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OEMV® Family
Firmware Reference
Manual

OM-20000094 Rev 8

Proprietary Notice

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

OM-20000094
8
2010/05/14

This manual reflects firmware version 3.800.

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 software described in this document is furnished under a license
agreement or non-disclosure agreement. The software may be used or copied only in accordance with
the terms of the agreement. It is against the law to copy the software on any medium except as
specifically allowed in the license or non-disclosure agreement.
No part of this manual may be reproduced or transmitted in any form or by any means, electronic or
mechanical, including photocopying and recording, for any purpose without the express written
permission of a duly authorized representative of NovAtel Inc.
The information contained within this manual is believed to be true and correct at the time of
publication.
NovAtel, OEMV, ProPak, Narrow Correlator tracking technology AdVance, GL1DE, ALIGN, and RT-20
Waypoint, SPAN are registered trademarks of NovAtel Inc.
OEMV-1, OEMV-2, OEMV-3, RT-2 and FlexPak are trademarks of NovAtel Inc.
All other brand names are trademarks of their respective holders.
Manufactured and protected under U.S. Patent:
Narrow Correlator
#5,101,416
#5,390,207
#5,414,729
#5,495,499
#5,809,064
PAC Correlator
#6,243,409 B1
Dual Frequency GPS
#5,736,961
Anti-Jamming Technology
#5,734,674
Position and Velocity Kalman Filter
#6,664,923 B1
#7,193,559 B2

© Copyright 2006-2010 NovAtel Inc. All rights reserved. Unpublished rights
reserved under International copyright laws. Printed in Canada on recycled paper.
Recyclable.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Table of Contents
Foreword

15

1 Messages

18

1.1 Message Types..................................................................................................... 18
1.1.1 ASCII ........................................................................................................... 20
1.1.2 Abbreviated ASCII ....................................................................................... 22
1.1.3 Binary .......................................................................................................... 22
1.2 Responses ............................................................................................................ 27
1.2.1 Abbreviated Response ................................................................................ 27
1.2.2 ASCII Response .......................................................................................... 27
1.2.3 Binary Response ......................................................................................... 27
1.3 GLONASS Slot and Frequency Numbers............................................................. 29
1.4 GPS Time Status .................................................................................................. 30
1.5 Message Time Stamps ......................................................................................... 31
1.6 Decoding of the GPS Week Number .................................................................... 32
1.7 32-Bit CRC............................................................................................................ 32

2 Commands

35

2.1 Command Formats ............................................................................................... 35
2.2 Command Settings ............................................................................................... 35
2.3 Commands by Function ........................................................................................ 36
2.4 Factory Defaults.................................................................................................... 53
2.5 Command Reference............................................................................................ 55
2.5.1 ADJUST1PPS Adjust the receiver clock V123 ........................................ 55
2.5.2 ANTENNAMODEL Enter/change rover antenna model V123 .............. 61
2.5.3 ANTENNAPOWER Control power to the antenna V23............................ 63
2.5.4 ASSIGN Assign a channel to a PRN V123 .............................................. 64
2.5.5 ASSIGNALL Assign all channels to a PRN V123 .................................... 67
2.5.6 ASSIGNLBAND Set L-band satellite communication parameters V3_HP,
V13_VBS or V13_CDGPS .................................................................... 69
2.5.7 AUTH Add authorization code for new model V123 ................................ 73
2.5.8 BASEANTENNAMODEL Enter/change base antenna model V123 .... 75
2.5.9 CDGPSTIMEOUT Set CDGPS position time out V13_CDGPS ......... 77
2.5.10 CLOCKADJUST Enable clock adjustments V123 ................................. 78
2.5.11 CLOCKCALIBRATE Adjust clock steering parameters V123 ................ 80
2.5.12 CLOCKOFFSET Adjust for delay in 1PPS output V123 ........................ 84
2.5.13 CNOUPDATE Set the C/No update rate and resolution V123 ............... 85
2.5.14 COM COM port configuration control V123 ........................................... 86
2.5.15 COMCONTROL Control the RS232 hardware control lines V123 ......... 89
2.5.16 CSMOOTH Set carrier smoothing V123 ................................................ 93
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2.5.17 DATUM Choose a datum name type V123 ........................................... 95
2.5.18 DGPSEPHEMDELAY DGPS ephemeris delay V123_DGPS ............ 102
2.5.19 DGPSTIMEOUT Set maximum age of differential data V123_DGPS 104
2.5.20 DGPSTXID DGPS transmit ID V123_DGPS ...................................... 105
2.5.21 DIFFCODEBIASCONTROL Enable or disable satellite differential
code biases V123 ................................................................................... 107
2.5.22 DYNAMICS Tune receiver parameters V123 ...................................... 108
2.5.23 ECUTOFF Set satellite elevation cut-off V123 .................................... 109
2.5.24 EXTERNALCLOCK Set external clock parameters V23 ..................... 111
2.5.25 FIX Constrain to fixed height or position V123 .................................... 114
2.5.26 FIXPOSDATUM Set position in a specified datum V123 .................... 118
2.5.27 FORCEGPSL2CODE Force receiver to track L2 P or L2C code
V23_L2C................................................................................................ 119
2.5.28 FREQUENCYOUT Set output pulse train available on VARF V123 ... 120
2.5.29 FRESET Clear selected data from NVM and reset V123 .................... 123
2.5.30 GGAQUALITY Customize the GPGGA GPS quality indicator ...................
V123_NMEA ........................................................................................ 125
2.5.31 GLOCSMOOTH GLONASS channel carrier smoothing V1G23_G .... 127
2.5.32 GLOECUTOFF Set GLONASS satellite elevation cut-off V1G23_G .. 128
2.5.33 HDTOUTTHRESHOLD Control GPHDT log output ALIGN ............ 129
2.5.34 HPSEED Specify the initial OmniSTAR HP/XP position V3_HP ........ 130
2.5.35 HPSTATICINIT Set OmniSTAR HP/XP static initialization V3_HP .... 132
2.5.36 INTERFACEMODE Set receive or transmit modes for ports V123 ..... 134
2.5.37 IONOCONDITION Set ionospheric condition V123 ............................ 138
2.5.38 LOCALIZEDCORRECTIONDATUM Command to set a Local Datum . 139
2.5.39 LOCKOUT Prevent the receiver from using a satellite V123 .............. 141
2.5.40 LOG Request logs from the receiver V123 ......................................... 142
2.5.41 MAGVAR Set a magnetic variation correction V123 ........................... 147
2.5.42 MARKCONTROL Control processing of mark inputs V123 ................ 150
2.5.43 MODEL Switch to a previously authorized model V123 ...................... 152
2.5.44 MOVINGBASESTATION Set ability to use a moving base station
V23_RT2 or V123_RT20 .................................................................... 153
2.5.45 NMEATALKER Set the NMEA talker ID V123 .................................. 155
2.5.46 NVMRESTORE Restore NVM data after an NVM failure V123 .......... 157
2.5.47 PDPFILTER Command to enable, disable or reset the PDP filter
V123 ....................................................................................................... 158
2.5.48 PDPMODE Select the PDP mode and dynamics V123 ...................... 159
2.5.49 POSAVE Implement base station position averaging V123_DGPS .. 160
2.5.50 POSTIMEOUT Sets the position time out V123 .................................. 162
2.5.51 PPSCONTROL Control the PPS output V123 .................................... 163
2.5.52 PSRDIFFSOURCE Set the pseudorange correction source
V123_DGPS .......................................................................................... 165
2.5.53 PSRVELOCITYTYPE Specify the Doppler Source V123 .................... 169
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2.5.54 RESET Perform a hardware reset V123 .............................................. 170
2.5.55 RTKANTENNA Specify L1 phase center (PC) or ARP and enable/disable PC
modelling V123_RT20 or V23_RT2 .................................................... 171
2.5.56 RTKCOMMAND Reset or set the RTK filter to its defaults
V123_RT20 or V23_RT2 ..................................................................... 173
2.5.57 RTKDYNAMICS Set the RTK dynamics mode V123_RT20 or
V23_RT2 ................................................................................................ 174
2.5.58 RTKELEVMASK Set the RTK elevation mask V123_RT20 or
V23_RT2 ................................................................................................ 175
2.5.59 RTKNETWORK Specify the RTK network mode V123_RT20 or
V23_RT2 ................................................................................................ 176
2.5.60 RTKQUALITYLEVEL Choose an RTK quality mode V23_RT2 .......... 179
2.5.61 RTKSOURCE Set the RTK correction source V1G23_G,
V123_RT20, V23_RT2 or V3_HP ..................................................... 180
2.5.62 RTKSVENTRIES Set number of satellites in corrections V123_RT20,
V23_RT2 or V3_HP ............................................................................. 182
2.5.63 RTKTIMEOUT Set maximum age of RTK data V123_RT20,
V23_RT2 ................................................................................................ 183
2.5.64 SATCUTOFF Limit the number of satellites tracked V123 ..................... 184
2.5.65 SAVECONFIG Save current configuration in NVM V123 .................... 186
2.5.66 SBASCONTROL Set SBAS test mode and PRN V123_SBAS .......... 186
2.5.67 SEND Send an ASCII message to a COM port V123.......................... 189
2.5.68 SENDHEX Send non-printable characters in hex pairs V123.............. 191
2.5.69 SETAPPROXPOS Set an approximate position V123 ........................ 192
2.5.70 SETAPPROXTIME Set an approximate GPS time V123 .................... 193
2.5.71 SETBESTPOSCRITERIA Selection criteria for BESTPOS V123 ........ 195
2.5.72 SETDIFFCODEBIASES Set satellite differential code biases V123 .... 196
2.5.73 SETIONOTYPE Enable ionospheric models V123 .............................. 197
2.5.74 SETNAV Set start and destination waypoints V123 ............................ 198
2.5.75 SETRTCM16 Enter ASCII text for RTCM data stream V123_DGPS . 200
2.5.76 SETRTCM36 Enter ASCII text with Russian characters V1G23_G .... 201
2.5.77 SETRTCMRXVERSION Set the RTCM Standard input expected
V1G23_G ............................................................................................... 203
2.5.78 STATUSCONFIG Configure RXSTATUSEVENT mask fields V123 .... 204
2.5.79 TUNNELESCAPE Break out of an established tunnel V123 ............... 206
2.5.80 UNASSIGN Unassign a previously assigned channel V123................ 208
2.5.81 UNASSIGNALL Unassign all previously assigned channels V123 ...... 209
2.5.82 UNDULATION Choose undulation V123 ............................................. 210
2.5.83 UNLOCKOUT Reinstate a satellite in the solution V123 ..................... 212
2.5.84 UNLOCKOUTALL Reinstate all previously locked out satellites V123 213
2.5.85 UNLOG Remove a log from logging control V123 ............................... 213
2.5.86 UNLOGALL Remove all logs from logging control V123 ..................... 215
2.5.87 USERDATUM Set user-customized datum V123 ................................ 216
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2.5.88 USEREXPDATUM Set custom expanded datum V123 ...................... 218
2.5.89 UTMZONE Set UTM parameters V123 ............................................... 220
2.5.90 WAASECUTOFF Set SBAS satellite elevation cut-off V123_SBAS . 222
2.5.91 WAASTIMEOUT Set WAAS position time out V123_SBAS .......... 223

3 Data Logs

224

3.1 Log Types........................................................................................................... 224
3.1.1 Log Type Examples .................................................................................. 225
3.2 Logs By Function................................................................................................ 225
3.3 Log Reference .................................................................................................... 248
3.3.1 ALMANAC Decoded Almanac V123 ..................................................... 248
3.3.2 AVEPOS Position Averaging V123 ....................................................... 250
3.3.3 BESTPOS Best Position V123 .............................................................. 252
3.3.4 BESTUTM Best Available UTM Data V123 ........................................... 257
3.3.5 BESTVEL Best Available Velocity Data V123 ....................................... 260
3.3.6 BESTXYZ
Best Available Cartesian Position and Velocity V123 ...... 263
3.3.7 BSLNXYZ RTK XYZ Baseline V23_RT2_RT2_LITE or
V3_RT20_HP ....................................................................................... 267
3.3.8 CLOCKMODEL Current Clock Model Status V123 ............................... 270
3.3.9 CLOCKSTEERING Clock Steering Status V123 ................................... 273
3.3.10 CMR Standard Logs V123_RT20 or V23_RT2 .................................. 276
3.3.11 CMRDATADESC Base Station Description V123_RT20 or
V23_RT2................................................................................................ 279
3.3.12 CMRDATAGLOOBS CMR Data GLONASS Observations
V123_RT20 or V23_RT2 .................................................................... 281
3.3.13 CMRDATAOBS Base Station Satellite Observations
V123_RT20 or V23_RT2 .................................................................... 284
3.3.14 CMRDATAREF Base Station Position V123_RT20 or V23_RT2 .... 287
3.3.15 CMRPLUS CMR+ Output Message V123_RT20 or V23_RT2 ........ 290
3.3.16 COMCONFIG Current COM Port Configuration V123 ........................ 292
3.3.17 DIFFCODEBIASES Differential code biases being applied V123 ....... 294
3.3.18 EXTRXHWLEVELS Extended Receiver Hardware Levels V3_G ....... 295
3.3.19 GLMLA NMEA GLONASS Almanac Data V1G23_G ...................... 296
3.3.20 GLOALMANAC Decoded Almanac V1G23_G ................................... 298
3.3.21 GLOCLOCK GLONASS Clock Information V1G23_G ....................... 300
3.3.22 GLOEPHEMERIS GLONASS Ephemeris Data V1G23_G ................. 302
3.3.23 GLORAWALM Raw GLONASS Almanac Data V1G23_G ................. 306
3.3.24 GLORAWEPHEM Raw GLONASS Ephemeris Data V1G23_G ........ 308
3.3.25 GLORAWFRAME Raw GLONASS Frame Data V1G23_G ............... 310
3.3.26 GLORAWSTRING Raw GLONASS String V1G23_G ........................ 312
3.3.27 GPALM Almanac Data V123_NMEA ................................................ 313
3.3.28 GPGGA GPS Fix Data and Undulation V123_NMEA ....................... 315
3.3.29 GPGGALONG Fix Data, Extra Precision and Undulation
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V123_NMEA ......................................................................................... 317
3.3.30 GPGGARTK Global Position System Fix Data V123_NMEA ............ 319
3.3.31 GPGLL Geographic Position V123_NMEA ....................................... 321
3.3.32 GPGRS GPS Range Residuals for Each Satellite V123_NMEA....... 323
3.3.33 GPGSA GPS DOP and Active Satellites V123_NMEA ..................... 325
3.3.34 GPGST Pseudorange Measurement Noise Statistics V123_NMEA . 327
3.3.35 GPGSV GPS Satellites in View V123_NMEA ................................... 329
3.3.36 GPHDT NMEA Heading Log ALIGN................................................ 331
3.3.37 GPRMB Navigation Information V123_NMEA................................... 332
3.3.38 GPRMC GPS Specific Information V123_NMEA .............................. 334
3.3.39 GPSEPHEM Decoded GPS Ephemerides V123 ................................. 336
3.3.40 GPVTG Track Made Good And Ground Speed V123_NMEA........... 340
3.3.41 GPZDA UTC Time and Date V123_NMEA ....................................... 342
3.3.42 HEADING Heading Information V123_ALIGN................................ 343
3.3.43 IONUTC Ionospheric and UTC Data V123 .......................................... 345
3.3.44 LBANDINFO L-band Configuration Information V13_VBS,
V3_HP or V13_CDGPS ...................................................................... 347
3.3.45 LBANDSTAT L-band Status Information V13_VBS, V3_HP or
V13_CDGPS .......................................................................................... 350
3.3.46 LOGLIST List of System Logs V123 .................................................... 356
3.3.47 MARKPOS, MARK2POS Position at Time of Mark Input Event V123. 359
3.3.48 MARKTIME, MARK2TIME Time of Mark Input Event V123 ................ 361
3.3.49 MASTERPOS Master Position using ALIGN V123_ALIGN ............. 363
3.3.50 MATCHEDPOS Matched RTK Position V123_RT20, V23_RT2 or
V3_HP .................................................................................................... 365
3.3.51 MATCHEDXYZ Matched RTK Cartesian Position V123_RT20,
V23_RT2 or V3_HP ............................................................................. 367
3.3.52 NAVIGATE User Navigation Data V123 .............................................. 369
3.3.53 NMEA Standard Logs V123_NMEA ................................................. 373
3.3.54 OMNIHPPOS OmniSTAR HP/XP Position V3_HP ............................. 375
3.3.55 OMNIVIS Omnistar Satellite Visibility List V3_HP or V13_VBS .... 377
3.3.56 PASSCOM, PASSXCOM, PASSAUX, PASSUSB Redirect Data
V123 ........................................................................................................ 379
3.3.57 PDPPOS PDP filter position V123 .................................................... 383
3.3.58 PDPVEL PDP filter velocity V123...................................................... 384
3.3.59 PDPXYZ PDP filter Cartesian position and velocity V123................. 385
3.3.60 PORTSTATS Port Statistics V123 ....................................................... 387
3.3.61 PSRDOP Pseudorange DOP V123 ..................................................... 389
3.3.62 PSRPOS Pseudorange Position V123 ................................................ 391
3.3.63 PSRTIME Time Offsets from the Pseudorange Filter V123................. 393
3.3.64 PSRVEL Pseudorange Velocity V123 ................................................. 394
3.3.65 PSRXYZ Pseudorange Cartesian Position and Velocity V123 ............ 396
3.3.66 RANGE Satellite Range Information V123 .......................................... 399
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3.3.67 RANGECMP Compressed Version of the RANGE Log V123 ............. 404
3.3.68 RANGEGPSL1 L1 Version of the RANGE Log V123 .......................... 407
3.3.69 RAWALM Raw Almanac Data V123 ................................................... 409
3.3.70 RAWEPHEM Raw Ephemeris V123 ................................................... 411
3.3.71 RAWGPSSUBFRAME Raw Subframe Data V123 .............................. 413
3.3.72 RAWGPSWORD Raw Navigation Word V123 .................................... 415
3.3.73 RAWLBANDFRAME Raw L-band Frame Data V13_CDGPS............ 416
3.3.74 RAWLBANDPACKET Raw L-band Data Packet V13_VBS or
V3_HP ................................................................................................... 418
3.3.75 RAWWAASFRAME Raw SBAS Frame Data V123_SBAS ................ 419
3.3.76 REFSTATION Base Station Position and Health V123_RT20 or
V23_RT2................................................................................................ 420
3.3.77 ROVERPOS Rover Position using ALIGN V123_ALIGN.............. 422
3.3.78 RTCA Standard Logs V123_DGPS ...................................................... 424
3.3.79 RTCADATA1 Differential GPS Corrections V123_DGPS .................. 426
3.3.80 RTCADATAEPHEM Ephemeris and Time Information
V123_DGPS .......................................................................................... 429
3.3.81 RTCADATAOBS Base Station Observations V123_RT20 or
V23_RT2................................................................................................ 431
3.3.82 RTCADATA2OBS Base Station Observations 2 V123_RT20 or
V23_RT2................................................................................................ 433
3.3.83 RTCADATAREF Base Station Parametres V123_RT20 or
V23_RT2................................................................................................ 436
3.3.84 RTCM Standard Logs DGPS ................................................................. 438
3.3.85 RTCMDATA1 Differential GPS Corrections V123_DGPS ................. 444
3.3.86 RTCMDATA3 Base Station Parametres V123_RT20 or
V23_RT2................................................................................................ 447
3.3.87 RTCMDATA9 Partial Differential GPS Corrections V23_DGPS ........ 449
3.3.88 RTCMDATA15 Ionospheric Corrections V123_DGPS ....................... 452
3.3.89 RTCMDATA16 Special Message V123_DGPS ................................. 454
3.3.90 RTCMDATA1819 Raw Measurements V123_RT20 or V23_RT2 ... 456
3.3.91 RTCMDATA2021 Measurement Corrections V123_RT20 or
V23_RT2................................................................................................ 462
3.3.92 RTCMDATA22 Extended Base Station V123_RT20 V23_RT2 ....... 466
3.3.93 RTCMDATA22GG Extended Base Station for GLONASS
V1G23_G_RT20/ _RT2 ....................................................................... 468
3.3.94 RTCMDATA23 Antenna Type Definition V123_RT20 V23_RT2...... 470
3.3.95 RTCMDATA24 Antenna Reference Point (ARP) V123_RT20
V23_RT2................................................................................................ 472
3.3.96 RTCMDATA31 GLONASS Differential Corrections V1G23_G and
V123_RT20 or V23_RT2 .................................................................... 474
3.3.97 RTCMDATA32 GLONASS Base Station Parametres V1G23_G and
V123_RT20 or V23_RT2 .................................................................... 476
3.3.98 RTCMDATA36 Special Message V1G23_G ...................................... 477
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3.3.99 RTCMDATA59 Type 59N-0 NovAtel RT20 V123_RT20 or
V23_RT2 ................................................................................................ 479
3.3.100 RTCMDATA59GLO NovAtel Proprietary GLONASS Differential Corrections V1G23_G and V123_DGPS ....................................................... 481
3.3.101 RTCMDATACDGPS1 Localized CDGPS Corrections in RTCM1 ............
V13_CDGPS .......................................................................................... 483
3.3.102 RTCMDATACDGPS9 CDGPS Corrections in RTCM9 Format
V13_CDGPS .......................................................................................... 484
3.3.103 RTCMDATAOMNI1 RTCM1 from OmniSTAR VBS V13_VBS ........... 486
3.3.104 RTCMV3 RTCMV3 Standard Logs V123_RT20 V23_RT2 ............ 488
3.3.105 RTCMDATA1001 L1-Only GPS RTK Observables V123_RT20
V23_RT2 ................................................................................................ 492
3.3.106 RTCMDATA1002 Extended L1-Only GPS RTK Observables
V123_RT20 V23_RT2 .......................................................................... 496
3.3.107 RTCMDATA1003 L1/L2 GPS RTK Observables
V123_RT20 V23_RT2 .......................................................................... 498
3.3.108 RTCMDATA1004 Expanded L1/L2 GPS RTK Observables
V123_RT20 V23_RT2 .......................................................................... 500
3.3.109 RTCMDATA1005 Base Station Antenna Reference Point (ARP)
V123_RT20 V23_RT2 .......................................................................... 503
3.3.110 RTCMDATA1006 Base Station ARP with Antenna Height
V123_RT20 V23_RT2 .......................................................................... 505
3.3.111 RTCMDATA1007 Extended Antenna Descriptor and Setup Information
V123_RT20 V23_RT2 .......................................................................... 507
3.3.112 RTCMDATA1008 Extended Antenna Descriptor and Setup Information
V123_RT20 V23_RT2 .......................................................................... 509
3.3.113 RTCMDATA1009 GLONASS L1-Only RTK
V123_RT20 V23_RT2 .......................................................................... 511
3.3.114 RTCMDATA1010 Extended L1-Only GLONASS RTK
V123_RT20 V23_RT2 .......................................................................... 514
3.3.115 RTCMDATA1011 GLONASS L1/L2 RTK V123_RT20 V23_RT2 ... 516
3.3.116 RTCMDATA1012 Extended GLONASS L1/L2 RTK V123_RT20
V23_RT2 ................................................................................................ 518
3.3.117 RTCMDATA1019 GPS Ephemeris V123_RT20 V23_RT2 ............. 521
3.3.118 RTCMDATA1020 GLONASS Ephemeris V123_RT20 V23_RT2 ... 525
3.3.119 RTKDATA RTK Solution Parametres V123_RT20 V23_RT2 ......... 531
3.3.120 RTKDOP DOP Values from the RTK Fast Filter
V123_RT20 V23_RT2 .......................................................................... 537
3.3.121 RTKPOS RTK Low Latency Position Data V123_RT20 V23_RT2 ... 538
3.3.122 RTKVEL RTK Velocity V123_RT20 V23_RT2 ................................ 540
3.3.123 RTKXYZ RTK Cartesian Position and Velocity
V123_RT20 V23_RT2 .......................................................................... 542
3.3.124 RXCONFIG Receiver Configuration V123 ......................................... 545
3.3.125 RXHWLEVELS Receiver Hardware Levels V3 .................................. 547
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3.3.126 RXSTATUS Receiver Status V123 ................................................... 549
3.3.127 RXSTATUSEVENT Status Event Indicator V123 .............................. 557
3.3.128 SATVIS Satellite Visibility V123 ...................................................... 559
3.3.129 SATXYZ SV Position in ECEF Cartesian Coordinates V123 ............ 561
3.3.130 TIME Time Data V123 ....................................................................... 563
3.3.131 TIMESYNC Synchronize Time Between GPS Receivers V123 ........ 565
3.3.132 TRACKSTAT Tracking Status V123 .................................................. 566
3.3.133 VALIDMODELS Valid Model Information V123 ................................... 569
3.3.134 VERSION Version Information V123 ................................................. 570
3.3.135 WAAS0 Remove PRN from Solution V123_SBAS........................... 574
3.3.136 WAAS1 PRN Mask Assignments V123_SBAS ................................ 575
3.3.137 WAAS2 Fast Correction Slots 0-12 V123_SBAS ............................. 576
3.3.138 WAAS3 Fast Corrections Slots 13-25 V123_SBAS ......................... 580
3.3.139 WAAS4 Fast Correction Slots 26-38 V123_SBAS ........................... 583
3.3.140 WAAS5 Fast Correction Slots 39-50 V123_SBAS ........................... 586
3.3.141 WAAS6 Integrity Message V123_SBAS .......................................... 589
3.3.142 WAAS7 Fast Correction Degradation V123_SBAS.......................... 593
3.3.143 WAAS9 GEO Navigation Message V123_SBAS ............................. 597
3.3.144 WAAS10 Degradation Factor V123_SBAS ...................................... 599
3.3.145 WAAS12 SBAS Network Time and UTC V123_SBAS..................... 601
3.3.146 WAAS17 GEO Almanac Message V123_SBAS .............................. 603
3.3.147 WAAS18 IGP Mask V123_SBAS ..................................................... 605
3.3.148 WAAS24 Mixed Fast/Slow Corrections V123_SBAS ....................... 606
3.3.149 WAAS25 Long-Term Slow Satellite Corrections V123_SBAS ......... 609
3.3.150 WAAS26 Ionospheric Delay Corrections V123_SBAS..................... 612
3.3.151 WAAS27 SBAS Service Message V123_SBAS............................... 614
3.3.152 WAAS32 CDGPS Fast Correction Slots 0-10 V13_CDGPS ............ 616
3.3.153 WAAS33 CDGPS Fast Correction Slots 11-21 V13_CDGPS .......... 619
3.3.154 WAAS34 CDGPS Fast Correction Slots 22-32 V13_CDGPS .......... 621
3.3.155 WAAS35 CDGPS Fast Correction Slots 33-43 V13_CDGPS .......... 623
3.3.156 WAAS45 CDGPS Slow Corrections V13_CDGPS .......................... 625
3.3.157 WAASCORR SBAS Range Corrections Used V123_SBAS ............ 627

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1PPS Alignment ........................................................................................................56
ADJUST1PPS Connections ......................................................................................58
Pulse Width and 1PPS Coherency ..........................................................................121
Illustration of Magnetic Variation & Correction ........................................................148
TTL Pulse Polarity ...................................................................................................150
Moving Base Station ‘Daisy Chain’ Effect ...............................................................154
Using the SEND Command .....................................................................................190
Illustration of SETNAV Parameters .........................................................................198
Illustration of Undulation ..........................................................................................210
The WGS84 ECEF Coordinate System ...................................................................265
Navigation Parametres ............................................................................................368
Pass-Through Log Data ..........................................................................................380
50 Hz Logging Example in CDU ..............................................................................570

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11

Tables
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43

12

Field Types .................................................................................................................18
Byte Arrangements.....................................................................................................19
ASCII Message Header Structure ..............................................................................21
Binary Message Header Structure .............................................................................23
Detailed Serial Port Identifiers ....................................................................................25
Binary Message Response Structure .........................................................................28
Binary Message Sequence.........................................................................................29
GPS Time Status .......................................................................................................30
Communications, Control and Status Functions ........................................................36
OEMV Family Commands in Alphabetical Order .......................................................40
OEMV Commands in Numerical Order ......................................................................46
Channel State.............................................................................................................64
OEMV Channel Configurations ..................................................................................65
Channel System .........................................................................................................67
L-band Mode ..............................................................................................................70
Time Out Mode...........................................................................................................77
COM Serial Port Identifiers.........................................................................................87
Parity ..........................................................................................................................87
Handshaking...............................................................................................................88
Tx, DTR and RTS Availability .....................................................................................90
Reference Ellipsoid Constants ...................................................................................96
Datum Transformation Parameters ............................................................................97
User Dynamics .........................................................................................................108
Clock Type................................................................................................................113
Pre-Defined Values for Oscillators ...........................................................................113
FIX Parameters ........................................................................................................115
Fix Types ..................................................................................................................116
FL2 Code Type.........................................................................................................119
FRESET Target ........................................................................................................124
Seeding Mode ..........................................................................................................131
Serial Port Interface Modes ......................................................................................136
NMEA Talkers ..........................................................................................................156
DGPS Type ..............................................................................................................167
Pseudorange Velocity Type......................................................................................169
Dynamics Mode........................................................................................................174
Network RTK Mode ..................................................................................................177
RTK Quality Mode ....................................................................................................179
System Types...........................................................................................................187
Selection Type..........................................................................................................195
Ionospheric Correction Models.................................................................................197
Russian Alphabet Characters (Ch) in Decimal (Dec) and Hexadecimal (Hex).........202
Mask Types ..............................................................................................................205
UTM Zone Commands .............................................................................................221

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Tables

44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86

SBAS Time Out Mode ..............................................................................................223
Log Type Triggers ....................................................................................................224
Logs By Function .....................................................................................................226
OEMV Family Logs in Alphabetical Order ................................................................233
OEMV Family Logs in Order of their Message IDs...................................................240
Position Averaging Status ........................................................................................249
Position or Velocity Type ..........................................................................................252
Solution Status .........................................................................................................253
Signal-Used Mask ....................................................................................................254
Extended Solution Status .........................................................................................254
Clock Model Status...................................................................................................269
Clock Source ............................................................................................................272
Steering State...........................................................................................................273
Position Accuracy .....................................................................................................286
GLONASS Ephemeris Flags Coding........................................................................302
Bits 0 - 1: P1 Flag Range Values .............................................................................302
Position Precision of NMEA Logs.............................................................................320
NMEA Positioning System Mode Indicator ...............................................................331
URA Variance...........................................................................................................336
L-band Subscription Type.........................................................................................346
L-band Signal Tracking Status .................................................................................350
OmniSTAR VBS Status Word ..................................................................................351
OmniSTAR HP/XP Additional Status Word ..............................................................352
OmniSTAR HP/XP Status Word...............................................................................353
Navigation Data Type ...............................................................................................368
Tracking State ..........................................................................................................399
Correlator Type.........................................................................................................400
Channel Tracking Example ......................................................................................400
Channel Tracking Status ..........................................................................................400
Range Record Format (RANGECMP only) ..............................................................404
Base Station Status ..................................................................................................419
Base Station Type ....................................................................................................419
RTCAOBS2 Satellite Type Offsets ...........................................................................432
RTCM1819 Data Quality Indicator............................................................................457
RTCM1819 Smoothing Interval ................................................................................457
RTCM1819 Multipath Indicator.................................................................................458
RTCM2021 Data Quality Indicator............................................................................462
RTCM2021 Multipath Indicator.................................................................................462
SBAS PRN Codes ....................................................................................................491
Carrier Smoothing Interval of Code Phase...............................................................492
Lock Time Indicator ..................................................................................................492
GLONASS L1 and L2 Frequencies ..........................................................................511
SV Accuracy .............................................................................................................520

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Tables

87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109

14

GLONASS Ephemeris Word P1 .............................................................................. 524
M-Satellite User Range Accuracy ............................................................................ 524
To Obtain a Fixed Ambiguity Solution...................................................................... 530
To Maintain a Fixed Ambiguity Solution................................................................... 530
Searcher Type ......................................................................................................... 532
Ambiguity Type ........................................................................................................ 532
RTK Information ....................................................................................................... 533
Receiver Hardware Parametres .............................................................................. 546
Receiver Error .......................................................................................................... 549
Receiver Status........................................................................................................ 551
Auxiliary 1 Status ..................................................................................................... 553
Auxiliary 2 Status ..................................................................................................... 553
Auxiliary 3 Status ..................................................................................................... 553
Status Word ............................................................................................................. 557
Event Type ............................................................................................................... 557
Range Reject Code.................................................................................................. 566
Model Designators ................................................................................................... 570
Component Types.................................................................................................... 571
VERSION Log: Field Formats .................................................................................. 571
50 Hz-Capable Hardware Versions ......................................................................... 571
Evaluation of UDREI ................................................................................................ 576
Evaluation of CDGPS UDREI .................................................................................. 616
Response Messages ............................................................................................... 628

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Foreword
Foreword

Congratulations!
Congratulations on purchasing a NovAtel product. Whether you have bought a stand alone OEM card
or a packaged receiver you will have also received companion documents to this manual. They will
help you get the hardware operational. Afterwards, this text will be your primary OEMV family
command and logging reference.
All OEMV products are equipped with our AdVance® RTK engine for RT-2™ and RT-20® (GPSonly or GPS + GLONASS). This means a lower ambiguity error rate, faster narrow lane convergence
(even at long baseline lengths) and more fixes in a wider range of conditions.

Scope
This manual describes each command and log that the OEMV family of receivers are capable of
accepting or generating. Sufficient detail is provided so that you should understand the purpose,
syntax, and structure of each command or log and be able to effectively communicate with the
receiver, thus enabling you to effectively use and write custom interfacing software for specific needs
and applications. The manual is organized into chapters which allow easy access to appropriate
information about the receiver.
There is Satellite Based Augmentation System (SBAS) signal functionality on OEMV-1, OEMV-2
and OEMV-3 products. Also, OEMV-2 and OEMV-3 products support GLONASS measurements
while OEMV-1 and OEMV-3 cards are L-band capable. Please refer to the SBAS Overview and the
Real Time Kinematic (RTK) sections in the OEMV Family Installation and Operation User Manual,
the GNSS Reference Book and the Conventions section below for more information. All three also
support NMEA, DGPS and RTK. If you have any of these options and wish to learn more about them,
please refer to the GNSS Reference Book, available on our Web site at http://www.novatel.com/
support/docupdates.htm, and see their associated sections in this manual. Commands and logs are
tagged to be easily recognizable for cards and options. These tags are shown in more detail in the
Conventions section starting below.
This manual does not address any of the receiver hardware attributes or installation information.
Please consult the OEMV Family Installation and Operation User Manual for technical information
on these topics. Furthermore, should you encounter any functional, operational, or interfacing
difficulties with the receiver, consult the same manual for NovAtel warranty and support information.

Conventions
This manual covers the full performance capabilities of all the OEMV family of receivers. Featuretagging symbols have been created to help clarify which commands and logs are only available with
certain cards and options. The tags are in the title of the command or log and also appear in tables
where features are mentioned as footnotes. The numbering at the start of the tag indicates V followed
by 1 for OEMV-1, 2 for OEMV-2 and 3 for OEMV-3 while the lettering suffix is described below:
V123

Features available on OEMV-1, OEMV-1G, OEMV-2 or OEMV-3-based
products. If a feature isn’t available, its card number is omitted, for example,
V23, V13 or V3.

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

15

Foreword
V123_RT20
V23_RT2
V123_DGPS
V123_NMEA
V123_SBAS
V3_HP
V13_VBS
V13_CDGPS

Features available only with receivers equipped with the RT-20 option

Features available only with receivers equipped with the RT-2 option
Feature used when operating in differential mode
National Marine Electronics Association format
SBAS messages available when tracking an SBAS satellite1
OmniSTAR high performance (HP), extra performance (XP) and virtual base
station (VBS) available with an OmniSTAR subscription1
OmniSTAR VBS available with an OmniSTAR subscription
The free Canada-Wide Differential Global Positioning System (CDGPS)
available without a subscription1

V1G23_G
V3_G

GLONASS positioning1 and RT2 L1TE available
Available only on OEMV-3-based products with the GLONASS option

V23_L2C
ALIGN ®

Capable of receiving the L2C signal1
Available only on ALIGN-capable models, see also Heading on page 342

Other simple conventions are:
This is a notebox that contains important information before you use a command or log.

This is a usage box that contains additional information or examples.
•

•

16

Command defaults:
•

The factory defaults for commands are shown in Section 2.4, Factory Defaults on page
54. Each factory default is also shown after the syntax but before the example of each
command description starting on page 57.

•

The default values used by the OEMV family for optional fields, if you use a command
without entering optional parameter values, if applicable, is given in each command
table.

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

•

The number following 0x is a hexadecimal number.

•

Default values shown in command tables indicate the assumed values when
optional parameters have been omitted. Default values do not imply the factory
default settings, see Chapter 2, page 54 for a list of factory default settings.

•

Command descriptions’ brackets, [ ], represent the parameter options.

•

In tables where values are missing they are assumed to be reserved for future use.

1.

Refer to the GNSS Reference Book, available on our Web site at
http://www.novatel.com/support/docupdates.htm
OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Foreword
•

Status words are output as hexadecimal numbers and must be converted to binary
format (and in some cases then also to decimal). For an example of this type of
conversion, please see the RANGE log, Table 71 on page 400.
Conversions and their binary or decimal results are always read from right to left. For a
complete list of hexadecimal, binary and decimal equivalents, please refer to the Unit
Conversion section of the GNSS Reference Book, available on our Web site at
http://www.novatel.com/support/docupdates.htm.

•

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.

•

The terms OEMV-1, OEMV-2 and OEMV-3 will not be used in this manual unless a
specific detail refers to it alone. The term receiver will infer that the text is
applicable to an OEMV-1, OEMV-2 or OEMV-3, either stand-alone or in an
enclosure, unless otherwise stated.

•

Relevant SBAS commands and logs start with WAAS except for
RAWWAASFRAME. Generally, the PRN field of the WAASx logs is common, and
indicates the SBAS satellite that the message originated from. Please refer to the
RTCA document RTCA D0-229B, Appendix A Wide Area Augmentation System
Signal Specification for details.

What’s New in Rev 8 of this Manual?
This manual has been revised and includes information on the following:
• New commands, including IONOCONDITION, SATCUTOFF and
SETRTCMRXVERSION
• Expanded function for the RTKNETWORK command
Revision 8 also includes formatting , cross reference and link updates.
You can download the most up-to-date version of this manual, and any addendums, from the support/
docupdates.htm section of the NovAtel Web site at www.novatel.com.

Prerequisites
As this reference manual is focused on the OEMV family commands and logging protocol, it is
necessary to ensure that the receiver has been properly installed and powered up according to the
instructions outlined in the companion OEMV Family Installation and Operation User Manual before
proceeding.

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

17

Chapter 1
1.1

Messages

Message Types
The receiver handles incoming and outgoing NovAtel data in three different message formats:
Abbreviated ASCII, ASCII, and Binary. This allows for a great deal of versatility in the way the
OEMV family receivers can be used. All NovAtel commands and logs can be entered, transmitted,
output or received in any of the three formats. The receiver also supports RTCA, RTCMV3, RTCM,
CMR, CMRPLUS and NMEA format messaging, see the chapter on Message Formats in the OEMV
Family Installation and Operation User Manual.
When entering an ASCII or abbreviated ASCII command in order to request an output log, the
message type is indicated by the character appended to the end of the message name. ‘A’ indicates that
the message is ASCII and ‘B’ indicates that it is binary. No character means that 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, see Binary on page 22.
Table 1, below, describes the field types used in the description of messages.
Table 1: Field Types
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 that 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 that 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.

Continued on page 19.

18

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Messages

Type

Chapter 1
Binary
Size
(bytes)

Description

Float

4

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

Enum

4

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

GPSec

4

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

Hex

n

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

String

n

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

Table 2: Byte Arrangements
7

0

char
address n
15

7

0

short
n + 1 address n
31

23

15

7

long

double

float

0
tw o's compliment

n+3
n+2
n+1
63 62
52 51
S Biased Exponent|

address n
0
52-bits mantissa

n+7
n+6
n+5
n+4
n+3
31 30
23 22
0
S Biased Exponent| 23-bits mantissa
n+3
n+2
n + 1 address n

n+2

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

n+1

address n

19

Chapter 1

Messages

Table 2 shows the arrangement of bytes within each field type when used by IBM PC computers. All
data sent to or from the OEMV family receiver, however, is read least significant bit (LSB) first,
opposite to what is shown in Table 2. 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 71, Channel
Tracking Example on page 400 for a more detailed example.

1.1.1

ASCII

ASCII messages are readable by both the user and a computer. The structures of all ASCII messages
follow the general conventions as noted here:
1.

The lead code identifier for each record is '#'.

2.

Each log or command is of variable length depending on amount of data and formats.

3.

All data fields are delimited by a comma ',' with two exceptions. The first exception is the
last header field which is followed by a ‘;’ to denote the start of the data message. The
other 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 four checksum digits. See 1.7, 32-Bit CRC on
page 32 for the algorithm used to generate the CRC.

5.

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, for example, “xxx,xxx” is one field. Double
quotation marks within a string are not allowed.

6.

If the receiver detects an error parsing an input message, it will return an error response
message. Please see Chapter 4, Responses on page 628 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 3 on the next page.

20

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Messages

Chapter 1
Table 3: ASCII Message Header Structure

Field
#

Field Name

Field Type

1

Sync

Char

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

N

2

Message

Char

This is the ASCII name of the log or command (lists
are in Table 10, page 40 and Table 47, page 233).

N

3

Port

Char

This is 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

4

Sequence #

Long

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

N

5

% Idle Time

Float

The minimum percentage of time that the processor
is idle between successive logs with the same
Message ID.

Y

6

GPS Time
Status

Enum

This value indicates the quality of the GPS time (see
Table 8, GPS Time Status on page 30)

Y

7

Week

Ulong

GPS week number.

Y

8

Seconds

GPSec

Seconds from the beginning of the GPS week
accurate to the millisecond level.

Y

9

Receiver
Status

Ulong

This is an eight digit hexadecimal number
representing the status of various hardware and
software components of the receiver between
successive logs with the same Message ID (see
Table 96, Receiver Status on page 551).

Y

10

Reserved

Ulong

Reserved for internal use.

Y

11

Receiver
s/w Version

Ulong

This is a value (0 - 65535) that represents the
receiver software build number.

Y

12

;

Char

This character indicates the end of the header.

N

Description

Ignored
on Input

Example Log:
#RAWEPHEMA,COM1,0,35.0,SATTIME,1364,496230.000,00100000,97b7,2310;
30,1364,496800,8b0550a1892755100275e6a09382232523a9dc04ee6f794a0000090394ee,8b05
50a189aa6ff925386228f97eabf9c8047e34a70ec5a10e486e794a7a,8b0550a18a2effc2f80061c
2fffc267cd09f1d5034d3537affa28b6ff0eb*7a22f279

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

21

Chapter 1

1.1.2

Messages

Abbreviated ASCII

This message format is designed to make the entering and viewing of commands and logs by the user
as simple as possible. The data is represented as simple ASCII characters separated by spaces or
commas and arranged in an easy to understand fashion. There is also no 32-bit CRC for error
detection because it is meant for viewing by the user.
Example Command:
log com1 loglist

Resultant Log:
 0; j-- )
{
if ( ulCRC & 1 )
ulCRC = ( ulCRC >> 1 ) ^ CRC32_POLYNOMIAL;
else
ulCRC >>= 1;
}
return ulCRC;
}
/* -------------------------------------------------------------------------Calculates the CRC-32 of a block of data all at once
-------------------------------------------------------------------------- */
unsigned long CalculateBlockCRC32(
unsigned long ulCount,

/* Number of bytes in the data block */

unsigned char *ucBuffer ) /* Data block */
{
unsigned long ulTemp1;
unsigned long ulTemp2;
unsigned long ulCRC = 0;
while ( ulCount-- != 0 )

32

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Messages

Chapter 1
{
ulTemp1 = ( ulCRC >> 8 ) & 0x00FFFFFFL;
ulTemp2 = CRC32Value( ((int) ulCRC ^ *ucBuffer++ ) & 0xff );
ulCRC = ulTemp1 ^ ulTemp2;
}
return( ulCRC );
}

The NMEA checksum is an XOR of all the bytes (including delimiters such as ',' but
excluding the * and $) in the message output. It is therefore an 8-bit and not a 32-bit
checksum.
At the time of writing, a log may not yet be available. Every effort is made to ensure that examples are
correct, however, a checksum may be created for promptness in publication. In this case it will appear
as ‘9999’.
Example:
BESTPOSA and BESTPOSB from an OEMV family receiver.
ASCII:
#BESTPOSA,COM1,0,78.0,FINESTEERING,1427,325298.000,00000000,6145,2748;
SOL_COMPUTED,SINGLE,51.11678928753,-114.03886216575,1064.3470,-16.2708,
WGS84,2.3434,1.3043,4.7300,"",0.000,0.000,7,7,0,0,0,06,0,03*9c9a92bb

BINARY:
0xaa, 0x44, 0x12, 0x1c 2a, 0x00, 0x02, 0x20, 0x48, 0x00, 0x00, 0x00, 0x90, 0xb4, 0x93,
0x05, 0xb0, 0xab, 0xb9, 0x12, 0x00, 0x00, 0x00, 0x00, 0x45, 0x61, 0xbc, 0x0a, 0x00,
0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x1b, 0x04, 0x50, 0xb3, 0xf2, 0x8e, 0x49,
0x40, 0x16, 0xfa, 0x6b, 0xbe, 0x7c, 0x82, 0x5c, 0xc0, 0x00, 0x60, 0x76, 0x9f, 0x44, 0x9f,
0x90, 0x40, 0xa6, 0x2a, 0x82, 0xc1, 0x3d, 0x00, 0x00, 0x00, 0x12, 0x5a, 0xcb, 0x3f, 0xcd,
0x9e, 0x98, 0x3f, 0xdb, 0x66, 0x40, 0x40, 0x00, 0x30, 0x30, 0x30, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x0b, 0x0b, 0x00, 0x00, 0x00, 0x06, 0x00, 0x03,
0x42, 0xdc,0x4c, 0x48
Below is a demonstration of how to generate the CRC from both ASCII and BINARY messages using
the function described above.
When you pass the data into the code that follows, exclude the checksum shown in bold
italics above.

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

33

Chapter 1

Messages

ASCII:
#include 
#include 
void

main()

{
char_*i_=_”BESTPOSA,COM2,0,77.5,FINESTEERING,1285,160578.000,00000020,5941,11
64;
SOL_COMPUTED,SINGLE,51.11640941570,-114.03830951024,1062.6963,-16.2712,
WGS84,1.6890,1.2564,2.7826,\"\",0.000,0.000,10,10,0,0,0,0,0,0";
unsigned long iLen = strlen(i);
unsigned long CRC = CalculateBlockCRC32(iLen, (unsigned char*)i);
cout << hex << CRC <
#include 
int main()
{
unsigned char buffer[] = {0xAA, 0x44, 0x12, 0x1C 2A, 0x00, 0x02,
0x00, 0x00, 0x00, 0x90, 0xB4, 0x93, 0x05, 0xB0, 0xAB, 0xB9, 0x12,
0x00, 0x00, 0x45, 0x61, 0xBC, 0x0A, 0x00, 0x00, 0x00, 0x00, 0x10,
0x00, 0x1B, 0x04, 0x50, 0xB3, 0xF2, 0x8E, 0x49, 0x40, 0x16, 0xFA,
0x7C, 0x82, 0x5C, 0xC0, 0x00, 0x60, 0x76, 0x9F, 0x44, 0x9F, 0x90,
0x2A, 0x82, 0xC1, 0x3D, 0x00, 0x00, 0x00, 0x12, 0x5A, 0xCB, 0x3F,
0x98, 0x3F, 0xDB, 0x66, 0x40, 0x40, 0x00, 0x30, 0x30, 0x30, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x0B, 0x00, 0x00, 0x00, 0x06,

0x20,
0x00,
0x00,
0x6B,
0x40,
0xCD,
0x00,
0x00,

0x48,
0x00,
0x00,
0xBE,
0xA6,
0x9E,
0x00,
0x03};

unsigned long crc = CalculateBlockCRC32(60, buffer);
cout << hex << crc < 4800
psrdiffsource cdgps
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Commands

Use OmniStar VBS
assignlband omnistar  1200
psrdiffsource omnistar
Where  is determined for CDGPS or OmniStar as follows:
1.

CDGPS beam frequency chart:
• East

2.

1547646 or 1547646000

• East-Central

1557897 or 1557897000

• West-Central

1557571 or 1557571000

• West

1547547 or 1547547000

The OmniStar beam frequency chart can be found at http://www.omnistar.com/chart.html.
For example:
Eastern US (Coverage is Northern Canada to southern Mexico) 1530359 or 1530359000

OmniSTAR has changed channels (frequencies) on the AMSC Satellite that broadcasts
OmniSTAR corrections for North America. NovAtel receivers do not need a firmware
change. To change frequencies, connect your receiver and issue an ASSIGNLBAND
command. For example, the Western Beam frequency as stated on Omnistar’s Web site is
1536.7820 MHz. Input into the receiver: assignlband omnistar 1536782 1200

A NovAtel receiver with CDGPS has many advantages over other existing wide area
correction systems. Most importantly, it delivers superior correction signal
penetration, high accuracy and high resolution differential GPS corrections that are
critical to many dynamic positioning applications. In addition, there is no subscription
cost for users of this service. These features make a NovAtel OEMV with CDGPS an
ideal sub-metre positioning system for a wide range of applications including
agriculture, GIS, marine, and unmanned systems.

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Field
Type

Field

ASCII
Value

Binary
Value
-

Binary
Format

Binary
Bytes

Binary
Offset

This field contains the
command name or the
message header depending
on whether the command is
abbreviated ASCII, ASCII or
binary, respectively (see 1.1,
Message Types on page 18).

-

H

0

Description

1

ASSIGNLBAND
header

-

2

mode

See Table 15

Set the mode and enter
specific frequency and baud
rate values

Enum

4

H

3

freq

1525000 to
1560000
or
1525000000 to
1560000000

L-band service beam
frequency of satellite (Hz or
kHz). See also Beam
Frequencies on Page 71.
(default = 1536782 if the mode
is OMNISTAR)

Ulong

4

H+4

4

baud

300, 600, 1200,
2400 or 4800

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

Ulong

4

H+8

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2.5.7

Commands

AUTH

Add authorization code for new model V123

This command is used to add or remove authorization codes from the receiver. Authorization codes
are used to authorize models of software for a receiver. The receiver is capable of keeping track of 5
authorization codes at one time. The MODEL command can then be used to switch between
authorized models. The VALIDMODELS log lists the current available models in the receiver. This
simplifies the use of multiple software models on the same receiver.
If there is more than one valid model in the receiver, the receiver either uses the model of the last auth
code entered via the AUTH command or the model that was selected by the MODEL command,
whichever was done last. Both the AUTH and MODEL commands cause a reset automatically.
Authorization codes are firmware version specific. If the receiver firmware is updated, it is
necessary to acquire new authorization codes for the required models. If you wish to update
the firmware in the receiver, please contact NovAtel Customer Service.

WARNING!:

Removing an authorization code will cause the receiver to permanently lose this
information.

Abbreviated ASCII Syntax:

Message ID: 49

AUTH [state] part1 part2 part3 part4 part5 model [date]
Input Examples:
auth add 1234 5678 9abc def0 1234 oemvl1l2 990131
auth 1234 5678 9abc def0 1234 oemvl1l2

When you want to easily upgrade your receiver without returning it to the factory, our
unique field-upgradeable feature allows you buy the equipment that you need today,
and upgrade them without facing obsolescence.
When you are ready to upgrade from one model to another, call 1-800-NOVATEL to
speak with our Customer Service/Sales Personnel, who can provide the
authorization code that unlocks the additional features of your GPS receiver. This
procedure can be performed at your work-site and takes only a few minutes.

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Field

Chapter 2
Field
Type

ASCII
Value

Binary
Value

Description

Binary
Format

Binary
Bytes

Binary
Offset

1

AUTH
header

-

-

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

-

H

0

2

state

REMOVE

0

Remove the authcode
from the system.

Enum

4

H

ADD

1

Add the authcode to the
system. (default)

3

part1

4 digit hexadecimal
(0-FFFF)

Authorization code
section 1.

ULong

4

H+4

4

part2

4 digit hexadecimal
(0-FFFF)

Authorization code
section 2.

ULong

4

H+8

5

part3

4 digit hexadecimal
(0-FFFF)

Authorization code
section 3.

ULong

4

H+12

6

part4

4 digit hexadecimal
(0-FFFF)

Authorization code
section 4.

ULong

4

H+16

7

part5

4 digit hexadecimal
(0-FFFF)

Authorization code
section 5.

ULong

4

H+20

8

model

Alpha
numeric

Null
terminated

Model name of the
receiver

String
[max. 16]

Variable a

Variable

9

date

Numeric

Null
terminated

Expiry date entered as
yymmdd in decimal.

String
[max. 7]

Variable a

Variable

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment

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2.5.8

Commands

BASEANTENNAMODEL Enter/change base antenna model

V123

This command allows you to enter or change an antenna model for a base receiver. Setting this value
changes the appropriate field in RTCM23, RTCM1007 and RTCM1008 messages.You can set the
antenna set-up ID to any value from 0-255. See also ANTENNAMODEL, page 76, to set these
parameters at the rover, and RTKANTENNA, page 172.
Phase center offsets are entered as northing, easting and up. The PCV (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. All units are in mm.
L1/L2 processing should include both L1 and L2 values, or the resulting values might be
incorrect. Since the phase measurement itself is corrected with the L1/L2 difference, failure to
enter these values could result in bad position fixes.

It is recommended that the ANTENNNAMODEL, BASEANTENNAMODEL and
RTKANTENNA commands are used together and only used if complete antenna
model information is available. These commands are best used in high-precision
static survey situations where antenna models are available for the base and rover
receivers.
Abbreviated ASCII Syntax:Message ID: 870
BASEANTENNAMODEL name SN setupID type L1 offset N] [L1 offset E] [L1 offset UP] [L1 var]
[L2 offset N] [L2 offset E] [L2 offset UP] [L2 var]
Factory Default:
baseantennamodel none none 0 none
ASCII Example:
baseantennamodel 702 nvh05410007 1 user

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Field

Field
Type

1

BASEANTENNAMODEL
header

2

Chapter 2
ASCII
Value

Binary
Value

-

-

Binary
Format

Description

Binary
Bytes

Binary
Offset

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

-

H

0

name

Antenna name

String[32]

Variable a

H

3

SN

Antenna serial number

String[32]

Variable a

Variable

4

setupID

Setup identification - setting
this value changes the
appropriate field in RTCM23,
RTCM1007 and RTCM1008,
see 469, 506 and 508
respectively

Ulong

4

Variable

5

typeb

Antenna model type
0 = No antenna
1 = User antenna

Enum

4

Variable

6

L1 offset N

L1 phase offsets northing
(default = 0.0 0.0 0.0)

Double [3]

24

Variable

7

L1 offset E

L1 phase offsets easting
(default = 0.0 0.0 0.0)

Double [3]

24

Variable

8

L1 offset
UP

L1 phase offsets up
(default = 0.0 0.0 0.0)

Double [3]

24

Variable

9

L1 var

L1 phase center variations
(default = 0.0 for all 19)

Double [19]

152

Variable

10

L2 offset N

L1 phase offsets northing
(default = 0.0 0.0 0.0)

Double [3]

24

Variable

11

L2 offset E

L1 phase offsets northing
(default = 0.0 0.0 0.0)

Double [3]

24

Variable

12

L2 offset
UP

L1 phase offsets northing
(default = 0.0 0.0 0.0)

Double [3]

24

Variable

13

L2 var

L1 phase center variations
(default = 0.0 for all 19)

Double [19]

152

Variable

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment
b. This should always be a user antenna when data is being entered manually for phase center offsets
and/or phase center variation arrays.

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2.5.9

Commands

CDGPSTIMEOUT Set CDGPS position time out

V13_CDGPS

This command is used to set the amount of time the receiver remains in a CDGPS position if it stops
receiving CDGPS corrections. See the DGPSEPHEMDELAY command on page 103 to set the
ephemeris change-over delay for base stations.
Abbreviated ASCII Syntax:

Message ID: 850

CDGPSTIMEOUT mode [delay]
Factory Default:
cdgpstimeout auto
ASCII Example (rover):
cdgpstimeout set 60

When the time out mode is set to AUTO, the time out delay is 120 seconds.

Field

Field
Type

ASCII
Value

Binary
Value
-

Binary
Format

Binary
Bytes

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

-

H

0

Description

Binary
Offset

1

CDGPSTIMEOUT
header

-

2

mode

See Table

Time out mode
(default = auto)

Enum

4

H

3

delay

2 to 1000 s

Maximum CDGPS age
(default = 120)

Double

8

H+4

4

Reserved

Double

8

H+12

Table 16: Time Out Mode

78

Binary

ASCII

Description

0

Reserved

1

AUTO

Set the default value (120 s)

2

SET

Set the delay in seconds

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Chapter 2

2.5.10 CLOCKADJUST Enable clock adjustments V123
All oscillators have some inherent drift. By default the receiver attempts to steer the receiver’s clock
to accurately match GPS time. If for some reason this is not desired, this behavior can be disabled
using the CLOCKADJUST command. 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 112,
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 121.

3.

When using the EXTERNALCLOCK and CLOCKADJUST commands together, issue
the EXTERNALCLOCK command first to avoid losing satellites.

4.

When disabled, the range measurement bias errors continue to accumulate with clock
drift.

5.

Pseudorange, carrier phase and Doppler measurements may jump if the
CLOCKADJUST mode is altered while the receiver is tracking.

6.

When disabled, the time reported on all logs may be offset from GPS time. The 1PPS
output may also be offset. The amount of this offset may be determined from the TIME
log, see page 560.

7.

A discussion on GPS time may be found in Section 1.4, GPS Time Status on page 30.

Abbreviated ASCII Syntax:

Message ID: 15

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 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

Commands
Field
Type

ASCII
Value

Binary
Value

Description

Binary Binary Binary
Format Bytes Offset

1

CLOCKADJUST
header

-

-

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

-

H

0

2

switch

DISABLE

0

Disallow adjustment of
internal clock

Enum

4

H

ENABLE

1

Allow adjustment of
internal clock

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2.5.11

Chapter 2

CLOCKCALIBRATE Adjust clock steering parameters V123

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, see Page 79, to enable or disable this feature.
To disable the clock steering process, issue the CLOCKADJUST DISABLE command.
The current values used by the clock steering process are listed in the CLOCKSTEERING log, see
Page 272.
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 Section 2.5.29 on page 124 for more details.
Abbreviated ASCII Syntax:

Message ID: 430

CLOCKCALIBRATE mode [period] [width] [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 112, 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 121. 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).

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Commands
Field
Type

Field

ASCII
Value

Binary
Value

Description

Binary Binary
Format Bytes

Binary
Offset

1

CLOCKCALIBRATE
header

-

-

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

-

H

0

2

mode

SET

0

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

Enum

4

H

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
Ulong

4

H+4

3

period

0 to 262144

Signal period in 25 ns
steps.
Frequency Output =
40,000,000 / Period.
(default = 4400)

Continued on page 83.

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Chapter 2
Field
Type

Field
4

pulsewidth

5

slope

ASCII
Value

Binary
Value

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

Description

Binary Binary
Format Bytes

Binary
Offset

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. The
default value is 2200. 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.

Ulong

4

H+8

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 272). This
process should be
repeated until the
measured slope value
remains constant (less
than a 5% change).

Float

4

H+12

Continued on page 84.

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Chapter 2

Field
6

84

Commands
Field
Type
bandwidth

ASCII
Value

Binary
Value

Description
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.

Binary Binary
Format Bytes
Float

4

Binary
Offset
H+16

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Chapter 2

2.5.12 CLOCKOFFSET Adjust for delay in 1PPS output V123
This command can be used to remove a delay in the PPS output. The PPS signal is delayed from the
actual measurement time due to two major factors:
•

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

•

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

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

Message ID: 596

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
Value

1

CLOCKOFFSET
header

-

2

offset

±200

Binary
Value
-

Binary Binary
Format Bytes

Binary
Offset

This field contains the
command name or the
message header depending
on whether the command is
abbreviated ASCII, ASCII or
binary, respectively (see 1.1,
Message Types on page 18).

-

H

0

Specifies the offset in
nanoseconds

Long

4

H

Description

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Commands

2.5.13 CNOUPDATE

Set the C/No update rate and resolution V123

This command allows you to set the C/No update rate and resolution.
Abbreviated ASCII Syntax:

Message ID: 849

CNOUPDATE [rate]
Factory Default:
cnoupdate default
ASCII Example (rover):
cnoupdate 20hz

Use the CNOUPDATE command for higher resolution C/No measurements, of the
incoming GPS signals, at a higher rate. 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

ASCII
Value

Binary
Value

Description

Binary
Format

Binary
Bytes

Binary
Offset

1

CNOUPDATE
header

-

-

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

-

H

0

2

rate

DEFAULT

0

ENUM

4

H

20HZ

1

C/No update rate:
0=
Turn off C/No
enhancement
default = 4 Hz
(4 bits/s)
1=
20 Hz C/No
updates
(20 bits/s)

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Chapter 2

2.5.14 COM

COM port configuration control V123

This command permits you to configure the receiver’s asynchronous serial port communications
drivers.
The current COM port configuration can be reset to its default state at any time by sending it two
hardware break signals of 250 milliseconds each, spaced by fifteen hundred milliseconds (1.5
seconds) with a pause of at least 250 milliseconds following the second break. This will:
• Stop the logging of data on the current port (see UNLOGALL on Page 216)
• Clear the transmit and receive buffers on the current port
• Return the current port to its default settings (see Page 54 for details)
• Set the interface mode to NovAtel for both input and output (see the
INTERFACEMODE command on Page 135)
See also Section 2.4, Factory Defaults on page 54 for a description of the factory defaults, and the
COMCONFIG log on Page 291.
1.

The COMCONTROL command, see Page 90, may conflict with handshaking of the selected
COM port. If handshaking is enabled, then unexpected results may occur.

2.

Baud rates higher than 115,200 bps are not supported by standard PC hardware. Special
PC hardware may be required for higher rates, including 230400 bps, 460800 bps and
921600 bps. Also, some PC's have trouble with baud rates beyond 57600 bps.

Abbreviated ASCII Syntax:

Message ID: 4

COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]]
Factory Default:
com com1 9600 n 8 1 n off on
com com2 9600 n 8 1 n off on
com com3 9600 n 8 1 n off on
com aux 9600 n 8 1 n off on
ASCII Example:
com com1,57600,n,8,1,n,off,on

Watch for situations where the COM ports of two receivers are connected together
and the baud rates do not match. Data transmitted through a port operating at a
slower baud rate may be misinterpreted as break signals by the receiving port if it is
operating at a higher baud rate. This is because data transmitted at the lower baud
rate is stretched relative to the higher baud rate. In this case, configure the receiving
port to have break detection disabled using the COM command.

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Chapter 2

WARNING!:

Commands

Use the COM command before using the INTERFACEMODE command on
each port. Turn break detection off using the COM command to stop the port
from resetting because it is interpreting incoming bits as a break command.
Table 17: COM Serial Port Identifiers
Binary

a.

b.

c.

ASCII

Description

1

COM1

COM port 1

2

COM2

COM port 2

3

COM3

COM port 3

6

THISPORT

The current COM port

8

ALL

All COM ports

9

XCOM1 a

Virtual COM1 port

10

XCOM2 a

Virtual COM2 port

13

USB1 b

USB port 1

14

USB2 b

USB port 2

15

USB3 b

USB port 3

16

AUX c

AUX port

17

XCOM3 a

Virtual COM3 port

The XCOM1, XCOM2 and XCOM3 identifiers are not
available with the COM command but may be used with
other commands. For example, INTERFACEMODE on
Page 135 and LOG on Page 143.
The only other field that applies when a USB port is
selected is the echo field. A place holder must be inserted
for all other fields to use the echo field in this case.
The AUX port is available on OEMV-2-based and OEMV3-based products.

The OEMV-3 AUX port does not support hardware handshaking. Only transmit and receive
lines exist for the AUX port on the OEMV-3.
Table 18: Parity

88

Binary

ASCII

Description

0

N

No parity (default)

1

E

Even parity

2

O

Odd parity

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Chapter 2
Table 19: Handshaking

Field

Field
Type

Binary

ASCII

0

N

No handshaking (default)

1

XON

XON/XOFF software handshaking

2

CTS

CTS/RTS hardware handshaking

ASCII
Value

1

COM header

-

2

port

3

Description

Binary
Value

Binary Binary
Format Bytes

Binary
Offset

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

-

H

0

See Table 17,
COM Serial Port
Identifiers on page
88

Port to configure.
(default = THISPORT)

Enum

4

H

bps/baud

300, 600, 900,
1200, 2400, 4800,
9600, 19200,
38400, 57600,
115200, or 230400

Communication baud rate
(bps).
Bauds of 460800 and 921600
are also available on COM1 of
OEMV-2-based products.

ULong

4

H+4

4

parity

See Table 18 on
page 88

Parity

Enum

4

H+8

5

databits

7 or 8

Number of data bits
(default = 8)

ULong

4

H+12

6

stopbits

1 or 2

Number of stop bits
(default = 1)

ULong

4

H+16

7

handshake

See Table 19 on
page 89

Handshaking

Enum

4

H+20

8

echo

OFF

0

No echo
(default)

Enum

4

H+24

ON

1

Transmit any input characters
as they are received

OFF

0

Disable break detection

Enum

4

H+28

ON

1

Enable break detection
(default)

9

break

-

Description

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2.5.15 COMCONTROL Control the RS232 hardware control lines V123
This command is used to control the hardware control lines of the RS232 ports. The TOGGLEPPS
mode of this command is typically used to supply a timing signal to a host PC computer by using the
RTS or DTR lines. The accuracy of controlling the COM control signals is better than 900 μs. The
other modes are typically used to control custom peripheral devices. Also, it is possible to
communicate with all three serial ports simultaneously using this command.
1.

If handshaking is disabled, any of these modes can be used without affecting regular
RS232 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.
Only PULSEPPSHIGH, FORCEHIGH and FORCELOW control types can be used for a
TX signal.

Abbreviated ASCII Syntax:

Message ID: 431

COMCONTROL port signal control
Factory Default:
comcontrol com1 rts default
comcontrol com2 rts default
comcontrol com3 rts default
ASCII Example 1:
com com1 9600 n 8 1 n (to disable handshaking)
comcontrol com1 rts forcelow
comcontrol com2 dtr togglepps
ASCII Example 2:
comcontrol com1 rts togglepps
comcontrol com2 rts togglepps
comcontrol com3 rts togglepps
ASCII Example 3:
OEMV-3:
To set a break condition on AUX:
comcontrol aux tx forcelow
A break condition remains in effect until it is cleared.
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To clear a break condition on AUX:
comcontrol com1 tx default
or
comcontrol com1 tx forcehigh
Table 20: Tx, DTR and RTS Availability
Pro

Tx Available On:

DTR Available On:

RTS Available On:

OEMV-1

COM1 and COM2

N/A

N/A

OEMV-2

COM1 and COM2

N/A

COM1 and COM2

OEMV-3

COM1, COM3 and AUX

COM2

COM1, COM2 and COM3

COM1 on the OEMV-3 is user-configurable for RS-422. Refer to the Technical
Specifications appendix and also the User-Selectable Port Configuration section of
the OEMV Family Installation and Operation User Manual.

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Field
Type

Field

ASCII
Value

Binary
Value

Description

Binary Binary Binary
Format Bytes Offset

1

COMCONTROL
header

-

-

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

-

H

0

2

port

COM1

1

Enum

4

H

COM2

2

COM3

3

AUX

16

RS232 port to control.
Valid ports are
COM1, COM2,
COM3 and AUX. The
AUX port is only
available on OEMV3-based products.

RTS

0

Enum

4

H+4

DTR

1

TX

2

COM signal to
control. The
controllable COM
signals are RTS, DTR
and TX. See also
Table 20, Tx, DTR
and RTS Availability
on page 91

3

signal

Continued on page 93.

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Field
4

Chapter 2
Field
Type

control

ASCII
Value

Binary
Value

Description

DEFAULT

0

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

FORCEHIGH

1

Immediately forces
the signal high

FORCELOW

2

Immediately forces
the signal low

TOGGLE

3

Immediately toggles
the current sate of the
signal

TOGGLEPPS

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

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Format Bytes Offset
Enum

4

H+8

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2.5.16 CSMOOTH Set carrier smoothing V123
This command sets the amount of carrier smoothing to be 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. From this point each code smoothing filter is restarted. The user 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 is dependent on your application.
Abbreviated ASCII Syntax:

Message ID: 269

CSMOOTH L1time [L2time]
Factory Default:
csmooth 100 100
Abbreviated ASCII Example:
csmooth 500
1. The CSMOOTH command should only be used by advanced GPS users. The shorter the
carrier smoothing the more noise there will be. If you are at all unsure please call
NovAtel Customer Service Department, see the Customer Service section at the start of
the OEMV Family Installation and Operation User Manual.
2. It may not be suitable for every GPS application. When using CSMOOTH in differential
mode, the same setting should be used at both the base and rover station, if both the base
and rover stations are using the same type of receiver (both OEM4 or both OEMV
family). However if the base and rover stations use different types of receivers (OEM4
and OEMV family), it is recommended that the CSMOOTH command default value is
used at each receiver (CSMOOTH 100 100 and GLOCSMOOTH 100 100).

There are several considerations when using the CSMOOTH command:
•

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

•

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

•

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

•

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

The primary reason for applying carrier smoothing to the measured pseudoranges is
to mitigate the high frequency noise inherent in all code measurements. Adding more
carrier smoothing by increasing the CSMOOTH value filters out lower frequency
noise, including some multipath frequencies.
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There are also some adverse effects of higher CSMOOTH values on some
performance aspects of the receiver. Specifically, the time constant of the tracking
loop is directly proportional to the CSMOOTH 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 postmission 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 conducive to
multipath. A low CSMOOTH value allows the receiver to effectively adapt to these
situations.
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 CSMOOTH 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 CSMOOTH 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.

Field

Field
Type

ASCII
Value

Binary
Value
-

Binary Binary
Format Bytes

Binary
Offset

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

-

H

0

Description

1

CSMOOTH
header

-

2

L1time

2-2000

L1 carrier smoothing time
constant, in seconds

Ulong

4

H

3

[L2time]

5-2000

L2 carrier smoothing time
constant, in seconds
(default = 100)

Ulong

4

H+4

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2.5.17 DATUM Choose a datum name type V123
This command permits you to select the geodetic datum for operation of the receiver. If not set, the
factory default value is WGS84. See the USERDATUM command for user definable datums. The
datum you select causes all position solutions to be based on that datum.
The NAD83 (CSRS) datum is available to CDGPS users. The receiver automatically transforms the
CDGPS computed coordinates into WGS84 (the default datum of the receiver). Alternatively, select
any datum, including CSRS, for a specified coordinate system output.
The transformation for the WGS84 to Local used in the OEMV family is the Bursa-Wolf
transformation or reverse Helmert transformation. In the Helmert transformation, the rotation of a
point is counter clockwise around the axes. In the Bursa-Wolf transformation, the rotation of a point is
clockwise. Therefore, the reverse Helmert transformation is the same as the Bursa-Wolf.
See Table 21 on page 97 for a complete listing of all available predefined datums. The offsets in the
table are from your local datum to WGS84.
Abbreviated ASCII Syntax:

Message ID: 160

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 21 on page 97 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
additional information to consider:
Single
WAAS
EGNOS
96

Uses WGS84
Corrects to WGS84
Corrects to International Terrestrial Reference System
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(ITRF) which is compatible with WGS84
Corrects to NAD83 and then transforms to WGS84
If you select the CSRS datum, the WGS84
transformation is undone and position is returned to CSRS
Corrects to ITRF which is compatible with WGS84
Corrects to ITRF which is compatible with WGS84
Unknown, as the rover does not know how the user fixed
the base position, but must be close to WGS84

CDGPS
OmniSTAR XP/HP
OmniSTAR VBS
PSRDIFF and RTK

Table 21: 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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Table 22: Datum Transformation Parameters

Datum
ID# a

NAME

DX b

DY b

DZ b

DATUM DESCRIPTION

ELLIPSOID

1

ADIND

-162

-12

206

This datum has been updated,
see ID# 65 c

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# 66 c

Clarke 1880

4

AGD66

-133

-48

148

Australian Geodetic Datum
1966

Australian
National

5

AGD84

-134

-48

149

Australian Geodetic Datum
1984

Australian
National

6

BUKIT

-384

664

-48

Bukit Rimpah (Indonesia)

Bessel 1841

7

ASTRO

-104

-129

239

Camp Area Astro (Antarctica)

International
1924

8

CHATM

175

-38

113

Chatham 1971 (New Zealand)

International
1924

9

CARTH

-263

6

431

Carthage (Tunisia)

Clarke 1880

10

CAPE

-136

-108

-292

CAPE (South Africa)

Clarke 1880

11

DJAKA

-377

681

-50

Djakarta (Indonesia)

Bessel 1841

12

EGYPT

-130

110

-13

Old Egyptian

Helmert
1906

13

ED50

-87

-98

-121

European 1950

International
1924

14

ED79

-86

-98

-119

European 1979

International
1924

15

GUNSG

-403

684

41

G. Segara (Kalimantan Indonesia)

Bessel 1841

16

GEO49

84

-22

209

Geodetic Datum 1949 (New
Zealand)

International
1924

17

GRB36

375

-111

431

Do not use. Use ID# 76
instead. d

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 instead. d

Clarke 1866

Continued on the following page.

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Table 22: Datum Transformation Parameters

Datum
ID#

NAME

DX

DY

DZ

DATUM DESCRIPTION

ELLIPSOID

20

KAUAI

45

-290

-172

Do not use. Use ID# 78 or ID#
82 instead. d

Clarke 1866

21

MAUI

65

-290

-190

Do not use. Use ID# 79 or ID#
83 instead. d

Clarke 1866

22

OAHU

56

-284

-181

Do not use. Use ID# 80 or ID#
84 instead. d

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# 68 c

International
1924

27

INDIA

289

734

257

Do not use. Use ID# 69 or ID#
70 instead. d

Everest (EA)

28

IRE65

506

-122

611

Do not use. Use ID# 71
instead. d

Modified
Airy

29

KERTA

-11

851

5

Kertau 1948 (West Malaysia
and Singapore)

Everest (EE)

30

KANDA

-97

787

86

Kandawala (Sri Lanka)

Everest (EA)

31

LIBER

-90

40

88

Liberia 1964

Clarke 1880

32

LUZON

-133

-77

-51

Do not use. Use ID# 72
instead. d

Clarke 1866

33

MINDA

-133

-70

-72

This datum has been updated,
see ID# 73 c

Clarke 1866

34

MERCH

31

146

47

Merchich (Morocco)

Clarke 1880

35

NAHR

-231

-196

482

This datum has been updated,
see ID# 74 c

Clarke 1880

36

NAD83

0

0

0

N. American 1983 (Includes
Areas 37-42)

GRS-80

37

CANADA

-10

158

187

N. American Canada 1927

Clarke 1866

38

ALASKA

-5

135

172

N. American Alaska 1927

Clarke 1866

Continued on the following page.

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Table 22: Datum Transformation Parameters

Datum
ID#

NAME

DX

DY

DZ

DATUM DESCRIPTION

ELLIPSOID

39

NAD27

-8

160

176

N. American Conus 1927

Clarke 1866

40

CARIBB

-7

152

178

This datum has been updated,
see ID# 75 c

Clarke 1866

41

MEXICO

-12

130

190

N. American Mexico

Clarke 1866

42

CAMER

0

125

194

N. American Central America

Clarke 1866

43

MINNA

-92

-93

122

Nigeria (Minna)

Clarke 1880

44

OMAN

-346

-1

224

Oman

Clarke 1880

45

PUERTO

11

72

-101

Puerto Rica and Virgin Islands

Clarke 1866

46

QORNO

164

138

-189

Qornoq (South Greenland)

International
1924

47

ROME

-255

-65

9

Rome 1940 Sardinia Island

International
1924

48

CHUA

-134

229

-29

South American Chua Astro
(Paraguay)

International
1924

49

SAM56

-288

175

-376

South American (Provisional
1956)

International
1924

50

SAM69

-57

1

-41

South American 1969

S. American
1969

51

CAMPO

-148

136

90

S. American Campo
Inchauspe (Argentina)

International
1924

52

SACOR

-206

172

-6

South American Corrego
Alegre (Brazil)

International
1924

53

YACAR

-155

171

37

South American Yacare
(Uruguay)

International
1924

54

TANAN

-189

-242

-91

Tananarive Observatory 1925
(Madagascar)

International
1924

55

TIMBA

-689

691

-46

This datum has been updated,
see ID# 85 c

Everest (EB)

56

TOKYO

-128

481

664

This datum has been updated,
see ID# 86 c

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

Continued on the following page.

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Table 22: Datum Transformation Parameters

Datum
ID#

NAME

DX

DY

DZ

DATUM DESCRIPTION

ELLIPSOID

59

WAK60

101

52

-39

This datum has been updated,
see ID# 67 c

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 a

64

CSRS

0.983
3

1.90
82

0.48
78

Canadian Spatial Ref. System
(epoch 2005.0)

GRS-80

65

ADIM

-166

-15

204

Adindan (Ethiopia, Mali,
Senegal & Sudan) c

Clarke 1880

66

ARSM

-160

-6

-302

ARC 1960 (Kenya, Tanzania)

Clarke 1880

c

67

ENW

102

52

-38

Wake-Eniwetok (Marshall
Islands) c

Hough 1960

68

HTN

-637

-549

-203

Hu-Tzu-Shan (Taiwan) c

International
1924

69

INDB

282

726

254

Indian (Bangladesh) d

Everest (EA)

70

INDI

295

736

257

Indian (India, Nepal) d

Everest (EA)

71

IRL

506

-122

611

Ireland 1965 d

Modified
Airy

72

LUZA

-133

-77

-51

Luzon (Philippines excluding
Mindanoa Is.) de

Clarke 1866

73

LUZB

-133

-79

-72

Mindanoa Island c

Clarke 1866

74

NAHC

-243

-192

477

Nahrwan (Saudi Arabia) c

Clarke 1880

75

NASP

-3

142

183

N. American Caribbean c

Clarke 1866

76

OGBM

375

-111

431

Great Britain 1936 (Ordinance
Survey) d

Airy 1830

77

OHAA

89

-279

-183

Hawaiian Hawaii d

Clarke 1866

78

OHAB

45

-290

-172

Hawaiian Kauai d

Clarke 1866

Continued on the following page.

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Table 22: Datum Transformation Parameters

Datum
ID#

NAME

DX

DY

DZ

DATUM DESCRIPTION

ELLIPSOID

79

OHAC

65

-290

-190

Hawaiian Maui d

Clarke 1866

80

OHAD

58

-283

-182

Hawaiian Oahu d

Clarke 1866

81

OHIA

229

-222

-348

Hawaiian Hawaii d

International
1924

82

OHIB

185

-233

-337

Hawaiian Kauai d

International
1924

83

OHIC

205

-233

-355

Hawaiian Maui d

International
1924

84

OHID

198

-226

-347

Hawaiian Oahu d

International
1924

85

TIL

-679

669

-48

Timbalai (Brunei and East
Malaysia) 1948 c

Everest (EB)

86

TOYM

-148

507

685

Tokyo (Japan, Korea and
Okinawa) c

Bessel 1841

a. The default user datum is WGS84. See also the USERDATUM and USEREXPDATUM
commands starting on Page 217. The following logs report the datum used according to the
OEM card Datum ID column: BESTPOS, BESTUTM, MATCHEDPOS and PSRPOS.
b. The DX, DY and DZ offsets are from your local datum to WGS84.
c. The updated datum have the new x, y and z translation values updated to the latest numbers.
The old datum values can still be used for backwards compatibility.
d. Use the corrected datum only (with the higher ID#) as the old datum is incorrect.
e. The original LUZON values are the same as for LUZA but the original has an error in the code.

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2.5.18 DGPSEPHEMDELAY DGPS ephemeris delay V123_DGPS
The DGPSEPHEMDELAY command is used to set the ephemeris delay when operating as a base
station. The ephemeris delay sets a time value by which the base station continues to use the old
ephemeris data. A delay of 120 to 300 seconds typically ensures that the rover stations have collected
updated ephemeris. After the delay period is passed, the base station begins using new ephemeris data.
The factory default of 120 seconds matches the RTCM standard.
The RTCA Standard stipulates that a base station shall wait five minutes after receiving a new
ephemeris before transmitting differential corrections to rover stations that are using the
RTCA standard. This time interval ensures that the rover stations have received the new
ephemeris, and have computed differential positioning based upon the same ephemeris.
Therefore, for RTCA base stations, the recommended ephemeris delay is 300 seconds.
Abbreviated ASCII Syntax:

Message ID: 142

DGPSEPHEMDELAY delay
Factory Default:
dgpsephemdelay 120
ASCII Example (base):
dgpsephemdelay 120

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

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Field
Type

Field

ASCII
Value

Binary
Value

Description

Binary
Format

Binary
Bytes

Binar
y
Offset

1

DGPSEPHEMDELAY
header

-

-

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

-

H

0

2

delay

0 to 600 s

Minimum time delay before
new ephemeris is used
(default = 120 s)

ULong

4

H

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2.5.19 DGPSTIMEOUT

Set maximum age of differential data V123_DGPS

This command is used to set the maximum age of pseudorange differential data to use when operating
as a rover station. Pseudorange differential data received that is older than the specified time is
ignored. RTK differential data is set at 60 seconds but can be changed using the RTKTIMEOUT
command, see Page 184. See DGPSEPHEMDELAY on page 103 to set the ephemeris changeover delay for
base stations.

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 DGPS delay setting is 22.
Abbreviated ASCII Syntax:

Message ID: 127

DGPSTIMEOUT delay
Factory Default:
dgpstimeout 300
ASCII Example (rover):
dgpstimeout 60

DGPSTIMEOUT applies to local pseudorange differential (RTCA, RTCM and
OmniSTAR VBS) corrections as if they were from a local base station. This also
applies to pseudorange differential positioning using RTK corrections.

Field

Field
Type

ASCII
Value

Binary
Value

1

DGPSTIMEOUT
header

-

-

2

delay

2 to 1000 s

Binary
Format

Binary
Bytes

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

-

H

0

Maximum pseudorange
differential age
(default = 300 s)

ULong

4

H

Description

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2.5.20 DGPSTXID DGPS transmit ID V123_DGPS
This command sets 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.
Abbreviated ASCII Syntax:

Message ID: 144

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

How long do I need to sit on a 10 km baseline?
How long you need to occupy stations for a 10 km baseline depends on the system
you are using and what type of precision you require. There are three major
categories we can look at:
•

for a DGPS system using only L1 C/A-code data, all you require is a single
epoch of common data. Typically, you would log a few minutes worth of data.
The type of precision you can expect out of this system is in the 1 metre range.

•

for a DGPS system using L1 C/A-code and carrier data, you require
approximately 5 minutes of data including the initialization procedure under
optimal conditions. This type of system provides you with precision in the 10 cm
range. If cm-level precision is required, you need approximately 30 to 40
minutes of data, again under optimal conditions.

•

for a DGPS system using L1 C/A-code and carrier data along with L2 P-code
and carrier data, you require approximately 10 to 20 minutes of data under
optimal conditions. This type of system provides you with precision in the cm
range.

The term optimal conditions refers to observing six or more healthy satellites being
tracked with a geometric dilution of precision - GDOP value of less than 5 and
relatively low multi-path. Note that the above situations apply to both real-time and
post-processed solutions with minor differences.

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Field
Type

Field

Chapter 2
ASCII
Value

Binary
Value
-

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

Description

1

DGPSTXID
header

-

2

type

See Table 33
on page 168

ID Type

Enum

4

H

3

ID

String [max. 5]
or “ANY”

ID string
ANY type defaults:
RTCM - 0
RTCMV3 - 0
RTCA - AAAA
CMR - 0
The following range values are in
affect:
0 ≤ CMR ID ≤ 31
0 ≤ RTCM ID ≤ 1023
0 ≤ RTCMV3 ID ≤ 4095
RTCA: any four character string
containing only alpha (a-z) or
numerical characters (0-9)

String
[max.
5]

Variablea

Variabl
e

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment

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2.5.21 DIFFCODEBIASCONTROL Enable or disable satellite differential
code biases V123
The purpose of the differential code biases is to correct pseudorange errors that affect the L1/L2
ionospheric corrections. This command enables/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 197.
Abbreviated ASCII Syntax:

Message ID: 913

DIFFCODEBIASCONTROL switch
Factory Default:
diffcodebiascontrol enable
Example:
diffcodebiascontrol disable
Field

Field
Type

ASCII
Value

Binary
Value

Description

Binary
Format

Binary
Bytes

Binary
Offset

1

DIFFCODEBIASCONTROL
header

-

-

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

-

H

0

2

switch

DISABLE

0

Disable the differential
code bias

Enum

4

H

ENABLE

1

Enable the differential
code bias (default)

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2.5.22 DYNAMICS

Tune receiver parameters V123

This command adjusts the receiver dynamics to that of your environment. It is used to optimally tune
receiver parameters.
The DYNAMICS command adjusts the Tracking State transition time-out value of the receiver, see
Table 69, Tracking State on page 399. When the receiver loses the position solution, see Table 51,
Solution Status on page 253, it attempts to steer the tracking loops for fast reacquisition (5 s time-out
by default). The DYNAMICS command allows you to adjust this time-out value, effectively
increasing the steering time. The three states 0, 1, and 2 set the time-out to 5, 10, or 20 s respectively.
1.

The DYNAMICS command should only be used by advanced users. The default of AIR
should not be changed except under very specific conditions.

2.

The DYNAMICS command affects satellite reacquisition. The constraint of its filter with
FOOT is very tight and is appropriate for a user on foot. A sudden tilted or up and down
movement, for example while a tractor is moving slowly along a track, may trip the RTK
filter to reset and cause the position to jump. AIR should be used in this case.

Abbreviated ASCII Syntax:
DYNAMICS

Message ID: 258

dynamics

Factory Default:
dynamics air
Example:
dynamics foot

Table 23: 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. See also Note #2 above.

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)

Qualifying North American Solar Challenge cars annually weave their way through
1000’s of miles between the US and Canada. GPS 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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Field
Type

Field

ASCII
Value

Binary
Value
-

1

DYNAMICS
header

-

2

dynamics

See Table 23

Description

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

Receiver dynamics based
on your environment

Enum

4

H

2.5.23 ECUTOFF Set satellite elevation cut-off V123
This command sets 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. Tracked satellites that fall
below the cut-off angle are no longer tracked unless they were manually assigned (see the ASSIGN
command).
In either case, satellites below the ECUTOFF angle are eliminated from the internal position and
clock offset solution computations.
This command permits a negative cut-off angle; it could be used in these situations:
•

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

•

Satellites are visible below the horizon due to atmospheric refraction

1.

Care must be taken when using ECUTOFF because the signals from lower elevation
satellites are traveling through more atmosphere and are therefore degraded. Use of
satellites below 5 degrees is not recommended.

2.

This command does not affect the tracking of SBAS or GLONASS satellites.

Abbreviated ASCII Syntax:

Message ID: 50

ECUTOFF angle
Factory Default:
ecutoff 5.0
ASCII Example:
ecutoff 10.0

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A low elevation satellite is a satellite the receiver tracks "just" above the horizon.
Generally, a satellite is considered low elevation if it is anywhere between 0 and 15
degrees above the horizon. Low elevation satellites are usually setting or rising.
There is no difference in the data transmitted from a low elevation satellite to 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 are noisier 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 GPS 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 postprocessing 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.

Field

Field
Type

ASCII
Value

Binary
Value

1

ECUTOFF
header

-

-

2

angle

±90.0 degrees

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

Elevation cut-off angle relative to
horizon

Float

4

H

Description

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2.5.24 EXTERNALCLOCK Set external clock parameters V23
Overview
The EXTERNALCLOCK command allows the OEMV 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 79, is ENABLED, then the clock steering process takes over the VARF output pins
and may conflict with a previously entered FREQUENCYOUT command, see Page 121.
If clocksteering is not used with the external oscillator, the clocksteering process must be
disabled by using the CLOCKADJUST DISABLE command.

3.

When using the EXTERNALCLOCK and CLOCKADJUST commands together, issue
the EXTERNALCLOCK command first to avoid losing satellites.

There are three steps involved in using an external oscillator:
1.

Follow the procedure outlined in the OEMV Family Installation and Operation User
Manual to connect an external oscillator to your OEMV.

2.

Using the EXTERNALCLOCK command, select a standard oscillator and its operating
frequency.

3.

Using the CLOCKADJUST command, disable the clocksteering process if external
clocksteering is not used.

Theory
An unsteered oscillator can be approximated by a three-state clock model, with two states
representing the range bias and range bias rate, and a third state assumed to be a Gauss-Markov (GM)
process representing the range bias error generated from satellite clock dither. The third state is
included because the Kalman filter assumes an (unmodeled) white input error. The significant
correlated errors produced by satellite clock dither are obviously not white and the Markov process is
an attempt to handle this kind of short-term variation.
The internal units of the new clock model’s three states (offset, drift and GM state) are metres, metres
per second, and metres. When scaled to time units for the output log, these become seconds, seconds
per second, and seconds, respectively. Note that the old units of the third clock state (drift rate) were
metres per second per second.
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:

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h –2 h –1
S y ( f ) = ------+ ------- + h 0 + h 1 f + h 2 f
2
f
f

2

where f is the sampling frequency and Sy(f) is the clock’s power spectrum. Typically only h0, h-1, and
h-2 affect the clock’s Allan variance and the clock model’s process noise elements.
Usage
Before you use an optional external oscillator, several clock model parameters must be set. There are
default settings for a voltage-controlled temperature-compensated crystal oscillator (VCTCXO),
ovenized crystal oscillator (OCXO), Rubidium and Cesium standard, which are given in Table 25 on
page 114. You may alternatively choose to supply customized settings.

The EXTERNALCLOCK command determines whether the OEMV receiver (OEMV2, OEMV-3, DL-V3 or ProPak-V3 only) uses its own internal temperaturecompensated 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 OEMV 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 OEMV.
Abbreviated ASCII Syntax:

Message ID: 230

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

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Table 24: Clock Type
ASCII

Binary

Description

DISABLE

0

Turns the external clock input off, reverts back to the
on-board VCTCXO

TCXO

1

Sets the pre-defined values for a VCTCXO

OCXO

2

Sets the pre-defined values for an OCXO

RUBIDIUM

3

Sets the pre-defined values for a rubidium oscillator

CESIUM

4

Sets the pre-defined values for a cesium oscillator

USER

5

Defines custom process noise elements

Table 25: Pre-Defined Values for Oscillators
h -2

VCTCXO

1.0 e-21

1.0 e-20

1.0 e-20

OCXO

2.51 e-26

2.51 e-23

2.51 e-22

Rubidium

1.0 e-23

1.0 e-22

1.3 e-26

Cesium

2.0 e-20

7.0 e-23

4.0 e-29

Field
Type

Field

h -1

h0

Clock Type

ASCII
Value

Binary
Value
-

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

Description

1

EXTERNALCLOCK
header

-

2

clocktype

See Table 24 on
page 114

Clock type

Enum

4

H

3

freq

0MHz

0

Enum

4

H+4

5MHz

1

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

10MHz

2

20MHz

3
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 25.

Double

8

H+8

Double

8

H+16

Double

8

H+24

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

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2.5.25 FIX

Constrain to fixed height or position V123

This command fixes various parameters of the receiver such as height or position. For various
applications, fixing these values can assist in improving acquisition times and accuracy of position or
corrections. For example, fixing the position and height is a requirement for differential base stations
as it provides a truth position to base the differential corrections from.
If you enter a FIXPOSDATUM command, see page 119, the FIX command is then issued internally
with the FIXPOSDATUM command values translated to WGS84. It is the FIX command that appears
in the RXCONFIG log. If the FIX or the FIXPOSDATUM command are used, their newest values
overwrite the internal FIX values.
1.

NovAtel strongly recommends that the FIX POSITION entered be good 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 RT20, or RT2, mode to a fixed position mode. Applying FIX
POSITION to the rover does not speed up ambiguity resolution.

3.

Any setting other than FIX POSITION disables output of differential corrections unless
the MOVINGBASESTATION command is set to ENABLE, see also page 154.

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 setting is TABLE 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. See also page 211.

Error checking is done on the entered fixed position. If less than 3 measurements are available, the
solution status indicates PENDING. While the status is PENDING, the fixed position value is not used
internally (for example, for updating the clock model, or controlling the satellite signal search). Once
3 or more measurements are available, error checking is performed. If the error check passes, the
solution status changes to SOL_COMPUTED, and the fixed position is used internally. At the first
level of error, when the fixed position is off by approximately 25-50 m, the output position log
indicates INTEGRITY_WARNING in the solution status field, but the fixed position value is still
used internally. If the error reaches the second level, a few km, the receiver does not use the fixed
position at all and indicates INVALID_FIX in the solution status. Note that a fixed position obtained
from the POSAVE function is treated the same way in the error checking as one entered manually.

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Abbreviated ASCII Syntax:

Message ID: 44

FIX type [param1 [param2 [param3]]]
Factory Default:
fix none
ASCII Example:
fix height 4.567

In order to maximize accuracy of an RTK survey, you must fix the base station
coordinates to their known position using the FIX [lat][lon][hgt] command. This
ensures the accuracy of their corrections.
Table 26: FIX Parameters
ASCII Type Name

Parameter 1

Parameter 2

Parameter 3

AUTO

Not used

Not used

Not used

HEIGHT

Default MSL height a b
(-1000 to 20000000 m)

Not used

Not used

NONE

Not used

Not used

Not used

POSITION

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

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

Default MSL height a b
(-1000 to 20000000 m)

a. For a discussion on height, refer to the GNSS Reference Book, available on our Web site at http:/
/www.novatel.com/support/docupdates.htm.
b. See also Note #4 on page 115

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Table 27: Fix Types

ASCII
Name

Binary
Value

Description

NONE

0

Unfix. Clears any previous FIX commands.

AUTO

1

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

HEIGHT

2

Configures the receiver in 2-D mode with its height constrained to a given
value. This command is used mainly in marine applications where height in
relation to mean sea level may be considered to be approximately constant.
The height entered using this command is referenced to the mean sea level,
see the BESTPOS log on Page 251, and 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.

This command only affects pseudorange corrections and solutions,
and so has no meaning within the context of RTK.
POSITION

3

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 GPS base station.
Once initialized, the receiver computes differential corrections for each
satellite being tracked. The computed differential corrections can then be
output to rover stations by utilizing any of the following receiver differential
corrections data log formats: RTCM, RTCMV3, RTCA, or CMR. See the
OEMV Family Installation and Operation User Manual for information on
using the receiver for differential applications.
The values entered into the FIX POSITION command should reflect the
precise position of the base station antenna phase center. Any errors in the
FIX POSITION coordinates directly bias the corrections calculated by the
base receiver.
The receiver performs all internal computations based on WGS84 and the
datum command is defaulted as such. The datum in which you choose to
operate (by changing the DATUM command) is internally converted to and
from WGS84. Therefore, all differential corrections are based on WGS84,
regardless of your operating datum.
The FIX POSITION command overrides any previous FIX HEIGHT or FIX
POSITION command settings.

PENDING

18

There is not enough measurements available to verify the FIX POSITION
entry

INVALID_FIX

19

The errors in the FIX POSITION entry are too large

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Commands

Field
Type

ASCII
Value

Binary
Value
-

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

Description

1

FIX header

-

2

type

See Table 27 on
page 117

Fix type

Enum

4

H

3

param1

See Table 26

Parameter 1

Double

8

H+4

4

param2

Parameter 2

Double

8

H + 12

5

param3

Parameter 3

Double

8

H + 20

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2.5.26 FIXPOSDATUM

Set position in a specified datum V123

This command sets the position by referencing the position parameters through a specified datum. The
position is transformed into the same datum as that in the receiver’s current setting. The FIX
command, see page 115, is then issued internally with the FIXPOSDATUM command values. It is the
FIX command that appears in the RXCONFIG log. If the FIX or the FIXPOSDATUM command are
used, their newest values overwrite the internal FIX values.
Abbreviated ASCII Syntax:

Message ID: 761

FIXPOSDATUM datum [lat [lon [height]]]
Factory Default:
fixposdatum none
ASCII Example:
fixposdatum user 51.11633810554 -114.03839550586 1048.2343

You can use the FIXPOSDATUM command in a survey to fix the position with values
from another known datum, rather than transforming them into WGS84 yourself.

Field
Type

Field

ASCII
Value

1

FIXPOSDATUM
header

-

2

datum

3

Binary
Value
-

Description

Binary Binary Binary
Format Bytes Offset

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

-

H

0

See Table 21 on
page 97

Datum ID

Enum

4

H

lat

±90

Latitude (degrees)

Double

8

H+4

4

lon

±360

Longitude (degrees)

Double

8

H + 12

5

height

-1000 to 20000000

Mean sea level (MSL)
height (m) a

Double

8

H + 20

a. For a discussion on height, refer to the GNSS Reference Book, available on our Web site at http:/
/www.novatel.com/support/docupdates.htm.

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2.5.27 FORCEGPSL2CODE Force receiver to track L2 P or L2C code
V23_L2C
This command allows you to force the receiver to track L2 P-code or L2C code. AUTO tells the
receiver to use L2C code type if available and L2P-code if L2C code is not available.
There are two channels on L2 tracking, one is P and the other is C. When you set the L2
channel to P it can choose between P(Y) or P. In this case, it automatically tracks P(Y)
Abbreviated ASCII Syntax:

Message ID: 796

FORCEGPSL2CODE L2type
Factory Default:
forcegpsl2code default
ASCII Example:
forcegpsl2code p
Table 28: FL2 Code Type
Binary

ASCII

Description

0

AUTO

1

P

L2 P-code or L2 Precise code

2

C

L2C code or L2 Civilian code

3

DEFAULT

Receiver uses the best L2
code type available

Set to channel default

Only use this command if you want to evaluate L2C measurements and do not
require a position. L2C measurements are currently not used in the position solution
calculations.

Field

Field
Type

ASCII
Value

Binary
Value

1

FORCEGPSL2CODE header

-

2

L2type

See Table 28 above

120

-

Description

Binary Binary Binary
Format Bytes Offset

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

-

H

0

GPS L2 code type

Enum

4

H

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2.5.28 FREQUENCYOUT Set output pulse train available on VARF V123
This command sets the output pulse train available on the variable frequency (VARF) pin. The output
waveform is coherent with the 1PPS output, see the usage note and Figure 3 below.
If the CLOCKADJUST command is ENABLED, see Page 79, and the receiver is configured
to use an external reference frequency (set in the EXTERNALCLOCK command, see Page
112, 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 3, below, shows how the chosen pulse width is frequency locked but not
necessarily phase locked.
Abbreviated ASCII Syntax:

Message ID: 232

FREQUENCYOUT [switch] [pulsewidth] [period]
Factory Default:
frequencyout disable
ASCII Example:
frequencyout enable 2 4
This example generates a 50% duty cycle 10 MHz square wave.

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Figure 3: Pulse Width and 1PPS Coherency

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Field
Type

Field

ASCII
Value

Binary
Value

Description

Binary Binary Binary
Format Bytes Offset

1

FREQUENCYOUT
header

-

-

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

-

H

0

2

switch

DISABLE

0

Disable causes the
output to be fixed low
(default)

Enum

4

H

ENABLE

1

Enables customized
frequency output

3

pulsewidth

(0 to 262144)

Number of 25 ns steps
for which the output is
high.
Duty cycle = pulsewidth /
period.
Must be less than or
equal to the period.
(default = 0).
If pulsewidth is the same
as the period, the output
is a high DC signal. If
pulsewidth is 1/2 the
period, then the output is
a square wave.

Ulong

4

H+4

4

period

(0 to 262144)

Signal period in 25 ns
steps.
Frequency Output =
40,000,000 / Period
(default = 0)

Ulong

4

H+8

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2.5.29 FRESET Clear selected data from NVM and reset V123
This command clears 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 model can only be cleared by using the MODEL target. The receiver is forced to hardware reset. In
addition, values entered using the CLOCKCALIBRATE, or the ASSIGNLBAND
OMNISTARNARROW, command can only be cleared by using the STANDARD target.
FRESET STANDARD (which is also the default) causes any commands, ephemeris, GPS
almanac and SBAS almanac data (COMMAND, GPSALMANAC, GPSEPHEM and
SBASALMANAC in Table 29) previously saved to NVM to be erased.
Abbreviated ASCII Syntax:

Message ID: 20

FRESET [target]
Input Example:
freset command

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

124

•

Verify that the receiver is tracking satellites

•

Check the integrity and connectivity of power and data cables

•

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

•

Switch COM ports

•

Issue a FRESET command

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Table 29: FRESET Target
Binary

Field

ASCII

Description

0

STANDARD

Resets commands, ephemeris, and
almanac (default).
Also resets all L-band related data
except for the subscription information.

1

COMMAND

Resets the stored commands (saved
configuration)

2

GPSALMANAC

Resets the stored GPS almanac

3

GPSEPHEM

Resets the stored GPS ephemeris

4

GLOEPHEM

Resets the stored GLONASS
ephemeris

5

MODEL

Resets the currently selected model

11

CLKCALIBRATION

Resets the parameters entered using
the CLOCKCALIBRATE command

20

SBASALMANAC

Resets the stored SBAS almanac

21

LAST_POSITION

Resets the position using the last
stored position

31

GLOALMANAC

Resets the stored GLONASS almanac

38

LBAND_TCXO_OFFSET

Removes the TCXO offset information
from NVM

Field
Type

ASCII
Value

Binary
Value
-

1

FRESET
header

-

2

target

See Table 29

Description

Binary Binary
Format Bytes

Binary
Offset

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

-

H

0

What data is to be reset by the
receiver

Enum

4

H

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2.5.30 GGAQUALITY Customize the GPGGA GPS quality indicator
V123_NMEA
This command allows you to customize the NMEA GPGGA GPS quality indicator. See also the
GPGGA log on page 314.
Abbreviated ASCII Syntax:

Message ID: 691

GGAQUALITY #entries [pos type1][qual1] [pos type2] [qual2]...
Input Example 1:
ggaquality 1 waas 2
Makes the WAAS solution type show 2 as the quality indicator.
Input Example 2:
ggaquality 2 waas 2 narrow_float 3
Makes the WAAS solution type show 2, and the NARROW_FLOAT solution type show 3, as their
quality indicators.
Input Example 3:
ggaquality 0
Sets all the quality indicators back to the default.

Some solution types, see Table 50, Position or Velocity Type on page 252, store a
quality indicator. For example, OmniSTAR_HP, OmniSTAR_XP and
NARROW_FLOAT all share an indicator of 2. This command can be used to
customize an application to have unique indicators for each solution type.

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Field

Chapter 2
Field
Type

ASCII
Value

Binary
Value
-

1

GGAQUALITY
header

-

2

#entries

3

Description

Binary Binary
Format Bytes

Binary
Offset

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

-

H

0

0-20

The number of position types that
are being re-mapped (20 max.)

Ulong

4

H+4

pos type1

See Table 50,
Position or
Velocity Type on
page 252

The 1st position type that is being
re-mapped

Enum

4

H+8

4

qual1

See page 314

The number that appears in the
GPGGA log for the 1st position
type

Ulong

4

H+12

5

pos type2

See Table 50 on
page 252

The 2nd position type that is
being re-mapped, if applicable

Enum

4

H+16

6

qual2

See page 314

The number that appears in the
GPGGA log for the 2nd solution
type, if applicable

Ulong

4

H+20

...

Next solution type and quality indicator set, if applicable

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2.5.31 GLOCSMOOTH GLONASS channel carrier smoothing V1G23_G
This command sets the amount of carrier smoothing to be performed on the code measurements. An
input value of 100 corresponds to approximately 100 seconds of smoothing. Upon issuing the
command, the locktime for continuous tracking of all GLONASS satellites is reset to zero. From this
point each code smoothing filter is restarted. The user 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 is
dependent on your application.
Abbreviated ASCII Syntax:

Message ID: 830

GLOCSMOOTH L1time [L2time]
Factory Default:
glocsmooth 100 100
Abbreviated ASCII Example:
glocsmooth 200
1. The GLOCSMOOTH command should only be used by advanced GNSS users. The
shorter the carrier smoothing, the more noise there will be. If you are at all unsure please
e-mail NovAtel Customer Service (support@novatel.ca).
2. When used in differential mode, the same setting should be used at both the base and
rover stations, if both are using the same type of receiver (both OEMV). However, if the
base and rover use different types of receivers (OEM4 and OEMV), use the CSMOOTH
and GLOCSMOOTH command default values at each receiver.

The OEMV family of receivers use the default setting of 100 s. The GLOCSMOOTH
and CSMOOTH values for the OEMV are best left at their defaults (100 100) unless
you are certain that your application requires different values.

Field

Field
Type

ASCII
Value

Binary
Value

Binary
Bytes

Binary
Offset

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

-

H

0

1

GLOCSMOOTH
header

-

2

L1 t const

2 to 2000

L1 time constant

Ulong

4

H

3

L2 t const

2 to 2000

L2 time constant
(default = 100)

Ulong

4

H+4

128

-

Binary
Format

Description

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2.5.32 GLOECUTOFF Set GLONASS satellite elevation cut-off V1G23_G
This command sets 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. Tracked satellites that
fall below the cut-off angle are no longer tracked unless they were manually assigned (see the
ASSIGN command).
In either case, satellites below the GLOECUTOFF angle are eliminated from the internal position and
clock offset solution computations. See also the ECUTOFF command for more information on
elevation cut-off commands.
Abbreviated ASCII Syntax:

Message ID: 735

GLOECUTOFF angle
Factory Default:
gloecutoff 5.0
ASCII Example:
gloecutoff 0

Refer to the GLONASS section in the GNSS Reference Book, available
on our Web site at http://www.novatel.ca/support/docupdates.htm.

Field

Field
Type

ASCII
Value

Binary
Value

1

GLOECUTOFF
header

-

-

2

angle

±90.0 degrees

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

Elevation cut-off angle relative to
horizon

Float

4

H

Description

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2.5.33 HDTOUTTHRESHOLD Control GPHDT log output ALIGN
This command controls the output of the NMEA GPHDT heading log, see page 330. 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.
Abbreviated ASCII Syntax:

Message ID: 1062

HDTOUTTHRESHOLD thresh
Factory Default:
hdtoutthreshold 2.0
Field

Field
Type

ASCII
Value

Binary
Value
-

1

HDTOUTTHRESHOLD
header

-

2

thresh

0.0 - 180.0

130

Description

Binary Binary Binary
Format Bytes Offset

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

-

H

0

Heading standard deviation
threshold (degrees)

Float

4

H

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2.5.34 HPSEED Specify the initial OmniSTAR HP/XP position V3_HP
This OmniSTAR HP/XP command allows you to specify the initial position for OmniSTAR HP/XP. It
allows you to specify the datum and undulation for the position entered. Position is then transformed
into the datum currently set in the receiver. You can use STORE or RESTORE as a variable.
The HPSEED command does not get saved when you use the SAVECONFIG command.
Rather, if STORE is issued with the HPSEED command, it stores in it NVM. The RESTORE
variable re-sends the stored HPSEED command.
Abbreviated ASCII Syntax:

Message ID: 782

HPSEED mode [lat lon hgt latσ lonσ hgtσ [datum undulation]]
Factory Default:
hpseed reset

There is more information on HP/XP seeding in the usage box starting on page 133.
Here are some ASCII Examples:
•

To store the current HP/XP position so that it can be used as the seed in the
future:
HPSEED STORE

•

To use the stored HP/XP position as the seed:
HPSEED RESTORE

•

To use a known position in the native datum of OmniSTAR HP/XP as the seed:
HPSEED SET 51.11633810554 -114.03839550586 1048.2343
0.0086,0.0090,0.0191

•

To use a known position from a datum other than the native OmniSTAR HP/XP
datum as the seed:
HPSEED SET 51.11633810554 -114.03839550586 1048.2343
0.0086,0.0090,0.0191 CANADA EGM96

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Table 30: Seeding Mode

Binary Value

ASCII Mode Name

Description

0

RESET

Clear current seed and restart HP/XP a

1

SET

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

2

STORE

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

3

RESTORE

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

a. No further parameters are needed in the syntax

Field
Type

Field

ASCII
Value

Binary
Value
-

1

HPSEED
header

-

2

mode

3

Description

Binary Binary Binary
Format Bytes Offset

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

-

H

0

See Table 30 on
page 132

Seeding mode

Enum

4

H

lat

±90

Latitude (degrees)

Double

8

H+4

4

lon

±360

Longitude (degrees)

Double

8

H+12

5

hgt

-1000 to 20000000

Height above mean sea level (m)

Double

8

H+20

6

latσ

Latitude standard deviation (m)

Float

4

H+28

7

lonσ

Longitude standard deviation (m)

Float

4

H+32

8

hgtσ

Height standard deviation (m)

Float

4

H+36

9

datum

See Table 21,
Reference Ellipsoid
Constants on page
97

Datum ID
(default = WGS84)

Enum

4

H+40

10

undulation

see the
UNDULATION
command’s option
field values on
page 211

Undulation type
(default = TABLE)

Enum

4

H+44

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2.5.35 HPSTATICINIT Set OmniSTAR HP/XP static initialization V3_HP
This command enables or disables static initialization of OmniSTAR HP/XP. If the OmniSTAR HP/
XP process knows that the receiver is stationary, it can converge more quickly.
If the HP/XP filter perceives receiver motion, it may abort static initialization. See the Static
Initialization Mode bit in the HP/XP Status field of the LBANDSTAT log, details starting on
Page 349, to confirm that static initialization is in progress.
Abbreviated ASCII Syntax:

Message ID: 780

HPSTATICINIT switch
Factory Default:
hpstaticinit disable
ASCII Example:
hpstaticinit enable

HP/XP seeding is restarting the HP/XP filter from known coordinates with a
known accuracy as a starting point such that it is already converged. This is
implemented by using the HPSEED command, see page 131.
There are two ways of using our implementation of HP/XP seeding:
1. Seed HP/XP from a stored HP/XP position:
You can use this method to save the converged HP/XP position and feed it back in
when your vehicle, for example, your tractor, hasn't moved since shutting down.
When HP/XP is converged and the vehicle is stopped, enter HPSEED STORE to
save the current HP/XP position to NVM.
When the vehicle is restarted, enter HPSEED RESTORE to feed the previously
known position into the HP/XP process so it can start from the previous accuracy.
2. Seed HP/XP from an externally generated known position and accuracy:
Consider the case of survey customers who enter the known antenna location with
HPSEED SET      
If the source of the position is in a different datum than the native datum of HP/XP, or
if a different undulation has been used, the transformation can be specified after
 with  .
Note: Initial position estimate for HP/XP and fallback when HP/XP is lost:
When HP/XP starts up, it requests the current position to get itself started. In the
start-up time line that we have implemented, this is the first valid position available
when the task running HP/XP receives its first L-band data. This may or may not be a
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VBS position when VBS is also enabled. It depends on how things start up whatever pseudorange filter position is available is used. If you want to hold off on
HP/XP using the position estimate until you've confirmed that the VBS corrections
have started and plenty of satellites are in the solution, you can start up with
PSRDIFFSOURCE OMNISTAR and RTKSOURCE NONE, wait for the condition of
the VBS position to be satisfactory and then set RTKSOURCE OMNISTAR as well.
The HP/XP start-up will be waiting until you set the RTKSOURCE. This may give
some minor improvement to the convergence time of HP/XP.
This is somewhat related to the position falling back to VBS when HP/XP is lost. If
both PSRDIFFSOURCE OMNISTAR and RTKSOURCE OMNISTAR is set, the
BESTPOS log contains the best available of the two. There is normally an offset
between the HP/XP solution and VBS.

Field

Field
Type

ASCII
Value

Binary
Value

Description

Binary
Format

Binary
Bytes

Binary
Offset

1

HPSTATICINIT
header

-

-

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

-

H

0

2

switch

DISABLE

0

The receiver is not
stationary

Enum

4

H

ENABLE

1

The receiver is stationary

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2.5.36 INTERFACEMODE Set receive or transmit modes for ports V123
This command allows the user 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, you would set
the receive type on a port to RTCA in order to accept RTCA differential corrections.
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, for example 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.
When INTERFACEMODE port NONE NONE OFF is set, the specified port are disabled from
interpreting any input or output data. Therefore, no commands or differential corrections are decoded
by the specified port. When GENERIC is set for a port, it is also disabled but data can be passed
through the disabled port and be output from an alternative port using the pass-through logs
PASSCOM, PASSXCOM, PASSAUX and PASSUSB. See Page 378 for details on these logs and the
Operation chapter, in the OEMV Family Installation and Operation User Manual, for information on
pass-through logging. See also the COMCONFIG log on Page 291.
WARNING!:

If you intend to use the COM command, ensure you do so before the
INTERFACEMODE command on each port. The COM command can remove
the INTERFACEMODE command setting if the baud rate is changed after the
interface mode is set. You can also turn break detection off using the COM
command, see page 87, to stop the port from resetting because it is interpreting
incoming bits as a break command.

OmniSTAR External Stream
This feature allows you to use OmniSTAR VBS, HP or XP when you are not tracking an L-band
signal on the OEMV. This is useful on an L-band-capable receiver where the OmniSTAR signals are
unavailable. There is a new OmniSTAR option for the INTERFACEMODE command (OMNISTAR),
see Table on page 136.
For example, set the incoming INTERFACEMODE command to OMNISTAR on COM2:
INTERFACEMODE COM2 OMNISTAR NONE
where COM2 is expecting raw OmniSTAR L-band data from an external source.
1.

OMNISTAR is not a valid setting for an INTERFACEMODE output command.

2.

Receiver data only comes from one source (port or L-band tracking) at a time.

Abbreviated ASCII Syntax:

Message ID: 3

INTERFACEMODE [port] rxtype txtype [responses]
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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
ASCII Example 1:
interfacemode com1 rtca novatel on
ASCII Example 2:
interfacemode com2 mrtca none

Are NovAtel receivers compatible with others on the market?
All GPS 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 generic data format.
But there are several generic data formats available. For position and navigation
output there is the NMEA format. Real-time differential corrections use RTCM or
RTCA format. Receiver code and phase data use RINEX format. NovAtel and all
other major manufacturers support these formats and can work together using them.
You must understand your post-processing and real-time software requirements.
Good software supports a generic standard while poor software locks you into one
brand of GPS equipment. For the most flexibility, insist on generic data format
support for all hardware and software solutions.

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Table 31: Serial Port Interface Modes

Binary Value

ASCII Mode Name

Description

0

NONE

The port accepts/generates nothing. The port is disabled.

1

NOVATEL

The port accepts/generates NovAtel commands and logs

2

RTCM

The port accepts/generates RTCM corrections

3

RTCA

The port accepts/generates RTCA corrections

4

CMR

The port accepts/generates CMR corrections

5

OMNISTAR

The port accepts OMNISTAR corrections, see also OmniSTAR
External Stream on Page 135

6

Reserved

7

IMU

This port supports communication with a NovAtel supported
IMU, contact Customer Service, or refer to your SPAN ® for
OEMV User Manual for more information

8

RTCMNOCR

RTCM with no CR/LF appended a

9

CDGPS

The port accepts GPS*C data b

10

TCOM1

11

TCOM2

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 COM
command on Page 87. Only serial ports may be in a tunnel
configuration:
COM1, COM2, COM3 or AUX may be used.

12

TCOM3

13

TAUX c

14

RTCMV3

The port accepts/generates RTCM Version 3.0 corrections

15

NOVATELBINARY

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.

16-17

Reserved

For example, configure a tunnel at 115200 bps between COM1
and AUX:
COM AUX 115200
COM COM1 115200
INTERFACEMODE AUX TCOM1 NONE OFF
INTERFACEMODE COM1 TAUX NONE OFF
The tunnel is fully configured to receive/transmit at a baud rate
of 115200 bps.

Continued on the following page.

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Table 31: Serial Port Interface Modes

Binary Value

ASCII Mode Name

18

GENERIC

19

Reserved

20

MRTCA

Description
The port accepts/generates nothing. SEND/SENDHEX
commands from another port generate data on this port. Any
incoming data on this port can be seen with PASSCOM logs on
another port, see page 378.

The port accepts MRTCA data to output CDGPS positions. See
also CDGPS Corrections Over a Serial Port on Page 424

a. An output interfacemode of RTCMNOCR is identical to RTCM but with the CR/LF appended. An
input interfacemode of RTCMNOCR is identical to RTCM and functions with or without the CR/LF.
b. CDGPS has three options for output of differential corrections - NMEA, RTCM, and GPS*C. If you
have a ProPak-V3 receiver, you do not need to use the INTERFACEMODE command with CDGPS
as the argument. The CDGPS argument is for use with obsolete external non-NovAtel CDGPS
receivers. These receivers use GPS*C (NavCanada’s proprietary format differential corrections from
the CDGPS service).
c. The AUX port, and therefore TAUX mode, is only available on OEMV-2-based and OEMV-3-based
products.

Field
Type

Field

ASCII
Value

Binary
Value
-

1

INTERFACEMODE
header

-

2

port

3

rxtype

4
5

138

Description

Binary
Format

Binary Binary
Bytes Offset

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

-

H

0

See Table 17,
COM Serial Port
Identifiers on
page 88

Serial port identifier
(default = THISPORT)

Enum

4

H

Receive interface mode

Enum

4

H+4

txtype

See Table 31,
Serial Port
Interface Modes
on page 137

Transmit interface mode

Enum

4

H+8

responses

OFF

0

Turn response
generation off

Enum

4

H+12

ON

1

Turn response
generation on (default)

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2.5.37 IONOCONDITION Set ionospheric condition V123
This command changes the level of ionosphere activity that is assumed by the RTK positioning
algorithms.
Abbreviated ASCII Syntax:

Message ID: 1215

IONOCONDITION mode
ASCII Example:
ionocondition quiet
Field
Type

Field

ASCII
Value

Binary
Value

Description

1

IONOCONDITION
header

-

-

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

2

mode

QUIET

0

Receiver assumes a
low level of
ionosphere activity
(default)

NORMAL

1

Receiver assumes a
medium level of
ionosphere activity

DISTURBED

2

Receiver assumes a
high level of
ionosphere activity

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Format Bytes Offset
H

Enum

4

H

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2.5.38 LOCALIZEDCORRECTIONDATUM

Command to set a Local Datum

Use this command to select a localized correction datum before you use localized wide area
corrections. The choices are World Geodetic System 84 (WGS84) and North American 1983
(NAD83) including Areas 37-42. The default is WGS84, however:
•

When the receiver receives CDGPS data, and you issue a
LOCALIZEDCORRECTIONDATUM NAD83 command, it bases its localized wide area
corrections on CSRS

•

When the receiver receives OmniSTAR data, and you issue a
LOCALIZEDCORRECTIONDATUM NAD83 command, it bases its localized wide area
corrections on NAD83

RTCM corrections are always with respect to the datum selected at the base. For example, if
you set the LOCALIZEDCORRECTIONDATUM to NAD83 at a base station, the datum of
the positions produced at the rover receiver using these localized corrections will be NAD83.
This is true even though the datum in the rover BESTPOS log shows WGS84.

Localized Wide Area Corrections Mode
The local wide area corrections1 enhancement allows a NovAtel receiver to receive CDGPS or
OmniSTAR VBS corrections, compute an equivalent DGPS correction and then output it in RTCM
format to any GPS receiver. You can select to output corrections in the WGS84 or NAD83 datum.
Localized CDGPS and OmniSTAR corrections are available on OEMV-1- and OEMV-3-based
products with L-band capability. Supported datums provide these corrections with WGS84 as the
default.
This enhancement also introduces the following logs:
RTCMCDGPS1/RTCMDATACDGPS1, see page 482 and CDGPS Local Wide Area Corrections
on Page 441
RTCMCDGPS9/RTCMDATACDGPS9, see page 483 and CDGPS Local Wide Area Corrections
on Page 441
RTCMOMNI1/RTCMDATAOMNI1, see page 485 and OmniSTAR Local Wide Area Corrections
on Page 441
Use the SAVECONFIG command to save local wide area corrections interface settings.
Abbreviated ASCII Syntax:

Message ID: 947

LOCALIZEDCORRECTIONDATUM type
ASCII Example:
localizedcorrectiondatum nad83
1.

140

Refer also to our application note on Localized Wide Area Corrections, available on our Web
site at http://www.novatel.com/support/applicationnotes.htm as APN-045.

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1

Field
Type
LOCALIZEDCORRECTIONDATUM header

2

type

Field

ASCII
Value
-

WGS84
NAD83

Binary
Value
-

1
2

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

Localised
correction datum
type

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-

Binary
Bytes
H

Binary
Offset
0

Enum

4

H

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2.5.39 LOCKOUT Prevent the receiver from using a satellite V123
This command prevents the receiver from using a satellite by de-weighting its range in the solution
computations. Note that the LOCKOUT command does not prevent the receiver from tracking an
undesirable satellite. This command must be repeated for each satellite to be locked out.
See also the UNLOCKOUT and UNLOCKOUTALL commands.
Abbreviated ASCII Syntax:

Message ID: 137

LOCKOUT prn
Input Example:
lockout 8

The LOCKOUT command allows you to remove one or more satellites from the
solution while leaving other satellites available.

Field

Field
Type

ASCII
Value

Binary
Value

1

LOCKOUT
header

-

2

prn

GPS: 1-37
SBAS: 120-138
GLONASS: see
Section 1.3 on
Page 29.

142

-

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

A single satellite PRN number to
be locked out

Ulong

4

H

Description

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2.5.40 LOG

Request logs from the receiver V123

Many different types of data can be logged using several different methods of triggering the log
events. Every log element can be directed to any combination of the three COM ports and three USB
ports. The ONTIME trigger option requires the addition of the period parameter. See Chapter 3, Data
Logs on Page 224 for further information and a complete list of data log structures. The LOG
command tables in this section show the binary format followed by the ASCII command format.
The optional parameter [hold] prevents a log from being removed when the UNLOGALL command,
with its defaults, is issued. To remove a log which was invoked using the [hold] parameter requires the
specific use of the UNLOG command, see page 214. To remove all logs that have the [hold]
parameter, use the UNLOGALL command with the held field set to 1, see page 216.
The [port] parameter is optional. If [port] is not specified, [port] is defaulted to the port that the
command was received on.
1.

The OEMV family of receivers can handle 30 logs at a time. If you attempt to log more
than 30 logs at a time, the receiver responds with an Insufficient Resources error.

2.

Maximum flexibility for logging data is provided to the user by these logs. The user is
cautioned, however, to recognize that each log requested requires additional CPU time
and memory buffer space. Too many logs may result in lost data and degraded CPU
performance. Receiver overload can be monitored using the idle-time field and buffer
overload bits of the Receiver Status in any log header.

3.

Polled log types do not allow fractional offsets or ONTIME rates faster than 1Hz.

4.

Use the ONNEW trigger with the MARKTIME, MARK2TIME, MARKPOS or
MARK2POS logs.

5.

Only the MARKPOS, MARK2POS, MARKTIME or MARK2TIME logs, and ‘polled’
log types are generated ‘on the fly’ at the exact time of the mark. Synchronous and
asynchronous logs output the most recently available data.

6.

If you do use the ONTIME trigger 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 being transmitted.

Abbreviated ASCII Syntax:

Message ID: 1

LOG [port] message [trigger [period [offset [hold]]]]
Factory Default:
log com1 rxstatuseventa onnew 0 0 hold
log com2 rxstatuseventa onnew 0 0 hold
log com3 rxstatuseventa onnew 0 0 hold
log aux rxstatuseventa onnew 0 0 hold
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log usb1 rxstatuseventa onnew 0 0 hold
log usb2 rxstatuseventa onnew 0 0 hold
log usb3 rxstatuseventa onnew 0 0 hold

Abbreviated ASCII Example 1:
log com1 bestpos ontime 7 0.5 hold
The above example shows BESTPOS logging to COM port 1 at 7 second intervals and offset by 0.5
seconds (output at 0.5, 7.5, 14.5 seconds and so on). The [hold] parameter is set so that logging is not
disrupted by the UNLOGALL command.
To send a log only one time, the trigger option can be ignored.
Abbreviated ASCII Example 2:
log com1 bestpos once 0.000000 0.000000 nohold
See Section 2.1, Command Formats on page 35 for additional examples.

In CDU there are two ways to initiate data logging to the receiver's serial ports.
You can either enter the LOG command in the Console window, or use the interface
provided in the Logging Control window. Ensure the Power Settings on your PC 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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Field
Name

Binary
Value

1

LOG
(binary)
header

(See Table 4, Binary
Message Header Structure
on page 23)

This field contains the
message header.

-

H

0

2

port

See Table 5, Detailed
Serial Port Identifiers on
page 25

Output port

Enum

4

H

3

message

Any valid message ID

Message ID of log to output

UShort

2

H+4

4

message
type

Bits 0-4 = Reserved
Bits 5-6 = Format
00 = Binary
01 = ASCII
10 = Abbreviated ASCII,
NMEA
11 = Reserved
Bit 7
= Response Bit
(see page 27)
0 = Original Message
1 = Response Message

Message type of log

Char

1

H+6

5

Reserved

Char

1

H+7

6

trigger

Enum

4

H+8

Double

8

H+12

Field

7

period

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 continue
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

5 = ONMARK

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

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

Log period (for ONTIME
trigger) in seconds c

Field
Type

Binary
Bytes

Binary
Offset

Continued on page 146.

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Field
Name

Commands
Binary
Value

Description

Field
Type

Binary
Bytes

Binary
Offset

8

offset

A valid value is any integer
smaller than the period.
These decimal values, on
their own, are also valid:
0.1, 0.2, 0.25 or 0.5

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

Double

8

H+20

9

hold

0 = NOHOLD

Allow log to be removed by
the UNLOGALL command

Enum

4

H+28

1 = HOLD

Prevent log from being
removed by the default
UNLOGALL command

a. Refer to the Technical Specifications appendix in the OEMV Family 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.
b. Once the 1PPS signal has hit a rising edge, for both MARKPOS and MARKTIME logs, a resolution
of both measurements is 49 ns. As for the ONMARK trigger for other logs that measure latency, for
example RANGE and position log 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 and MARKTIME
logs starting on page 358.
c. See Appendix A in the OEMV Family Installation and Operation User Manual for the maximum raw
measurement rate to calculate 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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Field
Name

ASCII
Value

Description

Field
Type

1

LOG
(ASCII)
header

-

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

-

2

port

See Table 17, COM
Serial Port Identifiers
on page 88

Output port
(default = THISPORT)

Enum

3

message

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

Message name of log to output

Char [ ]

4

trigger

ONNEW

Output when the message is updated (not
necessarily changed)

Enum

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
(see Footnotes a and b on page 146)

5

period

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

Log period (for ONTIME trigger) in seconds
(default = 0)
(see Footnote c on page 146)

Double

6

offset

Any positive double
value smaller than the
period.

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

Double

7

hold

NOHOLD

Allow log to be removed by the UNLOGALL
command (default)

Enum

HOLD

Prevent log from being removed by the
UNLOGALL command

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2.5.41 MAGVAR Set a magnetic variation correction V123
The receiver computes directions referenced to True North. Use this command (magnetic variation
correction) if you intend 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 if you use the auto option. See
Figure 4, Illustration of Magnetic Variation & Correction on Page 149.
The receiver calculates values of magnetic variation for given values of latitude, longitude and time
using the International Geomagnetic Reference Field (IGRF) 2005 spherical harmonic coefficients
and IGRF time corrections to the harmonic coefficients. The model is intended for use up to the year
2010. The receiver will compute for years beyond 2010 but accuracy may be reduced.
Abbreviated ASCII Syntax:

Message ID: 180

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 4: Illustration of Magnetic Variation & Correction
Reference

Description

a

True Bearing

b

Local Magnetic Variation

c

Local Magnetic Variation Correction (inverse of magnetic variation)

a+c

Magnetic Bearing

d

Heading: 50° True, 60° Magnetic

e

True North

f

Local Magnetic North

How does the GPS 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 these
changes.
True North refers to the earth's celestial pole, that is, at 90° north latitude or the
location where the lines of longitude converge. This position is always the same and
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does not vary.
The locations of these two poles do not coincide. Thus, a relationship is required
between these two values for users to relate GPS bearings to their compass
bearings. This value is called the magnetic variation correction or declination.
GPS does not determine where Magnetic North is nor do the satellites provide
magnetic correction or declination values. However, OEMV 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 you to determine these correction values. By identifying your location
(latitude and longitude), you can obtain the correction value. Refer to the GNSS
Reference Book, available on our Web site at http://www.novatel.com/support/
docupdates.htm for USGS contact information.

Field

Field
Type

ASCII
Value

Binary
Value

Description

Binary Binary Binary
Format Bytes Offset

1

MAGVAR
header

-

-

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

-

H

0

2

type

AUTO

0

Use IGRF corrections

Enum

4

H

CORRECTION

1

Use the correction supplied

3

correction

± 180.0 degrees

Magnitude of correction
(Required field if type =
Correction)

Float

4

H+4

4

std_dev

± 180.0 degrees

Standard deviation of
correction
(default = 0)

Float

4

H+8

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2.5.42 MARKCONTROL Control processing of mark inputs V123
This command provides a means of controlling the processing of the mark 1 (MK1I) and mark 2
(MK2I) inputs for the OEMV. Using this command, the mark inputs can be enabled or disabled, the
polarity can be changed, and a time offset and guard against extraneous pulses can be added.
The MARKPOS and MARKTIME logs, see their descriptions starting on page 358, have their outputs
(and extrapolated time tags) pushed into the future (relative to the 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.
Abbreviated ASCII Syntax:

Message ID: 614

MARKCONTROL signal switch [polarity] [timebias [timeguard]]
Factory Default:
markcontrol mark1 enable negative 0 0
markcontrol mark2 enable negative 0 0
ASCII Example:
markcontrol mark1 enable negative 50 100
3.3 V
NEGATIVE
Polarity

0.0 V
> 51 ns
3.3 V
POSITIVE
Polarity

0.0 V

Figure 5: TTL Pulse Polarity

You may have a user point device, such as a video camera device. 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 and MARKTIME logs starting on Page 358.

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Commands
Field
Type

ASCII
Value

Binary
Value

Description

Binary
Format

Binary
Bytes

Binary
Offset

1

MARKCONTROL
header

-

-

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

-

H

0

2

signal

MARK1

0

Enum

4

H

MARK2

1

Specifies which mark input
the command should be
applied to. Set to MARK1
for the MK1I input and
MARK2 for MK2I. Both
mark inputs have 10K pullup resistors to 3.3 V and
are leading edge triggered.

DISABLE

0

Enum

4

H+4

ENABLE

1

Disables or enables
processing of the mark
input signal for the input
specified. If DISABLE is
selected, the mark input
signal is ignored. The
factory default is ENABLE.

NEGATIVE

0

Enum

4

H+8

POSITIVE

1

Optional field to specify the
polarity of the pulse to be
received on the mark input.
See Figure 5 for more
information. If no value is
specified, the default
NEGATIVE is used.

3

switch

4

polarity

5

timebias

Any valid long value

Optional value to specify
an offset, in nanoseconds,
to be applied to the time
the mark input pulse
occurs. If no value is
supplied, the default value
of 0 is used.

Long

4

H+12

6

timeguard

Any valid ulong
value larger than the
receiver’s minimum
raw measurement
period a

Optional field to specify a
time period, in
milliseconds, during which
subsequent pulses after an
initial pulse are ignored. If
no value is supplied, the
default value of 0 is used.

ULong

4

H+16

a. See Appendix A in the OEMV Family 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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2.5.43 MODEL Switch to a previously authorized model V123
This command is used to switch the receiver between models previously added with the AUTH
command. When this command is issued, the receiver saves this 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 to output a list of available models for your receiver. The
VALIDMODELS log is described on Page 568. Use the VERSION log to output the active model, see
Page 569.
If you switch to an expired model, the receiver will reset and enter into an error state. You will
need to switch to a valid model to continue.
Abbreviated ASCII Syntax:

Message ID: 22

MODEL model
Input Example:
model rt2w

NovAtel receivers use the concept of models to enable different levels of functionality
in the receiver firmware. For example, a receiver may be purchased with an L1 only
enabled version of firmware and be easily upgraded at a later time to a more featureintensive model. All that is required to upgrade is an authorization code for the higher
model and the AUTH command (see page 74). Reloading the firmware or returning
the receiver for service to upgrade the model is not required. Upgrades are available
from NovAtel Customer Service at 1-800-NOVATEL.

Field

Field
Type

ASCII
Value

Binary
Value
-

1

MODEL header

-

2

model

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

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

Model name

String
[max. 16]

Variablea

Variable

Description

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment

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2.5.44 MOVINGBASESTATION Set ability to use a moving base station
V23_RT2 or V123_RT20
This command enables or disables a receiver from transmitting corrections without a fixed position.
The moving base function allows you to obtain a cm level xyz baseline estimate when the base station
and possibly the rover are moving. It is very similar to normal RTK, that is, one base station and
potentially more than one rover depending on the data link. Communication with each receiver is
done in the usual way (refer to the Transmitting and Receiving Corrections section of the Operation
chapter in the OEMV Family 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.
At the rover, it is recommended that you only use the PSRPOS log for position when in moving base
station mode. PSRPOS has normal accuracy with good standard deviations. Other position logs, for
example BESTPOS, can have error levels of 10’s to 100’s of metres and should be considered invalid.
Also, the standard deviation in these logs does not correctly reflect the error level. Other rover
position logs, where accuracy and standard deviations are affected by the moving base station mode,
are BESTXYZ, GPGST, MARKPOS, MARK2POS, MATCHEDPOS, MATCHEDXYZ, RTKPOS
and RTKXYZ.
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 now supports RTCM V2.3 messages (except RTCM2021), RTCM V3
operation and CMR GLONASS.

3.

RTCA, RTCM1819 and RTCM V3 support includes GPS + GLONASS operation.

4.

The MOVINGBASESTATION mode is functional if any of the following RTK message
formats are in use: RTCAOBS, RTCAOBS2, CMROBS, RTCAREF or CMRREF.

Abbreviated ASCII Syntax:

Message ID: 763

MOVINGBASESTATION switch
Factory Default:
movingbasestation disable
ASCII Example:
movingbasestation enable

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1. Consider the case where there is a fixed base and an airplane flying with a
moving base station near its front and a rover station at its tail end. See Figure 6
on Page 155.
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.

3

2

1
DL-V3

Figure 6: Moving Base Station ‘Daisy Chain’ Effect
Be cautious however when using this method as a check on the position type is
only done at the fixed base station. Moving base stations will continue to operate
under any conditions.
2. This command is useful for moving base stations doing RTK positioning at sea. A
rover station is used to map out local areas (for marking shipping lanes,
hydrographic surveying, and so on), while the base station resides on the control
ship. The control ship may not move much (parked at sea), but there is a certain
amount of movement due to the fact that it is floating in the ocean. By using the
MOVINGBASESTATION command, the control ship is able to use RT2-level
RTK positioning and move to new survey sites.
Field

Field
Type

ASCII
Value

Binary
Value

Description

Binary Binary Binary
Format Bytes Offset

1

MOVINGBASESTATION
header

-

-

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

2

switch

DISABLE

0

Do not transmit corrections without Enum
a fixed position (default)

ENABLE

1

Transmit corrections without a
fixed position

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2.5.45 NMEATALKER Set the NMEA talker ID V123
This command allows you to alter the behavior of the NMEA talker ID. The talker is the first 2
characters after the $ sign in the log header of the GPGLL, GPGRS, GPGSA, GPGST, GPGSV,
GPRMB, GPRMC, GPVTG, and GPZDA log outputs.
The default GPS NMEA messages (nmeatalker gp) include specific information on only the GPS
satellites and have a 'GP' talker solution even when GLONASS satellites are present. The
nmeatalker auto command changes this behavior so that the NMEA messages include all
satellites in the solution, and the talker ID changes according to those satellites.
If nmeatalker is set to auto, and there are both GPS and GLONASS satellites in the solution,
two sentences with the GN talker ID are output. The first sentence contains information on 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.
Abbreviated ASCII Syntax:

Message ID: 861

NMEATALKER [ID]
Factory Default:
nmeatalker gp
ASCII Example:
nmeatalker auto

The NMEATALKER command only affects NMEA logs that are capable of a GPS
output. For example, GLMLA is a GLONASS-only log and its output will always use
the GL talker. Table 32 on page 157 shows the NMEA logs and whether they use
GPS (GP), GLONASS (GL) or combined (GN) talkers with nmeatalker auto.

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Table 32: NMEA Talkers
Log

Field

Field
Type

ASCII
Value

Talker IDs

GLMLA

GL

GPALM

GP

GPGGA

GP

GPGLL

GP or GN

GPGRS

GP or GN

GPGSA

GP or GN

GPGST

GP or GN

GPGSV

GP and GL

GPRMB

GP or GN

GPRMC

GP or GN

GPVTG

GP or GN

GPZDA

GP

Binary
Value

Description

Binary Binary
Format Bytes

Binary
Offset

1

NMEATALKER
header

-

-

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

-

H

0

2

ID

GP

0

GPS only

Enum

4

H

AUTO

1

GPS, GLONASS, combined and/
or Inertial a

a. Inertial only applies when using an inertial navigation system such as NovAtel’s SPAN products.
Please visit our Web site, refer to your SPAN for OEMV User Manual, or contact NovAtel for more
information.

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2.5.46 NVMRESTORE Restore NVM data after an NVM failure V123
This command restores non-volatile memory (NVM) data after a NVM Fail error. This failure is
indicated by bit 13 of the receiver error word being set (see also RXSTATUS, Page 546 and
RXSTATUSEVENT, Page 556). 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 OEMV Family 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
re-entered 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 re-established at a different baud rate from the previous connection.
Abbreviated ASCII Syntax:

Message ID: 197

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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2.5.47 PDPFILTER Command to enable, disable or reset the PDP filter
V123
This command enables, disables or resets the Pseudorange/Delta-Phase (PDP) filter. The main
advantages of the Pseudorange/Delta-Phase (PDP) implementation are:
• Smooths a jumpy position
• Bridges outages in satellite coverage (the solution is degraded from normal but
there is at least a reasonable solution without gaps)
Enable the PDP filter to output the PDP solution in BESTPOS, BESTVEL and NMEA logs.

Refer to the Operation chapter of the OEMV Installation and Operation Manual for
a section on configuring your receiver for PDP or GL1DE ® operation.

GL1DE Position Filter
GL1DE is a mode of the PDP1 filter which optimizes the position for consistency over time rather than
absolute accuracy. This is ideally in clear sky conditions where the user needs a tight, smooth, and
consistent output. The GL1DE filter works best with CDGPS or WAAS. The PDP filter is smoother
than a least squares fit but is still noisy in places. The GL1DE filter produces a very smooth solution
with consistent rather than absolute position accuracy. There should be less than 1 cm difference
typically from epoch to epoch. GL1DE also works in single point, DGPS and OmniSTAR VBS modes.
See also the PDPMODE command on page 160 and the PDPPOS, PSRVEL and PSRXYZ logs starting
on page 382.
Abbreviated ASCII Syntax:

Message ID: 424

PDPFILTER switch
Factory Default:
pdpfilter disable
ASCII Example:
pdpfilter enable
Field
1

2

Field
Type
PDPFILTER
header

switch

1.

ASCII
Value
-

Binary
Value
-

DISABLE
ENABLE
RESET

0
1
2

Description

Binary Binary Binary
Format Bytes Offset
H
0

This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.
Enable/disable/reset the PDP filter. Enum
A reset clears the filter memory so
that the pdp filter can start over.

4

H

Refer also to our application note on Pseudorange/Delta-Phase (PDP), available on our Web
site as APN-038 at http://www.novatel.com/support/applicationnotes.htm

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2.5.48 PDPMODE Select the PDP mode and dynamics V123
This command allows you to select the mode and dynamics of the PDP filter.
1.

You must issue a PDPFILTER ENABLE command before the PDPMODE command.
See also Section 2.5.47 on Page 159.

2.

If you choose RELATIVE mode (GL1DE) while in WAAS or CDGPS mode:
•

With an L1-only receiver model, you must force the iono type to GRID in the
SETIONOTYPE command.

•

With an L1/L2 receiver model, you must force the iono type to L1L2 in the
SETIONOTYPE command.

See also Section 2.5.73 starting on Page 198 for details on the SETIONOTYPE command.
Abbreviated ASCII Syntax:

Message ID: 970

PDPMODE mode dynamics
Factory Default:
pdpmode normal auto
ASCII Example:
pdpmode relative dynamic
Field
1

Field
ASCII
Type
Value
PDPMODE header

Binary
Value
-

2

mode

NORMAL 0
RELATIVE 1

3

dynamics

AUTO
STATIC
DYNAMIC

160

0
1
2

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

Binary Binary Binary
Format Bytes Offset
H
0

Enum
In relative mode, GL1DE,
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 GL1DE
Position Filter on Page 159.
Auto detect dynamics mode
Enum
Static mode
Dynamic mode

4

H

4

H+4

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2.5.49 POSAVE Implement base station position averaging V123_DGPS
This command implements position averaging for base stations. Position averaging continues for a
specified number of hours or until the estimated averaged position error is within specified accuracy
limits. Averaging stops when the time limit or the horizontal standard deviation limit or the vertical
standard deviation limit is achieved. When averaging is complete, the FIX POSITION command is
automatically invoked.
If you initiate differential logging, then issue the POSAVE command followed by the SAVECONFIG
command, the receiver averages positions after every power-on or reset, and then invokes the FIX
POSITION command to enable it to send differential corrections.
If this command is used, its command default state is ON and as such you only need to
specify the state if you wish to disable position averaging (OFF). In Example 1 below,
POSAVE 24 1 2 is the same as:
POSAVE ON 24 1 2
Abbreviated ASCII Syntax:

Message ID: 173

POSAVE [state] maxtime [maxhstd [maxvstd]]
Factory Default:
posave off
ASCII Example 1:
posave 24 1 2
ASCII Example 2:
posave off

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 userspecified level. User-specified requirements can be based on time, or horizontal or
vertical quality of precision.

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Field

Commands
Field
Type

ASCII
Value

Binary
Value

Description

Binary
Format

Binary
Bytes

Binary
Offset

1

POSAVE
header

-

-

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

-

H

0

2

state

ON

1

Enum

4

H

OFF

0

Enable or disable position
averaging
(default = ON)

3

maxtime

0.01 - 100 hours

Maximum amount of time that
positions are to be averaged.
Only becomes optional if:
State = OFF

Float

4

H+4

4

maxhstd

0 - 100 m

Desired horizontal standard
deviation
(default = 0)

Float

4

H+8

5

maxvstd

0 - 100 m

Desired vertical standard
deviation
(default = 0)

Float

4

H+12

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2.5.50 POSTIMEOUT Sets the position time out V123
This commands allows you to set the RTK time out value for the position calculation in seconds.
In position logs, for example BESTPOS or PSRPOS, when the position time out expires, the Position
Type field is set to NONE. Other field values in these logs remain populated with the last available
position data. Also, the position is no longer used in conjunction with the almanac to determine what
satellites are visible.
Abbreviated ASCII Syntax:

Message ID: 612

POSTIMEOUT sec
Factory Default:
postimeout 600
ASCII Example:
postimeout 1200

In performing RTK 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 using calculated positions that are too old. Use POSTIMEOUT to
force the receiver position type to NONE. This ensures that the position information
being used in BESTPOS or PSRPOS logs is based on a recent calculation. All
position calculations are then re-calculated using the most recent satellite
information.

Field
Type

Field

ASCII
Value

Binary
Value
-

1

POSTIMEOUT
header

-

2

sec

0-86400

Description

Binary Binary
Format Bytes

Binary
Offset

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

-

H

0

Time out in seconds
(default = 600 s)

Ulong

4

H

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2.5.51 PPSCONTROL Control the PPS output V123
This command provides a method for controlling the polarity, rate and pulse width of the PPS output
on the OEMV. You can also disable the PPS output using this command.
The leading edge of the 1PPS pulse is always the trigger/reference:
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.
In firmware versions 3.301 and higher, the pulse width is user-adjustable. The adjustable pulse width
feature generates these uses for the PPS signal:
•

Supporting 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

Abbreviated ASCII Syntax:

Message ID: 613

PPSCONTROL switch [polarity] [rate] [pulse width]
Factory Default:
ppscontrol enable negative 1.0 0
ASCII Example:
ppscontrol enable positive 0.5 2000

This command is used to setup the PPS signal coming from the receiver. Suppose
you wanted to take measurements such as temperature or pressure in synch with
your GPS data. The PPS signal can be used to trigger measurements in other
devices.

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Field
Type

Field

ASCII
Value

Binary
Value

Description

Binary Binary Binary
Format Bytes Offset

1

PPSCONTROL
header

-

-

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

-

H

0

2

switch

DISABLE

0

Enum

4

H+4

ENABLE

1

Disables or enables
output of the PPS pulse.
The factory default value
is ENABLE.

NEGATIVE

0

Enum

4

H+8

POSITIVE

1

Optional field to specify
the polarity of the pulse to
be generated on the PPS
output. See Figure 5 for
more information. If no
value is supplied, the
default NEGATIVE is
used.

3

polarity

4

rate

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

Optional field to specify
the period of the pulse, in
seconds. If no value is
supplied, the default value
of 1.0 is used.

Double

8

H+12

5

pulse width

Any positive value
less than half the
period

Optional field to specify
the pulse width of the PPS
signal in microseconds. If
no value is supplied, the
default value of 0 is used
which refers to 1000
microseconds. This value
should always be less
than half the period.

ULong

4

H+20

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2.5.52 PSRDIFFSOURCE Set the pseudorange correction source
V123_DGPS
This command lets you identify from which base station to accept differential corrections. This is
useful when the receiver is receiving corrections from multiple base stations. See also the
RTKSOURCE command on Page 181.
1.

When a valid PSRDIFFSOURCE command is received, the current correction is
removed immediately rather than in the time specified in DGPSTIMEOUT.

2.

To use L-band differential corrections, an L-band receiver and a subscription to the
OmniSTAR, or use of the free CDGPS, service are required. Contact NovAtel for details,
see the back of this manual or Customer Service in the OEMV Installation manual.

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
RTK.

Abbreviated ASCII Syntax:

Message ID: 493

PSRDIFFSOURCE type ID
Factory Default:
psrdiffsource auto "any"
ASCII Examples:
1. Enable only SBAS:
rtksource none
psrdiffsource sbas
sbascontrol enable auto
2.

Enable OmniSTAR VBS, and HP or XP:
rtksource omnistar
psrdiffsource omnistar

3.

Enable RTK and PSRDIFF from RTCM, with a fall-back to SBAS:
rtksource rtcm any
psrdiffsource rtcm any
sbascontrol enable auto

4.

Disable all corrections:
rtksource none
psrdiffsource none

Since several errors affecting signal transmission are nearly the same for two
receivers near each other on the ground, a base at a known location can monitor the
errors and generate corrections for the rover to use. This method is called Differential
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GPS, and is used by surveyors to obtain millimetre accuracy.
Major factors degrading GPS signals, which can be removed or reduced with
differential methods, are the atmosphere, ionosphere, satellite orbit errors and
satellite clock errors. Errors not removed include receiver noise and multipath.

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Table 33: DGPS Type

Binary

ASCII

Description

0

RTCM a d

RTCM ID: 0 ≤ RTCM ID ≤ 1023 or ANY

1

RTCA a d

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

2

CMR a b d

CMR ID: 0 ≤ CMR ID ≤ 31 or ANY

3

OMNISTAR c d

In the PSRDIFFSOURCE command, OMNISTAR enables OmniSTAR VBS
and disables other DGPS types. OmniSTAR VBS produces RTCM-type
corrections. In the RTKSOURCE command, OMNISTAR enables OmniSTAR
HP/XP (if allowed) and disables other RTK types. OmniSTAR HP/XP has its
own filter, which computes corrections in RTK float mode or within about 10 cm
accuracy.

4

CDGPS c d

In the PSRDIFFSOURCE command, CDGPS enables CDGPS and disables
other DGPS types. CDGPS produces SBAS-type corrections.
If CDGPS is set in the RTKSOURCE command, it can not provide carrier
phase positioning and returns an error.

5

SBAS c d

In the PSRDIFFSOURCE command, when enabled, SBAS, such as WAAS,
EGNOS and MSAS, forces the use of SBAS as the pseudorange differential
source. SBAS is able to simultaneously track two SBAS satellites, and
incorporate the SBAS corrections into the position to generate differentialquality position solutions. An SBAS-capable receiver permits anyone within the
area of coverage to take advantage of its benefits.
If SBAS is set in the RTKSOURCE command, it can not provide carrier
phase positioning and returns an error.

6

RTKd

In the PSRDIFFSOURCE command, RTK enables using RTK correction types
for PSRDIFF positioning. When using multiple correction types , such as,
RTCM, RTCA, RTCMV3, or CMR, the positioning filter selects the first
received message.

10

AUTO c d

In the PSRDIFFSOURCE command, AUTO means that if any correction
format is received then it will be used. If multiple correction formats are
available, then RTCM, RTCA, and RTK will be preferred over OmniSTAR,
which will be preferred over SBAS messages. If RTCM, RTCA, and RTK are
all available then the type of the first received message will be used.
In the RTKSOURCE command, AUTO means that both the NovAtel RTK filter
and the OmniSTAR HP/XP filter (if authorized) are enabled. The NovAtel RTK
filter selects the first received RTCM, RTCA, RTCMV3 or CMR message.
The BESTPOS log selects the best solution between NovAtel RTK and
OmniSTAR HP/XP.

11

NONE c e

Disables all differential correction types

12

Reserved

13

RTCMV3 b

a.
b.
c.
d.
e.

168

RTCM Version 3.0 ID: 0 ≤ RTCMV3 ID ≤ 4095 or ANY

Disables L-band Virtual Base Stations (VBS).
Available only with the RTKSOURCE command, see page 181.
ID parameter is ignored.
Available only with the PSRDIFFSOURCE command, see page 166.
All PSRDIFFSOURCE entries fall back to SBAS (except NONE).

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Field
Type

Field

ASCII
Value

1

PSRDIFFSOURCE
header

-

2

type

3

ID

Binary
Value
-

Description

Binary
Format

Binary Binary
Bytes Offset

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

-

H

0

See Table

ID Type. All types may revert
to SBAS (if enabled) or
SINGLE position types. See
also Table 50, Position or
Velocity Type on page 252. a

Enum

4

H

Char [5] or
ANY

ID string

Char[5]

8b

H+4

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

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2.5.53 PSRVELOCITYTYPE Specify the Doppler Source V123
This command sets the Doppler source for velocities determined by the pseudorange filter.
The velocity in the PSRVEL log is determined by the pseudorange filter. Velocities from the
pseudorange filter are calculated from the Doppler. The PSRVELOCITYTYPE command allows you
to specify the Doppler source for pseudorange filter velocities.
In general, we recommend Doppler velocity. The exception is in cases needing a very good estimate
of the latency and low latency. The delta phase velocity becomes noisier at high rates.
See also the PSRVEL log on page 393.
Abbreviated ASCII Syntax:

Message ID: 950

PSRVELOCITYTYPE [source]
Factory Default:
psrvelocitytype doppler
Input Example:
pservelocitytype doppler
Field

Field
Type

ASCII
Value

1

PSRVELOCITYTYPE
header

2

source

-

Binary
Value
-

Binary Binary
Format Bytes

Description

Binary
Offset

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

-

H

0

Pseudorange velocity type, see
Table 34 below.

Enum

4

H

Table 34: Pseudorange Velocity Type
Binary

170

ASCII

Description

0

DOPPLER

Use observed Doppler

1

DELTAPHASE

Use phase differencing to calculate Doppler

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2.5.54 RESET Perform a hardware reset V123
This command performs a hardware reset. Following a RESET command, the receiver initiates a coldstart boot up. Therefore, the receiver configuration reverts either to the factory default, if no user
configuration was saved, or the last SAVECONFIG settings. See also the FRESET and
SAVECONFIG commands on Pages 124 and 187 respectively.
The optional delay field is used to set the number of seconds the receiver is to wait before resetting.
Abbreviated ASCII Syntax:

Message ID: 18

RESET [delay]
Inout Example
reset 120

The RESET command can be used to erase any unsaved changes to the receiver
configuration.

Unlike the FRESET command, the RESET command does not erase data stored in the NVM,
such as Almanac and Ephemeris data.

Field

Field
Type

1

RESET header

2

delay

ASCII
Value

Binary
Value

-

-

Description

Binary
Format

Binary Binary
Bytes Offset

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

-

H

0

Seconds to wait before resetting.
(default = 0)

Ulong

4

H

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2.5.55 RTKANTENNA Specify L1 phase center (PC) or ARP and
enable/disable PC modelling V123_RT20 or
V23_RT2
Use this command to specify whether to use L1 phase center or Antenna Reference Point (ARP)
positioning.
You can also decide whether or not to apply phase center variation modeling. If there are any
conditions that make a selected mode impossible, the solution status in the position logs indicate an
error or warning. Status information is in the rtk info field of the RTKDATA log, see page 530.
L1 ARP offsets, L2 ARP offsets and phase center variation parameters can be entered using the
ANTENNAMODEL and BASEANTENNAMODEL commands on page 62 and page 76
respectively.
Error states occur if either the rover does not have the necessary antenna information entered or the
base is not sending sufficient information to work in the requested mode. Some examples of these
error conditions are:
•

RTCM Types 23 and 24 messages are received from the base and no model is available
for the specified base antenna

•

Phase center modeling is requested but the base is only sending RTCM Types 3 and 22

•

Position reference to the ARP is requested but no rover antenna model is available

Abbreviated ASCII Syntax:

Message ID: 858

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.

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Field
Type

Field

ASCII
Value

Binary
Value

Description

Binary Binary Binary
Format Bytes Offset

1

RTKANTENNA
header

-

-

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

-

H

0

2

posref

L1PC

0

L1 phase center
position reference

Enum

4

H

ARP

1

ARP position
reference

UNKNOWN

2

Unknown position
reference

DISABLE

0

Disable PCV
modelling (default)

Enum

4

H+4

ENABLE

1

Enable PCV modelling

3

pcv

4

Reserved

Bool

4

H+8

5

Reserved

Bool

4

H+12

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2.5.56 RTKCOMMAND

Reset or set the RTK filter to its defaults
V123_RT20 or V23_RT2

This command provides the ability to reset the RTK filter and clear any set RTK parameters. The
RESET parameter causes the AdVance RTK algorithm to undergo a complete reset, forcing the
system to restart the ambiguity resolution calculations. The USE_DEFAULTS command executes the
following commands:
RTKDYNAMICS DYNAMIC
RTKSVENTRIES 12
Abbreviated ASCII Syntax:

Message ID: 97

RTKCOMMAND action
Factory Default:
rtkcommand use_defaults
ASCII Example:
rtkcommand reset

See the descriptions for the above commands in the following pages..

Field
Type

Field

ASCII
Value

Binary
Value

Description

Binary Binary Binary
Format Bytes Offset

1

RTKCOMMAND
header

-

-

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

-

H

0

2

type

USE_DEFAULTS

0

Reset to defaults

Enum

4

H

RESET

1

Reset RTK algorithm

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2.5.57 RTKDYNAMICS

Set the RTK dynamics mode V123_RT20 or V23_RT2

This command provides the ability 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, regardless of the output of the motion detector.
DYNAMIC forces the software to treat the receiver as though it were in motion. If the receiver is
undergoing very slow steady motion (<2.5 cm/s for more than 5 seconds), you should use DYNAMIC
mode (as opposed to AUTO) to prevent inaccurate results and possible resets.
On start-up, the receiver defaults to the DYNAMIC setting.
For reliable performance the antenna should not move more than 1-2 cm when in static mode.
Abbreviated ASCII Syntax:

Message ID: 183

RTKDYNAMICS mode
Factory Default:
rtkdynamics dynamic
ASCII Example:
rtkdynamics static
Table 35: Dynamics Mode
ASCII

Binary

Description

AUTO

0

Automatically determine dynamics mode.

STATIC

1

Static mode.

DYNAMIC

2

Dynamic mode.

Use the static option to decrease the time required to fix ambiguities and reduce the
amount of noise in the position solution. If you use STATIC mode when the antenna
is not static, the receiver will have erroneous solutions and unnecessary RTK resets.

Field

Field
Type

ASCII
Value

Binary
Value
-

1

RTKDYNAMICS
header

-

2

mode

See Table 35

Description

Binary Binary
Format Bytes

Binary
Offset

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

-

H

0

Set the dynamics mode

Enum

4

H

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2.5.58 RTKELEVMASK Set the RTK elevation mask V123_RT20 or V23_RT2
This command provides the...
Abbreviated ASCII Syntax:

Message ID: 91

RTKELEVMASK mode
Factory Default:
rtkelevmask auto
ASCII Example:
rtkelevmask auto

Field
Type

Field
1

RTKELEVMASK
header

2

mode

176

ASCII
Value

Binary
Value

-

-

Description

Binary Binary
Format Bytes

Binary
Offset

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

-

H

0

Set the dynamics mode

Enum

4

H

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2.5.59 RTKNETWORK Specify the RTK network mode
V23_RT2

V123_RT20 or

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 Network RTK application note available on our Web site as APN-041 at:
http://www.novatel.com/support/applicationnotes.htm.
Abbreviated ASCII Syntax:
RTKNETWORK mode [network#]

Message ID: 951

Factory Default:
rtknetwork auto
Input Example:
rtknetwork imax
Field

Field
Type

1

RTKNETWORK
header

2

3

ASCII
Value
-

Binary
Value
-

Description

Binary Binary
Format Bytes

Binary
Offset

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

-

H

0

mode

RTK network mode, see Table 36
on page 178. The factory default is
auto where the receiver switches to
the first available network RTK
source.

Enum

4

H

network#

Specify a number for the network
default = 0

Ulong

4

H+4

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Table 36: Network RTK Mode

Binary

178

ASCII

Description

0

Disable

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

1-4

Reserved

5

VRS

The virtual reference station (VRS), or virtual base station (VBS), idea,
introduced by Trimble, is that a base station is artificially created in the
vicinity of a rover receiver. All baseline-length-dependent errors, such as
abnormal troposphere variation, ionospheric disturbances and orbital
errors, are reduced for this VRS. The rover receiving VRS information
has a lower level of these errors than a distant base station. The VRS is
calculated for a position, supplied by the rover during communication
start-up, with networking software. The VRS position can change if the
rover is far away from the initial point. The format for sending the rover’s
position is standard NMEA format. Most rovers receive VRS data for a
calculated base station that is within a couple of metres away.
The VRS approach requires bi-directional communication for supplying
the rover’s position to the networking software.

6

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 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.

7

FKP

The FKP method delivers the information from a base station network to
the rover. No precise knowledge of the rover’s position is required for
providing the correct information. The corrections are deployed as
gradients to be used for interpolating to the rover’s actual position.

8

MAX

The basic principle of the master-auxiliary concept is to provide, in
compact form, as much of the information from the network and the
errors it is observing to the rover as possible. With more information on
the state and distribution of the dispersive and non-dispersive errors
across the network, the rover is able to use more intelligent algorithms in
the determination of its position solution. Each supplier of reference
station software will have their own proprietary algorithms for modeling
or estimating these error sources. The rover system can decide to use
or to neglect the network RTK information depending on its own firmware
algorithm performance.

9

Reserved

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Table 36: Network RTK Mode

Binary
10

ASCII
AUTO

Description
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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2.5.60 RTKQUALITYLEVEL Choose an RTK quality mode V23_RT2
Abbreviated ASCII Syntax:

Message ID: 844

RTKQUALITYLEVEL mode
Factory Default:
rtkqualitylevel normal
ASCII Example:
rtkqualitylevel extra_safe
Table 37: RTK Quality Mode
ASCII

Binary

Description

NORMAL

1

Normal RTK

EXTRA_SAFE

4

Extra Safe RTK

The EXTRA_SAFE command is needed in areas where the signal is partially
blocked, by trees for example, 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 types of environments means the solution will be slower
getting to NARROW_INT but it won’t be erroneous.

Field

Field
Type

ASCII
Value

Binary
Value
-

1

RTKQUALITYLEVEL header

-

2

mode

See Table 37

180

Description

Binary Binary
Format Bytes

Binary
Offset

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

-

H

0

Set the RTK quality level mode

Enum

4

H

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2.5.61 RTKSOURCE Set the RTK correction source V1G23_G, V123_RT20,
V23_RT2 or V3_HP
This command lets you identify from which base station to accept RTK (RTCM, RTCMV3, RTCA,
CMR and OmniSTAR (HP/XP)) differential corrections. This is useful when the receiver is receiving
corrections from multiple base stations. See also the PSRDIFFSOURCE command on Page 166.
To use OmniSTAR HP/XP differential corrections, a NovAtel receiver with L-band capability
and a subscription to the OmniSTAR service are required. Contact NovAtel for details.
Contact information may be found on the back of this manual or you can refer to the
Customer Service section in the OEMV Family Installation and Operation User Manual.
Abbreviated ASCII Syntax:

Message ID: 494

RTKSOURCE type ID
Factory Default:
rtksource auto "any"
ASCII Examples:
1.

Specify the format before specifying the base station IDs:
rtksource rtcmv3 5
rtksource rtcm 6
The RTKSOURCE command supports both RTCM and RTCMV3 while
the PSRDIFFSOURCE commands supports only RTCM.

2.

Select only SBAS:
rtksource none
psrdiffsource none
sbascontrol enable auto

3.

Enable OmniSTAR HP and VBS:
rtksource omnistar
psrdiffsource omnistar

4.

Enable RTK and PSRDIFF from RTCM, with a fall-back to SBAS:
rtksource rtcm any
psrdiffsource rtcm any
sbascontrol enable auto

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Consider an agricultural example where a farmer has his/her own RTCM base station
set up but, either due to obstructions or radio problems, occasionally experience a
loss of corrections. By specifying a fall back to SBAS, the farmer could set up his/her
receiver to use transmitted RTCM corrections when available, but fall back to SBAS.
Also, if he/she decided to get an OmniSTAR subscription, he could switch to the
OmniSTAR corrections.

Field
Type

Field

ASCII
Value

1

RTKSOURCE
header

-

2

type

3

ID

Binary
Value
-

Description

Binary
Format

Binary Binary
Bytes Offset

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

-

H

0

See Table 33, DGPS
Type on page 168

ID Type a

Enum

4

H

Char [5] or ANY

ID string

Char[5]

8b

H+4

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

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2.5.62 RTKSVENTRIES

Set number of satellites in corrections V123_RT20,
V23_RT2 or V3_HP

This command sets the number of satellites (at the highest elevation) that are transmitted in the RTK
corrections from a base station receiver. Intended for RTCA, it works only with RTCAOBS or
RTCAOBS2, see Page 423. This is useful when the amount of bandwidth available for transmitting
corrections is limited.
Abbreviated ASCII Syntax:

Message ID: 92

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 dispatcher 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
Value

1

RTKSVENTRIES
header

-

2

number

4-24

Binary
Value
-

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

The number of SVs to use in
the solution (default = 24)

ULong

4

H

Description

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2.5.63 RTKTIMEOUT Set maximum age of RTK data V123_RT20, V23_RT2
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.
Abbreviated ASCII Syntax:

Message ID: 910

RTKTIMEOUT delay
Factory Default:
rtktimeout 60
ASCII Example (rover):
rtktimeout 20

See the DGPSEPHEMDELAY command on page 99 to set the ephemeris
changeover delay for base stations.

Field

Field
Type

ASCII
Value

Binary
Value

1

RTKTIMEOUT
header

-

2

delay

5 to 60 s

184

-

Binary
Format

Binary
Bytes

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

-

H

0

Maximum RTK data age
(default = 60 s)

ULong

4

H

Description

Binary
Offset

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2.5.64 SATCUTOFF

Limit the number of satellites tracked V123

This command limits the number of GPS and GLONASS satellites tracked to the maximum number
specified. This command can be useful if the processor idle time becomes a problem due to large
constellations and high data rates. Processor idle time can be monitored by observing the percent
idle time field in all message headers.

In a case where there are more satellites visible than the maximum set by
SATCUTOFF, the receiver will dynamically select the highest elevation satellites to
track.
As an example, there are 24 GPS and GLONASS satellites visible. SATCUTOFF has
been enabled to limit the maximum number of satellites tracked to 20 (SATCUTOFF
ENABLE 20). The receiver chooses the 20 highest elevation satellites to track.
As the constellation changes over time, the receiver will continue to select the best
20 satellites in terms of elevation automatically.

The SATCUTOFF command does not affect the tracking of SBAS or L-band satellites or
satellites that are manually assigned (see the ASSIGN command on page 65). The
SATCUTOFF command will not override the ECUTOFF (page 110) or GLOECUTOFF
commands (page 129).
Abbreviated ASCII Syntax:

Message ID: 935

SATCUTOFF [ENABLE] NUMBEROFSATS
SATCUTOFF [DISABLE]
Factory Default:
satcutoff disable
ASCII Examples:
satcutoff enable 20
satcutoff disable

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Field

Commands

Field type

ASCII
Value

Binary
Value

Description

Binary
Format

Binary
Bytes

1

SATCUTOFF
header

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

4

2

ENABLE /
DISABLE

This field is optional, the
default is ENABLE

4

3

NUMBEROFSATS

If the command disables
the satcutoff, then this field
is optional. If the command
enables the satcutoff then
this field is not optional

4

186

Binary
Offset

4

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2.5.65 SAVECONFIG Save current configuration in NVM V123
This command saves the user’s present configuration in non-volatile memory. The configuration
includes the current log settings, FIX settings, port configurations, and so on. Its output is in the
RXCONFIG log, see page 544. See also the FRESET command, page 124.
WARNING!:

If you are using this command in CDU, ensure that you have all windows other
than the Console window closed. Otherwise, log commands used for the various
windows are saved as well. This will result in unnecessary data being logged.

Abbreviated ASCII Syntax:

Message ID: 19

SAVECONFIG

2.5.66 SBASCONTROL Set SBAS test mode and PRN V123_SBAS
This command allows you to dictate how the receiver handles Satellite Based Augmentation System
(SBAS) corrections. The receiver automatically switches to Pseudorange Differential (RTCM or
RTCA) or RTK if the appropriate corrections are received, regardless of the current setting.
To enable the position solution corrections, you must issue the SBASCONTROL ENABLE
command. The GPS receiver does not attempt to track any GEO satellites until you use the
SBASCONTROL command to tell it to use either WAAS, EGNOS, or MSAS corrections.
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.
Once tracking satellites from one system in ANY or AUTO mode, it does not track satellites from
other systems. This is because systems such as WAAS, EGNOS and MSAS do not share broadcast
information and have no way of knowing each other are there.
The “testmode” parameter in the example is to get around the test mode of these systems. EGNOS at
one time used the IGNOREZERO test mode. At the time of printing, ZEROTOTWO is the correct
setting for all SBAS, including EGNOS, running in test mode. On a simulator, you may want to leave
this parameter off or specify NONE explicitly.
When you use the SBASCONTROL command to direct the GPS receiver to use a specific correction
type, the GPS receiver begins to search for and track the relevant GEO PRNs for that correction type
only.
You can force the GPS receiver to track a specific PRN using the ASSIGN command. You can force
the GPS receiver to use the corrections from a specific SBAS PRN using the SBASCONTROL
command.
Disable stops the corrections from being used.
Abbreviated ASCII Syntax:

Message ID: 652

SBASCONTROL keyword [system] [prn] [testmode]

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Factory Default:
sbascontrol disable
Abbreviated ASCII Example 1:
sbascontrol enable waas 0 zerototwo

NovAtel's OEMV receivers work with SBAS systems including EGNOS (Europe),
MSAS (Japan) and WAAS (North America).
Table 38: System Types

188

ASCII

Binary

Description

NONE

0

Don’t use any SBAS satellites

AUTO

1

Automatically determine satellite
system to use and prevents the
receiver from using satellites outside
of the service area (default)

ANY

2

Use any and all SBAS satellites found

WAAS

3

Use only WAAS satellites

EGNOS

4

Use only EGNOS satellites

MSAS

5

Use only MSAS satellites

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Field
Type

Field

ASCII
Value

Binary
Value

Description

Binary Binary Binary
Format Bytes Offset

1

SBASCONTROL
header

-

-

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

-

H

0

2

keyword

DISABLE

0

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

Enum

4

H

ENABLE

1

Receiver uses the
SBAS corrections it
receives

3

system

See Table 38 on page
188

Choose the SBAS the
receiver will use

Enum

4

H+4

4

prn

0

Receiver uses any
PRN (default)

ULong

4

H+8

120-138

Receiver uses SBAS
corrections only from
this PRN
Enum

4

H+12

5

testmode

NONE

0

Receiver interprets
Type 0 messages as
they are intended (as
do not use) (default)

ZEROTOTWO

1

Receiver interprets
Type 0 messages as
Type 2 messages

IGNOREZERO

2

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

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2.5.67 SEND Send an ASCII message to a COM port V123
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 you wish to send data. 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.
Abbreviated ASCII Syntax:

Message ID: 177

SEND port data
ASCII Example
send com1 “log com1 rtcaobs ontime 5”

Scenario: Assume that 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.
RTCAOBS data log...

COM 1

COM1

COM 2

COM 2

Send an RTCA interfacemode command:

Preset base with interfacemode:

interfacemode com1 novatel rtca

interfacemode com1 rtca novatel
send com1 “log com1 rtcaobs ontime 5”

Serial Cables

Host PC -Base
(Operational with position fixed)

190

Host PC - Rover
Rover station is commanding Base
station to send RTCAOBS log

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Figure 7: Using the SEND Command

Field

Field
Type

ASCII
Value

Binary
Value
-

1

SEND
header

-

2

port

3

message

Description

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

See Table 17,
COM Serial Port
Identifiers on
page 88

Output port

Enum

4

H

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

ASCII data to send

String
[max.
100]

Variable a

Variable

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment

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2.5.68 SENDHEX Send non-printable characters in hex pairs V123
This command is like the SEND command except that 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.
Abbreviated ASCII Syntax:

Message ID: 178

SENDHEX port length data
Input Example:
sendhex com1 6 143ab5910d0a
Field

Field
Type

ASCII
Value

Binary
Value
-

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

Description

1

SENDHEX
header

-

2

port

See Table 17, COM Serial
Port Identifiers on page 88

Output port

Enum

4

H

3

length

0 - 700

Number of hex pairs

ULong

4

H+4

4

message

limited to a 700 maximum
string (1400 pair hex) by
command interpreter buffer
even number of ASCII
characters from set of 0-9, A-F
no spaces are allowed
between pairs of characters

Data

String
[max.
700]

Variablea

Variable

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment

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2.5.69 SETAPPROXPOS Set an approximate position V123
This command sets an approximate latitude, longitude, and height in the receiver. Estimating these
parameters, when used in conjunction with an approximate time (see the SETAPPROXTIME
command on Page 194), can improve satellite acquisition times and time to first fix. For more
information about TTFF and Satellite Acquisition, please refer to the GNSS Reference Book, available
on our Web site at http://www.novatel.com/support/docupdates.htm.
The horizontal position entered should be within 200 km of the actual receiver position. The
approximate height is not critical and can normally be entered as zero. If the receiver cannot calculate
a valid position within 2.5 minutes of entering an approximate position, the approximate position is
ignored.
The approximate position is not visible in any position logs. It can be seen by issuing a
SETAPPROXPOS log. See also the SATVIS log on Page 558.
Abbreviated ASCII Syntax:

Message ID: 377

SETAPPROXPOS lat lon height
Input Example:
setapproxpos 51.116 -114.038 0

For an example on the use of this command, please see the SETAPPROXTIME
command on page 194.

Field
Type

Field

ASCII
Value

Binary
Value
-

Binary
Format

Binary
Bytes

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

-

H

0

Description

Binary
Offset

1

SETAPPROXPOS
header

-

2

Lat

± 90 degrees

Approximate latitude

Double

8

H

3

Lon

± 360 degrees

Approximate
longitude

Double

8

H+8

4

Height

-1000 to +20000000 m

Approximate height

Double

8

H+16

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2.5.70 SETAPPROXTIME Set an approximate GPS time V123
This command sets an approximate time in the receiver. The receiver uses this time as a system time
until a GPS coarse time can be acquired. This can be used in conjunction with an approximate position
(see the SETAPPROXPOS command on page 193) to improve time to first fix. For more information
TTFF and Satellite Acquisition, please refer to the GNSS Reference Book, available on our Web site at
http://www.novatel.com/support/docupdates.htm.
The time entered should be within 10 minutes of the actual GPS time.
If the week number entered does not match the broadcast week number, the receiver resets.
See also the SATVIS log on page 558.
Abbreviated ASCII Syntax:

Message ID: 102

SETAPPROXTIME week sec
Input Example:
setapproxtime 1105 425384

Upon power-up, the receiver does not know its position or time, and therefore, cannot
use almanac information to aid satellite acquisition. You can set an approximate GPS
time using the SETAPPROXTIME command or RTCAEPHEM message. The
RTCAEPHEM message contains GPS week and seconds and the receiver uses that
GPS time if the time is not yet known. Several logs provide base station coordinates
and the receiver uses them as an approximate position allowing it to compute
satellite visibility. Alternately, you can set an approximate position by using the
SETAPPROXPOS command.
Approximate time and position must be used in conjunction with a current almanac to
aid satellite acquisition. See the table below for a summary of the OEMV family
commands and logs used to inject an approximated time or position into the receiver:
Approximate

Command

Log

Time

SETAPPROXTIME

RTCAEPHEM

Position

SETAPPROXPOS

RTCAREF or CMRREF or RTCM3

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
Type

Field

ASCII
Value

1

SETAPPROXTIME
header

-

2

week

3

sec

Binary
Value
-

Description

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

0-9999

GPS week number

Ulong

4

H

0-604801

Number of seconds into
GPS week

Double

8

H+4

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2.5.71 SETBESTPOSCRITERIA Selection criteria for BESTPOS V123
Use this command to set the criteria for the BESTPOS log. It allows you to select between 2D and 3D
standard deviation to obtain the best position from the BESTPOS log. It also allows you to specify the
number of seconds to wait before changing the position type. This delay provides a single transition
that ensures position types do not skip back and forth. See also BESTPOS on page 251.
Abbreviated ASCII Syntax:

Message ID: 839

SETBESTPOSCRITERIA type delay
Factory Default:
setbestposcriteria pos3d 0
Input Example:
setbestposcriteria pos2d 5
Field

Field
Type

ASCII
Value

Binary
Value
-

Binary
Format

Binary
Bytes

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

-

H

0

Description

Binary
Offset

1

SETBESTPOSCRITERIA
header

-

2

type

See Table 39

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

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

4

Table 39: Selection Type
ASCII

196

Binary

Description

POS3D

0

3D standard deviation (default)

POS2D

1

2D standard deviation

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2.5.72 SETDIFFCODEBIASES Set satellite differential code biases V123
WARNING!:

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 -3 ns and +3 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 108.
The receiver uses the C/A code on L1 and the P code on L2 to calculate a dual-frequency ionospheric
correction. However, the GPS 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 http://aiuws.unibe.ch/ionosphere/p1c1.dcb.
Abbreviated ASCII Syntax:

Message ID: 687

SETDIFFCODEBIASES
Factory Default:
SETDIFFCODEBIASES GPS_C1P1 -0.542
0.089 -1.878 -0.686 0.044 -1.982
1.696 -0.838 1.237 -0.514 -2.094
-0.343 0.337 0.911 -0.498 -0.440
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Field

Field
Type

ASCII
Value

Binary
Value

-0.069 -0.597 1.030 -1.289
0.528 1.285 1.405 0.029
-1.482 -0.543 0.473 0.629
1.783 1.808 1.542 -1.031

Description

Binary
Format

Binary
Bytes

Binary
Offset

1

SETDIFFCODEBIASES
header

-

-

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

-

H

0

2

bias_type

GPS_C1P1

0

Code pair to which biases
refer (default)

Enum

4

H

3

biases

Array of 40 biases (ns)

Float[40]

160

4

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2.5.73 SETIONOTYPE Enable ionospheric models V123
Set which ionospheric corrections model the receiver should use.
L1-only models with firmware 3.301 or higher automatically use SBAS or CDGPS ionospheric grid
corrections, if available. The corrections model with the previous ASCII name of BROADCAST is
now called KLOBUCHAR to reflect the actual model used.
Abbreviated ASCII Syntax:

Message ID: 711

SETIONOTYPE model
Factory Default:
setionotype auto
ASCII Example:
setionotype klobuchar

For PDP or GL1DE positioning filters, refer to their configuration section in Chapter 4
of the OEMV Installation and Operation User Manual, available on our Web site.

Field

Field
Type

ASCII
Value

Binary
Value

1

SETIONOTYPE
header

-

-

2

model

See Table 40 below

Binary
Format

Binary
Bytes

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

-

H

0

Choose an ionospheric
corrections model
(default = AUTO)

Enum

4

H

Description

Binary
Offset

Table 40: Ionospheric Correction Models
ASCII

198

Binary

Description

NONE

0

Don’t use ionospheric modelling

KLOBUCHAR

1

Use the broadcast Klobuchar model

GRID

2

Use the SBAS/L-band model

L1L2

3

Use the L1/L2 model

AUTO

4

Automatically determine the
ionospheric model to use

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2.5.74 SETNAV Set start and destination waypoints V123
This command permits entry of one set of navigation waypoints (see Figure 8 on Page 199). The
origin (FROM) and destination (TO) waypoint coordinates entered are considered on the ellipsoidal
surface of the current datum (default WGS84). Once SETNAV has been set, you can monitor the
navigation calculations and progress by observing the NAVIGATE log messages.
Track offset is the perpendicular distance from the great circle line drawn between the FROM lat-lon
and TO lat-lon waypoints. It establishes the desired navigation path, or track, that runs parallel to the
great circle line, which now becomes the offset track, and is set by entering the track offset value in
metres. A negative track offset value indicates that the offset track is to the left of the great circle line
track. A positive track offset value (no sign required) indicates the offset track is to the right of the
great circle line track (looking from origin to destination). See Figure 8 on Page 199 for clarification.
Abbreviated ASCII Syntax:

Message ID: 162

SETNAV fromlat fromlon tolat tolon track offset from-point to-point
Factory Default:
setnav 90.0 0.0 90.0 0.0 0.0 from to
ASCII Example:
setnav 51.1516 -114.16263 51.16263 -114.1516 -125.23 from to

X

TO lat-lon
Tr ack
offset

FROM lat-lon

Figure 8: Illustration of SETNAV Parameters

Consider the case of setting waypoints in a deformation survey along a dam. The
surveyor enters the From and To point locations on either side of the dam using the
SETNAV command. They then use the NAVIGATE log messages to record progress
and show them where they are in relation to the From and To points.

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Field

Field
Type

Commands
ASCII
Value

1

SETNAV
header

-

2

fromlat

3

Binary
Value
-

Description

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

± 90 degrees

Origin latitude in units of
degrees/decimal degrees.
A negative sign for South
latitude. No sign for North
latitude.

Double

8

H

fromlon

± 180 degrees

Origin longitude in units of
degrees/decimal degrees.
A negative sign for West
longitude. No sign for East
longitude.

Double

8

H+8

4

tolat

± 90 degrees

Destination latitude in units of
degrees/decimal degrees

Double

8

H+16

5

tolon

± 180 degrees

Destination longitude in units of
degrees/decimal degrees

Double

8

H+24

6

track offset

± 1000 km

Waypoint great circle line offset
(in kilometres); establishes
offset track; positive indicates
right of great circle line;
negative indicates left of great
circle line.

Double

8

H+32

7

from-point

5 characters
maximum

ASCII station name

String
[max. 5]

Variable a

Variable

8

to-point

5 characters
maximum

ASCII station name

String
[max. 5]

Variable a

Variable

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment

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2.5.75 SETRTCM16 Enter ASCII text for RTCM data stream V123_DGPS
The RTCM type 16 message allows ASCII text to be transferred from a GPS base station to rover GPS
receivers. The SETRTCM16 command is used to define the ASCII text at the base station. The text
defined by the SETRTCM16 command can be verified in the RXCONFIG log. Once the ASCII text is
defined it can be broadcast periodically by the base station with the command "log port RTCM16
ONTIME interval". The received ASCII text can be displayed at the rover by logging RTCM16T.
This command limits the input message length to a maximum of 90 ASCII characters. If the message
string contains any delimiters (that is, spaces, commas, tabs, and so on) the entire string must be
contained in double quotation marks.
Abbreviated ASCII Syntax:

Message ID: 131

SETRTCM16 text
Input Example:
setrtcm16 “base station will shut down in 1 hour”

Field
Type

Field

ASCII
Value

Binary
Value

1

SETRTCM16
header

-

-

2

text

Maximum 90
character string

Binary
Format

Binary
Bytes

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

-

H

0

The text string

String
[max. 90]

Variablea

Variable

Description

Binary
Offset

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment

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2.5.76 SETRTCM36 Enter ASCII text with Russian characters V1G23_G
The RTCM Type 36 message is the GLONASS equivalent of the RTCM Type 16 message except that
the RTCM36 message can contain characters from an extended character set including Russian
characters. Table 41 on page 203 provides the standard decimal and hex codes to use when
transmitting Cyrillic characters to provide Russian language messages. Codes from 0 to 127
correspond to standard ASCII codes.
To support the 8-bit character data in the ASCII version, 8-bit characters are represented as \xnn (or
\dnnn) which are the hexadecimal (or decimal) values of the characters. A "\" is represented as "\\".
In the RTCMDATA36 and RTCM36T logs, the ascii output displays the 8-bit characters in the
decimal \dnnn representation. However, in the SETRTCM36 command, you can enter the 8-bit
characters using the \x or \d prefix.
This command limits the input message length to a maximum of 90 ASCII characters. If the
message string contains any delimiters (that is, spaces, commas, tabs, and so on) the entire
string must be contained in double quotation marks.
Abbreviated ASCII Syntax:

Message ID: 880

SETRTCM36 extdtext
Input Example:
To set the message “QUICK
”, enter any of the following commands (colour added, or
grayscale in printed versions, to aid understanding):
setrtcm36 “quick \d166\d146\d174\d144\d140”
setrtcm36 “quick \xa6\x92\xae\x90\x8c

”

setrtcm36 “\x51\x55\x49\x43\x4b\x20\xa6\x92\xae\x90\x8c
setrtcm36 “\x51\x55\x49\x43\x4b \xa6\x92\xae\x90\x8c

”
”

The corresponding RTCMDATA36A log, see page 476, looks like:
#RTCMDATA36A,COM1,0,64.5,FINESTEERING,1399,237113.869,00500000,
F9F5,35359;36,0,5189,0,0,6,11,"QUICK\D166\D146\D174\D144\D140"
*8BDEAE71
Similarly, the corresponding RTCM36T message, see page 437, looks like:
#RTCM36TA,COM1,0,77.5,FINESTEERING,1399,237244.454,00000000,
2E54,35359;"QUICK \D166\D146\D174\D144\D140"*4AA7F340

Similar to the RTCM type 16 message, the SETRTCM36 command is used to define
the ASCII text at the base station and can be verified in the RXCONFIG log. Once
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the ASCII text is defined it can be broadcast periodically by the base station with the
command, for example "log port RTCM36 ONTIME 10". The received ASCII text can
be displayed at the rover by logging RTCM36T.
Table 41: Russian Alphabet Characters (Ch) in Decimal (Dec) and Hexadecimal (Hex)
Hex
Code

Dec
Code

Ch

Hex
Code

Dec
Code

Ch

Hex
Code

Dec
Code

Ch

Hex
Code

Dec
Code

Ch

80

128

А

90

144

Р

A0

160

а

B0

176

р

81

129

Б

91

145

С

A1

161

б

B1

177

с

82

130

В

92

146

Т

A2

162

в

B2

178

т

83

131

Г

93

147

У

A3

163

г

B3

179

у

84

132

Д

94

148

Ф

A4

164

д

B4

180

ф

85

133

Е

95

149

Х

A5

165

е

B5

181

х

86

134

Ж

96

150

Ц

A6

166

ж

B6

182

ц

87

135

З

97

151

Ч

A7

167

з

B7

183

ч

88

136

И

98

152

Ш

A8

168

и

B8

184

ш

89

137

Й

99

153

Щ

A9

169

й

B9

185

щ

8A

138

К

9A

154

Ъ

AA

170

к

BA

186

ъ

8B

139

Л

9B

155

Ы

AB

171

л

BB

187

ы

8C

140

М

9C

156

Ь

AC

172

м

BC

188

ь

8D

141

Н

9D

157

Э

AD

173

н

BD

189

э

8E

142

О

9E

158

Ю

AE

174

о

BE

190

ю

8F

143

П

9F

159

Я

AF

175

п

BF

191

я

Field

Field
Type

ASCII
Value

Binary
Value

1

SETRTCM36
header

-

-

2

extdtext

Maximum 90
character string

Binary
Format

Binary
Bytes

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

-

H

0

The RTCM36 text string

String
[max. 90]

Variablea

Variable

Description

Binary
Offset

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment

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2.5.77 SETRTCMRXVERSION Set the RTCM Standard input expected
V1G23_G
Use this command to enable interpreting the received RTCM corrections as following RTCM 2.2 or
2.3 standards.

For RTCM correction message types, see Table 31, Serial Port Interface Modes on
page 137.
Abbreviated ASCII Syntax:

Message ID: 1216

SETRTCMRXVERSION
Factory Default:
setrtcmrxversion v23
Input Example:
setrtcmrxversion v23
Field
Type

Field

ASCII
Value

Binary
Value

Description

Binary Binary
Format Bytes

Binary
Offset

1

SETRTCMRXVE
RSION
header

-

-

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

-

H

0

2

text

v23

0

RTCM version 2.3

-

4

0

v22

1

RTCM version 2.2

-

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2.5.78 STATUSCONFIG

Configure RXSTATUSEVENT mask fields V123

This command is used to configure the various status mask fields in the RXSTATUSEVENT log, see
page 556. These masks allow you to modify whether various status fields generate errors or event
messages when they are set or cleared.
Receiver Errors automatically generate event messages. These event messages are output in
RXSTATUSEVENT logs. It is also possible to have status conditions trigger event messages to be
generated by the receiver. This is done by setting/clearing the appropriate bits in the event set/clear
masks. The set mask tells the receiver to generate an event message when the bit becomes set.
Likewise, the clear mask causes messages to be generated when a bit is cleared. If you wish to disable
all these messages without changing the bits, simply UNLOG the RXSTATUSEVENT logs on the
appropriate ports. Refer also to the Built in Status Tests chapter in the OEMV Family Installation and
Operation User Manual.
Abbreviated ASCII Syntax:

Message ID: 95

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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Table 42: Mask Types
ASCII

Description

PRIORITY

0

Replace the Priority mask

SET

1

Replace the Set mask

CLEAR

2

Replace the Clear mask

Field
Type

Field

Binary

ASCII
Value

Binary
Value

Binary
Offset

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

-

H

0

Type of mask to replace

Enum

4

H

Enum

4

H+4

Ulong

4

H+8

1

STATUSCONFIG
header

-

2

type

See Table 42

3

word

STATUS

1

Receiver Status word

AUX1

2

Auxiliary 1 Status word

4

206

mask

-

Binary Binary
Format Bytes

Description

8 digit hexadecimal

The hexadecimal bit mask

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2.5.79 TUNNELESCAPE Break out of an established tunnel V123
The tunnel escape sequence feature allows you to break out of a tunnel between two ports by sending
a pre-defined sequence of bytes through the tunnel in-line with the data stream. While the Bluetooth
implementation on DL-V3 products utilizes the tunnel mode of OEM receivers, the tunnel escape
sequence feature is applicable to any tunneling application.
Use the TUNNELESCAPE command to specify the tunnel escape sequence. The escape sequence is
applied independently to all active tunnels. Use the SAVECONFIG command to save the escape
sequence in case of a power cycle.
This command allows you 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 135.

4.

SAVECONFIG WARNING: If you are using the SAVECONFIG command in CDU,
ensure that you have all windows other than the Console window closed. Otherwise,
CDU also saves log commands used for its various windows. This will result in
unnecessary data being logged.

Abbreviated ASCII Syntax:

Message ID: 962

TUNNELESCAPE [switch] [length] [esc seq]
Factory Default:
tunnelescape disable

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ASCII Example:
tunnelescape enable
ASCII
Value

Binary
Value

Field

Field Type

1

TUNNELESCAPE
header

-

-

2

switch

DISABLE

0

ENABLE

1

3

length

4

esc seq

208

1 to 8

Binary
Format

Binary
Bytes

Binary
Offset

This field contains the
command name

H

0

-

Enable or disable the tunnel
escape mode
default: DISABLE

ENUM

4

H

Specifies the number of
hexbytes to follow.

ULONG

4

H+4

Escape sequence where Hex
pairs are entered without
spaces, for example, AA4412

Uchar[8]

8

H+8

Description

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2.5.80 UNASSIGN

Unassign a previously assigned channel V123

This command cancels a previously issued ASSIGN command and the SV channel reverts to
automatic control (the same as ASSIGN AUTO).
Abbreviated ASCII Syntax:

Message ID: 29

UNASSIGN channel
Input Example:
unassign 11

Issuing the UNASSIGN command to a channel that was not previously assigned by
the ASSIGN command will have no effect.

Field

Field
Type

ASCII
Value

Binary
Value
-

1

UNASSIGN
header

-

2

channel

3

state

Description

Binary
Format

Binary Binary
Bytes Offset

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

-

H

0

See Table 13,
OEMV Channel
Configurations on
page 66

Reset SV channel to automatic
search and acquisition mode

ULong

4

H

See Table 12,
Channel State on
page 65

Set the SV channel state
(currently ignored)

Enum

4

H+4

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2.5.81 UNASSIGNALL Unassign all previously assigned channels V123
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. See
ASSIGN AUTO for more details.
Abbreviated ASCII Syntax:

Message ID: 30

UNASSIGNALL [system]
Input Example:
unassignall gpsl1
Issuing the UNASSIGNALL command has no effect on channels that were not previously
assigned using the ASSIGN command.

Field

Field
Type

ASCII
Value

Binary
Value
-

1

UNASSIGNALL
header

-

2

system

See Table 14,
Channel System
on page 68

Description

Binary Binary
Format Bytes

Binary
Offset

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

-

H

0

System that the SV channel is
tracking

Enum

4

H

These command examples are only applicable to specific receiver models.
1. The following command applies to receiver models tracking only L1 frequencies:
assignall gpsl1 active 29 0 2000
2. The following command applies to receiver models tracking both L1 and L2
frequencies:
assignall gpsl1l2,28,-250,0
If you use the system field with this command and the receiver has no channels
configured with that channel system, the command has no effect on the receiver’s
tracking state.

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2.5.82 UNDULATION Choose undulation V123
This command permits you to either enter a specific geoidal undulation value or use the internal table
of geoidal undulations. In the option field, the EGM96 table provides ellipsoid heights at a 0.25° by
0.25° 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
more accurate because the accuracy of the grid points themselves has also improved from OSU89B to
EGM96. For example, the default grid (EGM96) is useful where there are underwater canyons, steep
drop-offs or mountains.
The undulation values reported in the BESTPOS, BESTUTM, MARKPOS, MATCHEDPOS,
OMNIHPPOS, PSRPOS and RTKPOS logs are in reference to the ellipsoid of the chosen datum.
Abbreviated ASCII Syntax:

Message ID: 214

UNDULATION option [separation]
Factory Default:
undulation egm96
ASCII Example 1:
undulation osu89b
ASCII Example 2:
undulation user -5.599999905
Refer to the application note titled Geoid Issue, available on our Web site at http://www.novatel.com/
support/applicationnotes.htm, for a description of the relationships in Figure 9.

Figure 9: Illustration of Undulation

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Field

Commands
Field
Type

ASCII
Value

Binary
Value

Description

Binary
Format

Binary
Bytes

Binary
Offset

1

UNDULATION
header

-

-

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

-

H

0

2

option

TABLE

0

Use the internal undulation
table (same as EGM96)

Enum

4

H

USER

1

Use the user specified
undulation value

OSU89B

2

Use the OSU89B
undulation table

EGM96

3

Use global geoidal height
model EGM96 table
(default)
Float

4

H+4

3

212

separation

± 1000.0 m

The undulation value
(required for the USER
option)

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2.5.83 UNLOCKOUT Reinstate a satellite in the solution V123
This command allows a satellite which has been previously locked out (LOCKOUT command) 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.
Abbreviated ASCII Syntax:

Message ID: 138

UNLOCKOUT prn
Input Example:
unlockout 8

The UNLOCKOUT command allows you to reinstate a satellite while leaving other
locked out satellites unchanged.

Field
Type

Field

ASCII
Value

Binary
Value
-

1

UNLOCKOUT
header

-

2

prn

GPS: 1-37
SBAS: 120-138
GLONASS: see
Section 1.3 on
Page 29.

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

A single satellite PRN
number to be reinstated

Ulong

4

H

Description

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2.5.84 UNLOCKOUTALL Reinstate all previously locked out satellites
V123
This command allows all satellites which have been previously locked out (LOCKOUT command) to be
reinstated in the solution computation.
Abbreviated ASCII Syntax:

Message ID: 139

UNLOCKOUTALL
Input Example:
unlockoutall

The UNLOCKOUTALL command allows you to reinstate all satellites currently locked
out.

2.5.85 UNLOG Remove a log from logging control V123
This command permits you to remove a specific log request from the system.
The [port] parameter is optional. If [port] is not specified, it is defaulted to the port on which the
command was received. This feature eliminates the need for you to know which port you are
communicating on if you want logs to be removed on the same port as this command.
Abbreviated ASCII Syntax:

Message ID: 36

UNLOG [port] datatype
Input Example:
unlog com1 bestposa
unlog bestposa

The UNLOG command allows you to remove one or more logs while leaving other
logs unchanged.

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Field
Name

Binary
Value

Description

1

UNLOG
(binary)
header

(See Table 4, Binary Message
Header Structure on page 23)

This field contains the
message header.

2

port

See Table 5 on page 25
(decimal values greater than
16 may be used)

3

message

4

message
type

5

Reserved

Field

Field

Binary
Bytes

Binary
Offset

-

H

0

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

Enum

4

H

Any valid message ID

Message ID of log to
output

UShort

2

H+4

Bits 0-4 = Reserved
Bits 5-6 = Format
00 = Binary
01 = ASCII
10 = Abbreviated ASCII,
NMEA
11 = Reserved
Bit 7
= Response Bit (see
Section 1.2 on page 27)
0 = Original Message
1 = Response Message

Message type of log

Char

1

H+6

Char

1

H+7

Field
Type

ASCII
Value

1

UNLOG
(ASCII)
header

-

2

port

3

message

Binary
Value
-

Description

Field
Type

Binary Binary
Format Bytes

Binary
Offset

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

-

H

0

See Table 5 on page 25
(decimal values greater than
16 may be used)

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

Enum

4

H

Message
Name

Message Name of log
to be disabled

ULong

4

H+4

N/A

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2.5.86 UNLOGALL Remove all logs from logging control V123
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.
Abbreviated ASCII Syntax:

Message ID: 38

UNLOGALL [port]
Input Example:
unlogall com2_15

The UNLOGALL command allows you to remove all log requests currently in use.

Field

Field
Type

ASCII
Value

Binary
Value
-

1

UNLOGALL
header

-

2

port

3

held

216

Description

Binary Binary Binary
Format Bytes Offset

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

-

H

0

See Table 5 on
page 25 (decimal
values greater
than 16 may be
used)

Port to clear
(default = ALL_PORTS)

Enum

4

H

FALSE

0

Does not remove logs with the
HOLD parameter (default)

Enum

4

H+4

TRUE

1

Removes previously held logs,
even those with the HOLD
parameter

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2.5.87 USERDATUM

Set user-customized datum V123

This command permits entry of customized ellipsoidal datum parameters. This command is used in
conjunction with the DATUM command, see page 96. If used, the command default setting for
USERDATUM is WGS84.
When the USERDATUM command is entered, the USEREXPDATUM command, see page 219, is
then issued internally with the USERDATUM command values. It is the USEREXPDATUM
command that appears in the RXCONFIG log. If the USEREXPDATUM or the USERDATUM
command are used, their newest values overwrite the internal USEREXPDATUM values.
The transformation for the WGS84 to Local used in the OEMV family is the Bursa-Wolf
transformation or reverse Helmert transformation. In the Helmert transformation, the rotation of a
point is counter clockwise around the axes. In the Bursa-Wolf transformation, the rotation of a point is
clockwise. Therefore, the reverse Helmert transformation is the same as the Bursa-Wolf.
Abbreviated ASCII Syntax:

Message ID: 78

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

You can use the USERDATUM 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.

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Field
Type

Field

ASCII
Value

Binary
Value
-

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

Description

1

USERDATUM
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

Double

8

H+16

5

dy

± 2000.0

Double

8

H+24

6

dz

± 2000.0

Datum offsets from local to
WGS84. These are the
translation values between
the user datum and WGS84
(internal reference).

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

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.

Double

8

H+56

10

scale

± 10.0 ppm

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

Double

8

H+64

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2.5.88 USEREXPDATUM

Set custom expanded datum V123

Like the USERDATUM command, this command allows you to enter customized ellipsoidal datum
parameters. However, USEREXPDATUM literally means user expanded datum allowing you to enter
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 96. If you use this
command without specifying any parameters, the command defaults to WGS84. If you enter a
USERDATUM command, see page 217, the USEREXPDATUM command is then issued internally
with the USERDATUM command values. 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.
Abbreviated ASCII Syntax:

Message ID: 783

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

You can 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
Type

Field

ASCII
Value

Binary
Value
-

1

USEREXPDATUM
header

-

2

semimajor

3

flattening

6300000.0 6400000.0 m
290.0 - 305.0

4
5
6

dx
dy
dz

± 2000.0 m
± 2000.0 m
± 2000.0 m

7
8
9

rx
ry
rz

± 10.0 radians
± 10.0 radians
± 10.0 radians

10

scale

± 10.0 ppm

11
12
13
14

xvel
yvel
zvel
xrvel

15

yrvel

16

zrvel

17

scalev

± 2000.0 m/yr
± 2000.0 m/yr
± 2000.0 m/yr
± 10.0 radians/
yr
± 10.0 radians/
yr
± 10.0 radians/
yr
± 10.0 ppm/yr

18

refdate

0.0 year

220

Description
This field contains the
command name or the
message header depending
on whether the command is
abbreviated ASCII, ASCII or
binary, respectively.
Datum semi-major axis (a) in
metres
Reciprocal Flattening, 1/f =
a/(a-b)
Datum offsets from local to
WGS84. These are the
translation values between
the user datum and WGS84
(internal reference).
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
Velocity vector along X-axis
Velocity vector along Y-axis
Velocity vector along Z-axis
Change in the rotation about
X over time
Change in the rotation about
Y over time
Change in the rotation about
Z over time
Change in scale from
WGS84 over time
Reference date of
parameters
Example:
2005.00 = Jan 1, 2005
2005.19 = Mar 11, 2005

Binary Binary
Format Bytes

Binary
Offset

-

H

0

Double

8

H

Double

8

H+8

Double
Double
Double

8
8
8

H+16
H+24
H+32

Double
Double
Double

8
8
8

H+40
H+48
H+56

Double

8

H+64

Double
Double
Double
Double

8
8
8
8

H+72
H+80
H+88
H+96

Double

8

H+104

Double

8

H+112

Double

8

H+120

Double

8

H+128

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2.5.89 UTMZONE Set UTM parameters V123
This command sets the UTM persistence, zone number or meridian. Please refer to http://earthinfo.nga.mil/GandG/coordsys/grids/referencesys.html for more information and a world map of UTM
zone numbers.
1.

The latitude limits of the UTM System are 80°S to 84°N, so if your position is outside
this range, the BESTUTM log outputs a northing, easting, and height of 0.0, along with a
zone letter of “*” and a zone number of 0, so that it is obvious that the data in the log is
dummy data.

2.

If the latitude band is X, then the Zone number should not be set to 32, 34 or 36. These
zones were incorporated into other zone numbers and do not exist.

Abbreviated ASCII Syntax:

Message ID: 749

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 7.5minute 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.

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Table 43: UTM Zone Commands

Binary

ASCII

Description

0

AUTO

UTM zone default that automatically sets the central meridian and does not
switch zones until it overlaps by the set persistence. This a spherical
approximation to the earth unless you are at the equator. (default = 0) (m)

1

CURRENT

Same as UTMZONE AUTO with infinite persistence of the current zone. The
parameter field is not used.

2

SET

Sets the central meridian based on the specified UTM zone. A zone
includes its western boundary, but not its eastern boundary, Meridian. For
example, zone 12 includes (108°W, 114°W] where 108° < longitude < 114°.

3

MERIDIAN

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

Field

Field
Type

ASCII
Value

Binary
Value

1

UTMZONE
header

-

2

command

See Table 43 above

3

parameter

222

-

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

Binary
Format

Binary
Bytes

Binary
Offset

-

H

0

Enum

4

H

Enum

4

H+4

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2.5.90 WAASECUTOFF

Set SBAS satellite elevation cut-off V123_SBAS

This command sets the elevation cut-off angle for SBAS satellites. The receiver does not start
automatically searching for an SBAS satellite until it rises above the cut-off angle. Tracked SBAS
satellites that fall below the WAASECUTOFF angle are no longer tracked unless they are manually
assigned (see the ASSIGN command).
This command does not affect the tracking of GPS satellites. Similarly, the ECUTOFF
command does not affect SBAS satellites.
Abbreviated ASCII Syntax:

Message ID: 505

WAASECUTOFF angle
Factory Default:
waasecutoff -5.000000000
ASCII Example:
waasecutoff 10.0

This command permits a negative cut-off angle. It could be used in these situations:
•

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

•

Satellites are visible below the horizon due to atmospheric refraction

Field
Type

Field

ASCII
Value

Binary
Value
-

1

WAASECUTOFF
header

-

2

angle

±90.0 degrees

Description

Binary
Format

Binary
Bytes

Binary
Offset

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

-

H

0

Elevation cut-off angle
relative to horizon
(default = -5.0)

Float

4

H

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2.5.91 WAASTIMEOUT Set WAAS position time out

V123_SBAS

This command is used to set the amount of time the receiver remain in an SBAS position if it stops
receiving SBAS corrections. See the DGPSEPHEMDELAY command on page 103 to set the ephemeris
change-over delay for base stations.

Abbreviated ASCII Syntax:

Message ID: 851

WAASTIMEOUT mode [delay]
Factory Default:
waastimeout auto
ASCII Example (rover):
waastimeout set 100

When the time out mode is AUTO, the time out delay is 180 s.

Field

Field
Type

ASCII
Value

Binary
Value
-

Binary
Format

Binary
Bytes

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

-

H

0

Description

Binary
Offset

1

WAASTIMEOUT
header

-

2

mode

See Table 44
below

Time out mode
(default = AUTO)

Enum

4

H

3

delay

2 to 1000 s

Maximum SBAS position age
(default = 180 s)

Double

8

H+4

4

Reserved

Double

8

H+12

Table 44: SBAS Time Out Mode

224

Binary

ASCII

Description

0

Reserved

1

AUTO

Set the default value (180 s)

2

SET

Set the delay in seconds

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3.1

Data Logs

Log Types
See the LOG command on page 143, for details about requesting logs.
The receiver is capable of generating many different logs. These logs are divided into the following
three types: synchronous, asynchronous, and polled. The data for synchronous logs is generated on a
regular schedule. Asynchronous data is generated at irregular intervals. If asynchronous logs were
collected on a regular schedule, they would not output the most current data as soon as it was
available. The data in polled logs is generated on demand. An example would be RXCONFIG. It
would be polled because it changes only when commanded to do so. Therefore, it would not make
sense to log this kind of data ONCHANGED, or ONNEW. The following table outlines the log types
and the valid triggers to use:
Table 45: Log Type Triggers
Type

Recommended Trigger

Illegal Trigger

Synch

ONTIME

ONNEW, ONCHANGED

Asynch

ONCHANGED

-

Polled

ONCE or ONTIME a

ONNEW, ONCHANGED

a. Polled log types do not allow fractional offsets and cannot do
ontime rates faster than 1Hz.

See Section 1.5, Message Time Stamps on page 31 for information on how the message time stamp is
set for each type of log.
1.

The OEMV family of receivers can handle 30 logs at a time. If you attempt to log more
than 30 logs at a time, the receiver responds with an Insufficient Resources error.

2.

The following logs do not support the ONNEXT trigger: GPSEPHEM, RAWEPHEM,
RAWGPSSUBFRAME, RAWWAASFRAME, RXSTATUSEVENT and WAAS9.

3.

Asynchronous logs, such as MATCHEDPOS, should only be logged ONCHANGED.
Otherwise, the most current data is not output when it is available. This is especially true
of the ONTIME trigger, which may cause inaccurate time tags to result.

4.

Use the ONNEW trigger with the MARKTIME or MARKPOS logs.

Before the output of fields for ASCII and Binary logs, there is an ASCII or binary
header respectively. See also Table 3, ASCII Message Header Structure on page 21
and Table 4, Binary Message Header Structure on page 23. There is no header
information before Abbreviated ASCII output, see page 22.

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Data Logs

Log Type Examples

For polled logs, the receiver only supports an offset that is:
•
•

smaller than the logging period
an integer

The following are valid examples for a polled log:
log comconfig ontime 2 1
log portstats ontime 4 2
log version once

For polled logs, the following examples are invalid:
log comconfig ontime 1 2

[offset is larger than the logging period]

log comconfig ontime 4 1.5

[offset is not an integer]

For synchronous and asynchronous logs, the receiver supports any offset that is:
•
•

smaller than the logging period
a multiple of the minimum logging period

For example, if the receiver supports 20 Hz logging, the minimum logging period is 1/20 Hz or 0.05 s.
The following are valid examples for a synchronous, or asynchronous log, on a receiver that can log at
rates up to 20 Hz:
log bestpos ontime 1

[1 Hz]

log bestpos ontime 1 0.1
log bestpos ontime 1 0.90
log avepos ontime 1 0.95
log avepos ontime 2

[0.5 Hz]

log avepos ontime 2 1.35
log avepos ontime 2 1.75

For synchronous and asynchronous logs, the following examples are invalid:

3.2

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]

Logs By Function
Table 46, starting on the following page, lists the logs by function while Table 47 starting on Page 233
is an alphabetical listing of logs (repeated in Table 48 starting on Page 240 with the logs in the order
of their message IDs).

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Table 46: Logs By Function
LOGS

DESCRIPTIONS

TYPE

GENERAL RECEIVER CONTROL AND STATUS
COMCONFIG

Current COM port configuration

Polled

EXTRXHWLEVELS

Extended receiver hardware levels

Polled

LOGLIST

List of system logs

Polled

PASSCOM1,
PASSXCOM1,
PASSAUX,
PASSUSB1

Pass-through log, also PASSCOM2, PASSCOM3,
PASSXCOM2, PASSXCOM3, PASSUSB2 and
PASSUSB3

Asynch

PORTSTATS

COM and, if applicable, USB port statistics

Polled

RXCONFIG

Receiver configuration status

Polled

RXHWLEVELS

Receiver hardware levels

Polled

RXSTATUS

Self-test status

Asynch

RXSTATUSEVENT

Status event indicator

Asynch

VALIDMODELS

Model and expiry date information for receiver

Asynch

VERSION

Receiver hardware and software version numbers

Polled

POSITION, PARAMTRES, AND SOLUTION FILTERING CONTROL
AVEPOS

Position averaging log

Asynch

BESTPOS a

Best position data

Synch

BESTUTM

Best available UTM data

Synch

BESTXYZ

Cartesian coordinates position data

Synch

BSLNXYZ

RTK XYZ baseline

Synch

DIFFCODEBIASES

Differential code biases being applied

Polled

GPGGA

NMEA, fix and position data

Synch

GPGGARTK

NMEA, global position system fix data

Synch

GPGLL

NMEA, position data

Synch

Continued on the following page.

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LOGS

DESCRIPTIONS

TYPE

POSITION, PARAMTRES, AND SOLUTION FILTERING CONTROL

227

GPGRS

NMEA, range residuals

Synch

GPGSA

NMEA, DOP information

Synch

GPGST

NMEA, measurement noise statistics

Synch

GPHDT

NMEA, heading from True North

Synch

HEADING

Heading information with the ALIGN feature

Asynch

IONUTC

Ionospheric and UTC model information

Asynch

MASTERPOS

Displays the master position with the ALIGN
feature

Asynch

MATCHEDPOS a

Computed position

Asynch

MATCHEDXYZ

Cartesian coordinates computed position data

Asynch

MARKPOS,
MARK2POS

Position at time of mark input event

Asynch

MARKTIME,
MARK2TIME

Time of mark input event

Asynch

OMNIHPPOS

OmniSTAR HP/XP position data

Synch

PSRDOP

DOP of SVs currently tracking

Asynch

ROVERPOS

Displays the rover position with the ALIGN feature

Asynch

RTKDOP

Values from the RTK fast filter

Synch

RTKPOS a

RTK low latency position

Synch

RTKVELb

RTK Velocity

Synch

RTKXYZ

RTK Cartesian coordinate position

Synch

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Chapter 3
a. The RTK system in the receiver provides two kinds of position solutions. The
Matched RTK position is computed with buffered observations, so there is no
error due to the extrapolation of base station measurements. This provides the
highest accuracy solution possible at the expense of some latency which is
affected primarily by the speed of the differential data link. The MATCHEDPOS
log contains the matched RTK solution and can be generated for each
processed set of base station observations. The RTKDATA log provides
additional information about the matched RTK solution.
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 the GNSS Reference Book, available on our Web site at http://
www.novatel.com/support/docupdates.htm. The amount of time that the base
station observations are extrapolated is provided in the "differential age" field of
the position log. The Low-Latency RTK system extrapolates for 60 seconds. The
RTKPOS log contains the Low-Latency RTK position when valid, and an
"invalid" status when a low-latency RTK solution could not be computed. The
BESTPOS log contains either the low-latency RTK, OmniSTAR HP or XP, or
pseudorange-based position, whichever has the smallest standard deviation.
b. The RTK velocity is computed from successive low-latency RTK position
solutions. The RTKVEL log contains the RTK velocity, when valid, and outputs
an ‘invalid’ status if a low-latency RTK velocity solution cannot be computed.
The BESTVEL log contains the low-latency RTK velocity when the BESTPOS
log contains the low-latency RTK position.
In a BESTVEL, PSRVEL or RTKVEL 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 GPS antenna relative to ground.

LOG

DESCRIPTION

TYPE

WAYPOINT NAVIGATION
BESTPOS

Best position data

Synch

BESTVEL b

Velocity data

Synch

GPHDT

NMEA, heading from True North

Synch

GPRMB

NMEA, waypoint status

Synch

GPRMC

NMEA, navigation information

Synch

GPVTG

NMEA, track made good and speed

Synch

NAVIGATE

Navigation waypoint status

Synch

OMNIHPPOS

OmniSTAR HP position data

Synch

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LOG

DESCRIPTION

TYPE

WAYPOINT NAVIGATION
PSRPOS

Pseudorange position

Synch

PSRVELb

Pseudorange velocity

Synch

PSRXYZ

Pseudorange Cartesian coordinate
position

Synch

CLOCK INFORMATION, STATUS, AND TIME
CLOCKMODEL

Range bias information

Synch

CLOCKSTEERING

Clock steering status

Asynch

GLOCLOCK

GLONASS clock information

Asynch

GPZDA

NMEA, UTC time and data

Synch

PSRTIME

Time offsets from the
pseudorange filter

Synch

TIME

Receiver time information

Synch

TIMESYNC

Synchronize time between receivers

Synch

POST PROCESSING DATA
GPSEPHEM

Decoded GPS ephemeris information

Asynch

IONUTC

Ionospheric and UTC model
information

Asynch

RAWEPHEM

Raw ephemeris

Asynch

RANGE

Satellite range information

Synch

RANGECMP

Compressed version of the RANGE
log

Synch

RANGEGPSL1

L1 version of the RANGE log

Synch

RTKDATA

RTK related data such as baselines
and satellite counts.

Asynch

TIME

Receiver clock offset information

Synch

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LOG

DESCRIPTION

TYPE

SATELLITE TRACKING AND CHANNEL CONTROL
ALMANAC

Current decoded almanac data

Asynch

GLMLA

NMEA GLONASS almanac data

Asynch

GLOALMANAC

GLONASS almanac data

Asynch

GLOEPHEMERIS

GLONASS ephemeris data

Asynch

GLORAWALM

Raw GLONASS almanac data

Asynch

GLORAWEPHEM

Raw GLONASS ephemeris data

Asynch

GLORAWFRAME

Raw GLONASS frame data

Asynch

GLORAWSTRING

Raw GLONASS string data

Asynch

GPALM

NMEA, almanac data

Asynch

GPGSA

NMEA, SV DOP information

Synch

GPGSV

NMEA, satellite-in-view information

Synch

GPSEPHEM

Decoded GPS ephemeris information

Asynch

OMNIVIS

OmniSTAR satellite visibility list

Synch

PSRDOP

DOP of SVs currently tracking

Asynch

RANGE

Satellite range information

Synch

RANGEGPSL1

L1 version of the RANGE log

Synch

RAWALM

Raw almanac

Asynch

RAWEPHEM

Raw ephemeris

Asynch

RAWGPSSUBFRAME

Raw subframe data

Asynch

RAWGPSWORD

Raw navigation word

Asynch

RAWWAASFRAME

Raw SBAS frame data

Asynch

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LOG

DESCRIPTION

TYPE

SATELLITE TRACKING AND CHANNEL CONTROL
SATVIS

Satellite visibility

Synch

SATXYZ

SV position in ECEF Cartesian
coordinates

Synch

TRACKSTAT

Satellite tracking status

Synch

WAAS0

Remove PRN from the solution

Asynch

WAAS1

PRN mask assignments

Asynch

WAAS2

Fast correction slots 0-12

Asynch

WAAS3

Fast correction slots 13-25

Asynch

WAAS4

Fast correction slots 26-38

Asynch

WAAS5

Fast correction slots 39-50

Asynch

WAAS6

Integrity message

Asynch

WAAS7

Fast correction degradation

Asynch

WAAS9

GEO navigation message

Asynch

WAAS10

Degradation factor

Asynch

WAAS12

SBAS network time and UTC

Asynch

WAAS17

GEO almanac message

Asynch

WAAS18

IGP mask

Asynch

WAAS24

Mixed fast/slow corrections

Asynch

WAAS25

Long-term slow satellite corrections

Asynch

WAAS26

Ionospheric delay corrections

Asynch

WAAS27

SBAS service message

Asynch

WAAS32

CDGPS fast correction slots 0-10

Asynch

WAAS33

CDGPS fast correction slots 11-21

Asynch

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LOG

DESCRIPTION

TYPE

SATELLITE TRACKING AND CHANNEL CONTROL
WAAS34

CDGPS fast correction slots 22-32

Asynch

WAAS35

CDGPS fast correction slots 39-50

Asynch

WAAS45

CDGPS slow corrections

Asynch

WAASCORR

SBAS range corrections used

Synch

DIFFERENTIAL BASE STATION
ALMANAC

Current almanac information

Asynch

BESTPOS

Best position data

Synch

BESTVEL

Velocity data

Synch

BSLNXYZ

RTK XYZ baseline

Asynch

CMRDATADESC

Base station description

Synch

CMRDATAOBS

Base station satellite observations

Synch

CMRDATAREF

Base station position

Synch

GPGGA

NMEA, position fix data

Synch

GPGGARTK

NMEA, global position system fix data

Synch

LBANDINFO

L-band configuration information

Synch

LBANDSTAT

L-band status information

Synch

MATCHEDPOS

Computed Position – Time Matched

Asynch

OMNIHPPOS

OmniSTAR HP/XP position data

Synch

PSRPOS

Pseudorange position

Synch

PSRVEL

Pseudorange velocity

Synch

RANGE

Satellite range information

Synch

RANGECMP

Compressed version of the RANGE
log

Synch

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LOG

DESCRIPTION

TYPE

DIFFERENTIAL BASE STATION
RAWLBANDFRAME

Raw L-band frame data

Asynch

RAWLBANDPACKET

Raw L-band data packet

Asynch

REFSTATION

Base station position and health

Asynch

RTCADATA1

Differential GPS corrections

Synch

RTCADATA2OBS

Base station observations 2

Synch

RTCADATAEPHEM

Ephemeris and time information

Synch

RTCADATAOBS

Base station observations

Synch

RTCADATAREF

Base station parametres

Synch

RTKDATA

RTK related data such as baselines
and satellite counts

Asynch

RTKPOS

RTK low latency position

Synch

RTCA, RTCM, RTCMV3 or CMR data logs, for example CMRDATADESC,
RTCADATA1, RTCMDATA1 and RTCM1001.
See also Table 47, that follows, for a complete list of logs in alphabetical order.

Table 47: OEMV Family Logs in Alphabetical Order
DATATYPE

MESSAGE ID

DESCRIPTION

ALMANAC

73

Current almanac information

AVEPOS

172

Position averaging

BESTPOS

42

Best position data

BESTUTM

726

Best available UTM data

BESTVEL

99

Velocity data

BESTXYZ

241

Cartesian coordinate position data

BSLNXYZ

686

RTK XYZ baseline

CLOCKMODEL

16

Current clock model matrices

CLOCKSTEERING

26

Clock steering status

CMRDATADESC

389

Base station description information

CMRDATAGLOOBS

1003

CMR Type 3 GLONASS observations

CMRDATAOBS

390

Base station satellite observation information

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DATATYPE

MESSAGE ID

DESCRIPTION

CMRDATAREF

391

Base station position information

CMRPLUS

717

CMR+ output message

COMCONFIG

317

Current COM port configuration

DIFFCODEBIASES

914

Differential code biases being applied

EXTRXHWLEVELS

843

Extended receiver hardware levels

GLOALMANAC

718

GLONASS almanac data

GLOCLOCK

719

GLONASS clock information

GLOEPHEMERIS

723

GLONASS ephemeris data

GLORAWALM

720

Raw GLONASS almanac data

GLORAWEPHEM

792

Raw GLONASS ephemeris data

GLORAWFRAME

721

Raw GLONASS frame data

GLORAWSTRING

722

Raw GLONASS string data

GPSEPHEM

7

GPS ephemeris data

HEADING

971

Heading information with the ALIGN feature

IONUTC

8

Ionospheric and UTC model information

LBANDINFO

730

L-band configuration information

LBANDSTAT

731

L-band status information

LOGLIST

5

A list of system logs

MARKPOS, MARK2POS

181, 615

Position at time of mark input event

MARKTIME, MARK2TIME

231, 616

Time of mark input event

MASTERPOS

1051

Displays master position with the ALIGN feature

MATCHEDPOS

96

RTK Computed Position – Time Matched

MATCHEDXYZ

242

RTK Time Matched cartesian coordinate position

NAVIGATE

161

Navigation waypoint status

OMNIHPPOS

495

OmniSTAR HP/XP position data

OMNIVIS

860

OmniSTAR satellite visibility list

PASSCOM1, PASSCOM2,
PASSCOM3,PASSXCOM1,
PASSXCOM2, PASSXCOM3
PASSAUX, PASSUSB1,
PASSUSB2, PASSUSB3

233, 234,
235, 405,
406, 795
690, 607,
608, 609

Pass-through logs

PDPPOS

469

PDP filter position

PDPVEL

470

PDP filter velocity

PDPXYZ

471

PDP filter Cartesian position and velocity

PORTSTATS

72

COM or USB port statistics

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DATATYPE

MESSAGE ID

DESCRIPTION

PSRDOP

174

DOP of SVs currently tracking

PSRPOS

47

Pseudorange position information

PSRTIME

881

Time offsets from the pseudorange filter

PSRVEL

100

Pseudorange velocity information

PSRXYZ

243

Pseudorange Cartesian coordinate position

RANGE

43

Satellite range information

RANGECMP

140

Compressed version of the RANGE log

RANGEGPSL1

631

L1 version of the RANGE log

RAWALM

74

Raw almanac

RAWEPHEM

41

Raw ephemeris

RAWGPSSUBFRAME

25

Raw subframe data

RAWGPSWORD

407

Raw navigation word

RAWLBANDFRAME

732

Raw L-band frame data

RAWLBANDPACKET

733

Raw L-band data packet

RAWWAASFRAME

287

Raw SBAS frame data

REFSTATION

175

Base station position and health

ROVERPOS

1052

Displays over position with the ALIGN feature

RTCADATA1

392

Type 1 differential GPS corrections

RTCADATA2OBS

808

Type 7 base station observations 2

RTCADATAEPHEM

393

Type 7 ephemeris and time information

RTCADATAOBS

394

Type 7 base station observations

RTCADATAREF

395

Type 7 base station parametres

RTCMDATA1

396

Type 1 differential GPS corrections

RTCMDATA3

402

Type 3 base station parametres

RTCMDATA9

404

Type 9 partial differential GPS corrections

RTCMDATA15

397

Type 15 ionospheric corrections

RTCMDATA16

398

Type 16 special message

RTCMDATA1819

399

Type18 and Type 19 raw measurements

RTCMDATA2021

400

Type 20 and Type 21 measurement corrections

RTCMDATA22

401

Type 22 Extended Base Station Parametres

RTCMDATA22GG

964

Extend Base Station Parametres for GLONASS

RTCMDATA23

663

Type 23 Antenna Type Definition

RTCMDATA24

664

Type 24 Antenna Reference Point (ARP)

RTCMDATA31

868

Type 31 GLONASS Differential Corrections

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DATATYPE

MESSAGE ID

DESCRIPTION

RTCMDATA32

878

Type 32 GLONASS Base Station Parametres

RTCMDATA36

879

Type 36 Special Message

RTCMDATA59

403

Type 59N-0 NovAtel Proprietary: RT20 Differential

RTCMDATA59GLO

905

NovAtel proprietary GLONASS differential

RTCMDATA1001

784

L1-Only GPS RTK Observables

RTCMDATA1002

785

Extended L1-Only GPS RTK Observables

RTCMDATA1003

786

L1/L2 GPS RTK Observables

RTCMDATA1004

787

Extended L1/L2 GPS RTK Observables

RTCMDATA1005

788

RTK Base Station ARP

RTCMDATA1006

789

RTK Base Station ARP with Antenna Height

RTCMDATA1007

856

Extended Antenna Descriptor and Setup

RTCMDATA1008

857

Extended Antenna Reference Station Description

RTCMDATA1009

897

GLONASS L1-Only RTK

RTCMDATA1010

898

Extended GLONASS L1-Only RTK

RTCMDATA1011

899

GLONASS L1/L2 RTK

RTCMDATA1012

900

Extended GLONASS L1/L2 RTK

RTCMDATA1019

901

GPS Ephemerides

RTCMDATA1020

902

GLONASS Ephemerides

RTCMDATACDGPS1

953

Localized CDGPS corrections in RTCM1

RTCMDATACDGPS9

956

CDGPS corrections in RTCM9

RTCMDATAOMNI1

960

RTCM1 from OmniSTAR

RTKDATA

215

RTK specific information

RTKDOP

952

Values from the RTK fast filter

RTKPOS

141

RTK low latency position data

RTKVEL

216

RTK velocity

RTKXYZ

244

RTK Cartesian coordinate position data

RXCONFIG

128

Receiver configuration status

RXHWLEVELS

195

Receiver hardware levels

RXSTATUS

93

Self-test status

RXSTATUSEVENT

94

Status event indicator

SATVIS

48

Satellite visibility

SATXYZ

270

SV position in ECEF Cartesian coordinates

TIME

101

Receiver time information

TIMESYNC

492

Synchronize time between receivers

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DATATYPE

MESSAGE ID

DESCRIPTION

TRACKSTAT

83

Satellite tracking status

VALIDMODELS

206

Model and expiry date information for receiver

VERSION

37

Receiver hardware and software version numbers

WAAS0

290

Remove PRN from the solution

WAAS1

291

PRN mask assignments

WAAS2

296

Fast correction slots 0-12

WAAS3

301

Fast correction slots 13-25

WAAS4

302

Fast correction slots 26-38

WAAS5

303

Fast correction slots 39-50

WAAS6

304

Integrity message

WAAS7

305

Fast correction degradation

WAAS9

306

GEO navigation message

WAAS10

292

Degradation factor

WAAS12

293

SBAS network time and UTC

WAAS17

294

GEO almanac message

WAAS18

295

IGP mask

WAAS24

297

Mixed fast/slow corrections

WAAS25

298

Long term slow satellite corrections

WAAS26

299

Ionospheric delay corrections

WAAS27

300

SBAS service message

WAAS32

696

CDGPS fast correction slots 0-10

WAAS33

697

CDGPS fast correction slots 11-21

WAAS34

698

CDGPS fast correction slots 22-32

WAAS35

699

CDGPS fast correction slots 39-50

WAAS45

700

CDGPS slow corrections

WAASCORR

313

SBAS range corrections used
CMR Format Logs a

CMRDESC

310

Base station description information

CMRGLOOBS

882

CMR Type 3 GLONASS observations

CMROBS

103

Base station satellite observation information

CMRREF

105

Base station position information

CMRPLUS

717

CMR+ output message

RTCA1

10

Type 1 Differential GPS Corrections

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DATATYPE

MESSAGE ID

DESCRIPTION

RTCA FORMAT LOGS a
RTCAEPHEM

347

Type 7 Ephemeris and Time Information

RTCAOBS

6

Type 7 Base Station Observations

RTCAOBS2

805

Type 7 Base Station Observations II

RTCAREF

11

Type 7 Base Station Parametres
RTCM FORMAT LOGS a

RTCM1

107

Type 1 Differential GPS Corrections

RTCM3

117

Type 3 Base Station Parametres

RTCM9

275

Type 9 Partial Differential GPS Corrections

RTCM15

307

Type 15 Ionospheric Corrections

RTCM16

129

Type16 Special Message

RTCM16T

131

Type16T Special Text Message

RTCM1819

260

Type18 and Type 19 Raw Measurements

RTCM2021

374

Type 20 and Type 21 Measurement Corrections

RTCM22

118

Type 22 Extended Base Station Parametres

RTCM23

665

Type 23 Antenna Type Definition

RTCM24

667

Type 24 Antenna Reference Point (ARP)

RTCM31

864

Type 31 Differential GLONASS Corrections

RTCM32

873

Type 32 GLONASS Base Station Parametres

RTCM36

875

Type 36 Special Message

RTCM36T

877

Type 36T Special Text Message

RTCM59

116

Type 59N-0 NovAtel Proprietary: RT20

RTCM59GLO

903

NovAtel proprietary GLONASS differential

RTCMCDGPS1

954

Localized CDGPS corrections in RTCM1

RTCMCDGPS9

955

CDGPS corrections in RTCM9

RTCMOMNI1

957

RTCM1 from OmniSTAR

RTCM1001

772

L1-Only GPS RTK Observables

RTCM1002

774

Extended L1-Only GPS RTK Observables

RTCM1003

776

L1/L2 GPS RTK Observables

RTCM1004

770

Extended L1/L2 GPS RTK Observables

RTCM1005

765

RTK Base Station ARP

RTCM1006

768

RTK Base Station ARP with Antenna Height

RTCM1007

852

Extended Antenna Descriptor and Setup

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Datatype

Message ID

Description

RTCM FORMAT LOGS a
RTCM1008

854

Extended Antenna Reference Station Description
and Serial Number

RTCM1009

885

GLONASS L1-Only RTK

RTCM1010

887

Extended GLONASS L1-Only RTK

RTCM1011

889

GLONASS L1/L2 RTK

RTCM1012

891

Extended GLONASS L1/L2 RTK

RTCM1019

893

GPS Ephemerides

RTCM1020

895

GLONASS Ephemerides

RTCM1033

1097

Receiver and antenna descriptors

NMEA FORMAT LOGS
GLMLA

859

NMEA GLONASS almanac data

GPALM

217

Almanac Data

GPGGA

218

GPS Fix Data and Undulation

GPGGALONG

521

GPS Fix Data, Extra Precision and Undulation

GPGGARTK

259

GPS Fix Data with Extra Precision

GPGLL

219

Geographic Position - latitude/longitude

GPGRS

220

GPS Range Residuals for Each Satellite

GPGSA

221

GPS DOP and Active Satellites

GPGST

222

Pseudorange Measurement Noise Statistics

GPGSV

223

GPS Satellites in View

GPHDT

1045

Heading in Degrees True

GPRMB

224

Generic Navigation Information

GPRMC

225

GPS Specific Information

GPVTG

226

Track Made Good and Ground Speed

GPZDA

227

UTC Time and Date

a.

239

CMR, RTCA, and RTCM logs may be logged with an A or B extension to give an ASCII or Binary
output with a NovAtel header followed by Hex or Binary data respectively

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Table 48: OEMV Family Logs in Order of their Message IDs

MESSAGE ID

DATATYPE

DESCRIPTION

5

LOGLIST

A list of system logs

7

GPSEPHEM

GPS ephemeris data

8

IONUTC

Ionospheric and UTC model information

16

CLOCKMODEL

Current clock model matrices

25

RAWGPSSUBFRAME

Raw subframe data

26

CLOCKSTEERING

Clock steering status

37

VERSION

Receiver hardware and software version numbers

41

RAWEPHEM

Raw ephemeris

42

BESTPOS

Best position data

43

RANGE

Satellite range information

47

PSRPOS

Pseudorange position information

48

SATVIS

Satellite visibility

72

PORTSTATS

COM or USB port statistics

73

ALMANAC

Current almanac information

74

RAWALM

Raw almanac

83

TRACKSTAT

Satellite tracking status

93

RXSTATUS

Self-test status

94

RXSTATUSEVENT

Status event indicator

96

MATCHEDPOS

RTK Computed Position – Time Matched

99

BESTVEL

Velocity data

100

PSRVEL

Pseudorange velocity information

101

TIME

Receiver time information

128

RXCONFIG

Receiver configuration status

140

RANGECMP

Compressed version of the RANGE log

141

RTKPOS

RTK low latency position data

161

NAVIGATE

Navigation waypoint status

172

AVEPOS

Position averaging

174

PSRDOP

DOP of SVs currently tracking

175

REFSTATION

Base station position and health

181

MARKPOS

Position at time of mark input event

195

RXHWLEVELS

Receiver hardware levels

206

VALIDMODELS

Model and expiry date information for receiver

215

RTKDATA

RTK specific information

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MESSAGE ID

Data Logs
DATATYPE

DESCRIPTION

216

RTKVEL

RTK velocity

231

MARKTIME

Time of mark input event

233, 234, 235

PASSCOM1,
PASSCOM2, PASSCOM3

Pass-through logs

241

BESTXYZ

Cartesian coordinate position data

242

MATCHEDXYZ

RTK Time Matched cartesian coordinate position data

243

PSRXYZ

Pseudorange cartesian coordinate position

244

RTKXYZ

RTK cartesian coordinate position data

270

SATXYZ

SV position in ECEF Cartesian coordinates

287

RAWWAASFRAME

Raw SBAS frame data

290

WAAS0

Remove PRN from the solution

291

WAAS1

PRN mask assignments

292

WAAS10

Degradation factor

293

WAAS12

SBAS network time and UTC

294

WAAS17

GEO almanac message

295

WAAS18

IGP mask

296

WAAS2

Fast correction slots 0-12

297

WAAS24

Mixed fast/slow corrections

298

WAAS25

Long term slow satellite corrections

299

WAAS26

Ionospheric delay corrections

300

WAAS27

SBAS service message

301

WAAS3

Fast correction slots 13-25

302

WAAS4

Fast correction slots 26-38

303

WAAS5

Fast correction slots 39-50

304

WAAS6

Integrity message

305

WAAS7

Fast correction degradation

306

WAAS9

GEO navigation message

313

WAASCORR

SBAS range corrections used

317

COMCONFIG

Current COM port configuration

389

CMRDATADESC

Base station description information

390

CMRDATAOBS

Base station satellite observation information

391

CMRDATAREF

Base station position information

392

RTCADATA1

Type 1 Differential GPS Corrections

393

RTCADATAEPHEM

Type 7 Ephemeris and Time Information

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DATATYPE

DESCRIPTION

394

RTCADATAOBS

Type 7 Base Station Observations

395

RTCADATAREF

Type 7 Base Station Parametres

396

RTCMDATA1

Type 1 Differential GPS Corrections

397

RTCMDATA15

Type 15 Ionospheric Corrections

398

RTCMDATA16

Type 16 Special Message

399

RTCMDATA1819

Type18 and Type 19 Raw Measurements

400

RTCMDATA2021

Type 20 and Type 21 Measurement Corrections

401

RTCMDATA22

Type 22 Extended Base Station Parametres

402

RTCMDATA3

Type 3 Base Station Parametres

403

RTCMDATA59

Type 59N-0 NovAtel Proprietary: RT20 Differential

404

RTCMDATA9

Type 9 Partial Differential GPS Corrections

405,
406

PASSXCOM1,
PASSXCOM2

Pass-through logs

407

RAWGPSWORD

Raw navigation word

469

PDPPOS

PDP filter position

470

PDPVEL

PDP filter velocity

471

PDPXYZ

PDP filter Cartesian position and velocity

492

TIMESYNC

Synchronize time between receivers

495

OMNIHPPOS

OmniSTAR HP/XP position data

607, 608, 609

PASSUSB1, PASSUSB2,
PASSUSB3

Pass-through logs (for receivers that support USB)

615

MARK2POS

Time of mark input event

616

MARK2TIME

Position at time of mark input event

631

RANGEGPSL1

L1 version of the RANGE log

663

RTCMDATA23

Type 23 Antenna Type Definition

664

RTCMDATA24

Type 24 Antenna Reference Point (ARP)

686

BSLNXYZ

RTK XYZ baseline

690

PASSAUX

Pass-through log for AUX port

696

WAAS32

CDGPS fast correction slots 0-10

697

WAAS33

CDGPS fast correction slots 11-21

698

WAAS34

CDGPS fast correction slots 22-32

699

WAAS35

CDGPS fast correction slots 39-50

700

WAAS45

CDGPS slow corrections

Continued on the following page.

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MESSAGE ID

Data Logs
DATATYPE

DESCRIPTION

718

GLOALMANAC

GLONASS almanac data

719

GLOCLOCK

GLONASS clock information

720

GLORAWALM

Raw GLONASS almanac data

721

GLORAWFRAME

Raw GLONASS frame data

722

GLORAWSTRING

Raw GLONASS string data

723

GLOEPHEMERIS

GLONASS ephemeris data

726

BESTUTM

Best available UTM data

730

LBANDINFO

L-band configuration information

731

LBANDSTAT

L-band status information

732

RAWLBANDFRAME

Raw L-band frame data

733

RAWLBANDPACKET

Raw L-band data packet

784

RTCMDATA1001

L1-Only GPS RTK Observables

785

RTCMDATA1002

Extended L1-Only GPS RTK Observables

786

RTCMDATA1003

L1/L2 GPS RTK Observables

787

RTCMDATA1004

Extended L1/L2 GPS RTK Observables

788

RTCMDATA1005

RTK Base Station ARP

789

RTCMDATA1006

RTK Base Station ARP with Antenna Height

792

GLORAWEPHEM

Raw GLONASS ephemeris data

795

PASSXCOM3

Pass through log

808

RTCADATA2OBS

Type 7 Base Station Observations 2

843

EXTRXHWLEVELS

Extended receiver hardware levels

856

RTCMDATA1007

Extended Antenna Descriptor and Setup

857

RTCMDATA1008

Extended Antenna Reference Station Description and
Serial Number

860

OMNIVIS

OmniSTAR satellite visibility list

868

RTCMDATA31

Type 31 GLONASS Differential Corrections

878

RTCMDATA32

Type 32 GLONASS Base Station Parametres

879

RTCMDATA36

Type 36 Special Message

881

PSRTIME

Time offsets from the pseudorange filter

897

RTCMDATA1009

GLONASS L1-Only RTK

Continued on the following page.

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DATATYPE

DESCRIPTION

898

RTCMDATA1010

Extended GLONASS L1-Only RTK

899

RTCMDATA1011

GLONASS L1/L2 RTK

897

RTCMDATA1009

GLONASS L1-Only RTK

898

RTCMDATA1010

Extended GLONASS L1-Only RTK

899

RTCMDATA1011

GLONASS L1/L2 RTK

900

RTCMDATA1012

Extended GLONASS L1/L2 RTK

901

RTCMDATA1019

GPS Ephemerides

902

RTCMDATA1020

GLONASS Ephemerides

905

RTCMDATA59GLO

NovAtel proprietary GLONASS differential corrections

914

DIFFCODEBIASES

Differential code biases being applied

952

RTKDOP

Values from the RTK fast filter

953

RTCMDATACDGPS1

Localized CDGPS corrections in RTCM1

956

RTCMDATACDGPS9

CDGPS corrections in RTCM9

960

RTCMDATAOMNI1

RTCM1 from OmniSTAR

964

RTCMDATA22GG

Extended base station parametres for GLONASS

971

HEADING

Heading information with the ALIGN feature

1051

MASTERPOS

Displays the master position with the ALIGN feature

1052

ROVERPOS

Displays the rover position with the ALIGN feature
CMR FORMAT LOGS a

103

CMROBS

Base station satellite observation information

105

CMRREF

Base station position information

310

CMRDESC

Base station description information

717

CMRPLUS

CMR+ output message

882

CMRGLOOBS

CMR Type 3 GLONASS observations

1003

CMRDATAGLOOBS

CMR Type 3 GLONASS observations

RTCA FORMAT LOGS a
6

RTCAOBS

Type 7 Base Station Observations

10

RTCA1

Type 1 Differential GPS Corrections

11

RTCAREF

Type 7 Base Station Parametres

347

RTCAEPHEM

Type 7 Ephemeris and Time Information

Continued on the following page.

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MESSAGE ID

Data Logs
DATATYPE

DESCRIPTION
RTCA FORMAT LOGS

805

RTCAOBS2

a

Type 7 Base Station Observations 2
RTCM FORMAT LOGS a

107

RTCM1

Type 1 Differential GPS Corrections

116

RTCM59

Type 59N-0 NovAtel Proprietary: RT20 Differential

117

RTCM3

Type 3 Base Station Parametres

118

RTCM22

Type 22 Extended Base Station Parametres

129

RTCM16

Type16 Special Message

131

RTCM16T

Type16T Special Text Message

260

RTCM1819

Type18 and Type 19 Raw Measurements

275

RTCM9

Type 9 Partial Differential GPS Corrections

307

RTCM15

Type 15 Ionospheric Corrections

374

RTCM2021

Type 20 and Type 21 Measurement Corrections

665

RTCM23

Type 22 Extended Base Station Parametres

667

RTCM24

Type 23 Antenna Type Definition

864

RTCM31

Type 31 Differential GLONASS Corrections

873

RTCM32

Type 32 GLONASS Base Station Parametres

875

RTCM36

Type 36 Special Message

877

RTCM36T

Type 36T Special Text Message

903

RTCM59GLO

NovAtel proprietary GLONASS differential NovAtel

954

RTCMCDGPS1

Localized CDGPS corrections in RTCM1

955

RTCMCDGPS9

CDGPS corrections in RTCM9

957

RTCMOMNI1

RTCM1 from OmniSTAR
RTCMV3 Format Logs a

765

RTCM1005

RTK Base Station ARP

768

RTCM1006

RTK Base Station ARP with Antenna Height

770

RTCM1004

Extended L1/L2 GPS RTK Observables

772

RTCM1001

L1-Only GPS RTK Observables

774

RTCM1002

Extended L1-Only GPS RTK Observables

776

RTCM1003

L1/L2 GPS RTK Observables
RTCMV3 Format Logs a

852

RTCM1007

Extended Antenna Descriptor and Setup

854

RTCM1008

Extended Antenna Reference Station Description and
Serial Number

Continued on the following page.

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DATATYPE

DESCRIPTION
a

RTCMV3 FORMAT LOGS
GLONASS L1-Only RTK

885

RTCM1009

887

RTCM1010

Extended GLONASS L1-Only RTK

889

RTCM1011

GLONASS L1/L2 RTK

891

RTCM1012

Extended GLONASS L1/L2 RTK

893

RTCM1019

GPS Ephemerides

895

RTCM1020

GLONASS Ephemerides

1097

RTCM1033

217

GPALM

Almanac Data

218

GPGGA

GPS Fix Data and Undulation

219

GPGLL

Geographic Position - latitude/longitude

220

GPGRS

GPS Range Residuals for Each Satellite

221

GPGSA

GPS DOP and Active Satellites

222

GPGST

Pseudorange Measurement Noise Statistics

223

GPGSV

GPS Satellites in View

224

GPRMB

Generic Navigation Information

225

GPRMC

GPS Specific Information

226

GPVTG

Track Made Good and Ground Speed

227

GPZDA

UTC Time and Date

259

GPGGARTK

GPS Fix Data with Extra Precision

521

GPGGALONG

GPS Fix Data, Extra Precision and Undulation

859

GLMLA

NMEA GLONASS Almanac Data

1045

GPHDT

Heading in Degrees True

Receiver and antenna descriptors
NMEA FORMAT DATA LOGS

a. CMR, RTCA, RTCM and RTCMV3 logs may be logged with an A or B extension to give an
ASCII or Binary output with a NovAtel header followed by Hex or Binary data respectively

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3.3

Data Logs

Log Reference

3.3.1

ALMANAC Decoded Almanac V123

This log contains the decoded almanac parametres from Subframe four and five as received from the
satellite with the parity information removed and appropriate scaling applied. Multiple messages are
transmitted, one for each SV almanac collected. For more information on Almanac data, refer to the
GPS SPS Signal Specification. (Refer to the Standards and References section in the GNSS Reference
Book, available on our Web site at http://www.novatel.com/support/docupdates.htm.)
The OEMV family of receivers automatically save almanacs in their non-volatile memory (NVM),
therefore creating an almanac boot file is not necessary.
Message ID:
Log Type:

73
Asynch

Recommended Input:
log almanaca onchanged

ASCII Example:
#ALMANACA,COM1,0,54.0,SATTIME,1364,409278.000,00000000,06de,2310;
29,
1,1364,589824.0,6.289482e-03,-7.55460039e-09,-2.2193421e+00,-1.7064776e+00,
-7.94268362e-01,4.00543213e-05,3.63797881e-12,1.45856541e-04,2.6560037e+07,
4.45154034e-02,1,0,0,FALSE,
2,1364,589824.0,9.173393e-03,-8.16033991e-09,1.9308788e+00,1.9904300e+00,
6.60915023e-01,-1.62124634e-05,0.00000000,1.45860023e-04,2.6559614e+07,
8.38895743e-03,1,0,0,FALSE,
3,1364,589824.0,7.894993e-03,-8.04604944e-09,7.95206128e-01,6.63875501e-01,
-2.00526792e-01,7.91549683e-05,3.63797881e-12,1.45858655e-04,2.6559780e+07,
-1.59210428e-02,1,0,0,TRUE,
...
28,1364,589824.0,1.113367e-02,-7.87461372e-09,-1.44364969e-01,-2.2781989e+00,
1.6546425e+00,3.24249268e-05,0.00000000,1.45859775e-04,2.6559644e+07,
1.80122900e-02,1,0,0,FALSE,
29,1364,589824.0,9.435177e-03,-7.57745849e-09,-2.2673888e+00,-9.56729511e-01,
1.1791713e+00,5.51223755e-04,1.09139364e-11,1.45855297e-04,2.6560188e+07,
4.36225787e-02,1,0,0,FALSE,
30,1364,589824.0,8.776665e-03,-8.09176563e-09,-1.97082451e-01,1.2960786e+00,
2.0072936e+00,2.76565552e-05,0.00000000,1.45849410e-04,2.6560903e+07,
2.14517626e-03,1,0,0,FALSE*de7a4e45

The speed at which the receiver locates and locks onto new satellites is improved if
the receiver has approximate time and position, as well as an almanac. This allows
the receiver to compute the elevation of each satellite so it can tell which satellites
are visible and their Doppler offsets, improving time to first fix (TTFF).

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Field #

Field type

1
2

ALMANAC header
#messages

3

PRN

4

week

5

seconds

6

ecc

7

°
ω

8

ω0

9

ω

10

Mo

11

afo

12

af1

Data Description

Binary
Bytes

Binary
Offset

Long

H
4

0
H

Ulong

4

H+4

Ulong

4

H+8

Double

8

H+12

Double

8

H+20

Double

8

H+28

Double

8

H+36

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.
Mean anomaly of reference time,
radians
Clock aging parametre, seconds

Double

8

H+44

Double

8

H+52

Double

8

H+60

Double

8

H+68

Double

8

H+76

Double
Double

8
8

H+84
H+92

Ulong
Ulong

4
4

H+100
H+104

Ulong
Enum

4
4

H+108
H+112

20...
21

Clock aging parametre, seconds/
second
N
Corrected mean motion, radians/
second
A
Semi-major axis, metres
incl-angle
Angle of inclination relative to 0.3 π,
radians
SV config
Satellite configuration
health-prn
SV health from Page 25 of subframe
4 or 5
(6 bits)
health-alm
SV health from almanac (8 bits)
antispoof
Anti-spoofing on?
0 = FALSE
1 = TRUE
Next PRN offset = H + 4 + (#messages x 112)
xxxx
32-bit CRC (ASCII and Binary only)

Hex

4

22

[CR][LF]

-

-

H+4+
(112 x
#messages)
-

13
14
15
16
17
18
19

Log header
The number of satellite PRN
almanac messages to follow. Set to
zero until almanac data is available.
Satellite PRN number for current
message, dimensionless
Almanac reference week (GPS
week number)
Almanac reference time, seconds
into the week
Eccentricity, dimensionless defined for a conic section where
e = 0 is a circle, e = 1 is a parabola,
01 is a
hyperbola.
Rate of right ascension, radians/
second
Right ascension, radians

Format

Sentence terminator (ASCII only)

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3.3.2

Data Logs

AVEPOS Position Averaging V123

When position averaging is underway, the various fields in the AVEPOS log contain the parametres
being used in the position averaging process. Table 49 below shows the possible position averaging
status values seen in field #8 of the AVEPOS log table on the next page.
See the description of the POSAVE command on page 161. Refer also to the height and pseudorange
sections of the GNSS Reference Book, available on our Web site at http://www.novatel.com/support/
docupdates.htm.
1.

All quantities are referenced to the geoid (average height above sea level), regardless of
the use of the DATUM or USERDATUM commands, except for the height parametre
(field #4 in the AVEPOS log table on the next page). The relation between the geoid and
WGS84 ellipsoid is the geoidal undulation, and can be obtained from the PSRPOS log,
see page 390.

2.

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:
Log Type:

172
Asynch

Recommended Input:
log aveposa onchanged

ASCII Example:
#AVEPOSA,COM1,0,48.5,FINESTEERING,1364,492100.000,80000000,e3b4,2310;
51.11635589900,-114.03833558937,1062.216134356,1.7561,0.7856,1.7236,
INPROGRESS,2400,2*72a550c1

Table 49: Position Averaging Status
Binary

ASCII

Description

0

OFF

Receiver is not averaging

1

INPROGRESS

Averaging is in progress

2

COMPLETE

Averaging is complete

When a GPS 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 it) 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
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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 GPS
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, reliability is measured in percent. When a receiver
says that 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, GPS heights are 1.5 times
poorer than horizontal positions. See also page 326 for CEP and RMS definitions.

Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

AVEPOS
header

Log header

2

lat

Average WGS84 latitude (degrees)

Double

8

H

3

lon

Average WGS84 longitude (degrees)

Double

8

H+8

4

ht

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 49)

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)

-

-

-

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3.3.3

Data Logs

BESTPOS Best Position V123

This log contains the best available combined GPS and inertial navigation system (INS - if available)
position (in metres) 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 observation. After this 60 second period, the
position reverts to the best solution available; 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 DGPSTIMEOUT command, see page 105.
See also the table footnote for position logs on page 228 as well as the MATCHEDPOS, PSRPOS and
RTKPOS logs, on pages 362, 390 and 537 respectively.
Message ID:
Log Type:

42
Synch

Recommended Input:
log bestposa ontime 1

See Section 2.1, Command Formats on page 35 for more examples of log requests.
ASCII Example 1:
#BESTPOSA,COM1,0,83.5,FINESTEERING,1419,336148.000,00000040,6145,2724;
SOL_COMPUTED,SINGLE,51.11636418888,-114.03832502118,1064.9520,-16.2712,
WGS84,1.6961,1.3636,3.6449,"",0.000,0.000,8,8,0,0,0,06,0,03*6f63a93d

ASCII Example 2:
#BESTPOSA,COM1,0,78.5,FINESTEERING,1419,336208.000,00000040,6145,2724;
SOL_COMPUTED,NARROW_INT,51.11635910984,-114.03833105168,1063.8416,-16.2712,
WGS84,0.0135,0.0084,0.0172,"AAAA",1.000,0.000,8,8,8,8,0,01,0,03*3d9fbd48

Dual frequency GPS receivers offer two major advantages over single frequency
equipment. 1) Ionospheric errors that are inherent in all GPS observations can be
modelled and significantly reduced by combining satellite observations made on two
different frequencies, and 2) Observations on two frequencies allow for faster
ambiguity resolution times.
In general, dual frequency GPS receivers provide a faster, more accurate, and more
reliable solution than single frequency equipment. They do, however, cost
significantly more to purchase, thus it is important for potential GPS buyers to
carefully consider their current and future needs.

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Table 50: Position or Velocity Type

Type (binary)

Type (ASCII)

Description

0

NONE

No solution

1

FIXEDPOS

Position has been fixed by the FIX POSITION command

2

FIXEDHEIGHT

Position has been fixed by the FIX HEIGHT/AUTO
command

8

DOPPLER_VELOCITY

Velocity computed using instantaneous Doppler

16

SINGLE

Single point position

17

PSRDIFF

Pseudorange differential solution

18

WAAS

Solution calculated using corrections from an SBAS

19

PROPAGATED

Propagated by a Kalman filter without new observations

20

OMNISTAR a

OmniSTAR VBS position (L1 sub-metre)

32

L1_FLOAT

Floating L1 ambiguity solution

33

IONOFREE_FLOAT

Floating ionospheric-free ambiguity solution

34

NARROW_FLOAT

Floating narrow-lane ambiguity solution

48

L1_INT

Integer L1 ambiguity solution

49

WIDE_INT

Integer wide-lane ambiguity solution

50

NARROW_INT

Integer narrow-lane ambiguity solution

51

RTK_DIRECT_INS b

RTK status where the RTK filter is directly initialized from
the INS filter

52

INS b

INS calculated position corrected for the antenna

53

INS_PSRSP b

INS pseudorange single point solution - no DGPS
corrections

54

INS_PSRDIFF b

INS pseudorange differential solution

55

INS_RTKFLOAT b

INS RTK floating point ambiguities solution

56

INS_RTKFIXED b

INS RTK fixed ambiguities solution

64

OMNISTAR_HP a

OmniSTAR HP position

65

OMNISTAR_XP a

OmniSTAR XP position

66

CDGPS a

Position solution using CDGPS correction

a. In addition to a NovAtel receiver with L-band capability, a subscription to the OmniSTAR, or use of
the free CDGPS, service is required. Contact NovAtel for details.
b. Output only by the BESTPOS and BESTVEL logs when using an inertial navigation system such as
NovAtel’s SPAN products. Please visit our Web site, refer to your SPAN for OEMV User Manual, or
contact NovAtel for more information.

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Data Logs
Table 51: Solution Status
Solution Status

(Binary)

Description

(ASCII)

0

SOL_COMPUTED

Solution computed

1

INSUFFICIENT_OBS

Insufficient observations

2

NO_CONVERGENCE

No convergence

3

SINGULARITY

Singularity at parametres matrix

4

COV_TRACE

Covariance trace exceeds maximum (trace > 1000 m)

5

TEST_DIST

Test distance exceeded (maximum of 3 rejections if
distance > 10 km)

6

COLD_START

Not yet converged from cold start

7

V_H_LIMIT

Height or velocity limits exceeded (in accordance with
export licensing restrictions)

8

VARIANCE

Variance exceeds limits

9

RESIDUALS

Residuals are too large

10

DELTA_POS

Delta position is too large

11

NEGATIVE_VAR

Negative variance

12

Reserved

13

INTEGRITY_WARNING

14-17

INS solution status values a

18

PENDING

When a FIX POSITION command is entered, the
receiver computes its own position and determines if
the fixed position is valid b

19

INVALID_FIX

The fixed position, entered using the FIX POSITION
command, is not valid

20

UNAUTHORIZED

Position type is unauthorized - HP or XP on a receiver
not authorized for it

21

ANTENNA_WARNING

One of the antenna warnings listed in the
RTKANTENNA command description, see page 172

Large residuals make position unreliable

a. Output only when using an inertial navigation system such as NovAtel’s SPAN products. Please visit
our Web site, refer to your SPAN for OEMV User Manual, or contact NovAtel for more information.
b. PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION
entered into the receiver is valid. The receiver needs to be tracking two or more GPS satellites to
perform this check. Under normal conditions you should only see PENDING for a few seconds on
power up before the GPS 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.

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Table 52: Signal-Used Mask
Bit

Mask

Description

0

0x01

GPS L1 used in Solution

1

0x02

GPS L2 used in Solution

2

0x04

GPS L5 used in Solution

3

0x08

Reserved

4

0x10

GLONASS L1 used in Solution

5

0x20

GLONASS L2 used in Solution

6-7

0x40-0x80

Reserved

Table 53: Extended Solution Status
Bit

Mask

Description

0

0x01

AdVance RTK Verified
0 = Not Verified
1 = Verified

1-3

0x0E

Pseudorange Iono Correction
0 = Unknowna
1 = Klobuchar Broadcast
2 = SBAS Broadcast
3 = Multi-frequency Computed
4 = PSRDiff Correction
5 = NovAtel Blended Iono Value

4-7

0xF0

Reserved

a. Unknown can indicate that the Iono Correction type is None
or that the default Klobuchar parametres are being used.

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Field #

Data Logs

Field type

Data Description

1

BESTPOS
header

Log header

2

sol stat

Solution status, see Table 51 on page 253

3

pos type

4

Format

Binary Binary
Bytes Offset
H

0

Enum

4

H

Position type, see Table 50 on page 252

Enum

4

H+4

lat

Latitude

Double

8

H+8

5

lon

Longitude

Double

8

H+16

6

hgt

Height above mean sea level

Double

8

H+24

7

undulation

Undulation - the relationship between the geoid and
the ellipsoid (m) of the chosen datum a

Float

4

H+32

8

datum id#

Datum ID number (see Chapter 2, Table 21,
Reference Ellipsoid Constants on page 97)

Enum

4

H+36

9

lat σ

Latitude standard deviation

Float

4

H+40

10

lon σ

Longitude standard deviation

Float

4

H+44

11

hgt σ

Height standard deviation

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 satellite vehicles tracked

Uchar

1

H+64

16

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+65

17

#ggL1

Number of GPS plus GLONASS L1 used in solution

Uchar

1

H+66

18

#ggL1L2

Number of GPS plus GLONASS L1 and L2 used in
solution

Uchar

1

H+67

19

Reserved

Uchar

1

H+68

20

ext sol stat

Hex

1

H+69

21

Reserved

Hex

1

H+70

22

sig mask

Signals used mask - if 0, signals used in solution are
unknown (see Table 52 on page 254)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

1

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Extended solution status (see Table 53, Extended
Solution Status on page 254)

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due to
differences between the datum in use and WGS84

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Chapter 3

BESTUTM

Best Available UTM Data V123

This log contains the best available position computed by the receiver in UTM coordinates.
See also the UTMZONE command on page 221 and the BESTPOS log on page 251.
Message ID:
Log Type:

726
Synch

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, so that it is obvious that the data in the log is unusable.
Recommended Input:
log bestutma ontime 1

ASCII Example:
#BESTUTMA,COM1,0,73.0,FINESTEERING,1419,336209.000,00000040,eb16,2724;
SOL_COMPUTED,NARROW_INT,11,U,5666936.4417,707279.3875,1063.8401,-16.2712,
WGS84,0.0135,0.0084,0.0173,"AAAA",1.000,0.000,8,8,8,8,0,01,0,03*a6d06321

Please refer to http://earth-info.nga.mil/GandG/coordsys/grids/referencesys.html for
more information and a world map of UTM zone numbers.

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Field #

Data Logs

Field type

Data Description

1

BESTUTM
header

Log header

2

sol status

Solution status, see Table 51, Solution Status on
page 253

3

pos type

4

Format

Binary Binary
Bytes Offset
H

0

Enum

4

H

Position type, see Table 50, Position or Velocity
Type on page 252

Enum

4

H+4

z#

Longitudinal zone number

Ulong

4

H+8

5

zletter

Latitudinal zone letter

Ulong

4

H+12

6

northing

Northing (m) where the origin is defined as the
equator in the northern hemisphere and as a point
10000000 metres south of 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

Double

8

H+32

9

undulation

Undulation - the relationship between the geoid and
the ellipsoid (m) of the chosen datum a

Float

4

H+40

10

datum id#

Datum ID number (see Chapter 2, Table 21,
Reference Ellipsoid Constants on page 97)

Enum

4

H+44

11

Nσ

Northing standard deviation

Float

4

H+48

12

Eσ

Easting standard deviation

Float

4

H+52

13

hgt σ

Height standard deviation

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 satellite vehicles 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 L1 used in solution

Uchar

1

H+74

20

#ggL1L2

Number of GPS plus GLONASS L1 and L2 used in
solution

Uchar

1

H+75

21

Reserved

Uchar

1

H+76

Continued on page 258.

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Field type

Data Description

22

ext sol stat

Extended solution status (see Table 53, Extended
Solution Status on page 254)

23

Reserved

24

sig mask

25
26

Format

Binary Binary
Bytes Offset

Hex

1

H+77

Hex

1

H+78

Signals used mask - if 0, signals used in solution are
unknown (see Table 52 on page 254)

Hex

1

H+79

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+80

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due
to differences between the datum in use and WGS84

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Data Logs

BESTVEL Best Available Velocity Data V123

This log contains the best available velocity information computed by the receiver. In addition, it
reports a velocity status indicator, which is useful in indicating 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. See also the table footnote for velocity logs
on page 228.
The velocity type is from the same source that was chosen for BESTPOS. So if BESTPOS is
from the pseudorange filter, the BESTVEL velocity type is the same as for PSRVEL, see page
393. If BESTPOS is from RTK, the BESTVEL velocity type is the same as for RTKVEL, see
page 539. If BESTPOS is from OMNIHPPOS, the BESTVEL velocity type is
OMNISTAR_HP or OMNISTAR_XP.
The RTK, OmniSTAR HP and OmniSTAR XP velocities are typically computed from the average
change in position 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 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.
The latency can be reduced by increasing 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. For integration purposes, the velocity
latency should be applied to the record time tag.
Velocities based on delta phase are noisier at faster rates because they are derived by dividing the
phase difference by the delta time (which is getting smaller at higher rates). Doppler-based velocity is
not effected.
While the receiver is static, the velocity may jump several centimetres per second. 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 velocity solution when you
see PSRDIFF, WAAS, OMNISTAR, CDGPS, or DOPPLER_VELOCITY in field #3 (vel type). The
instantaneous doppler velocity has low latency and is not delta position dependent. If you change your
velocity quickly, you can see this in the DOPPLER_VELOCITY solution. This instantaneous doppler
velocity translates into a velocity latency of 0.15 seconds.

Message ID:
Log Type:

99
Synch

Recommended Input:
log bestvela ontime 1

ASCII Example:
#BESTVELA,COM1,0,61.0,FINESTEERING,1337,334167.000,00000000,827b,1984;

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SOL_COMPUTED,PSRDIFF,0.250,4.000,0.0206,227.712486,0.0493,0.0*0e68bf05

Velocity vector (speed and direction) calculations involve a difference operation
between successive satellite measurement epochs and the error in comparison to
the position calculation is reduced. As a result you can expect velocity accuracy
approaching plus or minus 0.03 m/s, 0.07 m.p.h., or 0.06 knots assuming phase
measurement capability and a relatively high measurement rate (that is, 1 Hz or
better) by the GPS receiver.
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 GPS receiver still
outputs some kind of movement at speeds between 0 and 0.5 m/s in random and
changing directions. This represents the random variation of the static position.
In a navigation capacity, the velocity information provided by your GPS 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 GPS
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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Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Velocity type, see Table 50, Position or Velocity
Type on page 252

Enum

4

H+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

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)

-

-

-

Field #

Field type

1

BESTVEL
header

Log header

2

sol status

Solution status, see Table 51, Solution Status on
page 253

3

vel type

4

261

Data Description

Format

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3.3.6

Chapter 3

BESTXYZ

Best Available Cartesian Position and Velocity V123

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 10, page
265 for a definition of the ECEF coordinates.
See also the BESTPOS and BESTVEL logs, on pages 251 and 256 respectively.
These quantities are always referenced to the WGS84 ellipsoid, regardless of the use of the
DATUM or USERDATUM commands.
Message ID:
Log Type:

241
Synch

Recommended Input:
log bestxyza ontime 1

ASCII Example:
#BESTXYZA,COM1,0,55.0,FINESTEERING,1419,340033.000,00000040,d821,2724;
SOL_COMPUTED,NARROW_INT,-1634531.5683,-3664618.0326,4942496.3270,
0.0099,0.0219,0.0115,SOL_COMPUTED,NARROW_INT,0.0011,-0.0049,-0.0001,
0.0199,0.0439,0.0230,"AAAA",0.250,1.000,0.000,12,11,11,11,0,01,0,33*e9eafeca

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Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Position type, see Table 50, Position or Velocity
Type on page 252

Enum

4

H+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

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 51, Solution Status
on page 253

Enum

4

H+44

11

vel type

Velocity type, see Table 50, Position or Velocity
Type on page 252

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 satellite vehicles tracked

Uchar

1

H+104

23

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+105

Field #

Field type

Data Description

1

BESTXYZ
header

Log header

2

P-sol status

Solution status, see Table 51, Solution Status
on page 253

3

pos type

4

Format

Continued on page 264.

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Format

Binary
Bytes

Binary
Offset

Number of GPS plus GLONASS L1 used in
solution

Uchar

1

H+106

Number of GPS plus GLONASS L1 and L2
used in solution

Uchar

1

H+107

Char

1

H+108

Hex

1

H+109

Hex

1

H+110

Signals used mask - if 0, signals used in
solution are unknown (see Table 52 on page
254)

Hex

1

H+111

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+112

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field #

Field type

24

#ggL1

25

#ggL1L2

26

Reserved

27

ext sol stat

28

Reserved

29

sig mask

30
31

Data Description

Extended solution status (see Table 53,
Extended Solution Status on page 254)

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- Definitions Origin =

*

Earth's center of mass

Z-Axis =

Parallel to the direction of the Conventional Terrestrial Pole (CTP) for
polar motion, as defined by the Bureau International de l'Heure (BIH) on
the basis of the coordinates adopted for the BIH stations.

X-Axis =

Intersection of the WGS 84 Reference Meridian Plane and the plane of
the CTP's Equator, the Reference Meridian being parallel to the Zero
Meridian defined by the BIH on the basis of the coordinates adopted for
the BIH stations.

Y -Axis =

Completes a right-handed, earth-centered, earth-fixed (ECEF)
orthogonal coordinate system, measured in the plane of the CTP
Equator, 90¡° East of the X-Axis.

BIH - Defined CTP
(1984.0)
Z
WGS 84

ω

Earth's Center
of Mass

BIH-Defined
Zero Meridian
(1984.0)

Y
WGS 84
X
WGS 84

* Analogous to the BIH Defined Conventional Terrestrial System (CTS), or BTS,
1984.0.

Figure 10: The WGS84 ECEF Coordinate System

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3.3.7

Chapter 3

BSLNXYZ RTK XYZ Baseline V23_RT2_RT2_LITE or V3_RT20_HP

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 10, page 265 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 366.
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:
Log Type:

686
Asynch

Recommended Input:
log bslnxyza onchanged

ASCII Example:
#BSLNXYZA,COM1,0,59.5,FINESTEERING,1419,340033.000,00000040,5b48,2724;
SOL_COMPUTED,NARROW_INT,0.0012,0.0002,-0.0004,0.0080,0.0160,0.0153,
"AAAA",12,12,12,12,0,01,0,33*1a8a1b65

The BSLNXYZ log contains offset values in the ECEF frame from base to rover:
Base position (in ECEF) + Offset values (in ECEF) = Rover position (in ECEF)
You can use the position information in the BESTXYZ log from the rover and subtract
the offset values from the BSLNXYZ log, to yield the position information of the base
in ECEF coordinates.
Be careful of where you the want vector to originate and point to. Our ECEF positions
are referenced to the WGS84 ellipsoid, regardless of the use of the DATUM or
USERDATUM commands.

Consider the impact of the base station and the roving GPS receivers being
separated by large distances.
For this discussion, we assume that when we talk about large distances, we are
referring to distances greater than 1000 km (600 miles). Typically, for this type of
baseline length only code data is used in a differential system. Carrier-phase data is
typically used for distances much shorter than 1000 kilometres. (The advantage of
using carrier-phase data, to produce centimetre-level accuracies is greatly reduced
when large distances are involved.)
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GPS operates in a similar fashion as conventional surveying tools such as electronic
distance measuring instruments (EDMs). This means that there is a constant and a
proportional error associated with computed positions. The proportional error
depends on the distance the base and rover receivers are apart. Therefore, the
larger the distance, the lower the accuracy. We also have to take into account the
quality of the data being received. Better receivers generally provide cleaner signals
and thus better accuracy.
When operating in differential mode, you require at least four common satellites at
the base and rover. The number of common satellites being tracked at large
distances is less than at short distances. This is important because the accuracy of
GPS and DGPS positions depend a great deal on how many satellites are being
used in the solution (redundancy) and the geometry of the satellites being used
(DOP). DOP stands for dilution of precision and refers to the geometry of the
satellites. A good DOP occurs when the satellites being tracked and used are evenly
distributed throughout the sky. A bad DOP occurs when the satellites being tracked
and used are not evenly distributed throughout the sky or grouped together in one
part of the sky.
Also, the principal of DGPS positioning assumes that there are common errors at the
base and rover stations. These errors include: atmospheric errors, satellite clock and
ephemeris errors. Typically, in a differential GPS survey, a receiver occupies a survey
control marker at a known location referred to as the base station. The base station
collects GPS data and computes a position. This position is then compared against
the published coordinates. The difference between these two positions in the way of
range errors to the satellites are your differential corrections. Usually, these
corrections are then passed to your rover unit(s) for use in computing the rover's
differentially corrected positions. However, the further apart the base and rover
receivers are, the less their errors are in common. Thus, the differential corrections
computed at your base are less applicable at your rover's location at large distances.

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Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Baseline type, see Table 50, Position or Velocity
Type on page 252

Enum

4

H+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

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 satellite vehicles 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 L1 used in
solution

Uchar

1

H+50

14

#ggL1L2

Number of GPS plus GLONASS L1 and L2 used in
solution

Uchar

1

H+51

15

Reserved

Uchar

1

H+52

16

ext sol stat

Hex

1

H+53

17

Reserved

Hex

1

H+54

18

sig mask

Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)

Hex

1

H+55

30

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+56

31

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field #

Field type

Data Description

1

BSLNXYZ
header

Log header

2

sol status

Solution status, see Table 51, Solution Status on
page 253

3

bsln type

4

Extended solution status (see Table 53, Extended
Solution Status on page 254)

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3.3.8

Data Logs

CLOCKMODEL Current Clock Model Status V123

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 GPS satellite reference.
All logs report GPS time not corrected for local receiver clock error. To derive the closest GPS time,
subtract the clock offset from the GPS 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 parametres array = [ B

BR

SAB]

covariance matrix =
2
B

σ

σ σ

σ

σ

σ

σ

B BR
2
σ
BR

BR B

SAB B

σ

σ

SAB BR

σ σ

B SAB

σ

σ

BR SAB
2
σ
SAB

Table 54: Clock Model Status

269

Clock
Status
(Binary)

Clock Status
(ASCII)

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

4

ERROR

Clock model error

Description

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Chapter 3

Message ID:
Log Type:

16
Synch

Recommended Input:
log clockmodela ontime 1

ASCII Example:
#CLOCKMODELA,COM1,0,52.0,FINESTEERING,1364,489457.000,80000000,98f9,2310;
VALID,0,489457.000,489457.000,7.11142843e+00,6.110131956e-03,
-4.93391151e+00,3.02626565e+01,2.801659017e-02,-2.99281529e+01,
2.801659017e-02,2.895779736e-02,-1.040643538e-02,-2.99281529e+01,
-1.040643538e-02,3.07428979e+01,2.113,2.710235665e-02,FALSE*3d530b9a

The CLOCKMODEL log can be used to monitor the clock drift of an internal oscillator
once the CLOCKADJUST mode has been disabled. Watch the CLOCKMODEL log to
see the drift rate and adjust the oscillator until the drift stops.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

CLOCKMODEL
header

Log header

2

clock status

Clock model status as computed from
current measurement data, see Table 54,
Clock Model Status on page 269

Enum

4

H

3

reject

Number of rejected range bias
measurements

Ulong

4

H+4

4

noise time

GPS time of last noise addition

GPSec

4

H+8

5

update time

GPS time of last update

GPSec

4

H+12

6

parametres

Clock correction parametres (a 1x3 array
of length 3), listed left-to-right

Double

8

H+16

8

H+24

8

H+32

8

H+40

8

H+48

11

8

H+56

12

8

H+64

13

8

H+72

14

8

H+80

15

8

H+88

16

8

H+96

17

8

H+104

7
8
9

cov data

10

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

change

Is there a change in the constellation?
0 = FALSE
1 = TRUE

Enum

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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3.3.9

Chapter 3

CLOCKSTEERING Clock Steering Status V123

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’s clock to
accurately match GPS time. If for some reason this is not desired, this behavior can be disabled using
the CLOCKADJUST command, see page 79.
If the CLOCKADJUST command is ENABLED, and the receiver is configured to use an
external reference frequency (set in the EXTERNALCLOCK command, see page 112, 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 121.
Message ID:
Log Type:

26
Asynch

Recommended Input:
log clocksteeringa onchanged

ASCII Example:
#CLOCKSTEERINGA,COM1,0,56.5,FINESTEERING,1337,394857.051,00000000,0f61,1984;
INTERNAL,SECOND_ORDER,4400,1707.554687500,0.029999999,-2.000000000,-0.224,
0.060*0e218bbc

To configure the receiver to use an external reference oscillator, see the
EXTERNALCLOCK command on page 112.
Table 55: 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 56: 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 startup state of the clock steering loop.

1

SECOND_ORDER

Once the receiver has reduced the clock drift to below 1 m/
s, it enters a second order control loop and attempts to
reduce the receiver clock offset to zero. This is the normal
runtime state of the clock steering process.

2

CALIBRATE_HIGH a

This state corresponds to when the calibration process is
measuring at the "High" pulse width setting

3

CALIBRATE_LOW a

This state corresponds to when the calibration process is
measuring at the "Low" pulse width setting

4

CALIBRATE_CENTER b

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).

a. These states are only seen if you force the receiver to do a clock steering calibration using the
CLOCKCALIBRATE command, see page 81. With the CLOCKCALIBRATE command, you can
force the receiver to calibrate the slope and center pulse width, of the currently selected
oscillator, to steer. The receiver measures the drift rate at several "High" and "Low" pulse width
settings.
b. After the receiver has measured the "High" and "Low" pulse width setting, the calibration
process enters a "Center calibration" process where it attempts to find the pulse width required
to zero the clock drift rate.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

CLOCKSTEERING
header

Log header

2

source

Clock source, see Table 55, Clock
Source on page 272.

Enum

4

H

3

steeringstate

Steering state, see Table 56, Steering
State on page 273.

Enum

4

H+4

4

period

Period of the FREQUENCYOUT signal
used to control the oscillator, refer to the
FREQUENCYOUT command. This
value is set using the
CLOCKCALIBRATE command.

Ulong

4

H+8

5

pulsewidth

Current pulse width of the
FREQUENCYOUT signal. The starting
point for this value is set using the
CLOCKCALIBRATE command. The
clock steering loop continuously adjusts
this value in an attempt to drive the
receiver clock offset and drift terms to
zero.

Double

8

H+12

6

bandwidth

The current band width of the clock
steering tracking loop in Hz. This value is
set using the CLOCKCALIBRATE
command.

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.

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, see page
266.

Double

8

H+32

9

driftrate

The last valid receiver clock drift rate
received (m/s). It is the same as Field #
19 of the CLOCKMODEL log.

Double

8

H+40

10

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+48

11

[CR][LF]

Sentence terminator (ASCII only)

-

-

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3.3.10 CMR Standard Logs V123_RT20 or V23_RT2
CMRDESC
Message ID:

BASE STATION DESCRIPTION INFORMATION
310

CMRGLOOBS CMR DATA GLONASS OBSERVATIONS (CMR TYPE 3 MESSAGE) _G
Message ID:
882
CMROBS
Message ID:

BASE STATION SATELLITE OBSERVATION INFORMATION
103

CMRPLUS
Message ID:

CMR+ OUTPUT INFORMATION
717

CMRREF
Message ID:

BASE STATION POSITION INFORMATION
105

The Compact Measurement Record (CMR) Format, is a standard communications protocol used in
Real-Time Kinematic (RTK) systems to transfer GPS carrier phase and code observations from a base
station to one or more rover stations.
1.

The above messages can be logged with an A or B suffix for an ASCII or Binary output
with a NovAtel header followed by Hex or Binary raw data respectively.

2.

CMRDATA logs output the details of the above logs if they have been sent.

3.

No guarantee is made that the OEMV will meet its performance specifications if nonNovAtel equipment is used.

4.

Trimble rovers must receive CMRDESC messages from a base.

The Compact Measurement Record (CMR) message format was developed by Trimble Navigation
Ltd. as a proprietary data transmission standard for use in RTK applications. In 1996, Trimble publicly
disclosed this standard and allowed its use by all manufacturers in the GPS industry1.
The NovAtel implementation allows a NovAtel rover receiver to operate in RTK mode while
receiving pseudorange and carrier phase data via CMR messages (version 3.0) from a non-NovAtel
base-station receiver. The NovAtel receiver can also transmit CMR messages (version 3.0). The
station ID must be ≤ 31 when transmitting CMR corrections. The CMRPLUS output message
distributes the base station information over 14 updates, see page 289.
The maximum message lengths of the four CMR messages are as follows:
CMROBS = 6 (frame) + 6 (header) + (14*L1 channels) + (14*L2 channels) = (222 bytes max.)
CMRREF = 6 (frame) + 6 (header) + 19 = (31 bytes)
CMRDESC = 6 (frame) + 6 (header) + (variable: 26 to 75) = (38 bytes minimum; 87 bytes max.)
CMRPLUS = 6 (frame) + 3 (header) + 7 = (16 bytes)
1.

275

Talbot, N.C. (1996) “Compact Data Transmission Standard for High-Precision GPS”.
ION GPS-96 Conference Proceedings, Kansas, MO, Sept. 1996, Vol. I, pp. 861-871
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Chapter 3

CMR Type 3 RTK Formats
NovAtel CMR Type 3 messages are CMR Type 3 messages as defined by Leica and Topcon.
CMR Type 3 format messages are for GLONASS CMR observations. CMRGLOOBS and
CMRDATAGLOOBS logs are similar to the existing CMROBS and CMRDATAOBS logs. See also
CMR Standard Logs starting on page 275.
CMR Type 3 message types (CMRGLOOBS and CMRDATAGLOOBS) have their Z count stamped
to GLONASS UTC time instead of GPS Time (the epoch field in the CMR Header part of the
message).
When you use CMRGLOOBS in conjunction with CMRREF and CMROBS, you can perform GPS +
GLONASS RTK positioning (provided you have a GLONASS-capable receiver model).
CMR Type 3 Example Setup
In the example below, apply Steps #1 and #2 to the base, and Step #3 to the rover:
1.

Use the INTERFACEMODE command to set up the base port’s receive mode as NONE and
transmit mode as CMR:
interfacemode com2 none cmr

2.

Log out CMRREF, CMROBS and CMRGLOOBS 1 messages:
log com2 CMRREF ontime 10
log com2 CMROBS ontime 1
log com2 CMRGLOOBS ontime 1
We recommend that you log CMROBS and CMRGLOOBS messages
out at the same rate.

3.

Set up the rover receiver to use incoming CMR messages by setting the rover port’s receive mode
as CMR and the transmit mode as NONE:
interfacemode com2 CMR none

Using AdVance RTK with CMR Format Messages
To enable receiving CMR messages, follow these steps:
1.

Issue the COM command, see page 87, to the rover receiver to set its serial port parametres to the
proper bit rate, parity, and so on.

2.

Issue the “INTERFACEMODE COMn CMR” command to the rover receiver, where “COMn”
refers to the communication port that is connected to the data link. See also page 135.

1.

These correspond to reference station data, GPS observations, and GLONASS observations
respectively.

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Assuming that the base station is transmitting valid data, your rover receiver begins to operate in
AdVance RTK mode. To send CMR messages, periodically transmit the three following CMR
messages at the base station:
•

A CMROBS message that contains base station satellite observation information,
and should be sent once every 1 or 2 seconds.

•

A CMRREF message that contains base station position information, and should be
sent once every 10 seconds. Also, the rover receiver automatically sets an
approximate position from this message if it does not already have a position.
Therefore, this message can be used in conjunction with an approximate time to
improve TTFF. For more information about TTFF, refer to the GNSS Reference
Book, available on our Web site at http://www.novatel.com/support/
docupdates.htm.

•

A CMRDESC message that contains base station description information and
should be sent once every 10 seconds. However, it should be interlinked with the
CMRREF message.

1.

For CMR, the station ID must be less than 31 (refer to the DGPSTXID and
RTKSOURCE commands on pages 106 and 181 respectively).

2.

CMRDESC is logged with an offset of 5 to allow interleaving with CMRREF. Note that
Trimble rovers must receive CMRDESC messages from a base.

3.

Novatel CMR Type 2 messages are for compatibility only. When received, a Type 2
message is discarded. For transmission, all fields are permanently set as follows:
Record Length

=

33 bytes

Short Station ID =

"cref"

COGO Code

""

=

Long Station ID =

"UNKNOWN"

Example Input:
interfacemode com2 none CMR
fix position 51.113 -114.044 1059.4
log com2 cmrobs ontime 1
log com2 cmrref ontime 10
log com2 cmrdesc ontime 10 5

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3.3.11

Chapter 3

CMRDATADESC Base Station Description V123_RT20 or V23_RT2

See Section 3.3.10, CMR Standard Logs starting on page 275 for information on CMR standard logs.
Message ID:
Log Type:

389
Synch

Recommended Input:
log cmrdatadesca ontime 10 5

ASCII Example:
#CMRDATADESCA,COM1,0,76.5,FINESTEERING,1117,162906.461,00100020,b467,399;
2,0,147,39,3,0,2,
FALSE,FALSE,0,TRUE,0,180000,1,0,33,32,32,32,32,99,114,101,102,0,0,0,0,0,0,0,
0,0,0,0,0,0,0,0,0,8,85,78,75,78,79,87,78,0*482add29

where the bolded 33 in the example above represents the total length of the records that
follow:
Short ID:
32,32,32,32,99,114,101,102, (8 bytes)

COGO Code:
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, (16 bytes)

ID Length:
8, (1 byte)

Long ID:
85,78,75,78,79,87,78,0 (8 bytes)

Here are some CMR terminology facts:
•

In the CMR format description, the base station description log is referred to as
Type 2

•

COGO is an acronym for coordinate geometry (COordinate GeOmetry)

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

CMRDATADESC header

Log header

-

H

0

2

CMR header

Synch character for the message

Ulong

4

H

3

Message status

Ulong

4

H+4

4

CMR message type

Ulong

4

H+8

5

Message body length

Ulong

4

H+12

6

Version

Ulong

4

H+16

7

Station ID

Ulong

4

H+20

8

Message Type

Ulong

4

H+24

9

battery

Is the battery low?
0 = FALSE
1 = TRUE

Enum

4

H+28

10

memory

Is memory low?

Enum

4

H+32

11

Reserved

Ulong

4

H+36

12

L2

Enum

4

H+40

13

Reserved

Ulong

4

H+44

14

epoch

Epoch time (milliseconds)

Ulong

4

H+48

15

motion

Motion state

Ulong

4

H+52

16

Reserved

Ulong

4

H+56

17

rec length

Record length (bytes). The length altogether of
the four fields that follow.

Double

8

H+60

18

short ID

Short station ID. A sequence of eight numbers.

Uchar[8]

8

H+68

19

code

COGO code. A sequence of 16 numbers.

Uchar[16]

16

H+76

20

ID length

Long ID length. The length of the long ID field
that follows.

Ulong

4

H+92

21

long ID

Long station ID, variable length, see field #20

Uchar[50]

52a

H+96

22

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+148

23

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Is L2 enabled?

0 = FALSE
1 = TRUE

0 = FALSE
1 = TRUE

0 = UNKNOWN
1 = STATIC
2 = KINEMATIC

a. In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment

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Chapter 3

3.3.12 CMRDATAGLOOBS

CMR Data GLONASS Observations V123_RT20
or V23_RT2

See Section 3.3.10, CMR Standard Logs starting on page 275 for information on CMR standard logs.
Message ID:
Log Type:

1003
Synch

Recommended Input:
log cmrdatagloobsa ontime 10

ASCII Example:
#CMRDATAGLOOBSA,COM1,0,69.5,FINESTEERING,1464,426413.000,00100000,d9fe,3186;
2,0,147,51,3,0,3,3,159000,3,0,3,
7,FALSE,TRUE,TRUE,6872924,281,6,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,401,326,11,1,
6,FALSE,TRUE,TRUE,10410661,-124,4,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,185,-16,11,1,
23,FALSE,TRUE,TRUE,11322704,99,4,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,724,-140,11,1
*442e2924

CMRGLOOBS
This CMR Type 3 message is based closely on the CMR observables, or message 0, and is intended to
allow GLONASS corrections to be broadcast using the CMR format.
NovAtel, Leica and Topcon support this CMR message type but it is not compatible with
Trimble’s unpublished GLONASS CMR messages.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

CMRDATAGLOOBS
header

Log header

-

H

0

2

CMR header

Synch character for the message

Ulong

4

H

3

Message status

Ulong

4

H+4

4

CMR message type

Ulong

4

H+8

5

Message body length

Ulong

4

H+12

6

Version

Ulong

4

H+16

7

Station ID

Ulong

4

H+20

8

Message Type

Ulong

4

H+24

9

#sv

Number of SVs

Ulong

4

H+28

10

epoch

Epoch time (milliseconds)

Ulong

4

H+32

11

clock bias

Is clock bias valid?
0 = NOT VALID
3 = VALID

Ulong

4

H+36

12

clock offset

Clock offset (nanoseconds)

Long

4

H+40

13

# obs

Number of satellite observations with
information to follow

Ulong

4

H+44

14

slot#

GLONASS satellite slot number

Ulong

4

H+48

15

P code?

Is P code collected?
0 = FALSE = C/A
1 = TRUE = P

Enum

4

H+52

16

L1 phase?

Is L1 phase valid?
0 = FALSE
1 = TRUE

Enum

4

H+56

17

L2?

Is L2 present?
0 = FALSE
1 = TRUE

Enum

4

H+60

18

L1 psr

L1 pseudorange (1/8 L1 cycles)

Ulong

4

H+64

19

L1 carrier

L1 carrier-code measurement (1/256 L1
cycles)

Long

4

H+68

20

L1 S/N0

L1 signal-to-noise density ratio

Ulong

4

H+72

21

L1 slip

L1 cycle slip count (number of times
that tracking has not been continuous)

Ulong

4

H+76

Continued on page 282.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

22

L2 code

Is L2 code available?
0 = FALSE
1 = TRUE

Enum

4

H+80

23

C/A code?

Is C/A code collected on L2?
0 = FALSE = P
1 = TRUE = C/A

Enum

4

H+84

24

L2 code?

Is L2 code valid?
0 = FALSE
1 = TRUE

Enum

4

H+88

25

L2 phase?

Is L2 phase valid?
0 = FALSE
1 = TRUE

Enum

4

H+92

26

phase full?

Is phase full?
0 = FALSE
1 = TRUE

Enum

4

H+96

27

Reserved

Ulong

4

H+100

28

L2 r offset

L2 range offset (1/100 metres)

Long

4

H+104

29

L2 c offset

L2 carrier offset (1/256 cycles)
The L2 frequency used is that of the
broadcasting satellite.

Long

4

H+108

30

L2 S/N0

L2 signal-to-noise density ratio

Ulong

4

H+112

31

L2 slip

L2 cycle slip count (number of times
that tracking has not been continuous)

Ulong

4

H+116

32...

Next PRN offset = H+48 + (#prns x 72)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.13 CMRDATAOBS Base Station Satellite Observations V123_RT20 or
V23_RT2
See Section 3.3.10, CMR Standard Logs starting on page 275 for information on CMR standard logs.
Message ID:
Log Type:

390
Synch

Recommended Input:
log cmrdataobsa ontime 2

ASCII Example:
#CMRDATAOBSA,COM1,0,74.0,FINESTEERING,1117,162981.000,00100020,b222,399;
2,0,147,93,3,0,0,
10,21000,3,0,10,
3,FALSE,TRUE,TRUE,8684073,-505,10,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,368,-512,11,1,
15,FALSE,TRUE,TRUE,11936394,129,11,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,270,78,12,1,
18,FALSE,TRUE,TRUE,5334926,186,11,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,164,164,12,1,
21,FALSE,TRUE,TRUE,10590427,-770,10,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,
366,-850,11,1,
17,FALSE,TRUE,TRUE,3262859,32,11,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,325,216,12,1,
26,FALSE,TRUE,TRUE,211264,1213,10,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,390,1069,10,1,
23,FALSE,TRUE,TRUE,8098,209,11,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,265,236,12,1,
28,FALSE,TRUE,TRUE,5090047,-160,6,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,535,-227,9,1,
31,FALSE,TRUE,TRUE,1857322,-1027,7,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,
513,-1063,8,1,
9,FALSE,TRUE,TRUE,51623,-1245,6,1,TRUE,TRUE,TRUE,TRUE,TRUE,0,
599,-1244,9,1*9fe706b0

The CMRDATAOBS log is analogous to the RTCADATAOBS logs when using RTCA
messages. In the CMR format description, the CMRDATAOBS log is referred to as
Type 0.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

CMRDATAOBS header

Log header

-

H

0

2

CMR header

Synch character for the message

Ulong

4

H

3

Message status

Ulong

4

H+4

4

CMR message type

Ulong

4

H+8

5

Message body length

Ulong

4

H+12

6

Version

Ulong

4

H+16

7

Station ID

Ulong

4

H+20

8

Message Type

Ulong

4

H+24

9

#sv

Number of SVs

Ulong

4

H+28

10

epoch

Epoch time (milliseconds)

Ulong

4

H+32

11

clock bias

Is clock bias valid?
0 = NOT VALID
3 = VALID

Ulong

4

H+36

12

clock offset

Clock offset (nanoseconds)

Long

4

H+40

13

# obs

Number of satellite observations with
information to follow

Ulong

4

H+44

14

prn

Satellite PRN number

Ulong

4

H+48

15

code flag

Is code P Code?

Enum

4

H+52

16

L1

Is L1 phase valid?
0 = FALSE
1 = TRUE

Enum

4

H+56

17

L2

Is L2 present?

Enum

4

H+60

18

L1 psr

L1 pseudorange (1/8 L1 cycles)

Ulong

4

H+64

19

L1 carrier

L1 carrier-code measurement (1/256 L1
cycles)

Long

4

H+68

20

L1 S/N0

L1 signal-to-noise density ratio

Ulong

4

H+72

21

L1 slip

L1 cycle slip count (number of times
that tracking has not been continuous)

Ulong

4

H+76

0 = FALSE
1 = TRUE

0 = FALSE
1 = TRUE

Continued on page 285.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

22

L2 code

Is L2 code available?
0 = FALSE
1 = TRUE

Enum

4

H+80

23

Code type

Is code X-correlation?
0 = FALSE
1 = TRUE

Enum

4

H+84

24

L2 c valid

Is L2 code valid?

Enum

4

H+88

25

L2 p valid

Is L2 phase valid?
0 = FALSE
1 = TRUE

Enum

4

H+92

26

phase full

Is phase full?

Enum

4

H+96

27

Reserved

Ulong

4

H+100

28

L2 r offset

L2 range offset (1/100 metres)

Long

4

H+104

29

L2 c offset

L2 carrier offset (1/256 cycles)

Long

4

H+108

30

L2 S/N0

L2 signal-to-noise density ratio

Ulong

4

H+112

31

L2 slip

L2 cycle slip count (number of times
that tracking has not been continuous)

Ulong

4

H+116

32...

Next PRN offset = H+48 + (#prns x 72)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

285

0 = FALSE
1 = TRUE

0 = FALSE
1 = TRUE

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3.3.14 CMRDATAREF Base Station Position V123_RT20 or V23_RT2
See Section 3.3.10, CMR Standard Logs starting on page 275 for information on CMR standard logs.
See also Figure 10 on page 265 for a definition of the ECEF coordinates.
Message ID:
Log Type:

391
Synch

Recommended Input:
log cmrdatarefa ontime 10

ASCII Example:
#CMRDATAREFA,COM1,0,70.0,FINESTEERING,1269,147115.000,00100000,5db6,1516;2,0,
147,25,3,0,1,FALSE,FALSE,0,TRUE,0,234000,1,0,-1634529233.1026337146759033,
0,-3664611941.5660152435302734,0,-2054717277,0,15,0*c21a9c26

The CMRDATAREF log is analogous to the RTCADATAREF log when using RTCA
messages. In the CMR format description, the CMRDATAREF log is referred to as
Type 1.
Table 57: Position Accuracy
Code

Position Accuracy

0

Unknown

1

5 km

2

1 km

3

500 m

4

100 m

5

50 m

6

10 m

7

5m

8

1m

9

50 cm

10

10 cm

11

5 cm

12

1 cm

13

5 mm

14

1 mm

15

Exact

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Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

CMRDATAREF
header

Log header

-

H

0

2

CMR header

Synch character for the message

Ulong

4

H

3

Message status

Ulong

4

H+4

4

CMR message type

Ulong

4

H+8

5

Message body length

Ulong

4

H+12

6

Version

Ulong

4

H+16

7

Station ID

Ulong

4

H+20

8

Message Type

Ulong

4

H+24

9

battery

Is the battery low?
0 = FALSE
1 = TRUE

Enum

4

H+28

10

memory

Is memory low?

Enum

4

H+32

11

Reserved

Ulong

4

H+36

12

L2

Enum

4

H+40

13

Reserved

Ulong

4

H+44

14

epoch

Epoch time (milliseconds)

Ulong

4

H+48

15

motion

Motion state:

Ulong

4

H+52

16

Reserved

Ulong

4

H+56

17

ECEF-X

Reference ECEF-X position (millimetres)

Double

8

H+60

18

ant hgt

Antenna height (millimetres)

Ulong

4

H+68

19

ECEF-Y

Reference ECEF-Y position (millimetres)

Double

8

H+72

20

e offset

Easting offset (millimetres)

Ulong

4

H+80

21

ECEF-Z

Reference ECEF-Z position (millimetres)

Double

8

H+84

22

n offset

Northing offset (millimetres)

Ulong

4

H+92

Is L2 enabled?

0 = FALSE
1 = TRUE

0 = FALSE
1 = TRUE

0 = UNKNOWN
1 = STATIC
2 = KINEMATIC

Continued on page 288.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

Position accuracy relative to WGS84,
see Table 57, Position Accuracy on page
286

Ulong

4

H+96

Ulong

4

H+100

23

pos acc

24

Reserved

25

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+104

26

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.15 CMRPLUS CMR+ Output Message V123_RT20 or V23_RT2
The CMRPLUS message distributes the base station information over 14 updates. For example, if you
log:
CMRPLUS ontime 1
the receiver outputs the complete base station information in 14 seconds.
Refer to the chapter on Message Formats in the OEMV Family Installation and Operation User
Manual for information on CMR standard logs.
Message ID:
Log Type:

717
Asynch

Recommended Input:
log cmrplusa ontime 1

ASCII Example:
#CMRPLUSA,COM1,0,83.0,FINESTEERING,1317,318534.915,00180040,30aa,1855;
2,0,148,10,0,4,14,1b,00,00,00,00,62,61*64e0c9ea

The CMRPLUS log can be used in place of the CMRREF log. The advantage of
the CMRPLUS log is that it requires less transmission bandwidth because of the way
the information is spread over 14 separate updates. This may be especially useful in
difficult communication environments, for example, when a radio repeater is required.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

CMRPLUS
header

Log header

-

H

0

2

CMR header

Synch character for the message

Ulong

4

H

3

Message status

Ulong

4

H+4

4

CMR message type

Ulong

4

H+8

5

Message body length

Ulong

4

H+12

6

Version

Ulong

4

H+16

7

Station ID

Ulong

4

H+20

8

Message Type

Ulong

4

H+24

9

stnID

Station ID

Ulong

4

H+28

10

page

Current page index

Ulong

4

H+32

11

#pages

Maximum number of page indexes

Ulong

4

H+36

12

data

Data for this page

Uchar[7]

8a

H+40

13

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+104

14

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional byte of padding is added to maintain 4-byte alignment

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3.3.16 COMCONFIG Current COM Port Configuration V123
This log outputs the current COM port configuration for each port on your receiver.
Message ID:
Log Type:

317
Polled

Recommended Input:
log comconfiga once

ASCII example:
#COMCONFIGA,COM1,0,57.5,FINESTEERING,1337,394947.236,00000000,85aa,1984;
3,
COM1,57600,N,8,1,N,OFF,ON,NOVATEL,NOVATEL,ON,
COM2,9600,N,8,1,N,OFF,ON,RTCA,NONE,ON,
COM3,9600,N,8,1,N,OFF,ON,NOVATEL,NOVATEL,ON*9d4b21b6

COM1 on the OEMV-3 is user-configurable for RS-422. Refer to the Technical
Specifications appendix and the User-Selectable Port Configuration section of the
OEMV Family Installation and Operation User Manual.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

COMCONFIG
header

Log header

2

#port

Number of ports with information to follow

Long

4

H

3

port

Serial port identifier, see Table 17, COM
Serial Port Identifiers on page 88

Enum

4

H+4

4

baud

Communication baud rate

Ulong

4

H+8

5

parity

See Table 18, Parity on page 88

Enum

4

H+12

6

databits

Number of data bits

Ulong

4

H+16

7

stopbits

Number of stop bits

Ulong

4

H+20

8

handshake

See Table 19, Handshaking on page 89

Enum

4

H+24

9

echo

When echo is on, the port is transmitting any
input characters as they are received.
0 = OFF
1 = ON

Enum

4

H+28

10

breaks

Breaks are turned on or off
0 = OFF
1 = ON

Enum

4

H+32

11

rx type

The status of the receive interface mode, see
Table 31, Serial Port Interface Modes on page
137.

Enum

4

H+36

12

tx type

The status of the transmit interface mode,
Table 31, Serial Port Interface Modes on page
137

Enum

4

H+40

13

response

Responses are turned on or off
0 = OFF
1 = ON

Enum

4

H+44

14

next port offset = H + 4 + (#port x 44)

15

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+(
#port
x44)

16

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.17 DIFFCODEBIASES Differential code biases being applied V123
This log outputs the differential code biases that are being applied to the L1/L2 ionospheric
corrections.
Message ID:
Log Type:

914
Polled

Recommended Input:
log diffcodebiases once

ASCII example:
#DIFFCODEBIASESA,COM1,0,61.5,UNKNOWN,0,4294967.295,004c0000,15ba,35548;
1,GPS_C1P1,-0.472,-0.006,-0.482,1.154,-1.153,0.250,-1.319,-0.535,0.119,
-1.945,0.522,1.425,1.489,0.090,0.000,-0.727,1.361,-0.416,-2.066,-1.347,
-0.380,0.543,0.414,-0.172,0.394,0.923,-0.422,-0.326,0.481,1.937,1.753,
-1.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000*417eef8e0

Field #

Field type

Data Description

1

DIFFCODEBIASES
header

Log header

2

#bias_sets

Number of sets of bias code arrays

3

bias_type

4

bias_array

5

next bias_sets offset = H + 4 + (#bias_sets x 164)

6

xxxx

7

[CR][LF]

293

Format

Binary
Bytes

Binary
Offset

H

0

Long

4

H

Bias type (there is currently only one type):
0 = GPS_C1P1

Enum

4

H+4

Array of 40 biases (ns)

Float[40]

160

H+8

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+
(#bias
_sets
x 164)

Sentence terminator (ASCII only)

-

-

-

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3.3.18 EXTRXHWLEVELS

Extended Receiver Hardware Levels V3_G

This log contains extended receiver environmental and voltage parametres. The EXTRXHWLEVELS
log is for OEMV-3-based GLONASS products only. Its fields display zeroes for other receivers.
Message ID:
Log Type:

843
Polled

Recommended Input:
log extrxhwlevelsa ontime 60

Abbreviated ASCII Example:
#EXTRXHWLEVELSA,COM1,0,77.0,FINESTEERING,1415,404242.050,00000020,a536,2616;
3.325,1.803,2.833,0.000,-0.031,6.104e-04,0.000,0.000,0.000,0.000*54a4d596

Refer also to the OEMV-3 technical specifications in Appendix A of the OEMV Family
Installation and Operation User Manual for comparisons.

Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

EXTRXHWLEVELS header

Log header

2

system volt

Receiver system voltage (V)

Float

4

H

3

MINOS volt

MINOS chip voltage (V)

Float

4

H+4

4

L-band volt

L-band voltage (V)

Float

4

H+8

5

L5 volt

Receiver supply voltage (V)

Float

4

H+12

6

Reserved

Float

4

H+16

7

Float

4

H+20

8

Float

4

H+24

9

Float

4

H+28

10

Float

4

H+32

11

Float

4

H+36

12

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+40

13

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.19 GLMLA NMEA GLONASS Almanac Data V1G23_G
This log outputs almanac data for GLONASS satellites. Multiple sentences are transmitted, one for
each satellite.
GLONASS satellites:
GLO PRN# NovAtel

= GLO PRN# NMEA - 24

Slot# To match NovAtel format logs

= GLO PRN# NMEA -24 -37

or GLONASS status Web site

Message ID:
Log Type:

859
Asynch

Recommended Input:
log glmlaa onchanged

ASCII Example:
$GLMLA,16,01,65,1176,07,0496,4c,5ff2,8000,34c05e,0e93e8,04b029,001fa2,099,213*68
$GLMLA,16,02,66,1176,01,12e3,4c,42cc,8000,34c08e,10fae9,02f48c,00224e,099,003*64
$GLMLA,16,03,67,1176,8c,08f6,4a,ef4d,8000,34c051,13897b,00d063,001b09,099,000*63
$GLMLA,16,04,68,1176,06,116b,48,3a00,8000,34c09d,02151f,0e49e8,00226e,099,222*63
$GLMLA,16,05,70,1176,01,140f,49,45c4,8000,34c0bc,076637,0a3e40,002214,099,036*37
$GLMLA,16,06,71,1176,05,0306,4c,5133,8000,34c025,09bda7,085d84,001f83,099,21d*6E
$GLMLA,16,07,72,1176,06,01b1,4c,4c19,8000,34c021,0c35a0,067db8,001fca,099,047*3D
$GLMLA,16,08,74,1176,84,076b,45,7995,8000,34c07b,104b6d,0e1557,002a38,099,040*35
$GLMLA,16,09,78,1176,84,066c,46,78cf,8000,34c07b,0663f0,1a6239,0029df,099,030*38
$GLMLA,16,10,79,1176,80,0afc,45,8506,8000,34c057,08de48,1c44ca,0029d7,099,000*6B
$GLMLA,16,11,82,1176,8a,12d3,0f,e75d,8000,34be85,10aea6,1781b7,00235a,099,207*6E
$GLMLA,16,12,83,1176,03,0866,0f,6c08,8000,34c009,11f32e,18839d,002b22,099,214*36
$GLMLA,16,13,85,1176,88,01a6,0d,9dc9,8000,34bff8,031887,02da1e,002838,099,242*6D
$GLMLA,16,14,86,1176,8a,00e1,0e,4b15,8000,34c016,058181,010433,0027f0,099,227*6F
$GLMLA,16,15,87,1176,03,0383,0f,824c,8000,34bfda,081864,1104ea,002b04,099,00c*60
$GLMLA,16,16,88,1176,02,0821,0f,8ac8,8000,34c05b,0a8510,12dcb6,002b6f,099,020*3F

Refer to the GLONASS section of the GNSS Reference Book, available
on our Web site at http://www.novatel.ca/support/docupdates.htm.

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Field

Structure

Field Description

1

$GLMLA

Log header

2

#alm

Number of NMEA almanac
messages in the set

3
4

alm#
slot

Current message number

5

N

6

Symbol

Example
$GLMLA

x.x

16

x.x
xx

13
85

Calendar day count within the four
year period from the last leap year

x.x

1176

hlth & freq

Health and frequency for satellite b

hh

88

7

ecc

Eccentricity c

hhhh

01a6

8

ΔTdot

Rate of change of orbital period
(s/orbital period2) c

hh

0d

9

ω

Argument of perigee (PZ-90.02), in
radians c

hhhh

9dc9

10

τ16MSB

Clock offset, in seconds c

hhhh

8000

11

ΔT

Correction to the mean value of the
Draconian period (s/orbital period) c

hhhhhh

34bff8

12

tλ

GLONASS Time of ascending node
equator crossing, in seconds c

hhhhhhh

031887

13

λ

Longitude of ascending node
equator crossing (PZ-90.02), in
radians c

hhhhhhh

02da1e

14

Δi

Correction to nominal inclination, in
radians c

hhhhhhh

002838

15

τ12LSB

Clock offset, in seconds c

hhh

099

hhh

242

Hex

*6D

-

[CR][LF]

Slot number for satellite (65-96)

a

16

t

17

xxxx

Coarse value of the time scale shift
32-bit CRC (ASCII and Binary only)

18

[CR][LF]

Sentence terminator (ASCII only)

c

a. The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number. Current slot
numbers are 1 to 24 which give the range 65 to 88. PRN numbers 89 to 96 are available if
slot numbers above 24 are allocated to on-orbit spares.
b. Health and carrier frequency number are represented in this 2-character Hex field as:
hh = [8][7][6][5][4][3][2][1] (LSB)
carrier frequency number of satellite
spare bits
health of satellite
c. The LSB of the Hex data field corresponds to the LSB of the word indicated in the Table 4.3
of the GLONASS Interface Control Document, 1995. If the number of available bits in the
Hex field is greater than the word, the MSB (upper bits) are unused and filled with zeroes.

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3.3.20 GLOALMANAC Decoded Almanac V1G23_G
The GLONASS almanac reference time and week are in GPS time coordinates. GLONASS ephemeris
information is available through the GLMLA log.
Nominal orbit parametres of the GLONASS satellites are as follows:
•

Draconian period - 11 hours 15 minutes 44 seconds (see fields 14 and 15 on page 298)

•

Orbit altitude - 19100 km

•

Inclination - 64.8 (see field 11)

•

Eccentricity - 0 (see field 12)

Message ID:
Log Type:

718
Asynch

Recommended Input:
log gloalmanaca onchanged

ASCII Example:
#GLOALMANACA,COM1,0,52.5,SATTIME,1364,410744.000,00000000,ba83,2310;
24,
1364,336832.625,1,2,0,0,2018.625000000,-2.775537500,0.028834045,0.001000404,
2.355427500,-2656.076171875,0.000000000,0.000091553,
1364,341828.437,2,1,0,0,7014.437500000,-3.122226146,0.030814438,0.004598618,
1.650371580,-2656.160156250,0.000061035,0.000095367,
1364,347002.500,3,12,0,0,12188.500000000,2.747629236,0.025376596,0.002099991,
-2.659059822,-2656.076171875,-0.000061035,-0.000198364,
1364,351887.125,4,6,0,0,17073.125000000,2.427596502,0.030895332,0.004215240,
1.438586358,-2656.167968750,-0.000061035,0.000007629,
.
.
.
1364,364031.187,23,11,0,1,29217.187500000,0.564055522,0.030242192,
0.001178741,2.505278248,-2655.957031250,0.000366211,0.000019073,
1364,334814.000,24,3,0,1,0.000000000,0.000000000,0.000000000,0.000000000,
0.000000000,0.000000000,0.000000000,0.000000000*4dc981c7

Refer to the GLONASS section of the GNSS Reference Book, available
on our Web site at http://www.novatel.ca/support/docupdates.htm.

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Field #

Field type

Data Description

1

GLOALMANAC
header

Log header

2

#recs

The number of GLONASS almanac
records to follow. Set to zero until
almanac data is available.

3

week

4

Format

Binary
Bytes

Binary
Offset

H

0

Long

4

H

GPS Week, in weeks

Ulong

4

H+4

time

GPS Time, in milliseconds (binary
data) or seconds (ASCII data)

GPSec

4

H+8

5

slot

Slot number for satellite, ordinal

Uchar

1

H+12

6

frequency

Frequency for satellite, ordinal
(frequency channels are in the
range -7 to +13)

Char

1

H+13

7

sat type

Satellite type where
0 = GLO_SAT
1 = GLO_SAT_M (new M type)

Uchar

1

H+14

8

health

Almanac health where
0 = GOOD
1 = BAD

Uchar

1

H+15

9

TlambdaN

GLONASS Time of ascending node
equator crossing, in seconds

Double

8

H+16

10

lambdaN

Longitude of ascending node
equator crossing (PZ-90.02), in
radians

Double

8

H+24

11

deltaI

Correction to nominal inclination, in
radians

Double

8

H+32

12

ecc

Eccentricity

Double

8

H+40

13

ArgPerig

Argument of perigee (PZ-90.02), in
radians

Double

8

H+48

14

deltaT

Correction to the mean value of the
Draconian period (s/orbital period)

Double

8

H+56

15

deltaTD

Rate of change of orbital period
(s/orbital period2)

Double

8

H+64

16

tau

Clock offset, in seconds

Double

8

H+72

17...

Next message offset = H + 4 + (#recs x 76)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+
(76 x #recs)

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.21 GLOCLOCK GLONASS Clock Information V1G23_G
This log contains the time difference information between GPS and GLONASS time as well as status
flags. The status flags are used to indicate the type of time processing used in the least squares
adjustment. GPS and GLONASS time are both based on the Universal Time Coordinated (UTC) time
scale with some adjustments. GPS time is continuous and does not include any of the leap second
adjustments to UTC applied since 1980. The result is that GPS time currently leads UTC time by 14
seconds.
GLONASS time applies leap seconds but is also three hours ahead to represent Moscow time. The
nominal offset between GPS and GLONASS time is therefore due to the three hour offset minus the
leap second offset. Currently this value is at 10787 seconds with GLONASS leading. As well as the
nominal offset, there is a residual offset on the order of nanoseconds which must be estimated in the
least squares adjustment. The GLONASS-M satellites broadcasts this difference in the navigation
message.
This log also contains information from the GLONASS navigation data relating GLONASS time to
UTC.
Message ID:
Log Type:

719
Asynch

Recommended Input:
log gloclocka onchanged

ASCII Example:
#GLOCLOCKA,COM1,0,54.5,SATTIME,1364,411884.000,00000000,1d44,2310;
0,0.000000000,0.000000000,0,0,-0.000000275,792,-0.000001207,
0.000000000,0.000000000,0*437e9afaf

Refer to the GLONASS section of the GNSS Reference Book, available
on our Web site at http://www.novatel.ca/support/docupdates.htm.

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Field #

Chapter 3

Field type

1

GLOCLOCK
header

2

Reserved

Data Description

Format

Log header

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

3

Double

8

H+4

4

Double

8

H+12

5

sat type

Satellite type where
0 = GLO_SAT
1 = GLO_SAT_M (new M type)

Uchar

1

H+20

6a

N4

Four-year interval number starting from 1996a

Uchara

1a

H+21 a

7

τGPS

GPS time scale correction to UTC(SU) given at
beginning of day N4, in seconds

Double

8

H+24

8a

NA

GLONASS calendar day number within a four
year period beginning since the leap year, in
days

Ushorta

2a

H+32 a

9

τC

GLONASS time scale correction to UTC time, in
seconds

Double

8

H+36

10

b1

Beta parametre 1st order term

Double

8

H+44

11

b2

Beta parametre 2nd order term

Double

8

H+52

12

Kp

The Kp scale summarizes the global level of
geomagnetic activity. A Kp of 0 to 4 is below
storm levels (5 to 9).

Uchar

1

H+60

13

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+61

14

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional bytes of padding are added to maintain 4-byte alignment

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3.3.22 GLOEPHEMERIS GLONASS Ephemeris Data V1G23_G
GLONASS ephemeris information is available through the GLOEPHEMERIS log. GLONASS
ephemerides are referenced to the PZ90.02 geodetic datum. No adjustment between the GPS and
GLONASS reference frames are made for positioning.
Message ID:
Log Type:

723
Asynch

Recommended Input:
log gloephemerisa onchanged

Example:
#GLOEPHEMERISA,COM1,3,49.0,SATTIME,1364,413624.000,00000000,6b64,2310;
43,8,1,0,1364,413114000,10786,792,0,0,87,0,9.0260864257812500e+06,
-6.1145468750000000e+06,2.2926090820312500e+07,1.4208841323852539e+03,
2.8421249389648438e+03,1.9398689270019531e+02,0.00000000000000000,
-2.79396772384643555e-06,-2.79396772384643555e-06,2.12404876947402954e-04,
-1.396983862e-08,-3.63797880709171295e-12,78810,3,15,0,12*a02ce18b
#GLOEPHEMERISA,COM1,2,49.0,SATTIME,1364,413626.000,00000000,6b64,2310;
44,11,1,0,1364,413116000,10784,792,0,0,87,13,-1.2882617187500000e+06,
-1.9318657714843750e+07,1.6598909179687500e+07,9.5813846588134766e+02,
2.0675134658813477e+03,2.4769935607910156e+03,2.79396772384643555e-06,
-3.72529029846191406e-06,-1.86264514923095703e-06,6.48368149995803833e-05,
-4.656612873e-09,3.63797880709171295e-12,78810,3,15,3,28*e2d5ef15
#GLOEPHEMERISA,COM1,1,49.0,SATTIME,1364,413624.000,00000000,6b64,2310;
45,13,0,0,1364,413114000,10786,0,0,0,87,0,-1.1672664062500000e+07,
-2.2678505371093750e+07,4.8702343750000000e+05,-1.1733341217041016e+02,
1.3844585418701172e+02,3.5714883804321289e+03,2.79396772384643555e-06,
-2.79396772384643555e-06,0.00000000000000000,-4.53162938356399536e-05,
5.587935448e-09,-2.36468622460961342e-11,78810,0,0,0,8*c15abfeb
#GLOEPHEMERISA,COM1,0,49.0,SATTIME,1364,413624.000,00000000,6b64,2310;
59,17,0,0,1364,413114000,10786,0,0,0,87,0,-2.3824853515625000e+05,
-1.6590188964843750e+07,1.9363733398437500e+07,1.3517074584960938e+03,
-2.2859592437744141e+03,-1.9414072036743164e+03,1.86264514923095703e-06,
-3.72529029846191406e-06,-1.86264514923095703e-06,7.92574137449264526e-05,
4.656612873e-09,2.72848410531878471e-12,78810,0,0,0,12*ed7675f5

Refer to the GLONASS section of the GNSS Reference Book, available
on our Web site at http://www.novatel.ca/support/docupdates.htm.

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Table 58: GLONASS Ephemeris Flags Coding

(Table 59)

(N-1 through N-7)

Table 59: Bits 0 - 1: P1 Flag Range Values
State

Description

00

0 minutes

01

30 minutes

10

45 minutes

11

60 minutes

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Field#

Data Logs

Field type

Data Description

1

GLOEPHEMERIS
header

Log header

2

sloto

Slot information offset - PRN identification
(Slot + 37). This is also called SLOTO in CDU

3

freqo

4

sat type

5

Reserved

6

e week

Reference week of ephemeris (GPS time)

7

e time

8

Format

Binary
Bytes

Binary
Offset

H

0

Ushort

2

H

Frequency channel offset for satellite in the
range 0 to 20

Ushort

2

H+2

Satellite type where
0 = GLO_SAT
1 = GLO_SAT_M (new M type)

Uchar

1

H+4

1

H+5

Ushort

2

H+6

Reference time of ephemeris (GPS time) in ms

Ulong

4

H+8

t offset

Integer seconds between GPS and GLONASS
time. A positive value implies GLONASS is
ahead of GPS time.

Ulong

4

H+12

9

Nt

Current data number. This field is only output for
the new M type satellites. See example output
from both satellite types (field 4) on page 301.

Ushort

2

H+16

10

Reserved

1

H+18

1

H+19

11
12

issue

15-minute interval number corresponding to
ephemeris reference time

Ulong

4

H+20

13

health

Ephemeris health where
0 = GOOD
1 = BAD

Ulong

4

H+24

14

pos x

X coordinate for satellite at reference time (PZ90.02), in metres

Double

8

H+28

15

pos y

Y coordinate for satellite at reference time (PZ90.02), in metres

Double

8

H+36

16

pos z

Z coordinate for satellite at reference time (PZ90.02), in metres

Double

8

H+44

17

vel x

X coordinate for satellite velocity at reference
time (PZ-90.02), in metres/s

Double

8

H+52

18

vel y

Y coordinate for satellite velocity at reference
time (PZ-90.02), in metres/s

Double

8

H+60

Continued on page 304.

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Field type

Data Description

Format

Binary
Bytes

Binary
Offset

19

vel z

Z coordinate for satellite velocity at reference
time (PZ-90.02), in metres/s

Double

8

H+68

20

LS acc x

X coordinate for lunisolar acceleration at
reference time (PZ-90.02), in metres/s/s

Double

8

H+76

21

LS acc y

Y coordinate for lunisolar acceleration at
reference time (PZ-90.02), in metres/s/s

Double

8

H+84

22

LS acc z

Z coordinate for lunisolar acceleration at
reference time (PZ-90.02), in metres/s/s

Double

8

H+92

23

tau_n

Correction to the nth satellite time t_n relative to
GLONASS time t_c, in seconds

Double

8

H+100

24

delta_tau_n

Time difference between navigation RF signal
transmitted in L2 sub-band and navigation RF
signal transmitted in L1 sub-band by nth
satellite, in seconds

Double

8

H+108

25

gamma

Frequency correction, in seconds/second

Double

8

H+116

26

Tk

Time of frame start (since start of GLONASS
day), in seconds

Ulong

4

H+124

27

P

Technological parametre

Ulong

4

H+128

28

Ft

User range

Ulong

4

H+132

29

age

Age of data, in days

Ulong

4

H+136

30

Flags

Information flags, see Table 58, GLONASS
Ephemeris Flags Coding on page 302

Ulong

4

H+140

31

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+144

32

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.23 GLORAWALM Raw GLONASS Almanac Data V1G23_G
This log contains the raw almanac subframes as received from the GLONASS satellite.
Message ID:
Log Type:

720
Asynch

Recommended Input:
log glorawalma onchanged

Example:
#GLORAWALMA,COM1,0,44.5,SATTIME,1364,419924.000,00000000,77bb,2310;
1364,419954.069,54,
0563100000a4000000006f,0,
0681063c457a12cc0419be,0,
075ff807e2a69804e0040b,0,
0882067fcd80141692d6f2,0,
09433e1b6676980a40429b,0,
0a838d1bfcb4108b089a8c,0,
0bec572f9c869804f05882,0,
.
.
.
06950201e02e13d3819564,0,
07939a4a16fe97fe814ad0,0,
08960561cecc13b0014613,0,
09469a5d70c69802819466,0,
0a170165bed413b704d416,0,
0b661372213697fd41965a,0,
0c18000000000000000006,0,
0d00000000000000000652,0,
0e000000000000000000d0,0*b516623b

Refer to the GLONASS section of the GNSS Reference Book, available
on our Web site at http://www.novatel.ca/support/docupdates.htm.

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Field#

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

GLORAWALM
header

Log header

2

week

GPS Week, in weeks

Ulong

4

H

3

time

GPS Time, in milliseconds (binary
data) or seconds (ASCII data)

GPSec

4

H+4

4

#recs

Number of records to follow.

Ulong

4

H+8

5

string

GLONASS data string

Uchar
[string
size] a

variable

H+12

6

Reserved

Uchar

1

variable

7...

Next record offset = H + 16 + (#recs x [string size + 1])

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H + 12 +
(#recs x
[string
size+1])

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment.

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3.3.24 GLORAWEPHEM

Raw GLONASS Ephemeris Data V1G23_G

This log contains the raw ephemeris frame data as received from the GLONASS satellite.
Message ID:
Log Type:

792
Asynch

Recommended Input:
log glorawephema onchanged

Example:
#GLORAWEPHEMA,COM1,3,47.0,SATTIME,1340,398653.000,00000000,332d,2020;
38,9,0,1340,398653.080,4,
0148d88460fc115dbdaf78,0,0218e0033667aec83af2a5,0,
038000b9031e14439c75ee,0,0404f22660000000000065,0*17f3dd17
…
#GLORAWEPHEMA,COM1,0,47.0,SATTIME,1340,398653.000,00000000,332d,2020;
41,13,0,1340,398653.078,4,
0108d812532805bfa1cd2c,0,0208e0a36e8e0952b111da,0,
03c02023b68c9a32410958,0,0401fda44000000000002a,0*0b237405

Refer to the GLONASS section of the GNSS Reference Book, available
on our Web site at http://www.novatel.ca/support/docupdates.htm.

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Field#

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

GLORAWEPHEM
header

Log header

2

sloto

Slot information offset - PRN
identification (Slot + 37). Ephemeris
relates to this slot and is also called
SLOTO in CDU.

Ushort

2

H

3

freqo

Frequency channel offset in the range
0 to 20

Ushort

2

H+2

4

sigchan

Signal channel number

Ulong

4

H+4

5

week

GPS Week, in weeks

GPSec

4

8

6

time

GPS Time, in milliseconds (binary
data) or seconds (ASCII data)

Ulong

4

12

7

#recs

Number of records to follow

Ulong

4

H+16

8

string

GLONASS data string

Uchar
[string
size] a

variable

H+20

9

Reserved

Uchar

1

variable

10...

Next record offset = H + 20 + (#recs x [string size + 1])

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H + 20 +
(#recs x
[string
size+1])

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment.

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3.3.25 GLORAWFRAME

Raw GLONASS Frame Data V1G23_G

This log contains the raw GLONASS frame data as received from the GLONASS satellite.
Message ID:
Log Type:

721
Asynch

Recommended Input:
log glorawframea onchanged

Example:
#GLORAWFRAMEA,COM1,19,53.0,SATTIME,1340,398773.000,00000000,8792,2020;
3,39,8,1340,398773.067,44,44,15,
0148dc0b67e9184664cb35,0,
0218e09dc8a3ae8c6ba18d,0,
…
0f00000000000000000000,0*11169f9e
…
#GLORAWFRAMEA,COM1,0,53.0,SATTIME,1340,398713.000,00000000,8792,2020;
1,41,13,1340,398713.077,36,36,15,
0108da12532805bfa1cded,0,
0208e0a36e8e0952b111da,0,
03c02023b68c9a32410958,0,
…
0f6efb59474697fd72c4e2,0*0a6267c8

Refer to the GLONASS section of the GNSS Reference Book, available
on our Web site at http://www.novatel.ca/support/docupdates.htm.

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Field#

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

GLORAWFRAME
header

Log header

2

frame#

Frame number

Ulong

2

H

3

sloto

Slot information offset - PRN
identification (Slot + 37). Ephemeris
relates to this slot and is also called
SLOTO in CDU.

Ushort

2

H+2

4

freqo

Frequency channel offset in the range
0 to 20

Ushort

2

H+4

5

week

GPS Week, in weeks

Ulong

4

H+6

6

time

GPS Time, in milliseconds (binary
data) or seconds (ASCII data)

GPSec

4

H+10

7

frame decode

Frame decoder number

Ulong

4

H+14

8

sigchan

Signal channel number

Ulong

4

H+18

9

#recs

Number of records to follow

Ulong

4

H+22

10

string

GLONASS data string

Uchar
[string
size] a

variable

H+26

11

Reserved

Uchar

1

variable

12...

Next record offset = H + 26 + (#recs x [string size + 1])

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H + 26 +
(#recs x
[string
size+1])

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment.

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3.3.26 GLORAWSTRING Raw GLONASS String V1G23_G
This log contains the raw string data as received from the GLONASS satellite.
Message ID:
Log Type:

722
Asynch

Recommended Input:
log glorawstringa onchanged

Example:
#GLORAWSTRINGA,COM1,0,51.0,SATTIME,1340,399113.000,00000000,50ac,2020;
4,6,061000000000000000004f,0*5b215fb2

Refer to the GLONASS section of the GNSS Reference Book, available
on our Web site at http://www.novatel.ca/support/docupdates.htm.

Field#

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

GLORAWSTRING
header

Log header

2

slot

Slot identification

Uchar

2

H

3

freq

Frequency channel (frequency
channels are in the range -7 to +13)

Char

2

H+2

4

string

GLONASS data string

Uchar
[string
size] a

variable

H+4

5

Reserved

Uchar

1

variable

6

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

(H +4 +
string
size
+1)

7

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment.

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3.3.27 GPALM

Almanac Data V123_NMEA

This log outputs raw almanac data for each satellite PRN contained in the broadcast message. A
separate record is logged for each PRN, up to a maximum of 32 records. GPALM outputs these
messages with contents without waiting for a valid almanac. Instead, it uses a UTC time, calculated
with default parametres. In this case, 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 parametres. Then UTC
time is then set to VALID. It takes a minimum of 12.5 minutes to collect a complete almanac
following receiver boot-up. If an almanac was stored in NVM, the stored values are reported in the
GPALM log once time is set on the receiver.
To obtain copies of ICD-GPS-200, seen in the GPALM table footnotes, refer to ARINC in the
Standards and References section of the GNSS Reference Book, available on our Web site.
Refer also to NMEA contact information there.
Message ID:
Log Type:

217
Asynch

Recommended Input:
log gpalm onchanged

Example:
$GPALM,28,01,01,1337,00,305a,90,1b9d,fd5b,a10ce9,ba0a5e,2f48f1,cccb76,006,001
*27
$GPALM,28,02,02,1337,00,4aa6,90,0720,fd50,a10c5a,4dc146,d89bab,0790b6,fe4,000
*70
.
.
.
$GPALM,28,24,26,1337,00,878c,90,1d32,fd5c,a10c90,1db6b6,2eb7f5,ce95c8,00d,000
*23
$GPALM,28,25,27,1337,00,9cde,90,07f2,fd54,a10da5,adc097,562da3,6488dd,00e,000
*2F
$GPALM,28,26,28,1337,00,5509,90,0b7c,fd59,a10cc4,a1d262,83e2c0,3003bd,02d,000
*78
$GPALM,28,27,29,1337,00,47f7,90,1b20,fd58,a10ce0,d40a0b,2d570e,221641,122,006
*7D
$GPALM,28,28,30,1337,00,4490,90,0112,fd4a,a10cc1,33d10a,81dfc5,3bdb0f,178,004
*28

Please see the GPGGA usage box that applies to all NMEA logs on page 314.

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Field

Structure

Field Description

Symbol

Example

1

$GPALM

Log header

2

# msg

Total number of messages logged. Set to zero
until almanac data is available.

x.x

17

3

msg #

Current message number

x.x

17

4

PRN

Satellite PRN number:
GPS
= 1 to 32

xx

28

5

GPS wk

GPS reference week number a.

x.x

653

6

SV hlth

SV health, bits 17-24 of each almanac page b

hh

00

7

ecc

e, eccentricity c d

hhhh

3EAF

8

alm ref time

toa, almanac reference time c

hh

87

9

incl angle

(sigma)i, inclination angle c

hhhh

OD68

10

omegadot

OMEGADOT, rate of right ascension c

hhhh

FD30

11

rt axis

(A)1/2, root of semi-major axis c

hhhhhh

A10CAB

12

omega

omega, argument of perigee c e

hhhhhh

6EE732

13

long asc node

(OMEGA)o,longitude of ascension node c

hhhhhh

525880

14

Mo

Mo, mean anomaly c

hhhhhh

6DC5A8

15

af0

af0, clock parametre c

hhh

009

16

af1

af1, clock parametre c

hhh

005

17

*xx

Checksum

*hh

*37

18

[CR][LF]

Sentence terminator

a

b
c
d
e

313

$GPALM

[CR][LF]

Variable length integer, 4-digits maximum from (2) most significant binary bits of Subframe 1,
Word 3 reference Table 20-I, ICD-GPS-200, Rev. B, and (8) least significant bits from subframe 5,
page 25, word 3 reference Table 20-I, ICD-GPS-200
Reference paragraph 20.3.3.5.1.3, Table 20-VII and Table 20-VIII, ICD-GPS-200, Rev. B
Reference Table 20-VI, ICD-GPS-200, Rev. B for scaling factors and units.
A quantity defined for a conic section where e= 0 is a circle, e = 1 is an ellipse, 01 is a hyperbola.
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

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3.3.28 GPGGA

GPS Fix Data and Undulation V123_NMEA

Time, position and fix-related data of the GPS receiver. For greater precision, but with the loss of the
undulation fields, use the GPGGARTK log (see page 316). See also Table 60, Position Precision of
NMEA Logs on page 320.
The GPSGGA log outputs these messages with contents without waiting for a valid almanac. Instead,
it uses a UTC time, calculated with default parametres. In this case, 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 parametres. Then the UTC time status is set to VALID.
Message ID:
Log Type

218
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. GPS receivers are
part of this standard and the NMEA has defined the format for several GPS data logs
otherwise known as 'sentences'.
Each NMEA sentence begins with a '$' followed by the prefix 'GP' 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 an NMEA sentence that describes 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 GPS receiver is used, providing a standard way to communicate and
process GPS information.

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Field

Structure

Field Description

Symbol

Example

1

$GPGGA

Log header

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

GPS qual

GPS Quality indicator
0=
fix not available or invalid
1=
GPS fix
2=
C/A differential GPS, OmniSTAR HP,
OmniSTAR XP, OmniSTAR VBS,
or CDGPS
4=
RTK fixed ambiguity solution (RT2), see
also Table 90 on page 530
5=
RTK floating ambiguity solution (RT20),
OmniSTAR HP or OmniSTAR XP
6=
Dead reckoning mode
7=
Manual input mode (fixed position)
8=
Simulator mode
9=
WAAS a

x

1

8

# sats

Number of satellites in use. May be different to
the number in view

xx

10

9

hdop

Horizontal dilution of precision

x.x

1.0

10

alt

Antenna altitude above/below mean sea level

x.x

1062.22

11

a-units

Units of antenna altitude (M = metres)

M

M

12

undulation

Undulation - the relationship between the geoid
and the WGS84 ellipsoid

x.x

-16.271

13

u-units

Units of undulation (M = metres)

M

M

14

age

Age of Differential GPS data (in seconds) b

xx

(empty when
no differential
data is present)

15

stn ID

Differential base station ID, 00001023

xxxx

(empty when
no differential
data is present)

16

*xx

Checksum

*hh

*48

17

[CR][LF]

Sentence terminator

$GPGGA

[CR][LF]

a. An indicator of 9 has been temporarily set for WAAS (NMEA standard for WAAS not decided yet).
This indicator can be customized using the GGAQUALITY command.
b. The maximum age reported here is limited to 99 seconds.

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3.3.29 GPGGALONG Fix Data, Extra Precision and Undulation
V123_NMEA
Time, position, undulation and fix-related data of the GPS 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
60, Position Precision of NMEA Logs on page 320.
The GPGGALONG log outputs these messages with contents without waiting for a valid almanac.
Instead, it uses a UTC time, calculated with default parametres. In this case, 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 parametres. Then the UTC time status is set to VALID.
Message ID:
Log Type:

521
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

Please see the GPGGA usage box that applies to all NMEA logs on page 314.

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Field

Structure

Field Description

Symbol

Example

1

$GPGGALoNG

Log header

2

utc

UTC time status of position (hours/minutes/
seconds/ decimal seconds)

hhmmss.ss

202126.00

3

lat

Latitude (DDmm.mm)

llll.ll

5106.9847029

4

lat dir

Latitude direction (N = North, S = South)

a

N

5

lon

Longitude (DDDmm.mm)

yyyyy.yy

11402.2986286

6

lon dir

Longitude direction (E = East, W = West)

a

W

7

GPS qual

GPS Quality indicator
0=
fix not available or invalid
1=
GPS fix
2=
C/A differential GPS, OmniSTAR HP,
OmniSTAR XP, OmniSTAR VBS,
or CDGPS
4=
RTK fixed ambiguity solution (RT2), see
also Table 90 on page 530
5=
RTK floating ambiguity solution (RT20),
OmniSTAR HP or OmniSTAR XP
6=
Dead reckoning mode
7=
Manual input mode (fixed position)
8=
Simulator mode
9=
WAAS a

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

14

age

Age of Differential GPS data (in seconds) b

xx

10 (empty when
no differential
data is present)

15

stn ID

Differential base station ID, 0000-1023

xxxx

AAAA (empty
when no
differential data
is present)

16

*xx

Checksum

*hh

*48

17

[CR][LF]

Sentence terminator

$GPGGA

[CR][LF]

a. An indicator of 9 has been temporarily set for WAAS (NMEA standard for WAAS is not decided yet).
b. The maximum age reported here is limited to 99 seconds.

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3.3.30 GPGGARTK Global Position System Fix Data V123_NMEA
Time, position and fix-related data of the GPS receiver. This is output as a GPGGA log but the
GPGGARTK log differs from the normal GPGGA log by its extra precision. In order for the position
to be output with this extra precision, the undulation fields are unavailable (see the GPGGA log on
page 314). See also Table 60, Position Precision of NMEA Logs on page 320.
The GPGGARTK log outputs these messages with contents without waiting for a valid almanac.
Instead, it uses a UTC time, calculated with default parametres. In this case, 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 parametres. Then the UTC time status is set to VALID.
Message ID:
Log Type:

259
Synch

Recommended Input:
log gpggartk ontime 1
Example:
$GPGGA,135324.00,5106.9791988,N,11402.3002127,W,2,09,1.0,1047.606,M,,,04,AAAA
*1C

The GPGGARTK log is ideal for RTK positioning applications where mm-level
position precision is required.
See also the GPGGA usage box that applies to all NMEA logs on page 314.

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Field

Structure

Field Description

Symbol

Example

1

$GPGGA

Log header

2

utc

UTC time status of position (hours/minutes/
seconds/ decimal seconds)

hhmmss.ss

220147.50

3

lat

Latitude (DDmm.mm)

llll.ll

5106.7194489

4

lat dir

Latitude direction (N = North, S = South)

a

N

5

lon

Longitude (DDDmm.mm)

yyyyy.yy

11402.358902
0

6

lon dir

Longitude direction (E = East, W = West)

a

W

7

GPS qual

GPS Quality indicator
0=
fix not available or invalid
1=
GPS fix
2=
C/A differential GPS, OmniSTAR HP,
OmniSTAR XP, OmniSTAR VBS,
or CDGPS
4=
RTK fixed ambiguity solution (RT2), see
also Table 90 on page 530
5=
RTK floating ambiguity solution (RT20),
OmniSTAR HP or OmniSTAR XP
6=
Dead reckoning mode
7=
Manual input mode (fixed position)
8=
Simulator mode
9=
WAAS a

x

1

8

# sats

Number of satellites in use. May be different to
the number in view

xx

08

9

hdop

Horizontal dilution of precision

x.x

0.9

10

alt

Antenna altitude above/below mean sea level

x.x

1080.406

11

units

Units of antenna altitude (M = metres)

M

M

12

null

(This field not available on OEMV family
receivers)

13

null

(This field not available on OEMV family
receivers)

14

age

Age of Differential GPS data (in seconds) b

xx

15

stn ID

Differential base station ID, 0000-1023

xxxx

16

*xx

Checksum

*hh

17

[CR][LF]

Sentence terminator

$GPGGA

(empty when
no differential
data is
present)

*48
[CR][LF]

a. An indicator of 9 has been temporarily set for WAAS. The NMEA standard for WAAS has not been
decided yet.
b. The maximum age reported here is limited to 99 seconds.

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3.3.31 GPGLL Geographic Position V123_NMEA
Latitude and longitude of present vessel position, time of position fix, and status.
Table 60 compares the position precision of selected NMEA logs.
The GPGLL log outputs these messages with contents without waiting for a valid almanac. Instead, it
uses a UTC time, calculated with default parametres. In this case, 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 parametres. Then the UTC time status is set to VALID.
If the NMEATALKER command, see page 156, 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). NovAtel does not support a
GLONASS-only solution.
Message ID:
Log Type:

219
Synch

Recommended Input:
log gpgll ontime 1

Example1 (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

Table 60: 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

GPGGARTK

7

7

3

GPGLL

7

7

N/A

GPRMC

7

7

N/A

NMEA Log

Please see the GPGGA usage box that applies to all NMEA logs on page 314.

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Field

Data Logs
Structure

Field Description

Symbol

Example

1

$GPGLL

Log header

2

lat

Latitude (DDmm.mm)

llll.ll

5106.7198674

3

lat dir

Latitude direction
(N = North, S = South)

a

N

4

lon

Longitude (DDDmm.mm)

yyyyy.yy

11402.3587526

5

lon dir

Longitude direction
(E = East, W = West)

a

W

6

utc

UTC time status of position (hours/
minutes/seconds/decimal seconds)

hhmmss.ss

220152.50

7

data status

Data status:
A = Data valid, V = Data invalid

A

A

8

mode ind

Positioning system mode indicator, see
Table 61 on page 331

a

A

9

*xx

Checksum

*hh

*1B

10

[CR][LF]

Sentence terminator

321

$GPGLL

[CR][LF]

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Chapter 3

3.3.32 GPGRS

GPS Range Residuals for Each Satellite V123_NMEA

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 re-computed 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 with contents without waiting for a valid almanac. Instead, it
uses a UTC time, calculated with default parametres. In this case, 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 parametres. 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
parametres used in the calculation as follows:
range residual = calculated range - measured range

2.

If the NMEATALKER command, see page 156, 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). NovAtel does not
support a GLONASS-only solution.

3.

There is no residual information available from the OmniSTAR HP/XP service, so the
GPGRS contains the pseudorange position values when using it. For the OmniSTAR
VBS or CDGPS service, residual information is available.

Message ID:

220

Log Type:

Synch

Recommended Input:
log gpgrs ontime 1

Example 1 (GPS only):
$GPGRS,142406.00,1,-1.1,-0.1,1.7,1.2,-2.0,-0.5,1.2,-1.2,-0.1,,,*67

Example 2 (Combined GPS and GLONASS):
$GNGRS,143209.00,1,-0.2,-0.5,2.2,1.3,-2.0,-1.3,1.3,-0.4,-1.2,-0.2,,*72
$GNGRS,143209.00,1,1.3,-6.7,,,,,,,,,,*73

Please see the GPGGA usage box that applies to all NMEA logs on page 314.

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Field

Structure

1

$GPGRS

Log header

2

utc

UTC time status of position (hours/
minutes/seconds/ decimal seconds)

hhmmss.ss

192911.0

3

mode

Mode 0 =residuals were used to
calculate the position given in the
matching GGA line (apriori) (not used by
OEMV family receiver)
Mode 1 =residuals were recomputed
after the GGA position was computed
(preferred mode)

x

1

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

Checksum

*hh

*65

17

[CR][LF]

Sentence terminator

323

Field Description

Symbol

Example
$GPGRS

[CR][LF]

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Chapter 3

3.3.33 GPGSA

GPS DOP and Active Satellites V123_NMEA

GPS receiver operating mode, satellites used for navigation and DOP values.
The GPGSA log outputs these messages with contents without waiting for a valid almanac. Instead, it
uses a UTC time, calculated with default parametres. In this case, 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 parametres. Then the UTC time status is set to VALID.
1.

If the DOP values exceed 9999.0, or there is an insufficient number of satellites to
calculate a DOP value, 9999.0 is reported for PDOP and HDOP. VDOP is reported as 0.0
in this case.

2.

If the NMEATALKER command, see page 156, 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). NovAtel does not
support a GLONASS-only solution.

Message ID:
Log Type:

221
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 GPS
positioning, however, is often misunderstood. A lower DOP value does not
automatically mean a low position error. The quality of a GPS-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.
Please see also the GPGGA usage box that applies to all NMEA logs on page 314.

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Field

Structure

Field Description

Symbol

Example

1

$GPGSA

Log header

2

mode MA

A = Automatic 2D/3D
M = Manual, forced to operate in 2D or 3D

M

M

3

mode 123

Mode: 1 = Fix not available; 2 = 2D; 3 = 3D

x

3

4 - 15

prn

PRN numbers of satellites used in solution (null for
unused fields), total of 12 fields
GPS
= 1 to 32
SBAS = 33 to 64 (add 87 for PRN number)
GLO
= 65 to 96 a

xx,xx,.....

18,03,13,
25,16,
24,12,
20,,,,

16

pdop

Position dilution of precision

x.x

1.5

17

hdop

Horizontal dilution of precision

x.x

0.9

18

vdop

Vertical dilution of precision

x.x

1.2

19

*xx

Checksum

*hh

*3F

20

[CR][LF]

Sentence terminator

$GPGSA

[CR][LF]

a. The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number. Current slot numbers
are 1 to 24 which give the range 65 to 88. PRN numbers 89 to 96 are available if slot numbers
above 24 are allocated to on-orbit spares.

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3.3.34 GPGST Pseudorange Measurement Noise Statistics V123_NMEA
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, see page 251, and GPGGA,
see page 314, logs 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 390.
The GPGST log outputs these messages with contents without waiting for a valid almanac. Instead, it
uses a UTC time, calculated with default parametres. In this case, 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 parametres. Then the UTC time status is set to VALID.
If the NMEATALKER command, see page 156, 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). NovAtel does not support a
GLONASS-only solution.
Message ID:
Log Type:

222
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. Please see the GPGGA usage box that applies to all NMEA logs on page 314.
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, GPS heights are 1.5 times poorer
than horizontal positions.
As examples of statistics, the GPSGST message and NovAtel performance
specifications use root mean square RMS. Specifications may be quoted in CEP:
• RMS:
root mean square (a probability level of 68%)
• CEP:

circular error probable (the radius of a circle such that 50%
of a set of events occur inside the boundary)

Field

Structure

1

$GPGST

Log header

2

utc

UTC time status of position
(hours/minutes/seconds/ decimal seconds)

hhmmss.ss

173653.00

3

rms

RMS value of the standard deviation of the range
inputs to the navigation process. Range inputs
include pseudoranges and DGPS corrections.

x.x

2.73

4

smjr std

Standard deviation of semi-major axis of error
ellipse (m)

x.x

2.55

5

smnr std

Standard deviation of semi-minor axis of error
ellipse (m)

x.x

1.88

6

orient

Orientation of semi-major axis of error ellipse
(degrees from true north)

x.x

15.2525

7

lat std

Standard deviation of latitude error (m)

x.x

2.51

8

lon std

Standard deviation of longitude error (m)

x.x

1.94

9

alt std

Standard deviation of altitude error (m)

x.x

4.30

10

*xx

Checksum

*hh

*6E

11

[CR][LF]

Sentence terminator

327

Field Description

Symbol

Example
$GPGST

[CR][LF]

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Chapter 3

3.3.35 GPGSV

GPS Satellites in View V123_NMEA

Number of 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 with contents without waiting for a valid almanac. Instead, it
uses a UTC time, calculated with default parametres. In this case, 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 parametres. 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 156, 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).

3.

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:
Log Type:

223
Synch

Recommended Input:
log gpgsv ontime 1

Example (Including GPS and GLONASS sentences):
$GPGSV,3,1,11,18,87,050,48,22,56,250,49,21,55,122,49,03,40,284,47*78
$GPGSV,3,2,11,19,25,314,42,26,24,044,42,24,16,118,43,29,15,039,42*7E
$GPGSV,3,3,11,09,15,107,44,14,11,196,41,07,03,173,*4D
$GLGSV,2,1,06,65,64,037,41,66,53,269,43,88,39,200,44,74,25,051,*64
$GLGSV,2,2,06,72,16,063,35,67,01,253,*66

The GPGSV log can be used to determine which satellites are currently available to
the receiver. Comparing the information from this log to that in the GPGSA log shows
you if the receiver is tracking all available satellites.
Please see also the GPGGA usage box that applies to all NMEA logs on page 314.

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Field

Data Logs
Structure

Field Description

Symbol

Example

1

$GPGSV

Log header

$GPGSV

2

# msgs

Total number of messages (1-9)

x

3

3

msg #

Message number (1-9)

x

1

4

# sats

Total number of satellites in view. May be different
than the number of satellites in use (see also the
GPSGSA log on page 314).

xx

09

5

prn

Satellite PRN number
GPS
= 1 to 32
SBAS = 33 to 64 (add 87 for PRN#s)
GLO
= 65 to 96 a

xx

03

6

elev

Elevation, degrees, 90 maximum

xx

51

7

azimuth

Azimuth, degrees True, 000 to 359

xxx

140

8

SNR

SNR (C/No) 00-99 dB, null when not tracking

xx

42

...
...
...

...
...
...

Next satellite PRN number, elev, azimuth, SNR,
...
Last satellite PRN number, elev, azimuth, SNR,

variable

*xx

Checksum

*hh

*72

variable

[CR][LF]

Sentence terminator

[CR][LF]

a. The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number. Current slot
numbers are 1 to 24 which give the range 65 to 88. PRN numbers 89 to 96 are available if slot
numbers above 24 are allocated to on-orbit spares.

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Chapter 3

3.3.36 GPHDT NMEA Heading Log ALIGN
Actual vessel heading in degrees True (from True North). See also a description of heading on page
342. You can also set a standard deviation threshold for this log, see page 130.
You must have an ALIGN -capable receiver to use this log, see Table 103 on page 570.
If the NMEATALKER command, see page 156, 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). NovAtel does not
support a GLONASS-only solution.
Asynchronous logs, such as GPHDT, should only be logged ONCHANGED otherwise, the
most current data is not available or included in the output. An example of this occurance
is in the ONTIME trigger. If this trigger is not loggged ONCHANGED, it may cause
inaccurate time tags.
Message ID:
Log Type:

1045
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

Field Description

1

$GPHDT

Log header

2

heading

Heading in degrees

x.x

75.5554

3

True

Degrees True

T

T

4

*xx

Checksum

*hh

*36

5

[CR][LF]

Sentence terminator

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Symbol

Example
$GPHDT

[CR][LF]

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Data Logs

3.3.37 GPRMB Navigation Information V123_NMEA
Navigation data from present position to a destination waypoint. The destination is set active by the
receiver SETNAV command.
The GPRMB log outputs these messages with contents without waiting for a valid almanac. Instead, it
uses a UTC time, calculated with default parametres. In this case, 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 parametres. Then the UTC time status is set to VALID.
Message ID:
Log Type:

224
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 156, 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). NovAtel does not support a
GLONASS-only solution.

Please see the GPGGA usage box that applies to all NMEA logs on page 314.

Table 61: NMEA Positioning System Mode Indicator
Mode

331

Indicator

A

Autonomous

D

Differential

E

Estimated (dead reckoning) mode

M

Manual input

N

Data not valid

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Chapter 3

Field

Structure

Field Description

Symbol

Example

1

$GPRMB

Log header

2

data status

Data status:
A = data valid; V = navigation receiver warning

A

A

3

xtrack

Cross track error a

x.x

5.14

4

dir

Direction to steer to get back on track (L/R) b

a

L

5

origin ID

Origin waypoint ID c

c--c

FROM

6

dest ID

Destination waypoint ID C

c--c

TO

7

dest lat

Destination waypoint latitude (DDmm.mm c

llll.ll

5109.7578000

8

lat dir

Latitude direction (N = North, S = South) c

a

N

9

dest lon

Destination waypoint longitude (DDDmm.mm) c

yyyyy.yy

11409.0960000

10

lon dir

Longitude direction (E = East, W = West) c

a

W

11

range

Range to destination, nautical miles d

x.x

5.1

12

bearing

Bearing to destination, degrees True

x.x

303.0

13

vel

Destination closing velocity, knots

x.x

-0.0

14

arr status

Arrival status:
A = perpendicular passed
V = destination not reached or passed

A

V

15

mode ind

Positioning system mode indicator, see Table 61
on page 331

a

A

16

*xx

Checksum

*hh

*6F

17

[CR][LF]

Sentence terminator

$GPRMB

[CR][LF]

a. - If cross track error exceeds 9.99 NM, display 9.99
- Represents track error from intended course
- One nautical mile = 1,852 metres
b. Direction to steer is based on the sign of the crosstrack error, that is, L = xtrack error (+);
R = xtrack error (-)
c. Fields 5, 6, 7, 8, 9, and 10 are tagged from the SETNAV command, see page 193.
d. If range to destination exceeds 999.9 NM, display 999.9

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3.3.38 GPRMC GPS Specific Information V123_NMEA
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 GPS receiver.
A comparison of the position precision between this log and other selected NMEA logs can be seen in
Table 60, Position Precision of NMEA Logs on page 320.
The GPRMC log outputs these messages with contents without waiting for a valid almanac. Instead, it
uses a UTC time, calculated with default parametres. In this case, 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 parametres. Then the UTC time status is set to VALID.
If the NMEATALKER command, see page 156, 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). NovAtel does not support a
GLONASS-only solution.
Message ID:
Log Type:

225
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

Please see the GPGGA usage box that applies to all NMEA logs on page 314.

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Field

Chapter 3
Structure

Field Description

Symbol

Example

1

$GPRMC

Log header

$GPRMC

2

utc

UTC of position

hhmmss.ss

144326.00

3

pos status

Position status:
A = data valid, V = data invalid

A

A

4

lat

Latitude (DDmm.mm)

llll.ll

5107.0017737

5

lat dir

Latitude direction
N = North, S = South

a

N

6

lon

Longitude (DDDmm.mm)

yyyyy.yy

11402.3291611

7

lon dir

Longitude direction
E = East, W = West

a

W

8

speed Kn

Speed over ground, knots

x.x

0.080

9

track true

Track made good, degrees True

x.x

323.3

10

date

Date: dd/mm/yy

xxxxxx

210307

11

mag var

Magnetic variation, degrees a

x.x

0.0

12

var dir

Magnetic variation direction E/W b

a

E

13

mode ind

Positioning system mode indicator,
see Table 61 on page 331

a

A

14

*xx

Checksum

*hh

*20

15

[CR][LF]

Sentence terminator

[CR][LF]

a. Note that this field is the actual magnetic variation and will always be positive. The direction of the
magnetic variation is always positive.
b. Easterly variation (E) subtracts from True course and Westerly variation (W) adds to True course.

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3.3.39 GPSEPHEM Decoded GPS Ephemerides V123
A single set of GPS ephemeris parametres.
Message ID:
Log Type:

7
Asynch

Recommended Input:
log gpsephema onchanged

ASCII Example:
#GPSEPHEMA,COM1,12,59.0,SATTIME,1337,397560.000,00000000,9145,1984;
3,397560.0,0,99,99,1337,1337,403184.0,2.656004220e+07,4.971635660e-09,
-2.752651501e+00,7.1111434372e-03,6.0071892571e-01,2.428889275e-06,
1.024827361e-05,1.64250000e+02,4.81562500e+01,1.117587090e-08,
-7.078051567e-08,9.2668266314e-01,-1.385772009e-10,-2.098534041e+00,
-8.08319384e-09,99,403184.0,-4.190951586e-09,2.88095e-05,3.06954e-12,
0.00000,TRUE,1.458614684e-04,4.00000000e+00*0f875b12
#GPSEPHEMA,COM1,11,59.0,SATTIME,1337,397560.000,00000000,9145,1984;
25,397560.0,0,184,184,1337,1337,403200.0,2.656128681e+07,4.897346851e-09,
1.905797220e+00,1.1981436634e-02,-1.440195331e+00,-1.084059477e-06,
6.748363376e-06,2.37812500e+02,-1.74687500e+01,1.825392246e-07,
-1.210719347e-07,9.5008501632e-01,2.171519024e-10,2.086083072e+00,
-8.06140722e-09,184,403200.0,-7.450580597e-09,1.01652e-04,9.09495e-13,
0.00000,TRUE,1.458511425e-04,4.00000000e+00*18080b24
.
.
.
#GPSEPHEMA,COM1,0,59.0,SATTIME,1337,397560.000,00000000,9145,1984;
1,397560.0,0,224,224,1337,1337,403200.0,2.656022490e+07,3.881233098e-09,
2.938005195e+00,5.8911956148e-03,-1.716723741e+00,-2.723187208e-06,
9.417533875e-06,2.08687500e+02,-5.25625000e+01,9.126961231e-08,
-7.636845112e-08,9.8482911735e-01,1.325055194e-10,1.162012787e+00,
-7.64138972e-09,480,403200.0,-3.259629011e-09,5.06872e-06,2.04636e-12,
0.00000,TRUE,1.458588731e-04,4.00000000e+00*97058299

The GPSEPHEM log can be used to monitor changes in the orbits of GPS satellites.

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Chapter 3
Table 62: URA Variance
Index Value

A: Standard Deviations

Variance: A2 (m2)

0

2.0

4

1

2.8

7.84

2

4.0

16

3

5.7

32.49

4

8

56

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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Field#

Data Logs

Field type

Data Description

1

GPSEPHEM
header

Log header

2

PRN

Satellite PRN number

3

tow

4

Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

Time stamp of subframe 0 (seconds)

Double

8

H+4

health

Health status - a 6-bit health code as defined in
ICD-GPS-200 a

Ulong

4

H+12

5

IODE1

Issue of ephemeris data 1

Ulong

4

H+16

6

IODE2

Issue of ephemeris data 2

Ulong

4

H+20

7

week

GPS 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, 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

13

ecc

Eccentricity, dimensionless - quantity defined
for a conic section where e= 0 is a circle, e = 1
is a parabola, 01 is a
hyperbola.

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

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

Continued on page 338.

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Field#
22

Chapter 3
Field type

Data Description

Format

Binary
Bytes

Binary
Offset

°

Rate of inclination angle, radians/second

Double

8

H+136

23

ω0

Right ascension, radians

Double

8

H+144

24

°
ω

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 parametre, seconds (s)

Double

8

H+180

29

af1

Clock aging parametre, (s/s)

Double

8

H+188

30

af2

Clock aging parametre, (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/second

Double

8

H+208

33

URA

User Range Accuracy variance, m2. The ICD a
specifies that the URA index transmitted in the
ephemerides can be converted to a nominal
standard deviation value using an algorithm
listed there. We publish the square of the
nominal value (variance). The correspondence
between the original URA index and the value
output is shown in Table 62.

Double

8

H+216

34

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+224

35

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

I

a. To obtain copies of ICD-GPS-200, refer to ARINC in the Standards and References section of the
GNSS Reference Book, available on our Web site at http://www.novatel.com/support/
docupdates.htm.

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3.3.40 GPVTG Track Made Good And Ground Speed V123_NMEA
The track made good and speed relative to the ground.
The GPVTG log outputs these messages with contents without waiting for a valid almanac. Instead, it
uses a UTC time, calculated with default parametres. In this case, 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 parametres. Then the UTC time status is set to VALID.
Message ID:
Log Type:

226
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 156, 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). NovAtel does not support a
GLONASS-only solution.

Please see the GPGGA usage box that applies to all NMEA logs on page 314.

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Field

Chapter 3
Structure

Field Description

Symbol

Example

1

$GPVTG

Log header

2

track true

Track made good, degrees True

x.x

24.168

3

T

True track indicator

T

T

4

track mag

Track made good, degrees Magnetic;
Track mag = Track true + (MAGVAR correction)
See the MAGVAR command, page 148.

x.x

24.168

5

M

Magnetic track indicator

M

M

6

speed Kn

Speed over ground, knots

x.x

0.4220347

7

N

Nautical speed indicator (N = Knots)

N

N

8

speed Km

Speed, kilometres/hour

x.x

0.781608

9

K

Speed indicator (K = km/hr)

K

K

10

mode ind

Positioning system mode indicator, see Table 61
on page 331

a

A

11

*xx

Checksum

*hh

*7A

12

[CR][LF]

Sentence terminator

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$GPVTG

[CR][LF]

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3.3.41 GPZDA UTC Time and Date V123_NMEA
The GPZDA log outputs these messages with contents without waiting for a valid almanac. Instead, it
uses a UTC time, calculated with default parametres. In this case, 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 parametres. Then the UTC time status is set to VALID.
Message ID:
Log Type:

227
Synch

Recommended Input:
log gpzda ontime 1

Example:
$GPZDA,143042.00,25,08,2005,,*6E

Please see the GPGGA usage box that applies to all NMEA logs on page 314.

Field

Structure

Field Description

Symbol

Example

1

$GPZDA

Log header

2

utc

UTC time status

hhmmss.ss

220238.00

3

day

Day, 01 to 31

xx

15

4

month

Month, 01 to 12

xx

07

5

year

Year

xxxx

1992

6

null

Local zone description - not available

xx

(empty when
no data is
present)

7

null

Local zone minutes description - not available a

xx

(empty when
no data is
present)

8

*xx

Checksum

*hh

*6F

9

[CR][LF]

Sentence terminator

$GPZDA

[CR][LF]

a. Local time zones are not supported by OEMV family receivers. Fields 6 and 7 are always null.

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Chapter 3

3.3.42 HEADING Heading Information

V123_ALIGN

The heading is the angle from True North of the base to rover vector in a clockwise direction.
Asynchronous logs, such as HEADING, should only be logged ONCHANGED otherwise, the
most current data is not available or included in the output. An example of this occurance is in
the ONTIME trigger. If this trigger is not loggged ONCHANGED, it may cause inaccurate
time tags.
Message ID:
Log Type:

971
Asynch

Recommended Input:
log headinga onchanged

ASCII Example:
#HEADINGA,COM1,0,77.0,FINESTEERING,1481,418557.000,00000000,3663,36137;
SOL_COMPUTED,L1_INT,5.913998127,75.566444397,-0.152066842,0.0,0.104981117,
0.222061798,"AAAA",13,10,10,0,0,00,0,11*481a5bab

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Field #

Data Logs

Field type

Data Description

1

HEADING
header

Log header

2

sol stat

Solution status, see Table 51 on page 253

3

pos type

4

Format

Binary Binary
Bytes Offset
H

0

Enum

4

H

Position type, see Table 50 on page 252

Enum

4

H+4

length

Baseline length (0 to 3000 m)

Float

4

H+8

5

heading

Heading in degrees (0 to 360.0 degrees)

Float

4

H+12

6

pitch

Pitch (±90 degrees)

Float

4

H+16

7

Reserved

Float

4

H+20

8

hdg std dev

Heading standard deviation in degrees

Float

4

H+24

9

ptch std

Pitch standard deviation in degrees

Float

4

H+28

10

stn ID

Station ID string

Char[4

4

H+32

11

#SVs

Number of observations 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

Uchar

1

H+38

14

#multi

Number of satellites above the mask angle with L2

Uchar

1

H+39

15

Reserved

Uchar

1

H+40

16

ext sol stat

Uchar

1

H+41

17

Reserved

Uchar

1

H+42

18

sig mask

Signals used mask - if 0, signals used in solution are
unknown (see Table 52 on page 254)

Uchar

1

H+43

19

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+44

20

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

343

Extended solution status (see Table 53, Extended
Solution Status on page 254)

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Chapter 3

3.3.43 IONUTC

Ionospheric and UTC Data V123

The Ionospheric Model parametres (ION) and the Universal Time Coordinated parametres (UTC) are
provided.
Message ID:
Log Type:

8
Asynch

Recommended Input:
log ionutca onchanged

ASCII Example:
#IONUTCA,COM1,0,58.5,FINESTEERING,1337,397740.107,00000000,ec21,1984;
1.210719347000122e-08,2.235174179077148e-08,-5.960464477539062e-08,
-1.192092895507812e-07,1.003520000000000e+05,1.146880000000000e+05,
-6.553600000000000e+04,-3.276800000000000e+05,1337,589824,
-1.2107193470001221e-08,-3.907985047e-14,1355,7,13,14,0*c1dfd456

The Receiver-Independent Exchange (RINEX11) 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.
The Convert4 utility can be used to produce RINEX files from NovAtel receiver data
files. For best results, the NovAtel receiver input data file should contain the logs as
specified in the PC Software and Firmware chapter of the OEMV Family Installation
and Operation User Manual including IONUTC.

1.

Refer to the U.S. National Geodetic Survey Web site at
http://www.ngs.noaa.gov/CORS/Rinex2.html

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Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

IONUTC header

Log header

2

a0

Alpha parametre constant term

Double

8

H

3

a1

Alpha parametre 1st order term

Double

8

H+8

4

a2

Alpha parametre 2nd order term

Double

8

H+16

5

a3

Alpha parametre 3rd order term

Double

8

H+24

6

b0

Beta parametre constant term

Double

8

H+32

7

b1

Beta parametre 1st order term

Double

8

H+40

8

b2

Beta parametre 2nd order term

Double

8

H+48

9

b3

Beta parametre 3rd order term

Double

8

H+56

10

utc wn

UTC reference week number

Ulong

4

H+64

11

tot

Reference time of UTC parametres

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

deltat utc

Time difference

Ulong

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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3.3.44 LBANDINFO L-band Configuration Information V13_VBS, V3_HP or
V13_CDGPS
This log outputs configuration information for an L-band service. In the case of using the free CDGPS
service, no subscription is required and therefore the subscription fields report an UNKNOWN
subscription status. See also the examples below.
In addition to a NovAtel receiver with L-band capability, a subscription to the OmniSTAR, or
use of the free CDGPS, service is required. Contact NovAtel for details. Contact information
may be found on the back of this manual or you can refer to the Customer Service section in
the OEMV Family Installation and Operation User Manual.
Message ID:
Log Type:

730
Asynch

Recommended Input:
log lbandinfoa ontime 1

ASCII Example 1 (OmniSTAR HP):
#LBANDINFOA,COM2,0,81.5,FINESTEERING,1295,152639.184,00000240,c51d,34461;
1547547,4800,c685,0,762640,EXPIRED,0,0,FIXEDTIME,1199,259199,0*8cc5e573

Abbreviated ASCII Example 2 (CDGPS):
LBANDINFO COM1 0 45.5 FINESTEERING 1297 498512.389 00000000 c51d 34486
1547547 4800 0 0 762640 UNKNOWN 0 0 UNKNOWN 0 0 0

Table 63: L-band Subscription Type
Binary

ASCII

Description

0

EXPIRED

The L-band subscription has expired or
does not exist.

1

FIXEDTIME

The L-band subscription expires at a
fixed date and time.

2

COUNTDOWN

The L-band subscription expires after the
specified amount of running time.

3

COUNTDOWNOVERRUN

The COUNTDOWN subscription has
expired but has entered a brief grace
period. Resubscribe immediately.

16

UNKNOWN

Unknown subscription

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What is the real accuracy of the Coast Guard's DGPS as compared to the
commercial DGPS? The Coast Guard claims a 10 metre accuracy for their DGPS.
Some commercial DGPS vendors offer 5 m (or better) accuracy. Are the commercial
vendors really supplying something more accurate than the Coast Guard signal?
The real accuracy of the Coast Guard's DGPS signal is likely better than 10 metres.
However, there a number of factors which are involved in determining the accuracy of
a DGPS system. These include:
• your proximity to the base station which is transmitting DGPS corrections,
•

the GPS receiver used by the Coast Guard,

•

the GPS receiver used by the commercial DGPS services,

•

your GPS receiver, and the statistical qualifier used in conjunction with the
stated accuracy.

If you were to compare the Coast Guard and commercial DGPS services under the
same situations, for example, a base to user proximity of 1 km and stated accuracy at
2drms (95% confidence), you would probably find that the Coast Guard's DGPS is at
least equivalent to, if not better than, commercial DGPS services.
Also of note is that the Coast Guard's DPGS service is available to all users (marine,
land and air), similar to a public utility without any charge. In addition, the Coast
Guard's service acts as an integrity monitor, which provides an independent check of
each GPS satellite's signal and reports whether it is good or bad. Commercial DGPS
vendors usually have a monthly or yearly subscription fee.
All of the previous discussions have been dealing with code data. Some commercial
DGPS services are now also provide high accuracy carrier-phase data along with
code data. With this type of data, depending on your equipment, you will be able to
achieve decimetre and even centimetre level accuracies.

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Field
#

Chapter 3

Field Type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

LBANDINFO
header

Log header

2

freq

Selected frequency for L-band service (kHz)

Ulong

4

H

3

baud

Communication baud rate from L-band satellite

Ulong

4

H+4

4

ID

L-band signal service ID

Ushort

2

H+8

5

Reserved

Ushort

2

H+10

6

OSN

L-band serial number

Ulong

4

H+12

7

vbs sub

L-band VBS subscription type (see Table 63 on
page 346)

Enum

4

H+16

8

vbs exp week

GPS week number of L-band VBS expiration
date a

Ulong

4

H+20

9

vbs exp secs

Number of seconds into the GPS week of Lband VBS expiration date a

Ulong

4

H+24

10

hp sub

OmniSTAR HP or XP subscription type (see
Table 63 on page 346)

Enum

4

H+28

11

hp exp week

GPS week number of OmniSTAR HP or XP
expiration date a

Ulong

4

H+32

12

hp exp secs

Number of seconds into the GPS week of
OmniSTAR HP or XP expiration date a

Ulong

4

H+36

13

hp sub mode

HP or XP subscription mode if the subscription
is valid:
0 = HP
1 = XP

Ulong

4

H+40

14

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+44

15

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. If the subscription type is COUNTDOWN, see Field #7 above, the expiration week and expiration
seconds into the GPS week contain the amount of running time remaining in the subscription.
If the subscription type is COUNTDOWNOVERRUN, the expiration week and expiration seconds
into GPS week count the amount of the overrun time.

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3.3.45 LBANDSTAT L-band Status Information V13_VBS, V3_HP or
V13_CDGPS
This log outputs status information for a standard L-band, OmniSTAR XP (Extra Precision) or
OmniSTAR HP (High Performance) service.
In addition to a NovAtel receiver with L-band capability, a subscription to the OmniSTAR, or
use of the free CDGPS, service is required. Contact NovAtel for details. Contact information
may be found on the back of this manual or you can refer to the Customer Service section in
the OEMV Family Installation and Operation User Manual.
Message ID:
Log Type:

731
Asynch

Recommended Input:
log lbandstata ontime 1

ASCII Example:
#LBANDSTATA,COM1,0,73.5,FINESTEERING,1314,494510.000,00000000,c797,1846;
1551488896,43.19,62.3,0.00,0082,0000,7235,11,0,0000,0001,7762,04000000,0
*93f7d2af

In binary, the receiver outputs 48 bytes without the checksum when the
LBANDSTATB log is requested.

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Table 64: L-band Signal Tracking Status
Nibble #

N0

N1

N2

N3

Bit #

Mask

Description
Tracking State

Range Value

0

0x0001

0 = Searching, 1 = Pull-in,
2 = Tracking, 3 = Idle

1

0x0002

2

0x0004

3

0x0008

4

0x0010

5

0x0020

6

0x0040

Bit Timing Lock

0 = Not Locked, 1 = Locked

7

0x0080

Phase Locked

0 = Not Locked, 1 = Locked

8

0x0100

DC Offset Unlocked

0 = Good, 1 = Warning

9

0x0200

AGC Unlocked

0 = Good, 1 = Warning

10

0x0400

11

0x0800

12

0x1000

13

0x2000

14

0x4000

15

0x8000

Reserved

Reserved

Error

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Table 65: OmniSTAR VBS Status Word
Nibble #

N0

N1

N2

N3

Bit #

Mask

Description

Bit = 0

Bit = 1

0

0x0001

Subscription Expired a

False

True

1

0x0002

Out of Region a

False

True

2

0x0004

Wet Error a

False

True

3

0x0008

Link Error a

False

True

4

0x0010

No Remote Sites

False

True

5

0x0020

No Almanac

False

True

6

0x0040

No Position

False

True

7

0x0080

No Time

False

True

8

0x0100

Reserved

9

0x0200

10

0x0400

11

0x0800

12

0x1000

13

0x2000

14

0x4000

15

0x8000

False

True

Updating Data

a. Contact OmniSTAR for subscription support. All other status values are
updated by collecting OmniSTAR data for 20-35 minutes.

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Table 66: OmniSTAR HP/XP Additional Status Word

Nibble #

N0

N1

N2

N3

Bit #

Mask

Description

Bit = 0

Bit = 1

0

0x0001

Solution not fully converged

False

True

1

0x0002

OmniStar satellite list available

False

True

2

0x0004

Reserved

3

0x0008

4

0x0010

HP not authorized a

Authorized

Unauthorized

5

0x0020

XP not authorized a

Authorized

Unauthorized

6

0x0040

Reserved

7

0x0080

8

0x0100

9

0x0200

10

0x0400

11

0x0800

12

0x1000

13

0x2000

14

0x4000

15

0x8000

a. This authorization is related to the receiver model and not the OmniStar subscription. To
view OmniSTAR subscription information use the LBANDINFO log, see page 346.

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Table 67: OmniSTAR HP/XP Status Word
Nibble #

N0

N1

N2

Bit #

Description

Bit = 0

Bit = 1

0

0x00000001

Subscription Expired a

False

True

1

0x00000002

Out of Region a

False

True

2

0x00000004

Wet Error a

False

True

3

0x00000008

Link Error a

False

True

4

0x00000010

No Measurements

False

True

5

0x00000020

No Ephemeris

False

True

6

0x00000040

No Initial Position

False

True

7

0x00000080

No Time Set

False

True

8

0x00000100

Velocity Error

False

True

9

0x00000200

No base stations

False

True

10

0x00000400

No Mapping Message

False

True

11

Reserved

Static Initialization Mode

False

True

Updating Data

False

True

N3-N5

1223

N6

2425

N7

Mask

26

0x04000000

27

Reserved

2830
31

0x80000000

a. Contact OmniSTAR for subscription support. All other status values are updated by
collecting the OmniSTAR data for 20-35 minutes.

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Field
#

Chapter 3

Field Type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

LBANDSTAT
header

Log header

2

freq

Measured frequency of L-band signal (Hz)

Ulong

4

H

3

C/No

Carrier to noise density ratio
C/No = 10[log10(S/N0)] (dB-Hz)

Float

4

H+4

4

locktime

Number of seconds of continuous tracking (no
cycle slipping)

Float

4

H+8

5

Reserved

Float

4

H+12

6

tracking

Tracking status of L-band signal (see Table 64 on
page 350)

Hex

2

H+16

7

VBS status

Status word for OmniSTAR VBS (see Table 65 on
page 351)

Hex

2

H+18

8

#bytes

Number of bytes fed to the standard process

Ulong

4

H+20

9

#good dgps

Number of standard updates

Ulong

4

H+24

10

#bad data

Number of missing standard updates

Ulong

4

H+28

11

Reserved (the hp status 1 field is obsolete and has been replaced by
the longer OmniSTAR HP Status field. The shorter legacy status
here is maintained for backward compatibility)

Hex

2

H+32

12

hp status 2

Additional status pertaining to the HP or XP
process (see Table 66 on page 352)

Hex

2

H+34

13

#bytes hp

Number of bytes fed to the HP or XP process

Ulong

4

H+36

14

hp status

Status from the HP or XP process (see Table 67
on page 353)

Hex

4

H+40

15

Reserved

Hex

4

H+44

16

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+48

17

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.46 LOGLIST List of System Logs V123
Outputs a list of log entries in the system. The following tables show the binary ASCII output. See
also the RXCONFIG log on page 544 for a list of current command settings.
Message ID:
Log Type:

5
Polled

Recommended Input:
log loglista once

ASCII Example:
#LOGLISTA,COM1,0,60.5,FINESTEERING,1337,398279.996,00000000,c00c,1984; 8,
COM1,RXSTATUSEVENTA,ONNEW,0.000000,0.000000,HOLD,
COM2,RXSTATUSEVENTA,ONNEW,0.000000,0.000000,HOLD,
COM3,RXSTATUSEVENTA,ONNEW,0.000000,0.000000,HOLD,
USB1,RXSTATUSEVENTA,ONNEW,0.000000,0.000000,HOLD,
USB2,RXSTATUSEVENTA,ONNEW,0.000000,0.000000,HOLD,
USB3,RXSTATUSEVENTA,ONNEW,0.000000,0.000000,HOLD,
COM1,BESTPOSA,ONTIME,10.000000,0.000000,NOHOLD,
COM1,LOGLISTA,ONCE,0.000000,0.000000,NOHOLD*5b29eed3

WARNING!:

Do not use undocumented logs or commands! Doing so may produce errors and
void your warranty.

Before contacting NovAtel Customer Service regarding software concerns, please
do the following:
1. Issue a FRESET command
2. Log the following data to a file on your PC/laptop for 30 minutes
RXSTATUSB once
RAWEPHEMB onchanged
RANGEB ontime 1
BESTPOSB ontime 1
RXCONFIGA once
VERSIONB once
3. Send the file containing the logs to NovAtel Customer Service, using the
support@novatel.com e-mail address.

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Field #

Field type

Data Description

1

LOGLIST
(binary)
header

Log header

2

#logs

Number of messages to follow,
maximum = 30

3

port

4
5

Format

Binary
Bytes

Binary
Offset

H

0

Long

4

H

Output port, see Table 5, Detailed Serial Port
Identifiers on page 25

Enum

4

H+4

message

Message ID of log

Ushort

2

H+8

message
type

Bits 0-4 =
Bits 5-6 =

Char

1

H+10

Char

3a

H+11

Enum

4

H+14

Bit 7

=

Reserved
Format
00 = Binary
01 = ASCII
10 = Abbreviated ASCII,
NMEA
11 = Reserved
Response Bit (see Section 1.2,
Responses on page 27)
0 = Original Message
1 = Response Message

6

Reserved

7

trigger

8

period

Log period for ONTIME

Double

8

H+18

9

offset

Offset for period (ONTIME trigger)

Double

8

H+26

10

hold

Enum

4

H+32

11...

Next log offset = H + 4 + (#logs x 32)

variable

xxxx

Hex

4

H+4+(#logs
x 32)

0 = ONNEW
1 = ONCHANGED
2 = ONTIME
3 = ONNEXT
4 = ONCE
5 = ONMARK

0 = NOHOLD
1 = HOLD

32-bit CRC

a. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment

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Field #

Data Logs
Field type

Data Description

Format

1

LOGLIST
(ASCII)
header

Log header

2

#port

Number of messages to follow, maximum = 30

Long

3

port

Output port, see Table 5, Detailed Serial Port Identifiers on
page 25

Enum

4

message

Message name of log with no suffix for abbreviated ascii, an
A suffix for ascii and a B suffix for binary.

Char [ ]

5

trigger

ONNEW
ONCHANGED
ONTIME
ONNEXT
ONCE
ONMARK

6

period

Log period for ONTIME

Double

7

offset

Offset for period (ONTIME trigger)

Double

8

hold

9...

Next port

variable

xxxx

32-bit CRC

Hex

variable

[CR][LF]

Sentence terminator

-

357

NOHOLD
HOLD

Enum

Enum

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Chapter 3

3.3.47 MARKPOS, MARK2POS Position at Time of Mark Input Event V123
This log contains the estimated position of the antenna when a pulse is detected at a mark input.
MARKPOS is a result of a pulse on the MK1I input and MARK2POS is generated when a pulse
occurs on a MK2I input. Refer to the Technical Specifications appendix in the OEMV Family
Installation and Operation User Manual for mark input pulse specifications and the location of the
mark input pins.
The position at the mark input pulse is extrapolated using the last valid position and velocities. The
latched time of mark impulse is in GPS weeks and seconds into the week. The resolution of the
latched time is 49 ns. See also the notes on MARKPOS in the MARKTIME log on page 360.
Message ID:
Log Type:

181 (MARKPOS) and 615 (MARK2POS)
Asynch

Recommended Input:
log markposa onnew

Use the ONNEW trigger with the MARKTIME or MARKPOS logs.
Abbreviated ASCII Example:
SOL_COMPUTED,NARROW_INT,51.11637234389,-114.03824932277,1063.8475,-16.2713,
WGS84,0.0095,0.0078,0.0257,"AAAA",1.000,0.000,17,10,10,9,0,1,0,03

Consider the case where you have a user point device such as video equipment.
Connect the device to the receiver’s I/O port using a cable that is compatible to both
the receiver and the device. Refer to your device’s documentation for information on
its connectors and cables. The arrow along the cable in the figure below indicates a
MARKIN pulse, from the user device on the right to the receiver I/O port:

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Data Logs
Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Position type (see Table 50 on page 252)

Enum

4

H+4

lat

Latitude

Double

8

H+8

5

lon

Longitude

Double

8

H+16

6

hgt

Height above mean sea level

Double

8

H+24

7

undulation

Undulation - the relationship between the geoid and
the WGS84 ellipsoid (m) a

Float

4

H+32

8

datum id#

Datum ID number (see Chapter 2, Table 21,
Reference Ellipsoid Constants on page 97)

Enum

4

H+36

9

lat σ

Latitude standard deviation

Float

4

H+40

10

lon σ

Longitude standard deviation

Float

4

H+44

11

hgt σ

Height standard deviation

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 satellite vehicles tracked

Uchar

1

H+64

16

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+65

17

#ggL1

Number of GPS plus GLONASS L1 used in solution

Uchar

1

H+66

18

#ggL1L2

Number of GPS plus GLONASS L1 and L2 used in
solution

Uchar

1

H+67

19

Reserved

Uchar

1

H+68

20

ext sol stat

Hex

1

H+69

21

Reserved

Hex

1

H+70

22

sig mask

Signals used mask - if 0, signals used in solution are
unknown (see Table 52 on page 254)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field
#

Field type

1

MARKPOS/
MARK2POS
header

Log header

2

sol status

Solution status (see Table 51 on page 253)

3

pos type

4

Data Description

Extended solution status (see Table 53, Extended
Solution Status on page 254)

Format

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due to
differences between the datum in use and WGS84

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3.3.48 MARKTIME, MARK2TIME Time of Mark Input Event V123
This log contains the time of the leading edge of the detected mark input pulse. MARKTIME gives
the time when a pulse occurs on the MK1I input and MARK2POS is generated when a pulse occurs
on a MK2I input. Refer to the Technical Specifications appendix in the OEMV Family Installation and
Operation User Manual for mark input pulse specifications and the location of the mark input pins.
The resolution of this measurement is 49 ns.
1.

Use the ONNEW trigger with this or the MARKPOS logs.

2.

Only the MARKPOS logs, the MARKTIME logs, and ‘polled’ log types are generated
‘on the fly’ at the exact time of the mark. Synchronous and asynchronous logs output the
most recently available data.

Message ID:
Log Type:

231 (MARKTIME) and 616 (MARK2TIME)
Asynch

Recommended Input:
log marktimea onnew

Example:
#MARKTIMEA,COM1,0,77.5,FINESTEERING,1358,422621.000,00000000,292e,2214;
1358,422621.000000500,-1.398163614e-08,7.812745577e-08,-14.000000002,
VALID*d8502226

These logs allow you to measure the time when events are occurring in other devices
(such as a video recorder). See also the MARKCONTROL command on page 151.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

MARKTIME/
MARK2TIME
header

Log header

2

week

GPS week number

Long

4

H

3

seconds

Seconds into the week as measured from the
receiver clock, coincident with the time of
electrical closure on the Mark Input port.

Double

8

H+4

4

offset

Receiver clock offset, in seconds. A positive
offset implies that the receiver clock is ahead of
GPS Time. To derive GPS time, use the
following formula:
GPS time = receiver time - (offset)

Double

8

H+12

5

offset std

Standard deviation of receiver clock offset (s)

Double

8

H+20

6

utc offset

This field represents the offset of GPS time from
UTC time, computed using almanac
parametres. UTC time is GPS time plus the
current UTC offset plus the receiver clock
offset.
UTC time = GPS time + offset + UTC offseta

Double

8

H+28

7

status

Clock model status, see Table 54, Clock Model
Status on page 269

Enum

4

H+36

8

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+40

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. 0 indicates that UTC time is unknown because there is no almanac available in order to acquire
the UTC offset.

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3.3.49 MASTERPOS

Master Position using ALIGN V123_ALIGN

ALIGN generates distance and bearing information between a “Master” and “Rover” receiver. This log
outputs the position information of the master when using the ALIGN feature. Refer to the ALIGN
application note on our Web site at http://www.novatel.com/support/applicationnotes.htm.

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.
You must have an ALIGN -capable receiver to use this log, see Table 103 on page 570.
The log can be output at YZ Model Rover only if it is receiving the RTCAREFEXT message
from the Master. The log can be output at any Master if Master is receiving HEADINGEXTA
or HEADINGEXTB from the YZ Rover.
Message ID:
Log Type:

1051 (MASTERPOS)
ASynch

Recommended Input:
log masterposa onchanged

Example 1:
#MASTERPOSA,COM1,0,21.5,FINESTEERING,1544,340322.000,00000008,5009,4655;
SOL_COMPUTED,NARROW_INT,51.11604599076,-114.03855412002,1055.7756,
16.9000,WGS84,0.0090,0.0086,0.0143,"AAAA",0.0,0.0,13,13,13,12,0,0,0,0*a72e8d3
f

Asynchronous logs, such as MASTERPOS, 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.

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Field #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16

363

Data Logs

Field Type

Field Description

MASTERPOS Log Header
header
sol stat
Solution Status, see Table 51 on page
253
pos type
Position Type see Table 50 on page
252
lat
Master WGS84 Latitude in degrees
long
Master WGS84 Longitude in degrees
hgt
Master MSL Height in metres
undulation
Undulation in metres
datum id#
WGS84 (default)
lat σ
Latitude Std in metres
long σ
Longitude Std in metres
hgt σ
Height Std in metres
stn id
Receiver ID
MASTERPOS ID can be set using the
DGPSTXID command, see page 106.
Reserved
#SVs
#solnSVs

17

#obs

18

#multi

19
20
21
22
23
24

Reserved

xxxx
[CR][LF]

Number of satellite vehicles tracked
Number of satellite vehicles used in
solution
Number of satellites above elevation
mask angle
Number of satellites above the mask
angle with L2

Sentence Terminator (ASCII only)

Binary
Format

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Enum

4

H+4

Double
Double
Double
Float
Enum
Float
Float
Float
Char[4]

8
8
8
4
4
4
4
4
4

H+8
H+16
H+24
H+32
H+36
H+40
H+44
H+48
H+52

Float
Float
Uchar
Uchar

4
4
1
1

H+56
H+60
H+64
H+65

Uchar

1

H+66

Uchar

1

H+67

Uchar
Uchar
Uchar
Uchar
HEX
-

1
1
1
1
1

H+68
H+69
H+70
H+71
H+72
-

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3.3.50 MATCHEDPOS Matched RTK Position V123_RT20, V23_RT2 or
V3_HP
This log represents positions that have been computed from time matched base and rover
observations. There is no base extrapolation error on these positions because they are based on
buffered measurements; they lag real time by some amount depending on the latency of the data link.
If the rover receiver has not been enabled to accept RTK differential data, or is not actually receiving
data leading to a valid solution, this is shown in fields #2 (sol status) and #3 (pos type).
This log provides the best accuracy in static operation. For lower latency in kinematic operation, see
the RTKPOS or BESTPOS logs. The data in the logs changes only when a base observation (RTCM,
RTCMV3, RTCA, CMRPLUS or CMR) changes.
A good message trigger for this log is "ONCHANGED". Then, only positions related to unique base
station messages are produced, and the existence of this log indicates a successful link to the base.
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 cause inaccurate time tags to result.
Message ID:
Log Type:

96
Asynch

Recommended Input:
log matchedposa onchanged

ASCII Example:
#MATCHEDPOSA,COM1,0,63.0,FINESTEERING,1419,340034.000,00000040,2f06,2724;
SOL_COMPUTED,NARROW_INT,51.11635908660,-114.03833102484,1063.8400,-16.2712,
WGS84,0.0140,0.0075,0.0174,"AAAA",0.000,0.000,12,12,12,12,0,01,0,33*feac3a3a

Measurement precision is different from the position computation precision.
Measurement precision is a value that shows how accurately the actual code or
carrier phase is measured by the GPS receiver. Position precision is a value that
shows the accuracy of the position computation that is made from the code and/or
carrier phase measurements.The P-code L2 measurement precision is not as good
as the C/A measurement precision because the NovAtel GPS receiver is a civilian
grade GPS device, and thus does not have direct access to the decrypted military L2
P(Y) code. This means that our semi-codeless P-code L2 measurements are noisier
than the civilian band L1 C/A code measurements. Refer to the OEMV Installation
and Operation Manual for the technical specification of the OEMV card.

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Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Position type (see Table 50 on page 252)

Enum

4

H+4

lat

Latitude

Double

8

H+8

5

lon

Longitude

Double

8

H+16

6

hgt

Height above mean sea level

Double

8

H+24

7

undulation

Undulation - the relationship between the geoid and
the WGS84 ellipsoid (m) a

Float

4

H+32

8

datum id#

Datum ID number (see Table 21 on page 97)

Enum

4

H+36

9

lat σ

Latitude standard deviation

Float

4

H+40

10

lon σ

Longitude standard deviation

Float

4

H+44

11

hgt σ

Height standard deviation

Float

4

H+48

12

stn id

Base station ID

Char[4]

4

H+52

13

Reserved

Float

4

H+56

Float

4

H+60

Field #

Field type

Data Description

1

MATCHEDPOS
header

Log header

2

sol status

Solution status (see Table 51 on page 253)

3

pos type

4

14

Format

15

#SVs

Number of satellite vehicles tracked

Uchar

1

H+64

16

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+65

17

#ggL1

Number of GPS plus GLONASS L1 used in solution

Uchar

1

H+66

18

#ggL1L2

Number of GPS plus GLONASS L1 and L2 used in
solution

Uchar

1

H+67

19

Reserved

Uchar

1

H+68

20

ext sol stat

Hex

1

H+69

21

Reserved

Hex

1

H+70

22

sig mask

Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Extended solution status (see Table 53, Extended
Solution Status on page 254)

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due to
differences between the datum in use and WGS84

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3.3.51 MATCHEDXYZ Matched RTK Cartesian Position V123_RT20,
V23_RT2 or V3_HP
This log contains the receiver’s matched position in ECEF coordinates. It represents positions that
have been computed from time matched base and rover observations. There is no base station
extrapolation error on these positions because they are based on buffered measurements; they lag real
time by some amount depending on the latency of the data link. If the rover receiver has not been
enabled to accept RTK differential data, or is not actually receiving data leading to a valid solution,
this is reflected by the code shown in field #2 (solution status) and #3 (position type). See Figure 10,
page 265 for a definition of the ECEF coordinates.
This log provides the best accuracy in static operation. For lower latency in kinematic operation, see
the BESTXYZ or RTKXYZ logs on pages 262 and 541 respectively. The data in the logs changes
only when a base observation (RTCM, RTCMV3, RTCA, or CMR) changes.
The time stamp in the header is the time of the matched observations that the computed position is
based on, not the current time.
Message ID:
Log Type:

242
Asynch

Recommended Input:
log matchedxyza onchanged

Asynchronous logs, such as MATCHEDXYZ, 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:
#MATCHEDXYZA,COM1,0,62.5,FINESTEERING,1419,340035.000,00000040,b8ed,2724;
SOL_COMPUTED,NARROW_INT,-1634531.5703,-3664618.0321,4942496.3280,0.0080,
0.0159,0.0154,"AAAA",12,12,12,12,0,01,0,33*e4b84015

A good message trigger for this log is "onchanged". Then, only positions related to
unique base station messages are produced, and the existence of this log indicates a
successful link to the base station.

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Field
#

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

MATCHEDXYZ
header

Log header

2

P-sol status

Solution status, see Table 51, Solution Status
on page 253

Enum

4

H

3

pos type

Position type, see Table 50, Position or
Velocity Type on page 252

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

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

18

stn ID

Base station ID

Char[4
]

4

H+44

22

#SVs

Number of satellite vehicles tracked

Uchar

1

H+48

23

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+49

24

#ggL1

Number of GPS plus GLONASS L1 used in
solution

Uchar

1

H+50

25

#ggL1L2

Number of GPS plus GLONASS L1 and L2
used in solution

Uchar

1

H+51

26

Reserved

Char

1

H+52

27

ext sol stat

Hex

1

H+53

28

Reserved

Hex

1

H+54

29

sig mask

Signals used mask - if 0, signals used in
solution are unknown (see Table 52 on page
254)

Hex

1

H+55

30

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+56

31

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

367

Extended solution status (see Table 53,
Extended Solution Status on page 254)

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Chapter 3

3.3.52 NAVIGATE User Navigation Data V123
This log reports the status of the waypoint navigation progress. It is used in conjunction with the
SETNAV command, see page 193.
See Figure 11, below, for an illustration of navigation parametres.
The SETNAV command must be enabled before valid data will be reported from this log.
Message ID:
Log Type:

161
Synch

4
6
7

3

1

X

5

2

Reference
1
2
3
4
5
6
7

Description
TO lat-lon
X-Track perpendicular reference point
Current GPS position
A-Track perpendicular reference point
X-Track (cross track)
A-Track (along track)
Distance and bearing from 3 to 1

Figure 11: Navigation Parametres
Table 68: Navigation Data Type
Navigation Data Type
Binary
ASCII

Description

0

GOOD

Navigation is good

1

NOVELOCITY

Navigation has no velocity

2

BADNAV

Navigation calculation failed for an unknown
reason

3

FROM_TO_SAME

“From” is too close to “To” for computation

4

TOO_CLOSE_TO_TO

Position is too close to “To” for computation

5

ANTIPODAL_WAYPTS

Waypoints are antipodal on surface

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Recommended Input:
log navigatea ontime 1

ASCII Example:
#NAVIGATEA,COM1,0,56.0,FINESTEERING,1337,399190.000,00000000,aece,1984;
SOL_COMPUTED,PSRDIFF,SOL_COMPUTED,GOOD,9453.6278,303.066741,133.7313,
9577.9118,1338,349427.562*643cd4e2

Use the NAVIGATE log in conjunction with the SETNAV command to tell you where
you currently are with relation to known To and From points. You can find a specific
latitude, longitude or height knowing where you started from. A backpacker for
example, could use these two commands to program a user-supplied graphical
display on a digital GPS compass to show their progress as they follow a specific
route.

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Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Position type, see Table 50, Position or Velocity
Type on page 252

Enum

4

H+4

vel type

Velocity type, see Table 50, Position or Velocity
Type on page 252

Enum

4

H+8

5

nav type

Navigation data type (see Table 68, Navigation
Data Type on page 368).

Enum

4

H+12

6

distance

Straight line horizontal distance from current
position to the destination waypoint, in metres (see
Figure 11 on page 368). This value is positive when
approaching the waypoint and becomes negative
on passing the waypoint.

Double

8

H+16

7

bearing

Direction from the current position to the destination
waypoint in degrees with respect to True North (or
Magnetic if corrected for magnetic variation by
MAGVAR command)

Double

8

H+24

8

along track

Horizontal track distance from the current position
to the closest point on the waypoint arrival
perpendicular; expressed in metres. This value is
positive when approaching the waypoint and
becomes negative on passing the waypoint.

Double

8

H+32

9

xtrack

The horizontal distance (perpendicular track-error)
from the vessel's present position to the closest
point on the great circle line that joins the FROM
and TO waypoints. If a "track offset" has been
entered in the SETNAV command, xtrack is the
perpendicular error from the "offset track". Xtrack is
expressed in metres. Positive values indicate the
current position is right of the Track, while negative
offset values indicate left.

Double

8

H+40

10

eta week

Estimated GPS week number at time of arrival at
the "TO" waypoint along track arrival perpendicular
based on current position and speed, in units of
GPS weeks. If the receiving antenna is moving at a
speed of less than 0.1 m/s in the direction of the
destination, the value in this field is "9999".

Ulong

4

H+48

Field
#

Field Type

1

NAVIGATE
header

Log header

2

sol status

Solution status, see Table 51, Solution Status on
page 253

3

pos type

4

Data Description

Format

Continued on page 371.

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Data Description

Format

Binary
Bytes

Binary
Offset

eta secs

Estimated GPS seconds into week at time of arrival
at destination waypoint along track arrival
perpendicular, based on current position and
speed, in units of GPS seconds into the week. If the
receiving antenna is moving at a speed of less than
0.1 m/s in the direction of the destination, the value
in this field is "0.000".

Double

8

H+52

12

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+60

13

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field
#

Field Type

11

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Chapter 3

3.3.53 NMEA Standard Logs V123_NMEA
GLMLA

GLONASS ALMANAC DATA

GPALM

ALMANAC DATA

GPGGA

GLOBAL POSITION SYSTEM FIX DATA AND UNDULATION

GPGGALONG GPS FIX DATA, EXTRA PRECISION AND UNDULATION
GPGGARTK

GPS FIX DATA

GPGLL

GEOGRAPHIC POSITION

GPGRS

GPS RANGE RESIDUALS FOR EACH SATELLITE

GPGSA

GPS DOP AN ACTIVE SATELLITES

GPGST

PSEUDORANGE MEASUREMENT NOISE STATISTICS

GPGSV

GPS SATELLITES IN VIEW

GPHDT

NMEA HEADING LOG (ALIGN )

GPRMB

NAVIGATION INFORMATION

GPRMC

GPS SPECIFIC INFORMATION

GPVTG

TRACK MADE GOOD AND GROUND SPEED

GPZDA

UTC TIME AND DATE

The NMEA log structures follow format standards as adopted by the National Marine Electronics
Association. The reference document used is "Standard For Interfacing Marine Electronic Devices
NMEA 0183 Version 3.01". For further information, see the Standards and References section of the
GNSS Reference Book, available on our Web site at http://www.novatel.com/support/docupdates.htm.
The following table contains excerpts from Table 6 of the NMEA Standard which defines the
variables for the NMEA logs. The actual format for each parametre is indicated after its description.

Please see the GPGGA usage box that applies to all NMEA logs on page 314.

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Data Logs

Field Type

Symbol

Definition

Special Format Fields
Status

A

Single character field:
A = Yes, Data Valid, Warning Flag Clear
V = No, Data Invalid, Warning Flag Set

Latitude

llll.ll

Fixed/Variable length field:
degrees|minutes.decimal - 2 fixed digits of degrees, 2 fixed digits of mins and
a variable number of digits for decimal-fraction of mins. Leading zeros always
included for degrees and mins to maintain fixed length. The decimal point and
associated decimal-fraction are optional if full resolution is not required.

Longitude

yyyyy.yy

Fixed/Variable length field:
degrees|minutes.decimal - 3 fixed digits of degrees, 2 fixed digits of mins and
a variable number of digits for decimal-fraction of mins. Leading zeros always
included for degrees and mins to maintain fixed length. The decimal point and
associated decimal-fraction are optional if full resolution is not required

Time

hhmmss.ss

Fixed/Variable length field:
hours|minutes|seconds.decimal - 2 fixed digits of hours, 2 fixed digits of mins,
2 fixed digits of seconds and variable number of digits for decimal-fraction of
seconds. Leading zeros always included for hours, mins and seconds to
maintain fixed length. The decimal point and associated decimal-fraction are
optional if full resolution is not required.

Defined field

Some fields are specified to contain pre-defined constants, most often alpha
characters. Such a field is indicated in this standard by the presence of one or
more valid characters. Excluded from the list of allowable characters are the
following which are used to indicate field types within this standard:
"A", "a", "c", "hh", "hhmmss.ss", "llll.ll", "x", "yyyyy.yy"

Numeric Value Fields
Variable
numbers

x.x

Variable length integer or floating numeric field. Optional leading and trailing
zeros. The decimal point and associated decimal-fraction are optional if full
resolution is not required (example: 73.10 = 73.1 = 073.1 = 73)

Fixed HEX

hh___

Fixed length HEX numbers only, MSB on the left

Information Fields
Variable text

c--c

Variable length valid character field.

Fixed alpha

aa___

Fixed length field of uppercase or lowercase alpha characters

Fixed

xx___

Fixed length field of numeric characters

Fixed text

cc___

Fixed length field of valid characters

NOTES:
1.
2.
3.
4.
5.

373

Spaces may only be used in variable text fields.
A negative sign "-" (HEX 2D) is the first character in a Field if the value is negative. The
sign is omitted if the value is positive.
All data fields are delimited by a comma (,).
Null fields are indicated by no data between two commas (,,). Null fields indicate invalid
data or no data available.
The NMEA Standard requires that message lengths be limited to 82 characters.

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Chapter 3

3.3.54 OMNIHPPOS OmniSTAR HP/XP Position V3_HP
Outputs L-band Extra Performance (XP) or High Performance (HP) position information.
In addition to a NovAtel receiver with L-band capability, a subscription to the OmniSTAR
service is required. Contact NovAtel for details. Contact information may be found on the
back of this manual or you can refer to the Customer Service section in the OEMV Installation
and Operation Manual.
Message ID:
Log Type:

495
Synch

Recommended Input:
log omnihpposa ontime 1

ASCII Example:
#OMNIHPPOSA,COM1,0,67.5,FINESTEERING,1419,320435.000,00000000,808d,2724;
SOL_COMPUTED,OMNISTAR_HP,51.11635489609,-114.03819540112,1063.8314,-16.2713,
WGS84,0.1258,0.2135,0.2342,"1000",8.000,0.000,13,10,10,10,0,00,0,03*e8510806

OmniSTAR HP/XP service is particularly useful for agricultural machine guidance
and many surveying tasks. It operates in real time, and without the need for local
Base Stations or telemetry links. It usually has a 2-sigma (95%) horizontal error
under 10 centimetres and a 99% horizontal error of less than 15 centimetres.

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Field #

Data Logs

Field type

Data Description

1

OMNIHPPOS
header

Log header

2

sol status

Solution status, see Table 51 on page 253

3

pos type

4

Format

Binary Binary
Bytes Offset
H

0

Enum

4

H

Position type, see Table 50 on page 252

Enum

4

H+4

lat

Latitude

Double

8

H+8

5

lon

Longitude

Double

8

H+16

6

hgt

Height above mean sea level

Double

8

H+24

7

undulation

Undulation - the relationship between the geoid
and the WGS84 ellipsoid (m) a

Float

4

H+32

8

datum id#

Datum ID number (see Chapter 2, Table 21,
Reference Ellipsoid Constants on page 97)

Enum

4

H+36

9

lat σ

Latitude standard deviation

Float

4

H+40

10

lon σ

Longitude standard deviation

Float

4

H+44

11

hgt σ

Height standard deviation

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 satellite vehicles tracked

Uchar

1

H+64

16

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+65

17

#ggL1

Number of GPS plus GLONASS L1 used in
solution

Uchar

1

H+66

18

#ggL1L2

Number of GPS plus GLONASS L1 and L2 used
in solution

Uchar

1

H+67

19

Reserved

Uchar

1

H+68

20

ext sol stat

Hex

1

H+69

21

Reserved

Hex

1

H+70

22

sig mask

Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Extended solution status (see Table 53, Extended
Solution Status on page 254)

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due
to differences between the datum in use and WGS84

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3.3.55 OMNIVIS

Omnistar Satellite Visibility List

V3_HP or V13_VBS

This log contains OmniSTAR satellite and visibility information.
For local OmniSTAR beams, the satellite with the smallest local ellipsoid distance is the best
one to use. For global beams, the satellite with the highest elevation is the best one. See also
the Usage Box below.
Message ID:
Log Type:

860
Synch

Recommended Input:
log omnivisa ontime 1

#OMNIVISA,COM1,0,60.5,FINESTEERING,1419,396070.000,00000020,0041,2710;
TRUE,8,
10,0,"MSVW_",0,0.000,1536782000,1200,c685,-1.16,-90.00,
11,0,"MSVC_",0,0.000,1534741000,1200,c685,8.28,-90.00,
12,0,"MSVE_",0,0.000,1530359000,1200,c685,22.97,-90.00,
8,0,"AMSAT",0,0.000,1535137500,1200,c685,34.87,31.09,
7,0,"EASAT",0,0.000,1535152500,1200,c685,91.01,-41.76,
3,0,"AFSAT",0,0.000,1535080000,1200,c685,110.73,-41.76,
4,0,"APSAT",0,0.000,1535137500,1200,2873,185.25,-40.66,
13,0,"OCSAT",0,0.000,1535185000,1200,2873,235.91,-18.57*b35c9cdf

ASCII Example 2:
#OMNIVISA,COM1,0,62.5,FINESTEERING,1419,334202.000,00000020,0041,2710;
FALSE,0*9e0f9078

Local Beams:

When the value is negative, the user is inside the local beam
footprint and a signal should be available. Beams with small
positive values may be available but their availability is not
guaranteed.

Global Beams: Any beams above 0 degrees are visible, however the tracking may
be marginal for elevations less than 10 degrees.

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Field #

Data Logs

Field type

Data Description

1

OMNIVIS
header

Log header

2

valid

Is the list of satellites valid?
0 = FALSE
1 = TRUE

3

#recs

4

Format

Binary Binary
Bytes Offset
H

0

Bool

4

H

Number of records to follow

Ulong

4

H+4

link ID

Satellite link ID

Uchar

1

H+8

5

app flag

Time of applicability flag:

Uchar

1

H+9

6

sat name

Satellite name

String

6

H+10

7

app week

Time of applicability week

Ulong

4

H+16

8

app sec

Time of applicability (s into the week)

GPSec

4

H+20

9

freq

Satellite broadcast frequency (Hz)

Ulong

4

H+28

10

bit rate

Satellite data bit rate

Ushort

2

H+32

11

service id

Satellite service ID

Hex

2

H+34

12

ellip dist

Local ellipsoid distance parametre

Float

4

H+36

13

global elev

Global beam elevation (degrees)

Float

4

H+40

14

Next port offset = H + 8 + (#recs x 32)

15

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+8+
(#recs
x 32)

16

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

377

0 = Valid Now
1 = Invalid
2 = Valid Until
3 = Valid After
4-7 = Reserved

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3.3.56 PASSCOM, PASSXCOM, PASSAUX, PASSUSB Redirect Data V123
The pass-through logging feature enables the receiver to redirect any ASCII or binary data that is
input at a specified port to any specified receiver port. It allows the receiver to perform bi-directional
communications with other devices such as a modem, terminal or another receiver. See also the
INTERFACEMODE command on page 135.
There are several pass-through logs. PASSCOM1, PASSCOM2, PASSCOM3, PASSXCOM1,
PASSXCOM2, PASSXCOM3 and PASSAUX allow for redirection of data that is arriving at COM1,
COM2, COM3, virtual COM1, virtual COM2 or AUX, respectively. The AUX port is available on
OEMV-2-based and OEMV-3-based products. PASSUSB1, PASSUSB2, PASSUSB3 are only
available on receivers that support USB and can be used to redirect data from USB1, USB2, or USB3.
A pass-through log is initiated the same as any other log, that is, LOG [to-port] [data-type] [trigger].
However, pass-through can be more clearly specified as: LOG [to-port] [from-port-AB] [onchanged].
Now, the [from-port-AB] field designates the port which accepts data (that is, COM1, COM2, COM3,
AUX, USB1, USB2, or USB3) as well as the format in which the data is logged by the [to-port] (A for
ASCII or B for Binary).
When the [from-port-AB] field is suffixed with an [A], all data received by that port is redirected to
the [to-port] in ASCII format and logs according to standard NovAtel ASCII format. Therefore, all
incoming ASCII data is redirected and output as ASCII data. However, any binary data received is
converted to a form of ASCII hexadecimal before it is logged.
When the [from-port-AB] field is suffixed with a [B], all data received by that port is redirected to the
[to-port] exactly as it is received. The log header and time-tag adhere to standard NovAtel Binary
format followed by the pass-through data as it was received (ASCII or binary).
Pass-through logs are best utilized by setting the [trigger] field as onchanged or onnew.
If the data being injected is ASCII, then the data is grouped together with the following rules:
•

blocks of 80 characters

•

any block of characters ending in a 

•

any block of characters ending in a 

•

any block remaining in the receiver code when a time-out occurs (100 ms)

If the data being injected is binary, or the port INTERFACEMODE mode is set to GENERIC, then the
data is grouped as follows:
•

blocks of 80 bytes

•

any block remaining in the receiver code when a time-out occurs (100 ms)

If a binary value is encountered in an ASCII output, then the byte is output as a hexadecimal byte
preceded by a backslash and an x. For example 0A is output as \x0A. An actual ‘\’ in the data is output
as \\. The output counts as one pass-through byte although it is four characters.
The first character of each pass-through record is time tagged in GPS weeks and seconds.
PASSCOM1 Message ID:233
PASSCOM2 Message ID:234
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PASSCOM3 Message ID:235
PASSXCOM1 Message ID: 405
PASSXCOM2 Message ID: 406
PASSXCOM3 Message ID: 795
PASSUSB1 Message ID: 607
PASSUSB2 Message ID: 608
PASSUSB3 Message ID: 609
PASSAUX Message ID: 690
Log Type:

Asynch

Recommended Input:
log passcom1a onchanged

Asynchronous logs should only be logged ONCHANGED. Otherwise, the most current data
is not output when it is available. This is especially true of the ONTIME trigger, which may
cause inaccurate time tags to result.
ASCII Example 1:
#PASSCOM2A,COM1,0,59.5,FINESTEERING,1337,400920.135,00000000,2b46,1984;
80,#BESTPOSA,COM3,0,80.0,FINESTEERING,1337,400920.000,00000000,4ca6,1899;
SOL_COMPUT*f9dfab46
#PASSCOM2A,COM1,0,64.0,FINESTEERING,1337,400920.201,00000000,2b46,1984;
80,ED,SINGLE,51.11636326036,-114.03824210485,1062.6015,-16.2713,WGS84,
1.8963,1.0674*807fd3ca
#PASSCOM2A,COM1,0,53.5,FINESTEERING,1337,400920.856,00000000,2b46,1984;
49,,2.2862,"",0.000,0.000,9,9,0,0,0,0,0,0*20b24878\x0d\x0a*3eef4220
#PASSCOM1A,COM1,0,53.5,FINESTEERING,1337,400922.463,00000000,13ff,1984;
17,unlog passcom2a\x0d\x0a*ef8d2508

ASCII Example 2:
#PASSCOM2A,COM1,0,53.0,FINESTEERING,1337,400040.151,00000000,2b46,1984;
80,\x99A\x10\x04\x07yN &\xc6\xea\xf10\x00\x01\xde\x00\x00\x10\xfe\xbf\xfe1\
xfe\x9c\xf4\x03\xe2\xef\x9f\x1f\xf3\xff\xd6\xff\xc3_A~z \xaa\xfe\xbf\xf9\
xd3\xf8\xd4\xf4-\xe8kHo\xe2\x00>\xe0QOC>\xc3\x9c\x11\xff\x7f\xf4\xa1\xf3t\
xf4'\xf4xvo\xe6\x00\x9d*dcd2e989

In the example, note that ‘~’ is a printable character.

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For example, you could connect two OEMV family receivers together via their COM1
ports such as in the figure below (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 passthrough 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.
BESTPOSA data log...

5

1

1

3

4

2

2

INTERFACEMODE com1 rtca novatel off
LOG com1 BESTPOSA ontime 5

FIX POSTION (lat, long, ht)
INTERFACEMODE com1 generic rtca off
LOG com2 PASSCOM1A onnew
LOG com1 RTCAOBS ontime 1
LOG com1 RTCAREF ontime 10

6
7
8
Reference

Description

Reference

Description

1

To COM1

5

Data link

2

To COM2

6

Serial cables

3

Rover receiver

7

Pocket PC - rover

4

Base receiver

8

Laptop PC - base

Figure 12: 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). This chattering in turn
causes the accepting receiver to transmit new pass-through logs with the response
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data from the other receiver. To avoid this chattering problem, use the
INTERFACEMODE command on the accepting port to disable error reporting from
the receiving port command interpreter.
If the accepting port's error reporting is disabled by INTERFACEMODE, the
BESTPOSA data record passes through and creates two records.
The reason that two records are logged from the accepting receiver is because the
first record was initiated by receipt of the BESTPOSA first terminator . Then the
second record followed in response to the BESTPOSA second terminator .
Note that the time interval between the first character received and the terminating
 can be calculated by differencing the two GPS time tags. This pass-through
feature is useful for time tagging the arrival of external messages. These messages
can be any user-related data. If you are using this feature for tagging external events,
it is recommended that the rover receiver be disabled from interpreting commands,
so that the receiver does not respond to the messages, using the INTERFACEMODE
command, see page 135.
If the BESTPOSB binary log data is input to the accepting port (log com2 passcom1a
onchanged), the BESTPOSB binary data at the accepting port is converted to a
variation of ASCII hexadecimal before it is passed through to COM2 port for logging.

Field #

381

Field type

Data Description

1

PASSCOM
header

Log header

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)

Hex

4

H+8+(#bytes)

[CR][LF]

Sentence terminator (ASCII
only)

-

-

-

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3.3.57 PDPPOS

PDP filter position V123

The PDPPOS log contains the pseudorange position computed by the receiver with the PDP filter
enabled. See also the PDPFILTER command on page 159.
Message ID:

469

Log Type:

Synch

Recommended Input:
log pdpposa ontime 1

ASCII Example:
#PDPPOSA,COM1,0,75.5,FINESTEERING,1431,494991.000,00040000,a210,35548;
SOL_COMPUTED,SINGLE,51.11635010310,-114.03832575772,1065.5019,-16.9000,
WGS84,4.7976,2.0897,5.3062,"",0.000,0.000,8,8,0,0,0,0,0,0*3cbfa646

Field #

Field type

1

PDPPOS
header
sol status
pos type
lat
lon
hgt
undulation

2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24

datum id#
lat σ
lon σ
hgt σ
stn id
diff_age
sol_age
#sats
#sats soln
Reserved

xxxx
[CR][LF]

Data Description

Binary
Bytes

Binary
Offset

H

0

Enum
Enum
Double
Double
Double
Float

4
4
8
8
8
4

H
H+4
H+8
H+16
H+24
H+32

Enum
Float
Float
Float
Char[4]
Float
Float
Uchar
Uchar
Uchar
Uchar
Uchar
Uchar
Uchar
Uchar
Hex
-

4
4
4
4
4
4
4
1
1
1
1
1
1
1
1
4
-

H+36
H+40
H+44
H+48
H+52
H+56
H+60
H+64
H+65
H+66
H+67
H+68
H+69
H+70
H+71
H+72
-

Format

Log header
Solution status
Position type
Latitude
Longitude
Height above mean sea level
Undulation - the relationship between the geoid
and the WGS84 ellipsoid (m) a
Datum ID number
Latitude standard deviation
Longitude standard deviation
Height standard deviation
Base station ID
Differential age in seconds
Solution age in seconds
Number of satellite vehicles tracked
Number of satellites in the solution

32-bit CRC (ASCII and Binary only)
Sentence terminator (ASCII only)

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due
to differences between the datum in use and WGS84

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3.3.58 PDPVEL PDP filter velocity V123
The PDPVEL log contains the pseudorange velocity computed by the receiver with the PDP filter
enabled. See also the PDPFILTER command on page 159.
Message ID:
Log Type:

470
Synch

Recommended Input:
log pdpvela ontime 1

ASCII Example:
#PDPVELA,COM1,0,75.0,FINESTEERING,1430,505990.000,00000000,b886,2859;
SOL_COMPUTED,SINGLE,0.150,0.000,27.4126,179.424617,-0.5521,0.0*7746b0fe

Field # Field type
1
2
3
4

PDPVEL
header
sol status
vel type
latency

5
6
7

age
hor spd
trk gnd

8

height

9
10
11

Reserved
xxxx
[CR][LF]

383

Data Description

Format

Log header
Solution status
Velocity type
A measure of the latency in the velocity time tag in
seconds. It should be subtracted from the time to give
improved results.
Differential age in seconds
Horizontal speed over ground, in metres per second
Actual direction of motion over ground (track over ground)
with respect to True North, in degrees
Height in metres where positive values indicate
increasing altitude (up) and negative values indicate
decreasing altitude (down)
32-bit CRC (ASCII and Binary only)
Sentence terminator (ASCII only)

Binary Binary
Bytes Offset
H

0

Enum
Enum
Float

4
4
4

H
H+4
H+8

Float
Double
Double

4
8
8

H+12
H+16
H+24

Double

8

H+32

Float
Hex
-

4
4
-

H+40
H+44
-

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3.3.59 PDPXYZ PDP filter Cartesian position and velocity V123
The PDPXYZ log contains the Cartesian position in X, Y and Z coordinates as computed by the
receiver with the PDP filter enabled. See also the PDPFILTER command on page 159.
Message ID:
Log Type:

471
Synch

Recommended Input:
log pdpxyza ontime 1

ASCII Example:
#PDPXYZA,COM1,0,75.5,FINESTEERING,1431,494991.000,00040000,33ce,35548;
SOL_COMPUTED,SINGLE,-1634531.8128,-3664619.4862,4942496.5025,2.9036,
6.1657,3.0153,SOL_COMPUTED,SINGLE,-2.5588e-308,-3.1719e-308,3.9151e-308,
0.0100,0.0100,0.0100,"",0.150,0.000,0.000,8,8,0,0,0,0,0,0*a20dbd4f

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Field #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31

385

Data Logs
Field type
PDPXYZ
header
P-sol status
pos type
P-X
P-Y
P-Z
P-X σ
P- Y σ
P-Z σ
V-sol status
vel type
V-X
V-Y
V-Z
V-X σ
V-Y σ
V-Z σ
stn ID
V-latency
diff_age
sol_age
#sats
#sats soln
Reserved

xxxx
[CR][LF]

Data Description

Binary
Bytes

Binary
Offset

H

0

Enum
Enum
Double
Double
Double
Float
Float
Float
Enum
Enum
Double
Double
Double
Float
Float
Float
Char[4]
Float

4
4
8
8
8
4
4
4
4
4
8
8
8
4
4
4
4
4

H
H+4
H+8
H+16
H+24
H+32
H+36
H+40
H+44
H+48
H+52
H+60
H+68
H+76
H+80
H+84
H+88
H+92

Float
Float
Uchar
Uchar
Uchar
Uchar
Uchar
Uchar
Uchar
Uchar
Hex
-

4
4
1
1
1
1
1
1
1
1
4
-

H+96
H+100
H+104
H+105
H+106
H+107
H+108
H+109
H+110
H+111
H+112
-

Format

Log header
Solution status
Position type
Position X-coordinate (m)
Position Y-coordinate (m)
Position Z-coordinate (m)
Standard deviation of P-X (m)
Standard deviation of P-Y (m)
Standard deviation of P-Z (m)
Solution status
Velocity type
Velocity vector along X-axis (m)
Velocity vector along Y-axis (m)
Velocity vector along Z-axis (m)
Standard deviation of V-X (m)
Standard deviation of V-Y (m)
Standard deviation of V-Z (m)
Base station ID
A measure of the latency in the velocity time tag in
seconds. It should be subtracted from the time to
give improved results.
Differential age in seconds
Solution age in seconds
Number of satellite vehicles tracked
Number of satellite vehicles used in solution

32-bit CRC (ASCII and Binary only)
Sentence terminator (ASCII only)

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3.3.60 PORTSTATS Port Statistics V123
This log conveys various status parametres of the receiver’s COM ports and, if supported, USB ports.
The receiver maintains a running count of a variety of status indicators of the data link. This log
outputs a report of those indicators.
Message ID:
Log Type:

72
Polled

Recommended Input:
log portstatsa once

ASCII example:
#PORTSTATSA,COM1,0,59.0,FINESTEERING,1337,403086.241,00000000,a872,1984;
6,COM1,4450,58494,4450,0,1869,0,0,0,0,
COM2,5385946,0,5385941,0,192414,0,0,5,0,
COM3,0,1,0,0,0,0,0,0,0,
USB1,0,0,0,0,0,0,0,0,0,
USB2,0,0,0,0,0,0,0,0,0,
USB3,0,0,0,0,0,0,0,0,0*f7f6ea50

Parity and framing errors occur for COM ports if poor transmission lines are
encountered or if there is an incompatibility in the data protocol. If errors occur, you
may need to confirm the bit rate, number of data bits, number of stop bits and parity
of both the transmit and receiving ends. Characters may be dropped when the CPU
is overloaded.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

PORTSTATS
header

Log header

2

#port

Number of ports with information to follow

Long

4

H

3

port

Serial port identifier, see Table 17, COM
Serial Port Identifiers on page 88

Enum

4

H+4

4

rx chars

Total number of characters received through
this port

Ulong

4

H+8

5

tx chars

Total number of characters transmitted
through this port

Ulong

4

H+12

6

acc rx chars

Total number of accepted characters
received through this port

Ulong

4

H+16

7

dropped chars

Number of software overruns

Ulong

4

H+20

8

interrupts

Number of interrupts on this port

Ulong

4

H+24

9

breaks

Number of breaks
(This field does not apply for a USB port and
is always set to 0 for USB.)

Ulong

4

H+28

10

par err

Number of parity errors
(This field does not apply for a USB port and
is always set to 0 for USB.)

Ulong

4

H+32

11

fram err

Number of framing errors
(This field does not apply for a USB port and
is always set to 0 for USB.)

Ulong

4

H+36

12

overruns

Number of hardware overruns

Ulong

4

H+40

13

Next port offset = H + 4 + (#port x 40)

14

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+
(#port x
40)

15

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.61 PSRDOP

Pseudorange DOP V123

The dilution of precision data is calculated using the geometry of only those satellites that are
currently being tracked and used in the position solution by the receiver. This log is updated once
every 60 seconds or whenever a change in the satellite constellation occurs. Therefore, the total
number of data fields output by the log is variable and depends on the number of SVs that are being
tracked.
1.

If a satellite is locked out using the LOCKOUT command, it will still be shown in the
PRN list, but it will be significantly de-weighted in the DOP calculation

2.

The vertical dilution of precision can be calculated by:

Message ID:
Log Type:

vdop =

√ pdop2 - hdop2

174
Asynch

Recommended Input:
log psrdopa onchanged

ASCII Example:
#PSRDOPA,COM1,0,56.5,FINESTEERING,1337,403100.000,00000000,768f,1984;
1.9695,1.7613,1.0630,1.3808,0.8812,5.0,10,14,22,25,1,24,11,5,20,30,7*106de10a

When operating in differential mode, you require at least four common satellites at
the base and rover. The number of common satellites being tracked at large
distances is less than at short distances. This is important because the accuracy of
GPS and DGPS positions depend a great deal on how many satellites are being
used in the solution (redundancy) and the geometry of the satellites being used
(DOP). DOP stands for dilution of precision and refers to the geometry of the
satellites. A good DOP occurs when the satellites being tracked and used are evenly
distributed throughout the sky. A bad DOP occurs when the satellites being tracked
and used are not evenly distributed throughout the sky or grouped together in one
part of the sky.

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Binary
Bytes

Binary
Offset

H

0

Float

4

H

Position dilution of precision - assumes 3-D
position is unknown and receiver clock offset
is known.

Float

4

H+4

hdop

Horizontal dilution of precision.

Float

4

H+8

5

htdop

Horizontal position and time dilution of
precision.

Float

4

H+12

6

tdop

Time dilution of precision - assumes 3-D
position is known and only the receiver clock
offset is unknown.

Float

4

H+16

7

cutoff

Elevation cut-off angle.

Float

4

H+20

8

#PRN

Number of satellites PRNs to follow.

Long

4

H+24

9

PRN

PRN of SV PRN tracking, null field until
position solution available.

Ulong

4

H+28

10...

Next PRN offset = H + 28 + (#prn x 4)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+28+
(#prn x
4)

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field #

Field type

1

PSRDOP
header

Log header

2

gdop

Geometric dilution of precision - assumes 3-D
position and receiver clock offset (all 4
parametres) are unknown.

3

pdop

4

389

Data Description

Format

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3.3.62 PSRPOS

Pseudorange Position V123

This log contains the pseudorange position (in metres) computed by the receiver, along with three
status flags. In addition, it reports other status indicators, including differential age, which is useful in
predicting anomalous behavior brought about by outages in differential corrections.
Message ID:
Log Type:

47
Synch

Recommended Input:
log psrposa ontime 1

ASCII Example:
#PSRPOSA,COM1,0,58.5,FINESTEERING,1419,340037.000,00000040,6326,2724;
SOL_COMPUTED,SINGLE,51.11636177893,-114.03832396506,1062.5470,-16.2712,
WGS84,1.8532,1.4199,3.3168,"",0.000,0.000,12,12,0,0,0,06,0,33*d200a78c

There are variations of DGPS which can easily be perceived as using only one
receiver. For example, the US Coast Guard operates a differential correction service
which broadcasts GPS differential corrections over marine radio beacons. As a user,
all you need is a marine beacon receiver and a GPS receiver to achieve positioning
accuracy of less than 1 metre. In this case, the Coast Guard owns and operates the
base receiver at known coordinates. Other examples of users appearing to use only
one GPS receiver include FM radio station correction services, privately owned radio
transmitters, and corrections carried by communication satellites. Some of the radio
receivers have built-in GPS receivers and combined antennas, so they even appear
to look as one self-contained unit.
The major factors degrading GPS signals which can be removed or reduced with
differential methods are the atmosphere, ionosphere, satellite orbit errors, and
satellite clock errors. Some errors which are not removed include receiver noise and
multipath.

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Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Position type (see Table 50, Position or Velocity
Type on page 252)

Enum

4

H+4

lat

Latitude

Double

8

H+8

5

lon

Longitude

Double

8

H+16

6

hgt

Height above mean sea level

Double

8

H+24

7

undulation

Undulation - the relationship between the geoid
and the WGS84 ellipsoid (m) a

Float

4

H+32

8

datum id#

Datum ID number (see Table 21, Reference
Ellipsoid Constants on page 97)

Enum

4

H+36

9

lat σ

Latitude standard deviation

Float

4

H+40

10

lon σ

Longitude standard deviation

Float

4

H+44

11

hgt σ

Height standard deviation

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 satellite vehicles tracked

Uchar

1

H+64

16

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+65

Uchar

1

H+66

Uchar

1

H+67

Uchar

1

H+68

Hex

1

H+69

Hex

1

H+70

Field #

Field type

Data Description

1

PSRPOS
header

Log header

2

sol status

Solution status (see Table 51, Solution Status on
page 253)

3

pos type

4

17
18

Reserved

19
Extended solution status (see Table 53,
Extended Solution Status on page 254)

Format

20

ext sol stat

21

Reserved

22

sig mask

Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due
to differences between the datum in use and WGS84

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3.3.63 PSRTIME Time Offsets from the Pseudorange Filter V123
This log contains the instantaneous receiver clock offsets calculated in the pseudorange filter for each
GNSS used in the solution.
Message ID:
Log Type:

881
Synch

Recommended Input:
log psrtimea ontime 1

ASCII Example:
#PSRTIMEA,COM1,0,62.5,FINESTEERING,1423,231836.000,00000000,462f,35520;
2,
GPS,-1.2631e-09,7.1562e-09,
GLONASS,-7.0099e-07,2.4243e-08*40aa2af1

Uses for this log include i) estimating the difference between GPS and
GLONASS satellite system times and ii) estimating the difference between UTC and
GLONASS system time.

Field
#

Field type

Data Description

1

PSRTIME
header

Log header

2

#recs

Number of records to follow

3

system

4

Format

Binary Binary
Bytes Offset
H

0

Ulong

4

H

Navigation System
0 = GPS
1 = GLONASS

Enum

4

H+4

offset

GNSS time offset from the pseudorange filter

Double

8

H+8

5

offset stdv

Time offset standard deviation

Double

8

H+12

variable

Next binary offset = H+4+(#recs x 20)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.64 PSRVEL Pseudorange Velocity V123
In the PSRVEL log the actual speed and direction of the receiver antenna over ground is provided.
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. See also the table footnote for velocity logs on page 228.
The velocity in the PSRVEL log is determined by the pseudorange filter. Velocities from the
pseudorange filter are calculated from the Doppler. The PSRVELOCITYTYPE command, see page
170, allows you to specify the Doppler source for pseudorange filter velocities.
The velocity status indicates varying degrees of velocity quality. To ensure healthy velocity, the
velocity sol-status must also be checked. If the sol-status is non-zero, the velocity is likely invalid. It
should be noted that the receiver does not determine the direction a vessel, craft, or vehicle is pointed
(heading), but rather the direction of the motion of the GPS antenna relative to the ground.
The latency of the instantaneous Doppler velocity is always 0.15 seconds. The latency represents an
estimate of the delay caused by the tracking loops under acceleration of approximately 1 G. For most
users, the latency can be assumed to be zero (instantaneous velocity).
Message ID:
Log Type:

100
Synch

Recommended Input:
log psrvela ontime 1

ASCII Example:
#PSRVELA,COM1,0,52.5,FINESTEERING,1337,403362.000,00000000,658b,1984;
SOL_COMPUTED,PSRDIFF,0.250,9.000,0.0698,26.582692,0.0172,0.0*a94e5d48

Consider the case where vehicles are leaving a control center. The control center’s
coordinates are known but the vehicles are on the move. Using the control center’s
position as a reference, the vehicles are able to report where they are with PSRPOS
and their speed and direction with PSRVEL at any time.

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Field Field type
#

Data Description

1

PSRVEL
header

Log header

2

sol status

Solution status, see Table 51, Solution Status on page
253

3

vel type

4

Format

Binary Binary
Bytes Offset
H

0

Enum

4

H

Velocity type, see Table 50, Position or Velocity Type
on page 252

Enum

4

H+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

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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3.3.65 PSRXYZ Pseudorange Cartesian Position and Velocity V123
This log contains the receiver’s pseudorange position and velocity in ECEF coordinates. The position
and velocity status field’s indicate whether or not the corresponding data is valid. See Figure 10, page
265 for a definition of the ECEF coordinates.
The velocity status indicates varying degrees of velocity quality. To ensure healthy velocity, the
velocity sol-status must also be checked. If the sol-status is non-zero, the velocity is likely invalid. It
should be noted that the receiver does not determine the direction a vessel, craft, or vehicle is pointed
(heading), but rather the direction of the motion of the GPS antenna relative to the ground.
The latency of the instantaneous Doppler velocity is always 0.15 seconds. The latency represents an
estimate of the delay caused by the tracking loops under acceleration of approximately 1 G. For must
users, the latency can be assumed to be zero (instantaneous velocity).
Message ID:
Log Type:

243
Synch

Recommended Input:
log psrxyza ontime 1

ASCII Example:
#PSRXYZA,COM1,0,58.5,FINESTEERING,1419,340038.000,00000040,4a28,2724;
SOL_COMPUTED,SINGLE,-1634530.7002,-3664617.2823,4942495.5175,1.7971,
2.3694,2.7582,SOL_COMPUTED,DOPPLER_VELOCITY,0.0028,0.0231,-0.0120,
0.2148,0.2832,0.3297,"",0.150,0.000,0.000,12,12,0,0,0,06,0,33*4fdbcdb1

The instantaneous Doppler is the measured Doppler frequency which consists of the
satellite's motion relative to the receiver (Satellite Doppler + User Doppler) and the
clock (local oscillator) drift.

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Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Position type, see Table 50, Position or Velocity
Type on page 252

Enum

4

H+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

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 51, Solution Status on
page 253

Enum

4

H+44

11

vel type

Velocity type, see Table 50, Position or Velocity
Type on page 252

Enum

4

H+48

12

V-X

Velocity vector along X-axis (m)

Double

8

H+52

13

V-Y

Velocity vector along Y-axis (m)

Double

8

H+60

14

V-Z

Velocity vector along Z-axis (m)

Double

8

H+68

15

V-X σ

Standard deviation of V-X (m)

Float

4

H+76

16

V-Y σ

Standard deviation of V-Y (m)

Float

4

H+80

17

V-Z σ

Standard deviation of V-Z (m)

Float

4

H+84

18

stn ID

Base station ID

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 satellite vehicles tracked

Uchar

1

H+104

23

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+105

Field #

Field type

Data Description

1

PSRXYZ
header

Log header

2

P-sol status

Solution status, see Table 51, Solution Status on
page 253

3

pos type

4

Format

Continued on page 397.

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Field #

Data Logs

Field type

Data Description

24
25

Reserved

26

Binary
Bytes

Binary
Offset

Char

1

H+106

Char

1

H+107

Char

1

H+108

Hex

1

H+109

Hex

1

H+110

27

ext sol stat

28

Reserved

29

sig mask

Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)

Hex

1

H+111

30

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+112

31

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

397

Extended solution status (see Table 53,
Extended Solution Status on page 254)

Format

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3.3.66 RANGE Satellite Range Information V123
RANGE 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 both the L1 and L2 signals are being tracked for a given PRN, two entries with the same PRN
appear in the range logs. As shown in Table 72, Channel Tracking Status on page 400, these entries
can be differentiated by bit 20, which is set if there are multiple observables for a given PRN, and bits
21-22, which denotes whether the observation is for L1 or L2. This is to aid in parsing the data.
Message ID:
Log Type:

43
Synch

Recommended Input:
log rangea ontime 30

ASCII Example:
#RANGEA,COM1,0,63.5,FINESTEERING,1429,226979.000,00000000,5103,2748;
26,
6,0,23359924.081,0.078,-122757217.106875,0.015,-3538.602,43.3,19967.080,
08109c04,
6,0,23359926.375,0.167,-95654966.812027,0.019,-2757.355,36.7,19960.461,
01309c0b,
21,0,20200269.147,0.038,-106153137.954409,0.008,-86.289,49.5,13397.470,
08109c44,
21,0,20200268.815,0.056,-82716721.366921,0.008,-67.242,46.1,13391.980,
01309c4b,
16,0,23945650.428,0.091,-125835245.287192,0.024,-2385.422,41.9,10864.640,
08109c64,
16,0,23945651.399,0.148,-98053428.283142,0.028,-1858.773,37.7,10859.980,
01309c6b,
.
.
.
44,12,19388129.378,0.335,-103786179.553598,0.012,975.676,36.6,3726.656,
18119e24,
44,12,19388136.659,0.167,-80722615.862096,0.000,758.859,42.7,3714.860,
10b19e2b,
43,8,20375687.399,0.253,-108919708.904476,0.012,-2781.090,39.1,10629.934,
18119e84,
43,8,20375689.555,0.177,-84715349.232514,0.000,-2163.074,42.2,10619.916,
10b19e8b*fd2d3125

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Consider the case where you have a computer to record data at a fixed location, and
another laptop in the field also recording data as you travel. Can you take the
difference between the recorded location and the known location of the fixed point
and use that as an error correction for the recorded data in the field?
The simple answer is yes. You can take the difference between recorded position
and known location and apply this as a position correction to your field data. Then,
what is the difference between pseudorange and position differencing?
The correct and more standard way of computing this correction is to compute the
range error to each GPS satellite being tracked at your fixed location and to apply
these range corrections to the observations at your mobile station.
The position corrections method is seldom used in industry. The drawback of this
method is that computed corrections vary depending on the location of the fixed
station. The geometry is not accounted for between the fixed station and the tracked
satellites. Also, position corrections at the fixed site are computed with a certain
group of satellites while the field station is tracking a different group of satellites. In
general, when the position correction method is used, the farther the fixed and field
stations are apart, the less accurate the solution.
The range corrections method is more commonly used in industry. The advantage of
using this method is that it provides consistent range corrections and hence field
positions regardless of the location of your fixed station. You are only able to obtain a
"good" differential position if both the fixed and field stations are tracking the same
four satellites at a minimum.
DGPS refers to using 1 base receiver at a known location and 1 or more rover
receivers at unknown locations. As the position of the base is accurately known, we
can determine the error that is present in GPS at any given instant by either of the
two methods previously described. We counter the bias effects present in GPS
including: ionospheric, tropospheric, ephemeris, receiver and satellite clock errors.
You could choose either method depending on your application and the accuracy
required.
Table 69: Tracking State
State

399

Description

State

Description

0

L1 Idle

7

L1 Frequency-lock loop

1

L1 Sky search

8

L2 Idle

2

L1 Wide frequency band pull-in

9

L2 P-code alignment

3

L1 Narrow frequency band pull-in

10

L2 Search

4

L1 Phase lock loop

11

L2 Phase lock loop

5

L1 Reacquisition

19

L2 Steering

6

L1 Steering

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Table 70: Correlator Type
State

Description

0

N/A

1

Standard correlator: spacing = 1 chip

2

Narrow Correlator®: spacing < 1 chip

3

Reserved

4

Pulse Aperture Correlator (PAC)

5-6

Reserved

Table 71: Channel Tracking Example
N7

N6

N5

N4

N3

N2

N1

N0

0

8

1

0

9

C

0

4

0x
Bit #

31

30

29

28

27

26

25

23

22

21

20

19

18

17

16

15

14

13

Binarya

0

0

0

0

1

0

0 0 0

0

0

1

0

0

0

0

1

0

0

Data

Chan.
Assignment

Primary
L1
Reserved (R)

Value

Automatic

24

Signal Type

Grouping

R
Primary

12

11

1

Satellite
System

Correlator
Spacing

Code
locked
flag

GPS

PAC

Locked

10

9

8

7

6

5

4

3

2

0 0 0 0 0 0 0 1 0 0

1

0

1

1

Parity
flag

Phase
lock
flag

Channel Number

Tracking State

Known

Locked

Channel 0

L1 Phase Lock Loop

R
L1 C/A

Grouped

a. For a complete list of hexadecimal and binary equivalents please refer to the conversions
section of theGNSS Reference Book, available on our Web site at http://www.novatel.com/
support/docupdates.htm.

Table 72: Channel Tracking Status
Nibble #

N0

N1

Bit #

Mask

0

0x00000001

1

0x00000002

2

0x00000004

3

0x00000008

4

0x00000010

5

0x00000020

6

0x00000040

7

0x00000080

8

0x00000100

9

0x00000200

10

0x00000400

Description

Range Value

Tracking state

0-11, see Table 69, Tracking State on
page 399

SV channel number

0-n (0 = first, n = last)
n depends on the receiver

Phase lock flag

0 = Not locked, 1 = Locked

Continued on page 401.

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Chapter 3
Nibble #

N3

N4

N5

N6

N7

Data Logs
Bit #

Mask

Description

Range Value

11

0x00000800

Parity known flag

0 = Not known, 1 = Known

12

0x00001000

Code locked flag

0 = Not locked, 1 = Locked

13

0x00002000

Correlator type

14

0x00004000

0-7, see Table 70, Correlator Type on
page 400

15

0x00008000

16

0x00010000

Satellite system

17

0x00020000

18

0x00040000

0 = GPS
1= GLONASS
2 = WAAS
3-6 = Reserved
7 = Other

19

0x00080000

Reserved

20

0x00100000

Grouping

0 = Not grouped, 1 = Grouped

21

0x00200000

Signal type

22

0x00400000

23

0x00800000

24

0x01000000

25

0x02000000

Dependent on satellite system above:
GPS:
GLONASS:
0 = L1 C/A
0 = L1 C/A
5 = L2 P
5 = L2 P
9 = L2 P codeless
17 = L2C
SBAS:
Other:
0 = L1 C/A
19 = OmniSTAR
23 = CDGPS

26

0x04000000

Forward Error Correction

0 = Not FEC, 1 = FEC

27

0x08000000

Primary L1 channel

0 = Not primary, 1 = Primary

28

0x10000000

Carrier phase
measurement a

0 = Half Cycle Not Added,
1 = Half Cycle Added

29

Reserved

30

0x40000000

PRN lock flag b

0 = PRN Not Locked Out,

31

0x80000000

Channel assignment

0 = Automatic, 1 = Forced

a. This bit is zero until the parity is known and the parity known flag (bit 11) is set to 1.
b. A PRN can be locked out using the LOCKOUT command, see also page 142.

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Field #

Chapter 3
Field
type

Data Description

1

RANGE
header

Log header

2

# obs

Number of observations with information to follow a

3

PRN/
slot

4

Format

Binary
Bytes

Binary
Offset

H

0

Long

4

H

Satellite PRN number of range measurement
(GPS: 1 to 32, SBAS: 120 to 138, and GLONASS: 38 to
61, see Section 1.3 on page 29)

UShort

2

H+4

glofreq

(GLONASS Frequency + 7), see Section 1.3 on page
29.

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

Carrier to noise density ratio
C/No = 10[log10(S/N0)] (dB-Hz)

Float

4

H+36

11

locktime

# of seconds of continuous tracking (no cycle slipping)

Float

4

H+40

12

ch-trstatus

Tracking status (see 72, Channel Tracking Status on
page 400 and the example in Table 71)

ULong

4

H+44

13...

Next PRN offset = H + 4 + (#obs x 44)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+
(#obs x
44)

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. Satellite PRNs may have two lines of observations, one for the L1 frequency and the other for L2.

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3.3.67 RANGECMP Compressed Version of the RANGE Log V123
Message ID:
Log Type:

140
Synch

Recommended Input:
log rangecmpa ontime 10

Example:
#RANGECMPA,COM1,0,63.5,FINESTEERING,1429,226780.000,00000000,9691,2748;
26,
049c10081857f2df1f4a130ba2888eb9600603a709030000,
0b9c3001225bf58f334a130bb1e2bed473062fa609020000,
449c1008340400e0aaa9a109a7535bac2015cf71c6030000,
4b9c300145030010a6a9a10959c2f09120151f7166030000,
...
0b9d301113c8ffefc284000c6ea051dbf3089da1a0010000,
249d1018c6b7f67fa228820af2e5e39830180ae1a8030000,
2b9d301165c4f8ffb228820a500a089f31185fe0a8020000,
449d1018be18f41f2aacad0a1a934efc40074ecf88030000,
4b9d301182b9f69f38acad0a3e3ac28841079fcb88020000,
849d101817a1f95f16d7af0a69fbe1fa401d3fd064030000,
8b9d30112909fb2f20d7af0a9f24a687521ddece64020000,
249e1118af4e0470f66d4309a0a631cd642cf5b821320000,
2b9eb110a55903502f6e4309ee28d1ad032c7cb7e1320000,
849e1118b878f54f4ed2aa098c35558a532bde1765220000,
8b9eb110abcff71f5ed2aa09cb6ad0f9032b9d16c5220000*0eeead18

Consider the case where commercial vehicles are leaving a control center. The
control center’s coordinates are known but the vehicles are on the move. Using the
control center’s position as a reference, the vehicles are able to report where they
are at any time. Post-processed information gives more accurate comparisons.
Post-processing can provide post-mission position and velocity using raw GPS
collected from the vehicles. The logs necessary for post-processing include:
RANGECMPB ONTIME 1
RAWEPHEMB ONNEW
Above, we describe and give an example of data collection for post-processing. OEMV-based
output is compatible with post-processing software from the Waypoint Products Group,
NovAtel Inc. See also www.novatel.com for details.

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Table 73: Range Record Format (RANGECMP only)

Data

Bit(s) first to last

Length (bits)

Scale Factor

Units

Channel Tracking
Status

0-31

32

see Table 72, Channel
Tracking Status on page 400

-

Doppler Frequency

32-59

28

1/256

Hz

Pseudorange (PSR)

60-95

36

1/128

m

ADR a

96-127

32

1/256

cycles

StdDev-PSR

128-131

4

see note b

m

StdDev-ADR

132-135

4

(n + 1)/512

cycles

PRN/Slot c

136-143

8

1

-

Lock Time d

144-164

21

1/32

s

C/No e

165-169

5

(20 + n)

dB-Hz

Reserved

170-191

22

a. ADR (Accumulated Doppler Range) is calculated as follows:
ADR_ROLLS = (RANGECMP_PSR / WAVELENGTH + RANGECMP_ADR) / MAX_VALUE
Round to the closest integer
IF (ADR_ROLLS ≤ 0)
ADR_ROLLS = ADR_ROLLS - 0.5
ELSE
ADR_ROLLS = ADR_ROLLS + 0.5
At this point integerise ADR_ROLLS
CORRECTED_ADR = RANGECMP_ADR - (MAX_VALUE*ADR_ROLLS)
where
ADR has units of cycles
WAVELENGTH = 0.1902936727984 for GPS L1 Note: GLONASS satellites emit L1 and L2 carrier waves at
WAVELENGTH = 0.2442102134246 for GPS L2
a satellite-specific frequency, refer to the GNSS RefMAX_VALUE = 8388608
erence Book for more on GLONASS frequencies.

b.

Code
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

StdDev-PSR (m)
0.050
0.075
0.113
0.169
0.253
0.380
0.570
0.854
1.281
2.375
4.750
9.500
19.000
38.000
76.000
152.000

c. GPS: 1 to 32, SBAS: 120 to 138, and GLONASS: 38 to 61, see Section 1.3 on page 29.
d. The Lock Time field of the RANGECMP log is constrained to a maximum value of 2,097,151
which represents a lock time of 65535.96875 s (2097151 ÷ 32).

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e. C/No is constrained to a value between 20-51 dB-Hz. Thus, if it is reported that C/No = 20 dB-Hz, the
actual value could be less. Likewise, if it is reported that C/No = 51, the true value could be greater.

Field #

Field Type

1

RANGECMP
header

Log header

2

#obs

Number of satellite observations with
information to follow.

3

1st range
record

Compressed range log in format of
Table 73 on page 404

4

Next rangecmp offset = H + 4 + (#obs x 24)

variable

xxxx

variable

[CR][LF]

405

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

Long

4

H

Hex

24

H+4

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+
(#obs x
24)

Sentence terminator (ASCII only)

-

-

-

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3.3.68 RANGEGPSL1 L1 Version of the RANGE Log V123
This log is identical to the RANGE log, see page 398, except that it only includes L1 GPS +
GLONASS observations.
Message ID:
Log Type:

631
Synch

Recommended Input:
log rangegpsl1a ontime 30

ASCII Example:
#RANGEGPSL1A,COM1,0,57.0,FINESTEERING,1337,404766.000,00000000,5862,1984;
10,
14,0,21773427.400,0.037,-114420590.433332,0.006,-2408.171,49.9,14963.280,
18109c04,
22,0,24822942.668,0.045,-130445851.055756,0.009,-3440.031,48.0,22312.971,
08109c24,
25,0,20831000.299,0.033,-109468139.214586,0.006,1096.876,50.7,7887.840,
08109c44,
1,0,20401022.863,0.032,-107208568.887106,0.006,-429.690,51.1,10791.500,
18109c64,
24,0,23988223.932,0.074,-126058964.619453,0.013,2519.418,43.8,493.550,
18109c84,
11,0,22154466.593,0.043,-116423014.826717,0.007,-1661.273,48.4,11020.952,
08109ca4,
5,0,24322401.516,0.067,-127815012.260616,0.012,-1363.596,44.6,6360.282,
18109cc4,
20,0,22294469.347,0.043,-117158267.467388,0.008,2896.813,48.5,4635.968,
08109ce4,
30,0,23267589.649,0.051,-122271969.418761,0.009,822.194,47.0,4542.270,
08109d04,
23,0,24975654.673,0.058,-131247903.805678,0.009,3395.097,45.9,406.762,
18109d24*be4b7d70

Since the RANGEGPSL1 log includes only L1 GPS observations, it it smaller in size
than the RANGE log which contain entries for both L1 and L2. Use the
RANGEGPSL1 log when data throughput is limited and you are only interested in
GPS L1 range data. For L1 only models, RANGE and RANGEGPSL1 logs are
identical.

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Field #

Data Logs

Field type

Data Description

1

RANGEGPSL1
header

Log header

2

# obs

Number of L1 observations with information to
follow

3

PRN

Satellite PRN number of range measurement
(GPS: 1 to 32)

4

Reserved

5

psr

6

Format

Binary
Bytes

Binary
Offset

H

0

Long

4

H

UShort

2

H+4

UShort

2

H+6

Pseudorange measurement (m)

Double

8

H+8

psr std

Pseudorange measurement standard
deviation (m)

Float

4

H+16

7

adr

Carrier phase, in cycles (accumulated Doppler
range)

Double

8

H+20

8

adr std

Estimated carrier phase standard deviation
(cycles)

Float

4

H+28

9

dopp

Instantaneous carrier Doppler frequency (Hz)

Float

4

H+32

10

C/No

Carrier to noise density ratio
C/No = 10[log10(S/N0)] (dB-Hz)

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 72, Channel Tracking
Status on page 400)

ULong

4

H+44

13...

Next PRN offset = H + 4 + (#obs x 44)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+
(#obs x
44)

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.69 RAWALM

Raw Almanac Data V123

This log contains the undecoded almanac subframes as received from the satellite. For more
information about Almanac data, refer to the GNSS Reference Book, available on our Web site at http://
www.novatel.com/support/docupdates.htm.

Message ID:
Log Type:

74
Asynch

Recommended Input:
log rawalma onchanged

ASCII Example:
#RAWALMA,COM1,0,56.0,SATTIME,1337,405078.000,00000000,cc1b,1984;
1337,589824.000,43,
3,8b04e4839f35433a5590f5aefd3900a10c9aaa6f40187925e50b9f03003f,
27,8b04e483a1325b9cde9007f2fd5300a10da5562da3adc0966488dd01001a,
4,8b04e483a1b44439979006e2fd4f00a10d15d96b3b021e6c6c5f23feff3c,
28,8b04e483a3b05c5509900b7cfd5800a10cc483e2bfa1d2613003bd050017,
5,8b04e483a43745351c90fcb0fd4500a10d8a800f0328067e5df8b6100031,
57,8b04e483a6337964e036d74017509f38e13112df8dd92d040605eeaaaaaa,
6,8b04e483a6b54633e390fa8bfd3f00a10d4facbc80b322528f62146800ba,
29,8b04e483a8b05d47f7901b20fd5700a10ce02d570ed40a0a2216412400cb,
7,8b04e483a935476dee90fb94fd4300a10d93aba327b7794ae853c02700ba,
.
.
.
1,8b04e483d8b641305a901b9dfd5a00a10ce92f48f1ba0a5dcccb7500003b,
25,8b04e483dab25962259004fcfd4c00a10dc154eee5c555d7a2a5010d000d,
2,8b04e483db37424aa6900720fd4f00a10c5ad89baa4dc1460790b6fc000f,
26,8b04e483dd305a878c901d32fd5b00a10c902eb7f51db6b6ce95c701fff4*83cae97a

The OEMV family of receivers automatically saves almanacs in their non-volatile
memory (NVM), therefore creating an almanac boot file is not necessary.

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Field #

Field type

Data Description

1

RAWALM
header

Log header

2

ref week

Almanac reference week number

3

ref secs

4

Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

Almanac reference time (s)

GPSec

4

H+4

subframes

Number of subframes to follow

Ulong

4

H+8

5

svid

SV ID (satellite vehicle ID) a

UShort

2

H+12

6

data

Subframe page data

Hex

30

H+14

7...

Next subframe offset = H + 12 + (subframe x 32)

variabl
e

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H + 12 +
(32 x
subframes)

variabl
e

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. A value between 1 and 32 for the SV ID indicates the PRN of the satellite. Any other values
indicate the page ID. See section 20.3.3.5.1.1, Data ID and SV ID, of ICD-GPS-200C for more
details. To obtain copies of ICD-GPS-200, see ARINC in the Standards and References section
of the GNSS Reference Book found on our Web site.

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3.3.70 RAWEPHEM

Raw Ephemeris V123

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.
Ephemeris data whose TOE (Time Of Ephemeris) is older than six hours is not shown.
Message ID: 41
Log Type: Asynch
Recommended Input:
log rawephema onnew

ASCII Example:
#RAWEPHEMA,COM1,15,60.5,FINESTEERING,1337,405297.175,00000000,97b7,1984;
3,1337,403184,8b04e4818da44e50007b0d9c05ee664ffbfe695df763626f00001b03c6b3,
8b04e4818e2b63060536608fd8cdaa051803a41261157ea10d2610626f3d,
8b04e4818ead0006aa7f7ef8ffda25c1a69a14881879b9c6ffa79863f9f2*0bb16ac3
.
.
.
#RAWEPHEMA,COM1,0,60.5,SATTIME,1337,405390.000,00000000,97b7,1984;
1,1337,410400,8b04e483f7244e50011d7a6105ee664ffbfe695df9e1643200001200aa92,
8b04e483f7a9e1faab2b16a27c7d41fb5c0304794811f7a10d40b564327e,
8b04e483f82c00252f57a782001b282027a31c0fba0fc525ffac84e10a06*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 GPS 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 parametres. Since there is
extensive processing involved, these files are available on a delayed schedule from
the US National Geodetic Survey at: http://www.ngs.noaa.gov/GPS/GPS.html
Precise ephemeris files are available today to correct GPS data which was collected
a few days ago. All you need is one GPS 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 #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RAWEPHEM
header

Log header

2

prn

Satellite PRN number

Ulong

4

H

3

ref week

Ephemeris reference week number

Ulong

4

H+4

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)

Hex

4

H+102

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.71 RAWGPSSUBFRAME

Raw Subframe Data V123

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 that in Field #5, the ‘data’ field
below, we have stripped out these 60 parity bits, 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:
Log Type:

25
Asynch

Recommended Input:
log rawgpssubframea onnew

ASCII Example:
#RAWGPSSUBFRAMEA,COM1,59,62.5,SATTIME,1337,405348.000,00000000,f690,1984;2,22
,4,8b04e483f3b17ee037a3732fe0fc8ccf074303ebdf2f6505f5aaaaaaaaa9,2*41e768e4
...
#RAWGPSSUBFRAMEA,COM1,35,62.5,SATTIME,1337,405576.000,00000000,f690,1984;4,25
,2,8b04e48406a8b9fe8b364d786ee827ff2f062258840ea4a10e20b964327e,4*52d460a7
...
#RAWGPSSUBFRAMEA,COM1,0,62.5,SATTIME,1337,400632.000,00000000,f690,1984;20,9,
3,8b04e4826aadff3557257871000a26fc34a31d7a300bede5ffa3de7e06af,20*55d16a4a

The RAWGPSSUBFRAME log can be used to receive the data bits with the parity
bits stripped out. Alternately, you can use the RAWGPSWORD log to receive the
parity bits in addition to the data bits.

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Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RAWGPSSUBFRAME header

Log header

2

decode #

Frame decoder number

Ulong

4

H

3

PRN

Satellite PRN number

Ulong

4

H+4

4

subfr id

Subframe ID

Ulong

4

H+8

5

data

Raw subframe data

Hex[30]

32a

H+12

6

chan

Signal channel number that
the frame was decoded on.

Ulong

4

H+44

7

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+48

8

[CR][LF]

Sentence terminator (ASCII
only)

-

-

-

a. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment

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3.3.72 RAWGPSWORD Raw Navigation Word V123
This message contains the framed 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 time stamp
in the log header is the time that 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:
Log Type:

407
Asynch

Recommended Input:
log rawgpsworda onnew

ASCII Example:
#RAWGPSWORDA,COM1,0,58.5,FINESTEERING,1337,405704.473,00000000,9b16,1984;
14,7ff9f5dc*8e7b8721
...
#RAWGPSWORDA,COM1,0,57.0,FINESTEERING,1337,405783.068,00000000,9b16,1984;
1,93feff8a*6dd62c81
...
#RAWGPSWORDA,COM1,0,55.5,FINESTEERING,1337,405784.882,00000000,9b16,1984;
5,fffff8ce*a948b4de

The RAWGPSWORD log can be used to receive the parity bits in addition to the data
bits. Alternately, you can use the RAWGPSSUBFRAME log which already has the
parity bits stripped out.

Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RAWGPSWORD header

Log header

2

PRN

Satellite PRN number

Ulong

4

H

3

nav word

Raw navigation word

Ulong

4

H+4

4

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+8

5

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.73 RAWLBANDFRAME Raw L-band Frame Data V13_CDGPS
This log contains the raw L-band frame data if you are tracking CDGPS. The RAWLBANDPACKET
is output for OmniSTAR tracking.
1.

In addition to a NovAtel receiver with L-band capability, use of the free CDGPS service
is required. Contact NovAtel for details. Contact information may be found on the back
of this manual or you can refer to the Customer Service section in the OEMV Family
Installation and Operation User Manual.

2.

Please use the RAWLBANDPACKET log for raw OmniSTAR frame data, see page 417.

Message ID:
Log Type:

732
Asynch

Recommended Input:
log rawlbandframea onnew

ASCII Example:
#RAWLBANDFRAMEA,COM2,0,73.5,FINESTEERING,1295,152802.068,00000040,4f80,34461;
9,1a1e,600,f6,00,62,35,c8,cd,34,e7,6a,a1,37,44,8f,a8,24,71,90,d0,5f,94,2d,94,
3c,74,9c,f0,12,a3,4c,a7,30,aa,b6,2e,27,dd,dc,24,ba,d3,76,8d,76,d9,e7,83,1a,c8
,81,b0,62,1c,69,88,23,70,2a,06,c0,fc,f8,80,2c,72,f1,2e,6b,c2,5b,ec,03,70,d3,f
3,fe,ef,37,3d,17,37,1b,cf,be,af,d1,02,15,96,d1,f6,58,56,ac,bd,a3,11,12,d0,3d,
11,27,8a,87,28,0c,0f,52,70,b3,2f,0c,0c,62,2d,b8,69,6c,52,10,df,7d,bb,08,d6,ca
,a9,5e,77,66,96,c2,a0,63,3b,98,34,bc,d5,47,64,e0,00,37,10,4a,f7,c1,b6,83,8f,0
6,94,21,ff,b4,27,15,b0,60,40,02,b4,af,9c,9d,c2,d4,ea,95,68,86,0f,0a,9d,2d,36,
52,68,65,b8,a2,0b,00,21,80,64,8a,72,ff,59,b7,79,b9,49,fd,f5,3c,48,1c,2f,77,f1
,b2,9e,58,0a,81,05,1f,00,7b,00,1e,68,c9,a3,12,56,b8,2a,32,df,d9,ea,03,9b,16,c
6,17,2f,33,b3,5f,c4,f9,d2,97,75,64,06,52,a1,b2,3a,4b,69,e7,eb,0f,97,d3,e6,bf,
de,af,37,c6,10,13,9b,dc,c9,e3,22,80,78,3f,78,90,d5,9f,d3,5f,af,1f,7a,75,ef,77
,8e,de,ac,00,32,2e,79,fb,3f,65,f3,4f,28,77,b4,6d,f2,6f,31,24,b2,40,76,37,27,b
c,95,33,15,01,76,d5,f1,c4,75,16,e6,c6,ab,f2,fe,34,d9,c3,55,85,61,49,e6,a4,4e,
8b,2a,60,57,8a,e5,77,02,fc,9c,7d,d4,40,4c,1d,11,3c,9b,8e,c3,73,d3,3c,0d,ff,18
.
.
.
,7a,21,05,cb,12,f6,dd,c3,df,69,62,f5,70*3791693b

The data signal is structured to perform well in difficult, or foliated conditions, so the
service is available more consistently and has a higher degree of service reliability.

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Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RAWLBANDFRAME
header

Log header

2

frame#

Frame number
(maximum = 9)

Ushort

2

H+2

3

channelcode

10-bit channel code word

Ushort

2

H+4

4

data

Raw L-band frame data

Uchar[1200]

1200

H+6

5

xxxx

32-bit CRC (ASCII and
Binary only)

Hex

4

H+1206

6

[CR][LF]

Sentence terminator (ASCII
only)

-

-

-

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3.3.74 RAWLBANDPACKET Raw L-band Data Packet V13_VBS or V3_HP
This log contains the raw L-band packet data. The RAWLBANDPACKET log is only output for
OmniSTAR tracking. If you are tracking CDGPS, only the RAWLBANDFRAME log is output.
In addition to a NovAtel receiver with L-band capability, a subscription to the OmniSTAR
service is required. Contact NovAtel for details. Contact information may be found on the
back of this manual or you can refer to the Customer Service section in the OEMV Family
Installation and Operation User Manual.
Message ID:
Log Type:

733
Asynch

Recommended Input:
log rawlbandpacketa onnew

ASCII Example:
#RAWLBANDPACKETA,COM2,0,77.0,FINESTEERING,1295,238642.610,01000040,c5b1,34461
;9,07,de,3a,f9,df,30,7b,0d,cb*7e5205a8

OmniSTAR currently has several high-powered satellites in use around the world.
They provide coverage for most of the Earth’s land areas. Subscriptions are sold by
geographic area. Any regional OmniSTAR service center can sell and activate
subscriptions for any area. They may be arranged prior to travelling to a new area, or
after arrival. Contact OmniSTAR at www.omnistar.com for further details.

Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RAWLBANDPACKET
header

Log header

2

#recs

Number of records to follow

Ulong

4

H

3

data

Raw L-band data packet.

Uchar[128]

128

H +4

4

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+128

5

[CR][LF]

Sentence terminator (ASCII
only)

-

-

-

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3.3.75 RAWWAASFRAME Raw SBAS Frame Data V123_SBAS
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:
Log Type:

287
Asynch

Recommended Input:
log rawwaasframea onnew

ASCII Example:
#RAWWAASFRAMEA,COM1,0,39.0,SATTIME,1337,405963.000,00000000,58e4,1984;29,122,
10,5328360984c80130644dc53800c004b124400000000000000000000000,29*7b398c7a
#RAWWAASFRAMEA,COM1,0,43.0,SATTIME,1337,405964.000,00000000,58e4,1984;29,122,
3,9a0e9ffc035fffff5ffc00dffc008044004005ffdfffabbb9b96217b80,29*f2139bad
#RAWWAASFRAMEA,COM1,0,43.0,SATTIME,1337,405965.000,00000000,58e4,1984;29,122,
2,c608bff9ffdffffec00bfa4019ffdffdfffffc04c0097bb9f27bb97940,29*364848b7
...
#RAWWAASFRAMEA,COM1,0,44.5,SATTIME,1337,405983.000,00000000,58e4,1984;29,122,
2,c608bff5ffdffffec00ffa8015ffdffdfffff804c0017bb9f27bb97940,29*a5dc4590

The RAWWAASFRAME log output contains all the raw data required for an
application to compute its own SBAS correction parametres.

Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RAAWWAASFRAME
header

Log header

2

decode #

Frame decoder number

Ulong

4

H

3

PRN

SBAS satellite PRN number

Ulong

4

H+4

4

WAASmsg id

SBAS frame ID

Ulong

4

H+8

5

data

Raw SBAS frame data. There are
226 bits of data and 6 bits of
padding.

Uchar[29]

32a

H+12

6

chan

Signal channel number that the
frame was decoded on

Ulong

4

H+44

7

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+48

8

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment

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3.3.76 REFSTATION Base Station Position and Health V123_RT20 or
V23_RT2
This log contains the ECEF Cartesian position of the base station as received through the RTCM,
RTCMV3, RTCA, or CMR message. It also features a time tag, the health status of the base station,
and the station ID. This information is set at the base station using the FIX POSITION command and
the DGPSTXID command. See Figure 10, page 265 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 multiply satellite UDRE one-sigma differential error values. Below are values 0 to 5 and
their corresponding UDRE scale factors:
0: 1 (Health OK) 1: 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 that the base
station transmission is not monitored and a value of 7 means that the base station is not working.
Message ID:
Log Type:

175
Asynch

Recommended Input:
log refstationa onchanged

ASCII Example:
#REFSTATIONA,COM1,0,66.5,FINESTEERING,1364,490401.124,80000000,4e46,2310;
00000000,-1634532.443,-3664608.907,4942482.713,0,RTCA,"AAAA"*1e2a0508

Table 74: Base Station Status
Bit #
0

Mask

Description

0x00000001

Validity of the base station.

Bit = 0

Bit = 1

Valid

Invalid

Table 75: Base Station Type
Base Station Type
(Binary) (ASCII)

Description

0

NONE

Base station is not used

1

RTCM

Base station is RTCM

2

RTCA

Base station is RTCA

3

CMR

Base station is CMR

4

RTCMV3

Base station is RTCMV3

The REFSTATION log can be used for checking the operational status of a remotely
located base station. You can verify that the base station is operating properly without
travelling to it. This is especially useful for RTK work on long baselines.

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Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

REFSTATION
header

Log header

2

status

Status of the base station information (see
Table 74 below)

ULong

4

H

3

x

ECEF X value

Double

8

H+4

4

y

ECEF Y value

Double

8

H+12

5

z

ECEF Z value

Double

8

H+20

6

health

Base station health, see the 2nd
paragraph on the previous page

Ulong

4

H+28

7

stn type

Base station type (see Table 75, Base
Station Type on page 419)

Enum

4

H+32

8

stn ID

Base station ID

Char[5]

8a

H+36

9

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+44

10

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment

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ROVER Position using ALIGN V123_ALIGN

3.3.77 ROVERPOS

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. Refer to the ALIGN
application note on our Web site at http://www.novatel.com/support/applicationnotes.htm.

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.
You must have an ALIGN -capable receiver to use this log, see Table 103 on page 570.
The log can be output at YZ Model Rover only if it is receiving the RTCAREFEXT message
from the Master. The log can be output at any Master if Master is receiving HEADINGEXTA
or HEADINGEXTB from the YZ Rover.
Message ID:
Log Type:

1052 (ROVERPOS)
ASynch

Recommended Input:
log roverposa onchanged

Example 1:
#ROVERPOSA,COM1,0,21.5,FINESTEERING,1544,340322.000,00000008,7453,4655;
SOL_COMPUTED,NARROW_INT,51.11605565964,-114.03854655975,1055.8559,16.9000,WGS84,0.0130,0.0122,0.0206,"RRRR",0.0,0.0,13,12,12,11,0,0,0,0*635b3a1
c

Asynchronous logs, such as ROVERPOS, 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.

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Field #
1

Chapter 3

Field Type

2

ROVERPOS
header
sol stat

3

pos type

4
5
6
7
8
9
10
11
12
13
14
15
16

lat
long
hgt
undulation
datum id#
lat σ
long σ
hgt σ
stn id
Reserved

17

#obs

18

#multi

19
20
21
22
23
24

Reserved

#SVs
#solnSVs

xxxx
[CR][LF]

Field Description

Binary
Format

Log Header
Solution Status, see Table 51 on page
253
Position Type see Table 50 on page
252
Rover WGS84 Latitude in degrees
Rover WGS84 Longitude in degrees
Rover MSL Height in metres
Undulation in metres
WGS84 (default)
Latitude Std in metres
Longitude Std in metres
Height Std in metres
Receiver ID (currently, “RRRR”)

Number of satellite vehicles tracked
Number of satellite vehicles used in
solution
Number of satellites above elevation
mask angle
Number of satellites above the mask
angle with L2

Sentence Terminator (ASCII only)

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Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Enum

4

H+4

Double
Double
Double
Float
Enum
Float
Float
Float
Char[4]
Float
Float
Uchar
Uchar

8
8
8
4
4
4
4
4
4
4
4
1
1

H+8
H+16
H+24
H+32
H+36
H+40
H+44
H+48
H+52
H+56
H+60
H+64
H+65

Uchar

1

H+66

Uchar

1

H+67

Uchar
Uchar
Uchar
Uchar
HEX
-

1
1
1
1
1

H+68
H+69
H+70
H+71
H+72
-

-

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3.3.78 RTCA Standard Logs V123_DGPS
RTCA1
DIFFERENTIAL GPS CORRECTIONS
Message ID: 10
RTCAEPHEM EPHEMERIS AND TIME INFORMATION
Message ID: 347
RTCAOBS
Message ID: 6

BASE STATION OBSERVATIONS

V123_RT20 or V23_RT2

RTCAOBS2
BASE STATION OBSERVATIONS 2
Message ID: 805
RTCAREF
BASE STATION PARAMETRES
Message ID: 11

V123_RT20 or V23_RT2

V123_RT20 or V23_RT2

1.

The above messages can be logged with an A or B suffix for an ASCII or Binary output
with a NovAtel header followed by Hex or Binary raw data respectively.

2.

When you plan to send both RTCAOBS2 and RTCAOBS messages, ensure you send the
RTCAOBS2 message first, before RTCAOBS.

3.

RTCADATA logs output the details of the above logs if they have been sent.

The RTCA (Radio Technical Commission for Aviation Services) Standard is being designed to
support Differential Global Navigation Satellite System (DGNSS) Special Category I (SCAT-I)
precision instrument approaches. The RTCA Standard is in a preliminary state. Described below is
NovAtel’s current support for this standard. It is based on “Minimum Aviation System Performance
Standards DGNSS Instrument Approach System: Special Category I (SCAT-I)”.1
NovAtel has defined four proprietary RTCA Standard Type 7 binary-format messages, RTCAOBS,
RTCAOBS2, RTCAREF and RTCAEPHEM for base station transmissions. These can be used with
either single or dual-frequency NovAtel receivers. The RTCA message format outperforms the RTCM
format in the following ways, among others:
•

a more efficient data structure (lower overhead)

•

better error detection

•

allowance for a longer message, if necessary

RTCAREF and RTCAOBS, respectively, correspond to the RTCM Type 3 and Type 59 logs used in
single-frequency-only measurements. Both are NovAtel-proprietary RTCA Standard Type 7 messages
with an ‘N’ primary sub-label.
Refer to the Receiving and Transmitting Corrections section in the OEMV Installation and Operation
1.For further information on RTCA Standard messages, you may wish to refer to:
Minimum Aviation System Performance Standards - DGNSS Instrument Approach System:
Special Category I (SCAT-I), Document No. RTCA/DO-217 (April 19,1995); Appx A, Pg 21
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Manual for more information on using these message formats for differential operation.
Input Example
interfacemode com2 none RTCA
fix position 51.1136 -114.0435 1059.4
log com2 rtcaobs2 ontime 1
log com2 rtcaobs ontime 1
log com2 rtcaref ontime 10
log com2 rtca1 ontime 5
log com2 rtcaephem ontime 10 1

CDGPS Corrections Over a Serial Port
This feature allows any OEMV receiver to receive Modified RTCA (MRTCA) corrections via a serial
port to obtain a CDGPS position. This is useful on a receiver, such as the OEMV-2, that does not have
the necessary RF components to track the CDGPS signal directly. Currently, you must use this feature
in combination with a CDGPS-capable receiver like an OEMV-1 or OEMV-3, which can access the
CDGPS signals and then re-broadcast them to MRTCA corrections.
Use the interface mode called MRTCA. If the corrections are input on COM2, enter:
INTERFACEMODE COM2 MRTCA NONE
for the receiver to output a CDGPS position.
Refer also to the INTERFACEMODE command on page 135.

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3.3.79 RTCADATA1 Differential GPS Corrections V123_DGPS
See Section 3.3.78 starting on page 423 for information on RTCA standard logs.
Message ID:
Log Type:

392
Synch

Recommended Input:
log rtcadata1a ontime 10 3

ASCII Example:
#RTCADATA1A,COM1,0,60.0,FINESTEERING,1364,493614.000,00100000,606b,2310;
414.000000000,0,9,
30,-6.295701472,111,-0.019231669,1.000000000,
2,-4.720861644,60,-0.021460577,1.000000000,
6,-11.464165041,182,-0.015610195,1.000000000,
4,-6.436236222,7,-0.021744921,1.000000000,
5,-5.556760025,39,0.003675566,1.000000000,
10,-14.024430156,181,-0.013904139,1.000000000,
7,-5.871886130,48,-0.016165427,1.000000000,
25,-22.473942049,59,-0.003024942,1.000000000,
9,-28.422760762,130,-0.048257797,1.000000000*56d5182f

RTCA1
This log enables transmission of RTCA Standard format Type 1 messages from the receiver when
operating as a base station. Before this message can be transmitted, the receiver FIX POSITION
command must be set, see page 115. The RTCA log is accepted by a receiver operating as a rover
station over a COM port after an INTERFACEMODE port RTCA command is issued, see page 135.
The RTCA Standard for SCAT-I stipulates that the maximum age of differential correction (Type 1)
messages accepted by the rover station cannot be greater than 22 seconds. See the DGPSTIMEOUT
command on page 105 for information regarding DGPS delay settings.
The RTCA Standard also stipulates that a base station shall wait five minutes after receiving a new
ephemeris before transmitting differential corrections. Refer to the DGPSEPHEMDELAY command
on page 103 for information regarding ephemeris delay settings.
The basic SCAT-I Type 1 differential correction message is as follows:
Format:

425

Message length = 11 + (6*obs): (83 bytes maximum)

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Field Type
SCAT-I header

Type 1 header
Type 1 data

Data

Bits

–

Message block identifier

-

8

–

Base station ID

-

24

–

Message type

-

8

–

Message length

-

8

–

Modified z-count

0.2 s

13

–

Acceleration error bound

-

3

–

Satellite ID

-

6

–
–

Pseudorange correctiona
Issue of data

0.02 m

16

-

8

0.002 m/s

12

0.2 m

6

–
–
CRC

Scaling

Range rate correction
UDRE

a

Cyclic redundancy check

-

Bytes
6

2
6 * obs

3

a. The pseudorange correction and range rate correction fields have a range of ±655.34 metres and
±4.049 m/s respectively. Any satellite which exceeds these limits are not included.

At the base station it is possible to log out the contents of the standard
corrections in a form that is easier to read or process. These larger variants have the
correction fields broken out into standard types within the log, rather than
compressed into bit fields. This can be useful if you wish to modify the format of the
corrections for a non-standard application, or if you wish to look at the corrections for
system debugging purposes. These variants have "DATA" as part of their names (for
example, RTCADATA1).

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCADATA1
header

Log header

-

H

0

2

z-count

Modified Z count where the Z count
week number is the week number
from subframe 1 of the ephemeris.

Double

8

H

3

AEB

Acceleration Error Bound

Uchar

4a

H+8

4

#prn

Number of satellite corrections with
information to follow

Ulong

4

H+12

5

PRN/slot

Satellite PRN number of range
measurement (GPS: 1-32 and SBAS:
120 to 138.)

Ulong

4

H+16

6

range

Pseudorange correction (m)

Double

8

H+20

7

IODE

Issue of ephemeris data

Uchar

4a

H+28

8

range rate

Pseudorange rate correction (m/s)

Double

8

H+32

9

UDRE

User differential range error

Float

4

H+40

10...

Next prn offset = H+16 + (#prns x 28)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment

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3.3.80 RTCADATAEPHEM Ephemeris and Time Information V123_DGPS
See Section 3.3.78 starting on page 423 for information on RTCA standard logs.
RTCAEPHEM

Type 7

An RTCAEPHEM (RTCA Satellite Ephemeris Information) message contains raw satellite ephemeris
information. It can be used to provide a rover receiver with a set of GPS ephemerides. Each message
contains a complete ephemeris for one satellite and the GPS time of transmission from the base. The
message is 102 bytes (816 bits) long. This message should be sent once every 5-10 seconds (The
faster this message is sent, the quicker the rover station receives a complete set of ephemerides). Also,
the rover receiver automatically sets an approximate system time from this message if time is still
unknown. Therefore, this message can be used in conjunction with an approximate position to
improve time to first fix (TTFF).
Message ID:
Log Type:

393
Synch

Recommended Input:
log rtcadataephema ontime 10 7

ASCII Example:
#RTCADATAEPHEMA,COM1,0,49.0,FINESTEERING,1364,494422.391,00100000,d869,2310;
78,2,340,494422,4,0,
8b0550a0f0a455100175e6a09382232523a9dc04f307794a00006415c8a98b0550a0f12a070b1
2394e4f991f8d09e903cd1e4b0825a10e669c794a7e8b0550a0f1acffe54f81e9c0004826b947
d725ae063beb05ffa17c07067d*c9dc4f88

A hot position is when the receiver has a saved almanac, saved recent ephemeris
data and an approximate position.
A hot position aids the time to first fix (TTFF). The TTFF is the actual time required by
a GPS receiver to achieve a position solution.

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Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCADATAEPHEM
header

Log header

-

H

0

2

des

NovAtel designator

Uchar

1

H

3

subtype

RTCA message subtype

Uchar

3a

H+1

4

week

GPS week number (weeks)

Ulong

4

H+4

5

sec

Seconds into the week (seconds)

Ulong

4

H+8

6

prn

PRN number

Ulong

4

H+12

7

Reserved

Uchar

4b

H+16

8

raw data

Raw ephemeris data

Hex[90]

92a

H+20

9

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+112

10

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case an additional 2 bytes of padding are added to maintain 4 byte
alignment
b. In the binary log case an additional 3 bytes of padding are added to maintain 4 byte
alignment

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3.3.81 RTCADATAOBS

Base Station Observations V123_RT20 or V23_RT2

See Section 3.3.78 starting on page 423 for information on RTCA standard logs.
RTCAOBS

Type 7

An RTCAOBS (RTCA Base-Station Satellite Observations) message contains base station satellite
observation information. It is used to provide range observations to the rover receiver, and should be
sent every 1 or 2 seconds.
Do not log RTCADATAOBS or RTCA2DATAOBS with an offset. A period of 1 or 2 seconds,
as stated above, is acceptable. See also the LOG command starting on page 143.
This log is made up of variable-length messages up to 255 bytes long. The maximum number of bits
in this message is [140 + (92 x N)], where N is the maximum number of satellite record entries
transmitted. Using the RTKSVENTRIES command, see page 183, you can define N to be anywhere
from 4 to 12; the default value is 12.
Message ID:
Log Type:

394
Synch

Recommended Input:
log rtcadataobsa ontime 2

ASCII Example:
#RTCADATAOBSA,COM1,0,47.0,FINESTEERING,1364,494469.000,00100000,9025,2310;
78,
1,2.027098600000000e+07,69.000000000,0,8,2,
3,3,4.000000000,-3.500000000,0.241999999,0.207000002,TRUE,180,
5,3,3,569234.000000000,-1.750000000,0.717999995,1.340999961,TRUE,180,
7,3,3,756774.600000000,-1.250000000,0.054000001,-0.119999997,TRUE,180,
30,3,3,445544.200000000,-1.250000000,0.140000001,0.344999999,TRUE,180,
4,3,3,1897221.200000000,-0.750000000,0.361999989,1.179000020,TRUE,180,
6,3,3,2883369.000000000,-0.500000000,-0.751999974,-1.922999978,TRUE,180,
10,3,3,2860119.800000000,-0.250000000,-0.546000004,-1.944000006,TRUE,
180,25,3,3,4734110.200000000,-0.750000000,0.474000007,2.013000011,
TRUE,180*dd9699f5

Transmission of the base station observations is necessary for the highest precision
applications. The base station observations are used by the rover for carrier phase
ambiguity resolution.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCADATAOBS
header

Log header

-

H

0

2

des

NovAtel designator

Uchar

1

H

3

subtype

RTCA message subtype

Uchar

3a

H+1

4

min psr

Minimum pseudorange

Double

8

H+4

5

sec

Seconds into the GPS week

Float

4

H+12

6

Reserved

Long

4

H+16

7

#ids

Number of Transmitter IDs with
information to follow

Ulong

4

H+20

8

trans ID

Transmitter ID

Uchar

1

H+24

9

L1 lock

L1 lock flag

Uchar

1

H+25

10

L2 lock

L2 lock flag

Uchar

2b

H+26

11

L1 psr

L1 pseudorange offset (2/10 m)

Double

8

H+28

12

L2 psr

L2 pseudorange offset (1/4 m)

Double

8

H+36

13

L1 ADR

L1 carrier phase offset, accumulated
Doppler range (2/1000 m)

Float

4

H+44

14

L2 ADR

L2 carrier phase offset, accumulated
Doppler range (3/1000 m)

Float

4

H+48

15

L2 encrypt

L2 not encrypted?
0 = FALSE
1 = TRUE

Enum

4

H+52

16

Reserved

Long

4

H+56

17...

Next id offset = H+24 + (#ids x 36)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment
b. In the binary log case, an additional 1 byte of padding is added to maintain 4-byte alignment

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3.3.82 RTCADATA2OBS Base Station Observations 2 V123_RT20 or
V23_RT2
See Section 3.3.78 starting on page 423 for information on RTCA standard logs.
RTCAOBS2

Type 7

An RTCAOBS2 (RTCA Base-Station Satellite Observations subtype 2) message supports GPS,
GLONASS and L1/L2 RTK differential operation. It contains base station satellite observation
information. It is used to provide range observations to the rover receiver, and should be sent every 1
or 2 seconds. See also the RTCADATAOBS notebox on page 430.
This log is made up of variable-length messages up to 255 bytes long. The maximum number of bits
in this message is [128 + (108 x N)], where N is the maximum number of satellite record entries
transmitted.
The RTCAOBS2 message is the same as the RTCAOBS message except for the determination of the
L1 pseudorange offset for each transmitter. The L1 ADR, L2 PSR and L2 ADR are all calculated the
same as RTCAOBS. Instead of determining the minimum pseudorange, as in RTCAOBS,
RTCAOBS2 relies on a constellation specific nominal offset and the receiver GPS time bias. The
nominal offset values for some different satellite types are shown in Table 76 below.
Table 76: RTCAOBS2 Satellite Type Offsets

Message ID:
Log Type:

Satellite Type

Nominal Offset

GPS

23,000 km

GLONASS

22,000 km

Pseudolite

0 km

808
Synch

Recommended Input:
log rtcadata2obsa ontime 2

ASCII Example:
#RTCADATA2OBSA,COM1,0,63.5,FINESTEERING,1416,508872.000,00140008,e0c5,2690;
78,3,0.000000000,72.000000000,0,13,
44,135,0,-2809276.000000000,-0.102000000,5.877472455e-39,0.000000000,TRUE,43,
21,131,0,-2763150.200000000,-0.016000000,5.877472455e-39,0.000000000,TRUE,19,
18,227,0,-2284827.400000000,0.090000000,5.877472455e-39,0.000000000,TRUE,84,
60,118,0,-1049837.400000000,0.074000000,5.877472455e-39,0.000000000,TRUE,201,
26,30,0,-1406884.400000000,0.062000000,5.877472455e-39,0.000000000,TRUE,184,
43,30,0,-984645.600000000,0.040000000,5.877472455e-39,0.000000000,TRUE,184,
22,217,0,-651966.600000000,-0.002000000,5.877472455e-39,0.000000000,TRUE,23,
24,0,0,-205779.800000000,0.070000000,5.877472455e-39,0.000000000,TRUE,0,
3,223,0,-407386.400000000,-0.048000000,5.877472455e-39,0.000000000,FALSE,60,
45,114,0,-53743.200000000,-0.088000000,5.877472455e-39,0.000000000,TRUE,176,
7,126,0,263919.200000000,-0.020000000,5.877472455e-39,0.000000000,TRUE,

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250,6,34,0,1336444.200000000,-0.102000000,5.877472455e-39,0.000000000,
TRUE,209,
19,206,0,1943816.400000000,-0.048000000,5.877472455e-39,0.000000000,TRUE,217
*afe9ae2e

Transmission of the base station observations is necessary for the highest precision
applications. The base station observations are used by the rover for carrier phase
ambiguity resolution.

Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCADATA2OBS header

Log header

-

H

0

2

des

NovAtel designator

Uchar

1

H

3

subtype

RTCA message subtype

Uchar

3a

H+1

4

GPStimebias

Receiver GPS time bias

Double

8

H+4

5

sec

Seconds into the GPS week

Float

4

H+12

6

Reserved

Long

4

H+16

7

#ids

Number of Transmitter IDs with
information to follow

Ulong

4

H+20

8

trans ID

Transmitter ID

Uchar

1

H+24

9

L1 lock

L1 lock flag

Uchar

1

H+25

10

L2 lock

L2 lock flag

Uchar

2b

H+26

11

L1 psr

L1 pseudorange offset (2/10 m)

Double

8

H+28

12

L2 psr

L2 pseudorange offset (1/4 m)

Double

8

H+36

13

L1 ADR

L1 carrier phase offset, accumulated
Doppler range (2/1000 m)

Float

4

H+44

14

L2 ADR

L2 carrier phase offset, accumulated
Doppler range (3/1000 m)

Float

4

H+48

15

L2 encrypt

L2 not encrypted?
0 = FALSE
1 = TRUE

Enum

4

H+52

16

Reserved

Long

4

H+56

17...

Next id offset = H+24 + (#ids x 36)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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a. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment
b. In the binary log case, an additional 1 byte of padding is added to maintain 4-byte alignment

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3.3.83 RTCADATAREF Base Station Parametres V123_RT20 or V23_RT2
See Section 3.3.78 starting on page 423 for information on RTCA standard logs.
RTCAREF

Type 7

An RTCAREF (RTCA Base Station Position Information) message contains base station position
information, and should be sent once every 10 seconds. Each message is 24 bytes (192 bits) long.
If RTCA-format messaging is being used, the optional station id field that is entered using the
DGPSTXID command, see page 106, can be any 4-character string combining numbers and uppercase letters, and enclosed in double quotation marks (for example, “RW34”). The station ID is
reported at the rover receiver, in its position log.
Message ID:
Log Type:

395
Synch

Recommended Input:
log rtcadatarefa ontime 10

ASCII Example:
#RTCADATAREFA,COM1,0,47.5,FINESTEERING,1364,494600.601,00100000,44de,2310;
78,0,-1634531.401490912,-3664616.874355976,4942495.215668959,0*646a495c

The rover receiver automatically sets an approximate position from the
RTCADATAREF message if it does not already have a position. Therefore this
message can be used in conjunction with an approximate time to improve TTFF.
Refer to the time to first fix and satellite acquisition sections of the GNSS Reference
Book, available on our Web site at http://www.novatel.com/support/docupdates.htm.
for more information on TTFF.

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Field #

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Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCADATAREF
header

Log header

-

H

0

2

des

NovAtel designator.

Uchar

1

H

3

subtype

RTCA message subtype

Uchar

3a

H+1

4

X pos

Base station X coordinate position (mm)

Double

8

H+4

5

Y pos

Base station Y coordinate position (mm)

Double

8

H+12

6

Z pos

Base station Z coordinate position (mm)

Double

8

H+20

7

Reserved

Uchar

4b

H+28

8

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+32

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment
b. In the binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment

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3.3.84 RTCM Standard Logs DGPS
RTCM1
DIFFERENTIAL GPS CORRECTIONS
Message ID: 107
RTCM3
BASE STATION PARAMETRES
Message ID: 117

V123_DGPS

V123_RT20 or V23_RT2

RTCM9
PARTIAL DIFFERENTIAL GPS CORRECTIONS
MESSAGE ID: 275 (OEMV-2 with external oscillator or OEMV-3)
RTCM15
IONOSPHERIC CORRECTIONS
Message ID: 307
RTCM16
SPECIAL MESSAGE
Message ID: 129

V123_DGPS

V123_DGPS

RTCM16T
SPECIAL TEXT MESSAGE, see also page 201
Message ID: 131
RTCM1819
RAW MEASUREMENTS
Message ID: 260

V123_DGPS

V123_RT20 or V23_RT2

RTCM2021
MEASUREMENT CORRECTIONS
Message ID: 374
RTCM22
EXTENDED BASE STATION
Message ID: 118

V123_RT20 or V23_RT2

V123_RT20 or V23_RT2

RTCM23
ANTENNA TYPE DEFINITION
Message ID: 665

V123_RT20 or V23_RT2

RTCM24
ANTENNA REFERENCE POINT (ARP)
Message ID: 667
RTCM31

V23_DGPS

DIFFERENTIAL GLONASS
V23_RT2

V123_RT20 or V23_RT2

V1G23_G, V123_DGPS and V123_RT20 or

Message ID: 864
RTCM32

GLONASS BASE PARAMETRES
V23_RT2

V1G23_G, V123_DGPS and V123_RT20 or

Message ID: 873
RTCM36
SPECIAL EXTENDED MESSAGE
Message ID: 875

V1G23_G

RTCM36T
SPECIAL EXTENDED MESSAGE, see also page 202
Message ID: 877
RTCM59
TYPE 59N-0 PROPRIETARY DIFFERENTIAL
Message ID: 116

437

V1G23_G

V123_RT20 or V23_RT2

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RTCM59GLO PROPRIETARY GLONASS DIFFERENTIAL
Message ID: 903

V1G23_G and V123_DGPS

RTCMCDGPS1 LOCALIZED CDGPS CORRECTIONS IN RTCM1
Message ID: 954
RTCMCDGPS9 CDGPS CORRECTIONS IN RTCM9
Message ID: 955
RTCMOMNI1 RTCM1 FROM OMNISTAR VBS
Message ID: 957

V13_CDGPS

V13_CDGPS

V13_CDGPS

1.

The RTCM messages can be logged with an A or B suffix for an ASCII or Binary output
with a NovAtel header followed by Hex or Binary raw data respectively.

2.

Combinations of integer offsets and fractional offsets are not supported for RTCM logs.
See also the LOG command starting on page 143 for more details on offsets.

3.

RTCMDATA logs output the details of the above logs if they have been sent.

The Radio Technical Commission for Maritime Services (RTCM) was established to facilitate the
establishment of various radio navigation standards, which includes recommended GPS differential
standard formats. Refer to the Receiving and Transmitting Corrections section in the OEMV
Installation and Operation Manual for more information on using these message formats for
differential operation.
The standards recommended by the Radio Technical Commission for Maritime Services Special
Committee 104, Differential GPS Service (RTCM SC-104,Washington, D.C.), have been adopted by
NovAtel for implementation into the receiver. Because the receiver is capable of utilizing RTCM
formats, it can easily be integrated into positioning systems around the globe.
As it is beyond the scope of this manual to provide in-depth descriptions of the RTCM data formats, it
is recommended that anyone requiring explicit descriptions of such, should obtain a copy of the
published RTCM specifications. Refer to NovAtel’s An Introduction to GNSS book, available on our
Web site at http://www.novatel.com/about_gps/introduction_gnss.htm for information.
RTCM SC-1041 Type 3 & 59 messages can be used for base station transmissions in differential
systems. However, since these messages do not include information on the L2 component of the GPS
signal, they cannot be used with RT-2 positioning. Regardless of whether single or dual-frequency
receivers are used, the RT-20 positioning algorithm is used. This is for a system in which both the base
and rover stations utilize NovAtel receivers.
Note that the error-detection capability of an RTCM-format message is less than that of an RTCAformat message. The communications equipment that you use may have an error-detection capability
of its own to supplement that of the RTCM message, although at a penalty of a higher overhead.
1.

For further information on RTCM SC-104 messages, you may wish to refer to:
RTCM Recommended Standards for Differential GNSS (Global Navigation Satellite
Systems) Service, Version 2.3 at http://www.rtcm.org/overview.php.

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Consult the radio vendor’s documentation for further information.
If RTCM-format messaging is being used, the optional station id field that is entered using the FIX
POSITION command can be any number within the range of 0 - 1023 (for example, 119). The
representation in the log message is identical to what was entered.
The NovAtel logs which implement the RTCM Standard Format for Type 1, 3, 9, 16, 18, 19, 22, 31,
32 and 36 messages are known as the RTCM1, RTCM3, RTCM9, RTCM16, RTCM18, RTCM19,
RTCM22, RTCM23, RTCM24, RTCM31, RTCM32 and RTCM36 logs, respectively, while Type
59N-0 messages are listed in the RTCM59 log.
All receiver RTCM standard format logs adhere to the structure recommended by RTCM SC-104.
Thus, all RTCM message are composed of 30 bit words. Each word contains 24 data bits and 6 parity
bits. All RTCM messages contain a 2-word header followed by 0 to 31 data words for a maximum of
33 words (990 bits) per message.
Message Frame Header
Word 1

Word 2

Data

Bits

–

Message frame preamble for synchronization

8

–

Frame/message type ID

6

–

Base station ID

10

–

Parity

6

–

Modified z-count (time tag)

13

–

Sequence number

3

–

Length of message frame

5

–

Base health

3

–

Parity

6

Version 3.0, also developed by the RTCM SC-104, consists primarily of messages designed to support
real-time kinematic (RTK) operations. It provides messages that support GPS and GLONASS RTK
operations, including code and carrier phase observables, antenna parametres, and ancillary system
parametres. Version 3.1 adds RTCM messages containing transformation data and information about
Coordinate Reference Systems.1
The remainder of this section provides further information concerning receiver commands and logs
that utilize the RTCM data formats.

Example Input:
1.

For further information on RTCM SC-104 messages, you may wish to refer to:
RTCM Recommended Standards for Differential GNSS (Global Navigation Satellite
Systems) Service, Version 3.0 and Version 3.1 at http://www.rtcm.org/overview.php.

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interfacemode com2 none RTCM
fix position 51.1136 -114.0435 1059.4
log com2 rtcm3 ontime 10
log com2 rtcm22 ontime 10 1
log com2 rtcm1819 ontime 1
log com2 rtcm31 ontime 2
log com2 rtcm32 ontime 2
log com2 rtcm1 ontime 5

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CDGPS Local Wide Area Corrections
CDGPS corrections can be output as RTCM Type 1 and RTCM Type 9 messages for input into
receivers that are not able to accept CDGPS corrections directly. RTCM Type 9 messages do not
require the use of an external clock when generated from CDGPS corrections. The generated RTCM
Type 9 messages contain a maximum of three pseudorange corrections per message.
The positioning performance using CDGPS local wide area corrections meets the standard CDGPS
code differential performance specifications. Pseudorange corrections include tropospheric
corrections, calculated using the UNB4 model, and ionospheric corrections, calculated using the
CDGPS iono grid, regardless of the availability of L1 or L2 corrections. Pseudorange correction also
include CDGPS test and slow corrections.
If the base receiver loses the correction source, it continues to generate pseudorange corrections based
on the current settings in the CDGPSTIMEOUT command. The base station ID in the RTCM Type 1
and 9 messages is 209. The range rate correction (RRC) fields in the RTCM Type 1 and 9 messages
are set to zero.
Enable the output of CDGPS corrections in RTCM messages by using the following commands:
INTERFACEMODE COM2 NOVATEL RTCM OFF
ASSIGNLBAND CDGPS  
PSRDIFFSOURCE CDGPS
LOG COM2 RTCMCDGPS1 ONTIME 1
or
LOG COM2 RTCMCDGPS9 ONTIME 1
There is no need to fix a position when using the above localised wide area corrections
method.
The CDGPS RTCM model outputs RTCM corrections at a rate of up to 1 Hz. This new model does
not include position or raw measurement output.
OmniSTAR Local Wide Area Corrections
RTCM Type 1 messages are generated from OmniSTAR VBS corrections.
The positioning performance using OmniSTAR local wide area corrections meets the standard
OmniSTAR VBS code differential performance specifications.
Unless otherwise noted, values in the RTCM Type 1 messages are unchanged from what is provided
by the VBS library (for example, RRC, UDRE, station ID) apart from necessary unit scaling. An
RTCM1 message is generated and output each time the VBS library provides updated corrections
(about every 6 s). The receiver no longer outputs corrections when the L-band signal is lost and the
VBS library stops generating corrections. The output is for the same set of satellites provided by the
VBS library (above 5° elevation at the current position).
Enable the output of OmniSTAR VBS corrections in RTCM messages by using the following
commands:
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INTERFACEMODE COM2 NOVATEL RTCM OFF
ASSIGNLBAND OMNISTAR   or ASSIGNLBAND OMNISTARAUTO
PSRDIFFSOURCE OMNISTAR
LOG COM2 RTCMOMNI1 ONCHANGED
The RTCMOMNI1 log is asynchronous.
The OmniSTAR RTCM model outputs RTCM corrections at a rate of up to 0.2 Hz. This new model
does not include position or raw measurement output.

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3.3.85 RTCMDATA1 Differential GPS Corrections V123_DGPS
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
Message ID:
Log Type:

396
Synch

Recommended Input:
log rtcmdata1a ontime 10 3

ASCII Example:
#RTCMDATA1A,COM1,0,68.5,FINESTEERING,1420,506618.000,00180020,d18a,1899;
1,0,4363,0,0,6,
9,
0,0,26,22569,-2,231,
0,0,19,-3885,-36,134,
0,0,3,-14036,-23,124,
0,0,24,1853,-36,11,
0,0,18,5632,15,6,
0,0,21,538,-26,179,
0,0,9,12466,3,4,
0,0,14,-21046,17,27,
0,0,22,-7312,16,238*35296338

RTCM1
This is the primary RTCM log used for pseudorange differential corrections. This log follows the
RTCM Standard Format for a Type 1 message. It contains the pseudorange differential correction data
computed by the base station generating this Type 1 log. The log is of variable length depending on
the number of satellites visible and pseudoranges corrected by the base station. Satellite specific data
begins at word 3 of the message.
Structure:
Type 1 messages contain the following information for each satellite in view at the base station:
•

Satellite ID

•

Pseudorange correction

•

Range-rate correction

•

Issue of Data (IOD)

When operating as a base station, the receiver must be in FIX POSITION mode and have the
INTERFACEMODE command set before the data can be correctly logged. When operating as a rover
station, the receiver COM port receiving the RTCM data must have its INTERFACEMODE
command set. Refer to the Receiving and Transmitting Corrections section in the OEMV Installation
and Operation Manual for more information on using these commands and RTCM message formats.

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REMEMBER: Upon a change in ephemeris, base stations transmit Type 1 messages
based on the old ephemeris for a period of time defined by the DGPSEPHEMDELAY
command, see page 103. After the time out, the base station begins to transmit the
Type 1 messages based on the new ephemeris.
RTCMDATA logs provide you with the ability to monitor the RTCM messages, being
used by the NovAtel receiver, in an easier to read format than the RTCM standard
format. You can also use the RTCMDATA logs as a diagnostic tool to identify when
the receivers are operating in the required modes.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1
header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+

4

Modified Z count where the Z count
week number is the week number from
subframe 1 of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see REFSTATION
on page 419

Ulong

4

H+20

8

#prn

Number of PRNs with information to
follow

Ulong

4

H+24

9

scale

Scale where
0 = 0.02 m and 0.002 m/s
1 = 0.32 m and 0.032 m/s

Ulong

4

H+28

10

UDRE

User differential range error

Ulong

4

H+32

11

PRN/slot

Satellite PRN number of range
measurement (GPS: 1-32 and SBAS:
120 to 138.)

Ulong

4

H+36

12

psr corr

Scaled pseudorange correction
(metres)

Long

4

H+40

13

rate corr

Scaled range rate correction

Long

4

H+44

14

IOD

Issue of data

Long

4

H+48

15...

Next PRN offset = H+28 + (#prns x 24)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.86 RTCMDATA3 Base Station Parametres V123_RT20 or V23_RT2
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
Message ID:
Log Type:

402
Synch

Recommended Input:
log rtcmdata3a ontime 10

ASCII Example:
#RTCMDATA3A,COM1,0,72.0,FINESTEERING,1420,506793.276,00180020,61e6,1899;
3,0,4655,0,0,6,-163496421.7426230311393738,-366468552.3169214129447937,
494229879.5281358957290649*0f343499

Use this log to see what base station information is being received by your rover
receivers.

RTCM3 Base Station Parametres (RTK)
This log contains the GPS position of the base station expressed in rectangular ECEF coordinates
based on the center of the WGS-84 ellipsoid. It follows the RTCM SC-104 Standard for a Type 3 message.
This log uses four RTCM data words following the two-word header, for a total frame length of six
30-bit words (180 bits maximum). This message must be sent at least once every 30 seconds, although
it is recommended that it is sent once every 10 seconds.
Also, the rover receiver automatically sets an approximate position from this message if it does not
already have a position. Therefore, this message can be used in conjunction with an approximate time
to improve TTFF, refer to the GNSS Reference Book, available on our Web site at http://
www.novatel.com/support/docupdates.htm.
Structure:
Type 3 messages contain the following information:

•

Scale factor

•

ECEF X-coordinate

•

ECEF Y-coordinate

•

ECEF Z-coordinate

The receiver only transmits the RTCM Type 3 when the position is fixed by the FIX POSITION
command, see page 115.
This log is intended for use when operating in RTK mode.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA3
header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris.

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see REFSTATION on
page 419

Ulong

4

H+20

8

ECEF-X

Base station ECEF X-coordinate (1/100 m)

Double

8

H+24

9

ECEF-Y

Base station ECEF Y-coordinate (1/100 m)

Double

8

H+32

10

ECEF-Z

Base station ECEF Z-coordinate (1/100 m)

Double

8

H+40

11

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+48

12

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.87 RTCMDATA9 Partial Differential GPS Corrections V23_DGPS
See Section 3.3.84 starting on page 437 for information on RTCM standard logs. This log is the same
as the RTCMDATA1 log but there are only corrections for a maximum of 3 satellites.
Message ID:
Log Type:

404
Synch

Recommended Input:
log rtcmdata9a ontime 10

ASCII Example:
#RTCMDATA9A,COM1,0,68.5,FINESTEERING,1420,506833.000,00180020,37f9,1899;
9,0,4721,0,0,6,
3,
0,0,26,22639,11,231,
0,0,19,-4387,-22,134,
0,0,3,-14572,-27,124*6016236c

RTCM9 Partial Satellite Set Differential Corrections
RTCM Type 9 messages follow the same format as Type 1 messages. However, unlike a Type 1
message, Type 9 does not require a complete satellite set. This allows for much faster differential
correction data updates to the rover stations, thus improving performance and reducing latency.
Type 9 messages should give better performance with slow or noisy data links.
The base station transmitting Type 9 corrections with an OEMV-2 must be operating with a
high-stability clock to prevent degradation of navigation accuracy due to the unmodeled clock
drift that can occur between Type 9 messages. Only OEMV-2 receivers with an external
oscillator or OEMV-3 receivers, with or without an external oscillator, can generate Type 9
messages. All OEMV family receivers can accept Type 9 messages.
NovAtel recommends a high-stability clock whose 2-sample (Allan) variance meets the following
stability requirements:
3.24 x 10-24 s2/s2 between 0.5 - 2.0 seconds, and
1.69 x 10-22 T s2/s2 between 2.0 - 100.0 seconds
An external clock, such as an OCXO, requires approximately 10 minutes to warm up and become
fully stabilized after power is applied. Do not broadcast RTCM Type 9 corrections during this
warm-up period.
Structure:
Type 9 messages contain the following information for a group of three satellites in view at the base
station:

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•

Scale factor

•

User Differential Range Error

•

Satellite ID

•

Pseudorange correction

•

Range-rate correction

•

Issue of Data (IOD)

A base station transmitting RTCM Type 9 corrections must be operating with a
high-stability clock to prevent degradation of navigation accuracy due to the
unmodeled clock drift that can occur between Type 9 messages.
NovAtel recommends a high-stability clock such as a PIEZO model whose 2-sample
(Allan) variance meets the following stability requirements:
•

3.24 x 10-24 s2/s2 between 0.5 - 2.0 seconds
and

•

1.69 x 10-22 T s2/s2 between 2.0 - 100.0 seconds

An external clock such as an OCXO requires approximately 10 minutes to warm up
and become fully stabilized after power is applied. Do not broadcast RTCM Type 9
corrections during this warm-up period. See also the EXTERNALCLOCK command
on page 112.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA9
header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count
week number is the week number
from subframe 1 of the ephemeris.

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see
REFSTATION on page 419

Ulong

4

H+20

8

#prn

Number of PRNs with information to
follow (maximum of 3)

Ulong

4

H+24

9

scale

Scale where
0 = 0.02 m and 0.002 m/s
1 = 0.32 m and 0.032 m/s

Ulong

4

H+28

10

UDRE

User differential range error

Ulong

4

H+32

11

PRN/slot

Satellite PRN number of range
measurement (GPS: 1-32 and
SBAS: 120 to 138. For GLONASS,
see Section 1.3 on page 29.)

Ulong

4

H+36

12

psr corr

Scaled pseudorange correction (m)

Long

4

H+40

13

rate corr

Scaled range rate correction

Long

4

H+44

14

IOD

Issue of data

Long

4

H+48

15...

Next PRN offset = H+28 + (#prns x 24)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.88 RTCMDATA15 Ionospheric Corrections V123_DGPS
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
Message ID:
Log Type:

397
Synch

Recommended Input:
log rtcmdata15a ontime 10

ASCII Example:
#RTCMDATA15A,COM1,0,74.5,FINESTEERING,1117,160783.000,00100020,9601,399;
15,0,3971,7799968,5163500,6,
10,
0,0,3,1631,445,
0,0,15,1423,-222,
0,0,18,1275,-334,
0,0,21,1763,-334,
0,0,17,1454,-556,
0,0,6,2063,0,
0,0,26,1579,222,
0,0,23,1423,-111,
0,0,28,1874,445,
0,0,22,2146,-445*19ed193f

This data message provides data to continually enable you to remove ionospheric
components from received pseudorange corrections. The ion rate and ion delay
fields can be added just like Type 1 corrections to provide “iono-free” data collection.

RTCM15 Ionospheric Corrections
RTCM Type 15 messages support the broadcast of ionospheric delay and rate of change
measurements for each satellite as determined by the base station receiver. They are used to improve
the ionospheric de-correlation that would otherwise be experienced by a rover at a long distance from
the base. This log works in conjunction with Type 1 messages using dual frequency receivers. Type 15
messages are broadcast every 5-10 minutes and follow the RTCM standard for Type 15 messages.
Type 15 messages enable the rover to continuously remove the ionospheric component from received
pseudorange corrections. The delay and rate terms are added like Type 1 corrections to provide the
total ionospheric delay at a given time, which is then subtracted from the pseudorange corrections.
The resulting corrections are then "iono-free". The rover subtracts its measurements (or estimates) of
ionospheric delay from its own pseudorange measurements and applies the iono-free corrections.

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Structure:
Type 15 messages contain the following information for each satellite in view at the base station:
· Satellite ID

·
·

Ionospheric delay
Iono rate of change

When operating as a base station, the receiver must be in FIX POSITION mode and have the
INTERFACEMODE command set before the data can be correctly logged. You must also log the
RTCM Type 1 corrections. See pages 115 and 135 respectively.
When operating as a rover station, the receiver COM port receiving the RTCM data must have its
INTERFACEMODE command set.
Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA15
header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count week
number is the week number from subframe
1 of the ephemeris.

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see REFSTATION on
page 419

Ulong

4

H+20

Number of PRNs with information to follow

Ulong

4

H+24

Ulong

4

H+28

8

#prn

9

Reserved

10

sat type

Satellite type where
0 = GPS
1 = GLONASS

Ulong

4

H+32

11

PRN/slot

Satellite PRN number of range
measurement (GPS: 1 to 32,SBAS: 120 to
138 and for GLONASS, see page 29.)

Ulong

4

H+36

12

ion delay

Ionospheric delay (cm)

Ulong

4

H+40

13

ion rate

Ionospheric rate (0.05 cm / min.)

Long

4

H+44

14...

Next PRN offset = H+28 + (#prns x 20)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.89 RTCMDATA16 Special Message V123_DGPS
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
Message ID:
Log Type:

398
Synch

Recommended Input:
log rtcmdata16a once

ASCII Example:
#RTCMDATA16A,COM1,0,65.0,FINESTEERING,1420,507147.000,00180020,2922,1899;
16,0,5245,0,0,6,37,"base station will shut down in 1 hour"*ac5ee822

RTCM16 Special Message
This log contains a special ASCII message that can be displayed on a printer or cathode ray tube. The
base station wishing to log this message out to rover stations that are logged onto a computer, must use
the SETRTCM16T command to set the required ASCII text message. Once set, the message can then
be issued at the required intervals with the “LOG port RTCM16 interval” command. The Special
Message setting can be verified in the RXCONFIGA log, see page 544. The received ASCII text can
be displayed at the rover by logging RTCM16T ONNEW.
The RTCM16 data log follows the RTCM Standard Format. Words 1 and 2 contain RTCM header
information followed by words 3 to n (where n is variable from 3 to 32) which contain the special
message ASCII text. Up to 90 ASCII characters can be sent with each RTCM Type 16 message frame.

Message Type 16 is a special ASCII message capable of being displayed on a
printer or CRT. The message can be up to 90 characters long.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA16
header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count
week number is the week number
from subframe 1 of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see
REFSTATION on page 419

Ulong

4

H+20

8

#chars

Number of characters to follow

Ulong

4

H+24

9

character

Character

Char

4a

H+28

10...

Next char offset = H+28 + (#chars x 4)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment

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3.3.90 RTCMDATA1819 Raw Measurements V123_RT20 or V23_RT2
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
Message ID:
Log Type:

399
Synch

Recommended Input:
log rtcmdata1819a ontime 2

ASCII Example:
#RTCMDATA1819A,COM1,1,80.0,FINESTEERING,1415,317696.000,00140040,f337,2616;
18,1000,1493,0,0,6,
2,0,200000,5,
1,1,0,2,0,1,7017922,
1,1,0,30,0,1,12485535,
1,1,0,4,0,1,-8421345,
1,1,0,5,0,1,4072787,
1,1,0,12,0,1,3227209,
19,1000,1493,0,0,6,
2,0,200000,5,
1,1,0,2,2,3,1025891090,
1,1,0,30,2,3,1098334724,
1,1,0,4,2,3,1051480779,
1,1,0,5,2,3,1028271427,
1,1,0,12,2,3,1029484966*dce6f781

RTCM18 and RTCM19 Raw Measurements (RTK)
RTCM18 provides uncorrected carrier phase measurements and RTCM19 provides uncorrected
pseudorange measurements. The measurements are not corrected by the ephemerides contained in the
satellite message.
The messages have similar formats. Word 3, the first data word after the header, contains a GPS TIME
OF MEASUREMENT field which is used to increase the resolution of the MODIFIED Z-COUNT in
the header. Word 3 is followed by pairs of words containing the data for each satellite observed.
Appropriate flags are provided to indicate L1 C/A or P-code or L2 cross correlated or P-code
measurements. The carrier smoothing interval for pseudoranges and pseudorange corrections is also
furnished, for a total frame length of six 30 bit words (180 bits maximum).
RTCM18 and RTCM19 messages follow the RTCM SC-104 Standard for Type 18 and Type 19
messages.
For RTK, you may periodically transmit a set of RTCM Type 18 and RTCM Type 19 together with an
RTCM Type 3 message and an RTCM Type 22 message.

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RTCMDATA1819 and RTCM2021 logs contain data useful for surveying and highly
accurate positioning and/or navigation.
This data provides support for RTK applications using real-time interferometric
techniques to resolve integer ambiguities. (An interferometre is, in aerospace for
example, an instrument that utilizes the interference of waves for precise
determinations.)
RTCM Message Type 18 provides carrier phase measurements, while RTCM
Message Type 19 provides pseudorange measurements.
RTCM Message Types 20 and 21 contain the same data as Types 18 and 19 except
that the values of Types 20 and 21 are corrected by the ephemerides contained in
the satellite message.

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Table 77: RTCM1819 Data Quality Indicator
Code

Pseudorange Error

0

≤ 0.020 m

1

≤ 0.030 m

2

≤ 0.045 m

3

≤ 0.066 m

4

≤ 0.099 m

5

≤ 0.148 m

6

≤ 0.220 m

7

≤ 0.329 m

8

≤ 0.491 m

9

≤ 0.732 m

10

≤ 1.092 m

11

≤ 1.629 m

12

≤ 2.430 m

13

≤ 3.625 m

14

≤ 5.409 m

15

> 5.409 m

Table 78: RTCM1819 Smoothing Interval
Code

457

Smoothing Interval
(Minutes)

0

0 to 1

1

1 to 5

2

5 to 15

3

Undefined smoothing
interval

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Table 79: RTCM1819 Multipath Indicator
Code

Multipath Error

0

≤ 0.100 m

1

≤ 0.149 m

2

≤ 0.223 m

3

≤ 0.332 m

4

≤ 0.495 m

5

≤ 0.739 m

6

≤ 1.102 m

7

≤ 1.644 m

8

≤ 2.453 m

9

≤ 3.660 m

10

≤ 5.460 m

11

≤ 8.145 m

12

≤ 12.151 m

13

≤ 18.127 m

14

> 18.127 m

15

Undetermined
multipath

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1819 header

Log header

-

H

0

2

RTCM header
(for RTCM18)

RTCM message type

Ulong

4

H

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see REFSTATION on
page 419

Ulong

4

H+20

Frequency indicator where
0 = L1
2 = L2
(1 is reserved for future use)

Ulong

4

H+24

Ulong

4

H+28

3

8

freq

9

Reserved

10

GNSS time

Global Navigation Satellite System (GNSS)
time of measurement (microseconds)

Long

4

H+32

11

#obs

Number of observations with information to
follow

Long

4

H+36

12

multi bit

Multiple message indicator

Ulong

4

H+40

13

code

Is code P Code?

Ulong

4

H+44

14

sat type

Satellite type

Ulong

4

H+48

15

PRN/slot

PRN number for GPS satellites (satellite
number 32 is indicated by 0); slot number for
GLONASS satellites, see also Section 1.3 on
page 29.

Ulong

4

H+52

16

quality

Data quality indicator, see Table 77,
RTCM1819 Data Quality Indicator on page
457

Ulong

4

H+56

17

continuity

Cumulative loss of continuity indicator with a
loss of lock counter

Ulong

4

H+60

18

phase

Carrier phase (1/256 cycles)

Long

4

H+64

0 = FALSE
1 = TRUE
0 = GPS
1 = GLONASS

Continued on page 460.

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Field #

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Format

Binary
Bytes

Binary
Offset

RTCM message type

Ulong

4

variable

Base station ID

Ulong

4

Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris

Ulong

4

Sequence number

Ulong

4

Length of frame

Ulong

4

Base station health, see REFSTATION on
page 419

Ulong

4

freq

Frequency indicator where
0 = L1
2 = L2
(1 is reserved for future use)

Ulong

4

smooth

Smoothing interval, see Table 78,
RTCM1819 Smoothing Interval on page 457

Ulong

4

GNSS time

GNSS time of measurement (μs)

Long

4

#obs

Number of observations with information to
follow

Ulong

4

multi bit

Multiple message indicator

Ulong

4

code

Is code P Code?

Ulong

4

sat type

Satellite type

Ulong

4

prn

Satellite PRN/slot number

Ulong

4

quality

Data quality indicator, see Table 77,
RTCM1819 Data Quality Indicator on page
457

Ulong

4

multipath

Multipath indicator, see Table 79,
RTCM1819 Multipath Indicator on page 458

Ulong

4

range

Pseudorange (2/100 m)

Ulong

4

Field type

Data Description

19...

Next RTCM18 observation offset = H+40 + (#obs x 28)

variable

RTCM header
(for RTCM19)

variable

variable

0 = FALSE
1 = TRUE
0 = GPS
1 = GLONASS

variable

variable

variable...

Next RTCM19 observation offset = variable

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.91 RTCMDATA2021 Measurement Corrections V123_RT20 or V23_RT2
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
Message ID:
Log Type:

400
Synch

Recommended Input:
log rtcmdata2021a ontime 10

ASCII Example:
#RTCMDATA2021A,COM1,1,84.0,FINESTEERING,1415,317796.000,00140040,ade1,2616;
20,1000,1660,0,0,6,
0,0,0,6,
0,0,0,2,0,1,2,221,
0,0,0,4,0,1,129,244,
0,0,0,5,0,1,208,108,
0,0,0,30,0,1,227,196,
0,0,0,12,0,1,73,269,
0,0,0,24,0,1,13,130,
21,1000,1660,0,0,6,
0,0,0,6,
0,0,0,2,0,0,0,3,2,136,
0,0,0,0,4,0,0,0,3,129,
226,-1,0,0,0,5,0,0,0,3,
208,-195,1,0,0,0,30,0,0,0,
3,227,-55,1,0,0,0,12,0,0,
0,3,73,1,1,0,0,0,24,0,0,0,3,13,-1309,8*e1b9072c

RTCM20 and RTCM21 Measurement Corrections (RTK)
RTCM20 provides carrier phase corrections and RTCM21 provides pseudorange corrections. Types
20 and 21 are corrected by the ephemerides contained in the satellite message and are therefore
referred to as ‘corrections’.
Message Type 21 is very similar to the standard Type 1 message, but has additional measurement
quality information, and can be used to support cross-correlation receivers. Message Type 21 is also
useful in non-kinematic applications requiring high accuracy and integrity.
See the section above for the message format of the Type 18 and 19 messages that are similar to the
Type 20 and 21 messages.

RTCM Message Types 20 and 21 contain the same data as Types 18 and 19 except
that the values of Types 20 and 21 are corrected by the ephemerides contained in
the satellite message. See also the usage box for Types 18 and 19 on page 456.

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Table 80: RTCM2021 Data Quality Indicator
Code

Pseudorange Error

0

≤ 0.1 m

1

≤ 0.25 m

2

≤ 0.5 m

3

≤ 1.0 m

4

≤ 2.0 m

5

≤ 3.5 m

6

≤5m

7

>5

Table 81: RTCM2021 Multipath Indicator
Code

Multipath Error

0

≤ 0.1 m

1

≤ 0.25 m

2

≤ 0.5 m

3

≤ 1.0 m

4

≤ 2.5 m

5

≤5m

6

>5m

7

Undetermined
multipath

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA2021 header

Log header

-

H

0

2

RTCM header
(for RTCM20)

RTCM message type

Ulong

4

H

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count week number is
the week number from subframe 1 of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see REFSTATION, page 419

Ulong

4

H+20

Frequency indicator
0 = L1
2 = L2

Ulong

4

H+24

Ulong

4

H+28

3

8

freq

9

Reserved

10

GNSS time

Global Navigation Satellite System (GNSS) time of
measurement (μs)

Long

4

H+32

11

#obs

Number of observation with information to follow

Long

4

H+36

12

multi bit

Multiple message indicator

Ulong

4

H+40

13

code

Is code P Code?

Ulong

4

H+44

14

sat type

Satellite type

Ulong

4

H+48

15

PRN/slot

PRN number for GPS satellites (satellite number 32
is indicated by 0); slot number for GLONASS
satellites, see also Section 1.3 on page 29.

Ulong

4

H+52

16

quality

Data quality indicator, see Table 80, RTCM2021
Data Quality Indicator on page 462

Ulong

4

H+56

17

continuity

Cumulative loss of continuity indicator with a loss of
lock counter

Ulong

4

H+60

18

IODE

Issue of ephemeris data

Ulong

4

H+64

19

phase

Carrier phase correction (1/256 cycles)

Long

4

H+68

20...

Next RTMC20 observation offset = H+40 + (#obs x 32)

0 = FALSE
1 = TRUE
0 = GPS
1 = GLONASS

Continued on page 464.

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Field #

Field type

variable

RTCM header
(for RTCM21)

variable

freq

Format

Binary
Bytes

Binary
Offset

RTCM message type

Ulong

4

Base station ID

Ulong

4

variable

Modified Z count where the Z count week number is
the week number from subframe 1 of the ephemeris.

Ulong

4

Sequence number

Ulong

4

Length of frame

Ulong

4

Base station health, see REFSTATION, page 419

Ulong

4

Frequency indicator

Ulong

4

Ulong

4

Data Description

Reserved

variable

GNSS time

GNSS time of measurement

Long

4

#obs

Number of observations to follow

Ulong

4

multi bit

Multiple message indicator

code

Is code P Code?

sat type

Satellite type

prn

Ulong

4

Ulong

4

Satellite PRN/slot number

Ulong

4

corr scale

Pseudorange correction scale factor
0 = 0.02
1 = 0.32

Ulong

4

rate scale

Pseudorange rate correction scale factor
0 = 0.002
1 = 0.032

Ulong

4

quality

Data quality indicator, see Table 80, Page 462

Ulong

4

multipath

Multipath indicator, see Table 81, Page 462

Ulong

4

IODE

Issue of ephemeris data

Ulong

4

range corr

Pseudorange correction (scaled)

Long

4

range rate

Pseudorange range correction rate (scaled)

Long

4

0 = FALSE
1 = TRUE
0 = GPS
1 = GLONASS

variable

variable

variable

Next RTCM21 observation offset = variable

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.92 RTCMDATA22 Extended Base Station V123_RT20 V23_RT2
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
This message accommodates Network RTK. However, it is not specific to Network RTK and may be
used in other applications. For more details, refer to the Network RTK application note available from
our Web site as APN-041 at http://www.novatel.com/support/applicationnotes.htm.
Message ID:
Log Type:

401
Synch

Recommended Input:
log rtcmdata22a ontime 10

ASCII Example:
#RTCMDATA22GGA,COM1,0,68.5,FINESTEERING,1450,231012.566,00100000,28b0,35794;
22,0,1020,0,0,6,-24,-122,82,1,0,0,0,0,TRUE,174762,1,0,0,0*2846ab0c

Only use the RTCMDATA22 log with GPS-only receiver models.

RTCM22 RTCM Extended Base Station Parametres (RTK)
Message Type 22 provides firstly, a means of achieving sub-millimetre precision for base station
coordinates, and secondly, base station antenna height above a base, which enables mobile units to
reference measured position to the base directly in real time.
The first data word of message Type 22 provides the corrections to be added to each ECEF coordinate.
Note that the corrections may be positive or negative.
The second data word, which may not be transmitted, provides the antenna L1 phase center height
expressed in integer and fractional centimetres, and is always positive. It has the same resolutions as
the corrections. The range is about 10 metres. The spare bits can be used if more height range is
required.

RTCM Message Type 22 can be used to achieve sub-millimetre precision for base
station coordinates in kinematic applications.
Further, if a base station antenna is for example, above a monument, it can be used
to provide height. This enables mobile units (rovers) to reference measured positions
to the monument directly in real time.

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Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA22
header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see REFSTATION on
page 419.

Ulong

4

H+20

8

L1 ECEF-X

L1 ECEF ΔX correction (1/256 cm)

Long

4

H+24

9

L1 ECEF-Y

L1 ECEF ΔY correction (1/256 cm)

Long

4

H+28

10

L1 ECEF-Z

L1 ECEF ΔZ correction (1/256 cm)

Long

4

H+32

11

#L1 recs

Number of GPS L1 records to follow

Ulong

4

H+36

12

spare

Spare bits

Ulong

4

H+40

13

height stat

No height flag where
0 = FALSE
1 = TRUE

Enum

4

H+44

14

phase center

Antenna L1 phase center height (1/256 cm)

Ulong

4

H+48

variable

#L2 recs

Number of GPS L2 records to follow

Ulong

4

variable

variable

L2 ECEF-X

L2 ECEF ΔX correction (1/256 cm)

Long

4

variable

variable

L2 ECEF-Y

L2 ECEF ΔY correction (1/256 cm)

Long

4

variable

variable

L2 ECEF-Z

L2 ECEF ΔZ correction (1/256 cm)

Long

4

variable

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

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3.3.93 RTCMDATA22GG Extended Base Station for GLONASS
V1G23_G_RT20/ _RT2
See Section 3.3.84 starting on page 437 for information on RTCM standard logs. See also
RTCMDATA22 for GPS-only receivers starting on page 465.
This message accommodates Network RTK. However, it is not specific to Network RTK and may be
used in other applications. For more details, refer to the Network RTK application note available from
our Web site as APN-041 at http://www.novatel.com/support/applicationnotes.htm.
Message ID:
Log Type:

964
Synch

Recommended Input:
log rtcmdata22gga ontime 10

ASCII Example:
#RTCMDATA22GGA,COM1,0,68.5,FINESTEERING,1450,231012.566,00100000,28b0,35794;
22,0,1020,0,0,6,-24,-122,82,1,0,0,0,0,TRUE,174762,1,0,0,0*2846ab0c

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA22GG header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health

Ulong

4

H+20

8

L1 ECEF-X

L1 ECEF ΔX correction (1/256 cm)

Long

4

H+24

9

L1 ECEF-Y

L1 ECEF ΔY correction (1/256 cm)

Long

4

H+28

10

L1 ECEF-Z

L1 ECEF ΔZ correction (1/256 cm)

Long

4

H+32

11

#L1recs

Number of GPS/GLONASS L1 records to
follow

Ulong

4

H+36

12

spare

Spare bits

Ulong

4

H+40

13

constellation

Constellation

Ulong

4

14

ant type

Antenna type

Ulong

4

15

ant ref pt

Antenna reference point

Ulong

4

16

height stat

No height flag where
0 = FALSE
1 = TRUE

Enum

4

H+44

17

phase center

Antenna L1 phase center height (1/256 cm)

Ulong

4

H+48

variable

#L2recs

Number of GPS/GLONASS L2 records to
follow

Ulong

4

variable

variable

L2 ECEF-X

L2 ECEF ΔX correction (1/256 cm)

Long

4

variable

variable

L2 ECEF-Y

L2 ECEF ΔY correction (1/256 cm)

Long

4

variable

variable

L2 ECEF-Z

L2 ECEF ΔZ correction (1/256 cm)

Long

4

variable

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.94 RTCMDATA23 Antenna Type Definition V123_RT20 V23_RT2
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
Message ID:
Log Type:

663
Synch

Recommended Input:
log rtcmdata23a ontime 5

ASCII Example:
#RTCMDATA23A,COM1,0,80.5,COARSESTEERING,1399,253488.880,005c0002,3188,35143;
23,0,2481,0,0,6,0,0,1,9,"arbitrary",1,0,6,"values"*f84ed3a0

RTCM23 RTCM Antenna Type Definition Record (RTK)
Message Type 23 provides information on the antenna type used at the base station. The RTCM
commission uses an equipment-naming downloadable table from the International GPS Service
Central Bureau (IGS CB): ftp://igscb.jpl.nasa.gov/igscb/station/general/rcvr_ant.tab. This table
provides a unique antenna descriptor for antennas used for high-precision surveying type applications.
The service provider uses the setup ID parametre to indicate the particular base station-antenna
combination. "0" for this value means that the values of a standard model type calibration should be
used. A non-zero value specifies a particular setup, or calibration, table for the specific antenna in use
at the base station. Increase the number whenever a change occurs at the station that affects the
antenna phase center variations. Depending on the change of the phase center variations due to a setup
change, a change in the setup ID would mean that you should check with the service provider to see if
the antenna phase center variation in use is still valid. The provider must make appropriate
information available to users.
The ant ser# field is the individual antenna serial number as issued by the manufacturer of the
antenna. A possible duplication of the antenna serial number is not possible, because together with the
antenna descriptor, only one antenna with the particular number is available. In order to avoid
confusion, the antenna serial number should be omitted when the record is used together with reverse
reduction to model type calibration values, because it cannot be allocated to a real physical antenna.

In order to produce RTCM23 or RTCM24 messages from a base receiver, the
receiver must have a fixed position (or be properly set to operate as a moving base
station). The receiver must also have a BASEANTENNAMODEL command sent to it,
see page 76. Provided these conditions are met, you can log RTCM23 and RTCM24
from the base station. If an RTCM24 log, or request for an RTCM24 log, is detected
at the base, the rover station ARP parametre is set to 1. Otherwise it is set to 0.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA23
header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see REFSTATION on
page 419

Ulong

4

H+20

Ulong

4

H+24

8

Reserved

9

ARP

Antenna Reference Point

Ulong

4

H+28

10

ser flag

Serial flag

Ulong

4

H+32

11

#chars

Length of antenna descriptor (number of
characters)

Ulong

4

H+36

12

ant descrp

Antenna descriptor

Uchar [31]

32 a

H+40

13

setup ID

Setup ID

Ulong

4

H+72

14

Reserved

Ulong

4

H+76

15

#chars2

Length of antenna serial number (characters)

Ulong

4

H+80

16

ant ser#

Antenna serial number

Uchar [31]

31

H+84

17

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

18

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, additional bytes of padding may be added to maintain 4-byte alignment.

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3.3.95 RTCMDATA24 Antenna Reference Point (ARP) V123_RT20 V23_RT2
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
This message accommodates Network RTK. However, it is not specific to Network RTK and may be
used in other applications. For more details, refer to the Network RTK application note available from
our Web site as APN-041 at http://www.novatel.com/support/applicationnotes.htm.
Message ID:
Log Type:

664
Synch

Recommended Input:
log rtcmdata24a ontime 5

ASCII Example:
#RTCMDATA24A,COM1,0,71.0,FINESTEERING,1450,237173.950,00100000,0625,35794;
24,0,5289,0,0,6,-1.634526570929836e+10,0,-3.664616764707576e+10,
0,4.942495013223856e+10,0,1,1,0,0*530c8b71

In the example, log RTCM24 from the base before you log RTCMDATA24 at a rover:
interfacemode com2 none rtcm (Set the COM2 interface mode to RTCM)
log com2 RTCM24 ontime 5.0 (Output RTCM24 messages from COM2 every 5 s)
RTCM24 RTCM Antenna Reference Point Parametre (RTK)
Message 24 replaced messages 3 and 22 for RTK operation. The L1 phase center is not a point in
space that can be used as a standard reference but rather, depends on the antenna setup and calibration.
The location of the L1 phase center may vary between different calibration tables for the same antenna
model. Message Type 24 solves this using ARP, used throughout the International GPS Service (IGS).
Message 24 contains the coordinates of the installed antenna's ARP in the GNSS coordinate system
Earth-Center-Earth-Fixed (ECEF) coordinates. Local datums are not supported. The coordinates refer
to a physical point on the antenna (typically the bottom of the antenna mounting surface).
BASEANTENNAMODEL and ANTENNAMODEL commands set the data, see pages 76 and 62
respectively. ECEF coordinates correspond to the currently calculated base station coordinates with
the L1 phase center offsets applied and will soon reflect the ARP, calculated from the base and rover
sets of user antenna model parametres.
Reserved fields are set to 0, the sys ind field defaults to GPS, and the ant ht field is set to 0 by default.
This follows current implementation of RTCM22 messages.
RTCM24 data can be viewed at the base by requesting the RTCMDATA24 log.
If a rover receives RTCM24, RTCM1005, or RTCM1006 data, containing antenna offset
information but does not have the same antenna type as the base station, the position is offset.
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Provided the two receivers have matching antenna models, the output rover positions reflect
the position of the ARP.

Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA24
header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see REFSTATION on
page 419

Ulong

4

H+20

ECEF ΔX correction (1/256 cm)

Double

8

H+24

Ulong

4

H+32

Double

8

H+36

Ulong

4

H+44

8

ECEF_X

9

Reserved

10

ECEF_Y

11

Reserved

12

ECEF_Z

ECEF ΔZ correction (1/256 cm)

Double

8

H+48

13

sys ind

System indicator

Ulong

4

H+56

14

ant ht flag

Antenna height flag

Ulong

4

H+60

15

#recs

Number of antenna records to follow

Ulong

4

H+64

16

ant ht

Antenna height

Ulong

4

H+68

16

Reserved

Ulong

4

H+72

17

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+76

18

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

ECEF ΔY correction (1/256 cm)

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3.3.96 RTCMDATA31 GLONASS Differential Corrections V1G23_G and
V123_RT20 or V23_RT2
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
Message ID:
Log Type:

868
Synch

Recommended Input:
log rtcmdata31a ontime 2

ASCII Example:
#RTCMDATA31A,COM1,0,59.5,FINESTEERING,1417,171572.000,00140000,77c0,2698;
31,1000,3953,0,0,6,4,0,0,4,-506,-6,1,77,0,0,2,-280,-9,1,77,0,0,18,-645,
-4,1,77,0,0,19,-660,-6,1,77*29664bf3

RTCM31 Differential GLONASS Corrections (RTK)
Message Type 31 provides differential GLONASS corrections.
The Type 31 format complies with the tentative RTCM 2.3 standard but is subject to change
as the RTCM specifications change. It currently matches the Type 59GLO format, but unlike
Type 31 which may change, Type 59GLO will stay in the same format.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA31
header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see REFSTATION on
page 419

Ulong

4

H+20

8

#recs

Number of records to follow

Ulong

4

H+24

9

scale

Scale factor

Long

4

H+28

10

udre

User differential range error

Ulong

4

H+32

11

prn

Satellite ID

Ulong

4

H+36

12

cor

Correction

Int

4

H+40

13

cor rate

Correction rate

Int

4

H+44

14

change

Change bit

Ulong

4

H+48

15

τK

Time of day

Ulong

4

H+52

16

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

17

[CR][LF]

Sentence terminator (ASCII only)

-

-

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3.3.97 RTCMDATA32 GLONASS Base Station Parametres V1G23_G and
V123_RT20 or V23_RT2
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
Message ID:
Log Type:

878
Synch

Recommended Input:
log rtcmdata32a ontime 2

ASCII Example:
#RTCMDATA32A,COM1,0,41.0,FINESTEERING,1417,159021.845,00140000,4231,2698;
32,1000,1036,0,0,6,-109917613.9246512502431870,
-164379942.4939256608486176,247124922.7021482884883881*3d24c470

RTCM31 GLONASS Base Station Parametres (RTK)
Message Type 32 provides GLONASS base station parametres in ECEF coordinates.
Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA32
header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see REFSTATION on
page 419

Ulong

4

H+20

8

ECEF-X

ECEF ΔX correction (1/100 m)

Double

8

H+24

9

ECEF-Y

ECEF ΔY correction (1/100 m)

Double

8

H+32

10

ECEF-Z

ECEF ΔZ correction (1/100 m)

Double

8

H+40

17

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+48

18

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.98 RTCMDATA36 Special Message V1G23_G
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
Message ID:

879

Log Type:

Synch

Recommended Input:
log rtcmdata36a once

ASCII Example:
#RTCMDATA36A,COM1,0,64.5,FINESTEERING,1399,237113.869,00500000,
f9f5,35359;36,0,5189,0,0,6,11,"QUICK\d166\d146\d174\d144\d140"
*8bdeae71

RTCM36 Special Message Including Russian Characters
This log contains a special ASCII message that can be displayed on a printer or terminal. The base
station wishing to log this message out to rover stations that are logged onto a computer, must use the
SETRTCM36T command to set the required ASCII text message. Once set, the message can then be
issued at the required intervals with the “LOG port RTCM36 interval” command. The Special
Message setting can be verified in the RXCONFIGA log, see page 544. The received ASCII text can
be displayed at the rover by logging RTCM36T ONNEW.
The RTCM36 data log follows the RTCM Standard Format. Words 1 and 2 contain RTCM header
information followed by words 3 to n (where n is variable from 3 to 32) which contain the special
message ASCII text. Up to 90 ASCII characters, including an extended ASCII set as shown in Table
41 on page 203, can be sent with each RTCM Type 36 message frame.

The ASCII extended character set includes Cyrillic characters to provide, for
example, Russian language messages.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA36
header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count
week number is the week number
from subframe 1 of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see
REFSTATION on page 419

Ulong

4

H+20

8

#chars

Number of characters to follow

Ulong

4

H+24

9

character

Character

Char

4a

H+28

10...

Next char offset = H+28 + (#chars x 4)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment

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3.3.99 RTCMDATA59 Type 59N-0 NovAtel RT20 V123_RT20 or V23_RT2
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
Message ID:
Log Type:

403
Synch

Recommended Input:
log rtcmdata59a ontime 10

ASCII Example:
#RTCMDATA59A,COM1,0,71.0,FINESTEERING,1420,506996.000,00180020,7dc7,1899;
59,0,4993,0,0,6,78,20506229,2,0,8,26,3,39864503,-167,19,3,20437804,-40,
3,3,16170184,-41,18,3,1213739,-123,21,3,13601473,-50,9,3,23627155,-171,
14,3,26086086,-151,22,3,5,-182*9c414d63

RTCM59 Type 59N-0 NovAtel Proprietary Message (RTK)
RTCM Type 59 messages are reserved for proprietary use by RTCM base station operators.
Each message is variable in length, limited only by the RTCM maximum of 990 data bits (33 words
maximum). The first eight bits in the third word (the word immediately following the header) serve as
the message identification code, in the event that the base station operator wishes to have multiple
Type 59 messages.
NovAtel has defined only a Type 59N-0 message to date; it is used for operation in receivers capable
of operating in RT-20 Carrier Phase Differential Positioning Mode. This log is primarily used by a
base station to broadcast its RT-20 observation data (delta pseudorange and accumulated Doppler
range) to rover RT-20 – capable receivers. Type 59N messages should be sent once every 2 seconds.
1.

The PORTSTATS log, see page 386, is very useful for monitoring the serial data link, as
well as differential data decode success.

2.

This log is intended for use when operating in RT-20 mode.

RTCM Message Type 59 is a message type reserved for private use by operators
who communicate proprietary information.
NovAtel receivers make use of this Message Type 59 for RT20 differential
positioning. The RTCMDATA59 log can be used to observe data being used by a
rover that is performing RT-20 level positioning and RTCM corrections.
For example, the German SAPOS (Satellitenpositionierungsdienst der Deutschen
Landesvermessung) and ASCOS (Satelliten-Referenzdienst der E.ON Ruhrgas AG)
correction networks send their FKP RTK correction parametres (using their own
message format) through RTCM message Type 59. FKP is an acronym for Flachen
Korrectur Parametre (Plane Correction Parametre).
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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA
-59 header

Log header

-

H

0

2

RTCM
header

RTCM message type

Ulong

4

H

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count week number is
the week number from subframe 1 of the
ephemeris.

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see REFSTATION, page 419

Ulong

4

H+20

3

8

subtype

Message subtype

Char

4a

H+24

9

min psr

Minimum pseudorange (m)

Long

4

H+28

10

time offset

Time difference between the Z-count time and the
measurement time where Z-count time from
subframe 1 of the ephemeris (0.1 s / lsb)

Long

4

H+32

10

Reserved

Ulong

4

H+36

11

#prn

Number of PRNs with information to follow

Ulong

4

H+40

12

PRN/slot

Satellite PRN number of range measurement
(GPS: 1-32 and SBAS: 120 to 138. For GLONASS,
see Section 1.3 on page 29.)

Ulong

4

H+44

13

lock

Lock time:

Ulong

4

H+48

14

psr

Pseudorange correction (1/10 m)

Ulong

4

H+52

15

adr

Accumulated Doppler (ADR) correction (1/1000 m)

Long

4

H+56

16...

Next PRN offset = H+44 + (#prns x 16)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

0 = <20 seconds
1 = 20-40 seconds
2 = 40-80 seconds
3 = >80 seconds

a. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment

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3.3.100 RTCMDATA59GLO NovAtel Proprietary GLONASS Differential
Corrections V1G23_G and V123_DGPS
See Section 3.3.84 starting on page 437 for information on RTCM standard logs.
Message ID:
Log Type:

905
Synch

Recommended Input:
log rtcmdata59gloa ontime 2

ASCII Example:
#RTCMDATA59GLOA,COM1,0,71.5,FINESTEERING,1420,509339.000,00100008,e896,2733;
59,10,2898,0,0,6,110,2,0,0,19,-459,-9,0,56,0,0,4,570,-7,1,56*00dee641

The Type 31 format, see page 473, currently matches the Type 59GLO format, but unlike
Type 31 which may change, Type 59GLO will stay in the same format. The Type 31 format
complies with the tentative RTCM 2.3 standard but is subject to change as the RTCM
specifications change.

RTCM59GLO Differential GLONASS Corrections (DGPS)
Message Type 59GLO provides differential GLONASS corrections.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA59GLO header

Log header

-

H

0

2

RTCM header

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see REFSTATION on
page 419

Ulong

4

H+20

8

subtype

Message subtype

Uchar

4a

H+24

9

#recs

Number of records to follow

Ulong

4

H+28

10

scale

Scale factor

Long

4

H+32

11

udre

User differential range error

Ulong

4

H+36

12

prn

Satellite ID

Ulong

4

H+40

13

cor

Correction

Int

4

H+44

14

cor rate

Correction rate

Int

4

H+48

15

change

Change bit

Ulong

4

H+52

16

τK

Time of day

Ulong

4

H+56

17

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

18

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.

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3.3.101 RTCMDATACDGPS1 Localized CDGPS Corrections in RTCM1
V13_CDGPS
See Section 3.3.84 starting on page 437 for information on RTCM standard logs. See also CDGPS
Local Wide Area Corrections on page 441.
Message ID:
Log Type:

953
Synch

Recommended Input:
log rtcmdatacdgps1a ontime 10

ASCII Example:
#RTCMDATACDGPS1A,COM1,0,51.5,FINESTEERING,1464,423863.023,00000000,ad02,3144;
1,209,4438,0,0,0,10,0,1,21,-384,0,64,0,1,18,-412,0,9,0,1,24,-423,0,81,0,1,6,
-361,0,2,0,1,26,-461,0,59,0,1,16,-88,0,5,0,1,22,-734,0,48,0,1,3,-695,0,73,
0,2,10,-1007,0,77,0,3,8,-1342,0,63*c6bfd557

RTCMCDGPS1
The RTCMCDGPS1 message is an RTCM Type 1 message that the receiver generates from CDGPS
corrections. See also the RTCMDATAOMNI1 log table starting on page 486 that reflects an RTCM1
output and the RTCMDATACDGPS1 output example above.

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3.3.102 RTCMDATACDGPS9 CDGPS Corrections in RTCM9 Format
V13_CDGPS
See Section 3.3.84 starting on page 437 for information on RTCM standard logs. See also the
RTCMDATACDGPS9 output example below, the RTCMDATACDGPS9 log table on page 484, and
CDGPS Local Wide Area Corrections on page 441.
Message ID:
Log Type:

956
Synch

Recommended Input:
log rtcmdatacdgps9a ontime 10

ASCII Example:
#RTCMDATACDGPS9A,COM1,0,54.0,FINESTEERING,1464,423903.023,00000000,0e6c,3144;
9,209,4505,0,0,0,3,0,1,3,-687,0,73,0,2,10,-1025,0,77,0,3,8,-1335,0,63
*1ed7bcc9

RTCMCDGPS9
The RTCMCDGPS9 message is an RTCM Type 9 message that the receiver generates from CDGPS
corrections. To use this log, you must have an OEMV-3 based receiver capable of receiving L-band.
See also the log table on page 484 that reflects an RTCM9 output and the RTCMDATACDGPS9
output example in the next section.
Type 9 messages follow the same format as Type 1 messages. However, unlike a Type 1 message,
Type 9 does not require a complete satellite set. This allows for much faster differential correction
data updates to the rover stations that improves performance and reduces latency.
OEMV-3 receivers, with or without an external oscillator, can generate Type 9 messages. All OEMV
family receivers can accept Type 9 messages. Also, Type 9 messages give better performance with
slow or noisy data links.

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Field #
1

2

Chapter 3

Field type
RTCMDATACDGPS9
header
RTCM header

Data Description
Log header

Format

Binary
Bytes

-

H

Binary
Offset
0

RTCM message type

Ulong

4

H

3

Base station ID

Ulong

4

H+4

4

Modified Z count where the Z count
week number is the week number
from subframe 1 of the ephemeris

Ulong

4

H+8

5

Sequence number

Ulong

4

H+12

6

Length of frame

Ulong

4

H+16

7

Base station health, see
REFSTATION on page 419

Ulong

4

H+20

8

#prn

Number of PRNs with information to
follow (maximum of 3)

Ulong

4

H+24

9

scale

Scale where
0 = 0.02 m and 0.002 m/s
1 = 0.32 m and 0.032 m/s

Ulong

4

H+28

10

UDRE

User differential range error

Ulong

4

H+32

11

PRN/slot

Satellite PRN number (GPS: 1-32,
SBAS: 120 to 138) or GLONASS
slot

Ulong

4

H+36

12

psr corr

Scaled pseudorange correction (m)

Long

4

H+40

13

rate corr

Scaled range rate correction

Long

4

H+44

14

IOD

Issue of data

Long

4

H+48

15...

Next PRN offset = H+28 + (#prns x 24)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

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3.3.103 RTCMDATAOMNI1 RTCM1 from OmniSTAR VBS

V13_VBS

See Section 3.3.84 starting on page 437 for information on RTCM standard logs. See also OmniSTAR
Local Wide Area Corrections on page 441.
Message ID:

960

Log Type:

Asynch

Recommended Input:
log rtcmdataomni1a onchanged

ASCII Example:
#RTCMDATAOMNI1A,COM1,0,74.0,FINESTEERING,1464,424276.151,00000000,405e,35912;
1,100,5119,0,0,0,0,12,
0,0,6,-313,0,2,0,0,3,-570,0,73,0,0,10,-1116,0,77,0,0,15,-339,0,0,
0,0,16,-527,0,5,0,0,18,-29,0,9,0,0,21,-306,0,64,0,0,22,-586,0,48,
0,0,24,-362,0,81,0,0,26,-394,0,59,0,0,29,-487,0,37,0,0,8,-1242,0,63*f128cbd2

RTCMOMNI1

RTCM from OmniSTAR

The RTCMOMNI1 message is an RTCM Type 1 message that the receiver generates from
OmniSTAR VBS corrections.

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Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATAOMNI1 header

Log header

-

H

0

2

type

RTCM message type

Ulong

4

H

3

baseID

Base station ID

Ulong

4

H+4

4

Z

Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris

Ulong

4

H+8

5

seq#

Sequence number

Ulong

4

H+12

6

frame length

Length of frame

Ulong

4

H+16

7

health

Base station health

Ulong

4

H+20

8

Mhealth

Message health

Ulong

4

H+24

9

#recs

Number of records to follow

Ulong

4

H+28

10

scale

Scaling for the correction and correction rate

Ulong

4

H+32

11

UDRE

User differential range error

Ulong

4

H+36

12

prn

Satellite PRN (1-32)

Ulong

4

H+40

13

corr

Correction

Int

4

H+44

14

corr rate

Correction rate

Int

4

H+48

15

IODE

Issue of ephemeris data

Ulong

4

H+52

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.104 RTCMV3 RTCMV3 Standard Logs V123_RT20 V23_RT2
RTCM1001
L1-ONLY GPS RTK OBSERVABLES V123_RT20 V23_RT2
Message ID: 772
RTCM1002
EXTENDED L1-ONLY GPS RTK OBSERVABLES V123_RT20 V23_RT2
Message ID: 774
RTCM1003
L1 AND L2 GPS RTK OBSERVABLES V123_RT20 V23_RT2
Message ID: 776
RTCM1004
EXTENDED L1 AND L2 GPS RTK OBSERVABLES V123_RT20 V23_RT2
Message ID: 770
RTCM1005

STATIONARY RTK BASE STATION ANTENNA REFERENCE
POINT (ARP) V123_RT20 V23_RT2

Message ID: 765
RTCM1006

STATIONARY RTK BASE STATION ARP WITH ANTENNA
HEIGHT V123_RT20 V23_RT2

Message ID: 768
RTCM1007

EXTENDED ANTENNA DESCRIPTOR AND SETUP INFORMATION
V123_RT20 V23_RT2

Message ID: 852
RTCM1008

EXTENDED ANTENNA REFERENCE STATION DESCRIPTION AND
SERIAL NUMBER V123_RT20 V23_RT2

Message ID: 854
RTCM1009
GLONASS L1-ONLY RTK V123_RT20 V23_RT2
Message ID: 885
RTCM1010
EXTENDED GLONASS L1-ONLY RTK V123_RT20 V23_RT2
Message ID: 887
RTCM1011
GLONASS L1/L2 RTK V123_RT20 V23_RT2
Message ID: 889
RTCM1012
EXTENDED GLONASS L1/L2 RTK V123_RT20 V23_RT2
Message ID: 891
RTCM1019
GPS EPHEMERIDES V123_RT20 V23_RT2
Message ID: 893
RTCM1020
GLONASS EPHEMERIDES V123_RT20 V23_RT2
Message ID: 895
RTCM1033

RECEIVER AND ANTENNA DESCRIPTORS V123_RT20 V23_RT2

Message ID: 1097
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1.

At the base station, choose to send either an RTCM1005 or RTCM1006 message to the
rover station. Then select one of the observable messages (RTCM1001, RTCM1002,
RTCM1003 or RTCM1004) to send from the base.

2.

RTCM1007 and RTCM1008 data is set using the BASEANTENNAMODEL command,
see page 76. If you have set a base station ID, it is detected and set. Other values are also
taken from a previously entered BASEANTENNAMODEL command.

3.

In order to set up logging of RTCM1007 or RTCM1008 data, it is recommended to first
use the INTERFACEMODE command to set the interface mode of the port transmitting
RTCMV3 messages to RTCMV3, see page 135. Providing the base has a fixed position,
see FIX on page 115, and its BASEANTENNAMODEL command set, you can log out
RTCM1007 messages.

4.

The RTCM messages can be logged with an A or B suffix for an ASCII or Binary output with
a NovAtel header followed by Hex or Binary raw data respectively.

5.

RTCMDATA logs output the details of the above logs if they have been sent.

RTCM SC-104 is a more efficient alternative to the documents entitled "RTCM Recommended
Standards for Differential NAVSTAR GPS Service, Version 2.x”. Version 3.0, consists primarily of
messages designed to support real-time kinematic (RTK) operations. The reason for this emphasis is
that RTK operation involves broadcasting a lot of information, and thus benefits the most from a more
efficient data format.
The RTCM SC-104 standards have been adopted by NovAtel for implementation into the receiver.
The receiver can easily be integrated into positioning systems around the globe because it is capable
of utilizing RTCM Version 3.0 formats.
The initial Version 3.0 document describes messages and techniques for supporting GPS. However,
the format accommodates modifications to these systems (for example, new signals), and to new
satellite systems that are under development. In addition, augmentation systems that utilize
geostationary satellites with transponders operating in the same frequency bands are now in the
implementation stages. Generically they are called Satellite-Based Augmentation Systems (SBAS),
and they have been designed to be interoperable (for example WAAS, EGNOS, MSAS).
Message types contained in the current Version 3.0 standard have been structured in different groups.
Transmit at least one message type from each of Groups 1 to 3:
Group 1 - Observations:
RTCM1001
RTCM1002
RTCM1003
RTCM1004
RTCM1009
RTCM1010
RTCM1011
RTCM1012

L1-Only GPS RTK
Extended L1-Only GPS RTK
L1 And L2 GPS RTK
Extended L1and L2 GPS RTK
L1-Only GLONASS RTK
Extended L1-Only GLONASS RTK
L1/L2 GLONASS RTK
Extended L1/L2 GLONASS RTK

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Group 2 - Base Station Coordinates:
RTCM1005

RTK Base Antenna Reference Point (ARP)

RTCM1006

RTK Base ARP with Antenna Height

Group 3 - Antenna Description:
RTCM1007

Extended Antenna Descriptor and Setup Information

RTCM1008

Extended Antenna Reference Station Description and Serial Number

Group 4 - Auxiliary Operation Information:
RTCM1019

GPS Ephemerides

RTCM1020

GLONASS Ephemerides

Example Input:
interfacemode com2 none RTCMV3
fix position 51.1136 -114.0435 1059.4
baseantennamodel 702 NVH05410007 1 user
log com2 rtcm1005 ontime 3
log com2 rtcm1002 ontime 5
log com2 rtcm1006 ontime 1
log com2 rtcm1007 ontime 10
log com2 rtcm1008 ontime 10

RTCM1001-RTCM1004GPS RTK Observables V123_RT20

V23_RT2

RTCM1001, RTCM1002, RTCM1003 and RTCM1004 are GPS real-time kinematic (RTK) messages,
which are based on raw data. From these data, valid RINEX files can be obtained. As a result, this set
of messages offers a high level of interoperability and compatibility with standard surveying
practices. Refer also to the PC Software and Firmware section of the OEMV Installation and
Operation Manual for details on the logs that Convert4 converts to RINEX.
The Type 1001 Message supports single-frequency RTK operation. It does not include an indication
of the satellite carrier-to-noise ratio as measured by the base station.
The Type 1002 Message supports single-frequency RTK operation, and includes an indication of the
satellite carrier-to-noise (C/No) as measured by the base station. Since the C/No does not usually
change from measurement to measurement, this message type can be mixed with the Type 1001, and
used primarily when a satellite C/No changes, thus saving broadcast link throughput.
The Type 1003 Message supports dual-frequency RTK operation, but does not include an indication
of the satellite carrier-to-noise (C/No) as measured by the base station.
The Type 1004 Message supports dual-frequency RTK operation, and includes an indication of the
satellite carrier-to-noise (C/No) as measured by the base station. Since the C/No does not usually
change from measurement to measurement, this message type can be mixed with the Type 1003, and
used only when a satellite C/No changes, thus saving broadcast link throughput.
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RTCM1005 & RTCM1006 RTK Base Antenna Reference Point (ARP)
Message Type 1005 provides the earth-centered, earth-fixed (ECEF) coordinates of the antenna
reference point (ARP) for a stationary base station. No antenna height is provided.
Message Type 1006 provides all the same information as Message Type 1005, but additionally
provides the height of the ARP.
These messages are designed for GPS operation, but are equally applicable to future satellite systems,
and system identification bits are reserved for them.
Message Types 1005 and 1006 avoid any phase center problems by utilizing the ARP, which is used
throughout the International GPS Service (IGS). They contain the coordinates of the installed
antenna’s ARP in Earth-Center-Earth-Fixed (ECEF) coordinates - datum definitions are not yet
supported. The coordinates always refer to a physical point on the antenna, typically the bottom of the
antenna mounting surface.
RTCM1007 & RTCM1008 Extended Antenna Descriptions
Message Type 1007 provides an ASCII descriptor of the base station antenna. The International GPS
Service (IGS) Central Bureau convention is used most of the time, since it is universally accessible.
Message Type 1008 provides the same information, plus the antenna serial number, which removes
any ambiguity about the model number or production run.
IGS limits the number of characters to 20 at this time. The antenna setup ID is a parametre for use by
the service provider to indicate the particular base station-antenna combination. "0" for this value
means that the values of a standard model type calibration should be used. The antenna serial number
is the individual antenna serial number as issued by the manufacturer of the antenna.
RTCM1009-RTCM1012 GLONASS RTK Observables
Message Types 1009 through 1012 provide the contents of the GLONASS RTK messages, which are
based on raw data. You can obtain complete RINEX files from this data. This set of messages offers a
high level of interoperability and compatibility with standard surveying practices. When using these
messages, you should also use an ARP message (Type 1005 or 1006) and an Antenna Descriptor
message (Type 1007 or 1008). If the time tags of the GPS and GLONASS RTK data are synchronized,
the Synchronized GNSS flag can be used to connect the entire RTK data block.
RTCM1019-RTCM1020 GPS and GLONASS Ephemerides
Message Type 1019 contains GPS satellite ephemeris information. Message Type 1020 contains
GLONASS ephemeris information. These messages can be broadcast in the event that an anomaly in
ephemeris data is detected, requiring the base station to use corrections from previously good satellite
ephemeris data. This allows user equipment just entering the differential system to use corrections
being broadcast from that ephemeris. Broadcast this message (Type 1019 or 1020) every 2 minutes
until the satellite broadcast is corrected, or until the satellite drops below the coverage area of the base
station.
These messages can also be used to assist receivers to quickly acquire satellites. For example, if you
access a wireless service with this message, it can utilize the ephemeris information immediately
rather than waiting for a satellite to be acquired and its almanac data processed.
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3.3.105 RTCMDATA1001 L1-Only GPS RTK Observables V123_RT20
V23_RT2
This log is available at the base station. See Section 3.3.104 starting on page 487 for information on
RTCM Version 3.0 standard logs.
Message ID:
Log Type:

784
Synch

Recommended Input:
log rtcmdata1001a ontime 10 3

ASCII Example:
#RTCMDATA1001A,COM1,0,82.0,FINESTEERING,1317,239228.000,00180040,c279,1855;
0,0,239228000,0,8,0,0,8,21,0,14513926,8707,127,2,0,3705361,5040,127,16,0,
7573721,3555,124,29,0,5573605,-11078,127,26,0,2996771,-17399,99,6,0,9341652,
-329,127,10,0,13274623,2408,127,30,0,3355111,18860,127*ec698c2a

Message Type 1001 contains the shortest version of a message for GPS
observations, namely L1-only observables. Message Type 1002 contains additional
information that enhances performance. If throughput is not limited and the additional
information is available, it is recommended to use the longer version of messages.
Table 82: SBAS PRN Codes

491

SBAS
Code

GPS/GLONASS
Satellite ID

SBAS
Code

GPS/GLONASS
Satellite ID

120

40

130

50

121

41

131

51

122

42

132

52

123

43

133

53

124

44

134

54

125

45

135

55

126

46

136

56

127

47

137

57

128

48

138

58

129

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Table 83: Carrier Smoothing Interval of Code Phase
Indicator

Smoothing Interval

ASCII

Binary

0

000

No smoothing

1

001

< 30 s

2

010

30-60 s

3

011

1-2 min.

4

100

2-4 min.

5

101

4-8 min.

6

110

>8 min.

7

111

Unlimited smoothing
interval

Table 84: Lock Time Indicator
Indicator (i) a

Minimum Lock Time (s)

Range of Indicated Lock Times

0-23

i

0 ≤ lock time < 24

24-47

i · 2 - 24

24 ≤ lock time < 72

48-71

i · 4 - 120

72 ≤ lock time < 168

72-95

i · 8 - 408

168 ≤ lock time < 360

96-119

i · 16 - 1176

360 ≤ lock time < 744

120-126

i · 32 - 3096

744 ≤ lock time < 937

127

---

lock time ≥ 937

a. Determining Loss of Lock: In normal operation, a cycle slip is evident
when the Minimum Lock Time (s) has decreased in value. For long time
gaps between messages, such as from a radio outage, extra steps
should be taken on the rover to safeguard against missed cycle slips.

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d#

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1001
header

Log header

-

H

0

2

RTCMV3
observations
header

Message number

Ushort

2

H

Base station ID

Ushort

2

H+2

4

GPS epoch time in ms from the beginning of
the GPS week, which begins at midnight GMT
on Saturday night/Sunday morning, measured
in GPS time (as opposed to UTC)

Ulong

4

H+4

5

GNSS message flag:
0 = No further GNSS observables
referenced to the same epoch
time. The receiver begins to
process data immediately after
decoding the message.
1 = The next message contains
observables from another GNSS
source referenced to the same
epoch time

Uchar

1

H+8

6

Number of GPS satellite signals processed
(the number of satellites in the message and
not necessarily equal to the number of
satellites visible to the base station)

Uchar

1

H+9

7

Smoothing indicator
0 = Divergence-free smoothing not
used
1 = Divergence-free smoothing used

Uchar

1

H+10

8

Smoothing interval, see Table 83 on page
492. This is the integration period over which
base station pseudorange code phase
measurements are averaged using carrier
phase information. Divergence-free
smoothing may be continuous over the entire
period that the satellite is visible.

Uchar

1

H+11

3

9

#prns

Number of PRNs with information to follow

Ulong

4

H+12

10

PRN

PRN #, for SBAS see Table 82, page 491

Uchar

1

H+16

11

code-ind

GPS L1 code indicator
0 = C/A code
1 = P(Y) code direct

Uchar

1

H+17

12

psr

GPS L1 pseudorange (m) in 0.02 m units

Ulong

4

H+18

Continued on page 494.

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Field type

Data Description

Format

Binary
Bytes

Binary
Offset

13

phase-pseudo

GPS L1 (phaserange - pseudorange) in
0.0005 m units
Range: ±262.1435 m

Long

4

H+22

14

locktime-ind

GPS L1 continuos tracking lock time indicator,
see Table 84 on page 492

Uchar

2a

H+26

15...

Next PRN offset = H+16 + (#prns x 12)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, a variable number of additional bytes of padding are added, depending on the
number of satellites, to maintain 4-byte alignment.

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3.3.106 RTCMDATA1002 Extended L1-Only GPS RTK Observables
V123_RT20 V23_RT2
This log is available at the base station. See Section 3.3.104 starting on page 487 for information on
RTCM Version 3.0 standard logs.
Message ID:
Log Type:

785
Synch

Recommended Input:
log rtcmdata1002a ontime 7

ASCII Example:
#RTCMDATA1002A,COM1,0,79.0,FINESTEERING,1317,239318.000,00180040,adb2,1855;
0,0,239318000,0,9,0,0,9,21,0,12261319,-9236,127,0,202,
2,0,6623657,4517,127,0,171,16,0,5632627,1876,127,0,179,
29,0,3064427,-10154,127,0,177,26,0,14721908,-21776,105,0,164,
6,0,9384778,1113,127,0,205,18,0,9594701,-1176,27,0,184,
10,0,14876991,8629,127,0,202,30,0,6417059,20243,127,0,195*e7d3c54d

Message Type 1002 contains additional information to Message Type 1001, see
page 491, that enhances performance. If throughput is not limited and the additional
information is available, it is recommended to use the longer version of messages.

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Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1002
header

Log header

-

H

0

2

RTCMV3
observations
header, see the
RTCMDATA1001 log on
page 491 for
details

Message number

Ushort

2

H

Base station ID

Ushort

2

H+2

GPS epoch time (ms)

Ulong

4

H+4

GNSS message flag

Uchar

1

H+8

6

Number of GPS satellite signals
processed (0-31)

Uchar

1

H+9

7

Smoothing indicator

Uchar

1

H+10

8

Smoothing interval, see Table 83 on page
492.

Uchar

1

H+11

3
4
5

9

#prns

Number of PRNs with information to
follow

Ulong

4

H+12

10

prn#

PRN #, for SBAS see Table 82, page 491

Uchar

1

H+16

11

code-ind

GPS L1 code indicator
0 = C/A code
1 = P(Y) code direct

Uchar

1

H+17

12

psr

GPS L1 pseudorange (m) in 0.02 m units

Ulong

4

H+18

13

phase-pseudo

GPS L1 (phaserange - pseudorange) in
0.0005 m units
Range: ±262.1435 m

Long

4

H+22

14

locktime-ind

GPS L1 continuous tracking lock time
indicator, see Table 84 on page 492

Uchar

1

H+26

15

amb

GPS L1 PSR modulus ambiguity (m). The
integer number of full pseudorange
modulus divisions (299,792.458 m) of the
raw L1 pseudorange measurement.

Uchar

1

H+27

16

C/No

GPS L1 carrier-to-noise ratio (dBHz). The
base station's estimate of the satellite’s
signal. A value of 0 indicates that the C/
No measurement is not computed.

Uchar

4a

H+28

17...

Next PRN offset = H+16 + (#prns x 16)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, a variable number of additional bytes of padding are added, depending on
the number of satellites, to maintain 4-byte alignment.

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Data Logs

3.3.107 RTCMDATA1003 L1/L2 GPS RTK Observables V123_RT20 V23_RT2
This log is available at the base station. See Section 3.3.104 starting on page 487 for information on
RTCM Version 3.0 standard logs.
Message ID:
Log Type:

786
Synch

Recommended Input:
log rtcmdata1003a ontime 7

ASCII Example:
#RTCMDATA1003A,COM1,0,79.0,FINESTEERING,1317,239386.000,00180040,a38c,1855;
0,0,239386000,0,9,0,0,9,
21,0,10569576,-8901,127,0,-176,-7752,127,
2,0,8831714,3717,127,0,-163,7068,127,
16,0,4189573,-1118,127,0,-108,-1273,127,
29,0,1181151,-10116,127,0,-61,-11354,127,
26,0,12256552,-15107,109,0,24,-18232,109,
6,0,9442835,1961,127,0,-116,2536,127,
18,0,7145333,-3326,54,0,-17,-304,54,
10,0,1125215,13933,127,0,-148,12353,127,
30,0,8737848,20418,127,0,-48,19592,127*2286a5ab

Message Type 1003 provides minimum data for L1/L2 operation, while Message
Type 1004 provides the full data content. The longer observation messages do not
change very often, and can be sent less often.

497

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1003
header

Log header

-

H

0

2

RTCMV3
observations
header, see the
RTCMDATA1001 log on
page 491 for
details

Message number

Ushort

2

H

Base station ID

Ushort

2

H+2

GPS epoch time (ms)

Ulong

4

H+4

GNSS message flag

Uchar

1

H+8

Number of GPS satellite signals

Uchar

1

H+9

7

Smoothing indicator

Uchar

1

H+10

8

Smoothing interval: Table 83 on page

Uchar

1

H+11

3
4
5
6

9

#prns

Number of PRNs with information to

Ulong

4

H+12

10

prn#

PRN #, for SBAS see Table 82, page

Uchar

1

H+16

11

L1code-ind

GPS L1 code indicator
0 = C/A code
1 = P(Y) code direct

Uchar

1

H+17

12

L1psr

GPS L1 pseudorange (m) in 0.02 m

Ulong

4

H+18

13

L1 phase-pseudo

GPS L1 (phaserange - pseudorange) in
0.0005 m units
Range: ±262.1435 m

Long

4

H+22

14

L1locktime-ind

GPS L1 lock time indicator, see Table 84
on page 492

Uchar

1

H+26

15

L2code-ind

GPS L2 code indicator
0 = C/A or L2C code
1= P(Y) code direct
2= P(Y) code cross-correlated
3= Correlated P/Y

Uchar

1

H+27

16

L1L2psrdiff

GPS L2-L1 pseudorange difference (m)
in 0.02 m units
Range: ±163.82 m

Short

2

H+28

17

L2phaseL1pseudo

GPS L2 phaserange - L1 pseudorange
in 0.005 m units
Range: ±262.1435 m

Long

4

H+30

18

L1L2 locktime-ind

GPS L2 continuous tracking lock time
indicator, see Table 84 on page 492

Uchar

2a

H+34

19...

Next PRN offset = H+16 + (#prns x 20)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, a variable number of additional bytes of padding are added, depending on
the number of satellites, to maintain 4-byte alignment.

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3.3.108 RTCMDATA1004 Expanded L1/L2 GPS RTK Observables
V123_RT20 V23_RT2
This log is available at the base station. See Section 3.3.104 starting on page 487 for information on
RTCM Version 3.0 standard logs.
Message ID:
Log Type:

787
Synch

Recommended Input:
log rtcmdata1004a ontime 7

ASCII Example:
#RTCMDATA1004A,COM1,0,83.5,FINESTEERING,1317,238497.000,00180040,5500,1855;
0,0,238497000,0,7,0,0,7,
21,0,3492634,1536,98,0,202,0,-169,1904,96,175,
2,0,10314064,-3500,99,0,195,0,-192,-1385,96,165,
16,0,9713480,7187,65,0,164,0,-80,6159,65,148,
29,0,11686252,1601,95,0,163,0,-24,932,94,164,
6,0,10511647,3261,99,0,206,0,-115,3375,96,188,
10,0,1964375,2688,99,0,200,0,-120,2779,96,178,
30,0,9085068,4078,98,0,190,0,-50,2990,96,167*f91c8c6d

Message Type 1004 provides fuller data content than Message Type 1003, see
page 497. The longer observation messages do not change very often, and can be
sent less often.

499

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Data Logs

Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1004
header

Log header

-

H

0

2

RTCMV3
observations
header, see the
RTCMDATA1001 log on
page 491 for
details

Message number

Ushort

2

H

Base station ID

Ushort

2

H+2

GPS epoch time (ms)

Ulong

4

H+4

GNSS message flag

Uchar

1

H+8

6

Number of GPS satellite signals
processed (0-31)

Uchar

1

H+9

7

Smoothing indicator

Uchar

1

H+10

8

Smoothing interval, see Table 83 on page
492

Uchar

1

H+11

3
4
5

9

#prns

Number of PRNs with information to follow

Ulong

4

H+12

10

prn#

PRN #, for SBAS see Table 82, page 491

Uchar

1

H+16

11

L1code-ind

GPS L1 code indicator
0 = C/A code
1 = P(Y) code

Uchar

1

H+17

12

L1psr

GPS L1 pseudorange (m) in 0.02 m units

Ulong

4

H+18

13

L1 phase-pseudo

GPS L1 (phaserange - pseudorange) in
0.0005 m units
Range: ±262.1435 m

Long

4

H+22

14

L1lcktm-ind

GPS L1 lock time indicator, see Table 84
on page 492

Uchar

1

H+26

15

L1amb

GPS L1 PSR modulus ambiguity (m). The
integer number of full pseudorange
modulus divisions (299,792.458 m) of the
raw L1 pseudorange.

Uchar

1

H+27

16

L1C/No

GPS L1 carrier-to-noise ratio (dBHz). The
base station's estimate of the satellite’s
signal. A value of 0 indicates that the C/No
measurement is not computed.

Uchar

1

H+28

17

L2code-ind

GPS L2 code indicator:
0 = C/A or L2C code
1 = P(Y) code direct
2 = P(Y) code cross-correlated
3 = Correlated P(Y)

Uchar

1

H+29

18

L1L2psrdiff

GPS L2-L1 pseudorange difference (m) in
0.02 m units; Range: ±163.82 m

Short

4a

H+30

Continued on page 501.

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Chapter 3

Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

19

L2phaseL1pseudo

GPS L2 phaserange - L1 pseudorange in
0.0005 m units
Range: ±262.1435 m

Long

4

H+34

20

L2lcktm-ind

GPS L2 lock time indicator, see Table 84
on page 492

Uchar

1

H+38

21

L2 C/No

GPS L2 carrier-to-noise ratio (dBHz). The
base station's estimate of the satellite’s
signal. A value of 0 indicates that the C/No
measurement is not computed.

Uchar

1

H+39

22...

Next PRN offset = H+16 + (#prns x 24)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, a variable number of additional bytes of padding are added, depending on
the number of satellites, to maintain 4-byte alignment

501

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Data Logs

Chapter 3

3.3.109 RTCMDATA1005 Base Station Antenna Reference Point (ARP)
V123_RT20 V23_RT2
This log is available at the base station. See Section 3.3.104 starting on page 487 for information on
RTCM Version 3.0 standard logs.
In order to produce RTCM1005 or RTCM1006 messages from a base receiver, it must have a fixed
position (or be properly set to operate as a moving base station). However, the RTCM1005 or
RTCM1006 message only incorporate antenna offsets if a BASEANTENNAMODEL command has
been sent to the receiver. Once a BASEANTENNAMODEL command has been set, the ARP values
are reflected in the RTCM1005 and RTCM1006 logs.
See also the BASEANTENNAMODEL command on page 76 and the MOVINGBASESTATION
command on page 154.
If a rover receives RTCM24, RTCM1005, or RTCM1006 data, containing antenna offset
information but does not have the same antenna type as the base station, the position is offset.
Provided the two receivers have matching antenna models, the output rover positions reflect
position of the ARP.
Message ID:
Log Type:

788
Synch

Recommended Input:
log rtcmdata1005a ontime 3

ASCII Example:
#RTCMDATA1005A,COM1,0,84.5,FINESTEERING,1317,238322.885,00180040,0961,1855;
0,0,0,1,0,0,0,-16349783637,0,-36646792121,0,49422987955*7dbd6160

Message Types 1005 and 1006 are designed for GPS operation, but are equally
applicable to GLONASS and the future Galileo.

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Data Logs

Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1005
header

Log header

-

H

0

2

msg#

Message number

Ushort

2

H

3

ID

Base station ID

Ushort

2

H+2

4

Reserved

Uchar

1

H+4

5

GPSind

GPS indicator
0 = No GPS service supported
1 = GPS service supported

Uchar

1

H+5

6

GLOind

GLONASS indicator
0 = No GLONASS service
supported
1 = GLONASS service
supported

Uchar

1

H+6

7

GALind

Galileo indicator
0 = No Galileo service supported
1 = Galileo service supported

Uchar

1

H+7

8

Reserved

Uchar

1

H+8

9

ECEF-X

Double

8

H+9

10

Reserved

Uchar

1

H+17

11

ECEF-Y

Double

8

H+18

12

Reserved

Uchar

2a

H+26

13

ECEF-Z

Base station ECEF Z-coordinate
(1/10000 m)

Double

8

H+28

14

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+36

15

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Base station ECEF X-coordinate
(1/10000 m)

Base station ECEF Y-coordinate
(1/10000 m)

a. In the binary log case, an additional byte of padding is added to maintain 4-byte alignment

503

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Data Logs

Chapter 3

3.3.110 RTCMDATA1006 Base Station ARP with Antenna Height V123_RT20
V23_RT2
This log is available at the base station. See Section 3.3.104 starting on page 487 for information on
RTCM Version 3.0 standard logs.
In order to produce RTCM1005 or RTCM1006 messages from a base receiver, it must have a fixed
position (or be properly set to operate as a moving base station). However, the RTCM1005 or
RTCM1006 message only incorporate antenna offsets if a BASEANTENNAMODEL command has
been sent to the receiver. Once a BASEANTENNAMODEL command has been set, the ARP values
are reflected in the RTCM1005 and RTCM1006 logs.
See also the BASEANTENNAMODEL command on page 76 and the MOVINGBASESTATION
command on page 154.
If a rover receives RTCM24, RTCM1005, or RTCM1006 data, containing antenna offset
information but does not have the same antenna type as the base station, the position is offset.
Provided the two receivers have matching antenna models, the output rover positions reflect
position of the ARP.
Message ID:
Log Type:

789
Synch

Recommended Input:
log rtcmdata1006a ontime 3

ASCII Example:
#RTCMDATA1006A,COM1,0,80.5,FINESTEERING,1317,239459.744,00180040,7583,1855
;0,0,0,1,0,0,0,-16349783637,0,-36646792121,0,49422987955,0*5a466fb5

Message Types 1005 and 1006 are designed for GPS operation, but are equally
applicable to GLONASS and the future Galileo.

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Data Logs

Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1006
header

Log header

-

H

0

2

msg#

Message number

Ushort

2

H

3

ID

Base station ID

Ushort

2

H+2

4

Reserved

Uchar

1

H+4

5

GPSind

GPS indicator
0 = No GPS service supported
1 = GPS service supported

Uchar

1

H+5

6

GLOind

GLONASS indicator
0 = No GLONASS service
supported
1 = GLONASS service
supported

Uchar

1

H+6

7

GALind

Galileo indicator
0 = No Galileo service
supported
1 = Galileo service supported

Uchar

1

H+7

8

Reserved

Uchar

1

H+8

9

ECEF-X

Double

8

H+9

10

Reserved

Uchar

1

H+17

11

ECEF-Y

Double

8

H+18

12

Reserved

Uchar

2a

H+26

13

ECEF-Z

Base station ECEF Z-coordinate
(1/10000 m)

Double

8

H+28

14

anthgt

Antenna height

Ushort

4b

H+36

15

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+40

16

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Base station ECEF X-coordinate
(1/10000 m)

Base station ECEF Y-coordinate
(1/10000 m)

a. In the binary log case, an additional byte of padding is added to maintain 4-byte alignment
b. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment

505

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Data Logs

Chapter 3

3.3.111 RTCMDATA1007 Extended Antenna Descriptor and Setup
Information V123_RT20 V23_RT2
RTCM1007 information is set using the BASEANTENNAMODEL command, see page 76. If you
have set a base station ID, it is detected and set. Other values are also taken from a previously entered
BASEANTENNAMODEL command.
Message Type 1007 provides information on the antenna type used at the base station. The RTCM
commission uses an equipment-naming downloadable table from the International GPS Service
Central Bureau (IGS CB): ftp://igscb.jpl.nasa.gov/igscb/station/general/rcvr_ant.tab. This table
provides a unique antenna descriptor for antennas used for high-precision surveying type applications.
The service provider uses the setup ID parametre to indicate the particular base station-antenna
combination. "0" for this value means that the values of a standard model type calibration should be
used. A non-zero value specifies a particular setup, or calibration, table for the specific antenna in use
at the base station. Increase the number whenever a change occurs at the station that affects the
antenna phase center variations. Depending on the change of the phase center variations due to a setup
change, a change in the setup ID would mean that you should check with the service provider to see if
the antenna phase center variation in use is still valid. The provider must make appropriate
information available to users.
In order to set up logging of RTCM1007 data, it is recommended to first use the
INTERFACEMODE command to set the interface mode of the port transmitting RTCMV3
messages to RTCMV3, see page 135. Providing the base has a fixed position, see FIX on
page 115, and its BASEANTENNAMODEL command is set, you can log out RTCM1007
messages.
Message ID:
Log Type:

856
Synch

Recommended Input:
log rtcmdata1007a ontime 10

ASCII Example:
#RTCMDATA1007A,COM1,0,73.5,FINESTEERING,1423,309496.883,00180000,1d56,2748;
0,0,3,"702",1*c6f5de3d

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Chapter 3

Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1007
header

Log header

-

H

0

2

msg#

Message number

Ushort

2

H

3

base ID

Base station ID

Ushort

2

H+2

4

#chars

Length of antenna descriptor (number of
characters)

Ulong

4

H+4

5

ant descrp

Antenna descriptor

Char[31]

31 a

H+8

6

setupID

Setup identification

Uchar

1

H+39

7

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+40

8

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. Additional bytes of padding may be added to maintain 4-byte alignment

507

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Data Logs

Chapter 3

3.3.112 RTCMDATA1008 Extended Antenna Descriptor and Setup
Information V123_RT20 V23_RT2
RTCM1008 information is set using the BASEANTENNAMODEL command, see page 76. If you
have set a base station ID, it is detected and set. Other values are also taken from a previously entered
BASEANTENNAMODEL command.
Message Type 1008 provides information on the antenna type used at the base station. The RTCM
commission uses an equipment-naming downloadable table from the International GPS Service
Central Bureau (IGS CB): ftp://igscb.jpl.nasa.gov/igscb/station/general/rcvr_ant.tab. This table
provides a unique antenna descriptor for antennas used for high-precision surveying type applications.
The service provider uses the setup ID parametre to indicate the particular base station-antenna
combination. "0" for this value means that the values of a standard model type calibration should be
used. A non-zero value specifies a particular setup, or calibration, table for the specific antenna in use
at the base station. Increase the number whenever a change occurs at the station that affects the
antenna phase center variations. Depending on the change of the phase center variations due to a setup
change, a change in the setup ID would mean that you should check with the service provider to see if
the antenna phase center variation in use is still valid. The provider must make appropriate
information available to users.
In order to set up logging of RTCM1008 data, it is recommended to first use the
INTERFACEMODE command to set the interface mode of the port transmitting RTCMV3
messages to RTCMV3, see page 135. Providing the base has a fixed position, see FIX on
page 115, and its BASEANTENNAMODEL command is set, you can log out RTCM1007
messages.
Message ID:
Log Type:

857
Synch

Recommended Input:
log rtcmdata1008a ontime 10

ASCII Example:
#RTCMDATA1008A,COM1,0,69.0,FINESTEERING,1423,309565.095,00180000,d8c6,2748;
0,0,3,"702",1,11,"NVH05410007"*e89f1a17

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Chapter 3

Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1008
header

Log header

-

H

0

2

msg#

Message number

Ushort

2

H

3

base ID

Base station ID number

Ushort

2

H+2

4

#chars

Length of antenna descriptor (number of
characters)

Ulong

4

H+4

5

ant descrp

Antenna descriptor

Char[31]

32a

H+8

6

setupID

Setup identification

Uchar

1

H+40

7

#chars2

Length of antenna serial number
(characters)

Ulong

4

H+41

8

ant ser#

Antenna serial number

Char [31]

31

H+45

9

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+76

10

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. Additional bytes of padding may be added to maintain 4-byte alignment

509

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Data Logs

Chapter 3

3.3.113 RTCMDATA1009 GLONASS L1-Only RTK

V123_RT20 V23_RT2

This log is available at the base station. See Section 3.3.104 starting on page 487 for information on
RTCM Version 3.0 standard logs.
Message ID:
Log Type:

897
Synch

Recommended Input:
log rtcmdata1009a ontime 3

ASCII Example:
#RTCMDATA1009A,COM1,0,68.5,FINESTEERING,1432,313977.000,00100000,58cf,35602;
0,0,65563000,0,4,0,0,
4,
7,0,12,3853223,295,96,
21,0,15,22579496,-8,95,
6,0,8,28671345,-9,97,
14,0,11,10195220,-403,96*4ea61d07

RTCM1009 supports single-frequency RTK operation, but does not include an
indication of the satellite carrier-to-noise (C/No) as indicated by the base station.

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Chapter 3

Data Logs
Table 85: GLONASS L1 and L2 Frequencies

511

Frequency Indicator

Channel #

L1 Frequency, MHz

L2 Frequency, MHz

0

-07

1598.0625

1242.9375

1

-06

1598.6250

1243.3750

2

-05

1599.1875

1243.8125

3

-04

1599.7500

1244.2500

4

-03

1600.3125

1244.6875

5

-02

1600.8750

1245.1250

6

-01

1601.4375

1245.5625

7

00

1602.0

1246.0

8

01

1602.5625

1246.4375

9

02

1603.125

1246.875

10

03

1603.6875

1247.3125

11

04

1604.25

1247.75

12

05

1604.8125

1248.1875

13

06

1605.375

1248.625

14

07

1605.9375

1249.0625

15

08

1606.5

1249.5

16

09

1607.0625

1249.9375

17

10

1607.625

1250.375

18

11

1608.1875

1250.8125

19

12

1608.75

1251.25

20

13

1609.3125

1251.6875

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Data Logs
Field
#

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1009
header

Log header

-

H

0

2

RTCMV3
observations
header, see the
RTCMDATA1001 log on
page 491 for
details

Message number

Ushort

2

H

Base station ID

Ushort

2

H+2

GPS epoch time (ms)

Ulong

4

H+4

GNSS message flag

Uchar

1

H+8

6

Number of GLONASS satellite signals
processed

Uchar

1

H+9

7

Smoothing indicator

Uchar

1

H+10

8

Smoothing interval, see Table 83 on page
492.

Uchar

1

H+11

3
4
5

9

#rec

Number of records with information to follow

Ulong

4

H+12

10

satID

GLONASS sateliite ID (slot# 1-24)

Uchar

1

H+16

11

GLOcode

GLONASS code indicator
0 = L1 C/A code
1 = L2 P code

Uchar

1

H+17

12

GLOfreq

GLONASS frequency indicator (0-20), see
Table 85 on page 511

Uchar

1

H+18

13

GLOpsr

GLONASS L1 pseudorange in 0.02 m units
Range: 0 to +599584.92 m

Ulong

4

H+19

14

phase-pseudo

GLONASS L1 phaserange - L1 pseudorange
in 0.0005 m units
Range: ±262.1435 m

Long

4

H+23

15

locktime-ind

GLONASS L1 continuous tracking lock time
indicator, see Table 84 on page 492

Uchar

1

H+27

16...

Next record offset = H+16 + (#recs x 12)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.114 RTCMDATA1010 Extended L1-Only GLONASS RTK V123_RT20
V23_RT2
This log is available at the base station. See Section 3.3.104 starting on page 487 for information on
RTCM Version 3.0 standard logs.
Message ID:
Log Type:

898
Synch

Recommended Input:
log rtcmdata1010a ontime 3

ASCII Example:
#RTCMDATA1010A,COM1,0,63.5,FINESTEERING,1432,313982.000,00100000,3b2a,35602;
0,0,65568000,0,4,0,0,
4,
7,0,12,3689203,306,96,39,175,
21,0,15,22641632,35,96,33,192,
6,0,8,28599532,9,97,32,194,
14,0,11,10250494,-433,96,37,179*b9747504

Message Type 1010 supports single-frequency RTK operation, and includes an
indication of the satellite C/No measured by the base. Since C/No does not usually
change from measurement to measurement, this message type can be mixed with
Type 1009 and used only when a satellite C/No changes, saving broadcast link
throughput.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1010
header

Log header

-

H

0

2

RTCMV3
observations
header, see the
RTCMDATA1001 log on
page 491 for
details

Message number

Ushort

2

H

Base station ID

Ushort

2

H+2

GPS epoch time (ms)

Ulong

4

H+4

GNSS message flag

Uchar

1

H+8

6

Number of GLONASS satellite signals

Uchar

1

H+9

7

Smoothing indicator

Uchar

1

H+10

8

Smoothing interval, see Table 83, page 492

Uchar

1

H+11

3
4
5

9

#recs

Number of GLONASS records to follow

Ulong

4

H+12

10

satID

GLONASS sateliite ID (slot# 1-24)

Uchar

1

H+16

11

GLOcode

GLONASS code indicator
0 = L1 C/A code
1 = L2 P code

Uchar

1

H+17

12

GLOfreq

GLONASS frequency indicator (0-20), see
Table 85 on page 511

Ulong

4

H+18

13

GLOpsr

GLONASS L1 pseudorange in 0.02 m units
Range: 0 to +599584.92 m

Long

4

H+22

14

phase-pseudo

GLONASS L1 phaserange - L1 pseudorange
in 0.0005 m units; Range: ±262.1435

Long

4

H+26

15

locktime-ind

GLONASS L1 continuous tracking lock time
indicator, see Table 84 on page 492

Uchar

1

H+30

16

amb

GLONASS L1 PSR modulus ambiguity. The
full pseudorange modulus divisions integer
(599584.916 m) of the raw L1 pseudorange
measurement. Range: 0 to +76147284.332

Uchar

1

H+31

17

C\No

GLONASS L1 carrier-to-noise ratio. The base
station's estimate of the satellite’s signal. A
value of 0 indicates that the C/No
measurement is not computed.
Range: 0 to +63.75 dB-Hz

Uchar

4a

H+32

17...

Next record offset = H+16 + (#recs x 20)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, a variable number of additional bytes of padding are added, depending on the
number of satellites, to maintain 4-byte alignment

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3.3.115 RTCMDATA1011 GLONASS L1/L2 RTK V123_RT20 V23_RT2
This log is available at the base station. See Section 3.3.104 starting on page 487 for information on
RTCM Version 3.0 standard logs.
Message ID:
Log Type:

899
Synch

Recommended Input:
log rtcmdata1011a ontime 3

ASCII Example:
#RTCMDATA1011A,COM1,0,70.5,FINESTEERING,1432,313985.000,00100000,35bd,35602;
0,0,65571000,0,4,0,0,
4,
7,0,12,3590806,357,96,0,-2,361,94,
21,0,15,22679016,35,96,0,74,154,94,
6,0,8,28556501,-9,97,0,-185,-126,94,
14,0,11,10283759,-463,97,0,171,-824,95*5e265573

The RTCM Type 1011 Message supports dual-frequency RTK operation but does not
include an indication of the satellite C/No measured by the base station.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1011
header

Log header

-

H

0

2

RTCMV3
observations
header, see the
RTCMDATA1001 log on
page 491 for
details

Message number

Ushort

2

H

Base station ID

Ushort

2

H+2

GPS epoch time (ms)

Ulong

4

H+4

GNSS message flag

Uchar

1

H+8

6

Number of GLONASS satellite signals (0-31)

Uchar

1

H+9

7

Smoothing indicator

Uchar

1

H+10

8

Smoothing interval, see Table 83, page 492

Uchar

1

H+11

3
4
5

9

#rec

Number of records with information to follow

Ulong

4

H+12

10

satID

GLONASS satellite ID (slot# 1-24)

Uchar

1

H+16

11

GLOcode

GLONASS code indicator
0 = L1 C/A code
1 = L2 P code

Uchar

1

H+17

12

GLOfreq

GLONASS frequency indicator (0-20), see
Table 85 on page 511

Ulong

4

H+18

13

GLOpsr

GLONASS L1 pseudorange in 0.02 m units
Range: 0 to +599584.92 m

Long

4

H+22

14

phase-pseudo

GLONASS L1 phaserange - L1 pseudorange
in 0.0005 m units
Range: ±262.1435 m

Uchar

1

H+26

15

locktime-ind

GLONASS L1 continuous tracking lock time
indicator, see Table 84 on page 492

Uchar

1

H+27

16

GLOcodeL2

GLONASS L2 code indicator
0 = C/A code
1 = P code

Uchar

1

H+28

17

L1L2psrdiff

GLONASS L2-L1 pseudorange difference in
0.02 m units; Range: ±163.82 m

Short

2

H+29

18

L2phaseL1pseudo

GLONASS L2 phaserange - L1 pseudorange
in 0.0005 m units; Range: ±262.1435 m

Long

4

H+31

19

L2locktime-ind

GLONASS L2 continuous tracking lock time
indicator, see Table 84 on page 492

Uchar

1

H+35

20...

Next record offset = H+16 + (#recs x 20)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.116 RTCMDATA1012 Extended GLONASS L1/L2 RTK V123_RT20
V23_RT2
This log is available at the base station. See Section 3.3.104 starting on page 487 for information on
RTCM Version 3.0 standard logs.
Message ID:
Log Type:

900
Synch

Recommended Input:
log rtcmdata1012a ontime 3

ASCII Example:
#RTCMDATA1012A,COM1,0,52.5,FINESTEERING,1432,407880.000,00000000,ee92,35602;
0,0,73066000,0,5,0,0,
5,
7,0,12,421564,185,108,34,193,0,-35,33,108,176,0,
8,0,13,22564562,69,108,32,193,0,150,-100,108,188,0,
1,0,14,5214900,271,107,38,135,0,189,886,106,161,0,
24,0,9,21406829,160,109,36,187,0,139,84,108,159,0,
10,0,11,18616094,202,109,35,186,0,215,329,108,181,0*4b04eecb

Message Type 1012 supports dual-frequency RTK operation, and includes an
indication of the satellite C/No as measured by the base station.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1012
header

Log header

-

H

0

2

RTCMV3
observations
header, see the
RTCMDATA1001 log on
page 491 for
details

Message number

Ushort

2

H

Base station ID

Ushort

2

H+2

GPS epoch time (ms)

Ulong

4

H+4

GNSS message flag

Uchar

1

H+8

6

Number of GLONASS satellite signals
processed

Uchar

1

H+9

7

Smoothing indicator

Uchar

1

H+10

8

Smoothing interval, see Table 83 on page
492.

Uchar

1

H+11

3
4
5

9

#recs

Number of records with information to follow

Ulong

4

H+12

10

satID

GLONASS satellite ID (slot# 1-24)

Uchar

1

H+16

11

GLOcode

GLONASS code indicator
0 = L1 C/A code
1 = L2 P code

Uchar

1

H+17

12

GLOfreq

GLONASS frequency indicator (0-20), see
Table 85 on page 511

Uchar

2a

H+18

13

GLOpsr

GLONASS L1 pseudorange
Range: 0 to +599584.92 m

ULong

4

H+20

14

phase-pseudo

GLONASS L1 phaserange - L1 pseudorange
Range: ±262.1435 m

Long

4

H+24

15

locktime-ind

GLONASS L1 continuous tracking lock time
indicator, see Table 84 on page 492

Uchar

1

H+28

16

amb

GLONASS L1 PSR modulus ambiguity. The
full pseudorange modulus divisions integer
(599584.916 m) of the raw L1 pseudorange
measurement. Range: 0 to +76147284.332

Uchar

1

H+29

17

C\No

GLONASS L1 carrier-to-noise ratio. The
base station's estimate of the satellite’s
signal. A value of 0 indicates that the C/No
measurement is not computed.
Range: 0 to +63.75 dB-Hz

Uchar

1

H+30

Continued on page 519.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

18

GLOcodeL2

GLONASS L2 code indicator
0 = C/A code
1 = P code

Uchar

1

H+31

19

L1L2psrdiff

GLONASS L2-L1 pseudorange difference in
0.02 m units; Range: ±163.82 m

Short

4b

H+32

20

L2phaseL1pseudo

GLONASS L2 phaserange - L1 pseudorange
in 0.0005 m units; Range: ±262.1435 m

Long

4

H+36

21

L2locktime-ind

GLONASS L2 continuous tracking lock time
indicator, see Table 84 on page 492

Uchar

1

H+40

22

GLO L2 C\No

GLONASS L2 carrier-to-noise ratio. The
base station's estimate of the satellite’s
signal. A value of 0 indicates that the C/No
measurement is not computed.
Range: 0 to +63.75 dB-Hz

Uchar

1

H+41

23

Reserved

UShort

2

H+42

24...

Next record offset = H+16 + (#recs x 28)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional byte of padding is added to maintain 4-byte alignment
b. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment

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3.3.117 RTCMDATA1019 GPS Ephemeris V123_RT20 V23_RT2
This log is available at the base station. See Section 3.3.104 starting on page 487 for information on
RTCM Version 3.0 standard logs.
All data fields have the same number of bits, scale factors and units as defined in the GPS SPS Signal
Specification, Sections 2.4.3 and 2.4.4.
Message ID:
Log Type:

901
Synch

Recommended Input:
log rtcmdata1019a ontime 3

ASCII Example:
#RTCMDATA1019A,COM1,0,70.5,FINESTEERING,1432,313994.864,00100000,f837,3560
2;
1019,3,408,0,1,775,112,19800,0,48,161191,112,516,14603,1364270492,428,
80926891,4761,2702050848,19800,-109,-991856009,-60,632629735,6099,
504327378,-23427,-9,0,0,0*dba8a7f4

Message Type 1019 contains only GPS ephemeris information, see Message Type
1020 starting on page 524 for GLONASS ephemeris information.
Table 86: SV Accuracy
Index Value (m)

Standard Deviations (m)

Index Value (m)

Standard Deviations (m)

0

2.0

8

64.0

1

2.8

9

128.0

2

4.0

10

256.0

3

5.7

11

512.0

4

8

12

1024.0

5

11.3

13

2048.0

6

16.0

14

4096.0

7

32.0

15

8192.0

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Field #

Data Logs

Field type

Scale
Factor

Data Description

Format

Binary
Bytes

Binary
Offset

1

RTCMDATA1019 header

Log header

-

-

H

0

2

message#

Message number
Range: 0 to 4095

-

Ushort

2

H

3

PRN#

Satellite PRN#, for SBAS see
Table 82, page 491
Range: 1 to 63

-

Uchar

2a

H+2

4

week

GPS week number
Range: 0 to 1023

1 week

Ushort

2

H+4

5

SV accur index

SV Accuracy (m), see Table
86 on page 520

-

Uchar

1

H+6

6

GPSCodeOnL2

GPS code on L2
0 = Reserved
1 = P code
2 = C/A code
3 = L2C

1

Uchar

1

H+7

7

IDOT

Rate of inclination angle,
semi-circles/second

2-43

Short

2

H+8

8

IODE

Issue of ephemeris data
Range: 0-255 (unitless)

1

Uchar

2a

H+10

9

TOC

SV clock correction term
Maximum: 604784 s

24

Ushort

2

H+12

10

AF2

Clock aging parametre, s/s2

2-55

Char

2a

H+14

11

AF1

Clock aging parametre, s/s

2-43

Short

4b

H+16

12

AF0

Clock aging parametre,
seconds

2-31

Long

4

H+20

13

IODC

Issue of data, clock
Range: 0-1023 (unitless)

1

Ushort

2

H+24

14

Crs

Orbit radius (amplitude of
sine, metres)

2-5

Short

2

H+26

15

ΔN

Mean motion difference, semicircles/second

2-43

Short

4b

H+28

16

M0

Mean anomaly of reference
time, semi-circles

2-31

Long

4

H+32

17

Cuc

Argument of latitude
(amplitude of cosine, radians)

2-29

Short

4b

H+36

Continued on page 522.

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Field #

Field type

Scale
Factor

Data Description

Format

Binary
Bytes

Binary
Offset

18

ecc

Eccentricity, dimensionless quantity defined for a conic
section where e = 0 is a circle,
e = 1 is a parabola, 01 is a
hyperbola. (unitless)

2-33

Ulong

4

H+40

19

Cus

Argument of latitude
(amplitude of sine, radians)

2-29

Short

4b

H+44

20

(A)1/2

Square root of the semi-major
axis

2-19

Ulong

4

H+48

21

toe

Reference time for ephemeris,
seconds

24

Ushort

2

H+52

22

Cic

Inclination (amplitude of
cosine, radians)

2-29

Short

2

H+54

23

ω0

Right ascension, radians

2-31

Long

4

H+56

24

Cis

Inclination (amplitude of sine,
radians)

2-29

Short

4b

H+60

25

I0

Inclination angle at reference
time, radians

2-31

Long

4

H+64

26

Crc

Orbit radius (amplitude of
cosine, metres)

2-5

Short

4b

H+68

27

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.

2-31

Long

4

H+72

28

°
ω

Rate of right ascension,
radians/second

2-43

Long

4

H+76

29

tgd

Estimated group delay
difference, seconds

2-31

Char

1

H+80

30

SV health

The six-bit health indication
given by bits 17 through 22 of
word three refers to the
transmitting satellite. The
MSB indicates a summary of
the health of the navigation
data, where:
0 = all navigation data is OK
1 = some or all navigation data
is not OK

1

Uchar

1

H+81

Continued on page 523.

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Chapter 3

Field #

Data Logs

Field type

Scale
Factor

Data Description

Format

Binary
Bytes

Binary
Offset

31

L2Pflag

GPS L2 P flag, subframe 1,
word 4, bit 1:
0 = L2 P-code NAV data ON
1 = L2 P-code NAV data OFF

1

Uchar

1

H+82

32

fit interval

GPS fit interval, subframe 2,
word 10, bit 17:
0 = Curve-fit interval is 4 hours
1 = Curve-fit is greater than 4
hours

1

Uchar

1

H+83

variable

xxxx

32-bit CRC (ASCII and Binary
only)

-

Hex

4

variable

variable

[CR][LF]

Sentence terminator (ASCII
only)

-

-

-

-

a. In the binary log case, an additional byte of padding is added to maintain 4-byte alignment
b. In the binary log case, two additional bytes of padding are added to maintain 4-byte alignment

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Chapter 3

3.3.118 RTCMDATA1020 GLONASS Ephemeris V123_RT20 V23_RT2
This log is available at the base station. See Section 3.3.104 starting on page 487 for information on
RTCM Version 3.0 standard logs.
All data fields have the same number of bits, scale factors and units defined in the 5th edition of the
GLONASS ICD, which contains the most recent information about GLONASS-M navigation data.
Message ID:
Log Type:

902
Synch

Recommended Input:
log rtcmdata1020a ontime 3

ASCII Example:
#RTCMDATA1020A,COM1,0,71.0,FINESTEERING,1432,313998.350,00100000,48c9,35602;
1020,6,8,0,0,0,2329,0,1,73,2911974,-27323203,0,-379009,-15756135,0,1761261,
41395090,-2,1,-2,3,0,227246,-15,0,1,15,1267,1,1,1267,-2958,3,-1032,0,0
*cfbf1816

Message Type 1020 contains only GLONASS ephemeris information, see
Message Type 1019 starting on page 520 for GPS ephemeris information.
Table 87: GLONASS Ephemeris Word P1
Word P1

Time Interval a

00

0

01

30

10

45

11

60

a. Time interval between adjacent values of tb in minutes

Table 88: M-Satellite User Range Accuracy
FT

Accuracy σ (m)

FT

Accuracy σ (m)

FT

Accuracy σ (m)

0

1

6

10

12

128

1

2

7

12

13

256

2

2.5

8

14

14

512

3

4

9

16

15

Reserved

4

5

10

32

5

7

11

64

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Chapter 3
Field
#

Data Logs

Field type

Scale
Factor

Data Description

1

RTCMDATA1020 header

Log header

2

message#

Message number
Range: 0 to 4095

3

satID

4

Format

Binary
Bytes

Binary
Offset

-

H

0

-

Ushort

2

H

GLONASS satellite ID (slot# 1-24)

-

Uchar

1

H+2

GLOfreq

GLONASS frequency indicator (020), see Table 85 on page 511

1

Uchar

1

H+3

5

alm health

GLONASS almanac health:
0 = non-operability of satellite.
1 = operability of satellite

-

Uchar

1

H+4

6

alm health ind

Almanac health availability
indicator (depends on whether an
almanac has been received yet or
not):
0 = Almanac health is not available
1 = Almanac health is available

-

Uchar

1

H+5

7

P1

Word P1 is a data updating flag. It
indicates a time interval between
two adjacent values of the tb
parametre (in minutes) in both
current and previous frames as
indicated in Table 87 on page 524.

-

Uchar

2a

H+6

8

Tk

Time of frame start (since start of
GLONASS day). The number of
hours elapsed occupies the 5 MSB,
the minutes occupies the next 6 bits
and the number of thirty-second
intervals occupies the LSB:
Bits 11 to 17: 0 - 23 (hours)
Bits 60 to 17: 0 - 59 (minutes)
Bits 00 to 00: 0 - 10 (30-second
intervals)

-

Ushort

2

H+8

9

Bn MSB

Word Bn is the health flag:
0 = GOOD
1 = BAD
Both the second and third bits of
this word are not used.

-

Uchar

1

H+10

10

P2

Word P2 is a flag of oddness (1) or
evenness (0) of the value of tb (for
intervals of 30 or 60 minutes)

-

Uchar

1

H+11

Continued on page 526.

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Field
#

Chapter 3

Field type

Data Description

Scale
Factor

Format

Binary
Bytes

Binary
Offset

11

tb

Time to which GLONASS
navigation data are referenced.
Range: 1 - 95 (minutes)

15 mins.

Uchar

4b

H+12

12

Xn(tb)1

GLONASS ECEF-X component of
satellite velocity vector in PZ-90
datum
Range: ±4.3 km/s

±2-20 km/s

Long

4

H+16

13

Xn(tb)

GLONASS ECEF-X component of
satellite coordinates in PZ-90
datum
Range: ±27000 km

±2-11 km

Long

4

H+20

14

Xn(tb)2

GLONASS ECEF-X component of
satellite acceleration in PZ-90
datum
Range: ±6.2x10-9 km/s

±2-30 km/s2

Char

4b

H+24

15

Yn(tb)1

GLONASS ECEF-Y component of
satellite velocity vector in PZ-90
datum
Range: ±4.3 km/s

±2-20 km/s

Long

4

H+28

16

Yn(tb)

GLONASS ECEF-Y component of
satellite coordinates in PZ-90
datum
Range: ±27000 km

±2-11 km

Long

4

H+32

17

Yn(tb)2

GLONASS ECEF-Y component of
satellite acceleration in PZ-90
datum
Range: ±6.2x10-9 km/s

±2-30 km/s2

Char

4b

H+36

18

Zn(tb)1

GLONASS ECEF-Z component of
satellite velocity vector in PZ-90
datum
Range: ±4.3 km/s

±2-20 km/s

Long

4

H+40

19

Zn(tb)

GLONASS ECEF-Z component of
satellite coordinates in PZ-90
datum
Range: ±27000 km

±2-11 km

Long

4

H+44

20

Zn(tb)2

GLONASS ECEF-Z component of
satellite acceleration in PZ-90
datum
Range: ±6.2x10-9 km/s

±2-30 km/s2

Char

1

H+48

Continued on page 527.

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Field
#

Data Logs

Field type

Scale
Factor

Data Description

Format

Binary
Bytes

Binary
Offset

21

P3

The Word P3 flag indicates the
number of satellites the almanac is
transmitting within the given frame:
1 = five satellites
0 = four satellites

-

Uchar

1

H+49

22

γ(tb)

GLONASS relative deviation of
predicted satellite carrier frequency
from the nominal value. Range: ±2-

2-40

Short

2

H+50

30

23

MP

Word P for the GLONASS-M
satellite is a technological
parametre that indicates the
satellite operation mode in respect
of time parametresc:
0 = τ C parametre relayed from
control segment, τGPS
parametre relayed from control
segment
1 = τ C parametre relayed from
control segment, τGPS
parametre calculated on-board
the GLONASS-M satellite
2 = τ C parametre calculated onboard the GLONASS-M
satellite, τGPS parametre
relayed from control segment
3 = τ C parametre calculated onboard the GLONASS-M
satellite, τGPS parametre
calculated on-board the
GLONASS-M satellite

-

Uchar

1

H+52

24

M In 3rd

GLONASS-M 3rd string Word In:
0 = the nth satellite is healthy
1 = the nth satellite is not healthy

-

Uchar

3d

H+53

25

τ tb

GLONASS correction time relative
to GLONASS system time. Range:
±2-9 s

2-30

Long

4

H+56

26

M Δτ

GLONASS time difference between
the navigation RF signal
transmitted in L2 sub-band and
navigation RF signal transmitted in
L1 sub-band. Range: ±13.97x10-9 s

2-30

Char

1

H+60

27

E

The age of GLONASS navigation
data. Range: 0 to 31 days

1 day

Uchar

1

H+61

Continued on page 528.

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#

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Field type

Scale
Factor

Data Description

Format

Binary
Bytes

Binary
Offset

28

M P4

Word P4 for the GLONASS-M
satellite is a flag to show that
ephemeris parametres are present.
1 = Updated ephemeris or
frequency/time parametres
have been uploaded by the
control segment
0 = No parametres have been
uploaded by the control
segment

-

Uchar

1

H+62

29

M FT

GLONASS-M predicted satellite
user range at time tb.
Range: 0 to 15, see Table 88 on
page 524

-

Uchar

1

H+63

30

M Nt

GLONASS-M current data number
Range: 1 to 1461 days

1 day

Ushort

2

H+64

31

M type?

Type of GLONASS satellite
1 = Valid GLONASS-M data
0 = Not valid GLONASS-M data
and may contain arbitrary
values

-

Uchar

1

H+66

32

GLOavail

This flag determines the availability
of additional GLONASS data fields
132-136:
1 = Available
0 = Unavailable

-

Uchar

1

H+67

33

NA

GLONASS calendar day within a
four-year period to which τ C is
referenced
Range: 1 to 1461

1 day

Ushort

4d

H+68

34

τC

τ C is the difference between

2-31

Long

4

H+72

35

M N4

GLONASS four-year interval
number starting from 1996
Range: 1 to 31

4-year
interval

Uchar

4b

H+76

36

M τGPS

GLONASS-M τGPS is the correction
to GPS time relative to GLONASS
time.
Range: ±1.9 x 10-3 s

2-31

Long

4

H+80

GLONASS time and UTC time. This
parametre is referenced to the
beginning of the day NA. Range: ±1
s

Continued on page 529.

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Field type

37

M In 5th

38

Reserved

variable

xxxx

variable

[CR][LF]

Scale
Factor

Data Description
GLONASS-M 5th string Word In:
0 = the nth satellite is healthy
1 = the nth satellite is not healthy

Format

Binary
Bytes

Binary
Offset

-

Uchar

1

H+84

-

Char

1

H+85

32-bit CRC (ASCII and Binary only)

-

Hex

4

variable

Sentence terminator (ASCII only)

-

-

-

-

a. In the binary log case, an additional byte of padding is added to maintain 4-byte alignment
b. In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment
c. τ C is the GLONASS time scale correction to UTC(SU) time. τGPS is the correction to GPS time
relative to GLONASS time: TGPS - TGLO = ΔT + τGPS where ΔT is the integer part, and τGPS is the
fractional part of the difference between the system time scales expressed in seconds.
d. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment

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3.3.119 RTKDATA RTK Solution Parametres V123_RT20 V23_RT2
This is the “RTK output” log, and it contains miscellaneous information regarding the RTK solution.
It is based on the matched update. Note that the length of the log messages vary depending on the
number of common satellites (on both rover and base stations) in the solution, a quantity represented
by #sv in the field numbers.
To see how many GPS and/or GLONASS satellites you need to obtain a fixed ambiguity solution, see
Table 89, and how many you need to keep a fixed ambiguity solution, see Table 90.
Table 89: To Obtain a Fixed Ambiguity Solution
# GPS Satellites
# GLO Satellites

2

3

4

5

6

7

8

2

No

Float

Fix

Fix

Fix

Fix

Fix

3

Float

Float

Fix

Fix

Fix

Fix

Fix

4

Float

Float

Fix

Fix

Fix

Fix

Fix

5

Float

Float

Fix

Fix

Fix

Fix

Fix

6

Float

Float

Fix

Fix

Fix

Fix

Fix

7

Float

Float

Fix

Fix

Fix

Fix

Fix

8

Float

Float

Fix

Fix

Fix

Fix

Fix

Table 90: To Maintain a Fixed Ambiguity Solution
# GPS Satellites
#GLO Satellites

2

3

4

5

6

7

8

2

No

Fix

Fix

Fix

Fix

Fix

Fix

3

Fix

Fix

Fix

Fix

Fix

Fix

Fix

4

Fix

Fix

Fix

Fix

Fix

Fix

Fix

5

Fix

Fix

Fix

Fix

Fix

Fix

Fix

6

Fix

Fix

Fix

Fix

Fix

Fix

Fix

7

Fix

Fix

Fix

Fix

Fix

Fix

Fix

8

Fix

Fix

Fix

Fix

Fix

Fix

Fix

See also the BESTPOS log (the best available position computed by one receiver) and the
MATCHEDPOS log (positions that have been computed from time matched base and rover
observations), on pages 251 and 358 respectively.
See Figure 10, page 265 for a definition of the ECEF coordinates

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Message ID:
Log Type:

215
Asynch

Recommended Input:
log rtkdataa onchanged

Asynchronous logs should only be logged ONCHANGED. Otherwise, the most current data
is not output when it is available. This is especially true of the ONTIME trigger, which may
cause inaccurate time tags to result.
ASCII Example:
#RTKDATAA,COM1,0,61.0,FINESTEERING,1419,340038.000,00000040,d307,2724;
SOL_COMPUTED,NARROW_INT,00000103,12,12,12,12,0,01,0,33,HNAV,0,
6.3126e-05,5.3089e-05,-4.4002e-05,
5.3089e-05,2.5408e-04,-4.2023e-05,
-4.4002e-05,-4.2023e-05,2.3526e-04,
0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,
22,12,
1,NARROW_INT,-0.000102415,
3,NARROW_INT,0.000007917,
9,NARROW_INT,0.000485239,
11,NARROW_FLOAT,-0.001025980,
14,NARROW_INT,0.000196952,
18,NARROW_INT,0.000621116,
19,NARROW_INT,-0.000129004,
21,NARROW_INT,0.002786725,
39,NARROW_FLOAT,-0.003358357,
56,NARROW_FLOAT,-0.002554488,
22,REFERENCE,0.000000000,
41,REFERENCE,0.000000000*6fe4101f

Consider the appropriate observation times when using dual frequency receivers.
One primary advantage of dual frequency equipment is the ability to observe
baselines using much shorter occupation times. It is difficult to state exactly what this
occupation time should be since every observation session is different. Keep the
following factors in mind when determining how long a station should be occupied
(occupation time refers to the simultaneous observation time at both base and rover):
• The distance between rover and base station. As the distance between the base
and rover receivers increases, the occupation times should also increase.
•

531

Sky visibility at each of the base and rover receiver. The accuracy and reliability
of differential GPS is proportional to the number of common satellites that are
visible at the base and rover. Therefore, if the sky visibility at either station is
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poor, you might consider increasing the occupation times. This condition is best
measured by monitoring the number of visible satellites during data collection
along with the PDOP value (a value less than 3 is ideal). See also the SATVIS
log on page 558.
•

Time of day. The location and number of satellites in the sky is constantly
changing. As a result, some periods in the day are slightly better for GPS data
collection than others. Use the SATVIS log to monitor the satellite constellation
at a particular place and time.

•

Station environment. It is good practice to observe the site conditions
surrounding the station to be occupied. Water bodies, buildings, trees, and
nearby vehicles can generate noise in the GPS data. Any of these conditions
may warrant an increased occupation time.

Table 91: Searcher Type
Searcher Type
(binary)

Searcher Type
(ASCII)

0-4

Description

Reserved

5

HNAV

AdVance RTK Engine

Table 92: Ambiguity Type
Ambiguity Type
(binary)

Ambiguity Type (ASCII)

Description

0

UNDEFINED

Undefined ambiguity

1

L1_FLOAT

Floating L1 ambiguity

2

IONOFREE_FLOAT

Floating ionospheric-free ambiguity

3

NARROW_FLOAT

Floating narrow-lane ambiguity

4

NLF_FROM_WL1

Floating narrow-lane ambiguity derived
from integer wide-lane ambiguity

5

L1_INT

Integer L1 ambiguity

6

WIDE_INT

Integer wide-lane ambiguity

7

NARROW_INT

Integer narrow-lane ambiguity

8

IONOFREE_DISCRETE

Discrete ionospheric-free ambiguity

9-10
11

Reserved
REFERENCE

Double-difference reference satellite
(There are two references if GLONASS
is being used. The residuals of the
references are always 0.0.)

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Table 93: RTK Information

Bit #

Mask

Description

Bit = 0

Bit = 1

0

0x00000001

RTK dynamics

Static

Dynamic

1

0x00000002

RTK dynamics mode

Auto

Forced

2

0x00000004

Severe differential ionosphere detected

No

Yes

8

0x00000100

Verification flag for AdVance RTK, see
also the note box below

Not verified

Verified

3-31

0xFFFFFF8

Reserved

The verification flag is shown in the 8th bit of Field #4 where a 1 means the AdVance
RTK narrow-lane ambiguity is verified and a 0 means it has not yet been verified.
To achieve the best reliability, particularly when operating in difficult environments such
as high foliage, longer baselines or unstable atmospheric conditions, the user should wait
for the verified status. The verification flag provides an extra level of assurance that the
ambiguity resolutions are correct.

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Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Position type (see Table 50, Position or Velocity
Type on page 252)

Enum

4

H+4

rtk info

RTK information (see Table 93, RTK Information
on page 533)

Ulong

4

H+8

5

#SVs

Number of satellite vehicles tracked

Uchar

1

H+12

6

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+13

7

#ggL1

Number of GPS plus GLONASS L1 used in
solution

Uchar

1

H+14

8

#ggL1L2

Number of GPS plus GLONASS L1 and L2 used
in solution

Uchar

1

H+15

9

Reserved

Uchar

1

H+16

10

ext sol stat

Hex

1

H+17

11

Reserved

Hex

1

H+18

12

sig mask

Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)

Hex

1

H+19

13

search stat

Searcher status, normally ANAV (see Table 91,
Searcher Type on page 532)

Enum

4

H+20

14

Reserved

Ulong

4

H+24

15-23

[C]

Float

36

H+28

24

Reserved

Double

8

H+64

25

Double

8

H+72

26

Double

8

H+80

27

Float

4

H+88

28

Float

4

H+92

29

Float

4

H+96

Ulong

4

H+100

Field #

Field type

1

RTKDATA
header

Log header

2

sol status

Solution status (see Table 51, Solution Status
on page 253)

3

pos type

4

30

ref PRN

Data Description

Extended solution status (see Table 53,
Extended Solution Status on page 254)

The Cxx,Cxy,Cxz,Cyx,Cyy,Cyz,Czx,Czy and Czz
components in (metres)2, of the ECEF position
covariance matrix (3x3).

Base PRN

Format

Continued on page 535.

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Binary
Bytes

Binary
Offset

Long

4

H+104

Satellite PRN number of range measurement

Ulong

4

H+108

amb

Ambiguity type (see Table 92, Ambiguity Type on
page 532)

Enum

4

H+112

34

res

Residual (m)

Float

4

H+116

35...

Next SV offset = H + 108 + (obs x 12)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+108+
(12xobs)

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field #

Field type

31

# SV

Number of SVs to follow

32

PRN

33

535

Data Description

Format

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3.3.120 RTKDOP DOP Values from the RTK Fast Filter V123_RT20 V23_RT2
This log contains the DOP values calculated by the RTK fast filter.
The RTKDOP log contains single-point DOPs, calculated using only the satellites used in the fast
RTK solution, that is, those used for the RTKPOS position. Calculation of the RTK DOPs are limited
to once a second.
The calculation of the RTK DOP is different than that for the pseudorange DOP. In the pseudorange
filter, new DOPs are calculated every 60s, or when the satellites used in the solution change. The RTK
DOP is calculated at the rate requested, and regardless of a change in satellites. However, the DOP is
only calculated when the RTKDOP log is requested.
Message ID:
Log Type:

952
Synch

Recommended Input:
log rtkdopa ontime 10

ASCII Example:
#RTKDOPA,COM1,0,60.0,FINESTEERING,1449,446982.000,00000008,b42b,3044;2.3386,
1.9856,0.9407,1.5528,1.2355,10.0,11,21,58,6,7,10,16,18,24,26,29,41*85f8338b

Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RTKDOP header

Log header

2

GDOP

Geometric DOP

Float

4

H

3

PDOP

Position DOP

Float

4

H+4

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[#sats]

4x(#sats)

H+28

10

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

variable

11

[CR][LF]

Sentence terminator (ASCII only)

-

-

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3.3.121 RTKPOS RTK Low Latency Position Data V123_RT20 V23_RT2
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.
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 GNSS Reference Book, available on our Web site at http://www.novatel.com/support/
docupdates.htm. See also the DGPSTIMEOUT command on page 105.
Message ID:
Log Type:

141
Synch

Recommended Input:
log rtkposa ontime 1

ASCII Example:
#RTKPOSA,COM1,0,54.5,FINESTEERING,1419,340040.000,00000040,176e,2724;
SOL_COMPUTED,NARROW_INT,51.11635911294,-114.03833103654,1063.8336,-16.2712,
WGS84,0.0179,0.0096,0.0174,"AAAA",1.000,0.000,12,11,11,11,0,01,0,33*0adb3e47

Consider the case of a racing car on a closed circuit requiring RTK operation. In this
situation, you would have to send live data to the pits using a radio link.
RTK operation enables live cm-level position accuracy. When answers are required
right in the field, the base station must transmit its information to the rover in realtime. For RTK operation, extra equipment such as radios are required to be able 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 GPS
collected from the car. The logs necessary for post-processing include:
RANGECMPB ONTIME 1
RAWEPHEMB ONNEW
Above, we describe and give examples of data collection for post-processing, and real-time
operation. OEMV-based output is compatible with post-processing software from the
Waypoint Products Group, NovAtel Inc. See also www.novatel.com.

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Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Position type (see Table 50 on page 252)

Enum

4

H+4

lat

Latitude

Double

8

H+8

5

lon

Longitude

Double

8

H+16

6

hgt

Height above mean sea level

Double

8

H+24

7

undulation

Undulation - the relationship between the geoid and
the WGS84 ellipsoid (m) a

Float

4

H+32

8

datum id#

Datum ID number (see Table 21, Reference Ellipsoid
Constants on page 97)

Enum

4

H+36

9

lat σ

Latitude standard deviation

Float

4

H+40

10

lon σ

Longitude standard deviation

Float

4

H+44

11

hgt σ

Height standard deviation

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 satellite vehicles tracked

Uchar

1

H+64

16

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+65

17

#ggL1

Number of GPS plus GLONASS L1 used in solution

Uchar

1

H+66

18

#ggL1L2

Number of GPS plus GLONASS L1 and L2 used in
solution

Uchar

1

H+67

19

Reserved

Uchar

1

H+68

20

ext sol stat

Hex

1

H+69

21

Reserved

Hex

1

H+70

22

sig mask

Signals used mask - if 0, signals used in solution are
unknown (see Table 52 on page 254)

Hex

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+72

24

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field
#

Field type

1

RTKPOS
header

Log header

2

sol status

Solution status (see Table 51 on page 253)

3

pos type

4

Data Description

Extended solution status (see Table 53, Extended
Solution Status on page 254)

Format

a. When using a datum other than WGS84, the undulation value also includes the vertical shift due to
differences between the datum in use and WGS84

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3.3.122 RTKVEL RTK Velocity V123_RT20 V23_RT2
This log contains the RTK velocity information computed by the receiver. In addition, it reports a
velocity status indicator, which is useful in indicating whether or not the corresponding data is valid
and differential age, which is useful in predicting anomalous behavior brought about by outages in
differential corrections. 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. See also the table footnote for
velocity logs on page 228.
Velocities from the RTK filter are calculated from the delta-position. In RTKVEL, the
velocity type is the same as the position type.
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 velocity is computed from consecutive RTK low latency updates. As such, it is an average
velocity based on the time difference between successive position computations and not an
instantaneous velocity at the RTKVEL time tag. The velocity latency to be subtracted from the time
tag is normally 1/2 the time between filter updates. Under default operation, the RTK low latency
filter is updated at a rate of 2 Hz. This translates into a velocity latency of 0.25 seconds. The latency
can be reduced by increasing the update rate of the RTK low latency filter by requesting the
BESTVEL, RTKVEL, BESTPOS or RTKPOS 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. For integration purposes, the
velocity latency should be applied to the record time tag.
Message ID:
Log Type:

216
Synch

Recommended Input:
log rtkvela ontime 1

ASCII Example:
#RTKVELA,COM1,0,43.5,FINESTEERING,1364,496137.000,00100000,71e2,2310;
SOL_COMPUTED,NARROW_INT,0.250,1.000,0.0027,207.645811,0.0104,0.0*f551cc42

Consider the case of an unmanned aircraft. A differential base station must send data
to the remote aircraft. In this type of application, the aircraft’s radio may pass
differential data, for example RTKVEL, to the positioning system so it can process it
and generate precise position information for the flight controls.

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Field
#

Field type

1

RTKVEL
header

Log header

2

sol status

Solution status, see Table 51, Solution Status on page
253

3

vel type

4

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Velocity type, see Table 50, Position or Velocity Type
on page 252

Enum

4

H+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

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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3.3.123 RTKXYZ RTK Cartesian Position and Velocity V123_RT20 V23_RT2
This log contains the receiver’s low latency position and velocity in ECEF coordinates. The position
and velocity status field’s indicate whether or not the corresponding data is valid. See Figure 10, page
265 for a definition of the ECEF coordinates.
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.
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 GNSS Reference Book, available on our Web site at http://www.novatel.com/
support/docupdates.htm. See also the DGPSTIMEOUT command on page 105.
The velocity is computed from consecutive RTK low latency updates. As such, it is an average
velocity based on the time difference between successive position computations and not an
instantaneous velocity at the RTKVEL time tag. The velocity latency to be subtracted from the time
tag is normally 1/2 the time between filter updates. Under default operation, the RTK low latency
filter is updated at a rate of 2 Hz. This translates into a velocity latency of 0.25 seconds. The latency
can be reduced by increasing the update rate of the RTK low latency filter by requesting the
BESTXYZ message at a rate higher than 2 Hz. For example, a logging rate of 10 Hz would reduce the
velocity latency to 0.05 seconds. For integration purposes, the velocity latency should be applied to
the record time tag.
See also the BESTXYZ and MATCHEDXYZ logs, on Pages 262 and 366 respectively.
Message ID:
Log Type:

244
Synch

Recommended Input:
log rtkxyza ontime 1

ASCII Example:
#RTKXYZA,COM1,0,56.0,FINESTEERING,1419,340041.000,00000040,3d88,2724;
SOL_COMPUTED,NARROW_INT,-1634531.5666,-3664618.0291,4942496.3230,0.0099,
0.0219,0.0115,SOL_COMPUTED,NARROW_INT,0.0030,0.0003,-0.0016,0.0198,0.0438,
0.0230,"AAAA",0.250,1.000,0.000,12,11,11,11,0,01,0,33*0497d146

541

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Chapter 3
Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Position type, see Table 50, Position or Velocity
Type on page 252

Enum

4

H+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

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 51, Solution Status on
page 253

Enum

4

H+44

11

vel type

Velocity type, see Table 50 on page 252

Enum

4

H+48

12

V-X

Velocity vector along X-axis (m)

Double

8

H+52

13

V-Y

Velocity vector along Y-axis (m)

Double

8

H+60

14

V-Z

Velocity vector along Z-axis (m)

Double

8

H+68

15

V-X σ

Standard deviation of V-X (m)

Float

4

H+76

16

V-Y σ

Standard deviation of V-Y (m)

Float

4

H+80

17

V-Z σ

Standard deviation of V-Z (m)

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 satellite vehicles 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 L1 used in
solution

Uchar

1

H+106

Field #

Field type

Data Description

1

RTKXYZ
header

Log header

2

P-sol status

Solution status, see Table 51, Solution Status on
page 253

3

pos type

4

Format

Continued on page 543.

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Data Description

Format

Binary
Bytes

Binary
Offset

Number of GPS plus GLONASS L1 and L2 used
in solution

Uchar

1

H+107

Char

1

H+108

Hex

1

H+109

Hex

1

H+110

Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)

Hex

1

H+111

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+112

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field #

Field type

25

#ggL1L2

26

Reserved

27

ext sol stat

28

Reserved

29

sig mask

30
31

543

Extended solution status (see Table 53,
Extended Solution Status on page 254)

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Chapter 3

3.3.124 RXCONFIG

Receiver Configuration V123

This log is used to output a list of all current command settings. When requested, an RXCONFIG log
is output for each setting. See also the LOGLIST log on page 355 for a list of currently active logs.
Message ID:
Log Type:

128
Polled

Recommended Input:
log rxconfiga once

ASCII Example1:
#RXCONFIGA,COM1,71,47.5,APPROXIMATE,1337,333963.260,00000000,f702,1984;
#ADJUST1PPSA,COM1,71,47.5,APPROXIMATE,1337,333963.260,00000000,f702,1984;
OFF,ONCE,0*ba85a20b*91f89b07
#RXCONFIGA,COM1,70,47.5,APPROXIMATE,1337,333963.398,00000000,f702,1984;
#ANTENNAPOWERA,COM1,70,47.5,APPROXIMATE,1337,333963.398,00000000,f702,1984;
ON*d12f6135*8f8741be
#RXCONFIGA,COM1,69,47.5,APPROXIMATE,1337,333963.455,00000000,f702,1984;
#CLOCKADJUSTA,COM1,69,47.5,APPROXIMATE,1337,333963.455,00000000,f702,1984;
ENABLE*0af36d92*b13280f2
...
#RXCONFIGA,COM1,7,47.5,APPROXIMATE,1337,333966.781,00000000,f702,1984;
#STATUSCONFIGA,COM1,7,47.5,APPROXIMATE,1337,333966.781,00000000,f702,1984;
CLEAR,AUX2,0*a6141e28*d0bba9f2
#RXCONFIGA,COM1,2,47.5,APPROXIMATE,1337,333967.002,00000000,f702,1984;
#WAASECUTOFFA,COM1,2,47.5,APPROXIMATE,1337,333967.002,00000000,f702,1984;
-5.000000000*b9b11096*2e8b77cf
#RXCONFIGA,COM1,1,47.5,FINESTEERING,1337,398382.787,00000000,f702,1984;
#LOGA,COM1,1,47.5,FINESTEERING,1337,398382.787,00000000,f702,1984;
COM1,MARKPOSA,ONNEW,0.000000,0.000000,NOHOLD*a739272d*6692c084
#RXCONFIGA,COM1,0,47.5,FINESTEERING,1337,400416.370,00000000,f702,1984;
#LOGA,COM1,0,47.5,FINESTEERING,1337,400416.370,00000000,f702,1984;
COM2,PASSCOM2A,ONCHANGED,0.000000,0.000000,NOHOLD*55fc0c62*17086d18

WARNING!:

1.

Do not use undocumented commands or logs! Doing so may produce errors and
void your warranty.

The embedded CRCs are flipped to make the embedded messages recognizable to the
receiver. For example, consider the first embedded message above.
91f89b07:

10010001111110001001101100000111
11100000110110010001111110001001:e0d91f89

Its CRC is really e0d91f89.
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The RXCONFIG log can be used to ensure that your receiver is set up correctly for
your application.

Field
#

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

1

RXCONFIG
header

Log header

-

H

0

2

e header

Embedded header

-

h

H

3

e msg

Embedded message

Varied

a

H+h

4

e xxxx

Embedded (inverted) 32-bit CRC (ASCII and
Binary only). The embedded CRC is inverted
so that the receiver does not recognize the
embedded messages as messages to be
output but continues with the RXCONFIG
message. If you wish to use the messages
output from the RXCONFIG log, simply flip the
embedded CRC around for individual
messages.

Long

4

H+ h + a

5

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+ h + a + 4

6

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

545

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Chapter 3

3.3.125 RXHWLEVELS Receiver Hardware Levels V3
This log contains the receiver environmental and voltage parametres. Table 94 provides some of the
minimum, maximum and typical parametres of OEMV-3-based products.
This log outputs null fields from OEMV-1-based and OEMV-2-based products.
Message ID:
Log Type:

195
Polled

Recommended Input:
log rxhwlevelsa ontime 60

ASCII Example:
#RXHWLEVELSA,COM1,0,82.5,FINESTEERING,1364,490216.808,00000008,863c,2310;
31.563,0.000,1.352,11.763,4.996,0.000,0.000,0.000,0.000,0.000*76927cb1

Refer also to the OEMV-3 technical specifications in Appendix A of the OEMV Family
Installation and Operation User Manual for comparisons.
Table 94: Receiver Hardware Parametres
Supply
Voltage

RF
Voltage

Internal
LNA
Voltage

1.30

4.5

4.55

4.55

0

0

0.10

1.65

18

5.25

5.25

2.5

30

0.04

1.37

12

5

5

0

5

Temp.
(°C)

Antenna
Current

Min

-40

0

Max

100bb
40

Typical

Core
Voltage a

GPAI

LNA
Voltage

a. The shown voltage levels are for OEMV-3 cards.
b. The board temperature is about 15°C higher than the ambient temperature. Bit 1, in Table , If you
wish to disable all these messages without changing the bits, simply UNLOG the
RXSTATUSEVENT logs on the appropriate ports. See also the UNLOG command on page 214..
on page 548, turns on as a warning when the board temperature is above 100°C and a hazardous
temperature error message is generated at 110°C.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RXHWLEVELS
header

Log header

2

temp

Board temperature (degrees celsius)

Float

4

H

3

ant current

Approximate internal antenna current (A)

Float

4

H+4

4

core volt

CPU core voltage (V)

Float

4

H+8

5

supply volt

Receiver supply voltage (V)

Float

4

H+12

6

rf volt

5V RF supply voltage (V)

Float

4

H+16

7

int lna volt

Internal LNA voltage level (V)

Float

4

H+20

8

GPAI

General purpose analog input (V)

Float

4

H+24

9

Reserved

Float

4

H+28

Float

4

H+32

10
11

lna volt

LNA voltage (V) at OEM card output

Float

4

H+36

12

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+40

13

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

547

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Chapter 3

3.3.126 RXSTATUS Receiver Status V123
This log conveys various status parametres of the GPS receiver system. These include the Receiver
Status and Error words which contain several flags specifying status and error conditions. If an error
occurs (shown in the Receiver Error word) the receiver idles all channels, turns off the antenna, and
disables the RF hardware as these conditions are considered to be fatal errors. The log contains a
variable number of status words to allow for maximum flexibility and future expansion.
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, turn off the antenna, 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. See also the
STATUSCONFIG command on page 204.
1.

Field #4, the receiver status word as represented in Table , is also in Field #8 of the header.
See the ASCII Example below and Table on page 548 for clarification.

2.

Refer also to the chapter on Built-In Status Tests in the OEMV Family Installation and
Operation User Manual.

Message ID:
Log Type:

93
Asynch

Recommended Input:
log rxstatusa onchanged

ASCII Example:
#RXSTATUSA,COM1,0,43.5,FINESTEERING,1337,407250.846,00000000,643c,1984;
00000000,4,00000000,00000000,00000000,00000000,00000083,00000008,00000000,
00000000,00000000,00000000,00000000,00000000,00000000,00000000,00000000,
00000000*ba27dfae

Receiver errors automatically generate event messages. These event messages are
output in RXSTATUSEVENT logs. It is also possible to have status conditions trigger
event messages to be generated by the receiver. This is done by setting/clearing the
appropriate bits in the event set/clear masks. The set mask tells the receiver to
generate an event message when the bit becomes set. Likewise, the clear mask
causes messages to be generated when a bit is cleared. See the STATUSCONFIG
command on page 204 for details.
If you wish to disable all these messages without changing the bits, simply UNLOG
the RXSTATUSEVENT logs on the appropriate ports. See also the UNLOG
command on page 214..

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Table 95: Receiver Error

Nibble #
N0

N1

N2

N3

N4

Bit #

Mask

Description

Bit = 0

Bit = 1

0

0x00000001

Dynamic Random Access Memory (DRAM)
status a

OK

Error

1

0x00000002

Invalid firmware

OK

Error

2

0x00000004

ROM status

OK

Error

3

Reserved

4

0x00000010

Electronic Serial Number (ESN) access
status

OK

Error

5

0x00000020

Authorization code status

OK

Error

6

0x00000040

Slow ADC status

OK

Error

7

0x00000080

Supply voltage status

OK

Error

8

0x00000100

Thermometre status

OK

Error

9

0x00000200

Temperature status (as compared against
acceptable limits)

OK

Error

10

0x00000400

MINOS5 status

OK

Error

11

0x00000800

PLL RF1 hardware status - L1

OK

Error

12

0x00001000

PLL RF2 hardware status - L2

OK

Error

13

0x00002000

RF1 hardware status - L1

OK

Error

14

0x00004000

RF2 hardware status - L2

OK

Error

15

0x00008000

NVM status

OK

Error

16

0x00010000

Software resource limit

OK

Error

17

0x00020000

Model not valid for this receiver

OK

Error

18

0x00040000

Reserved

19

0x00080000

Continued on page 550.

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Table 95: Receiver Error

Nibble #
N5

N6

N7

Bit #

Mask

Description

Bit = 0

Bit = 1

20

0x00100000

Remote loading has begun

No

Yes

21

0x00200000

Export restriction

OK

Error

22

0x00400000

Reserved

23

0x00800000

24

0x01000000

25

0x02000000

26

0x04000000

27

0x08000000

28

0x10000000

29

0x20000000

30

0x40000000

31

0x80000000

OK

Error

Component hardware failure

a. RAM failure on an OEMV card may also be indicated by a flashing red LED.

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Table 96: Receiver Status

Nibble #

Bit #

Mask

Description

0

0x00000001

Error flag, see Table , If you
wish to disable all these
messages without changing

No error

Error

1

0x00000002

Temperature status

Within
specifications

Warning

2

0x00000004

Voltage supply status

OK

Warning

3

0x00000008

Antenna power status
See ANTENNAPOWER on
Page 64

Powered

Not powered

4

0x00000010

Reserved

5

0x00000020

Antenna open flag a

OK

Open

6

0x00000040

Antenna shorted flag a

OK

Shorted

7

0x00000080

CPU overload flag a

No overload

Overload

8

0x00000100

COM1 buffer overrun flag

No overrun

Overrun

9

0x00000200

COM2 buffer overrun flag

No overrun

Overrun

10

0x00000400

COM3 buffer overrun flag

No overrun

Overrun

11

0x00000800

USB buffer overrun flag b

No overrun

Overrun

12

0x00001000

Reserved

13

0x00002000

14

0x00004000

15

0x00008000

RF1 AGC status

OK

Bad

16

0x00010000

Reserved

17

0x00020000

RF2 AGC status

OK

Bad

18

0x00040000

Almanac flag/UTC known

Valid

Invalid

19

0x00080000

Position solution flag

Valid

Invalid

20

0x00100000

Position fixed flag, see FIX
on page 115

Not fixed

Fixed

21

0x00200000

Clock steering status

Enabled

Disabled

22

0x00400000

Clock model flag

Valid

Invalid

23

0x00800000

OEMV card external
oscillator flag

Disabled

Enabled

N0

N1

N2

N3

N4

N5

Bit = 0

Bit = 1

Continued on page 551.

551

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Chapter 3
Table 96: Receiver Status

Nibble #

N6

N7

Bit #

Mask

Description

24

0x01000000

Software resource

25

0x02000000

Reserved

26

0x04000000

27

0x08000000

28

0x10000000

29

0x20000000

30
31

Bit = 0

Bit = 1

OK

Warning

Auxiliary 3 status event flag

No event

Event

0x40000000

Auxiliary 2 status event flag

No event

Event

0x80000000

Auxiliary 1 status event flag

No event

Event

a. This flag is only available on OEMV-3 products (not on OEMV-1 or OEMV-2 where it is set to 0).
b. This flag indicates if any of the three USB ports (USB1, USB2, or USB3) are overrun. See the
auxiliary status word for the specific port for which the buffer is overrun.

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Table 97: Auxiliary 1 Status

Nibble
#

Bit
#

N0

0

0x00000001

1

0x00000002

2

0x00000004

3

0x00000008

Position averaging

4

0x00000010

Reserved

5

0x00000020

6

0x00000040

7

0x00000080

8

N1

N2

Mask

Description

Bit = 0

Bit = 1

Reserved

Off

On

USB connection status

Connected

Not
connected

0x00000100

USB1 buffer overrun flag

No overrun

Overrun

9

0x00000200

USB2 buffer overrun flag

No overrun

Overrun

10

0x00000400

USB3 buffer overrun flag

No overrun

Overrun

11

0x00000800

Reserved

Table 98: Auxiliary 2 Status
Nibble #
N0

Bit #
0

Mask

Description

0x0000001

Bit = 0

Bit = 1

Bit = 0

Bit = 1

Reserved

Table 99: Auxiliary 3 Status
Nibble #
N0

553

Bit #
0

Mask
0x0000001

Description
Reserved

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Data Logs

Field #

Chapter 3

Field type

Data Description

1

RXSTATUS
header

Log header

2

error

Receiver error (see Table 95, Receiver
Error on page 549). A value of zero
indicates no errors.

3

# stats

4

Format

Binary
Bytes

Binary
Offset

H

0

ULong

4

H

Number of status codes (including
Receiver Status)

ULong

4

H+4

rxstat

Receiver status word (see Table 96,
Receiver Status on page 551)

ULong

4

H+8

5

rxstat pri

Receiver status priority mask, which can
be set using the STATUSCONFIG
command (page 204)

ULong

4

H+12

6

rxstat set

Receiver status event set mask, which
can be set using the STATUSCONFIG
command (page 204)

ULong

4

H+16

7

rxstat clear

Receiver status event clear mask, which
can be set using the STATUSCONFIG
command (page 204)

ULong

4

H+20

8

aux1stat

Auxiliary 1 status word (see Table 97,
Auxiliary 1 Status on page 553)

ULong

4

H+24

9

aux1stat pri

Auxiliary 1 status priority mask, which
can be set using the STATUSCONFIG
command (page 204)

ULong

4

H+28

10

aux1stat set

Auxiliary 1 status event set mask, which
can be set using the STATUSCONFIG
command (page 204)

ULong

4

H+32

11

aux1stat
clear

Auxiliary 1 status event clear mask,
which can be set using the
STATUSCONFIG command (page 204)

ULong

4

H+36

12

aux2stat

Auxiliary 2 status word (see Table 98,
Auxiliary 2 Status on page 553)

ULong

4

H+40

13

aux2stat pri

Auxiliary 2 status priority mask, which
can be set using the STATUSCONFIG
command (page 204)

ULong

4

H+44

14

aux2stat set

Auxiliary 2 status event set mask, which
can be set using the STATUSCONFIG
command

ULong

4

H+48

15

aux2stat
clear

Auxiliary 2 status event clear mask,
which can be set using the
STATUSCONFIG command

ULong

4

H+52

Continued on page 555.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

16

aux3stat

Auxiliary 3 status word (see Table 99,
Auxiliary 3 Status on page 553)

ULong

4

H+56

17

aux3stat pri

Auxiliary 3 status priority mask, which
can be set using the STATUSCONFIG
command (see page 204)

ULong

4

H+60

18

aux3stat set

Auxiliary 3 status event set mask, which
can be set using the STATUSCONFIG
command

ULong

4

H+64

19

aux3stat
clear

Auxiliary 3 status event clear mask,
which can be set using the
STATUSCONFIG command

ULong

4

H+68

20...

Next status code offset = H + 8 + (# stats x 16)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+8+(#stats
x 64)

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

555

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Chapter 3

3.3.127 RXSTATUSEVENT Status Event Indicator V123
This log is used to output event messages as indicated in the RXSTATUS log. 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, which is detailed starting on page 204.
On start-up, the receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports. You can
remove this message by using the UNLOG command, see page 214.
See also the chapter on Built-In Status Tests in the OEMV Family Installation and Operation
User Manual.
Message ID:
Log Type:

94
Asynch

Recommended Input:
log rxstatuseventa onchanged

ASCII Example 1:
#RXSTATUSEVENTA,COM1,0,17.0,FREEWHEELING,1337,408334.510,00480000,b967,1984;
STATUS,19,SET,"No Valid Position Calculated"*6de945ad

ASCII Example 2:
#RXSTATUSEVENTA,COM1,0,41.0,FINESTEERING,1337,408832.031,01000400,b967,1984;
STATUS,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 on page 546, 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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Table 100: Status Word
Word (binary)

Word (ASCII)

Description

0

ERROR

Receiver Error word,
see Table 95 on page 549

1

STATUS

Receiver Status word,
see Table 96 on page 551

2

AUX1

Auxiliary 1 Status word,
see Table 97 on page 553

3

AUX2

Auxiliary 2 Status word
see Table 98 on page 553

4

AUX3

Auxiliary 3 Status word
see Table 99 on page 553

Table 101: Event Type

Field
#

Event (binary)

Event (ASCII)

0

CLEAR

Bit was cleared

1

SET

Bit was set

Field type

Description

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

RXSTATUSEVENT
header

Log header

2

word

The status word that generated the event
message (see Table 100, above)

Enum

4

H

3

bit position

Location of the bit in the status word
(seeTable 96, Receiver Status on page
551 or the Auxiliary Status tables on page
553)

Ulong

4

H+4

4

event

Event type (see Table 101 above)

Enum

4

H+8

3

description

This is a text description of the event or
error

Char[32]

32

H+12

5

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+44

6

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.128 SATVIS

Satellite Visibility

V123

Satellite visibility log with additional satellite information.
1.

The SATVIS 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 parametres,
not the higher precision Ephemeris parametres.

2.

In the SATVIS log output there may be double satellite number entries. These are
GLONASS antipodal satellites that are in the same orbit plane separated by 180 degrees
latitude. Refer also to the GLONASS chapter of the GNSS Reference Book, available on
our Web site at http://www.novatel.com/support/docupdates.htm.

Message ID:
Log Type:

48
Synch

Recommended Input:
log satvisa ontime 60

ASCII Example:
#SATVISA,COM1,0,46.5,FINESTEERING,1363,238448.000,00000000,0947,2277;
TRUE,TRUE,61,
7,0,0,86.1,77.4,-69.495,-69.230,
2,0,0,66.3,70.7,-1215.777,-1215.512,
58,7,1,64.7,324.5,1282.673,1282.939,
58,12,0,64.7,324.5,1283.808,1284.074,
30,0,0,60.8,267.7,299.433,299.699,
5,0,0,58.1,205.5,-1783.823,-1783.557,
42,7,1,53.0,79.0,17.034,17.300,
42,9,1,53.0,79.0,20.108,20.373,
...
19,0,0,-86.8,219.3,88.108,88.373*a0b7cc0b

Consider sky visibility at each of the base and rover receivers in a differential setup.
The accuracy and reliability of differential messages is proportional to the number of
common satellites that are visible at the base and rover. Therefore, if the sky visibility
at either station is poor, you might consider increasing the occupation times. This
condition is best measured by monitoring the number of visible satellites during data
collection along with the PDOP value (a value less than 3 is ideal). Also, the location
and number of satellites in the sky is constantly changing. As a result, some periods
in the day are slightly better for data collection than others. Use the SATVIS log to
monitor satellite visibility. The PSRDOP log, see page 388, can be used to monitor
the PDOP values.
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Site conditions surrounding the station that may affect satellite visibility and can
generate noise in the data are water bodies, buildings, trees and nearby vehicles.
Field #

Field type

Data Description

1

SATVIS header

Log header

2

sat vis

Is satellite visibility valid?
0 = FALSE
1 = TRUE

3

comp alm

4

Format

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Was complete GPS almanac used?
0 = FALSE
1 = TRUE

Enum

4

H+4

#sat

Number of satellites with data to follow

Ulong

4

H+8

5

PRN/slot

Satellite PRN number of range
measurement (GPS: 1-32 and SBAS: 120
to 138. For GLONASS, see Section 1.3
on page 29)

Short

2

H+12

6

glofreq

(GLONASS Frequency + 7), see Section
1.3 on page 29

Short

2

H+14

7

health

Ulong

4

H+16

8

elev

Satellite health a
Elevation (degrees)

Double

8

H+20

9

az

Azimuth (degrees)

Double

8

H+28

10

true dop

Theoretical Doppler of satellite - the
expected Doppler frequency based on a
satellite's motion relative to the receiver. It
is computed using the satellite's
coordinates and velocity, and the
receiver's coordinates and velocity. (Hz)

Double

8

H+36

11

app dop

Apparent Doppler for this receiver - the
same as Theoretical Doppler above but
with clock drift correction added. (Hz)

Double

8

H+44

12

Next satellite offset = H + 12 + (#sat x 40)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+12+
(#sat x 40)

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. Satellite health values may be found in ICD-GPS-200. To obtain copies of ICD-GPS-200, refer to
ARINC in the Standards and References section of the GNSS Reference Book, available on our
Web site at http://www.novatel.com/support/docupdates.htm.

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3.3.129 SATXYZ SV Position in ECEF Cartesian Coordinates V123
When combined with a RANGE log, this data set contains the decoded satellite information necessary
to compute the solution: satellite coordinates (ECEF WGS84), satellite clock correction, ionospheric
corrections and tropospheric corrections. See the calculation examples in the usage box below. Only
those satellites that are healthy are reported here. See also Figure 10 on page 265.
Message ID:
Log Type:

270
Synch

Recommended Input:
log satxyz ontime 1

ASCII Example:
#SATXYZA,COM1,0,45.5,FINESTEERING,1337,409729.000,00000000,6f3c,1984;0.0,11,
1,8291339.5258,-17434409.5059,18408253.4923,1527.199,2.608578998,
3.200779818,0.000000000,0.000000000,
...
14,18951320.4329,-16297117.6697,8978403.7764,-8190.088,4.139015349,
10.937283220,0.000000000,0.000000000*8a943244

The OEMV family use positive numbers for ionospheric and tropospheric corrections.
A positive clock offset indicates that the clock is running ahead of the reference time.
Positive ionospheric and tropospheric corrections are added to the geometric ranges
or subtracted from the measured pseudoranges. For example:
P = p + pd + c(dT - dt) + d(ion) + d(trop) + Ep
is equivalent to
P - c(dT - dt) - d(ion) - d(trop) = p + pd + Ep
where
P = measured pseudorange
p = geometric range
pd = orbit error
dt = satellite clock offset
dT = receiver clock offset
d(ion) = ionospheric delay
d(trop) = tropospheric delay
c = speed of light
Ep = noise and multipath.

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Field #

Field type

Data Description

Binary
Offset

H

0

Double

8

H

1

SATXYZ header

Log header

2

Reserved

3

#sat

Number of satellites with Cartesian
information to follow

Ulong

4

H+8

4

PRN/slot

Satellite PRN number of range
measurement (GPS: 1-32 and
SBAS: 120 to 138. For GLONASS,
see Section 1.3 on page 29.)

Ulong

4

H+12

5

x

Satellite X coordinates (ECEF, m)

Double

8

H+16

6

y

Satellite Y coordinates (ECEF, m)

Double

8

H+24

7

z

Satellite Z coordinates (ECEF, m)

Double

8

H+32

8

clk corr

Satellite clock correction (m)

Double

8

H+40

9

ion corr

Ionospheric correction (m)

Double

8

H+48

10

trop corr

Tropospheric correction (m)

Double

8

H+56

11

Reserved

Double

8

H+64

Double

8

H+72

12

561

Binary
Bytes

Format

13

Next satellite offset = H + 12 + (#sat x 68)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+12+
(#sat x
68)

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.130 TIME Time Data V123
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 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 164, 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 time.
Message ID:
Log Type:

101
Synch

Recommended Input:
log timea ontime 1

ASCII Example:
#TIMEA,COM1,0,50.5,FINESTEERING,1337,410010.000,00000000,9924,1984;
VALID,1.953377165e-09,7.481712815e-08,-12.99999999492,2005,8,25,17,
53,17000,VALID*e2fc088c

Consider the case where you used the ADJUST1PPS command, see page 56, to
synchronize two receivers in a primary/secondary relationship to a common external
clock. You can use the TIME log after the clock model has stabilized at state 0, to
monitor the time difference between the Primary and Secondary receivers.

The header of the TIME log gives you the GPS time (the week number since January
5th, 1980) and the seconds into that week. The TIME log outputs the UTC offset
(offset of GPS time from UTC time) and the receiver clock offset from GPS 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 you take care of going negative
or rollover (going over the total number of seconds, 604800, in a week. In the case of
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.
For example:
TIME COM1 0 73.5 FINESTEERING 1432 235661.000 00000000 9924 2616
VALID -0.000000351 0.000000214 -14.00000000106 2007 6 19 17 27 27000 VALID

From the time information above:
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GPS time = 1432 (GPS week), 235661.000 (GPS seconds) from the header.
From the UTC offset row in the TIME log description on page 563:
UTC time = GPS time + offset + UTC offset
UTC time
= week 1432, 235661.000 s - 0.000000351 (offset) - 14.00000000106 (UTC offset)
= week 1432, seconds 235646.99999964794

Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Receiver clock offset, in seconds from GPS time. A
positive offset implies that the receiver clock is
ahead of GPS time. To derive GPS time, use the
following formula: GPS time = receiver time - offset

Double

8

H+4

offset std

Receiver clock offset standard deviation.

Double

8

H+12

5

utc offset

The offset of GPS time from UTC time, computed
using almanac parametres. UTC time is GPS time
plus the current UTC offset plus the receiver clock
offset: UTC time = GPS time + offset + UTC offset

Double

8

H+20

6

utc year

UTC year

Ulong

4

H+28

7

utc month

UTC month (0-12) a

Uchar

1

H+32

8

utc day

UTC day (0-31) a

Uchar

1

H+33

9

utc hour

UTC hour (0-23)

Uchar

1

H+34

10

utc min

UTC minute (0-59)

Uchar

1

H+35

11

utc ms

UTC millisecond (0-60999) b

Ulong

4

H+36

12

utc status

UTC status

Enum

4

H+40

13

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+44

14

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field #

Field type

Data Description

1

TIME
header

Log header

2

clock
status

Clock model status (not including current
measurement data), see Table 54 on page 269

3

offset

4

0 = Invalid
1 = Valid
2 = Warningc

Format

a. If UTC time is unknown, the values for month and day are 0.
b. Maximum of 60999 when leap second is applied.
c. Indicates that the leap seconds value is used as a default due to the lack of an almanac.

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3.3.131 TIMESYNC Synchronize Time Between GPS Receivers V123
The TIMESYNC log is used in conjunction with the ADJUST1PPS command, see page 56, to
synchronize the time between GPS receivers.
Refer also to the Transfer Time Between Receivers section in the OEMV Family Installation and
Operation User Manual.
Message ID:
Log Type:

492
Synch

Recommended Input:
log timesynca ontime 1

ASCII Example:
#TIMESYNCA,COM1,0,46.0,FINESTEERING,1337,410095.000,00000000,bd3f,1984;
1337,410095000,FINESTEERING*aa2025db

The time data embedded in this log represents the time of the most recent 1PPS
signal. This log should be issued from a communications port within 200 ms, of the
last 1PPS event. See Figure 1, 1PPS Alignment on page 57 for an illustration.

Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

TIMESYNC
header

Log header

2

week

GPS week number

Ulong

4

H

3

ms

Number of milliseconds into the GPS week

Ulong

4

H+4

4

time status

GPS Time Status, see Table 8, GPS Time
Status on page 30

Enum

4

H+8

5

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+12

6

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.132 TRACKSTAT Tracking Status V123
This log provides channel tracking status information for each of the receiver parallel channels.
If both the L1 and L2 signals are being tracked for a given PRN, two entries with the same PRN
appear in the tracking status log. As shown in Table 72, Channel Tracking Status on page 400 these
entries can be differentiated by bit 20, which is set if there are multiple observables for a given PRN,
and bits 21-22, which denote whether the observation is for L1 or L2. This is to aid in parsing the data.
Message ID:
Log Type:

83
Synch

Recommended Input:
log trackstata ontime 1

ASCII Example:
#TRACKSTATA,COM1,0,49.5,FINESTEERING,1337,410139.000,00000000,457c,1984;
SOL_COMPUTED,PSRDIFF,5.0,30,
1,0,18109c04,21836080.582,-2241.711,50.087,1158.652,0.722,GOOD,0.973,
1,0,11309c0b,21836083.168,-1746.788,42.616,1141.780,0.000,OBSL2,0.000,
30,0,18109c24,24248449.644,-2588.133,45.237,939.380,-0.493,GOOD,0.519,
30,0,11309c2b,24248452.842,-2016.730,38.934,939.370,0.000,OBSL2,0.000,
...
14,0,18109da4,24747286.206,-3236.906,46.650,1121.760,-0.609,GOOD,0.514,
14,0,11309dab,24747288.764,-2522.270,35.557,1116.380,0.000,OBSL2,0.000,
0,0,0c0221c0,0.000,0.000,0.047,0.000,0.000,NA,0.000,
0,0,0c0221e0,0.000,0.000,0.047,0.000,0.000,NA,0.000*255a732e

The OEMV-3 with L-band and HP/XP requires the following minimum number of
satellites for the following operations:
• single point = 4 GPS satellites
•

RTK, including HP/XP = 5 GPS satellites

Extra satellites provide additional redundancy, which is good to have. Note that the
default cut-off angle is 5 degrees, and single point positioning utilizes all available
GPS satellites in the position solution.
RTK solutions, including HP/XP, only use GPS satellites that are above the RTK
elevation angle, (usually 12.5 degrees). So, although there could be more than 5
GPS satellites in view, if there are not at least 5 GPS satellites above 12.5 degrees
then an RTK solution may not be possible.

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Table 102: Range Reject Code

Reject
Code
(binary)

Reject Code
(ASCII)

Description

0

GOOD

Observation is good

1

BADHEALTH

Bad satellite health is indicated by ephemeris data

2

OLDEPHEMERIS

Old ephemeris due not being updated during the last 3
hours

3

ECCENTRICANOMALY

Eccentric anomaly error during computation of the
satellite’s position

4

TRUEANOMALY

True anomaly error during computation of the satellite’s
position

5

SATCOORDINATEERROR

Satellite coordinate error during computation of the
satellite’s position

6

ELEVATIONERROR

Elevation error due to the satellite being below the cut-off
angle

7

MISCLOSURE

Misclosure too large due to excessive gap between
estimated and actual positions

8

NODIFFCORR

No compatible differential correction is available for this
particular satellite

9

NOEPHEMERIS

Ephemeris data for this satellite has not yet been received

10

INVALIDIODE

Invalid IODE (Issue Of Data Ephemeris) due to mismatch
between differential stations

11

LOCKEDOUT

Locked out: satellite is excluded by the user (LOCKOUT
command)

12

LOWPOWER

Low power: satellite is rejected due to low carrier/noise
ratio

13

OBSL2

L2 observation is ignored and not used in the pseudorange
solution

16

NOIONOCORR

No compatible ionospheric correction is available for this
particular satellite

17

NOTUSED

Observation is ignored and not used in the solution

99

NA

No observation (a reject code is not applicable)

100

BAD_INTEGRITY

The integrity of the pseudorange is bad

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Binary
Bytes

Binary
Offset

H

0

Enum

4

H

Position type (see Table 50, Position or
Velocity Type on page 252)

Enum

4

H+4

cutoff

Tracking elevation cut-off angle

Float

4

H+8

5

# chans

Number of hardware channels with
information to follow

Long

4

H+12

6

PRN/slot

Satellite PRN number of range measurement
(GPS: 1-32 and SBAS: 120 to 138. For
GLONASS, see Section 1.3 on page 29)

Short

2

H+16

7

glofreq

(GLONASS Frequency + 7), see Section 1.3
on page 29

Short

2

H+18

8

ch-tr-status

Channel tracking status (see Table 72,
Channel Tracking Status on page 400)

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 102, Range Reject Code on page
566)

Enum

4

H+48

15

psr weight

Pseudorange filter weighting

Float

4

H+52

16...

Next PRN offset = H + 16 + (#chans x 40)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+16+
(#chans
x 40)

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field #

Field Type

1

TRACKSTAT
header

Log header

2

sol status

Solution status (see Table 51, Solution Status
on page 253)

3

pos type

4

567

Data Description

Format

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3.3.133 VALIDMODELS Valid Model Information V123
This log gives a list of valid authorized models available and expiry date information.
If a model has no expiry date it reports the year, month and day fields as 0, 0 and 0 respectively.
Message ID:
Log Type:

206
Polled

Recommended Input:
log validmodelsa once

ASCII Example:
#VALIDMODELSA,COM1,0,54.0,FINESTEERING,1337,414753.310,00000000,342f,1984;
1,"ME3",0,0,0*16c0b1a3

Use the VALIDMODELS log to output a list of available models for the receiver. You
can use the AUTH command, see page 74, to add a model and the MODEL
command, see page 153, to change the currently active model. See the VERSION
log on page 569 for the currently active model.

Field #

Field type

Data Description

1

VALIDMODELS
header

Log header

2

#mod

Number of models with information
to follow

3

model

4

Binary
Bytes

Format

Binary
Offset

H

0

Ulong

4

H

Model name

String
[max. 16]

Variablea

Variable

expyear

Expiry year

Ulong

4

Variable
Max:H+20

5

expmonth

Expiry month

Ulong

4

Variable
Max: H+24

6

expday

Expiry day

Ulong

4

Variable:
Max: H+28

7...

Next model offset = H + 4 + (#mods x variable [max:28])

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

Variable

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment

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3.3.134 VERSION Version Information V123
This log contains the version information for all components of a system. When using a standard
receiver, there is only one component in the log.
A component may be hardware (for example, a receiver or data collector) or firmware in the form of
applications or data (for example, data blocks for height models or user applications). See Table 105,
VERSION Log: Field Formats on page 571 for details on the format of key fields.
See also the VALIDMODELS log on page 568.
Message ID:
Log Type:

37
Polled

Recommended Input:
log versiona once

ASCII Example:
#VERSIONA,COM1,0,71.5,FINESTEERING,1362,340308.478,00000008,3681,2291;
1,GPSCARD,"L12RV","DZZ06040010","OEMV2G-2.00-2T","3.000A19","3.000A9",
"2006/Feb/ 9","17:14:33"*5e8df6e0

1.

Unlike the OEM4 family, there is no need for an extra OmniSTAR Interface Board (I-Board)
on L-band capable OEMV receivers. If you have an OmniSTAR subscription and the
receiver is tracking an OmniSTAR satellite, the OmniSTAR serial number can be found in
the LBANDINFO log, see page 346.

2.

Model Z is not available with K or R models, see Table 103 on page 570.

The VERSION log is a useful log as a first communication with your receiver. Once
connected, using CDU or HyperTerminal, log VERSION and check that the output
makes sense. Also, ensure that you have the receiver components you expected.

50 Hz Output Rate for GPS-only F Models
The 50 Hz feature allows the receiver to support a 50 Hz output rate on OEM-V1/V1G/V2/V3-based
products. It also introduces the F model option.
This feature increases the CPU speed to 400 MHz for the newer hardware versions of OEM-V1/V1G/
V2-based receivers, see Table 106 on page 571. The CPU speed for OEM-V3-based receivers is still
400 MHz.
The periods available when you use the ONTIME trigger are 0.02 (50 Hz), 0.05, 0.1, 0.2,
0.25, 0.5, 1, 2, 3, 5, 10, 15, 20, 30, 60 seconds.

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Figure 13: 50 Hz Logging Example in CDU
Table 103: Model Designators
Designator

Description

G

12 L1 or 12 L1/L2 GLONASS channels, frequencies to match GPS
configuration

R

Receive RT2 and/or RT20 corrections

I

Synchronized Position Attitude Navigation (SPAN)

J

SPAN supporting 200 Hz IMUs and IGI higher rate IMU (256.144 Hz)

S

Reduces positions and measurement rates to 5 Hz, disables VARF
and EVENT signals

A

Application Program Interface (API)

B

1 L-band channel with CDGPS and OmniSTAR VBS capability

L

1 L-band channel with CDGPS and OmniSTAR HP/XP capability

NL

1 L-band channel with OmniSTAR enabled and no position, velocity,
time (PVT) or raw data output

F

50 Hz output

Z

ALIGN: This heading feature generates separation and bearing data
between a base and one or multiple rovers.

K

Receiver RT2 L1TE : The L1 GG RTK feature is a fixed integer
GPS+GLONASS L1-only RTK solution that works with RTCAOBS
and RTCAOBS2 correction types. Centimetre-level (RT2 L1TE )
accuracy is possible with fix times in the order of 60 s, depending on
visibility, number of satellites, and so on. Since it is an L1-only
solution, the operational baseline is limited to 3 km to minimize
ionospheric errors. Outside of the baseline threshold (3 km), the
receiver outputs RT20 instead.

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Data Logs
Table 104: Component Types
Binary

ASCII

Description

0

UNKNOWN

Unknown component

1

GPSCARD

OEMV family component

2

CONTROLLER

Data collector

3

ENCLOSURE

OEM card enclosure

4-6

Reserved

7

IMUCARD

IMU card

981073920 (0x3A7A0000)

DB_HEIGHTMODEL

Height/track model data

981073921 (0x3A7A0001)

DB_USERAPP

User application firmware

981073925 (0x3A7A0005)

DB_USERAPPAUTO

Auto-starting user application firmware

a. Please refer to the Acronyms section of the GNSS Reference Book, available from our Web
site at http://www.novatel.com/support/docupdates.htm.

Table 105: VERSION Log: Field Formats
Field Type

Field Format (ASCII)

Description

hw version

P-RS-CCC

P
R
S
CCC

= hardware platform (for example, OEMV)
= hardware revision (for example, 3.00)
= processor revision (for example, A) a
= COM port configuration (for example, 22T) b

sw version,
boot
version

VV.RRR[Xxxx]

VV
RRR
X
xxx

= major revision number
= minor revision number
= Special (S), Beta (B),Internal Development (D, A)
= number

comp date

YYYY/MM/DD

YYYY = year
MM
= month
DD
= day (1 - 31)

comp time

HH:MM:SS

HH
MM
SS

= hour
= minutes
= seconds

a. This field may be empty if the revision is not stamped onto the processor
b. One character for each of the COM ports 1, 2, and 3. Characters are: 2 for RS-232, 4 for RS422, T for LV-TTL, and X for user-selectable (valid for COM1 of the OEMV-2 only). Therefore,
the example is for a receiver that uses RS-232 for COM 1 and COM 2 and LV-TTL for COM 3.

Table 106: 50 Hz-Capable Hardware Versions
Receiver

571

Version

OEM-V1-based

Rev 3.01 or later

OEM-V1G-based

Rev 1.01 or later

OEM-V2-based

Rev 3.01 or later

OEMV-3-based

All

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Data Logs

Field #

Chapter 3

Field type

Data Description

1

VERSION
header

Log header

2

# comp

Number of components (cards, and so on)

3

type

4

model

Format

Binary
Bytes

Binary
Offset

H

0

Long

4

H

Component type (see Table 104, Component
Types on page 571)

Enum

4

H+4

A base model name plus designators where
there are 4 possible base names:
L12:
20 Hz positions and measurements,
RT2/20 base, 14 GPS L1/L2 and 2
SBAS channels
L1:
20 Hz positions and measurements,
RT20 base, 14 GPS L1 and 2 SBAS
channels
N12: 20 Hz positions, no measurements,
14 GPS L1/L2 and 2 SBAS channels
N1:
20 Hz positions, no measurements,
14 GPS L1 and 2 SBAS channels

Char[16]

16

H+8

The model designators are shown in Table
103 on Page 570
5

psn

Product serial number

Char[16]

16

H+24

6

hw version

Hardware version, see Table 105, VERSION
Log: Field Formats on page 571

Char[16]

16

H+40

7

sw version

Firmware software version, see Table 105

Char[16]

16

H+56

8

boot version

Boot code version, see Table 105

Char[16]

16

H+72

9

comp date

Firmware compile date, see Table 105

Char[12]

12

H+88

10

comp time

Firmware compile time, see Table 105

Char[12]

12

H+100

11...

Next component offset = H + 4 + (#comp x 108)

variable

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+4+
(#comp
x 108)

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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3.3.135 WAAS0 Remove PRN from Solution V123_SBAS
This message tells you, when you are using SBAS messages, not to use a specific PRN message for a
period of time outlined in the SBAS signal specification.
See how the WAAS0 message relates to the SBAS testing modes in the SBASCONTROL command
on page 187.
Message ID:
Log Type:

290
Asynch

Recommended Input:
log WAAS0a onchanged

ASCII Example:
#WAAS0A,COM1,0,68.5,SATTIME,1093,161299.000,00040020,7d6a,209;122*e9a5ab08

Although the WAAS was designed for aviation users, it supports a wide variety of
non-aviation uses including agriculture, surveying, recreation, and surface
transportation, just to name a few. The WAAS signal has been available for non
safety-of-life applications since August 24, 2000. Today, there are many non-aviation
WAAS-enabled GPS receivers in use.

573

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

32-bit CRC (ASCII and Binary only)

Hex

4

H+4

Sentence terminator (ASCII only)

-

-

-

Field #

Field type

Data Description

1

WAAS0
header

Log header

2

prn

Source PRN message - also PRN not to use

3

xxxx

4

[CR][LF]

Format

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Data Logs

Chapter 3

3.3.136 WAAS1 PRN Mask Assignments V123_SBAS
The PRN mask is given in WAAS1. The transition of the PRN mask to a new one (which will be
infrequent) is controlled with the 2-bit IODP, which sequences to a number between 0 and 3. The
same IODP appears in the applicable WAAS2, WAAS3, WAAS4, WAAS5, WAAS7, WAAS24 and
WAAS25 messages (WAAS32, WAAS33, WAAS34, WAAS35 and WAAS45 for CDGPS). This
transition would probably only occur when a new satellite is launched or when a satellite fails and is
taken out of service permanently. A degraded satellite may be flagged as a don’t use satellite
temporarily.
Message ID:
Log Type:

291
Asynch

Recommended Input:
log WAAS1a onchanged

ASCII Example:
#WAAS1A,COM1,0,24.5,SATTIME,1337,415802.000,00000000,5955,1984;
134,ffeffffe0000000000000000000000400400000000000000000000,2*3633cf7b

Each raw WAAS frame gives data for a specific frame decoder number. The WAAS1
message can be logged to view the data breakdown of WAAS frame 1 which
contains information on the PRN mask assignment.
Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

PRN bit mask

Uchar[27]

28 a

H+4

iodp

Issue of PRN mask data

Ulong

4

H+32

5

xxxx

32-bit CRC (ASCII and
Binary only)

Hex

4

H+36

6

[CR][LF]

Sentence terminator (ASCII
only)

-

-

-

Field #

Field type

Data Description

1

header

Log header

2

prn

Source PRN of message

3

mask

4

Format

a. In the binary log case, an additional 1 byte of padding is added to maintain 4byte alignment

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Data Logs

3.3.137 WAAS2 Fast Correction Slots 0-12 V123_SBAS
WAAS2 are fast corrections for slots 0-12 in the mask of WAAS1. This message may or may not
come when SBAS is in testing mode (see the SBASCONTROL command on page 187 for details).
Message ID:
Log Type:

296
Asynch

Recommended Input:
log WAAS2a onchanged

ASCII Example:
#WAAS2A,COM1,0,29.0,SATTIME,1337,415925.000,00000000,e194,1984;
134,2,2,3,-3,5,1,2047,-2,2047,2047,2047,2047,2047,-3,2,5,11,7,
8,14,8,14,14,14,14,14,6,12*8d8d2e1c

Each raw WAAS frame gives data for a specific frame decoder number. The WAAS2
message can be logged to view the data breakdown of WAAS frame 2 which
contains information on fast correction slots 0-12.

575

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Data Logs

Chapter 3
Table 107: Evaluation of UDREI
UDREI a

UDRE metres

σ2 i.udre metres2

0

0.75

0.0520

1

1.0

0.0924

2

1.25

0.1444

3

1.75

0.2830

4

2.25

0.4678

5

3.0

0.8315

6

3.75

1.2992

7

4.5

1.8709

8

5.25

2.5465

9

6.0

3.3260

10

7.5

5.1968

11

15.0

20.7870

12

50.0

230.9661

13

150.0

2078.695

14

Not Monitored

Not Monitored

15

Do Not Use

Do Not Use

a. The σ2UDRE broadcast in WAAS2,
WAAS3, WAAS4, WAAS5, WAAS6 and
WAAS24 applies at a time prior to or at
the time of applicability of the associated
corrections.

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Chapter 3

Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

Scaling

1

WAAS2 header

Log header

2

prn

Source PRN of message

Ulong

4

H

-

3

iodf

Issue of fast corrections
data

Ulong

4

H+4

-

4

iodp

Issue of PRN mask data

Ulong

4

H+8

-

5

prc0

prc(i):

Long

4

H+12

-

6

prc1

Long

4

H+16

-

7

prc2

Fast corrections
(-2048 to +2047) for the prn
in slot i (i = 0-12)

Long

4

H+20

-

8

prc3

Long

4

H+24

-

9

prc4

Long

4

H+28

-

10

prc5

Long

4

H+32

-

11

prc6

Long

4

H+36

-

12

prc7

Long

4

H+40

-

13

prc8

Long

4

H+44

-

14

prc9

Long

4

H+48

-

15

prc10

Long

4

H+52

-

16

prc11

Long

4

H+56

-

17

prc12

Long

4

H+60

-

Continued on page 578.

577

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Data Logs

Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

Scaling

18

udre0

udre(i):

Ulong

4

H+64

19

udre1

Ulong

4

H+68

20

udre2

User differential range error
indicator for the prn in slot i
(i = 0-12)

Ulong

4

H+72

21

udre3

Ulong

4

H+76

22

udre4

Ulong

4

H+80

23

udre5

Ulong

4

H+84

24

udre6

Ulong

4

H+88

25

udre7

Ulong

4

H+92

26

udre8

Ulong

4

H+96

27

udre9

Ulong

4

H+100

28

udre10

Ulong

4

H+104

29

udre11

Ulong

4

H+108

30

udre12

Ulong

4

H+112

31

xxxx

32-bit CRC (ASCII and
Binary only)

Hex

4

H+116

-

32

[CR][LF]

Sentence terminator (ASCII
only)

-

-

-

-

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

See Table
107,
Evaluation of
UDREI on
page 576

578

Chapter 3

Data Logs

3.3.138 WAAS3 Fast Corrections Slots 13-25 V123_SBAS
WAAS3 are fast corrections for slots 13-25 in the mask of WAAS1. This message may or may not
come when SBAS is in testing mode (see the SBASCONTROL command on page 187 for details).
Message ID:
Log Type:

301
Asynch

Recommended Input:
log WAAS3a onchanged

ASCII Example:
#WAAS3A,COM1,0,17.0,SATTIME,1337,415990.000,00000000,bff5,1984;
134,1,2,2047,0,2047,2047,-21,-4,2047,2047,-1,0,2,2047,6,14,5,
14,14,11,5,14,14,5,7,5,14,8*a25aebc5

Each raw WAAS frame gives data for a specific frame decoder number. The WAAS3
message can be logged to view the data breakdown of WAAS frame 3 which
contains information on fast correction slots 13-25.

579

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Data Logs

Chapter 3
Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

-

Issue of fast corrections data

Ulong

4

H+4

-

iodp

Issue of PRN mask data

Ulong

4

H+8

-

5

prc13

prc(i):

Long

4

H+12

-

6

prc14

Fast corrections (-2048 to +2047)
for the prn in slot i (i = 13-25)

Long

4

H+16

-

7

prc15

Long

4

H+20

-

8

prc16

Long

4

H+24

-

9

prc17

Long

4

H+28

-

10

prc18

Long

4

H+32

-

11

prc19

Long

4

H+36

-

12

prc20

Long

4

H+40

-

13

prc21

Long

4

H+44

-

14

prc22

Long

4

H+48

-

15

prc23

Long

4

H+52

-

16

prc24

Long

4

H+56

-

17

prc25

Long

4

H+60

-

Field #

Field type

Data Description

1

WAAS3
header

Log header

2

prn

Source PRN of message

3

iodf

4

Format

Scaling

Continued on page 581.

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

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Chapter 3

Data Logs

Format

Binary
Bytes

Binary
Offset

udre(i):

Ulong

4

H+64

User differential range error
indicator for the prn in slot i (i = 1325)

Ulong

4

H+68

Ulong

4

H+72

udre16

Ulong

4

H+76

22

udre17

Ulong

4

H+80

23

udre18

Ulong

4

H+84

24

udre19

Ulong

4

H+88

25

udre20

Ulong

4

H+92

26

udre21

Ulong

4

H+96

27

udre22

Ulong

4

H+100

28

udre23

Ulong

4

H+104

29

udre24

Ulong

4

H+108

30

udre25

Ulong

4

H+112

31

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+116

-

32

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

-

Field #

Field type

18

udre13

19

udre14

20

udre15

21

581

Data Description

Scaling
See Table
107,
Evaluation of
UDREI on
page 576

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Data Logs

Chapter 3

3.3.139 WAAS4 Fast Correction Slots 26-38 V123_SBAS
WAAS4 are fast corrections for slots 26-38 in the mask of WAAS1. This message may or may not
come when SBAS is in testing mode (see the SBASCONTROL on page 187 command for details).
Message ID:
Log Type:

302
Asynch

Recommended Input:
log WAAS4a onchanged

ASCII Example:
#WAAS4A,COM1,0,58.0,SATTIME,1093,163399.000,00000020,b4b0,209;
122,0,3,2047,3,-1,2047,2047,2047,-3,-1,5,3,3,
2047,2,14,3,3,14,14,14,6,3,4,5,4,14,3*2e0894b1

Each raw WAAS frame gives data for a specific frame decoder number. The WAAS4
message can be logged to view the data breakdown of WAAS frame 4 which
contains information on fast correction slots 26-38.

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Chapter 3

Data Logs
Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

-

Issue of fast corrections data

Ulong

4

H+4

-

iodp

Issue of PRN mask data

Ulong

4

H+8

-

5

prc26

prc(i):

Long

4

H+12

-

6

prc27

Fast corrections (-2048 to +2047)
for the prn in slot i (i = 26-38)

Long

4

H+16

-

7

prc28

Long

4

H+20

-

8

prc29

Long

4

H+24

-

9

prc30

Long

4

H+28

-

10

prc31

Long

4

H+32

-

11

prc32

Long

4

H+36

-

12

prc33

Long

4

H+40

-

13

prc34

Long

4

H+44

-

14

prc35

Long

4

H+48

-

15

prc36

Long

4

H+52

-

16

prc37

Long

4

H+56

-

17

prc38

Long

4

H+60

-

Field #

Field type

Data Description

1

WAAS4
header

Log header

2

prn

Source PRN of message

3

iodf

4

Format

Scaling

Continued on page 584.

583

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Data Logs

Chapter 3

Format

Binary
Bytes

Binary
Offset

udre(i):

Ulong

4

H+64

User differential range error
indicator for the prn in slot i
(i = 26-38)

Ulong

4

H+68

Ulong

4

H+72

udre29

Ulong

4

H+76

22

udre30

Ulong

4

H+80

23

udre31

Ulong

4

H+84

24

udre32

Ulong

4

H+88

25

udre33

Ulong

4

H+92

26

udre34

Ulong

4

H+96

27

udre35

Ulong

4

H+100

28

udre36

Ulong

4

H+104

29

udre37

Ulong

4

H+108

30

udre38

Ulong

4

H+112

31

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+116

-

32

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

-

Field #

Field type

18

udre26

19

udre27

20

udre28

21

Data Description

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Scaling
See Table
107,
Evaluation of
UDREI on
page 576

584

Chapter 3

Data Logs

3.3.140 WAAS5 Fast Correction Slots 39-50 V123_SBAS
WAAS5 are fast corrections for slots 39-50 in the mask of WAAS1. This message may or may not
come when SBAS is in testing mode (see the SBASCONTROL command on page 187 for details).
Message ID:
Log Type:

303
Asynch

Recommended Input:
log WAAS5a onchanged

ASCII Example:
#WAAS5A,COM1,0,72.5,SATTIME,1093,161480.000,00040020,31d4,209;122,1,3,
-7,2047,2047,2047,-4,2047,2047,2047,9,2047,2047,-3,-2,11,14,14,14,4,14,14,14,
5,14,14,4,2*2bf0109b

Each raw WAAS frame gives data for a specific frame decoder number. The WAAS5
message can be logged to view the data breakdown of WAAS frame 5 which
contains information on fast correction slots 39-50.

585

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

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Chapter 3
Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

-

Issue of fast corrections data

Ulong

4

H+4

-

iodp

Issue of PRN mask data

Ulong

4

H+8

-

5

prc39

prc(i):

Long

4

H+12

-

6

prc40

Fast corrections (-2048 to +2047)
for the prn in slot i (i = 39-50)

Long

4

H+16

-

7

prc41

Long

4

H+20

-

8

prc42

Long

4

H+24

-

9

prc43

Long

4

H+28

-

10

prc44

Long

4

H+32

-

11

prc45

Long

4

H+36

-

12

prc46

Long

4

H+40

-

13

prc47

Long

4

H+44

-

14

prc48

Long

4

H+48

-

15

prc49

Long

4

H+52

-

16

prc50

Long

4

H+56

-

17

prc51 (Invalid, do not use)

Long

4

H+60

-

Field #

Field type

Data Description

1

WAAS5
header

Log header

2

prn

Source PRN of message

3

iodf

4

Format

Scaling

Continued on page 587.

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

586

Chapter 3

Data Logs

Format

Binary
Bytes

Binary
Offset

udre(i):

Ulong

4

H+64

User differential range error
indicator for the prn in slot i (i = 3950)

Ulong

4

H+68

Ulong

4

H+72

udre42

Ulong

4

H+76

22

udre43

Ulong

4

H+80

23

udre44

Ulong

4

H+84

24

udre45

Ulong

4

H+88

25

udre46

Ulong

4

H+92

26

udre47

Ulong

4

H+96

27

udre48

Ulong

4

H+100

28

udre49

Ulong

4

H+104

29

udre50

Ulong

4

H+108

30

udre51 (Invalid, do not use)

Ulong

4

H+112

31

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+116

-

32

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

-

Field #

Field type

18

udre39

19

udre40

20

udre41

21

587

Data Description

Scaling
See Table
107,
Evaluation of
UDREI on
page 576

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Data Logs

Chapter 3

3.3.141 WAAS6 Integrity Message V123_SBAS
WAAS6 is the integrity information message. Each message includes an IODF for each fast
corrections message. The σ2UDRE information for each block of satellites applies to the fast
corrections with the corresponding IODF.
Message ID:
Log Type:

304
Asynch

Recommended Input:
log WAAS6a onchanged

ASCII Example:
#WAAS6A,COM1,0,57.5,SATTIME,1093,273317.000,00000020,526a,209;
122,3,3,3,3,9,14,14,2,3,10,2,14,14,3,14,14,5,14,14,7,14,14,14,14,14,14,3,3,
14,14,14,14,3,15,11,11,15,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*925a2a9b

Each raw WAAS frame gives data for a specific frame decoder number. The WAAS6
message can be logged to view the data breakdown of WAAS frame 6 which
contains information on the integrity message.

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Binary
Bytes

Binary
Offset

H

0

-

Ulong

4

H

-

Issue of fast corrections data

Ulong

4

H+4

-

iodf3

Issue of fast corrections data

Ulong

4

H+8

-

5

iodf4

Issue of fast corrections data

Ulong

4

H+12

-

6

iodf5

Issue of fast corrections data

Ulong

4

H+16

-

7

udre0

udre(i):

Ulong

4

H+20

See Table
107,
Evaluation of
UDREI on
page 576

Field #

Field type

Data Description

1

WAAS6
header

Log header

2

prn

Source PRN of message

3

iodf2

4

Format

User differential range error
indicator for the prn in slot i
(i = 0-50)
8

udre1

Ulong

4

H+24

9

udre2

Ulong

4

H+28

10

udre3

Ulong

4

H+32

11

udre4

Ulong

4

H+36

12

udre5

Ulong

4

H+40

13

udre6

Ulong

4

H+44

14

udre7

Ulong

4

H+48

15

udre8

Ulong

4

H+52

16

udre9

Ulong

4

H+56

17

udre10

Ulong

4

H+60

18

udre11

Ulong

4

H+64

19

udre12

Ulong

4

H+68

20

udre13

Ulong

4

H+72

21

udre14

Ulong

4

H+76

22

udre15

Ulong

4

H+80

23

udre16

Ulong

4

H+84

24

udre17

Ulong

4

H+88

Scaling

Continued on page 590.

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Format

Binary
Bytes

Binary
Offset

udre(i):

Ulong

4

H+92

User differential range error
indicator for the prn in slot i
(i = 0-50)

Ulong

4

H+96

Ulong

4

H+100

udre21

Ulong

4

H+104

29

udre22

Ulong

4

H+108

30

udre23

Ulong

4

H+112

31

udre24

Ulong

4

H+116

32

udre25

Ulong

4

H+120

33

udre26

Ulong

4

H+124

34

udre27

Ulong

4

H+128

35

udre28

Ulong

4

H+132

36

udre29

Ulong

4

H+136

37

udre30

Ulong

4

H+140

38

udre31

Ulong

4

H+144

39

udre32

Ulong

4

H+148

40

udre33

Ulong

4

H+152

41

udre34

Ulong

4

H+156

42

udre35

Ulong

4

H+160

43

udre36

Ulong

4

H+164

44

udre37

Ulong

4

H+168

45

udre38

Ulong

4

H+172

46

udre39

Ulong

4

H+176

47

udre40

Ulong

4

H+180

48

udre41

Ulong

4

H+184

49

udre42

Ulong

4

H+188

50

udre43

Ulong

4

H+192

51

udre44

Ulong

4

H+196

52

udre45

Ulong

4

H+200

Field #

Field type

25

udre18

26

udre19

27

udre20

28

Data Description

Scaling
See Table
107,
Evaluation of
UDREI on
page 576

Continued on page 591.

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Format

Binary
Bytes

Binary
Offset

udre(i):

Ulong

4

H+204

User differential range error
indicator for the prn in slot i
(i = 0-50)

Ulong

4

H+208

Ulong

4

H+212

udre49

Ulong

4

H+216

58

udre50

Ulong

4

H+220

58

udre51 (Invalid, do not use)

Ulong

4

H+224

59

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+228

-

60

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

-

Field #

Field type

53

udre46

54

udre47

55

udre48

56

591

Data Description

Scaling
See Table
107,
Evaluation of
UDREI on
page 576

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Chapter 3

3.3.142 WAAS7 Fast Correction Degradation V123_SBAS
The WAAS7 message specifies the applicable IODP, system latency time and fast degradation factor
indicator for computing the degradation of fast and long-term corrections.
Message ID:
Log Type:

305
Asynch

Recommended Input:
log WAAS7a onchanged

ASCII Example:
#WAAS7A,COM1,0,36.5,SATTIME,1337,416367.000,00000000,12e3,1984;
122,1,2,0,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,
15,15,15,15,15,15,15,15,15,15,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*827a7364

Each raw WAAS frame gives data for a specific frame decoder number. The WAAS7
message can be logged to view the data breakdown of WAAS frame 7 which
contains information on fast correction degradation.

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Field #

Data Logs

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

WAAS7 header

Log header

2

prn

Source PRN of message

Ulong

4

H

3

latency

System latency

Ulong

4

H+4

4

iodp

Issue of PRN mask data

Ulong

4

H+8

5

spare bits

Unused spare bits

Ulong

4

H+12

6

aI(0)

aI(i):

Ulong

4

H+16

Degradation factor indicator for the
prn in slot i (i = 0-50)
7

aI(1)

Ulong

4

H+20

8

aI(2)

Ulong

4

H+24

9

aI(3)

Ulong

4

H+28

10

aI(4)

Ulong

4

H+32

11

aI(5)

Ulong

4

H+36

12

aI(6)

Ulong

4

H+40

13

aI(7)

Ulong

4

H+44

14

aI(8)

Ulong

4

H+48

15

aI(9)

Ulong

4

H+52

16

aI(10)

Ulong

4

H+56

17

aI(11)

Ulong

4

H+60

18

aI(12)

Ulong

4

H+64

19

aI(13)

Ulong

4

H+68

20

aI(14)

Ulong

4

H+72

21

aI(15)

Ulong

4

H+76

22

aI(16)

Ulong

4

H+80

23

aI(17)

Ulong

4

H+84

24

aI(18)

Ulong

4

H+88

25

aI(19)

Ulong

4

H+92

26

aI(20)

Ulong

4

H+96

Continued on page 594.

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Field #

Chapter 3

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

27

aI(21)

aI(i):

Ulong

4

H+100

28

aI(22)

Degradation factor indicator for the
prn in slot i (i = 0-50)

Ulong

4

H+104

29

aI(23)

Ulong

4

H+108

30

aI(24)

Ulong

4

H+112

31

aI(25)

Ulong

4

H+116

32

aI(26)

Ulong

4

H+120

33

aI(27)

Ulong

4

H+124

34

aI(28)

Ulong

4

H+128

35

aI(29)

Ulong

4

H+132

36

aI(30)

Ulong

4

H+136

37

aI(31)

Ulong

4

H+140

38

aI(32)

Ulong

4

H+144

39

aI(33)

Ulong

4

H+148

40

aI(34)

Ulong

4

H+152

41

aI(35)

Ulong

4

H+156

42

aI(36)

Ulong

4

H+160

43

aI(37)

Ulong

4

H+164

44

aI(38)

Ulong

4

H+168

45

aI(39)

Ulong

4

H+172

46

aI(40)

Ulong

4

H+176

47

aI(41)

Ulong

4

H+180

48

aI(42)

Ulong

4

H+184

49

aI(43)

Ulong

4

H+188

50

aI(44)

Ulong

4

H+192

51

aI(45)

Ulong

4

H+196

52

aI(46)

Ulong

4

H+200

53

aI(47)

Ulong

4

H+204

54

aI(48)

Ulong

4

H+208

Continued on page 595.

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Field #

595

Data Logs

Data Description

Format

Binary
Bytes

Binary
Offset

aI(i):
Degradation factor indicator for the
prn in slot i (i = 0-50)

Ulong

4

H+212

Ulong

4

H+216

Field type

55

aI(49)

56

aI(50)

57

aI(51) (Invalid, do not use)

Ulong

4

H+220

58

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+224

59

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Chapter 3

3.3.143 WAAS9 GEO Navigation Message V123_SBAS
WAAS9 provides the GEO navigation message representing the position, velocity and acceleration of
the geostationary satellite, in ECEF coordinates and its apparent clock time and frequency offsets.
Also included is the time of applicability, an issue of data (IOD) and an accuracy exponent (URA)
representing the estimated accuracy of the message. The time offset and time drift are with respect to
SBAS Network Time. Their combined effect is added to the estimate of the satellite’s transmit time.
Message ID:
Log Type:

306
Asynch

Recommended Input:
log WAAS9a onchanged

ASCII Example:
#WAAS9A,COM1,0,38.0,SATTIME,1337,416426.000,00000000,b580,1984;
122,175,70848,2,24802064.1600,-34087313.9200,-33823.2000,
1.591250000,0.107500000,0.6080000,-0.0000750,-0.0001125,
0.000187500,-2.235174179e-08,9.094947018e-12*636051d2

Each raw WAAS frame gives data for a specific frame decoder number. The WAAS9
message can be logged to view the data breakdown of WAAS frame 9 which
contains the GEO navigation message.

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Field #

597

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

WAAS9 header

Log header

2

prn

Source PRN of message

Ulong

4

H

3

iodn

Issue of GEO navigation data

Ulong

4

H+4

4

t0

Time of applicability

Ulong

4

H+8

5

ura

URA value

Ulong

4

H+12

6

x

ECEF x coordinate

Double

8

H+16

7

y

ECEF y coordinate

Double

8

H+24

8

z

ECEF z coordinate

Double

8

H+32

9

xvel

X rate of change

Double

8

H+40

10

yvel

Y rate of change

Double

8

H+48

11

zvel

Z rate of change

Double

8

H+56

12

xaccel

X rate of rate change

Double

8

H+64

13

yaccel

Y rate of rate change

Double

8

H+72

14

zaccel

Z rate of rate change

Double

8

H+80

15

af0

Time offset

Double

8

H+88

16

af1

Time drift

Double

8

H+96

17

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+104

18

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

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Chapter 3

3.3.144 WAAS10 Degradation Factor V123_SBAS
The fast corrections, long-term corrections and ionospheric corrections are all provided in the
WAAS10 message.
Message ID:
Log Type:

292
Asynch

Recommended Input:
log WAAS10a onchanged

ASCII Example:
#WAAS10A,COM1,0,35.5,SATTIME,1337,416469.000,00000000,c305,1984;
122,54,38,76,256,152,100,311,83,256,6,0,300,292,0,1,
0000000000000000000000*8884d248

Each raw WAAS frame gives data for a specific frame decoder number. The
WAAS10 message can be logged to view the data breakdown of WAAS frame 10
which contains information on degradation factors.

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Data Logs
Binary
Bytes

Binary
Offset

Scaling

H

0

-

Ulong

4

H

-

Estimated noise and round off
error parametre

Ulong

4

H+4

0.002

cltc_ lsb

Maximum round off due to the
least significant bit (lsb) of the
orbital clock

Ulong

4

H+8

0.002

5

cltc_vl

Velocity error bound

Ulong

4

H+12

0.00005

6

iltc_vl

Update interval for v=1 long term

Ulong

4

H+16

-

7

cltc_v0

Bound on update delta

Ulong

4

H+20

0.002

8

iltc_v1

Minimum update interval v = 0

Ulong

4

H+24

-

9

cgeo_lsb

Maximum round off due to the lsb
of the orbital clock

Ulong

4

H+28

0.0005

10

cgeo_v

Velocity error bound

Ulong

4

H+32

0.00005

11

igeo

Update interval for GEO
navigation message

Ulong

4

H+36

-

12

cer

Degradation parametre

Ulong

4

H+40

0.5

13

ciono_step

Bound on ionospheric grid delay
difference

Ulong

4

H+44

0.001

14

iiono

Minimum ionospheric update
interval

Ulong

4

H+48

-

15

ciono_ramp

Rate of ionospheric corrections
change

Ulong

4

H+52

0.000005

16

rssudre

User differential range error flag

Ulong

4

H+56

-

17

rssiono

Root sum square flag

Ulong

4

H+60

-

18

spare bits

Spare 88 bits, possibly
GLONASS

Ulong

4

H+64

-

19

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+68

-

20

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

-

Field #

Field type

Data Description

1

WAAS10
header

Log header

2

prn

Source PRN of message

3

brcc

4

Format

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Chapter 3

3.3.145 WAAS12 SBAS Network Time and UTC V123_SBAS
WAAS12 contains information bits for the UTC parametres and UTC time standard from which an
offset is determined. The UTC parametres correlate UTC time with the SBAS network time rather
than with GPS time.
Message ID:
Log Type:

293
Asynch

Recommended Input:
log WAAS12a onchanged

Each raw WAAS frame gives data for a specific frame decoder number. The
WAAS12 message can be logged to view the data breakdown of WAAS frame 12
which contains information on time parametres.

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Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

Time drift (s/s)

Double

8

H+4

A0

Time offset (s)

Double

8

H+12

5

seconds

Seconds into the week (s)

Ulong

4

H+20

6

week

Week number

Ushort

4

H+24

7

dtls

Delta time due to leap seconds

Short

2

H+28

8

wnlsf

Week number, leap second future

Ushort

2

H+30

9

dn

Day of the week (the range is 1 to 7 where
Sunday = 1 and Saturday = 7)

Ushort

2

H+32

10

dtlsf

Delta time, leap second future

Short

2

H+34

11

utc id

UTC type identifier

Ushort

2

H+36

12

gpstow

GPS time of the week

Ulong

2

H+38

13

gpswn

GPS de-modulo week number

Ulong

2

H+40

14

glo
indicator

Is GLONASS information present?
0 = FALSE
1 = TRUE

Enum

4

H+42

15

Reserved array of hexabytes for GLONASS

Char[10]

12a

H+46

16

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+58

17

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Field #

Field type

Data Description

1

WAAS12
header

Log header

2

prn

Source PRN of message

3

A1

4

Format

a. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte
alignment

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Chapter 3

3.3.146 WAAS17 GEO Almanac Message V123_SBAS
Almanacs for all GEOs are broadcast periodically to alert you of their existence, location, the general
service provided, status, and health.
Unused almanacs have a PRN number of 0 and should be ignored, see ASCII Example below.
Message ID:
Log Type:

294
Asynch

Recommended Input:
log WAAS17a onchanged

ASCII Example:
#WAAS17A,COM1,0,33.5,SATTIME,1337,416653.000,00000000,896c,1984;
122,3,
0,134,0,-42138200,1448200,26000,0,0,0,
0,122,0,24801400,-34088600,-26000,0,0,0,
0,0,0,0,0,0,0,0,0,70848*22d9a0eb

Each raw WAAS frame gives data for a specific frame decoder number. The
WAAS17 message can be logged to view the data breakdown of WAAS frame 17
which contains GEO almanacs.

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Field #

Field type

Data Description

1

WAAS17
header

Log header

2

prn

Source PRN of message

3

#ents

4

Format

Binary
Bytes

Binary
Offset

Scaling

H

0

-

Ulong

4

H

-

Number of almanac entries
with information to follow

Ulong

4

H+4

-

data id

Data ID type

Ushort

2

H+8

-

5

entry prn

PRN for this entry

Ushort

2

H+10

-

6

health

Health bits

Ushort

4a

H+12

-

7

x

ECEF x coordinate

Long

4

H+16

-

8

y

ECEF y coordinate

Long

4

H+20

-

9

z

ECEF z coordinate

Long

4

H+24

-

10

x vel

X rate of change

Long

4

H+28

-

11

y vel

Y rate of change

Long

4

H+32

-

12

z vel

Z rate of change

Long

4

H+36

-

13...

Next entry = H+8 + (#ents x 32)

variable

t0

Time of day in seconds (0 to
86336)

Ulong

4

H+8+
(#ents x 32)

64

variable

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+12+
(#ents x 32)

-

variable

[CR][LF]

Sentence terminator (ASCII
only)

-

-

-

-

-

a. In the binary log case, an additional 2 bytes of padding is added to maintain 4-byte alignment

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Chapter 3

3.3.147 WAAS18 IGP Mask V123_SBAS
The ionospheric delay corrections are broadcast as vertical delay estimates at specified ionospheric
grid points (IGPs), applicable to a signal on L1. The predefined IGPs are contained in 11 bands
(numbered 0 to 10). Bands 0-8 are vertical bands on a Mercator projection map, and bands 9-10 are
horizontal bands on a Mercator projection map. Since it is impossible to broadcast IGP delays for all
possible locations, a mask is broadcast to define the IGP locations providing the most efficient model
of the ionosphere at the time.
Message ID:
Log Type:

295
Asynch

Recommended Input:
log WAAS18a onchanged

ASCII Example:
#WAAS18A,COM1,0,33.0,SATTIME,1337,417074.000,00000000,f2c0,1984;
122,4,2,2,0000ffc0007fc0003ff0000ff80007fe0007fe0003ff0000ff80,0*b1ed353e

Each raw WAAS frame gives data for a specific frame decoder number. The
WAAS18 message can be logged to view the data breakdown of WAAS frame 18
which contains information on ionospheric grid points.

Field #

Field type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

1

WAAS18 header

Log header

2

prn

Source PRN of message

Ulong

4

H

3

#bands

Number of bands broadcast

Ulong

4

H+4

4

band num

Specific band number that
identifies which of the 11 IGP
bands the data belongs to

Ulong

4

H+8

5

iodi

Issue of ionospheric data

Ulong

4

H+12

6

igp mask

IGP mask

Uchar[26]

28a

H+16

7

spare bit

One spare bit

Ulong

4

H+44

8

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+48

9

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

a. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte
alignment

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3.3.148 WAAS24 Mixed Fast/Slow Corrections V123_SBAS
If there are 6 or fewer satellites in a block, they may be placed in this mixed correction message.
There is a fast data set for each satellite and a UDRE indicator. Each message also contains an IODP
indicating the associated PRN mask.
The fast correction (PRC) has a valid range of -2048 to +2047. If the range is exceeded a don’t use
indication is inserted into the user differential range error indicator (UDREI) field, see Table 107 on
page 576. You should ignore extra data sets not represented in the PRN mask.
The time of applicability (T0) of the PRC is the start of the epoch of the WNT second that is
coincident with the transmission at the GEO satellite of the first bit of the message block.
Message ID:
Log Type:

297
Asynch

Recommended Input:
log WAAS24a onchanged

ASCII Example:
#WAAS24A,COM1,0,34.0,SATTIME,1337,417108.000,00000000,0a33,1984;
134,2047,2047,2047,2047,-1,-2,14,14,14,14,11,14,2,2,0,0,1,0,0,0,
0,0,0,0,0,0,0,0,0,0,0,0*76ff954b

Each raw WAAS frame gives data for a specific frame decoder number. The
WAAS24 message can be logged to view the data breakdown of WAAS frame 24
which contains mixed fast/slow corrections.

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Binary
Bytes

Binary
Offset

H

0

-

Ulong

4

H

-

prc(i):

Long

4

H+4

-

Fast corrections (-2048 to +2047)
for the prn in slot i
(i = 0-5)

Long

4

H+8

-

Long

4

H+12

-

prc3

Long

4

H+16

-

7

prc4

Long

4

H+20

-

8

prc5

Long

4

H+24

-

9

udre0

udre(i):

Ulong

4

H+28

10

udre1

Ulong

4

H+.32

11

udre2

User differential range error
indicator for the prn in slot i
(i = 0-5)

See Table
107 on
page 576

Ulong

4

H+36

12

udre3

Ulong

4

H+40

13

udre4

Ulong

4

H+44

14

udre5

Ulong

4

H+48

15

iodp

Issue of PRN mask data

Ulong

4

H+52

16

block id

Associated message type

Ulong

4

H+56

17

iodf

Issue of fast corrections data

Ulong

4

H+60

-

18

spare

Spare value

Ulong

4

H+64

-

19

vel

Velocity code flag

Ulong

4

H+68

-

20

mask1

Index into PRN mask (Type 1)

Ulong

4

H+72

-

21

iode1

Issue of ephemeris data

Ulong

4

H+76

-

22

dx1

Delta x (ECEF)

Long

4

H+80

0.125

23

dy1

Delta y (ECEF)

Long

4

H+84

0.125

24

dz1

Delta z (ECEF)

Long

4

H+88

0.125

25

daf0

Delta af0 clock offset

Long

4

H+92

2-31

26

mask2

Second index into PRN mask
(Type 1)

Ulong

4

H+96

-

Field #

Field type

Data Description

1

WAAS24
header

Log header

2

prn

Source PRN of message

3

prc0

4

prc1

5

prc2

6

Format

Scaling

-

Continued on page 607.

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Chapter 3

Data Logs

Format

Binary
Bytes

Binary
Offset

Second issue of ephemeris data

Ulong

4

H+100

-

ddx

Delta delta x (ECEF)

Long

4

H+104

2-11

29

ddy

Delta delta y (ECEF)

Long

4

H+108

2-11

30

ddz

Delta delta z (ECEF)

Long

4

H+112

2-11

31

daf1

Delta af1 clock offset

Long

4

H+116

2-39

32

t0

Applicable time of day

Ulong

4

H+120

16

33

iodp

Issue of PRN mask data

Ulong

4

H+124

-

34

corr spare

Spare value when velocity code is
equal to 0

Ulong

4

H+128

-

35

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+132

-

36

[CR][LF]

Sentence terminator (ASCII only)

-

-

H+136

-

Field #

Field type

27

iode2

28

607

Data Description

Scaling

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Chapter 3

3.3.149 WAAS25 Long-Term Slow Satellite Corrections V123_SBAS
WAAS25 provides error estimates for slow varying satellite ephemeris and clock errors with respect
to WGS-84 ECEF coordinates.
Message ID:
Log Type:

298
Asynch

Recommended Input:
log WAAS25a onchanged

ASCII Example:
#WAAS25A,COM1,0,37.5,SATTIME,1337,417193.000,00000000,b8ff,1984;
134,1,19,25,-1,-3,0,-15,0,0,0,1,-1,-2,4465,2,0,1,0,0,0,0,0,0,0,0,
0,0,0,0,0,0,0*81685317

Each raw WAAS frame gives data for a specific frame decoder number. The
WAAS25 message can be logged to view the data breakdown of WAAS frame 25
which contains long-term slow satellite corrections.

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Data Logs

Field #

Field type

Data Description

1

WAAS25
header

Log header

2

prn

Source PRN of message

3

1st half vel

4

Format

Binary
Bytes

Binary
Offset

Scaling

H

0

-

Ulong

4

H

-

Velocity code flag (0 or 1)

Ulong

4

H+4

-

1st half
mask1

Index into PRN mask (Type 1)

Ulong

4

H+8

-

5

1st half
iode1

Issue of ephemeris data

Ulong

4

H+12

-

6

1st half dx1

Delta x (ECEF)

Long

4

H+16

0.125

7

1st half dy1

Delta y (ECEF)

Long

4

H+20

0.125

8

1st half dz1

Delta z (ECEF)

Long

4

H+24

0.125

9

1st half af0

Delta af0 clock offset

Long

4

H+28

2-31

10

1st half
mask2

Second index into PRN mask
(Type 1)
Dummy value when velocity code = 1

Ulong

4

H+32

-

11

1st half
iode2

Second issue of ephemeris data
Dummy value when velocity code = 1

Ulong

4

H+36

-

12

1st half ddx

Delta delta x (ECEF) when velocity
code = 1
Delta x (dx) when velocity code = 0

Long

4

H+40

2-11

13

1st half ddy

Delta delta y (ECEF) when velocity
code = 1
Delta y (dy) when velocity code = 0

Long

4

H+44

2-11

14

1st half ddz

Delta delta z (ECEF) when velocity
code = 1
Delta z (dz) when velocity code = 0

Long

4

H+48

2-11

15

1st half af1

Delta af1 clock offset when velocity
code = 1
Delta af0 clock offset when velocity
code = 0

Long

4

H+52

2-39

16

1st half t0

Applicable time of day
Dummy value when velocity code = 0

Ulong

4

H+56

16

17

1st half
iodp

Issue of PRN mask data

Ulong

4

H+60

-

18

1st half
corr spare

Spare value when velocity code = 0
Dummy value when velocity code = 1

Ulong

4

H+64

-

Continued on page 610.

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Format

Binary
Bytes

Velocity code flag (0 or 1)

Ulong

4

H+68

-

2nd half
mask1

Index into PRN mask (Type 1)

Ulong

4

H+72

-

21

2nd half
iode1

Issue of ephemeris data

Ulong

4

H+76

-

22

2nd half
dx1

Delta x (ECEF)

Long

4

H+80

0.125

23

2nd half
dy1

Delta y (ECEF)

Long

4

H+84

0.125

24

2nd half
dz1

Delta z (ECEF)

Long

4

H+88

0.125

25

2nd half af0

Delta af0 clock offset

Long

4

H+92

2-31

26

2nd half
mask2

Second index into PRN mask
(Type 1)
Dummy value when velocity code = 1

Ulong

4

H+96

-

27

2nd half
iode2

Second issue of ephemeris data
Dummy value when velocity code = 1

Ulong

4

H+100

-

28

2nd half
ddx

Delta delta x (ECEF) when velocity
code = 1
Delta x (dx) when velocity code = 0

Long

4

H+104

2-11

29

2nd half
ddy

Delta delta y (ECEF) when velocity
code = 1
Delta y (dy) when velocity code = 0

Long

4

H+108

2-11

30

2nd half
ddz

Delta delta z (ECEF) when velocity
code = 1
Delta z (dz) when velocity code = 0

Long

4

H+112

2-11

31

2nd half af1

Delta af1 clock offset when velocity
code = 1
Delta af0 clock offset when velocity
code = 0

Long

4

H+116

2-39

32

2nd half t0

Applicable time of day
Dummy value when velocity code = 0

Ulong

4

H+120

16

33

2nd half
iodp

Issue of PRN mask data

Ulong

4

H+124

-

34

2nd half
corr spare

Spare value when velocity code = 0
Dummy value when velocity code = 1

Ulong

4

H+128

-

35

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+132

-

36

[CR][LF]

Sentence terminator (ASCII only)

-

-

H+136

-

Field #

Field type

19

2nd half vel

20

Data Description

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Offset

Scaling

610

Chapter 3

Data Logs

3.3.150 WAAS26 Ionospheric Delay Corrections V123_SBAS
WAAS26 provides vertical delays (relative to an L1 signal) and their accuracy at geographically
defined IGPs identified by the BAND NUMBER and IGP number. Each message contains a band
number and a block ID, which indicates the location of the IGPs in the respective band mask.
Message ID:
Log Type:

299
Asynch

Recommended Input:
log WAAS26a onchanged

ASCII Example:
#WAAS26A,COM1,0,38.0,SATTIME,1337,417243.000,00000000,ec70,1984;
134,1,2,15,27,11,25,11,23,11,19,11,16,11,16,12,15,13,16,13,29,14,
30,13,27,11,27,11,24,11,19,11,16,12,2,0*3b6d6806

Each raw WAAS frame gives data for a specific frame decoder number. The
WAAS26 message can be logged to view the data breakdown of WAAS frame 26
which contains ionospheric delay corrections.

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Field #

Chapter 3

Field type

Data Description

1

WAAS26 header

Log header

2

prn

Source PRN of message

3

band num

4

Format

Binary
Bytes

Binary
Offset

Scaling

H

0

-

Ulong

4

H

-

Band number

Ulong

4

H+4

-

block id

Block ID

Ulong

4

H+8

-

5

#pts

Number of grid points with
information to follow

Ulong

4

H+12

-

6

igpvde

IGP vertical delay estimates

Ulong

4

H+16

0.125

7

givei

Grid ionospheric vertical error
indicator

Ulong

4

H+20

-

8...

Next #pts entry = H + 16 + (#pts x 8)

variable

iodi

Issue of data - ionosphere

Ulong

4

H+16+
(#pts x 8)

variable

spare

7 spare bits

Ulong

4

H+20+
(#pts x 8)

-

variable

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+24+
(#pts x 8)

-

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

-

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Data Logs

3.3.151 WAAS27 SBAS Service Message V123_SBAS
WAAS27 messages apply only to the service provider transmitting the message. The number of
service messages indicates the total number of unique WAAS27 messages for the current IODS. Each
unique message for that IODS includes a sequential message number. The IODS is incremented in all
messages, each time that any parametre in any WAAS27 message is changed.
Message ID:
Log Type:

300
Asynch

Recommended Input:
log WAAS27a onchanged.

Each raw WAAS frame gives data for a specific frame decoder number. The
WAAS27 message can be logged to view the data breakdown of WAAS frame 27
which contains information on SBAS service messages.

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Field #

Field type

Data Description

1

WAAS27
header

Log header

2

prn

Source PRN of message

3

iods

4

Format

Binary
Bytes

Binary
Offset

Scaling

H

0

-

Ulong

4

H

-

Issue of slow corrections data

Ulong

4

H+4

-

#messages

Low-by-one count of messages

Ulong

4

H+8

-

5

message
num

Low-by-one message number

Ulong

4

H+12

-

6

priority code

Priority code

Ulong

4

H+16

-

7

dudre inside

Delta user differential range error
- inside

Ulong

4

H+20

-

8

dudre
outside

Delta user differential range error
-outside

Ulong

4

H+24

-

9...

#reg

Number of regions with
information to follow

Ulong

4

H+28

-

variable

lat1

Coordinate 1 latitude

Long

4

H+32

-

variable

lon1

Coordinate 1 longitude

Long

4

H+36

-

variable

lat2

Coordinate 2 latitude

Long

4

H+40

-

variable

lon2

Coordinate 2 longitude

Long

4

H+44

-

variable

shape

Shape where:

Ulong

4

H+48

-

variable

Next #reg entry = H + 32 + (#reg x 20)

variable

t0

Time of applicability

Ulong

4

H+32+
(#reg x 20)

16

variable

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+36+
(#reg x 20)

-

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

-

0 = triangle
1 = square

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3.3.152 WAAS32 CDGPS Fast Correction Slots 0-10 V13_CDGPS
WAAS32 are fast corrections for slots 0-10 in the mask of WAAS1 for CDGPS, see page 574.
Message ID:
Log Type:

696
Asynch

Recommended Input:
log WAAS32a onchanged

ASCII Example:
#WAAS32A,COM2,0,70.5,FINE,1295,153284.000,00000240,18e9,34461;209,0,0,
-8097,0,0,0,0,-947,0,-2128,0,2570,14,0,14,14,14,14,0,14,0,14,0*58778ae5

The CDGPS data signal is structured to perform well in difficult, or foliated conditions,
so the service is available more consistently. The network has a high degree of
service reliability. The corrections signal has been structured around an open
broadcast protocol so that additional hardware and software developers can easily
extend the value of the data. The service is available on a cost-free basis.
For example, when tree harvesting, a boom operator can know exactly where he is in
the forest at any given time of the day or night. In one application, the position of the
antenna is shown on a screen and has a buffer ring around it which corresponds to
the reach of the boom. The operator knows how close he can go to the boundary
without crossing it. As well, he is able to flag obstacles or danger points in the harvest
area for reference later and by other operators. The data is downloadable for postprocessing and analysis later.

615

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Chapter 3
Table 108: Evaluation of CDGPS UDREI
UDREI

UDRE metres

0

0.01

1

0.02

2

0.03

3

0.05

4

0.10

5

0.15

6

0.20

7

0.25

8

0.30

9

0.35

10

0.40

11

0.45

12

0.50

13

0.60

14

Not Monitored

15

Do Not Use

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Field #

Data Logs
Field
type

Data Description

Format

Binary
Bytes

Binary
Offset

H

0

Scaling

1

WAAS32
header

Log header

2

prn

Source PRN of message

Ulong

4

H

-

3

iodp

Issue of PRN mask data

Ulong

4

H+4

-

4

prc0

prc(i):

Long

4

H+8

-

5

prc1

Fast corrections (-2048 to +2047) for
the prn in slot i (i = 0-10)

Long

4

H+12

-

6

prc2

Long

4

H+16

-

7

prc3

Long

4

H+20

-

8

prc4

Long

4

H+24

-

9

prc5

Long

4

H+28

-

10

prc6

Long

4

H+32

-

11

prc7

Long

4

H+36

-

12

prc8

Long

4

H+40

-

13

prc9

Long

4

H+44

-

14

prc10

Long

4

H+48

-

15

udre0

udre(i):

Ulong

4

H+52

16

udre1

User differential range error indicator
for the prn in slot i (i = 0-10)

Ulong

4

H+56

17

udre2

Ulong

4

H+60

See Table
108,
Evaluation
of CDGPS
UDREI on
page 616

18

udre3

Ulong

4

H+64

19

udre4

Ulong

4

H+68

20

udre5

Ulong

4

H+72

21

udre6

Ulong

4

H+76

22

udre7

Ulong

4

H+80

23

udre8

Ulong

4

H+84

24

udre9

Ulong

4

H+88

25

udre10

Ulong

4

H+92

26

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+96

-

27

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

-

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Chapter 3

3.3.153 WAAS33 CDGPS Fast Correction Slots 11-21 V13_CDGPS
WAAS33 are fast corrections for slots 11-21 in the mask for CDGPS.
Message ID:

697

Log Type:

Asynch

Recommended Input:
log WAAS33a onchanged

ASCII Example:
#WAAS33A,COM2,0,47.5,FINE,1295,158666.000,01000240,b23e,34461;209,0,0,
-3343,0,0,0,-533,0,0,0,0,0,14,0,14,14,14,0,14,14,14,14,14*6d890f5f

Each raw CDGPS mask frame gives data for a specific frame decoder number. The
WAAS33 message can be logged to view the data breakdown of WAAS frame 33
which contains information on CDGPS fast correction slots 11-21.

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Chapter 3

Data Logs
Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

-

Issue of PRN mask data

Ulong

4

H+4

-

prc11

prc(i):

Long

4

H+8

-

5

prc12

Fast corrections (-2048 to +2047)
for the prn in slot i (i = 11-21)

Long

4

H+12

-

6

prc13

Long

4

H+16

-

7

prc14

Long

4

H+20

-

8

prc15

Long

4

H+24

-

9

prc16

Long

4

H+28

-

10

prc17

Long

4

H+32

-

11

prc18

Long

4

H+36

-

12

prc19

Long

4

H+40

-

13

prc20

Long

4

H+44

-

14

prc21

Long

4

H+48

-

15

udre11

udre(i):

Ulong

4

H+52

16

udre12

Ulong

4

H+56

17

udre13

User differential range error
indicator for the prn in slot i
(i = 11-21)

Ulong

4

H+60

See Table
108,
Evaluation
of CDGPS
UDREI on
page 616

18

udre14

Ulong

4

H+64

19

udre15

Ulong

4

H+68

20

udre16

Ulong

4

H+72

21

udre17

Ulong

4

H+76

22

udre18

Ulong

4

H+80

23

udre19

Ulong

4

H+84

24

udre20

Ulong

4

H+88

25

udre21

Ulong

4

H+92

26

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+96

-

27

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

-

Field #

Field type

1

WAAS33
header

Log header

2

prn

Source PRN of message

3

iodp

4

619

Data Description

Format

Scaling

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Chapter 3

3.3.154 WAAS34 CDGPS Fast Correction Slots 22-32 V13_CDGPS
WAAS34 are fast corrections for slots 22-32 in the mask of WAAS1 for CDGPS, see page 574.
Message ID:
Log Type:

698
Asynch

Recommended Input:
log WAAS34a onchanged

ASCII Example:
#WAAS34A,COM2,0,73.0,FINE,1295,226542.000,00000040,1be8,34461;209,0,5879,0,0,
0,0,2687,0,10922,10922,10922,10922,0,14,14,14,14,0,14,15,15,15,15*3aeb74be

Each raw CDGPS mask frame gives data for a specific frame decoder number. The
WAAS34 message can be logged to view the data breakdown of WAAS frame 34
which contains information on CDGPS fast correction slots 22-32.

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Data Logs
Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

-

Issue of PRN mask data

Ulong

4

H+4

-

prc22

prc(i):

Long

4

H+8

-

5

prc23

Fast corrections (-2048 to +2047)
for the prn in slot i (i = 22-32)

Long

4

H+12

-

6

prc24

Long

4

H+16

-

7

prc25

Long

4

H+20

-

8

prc26

Long

4

H+24

-

9

prc27

Long

4

H+28

-

10

prc28

Long

4

H+32

-

11

prc29

Long

4

H+36

-

12

prc30

Long

4

H+40

-

13

prc31

Long

4

H+44

-

14

prc32

Long

4

H+48

-

15

udre22

udre(i):

Ulong

4

H+52

16

udre23

Ulong

4

H+56

17

udre24

User differential range error
indicator for the prn in slot i
(i = 22-32)

Ulong

4

H+60

See Table
108,
Evaluation
of CDGPS
UDREI on
page 616

18

udre25

Ulong

4

H+64

19

udre26

Ulong

4

H+68

20

udre27

Ulong

4

H+72

21

udre28

Ulong

4

H+76

22

udre29

Ulong

4

H+80

23

udre30

Ulong

4

H+84

24

udre31

Ulong

4

H+88

25

udre32

Ulong

4

H+92

26

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+96

-

27

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

-

Field #

Field type

1

WAAS34
header

Log header

2

prn

Source PRN of message

3

iodp

4

621

Data Description

Format

Scaling

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Data Logs

Chapter 3

3.3.155 WAAS35 CDGPS Fast Correction Slots 33-43 V13_CDGPS
WAAS35 are fast corrections for slots 33-43 in the mask of WAAS1 for CDGPS, see page 574.
Message ID:
Log Type:

699
Asynch

Recommended Input:
log WAAS35a onchanged

ASCII Example:
This message is not being broadcast by CDGPS at the time of publication.

Each raw CDGPS mask frame gives data for a specific frame decoder number. The
WAAS35 message can be logged to view the data breakdown of WAAS frame 35
which contains information on CDGPS fast correction slots 33-43.

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Chapter 3

Data Logs
Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

-

Issue of PRN mask data

Ulong

4

H+4

-

prc33

prc(i):

Long

4

H+8

-

5

prc34

Fast corrections (-2048 to +2047)
for the prn in slot i (i = 33-43)

Long

4

H+12

-

6

prc35

Long

4

H+16

-

7

prc36

Long

4

H+20

-

8

prc37

Long

4

H+24

-

9

prc38

Long

4

H+28

-

10

prc39

Long

4

H+32

-

11

prc40

Long

4

H+36

-

12

prc41

Long

4

H+40

-

13

prc42

Long

4

H+44

-

14

prc43

Long

4

H+48

-

15

udre33

udre(i):

Ulong

4

H+52

16

udre34

Ulong

4

H+56

17

udre35

User differential range error
indicator for the prn in slot i
(i = 33-43)

Ulong

4

H+60

See Table
108,
Evaluation
of CDGPS
UDREI on
page 616

18

udre36

Ulong

4

H+64

19

udre37

Ulong

4

H+68

20

udre38

Ulong

4

H+72

21

udre39

Ulong

4

H+76

22

udre40

Ulong

4

H+80

23

udre41

Ulong

4

H+84

24

udre42

Ulong

4

H+88

25

udre43

Ulong

4

H+92

26

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+96

-

27

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

-

Field #

Field type

1

WAAS35
header

Log header

2

prn

Source PRN of message

3

iodp

4

623

Data Description

Format

Scaling

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Data Logs

Chapter 3

3.3.156 WAAS45 CDGPS Slow Corrections V13_CDGPS
Each WAAS45 message contains a 2-bit IODP indicating the associated PRN mask.
The time of applicability (T0) of the PRC is the start of the epoch of the WNT second that is
coincident with the transmission at the CDGPS satellite (PRN 209) of the first bit of the message
block.
Message ID:
Log Type:

700
Asynch

Recommended Input:
log WAAS45a onchanged

ASCII Example:
#WAAS45A,COM2,0,73.0,FINE,1295,228498.000,00000040,c730,34461;209,23,32,197,
-116,206,-1,-6,-3,-5546,3488,25,148,262,-312,867,4,3,0,2513,3488,0*02d6e0d5

Each raw CDGPS mask frame gives data for a specific frame decoder number. The
WAAS45 message can be logged to view the data breakdown of WAAS frame 45
which contains information on CDGPS slow corrections.

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Chapter 3

Data Logs
Binary
Bytes

Binary
Offset

H

0

-

Ulong

4

H

-

Index into PRN mask (Type 1)

Ulong

4

H+4

-

iode1

Issue of ephemeris data

Ulong

4

H+8

-

5

dx1

Delta x (ECEF)

Long

4

H+12

0.125

6

dy1

Delta y (ECEF)

Long

4

H+16

0.125

7

dz1

Delta z (ECEF)

Long

4

H+20

0.125

8

ddx

Delta delta x (ECEF)

Long

4

H+24

2-11

9

ddy

Delta delta y (ECEF)

Long

4

H+28

2-11

10

ddz

Delta delta z (ECEF)

Long

4

H+32

2-11

11

daf01

Delta af0 clock offset

Long

4

H+36

2-31

12

t01

Applicable time of day

Ulong

4

H+40

16

13

mask2

Second index into PRN mask
(Type 1)

Ulong

4

H+44

-

14

iode2

Second issue of ephemeris data

Ulong

4

H+48

-

15

dx1

Delta x (ECEF)

Long

4

H+52

0.125

16

dy1

Delta y (ECEF)

Long

4

H+56

0.125

17

dz1

Delta z (ECEF)

Long

4

H+60

0.125

18

ddx

Delta delta x (ECEF)

Long

4

H+64

2-11

19

ddy

Delta delta y (ECEF)

Long

4

H+68

2-11

20

ddz

Delta delta z (ECEF)

Long

4

H+72

2-11

21

daf02

Delta af0 clock offset

Long

4

H+76

2-31

22

t02

Applicable time of day

Ulong

4

H+80

16

23

iodp

Issue of PRN mask data

Ulong

4

H+84

-

24

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+88

-

25

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

-

Field #

Field type

1

WAAS45
header

Log header

2

prn

Source PRN of message

3

mask1

4

625

Data Description

Format

Scaling

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Data Logs

Chapter 3

3.3.157 WAASCORR

SBAS Range Corrections Used V123_SBAS

The information is updated with each pseudorange position calculation. It has an entry for each
tracked satellite. Satellites that are not included in an SBAS corrected solution have 0.0 in both the
‘psr corr’ and ‘corr stdv’ fields.
The ‘psr corr’ is the combined fast and slow corrections and is to be added to the pseudorange.
Ionospheric and tropospheric corrections are not included and should be applied separately.
Message ID:
Log Type:

313
Synch

Recommended Input:
log waascorra ontime 1

ASCII Example:
#WAASCORRA,COM1,0,40.5,FINESTEERING,1337,417485.000,01000000,3b3b,1984;
20,
3,101,0.0000,0.0000,3,0,0.0000,0.0000,
2,133,0.0000,0.0000,2,0,0.0000,0.0000,
23,48,0.0000,0.0000,23,0,0.0000,0.0000,
4,55,0.0000,0.0000,4,0,0.0000,0.0000,
16,197,0.0000,0.0000,16,0,0.0000,0.0000,
20,25,0.0000,0.0000,20,0,0.0000,0.0000,
27,26,0.0000,0.0000,27,0,0.0000,0.0000,
25,186,0.0000,0.0000,25,0,0.0000,0.0000,
13,85,0.0000,0.0000,13,0,0.0000,0.0000,
122,0,0.0000,0.0000,134,0,0.0000,0.0000*0af4c14d

The SBAS pseudorange corrections can be added to the raw pseudorange for a
more accurate solution in applications that compute their own solutions.

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Chapter 3

Field #

627

Data Logs

Field type

Data Description

1

WAASCORR
header

Log header

2

#sat

Number of satellites with
information to follow

3

prn

4

Format

Binary
Bytes

Binary
Offset

H

0

Ulong

4

H

Satellite PRN

Ulong

4

H+4

iode

Issue of ephemeris data for which
the corrections apply

Ulong

4

H+8

5

psr corr

SBAS pseudorange correction (m)

Float

4

H+12

6

corr stdv

Standard deviation of
pseudorange correction (m)

Float

4

H+16

7...

Next sat entry = H+4 + (#sat x 16)

variable

xxxx

32-bit CRC (ASCII and Binary
only)

Hex

4

H+4+
(#sat x 16)

variable

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Chapter 4

Responses

The receiver is capable of outputting several responses for various conditions. Most of these 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. Likewise for ASCII and binary
formats. Table 109 outlines the various responses.
Table 109: 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. This 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.

PARAMETRE X IS OUT OF
RANGE

11

Field x of the input message is outside the
acceptable limits.

TRIGGER X NOT VALID FOR
THIS LOG

14

Trigger type x is not valid for this type of log.

AUTHCODE TABLE FULL RELOAD SOFTWARE

15

Too many authcodes are stored in the
receiver. The receiver firmware must be
reloaded.

INVALID DATE FORMAT

16

This error is related to the inputting of
authcodes. It indicates that the date attached
to the code is not valid.

Continued on Page 629

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

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Chapter 4

ASCII Message

Responses
Binary Message
ID

Meaning

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

This message is invalid for this model of
receiver.

COMMAND ONLY VALID IF IN
NVM FAIL MODE

40

Command is only valid if NVM is in fail mode

INVALID OFFSET

41

The offset is invalid.

MAXIMUM NUMBER OF USER
MESSAGES REACHED

78

Maximum number of user messages has
been reached.

GPS PRECISE TIME IS
ALREADY KNOWN

84

GPS precise time is already known.

629

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Index
Numerics
1PPS, see one pulse per second
2-D, 116, 325
3-D, 116, 325, 389
50 Hz, 569-571

A
A model, 570
abbreviated ascii, 18, 22
accumulated doppler range (ADR), 398, 478
accuracy
correction, 114
degradation, 251
limit, 160
navigation, 448
position, 114
RTK solution, 228
time, 31
acquisition, 64, 114, 208, 399
ADJUST1PPS command, 55
adjustable PPS, 163
ADR, see accumulated doppler range
age
differential
RTK, 228, 537, 539
velocity, 261, 263, 394, 396, 542
xyz coordinates, 263, 396, 542
solution
at mark input, 359
ECEF coordinates, 263, 396, 542
OmniSTAR HP/XP, 375
position, 255, 391
RTK, 538
UTM coordinates, 257
agriculture, 181, 374, 573
aircraft, 108, 260, 539
almanac
complete, 559
data, 193, 312
GEO, 602
GLONASS, 295, 297
log, 230, 232, 247

lost, 157
raw data, 408
reset, 123
stored, 124
time status, 30
ALMANAC log, 247
along track, 368, 370
ambiguity
half cycle, 398
type, 535
anomaly, 248, 566
antenna
active, 63
altitude, 109, 315, 317, 319
base station, 75
delay, 84
high altitude, 222
motion, 66, 68, 174
phase center, 116, 468
position, 358
receiver status, 548
reference point, 468
reference point (ARP), 489-490, 502
rover station, 61
speed, 370
type, 468
ANTENNAMODEL command, 61
ANTENNAPOWER command, 63
anti-spoofing (AS), 248
ascii
display, 453, 476
message, 20, 39
overview, 20
printable data, 189
redirect, 378
response, 27
send, 189
text message, 200-201
transfer, 200
assign
cancel, 208
channel, 38, 64
cut-off angle, 109, 128, 222

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

630

Index
ASSIGN command, 64
ASSIGNALL command, 67
ASSIGNLBAND command, 69
asterisk, 20
asynchronous log, 224
atmospheric
delay, 398
noise, 110
refraction, 109, 222
AUTH command, 73
authorization, 36, 73-74
AUX port
break condition, 89
identifier, 25-26, 87
interface mode, 136
pass-through log, 242, 378
RS-232 port control, 91
AVEPOS log, 249
averaging, position, 39, 160, 249
azimuth, 328, 559

B
B model, 570
bandwidth, 182
base station
aiding, 193
antenna model, 75
basic, 267
command, 39
common to rover, 380, 388
distance from rover, 266
ephemeris, 102
health, 468, 486
height, 465
ID, 468, 486
L-band, 441
log, 232-233
moving, 153
network RTK, 176
observations, 177
parameter, 446
parameters, 465
position, 435-436
radio, 539
satellite visibility, 558
send data, 189, 539
standard corrections, 426
631

status, 419
unique messages, 366
virtual, 177
BASEANTENNAMODEL command, 75
baseline
dual frequency, 531
length, 266
RTK, 229, 233, 419
basline
heading, 343
battery, 279
baud rate, see bps
beam frequency, 71
bearing, 147-148, 332, 368, 370
BESTPOS log, 251
BESTUTM log, 256
BESTVEL log, 256
BESTXYZ log, 262
bias, 78
bi-directional communication, 378
binary
overview, 22
raw ephemeris, 410
redirect, 378
response, 27
RTCA, 423
bit rate, see bps
Bluetooth, 206
boom operator, 615
bps, 88, 157
break, 86, 88-89, 136, 387
bridge, 158
broadcast
almanac, 312
correction, 448
observation data, 478
BSLNXYZ log, 266
buffer, 142
Built-In Status Test (BIT), 548
Bursa-Wolf transformation, 95
byte, 19, 23, 28

C
C/No, see carrier to noise density ratio
cable
delay, 84
external device, 150, 358

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Index
integrity, 123
null modem, 57
serial, 380
car, 537
carrier phase, ??-407
jump, 78
RTK, 275, 431, 433, 456, 478
carrier to noise density ratio (C/No), 85,
329, 354, 402-407, 567
CDGPS, 139, 482-483, 570
assign, 69-70
configure, 346
datum, 95
fast corrections, 615, 618-623
frame data, 415
network, 615
NMEA, 322
prn mask, 574
slow corrections, 624
status, 349-350
CDGPSTIMEOUT command, 77, 441
CDU, see Control and Display Unit
celestial pole, 148
central processing unit (CPU) speed, 569
channel, 302
assign, 64, 66
control, 38, 230-232
dedicate, 67
range measurement, 398
raw subframe data, 413, 418
tracking, 302
tracking status, 400, 404, 565
unassign, 208
chatter, 380-381
checksum, 20, 22
clock
adjust, 78, 398
age, 248
bias, 78
calibrate, 80
command, 40
dither, 111, 269
drift, 78, 270, 449
error, 66, 68, 78, 269
external, 57, 448
internal, 31
model, 269, 271
offset, 109, 128, 229, 361, 389

parameter, 111
phase, 55
precise, 410
receiver, 563
set, 398
shift, 55, 59
status, 229, 269, 361
steer, 78, 80
validity, 269
CLOCKADJUST command, 78
CLOCKCALIBRATE command, 80
CLOCKMODEL log, 266
CLOCKOFFSET command, 84
CLOCKSTEERING log, 272
CMR
analogous to RTCA, 283, 286
bandwidth, 289
base station, 419
dgps type, 167
interface mode, 136
log, 275
CMR messages, 276, 281-282
CMRDATADESC log, 278
CMRDATAGLOOBS log, 280
CMRDATAOBS log, 283
CMRDATAREF log, 286
CMRPLUS log, 289
CNOUPDATE command, 85
Coast Guard, 347, 390
COM command, 86
COM port, 143, 189, 291, 386
COMCONFIG log, 283
COMCONTROL command, 89
command response messages, 628
communication, 36, 478
compass, 369
configuration, 570
non-volatile memory, 123
port, 36, 86, 291
receiver, 170, 226, 544, 548
reset, 52, 170
RXCONFIG log, 453, 476
save, 186
status mask, 204
constellation, 271, 388
constraint, 398
control
automatic, 208

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

632

Index
centre, 393, 403
channel, 38
command, 36
filtering, 226
receiver, 36, 226
Control and Display Unit (CDU), 52, 143,
206, 569
convention, 15
Convert4, 344
coordinate geometry (COGO), 278
coordinated universal time (UTC)
log, 227, 229, 341
offset, 361
position, 315, 317, 319, 327
status, 563
copyright, 2
correction
accuracy, 114
bias, 116
magnetic, 148
magnitude of, 149
mean motion, 248
RTCA, 136
RTK, 177, 182, 570
CPU, 142, 386, 547
CRC, see cyclic redundancy check
cross track, 260, 368, 370
CSMOOTH command, 93
Customer Service, 123, 152, 355
cut-off angle
command, 110
DOP, 389
GLONASS, 128
negative, 222
range reject code, 566
SBAS, 222
cyclic redundancy check (CRC), 20, 22-23,
28, 32
Cyrillic characters, 201

D
data link, 189
datum, 97-101
best position, 255
command, 37, 93, 116, 127
current, 198
customized, 216
633

expanded, 218
fix position, 118
mark position, 359
matched position, 365
OmniSTAR HP, 375
pseudorange position, 391
RTK, 538
transformation parameters, 97-101
UTM, 257
DATUM command, 93
declination, 149
default
factory, 37, 53, 95, 102, 170
delay, antenna, 84
destination, 198, 370
device, user point, 150, 163, 360
de-weighting, 141, 388
DGPS command, 77, 102, 104-105, 134, 327
DGPSTIMEOUT command, 104, 183
DGPSTXID command, 105
DIFFCODEBIASCONTROL command,
107

DIFFCODEBIASES log, 293
differential correction
accept, 134
age, 261, 263
DGPS, 104
OmniSTAR HP/XP, 375
position, 251, 255, 359
pseudorange, 390, 394
pseudorange position, 396
RTK, 228, 537-538, 540, 542
UTM, 257
DGPS, 347
error reduction, 390
fix position, 114, 116
method, 165
none available, 566
outage, 181, 251, 390, 537, 539
positioning, 102
satellite visibility, 558
send, 160, 189
set, 448
station, 116, 165, 180, 232-233, 566
transmit RTCA, 102
differential GPS (DGPS), 139
dilution of precision (DOP), 315-319, 536
differential, 267

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Index
NMEA, 324
position averaging, 249
pseudorange, 388
volume, 324
direction
accuracy, 260
bearing, 370
communication, 177
over ground, 393
referenced to True North, 147
report, 393
static position, 260
tunnel, 206
dispatcher, 182
distance
exceeded, 253
straight line, 370
track offset, 198
dither, 269
DL-V3, 206
DOP, see dilution of precision
Doppler, 169, 402
accumulated, 398, 404-407, 431, 433,
478-479

assign, 64, 66-67
instantaneous, 395, 402, 407
jump, 78
offsets, 247
range record, 404
satellite visibility, 559
tracking status, 567
drift, 78
dual frequency, 251, 531
dynamic, 37, 108, 162, 174-175
dynamics, 159
DYNAMICS command, 108

E
earth-centered earth-fixed (ECEF), 262,
419, 446
earth-centred-earth-fixed (ECEF), 468
eccentricity, 248, 337, 522
ECEF, see earth-centered earth-fixed
echo, 88
ECUTOFF command, 109
EGNOS (European SBAS), 187
electronic distance measuring instrument

(EDM), 267
elevation, 536
cut-off, 109-110, 222, 389
error, 566
GLONASS, 128
highest, 182
satellite visibility, 328, 559
set, 37
tracking status, 567
ellipsoid, 446
constants, 96
customized, 216
navigation, 198
parameter, 95, 97-101, 218
surface, 198
undulation, 38, 210
environmental parameter, 294, 546
ephemeris
change in, 444
collect, 193
decoded, 229
delay, 102-103, 425
GLONASS, 301
health, 566
log, 230
raw data, 229, 410, 429
RTK, 428
time status, 30-31
error
averaged position, 160
clock, 78, 111, 269
common from base and rover, 267
extrapolation, 364, 366
fatal, 556
flag, 548
framing, 386
in fixed coordinates, 116
messages, 548
multipath, 398
non-volatile memory, 157
parity, 386-387
proportional to baseline, 267
range reject code, 566
response message, 628
statistics, 250, 327
status, 204
text description, 557
tracking, 398

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

634

Index
escape, tunnel, 206-207
event
fatal, 556
message, 204, 548, 557
text description, 557
type, 557
expiry date, 568
external
oscillator, 111, 448
reference frequency, 55
EXTERNALCLOCK command, 111
extrapolation error, 364, 366
EXTRXHWLEVELS log, 294

F
F model, 570
factory default
datum, 95
ephemeris delay, 102
modify, 186
reset, 37, 52, 170
setting, 53, 86
fallback to SBAS, 181
field type, 18
field upgrade, 73
filter, 158-159, 169, 382, 536
control, 37
pseudorange, 567
RTK, 37, 173
solution log, 226
update, 541
fine time, 31
fix
command, 114
data, 314, 316, 318
position, 320
save setting, 186
solution, 173
FIX command, 114
FIXPOSDATUM command, 118
flag
antenna, 63
error, 548
parity, 398
status, 390, 548
flattening, 219
fleet, 182
635

flight controls, 539
float solution, 173
foliage, 415, 615
FORCEGPSL2CODE command, 119
forest, 615
format, 20, 22, 32, 35, 372
frame decoder number, WAAS, 574
framing error, 386
frequency, 120, 423
FREQUENCYOUT command, 120
FRESET command, 123

G
G model, 570
Galileo and RTCM Version 3.0, 502, 504
gaps, 158
generic data formats, 135, 344
geodetic datum, see datum
geoid, 38, 210, 249
geometric bias, 249
GGAQUALITY command, 125
GL1DE, 159
GLMLA log, 295
GLOALMANAC log, 294
GLOCLOCK log, 299
GLOCSMOOTH command, 127
GLOECUTOFF command, 128
GLOEPHEMERIS log, 301
GLONASS, 276
almanac, 295, 297
base station, 475
elevation cut-off, 128
logs, 295-311
RTCM, 201, 464, 473, 475, 480
RTCM V3, 463, 502-505
SBAS, 599, 601
GLORAWALM log, 305
GLORAWEPHEM log, 307
GLORAWFRAME log, 309
GLORAWSTRING log, 311
GNSS Reference Book, 15, 247
GPALM log, 312
GPGGA log, 316
GPGGALONG log, 316
GPGGARTK log, 314
GPGLL log, 320
GPGRS log, 322

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Index
GPGSA log, 324
GPGST log, 326
GPGSV log, 328
GPHDT log, 330
GPRMB log, 331
GPRMC log, 333
GPS overview, 30, 32
GPSEPHEM log, 335
GPVTG log, 339
GPZDA log, 341
graphical display, 369
great circle line, 198-199, 370

H
handshaking, 88-89
hardware, 569
parameter, 294, 546
reset, 37, 170
version, 226, 572
harvesting, 615
HDOP, see dilution of precision
HDTOUTTHRESHOLD command, 129
header
ascii, 20-21, 27
binary, 18
convention, 16
log, 398
heading
and velocity, 228, 260
information, 342
magnetic variation, 148
NMEA, 129, 330
HEADING log, 342
health
almanac, 313
base station, 233, 419
satellite, 248, 559, 566
status, 337
height, 468
approximate, 192
base antenna, 465
calculate, 116, 210
fix, 37, 114, 116
limit, 253
position, 255, 391
mark, 359
match, 365

OmniSTAR HP/XP, 131, 375
RTK, 538
Helmert transformation, 95
Hertz (Hz), 569-571
hexadecimal, 16, 19-20, 23, 28, 191, 205
hibernate mode, PC, 143
hiking, 260
hold, 142, 145-146, 356-357
horizon, 110, 128, 222
hot position, 428
HP/XP seed, 132
HP/XP, OmniSTAR, 374, 565
expiration date, 348
position or velocity type, 252
status, 352, 354
tracking state, 350
HPSEED command, 130
HPSTATICINIT command, 132
hydrographic survey, 154

I
I model, 570
identifier
ascii message, 20
serial port, 25, 137, 292, 387
iMAX mode, 177
inclination angle, 248
instantaneous Doppler, 395
integer ambiguities, 456
interface, 36, 39, 137
INTERFACEMODE command, 134, 424
interferometric techniques, 456
interrupt, 387
IONOCONDITION command, 138
ionosphere, 94, 138, 177, 441
carrier smoothing, 94
delay, 611
grid points, 604
log, 344
positive integers, 560
remove, 451
IONUTC log, 344
island, 218

J
J model, 570

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

636

Index

K

RTK, 494, 496, 498, 512, 514, 516, 518
log

K model, 570
kinematic, 176, 465
known site, 176

L
L model, 570
L1-only observables, 491
laptop, 143, 380, 399
latched time, 358
latency
data link, 364, 366
position, 228, 251, 541
reduction, 448, 483
velocity, 263, 396, 541-542
latitude/longitude
approximate, 192
fix data, 315, 317, 319
GPS specific, 334
position, 255, 391
mark, 359
match, 365
NMEA, 320
OmniSTAR HP/XP, 131, 375
RTK, 538
set navigation waypoint, 199
L-band, 69, 165, 346, 349, 570
LBANDINFO log, 346
LBANDSTAT log, 349
LED, 556
library, OmniSTAR, 441
link, 189, 386
LNA, see low noise amplifier
local horizon, 109
localized wide area corrections, 139
LOCALIZEDCORRECTIONDATUM
command, 139
lock
command, 141
out, 388, 566
reinstate, 212
time, 567
LOCKOUT command, 141
locktime
current, 402, 407
L-band, 354
reset to zero, 93, 127
637

list, 355
response messages, 628
RTCA, 423
RTCM, 423, 439
trigger, 224
type, 224
LOG command, 142
LOGLIST log, 355
loss of lock, 193
low noise amplifier (LNA), 36, 63, 547
LSB, 20

M
machine guidance, 374
magnetic variation, 38, 147-148, 334, 370
MAGVAR command, 147
map, 154, 220, 604
mark
event, 59, 151, 227
input pulse, 358, 360
MARKCONTROL command, 150
MARKPOS log, 358
MARKTIME log, 360
mask
event, 548
priority, 554-555
WAAS PRN, 574
matched update, 530
MATCHEDPOS log, 362, 421
MATCHEDXYZ log, 366
matrix, 269
mean sea level
fix, 116, 315, 317, 319
position, 255, 257, 391
mark, 359
match, 365
OmniSTAR HP/XP, 131, 375
RTK, 538
memory, 279
buffer space, 142
non-volatile
erase, 52, 123
restore, 157
save
almanac, 247

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Index
configuration, 186
meridian, UTM, 220
message
almanac, 247
ascii, 20
base station, 419
format, 18, 22, 32
ID, 356-357
length, 200-201
navigation, 198
response, 27, 628
send, 189
time stamp, 31
trigger, 144, 146
mode
2-D, 325
3-D, 325
dynamic, 174-175
interface, 134, 137
operating, 324
RTK, 251
static, 174-175
model
active, 568
authorization, 36, 73-74, 152
card, 152
clock, 269, 271, 361
expiry date, 226, 568
ionospheric, 344
log, 227
lost, 157
switch, 152
valid, 568
version, 568
MODEL command, 152
models, 569
modem, 378
Modified RTCA (MRTCA), 137, 424
month, 563, 571
monument height, 465
motion
detector, 174
island, 218
mean, 248, 338
moving base stations, 154
MOVINGBASESTATION command, 153
MSAS (Japanese SBAS), 187
MSB, 20

multipath
carrier smoothing, 93
example, 94, 390
indicator, 458, 462
NMEA, 324
RTK, 460, 464

N
National Topographic Series (NTS), 220
NAVIGATE log, 368
navigation, 570
accuracy, 448
command, 38
data, 324, 333
information, 330-331
log, 368-369
magnetic compass, 147
path, 198
satellite system, 423
standard, 438
status, 332, 370
waypoint, 198, 228
word, 414
network RTK, 176, 471
NGS, see US National Geodetic Survey
NL model, 570
NMEA
fix data, 319
generic format, 135
log list, 372
position, 321
pseudorange measurement noise statistics, 326
satellite range residuals, 322-323
satellite type, 155
standards, 314
NMEATALKER command, 155
node, 313
noise
oscillator, 111
statistic, 326
thermal, 398
time of, 271
non-printable character, 36, 191
non-volatile memory (NVM), 52
automatic, 408
reset, 123

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

638

Index
restore, 157
save
almanac, 247
configuration, 186
north pole, 148
note
antenna motion, 174
authorization code, 73
channel assignment, 67
clock adjustment, 78
differential correction, 102, 104
elevation cut-off angle, 109
ephemeris delay, 102
factory default, 157
logging, 142
navigation, 368
range residual, 322
reset, 52, 123
satellite, 388
status, 556
WGS84, 249
NovAtel Inc., 2
NTS, see National Topographic Series
NVMRESTORE command, 157

O
observation
base station, 279
observations, 531
obstacles, 615
ocean, 154
offset
clock, 361
Doppler, 64
ECUTOFF effect, 109, 128
oscillator clock, 111
receiver clock, 389, 563
track, 198, 370
OMNIHPPOS log, 374
OmniSTAR, 134, 139, 346, 441, 485, 570
OmniSTAR subscription, 417
OMNIVIS log, 376
one pulse per second (1PPS), 40
adjust, 55
control, 163
delay, 84
frequency, 120
639

obtain, 56
offset, 78
time, 78, 564
on-foot, 260, 369
operating mode, 324
optionality, 16
orbit, 410
origin, 198
oscillator
clock drift, 78, 270
error, 269
external, 111, 272, 449
with an RTCM Type 9 message, 448
outages, 158
output pulse, 120
overload, 142

P
parity, 87-88
errors, 386
flag, 398
port, 276, 387
receive, 414
removed, 410, 412
RTCM word, 439
PASSAUX log, 378
PASSCOMx logs, 378
pass-through log, 378, 380-381
PASSUSBx logs, 378
PC, 143
PC or laptop, 143, 380, 399
PDOP, see dilution of precision
PDPFILTER command, 158
PDPMODE command, 159
PDPPOS log, 382
PDPVEL log, 383
PDPXYZ log, 384-385
perigee, 248
period, 142, 144, 146, 356-357
perpendicular distance, 198, 370-371
persistence, UTM, 220
phase difference, 169
phase lock loop (PLL), 399-400, 549
PLL, see phase lock loop
polled log, 224
port
ascii header, 21

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Index
communication, 22, 425
configuration, 36, 86, 88, 186, 291
identifier, 25, 87
interrupt, 387
log request, 143
output, 144, 146, 356-357
parameters, 206
pass-through, 378
RS232, 89
RTCM, 443
send data, 189
serial, 134, 136-137, 386
statistic, 226
status, 386, 556
unlog, 215
PORTSTATS log, 386
POSAVE command, 160
position, 382
3-D, 389
accuracy, 114
approximate, 193, 247, 435
at time of mark, 359
averaging, 39, 160, 249
base station, 233, 419, 436
best, 251, 256, 262, 530
calculation, 162
command, 37
current, 368, 370
datum, 95
fix, 37, 116
four unknowns, 249, 267, 388, 399
hot, 428
log, 226, 228
matched, 364, 366
precision, 318, 430, 433
pseudorange, 232, 390
solution, 109, 128, 388
static, 260
time out, 162
type, 359
xyz coordinates, 263, 367, 395-396, 542
POSTIMEOUT command, 162
post-process
application example, 403, 537, 615
carrier smoothing, 94
differential, 105
elevation angle, 110
ephemeris data, 410

generic software, 135
Waypoint, a NovAtel Precise Positioning Company, 403
power, 63, 566
PPSCONTROL command, 163
prerequisite, 17
pressure, 163
processing, 21, 24, 229, 398
proprietary information, 478
pseudorange, 626
correction, 116, 443, 449
error estimate, 398
jump, 78, 398
measurement, 326, 402, 404, 407, 456
noise statistic, 326
position, 229, 232
raw, 626
solution, 116, 251
tracking status, 567
velocity, 232, 393
pseudorange/delta-phase (PDP), 158-159,
169, 382-383, 441
PSRDIFFSOURCE command, 165
PSRDOP log, 388
PSRPOS log, 390
PSRTIME log, 392
PSRVEL log, 393
PSRVELOCITYTYPE command, 169
PSRXYZ log, 395
pulse, 120, 358, 360

Q
quality
NMEA, 125, 319, 326
quotation mark, 20, 189, 200-201

R
R model, 570
radio, 182, 289, 390, 537, 539
range
bias, 31, 271
compressed, 405
corrections, 399
errors, 267
measurement, 78, 398, 406
reject code, 567
residual, 322

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

640

Index
satellite information, 141
RANGE log, 398
range rate correction (RRC), 441
RANGECMP log, 403-404
RANGEGPSL1 log, 406
rate of right ascension, 248
raw almanac, 312
RAWALM log, 406
RAWEPHEM log, 410
RAWGPSSUBFRAME log, 412
RAWGPSWORD log, 414
RAWLBANDFRAME log, 415
RAWLBANDPACKET log, 417
RAWWAASFRAME log, 418
reacquisition, 64, 67, 399
receiver
character, 387
clock offset, 249
components, 569
dual frequency, 251
errors, 548
independent exchange (RINEX), 344
interface, 36, 39, 134
set up, 545
status, 142, 548, 551
time, 59
recent satellite information, 162
reference station, see base station
references and standards, 247
REFSTATION log, 419
reinstate satellite, 212
relative pseudorange/delta phase, 159
remote station, see rover station
reset, 206
after error, 556
average positions after, 160
complete, 173
hardware, 37, 123, 170
RESET command, 170
residual, 322, 535, 567
resolution, 173
response, 27, 134, 137, 628
RF delay, 84
RINEX, see receiver independent exchange
root mean square (RMS), 327
route, 369
rover station
antenna model, 61
641

basic, 267
carrier phase ambiguity resolution,
430, 433
command, 39
common to base, 388
data age, 104, 183
data from base, 446
distance from base, 266
faster data update to, 448, 483
format messages, 438
satellite visibility, 558
to base scenario, 380
ROVERPOS, 227
RS-422, 90
RTCA
age, 104, 425
base station, 432
base station type, 419
DGPS type, 167
ephemeris delay, 102
interface mode, 134, 136
log list, 423
station ID, 435
RTCADATA1 log, 425
RTCADATA2OBS log, 432
RTCADATAEPHEM log, 428
RTCADATAOBS log, 430, 432
RTCADATAREF log, 435
RTCM
and L-band, 139, 441-442
base station, 419, 446
DGPS type, 167
ephemeris delay, 102
example, 440
header, 464
interface mode, 136
log list, 437
measurement corrections, 461
messages, 468, 485-486
multipath indicator, 458, 462
P Code, 460
proprietary message, 478
quality indicator, 457
RTCA comparison, 423
RTCM 2.2, 203
RTCM 2.3, 203
RTCMDATA log, 444
RTCMDATA1 log, 443

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Index
RTCMDATA1001 log, 491
RTCMDATA1002 log, 495
RTCMDATA1003 log, 497
RTCMDATA1004 log, 499
RTCMDATA1005 log, 502
RTCMDATA1006 log, 504
RTCMDATA1009 log, 510
RTCMDATA1010 log, 513
RTCMDATA1011 log, 515
RTCMDATA1012 log, 517
RTCMDATA1019 log, 520
RTCMDATA1020 log, 524
RTCMDATA15 log, 451
RTCMDATA16 log, 453
RTCMDATA1819 log, 455
RTCMDATA2021 log, 461
RTCMDATA22 log, 465
RTCMDATA22GG log, 467
RTCMDATA23 log, 469
RTCMDATA24 log, 471
RTCMDATA3 log, 446
RTCMDATA31 log, 473
RTCMDATA32 log, 475
RTCMDATA36 log, 476
RTCMDATA59 log, 478
RTCMDATA59GLO log, 480
RTCMDATA9 log, 448
RTCMDATACDGPS1 log, 482
RTCMDATACDGPS9 log, 483
RTCMDATAOMNI1 log, 485
RTCMV3
antenna setup, 506, 508
base station, 419-524
DGPS type, 167
ephemeris, 520, 524
example input, 489
GLONASS, 510, 513, 515, 517
interface mode, 136
locktime, 492
station ID, 106
RTK
baseline, 229
command, 39
convention, 15
correction, 182
data, 233, 530
DOP, 536
filter, 173

low latency position, 227, 233, 537
mode, 251, 541
network, 176
position, 228, 251, 364, 366, 537
satellite count, 229
solution, 530
transfer, 275
velocity, 539
RTKANTENNA command, 171
RTKCOMMAND command, 173
RTKDOP log, 536
RTKDYNAMICS command, 173
RTKNETWORK command, 175
RTKPOS log, 537
RTKQUALITYLEVEL command, 179
RTKSOURCE command, 180
RTKSVENTRIES command, 182
RTKTIMEOUT command, 183
RTKVEL log, 539
RTKXYZ log, 541
Russian characters, 201
RXCONFIG log, 544
RXHWLEVELS log, 546
RXSTATUS log, 546
RXSTATUSEVENT log, 556

S
S model, 570
SATCUTOFF command, 184
satellite
acquisition, 64, 193, 247
active, 324
almanac, 247
availability, 116, 328
clock dither, 111
command, 38
common, 530
count, 229, 233
coverage, 158
DGNSS, 423
elevation, 109, 222, 247
error, 566
geometry, 267, 388
GLONASS, 128
group, 388
ID, 443, 449
in view, 328

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

642

Index
lock, 141, 388
low, 94, 110
motion, 395
number of, 389, 405, 536
range, 322
raw, 408, 410, 413-414
recent, 162
record, number of, 430
redundancy, 267, 565
reinstate, 213
RTK, 39, 182, 530, 536
SBAS, 222
tracking, 230-232, 398
unassign, 208
unlock, 212
visibility, 193, 231, 558
satellite tracking, 184
SATVIS log, 558
SATXYZ log, 560
SAVECONFIG command, 186
SBAS
channel, 67
control, 186
degradation factor, 595
differential, 165
fallback, 181
fast correction slots, 575
integrity message, 588-591
mixed fast/slow corrections, 605
navigation, 596
PRN, 66, 68, 573-574
range corrections used, 626
raw frame data, 418
service message, 613
system type, 187
SBASCONTROL command, 186
scaling
almanac, 247
factor, 404
scope, 15
self-test, 142
semi-major axis, 219, 248
send, 189, 191
SEND command, 189
SENDHEX command, 191
serial port, 136-137, 292, 387
SETAPPROXPOS command, 192
SETAPPROXTIME command, 193
643

SETBESTPOSCRITERIA command, 195
SETDIFFCODEBIASES command, 196
SETIONOTYPE command, 197
SETNAV command, 192
SETRTCM16, 200
SETRTCM36 command, 201
SETRTCMRXVERSION command, 203
setting, command, 35
shipping lanes, 154
signal
1PPS, 56, 163
CDGPS, 71
control, 92
DC, 122
elevation cut-off, 109
error, 94, 165
external, 55
mark, 151
oscillator, 57
path, 84, 110
period, 122
search, 114
structure, 415
timing, 89
sky, 558
smooth, 158
smoothing
carrier phase, 93-94, 127
indicator, 493
interval, 457, 460, 492
pseudorange, 455
software version, 226
solar cars, 108
solution
status, 359
type, 125
speed
current, 370
data, 228, 333
over ground, 261, 334, 340, 394, 540
standard positioning service (SPS), 247
standards and references, 247
standby mode, PC, 143
static mode, 132, 159, 174-175, 279, 366
station ID, 105, 419, 439
stationary, 133
statistics, 250, 327, 347, 374
status

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Index
arrival, 332
base station health, 419
channel tracking, 400, 402, 404, 407,
565

clock model, 361
COM port, 386
command, 36
data, 320
event, 556
flag, 390, 548
indicator, 251, 259, 262, 395, 541
mask, 204
receiver, 21, 142, 226, 548, 551
self-test, 226
solution, 359
time, 21
trigger, 548
velocity, 262, 539
word, 557
STATUSCONFIG command, 203
steer
clock, 78, 80
time, 30-31, 78
subframe, 230, 247, 408-410
survey
base station, 160
control ship, 154
datum, 118, 216, 218
grade receivers, 135
HP/XP seed, 132
hydrographic, 154
navigate, 198
WAAS, 573
synchronize, 55, 57, 562
synchronous log, 224

T
tag external event, 381
Technical Specifications, 358, 360
temperature, 163
text, transfer, 200
throughput, 491
time
1PPS, 56, 564
acquisition, 114
almanac reference, 409
anomaly, 248

approximate, 247, 435
clock adjustment, 78
coarse/fine, 30
CPU, 142
delay, 103
difference, 57, 562
dilution of precision, 389
embedded, 564
ephemeris, 102, 410
event, 360
fine, 31
GPS, 269, 381, 563
interval, 144, 146
latched, 358
limit, 160
log, 229
matched position, 232, 366
observation, 531
occupation, 558
of mark in event, 361
of position fix, 320
out, 104, 183
precision, 30
receiver clock offset, 249
stamp, 31, 366
status, 21, 30-31
steering, 30, 78
tag, 378, 419, 541
to first fix (TTFF), 193, 247, 428, 435
transfer, 55
UTC, 315, 317, 319, 341
validity, 30
TIME log, 560
TIMESYNC log, 564
track
made good, 333, 339
over ground, 261, 394, 540
tracking
assign, 64
automatic, 209
channel, 398, 565
continuous, 354, 402, 407, 567
cut-off angle, 109
disabled, 556
fix position, 116
GLONASS, 128
loop, 398
satellite, 38, 230-232, 388

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

644

Index
status, 565
undesirable, 141
TRACKSTAT log, 565
transfer
ASCII text, 200
RTK, 275
time, 55
transformation parameter, 95
transit, 182
transmit, 36, 39, 88, 134, 387
travel, 399
trigger
error, 548
event message, 204
log, 142, 224, 356-357, 364-365
option, 143
troposphere, 441, 560
true north
direction of motion, 261, 394
magnetic variation, 147-148
pseudorange error orientation, 327
to waypoint, 370
track over ground, 540
TTFF, see time to first fix
tunnel escape sequence, 206-207
tunnel, serial port, 136
TUNNELESCAPE command, 206
type, field, 18

U
UNASSIGN command, 208
UNASSIGNALL command, 208
undulation
best position, 255, 257, 375
command, 210
illustration, 210
position, 249, 359, 365, 391, 538
type, 131
UNDULATION command, 210
United States Geological Survey (USGS),
149, 220
universal time coordinated (UTC), 276
unknown network, 177
UNLOCKOUT command, 212
UNLOCKOUTALL command, 212
UNLOG command, 213
UNLOGALL command, 215
645

upgrade, 73, 152
US National Geodetic Survey (NGS), 410
USB port, 87
user point device, 150, 163, 360
USERDATUM command, 216
USEREXPDATUM command, 218
USGS, see United States Geological
Survey
UTM coordinates, 256
UTMZONE, 220
UTMZONE command, 220

V
validity
base station, 419, 541
clock model, 269
receiver model, 568-569
time tag, 541
VALIDMODELS log, 568
VBS, OmniSTAR
DGPS type, 167
HP/XP, 133, 354
initiate, 70
position or velocity type, 252
subscription, 348
VCTCXO, see oscillator
VDOP, see dilution of precision
vehicle, 537
application example, 154, 182, 260, 403
dynamics, 108
HP/XP seed, 132
moving base station, 154
velocity, 260
velocity, 169, 383
accuracy, 260
average, 541
best, 259, 262
closing, 332
island, 218
latency, 541-542
limit, 253
log, 228
offset, 218
pseudorange, 232
report, 393
RTK, 539
vector, 260

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

Index
via radio, 537
xyz coordinates, 219, 263, 395-396, 542
version, 2, 73, 226, 569
hardware, 569
VERSION log, 569
video camera device, 150
virtual address, 21
virtual base station (VBS), 177, 441
visibility, satellite, 231, 558
voltage, 294, 547
VRS (Virtual Reference Station), 177

W
WAAS (North American SBAS), 187
WAAS0 log, 573
WAAS1 log, 574
WAAS10 log, 598
WAAS12 log, 600
WAAS17 log, 602
WAAS18 log, 604
WAAS2 log, 575
WAAS24 log, 605
WAAS25 log, 608
WAAS26 log, 611
WAAS27 log, 613
WAAS3 log, 579
WAAS32 log, 615
WAAS33 log, 618
WAAS34 log, 620
WAAS35 log, 622
WAAS4 log, 582
WAAS45 log, 624
WAAS5 log, 585
WAAS6 log, 588
WAAS7 log, 592
WAAS9 log, 596
WAASCORR log, 626
WAASECUTOFF command, 222
WAASTIMEOUT command, 223
warning, 73, 355, 544
warranty, 15
waypoint
destination, 331, 370
navigation, 38, 198, 228, 368-369
setting, 198
track offset, 198-199
Waypoint Products Group, 403, 537

week
decoding, 32
future, 345
GPS, 337, 370
reference, 411
weighting, pseudorange filter, 567
WGS84
base station, 446
default datum, 95, 216
differential corrections, 116, 262
waypoint navigation, 198
word
error, 157
raw ephemeris, 410
status, 548, 557
week number, 313

X
xyz coordinates, 262, 395, 419

Y
year, 563, 571

Z
Z count, 276, 468, 486
Z model, 570
zone number, UTM, 220

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

646

Index

647

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

OEMV Family Firmware Version 3.800 Reference Manual Rev 8

648

Recyclable

Printed in Canada on recycled paper

OM-20000094

Rev 8

2010/05/14



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Title                           : Technical Writer
Creator                         : Dervila Adams
Producer                        : Acrobat Distiller 8.0.0 (Windows)
Document ID                     : uuid:fa9b1496-b69d-4cf7-a3ff-261a1d3b747f
Instance ID                     : uuid:f28d0995-5208-4be4-b75e-87c988658ee0
Page Count                      : 650
Author                          : Dervila Adams

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