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OM-20000094 Rev 8
OEMV® Family
Firmware Reference
Manual
2 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Proprietary Notice
OEMV Family of Receivers - Firmware Reference Manual
Publication Number: OM-20000094
Revision Level: 8
Revision Date: 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 Unpublished rights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.
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 3
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
4 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 5
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
6 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Table of Contents
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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 7
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
8 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Table of Contents
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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 9
3.3.99 RTCMDATA59 Type 59N-0 NovAtel RT20 V123_RT20 or
V23_RT2................................................................................................ 479
3.3.100 RTCMDATA59GLO NovAtel Proprietary GLONASS Differential Correc-
tions 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
10 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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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
4 Responses 629
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 11
Figures
1 1PPS Alignment ........................................................................................................56
2 ADJUST1PPS Connections ......................................................................................58
3 Pulse Width and 1PPS Coherency ..........................................................................121
4 Illustration of Magnetic Variation & Correction ........................................................148
5 TTL Pulse Polarity ...................................................................................................150
6 Moving Base Station ‘Daisy Chain’ Effect ...............................................................154
7 Using the SEND Command .....................................................................................190
8 Illustration of SETNAV Parameters .........................................................................198
9 Illustration of Undulation ..........................................................................................210
10 The WGS84 ECEF Coordinate System ...................................................................265
11 Navigation Parametres ............................................................................................368
12 Pass-Through Log Data ..........................................................................................380
13 50 Hz Logging Example in CDU ..............................................................................570
12 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Tables
1 Field Types .................................................................................................................18
2 Byte Arrangements.....................................................................................................19
3 ASCII Message Header Structure ..............................................................................21
4 Binary Message Header Structure .............................................................................23
5 Detailed Serial Port Identifiers ....................................................................................25
6 Binary Message Response Structure .........................................................................28
7 Binary Message Sequence.........................................................................................29
8 GPS Time Status .......................................................................................................30
9 Communications, Control and Status Functions ........................................................36
10 OEMV Family Commands in Alphabetical Order .......................................................40
11 OEMV Commands in Numerical Order ......................................................................46
12 Channel State.............................................................................................................64
13 OEMV Channel Configurations ..................................................................................65
14 Channel System .........................................................................................................67
15 L-band Mode ..............................................................................................................70
16 Time Out Mode...........................................................................................................77
17 COM Serial Port Identifiers.........................................................................................87
18 Parity ..........................................................................................................................87
19 Handshaking...............................................................................................................88
20 Tx, DTR and RTS Availability .....................................................................................90
21 Reference Ellipsoid Constants ...................................................................................96
22 Datum Transformation Parameters ............................................................................97
23 User Dynamics .........................................................................................................108
24 Clock Type................................................................................................................113
25 Pre-Defined Values for Oscillators ...........................................................................113
26 FIX Parameters ........................................................................................................115
27 Fix Types ..................................................................................................................116
28 FL2 Code Type.........................................................................................................119
29 FRESET Target ........................................................................................................124
30 Seeding Mode ..........................................................................................................131
31 Serial Port Interface Modes ......................................................................................136
32 NMEA Talkers ..........................................................................................................156
33 DGPS Type ..............................................................................................................167
34 Pseudorange Velocity Type......................................................................................169
35 Dynamics Mode........................................................................................................174
36 Network RTK Mode ..................................................................................................177
37 RTK Quality Mode ....................................................................................................179
38 System Types...........................................................................................................187
39 Selection Type..........................................................................................................195
40 Ionospheric Correction Models.................................................................................197
41 Russian Alphabet Characters (Ch) in Decimal (Dec) and Hexadecimal (Hex).........202
42 Mask Types ..............................................................................................................205
43 UTM Zone Commands .............................................................................................221
Tables
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 13
44 SBAS Time Out Mode ..............................................................................................223
45 Log Type Triggers ....................................................................................................224
46 Logs By Function .....................................................................................................226
47 OEMV Family Logs in Alphabetical Order ................................................................233
48 OEMV Family Logs in Order of their Message IDs...................................................240
49 Position Averaging Status ........................................................................................249
50 Position or Velocity Type ..........................................................................................252
51 Solution Status .........................................................................................................253
52 Signal-Used Mask ....................................................................................................254
53 Extended Solution Status .........................................................................................254
54 Clock Model Status...................................................................................................269
55 Clock Source ............................................................................................................272
56 Steering State...........................................................................................................273
57 Position Accuracy .....................................................................................................286
58 GLONASS Ephemeris Flags Coding........................................................................302
59 Bits 0 - 1: P1 Flag Range Values .............................................................................302
60 Position Precision of NMEA Logs.............................................................................320
61 NMEA Positioning System Mode Indicator...............................................................331
62 URA Variance...........................................................................................................336
63 L-band Subscription Type.........................................................................................346
64 L-band Signal Tracking Status .................................................................................350
65 OmniSTAR VBS Status Word ..................................................................................351
66 OmniSTAR HP/XP Additional Status Word ..............................................................352
67 OmniSTAR HP/XP Status Word...............................................................................353
68 Navigation Data Type ...............................................................................................368
69 Tracking State ..........................................................................................................399
70 Correlator Type.........................................................................................................400
71 Channel Tracking Example ......................................................................................400
72 Channel Tracking Status ..........................................................................................400
73 Range Record Format (RANGECMP only) ..............................................................404
74 Base Station Status ..................................................................................................419
75 Base Station Type ....................................................................................................419
76 RTCAOBS2 Satellite Type Offsets ...........................................................................432
77 RTCM1819 Data Quality Indicator............................................................................457
78 RTCM1819 Smoothing Interval ................................................................................457
79 RTCM1819 Multipath Indicator.................................................................................458
80 RTCM2021 Data Quality Indicator............................................................................462
81 RTCM2021 Multipath Indicator.................................................................................462
82 SBAS PRN Codes ....................................................................................................491
83 Carrier Smoothing Interval of Code Phase...............................................................492
84 Lock Time Indicator ..................................................................................................492
85 GLONASS L1 and L2 Frequencies ..........................................................................511
86 SV Accuracy .............................................................................................................520
14 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Tables
87 GLONASS Ephemeris Word P1 .............................................................................. 524
88 M-Satellite User Range Accuracy ............................................................................ 524
89 To Obtain a Fixed Ambiguity Solution...................................................................... 530
90 To Maintain a Fixed Ambiguity Solution................................................................... 530
91 Searcher Type ......................................................................................................... 532
92 Ambiguity Type ........................................................................................................ 532
93 RTK Information....................................................................................................... 533
94 Receiver Hardware Parametres .............................................................................. 546
95 Receiver Error.......................................................................................................... 549
96 Receiver Status........................................................................................................ 551
97 Auxiliary 1 Status ..................................................................................................... 553
98 Auxiliary 2 Status ..................................................................................................... 553
99 Auxiliary 3 Status ..................................................................................................... 553
100 Status Word ............................................................................................................. 557
101 Event Type............................................................................................................... 557
102 Range Reject Code.................................................................................................. 566
103 Model Designators ................................................................................................... 570
104 Component Types.................................................................................................... 571
105 VERSION Log: Field Formats .................................................................................. 571
106 50 Hz-Capable Hardware Versions ......................................................................... 571
107 Evaluation of UDREI ................................................................................................ 576
108 Evaluation of CDGPS UDREI .................................................................................. 616
109 Response Messages ............................................................................................... 628
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 15
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® (GPS-
only 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. Feature-
tagging 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.
16 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Foreword
V123_RT20 Features available only with receivers equipped with the RT-20 option
V23_RT2 Features available only with receivers equipped with the RT-2 option
V123_DGPS Feature used when operating in differential mode
V123_NMEA National Marine Electronics Association format
V123_SBAS SBAS messages available when tracking an SBAS satellite1
V3_HP OmniSTAR high performance (HP), extra performance (XP) and virtual base
station (VBS) available with an OmniSTAR subscription1
V13_VBS OmniSTAR VBS available with an OmniSTAR subscription
V13_CDGPS The free Canada-Wide Differential Global Positioning System (CDGPS)
available without a subscription1
V1G23_G GLONASS positioning1 and RT2
L1TE
available
V3_G Available only on OEMV-3-based products with the GLONASS option
V23_L2C Capable of receiving the L2C signal1
ALIGN
® 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.
• 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
Foreword
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 17
• 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.
18 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 1 Messages
1.1 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.
Messages Chapter 1
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 19
Table 2: Byte Arrangements
Type 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.
70
char
address n
15 7 0
shor
t
n + 1 address n
31 23 15 7 0
long tw o's complimen
t
n + 3 n + 2 n + 1 address n
63 62 52 51 0
double S Biased Exponent| 52-bits mantissa
n + 7 n + 6 n + 5 n + 4 n + 3 n + 2 n + 1 address n
31 30
23 22
0
float S Biased Exponent| 23-bits mantissa
n + 3 n + 2 n + 1 address n
20 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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:
The ASCII message header structure is described in Table 3 on the next page.
header; data field..., data field..., data field... *xxxxxxxx [CR][LF]
Messages Chapter 1
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 21
Table 3: ASCII Message Header Structure
Field
#Field Name Field Type Description Ignored
on Input
1 Sync Char Sync character. The ASCII message is always
preceded by a single ‘#’ symbol.
N
2 Message Char 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
6GPS 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
9Receiver
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
Example Log:
#RAWEPHEMA,COM1,0,35.0,SATTIME,1364,496230.000,00100000,97b7,2310;
30,1364,496800,8b0550a1892755100275e6a09382232523a9dc04ee6f794a0000090394ee,8b05
50a189aa6ff925386228f97eabf9c8047e34a70ec5a10e486e794a7a,8b0550a18a2effc2f80061c
2fffc267cd09f1d5034d3537affa28b6ff0eb*7a22f279
22 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 1 Messages
1.1.2 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:
<LOGLIST COM1 0 69.0 FINE 0 0.000 00240000 206d 0
< 4
< COM1 RXSTATUSEVENTA ONNEW 0.000000 0.000000 NOHOLD
< COM2 RXSTATUSEVENTA ONNEW 0.000000 0.000000 NOHOLD
< COM3 RXSTATUSEVENTA ONNEW 0.000000 0.000000 NOHOLD
< COM1 LOGLIST ONCE 0.000000 0.000000 NOHOLD
As you can see the array of 4 logs are offset from the left hand side and start with ‘<’.
1.1.3 Binary
Binary messages are meant strictly as a machine readable format. They are also ideal for applications
where the amount of data being transmitted is fairly high. Because of the inherent compactness of
binary as opposed to ASCII data, the messages are much smaller. This allows a larger amount of data
to be transmitted and received by the receiver’s communication ports. The structure of all Binary
messages follows the general conventions as noted here:
1. Basic format of:
Header 3 Sync bytes plus 25 bytes of header information. The header length is variable
as fields may be appended in the future. Always check the header length.
Data variable
CRC 4 bytes
2. The 3 Sync bytes will always be:
3. The CRC is a 32-bit CRC (see 1.7, 32-Bit CRC on page 32 for the CRC algorithm)
performed on all data including the header.
4. The header is in the format shown in Table 4, Binary Message Header Structure on page
23.
Byte Hex Decimal
First AA 170
Second 44 68
Third 12 18
Messages Chapter 1
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 23
Table 4: Binary Message Header Structure
Field
#Field Name Field
Type Description Binary
Bytes Binary
Offset Ignored
on Input
1 Sync Char Hexadecimal 0xAA. 1 0 N
2 Sync Char Hexadecimal 0x44. 1 1 N
3 Sync Char Hexadecimal 0x12. 1 2 N
4 Header Lgth Uchar Length of the header. 1 3 N
5 Message ID Ushort This is the Message ID number of
the log (see the log descriptions
in Table 48, OEMV Family Logs
in Order of their Message IDs on
page 240 for the Message ID
values of individual logs).
24N
6 Message
Type
Char 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, page 27)
0 = Original Message
1 = Response Message
16N
7 Port Address Uchar See Table 5 on page 25 (decimal
values greater than 16 may be
used) (lower 8 bits only) a
17
N b
8 Message
Length
Ushort The length in bytes of the body of
the message. This does not
include the header nor the CRC.
28N
9 Sequence Ushort This is used for multiple related
logs. It is a number that counts
down from N-1 to 0 where N is the
number of related logs and 0
means it is the last one of the set.
Most logs only come out one at a
time in which case this number is
0.
210N
Continued on the following page.
24 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 1 Messages
Field
#Field Name Field
Type Description Binary
Bytes Binary
Offset Ignored
on Input
10 Idle Time Uchar The time that the processor is idle
in the last second between
successive logs with the same
Message ID. Take the time (0 -
200) and divide by two to give the
percentage of time (0 - 100%).
112Y
11 Time Status Enum Indicates the quality of the GPS
time (see Table 8, GPS Time
Status on page 30).
1 c13 N d
12 Week Ushort GPS week number. 2 14 N d
13 ms GPSe
c
Milliseconds from the beginning
of the GPS week.
416
N d
14 Receiver
Status
Ulong 32 bits 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).
420Y
15 Reserved Ushort Reserved for internal use. 2 24 Y
16 Receiver
S/W Version
Ushort This is a value (0 - 65535) that
represents the receiver software
build number.
226Y
a. The 8 bit size means that you will only see 0xA0 to 0xBF when the top bits are dropped from a port
value greater than 8 bits. For example ASCII port USB1 will be seen as 0xA0 in the binary output.
b. Recommended value is THISPORT (binary 192)
c. This ENUM is not 4 bytes long but, as indicated in the table, is only 1 byte.
d. These time fields are ignored if Field #11, Time Status, is invalid. In this case the current receiver time is
used. The recommended values for the three time fields are 0, 0, 0.
Messages Chapter 1
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 25
Table 5: Detailed Serial Port Identifiers
ASCII Port
Name Hex Port
Value Decimal Port
Value aDescription
NO_PORTS 0 0 No ports specified
COM1_ALL 1 1 All virtual ports for COM port 1
COM2_ALL 2 2 All virtual ports for COM port 2
COM3_ALL 3 3 All virtual ports for COM port 3
THISPORT_ALL 6 6 All virtual ports for the current port
ALL_PORTS 8 8 All virtual ports for all ports
XCOM1_ALL 9 9 All virtual COM1 ports
XCOM2_ALL 10 10 All virtual COM2 ports
USB1_ALL d 13 All virtual ports for USB port 1
USB2_ALL e 14 All virtual ports for USB port 2
USB3_ALL f 15 All virtual ports for USB port 3
AUX_ALL 10 16 All virtual ports for the AUX port b
XCOM3_ALL 11 17 All virtual COM3 ports
COM1 20 32 COM port 1, virtual port 0
COM1_1 21 33 COM port 1, virtual port 1
. . .
COM1_31 3f 63 COM port 1, virtual port 31
COM2 40 64 COM port 2, virtual port 0
. . .
COM2_31 5f 95 COM port 2, virtual port 31
COM3 60 96 COM port 3, virtual port 0
. . .
COM3_31 7f 127 COM port 3, virtual port 31
USB 80 128 USB port, virtual port 0
. . .
USB_31 9f 159 USB port, virtual port 31
SPECIAL a0 160 Unknown port, virtual port 0
. . .
SPECIAL_31 bf 191 Unknown port, virtual port 31
THISPORT c0 192 Current COM port, virtual port 0
. . .
Continued on the following page.
26 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 1 Messages
COM1_ALL, COM2_ALL, COM3_ALL, THISPORT_ALL, ALL_PORTS, USB1_ALL,
USB2_ALL, USB3_ALL and AUX_ALL are only valid for the UNLOGALL command.
THISPORT_31 df 223 Current COM port, virtual port 31
FILE ce0c224cUser-specified file destination, 0 c
FILE_1ce1c225cUser-specified file destination, 1 c
. . .
FILE_31cff c255cUser-specified file destination, 31 c
XCOM1 1a0 416 Virtual COM1 port, virtual port 0
XCOM1_1 1a1 417 Virtual COM1 port, virtual port 1
. . .
XCOM1_31 1bf 447 Virtual COM1 port, virtual port 31
XCOM2 2a0 672 Virtual COM2 port, virtual port 0
XCOM2_1 2a1 673 Virtual COM2 port, virtual port 1
. . .
XCOM2_31 2bf 703 Virtual COM2 port, virtual port 31
USB1 5a0 1440 USB port 1, virtual port 0
USB1_1 5a1 1441 USB port 1, virtual port 1
. . .
USB1_31 5bf 1471 USB port 1, virtual port 31
USB2 6a0 1696 USB port 2, virtual port 0
. . .
USB2_31 6bf 1727 USB port 2, virtual port 31
USB3 7a0 1952 USB port 3, virtual port 0
. . .
USB3_31 7bf 1983 USB port 3, virtual port 31
AUXc8a0c2208cAUX port, virtual port 0 b
. . .
AUX_31c8bfc2239cAUX port, virtual port 31 b
XCOM3 9a0 2464 Virtual COM3 port, virtual port 0
. . .
XCOM3_31 9bf 2495 Virtual COM3 port, virtual port 31
a. Decimal port values 0 through 16 are only available to the UNLOGALL command, see
page 216, and cannot be used in the UNLOG command, page 214, or in the binary
message header, see Table 4 on page 23.
b. The AUX port is available on OEMV-2-based and OEMV-3-based products.
c. DL-V3 only. Refer to the DL-V3 Firmware Reference Manual and the CDU’s Help file.
ASCII Port
Name Hex Port
Value Decimal Port
Value aDescription
Messages Chapter 1
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 27
1.2 Responses
By default, if you input a message you will get back a response. If desired, the INTERFACEMODE
command can be used to disable response messages (see page 135). The response will be in the exact
format that you entered the message (that is, binary input = binary response).
1.2.1 Abbreviated Response
Just the leading '<' followed by the response string, for example:
<OK
1.2.2 ASCII Response
Full header with the message name being identical except ending in an 'R' (for response). The body of
the message consists of a 40 character string for the response string, for example:
#BESTPOSR,COM1,0,67.0,FINE,1028,422060.400,00000000,a31b,0;"OK" *b867caad
1.2.3 Binary Response
Similar to an ASCII response except that it follows the binary protocols, see Table 6, Binary Message
Response Structure on page 28.
Table 7, Binary Message Sequence on page 29 is an example of the sequence for requesting and then
receiving BESTPOSB. The example is in hex format. When you enter a hex command, you may need
to add a ‘\x’ or ‘0x’ before each hex pair, depending on your code (for example,
0xAA0x440x120x1C0x010x000x02 and so on).
28 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 1 Messages
Table 6: Binary Message Response Structure
Field
#Field Name Field
Type Description Binary
Bytes Binary
Offset
B
I
N
A
R
Y
H
E
A
D
E
R
1 Sync Char Hexadecimal 0xAA. 1 0
2 Sync Char Hexadecimal 0x44. 1 1
3 Sync Char Hexadecimal 0x12. 1 2
4 Header Lgth Uchar Length of the header. 1 3
5 Message ID Ushort Message ID number 2 4
6 Message
Type
Char Bit 7 = Response Bit
1 = Response Message
16
7 Port Address Uchar See Table 5 on page 25 17
8 Message
Length
Ushort The length in bytes of the body of
the message (not the CRC).
28
9 Sequence Ushort Normally 0 2 10
10 Idle Time Uchar Idle time 1 12
11 Time Status Enum Table 8 on page 30 1 a13
12 Week Ushort GPS week number 2 14
13 ms GPSec Milliseconds into GPS week 4 16
14 Receiver
Status
Ulong Table 96 on page 551 420
15 Reserved Ushort Reserved for internal use 2 24
16 Receiver
S/W Version
Ushort Receiver software build number. 2 26
I
D
17 Response ID Enum Table 109, Response Messages
on page 628
428
H
E
X
18 Response Hex String containing the ASCII
response in hex coding to match
the ID above (for example,
0x4F4B = OK)
variable 32
a. This ENUM is not 4 bytes long but, as indicated in the table, is only 1 byte.
Messages Chapter 1
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 29
Table 7: Binary Message Sequence
1.3 GLONASS Slot and Frequency Numbers
The OEMV-1G, OEMV-2 and OEMV-3 can track GLONASS satellites. Up to 12 channels can be
configured to track GLONASS signals that can be used in the solution. See also Table 13, OEMV
Channel Configurations on page 66.
When a PRN in a log is in the range 38 to 61, then that PRN represents a GLONASS Slot where the
Slot shown is the actual GLONASS Slot Number plus 37.
Similarly, the GLONASS Frequency shown in logs is the actual GLONASS Frequency plus 7.
For example:
#SATVISA,COM1,0,53.5,FINESTEERING,1363,234894.000,00000000,0947,2277;
TRUE,TRUE,46,
2,0,0,73.3,159.8,934.926,934.770,
...
43,8,0,-0.4,163.7,4528.085,4527.929,
...
3,0,0,-79.9,264.3,716.934,716.778*b94813d3
where 2 and 3 are GPS satellites and 43 is a GLONASS satellite. Its actual GLONASS Slot Number is
6. The SATVIS log shows 43 (6+ 37). Its actual GLONASS frequency is 1. The SATVIS log shows 8
(1+7). See also the SATVIS log on page 558.
Refer to the GNSS Reference Book, available on our Web site at http://www.novatel.com/support/
docupdates.htm for more information.
Direction Sequence Data
To
Receiver
LOG Command
Header
AA44121C 01000240 20000000 1D1D0000 29160000
00004C00 55525A80
LOG Parameters 20000000 2A000000 02000000 00000000 0000F03F
00000000 00000000 00000000
Checksum 2304B3F1
From
Receiver
LOG Response
Header
AA44121C 01008220 06000000 FFB4EE04 605A0513
00004C00 FFFF5A80
Log Response Data 01000000 4F4B
Checksum DA8688EC
From
Receiver
BESTPOSB Header AA44121C 2A000220 48000000 90B49305 B0ABB912
00000000 4561BC0A
BESTPOSB Data 00000000 10000000 1B0450B3 F28E4940 16FA6BBE
7C825CC0 0060769F 449F9040 A62A82C1 3D000000
125ACB3F CD9E983F DB664040 00303030 00000000
00000000 0B0B0000 00060003
Checksum 42DC4C48
30 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 1 Messages
1.4 GPS Time Status
All reported receiver times are subject to a qualifying time status. This status gives you an indication
of how well a time is known, see Table 8:
Table 8: GPS Time Status
There are several distinct states that the receiver will go through:
• UNKNOWN
• COARSE
• FREEWHEELING
•FINE
• FINESTEERING
On start up, and before any satellites are being tracked, the receiver can not possibly know the current
time. As such, the receiver time starts counting at GPS week 0 and second 0.0. The time status flag is
set to UNKNOWN.
If time is input to the receiver using the SETAPPROXTIME command, see page 194, or on receipt of
an RTCAEPHEM message, see page 428, the time status will be APPROXIMATE.
GPS Time
Status (Decimal) GPS Time Status a
(ASCII) Description
20 UNKNOWN Time validity is unknown.
60 APPROXIMATE Time is set approximately.
80 COARSEADJUSTING Time is approaching coarse precision.
100 COARSE This time is valid to coarse precision.
120 COARSESTEERING Time is coarse set, and is being steered.
130 FREEWHEELING Position is lost, and the range bias cannot be calculated.
140 FINEADJUSTING Time is adjusting to fine precision.
160 FINE Time has fine precision.
180 FINESTEERING Time is fine set and is being steered.
200 SATTIME Time from satellite. This is only used in logs containing
satellite data such as ephemeris and almanac.
a. See also Section 1.5, Message Time Stamps on page 31
Messages Chapter 1
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 31
After the first ephemeris is decoded, the receiver time is set to a resolution of ±10 milliseconds. This
state is qualified by the COARSE or COARSESTEERING time status flag depending on the state of
the CLOCKADJUST switch.
Once a position is known and range biases are being calculated, the internal clock model will begin
modeling the position range biases and the receiver clock offset.
Modelling will continue until the model is a good estimation of the actual receiver clock behavior. At
this time, the receiver time will again be adjusted, this time to an accuracy of ±1 microsecond. This
state is qualified by the FINE time status flag.
The final logical time status flag depends on whether CLOCKADJUST is enabled or not, see page 79.
If CLOCKADJUST is disabled, the time status flag will never improve on FINE. The time will only
be adjusted again to within ±1 microsecond if the range bias gets larger than ±250 milliseconds. If
Clock Adjust is enabled, the time status flag will be set to FINESTEERING and the receiver time will
be continuously updated (steered) to minimize the receiver range bias.
If for some reason position is lost and the range bias cannot be calculated, the time status will be
degraded to FREEWHEELING.
1.5 Message Time Stamps
All NovAtel format messages generated by the OEMV family receivers have a GPS time stamp in
their header. GPS time is referenced to UTC with zero point defined as midnight on the night of
January 5 1980. The time stamp consists of the number of weeks since that zero point and the number
of seconds since the last week number change (0 to 604,799). GPS time differs from UTC time since
leap seconds are occasionally inserted into UTC but GPS time is continuous. In addition a small error
(less than 1 microsecond) can exist in synchronization between UTC and GPS time. The TIME log
reports both GPS and UTC time and the offset between the two.
The data in synchronous logs (for example, RANGE, BESTPOS, TIME) are based on a periodic
measurement of satellite pseudoranges. The time stamp on these logs is the receiver estimate of GPS
time at the time of the measurement. When setting time in external equipment, a small synchronous
log with a high baud rate will be accurate to a fraction of a second. A synchronous log with trigger
ONTIME 1 can be used in conjunction with the 1PPS signal to provide relative accuracy better than
250 ns.
Other log types (asynchronous and polled) are triggered by an external event and the time in the
header may not be synchronized to the current GPS time. Logs that contain satellite broadcast data
(for example, ALMANAC, GPSEPHEM) have the transmit time of their last subframe in the header.
In the header of differential time matched logs (for example, MATCHEDPOS) is the time of the
matched reference and local observation that they are based on. Logs triggered by a mark event (for
example, MARKEDPOS, MARKTIME) have the estimated GPS time of the mark event in their
header. In the header of polled logs (for example, LOGLIST, PORTSTATS, VERSION) is the
approximate GPS time when their data was generated. However, when asynchronous logs are
triggered ONTIME, the time stamp will represent the time the log was generated, not the time given in
the data.
32 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 1 Messages
1.6 Decoding of the GPS Week Number
The GPS week number provided in the raw satellite data is the 10 least significant bits (or 8 least
significant bits in the case of the almanac data) of the full week number. When the receiver processes
the satellite data, the week number is decoded in the context of the current era and, therefore, is
computed as the full week number starting from week 0 or January 6, 1980. Therefore, in all log
headers and decoded week number fields, the full week number is given. Only in raw data, such as the
data field of the RAWALM log or the subframe field of the RAWEPHEM log, will the week number
remain as the 10 (or 8) least significant bits.
1.7 32-Bit CRC
The ASCII and Binary OEMV family message formats all contain a 32-bit CRC for data verification.
This allows the user to ensure that the data received (or transmitted) is valid with a high level of
certainty. This CRC can be generated using the following C algorithm:
#define CRC32_POLYNOMIAL 0xEDB88320L
/* --------------------------------------------------------------------------
Calculate a CRC value to be used by CRC calculation functions.
-------------------------------------------------------------------------- */
unsigned long CRC32Value(int i)
{
int j;
unsigned long ulCRC;
ulCRC = i;
for ( j = 8 ; j > 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 )
Messages Chapter 1
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 33
{
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.
34 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 1 Messages
ASCII:
#include <iostream.h>
#include <string.h>
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 <<endl;
}
BINARY:
#include <iostream.h>
#include <string.h>
int main()
{
unsigned char buffer[] = {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};
unsigned long crc = CalculateBlockCRC32(60, buffer);
cout << hex << crc <<endl;
//Please note that this hex needs to be reversed due to Big Endian order where
the most significant value in the sequence is stored first (at the lowest
storage address). For example, the two bytes required for the hex number 4F52
is stored as 524F.
}
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 35
Chapter 2 Commands
2.1 Command Formats
The receiver accepts commands in 3 formats as described in Chapter 1:
• Abbreviated ASCII
•ASCII
•Binary
Abbreviated ASCII is the easiest to use for your input. The other two formats include a CRC for error
checking and are intended for use when interfacing with other electronic equipment.
Here are examples of the same command in each format:
Abbreviated ASCII Example:
LOG COM1 BESTPOSB ONTIME 1[CR]
ASCII Example:
LOGA,COM2,0,66.0,UNKNOWN,0,15.917,004c0000,5255,32858;COM1,
BESTPOSB,ONTIME,1.000000,0.000000,NOHOLD*F95592DD[CR]
Binary Example:
AA44121C 01000240 20000000 1D1D0000 29160000 00004C00 55525A80
20000000 2A000000 02000000 00000000 0000F03F 00000000 00000000
00000000 2304B3F1
2.2 Command Settings
There are several ways to determine the current command settings of the receiver:
1. Request an RXCONFIG log, see page 544. This log provides a listing of all commands
and their parameter settings. It also provides the most complete information, but the size
and format do not make it easy to read.
2. For some specific commands, logs are available to indicate all their parameter settings.
The LOGLIST log, see page 355, shows all active logs in the receiver beginning with the
LOG command. The COMCONFIG log, see page 291, shows both the COM and
INTERFACEMODE commands parameter settings for all serial ports.
3. Request a log of the specific command of interest to show the parameters last entered for
that command. The format of the log produced is exactly the same as the format of the
specific command with updated header information.
36 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
This is very useful for most commands, but for commands that are repeated with different
parameters (for example, COM, LOG, and INTERFACEMODE), this only shows the most
recent set of parameters used. To see all sets of parameters try method 1 or 2 above.
Abbreviated ASCII Example:
log fix
<FIX COM1 0 45.0 FINE 1114 151898.288 00200000 dbfd 33123
< NONE -10000.00000000000 -10000.00000000000 -10000.0000
2.3 Commands by Function
Table 9 lists the commands by function while Table 10 on page 40 is an alphabetical listing of
commands (repeated in Table 11 on page 47 with the commands in the order of their message IDs).
Please see 2.5, Command Reference on page 56 for a more detailed description of individual
commands which are listed alphabetically.
Table 9: Communications, Control and Status Functions
COMMAND DESCRIPTION
COMMUNICATIONS, CONTROL AND STATUS
ANTENNAPOWER Control power to low-noise amplifier (LNA) of an active antenna
COM Set COM port configuration
COMCONTROL Control the hardware control lines of the RS232 ports
FREQUENCYOUT Set the output pulse train available on VARF
INTERFACEMODE Set interface type, Receive (Rx)/Transmit (Tx), for a port
LOG Request a log
MARKCONTROL Control processing of the mark inputs
PPSCONTROL Control the PPS output
SEND Send ASCII message to a port
SENDHEX Send non-printable characters to a port
TUNNELESCAPE Break out of an established tunnel
UNLOG, UNLOGALL Remove one or all logs from logging control
Continued on the following page.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 37
GENERAL RECEIVER CONTROL
AUTH Add authorization code for new model
DYNAMICS Tune receiver parameters
RESET Perform a hardware reset
FRESET Reset receiver to factory default
MODEL Switch receiver to a previously AUTHed model
NVMRESTORE Restore NVM data after a failure in NVM
SAVECONFIG Save current configuration
STATUSCONFIG Configure various status mask fields in RXSTATUSEVENT log
POSITION, PARAMETRES, AND SOLUTION FILTERING CONTROL
CSMOOTH Set amount of carrier smoothing
DATUM Choose a DATUM name type
DIFFCODEBIASCONTROL Enable or disable satellite differential code biases
ECUTOFF Set satellite elevation cut-off for solutions
FIX Constrain receiver height or position
FIXPOSDATUM Set the position in a specified datum
GGAQUALITY Customize the GPGGA GPS quality indicator
HDTOUTTHRESHOLD Control the NMEA GPHDT log output
HPSEED Specify the initial position for OmniSTAR HP/XP
HPSTATICINIT Set static initialization of OmniSTAR HP/XP
IONOCONDITION Set ionospheric condition
LOCALIZEDCORRECTION
-DATUM
Set a local datum
NMEATALKER Set the NMEA talker ID
PDPFILTER Enable, disable or reset the Pseudorange/Delta-Phase (PDP) filter
PDPMODE Select the PDP mode and dynamics
RTKCOMMAND Reset the RTK filter or set the filter to default settings
RTKDYNAMICS Setup the RTK dynamics mode
Continued on the following page.
COMMAND DESCRIPTION
38 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
POSITION, PARAMETRES, AND SOLUTION FILTERING CONTROL
SBASCONTROL Set SBAS test mode and PRN
SETDIFFCODEBIASES Set satellite differential code biases
SETIONOTYPE Set the ionospheric corrections model
UNDULATION Set ellipsoid-geoid separation
USERDATUM Set user-customized datum
USEREXPDATUM Set custom expanded datum
UTMZONE Set UTM parameters
SATELLITE TRACKING AND CHANNEL CONTROL
ASSIGN Assign individual satellite channel
ASSIGNALL Assign all satellite channels
CNOUPDATE C/No update rate and resolution
DYNAMICS Tune receiver parameters
ECUTOFF Set satellite tracking elevation cut-off
FORCEGPSL2CODE Force the receiver to track L2C or P-code
GLOCSMOOTH Carrier smoothing for GLONASS channels
GLOECUTOFF Set the GLONASS satellite elevation cut-off angle
LOCKOUT Prevent the receiver from using a satellite by specifying its PRN
SATCUTOFF Limits the number of satellites being tracked
SETAPPROXPOS Set an approximate position
SETAPPROXTIME Set an approximate GPS time
UNASSIGN Unassign a previously ASSIGNed channel
UNASSIGNALL Unassign all previously ASSIGNed channels
UNLOCKOUT Reinstate a satellite in the solution
UNLOCKOUTALL Reinstate all previously locked out satellites
WAASECUTOFF Set SBAS satellite elevation cut-off
Continued on the following page.
COMMAND DESCRIPTION
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 39
WAYPOINT NAVIGATION
MAGVAR Set magnetic variation correction
SETNAV Set waypoints
DIFFERENTIAL BASE STATION
BASEANTENNAMODEL Enter or change a base antenna model
DGPSEPHEMDELAY DGPS ephemeris delay
DGPSTXID DGPS transmit ID
FIX Constrain receiver height or position
INTERFACEMODE Set interface type Transmit (Tx), for a port
LOG Select required differential-output log
MOVINGBASESTATION Set ability to use a moving base station position
POSAVE Set up position averaging
FIXPOSDATUM Fix position in a datum
RTKANTENNA Specify L1 phase center (PC) or antenna reference point (ARP)
RTKNETWORK Specify the RTK network mode
RTKSVENTRIES Set the number of satellites to include in RTK corrections
SETRTCM16 Enter ASCII message to be sent in RTCM data stream
SETRTCM36 Enter ASCII message including Russian characters
DIFFERENTIAL ROVER STATION
ANTENNAMODEL Enter or change a rover antenna model
ASSIGNLBAND Set L-band satellite communication parameters
DGPSEPHEMDELAY DGPS ephemeris delay
CDGPSTIMEOUT Set maximum age of CDGPS data accepted
DGPSTIMEOUT Set maximum age of differential data accepted
HPSEED Specify the initial position for OmniSTAR HP/XP
HPSTATICINIT Set static initialization of OmniSTAR HP/XP
INTERFACEMODE Set interface type, Receive (Rx), for a COM port
Continued on the following page.
COMMAND DESCRIPTION
40 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
Table 10: OEMV Family Commands in Alphabetical Order
DIFFERENTIAL ROVER STATION
POSTIMEOUT Set the position time out value for RTK
PSRDIFFSOURCE Set the pseudorange correction source
PSRVELOCITYTYPE Specific the Doppler source
RTKDYNAMICS Set the RTK dynamics mode
RTKCOMMAND Issue RTK specific commands
RTKQUALITYLEVEL Choose an RTK quality mode
RTKSOURCE Set the RTK correction source
RTKTIMEOUT Set the maximum age of RTK data accepted
SBASCONTROL Set SBAS test mode and PRN
SETAPPROXPOS Set an approximate position
SETAPPROXTIME Set an approximate GPS time
SETRTCMRXVERSION Set the receiver to expect RTCM version 2.2 or 2.3 messages
WAASTIMEOUT Set maximum age of WAAS data accepted
CLOCK INFORMATION, STATUS, AND TIME
ADJUST1PPS Adjust the receiver clock
CLOCKADJUST Enable/disable adjustments to internal clock and 1PPS output
CLOCKCALIBRATE Adjust the control parameters of the clock steering loop
CLOCKOFFSET Adjust for antenna RF cable delay in PPS output
EXTERNALCLOCK Set the parameters for an external clock
SETAPPROXTIME Set an approximate time
COMMAND DESCRIPTION
COMMAND MESSAGE
ID DESCRIPTION SYNTAX
ADJUST1PPS 429 Adjust the receiver clock adjust1pps mode [period]
[offset]
ANTENNAMODEL 841 Enter or change a rover
antenna model
antennamodel name SN
setupID type [L1 offset] [L1 var]
[L2 offset] [L2 var]
Continued on the following page.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 41
ANTENNAPOWER 98 Control power to low-noise
amplifier of an active
antenna
antennapower flag
ASSIGN 27 Assign individual satellite
channel to a PRN
assign channel [state] prn
[Doppler [Doppler window]]
ASSIGNALL 28 Assign all satellite
channels to a PRN
assignall [system] [state] prn
[Doppler [Doppler window]]
ASSIGNLBAND 729 Set L-band satellite
communication
parameters
assignlband mode freq baud
AUTH 49 Add authorization code for
new model
auth [state] part1 part2 part3
part4 part5 model [date]
BASEANTENNA-
MODEL
870 Enter or change a base
antenna model
baseantennamodel name SN
setupID type [L1 offset] [L1 var]
[L2 offset] [L2 var]
CDGPSTIMEOUT 850 Set maximum age of
CDGPS data accepted
cdgpstimeout mode [delay]
CLOCKADJUST 15 Enable clock adjustments clockadjust switch
CLOCKCALIBRATE 430 Adjust the control
parameters of the clock
steering loop
clockcalibrate mode [period]
[width] [slope] [bandwidth]
CLOCKOFFSET 596 Adjust for antenna RF
cable delay in PPS output
clockoffset offset
CNOUPDATE 849 C/No update rate and
resolution
cnoupdate rate
COM 4 COM port configuration
control
com [port] bps [parity [databits
[stopbits [handshake [echo
[break]]]]]]
COMCONTROL 431 Control the hardware
control lines of the RS232
ports
comcontrol port signal control
CSMOOTH 269 Set carrier smoothing csmooth L1time [L2time]
Continued on the following page.
COMMAND MESSAGE
ID DESCRIPTION SYNTAX
42 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
DATUM 160 Choose a DATUM name
type
datum datum
DGPSEPHEMDELAY 142 DGPS ephemeris delay dgpsephemdelay delay
DGPSTIMEOUT 127 Set maximum age of
differential data accepted
dgpstimeout delay
DGPSTXID 144 DGPS transmit ID dgpstxid type ID
DIFFCODEBIAS-
CONTROL
913 Enable or disable satellite
differential code biases
diffcodebiascontrol switch
DYNAMICS 258 Tune receiver parameters dynamics dynamics
ECUTOFF 50 Set satellite elevation cut-
off
ecutoff angle
EXTERNALCLOCK 230 Set external clock
parameters
externalclock clocktype [freq]
[h0 [h1 [h2]]]
FIX 44 Constrain to fixed height or
position
fix type [param1 [param2
[param3]]]
FIXPOSDATUM 761 Set the position in a
specified datum
position datum [lat [lon [height]]]
FORCEGPSL2CODE 796 Force the receiver to track
L2C or P-code
forcegpsl2code L2type
FREQUENCYOUT 232 Sets the output pulse train
available on VARF.
frequencyout [switch]
[pulsewidth] [period]
FRESET 20 Clear almanac model, or
user configuration data,
which is stored in NVM and
followed by a receiver
reset.
freset [target]
GGAQUALITY 691 Customize the GPGGA
GPS quality indicator
ggaquality #entries [pos
type1][qual1] [pos type2]
[qual2]...
GLOCSMOOTH 830 Carrier smoothing for
GLONASS channels
glocsmooth L1time [L2time]
Continued on the following page.
COMMAND MESSAGE
ID DESCRIPTION SYNTAX
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 43
GLOECUTOFF 735 Set the GLONASS satellite
elevation cut-off angle
gloecutoff angle
HDTOUTTHRESHOLD 1062 Control the NMEA GPHDT
log output
hdtoutthreshold thres
HPSEED 782 Specify the initial position
for OmniSTAR HP/XP
hpseed mode lat lon hgt lats lons
hgts datum undulation
HPSTATICINIT 780 Set static initialization of
OmniSTAR HP/XP
hpstaticinit switch
INTERFACEMODE 3 Set interface type, Receive
(Rx)/Transmit (Tx), for
ports
interfacemode [port] rxtype
txtype [responses]
IONOCONDITION 1215 Set ionospheric condition
for RTK performance
ionocondition mode
LOCALIZED-
CORRECTION-
DATUM
947 Set a local datum localizedcorrectiondatum type
LOCKOUT 137 Prevent the receiver from
using a satellite by
specifying its PRN
lockout prn
LOG 1 Request logs from receiver log [port] message [trigger
[period [offset [hold]]]]
MAGVAR 180 Set magnetic variation
correction
magvar type [correction
[stddev]]
MARKCONTROL 614 Control the processing of
the mark inputs
markcontrol signal switch
[polarity] [timebias [timeguard]]
MODEL 22 Switch to a previously
AUTHed model
model model
MOVINGBASE-
STATION
763 Set ability to use a moving
base station position
movingbasestation switch
NMEATALKER 861 Set the NMEA talker ID nmeatalker ID
NVMRESTORE 197 Restore NVM data after a
failure in NVM
nvmrestore
Continued on the following page.
COMMAND MESSAGE
ID DESCRIPTION SYNTAX
44 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
PDPFILTER 424 Enable, disable or reset the
PDP filter
pdpfilter switch
PDPMODE 970 Select the PDP mode and
dynamics
pdpmode mode dynamics
POSAVE 173 Implement position
averaging for base station
posave [state] maxtime
[maxhstd [maxvstd]]
POSTIMEOUT 612 Sets the position time out
value for RTK
postimeout sec
PPSCONTROL 613 Control the PPS output ppscontrol switch [polarity] [rate]
PSRDIFFSOURCE 493 Set the pseudorange
correction source
psrdiffsource type ID
PSRVELOCITYTYPE 950 Specify the Doppler source psrvelocitytype [source]
RESET 18 Perform a hardware reset reset [delay]
RTKANTENNA 858 Specify L1 phase center
(PC) or antenna reference
point (ARP)
rtkantenna posref pcv
RTKCOMMAND 97 Reset the RTK filter or set
the filter to default settings
rtkcommand action
RTKDYNAMICS 183 Set the RTK dynamics
mode
rtkdynamics mode
RTKNETWORK 951 Specify the RTK network
mode
rtknetwork mode [network#]
RTKQUALITYLEVEL 844 Choose an RTK quality
level
rtkqualitylevel mode
RTKSOURCE 494 Set the RTK correction
source
rtksource type ID
RTKSVENTRIES 92 Set the number of satellites
to use in corrections
rtksventries number
RTKTIMEOUT 910 Set the maximum age of
RTK data accepted
rtktimeout delay
Continued on the following page.
COMMAND MESSAGE
ID DESCRIPTION SYNTAX
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 45
SATCUTOFF 935 Limit the number of
satellites to track
satcutoff switch
SAVECONFIG 19 Save current configuration
in non-volatile memory
saveconfig
SBASCONTROL 652 Set SBAS test mode and
PRN
sbascontrol keyword [system]
[prn] [testmode]
SEND 177 Send an ASCII message to
any of the communications
ports
send port data
SENDHEX 178 Send non-printable
characters in hexadecimal
pairs
sendhex port length data
SETAPPROXPOS 377 Set an approximate
position
setapproxpos lat lon height
SETAPPROXTIME 102 Set an approximate GPS
time
setapproxtime week sec
SETBESTPOS-
CRITERIA
839 Set criteria for the
BESTPOS log
setbestposcriteria type delay
SETDIFFCODE-
BIASES
687 Set satellite differential
code biases
setdiffcodebiases [bias_type]
[array of 40 biases (ns)]
SETIONOTYPE 711 Set the ionospheric
corrections model
setionotype model
SETNAV 162 Set start and destination
waypoints
setnav fromlat fromlon tolat
tolon track offset from-point to-
point
SETRTCM16 131 Enter an ASCII text
message to be sent out in
the RTCM data stream
setrtcm16 text
SETRTCM36 880 Enter ASCII message
including Russian
characters
setrtcm36 extdtext
SETRTCMRXVER-
SION
1216 Set the receiver to expect
RTCM version 2.2 or 2.3
messages
setrtcmrxversion text
Continued on the following page.
COMMAND MESSAGE
ID DESCRIPTION SYNTAX
46 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
STATUSCONFIG 95 Configure various status
mask fields in
RXSTATUSEVENT log
statusconfig type word mask
TUNNELESCAPE 962 Break out of an established
tunnel
tunnelescape [switch] [length]
[esc seq]
UNASSIGN 29 Unassign a previously
ASSIGNed channel
unassign channel
UNASSIGNALL 30 Unassign all previously
ASSIGNed channels
unassignall [system]
UNDULATION 214 Choose undulation undulation option [separation]
UNLOCKOUT 138 Reinstate a satellite in the
solution computation
unlockout prn
UNLOCKOUTALL 139 Reinstate all previously
locked out satellites
unlockoutall
UNLOG 36 Remove log from logging
control
unlog [port] datatype
UNLOGALL 38 Remove all logs from
logging control
unlogall [port]
USERDATUM 78 Set user-customized
datum
userdatum semimajor flattening
dx dy dz rx ry rz scale
USEREXPDATUM 783 Set custom expanded
datum
userexpdatum semimajor
flattening dx dy dz rx ry rz scale
xvel yvel zvel xrvel yrvel zrvel
scalev refdate
UTMZONE 749 Set UTM parameters utmzone command parametre
WAASECUTOFF 505 Set SBAS satellite
elevation cut-off
waasecutoff angle
WAASTIMEOUT 851 Set maximum age of
WAAS data accepted
waastimeout mode [delay]
COMMAND MESSAGE
ID DESCRIPTION SYNTAX
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 47
Table 11: OEMV Commands in Numerical Order
Message
ID Command Description Syntax
1 LOG Request logs from receiver log [port] message [trigger [period
[offset [hold]]]]
3 INTERFACEMODE Set interface type, Receive
(Rx)/Transmit (Tx), for
ports
interfacemode [port] rxtype txtype
[responses]
4 COM COM port configuration
control
com [port] bps [parity [databits
[stopbits [handshake [echo
[break]]]]]]
15 CLOCKADJUST Enable clock adjustments clockadjust switch
18 RESET Perform a hardware reset reset [delay]
19 SAVECONFIG Save current configuration
in non-volatile memory
saveconfig
20 FRESET Clear almanac model, or
user configuration data,
which is stored in NVM and
followed by a receiver
reset.
freset [target]
22 MODEL Switch to a previously
AUTHed model
model model
27 ASSIGN Assign individual satellite
channel to a PRN
assign channel [state] prn [Doppler
[Doppler window]]
28 ASSIGNALL Assign all satellite
channels to a PRN
assignall [system] [state] prn
[Doppler [Doppler window]]
29 UNASSIGN Unassign a previously
ASSIGNed channel
unassign channel
30 UNASSIGNALL Unassign all previously
ASSIGNed channels
unassignall [system]
36 UNLOG Remove log from logging
control
unlog [port] datatype
38 UNLOGALL Remove all logs from
logging control
unlogall [port]
Continued on the following page.
48 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
44 FIX Constrain to fixed height or
position
fix type [param1 [param2 [param3]]]
49 AUTH Add authorization code for
new model
auth [state] part1 part2 part3 part4
part5 model [date]
50 ECUTOFF Set satellite elevation cut-
off
ecutoff angle
78 USERDATUM Set user-customized
datum
userdatum semimajor flattening dx
dy dz rx ry rz scale
92 RTKSVENTRIES Set the number of
satellites to use in
corrections
rtksventries number
95 STATUSCONFIG Configure various status
mask fields in
RXSTATUSEVENT log
statusconfig type word mask
97 RTKCOMMAND Reset the RTK filter or set
the filter to default settings
rtkcommand action
98 ANTENNAPOWER Control power to low-noise
amplifier of an active
antenna
antennapower flag
102 SETAPPROXTIME Set an approximate GPS
time
setapproxtime week sec
127 DGPSTIMEOUT Set maximum age of
differential data accepted
dgpstimeout delay
131 SETRTCM16 Enter an ASCII text
message to be sent out in
the RTCM data stream
SETRTCM16 text
137 LOCKOUT Prevent the receiver from
using a satellite by
specifying its PRN
lockout prn
138 UNLOCKOUT Reinstate a satellite in the
solution computation
unlockout prn
139 UNLOCKOUTALL Reinstate all previously
locked out satellites
unlockoutall
Continued on the following page.
Message
ID Command Description Syntax
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 49
142 DGPSEPHEM-
DELAY
DGPS ephemeris delay dgpsephemdelay delay
144 DGPSTXID DGPS transmit ID dgpstxid type ID
160 DATUM Choose a DATUM name
type
datum datum
162 SETNAV Set start and destination
waypoints
setnav fromlat fromlon tolat tolon
track offset from-point to-point
173 POSAVE Implement position
averaging for base station
posave[state] maxtime [maxhstd
[maxvstd]]
177 SEND Send an ASCII message to
any of the communications
ports
send port data
178 SENDHEX Send non-printable
characters in hexadecimal
pairs
sendhex port length data
180 MAGVAR Set magnetic variation
correction
magvar type [correction [stddev]]
183 RTKDYNAMICS Set the RTK dynamics
mode
rtkdynamics mode
197 NVMRESTORE Restore NVM data after a
failure in NVM
nvmrestore
214 UNDULATION Choose undulation undulation option [separation]
230 EXTERNALCLOCK Set external clock
parametres
externalclock clocktype [freq] [h0
[h1 [h2]]]
232 FREQUENCYOUT Sets the output pulse train
available on VARF.
frequencyout [switch] [pulsewidth]
[period]
258 DYNAMICS Tune receiver parameters dynamics dynamics
269 CSMOOTH Set carrier smoothing csmooth L1time [L2time]
377 SETAPPROXPOS Set an approximate
position
setapproxpos lat lon height
Continued on the following page.
Message
ID Command Description Syntax
50 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
424 PDPFILTER Enable, disable or reset
the PDP filter
pdpfilter switch
429 ADJUST1PPS Adjust the receiver clock adjust1pps mode [period] [offset]
430 CLOCKCALIBRATE Adjust the control
parameters of the clock
steering loop
clockcalibrate mode [period] [width]
[slope] [bandwidth]
431 COMCONTROL Control the hardware
control lines of the RS232
ports
comcontrol port signal control
493 PSRDIFFSOURCE Set the pseudorange
correction source
psrdiffsource type ID
494 RTKSOURCE Set the RTK correction
source
rtksource type ID
505 WAASECUTOFF Set SBAS satellite
elevation cut-off
waasecutoff angle
596 CLOCKOFFSET Adjust for antenna RF
cable delay
clockoffset offset
612 POSTIMEOUT Sets the position time out postimeout sec
613 PPSCONTROL Control the PPS output ppscontrol switch [polarity] [rate]
614 MARKCONTROL Control the processing of
the mark inputs
markcontrol signal switch [polarity]
[timebias [timeguard]]
652 SBASCONTROL Set SBAS test mode and
PRN
sbascontrol keyword [system] [prn]
[testmode]
687 SETDIFFCODE-
BIASES
Set satellite differential
code biases
setdiffcodebiases [bias_type] [array
of 40 biases (ns)]
691 GGAQUALITY Customize the GPGGA
GPS quality indicator
#entries [pos type1][qual1] [pos
type2] [qual2]...
711 SETIONOTYPE Set the ionospheric
corrections model
setionotype model
Continued on the following page.
Message
ID Command Description Syntax
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 51
729 ASSIGNLBAND Set L-band satellite
communication
parameters
assignlband mode freq baud
735 GLOECUTOFF Set the GLONASS satellite
elevation cut-off
gloecutoff angle
749 UTMZONE Set UTM parameters utmzone command parametre
761 FIXPOSDATUM Set the position in a
specified datum
position datum [lat [lon [height]]]
763 MOVINGBASE-
STATION
Set ability to use a moving
base station position
movingbasestation switch
780 HPSTATICINIT Set static initialization of
OmniSTAR HP/XP
hpstaticinit switch
782 HPSEED Specify the initial position
for OmniSTAR HP/XP
hpseed mode lat lon hgt lats lons
hgts datum undulation
783 USEREXPDATUM Set custom expanded
datum
userexpdatum semimajor flattening
dx dy dz rx ry rz scale xvel yvel zvel
xrvel yrvel zrvel scalev refdate
796 FORCEGPSL2-
CODE
Force the receiver to track
L2C or P-code
forcegpsl2code L2type
830 GLOCSMOOTH Carrier smoothing for
GLONASS channels
glocsmooth L1time [L2time]
839 SETBESTPOS-
CRITERIA
Set criteria for the
BESTPOS log
setbestposcriteria type delay
841 ANTENNAMODEL Enter or change a rover
antenna model
antennamodel name SN setupID
type [L1 offset] [L1 var] [L2 offset]
[L2 var]
844 RTKQUALITYLEVEL Choose an RTK quality
level
rtkqualitylevel mode
849 CNOUPDATE C/No update rate and
resolution
cnoupdate rate
850 CDGPSTIMEOUT Set maximum age of
CDGPS data accepted
cdgpstimeout mode [delay]
Continued on the following page.
Message
ID Command Description Syntax
52 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
851 WAASTIMEOUT Set maximum age of
WAAS data accepted
waastimeout mode [delay]
858 RTKANTENNA Specify L1 phase center
(PC) or antenna reference
point (ARP)
rtkantenna posref [pc]
861 NMEATALKER Set the NMEA talker ID nmeatalker ID
870 BASEANTENNA-
MODEL
Enter or change a base
antenna model
baseantennamodel name SN
setupID type [L1 offset] [L1 var] [L2
offset] [L2 var]
880 SETRTCM36 Enter ASCII message
including Russian chars
setrtcm36 extdtext
910 RTKTIMEOUT Set the maximum age of
RTK data accepted
rtktimeout delay
913 DIFFCODEBIAS-
CONTROL
Enable or disable satellite
differential code biases
diffcodebiascontrol switch
935 SATCUTOFF Limit the number of
satellites to track
satcutoff switch
947 LOCALIZED-
CORRECTION-
DATUM
Set a local datum localizedcorrectiondatum type
950 PSRVELOCITY-
TYPE
Specify the Doppler source psrvelocitytype [source]
951 RTKNETWORK Specify the RTK network
mode
rtknetwork mode [network#]
962 TUNNELESCAPE Break out of an
established tunnel
tunnelescape [switch] [length]
[esc seq]
970 PDPMODE Select the PDP mode and
dynamics
pdpmode mode dynamics
1215 IONOCONDITION Set ionospheric condition
for RTK performance
ionocondition mode
1216 SETRTCMRXVERS-
ION
Set receiver to expect
RTCM version 2.2 or 2.3
messages
setrtcmversion text
Continued on the following page.
Message
ID Command Description Syntax
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 53
When the receiver is first powered up, or after a FRESET command, all commands revert to their
factory default settings. The SAVECONFIG command can be used to modify the power-on defaults.
Use the RXCONFIG log to determine command and log settings.
Ensure that all windows, other than the Console window, are closed in NovAtel’s Control and Display
Unit (CDU) user interface before you issue the SAVECONFIG command.
FRESET STANDARD causes all previously stored user configurations saved to non-volatile
memory to be erased (including Saved Config, Saved Almanac, Saved Ephemeris, and L-
band-related data, excluding subscription information).
1062 HDTOUT-
THRESHOLD
Control the NMEA GPHDT
log output
hdtoutthreshold thres
Message
ID Command Description Syntax
54 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
2.4 Factory Defaults
When the receiver is first powered up, or after a FRESET command (see page 121), all commands
revert to their factory default settings. When you use a command without specifying its optional
parameters, it may have a different command default than the factory default. The SAVECONFIG
command (see page 187) can be used to save these defaults. Use the RXCONFIG log (see page 544)
to reference many command and log settings.
The factory defaults are:
ADJUST1PPS OFF
ANTENNAPOWER ON
ASSIGNLBAND IDLE
CLOCKADJUST ENABLE
CLOCKOFFSET 0
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
COMCONTROL COM1 RTS DEFAULT
COMCONTROL COM2 RTS DEFAULT
COMCONTROL COM3 RTS DEFAULT
CSMOOTH 100 100
DATUM WGS84
DGPSEPHEMDELAY 120
DGPSTIMEOUT 300
DGPSTXID AUTO “ANY”
DYNAMICS AIR
ECUTOFF 5.0
EXTERNALCLOCK DISABLE
FIX NONE
FIXPOSDATUM NONE
FORCEGPSL2CODE DEFAULT
FREQUENCYOUT DISABLE
GLOCSMOOTH 100 100
GLOECUTOFF 5.0
HDTOUTTHRESHOLD 2.0
HPSEED RESET
HPSTATICINIT DISABLE
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
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 55
INTERFACEMODE USB3 NOVATEL NOVATEL ON
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
LOG USB1 RXSTATUSEVENTA ONNEW 0 0 HOLD
LOG USB2 RXSTATUSEVENTA ONNEW 0 0 HOLD
LOG USB3 RXSTATUSEVENTA ONNEW 0 0 HOLD
MAGVAR CORRECTION 0 0
MARKCONTROL MARK1 ENABLE NEGATIVE 0 0
MARKCONTROL MARK2 ENABLE NEGATIVE 0 0
MOVINGBASESTATION DISABLE
NMEATALKER gp
POSAVE OFF
POSTIMEOUT 600
PPSCONTROL ENABLE NEGATIVE 1.0 0
PSRDIFFSOURCE AUTO “ANY”
RTKCOMMAND USE_DEFAULTS
RTKANTENNA UNKNOWN DISABLE
RTKDYNAMICS DYNAMIC
RTKQUALITYLEVEL NORMAL
RTKSVENTRIES 24
RTKSOURCE AUTO “ANY”
RTKTIMEOUT 60
SATCUTOFF DISABLE
SBASCONTROL DISABLE AUTO 0 NONE
SETIONOTYPE AUTO
SETNAV 90.0 0.0 90.0 0.0 0.0 from to
SETRTCMRXVERSION V23
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
UNDULATION EGM96
USERDATUM 6378137.0 298.2572235628 0.0 0.0 0.0 0.0 0.0 0.0 0.0
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
UTMZONE AUTO 0
WAASECUTOFF -5.000000000
56 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
2.5 Command Reference
When you use a command without specifying its optional parameters, it may have a different
command default than the factory default. See Section 2.4 starting on Page 54 for the factory default
settings and the individual commands in the sections that follow for their command defaults.
2.5.1 ADJUST1PPS Adjust the receiver clock V123
This command is used to adjust the receiver clock or as part of the procedure to transfer time between
receivers. The number of pulses per second (PPS) is always set to 1 Hz with this command. It is
typically used when the receiver is not adjusting its own clock and is using an external reference
frequency.
To disable the automatic adjustment of the clock, refer to the CLOCKADJUST command on Page 79.
To configure the receiver to use an external reference oscillator, see the EXTERNALCLOCK
command on Page 112.
The ADJUST1PPS command can be used to:
1. Manually shift the phase of the clock
2. Adjust the phase of the clock so that the output 1PPS signal matches an external signal
3. Set the receiver clock close to that of another GPS receiver
4. Set the receiver clock exactly in phase of another GPS receiver
1. The resolution of the clock synchronization is 50 ns.
2. To adjust the 1PPS output when the receiver’s internal clock is being used and the
CLOCKADJUST command is enabled, use the CLOCKOFFSET command on Page 85.
3. If the 1PPS rate is adjusted, the new rate does not start until the next second begins.
Figure 1 on Page 57 shows the 1PPS alignment between a Fine and a Cold Clock receiver. See also
the TIMESYNC log on page 564 and the Transfer Time Between Receivers section in the OEMV
Family Installation and Operation User Manual.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 57
Figure 1: 1PPS Alignment
The 1PPS is obtained from different receivers in different ways.
If you are using a:
Bare Card The 1PPS output strobe is on pin# 7 of the OEMV-2 or pin# 4 of the OEMV-1.
ProPak-V3™ A DB9F connector on the back of the enclosure provides external access to
various I/O strobes to the internal card. This includes the 1PPS output signal,
which is accessible on pin# 2 of the DB9F connector.
Alternatively, the 1PPS signal can be set up to be output on the RTS signal of COM1, COM2, or
COM3, or the DTR signal of COM2 using the COMCONTROL command, see page 90. The accuracy
of the 1PPS is less using this method, but may be more convenient in some circumstances.
COM3 is not available on the OEMV-1 card.
To find out the time of the last 1PPS output signal use the TIMESYNCA/B output message, see page
564, which can be output serially on any available COM port, for example:
LOG COM1 TIMESYNCA ONTIME 1
Abbreviated ASCII Syntax: Message ID: 429
ADJUST1PPS mode [period] [offset]
Factory Default:
adjust1pps off
ASCII Example:
adjust1pps mark continuous 240
1PPS IN
(1 ms)
TIMESYNC log,
transmit time
dependant
on baud rate
RS232
TTL
Fine
Receiver
Connected to
COM Input
On Warm
Clock Receiver
1PPS on
Fine Receiver
Connected
to MK1I on
Warm Clock
Receiver
Th e n e x t
TI M ESYN C
log is
triggered
by the
next PPS
10 ms
58 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
You can use the ADJUST1PPS command to synchronize two OEMV cards in a
primary/secondary relationship to a common external clock.
At the Primary Receiver:
log com2 timesynca ontime 1
clockadjust disable
externalclock ocxo (you can choose rubidium, cesium or user instead)
externalclock frequency 10 (you can choose 5 instead)
At the Secondary Receiver:
interfacemode com2 novatel novatel
clockadjust disable
adjust1pps mark (or markwithtime or time depending on your connection,
see Figure 2 on Page 59)
externalclock ocxo (you can choose rubidium, cesium or user instead)
externalclock frequency 10 (you can choose 5 instead)
Connections:
• Null modem cable connected from Primary COM2 to Secondary COM2
• OCXO signal sent through a splitter to feed both the Primary and Secondary
external clock inputs
• Primary 1PPS (pin# 2) connected to Secondary MKI (Mark Input, pin# 4)
Make sure that you connect everything before you apply power. If power is applied
and the OEMV receivers have acquired satellites before the OCXO and/or 1PPS =
MKI is set up, the times reported by the TIMESYNC logs still diverge. We noted that
after the clock model was stabilized at state 0, the time difference between the
Primary and Secondary reported by the TIMESYNC log was less than 10 ns.
In Figure 2 on Page 59, the examples are for the transfer of time. If you need position, you
must be tracking satellites and your receiver must have a valid almanac.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 59
adjust1pps mark (if Receiver 2 is not in coarsetime, the input is ignored)
adjust1pps markwithtime (will get to finetime)
adjust1pps time (will only get to coarsetime)
Figure 2: ADJUST1PPS Connections
7
OCXO
1PPS Mark
Receiver 1 Receiver 2
7
OCXO
1PPS Mark
Receiver 1 Receiver 2
COM
COM
TIMESYNC
7
OCXO
Receiver 1 Receiver 2
COM COM
TIMESYNC
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1ADUST-
1PPS
header
- - This field contains the
command name
- H 0
Continued on page 60.
60 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
2mode OFF 0Disables ADJUST1PPS
(default).
Enum 4 H
MANUAL 1Immediately shifts the
receivers time by the offset
field in ns. The period field
has no effect in this mode.
This command does not
affect the clock state
MARKa2Shifts the receiver time to
align its 1PPS with the
signal received in the MK1I
port adjusted by the offset
field in ns. The effective
shift range is ± 0.5 s.
MARKWITHTIMEb3Shifts the receiver time to
align its 1PPS with the
signal received in the MK1I
port adjusted by the offset
field in ns, and sets the
receiver TOW and week
number, to that embedded
in a received TIMESYNC
log, see Page 564. It also
sets the receiver Time
Status to that embedded in
the TIMESYNC log, which
must have arrived between
800 and 1000 ms prior to
the MK1I event
(presumably the 1PPS
from the Primary), or it is
rejected as an invalid
message.
TIME 4If the receiver clock is not
at least COARSE
adjusted, this command
enables the receiver to
COARSE adjust its time
upon receiving a valid
TIMESYNC log in any of
the ports. The clock state
embedded in the
TIMESYNC log must be at
least FINE or
FINESTEERING before it
is considered. The receiver
does not use the MK1I
event in this mode.
Continued on page 61.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 61
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
3period ONCE 0The time is synchronized
only once (default). The
ADJUST1PPS command
must be re-issued if
another synchronization is
required.
Enum 4H+4
CONTINUOUS 1The time is continuously
monitored and the receiver
clock is corrected if an
offset of more than 50 ns is
detected.
4offset -2147483648 to
+2147483647
Allows the operator to shift
the Secondary clock in 50
ns increments. In
MANUAL mode, this
command applies an
immediate shift of this
offset in ns to the receiver
clock. In MARK and
MARKWITHTIME mode,
this offset shifts the
receiver clock with respect
to the time of arrival of the
MK1I event. If this offset is
zero, the Secondary aligns
its 1PPS to that of the
signal received in its MK1I
port. For example, if this
value was set to 50, then
the Secondary would set
its 1PPS 50 ns ahead of
the input signal and if this
Long 4H+8
a. Only the MK1I input can be used to synchronize the 1PPS signal. Synchronization cannot be done
using the MK2I input offered on some receivers.
b. It is presumed that the TIMESYNC log, see Page 564, was issued by a Primary GPS receiver within
1000 ms, but not less than 800 ms, of the last 1PPS event, see Figure 1, 1PPS Alignment on Page
57. Refer also to the Transfer Time Between Receivers section in the OEMV Family Installation and
Operation User Manual.
62 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
2.5.2 ANTENNAMODEL Enter/change rover antenna model V123
This command allows you to enter or change an antenna model for a rover 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 BASEANTENNAMODEL, page 76, to set these
parameters for the base, 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.
For proper usage, the rover receiver needs to have both ANTENNAMODEL and
BASEANTENNAMODEL data entered locally. Existing differential messaging
standards do not include transmission of all data found in BASEANTENNAMODEL.
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: 841
ANTENNAMODEL 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:
antennamodel none none 0 none
ASCII Example:
antennamodel 702gg nae07070025 3 user 3.0 -1.0 68.4 0.0 0.0
0.1 0.0 0.0 -0.2 -0.5 -0.8 -1.1 -1.3 -1.4 -1.7 -1.7 -1.8
-1.8 -1.4 -0.4 0.0 0.0 -0.6 -1.4 70.9 0.0 -0.9 -1.3 -1.5
-1.5 -1.5 -1.6 -1.7 -2.0 -2.2 -2.4 -2.7 -2.8 -2.9 -2.8 -2.7
-2.3 0.0 0.0
This example is using absolute calibration values from NGS for a NovAtel 702 Antenna.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 63
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1ANTENNA-
MODEL 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
2name Antenna name String[32] Vari-
able a
H
3SN Antenna serial number String[32] Vari-
able a
Variable
4setupID Setup identification -
setting this value changes
the appropriate field in
RTCM23, RTCM1007 and
RTCM1008, see Pages
469, 506 and 508
respectively
Ulong 4Variable
5typebAntenna model type
None = No antenna
1 = User antenna
Enum 4Variable
6L1 offset N L1 phase offsets northing
(default = 0.0 0.0 0.0)
Double [3] 24 Variable
7L1 offset E L1 phase offsets easting
(default = 0.0 0.0 0.0)
Double [3] 24 Variable
8L1 offset UP L1 phase offsets up
(default = 0.0 0.0 0.0)
Double [3] 24 Variable
9L1 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.
64 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
2.5.3 ANTENNAPOWER Control power to the antenna V23
This command enables or disables the supply of electrical power from the internal (refer to the OEMV
Family Installation and Operation User Manual for information on supplying power to the antenna)
power source of the receiver to the low-noise amplifier (LNA) of an active antenna.
There are several bits in the Receiver Status (see 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) that pertain to the antenna. These bits indicate
whether the antenna is powered (internally or externally) and whether it is open circuited or short
circuited.
On start-up, the ANTENNAPOWER is set to ON.
Abbreviated ASCII Syntax: Message ID: 98
ANTENNAPOWER flag
Factory Default:
antennapower on
ASCII Example:
antennapower off
For the OEMV-3 card, it is possible to supply power to the LNA of an
active antenna either from the antenna port of the OEM card itself or from an external
source. The internal antenna power supply of the cards can produce +4.75 to +5.10
VDC at up to 100 mA. This meets the needs of any of NovAtel’s dual-frequency GPS
antennas, so, in most cases, an additional LNA power supply is not required.
External LNA power is not possible with an OEMV-2. The internal antenna power
supply from the OEMV-2 card can produce +4.75 to +5.10 VDC at up to 100 mA.
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1ANTENNAPOWER
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
2flag OFF 0Disables internal
powering of antenna.
Enum 4 H
ON 1 Enables internal
powering of antenna.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 65
2.5.4 ASSIGN Assign a channel to a PRN V123
1. The ASSIGN command should only be used by advanced users.
2. Assigning a SV channel sets the forced assignment bit in the channel tracking status field
which is reported in the RANGE and TRACKSTAT logs
3. Assigning a PRN to a SV channel does not remove the PRN from the search space of the
automatic searcher; only the SV channel is removed (that is, the searcher may search and
lock onto this PRN on another channel). The automatic searcher only searches for PRNs
1 to 32 for GPS channels, PRNs 38 to 61 for GLONASS (where available) and PRNs 120
to 138 for SBAS channels.
This command may be used to aid in the initial acquisition of a satellite by allowing you to override
the automatic satellite/channel assignment and reacquisition processes with manual instructions. The
command specifies that the indicated tracking channel search for a specified satellite at a specified
Doppler frequency within a specified Doppler window.
The instruction remains in effect for the specified SV channel and PRN, even if the assigned satellite
subsequently sets. If the satellite Doppler offset of the assigned SV channel exceeds that specified by
the window parameter of the ASSIGN command, the satellite may never be acquired or re-acquired. If
a PRN has been assigned to a channel and the channel is currently tracking that satellite, when the
channel is set to AUTO tracking, the channel immediately idles and returns to automatic mode.
To cancel the effects of ASSIGN, you must issue one of the following:
• The ASSIGN command with the state set to AUTO
• The UNASSIGN command
• The UNASSIGNALL command
These return SV channel control to the automatic search engine immediately.
Table 12: Channel State
Binary ASCII Description
0 IDLE Set the SV channel to not track any
satellites
1ACTIVEa
a. A PRN number is required when using the ACTIVE channel
state in this command.
Set the SV channel active (default)
2 AUTO Tell the receiver to automatically assign
PRN codes to channels
3 NODATA Tell the receiver to track without
navigation data
4 OUTPUT Assign a channel to output the signal
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Chapter 2 Commands
Abbreviated ASCII Syntax: Message ID: 27
ASSIGN channel [state] [prn [Doppler [Doppler window]]]
ASCII Example 1:
assign 0 active 29 0 2000
In example 1, the first SV channel is acquiring satellite PRN 29 in a range from -2000 Hz to 2000 Hz
until the satellite signal has been detected.
ASCII Example 2:
assign 11 28 -250 0
SV channel 11 is acquiring satellite PRN 28 at an offset of -250 Hz only.
ASCII Example 3:
assign 11 idle
SV channel 11 is idled and does not attempt to search for satellites.
OEMV cards have 2 channels available for SBAS. They automatically use the GEO
satellites with the highest elevations. You can use the ASSIGN command to enter a
GEO PRN manually.
Table 13: OEMV Channel Configurations
Configurations OEMV Card Channels
GPS/SBAS OEMV-1, OEMV-1G,
OEMV-2 and OEMV-3
0 to 13 for GPS
14 to 15 for SBAS
GPS/SBAS/L-band OEMV-1 and OEMV-3 0 to 13 for GPS
14 for SBAS
15 for L-band
GPS/SBAS/GLONASS OEMV-1G, OEMV-2
and OEMV-3
0 to 13 for GPS
14 to 15 for SBAS
16 to 27 for GLONASS
GPS/SBAS/GLONASS/L-
band
OEMV-3 0 to 13 for GPS
14 to 15 for SBAS
16 to 27 for GLONASS
28 for L-band
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 67
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1ASSIGN
header
- - 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
2channel See Table 13, OEMV
Channel
Configurations on
page 66
Desired SV channel number
where channel 0 is the first SV
channel. The last channel
depends on your model
configuration. a
ULong 4 H
3state See Table 12,
Channel State on
page 65
Set the SV channel state. Enum 4H+4
4prn GPS: 1-32
SBAS: 120-138
GLONASS: see
Section 1.3 on Page
29.
Optional satellite PRN code
from 1 to 32 for GPS channels,
38 to 61 for GLONASS and
120 to 138 for SBAS channels.
If not included in the command
line, the state parameter must
be set to IDLE.
Long 4H+8
5Doppler -100 000 to
100 000 Hz
Current Doppler offset of the
satellite
Note: Satellite motion,
receiver antenna motion and
receiver clock frequency error
must be included in the
calculation of Doppler
frequency.
(default = 0)
Long 4H+12
6Doppler
window
0 to 10 000 Hz Error or uncertainty in the
Doppler estimate above.
Note: This is a ± value.
Example: 500 for ± 500 Hz.
(default = 4 500)
ULong 4H+16
a. The last channel is currently forced to the L-band signal (if available). See also Table 13, OEMV
Channel Configurations on page 66.
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Chapter 2 Commands
2.5.5 ASSIGNALL Assign all channels to a PRN V123
The ASSIGNALL command should only be used by advanced users.
This command allows you to override the automatic satellite/channel assignment and reacquisition
processes for all receiver channels with manual instructions.
Abbreviated ASCII Syntax: Message ID: 28
ASSIGNALL [system][state][prn [Doppler [Doppler window]]]
Table 14: Channel System
1. Only GLONASS satellites that are in the almanac are available to assign using a slot
number in the ASSIGN command. The possible range is still 38 to 61.
2. The optional system field indicates the channel type the command is to use. For example,
the command input ASSIGNALL GPSL1 IDLE idles all GPS L1 channels on the
receiver (GPSL1 is the system in this case). If the receiver is not configured with any
GPS L1 channels, the command has no effect.
The ASSIGNALL command cannot be used as a method of changing the receiver's
channel configuration. For example, changing all the GPS L1 and GPS L2 channels to
track L1 only. Channel configuration can only be modified by purchasing the appropriate
software model.
ASCII Example 1:
assignall glol1l2 idle
Binary ASCII Description
0 GPSL1 GPS L1 dedicated SV channels only
1 GPSL1L2 GPS L1 and L2 dedicated SV channels only
2 NONE No dedicated SV channels
3 ALL All channels (default)
4 WAASL1 SBAS SV channels only
6 GPSL1L2C GPS L1/L2C channels only
7 GPSL1L2AUTO Automatically select GPS L1 or L2 channels
8 GLOL1L2 GLONASS L1 and L2 dedicated SV channels only
9 LBAND L-band channels only
10 GLOL1 GLONASS L1 dedicated SV channels only
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 69
In example 1, all GLONASS L1L2 channels are idled out essentially stopping the receiver from
tracking GLONASS.
ASCII Example 2:
assignall glol1l2 auto
In example 2, all GLONASS L1L2 channels are enabled in auto mode. This enables the receiver to
automatically assign channels to track the available GLONASS satellites.
This command is the same as ASSIGN except that it affects all SV channels.
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1ASSIGN-
ALL
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
2system See Table 14 System that SV channel is tracking Enum 4 H
3state See Table 12,
Channel State
on page 65
Set the SV channel state Enum 4H+4
4prn GPS: 1-37
SBAS: 120-138
GLONASS: see
Section 1.3 on
Page 29.
Optional satellite PRN code from 1
to 37 for GPS channels, 38 to 61 for
GLONASS and 120 to 138 for SBAS
channels. If not included in the
command line, the state parameter
must be set to idle.
Long 4H+8
5Doppler -100 000 to
100 000 Hz
Current Doppler offset of the satellite
Note: Satellite motion, receiver
antenna motion and receiver clock
frequency error must be included in
the calculation of Doppler frequency.
(default = 0)
Long 4H+12
6Doppler
window
0 to 10 000 Hz Error or uncertainty in the Doppler
estimate above.This is a ± value (for
example, 500 for ± 500 Hz).
(default =4500)
ULong 4H+16
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Chapter 2 Commands
2.5.6 ASSIGNLBAND Set L-band satellite communication parameters
V3_HP, V13_VBS or V13_CDGPS
You must use this command to ensure that the receiver searches for a specified L-band satellite at a
specified frequency with a specified baud rate. The factory parameter default is ASSIGNLBAND
IDLE.
1. 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.
2. The frequency assignment, field #3 below, can be made in kHz or Hz. For example:
ASSIGNLBAND OMNISTAR 1557855 1200
A value entered in Hz is rounded to the nearest 500 Hz.
3. 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. See also Table 21, Reference Ellipsoid Constants on page 97.
Abbreviated ASCII Syntax: Message ID: 729
ASSIGNLBAND mode freq baud
Factory Default:
assignlband idle
ASCII Example 1:
assignlband cdgps 1547547 4800
ASCII Example 2:
assignlband idle
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 71
Table 15: L-band Mode
Beam Frequencies
You can switch between Omnistar VBS and CDGPS by using the following commands:
Use CDGPS
assignlband cdgps <freq> 4800
psrdiffsource cdgps
Binary ASCII Description
0Reserved
1 OMNISTAR When you select OmniSTAR, enter a dedicated
frequency and baud rate.
2 CDGPS When you select CDGPS, enter a dedicated frequency
and baud rate.
3 IDLE When you select IDLE, the receiver is configured to
stop tracking any L-band satellites. The 'freq' and
'baud' fields are optional so that you may select IDLE
without specifying the other fields.
4 OMNISTARAUTO When you select OMNISTARAUTO, the receiver
automatically selects the best OmniSTAR beam to
track based on the receiver’s position. This requires
the receiver to have a downloaded satellite list from an
OmniSTAR satellite. Therefore, a manual assignment
is necessary the first time an OmniSTAR satellite is
assigned on a new receiver. After collection, the
satellite list is stored in NVM for subsequent auto
assignments. Lists are considered valid for 6 months
and are constantly updated while an OmniSTAR
signal is tracking. If the receiver has a valid satellite
list, it is reported in a status bit in the LBANDSTAT log,
see page 349. a
a. The receiver will always track an available local beam over a global beam. The
receiver constantly monitors the satellite list to ensure it is tracking the best one and
automatically switches beams if it is not tracking the best one. You can view the
satellite list by logging the OMNIVIS message, see page 376.
5 OMNISTARNARROW When you select OMNISTARNARROW, enter a
dedicated frequency and baud rate. For re-
acquisitions of the L-band signal, the receiver uses a
1500 Hz search window and the stored TCXO offset
information. To remove the TCXO offset information
from NVM, use the FRESET LBAND_TCXO_OFFSET
command. A standard FRESET command does not do
this, see page 124. b
b. Refer also to the L-band Tracking and Data Output with GPS application note available
on our Web site as APN-043 at http://www.novatel.com/support/applicationnotes.htm.
72 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
Use OmniStar VBS
assignlband omnistar <freq> 1200
psrdiffsource omnistar
Where <freq> is determined for CDGPS or OmniStar as follows:
1. CDGPS beam frequency chart:
• East 1547646 or 1547646000
• East-Central 1557897 or 1557897000
• West-Central 1557571 or 1557571000
• West 1547547 or 1547547000
2. 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.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 73
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1ASSIGNLBAND
header
- - 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
2mode See Table 15 Set the mode and enter
specific frequency and baud
rate values
Enum 4 H
3freq 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 4H+4
4baud 300, 600, 1200,
2400 or 4800
Data rate for communication
with L-band satellite
(default = 1200)
Ulong 4H+8
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Chapter 2 Commands
2.5.7 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.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 75
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1AUTH
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
2state REMOVE 0Remove the authcode
from the system.
Enum 4 H
ADD 1Add the authcode to the
system. (default)
3part1 4 digit hexadecimal
(0-FFFF)
Authorization code
section 1.
ULong 4H+4
4part2 4 digit hexadecimal
(0-FFFF)
Authorization code
section 2.
ULong 4H+8
5part3 4 digit hexadecimal
(0-FFFF)
Authorization code
section 3.
ULong 4H+12
6part4 4 digit hexadecimal
(0-FFFF)
Authorization code
section 4.
ULong 4H+16
7part5 4 digit hexadecimal
(0-FFFF)
Authorization code
section 5.
ULong 4H+20
8model Alpha
numeric
Null
terminated
Model name of the
receiver
String
[max. 16]
Vari-
able a
Vari-
able
9date Numeric Null
terminated
Expiry date entered as
yymmdd in decimal.
String
[max. 7]
Vari-
able a
Vari-
able
a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment
76 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
2.5.8 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 77
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1BASE-
ANTENNA-
MODEL
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
2name Antenna name String[32] Variable aH
3SN Antenna serial number String[32] Variable aVariable
4setupID Setup identification - setting
this value changes the
appropriate field in RTCM23,
RTCM1007 and RTCM1008,
see 469, 506 and 508
respectively
Ulong 4Variable
5typebAntenna model type
0 = No antenna
1 = User antenna
Enum 4Variable
6L1 offset N L1 phase offsets northing
(default = 0.0 0.0 0.0)
Double [3] 24 Variable
7L1 offset E L1 phase offsets easting
(default = 0.0 0.0 0.0)
Double [3] 24 Variable
8L1 offset
UP
L1 phase offsets up
(default = 0.0 0.0 0.0)
Double [3] 24 Variable
9L1 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 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.
Table 16: Time Out Mode
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1CDGPS-
TIMEOUT
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
2mode See Table Time out mode
(default = auto)
Enum 4 H
3delay 2 to 1000 s Maximum CDGPS age
(default = 120)
Double 8H+4
4Reserved Double 8H+12
Binary ASCII Description
0 Reserved
1 AUTO Set the default value (120 s)
2 SET Set the delay in seconds
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 79
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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1CLOCKADJUST
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
2switch DISABLE 0Disallow adjustment of
internal clock
Enum 4 H
ENABLE 1Allow adjustment of
internal clock
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 81
2.5.11 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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Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1CLOCKCALIBRATE
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
2mode SET 0Sets the period,
pulsewidth, slope, and
bandwidth values into
NVM for the currently
selected steered
oscillator (INTERNAL or
EXTERNAL)
Enum 4 H
AUTO 1Forces 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 2Terminates a calibration
process currently
underway
3period 0 to 262144 Signal period in 25 ns
steps.
Frequency Output =
40,000,000 / Period.
(default = 4400)
Ulong 4H+4
Continued on page 83.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 83
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
4pulsewidth The valid range
for this
parameter is
10% to 90% of
the period.
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 4H+8
5slope 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 4H+12
Continued on page 84.
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Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
6bandwidth 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.
Float 4H+16
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 85
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 Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1 CLOCKOFFSET
header
- - 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
2offset ±200 Specifies the offset in
nanoseconds
Long 4 H
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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
1CNO-
UPDATE
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
2rate DEFAULT 0C/No update rate:
0 = Turn off C/No
enhancement
default = 4 Hz
(4 bits/s)
1 = 20 Hz C/No
updates
(20 bits/s)
ENUM 4 H
20HZ 1
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 87
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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WARNING!: 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
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
Binary 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
9XCOM1 a
a. 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.
Virtual COM1 port
10 XCOM2 aVirtual COM2 port
13 USB1 b
b. 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.
USB port 1
14 USB2 bUSB port 2
15 USB3 bUSB port 3
16 AUX c
c. The AUX port is available on OEMV-2-based and OEMV-
3-based products.
AUX port
17 XCOM3 aVirtual COM3 port
Binary ASCII Description
0 N No parity (default)
1 E Even parity
2 O Odd parity
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 89
Table 19: Handshaking
Binary ASCII Description
0 N No handshaking (default)
1 XON XON/XOFF software handshaking
2 CTS CTS/RTS hardware handshaking
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1COM 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
2port See Table 17,
COM Serial Port
Identifiers on page
88
Port to configure.
(default = THISPORT)
Enum 4 H
3bps/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 4H+4
4parity See Table 18 on
page 88 Parity Enum 4H+8
5databits 7 or 8 Number of data bits
(default = 8)
ULong 4H+12
6stopbits 1 or 2 Number of stop bits
(default = 1)
ULong 4H+16
7handshake See Table 19 on
page 89 Handshaking Enum 4H+20
8echo OFF 0No echo
(default)
Enum 4H+24
ON 1Transmit any input characters
as they are received
9break OFF 0Disable break detection Enum 4H+28
ON 1Enable break detection
(default)
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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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 91
To clear a break condition on AUX:
comcontrol com1 tx default
or comcontrol com1 tx forcehigh
Table 20: Tx, DTR and RTS Availability
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.
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
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Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1COMCONTROL
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
2port COM1 1RS232 port to control.
Valid ports are
COM1, COM2,
COM3 and AUX. The
AUX port is only
available on OEMV-
3-based products.
Enum 4 H
COM2 2
COM3 3
AUX 16
3signal RTS 0COM signal to
control. The
controllable COM
signals are RTS, DTR
and TX. See also
Table 20, Tx, DTR
and RTS Availability
on page 91
Enum 4H+4
DTR 1
TX 2
Continued on page 93.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 93
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
4control DEFAULT 0Disables this
command and
returns the COM
signal to its default
state
Enum 4H+8
FORCEHIGH 1Immediately forces
the signal high
FORCELOW 2Immediately forces
the signal low
TOGGLE 3Immediately toggles
the current sate of the
signal
TOGGLEPPS 4Toggles 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 5Pulses the line low at
a 1PPS event and to
high 1 ms after it. Not
for TX.
PULSEPPSHIGH 6Pulses the line high
for 1 ms at the time of
a 1PPS event
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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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 95
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 post-
mission carrier smoothing. Also, a narrow bandwidth in a feedback loop impedes the
ability of the loop to track step functions. Steps in the pseudorange are encountered
during initial lock-on of the satellite and when working in an environment 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 Description Binary
Format Binary
Bytes Binary
Offset
1CSMOOTH
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
2L1time 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 4H+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 Uses WGS84
WAAS Corrects to WGS84
EGNOS Corrects to International Terrestrial Reference System
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 97
(ITRF) which is compatible with WGS84
CDGPS 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
OmniSTAR XP/HP Corrects to ITRF which is compatible with WGS84
OmniSTAR VBS Corrects to ITRF which is compatible with WGS84
PSRDIFF and RTK Unknown, as the rover does not know how the user fixed
the base position, but must be close to WGS84
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# aNAME DX bDY bDZ bDATUM 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.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 99
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.
Table 22: Datum Transformation Parameters
100 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
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.
Table 22: Datum Transformation Parameters
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 101
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)
c
Clarke 1880
67 ENW 102 52 -38 Wake-Eniwetok (Marshall
Islands) c
Hough 1960
68 HTN -637 -549 -203 Hu-Tzu-Shan (Taiwan) cInternational
1924
69 INDB 282 726 254 Indian (Bangladesh) dEverest (EA)
70 INDI 295 736 257 Indian (India, Nepal) dEverest (EA)
71 IRL 506 -122 611 Ireland 1965 dModified
Airy
72 LUZA -133 -77 -51 Luzon (Philippines excluding
Mindanoa Is.) de
Clarke 1866
73 LUZB -133 -79 -72 Mindanoa Island cClarke 1866
74 NAHC -243 -192 477 Nahrwan (Saudi Arabia) cClarke 1880
75 NASP -3 142 183 N. American Caribbean cClarke 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 dClarke 1866
Continued on the following page.
Table 22: Datum Transformation Parameters
102 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
Datum
ID# NAME DX DY DZ DATUM DESCRIPTION ELLIPSOID
79 OHAC 65 -290 -190 Hawaiian Maui dClarke 1866
80 OHAD 58 -283 -182 Hawaiian Oahu dClarke 1866
81 OHIA 229 -222 -348 Hawaiian Hawaii d International
1924
82 OHIB 185 -233 -337 Hawaiian Kauai dInternational
1924
83 OHIC 205 -233 -355 Hawaiian Maui dInternational
1924
84 OHID 198 -226 -347 Hawaiian Oahu dInternational
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.
Table 22: Datum Transformation Parameters
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 103
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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Chapter 2 Commands
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes
Binar
y
Offset
1DGPSEPHEMDELAY
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
2delay 0 to 600 s Minimum time delay before
new ephemeris is used
(default = 120 s)
ULong 4 H
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 105
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 Description Binary
Format Binary
Bytes Binary
Offset
1DGPSTIMEOUT
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
2delay 2 to 1000 s Maximum pseudorange
differential age
(default = 300 s)
ULong 4 H
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Chapter 2 Commands
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.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 107
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1DGPSTXID
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
2type See Table 33
on page 168 ID Type Enum 4 H
3ID 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]
Vari-
ablea
Variabl
e
a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment
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Chapter 2 Commands
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
1DIFFCODE-
BIAS-
CONTROL
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
2switch DISABLE 0Disable the differential
code bias
Enum 4 H
ENABLE 1Enable the differential
code bias (default)
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 109
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: Message ID: 258
DYNAMICS dynamics
Factory Default:
dynamics air
Example:
dynamics foot
Table 23: User Dynamics
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.
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)
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Chapter 2 Commands
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
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1DYNAMICS
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
2dynamics See Table 23 Receiver dynamics based
on your environment
Enum 4 H
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 111
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 post-
processing data, it is still best to collect all data (even that below the cut-off angle).
Experimenting with different cut-off angles can then be done to provide the best
results. In cases where there are not enough satellites visible, a low elevation
satellite may actually help in providing a useful solution.
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1ECUTOFF
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
2angle ±90.0 degrees Elevation cut-off angle relative to
horizon
Float 4 H
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Chapter 2 Commands
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:
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 113
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 (OEMV-
2, OEMV-3, DL-V3 or ProPak-V3 only) uses its own internal temperature-
compensated crystal oscillator, or that of an external oscillator, as a frequency
reference. It also sets which clock model is used for an external oscillator.
To force the 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
Syf() h2–
f2
------- h1–
f
------- h0h1fh
2f2
++++=
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Chapter 2 Commands
Table 24: Clock Type
Table 25: Pre-Defined Values for Oscillators
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
Clock Type h0h -1 h -2
VCTCXO 1.0 e-21 1.0 e-20 1.0 e-20
OCXO 2.51 e-26 2.51 e-23 2.51 e-22
Rubidium 1.0 e-23 1.0 e-22 1.3 e-26
Cesium 2.0 e-20 7.0 e-23 4.0 e-29
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1EXTERNALCLOCK
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
2clocktype See Table 24 on
page 114 Clock type Enum 4 H
3freq 0MHz 0Optional frequency. If a
value is not specified, the
default is 5 MHz.
Enum 4H+4
5MHz 1
10MHz 2
20MHz 3
4 h01.0 e-35 to
1.0 e-18
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 8H+8
5h -1 1.0 e-35 to
1.0 e-18
Double 8H+16
6h -2 1.0 e-35 to
1.0 e-18
Double 8H+24
Commands Chapter 2
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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
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 117
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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Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1FIX 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
2type See Table 27 on
page 117 Fix type Enum 4 H
3param1 See Table 26 Parameter 1 Double 8H + 4
4param2 Parameter 2 Double 8H + 12
5param3 Parameter 3 Double 8H + 20
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 119
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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1FIXPOSDATUM
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
2datum See Table 21 on
page 97 Datum ID Enum 4 H
3lat ±90 Latitude (degrees) Double 8H + 4
4lon ±360 Longitude (degrees) Double 8H + 12
5height -1000 to 20000000 Mean sea level (MSL)
height (m) a
Double 8H + 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
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.
Binary ASCII Description
0 AUTO Receiver uses the best L2
code type available
1 P L2 P-code or L2 Precise code
2 C L2C code or L2 Civilian code
3 DEFAULT Set to channel default
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1FORCEGPSL2-
CODE 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
2L2type See Table 28 above GPS L2 code type Enum 4 H
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 121
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
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 123
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1FREQUENCYOUT
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
2switch DISABLE 0Disable causes the
output to be fixed low
(default)
Enum 4 H
ENABLE 1Enables customized
frequency output
3pulsewidth (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 4H+4
4period (0 to 262144) Signal period in 25 ns
steps.
Frequency Output =
40,000,000 / Period
(default = 0)
Ulong 4H+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:
• 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
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 125
Table 29: FRESET Target
Binary 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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1FRESET
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
2target See Table 29 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.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 127
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1GGAQUALITY
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#entries 0-20 The number of position types that
are being re-mapped (20 max.)
Ulong 4H+4
3pos type1 See Table 50,
Position or
Velocity Type on
page 252
The 1st position type that is being
re-mapped
Enum 4H+8
4qual1 See page 314 The number that appears in the
GPGGA log for the 1st position
type
Ulong 4H+12
5pos type2 See Table 50 on
page 252 The 2nd position type that is
being re-mapped, if applicable
Enum 4H+16
6qual2 See page 314 The number that appears in the
GPGGA log for the 2nd solution
type, if applicable
Ulong 4H+20
... Next solution type and quality indicator set, if applicable Variable
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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 Description Binary
Format Binary
Bytes Binary
Offset
1GLO-
CSMOOTH
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
2L1 t const 2 to 2000 L1 time constant Ulong 4 H
3L2 t const 2 to 2000 L2 time constant
(default = 100)
Ulong 4H+4
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 129
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 Description Binary
Format Binary
Bytes Binary
Offset
1GLO-
ECUTOFF
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
2angle ±90.0 degrees Elevation cut-off angle relative to
horizon
Float 4 H
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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 Description Binary
Format Binary
Bytes Binary
Offset
1HDTOUT-
THRESHOLD
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
2thresh 0.0 - 180.0 Heading standard deviation
threshold (degrees)
Float 4 H
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 131
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
a. No further parameters are needed in the syntax
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
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1HPSEED
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
2mode See Table 30 on
page 132 Seeding mode Enum 4 H
3lat ±90 Latitude (degrees) Double 8H+4
4lon ±360 Longitude (degrees) Double 8H+12
5hgt -1000 to 20000000 Height above mean sea level (m) Double 8H+20
6latσLatitude standard deviation (m) Float 4H+28
7lonσLongitude standard deviation (m) Float 4H+32
8hgtσHeight standard deviation (m) Float 4H+36
9datum See Table 21,
Reference Ellipsoid
Constants on page
97
Datum ID
(default = WGS84)
Enum 4H+40
10 undulation see the
UNDULATION
command’s option
field values on
page 211
Undulation type
(default = TABLE)
Enum 4H+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 <latitude> <longitude> <msl height> <lat stdev> <long stdev> <height stdev>
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
<height stdev> with <datum id> <undulation type>.
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
1HPSTATICINIT
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
2switch DISABLE 0The receiver is not
stationary
Enum 4 H
ENABLE 1The receiver is stationary
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 135
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.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 137
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
8RTCMNOCR
RTCM with no CR/LF appended a
9CDGPSThe port accepts GPS*C data b
10 TCOM1 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.
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.
11 TCOM2
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
Continued on the following page.
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18 GENERIC 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.
19 Reserved
20 MRTCA 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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1INTERFACEMODE
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
2port See Table 17,
COM Serial Port
Identifiers on
page 88
Serial port identifier
(default = THISPORT)
Enum 4 H
3rxtype See Table 31,
Serial Port
Interface Modes
on page 137
Receive interface mode Enum 4H+4
4txtype Transmit interface mode Enum 4H+8
5responses OFF 0Turn response
generation off
Enum 4H+12
ON 1Turn response
generation on (default)
Table 31: Serial Port Interface Modes
Binary Value ASCII Mode Name Description
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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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1IONOCONDITION
header
- - This field contains the
command name or
the message header
depending on
whether the
command is
abbreviated ASCII,
ASCII or binary,
respectivelyt
H
2mode QUIET 0Receiver assumes a
low level of
ionosphere activity
(default)
Enum 4 H
NORMAL 1Receiver assumes a
medium level of
ionosphere activity
DISTURBED 2Receiver assumes a
high level of
ionosphere activity
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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. 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 141
Field Field
Type
ASCII
Value
Binary
Value Description Binary
Format
Binary
Bytes
Binary
Offset
1 LOCALIZED-
CORRECTION-
DATUM header
- - This field contains
the command name
or the message
header depending
on whether the
command is
abbreviated ASCII,
ASCII or binary,
respectively.
-H0
2 type WGS84 1 Localised
correction datum
type
Enum 4 H
NAD83 2
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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 Description Binary
Format Binary
Bytes Binary
Offset
1LOCKOUT
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
2prn GPS: 1-37
SBAS: 120-138
GLONASS: see
Section 1.3 on
Page 29.
A single satellite PRN number to
be locked out
Ulong 4 H
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 143
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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Chapter 2 Commands
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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 145
Field Field
Name Binary
Value Description Field
Type Binary
Bytes Binary
Offset
1LOG
(binary)
header
(See Table 4, Binary
Message Header Structure
on page 23)
This field contains the
message header.
- H 0
2port See Table 5, Detailed
Serial Port Identifiers on
page 25
Output port Enum 4 H
3message Any valid message ID Message ID of log to output UShort 2H+4
4message
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 1H+6
5Reserved Char 1H+7
6trigger 0 = ONNEW Does not output current
message but outputs when
the message is updated
(not necessarily changed)
Enum 4H+8
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
7period 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
Double 8H+12
Continued on page 146.
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Field Field
Name Binary
Value Description Field
Type Binary
Bytes Binary
Offset
8offset 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 8H+20
9hold 0 = NOHOLD Allow log to be removed by
the UNLOGALL command
Enum 4H+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.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 147
Field Field
Name ASCII
Value Description Field
Type
1LOG
(ASCII)
header
-This field contains the command name or the
message header depending on whether the
command is abbreviated ASCII or ASCII
respectively.
-
2port See Table 17, COM
Serial Port Identifiers
on page 88
Output port
(default = THISPORT)
Enum
3message Any valid message
name, with an optional
A or B suffix.
Message name of log to output Char [ ]
4trigger 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)
5period 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
6offset 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
7hold 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 149
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
150 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 2 Commands
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
Format Binary
Bytes Binary
Offset
1MAGVAR
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
2type AUTO 0Use IGRF corrections Enum 4 H
CORRECTION 1Use the correction supplied
3correction ± 180.0 degrees Magnitude of correction
(Required field if type =
Correction)
Float 4H+4
4std_dev ± 180.0 degrees Standard deviation of
correction
(default = 0)
Float 4H+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
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.
NEGATIVE
Polarity
POSITIVE
Polarity
3.3 V
3.3 V
0.0 V
0.0 V
>51ns
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Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1MARKCONTROL
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
2signal MARK1 0Specifies 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 pull-
up resistors to 3.3 V and
are leading edge triggered.
Enum 4 H
MARK2 1
3switch DISABLE 0Disables 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.
Enum 4H+4
ENABLE 1
4polarity NEGATIVE 0Optional 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.
Enum 4H+8
POSITIVE 1
5timebias 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 4H+12
6timeguard 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 4H+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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 153
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 feature-
intensive 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 Description Binary
Format Binary
Bytes Binary
Offset
1MODEL 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
2model Max 16 character
null-terminated
string (including
the null)
Model name String
[max. 16]
Vari-
ablea
Vari-
able
a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment
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Chapter 2 Commands
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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 155
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.
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.
DL-V3
1
2
3
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1MOVING-
BASESTATION
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
2switch DISABLE 0Do not transmit corrections without
a fixed position (default)
Enum 4 H
ENABLE 1Transmit 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 157
Table 32: NMEA Talkers
Log 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
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1NMEA-
TALKER
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
2ID GP 0GPS only Enum 4 H
AUTO 1GPS, 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 159
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
1. 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
Field Field
Type
ASCII
Value
Binary
Value Description Binary
Format
Binary
Bytes
Binary
Offset
1PDPFILTER
header
- - This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.
-H0
2 switch DISABLE 0 Enable/disable/reset the PDP filter.
A reset clears the filter memory so
that the pdp filter can start over.
Enum 4 H
ENABLE 1
RESET 2
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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 Field
Type
ASCII
Value
Binary
Value Description Binary
Format
Binary
Bytes
Binary
Offset
1 PDPMODE
header
- - This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.
-H0
2 mode NORMAL 0 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.
Enum 4 H
RELATIVE 1
3 dynamics AUTO 0 Auto detect dynamics mode Enum 4 H+4
STATIC 1 Static mode
DYNAMIC 2 Dynamic mode
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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 user-
specified level. User-specified requirements can be based on time, or horizontal or
vertical quality of precision.
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Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1POSAVE
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
2state ON 1Enable or disable position
averaging
(default = ON)
Enum 4 H
OFF 0
3maxtime 0.01 - 100 hours Maximum amount of time that
positions are to be averaged.
Only becomes optional if:
State = OFF
Float 4H+4
4maxhstd 0 - 100 m Desired horizontal standard
deviation
(default = 0)
Float 4H+8
5maxvstd 0 - 100 m Desired vertical standard
deviation
(default = 0)
Float 4H+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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1POSTIMEOUT
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
2sec 0-86400 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 165
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1PPSCONTROL
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
2switch DISABLE 0Disables or enables
output of the PPS pulse.
The factory default value
is ENABLE.
Enum 4H+4
ENABLE 1
3polarity NEGATIVE 0Optional 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.
Enum 4H+8
POSITIVE 1
4rate 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 8H+12
5pulse 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 4H+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
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 167
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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Chapter 2 Commands
Table 33: DGPS Type
Binary ASCII Description
0RTCM a dRTCM ID: 0 ≤ RTCM ID ≤ 1023 or ANY
1RTCA a d RTCA ID: A four character string containing only alpha (a-z) or numeric
characters (0-9) or ANY
2CMR a b d CMR ID: 0 ≤ CMR ID ≤ 31 or ANY
3OMNISTAR 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.
4CDGPS 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.
5SBAS c d In the PSRDIFFSOURCE command, when enabled, SBAS, such as WAAS,
EGNOS and MSAS, forces the use of SBAS as the pseudorange differential
source. SBAS is able to simultaneously track two SBAS satellites, and
incorporate the SBAS corrections into the position to generate differential-
quality position solutions. An SBAS-capable receiver permits anyone within the
area of coverage to take advantage of its benefits.
If SBAS is set in the RTKSOURCE command, it can not provide carrier
phase positioning and returns an error.
6RTKdIn 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 bRTCM Version 3.0 ID: 0 ≤ RTCMV3 ID ≤ 4095 or ANY
a. Disables L-band Virtual Base Stations (VBS).
b. Available only with the RTKSOURCE command, see page 181.
c. ID parameter is ignored.
d. Available only with the PSRDIFFSOURCE command, see page 166.
e. All PSRDIFFSOURCE entries fall back to SBAS (except NONE).
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 169
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1PSRDIFFSOURCE
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
2type 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
3ID Char [5] or
ANY
ID string Char[5] 8 bH+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
Table 34: Pseudorange Velocity Type
Field Field
Type
ASCII
Value
Binary
Value Description Binary
Format
Binary
Bytes
Binary
Offset
1PSR-
VELOCITY-
TYPE
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
2source Pseudorange velocity type, see
Table 34 below.
Enum 4 H
Binary 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 cold-
start 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 ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1RESET 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
2delay 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.
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 173
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1RTKANTENNA
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
2posref L1PC 0L1 phase center
position reference
Enum 4 H
ARP 1ARP position
reference
UNKNOWN 2Unknown position
reference
3pcv DISABLE 0Disable PCV
modelling (default)
Enum 4H+4
ENABLE 1Enable PCV modelling
4Reserved Bool 4H+8
5Reserved Bool 4H+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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1RTKCOMMAND
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
2type USE_DEFAULTS 0Reset to defaults Enum 4 H
RESET 1Reset RTK algorithm
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 175
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
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.
ASCII Binary Description
AUTO 0 Automatically determine dynamics mode.
STATIC 1 Static mode.
DYNAMIC 2 Dynamic mode.
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1RTKDYNAMICS
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
2mode See Table 35 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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1RTKELEVMASK
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
2mode Set the dynamics mode Enum 4 H
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 177
2.5.59 RTKNETWORK Specify the RTK network mode V123_RT20 or
V23_RT2
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: Message ID: 951
RTKNETWORK mode [network#]
Factory Default:
rtknetwork auto
Input Example:
rtknetwork imax
Field Field
Type
ASCII
Value
Binary
Value Description Binary
Format
Binary
Bytes
Binary
Offset
1RTK-
NETWORK
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
2mode 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
3network# Specify a number for the network
default = 0
Ulong 4H+4
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Table 36: Network RTK Mode
Binary ASCII Description
0 Disable Single reference station RTK mode. All received network RTK
corrections are ignored.
1-4 Reserved
5 VRS The virtual reference station (VRS), or virtual base station (VBS), idea,
introduced by Trimble, is that a base station is artificially created in the
vicinity of a rover receiver. All baseline-length-dependent errors, such as
abnormal troposphere variation, ionospheric disturbances and orbital
errors, are reduced for this VRS. The rover receiving VRS information
has a lower level of these errors than a distant base station. The VRS is
calculated for a position, supplied by the rover during communication
start-up, with networking software. The VRS position can change if the
rover is far away from the initial point. The format for sending the rover’s
position is standard NMEA format. Most rovers receive VRS data for a
calculated base station 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 179
10 AUTO Default value, assume single base. If network RTK corrections are
detected then the receiver will switch to the appropriate mode. iMAX and
VRS can only be detected using RTCMV3 however it is not possible to
distinguish between iMAX or VRS. If iMAX or VRS is detected then iMAX
will be assumed.
Table 36: Network RTK Mode
Binary ASCII Description
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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
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.
ASCII Binary Description
NORMAL 1 Normal RTK
EXTRA_SAFE 4 Extra Safe RTK
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1RTKQUALITY-
LEVEL 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
2mode See Table 37 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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1RTKSOURCE
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
2type See Table 33, DGPS
Type on page 168 ID Type aEnum 4 H
3ID Char [5] or ANY ID string Char[5] 8 bH+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
Commands Chapter 2
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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 Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1RTKSVENTRIES
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
2number 4-24 The number of SVs to use in
the solution (default = 24)
ULong 4 H
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Chapter 2 Commands
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 Description Binary
Format Binary
Bytes Binary
Offset
1RTKTIMEOUT
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
2delay 5 to 60 s Maximum RTK data age
(default = 60 s)
ULong 4 H
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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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Chapter 2 Commands
Field Field type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1SATCUTOFF
header
This field contains the
command name or the
message header
depending on whether the
command is abbreviated
ASCII, ASCII or Binary,
respectively
4
2ENABLE /
DISABLE
This field is optional, the
default is ENABLE
4
3NUMBEROFSATS If the command disables
the satcutoff, then this field
is optional. If the command
enables the satcutoff then
this field is not optional
4 4
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 187
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
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
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 189
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1SBASCONTROL
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
2keyword DISABLE 0Receiver does not use
the SBAS corrections it
receives (default)
Enum 4H
ENABLE 1Receiver uses the
SBAS corrections it
receives
3system See Table 38 on page
188 Choose the SBAS the
receiver will use
Enum 4H+4
4prn 0Receiver uses any
PRN (default)
ULong 4H+8
120-138 Receiver uses SBAS
corrections only from
this PRN
5testmode NONE 0Receiver interprets
Type 0 messages as
they are intended (as
do not use) (default)
Enum 4H+12
ZEROTOTWO 1Receiver interprets
Type 0 messages as
Type 2 messages
IGNOREZERO 2Receiver 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 <CR> 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.
C
O
M
1
COM1
RTCAOBS data log...
Host PC -Base
(Operational with position fixed)
Host PC - Rov
e
r
B
a
s
e
station is comman
d
i
n
g
Rover
station to send RTCAO
B
S
l
o
g
Serial Cable
s
i
n
t
e
r
f
a
c
e
m
o
d
e
c
o
m
1
r
t
c
a
n
ovatel
send com1 “log com1 rtcaobs ontime 5”
COM 2
COM 2
Se n d a n RTCA interfacemode command:
Preset base with interfacemode:
interfacemode com1 novatel rtca
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 191
Figure 7: Using the SEND Command
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1SEND
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
2port See Table 17,
COM Serial Port
Identifiers on
page 88
Output port Enum 4 H
3message Max 100
character string
(99 typed visible
chars and a null
char added by
the firmware
automatically)
ASCII data to send String
[max.
100]
Vari-
able a
Vari-
able
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 Description Binary
Format Binary
Bytes Binary
Offset
1SENDHEX
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
2port See Table 17, COM Serial
Port Identifiers on page 88 Output port Enum 4 H
3length 0 - 700 Number of hex pairs ULong 4H+4
4message 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]
Vari-
ablea
Vari-
able
a. In the binary log case, additional bytes of padding are added to maintain 4-byte alignment
Commands Chapter 2
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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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1SETAPPROXPOS
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
2Lat ± 90 degrees Approximate latitude Double 8 H
3Lon ± 360 degrees Approximate
longitude
Double 8H+8
4Height -1000 to +20000000 m Approximate height Double 8H+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:
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.
Approximate Command Log
Time SETAPPROXTIME RTCAEPHEM
Position SETAPPROXPOS RTCAREF or CMRREF or RTCM3
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 195
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1SETAPPROXTIME
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
2week 0-9999 GPS week number Ulong 4 H
3sec 0-604801 Number of seconds into
GPS week
Double 8H+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
Table 39: Selection Type
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1SET-
BESTPOS-
CRITERIA
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
2type 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
3delay 0 to 100 s Set the number of
seconds to wait before
changing the position type
default = 0
Ulong 4 4
ASCII 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 -0.069 -0.597 1.030 -1.289
0.089 -1.878 -0.686 0.044 -1.982 0.528 1.285 1.405 0.029
1.696 -0.838 1.237 -0.514 -2.094 -1.482 -0.543 0.473 0.629
-0.343 0.337 0.911 -0.498 -0.440 1.783 1.808 1.542 -1.031
0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1SETDIFF-
CODE-
BIASES
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
2bias_type GPS_C1P1 0Code pair to which biases
refer (default)
Enum 4 H
3biases 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.
Table 40: Ionospheric Correction Models
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1SETIONO-
TYPE
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
2model See Table 40 below Choose an ionospheric
corrections model
(default = AUTO)
Enum 4 H
ASCII 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
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.
X
Track
offset
FROM lat-lon
TO lat-lon
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Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1SETNAV
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
2fromlat ± 90 degrees Origin latitude in units of
degrees/decimal degrees.
A negative sign for South
latitude. No sign for North
latitude.
Double 8 H
3fromlon ± 180 degrees Origin longitude in units of
degrees/decimal degrees.
A negative sign for West
longitude. No sign for East
longitude.
Double 8H+8
4tolat ± 90 degrees Destination latitude in units of
degrees/decimal degrees
Double 8H+16
5tolon ± 180 degrees Destination longitude in units of
degrees/decimal degrees
Double 8H+24
6track 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 8H+32
7from-point 5 characters
maximum
ASCII station name String
[max. 5] Variable aVariable
8to-point 5 characters
maximum
ASCII station name String
[max. 5] Variable aVariable
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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1SETRTCM16
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
2text Maximum 90
character string
The text string String
[max. 90]
Vari-
ablea
Vari-
able
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 ”
setrtcm36 “\x51\x55\x49\x43\x4b\x20 ”
setrtcm36 “\x51\x55\x49\x43\x4b ”
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
\xa6\x92\xae\x90\x8c
\xa6\x92\xae\x90\x8c
\xa6\x92\xae\x90\x8c
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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 А90 144 РA0 160 аB0 176 р
81 129 Б91 145 СA1 161 бB1 177 с
82 130 В92 146 ТA2 162 вB2 178 т
83 131 Г93 147 УA3 163 гB3 179 у
84 132 Д94 148 ФA4 164 дB4 180 ф
85 133 Е95 149 ХA5 165 еB5 181 х
86 134 Ж96 150 ЦA6 166 жB6 182 ц
87 135 З97 151 ЧA7 167 зB7 183 ч
88 136 И98 152 ШA8 168 иB8 184 ш
89 137 Й99 153 ЩA9 169 йB9 185 щ
8A 138 К9A 154 ЪAA 170 кBA 186 ъ
8B 139 Л9B 155 ЫAB 171 лBB 187 ы
8C 140 М9C 156 ЬAC 172 мBC 188 ь
8D 141 Н9D 157 ЭAD 173 нBD 189 э
8E 142 О9E 158 ЮAE 174 оBE 190 ю
8F 143 П9F 159 ЯAF 175 пBF 191 я
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1SETRTCM36
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
2extdtext Maximum 90
character string
The RTCM36 text string String
[max. 90]
Vari-
ablea
Vari-
able
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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1SETRTCMRXVE
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
2text v23 0RTCM version 2.3 - 4 0
v22 1RTCM version 2.2 - 0
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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 Binary Description
PRIORITY 0 Replace the Priority mask
SET 1 Replace the Set mask
CLEAR 2 Replace the Clear mask
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1STATUSCONFIG
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
2type See Table 42 Type of mask to replace Enum 4 H
3word STATUS 1Receiver Status word Enum 4H+4
AUX1 2Auxiliary 1 Status word
4mask 8 digit hexadecimal The hexadecimal bit mask Ulong 4H+8
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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
Field Field Type ASCII
Value Binary
Value Description Binary
Format
Binary
Bytes
Binary
Offset
1TUNNEL-
ESCAPE
header
- - This field contains the
command name
H 0 -
2switch DISABLE 0Enable or disable the tunnel
escape mode
default: DISABLE
ENUM 4 H
ENABLE 1
3length 1 to 8 Specifies the number of
hexbytes to follow.
ULONG 4H+4
4esc seq Escape sequence where Hex
pairs are entered without
spaces, for example, AA4412
Uchar[8] 8H+8
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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 Description Binary
Format Binary
Bytes Binary
Offset
1UNASSIGN
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
2channel See Table 13,
OEMV Channel
Configurations on
page 66
Reset SV channel to automatic
search and acquisition mode
ULong 4 H
3state See Table 12,
Channel State on
page 65
Set the SV channel state
(currently ignored)
Enum 4H+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.
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.
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1UNASSIGNALL
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
2system See Table 14,
Channel System
on page 68
System that the SV channel is
tracking
Enum 4 H
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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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1UNDULATION
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
2option TABLE 0Use the internal undulation
table (same as EGM96)
Enum 4 H
USER 1Use the user specified
undulation value
OSU89B 2Use the OSU89B
undulation table
EGM96 3Use global geoidal height
model EGM96 table
(default)
3separation ± 1000.0 m The undulation value
(required for the USER
option)
Float 4H+4
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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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1UNLOCKOUT
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
2prn GPS: 1-37
SBAS: 120-138
GLONASS: see
Section 1.3 on
Page 29.
A single satellite PRN
number to be reinstated
Ulong 4 H
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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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 215
Field Field
Name Binary
Value Description Field
Type Binary
Bytes Binary
Offset
1UNLOG
(binary)
header
(See Table 4, Binary Message
Header Structure on page 23)
This field contains the
message header.
- H 0
2port 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
3message Any valid message ID Message ID of log to
output
UShort 2H+4
4message
type
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 1H+6
5Reserved Char 1H+7
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1UNLOG
(ASCII)
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
2port 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
3message Message
Name
N/A Message Name of log
to be disabled
ULong 4H+4
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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 Description Binary
Format Binary
Bytes Binary
Offset
1UNLOGALL
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
2port See Table 5 on
page 25 (decimal
values greater
than 16 may be
used)
Port to clear
(default = ALL_PORTS)
Enum 4 H
3held FALSE 0Does not remove logs with the
HOLD parameter (default)
Enum 4H+4
TRUE 1Removes previously held logs,
even those with the HOLD
parameter
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 217
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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1USERDATUM
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
2semimajor 6300000.0 -
6400000.0 m
Datum Semi-major Axis (a)
in metres
Double 8 H
3flattening 290.0 - 305.0 Reciprocal Flattening,
1/f = a/(a-b)
Double 8H+8
4dx ± 2000.0 Datum offsets from local to
WGS84. These are the
translation values between
the user datum and WGS84
(internal reference).
Double 8H+16
5dy ± 2000.0 Double 8H+24
6dz ± 2000.0 Double 8H+32
7rx ± 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 8H+40
8ry ± 10.0 radians Double 8H+48
9rz ± 10.0 radians Double 8H+56
10 scale ± 10.0 ppm Scale value is the difference
in ppm between the user
datum and WGS84
Double 8H+64
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 219
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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1USEREXPDATUM
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
2semimajor 6300000.0 -
6400000.0 m
Datum semi-major axis (a) in
metres
Double 8 H
3flattening 290.0 - 305.0 Reciprocal Flattening, 1/f =
a/(a-b)
Double 8H+8
4dx ± 2000.0 m Datum offsets from local to
WGS84. These are the
translation values between
the user datum and WGS84
(internal reference).
Double 8H+16
5dy ± 2000.0 m Double 8H+24
6dz ± 2000.0 m Double 8H+32
7rx ± 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 8H+40
8ry ± 10.0 radians Double 8H+48
9rz ± 10.0 radians Double 8H+56
10 scale ± 10.0 ppm Scale value is the difference
in ppm between the user
datum and WGS84
Double 8H+64
11 xvel ± 2000.0 m/yr Velocity vector along X-axis Double 8H+72
12 yvel ± 2000.0 m/yr Velocity vector along Y-axis Double 8H+80
13 zvel ± 2000.0 m/yr Velocity vector along Z-axis Double 8H+88
14 xrvel ± 10.0 radians/
yr
Change in the rotation about
X over time
Double 8H+96
15 yrvel ± 10.0 radians/
yr
Change in the rotation about
Y over time
Double 8H+104
16 zrvel ± 10.0 radians/
yr
Change in the rotation about
Z over time
Double 8H+112
17 scalev ± 10.0 ppm/yr Change in scale from
WGS84 over time
Double 8H+120
18 refdate 0.0 year Reference date of
parameters
Example:
2005.00 = Jan 1, 2005
2005.19 = Mar 11, 2005
Double 8H+128
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 221
2.5.89 UTMZONE Set UTM parameters V123
This command sets the UTM persistence, zone number or meridian. Please refer to http://earth-
info.nga.mil/GandG/coordsys/grids/referencesys.html for more information and a world map of UTM
zone numbers.
1. The latitude limits of the UTM System are 80°S to 84°N, so if your position is outside
this range, the BESTUTM log outputs a northing, easting, and height of 0.0, along with a
zone letter of “*” and a zone number of 0, so that it is obvious that the data in the log is
dummy data.
2. If the latitude band is X, then the Zone number should not be set to 32, 34 or 36. These
zones were incorporated into other zone numbers and do not exist.
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 7.5-
minute quadrangle maps (1:24,000 scale), 15-minute quadrangle maps (1:50,000,
1:62,500, and standard-edition 1:63,360 scales), and Canadian 1:50,000 maps the
UTM grid lines are drawn at intervals of 1,000 metres, and are shown either with blue
ticks at the edge of the map or by full blue grid lines. On USGS maps at 1:100,000
and 1:250,000 scale and Canadian 1:250,000 scale maps a full UTM grid is shown at
intervals of 10,000 metres.
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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 Description Binary
Format Binary
Bytes Binary
Offset
1UTMZONE
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
2command See Table 43 above Enum 4 H
3parameter Enum 4H+4
Commands Chapter 2
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 223
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 Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1WAASECUTOFF
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
2angle ±90.0 degrees 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.
Table 44: SBAS Time Out Mode
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1WAAS-
TIMEOUT
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
2mode See Table 44
below
Time out mode
(default = AUTO)
Enum 4 H
3delay 2 to 1000 s Maximum SBAS position age
(default = 180 s)
Double 8H+4
4Reserved Double 8H+12
Binary ASCII Description
0 Reserved
1 AUTO Set the default value (180 s)
2 SET Set the delay in seconds
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 224
Chapter 3 Data Logs
3.1 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
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.
Type Recommended Trigger Illegal Trigger
Synch ONTIME ONNEW, ONCHANGED
Asynch ONCHANGED -
Polled ONCE or ONTIME a
a. Polled log types do not allow fractional offsets and cannot do
ontime rates faster than 1Hz.
ONNEW, ONCHANGED
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3.1.1 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:
log bestpos ontime 1 0.08 [offset is not a multiple of the minimum logging period]
log bestpos ontime 1 1.05 [offset is larger than the logging period]
3.2 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).
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 226
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 aBest 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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POSITION, PARAMTRES, AND SOLUTION FILTERING CONTROL
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 aComputed 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 aRTK low latency position Synch
RTKVELbRTK Velocity Synch
RTKXYZ RTK Cartesian coordinate position Synch
LOGS DESCRIPTIONS TYPE
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 228
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 bVelocity 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
Continued on the following page.
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Chapter 3 Data Logs
PSRPOS Pseudorange position Synch
PSRVELbPseudorange 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
Continued on the following page.
LOG DESCRIPTION TYPE
WAYPOINT NAVIGATION
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 230
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
Continued on the following page.
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Chapter 3 Data Logs
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
Continued on the following page.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 232
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
Continued on the following page.
233 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Table 47: OEMV Family Logs in Alphabetical Order
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.
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
Continued on the following page.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 234
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
Continued on the following page.
DATATYPE MESSAGE ID DESCRIPTION
235 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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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
Continued on the following page.
DATATYPE MESSAGE ID DESCRIPTION
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 236
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
Continued on the following page.
DATATYPE MESSAGE ID DESCRIPTION
237 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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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
Continued on the following page.
DATATYPE MESSAGE ID DESCRIPTION
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 238
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
Continued on the following page.
DATATYPE MESSAGE ID DESCRIPTION
239 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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. 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
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 240
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
Continued on the following page.
241 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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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
Continued on the following page.
MESSAGE ID DATATYPE DESCRIPTION
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 242
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.
MESSAGE ID DATATYPE DESCRIPTION
243 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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.
MESSAGE ID DATATYPE DESCRIPTION
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 244
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.
MESSAGE ID DATATYPE DESCRIPTION
245 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
RTCA FORMAT LOGS a
805 RTCAOBS2 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.
MESSAGE ID DATATYPE DESCRIPTION
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 246
RTCMV3 FORMAT LOGS a
885 RTCM1009 GLONASS L1-Only RTK
887 RTCM1010 Extended GLONASS L1-Only RTK
889 RTCM1011 GLONASS L1/L2 RTK
891 RTCM1012 Extended GLONASS L1/L2 RTK
893 RTCM1019 GPS Ephemerides
895 RTCM1020 GLONASS Ephemerides
1097 RTCM1033 Receiver and antenna descriptors
NMEA FORMAT DATA LOGS
217 GPALM Almanac Data
218 GPGGA GPS Fix Data and Undulation
219 GPGLL Geographic Position - latitude/longitude
220 GPGRS GPS Range Residuals for Each Satellite
221 GPGSA GPS DOP and Active Satellites
222 GPGST Pseudorange Measurement Noise Statistics
223 GPGSV GPS Satellites in View
224 GPRMB Generic Navigation Information
225 GPRMC GPS Specific Information
226 GPVTG Track Made Good and Ground Speed
227 GPZDA UTC Time and Date
259 GPGGARTK GPS Fix Data with Extra Precision
521 GPGGALONG GPS Fix Data, Extra Precision and Undulation
859 GLMLA NMEA GLONASS Almanac Data
1045 GPHDT Heading in Degrees True
a. CMR, RTCA, RTCM and RTCMV3 logs may be logged with an A or B extension to give an
ASCII or Binary output with a NovAtel header followed by Hex or Binary data respectively
MESSAGE ID DATATYPE DESCRIPTION
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Chapter 3 Data Logs
3.3 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: 73
Log Type: Asynch
Recommended Input:
log almanaca onchanged
ASCII Example:
#ALMANACA,COM1,0,54.0,SATTIME,1364,409278.000,00000000,06de,2310;
29,
1,1364,589824.0,6.289482e-03,-7.55460039e-09,-2.2193421e+00,-1.7064776e+00,
-7.94268362e-01,4.00543213e-05,3.63797881e-12,1.45856541e-04,2.6560037e+07,
4.45154034e-02,1,0,0,FALSE,
2,1364,589824.0,9.173393e-03,-8.16033991e-09,1.9308788e+00,1.9904300e+00,
6.60915023e-01,-1.62124634e-05,0.00000000,1.45860023e-04,2.6559614e+07,
8.38895743e-03,1,0,0,FALSE,
3,1364,589824.0,7.894993e-03,-8.04604944e-09,7.95206128e-01,6.63875501e-01,
-2.00526792e-01,7.91549683e-05,3.63797881e-12,1.45858655e-04,2.6559780e+07,
-1.59210428e-02,1,0,0,TRUE,
...
28,1364,589824.0,1.113367e-02,-7.87461372e-09,-1.44364969e-01,-2.2781989e+00,
1.6546425e+00,3.24249268e-05,0.00000000,1.45859775e-04,2.6559644e+07,
1.80122900e-02,1,0,0,FALSE,
29,1364,589824.0,9.435177e-03,-7.57745849e-09,-2.2673888e+00,-9.56729511e-01,
1.1791713e+00,5.51223755e-04,1.09139364e-11,1.45855297e-04,2.6560188e+07,
4.36225787e-02,1,0,0,FALSE,
30,1364,589824.0,8.776665e-03,-8.09176563e-09,-1.97082451e-01,1.2960786e+00,
2.0072936e+00,2.76565552e-05,0.00000000,1.45849410e-04,2.6560903e+07,
2.14517626e-03,1,0,0,FALSE*de7a4e45
The speed at which the receiver locates and locks onto new satellites is improved if
the receiver has approximate time and position, as well as an almanac. This allows
the receiver to compute the elevation of each satellite so it can tell which satellites
are visible and their Doppler offsets, improving time to first fix (TTFF).
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 248
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1ALMANAC header Log header H 0
2#messages The number of satellite PRN
almanac messages to follow. Set to
zero until almanac data is available.
Long 4 H
3PRN Satellite PRN number for current
message, dimensionless
Ulong 4H+4
4week Almanac reference week (GPS
week number)
Ulong 4H+8
5seconds Almanac reference time, seconds
into the week
Double 8H+12
6ecc Eccentricity, dimensionless -
defined for a conic section where
e = 0 is a circle, e = 1 is a parabola,
0<e<1 is an ellipse and e>1 is a
hyperbola.
Double 8H+20
7Rate of right ascension, radians/
second
Double 8H+28
8Right ascension, radians Double 8H+36
9Argument 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 8H+44
10 MoMean anomaly of reference time,
radians
Double 8H+52
11 afo Clock aging parametre, seconds Double 8H+60
12 af1 Clock aging parametre, seconds/
second
Double 8H+68
13 NCorrected mean motion, radians/
second
Double 8H+76
14 ASemi-major axis, metres Double 8H+84
15 incl-angle Angle of inclination relative to 0.3 π,
radians
Double 8H+92
16 SV config Satellite configuration Ulong 4H+100
17 health-prn SV health from Page 25 of subframe
4 or 5
(6 bits)
Ulong 4H+104
18 health-alm SV health from almanac (8 bits) Ulong 4H+108
19 antispoof Anti-spoofing on?
0 = FALSE
1 = TRUE
Enum 4H+112
20... Next PRN offset = H + 4 + (#messages x 112)
21 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H + 4 +
(112 x
#messages)
22 [CR][LF] Sentence terminator (ASCII only) - - -
ω
°
ω0
ω
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Chapter 3 Data Logs
3.3.2 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: 172
Log Type: Asynch
Recommended Input:
log aveposa onchanged
ASCII Example:
#AVEPOSA,COM1,0,48.5,FINESTEERING,1364,492100.000,80000000,e3b4,2310;
51.11635589900,-114.03833558937,1062.216134356,1.7561,0.7856,1.7236,
INPROGRESS,2400,2*72a550c1
Table 49: Position Averaging Status
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
Binary ASCII Description
0 OFF Receiver is not averaging
1 INPROGRESS Averaging is in progress
2 COMPLETE Averaging is complete
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 250
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
1AVEPOS
header
Log header H 0
2lat Average WGS84 latitude (degrees) Double 8 H
3lon Average WGS84 longitude (degrees) Double 8H+8
4ht Average height above sea level (m) Double 8H+16
5lat σEstimated average standard deviation of
latitude solution element (m)
Float 4H+24
6lon σEstimated average standard deviation of
longitude solution element (m)
Float 4H+28
7hgt σEstimated average standard deviation of height
solution element (m)
Float 4H+32
8posave Position averaging status (see Table 49)Enum 4H+36
9ave time Elapsed time of averaging (s) Ulong 4H+40
10 #samples Number of samples in the average Ulong 4H+44
11 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+48
12 [CR][LF] Sentence terminator (ASCII only) - - -
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3.3.3 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: 42
Log Type: 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
0NONE 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 aOmniSTAR 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 bRTK status where the RTK filter is directly initialized from
the INS filter
52 INS bINS calculated position corrected for the antenna
53 INS_PSRSP bINS pseudorange single point solution - no DGPS
corrections
54 INS_PSRDIFF bINS pseudorange differential solution
55 INS_RTKFLOAT bINS RTK floating point ambiguities solution
56 INS_RTKFIXED bINS RTK fixed ambiguities solution
64 OMNISTAR_HP aOmniSTAR HP position
65 OMNISTAR_XP aOmniSTAR XP position
66 CDGPS aPosition 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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Table 51: Solution Status
Solution Status Description
(Binary) (ASCII)
0SOL_COMPUTED Solution computed
1INSUFFICIENT_OBS Insufficient observations
2NO_CONVERGENCE No convergence
3SINGULARITY Singularity at parametres matrix
4COV_TRACE Covariance trace exceeds maximum (trace > 1000 m)
5TEST_DIST Test distance exceeded (maximum of 3 rejections if
distance > 10 km)
6COLD_START Not yet converged from cold start
7V_H_LIMIT Height or velocity limits exceeded (in accordance with
export licensing restrictions)
8VARIANCE Variance exceeds limits
9RESIDUALS Residuals are too large
10 DELTA_POS Delta position is too large
11 NEGATIVE_VAR Negative variance
12 Reserved
13 INTEGRITY_WARNING Large residuals make position unreliable
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
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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 254
Table 52: Signal-Used Mask
Table 53: Extended Solution Status
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
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
a. Unknown can indicate that the Iono Correction type is None
or that the default Klobuchar parametres are being used.
4-7 0xF0 Reserved
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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1BESTPOS
header
Log header H 0
2sol stat Solution status, see Table 51 on page 253 Enum 4 H
3pos type Position type, see Table 50 on page 252 Enum 4H+4
4lat Latitude Double 8H+8
5lon Longitude Double 8H+16
6hgt Height above mean sea level Double 8H+24
7undulation Undulation - the relationship between the geoid and
the ellipsoid (m) of the chosen datum a
Float 4H+32
8datum id# Datum ID number (see Chapter 2, Table 21,
Reference Ellipsoid Constants on page 97)
Enum 4H+36
9lat σLatitude standard deviation Float 4H+40
10 lon σLongitude standard deviation Float 4H+44
11 hgt σHeight standard deviation Float 4H+48
12 stn id Base station ID Char[4] 4H+52
13 diff_age Differential age in seconds Float 4H+56
14 sol_age Solution age in seconds Float 4H+60
15 #SVs Number of satellite vehicles tracked Uchar 1H+64
16 #solnSVs Number of satellite vehicles used in solution Uchar 1H+65
17 #ggL1 Number of GPS plus GLONASS L1 used in solution Uchar 1H+66
18 #ggL1L2 Number of GPS plus GLONASS L1 and L2 used in
solution
Uchar 1H+67
19 Reserved Uchar 1H+68
20 ext sol stat Extended solution status (see Table 53, Extended
Solution Status on page 254)
Hex 1H+69
21 Reserved Hex 1H+70
22 sig mask Signals used mask - if 0, signals used in solution are
unknown (see Table 52 on page 254)
Hex 1H+71
23 xxxx 32-bit CRC (ASCII and Binary only) Hex 1H+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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3.3.4 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: 726
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1BESTUTM
header
Log header H 0
2sol status Solution status, see Table 51, Solution Status on
page 253 Enum 4 H
3pos type Position type, see Table 50, Position or Velocity
Type on page 252 Enum 4H+4
4 z# Longitudinal zone number Ulong 4H+8
5zletter Latitudinal zone letter Ulong 4H+12
6northing 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 8H+16
7easting 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 8H+24
8hgt Height above mean sea level Double 8H+32
9undulation Undulation - the relationship between the geoid and
the ellipsoid (m) of the chosen datum a
Float 4H+40
10 datum id# Datum ID number (see Chapter 2, Table 21,
Reference Ellipsoid Constants on page 97)
Enum 4H+44
11 N σNorthing standard deviation Float 4H+48
12 E σEasting standard deviation Float 4H+52
13 hgt σHeight standard deviation Float 4H+56
14 stn id Base station ID Char[4] 4H+60
15 diff_age Differential age in seconds Float 4H+64
16 sol_age Solution age in seconds Float 4H+68
17 #SVs Number of satellite vehicles tracked Uchar 1H+72
18 #solnSVs Number of satellite vehicles used in solution Uchar 1H+73
19 #ggL1 Number of GPS plus GLONASS L1 used in solution Uchar 1H+74
20 #ggL1L2 Number of GPS plus GLONASS L1 and L2 used in
solution
Uchar 1H+75
21 Reserved Uchar 1H+76
Continued on page 258.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 258
22 ext sol stat Extended solution status (see Table 53, Extended
Solution Status on page 254)
Hex 1H+77
23 Reserved Hex 1H+78
24 sig mask Signals used mask - if 0, signals used in solution are
unknown (see Table 52 on page 254)
Hex 1H+79
25 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+80
26 [CR][LF] Sentence terminator (ASCII only) - - -
a. When using a datum other than WGS84, the undulation value also includes the vertical shift due
to differences between the datum in use and WGS84
Field # Field type Data Description Format Binary
Bytes Binary
Offset
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3.3.5 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: 99
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 260
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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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1BESTVEL
header
Log header H 0
2sol status Solution status, see Table 51, Solution Status on
page 253 Enum 4 H
3vel type Velocity type, see Table 50, Position or Velocity
Type on page 252 Enum 4H+4
4latency A measure of the latency in the velocity time tag in
seconds. It should be subtracted from the time to
give improved results.
Float 4H+8
5age Differential age in seconds Float 4H+12
6hor spd Horizontal speed over ground, in metres per
second
Double 8H+16
7trk gnd Actual direction of motion over ground (track over
ground) with respect to True North, in degrees
Double 8H+24
8vert spd Vertical speed, in metres per second, where
positive values indicate increasing altitude (up)
and negative values indicate decreasing altitude
(down)
Double 8H+32
9Reserved Float 4H+40
10 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+44
11 [CR][LF] Sentence terminator (ASCII only) - - -
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3.3.6 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: 241
Log Type: Synch
Recommended Input:
log bestxyza ontime 1
ASCII Example:
#BESTXYZA,COM1,0,55.0,FINESTEERING,1419,340033.000,00000040,d821,2724;
SOL_COMPUTED,NARROW_INT,-1634531.5683,-3664618.0326,4942496.3270,
0.0099,0.0219,0.0115,SOL_COMPUTED,NARROW_INT,0.0011,-0.0049,-0.0001,
0.0199,0.0439,0.0230,"AAAA",0.250,1.000,0.000,12,11,11,11,0,01,0,33*e9eafeca
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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1BESTXYZ
header
Log header H 0
2P-sol status Solution status, see Table 51, Solution Status
on page 253 Enum 4 H
3pos type Position type, see Table 50, Position or Velocity
Type on page 252 Enum 4H+4
4 P-X Position X-coordinate (m) Double 8H+8
5 P-Y Position Y-coordinate (m) Double 8H+16
6 P-Z Position Z-coordinate (m) Double 8H+24
7P-X σStandard deviation of P-X (m) Float 4H+32
8P-Y σStandard deviation of P-Y (m) Float 4H+36
9P-Z σStandard deviation of P-Z (m) Float 4H+40
10 V-sol status Solution status, see Table 51, Solution Status
on page 253 Enum 4H+44
11 vel type Velocity type, see Table 50, Position or Velocity
Type on page 252 Enum 4H+48
12 V-X Velocity vector along X-axis (m/s) Double 8H+52
13 V-Y Velocity vector along Y-axis (m/s) Double 8H+60
14 V-Z Velocity vector along Z-axis (m/s) Double 8H+68
15 V-X σStandard deviation of V-X (m/s) Float 4H+76
16 V-Y σStandard deviation of V-Y (m/s) Float 4H+80
17 V-Z σStandard deviation of V-Z (m/s) Float 4H+84
18 stn ID Base station identification Char[4] 4H+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 4H+92
20 diff_age Differential age in seconds Float 4H+96
21 sol_age Solution age in seconds Float 4H+100
22 #SVs Number of satellite vehicles tracked Uchar 1H+104
23 #solnSVs Number of satellite vehicles used in solution Uchar 1H+105
Continued on page 264.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 264
24 #ggL1 Number of GPS plus GLONASS L1 used in
solution
Uchar 1H+106
25 #ggL1L2 Number of GPS plus GLONASS L1 and L2
used in solution
Uchar 1H+107
26 Reserved Char 1H+108
27 ext sol stat Extended solution status (see Table 53,
Extended Solution Status on page 254)
Hex 1H+109
28 Reserved Hex 1H+110
29 sig mask Signals used mask - if 0, signals used in
solution are unknown (see Table 52 on page
254)
Hex 1H+111
30 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+112
31 [CR][LF] Sentence terminator (ASCII only) - - -
Field # Field type Data Description Format Binary
Bytes Binary
Offset
265 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Figure 10: The WGS84 ECEF Coordinate System
ω
ZWGS
8
4
BIH - Defined CTP
(1984.0)
E
a
r
t
h
'
s
C
e
n
t
e
r
o
f
M
a
s
s
Y
W
G
S
8
4
BIH-Defined
Zero Meridian
(1984.0)
X
WGS 84
Origin = Earth's center of mass
Z-Axis =
X-Axis =
Y-Axis =
Parallel to the direction o
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polar motion, as defined
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the BIH stations.
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d
,
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orthogonal coordinate sy
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Equator, 90¡ East of the
X
-
A
x
i
s
.
*
Analogous to the BIH Defined Conventional Terrestrial System (CTS), or BTS,
1984.0.
- Definitions -
*
°
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 266
3.3.7 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: 686
Log Type: Asynch
Recommended Input:
log bslnxyza onchanged
ASCII Example:
#BSLNXYZA,COM1,0,59.5,FINESTEERING,1419,340033.000,00000040,5b48,2724;
SOL_COMPUTED,NARROW_INT,0.0012,0.0002,-0.0004,0.0080,0.0160,0.0153,
"AAAA",12,12,12,12,0,01,0,33*1a8a1b65
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.)
267 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 268
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1BSLNXYZ
header
Log header H 0
2sol status Solution status, see Table 51, Solution Status on
page 253 Enum 4 H
3bsln type Baseline type, see Table 50, Position or Velocity
Type on page 252 Enum 4H+4
4 B-X X-axis offset (m) Double 8H+8
5 B-Y Y-axis offset (m) Double 8H+16
6 B-Z Z-axis offset (m) Double 8H+24
7B-X σStandard deviation of B-X (m) Float 4H+32
8B-Y σStandard deviation of B-Y (m) Float 4H+36
9B-Z σStandard deviation of B-Z (m) Float 4H+40
10 stn ID Base station identification Char[4] 4H+44
11 #SVs Number of satellite vehicles tracked Uchar 1H+48
12 #solnSVs Number of satellite vehicles used in solution Uchar 1H+49
13 #ggL1 Number of GPS plus GLONASS L1 used in
solution
Uchar 1H+50
14 #ggL1L2 Number of GPS plus GLONASS L1 and L2 used in
solution
Uchar 1H+51
15 Reserved Uchar 1H+52
16 ext sol stat Extended solution status (see Table 53, Extended
Solution Status on page 254)
Hex 1H+53
17 Reserved Hex 1H+54
18 sig mask Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)
Hex 1H+55
30 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+56
31 [CR][LF] Sentence terminator (ASCII only) - - -
269 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
3.3.8 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 =
Table 54: Clock Model Status
Clock
Status
(Binary)
Clock Status
(ASCII) Description
0 VALID The clock model is valid
1 CONVERGING The clock model is near validity
2 ITERATING The clock model is iterating towards
validity
3 INVALID The clock model is not valid
4 ERROR Clock model error
σ
2
B
σ
B
σ
BR
σ
B
σ
SAB
σ
BR
σ
B
σ
BR
2
σ
BR
σ
SAB
σ
SAB
σ
B
σ
SAB
σ
BR
σ
SAB
2
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 270
Message ID: 16
Log Type: 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.
271 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1CLOCKMODEL
header
Log header H 0
2clock status Clock model status as computed from
current measurement data, see Table 54,
Clock Model Status on page 269
Enum 4 H
3reject Number of rejected range bias
measurements
Ulong 4H+4
4noise time GPS time of last noise addition GPSec 4H+8
5update time GPS time of last update GPSec 4H+12
6parametres Clock correction parametres (a 1x3 array
of length 3), listed left-to-right
Double 8H+16
7 8 H+24
8 8 H+32
9cov data Covariance of the straight line fit (a 3x3
array of length 9), listed left-to-right by
rows
Double 8H+40
10 8H+48
11 8H+56
12 8H+64
13 8H+72
14 8H+80
15 8H+88
16 8H+96
17 8H+104
18 range bias Last instantaneous measurement of the
range bias (metres)
Double 8H+112
19 range bias rate Last instantaneous measurement of the
range bias rate (m/s)
Double 8H+120
20 change Is there a change in the constellation?
0 = FALSE
1 = TRUE
Enum 4H+128
21 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+132
22 [CR][LF] Sentence terminator (ASCII only) - - -
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 272
3.3.9 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: 26
Log Type: Asynch
Recommended Input:
log clocksteeringa onchanged
ASCII Example:
#CLOCKSTEERINGA,COM1,0,56.5,FINESTEERING,1337,394857.051,00000000,0f61,1984;
INTERNAL,SECOND_ORDER,4400,1707.554687500,0.029999999,-2.000000000,-0.224,
0.060*0e218bbc
To configure the receiver to use an external reference oscillator, see the
EXTERNALCLOCK command on page 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
273 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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 start-
up state of the clock steering loop.
1 SECOND_ORDER Once the receiver has reduced the clock drift to below 1 m/
s, it enters a second order control loop and attempts to
reduce the receiver clock offset to zero. This is the normal
runtime state of the clock steering process.
2CALIBRATE_HIGH a
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.
This state corresponds to when the calibration process is
measuring at the "High" pulse width setting
3CALIBRATE_LOW aThis state corresponds to when the calibration process is
measuring at the "Low" pulse width setting
4CALIBRATE_CENTER b
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.
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).
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 274
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1CLOCKSTEERING
header
Log header H 0
2source Clock source, see Table 55, Clock
Source on page 272. Enum 4 H
3steeringstate Steering state, see Table 56, Steering
State on page 273.
Enum 4H+4
4period Period of the FREQUENCYOUT signal
used to control the oscillator, refer to the
FREQUENCYOUT command. This
value is set using the
CLOCKCALIBRATE command.
Ulong 4H+8
5pulsewidth 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 8H+12
6bandwidth The current band width of the clock
steering tracking loop in Hz. This value is
set using the CLOCKCALIBRATE
command.
Double 8H+20
7slope The current clock drift change in m/s/bit
for a 1 LSB pulse width. This value is set
using the CLOCKCALIBRATE
command.
Float 4H+28
8offset The last valid receiver clock offset
computed (m). It is the same as Field #
18 of the CLOCKMODEL log, see page
266.
Double 8H+32
9driftrate The last valid receiver clock drift rate
received (m/s). It is the same as Field #
19 of the CLOCKMODEL log.
Double 8H+40
10 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+48
11 [CR][LF] Sentence terminator (ASCII only) - - -
275 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
3.3.10 CMR Standard Logs V123_RT20 or V23_RT2
CMRDESC BASE STATION DESCRIPTION INFORMATION
Message ID: 310
CMRGLOOBS CMR DATA GLONASS OBSERVATIONS (CMR TYPE 3 MESSAGE) _G
Message ID: 882
CMROBS BASE STATION SATELLITE OBSERVATION INFORMATION
Message ID: 103
CMRPLUS CMR+ OUTPUT INFORMATION
Message ID: 717
CMRREF BASE STATION POSITION INFORMATION
Message ID: 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 non-
NovAtel 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. 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
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 276
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.
277 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 278
3.3.11 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: 389
Log Type: 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)
279 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1CMRDATA-
DESC header
Log header - H 0
2CMR header Synch character for the message Ulong 4 H
3Message status Ulong 4H+4
4CMR message type Ulong 4H+8
5Message body length Ulong 4H+12
6Version Ulong 4H+16
7Station ID Ulong 4H+20
8Message Type Ulong 4H+24
9battery Is the battery low?
0 = FALSE
1 = TRUE
Enum 4H+28
10 memory Is memory low?
0 = FALSE
1 = TRUE
Enum 4H+32
11 Reserved Ulong 4H+36
12 L2 Is L2 enabled? 0 = FALSE
1 = TRUE
Enum 4H+40
13 Reserved Ulong 4H+44
14 epoch Epoch time (milliseconds) Ulong 4H+48
15 motion Motion state 0 = UNKNOWN
1 = STATIC
2 = KINEMATIC
Ulong 4H+52
16 Reserved Ulong 4H+56
17 rec length Record length (bytes). The length altogether of
the four fields that follow.
Double 8H+60
18 short ID Short station ID. A sequence of eight numbers. Uchar[8] 8H+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 4H+92
21 long ID Long station ID, variable length, see field #20 Uchar[50] 52aH+96
22 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+148
23 [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
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 280
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: 1003
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1CMRDATA-
GLOOBS
header
Log header - H 0
2CMR header Synch character for the message Ulong 4 H
3Message status Ulong 4H+4
4CMR message type Ulong 4H+8
5Message body length Ulong 4H+12
6Version Ulong 4H+16
7Station ID Ulong 4H+20
8Message Type Ulong 4H+24
9#sv Number of SVs Ulong 4H+28
10 epoch Epoch time (milliseconds) Ulong 4H+32
11 clock bias Is clock bias valid?
0 = NOT VALID
3 = VALID
Ulong 4H+36
12 clock offset Clock offset (nanoseconds) Long 4H+40
13 # obs Number of satellite observations with
information to follow
Ulong 4H+44
14 slot# GLONASS satellite slot number Ulong 4H+48
15 P code? Is P code collected?
0 = FALSE = C/A
1 = TRUE = P
Enum 4H+52
16 L1 phase? Is L1 phase valid?
0 = FALSE
1 = TRUE
Enum 4H+56
17 L2? Is L2 present?
0 = FALSE
1 = TRUE
Enum 4H+60
18 L1 psr L1 pseudorange (1/8 L1 cycles) Ulong 4H+64
19 L1 carrier L1 carrier-code measurement (1/256 L1
cycles)
Long 4H+68
20 L1 S/N0L1 signal-to-noise density ratio Ulong 4H+72
21 L1 slip L1 cycle slip count (number of times
that tracking has not been continuous)
Ulong 4H+76
Continued on page 282.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 282
22 L2 code Is L2 code available?
0 = FALSE
1 = TRUE
Enum 4H+80
23 C/A code? Is C/A code collected on L2?
0 = FALSE = P
1 = TRUE = C/A
Enum 4H+84
24 L2 code? Is L2 code valid?
0 = FALSE
1 = TRUE
Enum 4H+88
25 L2 phase? Is L2 phase valid?
0 = FALSE
1 = TRUE
Enum 4H+92
26 phase full? Is phase full?
0 = FALSE
1 = TRUE
Enum 4H+96
27 Reserved Ulong 4H+100
28 L2 r offset L2 range offset (1/100 metres) Long 4H+104
29 L2 c offset L2 carrier offset (1/256 cycles)
The L2 frequency used is that of the
broadcasting satellite.
Long 4H+108
30 L2 S/N0L2 signal-to-noise density ratio Ulong 4H+112
31 L2 slip L2 cycle slip count (number of times
that tracking has not been continuous)
Ulong 4H+116
32... Next PRN offset = H+48 + (#prns x 72)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
variable [CR][LF] Sentence terminator (ASCII only) - - -
Field # Field type Data Description Format Binary
Bytes Binary
Offset
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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: 390
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 284
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1CMRDATA-
OBS header
Log header - H 0
2CMR header Synch character for the message Ulong 4 H
3Message status Ulong 4H+4
4CMR message type Ulong 4H+8
5Message body length Ulong 4H+12
6Version Ulong 4H+16
7Station ID Ulong 4H+20
8Message Type Ulong 4H+24
9#sv Number of SVs Ulong 4H+28
10 epoch Epoch time (milliseconds) Ulong 4H+32
11 clock bias Is clock bias valid?
0 = NOT VALID
3 = VALID
Ulong 4H+36
12 clock offset Clock offset (nanoseconds) Long 4H+40
13 # obs Number of satellite observations with
information to follow
Ulong 4H+44
14 prn Satellite PRN number Ulong 4H+48
15 code flag Is code P Code?
0 = FALSE
1 = TRUE
Enum 4H+52
16 L1 Is L1 phase valid?
0 = FALSE
1 = TRUE
Enum 4H+56
17 L2 Is L2 present?
0 = FALSE
1 = TRUE
Enum 4H+60
18 L1 psr L1 pseudorange (1/8 L1 cycles) Ulong 4H+64
19 L1 carrier L1 carrier-code measurement (1/256 L1
cycles)
Long 4H+68
20 L1 S/N0L1 signal-to-noise density ratio Ulong 4H+72
21 L1 slip L1 cycle slip count (number of times
that tracking has not been continuous)
Ulong 4H+76
Continued on page 285.
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Chapter 3 Data Logs
22 L2 code Is L2 code available?
0 = FALSE
1 = TRUE
Enum 4H+80
23 Code type Is code X-correlation?
0 = FALSE
1 = TRUE
Enum 4H+84
24 L2 c valid Is L2 code valid?
0 = FALSE
1 = TRUE
Enum 4H+88
25 L2 p valid Is L2 phase valid?
0 = FALSE
1 = TRUE
Enum 4H+92
26 phase full Is phase full?
0 = FALSE
1 = TRUE
Enum 4H+96
27 Reserved Ulong 4H+100
28 L2 r offset L2 range offset (1/100 metres) Long 4H+104
29 L2 c offset L2 carrier offset (1/256 cycles) Long 4H+108
30 L2 S/N0L2 signal-to-noise density ratio Ulong 4H+112
31 L2 slip L2 cycle slip count (number of times
that tracking has not been continuous)
Ulong 4H+116
32... Next PRN offset = H+48 + (#prns x 72)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
variable [CR][LF] Sentence terminator (ASCII only) - - -
Field # Field type Data Description Format Binary
Bytes Binary
Offset
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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: 391
Log Type: 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
15 km
21 km
3 500 m
4 100 m
550 m
610 m
75 m
81 m
950 cm
10 10 cm
11 5 cm
12 1 cm
13 5 mm
14 1 mm
15 Exact
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Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1CMRDATAREF
header
Log header - H 0
2CMR header Synch character for the message Ulong 4 H
3Message status Ulong 4H+4
4CMR message type Ulong 4H+8
5Message body length Ulong 4H+12
6Version Ulong 4H+16
7Station ID Ulong 4H+20
8Message Type Ulong 4H+24
9battery Is the battery low?
0 = FALSE
1 = TRUE
Enum 4H+28
10 memory Is memory low?
0 = FALSE
1 = TRUE
Enum 4H+32
11 Reserved Ulong 4H+36
12 L2 Is L2 enabled?
0 = FALSE
1 = TRUE
Enum 4H+40
13 Reserved Ulong 4H+44
14 epoch Epoch time (milliseconds) Ulong 4H+48
15 motion Motion state:
0 = UNKNOWN
1 = STATIC
2 = KINEMATIC
Ulong 4H+52
16 Reserved Ulong 4H+56
17 ECEF-X Reference ECEF-X position (millimetres) Double 8H+60
18 ant hgt Antenna height (millimetres) Ulong 4H+68
19 ECEF-Y Reference ECEF-Y position (millimetres) Double 8H+72
20 e offset Easting offset (millimetres) Ulong 4H+80
21 ECEF-Z Reference ECEF-Z position (millimetres) Double 8H+84
22 n offset Northing offset (millimetres) Ulong 4H+92
Continued on page 288.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 288
23 pos acc Position accuracy relative to WGS84,
see Table 57, Position Accuracy on page
286
Ulong 4H+96
24 Reserved Ulong 4H+100
25 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+104
26 [CR][LF] Sentence terminator (ASCII only) - - -
Field # Field type Data Description Format Binary
Bytes Binary
Offset
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Chapter 3 Data Logs
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: 717
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 290
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1CMRPLUS
header
Log header - H 0
2CMR header Synch character for the message Ulong 4 H
3Message status Ulong 4H+4
4CMR message type Ulong 4H+8
5Message body length Ulong 4H+12
6Version Ulong 4H+16
7Station ID Ulong 4H+20
8Message Type Ulong 4H+24
9stnID Station ID Ulong 4H+28
10 page Current page index Ulong 4H+32
11 #pages Maximum number of page indexes Ulong 4H+36
12 data Data for this page Uchar[7] 8 aH+40
13 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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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Chapter 3 Data Logs
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: 317
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 292
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1 COMCONFIG
header
Log header H 0
2#port Number of ports with information to follow Long 4 H
3port Serial port identifier, see Table 17, COM
Serial Port Identifiers on page 88 Enum 4H+4
4baud Communication baud rate Ulong 4H+8
5parity See Table 18, Parity on page 88 Enum 4H+12
6databits Number of data bits Ulong 4H+16
7stopbits Number of stop bits Ulong 4H+20
8handshake See Table 19, Handshaking on page 89 Enum 4H+24
9echo When echo is on, the port is transmitting any
input characters as they are received.
0 = OFF
1 = ON
Enum 4H+28
10 breaks Breaks are turned on or off
0 = OFF
1 = ON
Enum 4H+32
11 rx type The status of the receive interface mode, see
Table 31, Serial Port Interface Modes on page
137.
Enum 4H+36
12 tx type The status of the transmit interface mode,
Table 31, Serial Port Interface Modes on page
137
Enum 4H+40
13 response Responses are turned on or off
0 = OFF
1 = ON
Enum 4H+44
14 next port offset = H + 4 + (#port x 44)
15 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 914
Log Type: 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 Format Binary
Bytes Binary
Offset
1DIFFCODE-
BIASES
header
Log header H 0
2#bias_sets Number of sets of bias code arrays Long 4 H
3bias_type Bias type (there is currently only one type):
0 = GPS_C1P1
Enum 4H+4
4bias_array Array of 40 biases (ns) Float[40] 160 H+8
5next bias_sets offset = H + 4 + (#bias_sets x 164)
6 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+4+
(#bias
_sets
x 164)
7[CR][LF] 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: 843
Log Type: 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
1EXTRXHW-
LEVELS header
Log header H 0
2system volt Receiver system voltage (V) Float 4 H
3MINOS volt MINOS chip voltage (V) Float 4H+4
4L-band volt L-band voltage (V) Float 4H+8
5L5 volt Receiver supply voltage (V) Float 4H+12
6Reserved Float 4H+16
7Float 4H+20
8Float 4H+24
9Float 4H+28
10 Float 4H+32
11 Float 4H+36
12 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+40
13 [CR][LF] Sentence terminator (ASCII only) - - -
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Chapter 3 Data Logs
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: 859
Log Type: Asynch
Recommended Input:
log glmlaa onchanged
ASCII Example:
$GLMLA,16,01,65,1176,07,0496,4c,5ff2,8000,34c05e,0e93e8,04b029,001fa2,099,213*68
$GLMLA,16,02,66,1176,01,12e3,4c,42cc,8000,34c08e,10fae9,02f48c,00224e,099,003*64
$GLMLA,16,03,67,1176,8c,08f6,4a,ef4d,8000,34c051,13897b,00d063,001b09,099,000*63
$GLMLA,16,04,68,1176,06,116b,48,3a00,8000,34c09d,02151f,0e49e8,00226e,099,222*63
$GLMLA,16,05,70,1176,01,140f,49,45c4,8000,34c0bc,076637,0a3e40,002214,099,036*37
$GLMLA,16,06,71,1176,05,0306,4c,5133,8000,34c025,09bda7,085d84,001f83,099,21d*6E
$GLMLA,16,07,72,1176,06,01b1,4c,4c19,8000,34c021,0c35a0,067db8,001fca,099,047*3D
$GLMLA,16,08,74,1176,84,076b,45,7995,8000,34c07b,104b6d,0e1557,002a38,099,040*35
$GLMLA,16,09,78,1176,84,066c,46,78cf,8000,34c07b,0663f0,1a6239,0029df,099,030*38
$GLMLA,16,10,79,1176,80,0afc,45,8506,8000,34c057,08de48,1c44ca,0029d7,099,000*6B
$GLMLA,16,11,82,1176,8a,12d3,0f,e75d,8000,34be85,10aea6,1781b7,00235a,099,207*6E
$GLMLA,16,12,83,1176,03,0866,0f,6c08,8000,34c009,11f32e,18839d,002b22,099,214*36
$GLMLA,16,13,85,1176,88,01a6,0d,9dc9,8000,34bff8,031887,02da1e,002838,099,242*6D
$GLMLA,16,14,86,1176,8a,00e1,0e,4b15,8000,34c016,058181,010433,0027f0,099,227*6F
$GLMLA,16,15,87,1176,03,0383,0f,824c,8000,34bfda,081864,1104ea,002b04,099,00c*60
$GLMLA,16,16,88,1176,02,0821,0f,8ac8,8000,34c05b,0a8510,12dcb6,002b6f,099,020*3F
Refer to the GLONASS section of the GNSS Reference Book, available
on our Web site at http://www.novatel.ca/support/docupdates.htm.
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Field Structure Field Description Symbol Example
1$GLMLA Log header $GLMLA
2#alm Number of NMEA almanac
messages in the set
x.x 16
3alm# Current message number x.x 13
4slot Slot number for satellite (65-96) axx 85
5 N Calendar day count within the four
year period from the last leap year
x.x 1176
6hlth & freq Health and frequency for satellite bhh 88
7ecc Eccentricity chhhh 01a6
8ΔTdot Rate of change of orbital period
(s/orbital period2) c
hh 0d
9ωArgument of perigee (PZ-90.02), in
radians c
hhhh 9dc9
10 τ16MSB Clock offset, in seconds chhhh 8000
11 ΔTCorrection to the mean value of the
Draconian period (s/orbital period) c
hhhhhh 34bff8
12 tλGLONASS Time of ascending node
equator crossing, in seconds c
hhhhhhh 031887
13 λLongitude of ascending node
equator crossing (PZ-90.02), in
radians c
hhhhhhh 02da1e
14 ΔiCorrection to nominal inclination, in
radians c
hhhhhhh 002838
15 τ12LSB Clock offset, in seconds chhh 099
16 tCoarse value of the time scale shift chhh 242
17 xxxx 32-bit CRC (ASCII and Binary only) Hex *6D
18 [CR][LF] Sentence terminator (ASCII only) -[CR][LF]
a. The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number. Current slot
numbers are 1 to 24 which give the range 65 to 88. PRN numbers 89 to 96 are available if
slot numbers above 24 are allocated to on-orbit spares.
b. Health and carrier frequency number are represented in this 2-character Hex field as:
hh = [8][7][6][5][4][3][2][1] (LSB)
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.
carrier frequency number of satellite
spare bits
health of satellite
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Chapter 3 Data Logs
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: 718
Log Type: Asynch
Recommended Input:
log gloalmanaca onchanged
ASCII Example:
#GLOALMANACA,COM1,0,52.5,SATTIME,1364,410744.000,00000000,ba83,2310;
24,
1364,336832.625,1,2,0,0,2018.625000000,-2.775537500,0.028834045,0.001000404,
2.355427500,-2656.076171875,0.000000000,0.000091553,
1364,341828.437,2,1,0,0,7014.437500000,-3.122226146,0.030814438,0.004598618,
1.650371580,-2656.160156250,0.000061035,0.000095367,
1364,347002.500,3,12,0,0,12188.500000000,2.747629236,0.025376596,0.002099991,
-2.659059822,-2656.076171875,-0.000061035,-0.000198364,
1364,351887.125,4,6,0,0,17073.125000000,2.427596502,0.030895332,0.004215240,
1.438586358,-2656.167968750,-0.000061035,0.000007629,
.
.
.
1364,364031.187,23,11,0,1,29217.187500000,0.564055522,0.030242192,
0.001178741,2.505278248,-2655.957031250,0.000366211,0.000019073,
1364,334814.000,24,3,0,1,0.000000000,0.000000000,0.000000000,0.000000000,
0.000000000,0.000000000,0.000000000,0.000000000*4dc981c7
Refer to the GLONASS section of 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
1GLOALMANAC
header
Log header H 0
2#recs The number of GLONASS almanac
records to follow. Set to zero until
almanac data is available.
Long 4 H
3week GPS Week, in weeks Ulong 4H+4
4time GPS Time, in milliseconds (binary
data) or seconds (ASCII data)
GPSec 4H+8
5slot Slot number for satellite, ordinal Uchar 1H+12
6frequency Frequency for satellite, ordinal
(frequency channels are in the
range -7 to +13)
Char 1H+13
7sat type Satellite type where
0 = GLO_SAT
1 = GLO_SAT_M (new M type)
Uchar 1H+14
8health Almanac health where
0 = GOOD
1 = BAD
Uchar 1H+15
9TlambdaN GLONASS Time of ascending node
equator crossing, in seconds
Double 8H+16
10 lambdaN Longitude of ascending node
equator crossing (PZ-90.02), in
radians
Double 8H+24
11 deltaICorrection to nominal inclination, in
radians
Double 8H+32
12 ecc Eccentricity Double 8H+40
13 ArgPerig Argument of perigee (PZ-90.02), in
radians
Double 8H+48
14 deltaT Correction to the mean value of the
Draconian period (s/orbital period)
Double 8H+56
15 deltaTD Rate of change of orbital period
(s/orbital period2)
Double 8H+64
16 tau Clock offset, in seconds Double 8H+72
17... Next message offset = H + 4 + (#recs x 76)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H + 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: 719
Log Type: Asynch
Recommended Input:
log gloclocka onchanged
ASCII Example:
#GLOCLOCKA,COM1,0,54.5,SATTIME,1364,411884.000,00000000,1d44,2310;
0,0.000000000,0.000000000,0,0,-0.000000275,792,-0.000001207,
0.000000000,0.000000000,0*437e9afaf
Refer to the GLONASS section of 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
1GLOCLOCK
header
Log header H 0
2Reserved Ulong 4 H
3Double 8H+4
4Double 8H+12
5sat type Satellite type where
0 = GLO_SAT
1 = GLO_SAT_M (new M type)
Uchar 1H+20
6aN4Four-year interval number starting from 1996aUchara1 aH+21 a
7τGPS GPS time scale correction to UTC(SU) given at
beginning of day N4, in seconds
Double 8H+24
8aNAGLONASS calendar day number within a four
year period beginning since the leap year, in
days
Ushorta2 aH+32 a
9τCGLONASS time scale correction to UTC time, in
seconds
Double 8H+36
10 b1 Beta parametre 1st order term Double 8H+44
11 b2 Beta parametre 2nd order term Double 8H+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 1H+60
13 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 723
Log Type: Asynch
Recommended Input:
log gloephemerisa onchanged
Example:
#GLOEPHEMERISA,COM1,3,49.0,SATTIME,1364,413624.000,00000000,6b64,2310;
43,8,1,0,1364,413114000,10786,792,0,0,87,0,9.0260864257812500e+06,
-6.1145468750000000e+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: Bits 0 - 1: P1 Flag Range Values
State Description
00 0 minutes
01 30 minutes
10 45 minutes
11 60 minutes
(N-1 through N-7)
(Table 59)
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Field# Field type Data Description Format Binary
Bytes Binary
Offset
1GLO-
EPHEMERIS
header
Log header H 0
2sloto Slot information offset - PRN identification
(Slot + 37). This is also called SLOTO in CDU
Ushort 2 H
3freqo Frequency channel offset for satellite in the
range 0 to 20
Ushort 2H+2
4sat type Satellite type where
0 = GLO_SAT
1 = GLO_SAT_M (new M type)
Uchar 1H+4
5Reserved 1H+5
6e week Reference week of ephemeris (GPS time) Ushort 2H+6
7e time Reference time of ephemeris (GPS time) in ms Ulong 4H+8
8t offset Integer seconds between GPS and GLONASS
time. A positive value implies GLONASS is
ahead of GPS time.
Ulong 4H+12
9Nt 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 2H+16
10 Reserved 1H+18
11 1H+19
12 issue 15-minute interval number corresponding to
ephemeris reference time
Ulong 4H+20
13 health Ephemeris health where
0 = GOOD
1 = BAD
Ulong 4H+24
14 pos x X coordinate for satellite at reference time (PZ-
90.02), in metres
Double 8H+28
15 pos y Y coordinate for satellite at reference time (PZ-
90.02), in metres
Double 8H+36
16 pos z Z coordinate for satellite at reference time (PZ-
90.02), in metres
Double 8H+44
17 vel x X coordinate for satellite velocity at reference
time (PZ-90.02), in metres/s
Double 8H+52
18 vel y Y coordinate for satellite velocity at reference
time (PZ-90.02), in metres/s
Double 8H+60
Continued on page 304.
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19 vel z Z coordinate for satellite velocity at reference
time (PZ-90.02), in metres/s
Double 8H+68
20 LS acc x X coordinate for lunisolar acceleration at
reference time (PZ-90.02), in metres/s/s
Double 8H+76
21 LS acc y Y coordinate for lunisolar acceleration at
reference time (PZ-90.02), in metres/s/s
Double 8H+84
22 LS acc z Z coordinate for lunisolar acceleration at
reference time (PZ-90.02), in metres/s/s
Double 8H+92
23 tau_n Correction to the nth satellite time t_n relative to
GLONASS time t_c, in seconds
Double 8H+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 8H+108
25 gamma Frequency correction, in seconds/second Double 8H+116
26 Tk Time of frame start (since start of GLONASS
day), in seconds
Ulong 4H+124
27 PTechnological parametre Ulong 4H+128
28 Ft User range Ulong 4H+132
29 age Age of data, in days Ulong 4H+136
30 Flags Information flags, see Table 58, GLONASS
Ephemeris Flags Coding on page 302 Ulong 4H+140
31 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+144
32 [CR][LF] Sentence terminator (ASCII only) - - -
Field# Field type Data Description Format Binary
Bytes Binary
Offset
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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: 720
Log Type: Asynch
Recommended Input:
log glorawalma onchanged
Example:
#GLORAWALMA,COM1,0,44.5,SATTIME,1364,419924.000,00000000,77bb,2310;
1364,419954.069,54,
0563100000a4000000006f,0,
0681063c457a12cc0419be,0,
075ff807e2a69804e0040b,0,
0882067fcd80141692d6f2,0,
09433e1b6676980a40429b,0,
0a838d1bfcb4108b089a8c,0,
0bec572f9c869804f05882,0,
.
.
.
06950201e02e13d3819564,0,
07939a4a16fe97fe814ad0,0,
08960561cecc13b0014613,0,
09469a5d70c69802819466,0,
0a170165bed413b704d416,0,
0b661372213697fd41965a,0,
0c18000000000000000006,0,
0d00000000000000000652,0,
0e000000000000000000d0,0*b516623b
Refer to the GLONASS section of the GNSS Reference Book, available
on our Web site at http://www.novatel.ca/support/docupdates.htm.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 306
Field# Field type Data Description Format Binary
Bytes Binary
Offset
1GLORAWALM
header
Log header H 0
2week GPS Week, in weeks Ulong 4 H
3time GPS Time, in milliseconds (binary
data) or seconds (ASCII data)
GPSec 4H+4
4#recs Number of records to follow. Ulong 4H+8
5string GLONASS data string Uchar
[string
size] a
variable H+12
6Reserved Uchar 1variable
7... Next record offset = H + 16 + (#recs x [string size + 1])
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H + 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: 792
Log Type: Asynch
Recommended Input:
log glorawephema onchanged
Example:
#GLORAWEPHEMA,COM1,3,47.0,SATTIME,1340,398653.000,00000000,332d,2020;
38,9,0,1340,398653.080,4,
0148d88460fc115dbdaf78,0,0218e0033667aec83af2a5,0,
038000b9031e14439c75ee,0,0404f22660000000000065,0*17f3dd17
…
#GLORAWEPHEMA,COM1,0,47.0,SATTIME,1340,398653.000,00000000,332d,2020;
41,13,0,1340,398653.078,4,
0108d812532805bfa1cd2c,0,0208e0a36e8e0952b111da,0,
03c02023b68c9a32410958,0,0401fda44000000000002a,0*0b237405
Refer to the GLONASS section of the GNSS Reference Book, available
on our Web site at http://www.novatel.ca/support/docupdates.htm.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 308
Field# Field type Data Description Format Binary
Bytes Binary
Offset
1GLORAWEPHEM
header
Log header H 0
2sloto Slot information offset - PRN
identification (Slot + 37). Ephemeris
relates to this slot and is also called
SLOTO in CDU.
Ushort 2 H
3freqo Frequency channel offset in the range
0 to 20
Ushort 2H+2
4sigchan Signal channel number Ulong 4H+4
5week GPS Week, in weeks GPSec 4 8
6time GPS Time, in milliseconds (binary
data) or seconds (ASCII data)
Ulong 412
7#recs Number of records to follow Ulong 4H+16
8string GLONASS data string Uchar
[string
size] a
variable H+20
9Reserved Uchar 1variable
10... Next record offset = H + 20 + (#recs x [string size + 1])
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H + 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: 721
Log Type: Asynch
Recommended Input:
log glorawframea onchanged
Example:
#GLORAWFRAMEA,COM1,19,53.0,SATTIME,1340,398773.000,00000000,8792,2020;
3,39,8,1340,398773.067,44,44,15,
0148dc0b67e9184664cb35,0,
0218e09dc8a3ae8c6ba18d,0,
…
0f00000000000000000000,0*11169f9e
…
#GLORAWFRAMEA,COM1,0,53.0,SATTIME,1340,398713.000,00000000,8792,2020;
1,41,13,1340,398713.077,36,36,15,
0108da12532805bfa1cded,0,
0208e0a36e8e0952b111da,0,
03c02023b68c9a32410958,0,
…
0f6efb59474697fd72c4e2,0*0a6267c8
Refer to the GLONASS section of 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
1GLORAWFRAME
header
Log header H 0
2frame# Frame number Ulong 2 H
3sloto Slot information offset - PRN
identification (Slot + 37). Ephemeris
relates to this slot and is also called
SLOTO in CDU.
Ushort 2H+2
4freqo Frequency channel offset in the range
0 to 20
Ushort 2H+4
5week GPS Week, in weeks Ulong 4H+6
6time GPS Time, in milliseconds (binary
data) or seconds (ASCII data)
GPSec 4H+10
7frame decode Frame decoder number Ulong 4H+14
8sigchan Signal channel number Ulong 4H+18
9#recs Number of records to follow Ulong 4H+22
10 string GLONASS data string Uchar
[string
size] a
variable H+26
11 Reserved Uchar 1variable
12... Next record offset = H + 26 + (#recs x [string size + 1])
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H + 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: 722
Log Type: Asynch
Recommended Input:
log glorawstringa onchanged
Example:
#GLORAWSTRINGA,COM1,0,51.0,SATTIME,1340,399113.000,00000000,50ac,2020;
4,6,061000000000000000004f,0*5b215fb2
Refer to the GLONASS section of 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
1GLORAWSTRING
header
Log header H 0
2slot Slot identification Uchar 2 H
3freq Frequency channel (frequency
channels are in the range -7 to +13)
Char 2H+2
4string GLONASS data string Uchar
[string
size] a
variable H+4
5Reserved Uchar 1variable
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: 217
Log Type: Asynch
Recommended Input:
log gpalm onchanged
Example:
$GPALM,28,01,01,1337,00,305a,90,1b9d,fd5b,a10ce9,ba0a5e,2f48f1,cccb76,006,001
*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 $GPALM
2# msg Total number of messages logged. Set to zero
until almanac data is available.
x.x 17
3msg # Current message number x.x 17
4PRN Satellite PRN number:
GPS = 1 to 32
xx 28
5GPS wk GPS reference week number a.x.x 653
6SV hlth SV health, bits 17-24 of each almanac page bhh 00
7ecc e, eccentricity c d hhhh 3EAF
8alm ref time toa, almanac reference time chh 87
9incl angle (sigma)i, inclination angle chhhh OD68
10 omegadot OMEGADOT, rate of right ascension chhhh FD30
11 rt axis (A)1/2, root of semi-major axis chhhhhh A10CAB
12 omega omega, argument of perigee c e hhhhhh 6EE732
13 long asc node (OMEGA)o,longitude of ascension node chhhhhh 525880
14 MoMo, mean anomaly chhhhhh 6DC5A8
15 af0 af0, clock parametre chhh 009
16 af1 af1, clock parametre chhh 005
17 *xx Checksum *hh *37
18 [CR][LF] Sentence terminator [CR][LF]
a Variable length integer, 4-digits maximum from (2) most significant binary bits of Subframe 1,
Word 3 reference Table 20-I, ICD-GPS-200, Rev. B, and (8) least significant bits from subframe 5,
page 25, word 3 reference Table 20-I, ICD-GPS-200
b Reference paragraph 20.3.3.5.1.3, Table 20-VII and Table 20-VIII, ICD-GPS-200, Rev. B
c Reference Table 20-VI, ICD-GPS-200, Rev. B for scaling factors and units.
d A quantity defined for a conic section where e= 0 is a circle, e = 1 is an ellipse, 0<e<1 is a
parabola and e>1 is a hyperbola.
e A measurement along the orbital path from the ascending node to the point where the SV is
closest to the Earth, in the direction of the SV's motion
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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: 218
Log Type Synch
Recommended Input:
log gpgga ontime 1
Example:
$GPGGA,134658.00,5106.9792,N,11402.3003,W,2,09,1.0,1048.47,M,-16.27,M,
08,AAAA*60
The NMEA (National Marine Electronics Association) has defined standards that
specify how electronic equipment for marine users communicate. GPS receivers are
part of this standard and the NMEA has defined the format for several GPS data logs
otherwise known as 'sentences'.
Each NMEA sentence begins with a '$' 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 $GPGGA
2utc UTC time status of position (hours/minutes/
seconds/ decimal seconds)
hhmmss.ss 202134.00
3lat Latitude (DDmm.mm) llll.ll 5106.9847
4lat dir Latitude direction (N = North, S = South) a N
5lon Longitude (DDDmm.mm) yyyyy.yy 11402.2986
6lon dir Longitude direction (E = East, W = West) a W
7GPS 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
9hdop 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) bxx (empty when
no differential
data is present)
15 stn ID Differential base station ID, 0000-
1023
xxxx (empty when
no differential
data is present)
16 *xx Checksum *hh *48
17 [CR][LF] Sentence terminator [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: 521
Log Type: Synch
Recommended Input:
log gpggalong ontime 1
Example 1:
$GPGGA,181126.00,5106.9802863,N,11402.3037304,W,7,11,0.9,1048.234,M,
-16.27,M,,*51
Example 2:
$GPGGA,134658.00,5106.9802863,N,11402.3037304,W,2,09,1.0,1048.234,M,
-16.27,M,08,AAAA
Please see the GPGGA usage box that applies to all NMEA logs on page 314.
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Field Structure Field Description Symbol Example
1$GPGGA-
LoNG
Log header $GPGGA
2utc UTC time status of position (hours/minutes/
seconds/ decimal seconds)
hhmmss.ss 202126.00
3lat Latitude (DDmm.mm) llll.ll 5106.9847029
4lat dir Latitude direction (N = North, S = South) a N
5lon Longitude (DDDmm.mm) yyyyy.yy 11402.2986286
6lon dir Longitude direction (E = East, W = West) a W
7GPS 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
9hdop 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) bxx 10 (empty when
no differential
data is present)
15 stn ID Differential base station ID, 0000-1023 xxxx AAAA (empty
when no
differential data
is present)
16 *xx Checksum *hh *48
17 [CR][LF] Sentence terminator [CR][LF]
a. 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: 259
Log Type: Synch
Recommended Input:
log gpggartk ontime 1
Example:
$GPGGA,135324.00,5106.9791988,N,11402.3002127,W,2,09,1.0,1047.606,M,,,04,AAAA
*1C
The GPGGARTK log is ideal for RTK positioning applications where mm-level
position precision is required.
See also the GPGGA usage box that applies to all NMEA logs on page 314.
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Field Structure Field Description Symbol Example
1$GPGGA Log header $GPGGA
2utc UTC time status of position (hours/minutes/
seconds/ decimal seconds)
hhmmss.ss 220147.50
3lat Latitude (DDmm.mm) llll.ll 5106.7194489
4lat dir Latitude direction (N = North, S = South) a N
5lon Longitude (DDDmm.mm) yyyyy.yy 11402.358902
0
6lon dir Longitude direction (E = East, W = West) a W
7GPS 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
9hdop 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) (empty when
no differential
data is
present)
13 null (This field not available on OEMV family
receivers)
14 age Age of Differential GPS data (in seconds) bxx
15 stn ID Differential base station ID, 0000-1023 xxxx
16 *xx Checksum *hh *48
17 [CR][LF] Sentence terminator [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: 219
Log Type: 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):
$GNGLL,5107.0014143,N,11402.3278489,W,205122.00,A,A*6E
Table 60: Position Precision of NMEA Logs
Please see the GPGGA usage box that applies to all NMEA logs on page 314.
NMEA Log Latitude (# of
decimal places) Longitude (# of
decimal places) Altitude (# of
decimal places)
GPGGA 4 4 2
GPGGALONG 7 7 3
GPGGARTK 7 7 3
GPGLL 7 7 N/A
GPRMC 7 7 N/A
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Field Structure Field Description Symbol Example
1$GPGLL Log header $GPGLL
2lat Latitude (DDmm.mm) llll.ll 5106.7198674
3lat dir Latitude direction
(N = North, S = South)
a N
4lon Longitude (DDDmm.mm) yyyyy.yy 11402.3587526
5lon dir Longitude direction
(E = East, W = West)
a W
6utc UTC time status of position (hours/
minutes/seconds/decimal seconds)
hhmmss.ss 220152.50
7data status Data status:
A = Data valid, V = Data invalid
A A
8mode ind Positioning system mode indicator, see
Table 61 on page 331 a A
9*xx Checksum *hh *1B
10 [CR][LF] Sentence terminator [CR][LF]
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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
$GNGRS,143209.00,1,1.3,-6.7,,,,,,,,,,*73
Please see the GPGGA usage box that applies to all NMEA logs on page 314.
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Field Structure Field Description Symbol Example
1$GPGRS Log header $GPGRS
2utc UTC time status of position (hours/
minutes/seconds/ decimal seconds)
hhmmss.ss 192911.0
3mode 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
4 -
15
res Range residuals for satellites used in the
navigation solution. Order matches order
of PRN numbers in GPGSA.
x.x,x.x,..... -13.8,-1.9,11.4,-33.6,0.9,
6.9,-12.6,0.3,0.6, -22.3
16 *xx Checksum *hh *65
17 [CR][LF] Sentence terminator [CR][LF]
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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: 221
Log Type: Synch
Recommended Input:
log gpgsa ontime 1
Example 1 (GPS only):
$GPGSA,M,3,17,02,30,04,05,10,09,06,31,12,,,1.2,0.8,0.9*35
Example 2 (Combined GPS and GLONASS):
$GNGSA,M,3,17,02,30,04,05,10,09,06,31,12,,,1.2,0.8,0.9*2B
$GNGSA,M,3,87,70,,,,,,,,,,,1.2,0.8,0.9*2A
The DOPs provide a simple characterization of the user-satellite geometry. DOP is
related to the volume formed by the intersection points of the user-satellite vectors,
with the unit sphere centered on the user. Larger volumes give smaller DOPs. Lower
DOP values generally represent better position accuracy. The role of DOP in GPS
positioning, however, is often misunderstood. A lower DOP value does not
automatically mean a low position error. The quality of a GPS-derived position
estimate depends upon both the measurement geometry as represented by DOP
values, and range errors caused by signal strength, ionospheric effects, multipath
and so on.
Please see also the GPGGA usage box that applies to all NMEA logs on page 314.
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Field Structure Field Description Symbol Example
1$GPGSA Log header $GPGSA
2mode MA A = Automatic 2D/3D
M = Manual, forced to operate in 2D or 3D
M M
3mode 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 [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: 222
Log Type: Synch
Recommended Input:
log gpgst ontime 1
Example 1 (GPS only):
$GPGST,141451.00,1.18,0.00,0.00,0.0000,0.00,0.00,0.00*6B
Example 2 (Combined GPS and GLONASS):
$GNGST,143333.00,7.38,1.49,1.30,68.1409,1.47,1.33,2.07*4A
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1. Please see the GPGGA usage box that applies to all NMEA logs on page 314.
2. Accuracy is based on statistics, reliability is measured in percent. When a
receiver can measure height to one metre, this is an accuracy. Usually this is a
one sigma value (one SD). A one sigma value for height has a reliability of 68%,
that is, the error is less than one metre 68% of the time. For a more realistic
accuracy, double the one sigma value (1 m) and the result is 95% reliability (error
is less than 2 m 95% of the time). Generally, GPS heights are 1.5 times poorer
than horizontal positions.
As examples of statistics, the GPSGST message and NovAtel performance
specifications use root mean square RMS. Specifications may be quoted in CEP:
• RMS: root mean square (a probability level of 68%)
• CEP: circular error probable (the radius of a circle such that 50%
of a set of events occur inside the boundary)
Field Structure Field Description Symbol Example
1$GPGST Log header $GPGST
2utc UTC time status of position
(hours/minutes/seconds/ decimal seconds)
hhmmss.ss 173653.00
3rms 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
4smjr std Standard deviation of semi-major axis of error
ellipse (m)
x.x 2.55
5smnr std Standard deviation of semi-minor axis of error
ellipse (m)
x.x 1.88
6orient Orientation of semi-major axis of error ellipse
(degrees from true north)
x.x 15.2525
7lat std Standard deviation of latitude error (m) x.x 2.51
8lon std Standard deviation of longitude error (m) x.x 1.94
9alt std Standard deviation of altitude error (m) x.x 4.30
10 *xx Checksum *hh *6E
11 [CR][LF] Sentence terminator [CR][LF]
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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: 223
Log Type: Synch
Recommended Input:
log gpgsv ontime 1
Example (Including GPS and GLONASS sentences):
$GPGSV,3,1,11,18,87,050,48,22,56,250,49,21,55,122,49,03,40,284,47*78
$GPGSV,3,2,11,19,25,314,42,26,24,044,42,24,16,118,43,29,15,039,42*7E
$GPGSV,3,3,11,09,15,107,44,14,11,196,41,07,03,173,*4D
$GLGSV,2,1,06,65,64,037,41,66,53,269,43,88,39,200,44,74,25,051,*64
$GLGSV,2,2,06,72,16,063,35,67,01,253,*66
The GPGSV log can be used to determine which satellites are currently available to
the receiver. Comparing the information from this log to that in the GPGSA log shows
you if the receiver is tracking all available satellites.
Please see also the GPGGA usage box that applies to all NMEA logs on page 314.
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Field Structure Field Description Symbol Example
1$GPGSV Log header $GPGSV
2# msgs Total number of messages (1-9) x 3
3msg # 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
5prn Satellite PRN number
GPS = 1 to 32
SBAS = 33 to 64 (add 87 for PRN#s)
GLO = 65 to 96 a
xx 03
6elev Elevation, degrees, 90 maximum xx 51
7azimuth Azimuth, degrees True, 000 to 359 xxx 140
8SNR 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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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: 1045
Log Type: ASynch
Recommended Input:
log gphdt onchanged
Example 1 (GPS only):
$GPHDT,75.5664,T*36
Example 2 (Combined GPS and GLONASS):
$GNHDT,75.5554,T*45
Field Structure Field Description Symbol Example
1$GPHDT Log header $GPHDT
2heading Heading in degrees x.x 75.5554
3True Degrees True T T
4*xx Checksum *hh *36
5[CR][LF] Sentence terminator [CR][LF]
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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: 224
Log Type: Synch
Recommended Input:
log gprmb ontime 1
Example 1 (GPS only):
$GPRMB,A,5.14,L,FROM,TO,5109.7578000,N,11409.0960000,W,5.1,303.0,-0.0,V,A*6F
Example 2 (Combined GPS and GLONASS):
$GNRMB,A,5.14,L,FROM,TO,5109.7578000,N,11409.0960000,W,5.1,303.0,-0.0,V,A*71
If the NMEATALKER command, see page 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 Indicator
A Autonomous
D Differential
EEstimated (dead reckoning) mode
MManual input
NData not valid
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Field Structure Field Description Symbol Example
1$GPRMB Log header $GPRMB
2data status Data status:
A = data valid; V = navigation receiver warning
A A
3xtrack Cross track error ax.x 5.14
4dir Direction to steer to get back on track (L/R) ba L
5origin ID Origin waypoint ID cc--c FROM
6dest ID Destination waypoint ID Cc--c TO
7dest lat Destination waypoint latitude (DDmm.mm cllll.ll 5109.7578000
8lat dir Latitude direction (N = North, S = South) ca N
9dest lon Destination waypoint longitude (DDDmm.mm) cyyyyy.yy 11409.0960000
10 lon dir Longitude direction (E = East, W = West) ca W
11 range Range to destination, nautical miles dx.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 [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: 225
Log Type:Synch
Recommended Input:
log gprmc ontime 1
Example 1 (GPS):
$GPRMC,144326.00,A,5107.0017737,N,11402.3291611,W,0.080,323.3,210307,0.0,E,A*
20
Example 2 (Combined GPS and GLONASS):
$GNRMC,143909.00,A,5107.0020216,N,11402.3294835,W,0.036,348.3,210307,0.0,E,A*
31
Please see the GPGGA usage box that applies to all NMEA logs on page 314.
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Field Structure Field Description Symbol Example
1$GPRMC Log header $GPRMC
2utc UTC of position hhmmss.ss 144326.00
3pos status Position status:
A = data valid, V = data invalid
A A
4lat Latitude (DDmm.mm) llll.ll 5107.0017737
5lat dir Latitude direction
N = North, S = South
a N
6lon Longitude (DDDmm.mm) yyyyy.yy 11402.3291611
7lon dir Longitude direction
E = East, W = West
a W
8speed Kn Speed over ground, knots x.x 0.080
9track true Track made good, degrees True x.x 323.3
10 date Date: dd/mm/yy xxxxxx 210307
11 mag var Magnetic variation, degrees ax.x 0.0
12 var dir Magnetic variation direction E/W ba 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: 7
Log Type: Asynch
Recommended Input:
log gpsephema onchanged
ASCII Example:
#GPSEPHEMA,COM1,12,59.0,SATTIME,1337,397560.000,00000000,9145,1984;
3,397560.0,0,99,99,1337,1337,403184.0,2.656004220e+07,4.971635660e-09,
-2.752651501e+00,7.1111434372e-03,6.0071892571e-01,2.428889275e-06,
1.024827361e-05,1.64250000e+02,4.81562500e+01,1.117587090e-08,
-7.078051567e-08,9.2668266314e-01,-1.385772009e-10,-2.098534041e+00,
-8.08319384e-09,99,403184.0,-4.190951586e-09,2.88095e-05,3.06954e-12,
0.00000,TRUE,1.458614684e-04,4.00000000e+00*0f875b12
#GPSEPHEMA,COM1,11,59.0,SATTIME,1337,397560.000,00000000,9145,1984;
25,397560.0,0,184,184,1337,1337,403200.0,2.656128681e+07,4.897346851e-09,
1.905797220e+00,1.1981436634e-02,-1.440195331e+00,-1.084059477e-06,
6.748363376e-06,2.37812500e+02,-1.74687500e+01,1.825392246e-07,
-1.210719347e-07,9.5008501632e-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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Table 62: URA Variance
Index Value A: Standard Deviations Variance: A2 (m2)
02.0 4
1 2.8 7.84
24.0 16
3 5.7 32.49
48 56
511.3 127.69
616.0 256
732.0 1024
864.0 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# Field type Data Description Format Binary
Bytes Binary
Offset
1GPSEPHEM
header
Log header H 0
2PRN Satellite PRN number Ulong 4 H
3tow Time stamp of subframe 0 (seconds) Double 8H+4
4health Health status - a 6-bit health code as defined in
ICD-GPS-200 a
Ulong 4H+12
5IODE1 Issue of ephemeris data 1 Ulong 4H+16
6IODE2 Issue of ephemeris data 2 Ulong 4H+20
7week GPS week number Ulong 4H+24
8z 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 4H+28
9toe Reference time for ephemeris, seconds Double 8H+32
10 ASemi-major axis, metres Double 8H+40
11 ΔNMean motion difference, radians/second Double 8H+48
12 M0Mean anomaly of reference time, radians Double 8H+56
13 ecc Eccentricity, dimensionless - quantity defined
for a conic section where e= 0 is a circle, e = 1
is a parabola, 0<e<1 is an ellipse and e>1 is a
hyperbola.
Double 8H+64
14 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 8H+72
15 cuc Argument of latitude (amplitude of cosine,
radians)
Double 8H+80
16 cus Argument of latitude (amplitude of sine,
radians)
Double 8H+88
17 crc Orbit radius (amplitude of cosine, metres) Double 8H+96
18 crs Orbit radius (amplitude of sine, metres) Double 8H+104
19 cic Inclination (amplitude of cosine, radians) Double 8H+112
20 cis Inclination (amplitude of sine, radians) Double 8H+120
21 I0Inclination angle at reference time, radians Double 8H+128
Continued on page 338.
ω
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22 Rate of inclination angle, radians/second Double 8H+136
23 Right ascension, radians Double 8H+144
24 Rate of right ascension, radians/second Double 8H+152
25 iodc Issue of data clock Ulong 4H+160
26 toc SV clock correction term, seconds Double 8H+164
27 tgd Estimated group delay difference, seconds Double 8H+172
28 af0 Clock aging parametre, seconds (s) Double 8H+180
29 af1 Clock aging parametre, (s/s) Double 8H+188
30 af2 Clock aging parametre, (s/s/s) Double 8H+196
31 AS Anti-spoofing on:0 = FALSE
1 = TRUE
Enum 4H+204
32 NCorrected mean motion, radians/second Double 8H+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 8H+216
34 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+224
35 [CR][LF] Sentence terminator (ASCII only) - - -
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.
Field# Field type Data Description Format Binary
Bytes Binary
Offset
I
°
ω0
ω
°
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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: 226
Log Type:Synch
Recommended Input:
log gpvtg ontime 1
Example 1 (GPS only):
$GPVTG,172.516,T,155.295,M,0.049,N,0.090,K,D*2B
Example 2 (Combined GPS and GLONASS):
$GNVTG,134.395,T,134.395,M,0.019,N,0.035,K,A*33
If the NMEATALKER command, see page 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 340
Field Structure Field Description Symbol Example
1$GPVTG Log header $GPVTG
2track true Track made good, degrees True x.x 24.168
3 T True track indicator T T
4track 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
6speed Kn Speed over ground, knots x.x 0.4220347
7 N Nautical speed indicator (N = Knots) N N
8speed 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 [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: 227
Log Type: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 $GPZDA
2utc UTC time status hhmmss.ss 220238.00
3day Day, 01 to 31 xx 15
4month Month, 01 to 12 xx 07
5year Year xxxx 1992
6null Local zone description - not available xx (empty when
no data is
present)
7null Local zone minutes description - not available axx (empty when
no data is
present)
8*xx Checksum *hh *6F
9[CR][LF] Sentence terminator [CR][LF]
a. Local time zones are not supported by OEMV family receivers. Fields 6 and 7 are always null.
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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: 971
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1HEADING
header
Log header H 0
2sol stat Solution status, see Table 51 on page 253 Enum 4 H
3pos type Position type, see Table 50 on page 252 Enum 4H+4
4length Baseline length (0 to 3000 m) Float 4H+8
5heading Heading in degrees (0 to 360.0 degrees) Float 4H+12
6pitch Pitch (±90 degrees) Float 4H+16
7Reserved Float 4H+20
8hdg std dev Heading standard deviation in degrees Float 4H+24
9ptch std Pitch standard deviation in degrees Float 4H+28
10 stn ID Station ID string Char[4 4H+32
11 #SVs Number of observations tracked Uchar 1H+36
12 #solnSVs Number of satellites in solution Uchar 1H+37
13 #obs Number of satellites above the elevation mask Uchar 1H+38
14 #multi Number of satellites above the mask angle with L2 Uchar 1H+39
15 Reserved Uchar 1H+40
16 ext sol stat Extended solution status (see Table 53, Extended
Solution Status on page 254)Uchar 1H+41
17 Reserved Uchar 1H+42
18 sig mask Signals used mask - if 0, signals used in solution are
unknown (see Table 52 on page 254)Uchar 1H+43
19 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+44
20 [CR][LF] Sentence terminator (ASCII only) - - -
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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: 8
Log Type: Asynch
Recommended Input:
log ionutca onchanged
ASCII Example:
#IONUTCA,COM1,0,58.5,FINESTEERING,1337,397740.107,00000000,ec21,1984;
1.210719347000122e-08,2.235174179077148e-08,-5.960464477539062e-08,
-1.192092895507812e-07,1.003520000000000e+05,1.146880000000000e+05,
-6.553600000000000e+04,-3.276800000000000e+05,1337,589824,
-1.2107193470001221e-08,-3.907985047e-14,1355,7,13,14,0*c1dfd456
The Receiver-Independent Exchange (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
1IONUTC header Log header H 0
2a0 Alpha parametre constant term Double 8 H
3a1 Alpha parametre 1st order term Double 8H+8
4a2 Alpha parametre 2nd order term Double 8H+16
5a3 Alpha parametre 3rd order term Double 8H+24
6b0 Beta parametre constant term Double 8H+32
7b1 Beta parametre 1st order term Double 8H+40
8b2 Beta parametre 2nd order term Double 8H+48
9b3 Beta parametre 3rd order term Double 8H+56
10 utc wn UTC reference week number Ulong 4H+64
11 tot Reference time of UTC parametres Ulong 4H+68
12 A0 UTC constant term of polynomial Double 8H+72
13 A1 UTC 1st order term of polynomial Double 8H+80
14 wn lsf Future week number Ulong 4H+88
15 dn Day number (the range is 1 to 7 where
Sunday = 1 and Saturday = 7)
Ulong 4H+92
16 deltat ls Delta time due to leap seconds Long 4H+96
17 deltat lsf Future delta time due to leap seconds Long 4H+100
18 deltat utc Time difference Ulong 4H+104
19 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 730
Log Type: 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
#Field Type Data Description Format Binary
Bytes Binary
Offset
1LBANDINFO
header
Log header H 0
2freq Selected frequency for L-band service (kHz) Ulong 4 H
3baud Communication baud rate from L-band satellite Ulong 4H+4
4ID L-band signal service ID Ushort 2H+8
5Reserved Ushort 2H+10
6OSN L-band serial number Ulong 4H+12
7vbs sub L-band VBS subscription type (see Table 63 on
page 346)
Enum 4H+16
8vbs exp week GPS week number of L-band VBS expiration
date a
Ulong 4H+20
9vbs exp secs Number of seconds into the GPS week of L-
band VBS expiration date a
Ulong 4H+24
10 hp sub OmniSTAR HP or XP subscription type (see
Table 63 on page 346)
Enum 4H+28
11 hp exp week GPS week number of OmniSTAR HP or XP
expiration date a
Ulong 4H+32
12 hp exp secs Number of seconds into the GPS week of
OmniSTAR HP or XP expiration date a
Ulong 4H+36
13 hp sub mode HP or XP subscription mode if the subscription
is valid:
0 = HP
1 = XP
Ulong 4H+40
14 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 731
Log Type: 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 # Bit # Mask Description Range Value
N0
0 0x0001 Tracking State 0 = Searching, 1 = Pull-in,
2 = Tracking, 3 = Idle
1 0x0002
2 0x0004
Reserved
3 0x0008
N1
4 0x0010
5 0x0020
6 0x0040 Bit Timing Lock 0 = Not Locked, 1 = Locked
7 0x0080 Phase Locked 0 = Not Locked, 1 = Locked
N2
8 0x0100 DC Offset Unlocked 0 = Good, 1 = Warning
9 0x0200 AGC Unlocked 0 = Good, 1 = Warning
10 0x0400
Reserved
11 0x0800
N3
12 0x1000
13 0x2000
14 0x4000
15 0x8000 Error 0 = Good, 1 = Error
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Table 65: OmniSTAR VBS Status Word
Nibble # Bit # Mask Description Bit = 0 Bit = 1
N0
0 0x0001 Subscription Expired a
a. Contact OmniSTAR for subscription support. All other status values are
updated by collecting OmniSTAR data for 20-35 minutes.
False True
1 0x0002 Out of Region aFalse True
2 0x0004 Wet Error aFalse True
3 0x0008 Link Error aFalse True
N1
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
N2
8 0x0100 Reserved
9 0x0200
10 0x0400
11 0x0800
N3
12 0x1000
13 0x2000
14 0x4000
15 0x8000 Updating Data False True
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 352
Table 66: OmniSTAR HP/XP Additional Status Word
Nibble # Bit # Mask Description Bit = 0 Bit = 1
N0
0 0x0001 Solution not fully converged False True
1 0x0002 OmniStar satellite list available False True
2 0x0004 Reserved
3 0x0008
N1
4 0x0010 HP not authorized a
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.
Authorized Unauthorized
5 0x0020 XP not authorized aAuthorized Unauthorized
6 0x0040 Reserved
7 0x0080
N2
8 0x0100
9 0x0200
10 0x0400
11 0x0800
N3
12 0x1000
13 0x2000
14 0x4000
15 0x8000
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Table 67: OmniSTAR HP/XP Status Word
Nibble # Bit # Mask Description Bit = 0 Bit = 1
N0
0 0x00000001 Subscription Expired a
a. Contact OmniSTAR for subscription support. All other status values are updated by
collecting the OmniSTAR data for 20-35 minutes.
False True
1 0x00000002 Out of Region aFalse True
2 0x00000004 Wet Error aFalse True
3 0x00000008 Link Error aFalse True
N1
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
N2
8 0x00000100 Velocity Error False True
9 0x00000200 No base stations False True
10 0x00000400 No Mapping Message False True
11 Reserved
N3-N5 12-
23
N6
24-
25
26 0x04000000 Static Initialization Mode False True
27 Reserved
N7 28-
30
31 0x80000000 Updating Data False True
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 354
Field
#Field Type Data Description Format Binary
Bytes Binary
Offset
1LBANDSTAT
header
Log header H 0
2freq Measured frequency of L-band signal (Hz) Ulong 4 H
3C/No Carrier to noise density ratio
C/No = 10[log10(S/N0)] (dB-Hz)
Float 4H+4
4locktime Number of seconds of continuous tracking (no
cycle slipping)
Float 4H+8
5Reserved Float 4H+12
6tracking Tracking status of L-band signal (see Table 64 on
page 350)
Hex 2H+16
7VBS status Status word for OmniSTAR VBS (see Table 65 on
page 351)
Hex 2H+18
8#bytes Number of bytes fed to the standard process Ulong 4H+20
9#good dgps Number of standard updates Ulong 4H+24
10 #bad data Number of missing standard updates Ulong 4H+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 2H+32
12 hp status 2 Additional status pertaining to the HP or XP
process (see Table 66 on page 352)
Hex 2H+34
13 #bytes hp Number of bytes fed to the HP or XP process Ulong 4H+36
14 hp status Status from the HP or XP process (see Table 67
on page 353)
Hex 4H+40
15 Reserved Hex 4H+44
16 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 5
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 356
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1LOGLIST
(binary)
header
Log header H 0
2#logs Number of messages to follow,
maximum = 30
Long 4 H
3port Output port, see Table 5, Detailed Serial Port
Identifiers on page 25 Enum 4H+4
4message Message ID of log Ushort 2H+8
5message
type
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,
Responses on page 27)
0 = Original Message
1 = Response Message
Char 1H+10
6Reserved Char 3aH+11
7trigger 0 = ONNEW
1 = ONCHANGED
2 = ONTIME
3 = ONNEXT
4 = ONCE
5 = ONMARK
Enum 4H+14
8period Log period for ONTIME Double 8H+18
9offset Offset for period (ONTIME trigger) Double 8H+26
10 hold 0 = NOHOLD
1 = HOLD
Enum 4H+32
11... Next log offset = H + 4 + (#logs x 32)
variable xxxx 32-bit CRC Hex 4H+4+(#logs
x 32)
a. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment
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Field # Field type Data Description Format
1LOGLIST
(ASCII)
header
Log header
2#port Number of messages to follow, maximum = 30 Long
3port Output port, see Table 5, Detailed Serial Port Identifiers on
page 25 Enum
4message Message name of log with no suffix for abbreviated ascii, an
A suffix for ascii and a B suffix for binary.
Char [ ]
5trigger ONNEW
ONCHANGED
ONTIME
ONNEXT
ONCE
ONMARK
Enum
6period Log period for ONTIME Double
7offset Offset for period (ONTIME trigger) Double
8hold NOHOLD
HOLD
Enum
9... Next port
variable xxxx 32-bit CRC Hex
variable [CR][LF] Sentence terminator -
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 358
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: 181 (MARKPOS) and 615 (MARK2POS)
Log Type: 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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Chapter 3 Data Logs
Field
#Field type Data Description Format Binary
Bytes Binary
Offset
1MARKPOS/
MARK2POS
header
Log header H 0
2sol status Solution status (see Table 51 on page 253)Enum 4 H
3pos type Position type (see Table 50 on page 252)Enum 4H+4
4lat Latitude Double 8H+8
5lon Longitude Double 8H+16
6hgt Height above mean sea level Double 8H+24
7undulation Undulation - the relationship between the geoid and
the WGS84 ellipsoid (m) a
Float 4H+32
8datum id# Datum ID number (see Chapter 2, Table 21,
Reference Ellipsoid Constants on page 97)
Enum 4H+36
9lat σLatitude standard deviation Float 4H+40
10 lon σLongitude standard deviation Float 4H+44
11 hgt σHeight standard deviation Float 4H+48
12 stn id Base station ID Char[4] 4H+52
13 diff_age Differential age in seconds Float 4H+56
14 sol_age Solution age in seconds Float 4H+60
15 #SVs Number of satellite vehicles tracked Uchar 1H+64
16 #solnSVs Number of satellite vehicles used in solution Uchar 1H+65
17 #ggL1 Number of GPS plus GLONASS L1 used in solution Uchar 1H+66
18 #ggL1L2 Number of GPS plus GLONASS L1 and L2 used in
solution
Uchar 1H+67
19 Reserved Uchar 1H+68
20 ext sol stat Extended solution status (see Table 53, Extended
Solution Status on page 254)
Hex 1H+69
21 Reserved Hex 1H+70
22 sig mask Signals used mask - if 0, signals used in solution are
unknown (see Table 52 on page 254)
Hex 1H+71
23 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 360
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: 231 (MARKTIME) and 616 (MARK2TIME)
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1MARKTIME/
MARK2TIME
header
Log header H 0
2week GPS week number Long 4 H
3seconds Seconds into the week as measured from the
receiver clock, coincident with the time of
electrical closure on the Mark Input port.
Double 8H+4
4offset 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 8H+12
5offset std Standard deviation of receiver clock offset (s) Double 8H+20
6utc 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 8H+28
7status Clock model status, see Table 54, Clock Model
Status on page 269 Enum 4H+36
8 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 1051 (MASTERPOS)
Log Type: 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 # Field Type Field Description Binary
Format Binary
Bytes Binary
Offset
1MASTERPOS
header
Log Header H 0
2 sol stat Solution Status, see Table 51 on page
253 Enum 4 H
3 pos type Position Type see Table 50 on page
252 Enum 4 H+4
4 lat Master WGS84 Latitude in degrees Double 8 H+8
5 long Master WGS84 Longitude in degrees Double 8 H+16
6 hgt Master MSL Height in metres Double 8 H+24
7 undulation Undulation in metres Float 4 H+32
8 datum id# WGS84 (default) Enum 4 H+36
9lat σLatitude Std in metres Float 4 H+40
10 long σLongitude Std in metres Float 4 H+44
11 hgt σHeight Std in metres Float 4 H+48
12 stn id Receiver ID
MASTERPOS ID can be set using the
DGPSTXID command, see page 106.
Char[4] 4 H+52
13 Reserved Float 4 H+56
14 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 #obs Number of satellites above elevation
mask angle
Uchar 1 H+66
18 #multi Number of satellites above the mask
angle with L2
Uchar 1 H+67
19 Reserved Uchar 1 H+68
20 Uchar 1 H+69
21 Uchar 1 H+70
22 Uchar 1 H+71
23 xxxx HEX 1 H+72
24 [CR][LF] Sentence Terminator (ASCII only) - - -
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 364
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: 96
Log Type: 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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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1MATCHED-
POS
header
Log header H 0
2sol status Solution status (see Table 51 on page 253)Enum 4 H
3pos type Position type (see Table 50 on page 252)Enum 4H+4
4lat Latitude Double 8H+8
5lon Longitude Double 8H+16
6hgt Height above mean sea level Double 8H+24
7undulation Undulation - the relationship between the geoid and
the WGS84 ellipsoid (m) a
Float 4H+32
8datum id# Datum ID number (see Table 21 on page 97)Enum 4H+36
9lat σLatitude standard deviation Float 4H+40
10 lon σLongitude standard deviation Float 4H+44
11 hgt σHeight standard deviation Float 4H+48
12 stn id Base station ID Char[4] 4H+52
13 Reserved Float 4H+56
14 Float 4H+60
15 #SVs Number of satellite vehicles tracked Uchar 1H+64
16 #solnSVs Number of satellite vehicles used in solution Uchar 1H+65
17 #ggL1 Number of GPS plus GLONASS L1 used in solution Uchar 1H+66
18 #ggL1L2 Number of GPS plus GLONASS L1 and L2 used in
solution
Uchar 1H+67
19 Reserved Uchar 1H+68
20 ext sol stat Extended solution status (see Table 53, Extended
Solution Status on page 254)
Hex 1H+69
21 Reserved Hex 1H+70
22 sig mask Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)
Hex 1H+71
23 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 366
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: 242
Log Type: 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
#Field type Data Description Format Binary
Bytes Binary
Offset
1MATCHEDXYZ
header
Log header H 0
2P-sol status Solution status, see Table 51, Solution Status
on page 253 Enum 4 H
3pos type Position type, see Table 50, Position or
Velocity Type on page 252 Enum 4H+4
4 P-X Position X-coordinate (m) Double 8H+8
5 P-Y Position Y-coordinate (m) Double 8H+16
6 P-Z Position Z-coordinate (m) Double 8H+24
7 P-X σStandard deviation of P-X (m) Float 4H+32
8 P-Y σStandard deviation of P-Y (m) Float 4H+36
9P-Z σStandard deviation of P-Z (m) Float 4H+40
18 stn ID Base station ID Char[4
]
4H+44
22 #SVs Number of satellite vehicles tracked Uchar 1H+48
23 #solnSVs Number of satellite vehicles used in solution Uchar 1H+49
24 #ggL1 Number of GPS plus GLONASS L1 used in
solution
Uchar 1H+50
25 #ggL1L2 Number of GPS plus GLONASS L1 and L2
used in solution
Uchar 1H+51
26 Reserved Char 1H+52
27 ext sol stat Extended solution status (see Table 53,
Extended Solution Status on page 254)
Hex 1H+53
28 Reserved Hex 1H+54
29 sig mask Signals used mask - if 0, signals used in
solution are unknown (see Table 52 on page
254)
Hex 1H+55
30 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+56
31 [CR][LF] Sentence terminator (ASCII only) - - -
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 368
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: 161
Log Type: Synch
Reference Description
1 TO lat-lon
2 X-Track perpendicular reference point
3 Current GPS position
4 A-Track perpendicular reference point
5 X-Track (cross track)
6 A-Track (along track)
7 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
X1
2
3
4
5
6
7
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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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 370
Field
#Field Type Data Description Format Binary
Bytes Binary
Offset
1NAVIGATE
header
Log header H 0
2sol status Solution status, see Table 51, Solution Status on
page 253 Enum 4 H
3pos type Position type, see Table 50, Position or Velocity
Type on page 252 Enum 4H+4
4vel type Velocity type, see Table 50, Position or Velocity
Type on page 252 Enum 4H+8
5nav type Navigation data type (see Table 68, Navigation
Data Type on page 368).
Enum 4H+12
6distance 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 8H+16
7bearing 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 8H+24
8along 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 8H+32
9xtrack 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 8H+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 4H+48
Continued on page 371.
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11 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 8H+52
12 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+60
13 [CR][LF] Sentence terminator (ASCII only) - - -
Field
#Field Type Data Description Format Binary
Bytes Binary
Offset
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 372
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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Field Type Symbol Definition
Special Format Fields
Status ASingle 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. Spaces may only be used in variable text fields.
2. 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.
3. All data fields are delimited by a comma (,).
4. Null fields are indicated by no data between two commas (,,). Null fields indicate invalid
data or no data available.
5. The NMEA Standard requires that message lengths be limited to 82 characters.
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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: 495
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1OMNIHPPOS
header
Log header H 0
2sol status Solution status, see Table 51 on page 253 Enum 4 H
3pos type Position type, see Table 50 on page 252 Enum 4H+4
4lat Latitude Double 8H+8
5lon Longitude Double 8H+16
6hgt Height above mean sea level Double 8H+24
7undulation Undulation - the relationship between the geoid
and the WGS84 ellipsoid (m) a
Float 4H+32
8datum id# Datum ID number (see Chapter 2, Table 21,
Reference Ellipsoid Constants on page 97)
Enum 4H+36
9lat σLatitude standard deviation Float 4H+40
10 lon σLongitude standard deviation Float 4H+44
11 hgt σHeight standard deviation Float 4H+48
12 stn id Base station ID Char[4] 4H+52
13 diff_age Differential age in seconds Float 4H+56
14 sol_age Solution age in seconds Float 4H+60
15 #SVs Number of satellite vehicles tracked Uchar 1H+64
16 #solnSVs Number of satellite vehicles used in solution Uchar 1H+65
17 #ggL1 Number of GPS plus GLONASS L1 used in
solution
Uchar 1H+66
18 #ggL1L2 Number of GPS plus GLONASS L1 and L2 used
in solution
Uchar 1H+67
19 Reserved Uchar 1H+68
20 ext sol stat Extended solution status (see Table 53, Extended
Solution Status on page 254)
Hex 1H+69
21 Reserved Hex 1H+70
22 sig mask Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)
Hex 1H+71
23 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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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3.3.55 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: 860
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1OMNIVIS
header
Log header H 0
2valid Is the list of satellites valid?
0 = FALSE
1 = TRUE
Bool 4 H
3#recs Number of records to follow Ulong 4H+4
4link ID Satellite link ID Uchar 1H+8
5app flag Time of applicability flag:
0 = Valid Now
1 = Invalid
2 = Valid Until
3 = Valid After
4-7 = Reserved
Uchar 1H+9
6sat name Satellite name String 6H+10
7app week Time of applicability week Ulong 4H+16
8app sec Time of applicability (s into the week) GPSec 4H+20
9freq Satellite broadcast frequency (Hz) Ulong 4H+28
10 bit rate Satellite data bit rate Ushort 2H+32
11 service id Satellite service ID Hex 2H+34
12 ellip dist Local ellipsoid distance parametre Float 4H+36
13 global elev Global beam elevation (degrees) Float 4H+40
14 Next port offset = H + 8 + (#recs x 32)
15 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+8+
(#recs
x 32)
16 [CR][LF] Sentence terminator (ASCII only) - - -
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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 <CR>
• any block of characters ending in a <LF>
• 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 pass-
through logs to pass through the received BESTPOSA data to a disk file (let's call it
diskfile.log) at the base station host PC hard disk.
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
1
1
BESTPOS
A
d
a
t
a
l
o
g
.
.
.
2
2
5
3
4
6
7
8
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
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Chapter 3 Data Logs
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 <CR>. Then the
second record followed in response to the BESTPOSA second terminator <LF>.
Note that the time interval between the first character received and the terminating
<LF> 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1PASSCOM
header
Log header H 0
2#bytes Number of bytes to follow Ulong 4 H
3data Message data Char [80] 80 H+4
4 xxxx 32-bit CRC (ASCII and
Binary only)
Hex 4H+8+(#bytes)
5[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 Data Description Format Binary
Bytes Binary
Offset
1 PDPPOS
header
Log header H 0
2 sol status Solution status Enum 4 H
3 pos type Position type Enum 4 H+4
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 Enum 4 H+36
9lat σLatitude standard deviation Float 4 H+40
10 lon σLongitude standard deviation Float 4 H+44
11 hgt σHeight 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 #sats Number of satellite vehicles tracked Uchar 1 H+64
16 #sats soln Number of satellites in the solution Uchar 1 H+65
17 Reserved Uchar 1 H+66
18 Uchar 1 H+67
19 Uchar 1 H+68
20 Uchar 1 H+69
21 Uchar 1 H+70
22 Uchar 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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3.3.58 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: 470
Log Type: 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 Data Description Format Binary
Bytes Binary
Offset
1 PDPVEL
header
Log header H 0
2 sol status Solution status Enum 4 H
3 vel type Velocity type Enum 4 H+4
4 latency A measure of the latency in the velocity time tag in
seconds. It should be subtracted from the time to give
improved results.
Float 4 H+8
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 height Height in metres 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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3.3.59 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: 471
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1 PDPXYZ
header
Log header H 0
2 P-sol status Solution status Enum 4 H
3 pos type Position type 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
7P-X σStandard deviation of P-X (m) Float 4 H+32
8P- Y σStandard deviation of P-Y (m) Float 4 H+36
9P-Z σStandard deviation of P-Z (m) Float 4 H+40
10 V-sol status Solution status Enum 4 H+44
11 vel type Velocity type 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 σStandard deviation of V-X (m) Float 4 H+76
16 V-Y σStandard deviation of V-Y (m) Float 4 H+80
17 V-Z σStandard 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 #sats Number of satellite vehicles tracked Uchar 1 H+104
23 #sats soln Number of satellite vehicles used in solution Uchar 1 H+105
24 Reserved Uchar 1 H+106
25 Uchar 1 H+107
26 Uchar 1 H+108
27 Uchar 1 H+109
28 Uchar 1 H+110
29 Uchar 1 H+111
30 xxxx 32-bit CRC (ASCII and Binary only) Hex 4 H+112
31 [CR][LF] 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: 72
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1PORTSTATS
header
Log header H 0
2#port Number of ports with information to follow Long 4 H
3port Serial port identifier, see Table 17, COM
Serial Port Identifiers on page 88 Enum 4H+4
4rx chars Total number of characters received through
this port
Ulong 4H+8
5tx chars Total number of characters transmitted
through this port
Ulong 4H+12
6acc rx chars Total number of accepted characters
received through this port
Ulong 4H+16
7dropped chars Number of software overruns Ulong 4H+20
8interrupts Number of interrupts on this port Ulong 4H+24
9breaks Number of breaks
(This field does not apply for a USB port and
is always set to 0 for USB.)
Ulong 4H+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 4H+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 4H+36
12 overruns Number of hardware overruns Ulong 4H+40
13 Next port offset = H + 4 + (#port x 40)
14 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: vdop = √ pdop2 - hdop2
Message ID: 174
Log Type: Asynch
Recommended Input:
log psrdopa onchanged
ASCII Example:
#PSRDOPA,COM1,0,56.5,FINESTEERING,1337,403100.000,00000000,768f,1984;
1.9695,1.7613,1.0630,1.3808,0.8812,5.0,10,14,22,25,1,24,11,5,20,30,7*106de10a
When operating in differential mode, you require at least four common satellites at
the base and rover. The number of common satellites being tracked at large
distances is less than at short distances. This is important because the accuracy of
GPS and DGPS positions depend a great deal on how many satellites are being
used in the solution (redundancy) and the geometry of the satellites being used
(DOP). DOP stands for dilution of precision and refers to the geometry of the
satellites. A good DOP occurs when the satellites being tracked and used are evenly
distributed throughout the sky. A bad DOP occurs when the satellites being tracked
and used are not evenly distributed throughout the sky or grouped together in one
part of the sky.
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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1PSRDOP
header
Log header H 0
2gdop Geometric dilution of precision - assumes 3-D
position and receiver clock offset (all 4
parametres) are unknown.
Float 4 H
3pdop Position dilution of precision - assumes 3-D
position is unknown and receiver clock offset
is known.
Float 4H+4
4hdop Horizontal dilution of precision. Float 4H+8
5htdop Horizontal position and time dilution of
precision.
Float 4H+12
6tdop Time dilution of precision - assumes 3-D
position is known and only the receiver clock
offset is unknown.
Float 4H+16
7cutoff Elevation cut-off angle. Float 4H+20
8#PRN Number of satellites PRNs to follow. Long 4H+24
9PRN PRN of SV PRN tracking, null field until
position solution available.
Ulong 4H+28
10... Next PRN offset = H + 28 + (#prn x 4)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+28+
(#prn x
4)
variable [CR][LF] Sentence terminator (ASCII only) - - -
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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: 47
Log Type: Synch
Recommended Input:
log psrposa ontime 1
ASCII Example:
#PSRPOSA,COM1,0,58.5,FINESTEERING,1419,340037.000,00000040,6326,2724;
SOL_COMPUTED,SINGLE,51.11636177893,-114.03832396506,1062.5470,-16.2712,
WGS84,1.8532,1.4199,3.3168,"",0.000,0.000,12,12,0,0,0,06,0,33*d200a78c
There are 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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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1PSRPOS
header
Log header H 0
2sol status Solution status (see Table 51, Solution Status on
page 253)
Enum 4 H
3pos type Position type (see Table 50, Position or Velocity
Type on page 252)
Enum 4H+4
4lat Latitude Double 8H+8
5lon Longitude Double 8H+16
6hgt Height above mean sea level Double 8H+24
7undulation Undulation - the relationship between the geoid
and the WGS84 ellipsoid (m) a
Float 4H+32
8datum id# Datum ID number (see Table 21, Reference
Ellipsoid Constants on page 97)
Enum 4H+36
9lat σLatitude standard deviation Float 4H+40
10 lon σLongitude standard deviation Float 4H+44
11 hgt σHeight standard deviation Float 4H+48
12 stn id Base station ID Char[4] 4H+52
13 diff_age Differential age in seconds Float 4H+56
14 sol_age Solution age in seconds Float 4H+60
15 #SVs Number of satellite vehicles tracked Uchar 1H+64
16 #solnSVs Number of satellite vehicles used in solution Uchar 1H+65
17
Reserved
Uchar 1H+66
18 Uchar 1H+67
19 Uchar 1H+68
20 ext sol stat Extended solution status (see Table 53,
Extended Solution Status on page 254)
Hex 1H+69
21 Reserved Hex 1H+70
22 sig mask Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)
Hex 1H+71
23 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 881
Log Type: 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 Format Binary
Bytes Binary
Offset
1PSRTIME
header
Log header H 0
2#recs Number of records to follow Ulong 4 H
3system Navigation System
0 = GPS
1 = GLONASS
Enum 4H+4
4offset GNSS time offset from the pseudorange filter Double 8H+8
5offset stdv Time offset standard deviation Double 8H+12
vari-
able
Next binary offset = H+4+(#recs x 20)
vari-
able
xxxx 32-bit CRC (ASCII and Binary only) Hex 4vari-
able
vari-
able
[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: 100
Log Type: 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 Format Binary
Bytes Binary
Offset
1PSRVEL
header
Log header H 0
2sol status Solution status, see Table 51, Solution Status on page
253 Enum 4 H
3vel type Velocity type, see Table 50, Position or Velocity Type
on page 252 Enum 4H+4
4latency A measure of the latency in the velocity time tag in
seconds. It should be subtracted from the time to give
improved results.
Float 4H+8
5age Differential age in seconds Float 4H+12
6hor spd Horizontal speed over ground, in metres per second Double 8H+16
7trk gnd Actual direction of motion over ground (track over
ground) with respect to True North, in degrees
Double 8H+24
8vert spd Vertical speed, in metres per second, where positive
values indicate increasing altitude (up) and negative
values indicate decreasing altitude (down)
Double 8H+32
9Reserved Float 4H+40
10 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 243
Log Type: 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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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1PSRXYZ
header
Log header H 0
2P-sol status Solution status, see Table 51, Solution Status on
page 253 Enum 4 H
3pos type Position type, see Table 50, Position or Velocity
Type on page 252 Enum 4H+4
4 P-X Position X-coordinate (m) Double 8H+8
5 P-Y Position Y-coordinate (m) Double 8H+16
6 P-Z Position Z-coordinate (m) Double 8H+24
7P-X σStandard deviation of P-X (m) Float 4H+32
8P- Y σStandard deviation of P-Y (m) Float 4H+36
9P-Z σStandard deviation of P-Z (m) Float 4H+40
10 V-sol status Solution status, see Table 51, Solution Status on
page 253 Enum 4H+44
11 vel type Velocity type, see Table 50, Position or Velocity
Type on page 252 Enum 4H+48
12 V-X Velocity vector along X-axis (m) Double 8H+52
13 V-Y Velocity vector along Y-axis (m) Double 8H+60
14 V-Z Velocity vector along Z-axis (m) Double 8H+68
15 V-X σStandard deviation of V-X (m) Float 4H+76
16 V-Y σStandard deviation of V-Y (m) Float 4H+80
17 V-Z σStandard deviation of V-Z (m) Float 4H+84
18 stn ID Base station ID Char[4] 4H+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 4H+92
20 diff_age Differential age in seconds Float 4H+96
21 sol_age Solution age in seconds Float 4H+100
22 #SVs Number of satellite vehicles tracked Uchar 1H+104
23 #solnSVs Number of satellite vehicles used in solution Uchar 1H+105
Continued on page 397.
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24
Reserved
Char 1H+106
25 Char 1H+107
26 Char 1H+108
27 ext sol stat Extended solution status (see Table 53,
Extended Solution Status on page 254)
Hex 1H+109
28 Reserved Hex 1H+110
29 sig mask Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)
Hex 1H+111
30 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+112
31 [CR][LF] Sentence terminator (ASCII only) - - -
Field # Field type Data Description Format Binary
Bytes Binary
Offset
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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: 43
Log Type: 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 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
Table 71: Channel Tracking Example
Table 72: Channel Tracking Status
State Description
0N/A
1 Standard correlator: spacing = 1 chip
2 Narrow Correlator®: spacing < 1 chip
3 Reserved
4 Pulse Aperture Correlator (PAC)
5-6 Reserved
N7 N6 N5 N4 N3 N2 N1 N0
0x 0 8 1 0 9 C 0 4
Bit # 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Binarya0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 1 0 0 1 1 1 0 0 0 0 0 0 0 1 0 0
Data Chan.
Assignment
Reserved (R)
Primary
L1
R
Signal Type Grouping
R
Satellite
System
Correlator
Spacing
Code
locked
flag
Parity
flag
Phase
lock
flag
Channel Number Tracking State
Value Automatic Primary L1 C/A Grouped GPS PAC Locked Known Locked Channel 0 L1 Phase Lock Loop
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.
Nibble # Bit # Mask Description Range Value
N0
0 0x00000001 Tracking state 0-11, see Table 69, Tracking State on
page 399
1 0x00000002
2 0x00000004
3 0x00000008
N1
4 0x00000010
5 0x00000020 SV channel number 0-n (0 = first, n = last)
n depends on the receiver
6 0x00000040
7 0x00000080
8 0x00000100
9 0x00000200
10 0x00000400 Phase lock flag 0 = Not locked, 1 = Locked
Continued on page 401.
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11 0x00000800 Parity known flag 0 = Not known, 1 = Known
N3
12 0x00001000 Code locked flag 0 = Not locked, 1 = Locked
13 0x00002000 Correlator type 0-7, see Table 70, Correlator Type on
page 400
14 0x00004000
15 0x00008000
N4
16 0x00010000 Satellite system 0 = GPS
1= GLONASS
2 = WAAS
3-6 = Reserved
7 = Other
17 0x00020000
18 0x00040000
19 0x00080000 Reserved
N5
20 0x00100000 Grouping 0 = Not grouped, 1 = Grouped
21 0x00200000 Signal type 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
22 0x00400000
23 0x00800000
N6
24 0x01000000
25 0x02000000
26 0x04000000 Forward Error Correction 0 = Not FEC, 1 = FEC
27 0x08000000 Primary L1 channel 0 = Not primary, 1 = Primary
N7
28 0x10000000 Carrier phase
measurement a
0 = Half Cycle Not Added,
1 = Half Cycle Added
29 Reserved
30 0x40000000 PRN lock flag b0 = 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.
Nibble # Bit # Mask Description Range Value
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Field # Field
type Data Description Format Binary
Bytes Binary
Offset
1RANGE
header
Log header H 0
2# obs Number of observations with information to follow aLong 4 H
3PRN/
slot
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 2H+4
4glofreq (GLONASS Frequency + 7), see Section 1.3 on page
29.
UShort 2H+6
5psr Pseudorange measurement (m) Double 8H+8
6psr std Pseudorange measurement standard deviation (m) Float 4H+16
7adr Carrier phase, in cycles (accumulated Doppler range) Double 8H+20
8adr std Estimated carrier phase standard deviation (cycles) Float 4H+28
9dopp Instantaneous carrier Doppler frequency (Hz) Float 4H+32
10 C/No Carrier to noise density ratio
C/No = 10[log10(S/N0)] (dB-Hz)
Float 4H+36
11 locktime # of seconds of continuous tracking (no cycle slipping) Float 4H+40
12 ch-tr-
status
Tracking status (see 72, Channel Tracking Status on
page 400 and the example in Table 71)
ULong 4H+44
13... Next PRN offset = H + 4 + (#obs x 44)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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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Chapter 3 Data Logs
3.3.67 RANGECMP Compressed Version of the RANGE Log V123
Message ID: 140
Log Type: 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 a96-127 32 1/256 cycles
StdDev-PSR 128-131 4see note b m
StdDev-ADR 132-135 4(n + 1)/512 cycles
PRN/Slot c136-143 8 1 -
Lock Time d144-164 21 1/32 s
C/No e165-169 5(20 + n) dB-Hz
Reserved 170-191 22
a. ADR (Accumulated Doppler Range) is calculated as follows:
b.
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).
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 Ref-
MAX_VALUE = 8388608 erence Book for more on GLONASS frequencies.
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
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Chapter 3 Data Logs
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 Data Description Format Binary
Bytes Binary
Offset
1RANGECMP
header
Log header H 0
2#obs Number of satellite observations with
information to follow.
Long 4 H
31st range
record
Compressed range log in format of
Table 73 on page 404 Hex 24 H+4
4Next rangecmp offset = H + 4 + (#obs x 24)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H + 4 +
(#obs x
24)
variable [CR][LF] 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: 631
Log Type: Synch
Recommended Input:
log rangegpsl1a ontime 30
ASCII Example:
#RANGEGPSL1A,COM1,0,57.0,FINESTEERING,1337,404766.000,00000000,5862,1984;
10,
14,0,21773427.400,0.037,-114420590.433332,0.006,-2408.171,49.9,14963.280,
18109c04,
22,0,24822942.668,0.045,-130445851.055756,0.009,-3440.031,48.0,22312.971,
08109c24,
25,0,20831000.299,0.033,-109468139.214586,0.006,1096.876,50.7,7887.840,
08109c44,
1,0,20401022.863,0.032,-107208568.887106,0.006,-429.690,51.1,10791.500,
18109c64,
24,0,23988223.932,0.074,-126058964.619453,0.013,2519.418,43.8,493.550,
18109c84,
11,0,22154466.593,0.043,-116423014.826717,0.007,-1661.273,48.4,11020.952,
08109ca4,
5,0,24322401.516,0.067,-127815012.260616,0.012,-1363.596,44.6,6360.282,
18109cc4,
20,0,22294469.347,0.043,-117158267.467388,0.008,2896.813,48.5,4635.968,
08109ce4,
30,0,23267589.649,0.051,-122271969.418761,0.009,822.194,47.0,4542.270,
08109d04,
23,0,24975654.673,0.058,-131247903.805678,0.009,3395.097,45.9,406.762,
18109d24*be4b7d70
Since the RANGEGPSL1 log includes only L1 GPS observations, it 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1RANGEGPSL1
header
Log header H 0
2# obs Number of L1 observations with information to
follow
Long 4 H
3PRN Satellite PRN number of range measurement
(GPS: 1 to 32)
UShort 2H+4
4Reserved UShort 2H+6
5psr Pseudorange measurement (m) Double 8H+8
6psr std Pseudorange measurement standard
deviation (m)
Float 4H+16
7adr Carrier phase, in cycles (accumulated Doppler
range)
Double 8H+20
8adr std Estimated carrier phase standard deviation
(cycles)
Float 4H+28
9dopp Instantaneous carrier Doppler frequency (Hz) Float 4H+32
10 C/No Carrier to noise density ratio
C/No = 10[log10(S/N0)] (dB-Hz)
Float 4H+36
11 locktime Number of seconds of continuous tracking (no
cycle slipping)
Float 4H+40
12 ch-tr-status Tracking status (see 72, Channel Tracking
Status on page 400)
ULong 4H+44
13... Next PRN offset = H + 4 + (#obs x 44)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 74
Log Type: Asynch
Recommended Input:
log rawalma onchanged
ASCII Example:
#RAWALMA,COM1,0,56.0,SATTIME,1337,405078.000,00000000,cc1b,1984;
1337,589824.000,43,
3,8b04e4839f35433a5590f5aefd3900a10c9aaa6f40187925e50b9f03003f,
27,8b04e483a1325b9cde9007f2fd5300a10da5562da3adc0966488dd01001a,
4,8b04e483a1b44439979006e2fd4f00a10d15d96b3b021e6c6c5f23feff3c,
28,8b04e483a3b05c5509900b7cfd5800a10cc483e2bfa1d2613003bd050017,
5,8b04e483a43745351c90fcb0fd4500a10d8a800f0328067e5df8b6100031,
57,8b04e483a6337964e036d74017509f38e13112df8dd92d040605eeaaaaaa,
6,8b04e483a6b54633e390fa8bfd3f00a10d4facbc80b322528f62146800ba,
29,8b04e483a8b05d47f7901b20fd5700a10ce02d570ed40a0a2216412400cb,
7,8b04e483a935476dee90fb94fd4300a10d93aba327b7794ae853c02700ba,
.
.
.
1,8b04e483d8b641305a901b9dfd5a00a10ce92f48f1ba0a5dcccb7500003b,
25,8b04e483dab25962259004fcfd4c00a10dc154eee5c555d7a2a5010d000d,
2,8b04e483db37424aa6900720fd4f00a10c5ad89baa4dc1460790b6fc000f,
26,8b04e483dd305a878c901d32fd5b00a10c902eb7f51db6b6ce95c701fff4*83cae97a
The 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 Format Binary
Bytes Binary
Offset
1RAWALM
header
Log header H 0
2ref week Almanac reference week number Ulong 4 H
3ref secs Almanac reference time (s) GPSec 4H+4
4subframes Number of subframes to follow Ulong 4H+8
5svid SV ID (satellite vehicle ID) aUShort 2H+12
6data 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 4H + 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 410
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 # Field type Data Description Format Binary
Bytes Binary
Offset
1RAWEPHEM
header
Log header H 0
2prn Satellite PRN number Ulong 4 H
3ref week Ephemeris reference week number Ulong 4H+4
4ref secs Ephemeris reference time (s) Ulong 4H+8
5subframe1 Subframe 1 data Hex 30 H+12
6subframe2 Subframe 2 data Hex 30 H+42
7subframe3 Subframe 3 data Hex 30 H+72
8 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 25
Log Type: Asynch
Recommended Input:
log rawgpssubframea onnew
ASCII Example:
#RAWGPSSUBFRAMEA,COM1,59,62.5,SATTIME,1337,405348.000,00000000,f690,1984;2,22
,4,8b04e483f3b17ee037a3732fe0fc8ccf074303ebdf2f6505f5aaaaaaaaa9,2*41e768e4
...
#RAWGPSSUBFRAMEA,COM1,35,62.5,SATTIME,1337,405576.000,00000000,f690,1984;4,25
,2,8b04e48406a8b9fe8b364d786ee827ff2f062258840ea4a10e20b964327e,4*52d460a7
...
#RAWGPSSUBFRAMEA,COM1,0,62.5,SATTIME,1337,400632.000,00000000,f690,1984;20,9,
3,8b04e4826aadff3557257871000a26fc34a31d7a300bede5ffa3de7e06af,20*55d16a4a
The RAWGPSSUBFRAME log can be used to receive the data bits with the parity
bits stripped out. Alternately, you can use the RAWGPSWORD log to receive the
parity bits in addition to the data bits.
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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RAWGPSSUBFRAME header Log header H 0
2decode # Frame decoder number Ulong 4 H
3PRN Satellite PRN number Ulong 4H+4
4subfr id Subframe ID Ulong 4H+8
5data Raw subframe data Hex[30] 32aH+12
6chan Signal channel number that
the frame was decoded on.
Ulong 4H+44
7 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 414
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: 407
Log Type: Asynch
Recommended Input:
log rawgpsworda onnew
ASCII Example:
#RAWGPSWORDA,COM1,0,58.5,FINESTEERING,1337,405704.473,00000000,9b16,1984;
14,7ff9f5dc*8e7b8721
...
#RAWGPSWORDA,COM1,0,57.0,FINESTEERING,1337,405783.068,00000000,9b16,1984;
1,93feff8a*6dd62c81
...
#RAWGPSWORDA,COM1,0,55.5,FINESTEERING,1337,405784.882,00000000,9b16,1984;
5,fffff8ce*a948b4de
The RAWGPSWORD log can be used to receive the parity bits in addition to the data
bits. Alternately, you can use the RAWGPSSUBFRAME log which already has the
parity bits stripped out.
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RAWGPSWORD header Log header H 0
2PRN Satellite PRN number Ulong 4 H
3nav word Raw navigation word Ulong 4H+4
4 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+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: 732
Log Type: Asynch
Recommended Input:
log rawlbandframea onnew
ASCII Example:
#RAWLBANDFRAMEA,COM2,0,73.5,FINESTEERING,1295,152802.068,00000040,4f80,34461;
9,1a1e,600,f6,00,62,35,c8,cd,34,e7,6a,a1,37,44,8f,a8,24,71,90,d0,5f,94,2d,94,
3c,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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 416
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RAWLBANDFRAME
header
Log header H 0
2frame# Frame number
(maximum = 9)
Ushort 2H+2
3channelcode 10-bit channel code word Ushort 2H+4
4data Raw L-band frame data Uchar[1200] 1200 H+6
5 xxxx 32-bit CRC (ASCII and
Binary only)
Hex 4H+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: 733
Log Type: Asynch
Recommended Input:
log rawlbandpacketa onnew
ASCII Example:
#RAWLBANDPACKETA,COM2,0,77.0,FINESTEERING,1295,238642.610,01000040,c5b1,34461
;9,07,de,3a,f9,df,30,7b,0d,cb*7e5205a8
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
1RAWLBANDPACKET
header
Log header H 0
2#recs Number of records to follow Ulong 4 H
3data Raw L-band data packet. Uchar[128] 128 H +4
4 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+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: 287
Log Type: 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
1RAAWWAASFRAME
header
Log header H 0
2decode # Frame decoder number Ulong 4 H
3PRN SBAS satellite PRN number Ulong 4H+4
4WAASmsg id SBAS frame ID Ulong 4H+8
5data Raw SBAS frame data. There are
226 bits of data and 6 bits of
padding.
Uchar[29] 32aH+12
6chan Signal channel number that the
frame was decoded on
Ulong 4H+44
7 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+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: 175
Log Type: Asynch
Recommended Input:
log refstationa onchanged
ASCII Example:
#REFSTATIONA,COM1,0,66.5,FINESTEERING,1364,490401.124,80000000,4e46,2310;
00000000,-1634532.443,-3664608.907,4942482.713,0,RTCA,"AAAA"*1e2a0508
Table 74: Base Station Status
Table 75: Base Station Type
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.
Bit # Mask Description Bit = 0 Bit = 1
0 0x00000001 Validity of the base station. Valid Invalid
Base Station Type
(Binary) (ASCII) Description
0NONE Base station is not used
1RTCM Base station is RTCM
2RTCA Base station is RTCA
3CMR Base station is CMR
4RTCMV3 Base station is RTCMV3
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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1REFSTATION
header
Log header H 0
2status Status of the base station information (see
Table 74 below)
ULong 4 H
3 x ECEF X value Double 8H+4
4 y ECEF Y value Double 8H+12
5 z ECEF Z value Double 8H+20
6health Base station health, see the 2nd
paragraph on the previous page
Ulong 4H+28
7stn type Base station type (see Table 75, Base
Station Type on page 419)
Enum 4H+32
8stn ID Base station ID Char[5] 8aH+36
9 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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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3.3.77 ROVERPOS ROVER 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 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: 1052 (ROVERPOS)
Log Type: 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 # Field Type Field Description Binary
Format Binary
Bytes Binary
Offset
1 ROVERPOS
header
Log Header H 0
2 sol stat Solution Status, see Table 51 on page
253 Enum 4 H
3 pos type Position Type see Table 50 on page
252 Enum 4 H+4
4 lat Rover WGS84 Latitude in degrees Double 8 H+8
5 long Rover WGS84 Longitude in degrees Double 8 H+16
6 hgt Rover MSL Height in metres Double 8 H+24
7 undulation Undulation in metres Float 4 H+32
8 datum id# WGS84 (default) Enum 4 H+36
9lat σLatitude Std in metres Float 4 H+40
10 long σLongitude Std in metres Float 4 H+44
11 hgt σHeight Std in metres Float 4 H+48
12 stn id Receiver ID (currently, “RRRR”) Char[4] 4 H+52
13 Reserved Float 4 H+56
14 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 #obs Number of satellites above elevation
mask angle
Uchar 1 H+66
18 #multi Number of satellites above the mask
angle with L2
Uchar 1 H+67
19 Reserved Uchar 1 H+68
20 Uchar 1 H+69
21 Uchar 1 H+70
22 Uchar 1 H+71
23 xxxx HEX 1 H+72
24 [CR][LF] Sentence Terminator (ASCII only) - - -
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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 BASE STATION OBSERVATIONS V123_RT20 or V23_RT2
Message ID: 6
RTCAOBS2 BASE STATION OBSERVATIONS 2 V123_RT20 or V23_RT2
Message ID: 805
RTCAREF BASE STATION PARAMETRES V123_RT20 or V23_RT2
Message ID: 11
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: 392
Log Type: 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: Message length = 11 + (6*obs): (83 bytes maximum)
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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).
Field Type Data Scaling Bits Bytes
SCAT-I header – Message block identifier - 8 6
– Base station ID -24
– Message type - 8
– Message length - 8
Type 1 header – Modified z-count 0.2 s 13 2
– Acceleration error bound - 3
Type 1 data – Satellite ID - 6 6 * obs
– Pseudorange correctiona
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.
0.02 m 16
– Issue of data - 8
– Range rate correctiona0.002 m/s 12
– UDRE 0.2 m 6
CRC Cyclic redundancy check - 3
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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCADATA1
header
Log header - H 0
2z-count Modified Z count where the Z count
week number is the week number
from subframe 1 of the ephemeris.
Double 8 H
3AEB Acceleration Error Bound Uchar 4 aH+8
4#prn Number of satellite corrections with
information to follow
Ulong 4H+12
5PRN/slot Satellite PRN number of range
measurement (GPS: 1-32 and SBAS:
120 to 138.)
Ulong 4H+16
6range Pseudorange correction (m) Double 8H+20
7IODE Issue of ephemeris data Uchar 4 aH+28
8range rate Pseudorange rate correction (m/s) Double 8H+32
9UDRE User differential range error Float 4H+40
10... Next prn offset = H+16 + (#prns x 28)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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: 393
Log Type: 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
2des NovAtel designator Uchar 1 H
3subtype RTCA message subtype Uchar 3a
a. In the binary log case an additional 2 bytes of padding are added to maintain 4 byte
alignment
H+1
4week GPS week number (weeks) Ulong 4H+4
5sec Seconds into the week (seconds) Ulong 4H+8
6prn PRN number Ulong 4H+12
7Reserved Uchar 4b
b. In the binary log case an additional 3 bytes of padding are added to maintain 4 byte
alignment
H+16
8raw data Raw ephemeris data Hex[90] 92aH+20
9 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+112
10 [CR][LF] Sentence terminator (ASCII only) - - -
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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: 394
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCADATAOBS
header
Log header - H 0
2des NovAtel designator Uchar 1 H
3subtype RTCA message subtype Uchar 3 aH+1
4min psr Minimum pseudorange Double 8H+4
5sec Seconds into the GPS week Float 4H+12
6Reserved Long 4H+16
7#ids Number of Transmitter IDs with
information to follow
Ulong 4H+20
8trans ID Transmitter ID Uchar 1H+24
9L1 lock L1 lock flag Uchar 1H+25
10 L2 lock L2 lock flag Uchar 2 bH+26
11 L1 psr L1 pseudorange offset (2/10 m) Double 8H+28
12 L2 psr L2 pseudorange offset (1/4 m) Double 8H+36
13 L1 ADR L1 carrier phase offset, accumulated
Doppler range (2/1000 m)
Float 4H+44
14 L2 ADR L2 carrier phase offset, accumulated
Doppler range (3/1000 m)
Float 4H+48
15 L2 encrypt L2 not encrypted?
0 = FALSE
1 = TRUE
Enum 4H+52
16 Reserved Long 4H+56
17... Next id offset = H+24 + (#ids x 36)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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: 808
Log Type: 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,
Satellite Type Nominal Offset
GPS 23,000 km
GLONASS 22,000 km
Pseudolite 0 km
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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
1RTCADATA2-
OBS header
Log header - H 0
2des NovAtel designator Uchar 1 H
3subtype RTCA message subtype Uchar 3 aH+1
4GPStimebias Receiver GPS time bias Double 8H+4
5sec Seconds into the GPS week Float 4H+12
6Reserved Long 4H+16
7#ids Number of Transmitter IDs with
information to follow
Ulong 4H+20
8trans ID Transmitter ID Uchar 1H+24
9L1 lock L1 lock flag Uchar 1H+25
10 L2 lock L2 lock flag Uchar 2 bH+26
11 L1 psr L1 pseudorange offset (2/10 m) Double 8H+28
12 L2 psr L2 pseudorange offset (1/4 m) Double 8H+36
13 L1 ADR L1 carrier phase offset, accumulated
Doppler range (2/1000 m)
Float 4H+44
14 L2 ADR L2 carrier phase offset, accumulated
Doppler range (3/1000 m)
Float 4H+48
15 L2 encrypt L2 not encrypted?
0 = FALSE
1 = TRUE
Enum 4H+52
16 Reserved Long 4H+56
17... Next id offset = H+24 + (#ids x 36)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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 upper-
case 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: 395
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCADATAREF
header
Log header - H 0
2des NovAtel designator. Uchar 1 H
3subtype RTCA message subtype Uchar 3aH+1
4X pos Base station X coordinate position (mm) Double 8H+4
5Y pos Base station Y coordinate position (mm) Double 8H+12
6Z pos Base station Z coordinate position (mm) Double 8H+20
7Reserved Uchar 4bH+28
8 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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 V123_DGPS
Message ID: 107
RTCM3 BASE STATION PARAMETRES V123_RT20 or V23_RT2
Message ID: 117
RTCM9 PARTIAL DIFFERENTIAL GPS CORRECTIONS V23_DGPS
MESSAGE ID: 275 (OEMV-2 with external oscillator or OEMV-3)
RTCM15 IONOSPHERIC CORRECTIONS V123_DGPS
Message ID: 307
RTCM16 SPECIAL MESSAGE V123_DGPS
Message ID: 129
RTCM16T SPECIAL TEXT MESSAGE, see also page 201 V123_DGPS
Message ID: 131
RTCM1819 RAW MEASUREMENTS V123_RT20 or V23_RT2
Message ID: 260
RTCM2021 MEASUREMENT CORRECTIONS V123_RT20 or V23_RT2
Message ID: 374
RTCM22 EXTENDED BASE STATION V123_RT20 or V23_RT2
Message ID: 118
RTCM23 ANTENNA TYPE DEFINITION V123_RT20 or V23_RT2
Message ID: 665
RTCM24 ANTENNA REFERENCE POINT (ARP) V123_RT20 or V23_RT2
Message ID: 667
RTCM31 DIFFERENTIAL GLONASS V1G23_G, V123_DGPS and V123_RT20 or
V23_RT2
Message ID: 864
RTCM32 GLONASS BASE PARAMETRES V1G23_G, V123_DGPS and V123_RT20 or
V23_RT2
Message ID: 873
RTCM36 SPECIAL EXTENDED MESSAGE V1G23_G
Message ID: 875
RTCM36T SPECIAL EXTENDED MESSAGE, see also page 202 V1G23_G
Message ID: 877
RTCM59 TYPE 59N-0 PROPRIETARY DIFFERENTIAL V123_RT20 or V23_RT2
Message ID: 116
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RTCM59GLO PROPRIETARY GLONASS DIFFERENTIAL V1G23_G and V123_DGPS
Message ID: 903
RTCMCDGPS1 LOCALIZED CDGPS CORRECTIONS IN RTCM1 V13_CDGPS
Message ID: 954
RTCMCDGPS9 CDGPS CORRECTIONS IN RTCM9 V13_CDGPS
Message ID: 955
RTCMOMNI1 RTCM1 FROM OMNISTAR VBS V13_CDGPS
Message ID: 957
1. The RTCM messages can be logged with an A or B suffix for an ASCII or Binary output
with a NovAtel header followed by Hex or Binary raw data respectively.
2. Combinations of integer offsets and fractional offsets are not supported for RTCM logs.
See also the LOG command 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 RTCA-
format 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.
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:
Message Frame Header Data Bits
Word 1 – Message frame preamble for synchronization 8
– Frame/message type ID 6
– Base station ID 10
–Parity 6
Word 2 – Modified z-count (time tag) 13
– Sequence number 3
– Length of message frame 5
– Base health 3
–Parity 6
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 <frequency> <bps>
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 <frequency> <bps> 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: 396
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1
header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+
4Modified Z count where the Z count
week number is the week number from
subframe 1 of the ephemeris
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see REFSTATION
on page 419 Ulong 4H+20
8#prn Number of PRNs with information to
follow
Ulong 4H+24
9scale Scale where
0 = 0.02 m and 0.002 m/s
1 = 0.32 m and 0.032 m/s
Ulong 4H+28
10 UDRE User differential range error Ulong 4H+32
11 PRN/slot Satellite PRN number of range
measurement (GPS: 1-32 and SBAS:
120 to 138.)
Ulong 4H+36
12 psr corr Scaled pseudorange correction
(metres)
Long 4H+40
13 rate corr Scaled range rate correction Long 4H+44
14 IOD Issue of data Long 4H+48
15... Next PRN offset = H+28 + (#prns x 24)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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: 402
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA3
header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris.
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see REFSTATION on
page 419 Ulong 4H+20
8ECEF-X Base station ECEF X-coordinate (1/100 m) Double 8H+24
9ECEF-Y Base station ECEF Y-coordinate (1/100 m) Double 8H+32
10 ECEF-Z Base station ECEF Z-coordinate (1/100 m) Double 8H+40
11 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 404
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA9
header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count
week number is the week number
from subframe 1 of the ephemeris.
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see
REFSTATION on page 419 Ulong 4H+20
8#prn Number of PRNs with information to
follow (maximum of 3)
Ulong 4H+24
9scale Scale where
0 = 0.02 m and 0.002 m/s
1 = 0.32 m and 0.032 m/s
Ulong 4H+28
10 UDRE User differential range error Ulong 4H+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 4H+36
12 psr corr Scaled pseudorange correction (m) Long 4H+40
13 rate corr Scaled range rate correction Long 4H+44
14 IOD Issue of data Long 4H+48
15... Next PRN offset = H+28 + (#prns x 24)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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: 397
Log Type: 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
1RTCMDATA15
header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count week
number is the week number from subframe
1 of the ephemeris.
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see REFSTATION on
page 419 Ulong 4H+20
8#prn Number of PRNs with information to follow Ulong 4H+24
9Reserved Ulong 4H+28
10 sat type Satellite type where
0 = GPS
1 = GLONASS
Ulong 4H+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 4H+36
12 ion delay Ionospheric delay (cm) Ulong 4H+40
13 ion rate Ionospheric rate (0.05 cm / min.) Long 4H+44
14... Next PRN offset = H+28 + (#prns x 20)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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: 398
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 454
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA16
header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count
week number is the week number
from subframe 1 of the ephemeris
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see
REFSTATION on page 419 Ulong 4H+20
8#chars Number of characters to follow Ulong 4H+24
9character Character Char 4aH+28
10... Next char offset = H+28 + (#chars x 4)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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
455 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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: 399
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 456
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.
457 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Table 77: RTCM1819 Data Quality Indicator
Table 78: RTCM1819 Smoothing Interval
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
Code Smoothing Interval
(Minutes)
0 0 to 1
1 1 to 5
2 5 to 15
3 Undefined smoothing
interval
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 458
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
459 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA-
1819 header
Log header - H 0
2RTCM header
(for RTCM18)
RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see REFSTATION on
page 419 Ulong 4H+20
8freq Frequency indicator where
0 = L1
2 = L2
(1 is reserved for future use)
Ulong 4H+24
9Reserved Ulong 4H+28
10 GNSS time Global Navigation Satellite System (GNSS)
time of measurement (microseconds)
Long 4H+32
11 #obs Number of observations with information to
follow
Long 4H+36
12 multi bit Multiple message indicator Ulong 4H+40
13 code Is code P Code?
0 = FALSE
1 = TRUE
Ulong 4H+44
14 sat type Satellite type
0 = GPS
1 = GLONASS
Ulong 4H+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 4H+52
16 quality Data quality indicator, see Table 77,
RTCM1819 Data Quality Indicator on page
457
Ulong 4H+56
17 continuity Cumulative loss of continuity indicator with a
loss of lock counter
Ulong 4H+60
18 phase Carrier phase (1/256 cycles) Long 4H+64
Continued on page 460.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 460
Field # Field type Data Description Format Binary
Bytes Binary
Offset
19... Next RTCM18 observation offset = H+40 + (#obs x 28)
variable RTCM header
(for RTCM19)
RTCM message type Ulong 4variable
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
variable freq Frequency indicator where
0 = L1
2 = L2
(1 is reserved for future use)
Ulong 4variable
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
variable multi bit Multiple message indicator Ulong 4variable
code Is code P Code?
0 = FALSE
1 = TRUE
Ulong 4
sat type Satellite type
0 = GPS
1 = GLONASS
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
variable... Next RTCM19 observation offset = variable
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
variable [CR][LF] Sentence terminator (ASCII only) - - -
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Chapter 3 Data Logs
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: 400
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 462
Table 80: RTCM2021 Data Quality Indicator
Table 81: RTCM2021 Multipath 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≤ 5 m
7> 5
Code Multipath Error
0≤ 0.1 m
1≤ 0.25 m
2≤ 0.5 m
3≤ 1.0 m
4≤ 2.5 m
5≤ 5 m
6> 5 m
7 Undetermined
multipath
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Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA-
2021 header
Log header - H 0
2RTCM header
(for RTCM20)
RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count week number is
the week number from subframe 1 of the ephemeris
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see REFSTATION, page 419 Ulong 4H+20
8freq Frequency indicator
0 = L1
2 = L2
Ulong 4H+24
9Reserved Ulong 4H+28
10 GNSS time Global Navigation Satellite System (GNSS) time of
measurement (μs)
Long 4H+32
11 #obs Number of observation with information to follow Long 4H+36
12 multi bit Multiple message indicator Ulong 4H+40
13 code Is code P Code?
0 = FALSE
1 = TRUE
Ulong 4H+44
14 sat type Satellite type
0 = GPS
1 = GLONASS
Ulong 4H+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 4H+52
16 quality Data quality indicator, see Table 80, RTCM2021
Data Quality Indicator on page 462 Ulong 4H+56
17 continuity Cumulative loss of continuity indicator with a loss of
lock counter
Ulong 4H+60
18 IODE Issue of ephemeris data Ulong 4H+64
19 phase Carrier phase correction (1/256 cycles) Long 4H+68
20... Next RTMC20 observation offset = H+40 + (#obs x 32)
Continued on page 464.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 464
Field # Field type Data Description Format Binary
Bytes Binary
Offset
variable RTCM header
(for RTCM21)
RTCM message type Ulong 4vari-
able
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, page 419 Ulong 4
variable freq Frequency indicator Ulong 4vari-
able
Reserved Ulong 4
GNSS time GNSS time of measurement Long 4
#obs Number of observations to follow Ulong 4
variable multi bit Multiple message indicator var-
iable
code Is code P Code?
0 = FALSE
1 = TRUE
Ulong 4
sat type Satellite type
0 = GPS
1 = GLONASS
Ulong 4
prn 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
variable Next RTCM21 observation offset = variable
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
variable [CR][LF] Sentence terminator (ASCII only) - - -
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Chapter 3 Data Logs
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: 401
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 466
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA22
header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see REFSTATION on
page 419. Ulong 4H+20
8L1 ECEF-X L1 ECEF ΔX correction (1/256 cm) Long 4H+24
9L1 ECEF-Y L1 ECEF ΔY correction (1/256 cm) Long 4H+28
10 L1 ECEF-Z L1 ECEF ΔZ correction (1/256 cm) Long 4H+32
11 #L1 recs Number of GPS L1 records to follow Ulong 4H+36
12 spare Spare bits Ulong 4H+40
13 height stat No height flag where
0 = FALSE
1 = TRUE
Enum 4H+44
14 phase center Antenna L1 phase center height (1/256 cm) Ulong 4H+48
variable #L2 recs Number of GPS L2 records to follow Ulong 4variable
variable L2 ECEF-X L2 ECEF ΔX correction (1/256 cm) Long 4variable
variable L2 ECEF-Y L2 ECEF ΔY correction (1/256 cm) Long 4variable
variable L2 ECEF-Z L2 ECEF ΔZ correction (1/256 cm) Long 4variable
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
variable [CR][LF] Sentence terminator (ASCII only) - - -
467 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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: 964
Log Type: 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
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 468
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA-
22GG header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health Ulong 4H+20
8L1 ECEF-X L1 ECEF ΔX correction (1/256 cm) Long 4H+24
9L1 ECEF-Y L1 ECEF ΔY correction (1/256 cm) Long 4H+28
10 L1 ECEF-Z L1 ECEF ΔZ correction (1/256 cm) Long 4H+32
11 #L1recs Number of GPS/GLONASS L1 records to
follow
Ulong 4H+36
12 spare Spare bits Ulong 4H+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 4H+44
17 phase center Antenna L1 phase center height (1/256 cm) Ulong 4H+48
variable #L2recs Number of GPS/GLONASS L2 records to
follow
Ulong 4variable
variable L2 ECEF-X L2 ECEF ΔX correction (1/256 cm) Long 4variable
variable L2 ECEF-Y L2 ECEF ΔY correction (1/256 cm) Long 4variable
variable L2 ECEF-Z L2 ECEF ΔZ correction (1/256 cm) Long 4variable
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
variable [CR][LF] Sentence terminator (ASCII only) - - -
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Chapter 3 Data Logs
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: 663
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 470
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA23
header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see REFSTATION on
page 419 Ulong 4H+20
8Reserved Ulong 4H+24
9ARP Antenna Reference Point Ulong 4H+28
10 ser flag Serial flag Ulong 4H+32
11 #chars Length of antenna descriptor (number of
characters)
Ulong 4H+36
12 ant descrp Antenna descriptor Uchar [31] 32 aH+40
13 setup ID Setup ID Ulong 4H+72
14 Reserved Ulong 4H+76
15 #chars2 Length of antenna serial number (characters) Ulong 4H+80
16 ant ser# Antenna serial number Uchar [31] 31 H+84
17 xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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.
471 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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: 664
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 472
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
1RTCMDATA24
header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see REFSTATION on
page 419 Ulong 4H+20
8ECEF_X ECEF ΔX correction (1/256 cm) Double 8H+24
9Reserved Ulong 4H+32
10 ECEF_Y ECEF ΔY correction (1/256 cm) Double 8H+36
11 Reserved Ulong 4H+44
12 ECEF_Z ECEF ΔZ correction (1/256 cm) Double 8H+48
13 sys ind System indicator Ulong 4H+56
14 ant ht flag Antenna height flag Ulong 4H+60
15 #recs Number of antenna records to follow Ulong 4H+64
16 ant ht Antenna height Ulong 4H+68
16 Reserved Ulong 4H+72
17 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+76
18 [CR][LF] Sentence terminator (ASCII only) - - -
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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: 868
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA31
header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see REFSTATION on
page 419 Ulong 4H+20
8#recs Number of records to follow Ulong 4H+24
9scale Scale factor Long 4H+28
10 udre User differential range error Ulong 4H+32
11 prn Satellite ID Ulong 4H+36
12 cor Correction Int 4H+40
13 cor rate Correction rate Int 4H+44
14 change Change bit Ulong 4H+48
15 τKTime of day Ulong 4H+52
16 xxxx 32-bit CRC (ASCII and Binary only) Hex 4vari-
able
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: 878
Log Type: 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
1RTCMDATA32
header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see REFSTATION on
page 419 Ulong 4H+20
8ECEF-X ECEF ΔX correction (1/100 m) Double 8H+24
9ECEF-Y ECEF ΔY correction (1/100 m) Double 8H+32
10 ECEF-Z ECEF ΔZ correction (1/100 m) Double 8H+40
17 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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 # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA36
header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count
week number is the week number
from subframe 1 of the ephemeris
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see
REFSTATION on page 419 Ulong 4H+20
8#chars Number of characters to follow Ulong 4H+24
9character Character Char 4aH+28
10... Next char offset = H+28 + (#chars x 4)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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: 403
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA
-59 header
Log header - H 0
2RTCM
header
RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count week number is
the week number from subframe 1 of the
ephemeris.
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see REFSTATION, page 419 Ulong 4H+20
8subtype Message subtype Char 4aH+24
9min psr Minimum pseudorange (m) Long 4H+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 4H+32
10 Reserved Ulong 4H+36
11 #prn Number of PRNs with information to follow Ulong 4H+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 4H+44
13 lock Lock time: 0 = <20 seconds
1 = 20-40 seconds
2 = 40-80 seconds
3 = >80 seconds
Ulong 4H+48
14 psr Pseudorange correction (1/10 m) Ulong 4H+52
15 adr Accumulated Doppler (ADR) correction (1/1000 m) Long 4H+56
16... Next PRN offset = H+44 + (#prns x 16)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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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3.3.100 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: 905
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA-
59GLO header
Log header - H 0
2RTCM header RTCM message type Ulong 4 H
3Base station ID Ulong 4H+4
4Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris
Ulong 4H+8
5Sequence number Ulong 4H+12
6Length of frame Ulong 4H+16
7Base station health, see REFSTATION on
page 419 Ulong 4H+20
8subtype Message subtype Uchar 4 aH+24
9#recs Number of records to follow Ulong 4H+28
10 scale Scale factor Long 4H+32
11 udre User differential range error Ulong 4H+36
12 prn Satellite ID Ulong 4H+40
13 cor Correction Int 4H+44
14 cor rate Correction rate Int 4H+48
15 change Change bit Ulong 4H+52
16 τKTime of day Ulong 4H+56
17 xxxx 32-bit CRC (ASCII and Binary only) Hex 4vari-
able
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: 953
Log Type: 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: 956
Log Type: 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 # Field type Data Description Format Binary
Bytes
Binary
Offset
1 RTCMDATA-
CDGPS9
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 (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
1RTCMDATA-
OMNI1 header
Log header - H 0
2type RTCM message type Ulong 4 H
3baseID Base station ID Ulong 4H+4
4 Z Modified Z count where the Z count week
number is the week number from subframe 1
of the ephemeris
Ulong 4H+8
5seq# Sequence number Ulong 4H+12
6frame length Length of frame Ulong 4H+16
7health Base station health Ulong 4H+20
8Mhealth Message health Ulong 4H+24
9#recs Number of records to follow Ulong 4H+28
10 scale Scaling for the correction and correction rate Ulong 4H+32
11 UDRE User differential range error Ulong 4H+36
12 prn Satellite PRN (1-32) Ulong 4H+40
13 corr Correction Int 4H+44
14 corr rate Correction rate Int 4H+48
15 IODE Issue of ephemeris data Ulong 4H+52
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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 L1-Only GPS RTK
RTCM1002 Extended L1-Only GPS RTK
RTCM1003 L1 And L2 GPS RTK
RTCM1004 Extended L1and L2 GPS RTK
RTCM1009 L1-Only GLONASS RTK
RTCM1010 Extended L1-Only GLONASS RTK
RTCM1011 L1/L2 GLONASS RTK
RTCM1012 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.
491 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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: 784
Log Type: 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
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 49
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 492
Table 83: Carrier Smoothing Interval of Code Phase
Table 84: Lock Time Indicator
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.
6110>8 min.
7 111 Unlimited smoothing
interval
Indicator (i) a
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.
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
493 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Fiel
d # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1001
header
Log header - H 0
2RTCMV3
observations
header
Message number Ushort 2 H
3Base station ID Ushort 2H+2
4GPS 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 4H+4
5GNSS 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 1H+8
6Number 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 1H+9
7Smoothing indicator
0 = Divergence-free smoothing not
used
1 = Divergence-free smoothing used
Uchar 1H+10
8Smoothing 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 1H+11
9#prns Number of PRNs with information to follow Ulong 4H+12
10 PRN PRN #, for SBAS see Table 82, page 491 Uchar 1H+16
11 code-ind GPS L1 code indicator
0 = C/A code
1 = P(Y) code direct
Uchar 1H+17
12 psr GPS L1 pseudorange (m) in 0.02 m units Ulong 4H+18
Continued on page 494.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 494
Fiel
d # 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 4H+22
14 locktime-ind GPS L1 continuos tracking lock time indicator,
see Table 84 on page 492 Uchar 2 aH+26
15... Next PRN offset = H+16 + (#prns x 12)
vari-
able
xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
vari-
able
[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.
495 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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: 785
Log Type: 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.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 496
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1002
header
Log header - H 0
2RTCMV3
observations
header, see the
RTCM-
DATA1001 log on
page 491 for
details
Message number Ushort 2 H
3Base station ID Ushort 2H+2
4GPS epoch time (ms) Ulong 4H+4
5GNSS message flag Uchar 1H+8
6Number of GPS satellite signals
processed (0-31)
Uchar 1H+9
7Smoothing indicator Uchar 1H+10
8Smoothing interval, see Table 83 on page
492.
Uchar 1H+11
9#prns Number of PRNs with information to
follow
Ulong 4H+12
10 prn# PRN #, for SBAS see Table 82, page 491 Uchar 1H+16
11 code-ind GPS L1 code indicator
0 = C/A code
1 = P(Y) code direct
Uchar 1H+17
12 psr GPS L1 pseudorange (m) in 0.02 m units Ulong 4H+18
13 phase-pseudo GPS L1 (phaserange - pseudorange) in
0.0005 m units
Range: ±262.1435 m
Long 4H+22
14 locktime-ind GPS L1 continuous tracking lock time
indicator, see Table 84 on page 492 Uchar 1H+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 1H+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 4aH+28
17... Next PRN offset = H+16 + (#prns x 16)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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.
497 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 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: 786
Log Type: 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.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 498
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1003
header
Log header - H 0
2RTCMV3
observations
header, see the
RTCM-
DATA1001 log on
page 491 for
details
Message number Ushort 2 H
3Base station ID Ushort 2H+2
4GPS epoch time (ms) Ulong 4H+4
5GNSS message flag Uchar 1H+8
6Number of GPS satellite signals Uchar 1H+9
7Smoothing indicator Uchar 1H+10
8Smoothing interval: Table 83 on page Uchar 1H+11
9#prns Number of PRNs with information to Ulong 4H+12
10 prn# PRN #, for SBAS see Table 82, page Uchar 1H+16
11 L1code-ind GPS L1 code indicator
0 = C/A code
1 = P(Y) code direct
Uchar 1H+17
12 L1psr GPS L1 pseudorange (m) in 0.02 m Ulong 4H+18
13 L1 phase-pseudo GPS L1 (phaserange - pseudorange) in
0.0005 m units
Range: ±262.1435 m
Long 4H+22
14 L1locktime-ind GPS L1 lock time indicator, see Table 84
on page 492 Uchar 1H+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 1H+27
16 L1L2psrdiff GPS L2-L1 pseudorange difference (m)
in 0.02 m units
Range: ±163.82 m
Short 2H+28
17 L2phase-
L1pseudo
GPS L2 phaserange - L1 pseudorange
in 0.005 m units
Range: ±262.1435 m
Long 4H+30
18 L1L2 locktime-ind GPS L2 continuous tracking lock time
indicator, see Table 84 on page 492 Uchar 2 aH+34
19... Next PRN offset = H+16 + (#prns x 20)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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.
499 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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: 787
Log Type: 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.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 500
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1004
header
Log header - H 0
2RTCMV3
observations
header, see the
RTCM-
DATA1001 log on
page 491 for
details
Message number Ushort 2 H
3Base station ID Ushort 2H+2
4GPS epoch time (ms) Ulong 4H+4
5GNSS message flag Uchar 1H+8
6Number of GPS satellite signals
processed (0-31)
Uchar 1H+9
7Smoothing indicator Uchar 1H+10
8Smoothing interval, see Table 83 on page
492 Uchar 1H+11
9#prns Number of PRNs with information to follow Ulong 4H+12
10 prn# PRN #, for SBAS see Table 82, page 491 Uchar 1H+16
11 L1code-ind GPS L1 code indicator
0 = C/A code
1 = P(Y) code
Uchar 1H+17
12 L1psr GPS L1 pseudorange (m) in 0.02 m units Ulong 4H+18
13 L1 phase-pseudo GPS L1 (phaserange - pseudorange) in
0.0005 m units
Range: ±262.1435 m
Long 4H+22
14 L1lcktm-ind GPS L1 lock time indicator, see Table 84
on page 492 Uchar 1H+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 1H+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 1H+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 1H+29
18 L1L2psrdiff GPS L2-L1 pseudorange difference (m) in
0.02 m units; Range: ±163.82 m
Short 4 aH+30
Continued on page 501.
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Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
19 L2phase-
L1pseudo
GPS L2 phaserange - L1 pseudorange in
0.0005 m units
Range: ±262.1435 m
Long 4H+34
20 L2lcktm-ind GPS L2 lock time indicator, see Table 84
on page 492 Uchar 1H+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 1H+39
22... Next PRN offset = H+16 + (#prns x 24)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 502
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: 788
Log Type: 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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Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1005
header
Log header - H 0
2msg# Message number Ushort 2 H
3ID Base station ID Ushort 2H+2
4Reserved Uchar 1H+4
5GPSind GPS indicator
0 = No GPS service supported
1 = GPS service supported
Uchar 1H+5
6GLOind GLONASS indicator
0 = No GLONASS service
supported
1 = GLONASS service
supported
Uchar 1H+6
7GALind Galileo indicator
0 = No Galileo service supported
1 = Galileo service supported
Uchar 1H+7
8Reserved Uchar 1H+8
9ECEF-X Base station ECEF X-coordinate
(1/10000 m)
Double 8H+9
10 Reserved Uchar 1H+17
11 ECEF-Y Base station ECEF Y-coordinate
(1/10000 m)
Double 8H+18
12 Reserved Uchar 2 aH+26
13 ECEF-Z Base station ECEF Z-coordinate
(1/10000 m)
Double 8H+28
14 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+36
15 [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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 504
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: 789
Log Type: 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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Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1006
header
Log header - H 0
2msg# Message number Ushort 2 H
3ID Base station ID Ushort 2H+2
4Reserved Uchar 1H+4
5GPSind GPS indicator
0 = No GPS service supported
1 = GPS service supported
Uchar 1H+5
6GLOind GLONASS indicator
0 = No GLONASS service
supported
1 = GLONASS service
supported
Uchar 1H+6
7GALind Galileo indicator
0 = No Galileo service
supported
1 = Galileo service supported
Uchar 1H+7
8Reserved Uchar 1H+8
9ECEF-X Base station ECEF X-coordinate
(1/10000 m)
Double 8H+9
10 Reserved Uchar 1H+17
11 ECEF-Y Base station ECEF Y-coordinate
(1/10000 m)
Double 8H+18
12 Reserved Uchar 2 aH+26
13 ECEF-Z Base station ECEF Z-coordinate
(1/10000 m)
Double 8H+28
14 anthgt Antenna height Ushort 4 bH+36
15 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+40
16 [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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 506
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: 856
Log Type: 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 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1007
header
Log header - H 0
2msg# Message number Ushort 2 H
3base ID Base station ID Ushort 2H+2
4#chars Length of antenna descriptor (number of
characters)
Ulong 4H+4
5ant descrp Antenna descriptor Char[31] 31 aH+8
6setupID Setup identification Uchar 1H+39
7 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+40
8[CR][LF] Sentence terminator (ASCII only) - - -
a. Additional bytes of padding may be added to maintain 4-byte alignment
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 508
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: 857
Log Type: 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
509 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1008
header
Log header - H 0
2msg# Message number Ushort 2 H
3base ID Base station ID number Ushort 2H+2
4#chars Length of antenna descriptor (number of
characters)
Ulong 4H+4
5ant descrp Antenna descriptor Char[31] 32aH+8
6setupID Setup identification Uchar 1H+40
7#chars2 Length of antenna serial number
(characters)
Ulong 4H+41
8ant ser# Antenna serial number Char [31] 31 H+45
9 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+76
10 [CR][LF] Sentence terminator (ASCII only) - - -
a. Additional bytes of padding may be added to maintain 4-byte alignment
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 510
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: 897
Log Type: 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.
511 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Table 85: GLONASS L1 and L2 Frequencies
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
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 512
Field
#Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1009
header
Log header - H 0
2RTCMV3
observations
header, see the
RTCM-
DATA1001 log on
page 491 for
details
Message number Ushort 2 H
3Base station ID Ushort 2H+2
4GPS epoch time (ms) Ulong 4H+4
5GNSS message flag Uchar 1H+8
6Number of GLONASS satellite signals
processed
Uchar 1H+9
7Smoothing indicator Uchar 1H+10
8Smoothing interval, see Table 83 on page
492.
Uchar 1H+11
9#rec Number of records with information to follow Ulong 4H+12
10 satID GLONASS sateliite ID (slot# 1-24) Uchar 1H+16
11 GLOcode GLONASS code indicator
0 = L1 C/A code
1 = L2 P code
Uchar 1H+17
12 GLOfreq GLONASS frequency indicator (0-20), see
Table 85 on page 511 Uchar 1H+18
13 GLOpsr GLONASS L1 pseudorange in 0.02 m units
Range: 0 to +599584.92 m
Ulong 4H+19
14 phase-pseudo GLONASS L1 phaserange - L1 pseudorange
in 0.0005 m units
Range: ±262.1435 m
Long 4H+23
15 locktime-ind GLONASS L1 continuous tracking lock time
indicator, see Table 84 on page 492 Uchar 1H+27
16... Next record offset = H+16 + (#recs x 12)
vari-
able
xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
vari-
able
[CR][LF] Sentence terminator (ASCII only) - - -
513 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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: 898
Log Type: 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.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 514
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1010
header
Log header - H 0
2RTCMV3
observations
header, see the
RTCM-
DATA1001 log on
page 491 for
details
Message number Ushort 2 H
3Base station ID Ushort 2H+2
4GPS epoch time (ms) Ulong 4H+4
5GNSS message flag Uchar 1H+8
6Number of GLONASS satellite signals Uchar 1H+9
7Smoothing indicator Uchar 1H+10
8Smoothing interval, see Table 83, page 492 Uchar 1H+11
9#recs Number of GLONASS records to follow Ulong 4H+12
10 satID GLONASS sateliite ID (slot# 1-24) Uchar 1H+16
11 GLOcode GLONASS code indicator
0 = L1 C/A code
1 = L2 P code
Uchar 1H+17
12 GLOfreq GLONASS frequency indicator (0-20), see
Table 85 on page 511 Ulong 4H+18
13 GLOpsr GLONASS L1 pseudorange in 0.02 m units
Range: 0 to +599584.92 m
Long 4H+22
14 phase-pseudo GLONASS L1 phaserange - L1 pseudorange
in 0.0005 m units; Range: ±262.1435
Long 4H+26
15 locktime-ind GLONASS L1 continuous tracking lock time
indicator, see Table 84 on page 492 Uchar 1H+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 1H+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 4aH+32
17... Next record offset = H+16 + (#recs x 20)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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
515 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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: 899
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 516
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1011
header
Log header - H 0
2RTCMV3
observations
header, see the
RTCM-
DATA1001 log on
page 491 for
details
Message number Ushort 2 H
3Base station ID Ushort 2H+2
4GPS epoch time (ms) Ulong 4H+4
5GNSS message flag Uchar 1H+8
6Number of GLONASS satellite signals (0-31) Uchar 1H+9
7Smoothing indicator Uchar 1H+10
8Smoothing interval, see Table 83, page 492 Uchar 1H+11
9#rec Number of records with information to follow Ulong 4H+12
10 satID GLONASS satellite ID (slot# 1-24) Uchar 1H+16
11 GLOcode GLONASS code indicator
0 = L1 C/A code
1 = L2 P code
Uchar 1H+17
12 GLOfreq GLONASS frequency indicator (0-20), see
Table 85 on page 511 Ulong 4H+18
13 GLOpsr GLONASS L1 pseudorange in 0.02 m units
Range: 0 to +599584.92 m
Long 4H+22
14 phase-pseudo GLONASS L1 phaserange - L1 pseudorange
in 0.0005 m units
Range: ±262.1435 m
Uchar 1H+26
15 locktime-ind GLONASS L1 continuous tracking lock time
indicator, see Table 84 on page 492 Uchar 1H+27
16 GLOcodeL2 GLONASS L2 code indicator
0 = C/A code
1 = P code
Uchar 1H+28
17 L1L2psrdiff GLONASS L2-L1 pseudorange difference in
0.02 m units; Range: ±163.82 m
Short 2H+29
18 L2phase-
L1pseudo
GLONASS L2 phaserange - L1 pseudorange
in 0.0005 m units; Range: ±262.1435 m
Long 4H+31
19 L2locktime-ind GLONASS L2 continuous tracking lock time
indicator, see Table 84 on page 492 Uchar 1H+35
20... Next record offset = H+16 + (#recs x 20)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
variable [CR][LF] Sentence terminator (ASCII only) - - -
517 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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: 900
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 518
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTCMDATA1012
header
Log header - H 0
2RTCMV3
observations
header, see the
RTCM-
DATA1001 log on
page 491 for
details
Message number Ushort 2 H
3Base station ID Ushort 2H+2
4GPS epoch time (ms) Ulong 4H+4
5GNSS message flag Uchar 1H+8
6Number of GLONASS satellite signals
processed
Uchar 1H+9
7Smoothing indicator Uchar 1H+10
8Smoothing interval, see Table 83 on page
492.
Uchar 1H+11
9#recs Number of records with information to follow Ulong 4H+12
10 satID GLONASS satellite ID (slot# 1-24) Uchar 1H+16
11 GLOcode GLONASS code indicator
0 = L1 C/A code
1 = L2 P code
Uchar 1H+17
12 GLOfreq GLONASS frequency indicator (0-20), see
Table 85 on page 511 Uchar 2 aH+18
13 GLOpsr GLONASS L1 pseudorange
Range: 0 to +599584.92 m
ULong 4H+20
14 phase-pseudo GLONASS L1 phaserange - L1 pseudorange
Range: ±262.1435 m
Long 4H+24
15 locktime-ind GLONASS L1 continuous tracking lock time
indicator, see Table 84 on page 492 Uchar 1H+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 1H+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 1H+30
Continued on page 519.
519 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
18 GLOcodeL2 GLONASS L2 code indicator
0 = C/A code
1 = P code
Uchar 1H+31
19 L1L2psrdiff GLONASS L2-L1 pseudorange difference in
0.02 m units; Range: ±163.82 m
Short 4 bH+32
20 L2phase-
L1pseudo
GLONASS L2 phaserange - L1 pseudorange
in 0.0005 m units; Range: ±262.1435 m
Long 4H+36
21 L2locktime-ind GLONASS L2 continuous tracking lock time
indicator, see Table 84 on page 492 Uchar 1H+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 1H+41
23 Reserved UShort 2H+42
24... Next record offset = H+16 + (#recs x 28)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
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
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 520
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: 901
Log Type: 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)
02.0864.0
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
521 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Field # Field type Data Description Scale
Factor Format Binary
Bytes Binary
Offset
1RTCMDATA-
1019 header
Log header - - H 0
2message# Message number
Range: 0 to 4095
-Ushort 2 H
3PRN# Satellite PRN#, for SBAS see
Table 82, page 491
Range: 1 to 63
-Uchar 2 aH+2
4week GPS week number
Range: 0 to 1023
1 week Ushort 2H+4
5SV accur index SV Accuracy (m), see Table
86 on page 520 -Uchar 1H+6
6GPSCodeOnL2 GPS code on L2
0 = Reserved
1 = P code
2 = C/A code
3 = L2C
1Uchar 1H+7
7IDOT Rate of inclination angle,
semi-circles/second 2-43 Short 2H+8
8IODE Issue of ephemeris data
Range: 0-255 (unitless)
1Uchar 2 aH+10
9TOC SV clock correction term
Maximum: 604784 s 24Ushort 2H+12
10 AF2 Clock aging parametre, s/s22-55 Char 2 aH+14
11 AF1 Clock aging parametre, s/s 2-43 Short 4 bH+16
12 AF0 Clock aging parametre,
seconds 2-31 Long 4H+20
13 IODC Issue of data, clock
Range: 0-1023 (unitless)
1Ushort 2H+24
14 Crs Orbit radius (amplitude of
sine, metres) 2-5 Short 2H+26
15 ΔNMean motion difference, semi-
circles/second 2-43 Short 4 bH+28
16 M0Mean anomaly of reference
time, semi-circles 2-31 Long 4 H+32
17 Cuc Argument of latitude
(amplitude of cosine, radians) 2-29 Short 4 bH+36
Continued on page 522.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 522
Field # Field type Data Description Scale
Factor 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, 0<e<1 is
an ellipse and e>1 is a
hyperbola. (unitless)
2-33 Ulong 4H+40
19 Cus Argument of latitude
(amplitude of sine, radians) 2-29 Short 4 bH+44
20 (A)1/2 Square root of the semi-major
axis 2-19 Ulong 4H+48
21 toe Reference time for ephemeris,
seconds 24Ushort 2H+52
22 Cic Inclination (amplitude of
cosine, radians) 2-29 Short 2H+54
23 Right ascension, radians 2-31 Long 4H+56
24 Cis Inclination (amplitude of sine,
radians) 2-29 Short 4 bH+60
25 I0Inclination angle at reference
time, radians 2-31 Long 4H+64
26 Crc Orbit radius (amplitude of
cosine, metres) 2-5 Short 4 bH+68
27 ωArgument 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 4H+72
28 Rate of right ascension,
radians/second 2-43 Long 4H+76
29 tgd Estimated group delay
difference, seconds 2-31 Char 1H+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
1Uchar 1H+81
Continued on page 523.
ω0
ω
°
523 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Field # Field type Data Description Scale
Factor 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
1Uchar 1H+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
1Uchar 1H+83
variable xxxx 32-bit CRC (ASCII and Binary
only)
-Hex 4variable
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
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 524
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: 902
Log Type: 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
Table 88: M-Satellite User Range Accuracy
Word P1 Time Interval a
a. Time interval between adjacent values of tb in minutes
00 0
01 30
10 45
11 60
FTAccuracy σ (m) FTAccuracy σ (m) FTAccuracy σ (m)
01 6 10 12128
12 7 12 13256
22.5 8 14 14 512
3 4 9 16 15 Reserved
4 5 10 32
5 7 11 64
525 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Field
#Field type Data Description Scale
Factor Format Binary
Bytes Binary
Offset
1RTCMDATA-
1020 header
Log header - H 0
2message# Message number
Range: 0 to 4095
-Ushort 2 H
3satID GLONASS satellite ID (slot# 1-24) -Uchar 1H+2
4GLOfreq GLONASS frequency indicator (0-
20), see Table 85 on page 511 1Uchar 1H+3
5alm health GLONASS almanac health:
0 = non-operability of satellite.
1 = operability of satellite
-Uchar 1H+4
6alm 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 1H+5
7P1 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 2 aH+6
8Tk 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 2H+8
9Bn MSB Word Bn is the health flag:
0 = GOOD
1 = BAD
Both the second and third bits of
this word are not used.
-Uchar 1H+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 1H+11
Continued on page 526.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 526
Field
#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 4 bH+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 4H+16
13 Xn(tb) GLONASS ECEF-X component of
satellite coordinates in PZ-90
datum
Range: ±27000 km
±2-11 km Long 4H+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/s2Char 4 bH+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 4H+28
16 Yn(tb) GLONASS ECEF-Y component of
satellite coordinates in PZ-90
datum
Range: ±27000 km
±2-11 km Long 4H+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/s2Char 4 bH+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 4H+40
19 Zn(tb) GLONASS ECEF-Z component of
satellite coordinates in PZ-90
datum
Range: ±27000 km
±2-11 km Long 4H+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/s2Char 1H+48
Continued on page 527.
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Chapter 3 Data Logs
Field
#Field type Data Description Scale
Factor 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 1H+49
22 γ(tb) GLONASS relative deviation of
predicted satellite carrier frequency
from the nominal value. Range: ±2-
30
2-40 Short 2H+50
23 M P 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 on-
board the GLONASS-M
satellite, τGPS parametre
relayed from control segment
3 = τ C parametre calculated on-
board the GLONASS-M
satellite, τGPS parametre
calculated on-board the
GLONASS-M satellite
-Uchar 1H+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 3 dH+53
25 τ tb GLONASS correction time relative
to GLONASS system time. Range:
±2-9 s
2-30 Long 4H+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 1H+60
27 EThe age of GLONASS navigation
data. Range: 0 to 31 days
1 day Uchar 1H+61
Continued on page 528.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 528
Field
#Field type Data Description Scale
Factor 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 1H+62
29 M FTGLONASS-M predicted satellite
user range at time tb.
Range: 0 to 15, see Table 88 on
page 524
-Uchar 1H+63
30 M Nt GLONASS-M current data number
Range: 1 to 1461 days
1 day Ushort 2H+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 1H+66
32 GLOavail This flag determines the availability
of additional GLONASS data fields
132-136:
1 = Available
0 = Unavailable
-Uchar 1H+67
33 NAGLONASS calendar day within a
four-year period to which τ C is
referenced
Range: 1 to 1461
1 day Ushort 4 dH+68
34 τ C τ C is the difference between
GLONASS time and UTC time. This
parametre is referenced to the
beginning of the day NA. Range: ±1
s
2-31 Long 4H+72
35 M N4 GLONASS four-year interval
number starting from 1996
Range: 1 to 31
4-year
interval
Uchar 4 bH+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 4H+80
Continued on page 529.
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Chapter 3 Data Logs
Field
#Field type Data Description Scale
Factor Format Binary
Bytes Binary
Offset
37 M In 5th GLONASS-M 5th string Word In:
0 = the nth satellite is healthy
1 = the nth satellite is not healthy
-Uchar 1H+84
38 Reserved -Char 1H+85
vari-
able
xxxx 32-bit CRC (ASCII and Binary only) -Hex 4variable
vari-
able
[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 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
Table 90: To Maintain a Fixed Ambiguity Solution
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
# GPS Satellites
# GLO Satellites 2 3 4 5 6 7 8
2No Float Fix Fix Fix Fix Fix
3Float Float Fix Fix Fix Fix Fix
4Float Float Fix Fix Fix Fix Fix
5Float Float Fix Fix Fix Fix Fix
6Float Float Fix Fix Fix Fix Fix
7Float Float Fix Fix Fix Fix Fix
8Float Float Fix Fix Fix Fix Fix
# GPS Satellites
#GLO Satellites 2 3 4 5 6 7 8
2No Fix Fix Fix Fix Fix Fix
3Fix Fix Fix Fix Fix Fix Fix
4Fix Fix Fix Fix Fix Fix Fix
5Fix Fix Fix Fix Fix Fix Fix
6Fix Fix Fix Fix Fix Fix Fix
7Fix Fix Fix Fix Fix Fix Fix
8Fix Fix Fix Fix Fix Fix Fix
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Message ID: 215
Log Type: 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.
• 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 532
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
Table 92: Ambiguity Type
Searcher Type
(binary) Searcher Type
(ASCII) Description
0-4 Reserved
5 HNAV AdVance RTK Engine
Ambiguity Type
(binary) Ambiguity Type (ASCII) Description
0UNDEFINED Undefined ambiguity
1L1_FLOAT Floating L1 ambiguity
2IONOFREE_FLOAT Floating ionospheric-free ambiguity
3NARROW_FLOAT Floating narrow-lane ambiguity
4NLF_FROM_WL1 Floating narrow-lane ambiguity derived
from integer wide-lane ambiguity
5L1_INT Integer L1 ambiguity
6WIDE_INT Integer wide-lane ambiguity
7NARROW_INT Integer narrow-lane ambiguity
8IONOFREE_DISCRETE Discrete ionospheric-free ambiguity
9-10 Reserved
11 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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Chapter 3 Data Logs
Table 93: RTK Information
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.
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
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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTKDATA
header
Log header H 0
2sol status Solution status (see Table 51, Solution Status
on page 253)
Enum 4 H
3pos type Position type (see Table 50, Position or Velocity
Type on page 252)
Enum 4H+4
4rtk info RTK information (see Table 93, RTK Information
on page 533)
Ulong 4H+8
5#SVs Number of satellite vehicles tracked Uchar 1H+12
6#solnSVs Number of satellite vehicles used in solution Uchar 1H+13
7#ggL1 Number of GPS plus GLONASS L1 used in
solution
Uchar 1H+14
8#ggL1L2 Number of GPS plus GLONASS L1 and L2 used
in solution
Uchar 1H+15
9Reserved Uchar 1H+16
10 ext sol stat Extended solution status (see Table 53,
Extended Solution Status on page 254)
Hex 1H+17
11 Reserved Hex 1H+18
12 sig mask Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)
Hex 1H+19
13 search stat Searcher status, normally ANAV (see Table 91,
Searcher Type on page 532)
Enum 4H+20
14 Reserved Ulong 4H+24
15-23 [C] The Cxx,Cxy,Cxz,Cyx,Cyy,Cyz,Czx,Czy and Czz
components in (metres)2, of the ECEF position
covariance matrix (3x3).
Float 36 H+28
24 Reserved Double 8H+64
25 Double 8H+72
26 Double 8H+80
27 Float 4H+88
28 Float 4H+92
29 Float 4H+96
30 ref PRN Base PRN Ulong 4H+100
Continued on page 535.
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Chapter 3 Data Logs
31 # SV Number of SVs to follow Long 4H+104
32 PRN Satellite PRN number of range measurement Ulong 4H+108
33 amb Ambiguity type (see Table 92, Ambiguity Type on
page 532)
Enum 4H+112
34 res Residual (m) Float 4H+116
35... Next SV offset = H + 108 + (obs x 12)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+108+
(12xobs)
variable [CR][LF] Sentence terminator (ASCII only) - - -
Field # Field type Data Description Format Binary
Bytes Binary
Offset
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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: 952
Log Type: Synch
Recommended Input:
log rtkdopa ontime 10
ASCII Example:
#RTKDOPA,COM1,0,60.0,FINESTEERING,1449,446982.000,00000008,b42b,3044;2.3386,
1.9856,0.9407,1.5528,1.2355,10.0,11,21,58,6,7,10,16,18,24,26,29,41*85f8338b
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTKDOP header Log header H 0
2GDOP Geometric DOP Float 4 H
3PDOP Position DOP Float 4H+4
4HDOP Horizontal DOP Float 4H+8
5HTDOP Horizontal and Time DOP Float 4H+12
6TDOP Time DOP Float 4H+16
7elev mask Elevation mask angle Float 4H+20
8#sats Number of satellites to follow Ulong 4H+24
9sats Satellites in use at time of calculation Ulong[#sats] 4x(#sats) H+28
10 xxxx 32-bit CRC (ASCII and Binary only) Hex 4variable
11 [CR][LF] Sentence terminator (ASCII only) - - -
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Chapter 3 Data Logs
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: 141
Log Type: Synch
Recommended Input:
log rtkposa ontime 1
ASCII Example:
#RTKPOSA,COM1,0,54.5,FINESTEERING,1419,340040.000,00000040,176e,2724;
SOL_COMPUTED,NARROW_INT,51.11635911294,-114.03833103654,1063.8336,-16.2712,
WGS84,0.0179,0.0096,0.0174,"AAAA",1.000,0.000,12,11,11,11,0,01,0,33*0adb3e47
Consider the case of a racing car on a closed circuit requiring RTK operation. In this
situation, you would have to send live data to the pits using a radio link.
RTK operation enables live cm-level position accuracy. When answers are required
right in the field, the base station must transmit its information to the rover in real-
time. 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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Field
#Field type Data Description Format Binary
Bytes Binary
Offset
1RTKPOS
header
Log header H 0
2sol status Solution status (see Table 51 on page 253)Enum 4 H
3pos type Position type (see Table 50 on page 252)Enum 4H+4
4lat Latitude Double 8H+8
5lon Longitude Double 8H+16
6hgt Height above mean sea level Double 8H+24
7undulation Undulation - the relationship between the geoid and
the WGS84 ellipsoid (m) a
Float 4H+32
8datum id# Datum ID number (see Table 21, Reference Ellipsoid
Constants on page 97)
Enum 4H+36
9lat σLatitude standard deviation Float 4H+40
10 lon σLongitude standard deviation Float 4H+44
11 hgt σHeight standard deviation Float 4H+48
12 stn id Base station ID Char[4] 4H+52
13 diff_age Differential age in seconds Float 4H+56
14 sol_age Solution age in seconds Float 4H+60
15 #SVs Number of satellite vehicles tracked Uchar 1H+64
16 #solnSVs Number of satellite vehicles used in solution Uchar 1H+65
17 #ggL1 Number of GPS plus GLONASS L1 used in solution Uchar 1H+66
18 #ggL1L2 Number of GPS plus GLONASS L1 and L2 used in
solution
Uchar 1H+67
19 Reserved Uchar 1H+68
20 ext sol stat Extended solution status (see Table 53, Extended
Solution Status on page 254)
Hex 1H+69
21 Reserved Hex 1H+70
22 sig mask Signals used mask - if 0, signals used in solution are
unknown (see Table 52 on page 254)
Hex 1H+71
23 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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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Chapter 3 Data Logs
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: 216
Log Type: 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 Data Description Format Binary
Bytes Binary
Offset
1RTKVEL
header
Log header H 0
2sol status Solution status, see Table 51, Solution Status on page
253 Enum 4 H
3vel type Velocity type, see Table 50, Position or Velocity Type
on page 252 Enum 4H+4
4latency A measure of the latency in the velocity time tag in
seconds. It should be subtracted from the time to give
improved results.
Float 4H+8
5age Differential age in seconds Float 4H+12
6hor spd Horizontal speed over ground, in metres per second Double 8H+16
7trk gnd Actual direction of motion over ground (track over
ground) with respect to True North, in degrees
Double 8H+24
8vert spd Vertical speed, in metres per second, where positive
values indicate increasing altitude (up) and negative
values indicate decreasing altitude (down)
Double 8H+32
9Reserved Float 4H+40
10 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+44
11 [CR][LF] Sentence terminator (ASCII only) - - -
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Chapter 3 Data Logs
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: 244
Log Type: 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
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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RTKXYZ
header
Log header H 0
2P-sol status Solution status, see Table 51, Solution Status on
page 253 Enum 4 H
3pos type Position type, see Table 50, Position or Velocity
Type on page 252 Enum 4H+4
4 P-X Position X-coordinate (m) Double 8H+8
5 P-Y Position Y-coordinate (m) Double 8H+16
6 P-Z Position Z-coordinate (m) Double 8H+24
7P-X σStandard deviation of P-X (m) Float 4H+32
8P-Y σStandard deviation of P-Y (m) Float 4H+36
9P-Z σStandard deviation of P-Z (m) Float 4H+40
10 V-sol status Solution status, see Table 51, Solution Status on
page 253 Enum 4H+44
11 vel type Velocity type, see Table 50 on page 252 Enum 4H+48
12 V-X Velocity vector along X-axis (m) Double 8H+52
13 V-Y Velocity vector along Y-axis (m) Double 8H+60
14 V-Z Velocity vector along Z-axis (m) Double 8H+68
15 V-X σStandard deviation of V-X (m) Float 4H+76
16 V-Y σStandard deviation of V-Y (m) Float 4H+80
17 V-Z σStandard deviation of V-Z (m) Float 4H+84
18 stn ID Base station identification Char[4] 4H+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 4H+92
20 diff_age Differential age in seconds Float 4H+96
21 sol_age Solution age in seconds Float 4H+100
22 #SVs Number of satellite vehicles tracked Uchar 1H+104
23 #solnSVs Number of satellite vehicles used in solution Uchar 1H+105
24 #ggL1 Number of GPS plus GLONASS L1 used in
solution
Uchar 1H+106
Continued on page 543.
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25 #ggL1L2 Number of GPS plus GLONASS L1 and L2 used
in solution
Uchar 1H+107
26 Reserved Char 1H+108
27 ext sol stat Extended solution status (see Table 53,
Extended Solution Status on page 254)
Hex 1H+109
28 Reserved Hex 1H+110
29 sig mask Signals used mask - if 0, signals used in solution
are unknown (see Table 52 on page 254)
Hex 1H+111
30 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+112
31 [CR][LF] Sentence terminator (ASCII only) - - -
Field # Field type Data Description Format Binary
Bytes Binary
Offset
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 544
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: 128
Log Type: 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!: Do not use undocumented commands or logs! Doing so may produce errors and
void your warranty.
1. 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
1RXCONFIG
header
Log header - H 0
2e header Embedded header - h H
3e msg Embedded message Varied aH + h
4e 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 4H+ h + a
5 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+ h + a + 4
6[CR][LF] Sentence terminator (ASCII only) - - -
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 546
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: 195
Log Type: 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
Temp.
(°C) Antenna
Current
Core
Voltage aSupply
Voltage RF
Voltage
Internal
LNA
Voltage GPAI LNA
Voltage
Min -40 0 1.30 4.5 4.55 4.55 0 0
Max 100bb0.10 1.65 18 5.25 5.25 2.5 30
Typical 40 0.04 1.37 12 5 5 0 5
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 # Field type Data Description Format Binary
Bytes Binary
Offset
1RXHWLEVELS
header
Log header H 0
2temp Board temperature (degrees celsius) Float 4 H
3ant current Approximate internal antenna current (A) Float 4H+4
4core volt CPU core voltage (V) Float 4H+8
5supply volt Receiver supply voltage (V) Float 4H+12
6rf volt 5V RF supply voltage (V) Float 4H+16
7int lna volt Internal LNA voltage level (V) Float 4H+20
8GPAI General purpose analog input (V) Float 4H+24
9Reserved Float 4H+28
10 Float 4H+32
11 lna volt LNA voltage (V) at OEM card output Float 4H+36
12 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+40
13 [CR][LF] Sentence terminator (ASCII only) - - -
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 548
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: 93
Log Type: 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..
549 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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Table 95: Receiver Error
Nibble # Bit # Mask Description Bit = 0 Bit = 1
N0 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
N1 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
N2 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
N3 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
N4 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.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 550
N5 20 0x00100000 Remote loading has begun No Yes
21 0x00200000 Export restriction OK Error
22 0x00400000 Reserved
23 0x00800000
N6 24 0x01000000
25 0x02000000
26 0x04000000
27 0x08000000
N7 28 0x10000000
29 0x20000000
30 0x40000000
31 0x80000000 Component hardware failure OK Error
a. RAM failure on an OEMV card may also be indicated by a flashing red LED.
Table 95: Receiver Error
Nibble # Bit # Mask Description Bit = 0 Bit = 1
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Table 96: Receiver Status
Nibble # Bit # Mask Description Bit = 0 Bit = 1
N0
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
N1
4 0x00000010 Reserved
5 0x00000020 Antenna open flag aOK Open
6 0x00000040 Antenna shorted flag aOK Shorted
7 0x00000080 CPU overload flag aNo overload Overload
N2
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 bNo overrun Overrun
N3
12 0x00001000 Reserved
13 0x00002000
14 0x00004000
15 0x00008000 RF1 AGC status OK Bad
N4
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
N5
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
Continued on page 551.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 552
N6
24 0x01000000 Software resource OK Warning
25 0x02000000 Reserved
26 0x04000000
27 0x08000000
N7
28 0x10000000
29 0x20000000 Auxiliary 3 status event flag No event Event
30 0x40000000 Auxiliary 2 status event flag No event Event
31 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.
Table 96: Receiver Status
Nibble # Bit # Mask Description Bit = 0 Bit = 1
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Table 97: Auxiliary 1 Status
Table 98: Auxiliary 2 Status
Table 99: Auxiliary 3 Status
Nibble
#Bit
#Mask Description Bit = 0 Bit = 1
N0 0 0x00000001 Reserved
1 0x00000002
2 0x00000004
3 0x00000008 Position averaging Off On
N1 4 0x00000010 Reserved
5 0x00000020
6 0x00000040
7 0x00000080 USB connection status Connected Not
connected
N2 8 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
Nibble # Bit # Mask Description Bit = 0 Bit = 1
N0 0 0x0000001 Reserved
Nibble # Bit # Mask Description Bit = 0 Bit = 1
N0 0 0x0000001 Reserved
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 554
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RXSTATUS
header
Log header H 0
2error Receiver error (see Table 95, Receiver
Error on page 549). A value of zero
indicates no errors.
ULong 4 H
3# stats Number of status codes (including
Receiver Status)
ULong 4H+4
4rxstat Receiver status word (see Table 96,
Receiver Status on page 551)
ULong 4H+8
5rxstat pri Receiver status priority mask, which can
be set using the STATUSCONFIG
command (page 204)
ULong 4H+12
6rxstat set Receiver status event set mask, which
can be set using the STATUSCONFIG
command (page 204)
ULong 4H+16
7rxstat clear Receiver status event clear mask, which
can be set using the STATUSCONFIG
command (page 204)
ULong 4H+20
8aux1stat Auxiliary 1 status word (see Table 97,
Auxiliary 1 Status on page 553)
ULong 4H+24
9aux1stat pri Auxiliary 1 status priority mask, which
can be set using the STATUSCONFIG
command (page 204)
ULong 4H+28
10 aux1stat set Auxiliary 1 status event set mask, which
can be set using the STATUSCONFIG
command (page 204)
ULong 4H+32
11 aux1stat
clear
Auxiliary 1 status event clear mask,
which can be set using the
STATUSCONFIG command (page 204)
ULong 4H+36
12 aux2stat Auxiliary 2 status word (see Table 98,
Auxiliary 2 Status on page 553)
ULong 4H+40
13 aux2stat pri Auxiliary 2 status priority mask, which
can be set using the STATUSCONFIG
command (page 204)
ULong 4H+44
14 aux2stat set Auxiliary 2 status event set mask, which
can be set using the STATUSCONFIG
command
ULong 4H+48
15 aux2stat
clear
Auxiliary 2 status event clear mask,
which can be set using the
STATUSCONFIG command
ULong 4H+52
Continued on page 555.
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16 aux3stat Auxiliary 3 status word (see Table 99,
Auxiliary 3 Status on page 553)
ULong 4H+56
17 aux3stat pri Auxiliary 3 status priority mask, which
can be set using the STATUSCONFIG
command (see page 204)
ULong 4H+60
18 aux3stat set Auxiliary 3 status event set mask, which
can be set using the STATUSCONFIG
command
ULong 4H+64
19 aux3stat
clear
Auxiliary 3 status event clear mask,
which can be set using the
STATUSCONFIG command
ULong 4H+68
20... Next status code offset = H + 8 + (# stats x 16)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+8+(#stats
x 64)
variable [CR][LF] Sentence terminator (ASCII only) - - -
Field # Field type Data Description Format Binary
Bytes Binary
Offset
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 556
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: 94
Log Type: 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
Table 101: Event Type
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
Event (binary) Event (ASCII) Description
0 CLEAR Bit was cleared
1 SET Bit was set
Field
#Field type Data Description Format Binary
Bytes Binary
Offset
1RXSTATUSEVENT
header
Log header H 0
2word The status word that generated the event
message (see Table 100, above)
Enum 4 H
3bit 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 4H+4
4event Event type (see Table 101 above) Enum 4H+8
3description 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 4H+44
6[CR][LF] Sentence terminator (ASCII only) - - -
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 558
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: 48
Log Type: 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 Format Binary
Bytes Binary
Offset
1SATVIS header Log header H 0
2sat vis Is satellite visibility valid?
0 = FALSE
1 = TRUE
Enum 4 H
3comp alm Was complete GPS almanac used?
0 = FALSE
1 = TRUE
Enum 4H+4
4#sat Number of satellites with data to follow Ulong 4H+8
5PRN/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 2H+12
6glofreq (GLONASS Frequency + 7), see Section
1.3 on page 29 Short 2H+14
7health Satellite health aUlong 4H+16
8elev Elevation (degrees) Double 8H+20
9az Azimuth (degrees) Double 8H+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 8H+36
11 app dop Apparent Doppler for this receiver - the
same as Theoretical Doppler above but
with clock drift correction added. (Hz)
Double 8H+44
12 Next satellite offset = H + 12 + (#sat x 40)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 560
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: 270
Log Type: 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 Format Binary
Bytes Binary
Offset
1SATXYZ header Log header H 0
2Reserved Double 8 H
3#sat Number of satellites with Cartesian
information to follow
Ulong 4H+8
4PRN/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 4H+12
5 x Satellite X coordinates (ECEF, m) Double 8H+16
6 y Satellite Y coordinates (ECEF, m) Double 8H+24
7 z Satellite Z coordinates (ECEF, m) Double 8H+32
8clk corr Satellite clock correction (m) Double 8H+40
9ion corr Ionospheric correction (m) Double 8H+48
10 trop corr Tropospheric correction (m) Double 8H+56
11 Reserved Double 8H+64
12 Double 8H+72
13 Next satellite offset = H + 12 + (#sat x 68)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 101
Log Type: Synch
Recommended Input:
log timea ontime 1
ASCII Example:
#TIMEA,COM1,0,50.5,FINESTEERING,1337,410010.000,00000000,9924,1984;
VALID,1.953377165e-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
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1TIME
header
Log header H 0
2clock
status
Clock model status (not including current
measurement data), see Table 54 on page 269 Enum 4 H
3offset 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 8H+4
4offset std Receiver clock offset standard deviation. Double 8H+12
5utc 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 8H+20
6utc year UTC year Ulong 4H+28
7utc month UTC month (0-12) aUchar 1H+32
8utc day UTC day (0-31) aUchar 1H+33
9utc hour UTC hour (0-23) Uchar 1H+34
10 utc min UTC minute (0-59) Uchar 1H+35
11 utc ms UTC millisecond (0-60999) bUlong 4H+36
12 utc status UTC status
0 = Invalid
1 = Valid
2 = Warningc
Enum 4H+40
13 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+44
14 [CR][LF] Sentence terminator (ASCII only) - - -
a. If UTC time is unknown, the values for month and day are 0.
b. Maximum of 60999 when leap second is applied.
c. Indicates that the leap 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: 492
Log Type: Synch
Recommended Input:
log timesynca ontime 1
ASCII Example:
#TIMESYNCA,COM1,0,46.0,FINESTEERING,1337,410095.000,00000000,bd3f,1984;
1337,410095000,FINESTEERING*aa2025db
The time data embedded in this log represents the time of the most recent 1PPS
signal. 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
1TIMESYNC
header
Log header H 0
2week GPS week number Ulong 4 H
3ms Number of milliseconds into the GPS week Ulong 4H+4
4time status GPS Time Status, see Table 8, GPS Time
Status on page 30 Enum 4H+8
5 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+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: 83
Log Type: Synch
Recommended Input:
log trackstata ontime 1
ASCII Example:
#TRACKSTATA,COM1,0,49.5,FINESTEERING,1337,410139.000,00000000,457c,1984;
SOL_COMPUTED,PSRDIFF,5.0,30,
1,0,18109c04,21836080.582,-2241.711,50.087,1158.652,0.722,GOOD,0.973,
1,0,11309c0b,21836083.168,-1746.788,42.616,1141.780,0.000,OBSL2,0.000,
30,0,18109c24,24248449.644,-2588.133,45.237,939.380,-0.493,GOOD,0.519,
30,0,11309c2b,24248452.842,-2016.730,38.934,939.370,0.000,OBSL2,0.000,
...
14,0,18109da4,24747286.206,-3236.906,46.650,1121.760,-0.609,GOOD,0.514,
14,0,11309dab,24747288.764,-2522.270,35.557,1116.380,0.000,OBSL2,0.000,
0,0,0c0221c0,0.000,0.000,0.047,0.000,0.000,NA,0.000,
0,0,0c0221e0,0.000,0.000,0.047,0.000,0.000,NA,0.000*255a732e
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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 566
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 SATCOORDINATE-
ERROR
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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Field # Field Type Data Description Format Binary
Bytes Binary
Offset
1TRACKSTAT
header
Log header H 0
2sol status Solution status (see Table 51, Solution Status
on page 253)
Enum 4 H
3pos type Position type (see Table 50, Position or
Velocity Type on page 252)
Enum 4H+4
4cutoff Tracking elevation cut-off angle Float 4H+8
5# chans Number of hardware channels with
information to follow
Long 4H+12
6PRN/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 2H+16
7glofreq (GLONASS Frequency + 7), see Section 1.3
on page 29 Short 2H+18
8ch-tr-status Channel tracking status (see Table 72,
Channel Tracking Status on page 400)
ULong 4H+20
9psr 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 8H+24
10 Doppler Doppler frequency (Hz) Float 4H+32
11 C/No Carrier to noise density ratio (dB-Hz) Float 4H+36
12 locktime Number of seconds of continuous tracking (no
cycle slips)
Float 4H+40
13 psr res Pseudorange residual from pseudorange filter
(m)
Float 4H+44
14 reject Range reject code from pseudorange filter
(see Table 102, Range Reject Code on page
566)
Enum 4H+48
15 psr weight Pseudorange filter weighting Float 4H+52
16... Next PRN offset = H + 16 + (#chans x 40)
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+16+
(#chans
x 40)
variable [CR][LF] Sentence terminator (ASCII only) - - -
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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: 206
Log Type: 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 Format Binary
Bytes Binary
Offset
1VALIDMODELS
header
Log header H 0
2#mod Number of models with information
to follow
Ulong 4 H
3model Model name String
[max. 16] VariableaVariable
4expyear Expiry year Ulong 4Variable
Max:H+20
5expmonth Expiry month Ulong 4Variable
Max: H+24
6expday Expiry day Ulong 4Variable:
Max: H+28
7... Next model offset = H + 4 + (#mods x variable [max:28])
variable xxxx 32-bit CRC (ASCII and Binary only) Hex 4Variable
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: 37
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 570
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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Table 104: Component Types
Table 105: VERSION Log: Field Formats
Table 106: 50 Hz-Capable Hardware Versions
Binary ASCII Description
0 UNKNOWN Unknown component
1 GPSCARD OEMV family component
2CONTROLLER
Data collector
3 ENCLOSURE OEM card enclosure
4-6 Reserved
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.
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
Field Type Field Format (ASCII) Description
hw version P-RS-CCC P = hardware platform (for example, OEMV)
R = hardware revision (for example, 3.00)
S = processor revision (for example, A) a
CCC = COM port configuration (for example, 22T) b
a. This field may be empty if the revision is not stamped onto the processor
b. One character for each of the COM ports 1, 2, and 3. Characters are: 2 for RS-232, 4 for RS-
422, T for LV-TTL, and X for user-selectable (valid for COM1 of 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.
sw version,
boot
version
VV.RRR[Xxxx] VV = major revision number
RRR = minor revision number
X = Special (S), Beta (B),Internal Development (D, A)
xxx = number
comp date YYYY/MM/DD YYYY = year
MM = month
DD = day (1 - 31)
comp time HH:MM:SS HH = hour
MM = minutes
SS = seconds
Receiver 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 572
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1VERSION
header
Log header H 0
2# comp Number of components (cards, and so on) Long 4 H
3type Component type (see Table 104, Component
Types on page 571)
Enum 4H+4
4model 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
The model designators are shown in Table
103 on Page 570
Char[16] 16 H+8
5psn Product serial number Char[16] 16 H+24
6hw version Hardware version, see Table 105, VERSION
Log: Field Formats on page 571 Char[16] 16 H+40
7sw version Firmware software version, see Table 105 Char[16] 16 H+56
8boot version Boot code version, see Table 105 Char[16] 16 H+72
9comp 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 4H+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: 290
Log Type: 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.
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1WAAS0
header
Log header H 0
2prn Source PRN message - also PRN not to use Ulong 4 H
3 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+4
4[CR][LF] Sentence terminator (ASCII only) - - -
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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: 291
Log Type: 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.
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1header Log header H 0
2prn Source PRN of message Ulong 4 H
3mask PRN bit mask Uchar[27] 28 a
a. In the binary log case, an additional 1 byte of padding is added to maintain 4-
byte alignment
H+4
4iodp Issue of PRN mask data Ulong 4H+32
5 xxxx 32-bit CRC (ASCII and
Binary only)
Hex 4H+36
6[CR][LF] Sentence terminator (ASCII
only)
- - -
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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: 296
Log Type: 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.
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Table 107: Evaluation of UDREI
UDREI a
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.
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
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Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1WAAS2 header Log header H 0
2prn Source PRN of message Ulong 4 H -
3iodf Issue of fast corrections
data
Ulong 4H+4 -
4iodp Issue of PRN mask data Ulong 4H+8 -
5prc0 prc(i):
Fast corrections
(-2048 to +2047) for the prn
in slot i (i = 0-12)
Long 4H+12 -
6prc1 Long 4H+16 -
7prc2 Long 4H+20 -
8prc3 Long 4H+24 -
9prc4 Long 4H+28 -
10 prc5 Long 4H+32 -
11 prc6 Long 4H+36 -
12 prc7 Long 4H+40 -
13 prc8 Long 4H+44 -
14 prc9 Long 4H+48 -
15 prc10 Long 4H+52 -
16 prc11 Long 4H+56 -
17 prc12 Long 4H+60 -
Continued on page 578.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 578
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
18 udre0 udre(i):
User differential range error
indicator for the prn in slot i
(i = 0-12)
Ulong 4H+64 See Table
107,
Evaluation of
UDREI on
page 576
19 udre1 Ulong 4H+68
20 udre2 Ulong 4H+72
21 udre3 Ulong 4H+76
22 udre4 Ulong 4H+80
23 udre5 Ulong 4H+84
24 udre6 Ulong 4H+88
25 udre7 Ulong 4H+92
26 udre8 Ulong 4H+96
27 udre9 Ulong 4H+100
28 udre10 Ulong 4H+104
29 udre11 Ulong 4H+108
30 udre12 Ulong 4H+112
31 xxxx 32-bit CRC (ASCII and
Binary only)
Hex 4H+116 -
32 [CR][LF] Sentence terminator (ASCII
only)
- - - -
579 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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: 301
Log Type: 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.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 580
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1WAAS3
header
Log header H 0
2prn Source PRN of message Ulong 4 H -
3iodf Issue of fast corrections data Ulong 4H+4 -
4iodp Issue of PRN mask data Ulong 4H+8 -
5prc13 prc(i):
Fast corrections (-2048 to +2047)
for the prn in slot i (i = 13-25)
Long 4H+12 -
6prc14 Long 4H+16 -
7prc15 Long 4H+20 -
8prc16 Long 4H+24 -
9prc17 Long 4H+28 -
10 prc18 Long 4H+32 -
11 prc19 Long 4H+36 -
12 prc20 Long 4H+40 -
13 prc21 Long 4H+44 -
14 prc22 Long 4H+48 -
15 prc23 Long 4H+52 -
16 prc24 Long 4H+56 -
17 prc25 Long 4H+60 -
Continued on page 581.
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Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
18 udre13 udre(i):
User differential range error
indicator for the prn in slot i (i = 13-
25)
Ulong 4H+64 See Table
107,
Evaluation of
UDREI on
page 576
19 udre14 Ulong 4H+68
20 udre15 Ulong 4H+72
21 udre16 Ulong 4H+76
22 udre17 Ulong 4H+80
23 udre18 Ulong 4H+84
24 udre19 Ulong 4H+88
25 udre20 Ulong 4H+92
26 udre21 Ulong 4H+96
27 udre22 Ulong 4H+100
28 udre23 Ulong 4H+104
29 udre24 Ulong 4H+108
30 udre25 Ulong 4H+112
31 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+116 -
32 [CR][LF] Sentence terminator (ASCII only) - - - -
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 582
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: 302
Log Type: 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.
583 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1WAAS4
header
Log header H 0
2prn Source PRN of message Ulong 4 H -
3iodf Issue of fast corrections data Ulong 4H+4 -
4iodp Issue of PRN mask data Ulong 4H+8 -
5prc26 prc(i):
Fast corrections (-2048 to +2047)
for the prn in slot i (i = 26-38)
Long 4H+12 -
6prc27 Long 4H+16 -
7prc28 Long 4H+20 -
8prc29 Long 4H+24 -
9prc30 Long 4H+28 -
10 prc31 Long 4H+32 -
11 prc32 Long 4H+36 -
12 prc33 Long 4H+40 -
13 prc34 Long 4H+44 -
14 prc35 Long 4H+48 -
15 prc36 Long 4H+52 -
16 prc37 Long 4H+56 -
17 prc38 Long 4H+60 -
Continued on page 584.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 584
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
18 udre26 udre(i):
User differential range error
indicator for the prn in slot i
(i = 26-38)
Ulong 4H+64 See Table
107,
Evaluation of
UDREI on
page 576
19 udre27 Ulong 4H+68
20 udre28 Ulong 4H+72
21 udre29 Ulong 4H+76
22 udre30 Ulong 4H+80
23 udre31 Ulong 4H+84
24 udre32 Ulong 4H+88
25 udre33 Ulong 4H+92
26 udre34 Ulong 4H+96
27 udre35 Ulong 4H+100
28 udre36 Ulong 4H+104
29 udre37 Ulong 4H+108
30 udre38 Ulong 4H+112
31 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+116 -
32 [CR][LF] Sentence terminator (ASCII only) - - - -
585 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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: 303
Log Type: 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.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 586
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1WAAS5
header
Log header H 0
2prn Source PRN of message Ulong 4 H -
3iodf Issue of fast corrections data Ulong 4H+4 -
4iodp Issue of PRN mask data Ulong 4H+8 -
5prc39 prc(i):
Fast corrections (-2048 to +2047)
for the prn in slot i (i = 39-50)
Long 4H+12 -
6prc40 Long 4H+16 -
7prc41 Long 4H+20 -
8prc42 Long 4H+24 -
9prc43 Long 4H+28 -
10 prc44 Long 4H+32 -
11 prc45 Long 4H+36 -
12 prc46 Long 4H+40 -
13 prc47 Long 4H+44 -
14 prc48 Long 4H+48 -
15 prc49 Long 4H+52 -
16 prc50 Long 4H+56 -
17 prc51 (Invalid, do not use) Long 4H+60 -
Continued on page 587.
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Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
18 udre39 udre(i):
User differential range error
indicator for the prn in slot i (i = 39-
50)
Ulong 4H+64 See Table
107,
Evaluation of
UDREI on
page 576
19 udre40 Ulong 4H+68
20 udre41 Ulong 4H+72
21 udre42 Ulong 4H+76
22 udre43 Ulong 4H+80
23 udre44 Ulong 4H+84
24 udre45 Ulong 4H+88
25 udre46 Ulong 4H+92
26 udre47 Ulong 4H+96
27 udre48 Ulong 4H+100
28 udre49 Ulong 4H+104
29 udre50 Ulong 4H+108
30 udre51 (Invalid, do not use) Ulong 4H+112
31 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+116 -
32 [CR][LF] Sentence terminator (ASCII only) - - - -
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 588
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: 304
Log Type: 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.
589 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1WAAS6
header
Log header H 0 -
2prn Source PRN of message Ulong 4 H -
3iodf2 Issue of fast corrections data Ulong 4H+4 -
4iodf3 Issue of fast corrections data Ulong 4H+8 -
5iodf4 Issue of fast corrections data Ulong 4H+12 -
6iodf5 Issue of fast corrections data Ulong 4H+16 -
7udre0 udre(i):
User differential range error
indicator for the prn in slot i
(i = 0-50)
Ulong 4H+20 See Table
107,
Evaluation of
UDREI on
page 576
8udre1 Ulong 4H+24
9udre2 Ulong 4H+28
10 udre3 Ulong 4H+32
11 udre4 Ulong 4H+36
12 udre5 Ulong 4H+40
13 udre6 Ulong 4H+44
14 udre7 Ulong 4H+48
15 udre8 Ulong 4H+52
16 udre9 Ulong 4H+56
17 udre10 Ulong 4H+60
18 udre11 Ulong 4H+64
19 udre12 Ulong 4H+68
20 udre13 Ulong 4H+72
21 udre14 Ulong 4H+76
22 udre15 Ulong 4H+80
23 udre16 Ulong 4H+84
24 udre17 Ulong 4H+88
Continued on page 590.
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 590
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
25 udre18 udre(i):
User differential range error
indicator for the prn in slot i
(i = 0-50)
Ulong 4H+92 See Table
107,
Evaluation of
UDREI on
page 576
26 udre19 Ulong 4H+96
27 udre20 Ulong 4H+100
28 udre21 Ulong 4H+104
29 udre22 Ulong 4H+108
30 udre23 Ulong 4H+112
31 udre24 Ulong 4H+116
32 udre25 Ulong 4H+120
33 udre26 Ulong 4H+124
34 udre27 Ulong 4H+128
35 udre28 Ulong 4H+132
36 udre29 Ulong 4H+136
37 udre30 Ulong 4H+140
38 udre31 Ulong 4H+144
39 udre32 Ulong 4H+148
40 udre33 Ulong 4H+152
41 udre34 Ulong 4H+156
42 udre35 Ulong 4H+160
43 udre36 Ulong 4H+164
44 udre37 Ulong 4H+168
45 udre38 Ulong 4H+172
46 udre39 Ulong 4H+176
47 udre40 Ulong 4H+180
48 udre41 Ulong 4H+184
49 udre42 Ulong 4H+188
50 udre43 Ulong 4H+192
51 udre44 Ulong 4H+196
52 udre45 Ulong 4H+200
Continued on page 591.
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Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
53 udre46 udre(i):
User differential range error
indicator for the prn in slot i
(i = 0-50)
Ulong 4H+204 See Table
107,
Evaluation of
UDREI on
page 576
54 udre47 Ulong 4H+208
55 udre48 Ulong 4H+212
56 udre49 Ulong 4H+216
58 udre50 Ulong 4H+220
58 udre51 (Invalid, do not use) Ulong 4H+224
59 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+228 -
60 [CR][LF] Sentence terminator (ASCII only) - - - -
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 592
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: 305
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1WAAS7 header Log header H 0
2prn Source PRN of message Ulong 4 H
3latency System latency Ulong 4H+4
4iodp Issue of PRN mask data Ulong 4H+8
5spare bits Unused spare bits Ulong 4H+12
6aI(0) aI(i):
Degradation factor indicator for the
prn in slot i (i = 0-50)
Ulong 4H+16
7aI(1) Ulong 4H+20
8aI(2) Ulong 4H+24
9aI(3) Ulong 4H+28
10 aI(4) Ulong 4H+32
11 aI(5) Ulong 4H+36
12 aI(6) Ulong 4H+40
13 aI(7) Ulong 4H+44
14 aI(8) Ulong 4H+48
15 aI(9) Ulong 4H+52
16 aI(10) Ulong 4H+56
17 aI(11) Ulong 4H+60
18 aI(12) Ulong 4H+64
19 aI(13) Ulong 4H+68
20 aI(14) Ulong 4H+72
21 aI(15) Ulong 4H+76
22 aI(16) Ulong 4H+80
23 aI(17) Ulong 4H+84
24 aI(18) Ulong 4H+88
25 aI(19) Ulong 4H+92
26 aI(20) Ulong 4H+96
Continued on page 594.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 594
Field # Field type Data Description Format Binary
Bytes Binary
Offset
27 aI(21) aI(i):
Degradation factor indicator for the
prn in slot i (i = 0-50)
Ulong 4H+100
28 aI(22) Ulong 4H+104
29 aI(23) Ulong 4H+108
30 aI(24) Ulong 4H+112
31 aI(25) Ulong 4H+116
32 aI(26) Ulong 4H+120
33 aI(27) Ulong 4H+124
34 aI(28) Ulong 4H+128
35 aI(29) Ulong 4H+132
36 aI(30) Ulong 4H+136
37 aI(31) Ulong 4H+140
38 aI(32) Ulong 4H+144
39 aI(33) Ulong 4H+148
40 aI(34) Ulong 4H+152
41 aI(35) Ulong 4H+156
42 aI(36) Ulong 4H+160
43 aI(37) Ulong 4H+164
44 aI(38) Ulong 4H+168
45 aI(39) Ulong 4H+172
46 aI(40) Ulong 4H+176
47 aI(41) Ulong 4H+180
48 aI(42) Ulong 4H+184
49 aI(43) Ulong 4H+188
50 aI(44) Ulong 4H+192
51 aI(45) Ulong 4H+196
52 aI(46) Ulong 4H+200
53 aI(47) Ulong 4H+204
54 aI(48) Ulong 4H+208
Continued on page 595.
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Field # Field type Data Description Format Binary
Bytes Binary
Offset
55 aI(49) aI(i):
Degradation factor indicator for the
prn in slot i (i = 0-50)
Ulong 4H+212
56 aI(50) Ulong 4H+216
57 aI(51) (Invalid, do not use) Ulong 4H+220
58 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+224
59 [CR][LF] Sentence terminator (ASCII only) - - -
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 596
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: 306
Log Type: 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 # Field type Data Description Format Binary
Bytes Binary
Offset
1WAAS9 header Log header H 0
2prn Source PRN of message Ulong 4 H
3iodn Issue of GEO navigation data Ulong 4H+4
4 t0Time of applicability Ulong 4H+8
5ura URA value Ulong 4H+12
6 x ECEF x coordinate Double 8H+16
7 y ECEF y coordinate Double 8H+24
8 z ECEF z coordinate Double 8H+32
9xvel X rate of change Double 8H+40
10 yvel Y rate of change Double 8H+48
11 zvel Z rate of change Double 8H+56
12 xaccel X rate of rate change Double 8H+64
13 yaccel Y rate of rate change Double 8H+72
14 zaccel Z rate of rate change Double 8H+80
15 af0 Time offset Double 8H+88
16 af1 Time drift Double 8H+96
17 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+104
18 [CR][LF] Sentence terminator (ASCII only) - - -
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 598
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: 292
Log Type: 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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Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1 WAAS10
header
Log header H 0 -
2prn Source PRN of message Ulong 4 H -
3 brcc Estimated noise and round off
error parametre
Ulong 4H+4 0.002
4 cltc_ lsb Maximum round off due to the
least significant bit (lsb) of the
orbital clock
Ulong 4H+8 0.002
5 cltc_vl Velocity error bound Ulong 4H+12 0.00005
6 iltc_vl Update interval for v=1 long term Ulong 4H+16 -
7 cltc_v0 Bound on update delta Ulong 4H+20 0.002
8 iltc_v1 Minimum update interval v = 0 Ulong 4H+24 -
9 cgeo_lsb Maximum round off due to the lsb
of the orbital clock
Ulong 4H+28 0.0005
10 cgeo_v Velocity error bound Ulong 4H+32 0.00005
11 igeo Update interval for GEO
navigation message
Ulong 4H+36 -
12 cer Degradation parametre Ulong 4H+40 0.5
13 ciono_step Bound on ionospheric grid delay
difference
Ulong 4H+44 0.001
14 iiono Minimum ionospheric update
interval
Ulong 4H+48 -
15 ciono_ramp Rate of ionospheric corrections
change
Ulong 4H+52 0.000005
16 rssudre User differential range error flag Ulong 4H+56 -
17 rssiono Root sum square flag Ulong 4H+60 -
18 spare bits Spare 88 bits, possibly
GLONASS
Ulong 4H+64 -
19 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+68 -
20 [CR][LF] Sentence terminator (ASCII only) - - - -
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 600
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: 293
Log Type: 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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Field # Field type Data Description Format Binary
Bytes Binary
Offset
1 WAAS12
header
Log header H 0
2prn Source PRN of message Ulong 4 H
3 A1Time drift (s/s) Double 8H+4
4 A0Time offset (s) Double 8H+12
5seconds Seconds into the week (s) Ulong 4H+20
6week Week number Ushort 4H+24
7dtls Delta time due to leap seconds Short 2H+28
8wnlsf Week number, leap second future Ushort 2H+30
9dn Day of the week (the range is 1 to 7 where
Sunday = 1 and Saturday = 7)
Ushort 2H+32
10 dtlsf Delta time, leap second future Short 2H+34
11 utc id UTC type identifier Ushort 2H+36
12 gpstow GPS time of the week Ulong 2H+38
13 gpswn GPS de-modulo week number Ulong 2H+40
14 glo
indicator
Is GLONASS information present?
0 = FALSE
1 = TRUE
Enum 4H+42
15 Reserved array of hexabytes for GLONASS Char[10] 12aH+46
16 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+58
17 [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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 602
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: 294
Log Type: 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 Format Binary
Bytes Binary
Offset Scaling
1WAAS17
header
Log header H 0 -
2prn Source PRN of message Ulong 4 H -
3#ents Number of almanac entries
with information to follow
Ulong 4H+4 -
4data id Data ID type Ushort 2H+8 -
5entry prn PRN for this entry Ushort 2H+10 -
6health Health bits Ushort 4aH+12 -
7 x ECEF x coordinate Long 4H+16 -
8 y ECEF y coordinate Long 4H+20 -
9 z ECEF z coordinate Long 4H+24 -
10 x vel X rate of change Long 4H+28 -
11 y vel Y rate of change Long 4H+32 -
12 z vel Z rate of change Long 4H+36 -
13... Next entry = H+8 + (#ents x 32) -
variable t0 Time of day in seconds (0 to
86336)
Ulong 4H+8+
(#ents x 32)
64
variable xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+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
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 604
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: 295
Log Type: 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
1WAAS18 header Log header H 0
2prn Source PRN of message Ulong 4 H
3#bands Number of bands broadcast Ulong 4H+4
4band num Specific band number that
identifies which of the 11 IGP
bands the data belongs to
Ulong 4H+8
5iodi Issue of ionospheric data Ulong 4H+12
6igp mask IGP mask Uchar[26] 28a
a. In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte
alignment
H+16
7spare bit One spare bit Ulong 4H+44
8 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+48
9[CR][LF] Sentence terminator (ASCII only) - - -
605 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
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: 297
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 606
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1WAAS24
header
Log header H 0 -
2prn Source PRN of message Ulong 4 H -
3prc0 prc(i):
Fast corrections (-2048 to +2047)
for the prn in slot i
(i = 0-5)
Long 4H+4 -
4prc1 Long 4H+8 -
5prc2 Long 4H+12 -
6prc3 Long 4H+16 -
7prc4 Long 4H+20 -
8prc5 Long 4H+24 -
9udre0 udre(i):
User differential range error
indicator for the prn in slot i
(i = 0-5)
Ulong 4H+28 See Table
107 on
page 576
10 udre1 Ulong 4H+.32
11 udre2 Ulong 4H+36
12 udre3 Ulong 4H+40
13 udre4 Ulong 4H+44
14 udre5 Ulong 4H+48
15 iodp Issue of PRN mask data Ulong 4H+52 -
16 block id Associated message type Ulong 4H+56
17 iodf Issue of fast corrections data Ulong 4H+60 -
18 spare Spare value Ulong 4H+64 -
19 vel Velocity code flag Ulong 4H+68 -
20 mask1 Index into PRN mask (Type 1) Ulong 4H+72 -
21 iode1 Issue of ephemeris data Ulong 4H+76 -
22 dx1 Delta x (ECEF) Long 4H+80 0.125
23 dy1 Delta y (ECEF) Long 4H+84 0.125
24 dz1 Delta z (ECEF) Long 4H+88 0.125
25 daf0 Delta af0 clock offset Long 4H+92 2-31
26 mask2 Second index into PRN mask
(Type 1)
Ulong 4H+96 -
Continued on page 607.
607 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
27 iode2 Second issue of ephemeris data Ulong 4H+100 -
28 ddx Delta delta x (ECEF) Long 4H+104 2-11
29 ddy Delta delta y (ECEF) Long 4H+108 2-11
30 ddz Delta delta z (ECEF) Long 4H+112 2-11
31 daf1 Delta af1 clock offset Long 4H+116 2-39
32 t0Applicable time of day Ulong 4H+120 16
33 iodp Issue of PRN mask data Ulong 4H+124 -
34 corr spare Spare value when velocity code is
equal to 0
Ulong 4H+128 -
35 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+132 -
36 [CR][LF] Sentence terminator (ASCII only) - - H+136 -
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 608
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: 298
Log Type: 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.
609 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1 WAAS25
header
Log header H 0 -
2prn Source PRN of message Ulong 4 H -
31st half vel Velocity code flag (0 or 1) Ulong 4H+4 -
41st half
mask1
Index into PRN mask (Type 1) Ulong 4H+8 -
51st half
iode1
Issue of ephemeris data Ulong 4H+12 -
61st half dx1 Delta x (ECEF) Long 4H+16 0.125
71st half dy1 Delta y (ECEF) Long 4H+20 0.125
81st half dz1 Delta z (ECEF) Long 4H+24 0.125
91st half af0 Delta af0 clock offset Long 4H+28 2-31
10 1st half
mask2
Second index into PRN mask
(Type 1)
Dummy value when velocity code = 1
Ulong 4H+32 -
11 1st half
iode2
Second issue of ephemeris data
Dummy value when velocity code = 1
Ulong 4H+36 -
12 1st half ddx Delta delta x (ECEF) when velocity
code = 1
Delta x (dx) when velocity code = 0
Long 4H+40 2-11
13 1st half ddy Delta delta y (ECEF) when velocity
code = 1
Delta y (dy) when velocity code = 0
Long 4H+44 2-11
14 1st half ddz Delta delta z (ECEF) when velocity
code = 1
Delta z (dz) when velocity code = 0
Long 4H+48 2-11
15 1st half af1 Delta af1 clock offset when velocity
code = 1
Delta af0 clock offset when velocity
code = 0
Long 4H+52 2-39
16 1st half t0Applicable time of day
Dummy value when velocity code = 0
Ulong 4H+56 16
17 1st half
iodp
Issue of PRN mask data Ulong 4H+60 -
18 1st half
corr spare
Spare value when velocity code = 0
Dummy value when velocity code = 1
Ulong 4H+64 -
Continued on page 610.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 610
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
19 2nd half vel Velocity code flag (0 or 1) Ulong 4H+68 -
20 2nd half
mask1
Index into PRN mask (Type 1) Ulong 4H+72 -
21 2nd half
iode1
Issue of ephemeris data Ulong 4H+76 -
22 2nd half
dx1
Delta x (ECEF) Long 4H+80 0.125
23 2nd half
dy1
Delta y (ECEF) Long 4H+84 0.125
24 2nd half
dz1
Delta z (ECEF) Long 4H+88 0.125
25 2nd half af0 Delta af0 clock offset Long 4H+92 2-31
26 2nd half
mask2
Second index into PRN mask
(Type 1)
Dummy value when velocity code = 1
Ulong 4H+96 -
27 2nd half
iode2
Second issue of ephemeris data
Dummy value when velocity code = 1
Ulong 4H+100 -
28 2nd half
ddx
Delta delta x (ECEF) when velocity
code = 1
Delta x (dx) when velocity code = 0
Long 4H+104 2-11
29 2nd half
ddy
Delta delta y (ECEF) when velocity
code = 1
Delta y (dy) when velocity code = 0
Long 4H+108 2-11
30 2nd half
ddz
Delta delta z (ECEF) when velocity
code = 1
Delta z (dz) when velocity code = 0
Long 4H+112 2-11
31 2nd half af1 Delta af1 clock offset when velocity
code = 1
Delta af0 clock offset when velocity
code = 0
Long 4H+116 2-39
32 2nd half t0Applicable time of day
Dummy value when velocity code = 0
Ulong 4H+120 16
33 2nd half
iodp
Issue of PRN mask data Ulong 4H+124 -
34 2nd half
corr spare
Spare value when velocity code = 0
Dummy value when velocity code = 1
Ulong 4H+128 -
35 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+132 -
36 [CR][LF] Sentence terminator (ASCII only) - - H+136 -
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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: 299
Log Type: 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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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 612
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1WAAS26 header Log header H 0 -
2prn Source PRN of message Ulong 4 H -
3band num Band number Ulong 4H+4 -
4block id Block ID Ulong 4H+8 -
5#pts Number of grid points with
information to follow
Ulong 4H+12 -
6igpvde IGP vertical delay estimates Ulong 4H+16 0.125
7givei Grid ionospheric vertical error
indicator
Ulong 4H+20 -
8... Next #pts entry = H + 16 + (#pts x 8)
variable iodi Issue of data - ionosphere Ulong 4H+16+
(#pts x 8)
variable spare 7 spare bits Ulong 4H+20+
(#pts x 8)
-
variable xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+24+
(#pts x 8)
-
variable [CR][LF] Sentence terminator (ASCII only) - - - -
613 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 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: 300
Log Type: 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.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 614
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1WAAS27
header
Log header H 0 -
2prn Source PRN of message Ulong 4 H -
3iods Issue of slow corrections data Ulong 4H+4 -
4#messages Low-by-one count of messages Ulong 4H+8 -
5message
num
Low-by-one message number Ulong 4H+12 -
6priority code Priority code Ulong 4H+16 -
7dudre inside Delta user differential range error
- inside
Ulong 4H+20 -
8dudre
outside
Delta user differential range error
-outside
Ulong 4H+24 -
9... #reg Number of regions with
information to follow
Ulong 4H+28 -
variable lat1 Coordinate 1 latitude Long 4H+32 -
variable lon1 Coordinate 1 longitude Long 4H+36 -
variable lat2 Coordinate 2 latitude Long 4H+40 -
variable lon2 Coordinate 2 longitude Long 4H+44 -
variable shape Shape where: 0 = triangle
1 = square
Ulong 4H+48 -
variable Next #reg entry = H + 32 + (#reg x 20)
variable t0Time of applicability Ulong 4H+32+
(#reg x 20)
16
variable xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+36+
(#reg x 20)
-
variable [CR][LF] Sentence terminator (ASCII only) - - - -
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Chapter 3 Data Logs
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: 696
Log Type: 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 post-
processing and analysis later.
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 616
Table 108: Evaluation of CDGPS UDREI
UDREI UDRE metres
00.01
10.02
20.03
30.05
40.10
50.15
60.20
70.25
80.30
90.35
10 0.40
11 0.45
12 0.50
13 0.60
14 Not Monitored
15 Do Not Use
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Chapter 3 Data Logs
Field # Field
type Data Description Format Binary
Bytes Binary
Offset Scaling
1WAAS32
header
Log header H 0
2prn Source PRN of message Ulong 4 H -
3iodp Issue of PRN mask data Ulong 4H+4 -
4prc0 prc(i):
Fast corrections (-2048 to +2047) for
the prn in slot i (i = 0-10)
Long 4H+8 -
5prc1 Long 4H+12 -
6prc2 Long 4H+16 -
7prc3 Long 4H+20 -
8prc4 Long 4H+24 -
9prc5 Long 4H+28 -
10 prc6 Long 4H+32 -
11 prc7 Long 4H+36 -
12 prc8 Long 4H+40 -
13 prc9 Long 4H+44 -
14 prc10 Long 4H+48 -
15 udre0 udre(i):
User differential range error indicator
for the prn in slot i (i = 0-10)
Ulong 4H+52 See Table
108,
Evaluation
of CDGPS
UDREI on
page 616
16 udre1 Ulong 4H+56
17 udre2 Ulong 4H+60
18 udre3 Ulong 4H+64
19 udre4 Ulong 4H+68
20 udre5 Ulong 4H+72
21 udre6 Ulong 4H+76
22 udre7 Ulong 4H+80
23 udre8 Ulong 4H+84
24 udre9 Ulong 4H+88
25 udre10 Ulong 4H+92
26 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+96 -
27 [CR][LF] Sentence terminator (ASCII only) - - - -
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 618
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
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1 WAAS33
header
Log header H 0
2prn Source PRN of message Ulong 4 H -
3iodp Issue of PRN mask data Ulong 4H+4 -
4prc11 prc(i):
Fast corrections (-2048 to +2047)
for the prn in slot i (i = 11-21)
Long 4H+8 -
5prc12 Long 4H+12 -
6prc13 Long 4H+16 -
7prc14 Long 4H+20 -
8prc15 Long 4H+24 -
9prc16 Long 4H+28 -
10 prc17 Long 4H+32 -
11 prc18 Long 4H+36 -
12 prc19 Long 4H+40 -
13 prc20 Long 4H+44 -
14 prc21 Long 4H+48 -
15 udre11 udre(i):
User differential range error
indicator for the prn in slot i
(i = 11-21)
Ulong 4H+52 See Table
108,
Evaluation
of CDGPS
UDREI on
page 616
16 udre12 Ulong 4H+56
17 udre13 Ulong 4H+60
18 udre14 Ulong 4H+64
19 udre15 Ulong 4H+68
20 udre16 Ulong 4H+72
21 udre17 Ulong 4H+76
22 udre18 Ulong 4H+80
23 udre19 Ulong 4H+84
24 udre20 Ulong 4H+88
25 udre21 Ulong 4H+92
26 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+96 -
27 [CR][LF] Sentence terminator (ASCII only) - - - -
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 620
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: 698
Log Type: 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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Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1 WAAS34
header
Log header H 0
2prn Source PRN of message Ulong 4 H -
3iodp Issue of PRN mask data Ulong 4H+4 -
4prc22 prc(i):
Fast corrections (-2048 to +2047)
for the prn in slot i (i = 22-32)
Long 4H+8 -
5prc23 Long 4H+12 -
6prc24 Long 4H+16 -
7prc25 Long 4H+20 -
8prc26 Long 4H+24 -
9prc27 Long 4H+28 -
10 prc28 Long 4H+32 -
11 prc29 Long 4H+36 -
12 prc30 Long 4H+40 -
13 prc31 Long 4H+44 -
14 prc32 Long 4H+48 -
15 udre22 udre(i):
User differential range error
indicator for the prn in slot i
(i = 22-32)
Ulong 4H+52 See Table
108,
Evaluation
of CDGPS
UDREI on
page 616
16 udre23 Ulong 4H+56
17 udre24 Ulong 4H+60
18 udre25 Ulong 4H+64
19 udre26 Ulong 4H+68
20 udre27 Ulong 4H+72
21 udre28 Ulong 4H+76
22 udre29 Ulong 4H+80
23 udre30 Ulong 4H+84
24 udre31 Ulong 4H+88
25 udre32 Ulong 4H+92
26 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+96 -
27 [CR][LF] Sentence terminator (ASCII only) - - - -
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 622
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: 699
Log Type: 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
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1 WAAS35
header
Log header H 0
2prn Source PRN of message Ulong 4 H -
3iodp Issue of PRN mask data Ulong 4H+4 -
4prc33 prc(i):
Fast corrections (-2048 to +2047)
for the prn in slot i (i = 33-43)
Long 4H+8 -
5prc34 Long 4H+12 -
6prc35 Long 4H+16 -
7prc36 Long 4H+20 -
8prc37 Long 4H+24 -
9prc38 Long 4H+28 -
10 prc39 Long 4H+32 -
11 prc40 Long 4H+36 -
12 prc41 Long 4H+40 -
13 prc42 Long 4H+44 -
14 prc43 Long 4H+48 -
15 udre33 udre(i):
User differential range error
indicator for the prn in slot i
(i = 33-43)
Ulong 4H+52 See Table
108,
Evaluation
of CDGPS
UDREI on
page 616
16 udre34 Ulong 4H+56
17 udre35 Ulong 4H+60
18 udre36 Ulong 4H+64
19 udre37 Ulong 4H+68
20 udre38 Ulong 4H+72
21 udre39 Ulong 4H+76
22 udre40 Ulong 4H+80
23 udre41 Ulong 4H+84
24 udre42 Ulong 4H+88
25 udre43 Ulong 4H+92
26 xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+96 -
27 [CR][LF] Sentence terminator (ASCII only) - - - -
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OEMV Family Firmware Version 3.800 Reference Manual Rev 8 624
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: 700
Log Type: 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
Field # Field type Data Description Format Binary
Bytes Binary
Offset Scaling
1WAAS45
header
Log header H 0 -
2prn Source PRN of message Ulong 4 H -
3mask1 Index into PRN mask (Type 1) Ulong 4H+4 -
4iode1 Issue of ephemeris data Ulong 4H+8 -
5dx1 Delta x (ECEF) Long 4H+12 0.125
6dy1 Delta y (ECEF) Long 4H+16 0.125
7dz1 Delta z (ECEF) Long 4H+20 0.125
8ddx Delta delta x (ECEF) Long 4H+24 2-11
9ddy Delta delta y (ECEF) Long 4H+28 2-11
10 ddz Delta delta z (ECEF) Long 4H+32 2-11
11 daf01Delta af0 clock offset Long 4H+36 2-31
12 t01Applicable time of day Ulong 4H+40 16
13 mask2 Second index into PRN mask
(Type 1)
Ulong 4H+44 -
14 iode2 Second issue of ephemeris data Ulong 4H+48 -
15 dx1 Delta x (ECEF) Long 4H+52 0.125
16 dy1 Delta y (ECEF) Long 4H+56 0.125
17 dz1 Delta z (ECEF) Long 4H+60 0.125
18 ddx Delta delta x (ECEF) Long 4H+64 2-11
19 ddy Delta delta y (ECEF) Long 4H+68 2-11
20 ddz Delta delta z (ECEF) Long 4H+72 2-11
21 daf02Delta af0 clock offset Long 4H+76 2-31
22 t02Applicable time of day Ulong 4H+80 16
23 iodp Issue of PRN mask data Ulong 4H+84 -
24 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+88 -
25 [CR][LF] Sentence terminator (ASCII only) - - - -
Data Logs Chapter 3
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 626
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: 313
Log Type: 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.
627 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 3 Data Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1WAASCORR
header
Log header H 0
2#sat Number of satellites with
information to follow
Ulong 4 H
3prn Satellite PRN Ulong 4H+4
4iode Issue of ephemeris data for which
the corrections apply
Ulong 4H+8
5psr corr SBAS pseudorange correction (m) Float 4H+12
6corr stdv Standard deviation of
pseudorange correction (m)
Float 4H+16
7... Next sat entry = H+4 + (#sat x 16)
variable xxxx 32-bit CRC (ASCII and Binary
only)
Hex 4H+4+
(#sat x 16)
variable [CR][LF] Sentence terminator (ASCII only) - - -
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 628
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 = X7 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
629 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Chapter 4 Responses
ASCII Message 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.
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 630
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
asciidisplay, 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
631 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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
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
Index
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 632
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
633 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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
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
Index
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 634
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
erroraveraged 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
635 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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
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
Index
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 636
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
637 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Index
K
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
lockcommand, 141
out, 388, 566
reinstate, 212
time, 567
LOCKOUT command, 141
locktime
current, 402, 407
L-band, 354
reset to zero, 93, 127
RTK, 494, 496, 498, 512, 514, 516, 518
log 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
Index
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 638
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 statis-
tics, 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
639 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Index
restore, 157
savealmanac, 247
configuration, 186
north pole, 148
noteantenna 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
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
Index
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 640
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 Position-
ing 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
641 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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
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
Index
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 642
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
643 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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
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
Index
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 644
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
steerclock, 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
time1PPS, 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
645 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
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
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
Index
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 646
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
647 OEMV Family Firmware Version 3.800 Reference Manual Rev 8
Index
OEMV Family Firmware Version 3.800 Reference Manual Rev 8 648
OM-20000094 Rev 8 2010/05/14
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