

1The 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 onorbit spares.

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3.54 GPHDT
NMEA heading log
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains actual vessel heading in degrees True (from True North). See also a description of heading in the HEADING2 log on page 539. You can also set a standard deviation
threshold for this log, see the HDTOUTTHRESHOLD command on page 189.

You must have an ALIGN capable receiver to use this log.

The GPHDT log can only be logged using the ONCHANGED trigger. Other triggers, such
as ONTIME are not accepted.

If the NMEATALKER command (see page 246) 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: 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

1

$GPHDT

Log header. See Messages on page 25 for more
information.

2

heading

Heading in degrees

x.x

75.5554

3

True

Degrees True

T

T

4

*xx

Check sum

*hh

*36

5

[CR][LF]

Sentence terminator

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Symbol

Example
$GPHDT

[CR][LF]

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Chapter 3 Logs

3.55 GPHDTDUALANTENNA
Synchronous NMEA heading log
Platform: OEM7720, PwrPak7D, PwrPak7D-E1, SPAN CPT7
This log contains actual vessel heading in degrees True (from True North). It provide the same
information as the GPHDT log (see page 525), but with synchronous output.

You must have an ALIGN capable, dual antenna receiver to use this log.

If the NMEATALKER command (see page 246) 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: 2045
Log Type: Synch
Recommended Input:
log gphdtdualantenna ontime 1
Example 1 (GPS only):
$GPHDT,75.5664,T*36
Example 2 (Combined GPS and GLONASS):
$GNHDT,75.5554,T*45
Field

Structure

Description

1

$GPHDT

Log header. See Messages on page 25 for more
information.

2

heading

Heading in degrees

x.x

75.5554

3

True

Degrees True

T

T

4

*xx

Check sum

*hh

*36

5

[CR][LF]

Sentence terminator

OEM7 Commands and Logs Reference Manual v7

Symbol

Example
$GPHDT

[CR][LF]

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Chapter 3 Logs

3.56 GPRMB
Navigation information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains navigation data from present position to a destination waypoint. The destination is set active by the receiver SETNAV command (see page 346).
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 837) 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

If the NMEATALKER command (see page 246) 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).

See the Note in the GPGGA log (see page 510) that applies to all NMEA logs.

Field

Structure

Field Description

1

$GPRMB

Log header. See Messages on page 25 for more
information.

2

data
status

Data status: A = data valid; V = navigation
receiver warning

OEM7 Commands and Logs Reference Manual v7

Symbol

Example
$GPRMB

A

A

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Chapter 3 Logs

Field

Structure

Field Description

Symbol

Example

Cross track error
Represents the track error from the intended
course

3

xtrack

If the cross track error exceeds 9.99
NM, displays 9.99.

x.x

5.14

a

L

One nautical mile (NM) = 1,852
metres.
Direction to steer to get back on track (L/R)
Direction to steer is based on the sign of the
crosstrack error, that is,
L = xtrack error (+)
R = xtrack error (-)

4

dir

5

origin ID

Origin waypoint ID 1

c--c

FROM

6

dest ID

Destination waypoint ID 1

c--c

TO

7

dest lat

Destination waypoint latitude (DDmm.mm) 1

llll.ll

5109.7578000

8

lat dir

Latitude direction (N = North, S = South) 1

a

N

9

dest lon

Destination waypoint longitude (DDDmm.mm) 1

yyyyy.yy

11409.0960000

10

lon dir

Longitude direction (E = East, W = West) 1

a

W

x.x

5.1

Range to destination, nautical miles
11

range

12

bearing

Bearing to destination, degrees True

x.x

303.0

13

vel

Destination closing velocity, knots

x.x

-0.0

A

V

If the range to destination exceeds
999.9 NM, displays 999.9.

Arrival status:
14

arr status

A = perpendicular passed
V = destination not reached or passed

1Fields 5, 6, 7, 8, 9, and 10 are tagged from the SETNAV command (see page 346).

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Field

Structure

Field Description

Symbol

Example

15

mode ind

Positioning system mode indicator, see Table 99:
NMEA Positioning System Mode Indicator below

a

A

16

*xx

Check sum

*hh

*6F

17

[CR][LF]

Sentence terminator

[CR][LF]

Table 99: NMEA Positioning System
Mode Indicator
Mode

Indicator

A

Autonomous

D

Differential

E

Estimated (dead reckoning) mode

M

Manual input

N

Data not valid

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Chapter 3 Logs

3.57 GPRMC
GPS specific information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 98: Position Precision of NMEA Logs on page 516.
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 837) 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 246) 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 Note in the GPGGA log (see page 510) that applies to all NMEA logs.

Field

Structure

Field Description

1

$GPRMC

Log header. See Messages on page 25 for more
information.

2

utc

UTC of position

OEM7 Commands and Logs Reference Manual v7

Symbol

Example
$GPRMC

hhmmss.ss

144326.00

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Chapter 3 Logs

Field

Structure

Field Description

Symbol

Example

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

9

track true

Track made good, degrees True

x.x

323.3

10

date

Date: dd/mm/yy

xxxxxx

210307

x.x

0.0

a

E

Magnetic variation, degrees
11

mag var

Note that this field is the actual magnetic
variation and will always be positive. The
direction of the magnetic variation is always
positive.
Magnetic variation direction E/W
Easterly variation (E) subtracts from True
course.
Westerly variation (W) adds to True course.

12

var dir

13

mode ind

Positioning system mode indicator, see Table
99: NMEA Positioning System Mode Indicator
on page 529

a

A

14

*xx

Check sum

*hh

*20

15

[CR][LF]

Sentence terminator

OEM7 Commands and Logs Reference Manual v7

[CR][LF]

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Chapter 3 Logs

3.58 GPSEPHEM
Decoded GPS ephemerides
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1337,397560.000,02000000,9145,1984;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-06,1.024827361e05,1.64250000e+02,4.81562500e+01,1.117587090e-08,-7.078051567e08,9.2668266314e-01,-1.385772009e-10,-2.098534041e+00,-8.08319384e09,99,403184.0,-4.190951586e-09,2.88095e-05,3.06954e12,0.00000,TRUE,1.458614684e-04,4.00000000e+00*0f875b12
#GPSEPHEMA,COM1,11,59.0,SATTIME,1337,397560.000,02000000,9145,1984;25,397560.0,
0,184,184,1337,1337,403200.0,2.656128681e+07,4.897346851e09,1.905797220e+00,1.1981436634e-02,-1.440195331e+00,-1.084059477e06,6.748363376e-06,2.37812500e+02,-1.74687500e+01,1.825392246e-07,1.210719347e-07,9.5008501632e-01,2.171519024e-10,2.086083072e+00,-8.06140722e09,184,403200.0,-7.450580597e-09,1.01652e-04,9.09495e13,0.00000,TRUE,1.458511425e-04,4.00000000e+00*18080b24
...
#GPSEPHEMA,COM1,0,59.0,SATTIME,1337,397560.000,02000000,9145,1984;1,397560.0,0,
224,224,1337,1337,403200.0,2.656022490e+07,3.881233098e09,2.938005195e+00,5.8911956148e-03,-1.716723741e+00,-2.723187208e06,9.417533875e-06,2.08687500e+02,-5.25625000e+01,9.126961231e-08,7.636845112e-08,9.8482911735e-01,1.325055194e-10,1.162012787e+00,-7.64138972e09,480,403200.0,-3.259629011e-09,5.06872e-06,2.04636e12,0.00000,TRUE,1.458588731e-04,4.00000000e+00*97058299

The GPSEPHEM log can be used to monitor changes in the orbits of GPS satellites.

To obtain copies of ICD-GPS-200, refer to the GPS website (www.gps.gov) .

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Chapter 3 Logs

Field
type

Description

Binary
Bytes

Binary
Offset

1

GPSEPHEM
header

Log header. See Messages on page 25 for more
information.

H

0

2

PRN

Satellite PRN number

Ulong

4

H

3

tow

Time stamp of subframe 1 (seconds)

Double

8

H+4

4

health

Health status - a 6-bit health code as defined in
ICD-GPS-200

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 account
for rollover

Ulong

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

ΔN

Mean motion difference (radians/second)

Double

8

H+48

12

M0

Mean anomaly of reference time (radians)

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

14

ω

Argument of perigee (radians)
- 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

Double

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

Field

13

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Format

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Chapter 3 Logs

Field
type

Field

Description

Format

Binary
Bytes

Binary
Offset

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

I0

Rate of inclination angle, radians/second

Double

8

H+136

23

ωo

Right ascension, radians

Double

8

H+144

24

ώ

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)

Double

8

H+180

29

af1

Clock aging parameter, (seconds/second)

Double

8

H+188

30

af2

Clock aging parameter,
(seconds/second/second)

Double

8

H+196

31

AS

Anti-spoofing on:
0 = FALSE
1 = TRUE

Bool

4

H+204

Double

8

H+208

Double

8

H+216

Corrected mean motion (radians/second)
32

N

This field is computed by the
receiver.
User Range Accuracy variance (metres2)
The ICD specifies that the URA index
transmitted in the ephemerides can be
converted to a nominal standard deviation value
using an algorithm listed there. We publish the
square of the nominal value (variance). The
correspondence between the original URA index
and the value output is shown in Table 100:
URA Variance on the next page

33

URA

34

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+224

35

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Chapter 3 Logs

Table 100: URA Variance
Index Value (m)

A: Standard Deviations (m)

Variance: A2 (m2)

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

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Chapter 3 Logs

3.59 GPVTG
Track made good and ground speed
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 837) 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 246) 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 Note in the GPGGA log (see page 510) that applies to all NMEA logs.

Field

Structure

Description

Symbol

Example

1

$GPVTG

Log header. See Messages on page 25 for more
information.

2

track true

Track made good, degrees True

x.x

24.168

3

T

True track indicator

T

T

x.x

24.168

$GPVTG

Track made good, degrees Magnetic;
4

track mag

Track mag = Track true + (MAGVAR correction)
See the MAGVAR command on page 231

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Chapter 3 Logs

Field

Structure

5

M

6

Description

Symbol

Example

Magnetic track indicator

M

M

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 99:
NMEA Positioning System Mode Indicator on page 529

a

A

11

*xx

Check sum

*hh

*7A

12

[CR][LF]

Sentence terminator

OEM7 Commands and Logs Reference Manual v7

[CR][LF]

537

Chapter 3 Logs

3.60 GPZDA
UTC time and date
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 Note in the GPGGA log (see page 510) that applies to all NMEA logs.

Field

Structure

Description

Symbol

Example

1

$GPZDA

Log header. See Messages on page 25 for
more information.

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

xx

(empty when no
data is present)

$GPZDA

Local zone description—not available

Local time zones are not supported by OEM7 family
receivers.
Fields 6 and 7 are always
null.

6

null

7

null

Local zone minutes description—not
available

xx

(empty when no
data is present)

8

*xx

Check sum

*hh

*6F

9

[CR][LF]

Sentence terminator

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[CR][LF]

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Chapter 3 Logs

3.61 HEADING2
Heading information with multiple rovers
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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.

An ALIGN capable receiver is required to use this log.

Asynchronous logs, such as 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 ONNEW or
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. HEADING2 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,1622,422892.200,02040000,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*7be8
36f6

Field

Field
type

Description

1

HEADING2
header

Log header. See Messages on page 25 for more
information.

2

sol stat

Solution status, see Table 73: Solution Status
on page 431

3

pos type

Position type, see Table 74: Position or Velocity
Type on page 432

OEM7 Commands and Logs Reference Manual v7

Binary Binary
Format Bytes

Binary
Offset

H

0

Enum

4

H

Enum

4

H+4

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Chapter 3 Logs

Field

Field
type

Description

Binary Binary
Format Bytes

Binary
Offset

Float

4

H+8

Baseline length in metres
For ALIGN Heading models with position access,
this field is -1.
For ALIGN Heading models without position
access, this field is only the decimal portion of
the baseline in metres.
4

length

For ALIGN Relative Positioning models receiving
corrections from a master with a fixed position,
this field is -1.
For ALIGN Relative Positioning models receiving
corrections from a master in moving baseline
mode, this field is the complete baseline length
in metres.

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

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

Char[4]

4

H+32

Char[4]

4

H+36

Rover Receiver ID
10

rover stn
ID

Set using the SETROVERID command (see
page 348) on the Rover
e.g. setroverid RRRR
Master Receiver ID

11

Master stn
ID

Set using the DGPSTXID command (see page
122) 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

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Chapter 3 Logs

Field
type

Description

Binary Binary
Format Bytes

Binary
Offset

16

sol source

Solution source (see Table 101: Solution Source
below)

Hex

1

H+44

17

ext sol
stat

Extended solution status (see Table 77:
Extended Solution Status on page 435)

Uchar

1

H+45

18

Galileo
and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see
Table 76: Galileo and BeiDou Signal-Used Mask
on page 435)

Hex

1

H+46

19

GPS and
GLONASS
sig mask

GPS and GLONASS signals used mask (see Table
75: GPS and GLONASS Signal-Used Mask on
page 434)

Hex

1

H+47

20

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+48

21

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field

Table 101: Solution Source
Bit

Mask

0-1

0x03

Description
Reserved
Source antenna

2-3

0x0C

0 = Primary antenna
1 = Secondary antenna

4-7

0xF0

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Reserved

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Chapter 3 Logs

3.62 HEADINGRATE
Heading rate information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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;S
OL_COMPUTED,NARROW_INT,0.025000000,0.000000000,0.308837891,0.575313330,0.000000000,1.264251590,1.663657904,0.0,"748M","725U",0
0,0,0,0*66f97b96

Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

HEADINGRATE
header

Log header. See Messages on page 25 for
more information.

2

sol stat

Solution status, see Table 73: Solution
Status on page 431

Enum

4

H

3

pos type

Position type, see Table 74: Position or
Velocity Type on page 432

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 of the baseline rate.

Float

4

H+12

6

heading rate

Rate of change of the heading in degrees/s

Float

4

H+16

7

pitch rate

Rate of change of the pitch in degrees/s

Float

4

H+20

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

8

length rate std
dev

Baseline rate standard deviation in m/s

Float

4

H+24

9

heading rate
std dev

Heading rate standard deviation in
degrees/s

Float

4

H+28

10

pitch rate std
dev

Pitch rate standard deviation in degrees/s

Float

4

H+32

11

Reserved

Float

4

H+36

Uchar

4

H+40

Uchar

4

H+44

Hex

1

H+48

Rover Receiver ID
12

rover stn ID

Set using the SETROVERID command (see
page 348) on the Rover receiver. For
example, setroverid RRRR.
Master Receiver ID
Set using the DGPSTXID command (see
page 122) on the Master receiver. Default:
AAAA

13

master stn ID

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 101: Solution
Source on page 541)

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3.63 HEADINGSATS
Satellite used in heading solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1625,344654.600,02000008,f5b0,6569;17,GP
S,31,GOOD,00000003,GPS,23,GOOD,00000003,GPS,30,GOOD,00000003,GPS,16,GOOD,000000
03,GPS,20,GOOD,00000003,GPS,25,GOOD,00000003,GPS,4,GOOD,00000003,GPS,24,GOOD,00
000003,GPS,11,GOOD,00000003,GPS,32,GOOD,00000003,GPS,14,GOOD,00000003,GLONASS,2
0+2,GOOD,00000003,GLONASS,14-7,GOOD,00000001,GLONASS,24,GOOD,00000003,GLONASS,13-2,GOOD,00000003,GLONASS,121,GOOD,00000003,GLONASS,19+3,GOOD,00000001*15ec53a6

Field

Field type

Description

1

HEADINGSATS

Log header. See Messages on page 25 for
more information.

2

#entries

Number of records to follow

3

System

Refer to Table 102: Satellite System on
the next page.

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

Enum

4

H+4

544

Chapter 3 Logs

Field

4

Field type

Satellite ID

Description
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 highestorder bytes are the frequency channel for
GLONASS, interpreted as a SHORT and
zero for all other systems.

Format

Binary
Bytes

Binary
Offset

Ulong

4

H+8

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
Status

see Table 79: Observation Statuses on
page 438

Enum

4

H+12

6

Signal Mask

see
Table 80: BESTSATS GPS Signal Mask on
page 439,
Table 81: BESTSATS GLONASS Signal
Mask on page 440,
Table 82: BESTSATS Galileo Signal Mask
on page 440,
Table 83: BESTSATS BeiDou Signal Mask
on page 440

Hex

4

H+16

7

Next satellite offset = H + 4 + (#sat x 16)

8

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+
(#satx16)

9

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

5

Table 102: Satellite System
Binary Value

ASCII Mode Name

0

GPS

1

GLONASS

2

SBAS

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Chapter 3 Logs

Binary Value

ASCII Mode Name

5

Galileo

6

BeiDou

7

QZSS

9

NAVIC

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3.64 HWMONITOR
Monitor hardware levels
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,COM1,0,90.5,FINESTEERING,1928,153778.000,02000020,52db,32768;7,43.2
84492493,100,0.000000000,200,5.094994068,700,1.195970654,800,3.279609442,f00,1.
811965823,1100,44.017093658,1600*52beac4b

Field

Field Type

Description

1

HWMONITOR
header

Log header. See Messages on
page 25 for more information.

2

#
measurements

Number of measurements to
follow

Format

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

l

Degree Celsius for Temperature

l

Amps for Antenna Current

l

Volts for Voltage

See Table 103: HWMONITOR
Status Table on the next page

4

status

5...

Next reading offset = H + 4 + (# measurements x 8)

6

xxxx

32-bit CRC (ASCII and Binary
only)

7

[CR][LF]

Sentence Terminator (ASCII only)

OEM7 Commands and Logs Reference Manual v7

Hex

4

H+4+
(#
measurements
x 8)

-

-

-

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Chapter 3 Logs

Table 103: HWMONITOR Status Table
Bits

Applicable
Platforms

Description
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

815

Reading Type (Hex):
0x00 = Reserved
0x01 = Temperature
A temperature sensor is located on the receiver and provides
the approximate temperature of the PCB surface near critical
components (for example, CPU, TCXO) (degrees Celsius)

All

0x02 = Antenna Current

OEM719, OEM729,
OEM7600, OEM7700,
OEM7720, PwrPak7,
SPAN CPT7

The amount of current being drawn by the active antenna
(mA)
0x06 = Digital Core 3V3 Voltage
Internal regulator output voltage supplying a key component
on the receivers (Volts)

All except OEM7720

0x06 = 3.3V Supply Voltage (Volts)

OEM7720

0x07 = Antenna Voltage

OEM719, OEM729,
OEM7600, OEM7700,
OEM7720, PwrPak7,
SPAN CPT7

0x08 = Digital 1V2 Core Voltage
Internal regulator output voltage supplying a key component
on the receiver (Volts)

All

0x0F = Regulated Supply Voltage
Internal regulator output voltage supplying a key component
on the receiver (Volts)
0x0F = Supply Voltage
Voltage applied to Pins 1 and 2 of the main connector

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All except OEM7720

OEM7720

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Chapter 3 Logs

Bits

Applicable
Platforms

Description
0x11 = 1V8

All

0x16 = Secondary Temperature

OEM719, OEM729,
OEM7600, OEM7700,
OEM7720, PwrPak7,
SPAN CPT7

A second temperature sensor is located on the receiver PCB
(degrees Celsius)

0x17 = Peripheral Core Voltage

OEM719, OEM729,
OEM7600, OEM7700,
OEM7720, PwrPak7,
SPAN CPT7

0x18 = Secondary Antenna Current

OEM7720, PwrPak7D,
PwrPak7D-E1, SPAN
CPT7

0x19 = Secondary Antenna Voltage

OEM7720, PwrPak7D,
PwrPak7D-E1, SPAN
CPT7

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3.65 IONUTC
Ionospheric and UTC data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1337,397740.107,02000000,ec21,1984;1.21071934
7000122e-08,2.235174179077148e-08,-5.960464477539062e-08,-1.192092895507812e07,1.003520000000000e+05,1.146880000000000e+05,-6.553600000000000e+04,3.276800000000000e+05,1337,589824,-1.2107193470001221e-08,-3.907985047e14,1355,7,13,14,0*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 Convert 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 NovAtel Firmware and Software chapter of the OEM7 Installation and
Operation User Manual including IONUTC.

Field

Field
type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

IONUTC
header

Log header. See Messages on page 25 for
more information.

2

a0

Alpha parameter constant term

Double

8

H

3

a1

Alpha parameter 1st order term

Double

8

H+8

4

a2

Alpha parameter 2nd order term

Double

8

H+16

5

a3

Alpha parameter 3rd order term

Double

8

H+24

aRefer to the U.S. National Geodetic Survey website at: www.ngs.noaa.gov/CORS/data.shtml.

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Field

Field
type

Description

Format

Binary
Bytes

Binary
Offset

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

17

deltat lsf

Future delta time due to leap seconds

Long

4

H+100

18

Reserved

4

H+104

19

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+108

20

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.66 IPSTATS
IP statistics
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
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,1749,328376.337,02000020,0d94,45068;1,CELL,0
,526,526*01c4847c

Field

Field
Type

Description

1

IPSTATS
header

Log header. See Messages on page 25
for more information.

2

#Interface

Number of records to follow.

3

Physical
Interface

Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

Enum

4

H+4

Ulong

4

H+8

IP Interface Type
1 = ALL
2 = ETHA
4

Reserved

5

Receive
Bytes

Total number of bytes received

Ulong

4

H+12

6

Transmit
Bytes

Total number of bytes transmitted

Ulong

4

H+16

7

Next reading offset = H+4+(#Interface * 16)

8

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+
(#Interface *
16)

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.67 IPSTATUS
Current network configuration status
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
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,1609,500464.121,02000000,7fe2,6259;1,ETHA,"
10.4.44.131","255.255.255.0","10.4.44.1",1,"198.161.72.85"*ec22236c
Field
Type

Description

1

IPSTATUS
Header

2

#IPrec

3

interface

4

IP address

5

netmask

Field

Format

Binary
Bytes

Log header. See Messages on page 25 for
more information.

-

H

0

Number of records to follow

Ulong

4

H

Enum

4

H+4

IP Address-decimal dot notation

String
[16]

variable

Netmask-decimal dot notation

String
[16]

variable

String
[16]

variable

Ulong

4

Name of the network interface
2 = ETHA

Gateway-decimal dot notation
6

gateway

7...

Next reading offset = H+4+(#IPrec * 52)

8

#dnsserver

This is the default gateway that is
currently in use by the receiver.

Number of DNS Servers to follow

1

1

1

Binary
Offset

H+8
H+24

H+40

H+4+
(#IPrec x
52)

1In 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.

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Chapter 3 Logs

Field

Field
Type

Description

Format

9

server IP
address

10...

Next reading offset = H+4+(#IPrec * 52)+4+(#dnsserver * 16)

IP address-decimal dot notation

String
[16]

Binary
Bytes
variable
1

Binary
Offset
H+4+
(#IPrec x
52)+4

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)

-

-

-

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Chapter 3 Logs

3.68 ITBANDPASSBANK
Allowable band pass filter configurations
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
The ITBANDPASSBANK log provides information on the allowable configurations for each frequency when applying a bandpass filter. The current filters in use can be seen with the
ITFILTTABLE log on page 559.
Message ID: 2022
Log Type: Asynch
Recommended Input:
log itbandpassbanka once
Abbreviated ASCII Example:
 "

Copyright (C) 1994-2017 Lua.org, PUC-Rio"

Format

Binary
Bytes

Binary
Offset

Log header. See Messages for more
information.

-

H

0

Sequence
Number

Running number of each LUAOUTPUT log
produced by the system

Ulong

4

H

3

Executor
Number

Lua Executor Number that produced the data

Ulong

4

H+4

4

Data
Source

See Table 111: Lua Data Source below

Enum

4

H+8

String

Variable

H+12

Field

Field Type

1

LUAOUTPUT
header

2

5

Data

Description

NULL-terminated string containing a single
line of data from stderr or stdout. This string
is not terminated with a carriage return or
line feed.
This string contains only printable characters.
The maximum length of this string is 128
bytes.

Table 111: Lua Data Source
Binary

ASCII

Description

0

STDOUT

Data is from stdout

1

STDERR

Data is from stderr

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3.80 LUASTATUS
Display status of Lua scripts
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this log to determine what scripts are running on the receiver and whether the scripts have
exited or encountered errors.
Message ID: 2181
Log Type: Collection
Recommended Input:
LOG LUASTATUS
Abbreviated ASCII Example:
[COM1]

l

any block of characters ending in a 

l

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:
l

blocks of 80 bytes

l

any block remaining in the receiver code when a timeout occurs (100 ms)

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Chapter 3 Logs

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.
PASSAUX

Message ID: 690

PASSCCOM1

Message ID: 1893

PASSCCOM2

Message ID: 1894

PASSCCOM3

Message ID: 1895

PASSCCOM4

Message ID: 1930

PASSCCOM5

Message ID: 1937

PASSCCOM6

Message ID: 1938

PASSCOM1

Message ID: 233

PASSCOM2

Message ID: 234

PASSCOM3

Message ID: 235

PASSCOM4

Message ID: 1384

PASSCOM5

Message ID: 1576

PASSCOM6

Message ID: 1577

PASSCOM7

Message ID: 1701

PASSCOM8

Message ID: 1702

PASSCOM9

Message ID: 1703

PASSCOM10

Message ID: 1704

PASSETH1

Message ID: 1209

PASSICOM1

Message ID: 1250

PASSICOM2

Message ID: 1251

PASSICOM3

Message ID: 1252

PASSICOM4

Message ID: 1385

PASSICOM5

Message ID: 2119

PASSICOM6

Message ID: 2120

PASSICOM7

Message ID: 2121

PASSNCOM1

Message ID: 1253

PASSNCOM2

Message ID: 1254

PASSNCOM3

Message ID: 1255

PASSUSB1

Message ID: 607

PASSUSB2

Message ID: 608

PASSUSB3

Message ID: 609

Log Type: Asynch
Recommended Input:
log passcom1a onchanged

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Chapter 3 Logs

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.
ASCII Example 1:
#PASSCOM2A,COM1,0,59.5,FINESTEERING,1337,400920.135,02000000,2b46,1984;80,
#BESTPOSA,COM3,0,80.0,FINESTEERING,1337,400920.000,02000000,4ca6,1899;SOL_
COMPUT*f9dfab46
#PASSCOM2A,COM1,0,64.0,FINESTEERING,1337,400920.201,02000000,2b46,1984;80,ED,SI
NGLE,51.11636326036,-114.03824210485,1062.6015,16.2713,WGS84,1.8963,1.0674*807fd3ca
#PASSCOM2A,COM1,0,53.5,FINESTEERING,1337,400920.856,02000000,2b46,1984;49,,2.28
62,"",0.000,0.000,9,9,0,0,0,0,0,0*20b24878\x0d\x0a*3eef4220
#PASSCOM1A,COM1,0,53.5,FINESTEERING,1337,400922.463,02000000,13ff,1984;17,
unlog passcom2a\x0d\x0a*ef8d2508
ASCII Example 2:
#PASSCOM2A,COM1,0,53.0,FINESTEERING,1337,400040.151,02000000,2b46,1984;
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 OEM7 family receivers together via their COM1
ports such as in the Figure 13: Pass Through Log Data on the next page (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.

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Figure 13: Pass Through Log Data

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 (see page 193) 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 193).
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.

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Field

Field Type

Description

1

PASSCOM
header

Log header. See Messages on page 25 for
more information.

2

#bytes

Number of bytes to follow

3

data

4
5

Format

Binary
Bytes

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)

-

-

-

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3.100 PASSTHROUGH
Redirected data from all ports
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log outputs pass through data from all receiver ports. The behavior is the same as the port
specific pass though logs described in PASSCOM, PASSAUX, PASSUSB, PASSETH1, PASSICOM,
PASSNCOM on page 624.
Message ID: 1342
Log Type: Asynch
Recommended Input:
log passthrougha onchanged
ASCII Example:
#PASSTHROUGHA,COM1,0,73.0,FINESTEERING,1625,165965.067,02040008,5fa3,
39275;USB1,80,i\xd3\x00\x87>\xb0\x00'\x91\xb3"\xa0D?\xaa\xb2\x00\x07op
\x18@\x05\xe9\xd4\x08\xe7\x03\x7f\xfd\x18{\x80w\xff\xf2N_cy\x11\x80\
x0bC\xdc\x01@\x00\xdfr\xb1`\x873\xff\x81]\x7f\xe3\xff\xea\x83v\x08M\
xd8?\xfcr\xf7\x01\x18\x00\x17\x1d2\xd1\xd1b\x00*5cb8bd9a

Field

Field type

Description

1

PASSTHROUGH
header

Log header. See Messages on
page 25 for more information.

2

Port

See Table 58: COM Port Identifiers
on page 333

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)

-

-

-

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3.101 PDPPOS
PDP filter position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
The PDPPOS log contains the receiver position computed by the receiver with the PDP filter
enabled. See also the PDPFILTER command on page 254.
Message ID: 469
Log Type: Synch
Recommended Input:
log pdpposa ontime 1
ASCII Example:
#PDPPOSA,COM1,0,75.5,FINESTEERING,1431,494991.000,02040000,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

Format

Binary
Bytes

Binary
Offset

H

0

1

PDPPOS
header

Log header. See Messages on page 25 for more
information.

2

sol status

Solution status (refer to Table 73: Solution
Status on page 431)

Enum

4

H

3

pos type

Position type (refer to Table 74: Position or
Velocity Type on page 432)

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

Float

4

H+32

Enum

4

H+36

Undulation - the relationship between the geoid
and the WGS84 ellipsoid (m)

7

undulation

8

datum id#

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.
Datum ID number (refer to Table 28: Datum
Transformation Parameters on page 117)

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Field

Field
type

Description

Format

Binary
Bytes

Binary
Offset

9

lat σ

Latitude standard deviation (m)

Float

4

H+40

10

lon σ

Longitude standard deviation (m)

Float

4

H+44

11

hgt σ

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

Uchar

1

H+66

Uchar

1

H+67

Hex

1

H+68

17
18

Reserved

19
20

ext sol
stat

Extended solution status (see Table 77:
Extended Solution Status on page 435)

Hex

1

H+69

21

Galileo
and
BeiDou
sig mask

Galileo and BeiDou signals used mask (see Table
76: Galileo and BeiDou Signal-Used Mask on
page 435)

Hex

1

H+70

22

GPS and
GLONASS
sig mask

GPS and GLONASS signals used mask (see Table
75: GPS and GLONASS Signal-Used Mask on
page 434)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.102 PDPSATS
Satellites used in PDPPOS solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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:
 1 is a hyperbola

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 the SV is closest to the Earth, in
the direction of the SV's motion

Double

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)

-

-

-

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3.116 QZSSEPHEMERIS
Decoded QZSS parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1642,153690.000,02000008,1e9d,
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
Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

Time stamp of subframe 0 (s)

Double

8

H+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

Field

Field Type

Description

1

QZSSEPHEMERIS
header

Log header. See Messages on page 25 for
more information.

2

PRN

Satellite PRN number

3

tow

4

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Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

11

ΔN

Mean motion difference (radians/s)

Double

8

H+48

12

M0

Mean anomaly of reference time (radius)

Double

8

H+56

Double

8

H+64

Double

8

H+72

Eccentricity (dimensionless) quantity
defined for a conic section where
13

ecc

e = 0 is a circle,
e = 1 is a parabola,
01 is a hyperbola

14

ω

Argument of perigee (radians)
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

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

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Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

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 algorithm listed
there. We publish the square of the
nominal value (variance)

Double

8

H+216

Uchar

1

H+224

33

Curve fit interval:
34

Fit Interval

0 = Ephemeris data are effective for 2
hours
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)

-

-

-

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3.117 QZSSIONUTC
QZSS ionospheric and time information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1642,153300.565,02480008,158b,
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
Header

Log header. See Messages on page 25
for more information.

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

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

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Field
14

Field Type

Description

Format

Binary
Bytes

Binary
Offset

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

H+104

19

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+108

20

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.118 QZSSRAWALMANAC
Raw QZSS almanac data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1642,153300.000,02480008,64c4,39655;1642,
208896.000,7,
1,8b000031c390c1820e33d007fefe07cae831c5293ebfe15049104a000001,
51,8b000031c613f3336a1fffffffffffffffffffffffffffffffffff000000,
49,8b000031cd90f14e6a7cf3cf1cf1cf3cf3c73cf1cf1cf3cf3cf3cf000002,
50,8b000031ce14f24e6a0cf3cf1df1cfffffffffffffffffffffffff000002,
56,8b000031d511f80ff70003292ef496000006fffffffa4b6a0fe8040f0002,
52,8b000031e692f4a00a0fff83f060f2080180082082082082082002080381,
53,8b000031e717f58082082082082082082082082082082082082082082080
*ca4596f9ŀ

The OEM7 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

QZSSRAW
ALMANAC
header

Log header. See Messages on page 25
for more information.

2

ref week

Almanac reference week number

3

ref secs

4

#subframes

Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

Almanac reference time, in milliseconds
(binary data) or seconds (ASCII data)

GPSec

4

H+4

Number of subframes to follow

Ulong

4

H+8

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Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

Hex

2

H+12

Hex

30

H+14

SV ID (satellite vehicle ID)

5

svid

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 10 corresponds to QZSS PRN
193 to 202. Refer to QZSS Interface
Specification for more details.

6

data

Subframe page 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)

-

-

-

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3.119 QZSSRAWCNAVMESSAGE
Raw QZSS L2C and L5 CNAV message
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log provides the raw QZSS L2C and L5 CNAV message.

The QZSSRAWCNAVMESSAGE log is not output by default. To receive this log, data
decoding for QZSSL2C or QZSSL5 must be enabled using the DATADECODESIGNAL
command (see page 111) for the specific signal.
Message ID: 1530
Log Type: Collection
Recommended Input:
log qzssrawcnavmessage onnew
ASCII Example:
#QZSSRAWCNAVMESSAGEA,COM1,0,66.5,SATTIME,1902,405696.000,02000020,20f7,13677;40
,193,10,8b04a84110edc2a346a97d311c3ff854620220004eba94f1313134f005530056c9da0cc
c2300*1f2abac5

Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

1

QZSSRAWCNAVMESSAGE
header

Log header. See Messages on
page 25 for more information.

-

H

0

2

signal channel

Signal channel providing the bits

Ulong

4

H

3

PRN

QZSS satellite PRN number

Ulong

4

H+4

4

message ID

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)

-

-

-

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3.120 QZSSRAWEPHEM
QZSS Raw ephemeris information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1642,230580.000,02000008,2f9e,39655;
193,1642,234000,8b00004b0f879aa01c8000000000000000000000f6df3921fe0005
fffdbd,8b00004b1009dfd2bb1ec493a98277e8fd26d924d5062dcae8f5b739210e,8b
00004b108ffe5bc52864ae00591d003b8b02b6bfe13f3affe2afdff1e7*d2bd151e
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)

-

-

-

Field

Field Type

Description

1

QZSSRAWEPHEM
header

Log header. See Messages on page 25
for more information.

2

prn

Satellite PRN number

3

ref week

4

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3.121 QZSSRAWSUBFRAME
Raw QZSS subframe data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1642,230604.000,02000008,e56b,39655;193,5
,8b00004b11970637984efbf7fd4d0fa10ca49631ace140740a08fe0dfd43,65*6a7b9123

Field

Field Type

Description

1

QZSSRAW
SUBFRAME
header

Log header. See Messages on page 25 for
more information.

2

PRN

Satellite PRN number

3

subframe ID

4

Format

Binary
Bytes

Binary
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 on

Ulong

4

H+40

6

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+44

7

[CR][LF]

Sentence terminator

-

-

-

aIn the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment.

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3.122 RAIMSTATUS
RAIM status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log provides information on Receiver Autonomous Integrity Monitoring (RAIM) status (refer
to the RAIMMODE command on page 289).
Message ID: 1286
Log Type: Synch
Recommended Input:
log raimstatusa ontime 1
ASCII Example:
#RAIMSTATUSA,COM1,0,88.5,FINESTEERING,1837,268443.500,02040008,bf2d,32768;DEFAU
LT,PASS,NOT_AVAILABLE,0.000,NOT_AVAILABLE,0.000,1,GLONASS,10-7*6504be7b

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

RAIMSTATUS
Header

Log header. See Messages on page 25 for
more information.

-

H

0

2

RAIM Mode

RAIM mode (refer to Table 54: RAIM Mode
Types on page 290)

Enum

4

H

3

Integrity
status

Integrity Status (see Table 124: Integrity
Status on the next page)

Enum

4

H+4

4

HPL status

Horizontal protection level status (see Table
125: Protection Level Status on the next
page)

Enum

4

H+8

5

HPL

Horizontal protection level (m)

Double

8

H+12

6

VPL status

Vertical protection level status (see Table
125: Protection Level Status on the next
page)

Enum

4

H+20

7

VPL

Vertical protection level (m)

Double

8

H+24

8

#SVs

Number of excluded satellites

Ulong

4

H+32

9

System

Satellite system (see Table 102: Satellite
System on page 545)

Enum

4

H+36

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Field

Field Type

Description
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.

10

Satellite ID

11

Next offset field = H+36+(#SVs * 8)

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

12

xxxx

32-bit CRC (ASCII and Binary only)

13

[CR][LF]

Sentence terminator (ASCII only)

Format

Binary
Bytes

Binary
Offset

Ulong

4

H+40

4

H+36
+
(#SVs
* 8)

Ulong

Table 124: 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 125: Protection Level Status

Binary

ASCII

0

NOT_
AVAILABLE

Description
When RAIM is not available for example, after issuing a FRESET command
(see page 174) or when there are not enough satellites tracked to produce
the required redundant observations

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Binary

ASCII

Description
Current protection levels are below alert limits, meaning positioning
accuracy requirements are fulfilled

1

PASS

HPL < HAL
VPL < VAL
Current protection levels are above alert limits, meaning required
positioning accuracy cannot be guaranteed by RAIM algorithm

2

ALERT

HPL ≥ HAL
VPL ≥ VAL

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3.123 RANGE
Satellite range information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 126: Channel Tracking Status on page 675,
these entries can be differentiated by bits 21-25, which indicate the signal type of the observation.

For dual antenna receivers, a RANGE_1 log can be requested to get RANGE data from the
second antenna. As described in Table 3: Binary Message Header Structure on page 30,
the message type indicates the log is from the second antenna. To request an ASCII log
enter RANGEA_1, and for a binary log enter RANGEB_1.
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.

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PSR Std Dev Bit Field Value

Represented Std Dev (m)

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 135: 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

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ADR Std Dev Bit Field Value

Represented Std Dev (cycles)

13

0.16656

14

0.22230

15

>0.22230

Table 136: L1/E1/B1 Scaling
Satellite System

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

E6C

154/125

E6B

154/125

L1CA

1.0

L2C

154/120

L5Q

154/115

L6P

154/125

LBAND

1.0

GPS

GLONASS

SBAS

Galileo

QZSS

LBAND

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Satellite System

BDS

NAVIC

Signal Type

L1/E1/B1 Scale Factor

B1

1.0

B1C

1526/1540

B2

1526/1180

B2a

1526/1150

B3

1526/1240

L5SPS

1.0

Table 137: Signal Type (only in RANGECMP2)
Satellite System

GPS

Signal Type

Value

L1CA

1

L2Y

4

L2CM

5

L5Q

7

L1C

15

L1CA

1

L2CA

3

L2P

4

L3Q

6

L1CA

1

L5I

2

E1C

1

E5AQ

2

E5BQ

3

AltBOCQ

4

E6C

5

E6B

12

GLONASS

SBAS

Galileo

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Satellite System

QZSS

LBAND

Signal Type

Value

L1CA

1

L2CM

3

L5Q

4

L1C

8

L6P

11

LBAND

1

B1D1I

1

B1D2I

2

B2D1I

3

B2D2I

4

B3D1I

13

B3D2I

14

B1CP

19

B2AP

20

L5SPS

1

BDS

NAVIC

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3.126 RANGECMP4
Highly compressed version of the RANGE log
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains the RANGE data in a more heavily compressed format compared to the
RANGECMP2 log.

For dual antenna receivers, a RANGECMP4_1 log can be requested to get RANGECMP4
data from the second antenna. As described in Table 3: Binary Message Header Structure on page 30, the message type indicates the log is from the second antenna. To
request an ASCII log enter RANGECMP4A_1, and for a binary log enter RANGECMP4B_1.
Message ID: 2050
Log Type: Synch
Recommended Input:
log rangecmp4a ontime 10
Example:
#RANGECMP4A,COM1,0,81.5,FINESTEERING,1921,228459.000,00000020,fb0e,
32768;627,630032090851000000009200dbbf7d8306f822d0a3b2bc897f0010d35042
8cf31228ea9f7300040050ff5e641cb7c7463d2a00b6a4644f6e5ee2a0fe530a00fe1f
829dcfe4cf30d52abaf37f94e01621cd8d8c04a0bafcaf00e43b0761690064e7bfe90f
11ce8710a4eb2b573202607403fc28e647c6fe9f550118007a9d839c2680ebfedff687
6be81150411adbc972feef4686c483f30a09f01773ff0b0050d8b8a843f41576b94100
440e1e4f59ace54fffca2700fc1f62e14720f4facba64affbf9c52ff39ce4b3eef9f14
fd0f00244387d00d80fefabfeb0fb3cf456ae97542d410fc9ffab7f601e73580e5efda
ff0f00a0b33991fc072ccbaa99ff134efa9fd0dc684bfc61f0fffeff60b02000000000
8004c0ff3fa0b2f724f7e1eee889e9fb9f3977c0437391ab135877fe0b00301edf93f4
bd63c62850fdbf8527e6e5cd438e3a208400e0ff43bb6f5fc2101c75b058daff375c5e
a4378f51940022eeffff0fe1c97dcda81887c83a63007c9d5a7ed65ce6f901427bffff
3f9c04f735db1d55294a3bfc5f35ccc66df318c412181400140060eedbd7285feaf6a6
53f9bf9fc7fe27cd653633c0b5fcffff03197b4f8228d4e59d0cfbffa731b2f73b07e9
b68078f47f0000a9be7dcdcc51898da269fe839b6191ab9cc67701f21000fc3f0001a1
000000008002c03fb4362793b9bfeb657dfcffe6badabb9a4375b77f5bff1fed87bce6
4454a98ae16c14ff4fec6f7a48f3206b03e8040138fbd0023d225492cd7679a4ffa562
3b08810e42bf05fce17fa41f9a9ccfc8e2626231edf2ff208a1225ce6150204067febf
ef030100000000000028000ca9cc8728bb3306e68af97f921cfce3e632f0d1cf8300c8
f701*6de99eb7

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Field

Field Type

1

RANGECMP4
header

2

# bytes

Format

Binary
Bytes

Binary
Offset

Log header. See Messages on page 25 for
more information.

-

H

0

Number of bytes in the compressed binary
Range Data.

Uchar

4

H

Uchar

#
bytes

H+4

Description

The compressed binary range data is
organized into satellite system blocks which
break down into measurement blocks for each
active signal within each system. Refer to the
following tables for more details about this
format:
Table 138: Header on the next page (sent
once)
Table 139: Satellite and Signal Block on
page 696 (sent once per satellite system bit
set to 1 in the GNSS Field found in Table 138:
Header on the next page)
Table 140: Measurement Block Header on
page 697 (sent once for each bit set to 1 in the
Satellites Field found in Table 139: Satellite
and Signal Block on page 696)
3

Range Data

Table 141: Primary Reference Signal
Measurement Block on page 698 and Table
142: Secondary Reference Signals
Measurement Block on page 699, or Table
143: Primary Differential Signal Measurement
Block on page 700 and Table 144: Secondary
Differential Signals Measurement Block on
page 701, Measurement Block (sent for each
bit set to 1 in the Included Signals Field for a
given satellite found in Table 139: Satellite
and Signal Block on page 696)

The byte data is received MSB
first so each group of bytes (as
defined by the number of needed
bits) must be swapped prior to
processing.

4

xxxx

32-bit CRC (ASCII only)

Hex

4

H+4+
(#
bytes)

5

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Table 138: Header
Data
Name

Description

Bits

Scale
Factor

16

1

Indicates which satellite system data is encoded and in what order. When
the bit is set the satellite data is included. Data for each system is
encoded sequentially:
Bit 0 = GPS
Bit 1 = GLONASS
Bit 2 = SBAS
GNSS

Bit 5 = Galileo
Bit 6 = BeiDou
Bit 7 = QZSS
Bit 9 = NavIC

L-Band channels are not reported.
Bit Sum:

16

This block is sent once per message

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Table 139: Satellite and Signal Block
Data
Name

Range

Description

Bits

Scale
Factor

Indicates which satellites are present for this system
and their order in the message. Each PRN is
represented by a bit. (Bit 0 = PRN 1, Bit 1 = PRN 2, …)
Notes:
l

l

Satellites

0…
1.84467E+19

l

Signals

0… 65535

Manually assigned channels are not reported.
GLONASS Satellite: This value represents the Slot
ID of the satellite (range of 1 to 24 where Bit 0 =
Slot ID 1). In the event the Slot ID is between 43
and 63, the actual GLONASS Slot ID has not yet
64
been determined and has been replaced with a temporary Slot ID calculated using the GLONASS Frequency Number. See the GLONASS Frequency
Number field in Table 140: Measurement Block
Header on the next page for more details.

1

SBAS Satellite PRNs 120 to 158 are offset by 120.
(Bit 0 = PRN 120, Bit 1 = 121, …)

l

SBAS Satellite PRNs 183 to 187 are offset by 130

l

QZSS Satellite PRNs are offset by 193

Indicates which signals are present for this system and
their order in the message. Each signal is represented
by a bit as defined in Table 145: Signal Bit Mask on
page 702.

16

1

A two dimensional field to tell the decoder which signals
are present for each of the satellites.
Included
Signals

0… mxn

m = The number of rows equals the number of bits set
to 1 found in the Satellites field. (Maximum number of
PRNs in the satellite system)

mxn

n = The number of columns equals the number of bits
set to 1 found in the Signals field. (Maximum number of
Signals in the satellite system)
Bit Sum:

80 + mxn

This block is sent once for each bit set to 1 in the GNSS field found in Table 138:
Header on the previous page.

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Table 140: Measurement Block Header
Data
Name

Range

Description

Bits

Scale
Factor

Identifies what type of Measurement Block will be used:

Data
Format
Flag

0… 1

Ref Data
Block ID

0… 7

0 = Reference
(Table 141: Primary Reference Signal Measurement Block
on the next page and Table 142: Secondary Reference
Signals Measurement Block on page 699)

1

1

3

1

5

1

1 = Differential
(Table 143: Primary Differential Signal Measurement Block
on page 700 and Table 144: Secondary Differential Signals
Measurement Block on page 701)
This ID identifies to which reference data the Differential
Data is linked. This value is incremented by 1 each time a
new Reference Measurement Block is used.
These bits are only present for GLONASS satellites in the
Reference Data. This represents the GLONASS Frequency
Number which identifies the frequency offset of the carrier
frequency. The value will appear as a number between 0
and 20 which directly translates into a frequency offset
number between -7 to +13.

GLONASS
Frequency
Number

0… 20
(-7 to
+13)

If the GLONASS Slot ID is unknown, a temporary Slot ID for
this satellite will be set between 43 and 63 based on the
GLONASS Frequency Number:
PRN = 63 – GLONASS Frequency Number

The GLONASS Frequency Number used in this
calculation is the 0 to 20 value, not the adjusted -7 to +13 value.

Bit Sum:

4 (NonGLONASS)
9 (GLONASS)

This block is sent once for each bit set to 1 in the Satellites field found in Table 139:
Satellite and Signal Block on the previous page.

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Table 141: Primary Reference Signal Measurement Block
Data Name

Range

Parity Flag

0… 1

½ Cycle Flag

0… 1

C/No

0… 63.95

Lock Time

Description

Scale
Factor

Bits

0 = Parity Unknown

1

1

1

1

C/No

11

0.05 dBHz

0… 15

The Lock Time – See Table 146: Lock
Time on page 703

4

1

Pseudorange
Std Dev

0… 15

The Pseudorange Standard Deviation (m)
– See Table 148: Pseudorange Std Dev on
page 705

4

1

ADR Std Dev

0… 15

The ADR Standard Deviation (cycles) –
See Table 147: ADR Std Dev on page 704

4

1

37

0.0005 m

1 = Parity Known
0 = Half Cycle Not Added
1 = Half Cycle Added

The Pseudo Range of the 1st signal
(Signals field in Table 139: Satellite and
Signal Block on page 696).

Primary
Pseudorange

0…
68719476.74

PhaseRange –
Primary
Pseudorange

±419.4303

(2’s Complement)
If this value equals –(223-1) = -4194304,
it represents the signal is not locked.

23

0.0001 m

Primary
Doppler

+/3355.4431

(2’s Complement)
If this value equals –(226-1) = -33554432,
it represents an invalid Doppler.

26

0.0001
m/s

If this value equals (237-1) =
137438953471, it represents a signal that
is not locked.

Bit Sum:

111

This block is sent once for the first bit set to 1 in the Included Signals field found in
Table 139: Satellite and Signal Block on page 696.
For any bits set to 1 after the first bit set to 1, refer to Table 142: Secondary Reference Signals Measurement Block on the next page.

This table is for Reference blocks only, as indicated by the Data Format Flag (see
Table 140: Measurement Block Header on the previous page).

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Table 142: Secondary Reference Signals Measurement Block
Data Name

Range

Parity Flag

0… 1

½ Cycle Flag

0… 1

C/No Indicator

0… 63.95

Lock Time

Description

Scale
Factor

Bits

0 = Parity Unknown

1

1

1

1

C/No

11

0.05 dBHz

0… 15

The Lock Time – See Table 146: Lock
Time on page 703

4

1

Pseudorange Std
Dev

0… 15

The Pseudorange Standard Deviation
(m) – See Table 148: Pseudorange
Std Dev on page 705

4

1

ADR Std Dev

0… 15

The ADR Standard Deviation (cycles) –
See Table 147: ADR Std Dev on
page 704

4

1

±262.1435

(2’s Complement)
If this value equals –(220-1) = 524288, it indicates the signal is not
locked.

20

0.0005 m

Phaserange –
Pseudorange

±419.4303

(2’s Complement)
If this value equals –(223-1) = 4194304, it indicates the signal is not
locked.

23

0.0001 m

Doppler –
Primary Doppler

±0.8191

(2’s Complement)
If this value equals –(214-1) = -8192,
it indicates an invalid Doppler.

14

0.0001 m/s

Pseudorange –
Primary Signal
Pseudorange

1 = Parity Known
0 = Half Cycle Not Added
1 = Half Cycle Added

Bit Sum:

82

This block is sent once for each bit set to 1 after the first bit set to 1 in the Included
Signals field found in Table 139: Satellite and Signal Block on page 696.

This table is for Reference blocks only, as indicated by the Data Format Flag (see
Table 140: Measurement Block Header on page 697).

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Table 143: Primary Differential Signal Measurement Block
Data Name

Range

Description
0 = Parity Unknown

Bits

Scale
Factor

1

1

1

1

Parity Flag

0… 1

½ Cycle Flag

0… 1

C/No

0… 63.95

C/No

11

0.05
dBHz

Lock Time

0… 15

The Lock Time – See Table 146: Lock Time on
page 703

4

1

Pseudorange
Std Dev

0… 15

The Pseudorange Standard Deviation (m) – See Table
148: Pseudorange Std Dev on page 705

4

1

ADR Std Dev

0… 15

The ADR Standard Deviation (cycles) – See Table 147:
ADR Std Dev on page 704

4

1

19

0.0005
m

16

0.0001
m

1 = Parity Known
0 = Half Cycle Not Added
1 = Half Cycle Added

(2’s Complement)
If this value equals –(219-1) = -262144, it indicates a
signal that is not locked.
Pseudorange
– Predicted
Pseudorange

±131.0715

The Predicted Pseudorange = reference pseudorange
plus (the reference doppler x time difference between
the reference log and the differential log). The
Reference log and Differential logs used must contain
matching Ref Data Block ID references (Table 140:
Measurement Block Header on page 697).
(2’s Complement)
If this value equals –(216-1) = -32768, it indicates the
signal is not locked.

Phaserange
– Predicted
Phaserange

±3.2767

The Predicted Phaserange = reference phaserange
plus (the reference doppler x time difference between
the reference log and the differential log). The
Reference log and Differential logs used must contain
matching Ref Data Block ID references (Table 140:
Measurement Block Header on page 697).

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Data Name

Doppler –
Reference
Doppler

Bits

Scale
Factor

The Reference Doppler is the Doppler for that PRN and
for that signal from the Reference log. The Reference
log and Differential logs used must contain matching
Ref Data Block ID references (Table 140:
Measurement Block Header on page 697).

18

0.0001
m/s

Bit Sum:

78

Range

Description
(2’s Complement)
If this value equals –(218-1) = -131072, it indicates an
invalid Doppler.

±13.1071

This block is sent once for each bit set to 1 after the first bit set to 1 in the Included
Signals field found in Table 139: Satellite and Signal Block on page 696.
For any bits set to 1 after the first bit set to 1, refer to Table 144: Secondary Differential Signals Measurement Block below.

This table is for Differential blocks only, as indicated by the Data Format Flag (see
Table 140: Measurement Block Header on page 697).

Table 144: Secondary Differential Signals Measurement Block
Data Name

Range

Description
0 = Parity Unknown

Bits

Scale
Factor

1

1

1

1

Parity Flag

0… 1

½ Cycle Flag

0… 1

C/No

0… 63.95

C/No

11

0.05
dBHz

Lock Time

0… 15

The Lock Time – See Table 146: Lock Time on
page 703

4

1

Pseudorange
Std Dev

0… 15

The Pseudorange Standard Deviation (m) – See Table
148: Pseudorange Std Dev on page 705

4

1

ADR Std Dev

0… 15

The ADR Std Dev (cycles)– See Table 147: ADR Std
Dev on page 704

4

1

1 = Parity Known
0 = Half Cycle Not Added
1 = Half Cycle Added

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Data Name

Bits

Scale
Factor

19

0.0005
m

16

0.0001
m

The Reference Doppler is the Doppler for that PRN and
for that signal from the Reference log. The Reference
log and Differential logs used must contain matching
Ref Data Block ID references (Table 140:
Measurement Block Header on page 697).

14

0.0001
m/s

Bit Sum:

74

Range

Description
(2’s Complement)
If this value equals –(219-1) = -262144, it indicates
the signal is not locked.

Pseudorange
– Predicted
Pseudorange

±131.0715

The Predicted Pseudorange = reference pseudorange
plus (the reference doppler x time difference between
the reference log and the differential log). The
Reference log and Differential logs used must contain
matching Ref Data Block ID references (Table 140:
Measurement Block Header on page 697).
(2’s Complement)
If this value equals –(216-1) = -32768, it indicates the
signal is not locked.

Phaserange
– Predicted
Phaserange

Doppler –
Reference
Doppler

±3.2767

The Predicted Phaserange = reference phaserange
plus (the reference doppler x time difference between
the reference log and the differential log). The
Reference log and Differential logs used must contain
matching Ref Data Block ID references (Table 140:
Measurement Block Header on page 697).
(2’s Complement)
If this value equals –(214-1) = -8192, it indicates an
invalid Doppler.

±13.1071

This block is sent once for each bit set to 1 after the first bit set to 1 in the Included
Signals field found in Table 139: Satellite and Signal Block on page 696.

This table is for Differential blocks only, as indicated by the Data Format Flag (see
Table 140: Measurement Block Header on page 697).

Table 145: Signal Bit Mask

Bit 1

GPS

GLONASS

SBAS

Galileo

BeiDou

QZSS

NavIC

L1CA

L1CA

L1CA

E1

B1

L1CA

L5SPS

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GPS

GLONASS

SBAS

Galileo

BeiDou

L5I

E5A

B1GEO

L2CA

E5B

B2

L2C

L2P

ALTBOC

B2GEO

L5Q

E6C

B3

Bit 2
Bit 3
Bit 4

L2Y

Bit 5

L2C

Bit 6

L2P

Bit 7

L5Q

L3

QZSS

NavIC

B3GEO
B1CP

Bit 8

L1C

Bit 9

B2AP

Bit 10
Bit 11

L6P

Bit 12

E6B

Bit 13
Bit 14
Bit 15

L1C
Table 146: Lock Time

Indicator
(i)

Minimum Lock Time
(ms)

Range of Indicated Lock Times
(t represents the Lock Time)
(ms)

0

0

0 ≤ t < 16

1

16

16 ≤ t < 32

2

32

32 ≤ t < 64

3

64

64 ≤ t < 128

4

128

128 ≤ t < 256

5

256

256 ≤ t < 512

6

512

512 ≤ t < 1024

7

1024

1024 ≤ t < 2048

8

2048

2048 ≤ t < 4096

9

4096

4096 ≤ t < 8192

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Indicator
(i)

Minimum Lock Time
(ms)

Range of Indicated Lock Times
(t represents the Lock Time)
(ms)

10

8192

8192 ≤ t < 16384

11

16384

16384 ≤ t < 32768

12

32768

32768 ≤ t < 65536

13

65536

65536 ≤ t < 131072

14

131072

131072 ≤ t < 262144

15

262144

262144 ≤ t
Table 147: ADR Std Dev
ADR Std Dev (cycles)

0

≤ 0.0039

1

≤ 0.0052

2

≤ 0.0070

3

≤ 0.0093

4

≤ 0.0124

5

≤ 0.0165

6

≤ 0.0221

7

≤ 0.0295

8

≤ 0.0393

9

≤ 0.0525

10

≤ 0.0701

11

≤ 0.0935

12

≤ 0.1248

13

≤ 0.1666

14

≤ 0.2223

15

> 0.2223

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Table 148: Pseudorange Std Dev
Pseudorange Std Dev (m)
0

≤ 0.020

1

≤ 0.030

2

≤ 0.045

3

≤ 0.066

4

≤ 0.099

5

≤ 0.148

6

≤ 0.220

7

≤ 0.329

8

≤ 0.491

9

≤ 0.732

10

≤ 1.092

11

≤ 1.629

12

≤ 2.430

13

≤ 3.625

14

≤ 5.409

15

> 5.409

For more information about decoding the RANGECMP4 log, refer to Example of Bit Parsing a RANGECMP4 Log on page 1038.

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3.127 RANGEGPSL1
L1 version of the RANGE log
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log is identical to the RANGE log (see page 672) 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,1337,404766.000,02000000,5862,
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

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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.

Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RANGEGPSL1
header

Log header. See Messages on page 25 for
more information.

2

# obs

Number of L1 observations with information
to follow

Long

4

H

3

PRN

Satellite PRN number of range measurement
(1-32)

Ushort

2

H+4

4

Reserved

Ushort

2

H+6

5

psr

Pseudorange measurement (m)

Double

8

H+8

6

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 126: Channel
Tracking Status on page 675)

Ulong

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)

-

-

-

Carrier to noise density ratio
C/No = 10[log10(S/N0)] (dB-Hz)

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3.128 RAWALM
Raw GPS Almanac data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 available on our website.
Message ID: 74
Log Type: Asynch
Recommended Input:
log rawalma onchanged
ASCII Example:
#RAWALMA,COM1,0,56.0,SATTIME,1337,405078.000,02000000,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 OEM7 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. See Messages on page 25
for more information.

2

ref week

Almanac reference week number

3

ref secs

Almanac reference time (ms)

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Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

GPSec

4

H+4

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Chapter 3 Logs

Field

Field type

4

#subframes

Description
Number of subframes to follow

Format

Binary
Bytes

Binary
Offset

Ulong

4

H+8

Ushort

2

H+12

Hex

30

H+14

SV ID (satellite vehicle ID)
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 ICDGPS-200C for more details.
To obtain copies of ICDGPS-200, refer to the
GPS website
(www.gps.gov/).

5

svid

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)

-

-

-

Subframe page data

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3.129 RAWCNAVFRAME
Raw GPS CNAV frame data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 111)
for the specific signal.
Message ID: 1066
Log Type: Asynch
Recommended Input:
log rawcnavframea onnew
ASCII Example:
#RAWCNAVFRAMEA,COM1,0,63.0,SATTIME,1902,431718.000,02000020,ee56,13677;17,6,11,
8b18b8c892cd499a403d89d3a5bfc05f500a1fff6007dff412e017a3c029ccff5d6001fc9a70*0d
ddab32
Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

Satellite PRN number

Ulong

4

H+4

frame ID

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)

-

-

-

Field

Field type

Description

1

RAWCNAVFRAME
header

Log header. See Messages on page 25
for more information.

2

signal channel

Signal channel providing the bits

3

PRN

4

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3.130 RAWEPHEM
Raw GPS ephemeris
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1337,405297.175,02000000,97b7,198
4;3,1337,403184,8b04e4818da44e50007b0d9c05ee664ffbfe695df763626f00001b
03c6b3,8b04e4818e2b63060536608fd8cdaa051803a41261157ea10d2610626f3d,8b
04e4818ead0006aa7f7ef8ffda25c1a69a14881879b9c6ffa79863f9f2*0bb16ac3
...
#RAWEPHEMA,COM1,0,60.5,SATTIME,1337,405390.000,02000000,97b7,1984;1,13
37,410400,8b04e483f7244e50011d7a6105ee664ffbfe695df9e1643200001200aa92
,8b04e483f7a9e1faab2b16a27c7d41fb5c0304794811f7a10d40b564327e,8b04e483
f82c00252f57a782001b282027a31c0fba0fc525ffac84e10a06*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.

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Field

Field type

Description

1

RAWEPHEM
header

Log header. See Messages on page 25 for
more information.

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]

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)

-

-

-

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3.131 RAWGPSSUBFRAME
Raw GPS subframe data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1337,405348.000,02000000,f690,1984;2,22,4
,8b04e483f3b17ee037a3732fe0fc8ccf074303ebdf2f6505f5aaaaaaaaa9,2*41e768e4
...
#RAWGPSSUBFRAMEA,COM1,35,62.5,SATTIME,1337,405576.000,02000000,f690,1984;4,25,2
,8b04e48406a8b9fe8b364d786ee827ff2f062258840ea4a10e20b964327e,4*52d460a7
...
#RAWGPSSUBFRAMEA,COM1,0,62.5,SATTIME,1337,400632.000,02000000,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 (see page 715) to receive
the parity bits in addition to the data bits.

Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RAWGPSSUBFRAME
header

Log header. See Messages on
page 25 for more information.

2

decode #

Frame decoder number

Long

4

H

3

PRN

Satellite PRN number

Ulong

4

H+4

4

subframe id

Subframe ID

Ulong

4

H+8

5

data

Raw subframe data

Hex[30]

321

H+12

1In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment.

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

6

signal channel

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)

-

-

-

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3.132 RAWGPSWORD
Raw GPS navigation word
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1337,405704.473,02000000,9b16,1984;14,7ff
9f5dc*8e7b8721
...
#RAWGPSWORDA,COM1,0,57.0,FINESTEERING,1337,405783.068,02000000,9b16,1984;1,93fe
ff8a*6dd62c81
...
#RAWGPSWORDA,COM1,0,55.5,FINESTEERING,1337,405784.882,02000000,9b16,1984;5,ffff
f8ce*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

Format

Binary
Bytes

Binary
Offset

H

0

1

RAWGPSWORD
header

Log header. See Messages on page 25
for more information.

2

PRN

Satellite PRN number

Ulong

4

H

3

nav word

Raw navigation word

Hex[4]

4

H+4

4

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+8

5

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.133 RAWSBASFRAME
Raw SBAS frame data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1610,341534.000,02000000,58e4,38637;32,133,4
,c6115ffc00000c009ffc07004c089ffdffdffdffdfff957bbb6bffffc0,32*5afc5f95
#RAWSBASFRAMEA,COM1,0,91.0,SATTIME,1610,341535.000,02000000,58e4,38637;32,133,2
,53084007ff9fffffc03002c0000f0009ffc004005ffd6b961e39b9fb80,32*db5dfa62
#RAWSBASFRAMEA,COM1,0,91.0,SATTIME,1610,341535.000,02000000,58e4,38637;35,135,2
,53084007ff9fffffc03002c0000f0009ffc004005ffd6b961e39b9fb80,35*b72ff2a0
...
#RAWSBASFRAMEA,COM1,0,90.0,SATTIME,1610,341539.000,02000000,58e4,38637;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

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

SBAS satellite PRN number

Ulong

4

H+4

SBAS frame ID

Ulong

4

H+8

Field type

Description

1

RAWSBASFRAME
header

Log header. See Messages on page 25 for
more information.

2

decode #

Frame decoder number

3

PRN

4

SBAS frame ID

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

5

raw frame data

Raw SBAS frame data. There are 226 bits
of data and 6 bits of padding

Hex[29]

321

H+12

6

signal channel

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)

-

-

-

1In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.

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3.134 RAWSBASFRAME2
Raw SBAS frame data 2
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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). It also contains the transmitted frequency. Only
frame data with a valid preamble and CRC are reported.
Message ID: 2185
Log Type: Asynch
Recommended Input:
log rawsbasframe2a onnew
ASCII Example:
#RAWSBASFRAME2A,COM1,0,77.5,SATTIME,1977,514394.000,02000020,b39f,32768;135,209
,2,1,0,3,c60d4009ffc018001ffc005ffdfffffbff9ffc00bfed79db9bb95b9540*9a75ce69
#RAWSBASFRAME2A,COM1,0,77.5,SATTIME,1977,514394.000,02000020,b39f,32768;138,207
,2,1,0,4,c6125ffdffc005ffffffffbfe3fb9ffdffdffdffdfffba3956abffffc0*9324a574
#RAWSBASFRAME2A,COM1,0,77.5,SATTIME,1977,514395.000,02000020,b39f,32768;135,208
,1,0,0,4,53125ffdffc011ffc000007fe3fb5ffdffdffdffdfffba3956abffffc0*69490ac5
#RAWSBASFRAME2A,COM1,0,78.5,SATTIME,1977,514395.000,02000020,b39f,32768;138,206
,1,0,0,3,530c7ff9ffc017ff9fffff9ffdfffffbfedffc003fe579db9bb95b9540*c7ca1531

The RAWSBASFRAME2 log output contains all the raw data required for an application
to compute its own SBAS correction parameters.

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RAWSBASFRAME2
header

Log header. See Messages on page 25
for more information.

2

PRN

SBAS satellite PRN number

Ulong

4

H

3

signal channel

Signal channel number that the frame
was decoded on

Ulong

4

H+4

Uchar

1

H+8

4

SBAS Signal
Source

Identifies the source of the SBAS
signal:
1 – SBASL1CA
2 – SBASL5I

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Field

5

Field Type

SBAS Preamble
Type

Description

Format

Binary
Bytes

Binary
Offset

Uchar

1

H+9

Ushort

2

H+10

Identifies what preamble was used
when tracking the SBAS signal:
0 – SBASL1CA 8-bit Preamble
1 – SBASL5I 8-bit Preamble

6

Reserved

7

SBAS frame ID

SBAS frame ID

Ulong

4

H+12

8

data

Raw SBAS frame data. There are 226
bits of data and 6 bits of padding

Hex[29]

321

H+16

9

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+48

10

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

1In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.

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3.135 REFSTATION
Base station position and health
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains the ECEF Cartesian position of the base station as received through the RTCMV3
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 161) and the
DGPSTXID command (see page 122). See Figure 11: The WGS84 ECEF Coordinate System on
page 449 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,1364,490401.124,82000000,4e46,2310;000000
00,-1634532.443,-3664608.907,4942482.713,0,RTCMV3,"AAAA"*1e2a0508

Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

H

0

1

REFSTATION
header

Log header. See Messages on page 25 for
more information.

2

status

Status of the base station information (see
Table 149: Base Station Status on the next
page)

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 description at the
start of this section

Ulong

4

H+28

7

stn type

Station type (see Table 150: Station Type on
the next page)

Enum

4

H+32

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

8

stn ID

Base station ID

Char[5]

81

H+36

9

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+44

10

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 149: Base Station Status
Bit #

Mask

Description

0

0x00000001

Validity of the base station

Bit = 0

Bit = 1

Valid

Invalid

Table 150: Station Type
Base Station Type
Description
Binary
0

ASCII
NONE

1-3

Reserved

4

RTCMV3

Base station is not used

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.

1In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.

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3.136 REFSTATIONINFO
Base Station position information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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
ASCII Example:
#REFSTATIONINFOA,USB1,0,89.5,EXACT,0,0.000,02000040,d38f,6782;
51.116375174,-114.038254922,1048.502830628,WGS84,1.234,0,RTCMV3,
"0","702GG","NVH05410007"*bedf8ece

Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

1

REFSTATIONINFO
header

Log header. See Messages on page 25
for more information.

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 28: Datum Transformation
Parameters on page 117)

Enum

4

H+24

6

ARP height

Base Antenna ARP (m)

Float

4

H+28

7

health

Base Station Health, see Table 149:
Base Station Status on the previous page

Ulong

4

H+32

8

Ref Stn Type

Base Station Type, see (Table 150:
Station Type on the previous page)

Enum

4

H+36

9

stn ID

Base Station ID

Char[5]

8a

H+40

aIn the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

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)

-

-

-

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3.137 ROVERPOS
Position using ALIGN
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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.

l

l

l

l

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.
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/).
ROVERPOS is dependent on the output frequency of the RTCAREFEXT message from
the master to the rover.
On dual antenna receivers, the ROVERPOS log outputs the position for the secondary antenna input.

Message ID: 1052
Log Type: Asynch
Recommended Input:
log roverposa onchanged
ASCII Example:
#ROVERPOSA,COM1,0,21.5,FINESTEERING,1544,340322.000,02000008,7453,4655;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.

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Field
Type

Description

Binary
Bytes

Binary
Offset

1

ROVERPOS
header

Log header. See Messages on page 25 for more
information.

H

0

2

sol stat

Solution Status, see Table 73: Solution Status
on page 431

Enum

4

H

3

pos type

Position Type see Table 74: Position or Velocity
Type on page 432

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 28: Datum
Transformation Parameters on page 117)

Enum

4

H+36

9

lat σ

Latitude standard deviation in metres

Float

4

H+40

10

long σ

Longitude standard deviation in metres

Float

4

H+44

11

hgt σ

Height standard deviation 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

21

Uchar

1

H+70

22

Uchar

1

H+71

Field

19
20

Format

Reserved

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

1

H+72

24

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

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3.138 RTCMV3 Standard Logs
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
NovAtel’s RTCMv3 logs are implementations of the messages described by the RTCM SC-104
committee’s “Differential GNSS (Global Navigation Satellite Systems) Services – Version 3”
standard. These messages are primarily intended to support RTK operations. They are also an
alternative raw data format to NovAtel’s proprietary messages.
The RTCMv3 logs can be divided into several categories that are described below. An RTK base
station must minimally transmit one or more observable message, together with one or more
station and antenna message. The GENERATERTKCORRECTIONS command on page 182 illustrates an appropriate set of messages and is an easy way to configure logging.
Example Input:
interfacemode com2 none RTCMV3
fix position 51.1136 -114.0435 1059.4
thisantennatype NOV702
log com2 rtcm1006 ontime 10
log com2 rtcm1033 ontime 10 2
log com2 rtcm1004 ontime 1
log com2 rtcm1012 ontime 1

3.138.1 Legacy Observable Messages
The legacy observable messages contain GPS and GLONASS code and phase observables. The
extended messages additionally contain the C/N0.
Table 151: Legacy Observable Messages
Log Name

Message ID

Description

RTCM1001

772

GPS L1-only observables, basic

RTCM1002

774

GPS L1-only observables, extended

RTCM1003

776

GPS L1/L2 basic observables, basic

RTCM1004

770

GPS L1/L2 basic observables, extended

RTCM1009

885

GLONASS L1-only observables, basic

RTCM1010

887

GLONASS L1-only observables, extended

RTCM1011

889

GLONASS L1/L2 basic observables, basic

RTCM1012

891

GLONASS L1/L2 basic observables, extended

3.138.2 MSM Observable Messages
The Multiple Signal Messages (MSM) are observable messages for all current GNSS systems.
They provide a standardized framework for message content and are designed to support future

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systems and signals.

Sending legacy (1001-1004 and 1009-1012) and MSM messages in the same stream can
cause problems for remote RTK users and is not recommended.
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. Generally, as the MSM number increases,
more information is available in the messages. For example, MSM1 for each GNSS system
provides the code measurements for the system, while MSM3 provides both the code and phase.
The information encoded in each MSM variant is described in Table 152: MSM Type Descriptions
below for the descriptions of each of the seven MSM types. For RTK operations, MSM3 is minimally recommended.
Table 152: 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 153: MSM Log Names below lists the MSM message name and Table 154: MSM Message
IDs on the next page lists the message IDs.
Table 153: MSM Log Names
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

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Table 154: MSM Message IDs
Message

GPS

GLONASS

Galileo

QZSS

BeiDou

MSM1

1472

1479

1486

1648

1592

MSM2

1473

1480

1487

1649

1593

MSM3

1474

1481

1488

1650

1594

MSM4

1475

1482

1489

1651

1595

MSM5

1476

1483

1490

1652

1596

MSM6

1477

1484

1491

1653

1597

MSM7

1478

1485

1492

1654

1598

3.138.3 Station and Antenna Messages
The station and antenna messages listed in Table 155: Station and Antenna Messages on the
next page provide the base station’s coordinates and hardware. Remote RTK users require this
information so that they can position themselves relative to a base station.
l

l

l

l

l

Message Type 1005 provides the Earth-Centered, Earth-Fixed (ECEF) coordinates of the
Antenna Reference Point (ARP). The ARP is an explicit physical point on the antenna, typically the center of its base. It is related to the antenna phase center from where the measurements are emitted via the Phase Center Offsets (PCOs). The PCOs can be set using the
THISANTENNAPCO command (see page 367) or THISANTENNATYPE command (see page
369). If the PCOs are not set, then the coordinates transmitted by Message types 1005 and
1006 will be those that the receiver is fixed to by the FIX command (see page 161).
Message Type 1006 is the same as 1005 but additionally provides the antenna height. This
value is always set to zero by the receiver firmware.
Message Type 1007 provides the base station antenna type. Conventionally, the antenna
name from the International GNSS Service (IGS) is used. The antenna name can be set
using the THISANTENNATYPE command (see page 369).
Message Type 1008 is the same as 1007 but additionally provides the antenna serial number.
The serial number is always set to null by the receiver firmware.
Message Type 1033, like message types 1007 and 1008, also provides the antenna information. Message type 1033 additionally provides the receiver type and firmware version. The
primary use of this information is to more-easily enable RTK rovers to fix their GLONASS
ambiguities. This information is filled automatically and appropriately by the receiver firmware.

For a receiver operating as an RTK base station, the recommended messages to transmit are
1006 and 1033. With these messages remote RTK users have all the information describing the
base station.

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Table 155: Station and Antenna Messages
Log
Name

Message
ID

RTCM Message
Type

RTCM1005

765

1005

Stationary RTK Base Station Antenna Reference Point
(ARP)

RTCM1006

768

1006

Stationary RTK Base Station ARP with Antenna Height

RTCM1007

852

1007

Extended Antenna Descriptor and Setup Information

RTCM1008

854

1008

Extended Antenna Reference Station Description and
Serial Number

RTCM1033

1097

1033

Receiver and antenna descriptors

Description

3.138.4 Ephemeris Messages
The ephemeris messages listed in Table 156: Ephemeris Messages below provide the satellite
ephemerides. For RTK operations this information is optional, as RTK rovers will be downloading
their own ephemerides directly from the satellites.
There are two messages for each ephemeris type. For the messages logged ONTIME (e.g. LOG
RTCM1019 ONTIME 10) a single satellite’s ephemeris is output at each ONTIME interval. The ephemerides will be cycled through in numerical order. For the messages logged ONCHANGED
(e.g., LOG RTCM1019ASYNC ONCHANGED), new or changed ephemerides will be output as soon
as they are available.
Table 156: Ephemeris Messages
Log Name

Message
ID

RTCM Message
Type

Description

RTCM1019

893

1019

GPS Ephemerides, logged ONTIME

RTCM1019ASYNC

2088

1019

GPS Ephemerides, logged ONCHANGED

RTCM1020

895

1020

GLONASS Ephemerides, logged ONTIME

RTCM1020ASYNC

2089

1020

GLONASS Ephemerides, logged
ONCHANGED

RTCM1042

2171

1042

BeiDou Ephemerides, logged ONTIME

RTCM1042ASYNC

2170

1042

BeiDou Ephemerides, logged ONCHANGED

RTCM1044

2177

1044

QZSS Ephemerides, logged ONTIME

RTCM1044ASYNC

2176

1044

QZSS Ephemerides, logged ONCHANGED

RTCM1045

2173

1045

Galileo F/NAV Ephemerides, logged
ONTIME

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Log Name

Message
ID

RTCM Message
Type

Description

RTCM1045ASYNC

2172

1045

Galileo F/NAV Ephemerides, logged
ONCHANGED

RTCM1046

2175

1046

Galileo I/NAV Ephemerides, logged
ONTIME

RTCM1046ASYNC

2174

1046

Galileo I/NAV Ephemerides, logged
ONCHANGED

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3.139 RTKASSISTSTATUS
RTK ASSIST status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 77: Extended Solution Status on
page 435.
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 298) .
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: Synch
Recommended Input:
log rtkassiststatusa ontime 5
ASCII Example:
#RTKASSISTSTATUSA,COM1,0,80.0,FINESTEERING,1932,491359.000,02000020,80fe,46672;
ACTIVE,ASSIST,969.0,14.0*26e32616

Field
1

Field type
RTKASSISTSTATUS
header

Description

Format

Log header. See Messages on page 25
for more information.

Binary
Bytes

Binary
Offset

H

0

4

H

State:
2

State

INACTIVE (0)

Enum

ACTIVE (1)

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

Enum

4

H+4

Mode:
3

Mode

UNAVAILABLE (0)
COAST (1)
ASSIST (2)

4

Remaining time

Time remaining in seconds

Float

4

H+8

5

Corrections age

Age of the RTK ASSIST corrections in
seconds. Maximum value of 120
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)

-

-

-

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3.140 RTKDOP
DOP values for the satellites used in the RTK solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
The RTKDOP log contains the Dilution Of Precision (DOP) values for the satellites being used in
the RTK solution. Note that unlike the PSRDOP log (see page 645), the RTKDOP log is synchronous. DOP values will be calculated at the requested rate, up to a maximum rate of 1 Hz.
DOP values are a measure of the solution strength. Essentially, the DOPs reflect the geometry of
the satellites used in the solution. Solutions with good counts of well-distributed satellites will
have low DOPs and should be accurate and reliable. Solutions with fewer or poorly-distributed
satellites will have high DOPs and be less accurate and reliable. As a rough guideline, PDOP values less than 4 imply a solution with reasonable geometry.
There can be many reasons for high DOP values. The most common reason is that there are
obstructions limiting satellite visibility. Even if satellites are visible and being tracked they
might still not be used in the solution if, for example, they are unhealthy or there aren't corrections available for them. The RTKSATS log (see page 739) will inform which satellites are
being tracked and explain why a tracked satellite is not used in the solution.
The DOPs do not consider that different satellites or signals will be weighted differently in the
solution. Therefore, they do not completely reflect the solution quality. Ultimately, the standard
deviations reported in the RTKPOS log (see page 736) are the best reflection of the solution
accuracy.
Message ID: 952
Log Type: Synch
Recommended Input:
log rtkdopa ontime 10
ASCII Example:
#RTKDOPA,COM1,0,60.0,FINESTEERING,1449,446982.000,02000008,b42b,3044;2.3386,1.9
856,0.9407,1.5528,1.2355,10.0,11,21,58,6,7,10,16,18,24,26,29,41*85f8338b

Field

Field
type

Description

1

RTKDOP
header

Log header. See Messages on page 25 for
more information.

2

GDOP

Geometric DOP

3

PDOP

4
5

Format

Binary
Bytes

Binary
Offset

H

0

Float

4

H

Position DOP

Float

4

H+4

HDOP

Horizontal DOP

Float

4

H+8

HTDOP

Horizontal and Time DOP

Float

4

H+12

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Field

Field
type

Description

Format

Binary
Bytes

Binary
Offset

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)

-

-

-

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3.141 RTKDOP2
DOP values for the satellites used in the RTK solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
The RTKDOP2 log contains the Dilution Of Precision (DOP) values for the satellites being used in
the RTK solution. This log is similar to the RTKDOP log (see page 733) but contains the per-system TDOPs; see the RTKDOP log for more information on the DOPs.
Message ID: 1172
Log Type: Synch
Recommended Input:
log rtkdop2a ontime 10
ASCII Example:
#RTKDOP2A,COM1,0,80.0,FINESTEERING,1690,601478.000,02000008,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. See Messages on page 25 for
more information.

2

GDOP

Geometric DOP

3

PDOP

4

Format

Binary
Bytes

Binary
Offset

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 64: System Used for Timing on
page 350

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)

-

-

-

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3.142 RTKPOS
RTK low latency position data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 591).
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 DGPSTXID command (see page 122).
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 (see page 591) 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. 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 (see page 428) contains either the low-latency RTK, PPP
or pseudorange-based position, whichever has the smallest standard deviation.
Message ID: 141
Log Type: Synch
Recommended Input:
log rtkposa ontime 1
ASCII Example:
#RTKPOSA,COM1,0,54.5,FINESTEERING,1419,340040.000,02000040,176e,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*0ad
b3e47

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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.
OEM7-based 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

Format

Binary
Bytes

Binary
Offset

H

0

1

RTKPOS
header

Log header. See Messages on page 25 for
more information.

2

sol status

Solution status (see Table 73: Solution
Status on page 431)

Enum

4

H

3

pos type

Position type (see Table 74: Position or
Velocity Type on page 432)

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

Float

4

H+32

Undulation - the relationship between the
geoid and the WGS84 ellipsoid (m)

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.

7

undulation

8

datum id#

Datum ID number (see Table 28: Datum
Transformation Parameters on page 117)

Enum

4

H+36

9

lat σ

Latitude standard deviation (m)

Float

4

H+40

10

lon σ

Longitude standard deviation (m)

Float

4

H+44

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Field

Field type

Description

Format

Binary
Bytes

Binary
Offset

11

hgt σ

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 77:
Extended Solution Status on page 435)

Hex

1

H+69

21

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see
Table 76: Galileo and BeiDou Signal-Used
Mask on page 435)

Hex

1

H+70

22

GPS and
GLONASS sig
mask

GPS and GLONASS signals used mask (see
Table 75: GPS and GLONASS Signal-Used
Mask on page 434)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.143 RTKSATS
Satellites used in RTKPOS solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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:
50 km

20

0x00100000

Poor RTK COM Link (poor correction quality)

Corrections quality
≤60%

21

0x00200000

Poor ALIGN COM Link (poor correction quality)

Corrections quality
≤60%

22

0x00400000

GLIDE Not Active

GLIDE not active

23

0x00800000

Bad PDP Geometry

PDOP >5.0

24

0x01000000

No TerraStar Subscription

No subscription

25

0x02000000

26

0x04000000

27

0x08000000

28

0x10000000

Bad PPP Geometry

29

0x20000000

Reserved

30

0x40000000

No INS Alignment

No alignment

31

0x80000000

INS not converged

Not converged

N3

N4

N5

Description

Bit = 1
Clock freewheeling

<60% of expected
corrections available
<15% of expected
corrections available
PDOP >5.0

Reserved

N6
Reserved

PDOP >5.0

N7

Only GPS and GLONASS are considered in the Auxiliary 4 status word states.

For bits relating to RTK, ALIGN or INS, the bits will only be set if the receiver has that
type of positioning is enabled via Auth Code.

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3.148 RXSTATUSEVENT
Status event indicator
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log is used to output event messages as indicated in the RXSTATUS log (see page 748). An
event message is automatically generated for all receiver errors, which are indicated in the
receiver error word. In addition, event messages can be generated when other conditions,
which are indicated in the receiver status and auxiliary status words, are met. Whether or not an
event message is generated under these conditions is specified using the STATUSCONFIG command (see page 359).
On start-up, the receiver is set to log RXSTATUSEVENTA ONNEW HOLD on all ports. You can
remove this message using the UNLOG command (see page 384). To remove this log using an
UNLOGALL command (see page 386), you must use the True option.
Logging RXSTATUSEVENT on all ports is a factory default setting. If it is unlogged, the
RXSTATUSEVENT log will not be collected until the next start-up. After a start-up, logging
RXSTATUSEVENT on all ports will start again.

See also the chapter on Built-In Status Tests in the OEM7 Installation and Operation User
Manual.
Message ID: 94
Log Type: Asynch
Recommended Input:
log rxstatuseventa onchanged
ASCII Example 1:
#RXSTATUSEVENTA,COM1,0,17.0,FREEWHEELING,1337,408334.510,02480000,b967,1984;STA
TUS,19,SET,"No Valid Position Calculated"*6de945ad
ASCII Example 2:
#RXSTATUSEVENTA,COM1,0,41.0,FINESTEERING,1337,408832.031,03000400,b967,1984;STA
TUS,10,SET,"COM3 Transmit Buffer Overrun"*5b5682a9

When a fatal event occurs (for example, in the event of a receiver hardware failure), a
bit is set in the receiver error word, part of the RXSTATUS log (see page 748) to indicate the cause of the problem. Bit 0 is set in the receiver status word to show that an
error occurred, the error strobe is driven high and the LED flashes red and yellow showing an error code. An RXSTATUSEVENT log is generated on all ports to show the cause of
the error. Receiver tracking is disabled at this point but command and log processing
continues to allow you to diagnose the error. Even if the source of the error is corrected
at this point, the receiver must be reset to resume normal operation.

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Binary
Bytes

Binary
Offset

H

0

Enum

4

H

bit position

Location of the bit in the status word (see
Table 158: Receiver Status on page 753,
Table 160: Auxiliary 1 Status on
page 755, Table 161: Auxiliary 2 Status
on page 757 or Table 162: Auxiliary 3
Status on page 758

Ulong

4

H+4

4

event

Event type (see Table 166: Event Type
below)

Enum

4

H+8

5

description

This is a text description of the event or
error

Char
[32]

32

H+12

6

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+44

7

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field

Field type

Description

1

RXSTATUSEVENT
header

Log header. See Messages on page 25 for
more information.

2

word

The status word that generated the event
message (see Table 165: Status Word
below)

3

Format

Table 165: Status Word
Binary

ASCII

0

ERROR

1

STATUS

2

AUX1

3

AUX2

4

AUX3

Description
Receiver Error word,
see Table 157: Receiver Error on page 751
Receiver Status word,
see Table 158: Receiver Status on page 753
Auxiliary 1 Status word,
see Table 160: Auxiliary 1 Status on page 755
Auxiliary 2 Status word
see Table 161: Auxiliary 2 Status on page 757
Auxiliary 3 Status word
see Table 162: Auxiliary 3 Status on page 758
Table 166: Event Type

Binary

ASCII

Description

0

CLEAR

Bit was cleared

1

SET

Bit was set

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3.149 SAFEMODESTATUS
Safe Mode Status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log provides additional information about the state of the receiver in the event that the Safe
Mode error bit and/or Reset Loop Detected status bit are set in the RXSTATUS log (see page
748).
The data within this log is set at receiver start up and will not change over time.
Message ID: 2060
Log Type: Asynch
Recommended Input:
log SAFEMODESTATUSA once
Abbreviated ASCII Example:
#SAFEMODESTATUSA,COM1,0,89.0,UNKNOWN,0,0.000,024c0020,8e55,32768;SAFE_MODE_
OK,0,"Normal Operation."*29c7d28a

Field

Field Type

Description

Binary
Format

Binary
Bytes

Binary
Offset

1

SAFEMODESTATUS
header

Log header. See Messages on page 25
for more information.

-

H

0

2

Status

Safe Mode State. See Table 167: Safe
Mode States on the next page

Enum

4

H

3

Reset Count

Number of resets since power up or a
successful boot

Ulong

4

H+4

4

Description

String for additional information about
the Safe Mode State

String

80

H+8

5

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+88

6

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Table 167: Safe Mode States

Value

State

0

SAFE_MODE_OK

1

SAFE_MODE_
WARNING

2

3

SAFE_MODE_
DISABLE_
SATELLITE_DATA

SAFE_MODE_
DISABLE_
NON_
COMMUNICATION_
NVM

Safe
Mode
Error
Bit

Reset
Loop
Detected
Bit

0

0

Normal Operation. No
reset loop detected.

No action required

1

An unexpected reset was
detected. The receiver will
operate as normal

No action required

1

Satellite Navigation Data
previously saved to NVM is
ignored in this state. As
the receiver continues to
track GNSS satellites, new
data will be downloaded.
There may be some delay
in initial satellite
acquisition as this will
effectively be a Cold Start,
but the receiver will
otherwise operate as
normal.

No action required

0

0

Notes

All data previously saved
to NVM that is not related
to communication is
ignored in this state.
1

1

OEM7 Commands and Logs Reference Manual v7

Communication ports
(COM, USB, ICOM, etc.)
will remain in the
configuration previously
saved by SAVECONFIG
allowing the user to take
corrective action.

Recovery Steps

Depending on what
NVM data is
causing the
problem, a
FRESET may
resolve the issue.
If a standard
FRESET does not
resolve the issue,
see the FRESET
command on
page 174 for other
NVM targets that
may be causing
the issue and could
be removed.

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Chapter 3 Logs

Value

4

5

State

SAFE_MODE_
DISABLE_
ALL_NVM

SAFE_MODE_
DISABLE_
AUTH

Safe
Mode
Error
Bit

1

1

Reset
Loop
Detected
Bit

Notes

Recovery Steps

All data previously saved
to NVM is ignored in this
state.

See recovery steps
for SAFE_MODE_
DISABLE_
NON_
COMMUNICATION_
NVM.

1

All data previously saved
to NVM and all Auth Codes
are ignored in this state.

Use the AUTH
REMOVE
command to
remove the
offending Auth
Code. The
AUTHCODES log
(see page 414) can
be used to
determine what
Auth Codes are
currently loaded.
This state is
unexpected. The
recovery steps for
other states may
apply.
Reload the main
firmware.

1

6

SAFE_MODE_
FAILED

1

1

All data previously saved
to NVM and all Auth Codes
are ignored in this state.

7

SAFE_MODE_
UNEXPECTED_
MAIN_FIRMWARE

1

0 or 1

An error related to main
firmware loading
occurred.

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3.150 SATVIS2
Satellite visibility
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains satellite visibility data for all available systems with additional satellite and
satellite system information. One log is output for each available satellite system.
1. The SATVIS2 log is meant to provide a brief overview. The satellite positions and velocities used in the computation of this log are based on Almanac orbital parameters, not
the higher precision Ephemeris parameters.
2. In the SATVIS2 log output, there may be double satellite number entries. These are
GLONASS antipodal satellites in the same orbit plane separated by 180 degrees latitude. Refer to the GLONASS section of An Introduction to GNSS available on our website.
3. The SATVIS2 log is generated every 10 seconds. If the log is requested at a faster rate
than ontime 10, it will only be output every 10 seconds.
Message ID: 1043
Log Type: Asynch
Recommended Input:
log satvis2a onchanged
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,0,0.113,024c0001,2d64,10481;NOT_
STARTED*827fdc04

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

SOFTLOADSTATUS
header

Log header. See Messages on page 25
for more information.

-

H

0

2

status

Status of the SoftLoad process see
Table 171: SoftLoad Status Type below

Enum

4

H

3

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+4

4

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 171: SoftLoad Status Type
Value
1

2

Name

Description

NOT_STARTED

SoftLoad process has not begun

READY_FOR_
SETUP

SoftLoad process is ready to receive setup information in the form of
the SOFTLOADSETUP command or SOFTLOADSREC command with
S0 records. Once sufficient setup data has been sent, the process is
also ready for the SOFTLOADDATA command

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Chapter 3 Logs

Value

Name

Description

3

READY_FOR_
DATA

SoftLoad process is ready to receive data in the form of the
SOFTLOADDATA command or SOFTLOADSREC command 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

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 resetting 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 (see page 358).

19

BAD_PLATFORM

This data cannot be loaded onto this platform. Ensure that the correct
*.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 command or after a SOFTLOADDATA command

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Chapter 3 Logs

Value

Name

Description

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
(see page 355).

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 command or SOFTLOADSREC
command.

29

BAD_IMAGE_
CRC

CRC of the downloaded image has failed. Ensure that all content from
the *.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

35

INCOMPATIBLE_
FLASH

Application image that does not support the onboard flash rejected

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3.177 SOURCETABLE
NTRIP source table entries
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This log outputs the NTRIP SOURCETABLE entries from the NTRIPCASTER set by the
NTRIPSOURCETABLE command (see page 251). 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;ContentType: 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;novate
l.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;51;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

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#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
#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

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Field

Field Type

Description

1

SOURCETABLE
header

Log header. See Messages on
page 25 for more information.

2

endpoint

NTRIPCASTER Endpoint

3

Reserved1

4

Format

Binary
Bytes

Binary
Offset

H

0

String with varied
length up to 80
bytes

a1

H

reserved

Ulong

4

H+a

Reserved2

reserved

Ulong

4

H+a+4

5

Entry data

Source table entry data

String with varied
length up to 512
bytes

b1

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)

-

-

-

1In 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.

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3.178 TERRASTARINFO
TerraStar subscription information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains details on the TerraStar subscription.
Message ID: 1719
Log Type: Asynch
Recommended Input:
log terrastarinfoa onchanged
ASCII Example:
#TERRASTARINFOA,COM1,0,65.5,UNKNOWN,0,1.168,02040008,E776,13260;"QR391:3006:617
9",TERM,00000301,167,2015,0,NONE,0.00000,0.00000,0*7E4A9EC0

Field

Field type

1

TERRASTAR
INFO
header

Log header. See Messages on page 25 for
more information.

2

PAC

Product activation code

3

Type

Subscription type (see Table 172: TerraStar
Subscription Type on the next page)

4

Subscription
permissions

Description

Services permitted by the subscription (see
Table 173: TerraStar Subscription Details
Mask on the next page)
Note: Bits in the Reserved areas of this field
may be set, but the Reserved bits should be
ignored.

Binary
Bytes

Binary
Offset

H

0

Char
[16]

16

H

Enum

4

H+16

Hex

4

H+20

Ulong

4

H+24

Ulong

4

H+28

Ulong

4

H+32

Format

Day of the year when the subscription ends.
Service ends at 00:00 UTC on this day.
5

Service End
Day

6

Service End
Year

7

Reserved

For example, if the TerraStar service end
date/time is 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.
Year that subscription ends

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Format

Binary
Bytes

Binary
Offset

For region restricted subscriptions, the type of
region restriction (see Table 174: TerraStar
Region Restriction on the next page)

Enum

4

H+36

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 (degrees)

Float

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)

-

-

-

Field

Field type

8

Region
restriction

9

Description

Table 172: TerraStar Subscription Type
ASCII

Binary

Description

UNASSIGNED

0

Decoder has not had an assigned operating mode

TERM

1

Term subscription

MODEL

5

Receiver is operating with an RTK assist enabled model and there is
not an active TerraStar subscription installed

BUBBLE

100

Receiver is operating in a TerraStar-permitted subscription-free
bubble

INCOMPATIBLE_
SUBSCRIPTION

104

Subscription is incompatible with this version of firmware

Table 173: TerraStar Subscription Details
Mask
Bit

Mask

Description

0-8

0x000001FF

Reserved

9

0x00000200

TerraStar-C service

10

0x00000400

TerraStar-L service

11

0x00000800

RTK ASSIST service

12

0x00001000

RTK ASSIST PRO service

13

0x00002000

TerraStar-C PRO service

14-31

0xFFFFC000

Reserved

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Table 174: TerraStar Region Restriction
ASCII

Binary

Description

NONE

0

TerraStar operation has no region restrictions.

GEOGATED

1

LOCAL_AREA

2

TerraStar operation limited to radius from local area center point

NEARSHORE

3

TerraStar operation limited to on land and near shore (coastal) regions

TerraStar operation limited to on-land
GEOGATED is also the default value reported if there is no subscription

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3.179 TERRASTARSTATUS
TerraStar decoder and subscription status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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,1769,332336.443,02000000,fdc1,12602;
ENABLE,LOCKED,0,DISABLED,ONSHORE*555155a5

Field

Field type

Description

1

TERRASTAR
STATUS
header

Log header. See Messages on page 25 for more
information.

2

Access

Access status. ENABLE (1) if the subscription is
valid; DISABLE (0) otherwise

3

Sync state

Decoder data synchronization state (see Table
175: Decoder Data Synchronization State on
the next page)

4

Reserved

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Enum

4

H+4

Ulong

4

H+8

Enum

4

H+12

Format

5

Local area
status

For local-area subscriptions, indicates if the
receiver is within the permitted area (see
Table 176: TerraStar Local Area Status on the
next page)

6

Geogating
status

Geogating status (see Table 177: TerraStar
Geogating Status on the next page)

Enum

4

H+16

7

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+20

8

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Table 175: Decoder Data Synchronization State
ASCII

Binary

Description

NO_SIGNAL

0

None of the decoders have received data in the last 30 seconds

SEARCH

1

At least one decoder is receiving data and is searching for the format

LOCKED

2

At lease one decoder has locked onto the format
Table 176: TerraStar Local Area Status

ASCII

Binary

DISABLED

0

WAITING_FOR_POSITION

1

RANGE_CHECK

16

Description
The subscription is not restricted to a local area.
This is also the value when there is no subscription.
Waiting for a position
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 177: TerraStar Geogating Status
ASCII

DISABLED

Binary

Description

0

The subscription is restricted to a local area or there is no region
restriction.
This is also the value when there is no subscription.

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

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3.180 TIME
Time data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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 272) 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.

GPS reference time is the receiver’s estimate of the true GPS system time. GPS reference time can be found in the header of the TIME log. The relationship between GPS
reference time and true GPS system time is:
GPS system time = GPS reference time - offset
Message ID: 101
Log Type: Synch
Recommended Input:
log timea ontime 1
ASCII Example:
#TIMEA,COM1,0,86.5,FINESTEERING,1930,428348.000,02000020,9924,32768;VALID,1.667
187222e-10,9.641617960e-10,-18.00000000000,2017,1,5,22,58,50000,VALID*2a066e78

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Chapter 3 Logs

1. Consider the case where you used the ADJUST1PPS command (see page 53) to synchronize two receivers in a primary/secondary relationship to a common external
clock. You can use the TIME log after the clock model status is valid 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 system time from UTC time) and the receiver clock offset from GPS
system 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 02000000 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 description in UTC offset row in the following table:
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 235647.00000034994

Field

Field
type

Description

1

TIME
header

Log header. See Messages on page 25 for more
information.

2

clock
status

Clock model status (not including current
measurement data), see Table 86: Clock Model
Status on page 458

OEM7 Commands and Logs Reference Manual v7

Format

Enum

Binary
Bytes

Binary
Offset

H

0

4

H

838

Chapter 3 Logs

Field

3

Field
type

offset

Description
Receiver clock offset in seconds from GPS
system time. A positive offset implies that the
receiver clock is ahead of GPS system time. To
derive GPS system time, use the following
formula:

Format

Binary
Bytes

Binary
Offset

Double

8

H+4

GPS system time = GPS reference time - offset.
The GPS reference time can be obtained from the
log header.
4

5

offset std

Receiver clock offset standard deviation (s)

Double

8

H+12

utc offset

The offset of GPS system time from UTC time,
computed using almanac parameters. UTC time
is GPS reference time plus the current UTC offset
minus the receiver clock offset:

Double

8

H+20

Ulong

4

H+28

Uchar

1

H+32

Uchar

1

H+33

UTC time = GPS reference time - offset + UTC
offset
6

utc year

UTC year

7

utc month

8

utc day

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

Ulong

4

H+36

Enum

4

H+40

UTC month (0-12)
If UTC time is unknown, the value for month is 0.
UTC day (0-31)
If UTC time is unknown, the value for day is 0.

UTC millisecond (0-60999)
Maximum of 60999 when leap second is applied.
UTC status

12

utc status

0 = Invalid
1 = Valid
2 = Warning1

13

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+44

14

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

1Indicates that the leap second value is used as a default due to the lack of an almanac.

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3.181 TIMESYNC
Synchronize time between GNSS receivers
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
The TIMESYNC log is used in conjunction with the ADJUST1PPS command (see page 53) 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,1337,410095.000,02000000,bd3f,1984;1337,410
095000,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 54 to see the alignment between a Fine and a Cold Clock receiver. Also refer to
the Transfer Time Between Receivers section in the OEM7 Installation and Operation
User Manual.

Field
type

Description

Binary
Bytes

Binary
Offset

1

TIMESYNC
header

Log header. See Messages on page 25 for more
information.

H

0

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 11: GPS
Reference Time Status on page 45

Enum

4

H+8

5

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

4

H+12

6

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field

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Format

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Chapter 3 Logs

3.182 TRACKSTAT
Tracking status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
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.
As shown in Table 126: Channel Tracking Status on page 675 these entries can be differentiated
by bit 20, which is set if there are multiple observables for a given satellite, and bits 21-25,
which denote the signal type for the observation.
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.

For dual antenna 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 30, 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.
Message ID: 83
Log Type: Synch
Recommended Input:
log trackstata ontime 1
ASCII Example:
#TRACKSTATA,COM1,0,49.5,FINESTEERING,1337,410139.000,02000000,457c,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

Field

Field Type

1

TRACKSTAT
header

Description
Log header. See Messages on page 25 for
more information.

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

H

0

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Chapter 3 Logs

Format

Binary
Bytes

Binary
Offset

Solution status (see Table 73: Solution Status
on page 431)

Enum

4

H

pos type

Position type (see Table 74: Position or
Velocity Type on page 432)

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

Short

2

H+16

7

glofreq

(GLONASS Frequency + 7), see GLONASS Slot
and Frequency Numbers on page 43

Short

2

H+18

8

ch-tr-status

Channel tracking status (see Table 126:
Channel Tracking Status on page 675)

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 locked and
code locked, the pseudorange has not been
calculated yet

Double

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 79: Observation Statuses on
page 438)

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)

-

-

-

Field

Field Type

2

sol status

3

Description

Satellite PRN number of range measurement
Refer to PRN Numbers on page 44

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3.183 TRANSFERPORTSTATUS
Display the state of the USB transfer port
Platform: PwrPak7
This log displays the current state of the USB transfer port.
Message ID: 2114
Log Type: Asynch
Recommended Input:
log transferportstatusa onchanged
ASCII Example:
#TRANSFERPORTSTATUSA,COM1,0,86.5,UNKNOWN,0,10.551,02100000,4b3f,32768;USBSTICK,
HOST*9f7ad7be

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

TRANSFERPORTSTATUS
header

Log header. See Messages on
page 25 for more information.

-

H

0

2

USB Detection Type

Type of connection detected
See Table 178: USB Detection
Type below

Enum

4

H

3

USB Mode

Current USB operation mode
See Table 179: USB Mode on the
next page

Enum

4

H+4

4

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+8

5

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 178: USB Detection Type
Binary

ASCII

Description

0

NONE

Nothing is detected

1

USBSTICK

A flash drive is detected

2

PC

A computer is detected

3

ERROR

This is an error state

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Table 179: USB Mode
Binary

ASCII

Description

0

DEVICE

The USB port is in device mode

1

HOST

The USB port is in host mode

2

OTG

The USB port is in OTG mode

3

INVALID

The USB port is in an invalid mode

4

NONE

The USB port is not in an operation mode

5

TRANSITION

The USB port operation mode is transitioning

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3.184 UPTIME
Report the running time of the receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log reports the number of seconds the receiver's firmware has been running, after the
application of power or after the completion of a reset.
Message ID: 1777
Log Type: Polled
Recommended Input:
log uptime once
ASCII Example:
#UPTIMEA,COM1,0,80.0,FINESTEERING,1928,495123.000,02000020,27d2,32768;151639*01
3e11a7

151639 seconds since power-on = 42.1 hours.

Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

1

UPTIME
header

Log header. See Messages on page 25 for more
information.

-

H

0

2

Uptime

The number of seconds the receiver has been
running after a power up or reset.

Ulong

4

H

3

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4

4

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.185 USERI2CRESPONSE
Status of USERI2CREAD or USERI2CWRITE Command
Platform: OEM7600, OEM7700, OEM7720
This log reports the status of a previously executed USERI2CREAD or USERI2CWRITE command. There is one log emitted for each command that is executed.
For the USERI2CREAD command (see page 393), this log outputs the data read from the device
on the I2C bus and the status of the read operation.
For the USERI2CWRITE command (see page 395), the status of the write operation is reported
and the data field will always be 0.
Message ID: 2234
Recommended Input:
log USERI2CRESPONSE onnew
Abbreviated ASCII Example 1:
USERI2CREAD 70 4 aabbccdd 12 6789
0

Accelerometer scale
factor error in parts per
million. Optional.
Default = 1000 ppm.

Ulong

4

H+34

>0

Gyroscopic scale factor
error in parts per million.
Optional.
Default = 1000 ppm.

Ulong

4

H+38

Double

8

H+42

>0

Description

Time delay in milliseconds
from the time of validity
of the IMU data to the
time the input pulse is
received by the SPAN
enabled receiver. This
may include filtering
delays, processing delays
and transmission times
depending on the timing
method (TOV, ASYNC,
SYNC) and the internal
IMU handling. Optional.
Default = 0.0.

10

Reserved

-

Reserved

Ulong

4

H+50

11

CRC

-

32-bit CRC

Hex

4

H+54

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4.19 SETINITAZIMUTH
Set Initial Azimuth and Standard Deviation
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to start SPAN operation with a previously known azimuth. Azimuth is the
weakest component of a coarse alignment and is also the easiest to know from an external
source (i.e., like the azimuth of roadway). When using this command, SPAN operation through
alignment will appear the same as with a usual coarse alignment. Roll and pitch is determined
using averaged gyro and accelerometer measurements. The input azimuth is used rather than
what is computed by the normal coarse alignment routine.
l

l

l

l

Input azimuth values must be accurate for good system performance.
Sending SETINITAZIMUTH resets the SPAN filter. Following realignment, vehicle dynamics
are required for the filter to re-converge. Bridging performance is poor before filter convergence.
The entered azimuth angle is with respect to the configured output frame. This is generally
the vehicle frame unless a User Frame offset has been configured using the
SETINSROTATION command (see page 896). All offsets should be entered before entering
the SETINITAZIMUTH command.
This command is not save configurable and must be re-entered after each start-up. The command can be entered at any time and will be used automatically when the system is ready to
begin alignment.

Azimuth is positive in a clockwise direction when looking towards the z-axis origin.
Message ID: 863
Abbreviated ASCII Syntax:
SETINITAZIMUTH azimuth azSTD
Abbreviated ASCII Example:
SETINITAZIMUTH 90 5

Field

Field
Type

ASCII Binary
Value Value

Binary Binary
Format Bytes

Binary
Offset

Command header. See
Messages on page 25 for more
information.

-

H

0

Description

1

SETINIT
AZIMUTH
header

-

2

azimuth

0 to 360

Input azimuth angle (degrees)

Double

8

H

3

azSTD

1 to 25

Input azimuth standard
deviation angle (degrees)

Float

4

H+8

-

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4.20 SETINSPROFILE
Sets filter behavior depending on system environment
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This command sets specific filter behavior depending on the environment the system is installed
in. The DEFAULT profile is the legacy setting from earlier SPAN products. The other profiles
make changes specific to that environment.
The BASIC INS Profiles are available to all SPAN software models, but the enhanced configurations, denoted by "PLUS", are restricted by the SPAN model. The enhanced configurations
allow for enhanced profile behavior such as Dead Reckoning for land and Heave for marine. See
the OEM7 SPAN Installation and Operation User Manual for a detailed description of each profile's effect.
Message ID: 1944
Abbreviated ASCII Syntax:
SETINSPROFILE profile
Abbreviated ASCII Example:
SETINSPROFILE LAND_BASIC

Field

1

ASCII
Value

Field Type

SETINSPROFILE
Header

-

Binary
Value

-

OEM7 Commands and Logs Reference Manual v7

Description
Command
header. See
Messages on
page 25 for more
information.

Binary Binary
Format Bytes

Binary
Offset

-

0

H

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Chapter 4 SPAN Commands

Field

2

Field Type

Profile

ASCII
Value

Binary
Value

Description

DEFAULT

0

Default INS
profile with
standard SPAN
behavior.

LAND_BASIC

1

Basic INS profile
for land vehicles

MARINE_
BASIC

2

Basic INS profile
for marine
vehicles

FIXEDWING_
BASIC

3

Basic INS profile
for fixed wing
aircraft

Reserved

4

Reserved

VTOL_BASIC

5

Basic INS profile
for vertical
takeoff and
landing vehicles
(UAVs,
helicopters, etc.)

RAIL_BASIC

6

Basic INS profile
for trains

33

Enhanced INS
profile for land
vehicles. Enables
Dead Reckoning.
Requires INS
Enhanced Profile
Model.

34

Enhanced INS
profile for marine
vehicles. Enables
Heave. Requires
INS Enhanced
Profile Model.

LAND_PLUS

MARINE_
PLUS

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Binary Binary
Format Bytes

Binary
Offset

Enum

H

4

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Chapter 4 SPAN Commands

4.21 SETINSROTATION
Specifies rotational offsets between the IMU frame and other
reference frames
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use the SETINSROTATION command to specify rotational offsets between the IMU frame and
other reference frames, such as the vehicle frame or an ALIGN baseline. Offsets must be
entered as the rotation from the IMU body frame, to the frame of interest. The order of rotations
is Z, X, Y. All rotations are right handed.

It is very important to follow the order of rotations (Z, X, Y) when determining the rotations from IMU body frame to frame of interest.

To specify translational offsets between frames, see the SETINSTRANSLATION command on page 899.
Message ID: 1921
Abbreviated ASCII Syntax:
SETINSROTATION INSRotation XRotation YRotation ZRotation [XRotationSD]
[YRotationSD] [ZRotationSD]
Abbreviated ASCII Example:
SETINSROTATION RBV 0 0 90 0.0 0.0 0.0

Field

Field Type

ASCII
Value

Binary
Value

Binary Binary
Format Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Description

SETINSROTATION
Header

-

2

INS Rotation

Table 195:
Rotational Offset
Types on the
next page

Rotational offset to
be set.

Enum

4

H

3

XRotation

±180

X rotation offset
from IMU origin
(degrees)

Float

4

H+4

1

-

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Field

Field Type

ASCII
Value

Binary
Value

Description

Binary Binary
Format Bytes

Binary
Offset

4

YRotation

±180

Y rotation offset
from IMU origin
(degrees)

Float

4

H+8

5

ZRotation

±180

Z rotation offset
from IMU origin
(degrees)

Float

4

H+12

0 to 45

Optional X rotation
offset standard
deviation (degrees)
Default: 0.0

Float

4

H+16

0 to 45

Optional Y
translation offset
standard deviation
(degrees) Default:
0.0

Float

4

H+20

0 to 45

Optional Z
translation offset
standard deviation
(degrees) Default:
0.0

Float

4

H+24

Long

4

H+28

6

7

XRotationSD

YRotationSD

8

ZRotationSD

9

Reserved

Table 195: Rotational Offset Types
ASCII
Value

Binary
Value

USER

4

MARK1

5

MARK2

6

Description
Rotation from the IMU body frame to the user output frame.
This offset shifts the attitude information in the INSPVA, INSPOS, INSVEL,
INSATT, and INSSPD logs, along with their short header and extended versions.
Rotation from the IMU body frame to the desired output for MARK1.
This offset rotates the attitude information in the MARK1PVA log.
Rotation from the IMU body frame to the desired output for MARK2.
This offset rotates the attitude information in the MARK2PVA log.

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ASCII
Value

Binary
Value

Description
Rotation from the IMU body frame to an ALIGN dual antenna solution.

When using a dual antenna ALIGN solution with SPAN, this offset
will be calculated automatically if translational offsets to both the
primary and secondary GNSS antennas are provided using the
SETINSTRANSLATION command on the next page.

ALIGN

8

MARK3

9

MARK4

10

RBV

11

Rotation from the IMU body frame to the vehicle frame.

RBM

12

Rotation from the IMU body frame to the gimbal mount body frame.

Rotation from the IMU body frame to the desired output for MARK3.
This offset rotates the attitude information in the MARK3PVA log.
Rotation from the IMU body frame to the desired output for MARK4.
This offset rotates the attitude information in the MARK4PVA log.

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4.22 SETINSTRANSLATION
Specifies translational offsets between the IMU frame and other
reference frames
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use the SETINSTRANSLATION command to specify translational offsets between the IMU
frame and other reference frames, including GNSS antennas or the desired output frame. Offsets must be entered as the vector from the IMU, to the frame or position of interest. Offsets
can be entered either in the IMU body frame, or the vehicle frame; offsets in the vehicle frame
will be automatically rotated into the IMU body frame using the best available IMU Body to
Vehicle Rotation (RBV).
For details on entering the RBV rotation or other angular offsets, see the SETINSROTATION
command on page 896.
Message ID: 1920
Abbreviated ASCII Syntax:
SETINSTRANSLATION INSTranslation XTranslation YTranslation ZTranslation
[XTranslationSD] [YTranslationSD] [ZTranslationSD] [InputFrame]
Abbreviated ASCII Example:
SETINSTRANSLATION USER 1.0 2.0 3.0 0.05 0.05 0.05 VEHICLE

Field

Field Type

ASCII
Value

Binary
Value

Binary Binary
Format Bytes

Binary
Offset

Command header.
See Messages on
page 25 for more
information.

-

H

0

Description

SETINS
TRANSLATION
Header

-

2

InsTranslation

See Table 196:
Translation Offset
Types on the next
page

Translation offset to
be set

Enum

4

H

3

XTranslation

±100

X translation offset
from IMU origin (m)

Float

4

H+4

4

YTranslation

±100

Y translation offset
from IMU origin (m)

Float

4

H+8

5

ZTranslation

±100

Z translation offset
from IMU origin (m)

Float

4

H+12

6

XTranslationSD

0 to 10

Optional X translation
offset standard
deviation (m)

Float

4

H+16

1

-

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Field

ASCII
Value

Field Type

Binary
Value

Description

Binary Binary
Format Bytes

Binary
Offset

7

YTranslationSD

0 to 10

Optional Y translation
offset standard
deviation (m)

Float

4

H+20

8

ZTranslationSD

0 to 10

Optional Z translation
offset standard
deviation (m)

Float

4

H+24

InputFrame

Table 197:
Translation Input
Frame on the next
page

Optional input frame
for translation offset
values

Enum

4

H+48

9

For the ANT1, ANT2, EXTERNAL and GIMBAL translations, the standard deviation defaults
are set to 10% of the translation value (up to a max of 10 metres).

If you are uncertain of the standard deviation values for an offset, err on the side of a
larger standard deviation.
Table 196: Translation Offset Types
ASCII
Value

Binary
Value

Description

ANT1

1

Offset from the IMU center of navigation to the phase center of the primary
GNSS antenna.

ANT2

2

Offset from the IMU center of navigation to the phase center of the
secondary GNSS antenna.

EXTERNAL

3

Offset from the IMU center of navigation to the external position source
location.
This offset type is for use with the EXTERNALPVAS command (see page
866).
Translation from the IMU center of navigation to the user output location.

USER

4

MARK1

5

This offset shifts the position and velocity information in the INSPVA,
INSPOS, INSVEL, INSATT, and INSSPD logs, along with their short header
and extended versions.
Translation from the IMU center of navigation to the MARK1 output location.
This offset shifts the position and velocity information in the MARK1PVA log.

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ASCII
Value

Binary
Value

MARK2

6

GIMBAL

7

MARK3

9

MARK4

10

Description
Translation from the IMU center of navigation to the MARK2 output location.
This offset shifts the position and velocity information in the MARK2PVA log.
Translation from the IMU center of navigation to the gimbal mount center of
rotation.
Translation from the IMU center of navigation to the MARK3 output location.
This offset shifts the position and velocity information in the MARK3PVA log.
Translation from the IMU center of navigation to the MARK4 output location.
This offset shifts the position and velocity information in the MARK4PVA log.

Table 197: Translation Input Frame
ASCII
Value
IMUBODY

Binary
Value
0

Description
Offset is provided in the IMU enclosure frame.
Default: IMUBODY
Offset is provided in the vehicle frame.

VEHICLE

1

Offsets entered in the vehicle frame will be automatically rotated into the
IMU frame using the best available RBV (rotation from IMU Body to Vehicle)
information when required.
Vehicle frame offsets should only be used if the RBV is known accurately,
either though user measurement or calibration.
The order of entry for vehicle frame offsets and the RBV rotation does not
matter.

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4.23 SETINSUPDATE
Enable/Disable INS Filter Updates
This command should only be used by advanced users of GNSS+INS.
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to enable or disable the available INS filter updates.
Message ID: 1821
Abbreviated ASCII Syntax:
SETINSUPDATE INSUpdate Trigger
Abbreviated ASCII Example:
SETINSUPDATE ZUPT DISABLE

Field

1

2

3

Field Type

SETINSUPDATE
header

INSUpdate

ASCII
Value

Binary
Value

Description

-

-

Command header.
See Messages on
page 25 for more
information.

POS

0

Position updates

ZUPT

1

Zero velocity updates

PSR

2

Pseudorange updates

ADR

3

Carrier phase updates

DOPPLER

4

Doppler updates

ALIGN

5

Heading updates

DMI

6

Distance measuring
instrument (wheel
sensor) updates

DISABLE

0

Disable the INS
update specified in the
INSUpdate field.

1

Enable the INS update
specified in the
INSUpdate field.

Trigger
ENABLE

OEM7 Commands and Logs Reference Manual v7

Binary Binary
Format Bytes

Binary
Offset

-

H

0

Enum

4

H

Enum

4

H+4

902

Chapter 4 SPAN Commands

4.24 SETMAXALIGNMENTTIME
Set a Time Limit for Static Course Alignment
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to set a maximum time limit allowed for static coarse alignments. Coarse
alignments typically take under 60 seconds, but in heavy vibration conditions they can take
much longer trying to compensate for the vibration induced noise. This command is used to cap
the time to a specific length.

This command is for advanced users only.
Alignment accuracy cannot be guaranteed if the alignment time is capped using this command.
Message ID: 1800
Abbreviated ASCII Syntax:
SETMAXALIGNMENTTIME switch [duration]
Abbreviated ASCII Example:
SETMAXALIGNMENTTIME ENABLE 90

Field

1

2

Field Type
SETMAX
ALIGNMENTTIME
header

ASCII
Value

Description

-

-

Command header.
See Messages on
page 25 for more
information.

DISABLE

0

Disables the static
alignment time limit.

1

Enables the static
alignment time limit.

switch
ENABLE

3

Binary
Value

duration

30 - 300

OEM7 Commands and Logs Reference Manual v7

Maximum static
alignment time in
seconds. Default is
180.

Binary Binary
Format Bytes

Binary
Offset

-

H

0

Enum

4

H

Ulong

4

H+4

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Chapter 4 SPAN Commands

4.25 SETRELINSOUTPUTFRAME
Sets the Relative INS Output Frame
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to change the frame of the output solution provided in the RELINSPVA and
SYNCRELINSPVA logs. See RELINSPVA log on page 1015 and SYNCRELINSPVA log on
page 1019 for information about these logs.
See OEM7 SPAN Installation and Operation User Manual for information about the Relative INS
functionality.
Message ID: 1775
Abbreviated ASCII Syntax:
SETRELINSOUTPUTFRAME OutputFrame [DiffCriteria]
Abbreviated ASCII Example:
SETRELINSOUTPUTFRAME ECEF TRUE

Field

1

ASCII
Value

Field Type
SETRELINS
OUTPUTFRAME
header

-

ROVER

MASTER
2

Binary
Value

Description

-

Command header.
See Messages on
page 25 for more
information.

1

Frame of the output
solution in the
RELINSPVA and
SYNCRELINSPVA
logs.

2

ECEF

LOCALLEVEL

3

4

Binary
Offset

-

H

0

Enum

4

H

ROVER – the output
frame of the rover
INS solution
MASTER – the
output frame of the
master INS solution

OutputFrame

Binary Binary
Format Bytes

ECEF – Earth
Centered Earth
Fixed
LOCALLEVEL – Local
level
The default is the
ROVER.

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Chapter 4 SPAN Commands

Field

Field Type

ASCII
Value

FALSE
3

Binary
Value

0

DiffCriteria
TRUE

1

OEM7 Commands and Logs Reference Manual v7

Description
The delta solution is
computed as Rover
minus Master.
(default)

Binary Binary
Format Bytes

Binary
Offset

Bool

H+4

1

The delta solution is
computed as Master
minus Rover.

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Chapter 4 SPAN Commands

4.26 SETUPSENSOR
Add a new sensor object
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to add a new sensor object to the system. A sensor object consists of an ID,
an Event_Out line and an Event_In line. This is intended as a simplified way to set up triggering
to and from a sensor rather than configuring all connections independently. It also allows for
event pulses to be sent to a sensor at specific GPS times (see the TIMEDEVENTPULSE command on page 910).
Message ID: 1333
Abbreviated ASCII Syntax:
SETUPSENSOR SensorID EventOut OPP OAP EventIn EIC IPP ITB MITG
Abbreviated ASCII Example:
SETUPSENSOR SENSOR3 MARK1 POSITIVE 2 MARK4 EVENT POSITIVE 0 2

Field

Field
Type

1

SETUP
SENSOR
header

2

Sensor
ID

3

4

5

ASCII
Value

Binary
Value

-

-

SENSOR1

0

SENSOR2

1

SENSOR3

2

MARK1

0

MARK2

1

MARK3

2

MARK4

3

NEGATIVE

0

POSITIVE

1

EventOut

OPP

OAP

2 - 500

Binary Binary
Format Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

The sensor to configure.

Enum

4

H

Associate a specific MARK
Event_Out line to this
sensor configuration.

Enum

4

H+4

Mark output pulse polarity

Enum

4

H+8

Mark output active period in
milliseconds.
Value must be divisible by
2.

Ulong

4

H+12

Description

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Field

6

7

8

Field
Type

ASCII
Value

Binary
Value

MARK1

0

MARK2

1

MARK3

2

MARK4

3

DISABLE

0

EVENT

1

NEGATIVE

0

POSITIVE

1

EventIn

EIC

IPP

Binary Binary
Format Bytes

Binary
Offset

Associate a specific MARK
Event_In line to this sensor
configuration.

Enum

4

H+16

Event in control

Enum

4

H+20

Mark input pulse polarity

Enum

4

H+24

Description

9

ITB

-99999999 to
99999999

Mark input time bias in
milliseconds

Long

4

H+28

10

ITG

2 to 3599999

Mark input time guard in
milliseconds

Ulong

4

H+32

The Event_In and Event_Out options available are dependent on the receiver used in the
SPAN system. For information about the Event lines supported, see the Strobe Specifications for the receiver in the OEM7 SPAN Installation and Operation User Manual.

MARK3 and MARK4 are available only on SPAN systems with an OEM7600, OEM7700 or
OEM7720 receiver.

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4.27 SETWHEELPARAMETERS
Set Wheel Parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
The SETWHEELPARAMETERS command can be used when wheel sensor data is available. It
gives the filter a good starting point for the wheel size scale factor.
Message ID: 847
Abbreviated ASCII Syntax:
SETWHEELPARAMETERS ticks circ reserved
Abbreviated ASCII Example:
SETWHEELPARAMETERS 58 1.96 1.0

Field

Field Type

ASCII Binary
Value Value

1

SETWHEEL
PARAMETERS
header

-

2

Ticks

1-10000

3

Circ

0.1-100

4

Reserved

-

-

Binary Binary
Format Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Number of ticks per
revolution

Ushort

41

H

Double

8

H+4

Double

8

H+12

Description

Wheel circumference (m)
(default = 1.96 m)
Reserved field. Set to 1.0
on input.

Fields 2 and 3 are used with an estimated scale factor to determine the distance
traveled.

1In the binary log case, an additional 2 bytes of padding are added to maintain 4 byte alignment.

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4.28 TAGNEXTMARK
Tags the Next Incoming Mark Event
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to tag the next incoming mark event on the selected mark with a 32-bit number. This is available in the TAGGEDMARK1PVA, TAGGEDMARK2PVA, TAGGEDMARK3PVA
and TAGGEDMARK4PVA log (see page 1022) to easily associate the PVA log with a supplied
event.
Message ID: 1257
Abbreviated ASCII Syntax:
TAGNEXTMARK Mark Tag
Abbreviated ASCII Example:
TAGNEXTMARK MARK1 1234

Field

1

2

3

Field Type
TAGNEXTMARK
header

ASCII
Value

Binary
Value

-

-

MARK1

0

MARK2

1

MARK3

2

MARK4

3

-

-

Mark

Tag

Binary Binary
Format Bytes

Binary
Offset

Command header. See
Messages on page 25 for
more information.

-

H

0

Event line

Enum

4

H

Tag for next mark event

Ulong

4

H+4

Description

The Mark options available are dependent on the receiver used in the SPAN system. For
information about the Event lines supported, see the Strobe Specifications for the
receiver in the OEM7 SPAN Installation and Operation User Manual.

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4.29 TIMEDEVENTPULSE
Add a new camera event
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this command to add a new camera event to the system. TIMEDEVENTPULSE sends a
pulse on the sensor MARK output at the selected GPS time and sets the trigger on the sensor
MARK input to be tagged with an event ID (see the TAGGEDMARK1PVA, TAGGEDMARK2PVA,
TAGGEDMARK3PVA and TAGGEDMARK4PVA log on page 1022). The lines connected to each
sensor are configured using the SETUPSENSOR command (see page 906).

A maximum of 10 unprocessed events can be buffered into the system. A
TIMEDEVENTPULSE command must be entered at least 1 second prior to the requested event time.
Message ID: 1337
Abbreviated ASCII Syntax:
TIMEDEVENTPULSE SensorID GPSWeek GPSSeconds [Event ID]
Abbreviated ASCII Example:
TIMEDEVENTPULSE -1 1617 418838 100

Field

1

2

3

Field
Type
TIMED
EVENT
PULSE
header

Sensor
ID

GPS
Week

ASCII
Value

Binary
Value

Description

-

-

Command header. See
Messages on page 25
for more information.

ALL

-1
(0xFFFFFFFF)

The sensor(s) affected
by the trigger
command.

SENSOR1

0x01

SENSOR2

0x02

SENSOR3

0x04

0 - MAX Ulong

OEM7 Commands and Logs Reference Manual v7

The decimal
representation of the
combination of bits 0-2
can be used to select a
combination of active
sensors (e.g. 5 [101]
will select sensors 1
and 3).
The GPS week that
triggers the event.

Binary Binary
Format Bytes

Binary
Offset

-

H

0

Long

4

H

Ulong

4

H+4

910

Chapter 4 SPAN Commands

Field

4

5

Field
Type
GPS
Seconds

Event
ID

ASCII
Value

Binary
Value

0 - 604800

0- MAX Ulong

Description
The GPS week seconds
that triggers the
event.
The event's identifier,
used to tag the
TAGGEDMARKxPVA
logs if a sensor input is
enabled.
Optional

Binary Binary
Format Bytes

Binary
Offset

Double

8

H+8

Ulong

4

H+16

Default = 0

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4.30 WHEELVELOCITY
Wheel Velocity for INS Augmentation
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use the WHEELVELOCITY command to input wheel sensor data into the OEM7 receiver.

This command should be used only if the wheel sensor cannot be directly connected to a
wheel sensor port in the SPAN system.

When wheel sensor data is entered using this command, only the Cumulative Ticks/s
value is used by the system. Values entered for Wheel Velocity and Float Wheel Velocity
are not used at this time.

This command should be input at 1 Hz and synced to the receiver 1 Hz PPS for optimized
performance.
Message ID: 504
Abbreviated ASCII Example:
WHEELVELOCITY 123 8 10 0 0 0 0 40
WHEELVELOCITY 123 8 10 0 0 0 0 80
WHEELVELOCITY 123 8 10 0 0 0 0 120
The examples above are for a vehicle traveling at a constant velocity with these wheel sensor
characteristics:
l

Wheel Circumference = 2 m

l

Vehicle Velocity (assumed constant for this example) = 10 m/s

l

Ticks Per Revolution = 8

l

Cumulative Ticks Per Second = (10 m/s)*(8 ticks/rev)/(2 m/rev) = 40

l

Latency between 1PPS and measurement from wheel sensor hardware = 123 ms

Field

1

Field Type
WHEELVELOCITY
header

ASCII Binary
Value Value
-

-

OEM7 Commands and Logs Reference Manual v7

Description
Command header. See
Messages on page 25
for more information.

Format

Binary
Bytes

Binary
Offset

-

H

0

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Chapter 4 SPAN Commands

Field

Field Type

ASCII Binary
Value Value

Description

Format

Binary
Bytes

Binary
Offset

2

Latency

A measure of the
latency in the velocity
time tag in ms.

Ushort

2

H

3

Ticks/rev

Number of ticks per
revolution

Ushort

2

H+2

4

Wheel Velocity

Short wheel velocity in
ticks/s

Ushort

2

H+4

5

Reserved

Ushort

2

H+6

6

Float Wheel
Velocity

Float

4

H+8

7

Reserved

Ulong

4

H+12

8

Reserved

Ulong

4

H+16

9

Cumulative
Ticks/s

Ulong

4

H+20

OEM7 Commands and Logs Reference Manual v7

Float wheel velocity in
ticks/s

Cumulative number of
ticks/s

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Chapter 5 SPAN Logs
The SPAN specific logs follow the same general logging scheme as normal OEM7 Family logs.
They are available in ASCII or binary formats and are defined as being either synchronous or
asynchronous. All the logs in this chapter are used only with the SPAN system.
For information on other available logs and output logging, refer to Logs on page 404.
One difference from the standard OEM7 Family logs is there are two possible headers for the
ASCII and binary versions of the logs. Which header is used for a given log is described in the
log definitions in this chapter. The reason for the alternate short headers is that the normal
OEM7 binary header is quite long at 28 bytes. This is nearly as long as the data portion of many
of the INS logs and creates excess storage and baud rate requirements. Note that the INS
related logs contain a time tag within the data block in addition to the time tag in the header.
The time tag in the data block should be considered the exact time of applicability of the data.
All INS Position, Velocity and Attitude logs can be obtained at a rate of up to 200 Hz. The standard deviation and update logs are available once per second.
Each ASCII 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 '#’ or ‘%’ identifier and the asterisk preceding the four checksum
digits. See also Description of ASCII and Binary Logs with Short Headers on
page 40.
Table 198: Inertial Solution Status on page 936 shows the status values included in the INS position, velocity and attitude output logs. If the IMU is connected properly and a good status value
is not being received, check the hardware setup to ensure it is properly connected. This situation
can be recognized in the RAWIMU data by observing accelerometer and gyro values which are
not changing with time.

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Logging Restriction Important Notice
Logging excessive amounts of high rate data can overload the system. When
configuring the output for SPAN, NovAtel recommends that only one high rate
(>50Hz) message be configured for output at a time. It is possible to log more than
one message at high rates, but doing so could have negative impacts on the
system. Also, if logging 100/125/200Hz data, always use the binary format.
For optimal performance, log only one high rate output at a time. These logs could
be:
l

Raw data for post processing
RAWIMUXSB ONNEW (100, 125 or 200 Hz depending on IMU)
l

l

RAWIMU logs are not valid with the ONTIME trigger. The raw IMU observations contained in these logs are sequential changes in velocity and rotation. As such, you can only use them for navigation if they are logged at
their full rate.

Real time INS solution
INSPVASB ONTIME 0.01 or 0.005 (maximum rate equals the IMU rate)
l

Other possible INS solution logs available at high rates are: INSPOSSB,
INSVELSB, INSATTSB

The periods available when using the ONTIME trigger are 0.005 (200 Hz), 0.01 (100
Hz), 0.02 (50 Hz), 0.05, 0.1, 0.2, 0.25, 0.5, 1, and any integer number of seconds.

5.1 Logs with INS or GNSS Data
There are several logs in the system designed to output the best available solution as well as
many logs that output only a specific solution type (PSR, RTK, INS, etc). The table below lists
the logs that can provide either a GNSS solution or an INS solution. Most of these derive from
the solution the system picks as the best solution. SPAN systems also have a secondary best
solution that derives from the GNSS solution only (BESTGNSSPOS log (see page 916) and
BESTGNSSVEL log (see page 919)). The position output from these logs is at the phase center
of the antenna.
Log

Log Format

GNSS/INS

BESTPOS

NovAtel

YES

BESTVEL

NovAtel

YES

BESTUTM

NovAtel

YES

BESTXYZ

NovAtel

YES

GPGGA

NMEA

YES

GPGLL

NMEA

YES

GPVTG

NMEA

YES

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5.2 BESTGNSSPOS
Best GNSS Position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains the best available GNSS position (without INS) 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, this log reflects the latest low latency solution for up
to 60 seconds after reception of the last base station observations. 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 an RTK mode, pseudorange differential solutions continue for the time specified in the PSRDIFFTIMEOUT command (see
page 284).

BESTGNSSPOS always outputs positions at the antenna phase center.
Message ID: 1429
Log Type: Synch
Recommended Input:
log bestgnssposa ontime 1
ASCII Example:
#BESTGNSSPOSA,COM1,0,92.5,FINESTEERING,1692,332119.000,02000000,8505,43521;SOL_
COMPUTED,SINGLE,51.11635530655,-114.03819448382,1064.6283,16.9000,WGS84,1.2612,0.9535,2.7421,"",0.000,0.000,11,11,11,11,0,06,00,03*52d3f7
c0

Field

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

BESTGNSSPOS
Header

Log header. See Messages on page 25 for
more information.

-

H

0

2

Sol Status

Solution status, see Table 73: Solution
Status on page 431

Enum

4

H

3

Pos Type

Position type, see Table 74: Position or
Velocity Type on page 432

Enum

4

H+4

4

Lat

Latitude (degrees)

Double

8

H+8

5

Lon

Longitude (degrees)

Double

8

H+16

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Chapter 5 SPAN Logs

Field
6

Field type
Hgt

Data Description
Height above mean sea level (metres)

Format

Binary
Bytes

Binary
Offset

Double

8

H+24

Float

4

H+32

Undulation - the relationship between the
geoid and the ellipsoid (m) of the chosen
datum

7

Undulation

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.

8

Datum ID

Datum ID (refer Table 28: Datum
Transformation Parameters on page 117)

Enum

4

H+36

9

Lat σ

Latitude standard deviation (metres)

Float

4

H+40

10

Lon σ

Longitude standard deviation (metres)

Float

4

H+44

11

Hgt σ

Height standard deviation (metres)

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 solutions used in
solution

Uchar

1

H+65

17

#solnL1SVs

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

Uchar

1

H+68

20

ext sol stat

Extended solution status (see Table 77:
Extended Solution Status on page 435)

Hex

1

H+69

21

Galileo and
BeiDou sig
mask

Galileo and BeiDou signals used mask (see
Table 76: Galileo and BeiDou Signal-Used
Mask on page 435)

Hex

1

H+70

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Chapter 5 SPAN Logs

Field

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

22

GPS and
GLONASS sig
mask

GPS and GLONASS signals used mask (see
Table 75: GPS and GLONASS Signal-Used
Mask on page 434)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Chapter 5 SPAN Logs

5.3 BESTGNSSVEL
Best Available GNSS Velocity Data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains the best available GNSS velocity information (without INS) computed by the
receiver. In addition, it reports a velocity status indicator, which is useful to indicate whether or
not the corresponding data is valid. The velocity measurements sometimes have a latency associated with them. The time of validity is the time tag in the log minus the latency value.
The velocity is typically computed from the average change in pseudorange over the time interval or the RTK Low Latency filter. As such, it is an average velocity based on the time difference
between successive position computations and not an instantaneous velocity at the
BESTGNSSVEL 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 translates into a velocity latency of 0.25 seconds. The latency is reduced by
increasing the update rate of the positioning filter used by requesting the BESTGNSSVEL or
BESTGNSSPOS messages at a rate higher than 2 Hz. For example, a logging rate of 10 Hz
reduces the velocity latency to 0.005 seconds. For integration purposes, the velocity latency
should be applied to the record time tag.
A valid solution with a latency of 0.0 indicates the instantaneous Doppler measurement was
used to calculate velocity.
Message ID: 1430
Log Type: Synch
Recommended Input:
log bestgnssvela ontime 1
ASCII Example:
#BESTGNSSVELA,COM1,0,91.5,FINESTEERING,1692,332217.000,02000000,00b0,43521;SOL_
COMPUTED,DOPPLER_VELOCITY,0.150,0.000,0.0168,323.193320,0.0232,0.0*159c13ad

Field

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

BESTGNSSVEL
Header

Log header. See Messages on page 25 for
more information.

-

H

0

2

Sol Status

Solution status, see Table 73: Solution
Status on page 431

Enum

4

H

3

Vel Type

Velocity type, see Table 74: Position or
Velocity Type on page 432

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

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Chapter 5 SPAN Logs

Field

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

5

Age

Differential age

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)

-

-

-

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Chapter 5 SPAN Logs

5.4 CORRIMUDATA
Corrected IMU Measurements
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
The CORRIMUDATA log contains the RAWIMU data corrected for gravity, the earth’s rotation and
estimated sensor errors. The values in this log are incremental values, accumulated over the logging interval of CORRIMUDATA, in units of radians for the attitude rate and m/s for the accelerations. Data output is not in the IMU Body frame, but is automatically rotated into the user
configured output frame (configured with the SETINSROTATION command (see page 896),
default Vehicle frame).

The short header format, CORRIMUDATAS, is recommended, as it is for all high data
rate logs.
CORRIMUDATA can be logged with the ONTIME trigger, up to a rate of 200 Hz.

Since the CORRIMUDATA log is synchronous, if you log at a rate less than full data rate
of the IMU, the corrected IMU data is accumulated to match the requested time interval.
For asynchronous, full rate data, see the IMURATECORRIMUS log on page 929.

To obtain the instantaneous rates of acceleration (in m/s/s) or rotation (in rad/s) from
the output values of measurements per sample rate (m/s/sample and rad/sample), multiply the output values by the CORRIMUDATA logging rate in Hz.
Message ID: 812
Log Type: Synch
Recommended Input:
log corrimudatab ontime 0.01
Example log:
#CORRIMUDATAA,COM1,0,77.5,FINESTEERING,1769,237601.000,02000020,bdba,12597;1769
,237601.000000000,0.000003356,0.000002872,0.000001398,0.000151593,0.000038348,0.000078820*1f7eb709

Field
1

Field Type
CORRIMUDATA
Header

Description
Log header. See Messages on page 25
for more information.

OEM7 Commands and Logs Reference Manual v7

Format

Binary
Bytes

Binary
Offset

-

H

0

921

Chapter 5 SPAN Logs

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

2

Week

GNSS week

Ulong

4

H+

3

Seconds

GNSS seconds from week start

Double

8

H+4

4

PitchRate

About x axis rotation (right-handed)
(rad/sample)

Double

8

H+12

5

RollRate

About y axis rotation (right-handed)
(rad/sample)

Double

8

H+20

6

YawRate

About z axis rotation (right-handed)
(rad/sample)

Double

8

H+28

7

LateralAcc

INS Lateral Acceleration (along x axis)
(m/s/sample)

Double

8

H+36

8

LongitudinalAcc

INS Longitudinal Acceleration (along y
axis) (m/s/sample)

Double

8

H+44

9

VerticalAcc

INS Vertical Acceleration (along z axis)
(m/s/sample)

Double

8

H+52

10

xxxx

32-bit CRC

Hex

4

H+56

11

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

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Chapter 5 SPAN Logs

5.5 CORRIMUDATAS
Short Corrected IMU Measurements
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log is the short header version of the CORRIMUDATA log (see page 921).

To obtain the instantaneous rates of acceleration (in m/s/s) or rotation (in rad/s) from
the output values of measurements per sample rate (m/s/sample and rad/sample), multiply the output values by the CORRIMUDATAS logging rate in Hz.
Message ID: 813
Log Type: Synch
Recommended Input:
log corrimudatasb ontime 0.01
Example log:
%CORRIMUDATASA,1581,341553.000;1581,341552.997500000,-0.000000690,0.000001549,0.000001654,0.000061579,-0.000012645,-0.000029988*770c6232

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

CORRIMUDATAS
Header

Log header. See Messages on page 25
for more information.

-

H

0

2

Week

GNSS week

Ulong

4

H+

3

Seconds

GNSS seconds from week start

Double

8

H+4

4

PitchRate

About x-axis rotation (right-handed)
(rad/sample)

Double

8

H+12

5

RollRate

About y-axis rotation (right-handed)
(rad/sample)

Double

8

H+20

6

YawRate

About z-axis rotation (right-handed)
(rad/sample)

Double

8

H+28

7

LateralAcc

INS Lateral Acceleration (along x-axis)
(m/s/sample)

Double

8

H+36

8

LongitudinalAcc

INS Longitudinal Acceleration (along yaxis) (m/s/sample)

Double

8

H+44

9

VerticalAcc

INS Vertical Acceleration (along z-axis)
(m/s/sample)

Double

8

H+52

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Chapter 5 SPAN Logs

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

10

xxxx

32-bit CRC

Hex

4

H+56

11

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

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Chapter 5 SPAN Logs

5.6 DELAYEDHEAVE
Delayed Heave Filter
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains the value of the delayed heave filter. The delayed heave value differs from the
heave value in that delayed heave uses forward and backward smoothing, while heave uses
backward smoothing only.
The heave filter must be enabled using the HEAVEFILTER command (see page 870) before this
log is available.

The DELAYEDHEAVE log is output with default values and the current time stamp when
the HEAVEFILTER is DISABLED.
When the HEAVEFILTER is ENABLED, the DELAYEDHEAVE log will not be output until the
heave window conditions (see the SETHEAVEWINDOW command on page 889) have
been met.
Message ID: 1709
Log Type: Synch
Recommended Input:
log delayedheavea ontime 0.1
ASCII example:
#DELAYEDHEAVEA,COM1,0,72.0,FINESTEERING,1769,237598.000,02000020,27a3,12597;0.0
00080643,0.086274510*85cdb46d

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

DELAYEDHEAVE
Header

Log header. See Messages on page 25
for more information.

-

H

0

2

Delayed Heave

Delayed heave value

Double

8

H

3

Std. Dev.

Standard deviation of the delayed
heave value

Double

8

H+8

4

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+16

5

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

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Chapter 5 SPAN Logs

5.7 GIMBALLEDPVA
Display Gimballed Position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use the GIMBALLEDPVA log to view the re-calculated position, velocity and attitude of the gimbal null position whenever a new INPUTGIMBALANGLE command (see page 871) is received.
Message ID: 1321
Log Type: Asynch
Recommended Input:
log gimballedpvaa onnew
ASCII Example:
#GIMBALLEDPVAA,COM1,0,93.5,FINESTEERING,1635,320568.514,02000000,0000,407;1635,
320568.514000000,51.116376614,-114.038259915,1046.112025828,-0.000291756,0.000578067,0.030324466,-0.243093917,-0.127718304,19.495023227, INS_ALIGNMENT_
COMPLETE*32fbb61b

Format

Binary
Bytes

Binary
Offset

Log header. See Messages on page 25 for
more information.

-

H

0

Week

GPS week

Ulong

4

H

3

Seconds

Seconds from week start

Double

8

H+4

4

Latitude

WGS84 latitude in degrees

Double

8

H+12

5

Longitude

WGS84 longitude in degrees

Double

8

H+20

6

Height

WGS84 ellipsoidal height

Double

8

H+28

7

North Velocity

Velocity in a northerly direction

Double

8

H+36

8

East Velocity

Velocity in an easterly direction

Double

8

H+44

9

Up Velocity

Velocity in an upward direction

Double

8

H+52

10

Roll

Right-handed rotation from local level
around the y-axis in degrees

Double

8

H+60

11

Pitch

Right-handed rotation from local level
around the x-axis in degrees

Double

8

H+68

12

Azimuth

Right-handed rotation from local level
around the z-axis in degrees

Double

8

H+76

Field

Field Type

Description

1

GIMBALLEDPVA
Header

2

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Chapter 5 SPAN Logs

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

13

Status

INS status, see Table 198: Inertial
Solution Status on page 936

Enum

4

H+84

14

xxxx

32-bit CRC

Hex

4

H+88

15

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

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Chapter 5 SPAN Logs

5.8 HEAVE
Heave Filter Log
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log provides vessel heave computed by the integrated heave filter. Refer also to information in the SETHEAVEWINDOW command on page 889. This log is asynchronous, but is available at approximately 10 Hz.

You must have an inertial solution to use this log.
The heave filter must be enabled using the HEAVEFILTER command (see page 870), before this
log is available.
Message ID: 1382
Log Type: Asynch
Recommended Input:
log heavea onnew
Example:
#HEAVEA,USB1,0,38.5,FINESTEERING,1630,232064.599,02000000,a759,6696;1630,232064
.589885392,0.086825199*93392cb4

Format

Binary
Bytes

Log header. See Messages on page 25 for
more information.

-

H

0

Week

GNSS Week

Ulong

4

H

3

Seconds into
Week

Seconds from week start

Double

8

H+4

4

Heave

Instantaneous heave in metres

Double

8

H+12

5

xxxx

32-bit CRC (ASCII, Binary and Short
Binary only)

Hex

4

H+20

6

[CR][LF]

Sentence Terminator (ASCII Only)

-

-

-

Field

Field Type

1

HEAVE
Header

2

Description

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Offset

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Chapter 5 SPAN Logs

5.9 IMURATECORRIMUS
Asynchronous Corrected IMU Data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log provides the same information as the CORRIMUDATAS log (see page 923), but is available asynchronously at the full rate of the IMU.
Using this log consumes significant system resources and should only be used by
experienced users.
However, using this log consumes less resources than logging the synchronous
CORRIMUDATAS log at the same rate.
To use this log, asynchronous logging must be enabled. See the ASYNCHINSLOGGING command on page 863.

To obtain the instantaneous rates of acceleration (in m/s/s) or rotation (in rad/s) from
the output values of measurements per sample rate (m/s/sample and rad/sample), multiply the output values by the IMU data rate in Hz.
Message ID: 1362
Log Type: Asynch
Recommended Input:
log imuratecorrimus
Example log:
%IMURATECORRIMUSA,1581,341553.000;1581,341552.997500000,-0.000000690,0.000001549,0.000001654,0.000061579,-0.000012645,-0.000029988*770c6232

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

IMURATECORRIMUS
Header

Log header. See Messages on
page 25 for more information.

-

H

0

2

Week

GNSS week

Ulong

4

H+

3

Seconds

GNSS seconds from week start

Double

8

H+4

4

PitchRate

About x axis rotation (rad/sample)

Double

8

H+12

5

RollRate

About y axis rotation (rad/sample)

Double

8

H+20

6

YawRate

About z axis rotation (right-handed)
(rad/sample)

Double

8

H+28

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Chapter 5 SPAN Logs

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

7

LateralAcc

INS Lateral Acceleration (along xaxis) (m/s/sample)

Double

8

H+36

8

LongitudinalAcc

INS Longitudinal Acceleration (along
y-axis) (m/s/sample)

Double

8

H+44

9

VerticalAcc

INS Vertical Acceleration (along zaxis)(m/s/sample)

Double

8

H+52

10

xxxx

32-bit CRC

Hex

4

H+56

11

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

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Chapter 5 SPAN Logs

5.10 IMURATEPVA
Asynchronous INS Position, Velocity and Attitude
This log provides the same information as the INSPVA log (see page 955), but is available asynchronously at the full rate of the IMU.
Using this log consumes significant system resources and should only be used by
experienced users.
However, using this log consumes less resources than logging the synchronous INSPVA
log at the same rate.
To use this log, asynchronous logging must be enabled. See the ASYNCHINSLOGGING command on page 863.
Message ID: 1778
Log Type: Asynch
Recommended Input:
log imuratepvaa onnew
ASCII Example:
#IMURATEPVAA,COM1,0,57.0,FINESTEERING,1802,320345.180,02000000,9b1f,12987;1802,
320345.180000030,51.11695246671,-114.03897779953,1047.6905,0.2284,0.0076,0.2227,0.160588332,-0.039823409,269.988184416,INS_ALIGNMENT_
COMPLETE*f60016a6

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

IMURATEPVA
Header

Log header. See Messages on page 25
for more information.

-

H

0

2

Week

GNSS Week

Ulong

4

H

3

Seconds

Seconds from week start

Double

8

H+4

4

Latitude

Latitude (WGS84) [degrees]

Double

8

H+12

5

Longitude

Longitude (WGS84) [degrees]

Double

8

H+20

6

Height

Ellipsoidal Height (WGS84) [m]

Double

8

H+28

7

North
Velocity

Velocity in a northerly direction (a -ve
value implies a southerly direction)
[m/s]

Double

8

H+36

8

East Velocity

Velocity in an easterly direction (a -ve
value implies a westerly direction) [m/s]

Double

8

H+44

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Chapter 5 SPAN Logs

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

9

Up Velocity

Velocity in an up direction [m/s]

Double

8

H+52

10

Roll

Right-handed rotation from local level
around y-axis in degrees

Double

8

H+60

11

Pitch

Right-handed rotation from local level
around x-axis in degrees

Double

8

H+68

Double

8

H+76

Left-handed rotation around z-axis in
degrees clockwise from North

12

Azimuth

13

Status

INS Status, see Table 198: Inertial
Solution Status on page 936

Enum

4

H+84

14

xxxx

32-bit CRC

Hex

4

H+88

15

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

This is the inertial azimuth calculated
from the IMU gyros and the SPAN filters.

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Chapter 5 SPAN Logs

5.11 IMURATEPVAS
Asynchronous INS Position, Velocity and Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log provides the same information as the INSPVAS log (see page 957), but is available
asynchronously at the full rate of the IMU.
Using this log consumes significant system resources and should only be used by
experienced users.
However, using this log consumes less resources than logging the synchronous INSPVAS
log at the same rate.
To use this log, asynchronous logging must be enabled. See the ASYNCHINSLOGGING command on page 863.
Message ID: 1305
Log Type: Asynch
Recommended Input:
log imuratepvas
ASCII Example:
%IMURATEPVASA,1264,144059.000;1264,144059.002135700,51.116680071,114.037929194,515.286704183,277.896368884,84.915188605,8.488207941,0.759619515,-2.892414901,6.179554750,INS_ALIGNMENT_
COMPLETE*855d6f76

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

IMURATEPVAS
Header

Log header. See Messages on page 25 for
more information.

-

H

0

2

Week

GNSS Week

Ulong

4

H

3

Seconds

Seconds from week start

Double

8

H+4

4

Latitude

Latitude (WGS84)

Double

8

H+12

5

Longitude

Longitude (WGS84)

Double

8

H+20

6

Height

Ellipsoidal Height (WGS84) [m]

Double

8

H+28

7

North Velocity

Velocity in a northerly direction (a -ve value
implies a southerly direction) [m/s]

Double

8

H+36

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Chapter 5 SPAN Logs

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

8

East Velocity

Velocity in an easterly direction (a -ve value
implies a westerly direction) [m/s]

Double

8

H+44

9

Up Velocity

Velocity in an up direction [m/s]

Double

8

H+52

10

Roll

Right-handed rotation from local level
around y-axis in degrees

Double

8

H+60

11

Pitch

Right-handed rotation from local level
around x-axis in degrees

Double

8

H+68

12

Azimuth

Left-handed rotation around z-axis in
degrees clockwise from North

Double

8

H+76

13

Status

INS Status, see Table 198: Inertial Solution
Status on page 936

Enum

4

H+84

14

xxxx

32-bit CRC

Hex

4

H+88

15

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

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Chapter 5 SPAN Logs

5.12 INSATT
INS Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains the most recent attitude measurements computed by the SPAN filter. This attitude definition may not correspond to other definitions of the terms pitch, roll and azimuth. By
default, the output attitude is with respect to the vehicle frame. If the attitude output is desired
with respect to another frame of reference, use the SETINSROTATION USER command (see
the SETINSROTATION command on page 896) to configure the user output frame offset rotation.
Message ID: 263
Log Type: Synch
Recommended Input:
log insatta ontime 1
ASCII Example:
#INSATTA,USB2,0,14.5,FINESTEERING,1541,487970.000,02040000,5b35,37343;1541,4879
70.000549050,1.876133508,-4.053672765,328.401460897,INS_SOLUTION_GOOD*ce4ac533

Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

1

INSATT
Header

Log header. See Messages on page 25 for more
information.

-

H

0

2

Week

GNSS Week

Ulong

4

H

3

Seconds
into Week

Seconds from week start

Double

8

H+4

4

Roll

Right-handed rotation from local level around
y-axis in degrees.

Double

8

H+12

5

Pitch

Right-handed rotation from local level around
x-axis in degrees.

Double

8

H+20

Double

8

H+28

Left-handed rotation around z-axis in degrees
clockwise from North.

6

Azimuth

7

Status

INS status, see Table 198: Inertial Solution
Status on the next page.

Enum

H+36

8

xxxx

32-bit CRC (ASCII, Binary and Short Binary
only)

Hex

H+40

9

[CR][LF]

Sentence terminator (ASCII only)

-

This is the inertial azimuth calculated from the
IMU gyros and the SPAN filters.

OEM7 Commands and Logs Reference Manual v7

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-

935

Chapter 5 SPAN Logs

Table 198: Inertial Solution Status
Binary

ASCII

Description

0

INS_INACTIVE

IMU logs are present, but the alignment routine has not started; INS is
inactive.

1

INS_ALIGNING

INS is in alignment mode.

2

3

INS_HIGH_
VARIANCE

INS_
SOLUTION_
GOOD

The INS solution is in navigation mode but the azimuth solution
uncertainty has exceeded the threshold. The default threshold is 2
degrees for most IMUs. The solution is still valid but you should
monitor the solution uncertainty in the INSSTDEV log (see page 968).
You may encounter this state during times when the GNSS, used to aid
the INS, is absent.
The INS solution uncertainty contains outliers and the solution
may be outside specifications.1 The solution is still valid but you
should monitor the solution uncertainty in the INSSTDEV log (see
page 968). It may be encountered during times when GNSS is
absent or poor.
The INS filter is in navigation mode and the INS solution is good.
The INS filter is in navigation mode and the GNSS solution is suspected
to be in error.

6

INS_
SOLUTION_
FREE

7

INS_
ALIGNMENT_
COMPLETE

The INS filter is in navigation mode, but not enough vehicle dynamics
have been experienced for the system to be within specifications.

8

DETERMINING_
ORIENTATION

INS is determining the IMU axis aligned with gravity.

9

WAITING_
INITIALPOS

The INS filter has determined the IMU orientation and is awaiting an
initial position estimate to begin the alignment process.

10

WAITING_
AZIMUTH

The INS filer has orientation, initial biases, initial position and valid
roll/pitch estimated. Will not proceed until initial azimuth is entered.

11

INITIALIZING_
BIASES

The INS filter is estimating initial biases during the first 10 seconds of
stationary data.

12

MOTION_
DETECT

The INS filter has not completely aligned, but has detected motion.

This may be due to multipath or limited satellite visibility. The inertial
filter has rejected the GNSS position and is waiting for the solution
quality to improve.

1The solution uncertainty threshold levels can be adjusted using the INSTHRESHOLDS command on page 882.

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Chapter 5 SPAN Logs

5.13 INSATTQS
Short INS Quaternion Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains the attitude from the INSATT log, but the rotation from local level is given as a
Quaternion rather than Euler Angles. The quaternion takes the form:

The element w is the rotational component, defining the magnitude of the rotation to be performed. The elements x, y, and z are the vector portion of the rotation, which define the axis
about which the rotation is to be performed.
If θ is the rotational angle, and the axis of rotation is defined by the vector
the elements of the quaternion can be written as:

, then

Message ID: 2118
Log Type: Synch
Recommended Input:
log insattqsa ontime 1
ASCII Example:
%INSATTQSA,1943,425090.000;1943,425090.000000000,0.706276782,0.001974400,0.001083571,-0.707932225,INS_ALIGNMENT_COMPLETE*552d93f0

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

INSATTQS
Header

Log header. See Messages on page 25 for
more information.

-

H

0

2

Week

GNSS Week

Ulong

4

H

3

Seconds into
Week

Seconds from week start

Double

8

H+4

4

Quaternion w

Quaternion rotation from local level, w
component

Double

8

H+12

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Chapter 5 SPAN Logs

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

5

Quaternion x

Quaternion rotation from local level, x
component

Double

8

H+20

6

Quaternion y

Quaternion rotation from local level, y
component

Double

8

H+28

7

Quaternion z

Quaternion rotation from local level, z
component

Double

8

H+36

8

Status

INS status, see Table 198: Inertial
Solution Status on page 936

Enum

4

H+44

9

xxxx

32-bit CRC (ASCII, Binary and Short
Binary only)

Hex

4

H+48

10

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

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Chapter 5 SPAN Logs

5.14 INSATTS
Short INS Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log is the short header version of the INSATT log (see page 935).
Message ID: 319
Log Type: Synch
Recommended Input:
log insattsa ontime 1
ASCII Example:
%INSATTSA,1541,487975.000;1541,487975.000549050,2.755452422,4.127365126,323.289778434,INS_SOLUTION_GOOD*ba08754f

Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

1

INSATTS
Header

Log header. See Messages on page 25 for more
information.

-

H

0

2

Week

GNSS Week

Ulong

4

H

3

Seconds
into Week

Seconds from week start

Double

8

H+4

4

Roll

Right-handed rotation from local level around
y-axis in degrees

Double

8

H+12

5

Pitch

Right-handed rotation from local level around
x-axis in degrees

Double

8

H+20

Double

8

H+28

Left-handed rotation around z-axis in degrees
clockwise from North

6

Azimuth

7

Status

INS status, see Table 198: Inertial Solution
Status on page 936

Enum

4

H+36

8

xxxx

32-bit CRC (ASCII, Binary and Short Binary
only)

Hex

4

H+40

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

This is the inertial azimuth calculated from the
IMU gyros and the SPAN filters.

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Chapter 5 SPAN Logs

5.15 INSATTX
Inertial Attitude – Extended
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log includes the information from the INSATT log (see page 935), as well as information
about the attitude standard deviation. The position type and solution status fields indicate
whether or not the corresponding data is valid.
The INSATTX log is a large log and is not recommend for high rate logging.
If you want to use high rate logging, log the INSATTS log at a high rate and the
INSSTDEVS log ontime 1.
Message ID: 1457
Log Type: Synch
Recommended Input:
log insattxa ontime 1
ASCII Example:
#INSATTXA,COM1,0,81.0,FINESTEERING,1690,494542.000,02000040,5d25,43441;INS_
ALIGNMENT_COMPLETE,INS_PSRSP,1.137798832,0.163068414,135.754208544,0.017797431,0.017861038,3.168394804,4,0*f944b004

Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

H

0

INSATTX
Header

Log header. See Messages on page 25 for more
information.

2

INS Status

Solution status
See Table 198: Inertial Solution Status on
page 936

Enum

4

H

3

Pos Type

Position type
See Table 74: Position or Velocity Type on
page 432

Enum

4

H+4

4

Roll

Roll in Local Level (degrees)

Double

8

H+8

5

Pitch

Pitch in Local Level (degrees)

Double

8

H+16

1

Azimuth in Local Level (degrees)
6

Azimuth

This is the inertial azimuth calculated from the
IMU gyros and the SPAN filters.

Double

8

H+24

7

Roll σ

Roll standard deviation (degrees)

Float

4

H+32

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Chapter 5 SPAN Logs

Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

8

Pitch σ

Pitch standard deviation (degrees)

Float

4

H+36

9

Azimuth σ

Azimuth standard deviation (degrees)

Float

4

H+40

10

Ext sol
stat

Extended solution status
See Table 199: Extended Solution Status
below

Hex

4

H+44

11

Time
Since
Update

Elapsed time since the last ZUPT or position
update (seconds)

Ushort

2

H+48

11

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+50

12

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Table 199: Extended Solution Status
Nibble

Bit

Mask

Description

Range Value

0

0x00000001

Position update

0 = Unused
1 = Used

1

0x00000002

Phase update

0 = Unused
1 = Used

2

0x00000004

Zero velocity update

0 = Unused
1 = Used

3

0x00000008

Wheel sensor update

0 = Unused
1 = Used

4

0x00000010

ALIGN (heading)
update

0 = Unused
1 = Used

5

0x00000020

External position
update

0 = Unused
1 = Used

6

0x00000040

INS solution
convergence flag

0 = Not converged
1 = Converged

7

0x00000080

Doppler update

0 = Unused
1 = Used

N0

N1

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Chapter 5 SPAN Logs

Nibble

Bit

Mask

Description

Range Value

8

0x00000100

Pseudorange update

0 = Unused
1 = Used

9

0x00000200

Velocity update

0 = Unused
1 = Used

10

0x00000400

Reserved

11

0x00000800

Dead reckoning
update

0 = Unused
1 = Used

12

0x00001000

Phase wind up update

0 = Unused
1 = Used

13

0x00002000

Course over ground
update

0 = Unused
1 = Used

14

0x00004000

External velocity
update

0 = Unused
1 = Used

15

0x00008000

External attitude
update

0 = Unused
1 = Used

16

0x00010000

External heading
update

0 = Unused
1 = Used

17

0x00020000

External height
update

0 = Unused
1 = Used

18

0x00040000

Reserved

19

0x00080000

Reserved

20

0x00100000

Rover position update

0 = Unused
1 = Used

21

0x00200000

Rover position update
type

0 = Non-RTK update
1 = RTK integer update

22

0x00400000

Reserved

23

0x00800000

Reserved

N2

N3

N4

N5

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Chapter 5 SPAN Logs

Nibble

Bit

Mask

Description

24

0x01000000

Turn on biases
estimated

0 = Static turn-on biases not estimated
(starting from zero)
1 = Static turn-on biases estimated

25

0x02000000

Alignment direction
verified

0 = Not verified
1 = Verified

26

0x04000000

Alignment Indication
1

0 = Not set, 1 = Set
Refer to Table 200: Alignment Indication
below

27

0x08000000

Alignment Indication
2

0 = Not set, 1 = Set
Refer to Table 200: Alignment Indication
below

28

0x10000000

Alignment Indication
3

0 = Not set, 1 = Set
Refer to Table 200: Alignment Indication
below

29

0x20000000

NVM Seed Indication
1

0 = Not set, 1 = Set
Refer to Table 201: NVM Seed Indication on
the next page

30

0x40000000

NVM Seed Indication
2

0 = Not set, 1 = Set
Refer to Table 201: NVM Seed Indication on
the next page

0x80000000

NVM Seed Indication
3

0 = Not set, 1 = Set
Refer to Table 201: NVM Seed Indication on
the next page

N6

Range Value

N7

31

Table 200: Alignment Indication
Bits 26-28 Values

Hex Value

000

0x00

Incomplete Alignment

001

0x01

Static

010

0x02

Kinematic

011

0x03

Dual Antenna

100

0x04

User Command

101

0x05

NVM Seed

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Table 201: NVM Seed Indication
Bit 2931
Values

Hex
Value

NVM Seed Type

000

0x00

NVM Seed Inactive

001

0x01

Seed stored in NVM is invalid

010

0x02

NVM Seed failed validation check

011

0x03

NVM Seed is pending validation (awaiting GNSS)

100

0x04

NVM Seed Injected (includes error model data)

101

0x05

NVM Seed data ignored due to a user-commanded filter reset or
configuration change

110

0x06

NVM Seed error model data injected

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5.16 INSCALSTATUS
Offset calibration status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log reports the status and estimated values of the currently running offset calibration.
Message ID: 1961
Log Type: Asynch
Abbreviated ASCII Syntax:
log inscalstatus onchanged
ASCII Example:
#INSCALSTATUSA,COM1,0,80.0,FINESTEERING,1880,317815.012,02000000,a4f2,32768;RBV
,0.0000,-180.0000,-90.0000,45.0000,45.0000,45.0000,INS_CONVERGING,1*e0b3152d

Field

Field Type

Description

Binary Binary
Format Bytes

Binary
Offset

1

INSCALSTATUS
header

Log header. See Messages on page 25 for
more information.

-

H

0

2

Offset Type

Type of offset (see Table 202: Offset Type
on the next page).

Enum

4

H

3

X axis offset

IMU body frame X-axis offset (m/degrees).

Float

4

H+4

4

Y axis offset

IMU body frame Y-axis offset (m/degrees).

Float

4

H+8

5

Z axis offset

IMU body frame Z-axis offset (m/degrees).

Float

4

H+12

6

X uncertainty

IMU body frame X-axis offset uncertainty
(m/degrees).

Float

4

H+16

7

Y uncertainty

IMU body frame Y-axis offset uncertainty
(m/degrees).

Float

4

H+20

8

Z uncertainty

IMU body frame Z-axis offset uncertainty
(m/degrees).

Float

4

H+24

9

Source Status

Source from which offset values originate
(see Table 203: Source Status on the next
page).

Enum

4

H+28

10

Multi-line
Calibration
Count

Counter for number of completed
calibrations cumulatively averaged.

Ulong

4

H+32

11

xxxx

32-bit CRC (ASCII and Binary only).

Hex

4

H+36

12

[CR][LF]

Sentence terminator (ASCII only).

-

-

-

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Chapter 5 SPAN Logs

Units for the axis offset and uncertainty values (fields 3-8) are in metres for translational offset components and degrees for rotational offset components.
Table 202: Offset Type
Binary

ASCII

Description

1

ANT1

Primary IMU to antenna lever arm

8

ALIGN

Align offset

11

RBV

IMU body to vehicle offset

Table 203: Source Status
Binary

ASCII

Description

1

FROM_NVM

Offset values originate from saved parameters in NVM

2

CALIBRATING

Offset values originate from a currently running calibration process

3

CALIBRATED

Offset values originate from a completed calibration process

4

FROM_
COMMAND

Offset values originate from a user command

5

RESET

Offset values originate from a system reset

6

FROM_DUAL_
ANT

Offset values originate from a dual antenna Align solution

7

INS_
CONVERGING

Offset values originate from initial input values. Calibration process on
hold until INS solution is converged.

8

INSUFFICIENT_
SPEED

Offset values originate from a currently running calibration process.
Further estimation on hold due to insufficient speed.

9

HIGH_
ROTATION

Offset values originate from a currently running calibration process.
Further estimation on hold due to high vehicle rotations.

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5.17 INSCONFIG
Determine required settings for post-processing or system analysis
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log is the single message required to determine all required settings for post-processing or
system analysis. This log is asynchronous and published for any change to the included fields. It
is intended to be recorded occasionally though it could be updated frequently at system startup.
Message ID: 1945
Log Type: Polled
Recommended Input:
log insconfig onchanged
ASCII Example:
#INSCONFIGA,COM1,0,71.0,COARSESTEERING,1931,517331.006,02400000,6d7a,
32768;EPSON_G320,6,50,20,DEFAULT,00ffd1bf,AUTOMATIC,ROVER,FALSE,
00000000,0,0,0,0,0,0,0,0,0,1,ANT1,IMUBODY,0.0540,0.0699,-0.0346,0.0200,
0.0200,0.0200,FROM_NVM,1,RBV,IMUBODY,180.0000,0.0000,90.0000,5.0000,
5.0000,5.0000,FROM_COMMAND*b1233ac4

Field

Field Type

Description

Binary Binary
Format Bytes

Binary
Offset

1

INSCONFIG
Header

Command header. See Messages on
page 25 for more information.

-

H

0

2

IMU Type

IMU type

Enum

4

H

3

Mapping

Mapping / Orientation

Uchar

1

H+4

4

Initial
Alignment
Velocity

Uchar

1

H+5

5

Heave
Window

Length of the heave window in seconds (if
set)

Ushort

2

H+6

6

Profile

Profile setting (see the SETINSPROFILE
command on page 894)

Enum

4

H+8

7

Enabled
Updates

Enabled update types

Hex

4

H+12

8

Alignment
Mode

Alignment mode configured on the system
(see the ALIGNMENTMODE command on
page 861)

Enum

4

H+16

Minimum Alignment Velocity entered by
the user.
Note: Velocity (m/s) is scaled by 10 for
10cm/s precision

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Chapter 5 SPAN Logs

Field

9

10

Field Type

Relative INS
Output
Frame

Relative INS
Output
Direction

Description
The user specified output frame of the
Relative INS Vector (see
SETRELINSOUTPUTFRAME command
on page 904)

Binary Binary
Format Bytes

Binary
Offset

Enum

4

H+20

Bool

4

H+24

Hex

4

H+28

If not specified, the default value
appears.
The User specified Output direction of the
Relative INS Vector (From or To MasterRover) (see the
SETRELINSOUTPUTFRAME command
on page 904).
If not specified, the default value
appears. TRUE if From Master, FALSE
(Default) if From Rover
Lower byte- INS Reset. Corresponds
numerically to the INS Reset as described
by the INSResetEnum

11

INS Receiver
Status

Second byte= 0x01 if an IMU Communication Error
(Receiver status bit 17).
= 0x00 otherwise.
Other values are reserved for future use.
Upper 2 bytes - reserved.

12

INS Seed
Enabled

INS Seed Enable setting
(see the INSSEED command on
page 880)
Enabled = 1, Disabled = 0

Uchar

1

H+32

13

INS Seed
Validation

INS Seed Validation setting
(see the INSSEED command on
page 880)

Uchar

1

H+33

14

Reserved 1

N/A

2

H+34

15

Reserved 2

N/A

4

H+36

16

Reserved 3

N/A

4

H+40

17

Reserved 4

N/A

4

H+44

18

Reserved 5

N/A

4

H+48

19

Reserved 6

N/A

4

H+52

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Chapter 5 SPAN Logs

Field

Field Type

Description

Binary Binary
Format Bytes

Binary
Offset

N/A

4

H+56

20

Reserved 7

21

Number of
Translations

Number of translation entries to follow

Ulong

4

H+60

22

Translation

Translation to follow (see Table 196:
Translation Offset Types on page 900)

Enum

4

variable

23

Frame

Frame of translation (IMUBODY or
VEHICLE)

Enum

4

variable

24

X Offset

X Offset

Float

4

variable

25

Y Offset

Y Offset

Float

4

variable

26

Z Offset

Z Offset

Float

4

variable

27

X Uncertainty

X Uncertainty

Float

4

variable

28

Y Uncertainty

Y Uncertainty

Float

4

variable

29

Z Uncertainty

Z Uncertainty

Float

4

variable

30

Translation
Source

Source of translation (see Table 203:
Source Status on page 946)

Enum

4

variable

Next Translation
variable

Number of
Rotations

Number of rotation entries to follow

Ulong

4

variable

variable

Rotation

Rotation to follow (see Table 195:
Rotational Offset Types on page 897)

Enum

4

variable

variable

Frame

Frame of rotation (IMUBODY or VEHICLE)

Enum

4

variable

variable

X Rotation

X Rotation

Float

4

variable

variable

Y Rotation

Y Rotation

Float

4

variable

variable

Z Rotation

Z Rotation

Float

4

variable

variable

X Rotation
Std Dev

X Rotation offset standard deviation
(degrees)

Float

4

variable

variable

Y Rotation
STD Dev

Y Rotation offset standard deviation
(degrees)

Float

4

variable

variable

Z Rotation
STD Dev

Z Rotation offset standard deviation
(degrees)

Float

4

variable

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Chapter 5 SPAN Logs

Field
variable

Binary Binary
Format Bytes

Binary
Offset

Source of rotation (see Table 203: Source
Status on page 946)

Enum

4

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field Type
Rotation
Source

Description

Next Rotation
variable

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Chapter 5 SPAN Logs

5.18 INSPOS
INS Position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains the most recent position measurements in WGS84 coordinates and includes an
INS status indicator. The log reports the position at the IMU center, unless the
SETINSTRANSLATION USER command was issued. See the SETINSTRANSLATION command
on page 899.

This log provides the position information in WGS84.
Message ID: 265
Log Type: Synch
Recommended Input:
log insposa ontime 1
ASCII Example:
#INSPOSA,USB2,0,18.0,FINESTEERING,1541,487977.000,02040000,17cd,37343;1541,
487977.000549050,51.121315135,-114.042311349,1038.660737046,INS_SOLUTION_GOOD
*2fffd557

Format

Binary
Bytes

Log header. See Messages on page 25 for
more information.

-

H

0

Week

GNSS Week

Ulong

4

H

3

Seconds
into Week

Seconds from week start

Double

8

H+4

4

Latitude

Latitude (WGS84)

Double

8

H+12

5

Longitude

Longitude (WGS84)

Double

8

H+20

6

Height

Ellipsoidal Height (WGS84) [m]

Double

8

H+28

7

Status

INS status, see Table 198: Inertial
Solution Status on page 936

Enum

4

H+36

8

xxxx

32-bit CRC (ASCII, Binary and Short
Binary only)

Hex

4

H+40

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field

Field Type

1

INSPOS
Header

2

Description

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Chapter 5 SPAN Logs

5.19 INSPOSS
Short INS Position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log is the short header version of the INSPOS log (see page 951).

This log provides the position information in WGS84.
Message ID: 321
Log Type: Synch
Recommended Input:
log inspossa ontime 1
ASCII Example:
%INSPOSSA,1541,487916.000;1541,487916.000549050,51.115797277,-114.037811065,
1039.030700122,INS_SOLUTION_GOOD*5ca30894

Format

Binary
Bytes

Log header. See Messages on page 25 for
more information.

-

H

0

Week

GNSS Week

Ulong

4

H

3

Seconds
into Week

Seconds from week start

Double

8

H+4

4

Latitude

Latitude (WGS84)

Double

8

H+12

5

Longitude

Longitude (WGS84)

Double

8

H+20

6

Height

Ellipsoidal Height (WGS84) [m]

Double

8

H+28

7

Status

INS status, see Table 198: Inertial
Solution Status on page 936

Enum

4

H+36

8

xxxx

32-bit CRC (ASCII, Binary and Short
Binary only)

Hex

4

H+40

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field

Field Type

1

INSPOSS
Header

2

Description

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Chapter 5 SPAN Logs

5.20 INSPOSX
Inertial Position – Extended
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log includes the information from the INSPOS log, as well as information about the position
standard deviation. The position type and solution status fields indicate whether or not the corresponding data is valid.
The INSPOSX log is a large log and is not recommend for high rate logging.
If you want to use high rate logging, log the INSPOSS log at a high rate and the
INSSTDEVS log ontime 1.

This log provides the position information in the user datum.
To determine the datum being used, log the BESTPOS log.
Message ID: 1459
Log Type: Synch
Recommended Input:
log insposxa ontime 1
ASCII example:
#INSPOSXA,COM1,0,79.0,FINESTEERING,1690,493465.000,02000040,7211,43441;INS_
SOLUTION_GOOD,INS_PSRSP,51.11637750859,114.03826206294,1049.1191,0.4883,0.4765,0.8853,3,0*dee048ab

Field

Field Type

Description

1

INSPOSX
Header

Log header. See Messages on page 25 for
more information.

2

INS Status

Solution status
See Table 198: Inertial Solution Status on
page 936

3

Pos Type

4

Format

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Position type
See Table 74: Position or Velocity Type
on page 432

Enum

4

H+4

Lat

Latitude

Double

8

H+8

5

Long

Longitude

Double

8

H+16

6

Height

Height above sea level (m)

Double

8

H+24

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Format

Binary
Bytes

Undulation (m)

Float

4

H+32

Lat σ

Latitude standard deviation

Float

4

H+36

9

Long σ

Longitude standard deviation

Float

4

H+34

10

Height σ

Height standard deviation

Float

4

H+44

11

Ext sol stat

Extended solution status
See Table 199: Extended Solution Status
on page 941

Hex

4

H+48

11

Time Since
Update

Elapsed time since the last ZUPT or
position update (seconds)

Ushort

2

H+52

12

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+54

13

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field

Field Type

7

Undulation

8

Description

Binary
Offset

The INS covariance and standard deviation values reported by the SPAN filter are an
estimate of the Inertial filter solution quality. In lower accuracy GNSS position modes,
such as SINGLE or WAAS (see Table 74: Position or Velocity Type on page 432), the position covariance and standard deviation values can appear to become optimistic compared with the absolute GNSS accuracy. This is due to the INS filter’s ability to smooth
short term noise in the GNSS solution, although the overall position error envelope still
reflects the GNSS accuracy. Therefore, if the desired application requires absolute GNSS
position accuracy, it is recommended to also monitor GNSS position messages such as
BESTGNSSPOS (see BESTGNSSPOS log on page 916).

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Chapter 5 SPAN Logs

5.21 INSPVA
INS Position, Velocity and Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log allows INS position, velocity and attitude, with respect to the SPAN frame, to be collected in one log, instead of using three separate logs. Refer to the INSATT log (see page 935)
for an explanation of how the SPAN frame may differ from the IMU enclosure frame.

This log provides the position information in WGS84.
Message ID: 507
Log Type: Synch
Recommended Input:
log inspvaa ontime 1
ASCII Example:
#INSPVAA,COM1,0,31.0,FINESTEERING,1264,144088.000,02040000,5615,1541;1264,14408
8.002284950,51.116827527,114.037738908,401.191547167,354.846489850,108.429407241,10.837482850,1.116219952,-3.476059035,7.372686190,INS_ALIGNMENT_
COMPLETE*af719fd9

Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

1

INSPVA
Header

Log header. See Messages on page 25 for more
information.

-

H

0

2

Week

GNSS Week

Ulong

4

H

3

Seconds

Seconds from week start

Double

8

H+4

4

Latitude

Latitude (WGS84) [degrees]

Double

8

H+12

5

Longitude

Longitude (WGS84) [degrees]

Double

8

H+20

6

Height

Ellipsoidal Height (WGS84) [m]

Double

8

H+28

7

North
Velocity

Velocity in a northerly direction (a -ve value
implies a southerly direction) [m/s]

Double

8

H+36

8

East
Velocity

Velocity in an easterly direction (a -ve value
implies a westerly direction) [m/s]

Double

8

H+44

9

Up
Velocity

Velocity in an up direction [m/s]

Double

8

H+52

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Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

10

Roll

Right-handed rotation from local level around
y-axis in degrees

Double

8

H+60

11

Pitch

Right-handed rotation from local level around
x-axis in degrees

Double

8

H+68

Double

8

H+76

Left-handed rotation around z-axis in degrees
clockwise from North

12

Azimuth

13

Status

INS Status, see Table 198: Inertial Solution
Status on page 936

Enum

4

H+84

14

xxxx

32-bit CRC

Hex

4

H+88

15

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

This is the inertial azimuth calculated from the
IMU gyros and the SPAN filters.

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5.22 INSPVAS
Short INS Position, Velocity and Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log is the short header version of the INSPVA log (see page 955).

This log provides the position information in WGS84.
Message ID: 508
Log Type: Synch
Recommended Input:
log inspvasa ontime 1
ASCII Example:
%INSPVASA,1264,144059.000;1264,144059.002135700,51.116680071,114.037929194,515.286704183,277.896368884,84.915188605,8.488207941,0.759619515,-2.892414901,6.179554750,INS_ALIGNMENT_
COMPLETE*855d6f76
Field
Type

Description

Format

Binary
Bytes

Binary
Offset

1

INSPVAS
Header

Log header. See Messages on page 25 for more
information.

-

H

0

2

Week

GNSS Week

Ulong

4

H

3

Seconds

Seconds from week start

Double

8

H+4

4

Latitude

Latitude (WGS84) [degrees]

Double

8

H+12

5

Longitude

Longitude (WGS84) [degrees]

Double

8

H+20

6

Height

Ellipsoidal Height (WGS84) [m]

Double

8

H+28

7

North
Velocity

Velocity in a northerly direction (a -ve value
implies a southerly direction) [m/s]

Double

8

H+36

8

East
Velocity

Velocity in an easterly direction (a -ve value
implies a westerly direction) [m/s]

Double

8

H+44

9

Up
Velocity

Velocity in an up direction [m/s]

Double

8

H+52

10

Roll

Right-handed rotation from local level around
y-axis in degrees

Double

8

H+60

Field

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Field
11

Field
Type
Pitch

Description
Right-handed rotation from local level around
x-axis in degrees
Left-handed rotation around z-axis in degrees
clockwise from north

Format

Binary
Bytes

Binary
Offset

Double

8

H+68

Double

8

H+76

12

Azimuth

13

Status

INS Status, see Table 198: Inertial Solution
Status on page 936

Enum

4

H+84

14

xxxx

32-bit CRC

Hex

4

H+88

15

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

This is the inertial azimuth calculated from the
IMU gyros and the SPAN filters.

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5.23 INSPVAX
Inertial PVA – Extended
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log includes the information from the INSPVA log, as well as information about the position
standard deviation. The position type and solution status fields indicate whether or not the corresponding data is valid.
The INSPVAX log is a large log and is not recommend for high rate logging.
If you want to use high rate logging, log the INSPVAS log at a high rate and the
INSSTDEVS log ontime 1.

This log provides the position information in the user datum.
To determine the datum being used, log the BESTPOS log.
Message ID: 1465
Log Type: Synch
Recommended Input:
log inspvaxa ontime 1
ASCII example:
#INSPVAXA,COM1,0,73.5,FINESTEERING,1695,309428.000,02000040,4e77,43562;INS_
SOLUTION_GOOD,INS_PSRSP,51.11637873403,-114.03825114994,1063.6093,-16.9000,0.0845,-0.0464,0.0127,0.138023492,0.069459386,90.000923268,0.9428,0.6688,1.4746,0.0430,0.0518,
0.0521,0.944295466,0.944567084,1.000131845,3,0*e877c178

Field

Field
Type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

INSPVAX
Header

Log header. See Messages on page 25 for
more information.

2

INS Status

Solution status
See Table 198: Inertial Solution Status on
page 936

Enum

4

H

3

Pos Type

Position type
See Table 74: Position or Velocity Type on
page 432

Enum

4

H+4

4

Lat

Latitude (degrees)

Double

8

H+8

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Field

Field
Type

Data Description

Format

Binary
Bytes

Binary
Offset

5

Long

Longitude (degrees)

Double

8

H+16

6

Height

Height above mean sea level (m)

Double

8

H+24

7

Undulation

Undulation (m)

Float

4

H+32

8

North Vel

North velocity (m/s)

Double

8

H+36

9

East Vel

East velocity (m/s)

Double

8

H+44

10

Up Vel

Up velocity (m/s)

Double

8

H+52

11

Roll

Roll in Local Level (degrees)

Double

8

H+60

12

Pitch

Pitch in Local Level (degrees)

Double

8

H+68

Azimuth in Local Level (degrees)
13

Azimuth

This is the inertial azimuth calculated from the
IMU gyros and the SPAN filters.

Double

8

H+76

14

Lat σ

Latitude standard deviation (m)

Float

4

H+84

15

Long σ

Longitude standard deviation (m)

Float

4

H+88

16

Height σ

Height standard deviation (m)

Float

4

H+92

17

North Vel σ

North velocity standard deviation (m/s)

Float

4

H+96

18

East Vel σ

East velocity standard deviation (m/s)

Float

4

H+100

19

Up Vel σ

Up velocity standard deviation (m/s)

Float

4

H+104

20

Roll σ

Roll standard deviation (degrees)

Float

4

H+108

21

Pitch σ

Pitch standard deviation (degrees)

Float

4

H+112

22

Azimuth σ

Azimuth standard deviation (degrees)

Float

4

H+116

23

Ext sol stat

Extended solution status
See Table 199: Extended Solution Status on
page 941

Hex

4

H+120

24

Time Since
Update

Elapsed time since the last ZUPT or position
update (seconds)

Ushort

2

H+124

25

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+126

26

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Chapter 5 SPAN Logs

The INS covariance and standard deviation values reported by the SPAN filter are an
estimate of the Inertial filter solution quality. In lower accuracy GNSS position modes,
such as SINGLE or WAAS (see Table 74: Position or Velocity Type on page 432), the position covariance and standard deviation values can appear to become optimistic compared with the absolute GNSS accuracy. This is due to the INS filter’s ability to smooth
short term noise in the GNSS solution, although the overall position error envelope still
reflects the GNSS accuracy. Therefore, if the desired application requires absolute GNSS
position accuracy, it is recommended to also monitor GNSS position messages such as
BESTGNSSPOS (see BESTGNSSPOS log on page 916).

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Chapter 5 SPAN Logs

5.24 INSSEEDSTATUS
Status of INS Seed
This log reports the current status of the INS Seed. See the OEM7 SPAN Installation and Operation User Manual for more information about an INS Seed.
Message ID: 2129
Log Type: Asynch
Abbreviated ASCII Syntax:
log insseedstatusa onnew
Example:
#INSSEEDSTATUSA,COM3,0,66.0,FINESTEERING,1945,315811.009,02040020,9fd0,32768;IN
JECTED,ALLVALID,-0.098151498,0.298816800,95.888587952,1634544.0523482216522098,-3664556.8064546003006399,4942534.6315599447116256,16.9000,0,0,0,0*f353470c

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

INSSEEDSTATUS
header

Command header. See Messages on
page 25 for more information.

-

H

0

2

Injection Status

Status of the INS Seed being injected into
the solution. See Table 204: Injection
Status on the next page

Enum

4

H

3

Validity Status

Flag to indicate if current seed data in
NVM is valid. See Table 205: Validity
Status on the next page

Bool

4

H+4

4

Pitch

IMU frame pitch angle (degrees)

Float

4

H+8

5

Roll

IMU frame roll angle (degrees)

Float

4

H+12

6

Azimuth

IMU frame azimuth angle (degrees)

Float

4

H+16

7

PositionX

ECEF-based x-coordinate

Double

8

H+20

8

PositionY

ECEF-based y-coordinate

Double

8

H+28

9

PositionZ

ECEF-based z-coordinate

Double

8

H+36

10

Undulation

Geoid undulation

Float

4

H+44

11

Reserved

Ulong

4

H+48

12

Reserved

Ulong

4

H+52

13

Reserved

Ulong

4

H+56

1

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Chapter 5 SPAN Logs

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

Ulong

4

H+60

14

Reserved

15

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+64

16

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

Table 204: Injection Status
Binary

ASCII

Description

0

NOT_INITIALIZED

INS Seed has not been injected into the solution

1

INVALID

Valid INS Seed was not found in non-volatile memory

2

FAILED

INS Seed has failed validation and has been discarded

3

PENDING

INS Seed is awaiting validation

4

INJECTED

INS Seed alignment data has successfully been injected
(including error model data)

5

IGNORED

INS Seed was pending, but has been ignored due to a user
commanded filter reset or configuration change

6

ERRORMODELINJECTED

INS Seed error model data has successfully been injected

Table 205: Validity Status
Binary

ASCII

Description

0

INVALID

INS Seed in NVM is not valid

1

ALLVALID

INS Seed in NVM is valid

2

ERRORMODELVALID

INS Seed error model in NVM is valid (alignment data is not valid)

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Chapter 5 SPAN Logs

5.25 INSSPD
INS Speed
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains the most recent speed measurements in the horizontal and vertical directions
and includes an INS status indicator.
Message ID: 266
Log Type: Synch
Recommended Input:
log insspda ontime 1
ASCII Example:
#INSSPDA,USB2,0,20.0,FINESTEERING,1541,487969.000,02040000,7832,37343;1541,4879
69.000549050,329.621116190,14.182070674,-0.126606551,INS_SOLUTION_GOOD
*c274fff2

Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

1

INSSPD
Header

Log header. See Messages on page 25 for more
information.

-

H

0

2

Week

GNSS Week

Ulong

4

H

3

Seconds
into Week

Seconds from week start

Double

8

H+4

Double

8

H+12

Double

8

H+20

Actual direction of motion over ground (track
over ground) with respect to True North, in
degrees

4

Trk gnd

The track over ground is determined by
comparing the current position determined from
the GNSS/INS solution with the previously
determined position.
Track over ground is best used when the vehicle
is moving. When the vehicle is stationary,
position error can make the direction of motion
appear to change randomly.

5

Horizontal
Speed

Magnitude of horizontal speed in m/s where a
positive value indicates forward movement and
a negative value indicates reverse movement.

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Chapter 5 SPAN Logs

Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

6

Vertical
Speed

Magnitude of vertical speed in m/s where a
positive value indicates speed upward and a
negative value indicates speed downward.

Double

8

H+28

7

Status

INS status, see Table 198: Inertial Solution
Status on page 936

Enum

4

H+36

8

xxxx

32-bit CRC (ASCII, Binary and Short Binary only)

Hex

4

H+40

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Chapter 5 SPAN Logs

5.26 INSSPDS
Short INS Speed
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log is the short header version of the INSSPD log (see page 964).
Message ID: 323
Log Type: Synch
Recommended Input:
log insspdsa ontime 1
ASCII Example:
%INSSPDSA,1541,487975.000;1541,487975.000549050,323.101450813,9.787233999,0.038980077,INS_SOLUTION_GOOD*105ba028

Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

1

INSSPDS
Header

Log header. See Messages on page 25 for more
information.

-

H

0

2

Week

GNSS Week

Ulong

4

H

3

Seconds
into Week

Seconds from week start

Double

8

H+4

Double

8

H+12

Actual direction of motion over ground (track
over ground) with respect to True North, in
degrees.

4

Trk gnd

The track over ground is determined by
comparing the current position determined from
the GNSS/INS solution with the previously
determined position.
Track over ground is best used when the vehicle
is moving. When the vehicle is stationary,
position error can make the direction of motion
appear to change randomly.

5

Horizontal
Speed

Magnitude of horizontal speed in m/s where a
positive value indicates forward movement and
a negative value indicates reverse movement.

Double

8

H+20

6

Vertical
Speed

Magnitude of vertical speed in m/s where a
positive value indicates speed upward and a
negative value indicates speed downward.

Double

8

H+28

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Chapter 5 SPAN Logs

Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

7

Status

INS status, see Table 198: Inertial Solution
Status on page 936

Enum

4

H+36

8

xxxx

32-bit CRC (ASCII, Binary and Short Binary only)

Hex

4

H+40

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Chapter 5 SPAN Logs

5.27 INSSTDEV
INS PVA standard deviations
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log displays the INS PVA standard deviations.
Message ID: 2051
Log Type: Synch
Abbreviated ASCII Syntax:
log insstdev ontime 1
ASCII Example:
#INSSTDEVA,COM1,0,78.0,FINESTEERING,1907,233990.000,02000020,3e6d,32768;0.4372,
0.3139,0.7547,0.0015,0.0015,0.0014,3.7503,3.7534,5.1857,26000005,0,0,01ffd1bf,0
*3deca7d2
Binary
Format

Description

Binary
Bytes

Binary
Offset

Field

Field Type

1

INSSTDEV
Header

Log header. See Messages on page 25
for more information.

-

H

0

2

Latitude σ

Latitude standard deviation (m)

Float

4

H

3

Longitude σ

Longitude standard deviation (m)

Float

4

H+4

4

Height σ

Height standard deviation (m)

Float

4

H+8

5

North
Velocity σ

North velocity standard deviation
(m/s)

Float

4

H+12

6

East
Velocity σ

East velocity standard deviation (m/s)

Float

4

H+16

7

Up Velocity
σ

Up velocity standard deviation (m/s)

Float

4

H+20

8

Roll σ

Roll standard deviation (degrees)

Float

4

H+24

9

Pitch σ

Pitch standard deviation (degrees)

Float

4

H+28

10

Azimuth σ

Azimuth standard deviation (degrees)

Float

4

H+32

Ulong

4

H+36

Extended solution status
11

Ext sol stat

See Table 199: Extended Solution
Status on page 941

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Chapter 5 SPAN Logs

Field

Field Type

12

Time Since
Update

13

Binary
Format

Description
Elapsed time since the last ZUPT or
position update (seconds)

Binary
Bytes

Binary
Offset

Ushort

2

H+40

Reserved

Ushort

2

H+42

14

Reserved

Ulong

4

H+44

15

Reserved

Ulong

4

H+48

16

xxxx

32-bit CRC (ASCII and Binary only).

Hex

4

H+52

17

[CR][LF]

Sentence terminator (ASCII only).

-

-

-

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Chapter 5 SPAN Logs

5.28 INSSTDEVS
Short INS PVA standard deviations
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log is the short header version of the INSSTDEV log (see page 968).
Message ID: 2052
Log Type: Synch
Abbreviated ASCII Syntax:
log insstdevs ontime 1
ASCII Example:
%INSSTDEVSA,1907,233990.000;0.4372,0.3139,0.7547,0.0015,0.0015,0.0014,3.7503,3.
7534,5.1857,26000005,0,0,01ffd1bf,0*2c967ced
Binary
Format

Description

Binary
Bytes

Binary
Offset

Field

Field Type

1

INSSTDEV
Header

Log header. See Messages on page 25
for more information.

-

H

0

2

Latitude σ

Latitude standard deviation (m)

Float

4

H

3

Longitude σ

Longitude standard deviation (m)

Float

4

H+4

4

Height σ

Height standard deviation (m)

Float

4

H+8

5

North
Velocity σ

North velocity standard deviation
(m/s)

Float

4

H+12

6

East
Velocity σ

East velocity standard deviation (m/s)

Float

4

H+16

7

Up Velocity
σ

Up velocity standard deviation (m/s)

Float

4

H+20

8

Roll σ

Roll standard deviation (degrees)

Float

4

H+24

9

Pitch σ

Pitch standard deviation (degrees)

Float

4

H+28

10

Azimuth σ

Azimuth standard deviation (degrees)

Float

4

H+32

Ulong

4

H+36

Ushort

2

H+40

Extended solution status
11

Ext sol stat

See Table 199: Extended Solution
Status on page 941

12

Time Since
Update

Elapsed time since the last ZUPT or
position update (seconds)

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Chapter 5 SPAN Logs

Binary
Format

Description

Binary
Bytes

Binary
Offset

Field

Field Type

13

Reserved

Ushort

2

H+42

14

Reserved

Ulong

4

H+44

15

Reserved

Ulong

4

H+48

16

xxxx

32-bit CRC (ASCII and Binary only).

Hex

4

H+52

17

[CR][LF]

Sentence terminator (ASCII only).

-

-

-

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Chapter 5 SPAN Logs

5.29 INSUPDATESTATUS
INS Update Status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log provides the most recent INS update information. It provides information about what
updates were performed in the INS filter at the last update epoch and a wheel sensor status
indicator.
Message ID: 1825
Log Type: Asynch
Recommended Input:
log insupdatestatus onchanged
ASCII Example:
#INSUPDATESTATUSA,COM2,0,76.0,FINESTEERING,1934,149288.000,02000000,78f1,32768;
SINGLE,0,0,0,INACTIVE,INACTIVE,00000005,00ffd1bf,0,0*d6b7ee02

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

INSUPDATE
STATUS
Header

Log header. See Messages on page 25 for
more information.

-

H

0

2

PosType

Type of GNSS solution used for the last INS
filter update.
See Table 74: Position or Velocity Type on
page 432

Enum

4

H

3

NumPSR

Number of raw pseudorange observations
used in the last INS filter update.

Integer

4

H+4

4

NumADR

Number of raw phase observations used in
the last INS filter update.

Integer

4

H+8

5

NumDOP

Number of raw doppler observations used in
the last INS filter update.

Integer

4

H+12

1

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Chapter 5 SPAN Logs

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

Enum

4

H+16

Distance measurement instrument (wheel
sensor) status
0 = INACTIVE
1 = ACTIVE
6

DMI Update
Status

2 = USED
3 = UNSYNCED
4 = BAD_MISC
5 = HIGH_ROTATION
6 = DISABLED
7 = ZUPT

Heading
Update
Status

Status of the heading update during the last
INS filter update.
See Table 206: Heading Update Values
below

Enum

4

H+20

8

Ext sol stat

Extended solution status
See Table 199: Extended Solution Status on
page 941

Ulong

4

H+24

9

INS Update
Options

INS Update Options mask.
See Table 207: INS Update Status on the
next page

Ulong

4

H+28

10

Reserved

Ulong

4

H+32

11

Reserved

Ulong

4

H+36

12

xxxx

32-bit CRC (ASCII, Binary and Short Binary
only)

Hex

4

H+40

13

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

7

Table 206: Heading Update Values
Binary

ASCII

Description

0

INACTIVE

A heading update was not available.

1

ACTIVE

Heading updates are running, but the epoch is not used as an update. When
all other rejection criteria pass, a heading update will still only be applied
once every 5 seconds (20 seconds when stationary).

2

USED

The update for that epoch was taken.

5

HEADING_
UPDATE_
BAD_MISC

Heading updates are running, but was not performed this epoch due to a
large disagreement with filter estimates.

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Chapter 5 SPAN Logs

Table 207: INS Update Status
Nibble

Bit

Mask

Description

Range Value

0

0x00000001

Position update

0 = Disabled
1 = Enabled

1

0x00000002

Phase update

0 = Disabled
1 = Enabled

2

0x00000004

Zero velocity update

0 = Disabled
1 = Enabled

3

0x00000008

Wheel sensor update

0 = Disabled
1 = Enabled

4

0x00000010

ALIGN (heading) update

0 = Disabled
1 = Enabled

5

0x00000020

External position update

0 = Disabled
1 = Enabled

6

0x00000040

Reserved

7

0x00000080

Doppler update

0 = Disabled
1 = Enabled

8

0x00000100

Pseudorange update

0 = Disabled
1 = Enabled

9

0x00000200

Velocity update

0 = Disabled
1 = Enabled

10

0x00000400

Reserved

11

0x00000800

Dead reckoning update

0 = Disabled
1 = Enabled

12

0x00001000

Phase wind up update

0 = Disabled
1 = Enabled

13

0x00002000

Course over ground update

0 = Disabled
1 = Enabled

14

0x00004000

External velocity update

0 = Disabled
1 = Enabled

15

0x00008000

External attitude update

0 = Disabled
1 = Enabled

N0

N1

N2

N3

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Chapter 5 SPAN Logs

Nibble

N4

Bit

Mask

16

0x00010000

External heading update

0 = Disabled
1 = Enabled

17

0x00020000

External height update

0 = Disabled
1 = Enabled

18

0x00040000

Reserved

19

0x00080000

Reserved

OEM7 Commands and Logs Reference Manual v7

Description

Range Value

975

Chapter 5 SPAN Logs

5.30 INSVEL
INS Velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains the most recent North, East and Up velocity vector values, with respect to the
local level frame and also includes an INS status indicator.
Message ID: 267
Log Type: Synch
Recommended Input:
log insvela ontime 1
ASCII Example:
#INSVELA,USB1,0,19.0,FINESTEERING,1543,236173.000,02000000,9c95,37343;1543,2361
73.002500000,14.139471871,-0.070354464,-0.044204369,INS_SOLUTION_GOOD*3c37c0fc

Format

Binary
Bytes

Log header. See Messages on page 25 for
more information.

-

H

0

Week

GNSS Week

Ulong

4

H

3

Seconds
into Week

Seconds from week start

Double

8

4

North
Velocity

Velocity North in m/s

Double

8

H+12

5

East
Velocity

Velocity East in m/s

Double

8

H+20

6

Up Velocity

Velocity Up in m/s

Double

8

H+28

7

Status

INS status, see Table 198: Inertial
Solution Status on page 936

Enum

4

H+36

8

xxxx

32-bit CRC (ASCII, Binary and Short
Binary only)

Hex

4

H+40

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field

Field Type

1

INSVEL
Header

2

Description

OEM7 Commands and Logs Reference Manual v7

Binary
Offset

H+4

976

Chapter 5 SPAN Logs

5.31 INSVELS
Short INS Velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log is the short header version of the INSVEL log (see page 976).
Message ID: 324
Log Type: Synch
Recommended Input:
log insvelsa ontime 1
ASCII Example:
%INSVELSA,1921,152855.200;1921,152855.200000000,0.1077,-9.8326,-0.1504,INS_
SOLUTION_GOOD*efd71f65

Format

Binary
Bytes

Log header. See Messages on page 25 for
more information.

-

H

0

Week

GNSS Week

Ulong

4

H

3

Seconds
into Week

Seconds from week start

Double

8

H+4

4

North
Velocity

Velocity North m/s

Double

8

H+12

5

East
Velocity

Velocity East m/s

Double

8

H+20

6

Up Velocity

Velocity Up m/s

Double

8

H+28

7

Status

INS status, see Table 198: Inertial
Solution Status on page 936

Enum

4

H+36

8

xxxx

32-bit CRC (ASCII, Binary and Short
Binary only)

Hex

4

H+40

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field

Field Type

1

INSVELS
Header

2

Description

OEM7 Commands and Logs Reference Manual v7

Binary
Offset

977

Chapter 5 SPAN Logs

5.32 INSVELX
Inertial Velocity – Extended
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log includes the information from the INSVEL log, as well as information about the velocity
standard deviation. The position type and solution status fields indicate whether or not the corresponding data is valid.
The INSVELX log is a large log and is not recommend for high rate logging.
If you want to use high rate logging, log the INSVELS log at a high rate and the
INSSTDEVS log ontime 1.
Message ID: 1458
Log Type: Synch
Recommended Input:
log insvelxa ontime 1
ASCII example:
#INSVELXA,COM1,0,80.0,FINESTEERING,1690,494394.000,02000040,1f8e,43441;INS_
ALIGNMENT_COMPLETE,INS_
PSRSP,0.0086,0.0015,0.0215,0.0549,0.0330,0.0339,3,0*ec33e372

Field

Field Type

Description

1

INSVELX
Header

Log header. See Messages on page 25 for
more information.

2

INS Status

Solution status
See Table 198: Inertial Solution Status on
page 936

3

Pos Type

4

Format

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Position type
See Table 74: Position or Velocity Type
on page 432

Enum

4

H+4

North Vel

North velocity (m/s)

Double

8

H+8

5

East Vel

East velocity (m/s)

Double

8

H+16

6

Up Vel

Up velocity (m/s)

Double

8

H+24

7

North Vel σ

North velocity standard deviation (m/s)

Float

4

H+32

8

East Vel σ

East velocity standard deviation (m/s)

Float

4

H+36

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Format

Binary
Bytes

Up velocity standard deviation (m/s)

Float

4

H+40

Ext sol stat

Extended solution status
See Table 199: Extended Solution Status
on page 941

Hex

4

H+44

11

Time Since
Update

Elapsed time since the last ZUPT or
position update (seconds)

Ushort

2

H+48

11

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+50

12

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field

Field Type

9

Up Vel σ

10

Description

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Offset

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5.33 MARK1PVA, MARK2PVA, MARK3PVA and MARK4PVA
Position, Velocity and Attitude at Mark Input Event
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
These logs output position, velocity and attitude information, with respect to the SPAN frame,
when an event is received on the Mark input. If the SETINSTRANSLATION command (see page
899) and SETINSROTATION command (see page 896) has been entered with a MARKx parameter, the MARKxPVA log will contain the solution translated, and then rotated, by the values
provided in the commands (e.g. SETINSTRANSLATION MARK1 and
SETINSROTATION MARK1 commands for the MARK1PVA log). See the
SETINSTRANSLATION command on page 899 and SETINSROTATION command on page 896.

The MARKxPVA logs available are dependent on the receiver used in the SPAN system.
For information about the Event lines supported, see the Strobe Specifications for the
receiver in the OEM7 SPAN Installation and Operation User Manual.

Message ID:

1067
1068
1118
1119

(MARK1PVA)
(MARK2PVA)
(MARK3PVA)
(MARK4PVA)

Log Type: Synch
Recommended Input:
log mark1pva onnew
log mark2pva onnew
log mark3pva onnew
log mark4pva onnew
Abbreviated ASCII Example:
#MARK1PVAA,COM1,0,74.5,FINESTEERING,1732,247231.455,02040020,5790,
12002;1732,247231.454623850,51.11693182283,-114.03885213810,1047.4525,
0.0004,0.0004,-0.0006,0.847121689,1.124640813,278.577037489,
INS_SOLUTION_GOOD*5a6b060e
#MARK2PVAA,COM1,0,74.5,FINESTEERING,1732,247232.271,02040020,2425,
12002;1732,247232.271459820,51.11693179023,-114.03885206704,1047.4529,
0.0004,-0.0011,-0.0007,0.837101074,1.134127754,278.346498557,
INS_SOLUTION_GOOD*08209ec0
#MARK3PVAA,COM1,0,74.5,FINESTEERING,1732,247232.271,02040020,2425,
12002;1732,247232.271459820,51.11693179023,-114.03885206704,1047.4529,
0.0004,-0.0011,-0.0007,0.837101074,1.134127754,278.346498557,
INS_SOLUTION_GOOD*08209ec0
#MARK4PVAA,COM1,0,74.5,FINESTEERING,1732,247232.271,02040020,2425,
12002;1732,247232.271459820,51.11693179023,-114.03885206704,1047.4529,

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0.0004,-0.0011,-0.0007,0.837101074,1.134127754,278.346498557,
INS_SOLUTION_GOOD*08209ec0
Field
Type

Description

Format

Binary
Bytes

Binary
Offset

1

MARKxPVA
Header

Log header. See Messages on page 25 for more
information.

-

H

0

2

Week

GNSS Week at Mark input

Ulong

4

H

3

Seconds

Seconds from week at Mark input

Double

8

H+4

4

Latitude

Latitude (WGS84) at Mark input

Double

8

H+12

5

Longitude

Longitude (WGS84) at Mark input

Double

8

H+20

6

Height

Height (WGS84) at Mark input (m)

Double

8

H+28

7

North
Velocity

Velocity in a northerly direction (a -ve value
implies a southerly direction) at Mark input
(m/s)

Double

8

H+36

8

East
Velocity

Velocity in an easterly direction (a -ve value
implies a westerly direction) at Mark input
(m/s)

Double

8

H+44

9

Up
Velocity

Velocity in an up direction at Mark input (m/s)

Double

8

H+52

10

Roll

Right-handed rotation from local level around
y-axis in degrees at Mark input

Double

8

H+60

11

Pitch

Right-handed rotation from local level around
x-axis in degrees at Mark input

Double

8

H+68

12

Azimuth

Left-handed rotation around z-axis in degrees
clockwise from North at Mark input

Double

8

H+76

13

Status

INS Status, see Table 198: Inertial Solution
Status on page 936 at Mark input

Enum

4

H+84

14

xxxx

32-bit CRC

Hex

4

H+88

15

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-

Field

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5.34 PASHR
NMEA, Inertial Attitude Data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
The PASHR log uses a UTC time, calculated with default parameters, to output NMEA messages
without waiting for a valid almanac. The UTC time status is set to WARNING since it may not be
100% accurate. When a valid almanac is available, the receiver uses the real parameters and
sets the UTC time to VALID. For more information about NMEA, refer to NMEA Standard Logs on
page 615. The PASHR log contains only INS derived attitude information and is only filled when
an inertial solution is available.

As of firmware version 7.03.00, an INS status flag (field 12) has been added to the
PASHR log. This change was made to match the industry accepted form of the message.
Previous firmware versions on OEM7 and OEM6 do not output this field.
Message ID: 1177
Log Type: Synch
Recommended Input:
log pashr ontime 1
Example:
$PASHR,,,,,,,,,,0,0*74 (empty)
$PASHR,200345.00,78.00,T,-3.00,+2.00,+0.00,1.000,1.000,1.000,1,1*32
Field

Structure

Description

Symbol

Example

1

$PASHR

Log header. See Messages on page 25 for more
information.

---

$PASHR

2

Time

UTC Time

hhmmss.ss

195124.00

The heading is the inertial azimuth calculated from
the IMU gyros and the SPAN filters.

HHH.HH

305.30

Heading value in decimal degrees
3

Heading

4

True
Heading

T displayed if heading is relative to true north.

T

T

5

Roll

Roll in decimal degrees.
The ± sign will always be displayed.

RRR.RR

+0.05

6

Pitch

Pitch in decimal degrees.
The ± sign will always be displayed.

PPP.PP

-0.13

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Field

Structure

Description

Symbol

Example

7

Reserved

------

----

----

8

Roll
Accuracy

Roll standard deviation in decimal degrees.

rr.rrr

0.180

9

Pitch
Accuracy

Pitch standard deviation in decimal degrees.

pp.ppp

0.185

10

Heading
Accuracy

Heading standard deviation in decimal degrees.

hh.hhh

4.986

11

GPS Update
Quality Flag

1

1

1

1

*XX

*2B

0 = No position
1 = All non-RTK fixed integer positions
2 = RTK fixed integer position
0 = All SPAN Pre-Alignment INS Status
1 = All SPAN Post-Alignment INS Status - These
include:
INS_ALIGNMENT_COMPLETE, INS_SOLUTION_
GOOD, INS_HIGH_VARIANCE, INS_SOLUTION_
FREE

12

INS Status
Flag

13

Checksum

Checksum

14

[CR][LF]

Sentence terminator

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[CR][LF]

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Chapter 5 SPAN Logs

5.35 RAWIMU
Raw IMU Data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains an IMU status indicator and the measurements from the accelerometers and
gyros with respect to the IMU enclosure frame. If logging this data, consider the RAWIMUS log
(see page 1004) to reduce the amount of data.

The change in velocity (acceleration) and angle (rotation rate) scale factors for each
IMU type can be found in Table 220: Raw IMU Scale Factors on page 1006. Multiply the
appropriate scale factor by the count value for the velocity (field 5-7) and angle (field 810) increments.

To obtain acceleration in m/s/s or rotation rate in rad/s, multiply the velocity/rotation
increments by the output rate of the IMU (e.g., 100 Hz for HG1700, HG1900, HG1930
and HG4930; 200 Hz for ISA-100C, iMAR-FSAS, LN200, KVH1750 and ADIS16488; 125
Hz for STIM300 and G320N).
The units of acceleration and rotation rate will depend on the IMU Scale Factors.
Message ID: 268
Log Type: Asynch
Recommended Input:
log rawimua onnew
ASCII Example:
#RAWIMUA,COM1,0,68.5,FINESTEERING,1724,219418.009,024c0040,6125,30019;1724,2194
18.008755000,00000077,64732,56,298,8,28,-3*7378486f

Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

1

RAWIMU
Header

Log header. See Messages on page 25 for more
information.

-

H

0

2

Week

GNSS Week

Ulong

4

H

3

Seconds
into
Week

Seconds from week start

Double

8

H+4

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Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

Hex
Ulong

4

H+12

Long

4

H+16

Long

4

H+20

The status of the IMU. This field is given in a fixed
length (n) array of bytes in binary but in ASCII or
Abbreviated ASCII is converted into 2 character
hexadecimal pairs.
For the raw IMU status, see one of the following
tables:
l

4

IMU
Status

Table 208: iIMU-FSAS IMU Status on the
next page

l

Table 209: HG1700 IMU Status on page 987

l

Table 210: LN200 IMU Status on page 989

l

Table 211: ISA-100C IMU Status on page 990

l

Table 212: IMU-CPT IMU Status on page 991

l

l

l

l

l

Table 213: IMU-KVH1750 IMU Status on
page 993
Table 214: HG1900 and HG1930 IMU Status
on page 994
Table 215: HG4930 IMU Status on page 996
Table 216: ADIS16488 and IMU-IGM-A1 IMU
Status on page 997
Table 217: STIM300 and IMU-IGM-S1 IMU
Status on page 999

l

Table 218: µIMU IMU Status on page 1000

l

Table 219: G320N IMU Status on page 1002

Also refer to Interface Control Documentation as
provided by Honeywell or Northrop Grumman.
5

Z Accel
Output

Change in velocity count along z axis
- (Change in velocity count along y axis)

6

- (Y
Accel
Output)

7

X Accel
Output

Change in velocity count along x axis

Long

4

H+24

8

Z Gyro
Output

Change in angle count around z axis.
Right-handed

Long

4

H+28

A negative value implies the output is along the
positive y-axis marked on the IMU. A positive
value implies the change is in the direction
opposite to that of the y-axis marked on the IMU.

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Chapter 5 SPAN Logs

Field

Field
Type

Description

Format

Binary
Bytes

Binary
Offset

Long

4

H+32

- (Change in angle count around y axis).
Right-handed

9

- (Y
Gyro
Output)

10

X Gyro
Output

Change in angle count around x axis.
Right-handed

Long

4

H+36

11

xxxx

32-bit CRC (ASCII, Binary and Short Binary only)

Hex

4

H+40

12

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

A negative value implies the output is along the
positive y-axis marked on the IMU. A positive
value implies the change is in the direction
opposite to that of the y-axis marked on the IMU.

Table 208: iIMU-FSAS IMU Status
Nibble

Bit

Mask

Description

Range Value

0

0x00000001

1

0x00000002

2

0x00000004

3

0x00000008

4

0x00000010

Gyro warm-up

0 = Passed, 1 = Failed

5

0x00000020

Gyro self-test active

0 = Passed, 1 = Failed

6

0x00000040

Gyro status bit set

0 = Passed, 1 = Failed

7

0x00000080

Gyro time-out command interface

0 = Passed, 1 = Failed

8

0x00000100

Power-up built-in test (PBIT)

0 = Passed, 1 = Failed

9

0x00000200

Reserved

10

0x00000400

Interrupt

11

0x00000800

Reserved

12

0x00001000

Warm-up

13

0x00002000

14

0x00004000

15

0x00008000

N0

Reserved

N1

N2

N3

0 = Passed, 1 = Failed

0 = Passed, 1 = Failed

Reserved
Initiated built-in test (IBIT)

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Chapter 5 SPAN Logs

Nibble

Bit

Mask

Description

Range Value

16

0x00010000

17

0x00020000

18

0x00040000

Accelerometer

0 = Passed, 1 = Failed

19

0x00080000

Accelerometer time-out

0 = Passed, 1 = Failed

20

0x00100000

Reserved

21

0x00200000

Gyro initiated BIT

0 = Passed, 1 = Failed

22

0x00400000

Gyro self-test

0 = Passed, 1 = Failed

23

0x00800000

Gyro time-out

0 = Passed, 1 = Failed

24

0x01000000

Analog-to-Digital (AD)

0 = Passed, 1 = Failed

25

0x02000000

Test mode

0 = Passed, 1 = Failed

26

0x04000000

Software

0 = Passed, 1 = Failed

27

0x08000000

RAM/ROM

0 = Passed, 1 = Failed

28

0x10000000

Reserved

29

0x20000000

Operational

0 = Passed, 1 = Failed

30

0x40000000

Interface

0 = Passed, 1 = Failed

31

0x80000000

Interface time-out

0 = Passed, 1 = Failed

Reserved
N4

N5

N6

N7

Table 209: HG1700 IMU Status
Nibble

Bit

Mask

Description

Range Value

0

0x00000001

Reserved

1

0x00000002

Reserved

2

0x00000004

Reserved

3

0x00000008

Reserved

4

0x00000010

IMU Status

0 = Passed, 1 = Failed

5

0x00000020

IMU Status

0 = Passed, 1 = Failed

6

0x00000040

IMU Status

0 = Passed, 1 = Failed

7

0x00000080

IMU Status

0 = Passed, 1 = Failed

N0

N1

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Nibble

Bit

Mask

Description

Range Value

8

0x00000100

Reserved

9

0x00000200

Reserved

10

0x00000400

Reserved

11

0x00000800

Reserved

12

0x00001000

Reserved

13

0x00002000

Reserved

14

0x00004000

Reserved

15

0x00008000

Reserved

16

0x00010000

Reserved

17

0x00020000

Reserved

18

0x00040000

Reserved

19

0x00080000

Reserved

20

0x00100000

Reserved

21

0x00200000

Reserved

22

0x00400000

Reserved

23

0x00800000

Reserved

24

0x01000000

Reserved

25

0x02000000

Reserved

26

0x04000000

Reserved

27

0x08000000

IMU Status

0 = Passed, 1= Failed

28

0x10000000

IMU Status

0 = Passed, 1 = Failed

29

0x20000000

IMU Status

0 = Passed, 1 = Failed

30

0x40000000

IMU Status

0 = Passed, 1 = Failed

31

0x80000000

IMU Status

0 = Passed, 1 = Failed

N2

N3

N4

N5

N6

N7

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Table 210: LN200 IMU Status
Nibble

Bit

Mask

Description

Range Value

0

0x00000001

IMU Status

0 = Passed, 1 = Failed

1

0x00000002

IMU Status

0 = Passed, 1 = Failed

2

0x00000004

IMU Status

0 = Passed, 1 = Failed

3

0x00000008

IMU Status

0 = Passed, 1 = Failed

4

0x00000010

IMU Status

0 = Passed, 1 = Failed

5

0x00000020

IMU Status

0 = Passed, 1 = Failed

6

0x00000040

IMU Status

0 = Passed, 1 = Failed

7

0x00000080

IMU Status

0 = Passed, 1 = Failed

8

0x00000100

IMU Status

0 = Passed, 1 = Failed

9

0x00000200

IMU Status

0 = Passed, 1 = Failed

10

0x00000400

IMU Status

0 = Passed, 1 = Failed

11

0x00000800

IMU Status

0 = Passed, 1 = Failed

12

0x00001000

IMU Status

0 = Passed, 1 = Failed

13

0x00002000

IMU Status

0 = Passed, 1 = Failed

14

0x00004000

IMU Status

0 = Passed, 1 = Failed

15

0x00008000

Reserved

16

0x00010000

Reserved

17

0x00020000

Reserved

18

0x00040000

Reserved

19

0x00080000

Reserved

20

0x00100000

Reserved

21

0x00200000

Reserved

22

0x00400000

Reserved

23

0x00800000

Reserved

N0

N1

N2

N3

N4

N5

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Nibble

Bit

Mask

Description

Range Value

24

0x01000000

IMU Status

0 = Passed, 1 = Failed

25

0x02000000

IMU Status

0 = Passed, 1 = Failed

26

0x04000000

IMU Status

0 = Passed, 1 = Failed

27

0x08000000

IMU Status

0 = Passed, 1 = Failed

28

0x10000000

IMU Status

0 = Passed, 1 = Failed

29

0x20000000

Reserved

30

0x40000000

IMU Status

31

0x80000000

Reserved

N6

N7
0 = Passed, 1 = Failed

Table 211: ISA-100C IMU Status
Nibble

N0

Bit

Mask

Description

Range Value

0

0x00000001

Maintenance Indication

0 = Normal,
1 = System Maintenance Indicator

1

0x00000002

Accelerometers Invalid

0 = Normal, 1 = Invalid

2

0x00000004

Accelerometer X Warning

0 = Normal, 1 = Warning

3

0x00000008

Accelerometer Y Warning

0 = Normal, 1 = Warning

4

0x00000010

Accelerometer Z Warning

0 = Normal, 1 = Warning

5

0x00000020

Accelerometer X NOGO

0 = Normal, 1 = NOGO

6

0x00000040

Accelerometer Y NOGO

0 = Normal, 1 = NOGO

7

0x00000080

Accelerometer Z NOGO

0 = Normal, 1 = NOGO

8

0x00000100

Reset Occurred

0 = Normal,
1 = First Message after ISA-100C Reset

9

0x00000200

Gyroscopes Invalid

0 = Normal, 1 = Invalid

10

0x00000400

Gyroscope X Warning

0 = Normal, 1 = Warning

11

0x00000800

Gyroscope Y Warning

0 = Normal, 1 = Warning

N1

N2

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Nibble

Bit

Mask

Description

Range Value

12

0x00001000

Gyroscope Z Warning

0 = Normal, 1 = Warning

13

0x00002000

Gyroscope X NOGO

0 = Normal, 1 = NOGO

14

0x00004000

Gyroscope Y NOGO

0 = Normal, 1 = NOGO

15

0x00008000

Gyroscope Z NOGO

0 = Normal, 1 = NOGO

16

0x00010000

17

0x00020000

18

0x00040000

19

0x00080000

20

0x00100000

21

0x00200000

22

0x00400000

IMU temperature reading as follows:

23

0x00800000

Signed 2-byte value (SHORT)

24

0x01000000

1 LSB = 3.90625e-3 Celsius

25

0x02000000

Temperature Range +/- 128 Celsius

26

0x04000000

27

0x08000000

28

0x10000000

29

0x20000000

30

0x40000000

31

0x80000000

N3

N4

N5

N6

N7

Table 212: IMU-CPT IMU Status
Nibble

Bit

Mask

Description

Range Value

0

0x00000001

Gyro X Status

1 = Valid, 0 = Invalid

1

0x00000002

Gyro Y Status

1 = Valid, 0 = Invalid

2

0x00000004

Gyro Z Status

1 = Valid, 0 = Invalid

3

0x00000008

Unused

Set to 0

N0

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Nibble

Bit

Mask

Description

Range Value

4

0x00000010

Accelerometer X Status

1 = Valid, 0 = Invalid

5

0x00000020

Accelerometer Y Status

1 = Valid, 0 = Invalid

6

0x00000040

Accelerometer Z Status

1 = Valid, 0 = Invalid

7

0x00000080

Unused

Set to 0

8

0x00000100

9

0x00000200

10

0x00000400

11

0x00000800

IMU Data Sequence Counter read in a Ushort.

12

0x00001000

Note: Increments for each message and resets to 0 after 127.

13

0x00002000

14

0x00004000

15

0x00008000

16

0x00010000

17

0x00020000

18

0x00040000

19

0x00080000

20

0x00100000

21

0x00200000

22

0x00400000

23

0x00800000

24

0x01000000

25

0x02000000

26

0x04000000

27

0x08000000

28

0x10000000

29

0x20000000

30

0x40000000

31

0x80000000

N1

N2

N3

N4

N5

Unused

N6

N7

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Table 213: IMU-KVH1750 IMU Status
Nibble

Bit

Mask

Description

Range Value

0

0x00000001

Gyro X Status

1 = Valid, 0 = Invalid

1

0x00000002

Gyro Y Status

1 = Valid, 0 = Invalid

2

0x00000004

Gyro Z Status

1 = Valid, 0 = Invalid

3

0x00000008

Unused

Set to 0

4

0x00000010

Accelerometer X Status

1 = Valid, 0 = Invalid

5

0x00000020

Accelerometer Y Status

1 = Valid, 0 = Invalid

6

0x00000040

Accelerometer Z Status

1 = Valid, 0 = Invalid

7

0x00000080

Unused

Set to 0

8

0x00000100

9

0x00000200

10

0x00000400

11

0x00000800

IMU Data Sequence Counter read in a Ushort.

12

0x00001000

Note: Increments for each message and resets to 0 after 127.

13

0x00002000

14

0x00004000

15

0x00008000

N0

N1

N2

N3

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Chapter 5 SPAN Logs

Nibble

Bit

Mask

Description

Range Value

16

0x00010000

17

0x00020000

18

0x00040000

19

0x00080000

20

0x00100000

21

0x00200000

22

0x00400000

Example:

23

0x00800000

24

0x01000000


ASCII Example:
:00FFCA -0003F-0325
Field

0319

Field Type

1

TSS1 Header

2

Horizontal
Acceleration

Description
Log header. See Messages on page 25 for more
information.

Symbol

Example

-

0

XX

00

Shown as a two byte hex number where the least
significant bit = 0.0625 cm/s2.

AAAA

FFCA

A space delimiter.

S

Horizontal acceleration from 0 to 9.81m/s2.
Shown as a one byte unsigned hex number where
the least significant bit = 3.83 cm/s2.
Vertical acceleration from -20.48 to +20.48 m/s2.
3

Vertical
Acceleration

4

Space
Character

5

Heave
Polarity

Space if positive.
Minus sign (-) if negative.

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-

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Chapter 5 SPAN Logs

Field

Field Type

Description

Symbol

Example

Heave value from -99.99 to +99.99 m.
6

Heave

7

Status Flag

8

Roll Polarity

HHHH

0003

Q

F

M

-

Shown as a four digit integer where the least
significant bit = 0.01 degrees.

RRRR

0325

A space delimiter.

S

Shown as a four digit integer where the least
significant bit = 0.01 m.
F if INS Active.
H if INS has not completed an alignment.
Space if positive.
Minus sign (-) if negative.
Roll value from -99.99 to +99.99 degrees.

9

Roll

10

Space
Character

11

Pitch Polarity

12

Pitch

Shown as a four digit integer where the least
significant bit = 0.01 degrees.

PPPP

13

[CR][LF]

Sentence terminator



Space if positive.
Minus sign (-) if negative.

M

Pitch value from -99.99 to +99.99 degrees.

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Chapter 5 SPAN Logs

5.45 VARIABLELEVERARM
Display Variable Lever Arm Details
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
Use this log to redisplay the re-calculated variable lever arm whenever a new
INPUTGIMBALANGLE command is received. This message is output in the IMU body frame.
Message ID: 1320
Log Type: Asynch
Recommended Input:
log variableleverarma onnew
ASCII Example:
#VARIABLELEVERARMA,SPECIAL,0,81.5,FINESTEERING,1614,495820.512,42040000,0000,32
0;-0.0959421909646755,0.1226971902356540,1.1319295452903300,
0.0100057787272846,0.0122604827412661,0.1131929545290330*9611d3c6

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

VARIABLELEVERARM
Header

Log header. See Messages on
page 25 for more information.

-

H

0

2

XOffset

IMU body frame x-axis offset

Double

8

H

3

YOffset

IMU body frame y-axis offset

Double

8

H+8

4

ZOffset

IMU body frame z-axis offset

Double

8

H+16

5

XUncert

X-axis uncertainty in metres

Double

8

H+24

6

YUncert

Y-axis uncertainty in metres

Double

8

H+32

7

ZUncert

Z-axis uncertainty in metres

Double

8

H+40

8

xxxx

32-bit CRC (ASCII, Binary and Short
Binary only)

Hex

4

H+48

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Chapter 5 SPAN Logs

5.46 WHEELSIZE
Wheel Size
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7,
SPAN CPT7
This log contains wheel sensor information.
The inertial filter models the size of the wheel to compensate for changes in wheel circumference due to hardware or environmental changes. The default wheel size is 1.96 m. A
scale factor to this default size is modeled in the filter and this log contains the current estimate
of the wheel size.
Message ID: 646
Log Type: Asynch
Recommended Input:
log wheelsizea onnew
ASCII Example:
#WHEELSIZEA,COM3,0,44.0,FINESTEERING,0,0.000,02000000,85f8,33738;1.025108123,2.
009211922,0.000453791*b65d28e6

Field

Field Type

Description

Format

Binary
Bytes

Binary
Offset

1

WHEELSIZE
Header

Log header. See Messages on page 25 for
more information.

-

H

0

2

Scale

Wheel sensor scale factor

Double

8

H

3

Circum

Wheel circumference (m)

Double

8

H+8

4

Var

Variance of circumference (m2)

Double

8

H+16

5

xxxx

32-bit CRC (ASCII, Binary and Short
Binary only)

Hex

4

H+24

6

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Chapter 6 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 221: 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

Not enough resources in
system

3

The request has exceeded a limit (for example, the
maximum number of logs are being generated)

Data packet doesn’t
verify

4

Data packet is not verified

Command failed on
receiver

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

Invalid Checksum

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

parameter x is out of
range

11

Field x of the input message is outside the acceptable
limits

Message Id already
exists in system

12

Message Id already exists in system

Debug token unknown

13

Debug token unknown

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

OEM7 Commands and Logs Reference Manual v7

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Chapter 6 Responses

ASCII Message

Binary
Message
ID

Meaning

Invalid date format

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

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

OEM7 Commands and Logs Reference Manual v7

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Chapter 6 Responses

ASCII Message

Binary
Message
ID

Meaning

Could Not Save
Configuration

38

Could Not Save Configuration

Too Many Configuration
Items

39

Too Many Configuration Items

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

File conflict

43

File conflict

File not found

44

File not found

File open

45

File open

File not open

46

File not open

Invalid DOS FileName

47

Invalid DOS File name

File channel in use

48

File channel in use

File close fail

50

File close fail

Disk not present

51

Disk not present

Disk error

52

Disk error

Disk full

53

Disk full

NVM Write Fail

74

NVM Write Fail

NVM Read Fail

75

NVM Read Fail

Not allowed for input

77

Not allowed for input

Maximum number of user
messages reached

78

Maximum number of user messages has been reached

User message decryption
failed

79

User message decryption failed

GPS precise time is
already known

84

GPS precise time is already known

The message could not
be created

87

The message could not be created

Not enough memory to
start application

113

Not enough memory to start application

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Chapter 6 Responses

ASCII Message

Binary
Message
ID

Meaning

No data available

114

No data available

Invalid handshaking

117

Invalid handshaking

Message name already
exists

118

Message name already exists

Invalid message name

119

Invalid message name

The datatype is invalid

120

The data type is invalid

Message ID is reserved

121

Message ID is reserved

Message size too large

122

Message size too large

Invalid Security Key

126

Invalid security key

Hardware not available

127

Hardware not available

Requested pulse width
is invalid

131

Requested pulse width is invalid

Coarse time is not
achieved yet

133

Coarse time is not achieved yet

Invalid Config Code

134

Invalid Config Code

ConfigCode table full Reload Software

135

Config Code table is full. Reload the software.

Unknown Object Type

136

Unknown object type

This operation is not
valid at this time

137

This operation is not valid at this time

User VARF in use

140

User VARF in use

Must enable CLOCKADJUST

141

Must enable CLOCKADJUST. See the CLOCKADJUST
command on page 101 for information about enabling.

Disk busy

142

Disk busy

Invalid Word Input
Argument

143

Invalid Word Input Argument

Parameter %d is not
valid for this model

148

The parameter specified is not valid for this model

149

An INSZUPT command (see page 883) was sent after a
SETINSUPDATE ZUPT command was used to disable
the use of ZUPTs.

ZUPT DISABLED BY USER

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Chapter 6 Responses

ASCII Message

Binary
Message
ID

Meaning

IMU SPECS LOCKED FOR
THIS IMU TYPE

150

SPAN allows the default specifications for a select few
IMUs to be modified to support different variants.
However, most IMU specifications are not allowed to
change.

Invalid interface mode.
Parameter %d

151

The specified Interface mode parameter is not valid.

COMMAND INVALID FOR
THIS IMU

154

The entered command cannot be used with the
configured IMU.
For example, the INSCALIBRATE ANT1 command is
not valid for lower quality IMUs.

IMU protocol is locked
for this IMU type

155

IMU protocol is locked for this IMU type

IMU TYPE IS NOT
SUPPORTED WITH CURRENT
MODEL

157

A firmware model upgrade is required to use the
requested IMU (CONNECTIMU command on page 864).

Trigger start time is
invalid

159

Trigger start time is invalid

Sensor is not
initialized

160

Sensor is not initialized

TRIGGER BUFFER IS FULL

161

The TIMEDEVENTPULSE command (see page 910) limit
of 10 events has been reached, and a new event cannot
be set until an event is cleared.

Board has not achieved
finesteering

162

The receiver has not achieved finesteering

SETUPSENSOR COMMAND IS
LOCKED

163

The SETUPSENSOR command (see page 906) command
cannot be modified because there are remaining trigger
events queued.

Invalid Profile Name

165

Invalid Profile Name

Maximum Number Profiles
Exceeded

166

The maximum number of profiles is exceeded

Failed To Delete
Profile

167

Failed to delete the profile

Profile Name Already
Exists

168

Profile name already exists

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Chapter 6 Responses

ASCII Message

Binary
Message
ID

Total Profile Commands
Size Over Limit

169

Total Profile commands size over limit

Cannot Change Profile
When Activated

170

Cannot change a Profile when it is activated

Signature Authcode Copy
Fail

171

Signature Authcode copy fail

Maximum Number of
Profile Commands
Exceeded

172

The maximum number of PROFILE commands exceeded

Profile Active, Could
Not Save Configuration

173

Profile active, could not save configuration

Current PPP position
has bad status and
cannot be used for
seeding

178

Current PPP position has bad status and cannot be used
for seeding

PPP seed position
failed integrity check

179

PPP seed position failed integrity check

Invalid password

180

Invalid password

Too many files

181

Too many files

Encryption key output
is not allowed

186

Encryption key output is not allowed

Secure port requires
login

187

Secure port requires login

NMEA2000/J1939 stack is
already running on the
CAN port

188

NMEA2000/J1939 stack is already running on the CAN
port

No saved PPP seed
position

191

No saved PPP seed position

System type is invalid
for this model

192

System type is invalid for this model

Command is not
supported for this
model

193

Command is not supported for this model

Position Averaging Not
Started

194

Position averaging not started

Meaning

OEM7 Commands and Logs Reference Manual v7

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Chapter 6 Responses

ASCII Message

Binary
Message
ID

Meaning

Not in GLIDE mode

200

Not in GLIDE mode

PPP seeding invalid in
forced dynamics mode

201

PPP seeding invalid in forced dynamics mode

Wrong combination of
parameters

202

Wrong combination of parameters

Invalid Calibration
Request

203

Invalid calibration request

Active Gimbal Detected

204

Active gimbal detected
Authcode table full. An authcode must be removed
before another authcode can be added.

Authcode table full Use auth erase_table

205

Refer to the AUTH command (see page 73) for
instructions on removing authcodes and cleaning up the
authcode table.

Profile Not Running Profile should be
activated

206

Profile not running - Profile should be activated

ID provided is already
in use

208

ID provided is already in use

ID provided does not
exist

209

ID provided does not exist

Calibration already in
progress

210

Calibration already in progress

Filter cannot be
enabled due to channel
speed settings

211

Filter cannot be enabled due to channel speed settings

Notch Filter and
Frequency are
mismatching

212

Notch filter and frequency are mismatching

Filter can not cascade

213

Filter can not cascade

There is no RF filter
applied

214

There is no RF filter applied

ID provided should be 4
character long

215

ID provided should be 4 characters long

OEM7 Commands and Logs Reference Manual v7

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Chapter 6 Responses

ASCII Message

Binary
Message
ID

Meaning

Invalid subscription
code

216

Invalid subscription code

Subscription table full

217

Subscription table full

Network id does not
match subscription code

218

Network ID does not match the subscription code

Subscription not found

219

Subscription not found

Subscription not active

220

Subscription not active

Cannot activate expired
subscription

221

Cannot activate expired subscription

Maximum number of logs
exceeded. No new log
added.

222

Maximum number of logs exceeded. No new log added.

Seed is too far in the
past

223

Seed is too far in the past

Final log request must
use the ONCE trigger

224

Final log request must use the ONCE trigger

Estimated RBV must be
entered first

227

Initial RBV estimate is required before RBV calibration

OEM7 Commands and Logs Reference Manual v7

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APPENDIX A
Log

Example of Bit Parsing a RANGECMP4

The following takes a sample RANGECMP4 log and breaks it down into its raw components.
Data was captured in both RANGE and in RANGECMP4 logs which are shown here for reference.
These logs were captured at a rate of 4 Hz such that the Reference and Differential parts of the
RANGECMP4 could be explained.

Some of the RANGECMP4 values will have some very slight differences (at the millicycle
level) compared to the equivalent RANGE log data due to truncating the double values
into integers.
Here are two RANGE logs to reference against once the RANGECMP4 logs have been determined:
RANGE COM1
22
27 0
18109c04
27 0
11303c0b
27 0
01d03c04
21 0
08109c24
21 0
01303c2b
10 0
08109c44
10 0
01303c4b
10 0
01d03c44
15 0
18109c64
15 0
11303c6b
18 0
08109c84
18 0
01303c8b
61 9
08119ca4
61 9
00b13cab
55 4
18119cc4
55 4
00b13ccb

0 88.5 FINESTEERING 1919 507977.000 02000020 5103 32768
21761200.335 0.036 -114355879.993103 0.006 1121.758 50.0 876.785
21761202.795 0.128 -89108485.029683 0.007 874.097 44.2 862.386
21761200.306 0.007 -85395622.838987 0.004 837.685 51.7 865.845
21214757.684 0.027 -111484302.588995 0.005 -1107.624 52.6 888.968
21214757.049 0.122 -86870882.607297 0.006 -863.084 44.6 874.389
21540290.811 0.027 -113194996.162910 0.005 2288.688 52.6 889.905
21540293.632 0.110 -88203904.731314 0.006 1783.394 45.6 868.725
21540289.869 0.006 -84528728.138216 0.004 1709.022 53.0 872.386
21776375.653 0.032 -114435625.391762 0.007 -1814.485 50.9 879.586
21776376.038 0.129 -89170616.457446 0.007 -1413.886 44.1 862.706
20493192.703 0.031 -107692454.149639 0.007 212.747 51.1 891.550
20493191.933 0.105 -83916195.494946 0.007 165.777 45.9 874.710
20375330.794 0.104 -108956045.737322 0.006 -3039.481 46.8 891.931
20375332.806 0.083 -84743599.055547 0.007 -2364.042 34.0 876.813
22748433.080 0.146 -121432681.638722 0.009 4061.119 43.9 416.032
22748438.602 0.021 -94447660.068923 0.009 3158.651 46.0 415.562

OEM7 Commands and Logs Reference Manual v7

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

38
18119ce4
38
00b13ceb
39
08119d04
39
00b13d0b
54
08119d24
54
10b13d2b

8 19781617.845 0.058 -105744080.698106 0.004 -2024.611 51.8 893.563
8 19781623.453 0.032 -82245418.313339 0.005 -1574.698 42.2 878.833
3 19968976.955 0.055 -106558290.405759 0.004 2248.713 52.3 875.210
3 19968980.676 0.019 -82878686.553631 0.005 1749.000 46.9 870.890
11 19507573.213 0.059 -104388964.028915 0.005 1289.410 51.8 894.613
11 19507576.477 0.017 -81191427.275619 0.004 1002.874 48.0 878.832

RANGE COM1
22
27 0
18109c04
27 0
11303c0b
27 0
01d03c04
21 0
08109c24
21 0
01303c2b
10 0
08109c44
10 0
01303c4b
10 0
01d03c44
15 0
18109c64
15 0
11303c6b
18 0
08109c84
18 0
01303c8b
61 9
08119ca4
61 9
00b13cab
55 4
18119cc4
55 4
00b13ccb
38 8
18119ce4
38 8
00b13ceb

0 88.5 FINESTEERING 1919 507977.250 02000020 5103 32768
21761146.982 0.036 -114355599.642256 0.006 1121.140 49.9 877.035
21761149.447 0.122 -89108266.573995 0.007 873.616 44.6 862.636
21761146.957 0.007 -85395413.484293 0.004 837.294 51.8 866.095
21214810.390 0.027 -111484579.560955 0.005 -1108.100 52.6 889.218
21214809.754 0.120 -86871098.429369 0.005 -863.454 44.8 874.639
21540181.949 0.027 -113194424.080322 0.005 2288.176 52.6 890.155
21540184.767 0.111 -88203458.952394 0.006 1782.995 45.4 868.975
21540181.003 0.006 -84528300.928648 0.004 1708.751 53.0 872.636
21776461.990 0.032 -114436079.084785 0.006 -1814.956 50.9 879.836
21776462.375 0.129 -89170969.984233 0.007 -1414.253 44.1 862.956
20493182.598 0.031 -107692401.054068 0.007 212.183 51.2 891.800
20493181.833 0.110 -83916154.122137 0.007 165.338 45.6 874.960
20375472.914 0.104 -108956805.696703 0.006 -3040.142 46.9 892.181
20375474.924 0.084 -84744190.134355 0.007 -2364.555 33.9 877.063
22748242.897 0.150 -121431666.427728 0.009 4060.804 43.7 416.282
22748248.421 0.021 -94446870.460803 0.009 3158.405 46.0 415.812
19781712.549 0.059 -105744586.938646 0.004 -2025.149 51.8 893.813
19781718.158 0.032 -82245812.055601 0.005 -1575.117 42.3 879.083

OEM7 Commands and Logs Reference Manual v7

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

39
08119d04
39
00b13d0b
54
08119d24
54
10b13d2b

3 19968871.615 0.055 -106557728.318448 0.004 2248.162 52.3 875.460
3 19968875.343 0.019 -82878249.374953 0.005 1748.571 46.8 871.140
11 19507512.994 0.059 -104388641.780659 0.005 1288.778 51.7 894.863
11 19507516.256 0.016 -81191176.637999 0.005 1002.383 48.1 879.082

Here are the equivalent RANGECMP4 logs which will be broken down into their individual components:
#RANGECMP4A,COM1,0,88.5,FINESTEERING,1919,507977.000,02000020,fb0e,
32768;295,030000421204000000009200df7688831f611fd87ca0b03a00638bbdf7b8
2f49b080fd0ec0ff1f091f8214ff4d4d00a1009cbf1751f6911f5141f87fd9571a96db
d7040c8090f87f0080fcf722fe9bfa8a49a8ff4f299d7f96fb9afefc771800fcffd006
3f02cde01f3c7dd3ffb75240886f5fa2b0ff91f57f00003edf8b78868c882878014065
dbf7d3ed6b722680d5fc0f00a4c08730fe7fecf8bffa3f003008000000002001f03fa0
19f8136a11273649b8fcefab9c434c7b89e71560dbfe070030b2e04fd841f33125320b
80b0ecefa5ee21243ac0bb03e0ffc36a813fb13bbe5791a0f5ff9e3bdbffbb87f0cb80
64f03f0000e4b67dd15bc5f4a50a3a006ca72fdee53ec86405b2c0fffa3fa450f725d5
bfed7c49b1fb0fb16b45a87a9adb0740cbfe0700*7DD8F893
#RANGECMP4A,COM1,0,88.5,FINESTEERING,1919,507977.250,02000020,fb0e,
32768;239,030000421204000000009200dff688831f6102005500e70162dc977c0040
15c07988840f6101803a805921cedf8b80002011207080e5f6351f003804081c2200be
0808005c01620808725f93028057801822dae0476000a00f207180fef6251700e80340
1c62f3bdc8060052013009986f5f22020054004ca2053ec408005401ca870180410000
0000000980ff6306fec408004801de07c8692f5102805180f721b2e04f600040152081
804ef7102500600540202205fe040a0086013a0938780f61020061804e224edbdb6800
2010c0498030f7411d0018047812a2d47d090a004c01a609c8544f62028052006a02
*48E189A2

A.1 Reference Log Decoding
The RANGECMP4 log at time 507977.0 will be decoded first:
#RANGECMP4A,COM1,0,88.5,FINESTEERING,1919,507977.000,02000020,fb0e,
32768;295,030000421204000000009200df7688831f611fd87ca0b03a00638bbdf7b8
2f49b080fd0ec0ff1f091f8214ff4d4d00a1009cbf1751f6911f5141f87fd9571a96db
d7040c8090f87f0080fcf722fe9bfa8a49a8ff4f299d7f96fb9afefc771800fcffd006
3f02cde01f3c7dd3ffb75240886f5fa2b0ff91f57f00003edf8b78868c882878014065
dbf7d3ed6b722680d5fc0f00a4c08730fe7fecf8bffa3f003008000000002001f03fa0
19f8136a11273649b8fcefab9c434c7b89e71560dbfe070030b2e04fd841f33125320b
80b0ecefa5ee21243ac0bb03e0ffc36a813fb13bbe5791a0f5ff9e3bdbffbb87f0cb80
64f03f0000e4b67dd15bc5f4a50a3a006ca72fdee53ec86405b2c0fffa3fa450f725d5
bfed7c49b1fb0fb16b45a87a9adb0740cbfe0700*7DD8F893
Since this log falls on a whole second (507977.000), it is a Reference log.
At the start of the RANGECMP4 log is the identifier for how many bytes are in the log. In this
case, there are 295 bytes. The rest of the message is compressed binary data and is transmitted
as LSB first so the bytes must be swapped before processing.

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A.1.1 Reference Header
The Reference Header is sent once per message. See Table 138: Header on page 695 in the
RANGECMP4 log section.
Decoding the bits starting with the first bytes:
GNSS Field (16 bits)
l

Grab the first 2 bytes (16 bits) = 0x0300

l

Swap the bytes = 0x0003

l

0x0003 in binary form = 0000 0000 0000 0011

In this example the receiver was configured to track only GPS and GLONASS systems. If
other systems had been in the configuration and tracked, they would have shown here.

A.1.2 Reference Satellite and Signal Block: GPS
This block is sent once for each bit set to 1 in the GNSS field (See Table 138: Header on
page 695). As identified by the above GNSS field, the first system (right to left) is the GPS System. Use Table 139: Satellite and Signal Block on page 696 to determine what satellites and signals data are contained in this GPS system:
GPS Satellites field (64 bits)
l

Grab the next 8 bytes (64 bits) = 0x0042120400000000

l

Swap the bytes = 0x0000000004124200

l

0x0000000004124200 in binary form =

l

The 1’s above identify that there are 5 tracking GPS PRNs.

GPS Signals field (16 bits)
l

Grab the next 2 bytes (16 bits) = 0x9200

l

Swap the bytes = 0x0092

l

0x0092 in binary form =

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l

The 1’s above identify that there are 3 tracking GPS signals: L1CA, L2Y, and L5Q.

GPS Included Signals field (5 PRNs x 3 Signals = 15 bits – Therefore need 2 bytes)
l

Up to the point of processing the Included Signals field, the bytes are aligned such that the
bits start and end within each batch of bytes. After processing this step, it is quite common
for the Included Signals Field (mxn matrix) to not be divisible by 8 so bytes not processed
will need to be carried over to the next section depending on the size of the matrix.

l

Grab the next 2 bytes (16 bits) = 0xdf76

l

Swap the bytes = 0x76df

l

0x76df in binary form = 0111011011011111

l

Only need 15 of the 16 bits = X111011011011111

l

This bit string breaks down into 5 rows (PRNs) and 3 columns (signals) as specified by the
mxn (PRN x signals) parameters. Take the bit string and break it up into sets of 3 starting at
the MSB. This will result with the lowest PRN being at the bottom row of the stack and the
first signal (L1CA) being the far right column.
111
011
011
011
111

l

This stack can be further broken apart to identify the PRNs vs. their Signals:
PRN
27
21
18
15
10

L5Q
1
0
0
0
1

L2Y
1
1
1
1
1

L1CA
1
1
1
1
1

A.1.3 Reference Measurement Block Header: GPS
This block is sent once for each bit set to 1 in the Satellites field found in Table 139: Satellite
and Signal Block on page 696. Now that the PRN’s signals have been determined, the next step
is to determine the specifics of the first PRN (10) and its list of signals (L1CA, L2Y, L5Q). Working from bottom right to upper left of the PRN/Signal chart above, each 1 represents a signal for
a PRN. Use Table 140: Measurement Block Header on page 697 to determine the contents of
each field:
GPS PRN 10 (first PRN found in the Satellites field)
We will grab enough bytes to process the whole Measurement Block Header. If this was a
GLONASS System, a total of 9 bits would be required for this step (1 bit for the Data Format
Flag, 3 bits for the Ref Data Block ID, plus 5 bits for the GLONASS Frequency Number). Since
this is a GPS system, only 4 bits in total are required (1 bit for the Data Format Flag and 3 bits
for the Ref Data Block ID).

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There was 1 bit not processed in the last byte so that byte will be carried forward. Only 4 bits
need to be looked at for this step so grab the next byte as well:
l

Use the last byte (0x76) plus the next byte (0x88)= 0x7688

l

Swap the bytes = 0x8876

l

0x8876 in binary form = 1000100001110110

l

Ignore the 7 processed bits from the last step = 100010000XXXXXXX

l

Ignore the 5 MSB bits leaving 4 bits for processing =

The Data Format Flag identifies that this batch of data is Reference (0) data.
The Ref Data Block ID is 0x000.

The 5 MSBs have not been processed so this byte will be carried forward.
The Data Format Flag identifies if the upcoming data is Reference or Differential data. By default
every log that was published on a whole second will always be Reference logs. Logs between
seconds will be Differential logs but could be Reference logs depending on the compression calculations. If a discontinuity occurred that made it impossible for a Differential calculation to fit
within the Differential Constraints, it will revert to a Reference log.

A.1.4 Reference Measurement Block: GPS
This block is sent once for each bit set to 1 in the Included Signals Field found in Table 139:
Satellite and Signal Block on page 696. Use Table 141: Primary Reference Signal Measurement
Block on page 698 and Table 142: Secondary Reference Signals Measurement Block on
page 699 to determine the contents of each field:
A Measurement Block for a single PRN will look like the following:
Primary Parity Flag
Primary ½ Cycle Slip Flag
Primary C/No
Primary Lock Time
Primary Pseudorange Std Deviation
Primary Phaserange Std Deviation
Primary Pseudorange
Primary Phaserange - Primary Pseudorange (determines the Phaserange for the 1st Signal)
Primary Doppler
2nd Parity Flag
2nd ½ Cycle Slip Flag
2nd C/No

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2nd Lock Time
2nd Pseudorange Std Deviation
2nd Phaserange Std Deviation
2nd Pseudorange - Primary Pseudorange (determines the Pseudorange for the 2nd Signal
2nd Phaserange - 2nd Pseudorange (determines the Phaserange for the 2nd Signal)
2nd Doppler - Primary Doppler (determines the Doppler for the 2nd Signal)

3rd Parity Flag
3rd ½ Cycle Slip Flag
3rd C/No
3rd Lock Time
3rd Pseudorange Std Deviation
3rd Phaserange Std Deviation
3rd Pseudorange - Primary Pseudorange (determines the Pseudorange for the 3rd Signal
3rd Phaserange - 3rd Pseudorange (determines the Phaserange for the 3rd Signal)
3rd Doppler - Primary Doppler (determines the Doppler for the 3rd Signal)
…

A.1.5 Reference Primary Signal Measurement Block: GPS PRN 10 – L1CA
The next bytes collected will be for the GPS PRN 10 - L1CA signal data. This is the primary signal
of the PRN since it is the first signal. As a result, its Measurement Block consists of 111 bits as
listed in Table 141: Primary Reference Signal Measurement Block on page 698. Since 111 bits
takes up a lot of space, these bits will be split into two groups from Table 141: Primary Reference Signal Measurement Block on page 698: the top 25 bits for signal info followed by the bottom 86 bits for signal data.
The signal info section (top 25 bits) is processed as follows:
l

With 5 bits left unprocessed from the previous byte, we calculate 25 – 5 = 20 bits which
rounds up to 3 bytes. Therefore the previous last byte (0x88) plus the next 3 bytes will be
needed.
l

Use the last byte (0x88) plus grab 3 bytes (x831f61) = 0x88831f61

l

Swap the bytes = 0x611f8388

l

0x611f8388 in binary form = 01100001000111111000001110001000

l

The previous step used the 3 LSBs = 01100001000111111000001110001XXX

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l

25 bits are needed so ignore the 4 MSBs =

l

Parity flag is a 1 (Parity Known)

l

½ Cycle Slip flag is a 0 (Cycle Slip Not Present)

l

l

l

l

C/No is:
0x10000011100b = 1052 x Scaling Factor of 0.05
= 52.60 dBHz
The Lock Time value is:
0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
The Pseudorange Std Deviation value is:
0x0001b = 1 which means: 0.020 m < PSR Std Dev <= 0.030 m using Table 148: Pseudorange Std Dev on page 705.
The ADR Std Deviation value is:
0x0001b = 1 which means: 0.0039 < ADR Std Dev <= 0.0052 cycles using Table 147: ADR
Std Dev on page 704.

The signal data section (bottom 86 bits) is processed as follows:
l

With 4 bits unprocessed from the previous byte, we calculate 86 – 4 = 82 bits = 11 bytes (2
bits will not be processed in the last byte).
l

l

l

l

l

l

Use the last byte (0x61) plus grab 11 bytes (0x1fd87ca0b03a00638bbdf7)
= 0x611fd87ca0b03a00638bbdf7
Swap the bytes = 0xf7bd8b63003ab0a07cd81f61
0xf7bd8b63003ab0a07cd81f61 in binary form =
111 0111 1011 1101 1000 1011 0110 0011 0000 0000 0011 1010 1011 0000 1010 0000
0111 1100 1101 1000 0001 1111 0110 0001
Only need 86 bits. Ignore last 4 LSBs and first 6 MSBs =

Use Table 141: Primary Reference Signal Measurement Block on page 698 to identify if a 2’s
Complement Conversion is needed as well as what Scale Factor should be used before these
binary numbers are used in the following calculations.
The 1st (Primary) Pseudorange is processed by:
1st Pseudorange = 0x0101000000111110011011000000111110110b x Scaling Factor
1st Pseudorange = 43080581622 x 0.0005
L1CA Pseudorange for PRN 10= 21540290.811 m

l

The 1st (Primary) Phaserange is a 2’s Complement number (as identified by the Range

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column in Table 141: Primary Reference Signal Measurement Block on page 698) so it is processed in the following manner:
1st Phaserange – 1st Pseudorange = 2’s Complement(0x00000000001110101011000b) *
Scaling Factor
1st Phaserange – 21540290.811 m = 7512 * 0.0001
L1CA Phaserange = 21540291.5622 m
l

Convert this to ADR to check against the original RANGE log:
ADR = 1st Phaserange * Frequency * (-1)/Speed Of Light
ADR = 21540291.5622 m * 1575420000 Hz * (-1)/299792458 m/s
L1CA ADR for PRN 10 = -113194996.1627158 cycles

In the range logs, PSR and ADR have opposite signs.

l

The 1st (Primary) Doppler is a 2’s Complement number (as identified by the Range column in
Table 141: Primary Reference Signal Measurement Block on page 698) so it is processed in
the following manner:
1st Doppler(m/s) = 2’s Complement(0x11101111011000101101100011b) x Scaling Factor
1st Doppler(m/s) = -4,355,229 x 0.0001
L1CA Doppler(m/s) = -435.5229 m/s
Convert the Doppler to Hz:
1st Doppler(Hz) = 1st Doppler(m/s) x Frequency * (-1)/Speed Of Light
L1CA Doppler(Hz) for PRN 10 = 2288.6883 Hz
1st Doppler(Hz) = -435.5229 m/s x 1575420000 Hz * (-1)/299792458 m/s

A.1.6 Reference Secondary Signals Measurement Block: GPS PRN 10 – L2Y
Signal L1CA was the 1st signal (Primary Signal) of the three PRN 10 signals found in this
RANGECMP4 log data. L1CA’s data is now used to determine the L2Y’s signals data. Since this is
the second signal block of this PRN, its data will be processed by using Table 142: Secondary
Reference Signals Measurement Block on page 699.
With 6 bits left unprocessed from the previous byte, we will require 82 – 6 = 76 bits which
rounds up to 10 bytes.
l

l

l

l

Use the last byte (0xf7) plus grab the next 10 bytes (0xb82f49b080fd0ec0ff1f)
= 0xf7b82f49b080fd0ec0ff1f
Swap the bytes = 0x1fffc00efd80b0492fb8f7
0x1fffc00efd80b0492fb8f7 in binary form =
0001 1111 1111 1111 1100 0000 0000 1110 1111 1101 1000 0000 1011 0000 0100 1001 0010
1111 1011 1000 1111 0111
Only need 78 bits. The 2 LSBs are ignored as they were already processed above and the 4

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MSBs are ignored so there is a total of 82 bits to process

Use Table 142: Secondary Reference Signals Measurement Block on page 699 to identify if a 2’s
Complement Conversion is needed as well as what Scale Factor should be used before these binary numbers are used in the following calculations.
l

Parity flag is a 1 (Parity Known)

l

½ Cycle Slip flag is a 0 (Cycle Slip Not Present)

l

l

l

l

l

C/No is:
0x01110001111b = 911 x Scaling factor of 0.05
= 45.55 dBHz
The Lock Time value is:
0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
The Pseudorange Std Deviation value is:
0x0101b = 5 which means: 0.099 m < PSR Std Dev <= 0.148 m using Table 148: Pseudorange Std Dev on page 705.
The ADR Std Deviation value is:
0x0010b = 2 which means: 0.0052 < ADR Std Dev <= 0.0070 cycles using Table 147: ADR
Std Dev on page 704.
The L2Y Pseudorange is a 2’s Complement number (as identified by the Range column in
Table 142: Secondary Reference Signals Measurement Block on page 699) so it is processed
in the following manner:
Pseudorange – 1st Pseudorange = 2’s Complement(0x00000001011000001001b) x Scaling
Factor
Pseudorange – 21540290.811 m = 5641 x 0.0005
2Y Pseudorange = 21540293.6315 m

l

The L2Y Phaserange is a 2’s Complement number (as identified by the Range column in Table
142: Secondary Reference Signals Measurement Block on page 699) so it is calculated in the
following manner:
Phaserange – Pseudorange = 2’s Complement(0x00000000001110111111011b) * Scaling
Factor
Phaserange – 21540293.6315 m = 7675 * 0.0001
L2Y Phaserange = 21540294.399 m

l

Convert this to ADR to check against the original RANGE log:
ADR = Phaserange * Frequency * (-1)/Speed Of Light
ADR = 21540294.399 m * 1227600000 Hz * (-1)/299792458 m/s
L2Y ADR for PRN 10 = -88203904.73002626 cycles

In the range logs, PSR and ADR have opposite signs.

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l

The L2Y Doppler is a 2’s Complement number (as identified by the Range Column in Table
142: Secondary Reference Signals Measurement Block on page 699) so it is calculated in the
following manner:
Doppler(m/s) – 1st Doppler(m/s) = 2’s Complement(0x11111111111111b) x Scaling Factor
Doppler(m/s) – (-435.5229 m/s) = (-1) x 0.0001
L2Y Doppler(m/s) = -435.5228 m/s
Convert the Doppler to Hz:
Doppler(Hz) = Doppler(m/s) x Frequency * (-1)/Speed Of Light
Doppler(Hz) = -435.5228 m/s x 1227600000 Hz * (-1)/299792458 m/s
L2Y Doppler(Hz) for PRN 10 = 1783.3938 Hz

A.1.7 Reference Third Signals Measurement Block: GPS PRN 10 – L5Q
Signal L1CA was the 1st signal (Primary Signal) of the three PRN 10 signals found in this
RANGECMP4 log data. L1CA’s data is now used to determine the L5Q’s signals data. Since this is
the third signal block of this PRN, its data will be processed using Table 142: Secondary Reference Signals Measurement Block on page 699.
With 4 bits left unprocessed from the previous byte, we will require 82 – 4 = 78 bits which
rounds up to 10 bytes.
l

l

l

l

Use the last byte (0x1f) plus grab the next 10 bytes (0x091f8214ff4d4d00a100)
= 0x1f091f8214ff4d4d00a100
Swap the bytes = 0x00a1004d4dff14821f091f
0x00a1004d4dff14821f091f in binary form =
0000 0000 1010 0001 0000 0000 0100 1101 0100 1101 1111 1111 0001 0100 1000 0010 0001
1111 0000 1001 0001 1111
Only need 78 bits. The 4 LSBs are ignored as they were already processed above and the 2
MSBs are ignored so there is a total of 82 bits to process

Use Table 142: Secondary Reference Signals Measurement Block on page 699 to identify if a 2’s
Complement Conversion is needed as well as what Scale Factor should be used before these binary numbers are used in the following calculations.
l

Parity flag is a 1 (Parity Known)

l

½ Cycle Slip flag is a 0 (Cycle Slip Not Present)

l

l

l

C/No is:
0x10000100100b = 1060 x Scaling Factor of 0.05
= 53.00 dBHz
The Lock Time value is:
0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
The Pseudorange Std Deviation value is:
0x0000b = 0 which means: PSR Std Dev <= 0.020 m using Table 148: Pseudorange Std Dev

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on page 705.
l

l

The ADR Std Deviation value is:
0x0001b = 1 which means: 0.0039 < ADR Std Dev <= 0.0052 cycles using Table 147: ADR
Std Dev on page 704.
The L5Q Pseudorange is a 2’s Complement number (as identified by Range column in Table
142: Secondary Reference Signals Measurement Block on page 699) so it is processed in the
following manner:
Pseudorange – 1st Pseudorange = 2’s Complement(0x11111111100010100100b) x Scaling
Factor
Pseudorange – 21540290.811 m = (-1884) x 0.0005
L5Q Pseudorange = 21540289.869 m

l

The L5Q Phaserange is a 2’s Complement number (as identified by the Range column in
Table 142: Secondary Reference Signals Measurement Block on page 699) so it is calculated
in the following manner:
Phaserange – Pseudorange = 2’s Complement(0x00000000010011010100110b) * Scaling
Factor
Phaserange – 21540289.869 m = 9894 * 0.0001
L5Q Phaserange = 21540290.8584 m

l

Convert this to ADR to check against the original RANGE log:
ADR = Phaserange * Frequency * (-1)/Speed Of Light
ADR = 21540290.8584 m * 1176450000 Hz * (-1)/299792458 m/s
L5Q ADR for PRN 10 = -84528728.13886692 cycles

In the range logs, PSR and ADR have opposite signs.

l

The L5Q Doppler is a 2’s Complement number (as identified by the Range column Table 142:
Secondary Reference Signals Measurement Block on page 699) so it is calculated in the following manner:
Doppler(m/s) – 1st Doppler(m/s) = 2’s Complement(0x00000010100001b) x Scaling Factor
Doppler(m/s) – (-435.5229 m/s) = 80 x 0.0001
L5Q Doppler(m/s) = -435.5149 m/s
Convert the Doppler to Hz:
Doppler(Hz) = Doppler(m/s) x Frequency * (-1)/Speed Of Light
Doppler(Hz) = -435.5149 m/s x 1176450000 Hz * (-1)/299792458 m/s
L5Q Doppler(Hz) for PRN 10 = 1709.054 Hz

This concludes the processing of the signals present for PRN 10.

The next PRN as identified in the GPS Included Signals Field is PRN 15 with 2 signals. Processing
of this data would be handled as described above, starting with the 4 bit Measurement Block followed by the individual signals. This would be followed by PRN 18, 21, and 27. Processing these
remaining PRNs and their signals would use up the next 870 bits as shown below:
Bits required for remaining GPS PRNs and Signals:
PRN 15

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l

4 bits Measurement Block header

l

111 bits - 1st Signal

l

82 bits - 2nd Signal

PRN 18
l

4 bits Measurement Block header

l

111 bits - 1st Signal

l

82 bits - 2nd Signal

PRN 21
l

4 bits Measurement Block header

l

111 bits - 1st Signal

l

82 bits - 2nd Signal

PRN 27
l

4 bits Measurement Block header

l

111 bits - 1st Signal

l

82 bits - 2nd Signal

l

82 bits - 3rd Signal

Total = 870 bits
There are 2 bits left unprocessed from the last byte of PRN 10’s processing so 868 more bits
(109 bytes) are required. After processing the remaining GPS data, there will be 4 bits left from
the last byte to start off the next system (GLONASS as identified by the GNSS field in the
Header).
After the last GPS bit, the GLONASS system will then be processed since it was identified as the
next system by the GNSS field in the Header.

A.1.8 Reference Satellite and Signal Block: GLONASS
This block is sent once for each bit set to 1 in the GNSS field found in Table 138: Header on
page 695. As identified by the above GNSS field, the second system (right to left) is the
GLONASS System. Use Table 139: Satellite and Signal Block on page 696 to determine what
satellites slots and signals data are contained in this GLONASS System:
GLONASS Satellites field (64 bits)
l

Grab the next 8 bytes (64 bits) = 0x3f0030080000000020

l

Swap the bytes = 0x20000000000830003f

l

l

l

0x20000000000830003f in binary form =
001000000000000000000000000000000000000000001000001100000000000000111111
Mask out the used 4 LSBs =
00100000000000000000000000000000000000000000100000110000000000000011XXXX
Determine the required 64 bits =

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l

l

The 1’s above identify that there are 5 tracking GLONASS Slots.
The present GLONASS satellite PRNs/Slot ID’s (when between 1 to 24) are therefore (37 +
Slot ID):
Slot 1 = PRN 38
Slot 2 = PRN 39
Slot 17 = PRN 54
Slot 18 = PRN 55
Slot 24 = PRN 61

If the GLONASS Slot ID was between 43 and 64, this would represent a
GLONASS satellite that has an unknown Slot ID and is instead assigned a temporary one based upon 64 minus the unadjusted GLONASS Frequency Number
(0 to 20). This Slot ID will be updated once the actual PRN/Slot ID has been
determined.
GLONASS Signals field (16 bits)
l

Append the next 2 bytes (0x01f0) to the last byte (0x20) = 0x2001f0

l

Swap the bytes = 0x0f0120

l

0x0f0120 in binary form = 11110000000100100000

l

Ignore the processed bits = 1111000000010010XXXX

l

Determine the required 16 bits =

l

The 1’s above identify that there are 2 tracking GLONASS signals: L1CA and L2P.

GLONASS Included Signals field (5 Slot ID’s x 2 Signals = 10 bits)
l

Append the next byte (0x3f) to the last byte (0xf0) = 0xf03f

l

Swap the bytes = 0x3ff0

l

0x3ff0in binary form = 0011111111110000

l

Ignore the processed bits = 001111111111XXXX

l

Determine the required 10 bits = XX1111111111XXXX

l

This bit string breaks down into 5 rows (Slots) and 2 columns (signals) as specified by the

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mxn (Slot IDs x signals) parameters. Take the bit string and break it up into sets of 2 starting at the MSB. This will result with the lowest Slot ID being at the bottom row of the stack
and the first signal (L1CA) being the far right column.
11
11
11
11
11
l

This stack can be further broken apart to identify the Slot ID’s vs. their Signals:
SLOT
24
18
17
2
1

L2P
1
1
1
1
1

L1CA
1
1
1
1
1

A.1.9 Reference Measurement Block Header: GLONASS PRN 38
(Slot 1 which was the first Slot found in the Satellites Field)
We will grab enough bytes to process the whole Measurement Block Header. Since this is a
GLONASS System, a total of 9 bits will be required for this step (1 bit for the Data Format Flag, 3
bits for the Ref Data Block ID, plus 5 bits for the GLONASS Frequency Number).
With 2 bits left unprocessed from the previous byte, we will require 9 – 2 = 7 bits which rounds
up to 1 byte:
l

Use the last byte (0x3f) plus the next byte (0xa0)= 0x3fa0

l

Swap the bytes = 0xa03f

l

0xa03f in binary form = 1010000000111111

l

Ignore the 6 processed bits from the last step = 1010000000XXXXXX

l

Ignore the 1 MSB bits leaving 9 bits for processing =

The Data Format Flag identifies that this batch of data is Reference (0) data.
The Ref Data Block ID is 0x000.
The GLONASS Frequency Number is 8 (adjusted to 1). When calculating the GLONASS Carrier frequency, this value (0 to 20) will be adjusted to its -7 to +13 value and then multiplied by that frequencies delta. Note that this field only appears in the Reference data and will not be found in
the Differential data.

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Special Case: When the Slot ID is between 43 and 63, the Slot ID of the GLONASS satellite is unknown. In order to keep track of which satellite it is for these calculations, the
Frequency Number is used to assign this GLONASS Satellite a temporary Slot ID based
on the GLONASS Frequency Numbers binary value of 0 to 20.

A.1.10 Reference Primary Signal Measurement Block: GLONASS PRN 38 –
L1CA
The next bytes collected will be for the GLONASS PRN 38 - L1CA signal data. This is the primary
signal of the satellite since it is the first signal. As a result, its Measurement Block consists of
111 bits as listed in Table 141: Primary Reference Signal Measurement Block on page 698.
Since 111 bits takes up a lot of space, these bits will be split into two groups from Table 141:
Primary Reference Signal Measurement Block on page 698: the top 25 bits for signal info followed by the bottom 86 bits for signal data.
The signal info section (top 25 bits) is processed as follows:
l

With 1 bit left unprocessed from the previous byte, we calculate 25 – 1 = 24 bits which
equals 3 bytes. Therefore the previous last byte (0xa0) plus the next 3 bytes will be needed.
l

Use the last byte (0xa0) plus grab 3 bytes (x19f813) = 0xa019f813

l

Swap the bytes = 0x13f819a0

l

0x13f819a0 in binary form = 00010011111110000001100110100000

l

The previous step used the 7 LSBs = 0001001111111000000110011XXXXXXX

l

Need 25 bits which is exactly what is left over:

l

Parity flag is a 1 (Parity Known)

l

½ Cycle Slip flag is a 1 (Cycle Slip Present)

l

l

l

l

C/No is:
0x10000001100b = 1036 x Scaling factor of 0.05
= 51.80 dBHz
The Lock Time value is:
0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
The Pseudorange Std Deviation value is:
0x0011b = 3 which means: 0.045 m < PSR Std Dev <= 0.066 m using Table 148: Pseudorange Std Dev on page 705.
The ADR Std Deviation value is:
0x0001b = 1 which means: 0.0039 < ADR Std Dev <= 0.0052 cycles using Table 147: ADR
Std Dev on page 704.

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

The signal data section (bottom 86 bits) is processed as follows:
l

With no unprocessed bits from the previous byte, we need 86 bits which rounds up to 11
bytes.
l

Grab 11 bytes = 0x6a11273649b8fcefab9c43

l

Swap the bytes = 0x439cabeffcb8493627116a

l

0x439cabeffcb8493627116a in binary form =
0100 0011 1001 1100 1010 1011 1110 1111 1111 1100 1011 1000 0100 1001 0011 0110
0010 0111 0001 0001 0110 1010

l

l

l

Only need 86 bits. Ignore first 2 MSBs =

Use Table 141: Primary Reference Signal Measurement Block on page 698 to identify if a 2’s
Complement Conversion is needed as well as what Scale Factor should be used before these
binary numbers are used in the following calculations.
The 1st (Primary) Pseudorange is processed by:
1st Pseudorange = 0x0100100110110001001110001000101101010b x Scaling Factor
1st Pseudorange = 39563235690 x 0.0005
L1CA Pseudorange for PRN 38 = 19781617.845 m

l

The 1st (Primary) Phaserange is a 2’s Complement number (as identified by the Range
column in Table 141: Primary Reference Signal Measurement Block on page 698) so it is processed in the following manner:
1st Phaserange – 1st Pseudorange = 2’s Complement(0x11111111110010111000010b) *
Scaling Factor
1st Phaserange – 19781617.845 m = -6718 * 0.0001
L1CA Phaserange = 19781617.1732 m

l

Convert this to ADR to check against the original RANGE log:
ADR = 1st Phaserange * (Carrier Frequency + Frequency Number * 562500 Hz) * (-1)/Speed
Of Light
ADR = 19781617.1732 m * (1602000000 Hz + 1 * 562500 Hz) * (-1)/299792458 m/s
ADR = 19781617.1732 m * 1602562500 Hz * (-1)/299792458 m/s
L1CA ADR for PRN 38 = -105744080.6970745 cycles

In the range logs, PSR and ADR have opposite signs.

l

The 1st (Primary) Doppler is a 2’s Complement number (as identified by the Range column in
Table 141: Primary Reference Signal Measurement Block on page 698) so it is processed in
the following manner:
1st Doppler(m/s) = 2’s Complement(0x00001110011100101010111110b) x Scaling Factor
1st Doppler(m/s) = 3787454 m/s x 0.0001
L1CA Doppler(m/s) = 378.7454 m/s
Convert the Doppler to Hz:

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

1st Doppler(Hz) = 1st Doppler(m/s) x (Carrier Frequency + Frequency Number * 562500
Hz) * (-1)/Speed Of Light
1st Doppler(Hz) = 378.7454 m/s x (1602000000 Hz + 1 * 562500 Hz) * (-1)/299792458 m/s
1st Doppler(Hz) = 378.7454 m/s x 1602562500 Hz * (-1)/299792458 m/s
L1CA Doppler(Hz) for PRN 38 = -2024.6112 Hz
The rest of the GLONASS Reference Signals are handled in a similar manner as described in the
above GPS section.

A.2 Differential Log Decoding
Logs not falling on a whole second are most likely Differential logs which are processed differently than the Reference logs. It is possible for a sub-second RANGECMP4 log to be a Reference log if the data contained within it did not fit the tight Differential Compression
requirements.
Differential logs use the reference data of the same signal unlike reference logs which uses the
first signal to define the other signals.
The next RANGECMP4 log is at time 507977.250:
#RANGECMP4A,COM1,0,88.5,FINESTEERING,1919,507977.250,02000020,fb0e,
32768;239,030000421204000000009200dff688831f6102005500e70162dc977c0040
15c07988840f6101803a805921cedf8b80002011207080e5f6351f003804081c2200be
0808005c01620808725f93028057801822dae0476000a00f207180fef6251700e80340
1c62f3bdc8060052013009986f5f22020054004ca2053ec408005401ca870180410000
0000000980ff6306fec408004801de07c8692f5102805180f721b2e04f600040152081
804ef7102500600540202205fe040a0086013a0938780f61020061804e224edbdb6800
2010c0498030f7411d0018047812a2d47d090a004c01a609c8544f62028052006a02
*48E189A2
At the start of the RANGECMP4 log is the identifier for how many bytes are in the log. In this
case, there are 239 bytes (just under 20% less than a Reference Log). The rest of the message
is compressed binary data and is transmitted as LSB first so the bytes must be swapped before
processing.

A.2.1 Differential Header
The Differential Header is sent once per message (See Table 138: Header on page 695).
Decoding the bits starting with the first bytes:
GNSS field (16 bits)
l

Grab the first 2 bytes (16 bits) = 0x0300

l

Swap the bytes = 0x0003

l

0x0003 in binary form =

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

In this example the receiver was configured to track only GPS and GLONASS systems. If
other systems had been in the configuration and tracked, they would have shown here.

A.2.2 Differential Satellite and Signal Block
This block is sent once for each bit set to 1 in the GNSS field found in Table 138: Header on
page 695. As identified by the above GNSS field, the first system (right to left) is the GPS System. Use Table 139: Satellite and Signal Block on page 696 to determine what satellites and signals data are contained in this GPS System:
GPS Satellites field (64 bits)
l

Grab the next 8 bytes (64 bits) = 0x0042120400000000

l

Swap the bytes = 0x…0000000004124200

l

0x0000000004124200 in binary form =

l

The 1’s above identify that there are 5 tracking GPS PRNs.

GPS Signals field (16 bits)
l

Grab the next 2 bytes (16 bits) = 0x9200

l

Swap the bytes = 0x0092

l

0x0092 in binary form =

l

The 1’s above identify that there are 3 tracking GPS signals: L1CA, L2Y, and L5Q.

GPS Included Signals field (5 PRNs x 3 Signals = 15 bits – therefore need 2 bytes)
Up to the point of processing the Included Signals field, the bytes are aligned such that the bits
start and end within each batch of bytes. After processing this step, it is quite common for the
Included Signals field (mxn matrix) to not be divisible by 8 so bytes not processed will need to
be carried over to the next section depending on the size of the matrix.
l

Grab the next 2 bytes (16 bits) = 0xdff6

l

Swap the bytes = 0xf6df

l

0xf6df in binary form = 1111011011011111

l

Only need 15 of the 16 bits = X111011011011111

l

This bit string breaks down into 5 rows (PRNs) and 3 columns (signals) as specified by the

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

mxn (PRN x signals) parameters. Take the bit string and break it up into sets of 3 starting at
the MSB. This will result with the lowest PRN being at the bottom row of the stack and the
first signal (L1CA) being the far right column.
111
011
011
011
111
l

This stack can be further broken apart to identify the PRNs vs. their Signals:
PRN
27
21
18
15
10

L5Q
1
0
0
0
1

L2Y
1
1
1
1
1

L1CA
1
1
1
1
1

A.2.3 Differential Measurement Block Header
This block is sent once for each bit set to 1 in the Satellites field found in Table 139: Satellite
and Signal Block on page 696. Now that the PRN’s signals have been determined, the next step
is to determine the specifics of the first PRN (10) and its list of signals (L1CA, L2Y, L5Q). Working from bottom right to upper left of the PRN/Signal chart above, each 1 represents a signal for
a PRN. Use Table 140: Measurement Block Header on page 697 to determine the contents of
each field:
GPS PRN 10 (first PRN found in the Satellites field)
We will grab enough bytes to process the whole Measurement Block Header. If this was a
GLONASS system, a total of 9 bits would be required at this step (1 bit for the Data Format Flag,
3 bits for the Ref Data Block ID, plus 5 bits for the GLONASS Frequency Number). Since this is a
GPS system, only 4 bits in total are required (1 bit for the Data Format Flag and 3 bits for the
Ref Data Block ID).
There was 1 bit not processed in the last byte so that byte will be carried forward. Only 4 bits
need to be looked at for this step so grab the next byte as well:
l

Use the last byte (0xf6) plus the next byte (0x88)= 0xf688

l

Swap the bytes = 0x88f6

l

0x88f6 in binary form = 1000 1000 1111 0110

l

Ignore the processed bits from the last step = 1000 1000 1XXX XXXX

l

Ignore the 5 MSB bits leaving 4 bits for processing =

The Data Format Flag identifies that this batch of data is Differential (1) data.
The Ref Data Block ID is 0x000. The Ref Data Block ID here identifies that this differential data
will be calculated from the Reference data that had a Ref Data Block ID equaling 000 (which was
determined in the RANGECMP4 log at time 507977.00 seconds).

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

The 5 MSBs have not been processed so this byte will be carried forward.
Logs between seconds will be Differential logs but could be Reference logs depending on the compression calculations. If a discontinuity occurred that made it impossible for a Differential calculation to fit within the Differential Constraints, it will revert to a Reference log.

A.2.4 Differential Measurement Block
This block is sent once for each bit set to 1 in the Included Signals field found in Table 139:
Satellite and Signal Block on page 696. Use Table 143: Primary Differential Signal Measurement
Block on page 700 and Table 144: Secondary Differential Signals Measurement Block on
page 701 to determine the contents of each field:
A Measurement Block for a single PRN will look like the following:
Primary Parity Flag
Primary ½ Cycle Slip Flag
Primary C/No
Primary Lock Time
Primary Pseudorange Std Deviation
Primary Phaserange Std Deviation
Primary Pseudorange
Primary Phaserange - Primary Pseudorange (determines the Phaserange for the 1st Signal)
Primary Doppler
2nd Parity Flag
2nd ½ Cycle Slip Flag
2nd C/No
2nd Lock Time
2nd Pseudorange Std Deviation
2nd Phaserange Std Deviation
2nd Pseudorange - Primary Pseudorange (determines the Pseudorange for the 2nd Signal
2nd Phaserange – 2nd Pseudorange (determines the Phaserange for the 2nd Signal)
2nd Doppler – Primary Doppler (determines the Doppler for the 2nd Signal)

3rd Parity Flag
3rd ½ Cycle Slip Flag
3rd C/No
3rd Lock Time

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

3rd Pseudorange Std Deviation
3rd Phaserange Std Deviation
3rd Pseudorange - Primary Pseudorange (determines the Pseudorange for the 3rd Signal
3rd Phaserange – 3rd Pseudorange (determines the Phaserange for the 3rd Signal)
3rd Doppler – Primary Doppler (determines the Doppler for the 3rd Signal)
…

A.2.5 Differential Primary Signal Measurement Block GPS PRN 10 – L1CA
The next bytes collected will be for the GPS PRN 10 - L1CA signal data. Since this is the primary
signal of the PRN, its Measurement Block consists of 78 bits as listed in Table 143: Primary Differential Signal Measurement Block on page 700.
The signal info section (top 25 bits) is processed as follows:
l

With 5 bits left from the previous byte, we calculate 25 – 5 = 20 bits which rounds up to 3
bytes. Therefore the previous last byte (0x88) plus the next 3 bytes will be needed.
l

Use the last byte (0x88) plus grab 3 bytes (x831f61) = 0x88831f61

l

Swap the bytes = 0x611f8388

l

0x611f8388 in binary form
= 0110 0001 0001 1111 1000 0011 1000 1000

l

Only need 25 bits. The last byte uses the 5 MSBs and the first byte ignores the 4 MSBs

l

Parity flag is a 1 (Parity Known)

l

½ Cycle Slip flag is a 0 (Cycle Slip Not Present)

l

l

l

l

C/No is:
0x10000011100b = 1052 x Scaling factor of 0.05
= 52.60 dBHz
The Lock Time value is:
0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
The Pseudorange Std Deviation value is:
0x0001b = 1 which means: 0.020 m < PSR Std Dev <= 0.030 m using Table 148: Pseudorange Std Dev on page 705.
The ADR Std Deviation value is:
0x0001b = 1 which means: 0.0039 < ADR Std Dev <= 0.0052 cycles using Table 147: ADR
Std Dev on page 704Table 10.

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

l

For the following calculations, the time difference between the Differential Log and the Reference log is 0.25 seconds as shown below:
Time Difference = Current Log Time – Reference log Time
= 507977.250 - 507977.000
= 0.250 seconds

The signal data section (bottom 53 bits) is processed as follows:
l

With 4 bits unprocessed from the previous byte, we calculate 53 – 4 = 49 bits = 7 bytes (7
bits will not be processed in the last byte).
l

Use the last byte (0x61) plus grab 7 bytes (0x02005500e70162)
= 0x6102005500e70162

l

Swap the bytes = 0x6201e70055000261

l

0x6201e70055000261 in binary form =
0110 0010 0000 0001 1110 0111 0000 0000 0101 0101 0000 0000 0000 0010 0110 0001

l

l

l

Only need 53 bits. Ignore last 4 LSBs and first 7 MSBs =

Use Table 143: Primary Differential Signal Measurement Block on page 700 to identify if a
2’s Complement Conversion is needed as well as what Scale Factor should be used before
these binary numbers are used in the following calculations.
The 1st (Primary) Differential Pseudorange is processed by:
Predicted Pseudorange = Reference 1st Pseudorange + (1st Doppler x TimeDifference)
= 21540181.930275 m
= 21540290.811 m + ((-435.5229 m/s) x 0.250 s)
1st DiffPseudorange – Predicted Pseudorange = 0x0000000000000100110b x Scaling Factor
1st DiffPseudorange – 21540181.930275 m = 38 x 0.0005
L1CA Pseudorange for PRN 10 = 21540181.949275 m

l

The 1st (Primary) Differential Phaserange is a 2’s Complement number (as identified by the
Range column in Table 143: Primary Differential Signal Measurement Block on page 700) so
it is processed in the following manner:
Predicted Phaserange = Reference 1st DiffPhaserange + (1st Doppler x TimeDifference)
= 21540291.5622 m + ((-435.5229 m/s) x 0.250 s)
= 21540182.681475 m
1st DiffPhaserange – Predicted Phaserange = 2’s Complement(0x0000000010101010b) *
Scaling Factor
1st DiffPhaserange – 21540182.681475 m = 170 * 0.0001
L1CA Phaserange = 21540182.698475 m

l

Convert this to ADR to check against the original RANGE log:
ADR = 1st DifPhaserange * Frequency * (-1)/Speed Of Light
ADR = 21540182.698475 m * 1575420000 Hz * (-1)/299792458 m/s
L1CA ADR for PRN 10 = -113194424.0799796 cycles

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

In the range logs, PSR and ADR have opposite signs.

l

The 1st (Primary) Differential Doppler is a 2’s Complement number (as identified by the
Range column in Table 143: Primary Differential Signal Measurement Block on page 700) so
it is processed in the following manner:
1st DiffDoppler(m/s)- Reference 1st Doppler = 2’s Complement(0x000000001111001110b) x
Scaling Factor
1st DiffDoppler(m/s) – (-435.5229 m/s) = 974 x 0.0001
L1CA Doppler(m/s) = -435.4255 m/s
Convert the Doppler to Hz:
1st DiffDoppler(Hz) = 1st DiffDoppler(m/s) x Frequency * (-1)/Speed Of Light
1st DiffDoppler(Hz) = -435.4255 m/s x 1575420000 Hz * (-1)/299792458 m/s
L1CA Doppler(Hz) for PRN 10 = 2288.1764464 Hz

A.2.6 Differential Secondary Signals Measurement Block GPS PRN 10 –
L2Y
Unlike Reference logs which always reflect back to the initial signal for their computations, Differential logs uses the last Reference log data of the same signal for its calculations.
l

With 7 bits unprocessed from the previous byte, we will require 74 – 7 = 67 bits which
rounds up to 9 bytes.
l

l

l

l

Use the last byte (0x62) plus grab the next 9 bytes (0xdc977c004015c07988)
= 0x62dc977c004015c07988
Swap the bytes = 0x8879c01540007c97dc62
0x8879c01540007c97dc62 in binary form =
1000 1000 0111 1001 1100 0000 0001 0101 0100 0000 0000 0000 0111 1100 1001 0111
1101 1100 0110 0010
Only need 74 bits. The 1 LSB is ignored as it was already processed above and the 5
MSBs are ignored so there is a total of 74 bits to process

l

Parity flag is a 1 (Parity Known)

l

½ Cycle Slip flag is a 0 (Cycle Slip Not Present)

l

l

l

C/No is:
0x01110001100b = 908 x Scaling Factor of 0.05
= 45.4 dBHz
The Lock Time value is:
0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
The Pseudorange Std Deviation value is:

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

0x0101b = 5 which means: 0.099 m < PSR Std Dev <= 0.148 m using Table 148: Pseudorange Std Dev on page 705.
l

l

The ADR Std Deviation value is:
0x0010b = 2 which means: 0.0052 < ADR Std Dev <= 0.0070 cycles using Table 147: ADR
Std Dev on page 704.
The L2Y Pseudorange is a 2’s Complement number (as identified by the Range column in
Table 144: Secondary Differential Signals Measurement Block on page 701) so it is processed in the following manner:
Predicted Pseudorange = Reference 2nd Pseudorange + (2nd Doppler x TimeDifference)
= 21540293.6315 m + ((-435.523 m/s) x 0.250 s)
= 21540184.75075 m
DiffPseudorange – Predicted Pseudorange = 2’s Complement(0x0000000000000011111b) x
Scaling Factor
DiffPseudorange – 21540184.75075 m = 31 x 0.0005
L2Y Pseudorange = 21540184.76625 m

l

The L2Y Phaserange is a 2’s Complement number (as identified by the Range column in Table
144: Secondary Differential Signals Measurement Block on page 701) so it is calculated in
the following manner:
Predicted Phaserange = Reference 2nd DiffPhaserange + (2nd Doppler x TimeDifference)
= 21540294.399 m + ((-435.523 m/s) x 0.250 s)
= 21540185.51825 m
DiffPhaserange – Predicted Phaserange = 2’s Complement(0x0000000010101010b) * Scaling
Factor
DiffPhaserange – 21540185.51825 m = 170 * 0.0001
L2Y Phaserange = 21540185.53525 m

l

Convert this to ADR to check against the original RANGE log:
ADR = Phaserange * Frequency * (-1)/Speed Of Light
ADR = 21540185.53525 m * 1227600000 Hz * (-1)/299792458 m/s
L2Y ADR for PRN 10 = -88203458.95116848 cycles

In the range logs, PSR and ADR have opposite signs.

l

The L2Y Doppler is a 2’s Complement number (as identified by the Range column in Table
144: Secondary Differential Signals Measurement Block on page 701) so it is calculated in
the following manner:
DiffDoppler(m/s) – Ref 2nd Doppler(m/s) = 2’s Complement(0x00001111001110b) x Scaling
Factor
DiffDoppler(m/s) – (-435.5229 m/s) = (974) x 0.0001
L2Y Doppler(m/s) = -435.4255 m/s
Convert the Doppler to Hz:
Doppler(Hz) = Doppler(m/s) x Frequency * (-1)/Speed Of Light
Doppler(Hz) = -435.4255 m/s x 1227600000 Hz * (-1)/299792458 m/s
L2Y Doppler(Hz) for PRN 10 = 1782.994633 Hz

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

A.2.7 Differential Third Signals Measurement Block GPS PRN 10 – L5Q
Unlike Reference logs which always reflect back to the initial signal for their computations, Differential logs uses the last Reference log data of the same signal for its calculations.
l

With 3 bits unprocessed from the previous byte, we will require 74 – 3 = 71 bits which
rounds up to 9 bytes.
l

l

l

l

Use the last byte (0x88) plus grab the next 9 bytes (0x 840f6101803a805921)
= 0x88840f6101803a805921
Swap the bytes = 0x2159803a8001610f8488
0x2159803a8001610f8488 in binary form =
0010 0001 0101 1001 1000 0000 0011 1010 1000 0000 0000 0001 0110 0001 0000 1111
1000 0100 1000 1000
Only need 74 bits. The 3 LSBs are ignored as they were already processed and the 3
MSBs are ignored so there is a total of 74 bits to process

l

Parity flag is a 1 (Parity Known)

l

½ Cycle Slip flag is a 0 (Cycle Slip Not Present)

l

l

l

l

l

C/No is:
0x10000100100b = 1060 x Scaling factor of 0.05
= 53.0 dBHz
The Lock Time value is:
0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
The Pseudorange Std Deviation value is:
0x0000b = 0 which means: PSR Std Dev <= 0.020 m using Table 148: Pseudorange Std Dev
on page 705.
The ADR Std Deviation value is:
0x0001b = 1 which means: 0.0039 < ADR Std Dev <= 0.0052 cycles using Table 147: ADR
Std Dev on page 704.
The L5Q Pseudorange is a 2’s Complement number (as identified by the Range column in
Table 144: Secondary Differential Signals Measurement Block on page 701) so it is processed in the following manner:
Predicted Pseudorange = Reference 3rd Pseudorange + (3rd Doppler x TimeDifference)
= 21540289.869 m + ((-435.5149 m/s) x 0.250 s)
= 21540180.990275 m
DiffPseudorange – Predicted Pseudorange = 2’s Complement(0x000 0000 0000 0001 0110b)
x Scaling Factor
DiffPseudorange – 21540180.990275 m = 22 x 0.0005
L5Q Pseudorange = 21540181.001275 m

l

The L5Q Phaserange is a 2’s Complement number (as identified by the Range column in

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APPENDIX A Example of Bit Parsing a RANGECMP4 Log

Table 144: Secondary Differential Signals Measurement Block on page 701) so it is calculated in the following manner:
Predicted Phaserange = Reference 3rd DiffPhaserange + (3rd Doppler x TimeDifference)
= 21540290.8584 m + ((-435.5149 m/s) x 0.250 s)
= 21540181.979675 m
DiffPhaserange – Predicted Phaserange = 2’s Complement(0x0000000001110101b) * Scaling
Factor
DiffPhaserange – 21540181.979675 m = 117 * 0.0001
L5Q Phaserange = 21540181.991375 m
l

Convert this to ADR to check against the original RANGE log:
ADR = Phaserange * Frequency * (-1)/Speed Of Light
ADR = 21540181.991375 m * 1176450000 Hz * (-1)/299792458 m/s
L5Q ADR for PRN 10 = -84528300.92127641 cycles

In the range logs, PSR and ADR have opposite signs.

l

The L5Q Doppler is a 2’s Complement number (as identified by the Range column in Table
144: Secondary Differential Signals Measurement Block on page 701) so it is calculated in
the following manner:
DiffDoppler(m/s) – Ref 3rd Doppler(m/s) = 2’s Complement(0x00001010110011b) x Scaling
Factor
DiffDoppler(m/s) – (-435.5149 m/s) = 691 x 0.0001
L5Q Doppler(m/s) = -435.4458 m/s
Convert this to Hz:
Doppler(Hz) = Doppler(m/s) x Frequency * (-1)/Speed Of Light
Doppler(Hz) = -435.4458 m/s x 1176450000 Hz * (-1)/299792458 m/s
L5Q Doppler(Hz) for PRN 10 = 1708.78285 Hz

This concludes the decoding of the Differential Log for PRN 10 (signals L1CA, L2Y, and L5Q). The
rest of the decoding for the other PRNs and systems are handled in the same manner.

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