OEM7 Commands and Logs Reference Manual
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OEM7 Commands and Logs Reference Manual
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OEM7 CommandsandLogs ReferenceManual
OEM7CommandsandLogsReferenceManualv10 5 2.73 J1939CONFIG 221 2.74 LOCKOUT 223 2.75 LOCKOUTSYSTEM 224 2.76 LOG 225 2.76.1 Binary 227 2.76.2 ASCII 230
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OEM7 Commands and Logs
Reference Manual
OM-20000169 v10
January 2019
OEM7 Commands and Logs Reference Manual
Publication Number: OM-20000169 Revision Level: v10 Revision Date: January 2019 Firmware Versions:
l 7.05.04 / OM7MR0504RN0000 l PP7 07.05.04 / EP7PR0504RN0000
Proprietary Notice
Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc. The information contained within this manual is believed to be true and correct at the time of publication. NovAtel, ALIGN, GLIDE, GrafNav/GrafNet, Inertial Explorer, NovAtel CORRECT, OEM7, PwrPak7, RELAY, SPAN, STEADYLINE, VEXXIS and Waypoint are registered trademarks of NovAtel Inc. NovAtel Connect, OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, SMART7, RELAY7 and RTK ASSIST are trademarks of NovAtel Inc. All other brand names are trademarks of their respective holders.
� Copyright 2019 NovAtel Inc. All rights reserved. Unpublished rights reserved under International copyright laws.
OEM7 Commands and Logs Reference Manual v10
2
Table of Contents
Figures
Tables
Customer Support
Foreword
Chapter 1 Messages
1.1 ASCII 1.2 Abbreviated ASCII 1.3 Binary 1.4 Description of ASCII and Binary Logs with Short Headers 1.5 Message Responses
1.5.1 Abbreviated ASCII Response 1.5.2 ASCII Response 1.5.3 Binary Response 1.6 GLONASS Slot and Frequency Numbers 1.6.1 PRN Numbers 1.7 GPS Reference Time Status 1.8 Message Time Stamps 1.9 Decoding of the GPS Reference Week Number 1.10 32-Bit CRC
Chapter 2 GNSS Commands
2.1 Command Formats 2.1.1 Optional Parameters
2.2 Command Settings 2.3 Factory Defaults 2.4 Command Reference 2.5 ADJUST1PPS 2.6 ALIGNAUTOMATION 2.7 ANTENNAPOWER 2.8 ANTENNATYPE 2.9 ASSIGN 2.10 ASSIGNALL 2.11 ASSIGNLBANDBEAM 2.12 AUTH 2.13 AUTOSURVEY 2.14 BASEANTENNAPCO 2.15 BASEANTENNAPCV 2.16 BASEANTENNATYPE 2.17 BDSECUTOFF 2.18 BESTVELTYPE 2.19 CANCONFIG 2.20 CCOMCONFIG 2.21 CLOCKADJUST 2.22 CLOCKCALIBRATE 2.23 CLOCKOFFSET
OEM7 Commands and Logs Reference Manual v10
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51 51 51 52 52 53 61 63 65 68 71 74 76 79 82 84 85 97 99 100 102 105 107 110
3
2.24 CNOUPDATE 2.25 COMCONTROL 2.26 DATADECODESIGNAL 2.27 DATUM 2.28 DGPSTXID 2.29 DIFFCODEBIASCONTROL 2.30 DLLTIMECONST 2.31 DNSCONFIG 2.32 DUALANTENNAPORTCONFIG 2.33 DYNAMICS 2.34 ECHO 2.35 ECUTOFF 2.36 ELEVATIONCUTOFF 2.37 ETHCONFIG 2.38 EVENTINCONTROL 2.39 EVENTOUTCONTROL 2.40 EXTERNALCLOCK 2.41 FILEAUTOTRANSFER 2.42 FILECONFIG 2.43 FILEDELETE 2.44 FILEMEDIACONFIG 2.45 FILEROTATECONFIG 2.46 FILETRANSFER 2.47 FIX 2.48 FIXPOSDATUM 2.49 FORCEGALE6CODE 2.50 FORCEGLOL2CODE 2.51 FORCEGPSL2CODE 2.52 FREQUENCYOUT 2.53 FRESET 2.54 GALECUTOFF 2.55 GENERATEALIGNCORRECTIONS 2.56 GENERATEDIFFCORRECTIONS 2.57 GENERATERTKCORRECTIONS 2.58 GGAQUALITY 2.59 GLIDEINITIALIZATIONPERIOD 2.60 GLOECUTOFF 2.61 HDTOUTTHRESHOLD 2.62 HEADINGOFFSET 2.63 ICOMCONFIG 2.64 INTERFACEMODE
2.64.1 SPAN Systems 2.65 IONOCONDITION 2.66 IPCONFIG 2.67 IPSERVICE 2.68 ITBANDPASSCONFIG 2.69 ITDETECTCONFIG 2.70 ITFRONTENDMODE 2.71 ITPROGFILTCONFIG 2.72 ITSPECTRALANALYSIS
OEM7 Commands and Logs Reference Manual v10
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4
2.73 J1939CONFIG 2.74 LOCKOUT 2.75 LOCKOUTSYSTEM 2.76 LOG
2.76.1 Binary 2.76.2 ASCII 2.77 LOGIN 2.78 LOGOUT 2.79 LUA 2.80 MAGVAR 2.81 MARKCONTROL 2.82 MEDIAFORMAT 2.83 MODEL 2.84 MOVINGBASESTATION 2.85 NAVICECUTOFF 2.86 NMEAFORMAT 2.87 NMEATALKER 2.88 NMEAVERSION 2.89 NTRIPCONFIG 2.90 NTRIPSOURCETABLE 2.91 NVMRESTORE 2.92 NVMUSERDATA 2.93 PDPFILTER 2.93.1 GLIDE Position Filter 2.94 PDPMODE 2.95 PGNCONFIG 2.96 POSAVE 2.97 POSTIMEOUT 2.98 PPPBASICCONVERGEDCRITERIA 2.99 PPPCONVERGEDCRITERIA 2.100 PPPDYNAMICS 2.101 PPPDYNAMICSEED 2.102 PPPRESET 2.103 PPPSEED 2.104 PPPSOURCE 2.105 PPPTIMEOUT 2.106 PPSCONTROL 2.107 PPSCONTROL2 2.108 PROFILE 2.109 PSRDIFFSOURCE 2.110 PSRDIFFSOURCETIMEOUT 2.111 PSRDIFFTIMEOUT 2.112 QZSSECUTOFF 2.113 RADARCONFIG 2.114 RAIMMODE 2.114.1 Detection strategy 2.114.2 Isolation strategy 2.115 REFERENCESTATIONTIMEOUT 2.116 RESET 2.117 RFINPUTGAIN
OEM7 Commands and Logs Reference Manual v10
221 223 224 225 227 230 231 233 234 236 239 242 243 244 246 248 251 253 254 256 257 258 259 259 261 262 263 265 266 267 268 269 271 272 274 276 277 280 283 285 288 289 290 292 294 294 294 296 297 298
5
2.118 RTKANTENNA 2.119 RTKASSIST 2.120 RTKASSISTTIMEOUT 2.121 RTKDYNAMICS 2.122 RTKINTEGERCRITERIA 2.123 RTKMATCHEDTIMEOUT 2.124 RTKNETWORK 2.125 RTKPORTMODE 2.126 RTKQUALITYLEVEL 2.127 RTKRESET 2.128 RTKSOURCE 2.129 RTKSOURCETIMEOUT 2.130 RTKSVENTRIES 2.131 RTKTIMEOUT 2.132 SAVECONFIG 2.133 SAVEETHERNETDATA 2.134 SBASCONTROL 2.135 SBASECUTOFF 2.136 SBASTIMEOUT 2.137 SELECTCHANCONFIG 2.138 SEND 2.139 SENDHEX 2.140 SERIALCONFIG 2.141 SERIALPROTOCOL 2.142 SETADMINPASSWORD 2.143 SETAPPROXPOS 2.144 SETAPPROXTIME 2.145 SETBASERECEIVERTYPE 2.146 SETBESTPOSCRITERIA 2.147 SETDIFFCODEBIASES 2.148 SETIONOTYPE 2.149 SETNAV 2.150 SETROVERID 2.151 SETTIMEBASE 2.152 SETTROPOMODEL 2.153 SETUTCLEAPSECONDS 2.154 SOFTLOADCOMMIT 2.155 SOFTLOADDATA 2.156 SOFTLOADRESET 2.157 SOFTLOADSETUP 2.158 SOFTLOADSREC 2.159 STATUSCONFIG 2.160 STEADYLINE 2.161 STEADYLINEDIFFERENTIALTIMEOUT 2.162 SURVEYPOSITION 2.163 THISANTENNAPCO 2.164 THISANTENNAPCV 2.165 THISANTENNATYPE 2.166 TRACKSV 2.167 TUNNELESCAPE
OEM7 Commands and Logs Reference Manual v10
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6
2.168 UALCONTROL 2.169 UNASSIGN 2.170 UNASSIGNALL 2.171 UNDULATION 2.172 UNLOCKOUT 2.173 UNLOCKOUTALL 2.174 UNLOCKOUTSYSTEM 2.175 UNLOG
2.175.1 Binary 2.175.2 ASCII 2.176 UNLOGALL 2.177 USBSTICKEJECT 2.178 USERDATUM 2.179 USEREXPDATUM 2.180 USERI2CREAD 2.181 USERI2CWRITE 2.182 UTMZONE 2.183 WIFIAPCHANNEL 2.184 WIFIAPIPCONFIG 2.185 WIFIAPPASSKEY 2.186 WIFIMODE
Chapter 3 Logs
3.1 Log Types 3.1.1 Log Type Examples
3.2 Log Reference 3.3 ALIGNBSLNENU 3.4 ALIGNBSLNXYZ 3.5 ALIGNDOP 3.6 ALMANAC 3.7 AUTHCODES 3.8 AVEPOS 3.9 BDSALMANAC 3.10 BDSCLOCK 3.11 BDSEPHEMERIS 3.12 BDSIONO 3.13 BDSRAWNAVSUBFRAME 3.14 BESTPOS 3.15 BESTSATS 3.16 BESTUTM 3.17 BESTVEL 3.18 BESTXYZ 3.19 BSLNXYZ 3.20 CHANCONFIGLIST 3.21 CLOCKMODEL 3.22 CLOCKSTEERING 3.23 DUALANTENNAHEADING 3.24 ETHSTATUS 3.25 FILELIST 3.26 FILESTATUS
OEM7 Commands and Logs Reference Manual v10
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409 409 410 411 413 415 416 419 421 423 425 427 430 432 433 442 446 449 452 455 457 461 463 466 468 469 471
7
3.27 FILESYSTEMCAPACITY 3.28 FILESYSTEMSTATUS 3.29 FILETRANSFERSTATUS 3.30 GALALMANAC 3.31 GALCLOCK 3.32 GALCNAVRAWPAGE 3.33 GALFNAVEPHEMERIS 3.34 GALFNAVRAWPAGE 3.35 GALINAVEPHEMERIS 3.36 GALINAVRAWWORD 3.37 GALIONO 3.38 GLMLA 3.39 GLOALMANAC 3.40 GLOCLOCK 3.41 GLOEPHEMERIS 3.42 GLORAWALM 3.43 GLORAWEPHEM 3.44 GLORAWFRAME 3.45 GLORAWSTRING 3.46 GPALM 3.47 GPGGA 3.48 GPGGALONG 3.49 GPGLL 3.50 GPGRS 3.51 GPGSA 3.52 GPGST 3.53 GPGSV 3.54 GPHDT 3.55 GPHDTDUALANTENNA 3.56 GPRMB 3.57 GPRMC 3.58 GPSCNAVRAWMESSAGE 3.59 GPSEPHEM 3.60 GPVTG 3.61 GPZDA 3.62 HEADING2 3.63 HEADINGRATE 3.64 HEADINGSATS 3.65 HWMONITOR 3.66 IONUTC 3.67 IPSTATS 3.68 IPSTATUS 3.69 ITBANDPASSBANK 3.70 ITDETECTSTATUS 3.71 ITFILTTABLE 3.72 ITPROGFILTBANK 3.73 ITPSDFINAL 3.74 J1939STATUS 3.75 LBANDBEAMTABLE 3.76 LBANDTRACKSTAT
OEM7 Commands and Logs Reference Manual v10
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8
3.77 LOGLIST 3.77.1 Binary 3.77.2 ASCII
3.78 LUAFILELIST 3.79 LUAFILESYSTEMSTATUS 3.80 LUAOUTPUT 3.81 LUASTATUS 3.82 MARKPOS, MARK2POS, MARK3POS and MARK4POS 3.83 MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME 3.84 MASTERPOS 3.85 MATCHEDPOS 3.86 MATCHEDSATS 3.87 MATCHEDXYZ 3.88 MODELFEATURES 3.89 NAVICALMANAC 3.90 NAVICEPHEMERIS 3.91 NAVICIONO 3.92 NAVICRAWSUBFRAME 3.93 NAVICSYSCLOCK 3.94 NAVIGATE 3.95 NMEA Standard Logs 3.96 NOVATELXOBS 3.97 NOVATELXREF 3.98 OCEANIXINFO 3.99 OCEANIXSTATUS 3.100 PASSCOM, PASSAUX, PASSUSB, PASSETH1, PASSICOM, PASSNCOM 3.101 PASSTHROUGH 3.102 PDPDOP 3.103 PDPDOP2 3.104 PDPPOS 3.105 PDPSATS 3.106 PDPVEL 3.107 PDPXYZ 3.108 PORTSTATS 3.109 PPPPOS 3.110 PPPSATS 3.111 PROFILEINFO 3.112 PSRDOP 3.113 PSRDOP2 3.114 PSRPOS 3.115 PSRSATS 3.116 PSRVEL 3.117 PSRXYZ 3.118 QZSSALMANAC 3.119 QZSSCNAVRAWMESSAGE 3.120 QZSSEPHEMERIS 3.121 QZSSIONUTC 3.122 QZSSRAWALMANAC 3.123 QZSSRAWCNAVMESSAGE 3.124 QZSSRAWEPHEM
OEM7 Commands and Logs Reference Manual v10
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9
3.125 QZSSRAWSUBFRAME 3.126 RAIMSTATUS 3.127 RANGE 3.128 RANGECMP 3.129 RANGECMP2 3.130 RANGECMP4 3.131 RANGEGPSL1 3.132 RAWALM 3.133 RAWCNAVFRAME 3.134 RAWEPHEM 3.135 RAWGPSSUBFRAME 3.136 RAWGPSWORD 3.137 RAWSBASFRAME 3.138 RAWSBASFRAME2 3.139 REFSTATION 3.140 REFSTATIONINFO 3.141 ROVERPOS 3.142 RTCMV3 Standard Logs
3.142.1 Legacy Observable Messages 3.142.2 MSM Observable Messages 3.142.3 Station and Antenna Messages 3.142.4 Ephemeris Messages 3.143 RTKASSISTSTATUS 3.144 RTKDOP 3.145 RTKDOP2 3.146 RTKPOS 3.147 RTKSATS 3.148 RTKVEL 3.149 RTKXYZ 3.150 RXCONFIG 3.151 RXSTATUS 3.152 RXSTATUSEVENT 3.153 SAFEMODESTATUS 3.154 SATVIS2 3.155 SATXYZ2 3.156 SAVEDSURVEYPOSITIONS 3.157 SBAS0 3.158 SBAS1 3.159 SBAS2 3.160 SBAS3 3.161 SBAS4 3.162 SBAS5 3.163 SBAS6 3.164 SBAS7 3.165 SBAS9 3.166 SBAS10 3.167 SBAS12 3.168 SBAS17 3.169 SBAS18 3.170 SBAS24
OEM7 Commands and Logs Reference Manual v10
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10
3.171 3.172 3.173 3.174 3.175 3.176 3.177 3.178 3.179 3.180 3.181 3.182 3.183 3.184 3.185 3.186 3.187 3.188 3.189 3.190 3.191 3.192 3.193 3.194 3.195
SBAS25 SBAS26 SBAS27 SBAS32 SBAS33 SBAS34 SBAS35 SBAS45 SBASALMANAC SOFTLOADSTATUS SOURCETABLE TERRASTARINFO TERRASTARSTATUS TIME TIMESYNC TRACKSTAT TRANSFERPORTSTATUS UPTIME USERANTENNA USERI2CRESPONSE VALIDMODELS VERIPOSINFO VERIPOSSTATUS VERSION WIFIAPSETTINGS
Chapter 4 SPAN Commands
4.1 ALIGNMENTMODE 4.2 ASYNCHINSLOGGING 4.3 CONNECTIMU 4.4 EXTERNALPVAS 4.5 HEAVEFILTER 4.6 INPUTGIMBALANGLE 4.7 INSALIGNCONFIG 4.8 INSCALIBRATE 4.9 INSCOMMAND 4.10 INSSEED 4.11 INSTHRESHOLDS 4.12 INSZUPT 4.13 RELINSAUTOMATION 4.14 RELINSCONFIG 4.15 SETALIGNMENTVEL 4.16 SETHEAVEWINDOW 4.17 SETIMUPORTPROTOCOL 4.18 SETIMUSPECS 4.19 SETINITAZIMUTH 4.20 SETINSPROFILE 4.21 SETINSROTATION 4.22 SETINSTRANSLATION 4.23 SETINSUPDATE
OEM7 Commands and Logs Reference Manual v10
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883 885 886 888 892 893 895 898 901 903 905 906 907 909 911 912 913 914 916 917 919 922 925
11
4.24 4.25 4.26 4.27 4.28 4.29 4.30
SETMAXALIGNMENTTIME SETRELINSOUTPUTFRAME SETUPSENSOR SETWHEELPARAMETERS TAGNEXTMARK TIMEDEVENTPULSE WHEELVELOCITY
Chapter 5 SPAN Logs
5.1 Logs with INS or GNSS Data 5.2 BESTGNSSPOS 5.3 BESTGNSSVEL 5.4 CORRIMUDATA 5.5 CORRIMUDATAS 5.6 DELAYEDHEAVE 5.7 GIMBALLEDPVA 5.8 HEAVE 5.9 IMURATECORRIMUS 5.10 IMURATEPVA 5.11 IMURATEPVAS 5.12 INSATT 5.13 INSATTQS 5.14 INSATTS 5.15 INSATTX 5.16 INSCALSTATUS 5.17 INSCONFIG 5.18 INSPOS 5.19 INSPOSS 5.20 INSPOSX 5.21 INSPVA 5.22 INSPVAS 5.23 INSPVAX 5.24 INSSEEDSTATUS 5.25 INSSPD 5.26 INSSPDS 5.27 INSSTDEV 5.28 INSSTDEVS 5.29 INSUPDATESTATUS 5.30 INSVEL 5.31 INSVELS 5.32 INSVELX 5.33 MARK1PVA, MARK2PVA, MARK3PVA and MARK4PVA 5.34 PASHR 5.35 RAWIMU 5.36 RAWIMUS 5.37 RAWIMUSX 5.38 RAWIMUX 5.39 RELINSPVA 5.40 SYNCHEAVE 5.41 SYNCRELINSPVA
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938 939 942 944 946 948 949 951 952 954 956 958 960 962 963 968 970 974 975 976 978 980 982 985 987 989 991 993 995 999 1000 1001 1003 1005 1007 1027 1031 1035 1039 1042 1043
12
5.42 TAGGEDMARK1PVA, TAGGEDMARK2PVA, TAGGEDMARK3PVA and TAGGEDMARK4PVA 5.43 TIMEDWHEELDATA 5.44 TSS1 5.45 VARIABLELEVERARM 5.46 WHEELSIZE
1046 1048 1050 1052 1053
Chapter 6 Responses
APPENDIX A Example of Bit Parsing a RANGECMP4 Log
A.1 Reference Log Decoding A.1.1 Reference Header A.1.2 Reference Satellite and Signal Block: GPS A.1.3 Reference Measurement Block Header: GPS A.1.4 Reference Measurement Block: GPS A.1.5 Reference Primary Signal Measurement Block: GPS PRN 10 � L1CA A.1.6 Reference Secondary Signals Measurement Block: GPS PRN 10 � L2Y A.1.7 Reference Third Signals Measurement Block: GPS PRN 10 � L5Q A.1.8 Reference Satellite and Signal Block: GLONASS A.1.9 Reference Measurement Block Header: GLONASS PRN 38 A.1.10 Reference Primary Signal Measurement Block: GLONASS PRN 38 � L1CA
A.2 Differential Log Decoding A.2.1 Differential Header A.2.2 Differential Satellite and Signal Block A.2.3 Differential Measurement Block Header A.2.4 Differential Measurement Block A.2.5 Differential Primary Signal Measurement Block GPS PRN 10 � L1CA A.2.6 Differential Secondary Signals Measurement Block GPS PRN 10 � L2Y A.2.7 Differential Third Signals Measurement Block GPS PRN 10 � L5Q
1064 1065 1065 1066 1067 1068 1070 1072 1074 1076 1077
1079 1079 1080 1081 1082 1083 1085 1087
OEM7 Commands and Logs Reference Manual v10
13
Figures
Figure 1: Byte Arrangements
26
Figure 2: 1PPS Alignment
54
Figure 3: ADJUST1PPS Connections
57
Figure 4: Pulse Width and 1PPS Coherency
177
Figure 5: Illustration of Magnetic Variation and Correction
237
Figure 6: TTL Pulse Polarity
239
Figure 7: Moving Base Station `Daisy Chain' Effect
245
Figure 8: Using the SEND Command
334
Figure 9: Illustration of SETNAV Parameters
350
Figure 10: Illustration of Undulation
383
Figure 11: The WGS84 ECEF Coordinate System
454
Figure 12: Navigation Parameters
621
Figure 13: Pass Through Log Data
636
Figure 14: Channel Tracking Example
692
OEM7 Commands and Logs Reference Manual v10
14
Tables
Table 1: Field Type
25
Table 2: ASCII Message Header Structure
28
Table 3: Binary Message Header Structure
30
Table 4: Detailed Port Identifier
31
Table 5: Available Port Types
40
Table 6: Short ASCII Message Header Structure
40
Table 7: Short Binary Message Header Structure
40
Table 8: Binary Message Response Structure
42
Table 9: Binary Message Sequence
43
Table 10: PRN Numbers for Commands and Logs
44
Table 11: GPS Reference Time Status
45
Table 12: COM Port Signals Available for 1PPS
54
Table 13: ADJUST1PPS Mode
59
Table 14: User-Defined Antenna Type
66
Table 15: Channel State
70
Table 16: Channel System
72
Table 17: L-Band Assignment Option
75
Table 18: AUTH Command State
77
Table 19: Frequency Type
83
Table 20: Antenna Type
86
Table 21: Radome Type
95
Table 22: Velocity Types
99
Table 23: CAN Port Speed
100
Table 24: CAN Protocol
104
Table 25: Tx, DTR and RTS Availability
114
Table 26: GNSS Signal Default and Configurability
115
Table 27: Signal Type (DATADECODESIGNAL)
117
Table 28: Reference Ellipsoid Constants
120
Table 29: Datum Transformation Parameters
121
Table 30: Signal Type
130
Table 31: User Dynamics
135
Table 32: Communications Port Identifiers
137
Table 33: Clock Type
153
Table 34: Pre-Defined Values for Oscillators
153
Table 35: FIX Parameters
167
Table 36: Fix Types
168
Table 37: GLONASS L2 Code Type
172
Table 38: Signals Tracked � Channel Configuration and L2type Option
173
OEM7 Commands and Logs Reference Manual v10
15
Tables
Table 39: GPS L2 Code Type
174
Table 40: Signals Tracked � Channel Configuration and L2type Option
175
Table 41: FRESET Target
180
Table 42: Serial Port Interface Modes
201
Table 43: RF Path Selection
211
Table 44: Frequency Bands
214
Table 45: Mode
214
Table 46: Programmable Filter ID
216
Table 47: Programmable Filter Mode
216
Table 48: Data Sources for PSD Samples
218
Table 49: Frequency Types
219
Table 50: FFT Sizes
220
Table 51: NMEA Talkers
252
Table 52: Profile Option
284
Table 53: DGPS Type
286
Table 54: Response Modes
293
Table 55: RAIM Mode Types
295
Table 56: Network RTK Mode
309
Table 57: System Types
325
Table 58: SBAS Time Out Mode
328
Table 59: COM Port Identifiers
338
Table 60: Parity
338
Table 61: Handshaking
338
Table 62: Ports Supporting RS-422
340
Table 63: Selection Type
346
Table 64: Ionospheric Correction Models
349
Table 65: System Used for Timing
354
Table 66: Available Set Up Commands
361
Table 67: STEADYLINE Mode
366
Table 68: TRACKSV Command Condition
375
Table 69: User Accuracy Level Supplemental Position Types and NMEA Equivalents
378
Table 70: UTM Zone Commands
403
Table 71: Log Type Triggers
409
Table 72: Position Averaging Status
422
Table 73: Data Source
432
Table 74: Solution Status
436
Table 75: Position or Velocity Type
437
Table 76: GPS and GLONASS Signal-Used Mask
439
Table 77: Galileo and BeiDou Signal-Used Mask
440
Table 78: Extended Solution Status
440
OEM7 Commands and Logs Reference Manual v10
16
Tables
Table 79: Supplemental Position Types and NMEA Equivalents
441
Table 80: Observation Statuses
443
Table 81: BESTSATS GPS Signal Mask
444
Table 82: BESTSATS GLONASS Signal Mask
445
Table 83: BESTSATS Galileo Signal Mask
445
Table 84: BESTSATS BeiDou Signal Mask
445
Table 85: Definitions
454
Table 86: CHANCONFIGLIST Signal Type
458
Table 87: Clock Model Status
462
Table 88: Clock Source
464
Table 89: Steering State
465
Table 90: File Type
470
Table 91: Mass Storage Device
472
Table 92: File Status
472
Table 93: Mass Storage Status
476
Table 94: File Transfer Status
478
Table 95: Signal Type
490
Table 96: Kp UTC Leap Second Descriptions
500
Table 97: GLONASS Ephemeris Flags Coding
504
Table 98: P1 Flag Range Values
504
Table 99: GPS Quality Indicators
517
Table 100: Position Precision of NMEA Logs
521
Table 101: NMEA Positioning System Mode Indicator
534
Table 102: Signal Type
538
Table 103: URA Variance
543
Table 104: Solution Source
549
Table 105: Satellite System
553
Table 106: HWMONITOR Status Table
556
Table 107: DDC Filter Type
569
Table 108: ITFILTTable Status Word
569
Table 109: Filter Switches
570
Table 110: Spectral Analysis Status Word
575
Table 111: Node Status
578
Table 112: L-Band Signal Tracking Status
582
Table 113: File System Status
589
Table 114: Lua Data Source
591
Table 115: Script Status
592
Table 116: Feature Status
609
Table 117: Feature Type
610
Table 118: GNSS Time Scales
620
OEM7 Commands and Logs Reference Manual v10
17
Tables
Table 119: Navigation Data Type
623
Table 120: Oceanix Subscription Type
630
Table 121: Oceanix Subscription Details Mask
630
Table 122: Oceanix Region Restriction
630
Table 123: Decoder Data Synchronization State
631
Table 124: Region Restriction Status
632
Table 125: System Used for Timing
642
Table 126: Position Type
653
Table 127: Status Word
657
Table 128: System Used for Timing
661
Table 129: Signal Type
674
Table 130: RAIM Mode Types
687
Table 131: Integrity Status
688
Table 132: Protection Level Status
688
Table 133: Channel Tracking Status
692
Table 134: Tracking State
694
Table 135: Correlator Type
695
Table 136: RINEX Mappings
695
Table 137: Range Record Format (RANGECMP only)
698
Table 138: StdDev-PSR Values
700
Table 139: Satellite Block of the Range Record Format (RANGECMP2 only)
703
Table 140: Signal Block of the Range Record Format (RANGECMP2 only)
704
Table 141: Std Dev PSR Scaling
705
Table 142: Std Dev ADR Scaling
706
Table 143: L1/E1/B1 Scaling
707
Table 144: Signal Type (only in RANGECMP2)
708
Table 145: Header
712
Table 146: Satellite and Signal Block
713
Table 147: Measurement Block Header
714
Table 148: Primary Reference Signal Measurement Block
715
Table 149: Secondary Reference Signals Measurement Block
716
Table 150: Primary Differential Signal Measurement Block
717
Table 151: Secondary Differential Signals Measurement Block
718
Table 152: Signal Bit Mask
719
Table 153: Lock Time
720
Table 154: ADR Std Dev
721
Table 155: Pseudorange Std Dev
722
Table 156: Base Station Status
738
Table 157: Station Type
738
Table 158: Legacy Observable Messages
743
OEM7 Commands and Logs Reference Manual v10
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Tables
Table 159: MSM Type Descriptions
744
Table 160: MSM Log Names
744
Table 161: MSM Message IDs
745
Table 162: Station and Antenna Messages
746
Table 163: Ephemeris Messages
746
Table 164: System Used for Timing
753
Table 165: Receiver Error
769
Table 166: Receiver Status
771
Table 167: Version Bits
773
Table 168: Auxiliary 1 Status
773
Table 169: Auxiliary 2 Status
775
Table 170: Auxiliary 3 Status
776
Table 171: Antenna Gain State
777
Table 172: Auxiliary 4 Status
778
Table 173: Status Word
781
Table 174: Event Type
781
Table 175: Safe Mode States
783
Table 176: Evaluation of UDREI
797
Table 177: Evaluation of UDREI
832
Table 178: SBAS Subsystem Types
843
Table 179: SoftLoad Status Type
844
Table 180: TerraStar Subscription Type
851
Table 181: TerraStar Subscription Details Mask
851
Table 182: TerraStar Region Restriction
852
Table 183: Decoder Data Synchronization State
854
Table 184: TerraStar Local Area Status
854
Table 185: TerraStar Geogating Status
854
Table 186: USB Detection Type
861
Table 187: USB Mode
862
Table 188: User-Defined Antenna Type
865
Table 189: Error Code
867
Table 190: Operation Mode Code
868
Table 191: Veripos Operating Mode
871
Table 192: Veripos Subscription Details Mask
872
Table 193: Decoder Data Synchronization State
873
Table 194: Component Types
876
Table 195: Firmware and Boot Version Field Formats
877
Table 196: Wi-Fi Band
880
Table 197: Wi-Fi Security Protocol
880
Table 198: Wi-Fi Encryption Type
880
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Tables
Table 199: Regulatory Region Table 200: IMU Type Table 201: EXTERNALPVAS Updates Mask Table 202: EXTERNALPVAS Options Mask Table 203: COM Ports Table 204: Rotational Offset Types Table 205: Translation Offset Types Table 206: Translation Input Frame Table 207: Inertial Solution Status Table 208: Extended Solution Status Table 209: Alignment Indication Table 210: NVM Seed Indication Table 211: Offset Type Table 212: Source Status Table 213: Injection Status Table 214: Validity Status Table 215: Heading Update Values Table 216: INS Update Status Table 217: iIMU-FSAS IMU Status Table 218: HG1700 IMU Status Table 219: LN200 IMU Status Table 220: ISA-100C IMU Status Table 221: IMU-CPT IMU Status Table 222: IMU-KVH1750 IMU Status Table 223: HG1900 and HG1930 IMU Status Table 224: HG4930 IMU Status Table 225: ADIS16488 and IMU-IGM-A1 IMU Status Table 226: STIM300 and IMU-IGM-S1 IMU Status Table 227: �IMU IMU Status Table 228: G320N IMU Status Table 229: Raw IMU Scale Factors Table 230: Response Messages
881 887 890 891 910 920 923 924 959 964 966 967 969 969 986 986 996 997 1009 1010 1012 1013 1014 1016 1017 1019 1020 1022 1023 1025 1029 1054
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Customer Support
NovAtel Knowledge Base
If you have a technical issue, visit the NovAtel Support page at www.novatel.com/support. Through the Support page, you can contact Customer Support, find papers and tutorials or download current manuals and the latest firmware.
Before Contacting Customer Support
Before contacting NovAtel Customer Support about a software problem, perform the following steps:
If logging data over an RS-232 serial cable, ensure that the configured baud rate can support the data bandwidth (see SERIALCONFIG command). NovAtel recommends a minimum suggested baud rate of 230400 bps.
1. Log the following data to a file on your computer for 15 minutes: RXSTATUSB onchanged RAWEPHEMB onchanged GLORAWEPHEMB onchanged BESTPOSB ontime 1 RANGEB ontime 1 RXCONFIGA once VERSIONA once PORTSTATS ontime 10
For SPAN systems, add the following logs to the above list in the file created on your computer:
RAWIMUSXB onnew INSUPDATESTATUSB onnew INSPVAXB ontime 1 INSCONFIGA once 2. Send the data file to NovAtel Customer Support: support@novatel.com 3. You can also issue a FRESET command to the receiver to clear any unknown settings.
The FRESET command will erase all user settings. You should know your configuration (by requesting the RXCONFIGA log) and be able to reconfigure the receiver before you send the FRESET command.
If you are having a hardware problem, send a list of the troubleshooting steps taken and the results.
Contact Information
Log a support request with NovAtel Customer Support using one of the following methods:
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Customer Support
Log a Case and Search Knowledge: Website: www.novatel.com/support
Log a Case, Search Knowledge and View Your Case History: (login access required) Web Portal: https://novatelsupport.force.com/community/login
E-mail: support@novatel.com
Telephone: U.S. and Canada: 1-800-NOVATEL (1-800-668-2835) International: +1-403-295-4900
OEM7 Commands and Logs Reference Manual v10
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Foreword
This manual describes each command and log the OEM7 family of receivers are capable of accepting or generating. Sufficient detail is provided so you can understand the purpose, syntax and structure of each command or log. You will also be able to communicate with the receiver, enabling you to effectively use and write custom interfacing software for specific applications.
Related Documents and Information
OEM7 products include the following:
l Satellite Based Augmentation System (SBAS) signal functionality l Support for all current and upcoming GNSS constellations l L-Band capability including TerraStar licensed based corrections l National Marine Electronics Association (NMEA) standards, a protocol used by GNSS receiv-
ers to transmit data l Differential Global Positioning System (DGPS) l Real-Time Kinematic (RTK)
For more information on these components, refer the Support page on our website at www.novatel.com/support. For introductory information on GNSS technology, refer to our An Introduction to GNSS book found at www.novatel.com/an-introduction-to-gnss/.
This manual does not address any of the receiver hardware attributes or installation information. Consult the OEM7 Installation and Operation User Manual for information about these topics. Furthermore, should you encounter any functional, operational or interfacing difficulties with the receiver, refer to the NovAtel web site for warranty and support information.
Prerequisites
As this reference manual is focused on the OEM7 family commands and logging protocol, it is necessary to ensure the receiver has been properly installed and powered up according to the instructions outlined in the companion OEM7 Installation and Operation User Manual or OEM7 receivers.
Logs and Commands Defaults and Structure
l The factory defaults for commands and logs are shown after the syntax but before the example in the command or log description.
l The letter H in the Binary Byte or Binary Offset columns of the commands and logs tables represents the header length for that command or log, see Binary on page 29.
l The number following 0x is a hexadecimal number. l Default values shown in command tables indicate the assumed values when optional para-
meters have been omitted. Default values do not imply the factory default settings. l Parameters surrounded by [ and ] are optional in a command or are required for only some
instances of the command depending on the values of other parameters. l Text displayed between < and > indicates the entry of a keystroke in the case of the com-
mand or an automatic entry in the case of carriage return <CR> and line feed <LF> in data output. l In tables where no values are given they are assumed to be reserved for future use. l Status words in ASCII logs are output as hexadecimal numbers and must be converted to binary format (and in some cases then also to decimal) to parse the fields because they are not
OEM7 Commands and Logs Reference Manual v10
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Foreword
fixed in 4-bits boundary. For an example of this type of conversion, see the RANGE log, Table 133: Channel Tracking Status on page 692. l Conversions and their binary or decimal results are always read from right to left. For a complete list of hexadecimal, binary and decimal equivalents, refer to the Unit Conversion information available on our website at www.novatel.com/support/search/. l ASCII log examples may be split over several lines for readability. In reality, only a single [CR][LF] pair is transmitted at the end of an ASCII log.
You can download the most up-to-date version of this manual along with any addenda from the Support section of the NovAtel website.
OEM7 Commands and Logs Reference Manual v10
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Chapter 1 Messages
The receiver handles incoming and outgoing NovAtel data in three different message formats: Abbreviated ASCII, ASCII and Binary. This allows for a great deal of versatility in the way the OEM7 family of receivers can be used. All NovAtel commands and logs can be entered, transmitted, output or received in any of the three formats. The receiver also supports RTCMV3, NOVATELX and NMEA format messaging.
When entering an ASCII or abbreviated ASCII command to request an output log, the message type is indicated by the character appended to the end of the message name. `A' indicates the message is ASCII and `B' indicates binary. No character means the message is Abbreviated ASCII. When issuing binary commands, the output message type is dependent on the bit format in the message's binary header (refer to Binary on page 29).
Table 1: Field Type below below, describes the field types used in the description of messages.
Table 1: Field Type
Type
Binary Size
(bytes)
Description
Char
The char type is an 8-bit integer in the range -128 to +127. As a binary value,
1
a two's compliment format is used. 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. As a binary value, a two's compliment format is used.
UShort
2
The same as short except it is not signed. Values are in the range from +0 to +65535
Long
4
The long type is 32-bit integer in the range -2147483648 to +2147483647. As a binary value, a two's compliment format is used.
ULong
4
The same as long except it is not signed. Values are in the range from +0 to +4294967295
The double type contains 64-bits: 1 for sign, 11 for the exponent and 52 for the
Double
8
mantissa. Its range is �1.7E308 with at least 15 digits of precision. This is IEEE
754
Float
The float type contains 32-bits: 1 for the sign, 8 for the exponent and 23 for
4
the mantissa. Its range is �3.4E38 with at least 7 digits of precision. This is
IEEE 754
Enum
A 4-byte enumerated type beginning at zero (an unsigned long). In binary, the
4
enumerated value is output. In ASCII or Abbreviated ASCII, the enumeration
label is spelled out
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Chapter 1 Messages
Type
Binary Size
(bytes)
Description
GPSec
This type has two separate formats dependent on whether you requested a
4
binary or an ASCII format output. For binary, the output is in milliseconds and
is a long type. For ASCII, the output is in seconds and is a float type
Hex
n
Hex is a packed, fixed length (n) array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs
Hex Ulong
4
An unsigned, 32-bit integer in hexadecimal format. Values are in the range from +0 to +4294967295
String
String is a variable length array of bytes that is null-terminated in the binary
n
case and additional bytes of padding are added to maintain 4-byte alignment. The maximum byte length for each String field is shown in the row in the log or
command tables
Figure 1: Byte Arrangements
Byte Arrangements above shows the arrangement of bytes, within each field type, when used by IBM PC computers. All data sent to or from the OEM7 family of receivers is ordered least significant bit (LSB) first (little-endian). This is opposite to the most significant bit first (big-endian) ordering that is shown in Byte Arrangements above. Data is then stored in the receiver LSB first. For example, in char type data, the LSB is bit 0 and the most significant bit (MSB) is bit 7. See Table 133: Channel Tracking Status on page 692 for a more detailed example.
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Chapter 1 Messages
1.1 ASCII
ASCII messages are readable by both the user and a computer. The structures of all ASCII messages follow the general conventions as noted here: 1. The lead code identifier for each record is '#'. 2. Each log or command is of variable length depending on amount of data and formats. 3. All data fields are delimited by a comma ',' with two exceptions:
l The first exception is the last header field which is followed by a `;' to denote the start of the data message.
l The second exception is the last data field, which is followed by a * to indicate end of message data.
4. Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters. For example: *1234ABCD[CR][LF]. This value is a 32-bit CRC of all bytes in the log, excluding the '#' identifier and the asterisk preceding the eight CRC digits. See 32-Bit CRC on page 47 for the algorithm used to generate the CRC.
5. The receiver only accepts the following ASCII characters. l characters between space (ASCII value 32) and '~' (ASCII value 126) inclusive, l vertical tab (ASCII value 9) l line feed (ASCII value 10) l horizontal tab (ASCII value 11) l carriage return (ASCII value 13)
Other values are discarded and can lead to unexpected results. 6. An ASCII string is one field and is surrounded by double quotation marks.
For example: "ASCII string". If separators are surrounded by quotation marks then the string is still one field and the separator will be ignored (example, "xxx,xxx" is one field). Double quotation marks within a string are not allowed. 7. If the receiver detects an error parsing an input message, it returns an error response message. See Responses on page 1054 for a list of response messages from the receiver.
Message Structure:
header; data field..., data field..., data field... *xxxxxxxx [CR][LF]
The ASCII message header structure is described in Table 2: ASCII Message Header Structure on the next page.
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Chapter 1 Messages
Table 2: ASCII Message Header Structure
Field
Field Name
Field Type
Description
Ignored on
Input
1 Sync
Char
Sync character. The ASCII message is always preceded by a single `#' symbol
N
2 Message Char The ASCII name of the log or command
N
The name of the port from which the log was generated.
The string is made up of the port name followed by an _x
3 Port
Char where x is a number from 1 to 31 denoting the virtual
Y
address of the port. If no virtual address is indicated, it is
assumed to be address 0
Used for multiple related logs. It is a number that counts
4
Sequence #
Long
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
N
this number is 0
5
% Idle Time
Float
The minimum percentage of time the processor is idle, calculated once per second
Y
6
Time Status
Enum
The value indicates the quality of the GPS reference time (see Table 11: GPS Reference Time Status on page 45)
Y
7 Week
Ulong GPS reference week number
Y
8
Seconds
GPSec
Seconds from the beginning of the GPS reference week; accurate to the millisecond level
Y
9
Receiver Status
Ulong
An eight digit hexadecimal number representing the status of various hardware and software components of the receiver (see Table 166: Receiver Status on page 771)
Y
10 Reserved Ulong Reserved for internal use.
Y
11
Receiver S/W Version
Ulong
A value (0 - 65535) representing the receiver software build number
Y
12 ;
Char The character indicates the end of the header
N
Example Log:
#RAWEPHEMA,COM1,0,35.0,SATTIME,1364,496230.000,02100000,97b7,2310;30,1364, 496800,8b0550a1892755100275e6a09382232523a9dc04ee6f794a0000090394ee, 8b0550a189aa6ff925386228f97eabf9c8047e34a70ec5a10e486e794a7a, 8b0550a18a2effc2f80061c2fffc267cd09f1d5034d3537affa28b6ff0eb*7a22f279
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Chapter 1 Messages
1.2 Abbreviated ASCII
This message format is designed to make entering and viewing commands and logs simple. The data is represented as simple ASCII characters, separated by spaces or commas and arranged in an easy to understand format. There is no 32-bit CRC for error detection because it is meant for viewing by the user.
Example Command: log com1 loglist
Resultant Log: <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
The array of 4 entries are offset from the left hand side and start with `<'.
1.3 Binary
Binary messages are strictly machine readable format. They are ideal for applications where the amount of data transmitted is fairly high. Due to the inherent compactness of binary as opposed to ASCII data, messages are much smaller. The smaller message size 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:
l 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.
l CRC: 4 bytes l Data: variable 2. The 3 Sync bytes will always be:
Byte Hex Decimal
First AA 170
Second 44 68
Third 12 18
3. The CRC is a 32-bit CRC (see 32-Bit CRC on page 47 for the CRC algorithm) performed on all data including the header.
4. The header is in the format shown in Table 3: Binary Message Header Structure on the next page.
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Chapter 1 Messages
Field
Field Name
1 Sync
2 Sync
3 Sync
4
Header Lgth
5
Message ID
6
Message Type
7
Port Address
8
Message Length
Table 3: Binary Message Header Structure
Field Type
Description
Binary Bytes
Binary Offset
Ignored on
Input
Char Hexadecimal 0xAA
1
0
N
Char Hexadecimal 0x44
1
1
N
Char Hexadecimal 0x12
1
2
N
Uchar Length of the header
1
3
N
This is the Message ID number of the
Ushort
log (see the command or log descriptions for the Message ID values
2
4
N
of individual commands or logs)
Bits 0-4 = Measurement source1
Bits 5-6 = Format
00 = Binary
01 = ASCII
Char
10 = Abbreviated ASCII, NMEA
1
6
N
11 = Reserved
Bit 7 = Response bit (see Message Responses on page 41)
0 = Original Message
1 = Response Message
See Table 4: Detailed Port Identifier on
Uchar the next page (decimal values >=32
1
7
N3
may be used) (lower 8-bits only) 2
The length in bytes of the body of the
Ushort message, not including the header nor
2
8
N
the CRC
1Bits 0-4 are used to indicate the measurement source. For dual antenna receivers, if bit 0 is set, the log is from
the secondary antenna. 2The 8-bit size means you will only see 0xA0 to 0xBF when the top bits are dropped from a port value greater than
8-bits. For example, ASCII port USB1 will be seen as 0xA0 in the binary output. 3Recommended value is THISPORT (decimal 192).
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Chapter 1 Messages
Field
Field Name
Field Type
Description
Binary Bytes
Binary Offset
Ignored on
Input
Used for multiple related logs. It is a
number that counts down from N-1 to 0
9
Sequence
Ushort
where N is the number of related logs and 0 means it is the last one of the set.
2
10
N
Most logs only come out one at a time
in which case this number is 0
Time the processor is idle, calculated
once per second. This value is a
percentage, ranging from 0 to 100. 0%
10 Idle Time Uchar indicates the processor is fully
1
12
Y
occupied. Other values indicate the
availability of the processor to take on
tasks.
11
Time Status
Enum
Indicates the quality of the GPS reference time (see Table 11: GPS Reference Time Status on page 45).
11
13
N2
12 Week
Ushort GPS reference week number
2
14
N
13 ms
GPSec
Milliseconds from the beginning of the GPS reference week
4
16
N
32-bits representing the status of
14
Receiver Status
Ulong
various hardware and software components of the receiver (see Table
4
20
Y
166: Receiver Status on page 771)
15 Reserved Ushort Reserved for internal use
2
24
Y
16
Receiver S/W Version
Ushort
A value (0 - 65535) representing the receiver software build number
2
26
Y
ASCII Port Name
NO_PORTS
COM1_ALL
Table 4: Detailed Port Identifier
Hex Port Value
Decimal Port Value
Description
0
0
No ports specified
1
1
All virtual ports for COM1
1This ENUM is not 4-bytes long but, as indicated in the table, is only 1-byte. 2Fields 12 and 13 (Week and ms) are ignored if Field 11 (Time Status) is invalid. In this case, the current receiver time is used. The recommended values for the three time fields are 0, 0, 0.
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Chapter 1 Messages
ASCII Port Name
COM2_ALL COM3_ALL THISPORT_ALL FILE_ALL ALL_PORTS USB1_ALL USB2_ALL USB3_ALL AUX_ALL COM4_ALL ETH1_ALL IMU_ALL ICOM1_ALL ICOM2_ALL ICOM3_ALL NCOM1_ALL NCOM2_ALL NCOM3_ALL ICOM4_ALL WCOM1_ALL COM1 COM1_1 ... COM1_31 COM2 COM2_1 ...
Hex Port Value 2 3 6 7 8 d e f 10 13 14 15 17 18 19 1a 1b 1c 1d 1e 20 21
3f 40 41
Decimal Port Value 2 3 6 7 8 13 14 15 16 19 20 21 23 24 25 26 27 28 29 30 32 33
Description
All virtual ports for COM2 All virtual ports for COM3 All virtual ports for the current port All virtual ports for logging to file All virtual ports for all ports All virtual ports for USB1 All virtual ports for USB2 All virtual ports for USB3 All virtual ports for the AUX All virtual ports for COM4 All virtual ports for ETH1 All virtual ports for IMU All virtual ports for ICOM1 All virtual ports for ICOM2 All virtual ports for ICOM3 All virtual ports for NCOM1 All virtual ports for NCOM2 All virtual ports for NCOM3 All virtual ports for ICOM4 All virtual ports for WCOM1 COM1, virtual port 0 COM1, virtual port 1
63
COM1, virtual port 31
64
COM2, virtual port 0
65
COM1, virtual port 1
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Chapter 1 Messages
ASCII Port Name
COM2_31 COM3 COM3_1 ... COM3_31 SPECIAL SPECIAL_1 ... SPECIAL_31 THISPORT THISPORT_1 ... THISPORT_31 FILE FILE_1 ... FILE_31 USB1 USB1_1 ... USB1_31 USB2 USB2_1 ... USB2_31 USB3 USB3_1
Hex Port Value 5f 60 61
7f a0 a1
bf c0 c1
df e0 e1
ff 5a0 5a1
5bf 6a0 6a1
6bf 7a0 7a1
Decimal Port Value 95 96 97
Description
COM2, virtual port 31 COM3, virtual port 0 COM3, virtual port 1
127
COM3, virtual port 31
160
Unknown port, virtual port 0
161
Unknown port, virtual port1
191
Unknown port, virtual port 31
192
Current COM port, virtual port 0
193
Current COM port, virtual port 1
223
Current COM port, virtual port 31
224
Virtual port 0 for logging to file
225
Virtual port 1 for logging to file
255 1440 1441
Virtual port 31 for logging to file USB1, virtual port 0 USB1, virtual port 1
1471 1696 1967
USB1, virtual port 31 USB2, virtual port 0 USB2, virtual port 1
1727 1952 1953
USB2, virtual port 31 USB3, virtual port 0 USB3, virtual port 1
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Chapter 1 Messages
ASCII Port Name
... USB3_31 AUX AUX_1 ... AUX_31 COM4 COM4_1 ... COM4_31 ETH1 ETH1_1 ... ETH1_31 IMU IMU_1 ... IMU_31 ICOM1 ICOM1_1 ... ICOM1_31 ICOM2 ICOM2_1 ... ICOM2_31 ICOM3
Hex Port Value
7bf 8a0 8a1
8bf ba0 ba1
bbf ca0 ca1
cbf da0 da1
dbf fa0 fa1
fbf 10a0 10a1
10bf 11a0
Decimal Port Value
Description
1983 2208 2209
USB port 3, virtual port 31 AUX port, virtual port 0 AUX port, virtual port 1
2239 2976 2977
AUX port, virtual port 31 COM4, virtual port 0 COM4, virtual port 1
3007 3232 3233
COM4, virtual port 31 ETH1, virtual port 0 ETH1, virtual port 1
3263 3488 3489
ETH1, virtual port 31 IMU, virtual port 0 IMU, virtual port 1
3519 4000 4001
IMU, virtual port 31 ICOM1, virtual port 0 ICOM1, virtual port 1
4031 4256 4257
ICOM1, virtual port 31 ICOM2, virtual port 0 ICOM2, virtual port 1
4287 4512
ICOM2, virtual port 31 ICOM3, virtual port 0
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Chapter 1 Messages
ASCII Port Name
ICOM3_1 ... ICOM3_31 NCOM1 NCOM1_1 ... NCOM1_31 NCOM2 NCOM2_1 ... NCOM2_31 NCOM3 NCOM3_1 ... NCOM3_31 ICOM4 ICOM4_1 ... ICOM4_31 WCOM1 WCOM1_1 ... WCOM1_31 COM5_ALL COM6_ALL
BT1_ALL
Hex Port Value 11a1
11bf 12a0 12a1
12bf 13a0 13a1
13bf 14a0 14a1
14bf 15a0 15a1
15bf 16a0 16a1
16bf 16c0 16c1 16c2
Decimal Port Value
4513
Description ICOM3, virtual port 1
4543 4768 4769
ICOM3, virtual port 31 NCOM1, virtual port 0 NCOM1, virtual port 1
4799 5024 5025
NCOM1, virtual port 31 NCOM2, virtual port 0 NCOM2, virtual port 1
5055 5280 5281
NCOM2, virtual port 31 NCOM3, virtual port 0 NCOM3, virtual port 1
5311 5536 5537
NCOM3, virtual port 31 ICOM4, virtual port 0 ICOM4, virtual port 1
5567 5792 5793
ICOM4, virtual port 31 WCOM1, virtual port 0 WCOM1, virtual port 1
5823 5824 5825
5826
WCOM1, virtual port 31 All virtual ports for COM5 All virtual ports for COM6 All virtual ports for the Bluetooth device
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Chapter 1 Messages
ASCII Port Name
COM7_ALL COM8_ALL COM9_ALL COM10_ALL CCOM1_ALL CCOM2_ALL CCOM3_ALL CCOM4_ALL CCOM5_ALL CCOM6_ALL ICOM5_ALL ICOM6_ALL ICOM7_ALL SCOM1_ALL SCOM2_ALL SCOM3_ALL SCOM4_ALL COM5 COM5_1 ... COM5_31 COM6 COM6_1 ... COM6_31 BT1 BT1_1
Hex Port Value 16c3 16c4 16c5 16c6 16c7 16c8 16c9 16ca 16cb 16cc 16cf 16d0 16d1 16d2 16d3 16d4 16d5 17a0 17a1
17bf 18a0 18a1
18bf 19a0 19a1
Decimal Port Value 5827 5828 5829 5830 5831 5832 5833 5834 5835 5836 5839 5840 5841 5842 5843 5844 5845 6048 6049
Description
All virtual ports for COM7 All virtual ports for COM8 All virtual ports for COM9 All virtual ports for COM10 All virtual ports for CCOM1 All virtual ports for CCOM2 All virtual ports for CCOM3 All virtual ports for CCOM4 All virtual ports for CCOM5 All virtual ports for CCOM6 All virtual ports for ICOM5 All virtual ports for ICOM6 All virtual ports for ICOM7 All virtual ports for SCOM1 All virtual ports for SCOM2 All virtual ports for SCOM3 All virtual ports for SCOM4 COM5, virtual port 0 COM5, virtual port 1
6079 6304 6305
COM5, virtual port 31 COM6, virtual port 0 COM6, virtual port 1
6335 6560 6561
COM6, virtual port 31 Bluetooth device, virtual port 0 Bluetooth device, virtual port 1
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Chapter 1 Messages
ASCII Port Name
... BT1_31 COM7 COM7_1 ... COM7_31 COM8 COM8_1 ... COM8_31 COM9 COM9_1 ... COM9_31 COM10 COM10_1 ... COM10_31 CCOM1 CCOM1_1 ... CCOM1_31 CCOM2 CCOM2_1 ... CCOM2_31 CCOM3
Hex Port Value
19bf 1aa0 1aa1
1abf 1ba0 1ba1
1bbf 1ca0 1ca1
1cbf 1da0 1da1
1dbf 1ea0 1ea1
1ebf 1fa0 1fa1
1fbf 20a0
Decimal Port Value
Description
6591 6816 6817
Bluetooth device, virtual port 31 COM7, virtual port 0 COM7, virtual port 1
6847 7072 7073
COM7, virtual port 31 COM8, virtual port 0 COM8, virtual port 1
7103 7328 7329
COM8, virtual port 31 COM9, virtual port 0 COM9, virtual port 1
7359 7584 7585
COM9, virtual port 31 COM10, virtual port 0 COM10, virtual port 1
7615 7840 7841
COM10, virtual port 31 CAN COM1, virtual port 0 CAN COM1, virtual port 1
7871 8096 8097
CAN COM1, virtual port 31 CAN COM2, virtual port 0 CAN COM2, virtual port 1
8127 8352
CAN COM2, virtual port 31 CAN COM3, virtual port 0
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Chapter 1 Messages
ASCII Port Name
CCOM3_1 ... CCOM3_31 CCOM4 CCOM4_1 ... CCOM4_31 CCOM5 CCOM5_1 ... CCOM5_31 CCOM6 CCOM6_1 ... CCOM6_31 ICOM5 ICOM5_1 ... ICOM5_31 ICOM6 ICOM6_1 ... ICOM6_31 ICOM7 ICOM7_1 ... ICOM7_31
Hex Port Value 20a1
20bf 21a0 21a1
21bf 22a0 22a1
22bf 23a0 23a1
23bf 26a0 26a1
26bf 27a0 27a1
27bf 28a0 28a1
28bf
Decimal Port Value
8353
Description CAN COM3, virtual port 1
8383 8608 8609
CAN COM3, virtual port 31 CAN COM4, virtual port 0 CAN COM4, virtual port 1
8639 8864 8865
CAN COM4, virtual port 31 CAN COM5, virtual port 0 CAN COM5, virtual port 1
8895 9120 9121
CAN COM5, virtual port 31 CAN COM6, virtual port 0 CAN COM6, virtual port 1
9151 9888 9889
CAN COM6, virtual port 31 ICOM5, virtual port 0 ICOM5, virtual port 1
9919 10144 10145
ICOM5, virtual port 31 ICOM6, virtual port 0 ICOM6, virtual port 1
10175 10400 10401
ICOM6, virtual port 31 ICOM7, virtual port 0 ICOM7, virtual port 1
10431
ICOM7, virtual port 31
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ASCII Port Name
SCOM1 SCOM1_1 ... SCOM1-31 SCOM2 SCOM2_1 ... SCOM2_31 SCOM3 SCOM3_1 ... SCOM3_31 SCOM4 SCOM4_1 ... SCOM4_31
Hex Port Value 29a0 29a1
29bf 2aa0 2aa1
2abf 2ba0 2ba1
2bbf 2ca0 2ca1
2cbf
Decimal Port Value
10656
10657
Description SCOM1, virtual port 0 SCOM1, virtual port 1
10687 10912 10913
SCOM1, virtual port 31 SCOM2, virtual port 0 SCOM2, virtual port 1
10943 11168 11169
SCOM2, virtual port 31 SCOM3, virtual port 0 SCOM3, virtual port 1
11199 11424 11425
SCOM3, virtual port 31 SCOM4, virtual port 0 SCOM4, virtual port 1
11455
SCOM4, virtual port 31
COM1_ALL, COM2_ALL, COM3_ALL, COM4_ALL, COM5_ALL, THISPORT_ALL, FILE_ALL, ALL_PORTS, USB1_ALL, USB2_ALL, USB3_ALL, AUX_ALL, ETH1_ALL, ICOM1_ALL, ICOM2_ALL, ICOM3_ALL, ICOM4_ALL, ICOM5_ALL, ICOM6_ALL, ICOM7_ALL, CCOM1_ALL, CCOM2_ALL, CCOM3_ALL, CCOM4_ALL, CCOM5_ALL, CCOM6_ALL, NCOM1_ALL, NCOM2_ ALL, NCOM3_ALL, SCOM1_ALL, SCOM2_ALL, SCOM3_ALL, SCOM4_ALL and WCOM1_ALL are only valid for the UNLOGALL command.
The ports available vary based on the receiver.
Table 5: Available Port Types on the next page provides examples of where each port type might be used.
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Table 5: Available Port Types
Port Type
Description
Example of where it might be used
AUX
Auxiliary "serial" ports
An additional UART serial port available only on certain platforms
BTx
Bluetooth ports
These ports are used to connect over Bluetooth devices, when the receiver is equipped with a BT device
COMx Serial Port
UART serial ports. Used when there is a physical RS-232 or RS-422 connection to the receiver
ICOMx
Internet ports
These ports are used when establishing TCP or UDP connections to the receiver over a network
NCOMx NTRIP ports
These ports are used when establishing NTRIP connections to the receiver over a network
SCOMx Script ports
Ports used by the Scripted User Interface (i.e. Lua)
USBx
USB "serial" ports
When the receiver is connected to an external host through USB, these ports are available
WCOMx
Web Server port
Ports used by Web Server applications, for receivers equipped with a web server
1.4 Description of ASCII and Binary Logs with Short Headers
These logs are set up in the same way as normal ASCII or binary logs except a normal ASCII or binary header is replaced with a short header (see Table 6: Short ASCII Message Header Structure below and Table 7: Short Binary Message Header Structure below).
Table 6: Short ASCII Message Header Structure
Field Field Name
Field Type
Description
1
%
Char
% symbol
2
Message
Char
This is the name of the log
3
Week Number Ushort
GNSS week number
4
Seconds
GPSec
Seconds from the beginning of the GNSS week (Same byte arrangement as a Float type)
Field
Field Name
1
Synch
Table 7: Short Binary Message Header Structure
Field Type
Description
Binary Bytes
Char
Hex 0xAA
1
Binary Offset
0
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Field
Field Name
Field Type
2
Synch
Char
3
Synch
Char
4
Message Length
Uchar
5
Message ID Ushort
6
Week Number
Ushort
7
Milliseconds GPSec
Description
Hex 0x44 Hex 0x13 Message length, not including header or CRC Message ID number
Binary Bytes 1 1
1
2
GNSS week number
2
Milliseconds from the beginning of the
GNSS week (Same byte arrangement as a Long
4
type)
Binary Offset 1 2 3 4 6
8
1.5 Message Responses
By default, if you input a message you get back a response. If desired, the INTERFACEMODE command (see page 198) can be used to disable response messages. The response will be in the exact format you entered the message (that is, binary input = binary response).
1.5.1 Abbreviated ASCII Response
Just the leading '<' followed by the response string, for example: <OK.
1.5.2 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,1028,422060.400,02000000,a31b,0;"OK" *b867caad
1.5.3 Binary Response
Similar to an ASCII response except that it follows the binary protocols, see Table 8: Binary Message Response Structure on the next page. Table 9: Binary Message Sequence on page 43 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.
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Table 8: Binary Message Response Structure
Field
Field Name
Field Type
Description
Binary Binary Bytes Offset
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
B I
6
Message Type
Char
Bit 7 = Response Bit 1 = Response Message
1
6
N
A R
7
Port Address
Uchar
See Table 4: Detailed Port Identifier on page 31
1
7
Y
8
Message Length
Ushort
The length in bytes of the body of the message (not including the CRC)
2
8
H 9 Sequence Ushort Normally 0 E A 10 Idle Time Uchar Idle time
D E R
11
Time Status
Enum
Table 11: GPS Reference Time Status on page 45
12 Week
Ushort GPS reference week number
2
10
1
12
11
13
2
14
13 ms
GPSec Milliseconds into GPS reference week
4
16
14
Receiver Status
Ulong
Table 166: Receiver Status on page 771
4
20
15 Reserved Ushort Reserved
2
24
Receiver
16 S/W
Ushort Receiver software build number
Version
2
26
I D
17
Response ID
Enum
The enumeration value corresponding to the message response (Table 230: Response Messages on page 1054)
4
28
H E 18 Response Hex X
String containing the ASCII response in hex coding to match the ID above (for example, 0x4F4B = OK)
variable 32
1This ENUM is not 4-bytes long but as indicated in the table is only 1 byte.
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Table 9: Binary Message Sequence
Direction Sequence
Data
To Receiver
LOG Command Header
AA44121C 01000240 20000000 1D1D0000 29160000 00004C00 55525A80
LOG
20000000 2A000000 02000000 00000000 0000F03F 00000000 00000000
Parameters 00000000
Checksum 2304B3F1
From Receiver
LOG Response Header
LOG Response Data
AA44121C 01008220 06000000 FFB4EE04 605A0513 00004C00 FFFF5A80 01000000 4F4B
Checksum DA8688EC
BESTPOSB AA44121C 2A000220 48000000 90B49305 B0ABB912 00000000
Header
4561BC0A
From Receiver
BESTPOSB Data
00000000 10000000 1B0450B3 F28E4940 16FA6BBE 7C825CC0 0060769F 449F9040 A62A82C1 3D000000 125ACB3F CD9E983F DB664040 00303030 00000000 00000000 0B0B0000 00060003
Checksum 42DC4C48
1.6 GLONASS Slot and Frequency Numbers
When a PRN in a log is in the range 38 to 61, then that PRN represents a GLONASS Slot Number where the Slot Number 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:
<RANGE COM1 0 82.0 FINESTEERING 1729 155076.000 02004000 5103 11465 46 31 0 24514687.250 0.064 -128825561.494675 0.010 3877.473 45.0 563.310 18109c04 ... 46 5 24097664.754 0.213 -128680178.570435 0.014 -3740.543 40.6 10098.600 08119e44 ''' 8 0 39844800.076 0.043 -160438471.200694 0.013 -392.547 42.5 12038.660 00349c84
when 31 is a GPS satellite, 8 is a BeiDou satellite and 46 is a GLONASS satellite. Its actual GLONASS Slot Number is 9 and its frequency is -2.
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Refer to PRN Numbers below for more information about GLONASS PRN numbers. Also, refer to An Introduction to GNSS available on our website for more information.
1.6.1 PRN Numbers
The PRN and SVID ranges for the logs and commands that use them are shown in the following table.
Table 10: PRN Numbers for Commands and Logs
Command/Log
GPS PRN
SBAS PRN
SBAS QZSS L1-SAIF PRN
GLONASS Slot
Galileo SVID
QZSS PRN
ASSIGN
1-32
120158
183-192 38-61
1-36
193202
ASSIGNALL
1-32
120158
183-192 38-61
1-36
193202
LOCKOUT
1-32
120158
183-192 38-61
-
193202
SBASCONTROL -
120158
183-192 -
-
-
TRACKSV
1-32
120158
183-192 38-61
1-36
193202
UNLOCKOUT
1-32
120158
183-192 38-61
-
193202
RANGE
1-32
120158
183-192 38-61
1-36
193202
RANGECMP
1-32
120158
183-192 38-61
1-36
193202
RANGECMP2
1-32
120158
183-192 1-24
1-36
193202
RANGECMP4
1-32
120158
183-192 1-24
1-36
193202
RANGEGPSL1 1-32 -
-
-
-
-
SATVIS2
1-32
120158
183-192 1-24
1-36
193202
TRACKSTAT
1-32
120158
183-192 38-61
1-36
193202
BDS PRN
1-30 1-30 1-30 1-30 1-30 1-30 1-30 1-30 1-30
NavIC PRN
1-7 1-7 1-7 1-7 1-7 1-7 1-7 1-7 1-7 1-7 1-7
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1.7 GPS Reference Time Status
All reported receiver times are subject to a qualifying time status. The status indicates how well a time is known (see Table 11: GPS Reference Time Status below).
Table 11: GPS Reference Time Status
GPS Reference Time Status (Decimal)
GPS Reference Time Status (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
170
FINEBACKUPSTEERING
Time is fine set and is being steered by the backup system
180
FINESTEERING
Time is fine set and is being steered
200
SATTIME
Time from satellite. Only used in logs containing satellite data such as ephemeris and almanac
There are several distinct states the receiver goes through.
When the CLOCKADJUST command (see page 105) is enabled: l UNKNOWN (initial state) l COARSESTEERING (initial coarse time set) l FINESTEERING (normal operating state) l FINEBACKUPSTEERING (when the backup system is used for a time) l FREEWHEELING (when range bias becomes unknown)
When the CLOCKADJUST command (see page 105) is disabled: l UNKNOWN (initial state) l COARSE (initial coarse time set) l FINE (normal operating state)
On startup and before any satellites are tracked, the receiver can not possibly know the current time. As such, the receiver time starts counting at GPS reference week 0 and second 0.0. The time status flag is set to UNKNOWN.
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If time is input to the receiver using the SETAPPROXTIME command (see page 343), the time status will be APPROXIMATE.
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 (for more information, refer to the CLOCKADJUST command on page 105).
Once a position is known and range biases are being calculated, the internal clock model will begin modeling the range biases also known as the receiver clock offset.
Modeling 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. 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 CLOCKADJUST is enabled, the time status flag is set to FINESTEERING and the receiver time is continuously updated (steered) to minimize the receiver range bias.
If a solution cannot be computed with the primary satellite system, it will attempt to use a backup system (if available). When the backup system is used and time is computed, the time status is set to FINEBACKUPSTEERING. If the position is lost and the range bias cannot be calculated, the time status is degraded to FREEWHEELING.
See also Message Time Stamps below and the SETTIMEBASE command on page 353.
1.8 Message Time Stamps
All NovAtel format messages generated by the OEM7 family of receivers have a GPS reference time stamp in their header. GPS reference 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 reference time differs from UTC time since leap seconds are occasionally inserted into UTC and GPS reference time is continuous. In addition, a small error (less than 1 microsecond) can exist in synchronization between UTC and GPS reference time. The TIME log reports both GNSS 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 reference time at the time of the measurement. 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 reference 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 reference time of the mark event in their header. In the header of polled logs (for example, LOGLIST, PORTSTATS, VERSION) is the approximate GPS reference time when their data was
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generated. However, when asynchronous logs are triggered ONTIME, the time stamp will represent the time the log was generated and not the time given in the data.
For more information about log types, see Log Types on page 409.
1.9 Decoding of the GPS Reference Week Number
The GPS reference 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 (see page 725) or the subframe field of the RAWEPHEM log (see page 728), will the week number remain as the 10 (or 8) least significant bits.
1.10 32-Bit CRC
The ASCII and Binary OEM7 family message formats all contain a 32-bit CRC for data verification. This allows the user to ensure the data received (or transmitted) is valid with a high level of certainty.
The C functions below may be implemented to generate the CRC of a block of data.
#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 ulCount - Number of bytes in the data block ucBuffer - Data block -------------------------------------------------------------------------- */ unsigned long CalculateBlockCRC32( unsigned long ulCount, unsigned char *ucBuffer ) {
unsigned long ulTemp1; unsigned long ulTemp2; unsigned long ulCRC = 0; while ( ulCount-- != 0 ) {
ulTemp1 = ( ulCRC >> 8 ) & 0x00FFFFFFL; ulTemp2 = CRC32Value( ((int) ulCRC ^ *ucBuffer++ ) & 0xFF );
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ulCRC = ulTemp1 ^ ulTemp2; } return( ulCRC ); }
The NMEA checksum is an XOR of all the bytes (including delimiters such as ',' but excluding the * and $) in the message output. It is therefore an 8-bit and not a 32-bit checksum.
Not all logs may be available. Every effort is made to ensure examples are correct, however, a checksum may be created for promptness in publication. In this case it will appear as `9999'.
Example: BESTPOSB and BESTPOSA from an OEM7 family receiver.
Binary Log Message: 0xAA, 0x44, 0x12, 0x1C, 0x2A, 0x00, 0x02, 0x20, 0x48, 0x00, 0x00, 0x00, 0x90, 0xB4, 0x93, 0x05, 0xB0, 0xAB, 0xB9, 0x12, 0x00, 0x00, 0x00, 0x00, 0x45, 0x61, 0xBC, 0x0A, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x1B, 0x04, 0x50, 0xB3, 0xF2, 0x8E, 0x49, 0x40, 0x16, 0xFA, 0x6B, 0xBE, 0x7C, 0x82, 0x5C, 0xC0, 0x00, 0x60, 0x76, 0x9F, 0x44, 0x9F, 0x90, 0x40, 0xA6, 0x2A, 0x82, 0xC1, 0x3D, 0x00, 0x00, 0x00, 0x12, 0x5A, 0xCB, 0x3F, 0xCD, 0x9E, 0x98, 0x3F, 0xDB, 0x66, 0x40, 0x40, 0x00, 0x30, 0x30, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x0B, 0x00, 0x00, 0x00, 0x06, 0x00, 0x03, 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. It is 42dc4c48.
Binary Checksum Calculation: #include <stdio.h> #include <string.h> #include <inttypes.h>
void main() { // Expect checksum 0x42, 0xDC, 0x4C, 0x48 (42dc4c48) unsigned char buffer[] = {0xAA, 0x44, 0x12, 0x1C, 0x2A, 0x00, 0x02, 0x20,
0x48, 0x00, 0x00, 0x00, 0x90, 0xB4, 0x93, 0x05, 0xB0, 0xAB,
0xB9, 0x12, 0x00, 0x00, 0x00, 0x00, 0x45, 0x61, 0xBC, 0x0A,
0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x1B, 0x04,
0x50, 0xB3,
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0x7C, 0x82, 0x90, 0x40, 0x12, 0x5A, 0x40, 0x40, 0x00, 0x00, 0x00, 0x03};
0xF2, 0x8E, 0x49, 0x40, 0x16, 0xFA, 0x6B, 0xBE, 0x5C, 0xC0, 0x00, 0x60, 0x76, 0x9F, 0x44, 0x9F, 0xA6, 0x2A, 0x82, 0xC1, 0x3D, 0x00, 0x00, 0x00, 0xCB, 0x3F, 0xCD, 0x9E, 0x98, 0x3F, 0xDB, 0x66, 0x00, 0x30, 0x30, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x0B, 0x00, 0x00, 0x00, 0x06,
//Note that the CRC on the binary data will be little-endian ordered. unsigned long CRCle = CalculateBlockCRC32(sizeof(buffer), buffer);
//big-endian users (such as x86 users) may swap endianness as follows unsigned long CRCbe = __builtin_bswap32(CRCle);
printf("\n\n%s %lx \n", "Computed binary checksum (little-endian): ", CRCle);
printf("%s %" PRIx64 "\n", "Computed binary checksum (big-endian): ", CRCbe);
}
Note that the above checksum function (CalculateBlockCRC32) must also be included to execute this code.
ASCII Log Message: #BESTPOSA,COM1,0,78.0,FINESTEERING,1427,325298.000,00000000,6145,2748; SOL_COMPUTED,SINGLE,51.11678928753,-114.03886216575,1064.3470,-16.2708, WGS84,2.3434,1.3043,4.7300,"",0.000,0.000,7,7,0,0,0,06,0,03*9c9a92bb
The checksum for this log is given above, it is 9c9a92bb.
ASCII: #include <stdio.h> #include <string.h>
void main() { //Remember to escape " characters as \" char *msgBlock =
"BESTPOSA,COM1,0,78.0,FINESTEERING,1427,325298.000,00000000,\ 6145,2748;SOL_COMPUTED,SINGLE,51.11678928753,-114.03886216575,\ 1064.3470,16.2708,WGS84,2.3434,1.3043,4.7300,\"\",0.000,0.000,7,7,0,0,0,06,0,03";
unsigned long CRC = CalculateBlockCRC32(strlen(msgBlock), (unsigned char*)msgBlock);
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printf("\n%s %s\n", "Demonstrating CRC computed for the block:", msgBlock);
printf("\n\n%s %lu\n", "CRC32 in Decimal is: ", CRC); printf("%s %lx\n", "CRC32 in Hex is: ", CRC); }
Note that the above checksum function (CalculateBlockCRC32) must also be included to execute this code.
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Chapter 2 GNSS Commands
The commands used to configure the OEM7 receiver and GNSS functions are described in the following sections. For information about SPAN specific commands, refer to the SPAN Commands on page 882.
2.1 Command Formats
The receiver accepts commands in 3 formats as described in Messages on page 25: l Abbreviated ASCII l ASCII l Binary
Abbreviated ASCII is the easiest to use for your input. The other two formats include a CRC for error checking and are intended for use when interfacing with other electronic equipment. The following are examples of the same command in each format:
Abbreviated ASCII Example: LOG COM1 BESTPOSB ONTIME 1[CR]
ASCII Example: #LOGA,THISPORT,0,0,UNKNOWN,0,0.0,0,0,0;COM1,BESTPOSB,ONTIME,1.000000,0.000000,N OHOLD*ec9ce601[CR]
Binary Example: AA44121C 010000C0 20000000 00FF0000 00000000 00000000 00000000 20000000 2A000000 02000000 00000000 0000F03F 00000000 00000000 00000000 34D32DC1
2.1.1 Optional Parameters
Many commands have nested optional parameters where an optional parameter requires the optional parameter before it to be present. This is noted in the Abbreviated ASCII Syntax as:
Command [OPT_1 [OPT_2 [OPT_3]]] In this syntax example, OPT_1 and OPT_2 must be provided if you want to provide a value for OPT_3. These leading two options are required even if you want to use the defaults for OPT_1 and OPT_2.
2.2 Command Settings
There are several ways to determine the current command settings of the receiver: 1. Request an RXCONFIG log (see page 764). This log provides a listing of all commands
issued to the receiver and their parameter settings. It also provides the most complete information. 2. For some specific commands, logs are available to indicate all their parameter settings. The LOGLIST log (see page 584) shows all active logs in the receiver beginning with the LOG
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command (see page 225).
3. Request a log of the specific command of interest to show the parameters last entered for that command. The format of the log produced is exactly the same as the format of the specific command with updated header information.
Requesting a log for specific command is useful for most commands. For commands repeated with different parameters (for example, SERIALCONFIG and LOG), only the most recent set of parameters used is shown. To view all sets of parameters, try method 1 or 2 above.
Abbreviated ASCII Example:
log fix
<FIX COM1 0 45.0 FINE 1114 151898.288 00200000 dbfd 33123
<
NONE -10000.00000000000 -10000.00000000000 -10000.0000
2.3 Factory Defaults
When the receiver is first powered up or after a FRESET command (see page 179), 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 321) can be used to save these defaults. Use the RXCONFIG log (see page 764) to reference any default command and log settings.
Ensure that all windows, other than the Console window, are closed in NovAtel's Connect user interface application before you issue the SAVECONFIG command (see page 321).
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).
2.4 Command Reference
When a command is used without specifying its optional parameters, it may have a different command default than the factory default. Factory default settings for individual commands are stated in the following commands, organized alphabetically by command name.
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2.5 ADJUST1PPS
Adjusts the receiver clock
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command 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 clock adjustment, refer to the CLOCKADJUST command on page 105. To configure the receiver to use an external reference oscillator, see the EXTERNALCLOCK command on page 151. The ADJUST1PPS command can be used to:
l Manually shift the phase of the clock l Adjust the phase of the clock so the output 1PPS signal matches an external signal l Set the receiver clock close to that of another GNSS receiver l Set the receiver clock exactly in phase of another GNSS receiver
1. The resolution of the clock synchronization is 20 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 110. 3. If the 1PPS rate is adjusted, the new rate does not start until the next second begins.
Figure 2: 1PPS Alignment on the next page shows the 1PPS alignment between a Fine and a Warm Clock receiver. See also the TIMESYNC log on page 858 and the Transfer Time Between Receivers section in the OEM7 Installation and Operation User Manual.
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Figure 2: 1PPS Alignment
The 1PPS is obtained from different receivers in different ways.
In Figure 2: 1PPS Alignment above, 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.
Alternatively, the 1PPS signal can be set up to be output on a COM port using the COMCONTROL command (see page 112). The accuracy of the 1PPS is less using this method, but may be more convenient in some circumstances.
Table 12: COM Port Signals Available for 1PPS OEM719 OEM729 OEM7600 OEM7700 OEM7720 PwrPak7 SPAN CPT7 COM1 Tx COM1 Tx COM1 Tx COM1 Tx COM1 Tx COM1 Tx COM1 Tx COM2 Tx COM2 Tx COM2 Tx COM2 Tx COM2 Tx COM2 Tx COM2 Tx
COM2 RTS COM2 RTS COM2 RTS COM2 RTS COM3 Tx COM3 Tx COM3 Tx COM3 Tx COM3 Tx
COM4 Tx COM4 Tx COM4 Tx COM5 Tx COM5 Tx COM5 Tx
To find out the time of the last 1PPS output signal, use the TIMESYNCA/B output message (see the TIMESYNC log on page 858) which can be output serially on any available COM port, for example:
LOG COM1 TIMESYNCA ONTIME 1
Message ID: 429
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Abbreviated ASCII Syntax: ADJUST1PPS mode [period] [offset]
Factory Default: ADJUST1PPS OFF
ASCII Example: ADJUST1PPS MARK CONTINUOUS 250
Use the ADJUST1PPS command to synchronize two OEM7 cards in a primary/secondary relationship to a common external clock. At the Primary Receiver:
LOG COM2 TIMESYNCa ONTIME 1 interfacemode com2 novatel novatel none clockadjust DISABLE EXTERNALCLOCK OCXO 10mhz (choose rubidium, cesium or user instead and choose 5MHz instead if necessary) At the Secondary Receiver: interfacemode com2 novatel novatel none CLOCKADJUST DISABLE adjust1pps mark (or markwithtime or time depending on your connection (see Figure 3: ADJUST1PPS Connections on page 57) EXTERNALCLOCK OCXO 10mhz (you can choose rubidium, cesium or user instead and choose 5MHz instead if necessary) 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 connected to Secondary MKI Connect everything before applying power. If power is applied and the OEM7 receivers have acquired satellites before the OCXO and/or 1PPS = MKI is set up, the times reported by the TIMESYNC logs still diverge. Note 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.
When connecting two receivers to transfer time, disable responses on the COM port used to connect the receivers by issuing the following command on both receivers:
interfacemode com2 novatel novatel none
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The following examples are for the transfer of time. If you need position, you must be tracking satellites and your receiver must have a valid almanac.
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adjust1pps mark (if Receiver 2 is not in coarsetime, the input is ignored)
adjust1pps markwithtime (will get to finetime)
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adjust1pps time (will only get to coarsetime)
Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
ADUST
1
1PPS -
header
Command header. See
-
Messages on page 25 for -
more information.
H
0
2
mode
See Table 13: ADJUST1PPS Mode on the next page
Sets the ADJUST1PPS mode.
Enum 4
H
ONCE
0
3
period
CONTINUOUS 1
The time is synchronized
only once (default). The
ADJUST1PPS command
must be reissued if
another synchronization is
required
Enum 4
The time is continuously monitored and the receiver clock is corrected if an offset of more than 50 ns is detected
H+4
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Field
Field Type
4
offset
ASCII Value
Binary Value
-2147483648 to +2147483647 (ns)
Description
Format
Binary Bytes
Binary Offset
Allows the operator to
shift the Secondary clock
in 20 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 Long
4
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
value was set to -100 then
the would set its clock to
100 ns behind the input
signal. Typically, this
offset is used to correct
for cable delay of the
1PPS signal (default=0)
H+8
ASCII Value OFF MANUAL
Table 13: ADJUST1PPS Mode
Binary Value
Description
0
Disables ADJUST1PPS
Immediately shifts the receivers time by the offset field in ns. The
1
period field has no effect in this mode. This command does not affect
the clock state
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ASCII Value
Binary Value
Description
MARK1
Shifts the receiver time to align its 1PPS with the signal received in the
2
MK1I port adjusted by the offset field in ns. The effective shift range is
� 0.5 s
MARKWITHTIME
2
3
Shifts 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 858). Also sets the receiver Time Status to that embedded in the TIMESYNC log (see page 858), 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
If the receiver clock is not at least COARSEADJUSTED, this command
enables the receiver to COARSE adjust its time upon receiving a valid
4
TIMESYNC log (see page 858) in any of the ports. The clock state embedded in the TIMESYNC log (see page 858) must be at least FINE
or FINESTEERING before it is considered. The receiver does not use
the MK1I event in this mode
1Only the MK1I input can be used to synchronize the 1PPS signal. Synchronization cannot be done using the MK2I input offered on some receivers. 2It is presumed that the TIMESYNC log (see page 858) was issued by a Primary GNSS receiver within 1000 ms
but not less than 800 ms, of the last 1PPS event, see Figure 2: 1PPS Alignment on page 54 and TIMESYNC on
page 858. Also refer to the Transfer Time Between Receivers section in the OEM7 Installation and Operation User
Manual.
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2.6 ALIGNAUTOMATION
Configures ALIGN plug-and-play feature
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command configures the ALIGN plug and play feature. Use this command to enable/disable the plug and play feature, to set the rover COM port to which master is connected, to set the baud rate for communication, to set the intended operation rate using this command and to enable/disable sending the HEADINGEXTB/HEADINGEXT2B back to the Master receiver. Refer to the NovAtel application note APN-048 for details on HEADINGEXT (available on our website at www.novatel.com/support/).
On issuing this command at the ALIGN Rover, the Rover will automatically sync with the Master and configure it to send corrections at the specified baud rate and specified data rate.
This command should only be issued at ALIGN Rover.
Message ID: 1323
Abbreviated ASCII Syntax: ALIGNAUTOMATION option [comport] [baudrate] [datarate] [headingextboption] [interfacemode]
Factory Default: ALIGNAUTOMATION disable
Example: ALIGNAUTOMATION enable com2 230400 10 ON
Field Field Type
ALIGN
1
AUTOMATION
header
2
option
3
comport
ASCII Binary Value Value
-
-
ENABLE 1 DISABLE 0
COM1, COM2 or COM3
Description
Format
Binary Bytes
Binary Offset
Command header. See Messages on page 25 for more information.
H
0
Enable or disable the plug-and-play feature
Enum
4
H
Rover COM port to
which master is
connected (Table 59: COM Port Identifiers
Enum
4
on page 338)
(default=COM2)
H+4
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Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
4
baudrate
9600, 19200, 38400, 57600, 115200, 230400 or 460800
Intended baud rate for data transmission (default=230400)
Ulong
4
H+8
5
datarate
1, 2, 4, 5, 10 or 20
Rate (in Hz) at which
heading output is required (default=10
Ulong
4
Hz)
H+12
OFF
0
6
headingextb option
ON
1
Enable or disable
sending
HEADINGEXTB/ HEADINGEXT2B back
Enum
4
to the Master
(default=ON)
H+16
7
interfacemode
See Table 42: Serial Port Interface Modes on page 201
Serial port interface mode (default=None)
Enum 4
H+20
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2.7 ANTENNAPOWER
Controls power to the antenna
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command enables or disables the supply of electrical power from the internal power source of the receiver to the Low Noise Amplifier (LNA) of an active antenna. Refer to the OEM7 Installation and Operation User Manual for further information about supplying power to the antenna. There are several bits in the receiver status that pertain to the antenna (see Table 166: Receiver Status on page 771). These bits indicate whether the antenna is powered and whether it is open circuited or short circuited.
Message ID: 98
Abbreviated ASCII Syntax: ANTENNAPOWER switch
Factory Default: ANTENNAPOWER ON
ASCII Examples: ANTENNAPOWER ON ANTENNAPOWER OFF
If a short circuit or other problem causes an overload of the current supplied to the antenna, the receiver hardware shuts down the power supplied to the antenna. To restore power, power cycle the receiver. The Receiver Status word, available in the RXSTATUS log (see page 766), provides more information about the cause of the problem.
Field
Field Type
ASCII Value
Binary Value
Description
1
ANTENNAPOWER header
-
Command
header. See
-
Messages on page 25 for
more
information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field Field Type
2
switch
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
Disables antenna power
On dual antenna
OFF
0
receivers,
disables antenna
power for both
antennas
Enables antenna power
On dual antenna
ON
1
receivers,
enables antenna
power for both
antennas
Enables primary
antenna power Enum
4
H
PRIMARY_
ON_ SECONDARY_
3
and disables secondary antenna power
OFF
Note: Dual
antenna
receivers only
PRIMARY_
OFF_ SECONDARY_
4
ON
Disables primary antenna power and enables secondary antenna power
Note: Dual antenna receivers only
The OEM7 dual antenna receivers are: OEM7720, PwrPak7D, PwrPak7D-E1 and SPAN CPT7.
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2.8 ANTENNATYPE
Store the user defined antenna type
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use the ANTENNATYPE command to control the storage of up to five user-defined antennas. Values are entered and interpreted according to the conventions in the IGS ANTEX format. The current list of user-defined antennas stored by the receiver can be viewed using the USERANTENNA log on page 864. The THISANTENNATYPE command (see page 373) and BASEANTENNATYPE command (see page 85) control the use of the antennas in RTK.
Message ID: 2281
Abbreviated ASCII Syntax: ANTENNATYPE Action AntennaType [AntennaName] [NumberOfFrequencies] [Frequency] [NorthOffset] [EastOffset] [UpOffset] [PCVArray] ...
The "Number of frequencies" determines the number of frequencies for which Phase Center Offsets (PCOs) and Phase Center Variations (PCVs) are stored. For simplicity, the syntax above shows a single frequency. The ASCII Example 1 below shows two frequencies being added. PCOs and PCVs can be defined for up to 24 frequencies.
ASCII Example 1: ANTENNATYPE ADD USER_ANTENNA_1 NOVCUSTOM 2 GPSL1 0.09 0.0 51.74 0 -0.03 -0.11 -0.20 0.23 -0.17 -0.04 0.14 0.26 0.25 0.07 -0.24 -0.54 -0.67 -0.49 -0.02 0.55 0.84 0.47 GPSL2 -1.54 1.66 52.00 0.00 0.0 0.0 -0.03 -0.13 -0.28 -0.48 -0.61 -0.56 -0.28 0.23 0.84 1.29 1.31 0.77 -0.16 -0.95 -0.81 0.97
ASCII Example 2: ANTENNATYPE REMOVE USER_ANTENNA_1
Field Field Type
ASCII Binary Value Value
Description
1
ANTENNATYPE header
�
Command header. See
�
Messages on page 25
for more information.
2
Action
ADD
0
REMOVE 1
Add a user antenna Delete a user antenna
3
AntennaType
Table 14: UserDefined Antenna Type below
User defined antenna type
Format
Binary Bytes
Binary Offset
�
H
0
Enum 4
H
Enum 4
H+4
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Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
4
AntennaName
Name of the user defined antenna
Char [16]
16
H+8
5
NumberOf Frequencies
Number of frequencies
for which corrections
Ulong 8
are stored
H+24
See Table 19:
The frequency for which
6
Frequency
Frequency Type the phase center
Enum 4
on page 83
corrections are valid.
H+32
7
NorthOffset
North phase center
offset (millimetres)
Float
4
Valid range: -326.66 to
326.66
H+36
8
EastOffset
East phase center offset
(millimetres)
Float
4
Valid range: -326.66 to
326.66
H+40
9
UpOffset
Up phase center offset
(millimetres)
Float
4
Valid range: -326.66 to
326.66
H+44
10
PCVArray
19 element array of
Phase Center Variations
in 5-degree elevation
increments from 90 degrees elevation to 0
Float [19]
76
degrees (millimetres)
Valid range: -326.66 to 326.66
H+48
11
Next Frequency = H + 32 + (Number of frequencies x 92)
Table 14: User-Defined Antenna Type
Binary
ASCII
1001
USER_ANTENNA_1
1002
USER_ANTENNA_2
1003
USER_ANTENNA_3
1004
USER_ANTENNA_4
1005
USER_ANTENNA_5
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2.9 ASSIGN
Assigns a channel to a PRN
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
1. The ASSIGN command should only be used by advanced users. 2. Assigning SV channel sets the forced assignment bit in the channel tracking
status field which is reported in the RANGE and TRACKSTAT logs. 3. Assigning a PRN to a SV channel does not remove the PRN from the search space
of the automatic searcher; only the SV channel is removed (that is, the searcher may search and lock onto the same PRN on another channel). See Table 10: PRN Numbers for Commands and Logs on page 44 for the PRN available for the ASSIGN command. 4. GLONASS SVs cannot be assigned if there is no information on GLONASS frequencies and matching slot numbers.
This command may be used to aid in the initial acquisition of a satellite by manually overriding the automatic satellite/channel assignment and reacquisition processes. The command specifies that the indicated tracking channel search for a specified satellite, at a specified Doppler frequency, within a specified Doppler window. The instruction remains in effect for the specified SV channel and PRN, even if the assigned satellite subsequently sets. If the satellite Doppler offset of the assigned SV channel exceeds that specified by the window parameter of the ASSIGN command, the satellite may never be acquired or reacquired. If a PRN has been assigned to a channel and the channel is currently tracking that satellite, when the channel is set to AUTO tracking, the channel immediately idles and returns to automatic mode. To cancel the effects of ASSIGN, issue one of the following:
l The ASSIGN command with the state set to AUTO l The UNASSIGN command (see page 380) l The UNASSIGNALL command (see page 382) These immediately return SV channel control to the automatic search engine
Message ID: 27
Abbreviated ASCII Syntax: ASSIGN channel [state] [prn [Doppler [Doppler window]]]
ASCII Example 1: ASSIGN 0 ACTIVE 29 0 2000
In example 1, the first SV channel is searching for satellite PRN 29 in a range from -2000 Hz to 2000 Hz until the satellite signal is detected.
ASCII Example 2: ASSIGN 11 28 -250 0
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SV channel 11 is searching for satellite PRN 28 at an offset of -250 Hz only. ASCII Example 3:
ASSIGN 11 IDLE SV channel 11 is idled and does not attempt to search for satellites.
OEM7 cards have 4 channels available for SBAS. They automatically use the healthy GEO satellites with the highest elevations. Use the ASSIGN command to enter a GEO PRN manually.
For dual antenna receivers, when using the ASSIGN command for SV channels on the primary antenna, the SV channel count goes from 0 to N-1, where N is the number of channels in the primary antenna channel configuration. When using the ASSIGN command for channels on the secondary antenna, the SV channel count begins at N and goes to N+(M-1), where M is the number of channels in the secondary antenna SV channel configuration.
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
ASSIGN header
-
-
Command header. See
Messages on page 25 for
-
more information.
H
0
2
channel
0 to n-1, where n is the maximum number of channels in the current channel configuration
Desired SV channel number where channel 0 is the first SV channel. The last channel depends on the model configuration
Ulong
4
H
Set the SV channel state. If a
Refer to Table 15: value is not given, the
3
state
Channel State on default of ACTIVE is used
Enum 4
the next page
when the additional optional
parameters are entered
H+4
Refer to PRN
4
prn
Numbers on
page 44
Optional satellite PRN
number. A value must be entered unless the state
Ulong 4
parameter is IDLE or AUTO
H+8
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Field
Field Type
ASCII Binary Value Value
-100 000 to
5
Doppler
100 000 Hz
6
Doppler window
0 to 10 000 Hz
Description
Format
Binary Bytes
Binary Offset
Current Doppler offset of the satellite (default=0)
Note: Satellite motion,
receiver antenna motion and Long
4
receiver clock frequency
error must be included in the
calculation of Doppler
frequency
H+12
Error or uncertainty in the Doppler estimate above. (default=4500)
Ulong 4
Note: This is a � value. Example: 500 for � 500 Hz
H+16
Binary ASCII
0
IDLE
1
ACTIVE1
2
AUTO
Table 15: Channel State Description
Set the SV channel to not track any satellites Set the SV channel active (default) Tell the receiver to automatically assign PRN numbers to channels
1A PRN number is required when using the ACTIVE channel state in this command.
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2.10 ASSIGNALL
Assigns all channels to a PRN
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The ASSIGNALL command should only be used by advanced users.
This command is used to override the automatic satellite/channel assignment and reacquisition processes for all receiver channels with manual instructions. Message ID: 28 Abbreviated ASCII Syntax:
ASSIGNALL [system][state][prn [Doppler [Doppler window]]]
ASCII Example 1: ASSIGNALL GLONASS IDLE
In example 1, all GLONASS channels are idled, essentially stopping the receiver from tracking GLONASS. ASCII Example 2:
ASSIGNALL GLONASS AUTO In example 2, all GLONASS channels are enabled in auto mode. This enables the receiver to automatically assign channels to track the available GLONASS satellites.
This command is the same as ASSIGN except that it affects all SV channels of the specified system.
These command examples are only applicable to specific receiver models.
If the system field is used with this command and the receiver has no channels configured with that channel system, the command is rejected.
Field
Field Type
ASCII Binary Value Value
Description
ASSIGN-
1
ALL
-
-
header
Command header. See Messages on page 25 for more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
2
system
See Table 16: Channel System below
System that SV channel is tracking. If no value is specified, the value defaults to ALL
Enum
4
H
Refer to Table
3
state
15: Channel State on
Set the SV channel state
page 70)
Enum 4
H+4
4
prn
Refer to PRN Numbers on page 44
Optional satellite PRN code. A
value must be entered if the state parameter is neither IDLE
Ulong
4
or AUTO
H+8
-100 000 to
5
Doppler
100 000 Hz
Current Doppler offset of the satellite (default=0)
Note: Satellite motion,
receiver antenna motion and
Long
4
receiver clock frequency error
must be included in the
calculation of Doppler
frequency.
H+12
Error or uncertainty in the
Doppler estimate above.
6
Doppler window
0 to 10 000 Hz
(default=4500)
Note: This is a � value
Example, 500 for � 500 Hz
Ulong 4
H+16
Table 16: Channel System
Binary ASCII
Description
3
ALL
All systems
99
GPS GPS system
100
SBAS SBAS system
101 GLONASS GLONASS system
102 GALILEO GALILEO system
103
BeiDou BeiDou system
104
QZSS QZSS system
105
NAVIC NavIC system
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GLONASS SVs cannot be assigned if there is no information on GLONASS frequencies and matching slot numbers.
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2.11 ASSIGNLBANDBEAM
Configure L-Band tracking
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command assigns TerraStar or Veripos beams to the L-Band channels based on the defined L-Band assignment option.
Logging the ASSIGNLBANDBEAM command may not display the correct values. To access the actual beam name, frequency and baud rate values, log the LBANDTRACKSTAT log (see page 581) or if the beam name is known, log the LBANDBEAMTABLE log (see page 579) and find the associated frequency and baud rate.
Message ID: 1733 Abbreviated ASCII Syntax:
ASSIGNLBANDBEAM [option] [name] [frequency] [baudrate] [Dopplerwindow]
Factory Default: ASSIGNLBANDBEAM idle
ASCII Examples: ASSIGNLBANDBEAM auto ASSIGNLBANDBEAM 98W ASSIGNLBANDBEAM manual 98w 1545865000 1200
Field Field Type
Description
1
ASSIGNLBAND Command header. See Messages on BEAM header page 25 for more information.
2
Option
Assignment option (see Table 17: L-Band Assignment Option on the next page) (manual=default)
3
Name
Beam name (empty string=default)
4
Frequency
Beam frequency in Hz (0=default)
5
Baud rate
Data baud rate (0=default)
6
Doppler window
Doppler window to search (6000=default)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
Char[8] 8 Ulong 4 Ulong 4 Ulong 4
H
H+4 H+12 H+16 H+20
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Table 17: L-Band Assignment Option
ASCII Binary
Description
IDLE
0
Idle all L-Band channels
AUTO
The receiver searches for multiple L-Band beams on the L-Band channels based on AUTO selection criteria.
If the receiver position is known, the AUTO selection criteria is a ranking of
1
granted access L-Band beams by descending elevation angle.
If the receiver position is not known, the AUTO selection criteria is a ranking of granted access L-Band beams in the order they appear in the stored beam table (see the LBANDBEAMTABLE log on page 579).
MANUAL
2
The receiver assigns the specified beam on the first L-BAND channel and makes the other L-BAND channels IDLE.
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2.12 AUTH
Authorization code for different model
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to add or remove authorization codes from the receiver. Authorization codes are used to authorize models of software for a receiver. Models control the functionality the receiver provides. The RECEIVER is capable of keeping track of 24 authorization codes at one time. The MODEL command (see page 243) can then be used to switch between authorized models. The VALIDMODELS command (see page 869) lists the current available models in the receiver. The AUTHCODES log (see page 419) lists all Authorization codes entered into the receiver. This simplifies the use of multiple software models on the same receiver. If there is more than one valid model in the receiver, the receiver either uses the model of the last auth code entered via the AUTH command or the model that was selected by the MODEL command, whichever was done last. Adding an Authorization Code or using the MODEL command causes an automatic reset of the receiver. Removing an Authorization Code does not cause a reset.
Removing an authorization code will cause the receiver to permanently lose this information.
Message ID: 49
Abbreviated ASCII Syntax: AUTH [state] part1 part2 part3 part4 part5 model [date]
Input Example: AUTH add T48JF2,W25DBM,JH46BJ,2WGHMJ,8JW5TW,G2SR0RCCR,101114
AUTH erase_table PW5W2B,WW5TM9,WW2PCZ,WW3M4H,WW4HPG,ERASE_AUTH
When you are ready to upgrade from one model to another, call 1-800-NOVATEL to speak with our Customer Support/Sales Personnel, who can provide the authorization code that unlocks the additional features of your GNSS receiver. This procedure can be performed at your work site and takes only a few minutes. Receiver models can also be downgraded. This is a two step handshaking process and is best performed in a location with e-mail access.
Field
Field Type
ASCII Value
Binary Value
1
AUTH header
-
-
Description
Command header. See Messages on page 25 for more information.
Format
Binary Bytes
-
H
Binary Offset
0
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Field
Field Type
2
state
3
part1
4
part2
5
part3
6
part4
7
part5
8
model
9
date
ASCII Value
Binary Value
Description
See Table 18: AUTH Command State below
Auth code function to perform
6 character ASCII string
Authorization code section 1
6 character ASCII string
Authorization code section 2
6 character ASCII string
Authorization code section 3
6 character ASCII string
Authorization code section 4
6 character ASCII string
Authorization code section 5
Alpha Null
Model name of the
numeric terminated receiver
Numeric
Null terminated
Expiry date entered as yymmdd in decimal
Format
Binary Bytes
Enum
4
String [max. 16]
Variable1
String
Variable1
[max. 16]
String
Variable1
[max. 16]
String
Variable1
[max. 16]
String
Variable1
[max. 16]
String
Variable1
[max. 16]
String [max 7]
Variable1
Binary Offset H
H+4 H+20 H+36 H+52 H+68 H+84
Variable
ASCII REMOVE
Table 18: AUTH Command State
Binary
Description
Remove the authcode from the system
0
For this parameter, the Part1-Part5 fields can be entered as 0
0 0 0 0, and only the model name entered.
ADD
1
ADD_ DOWNLOAD
4
Add the authcode to the system (default) Add the authcode to the system (Deprecated: Use ADD instead)
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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ASCII
ERASE_ TABLE
Binary
Description
Erase all auth codes from the system. Requires a special auth code to prevent against accidental erasing.
7
The special auth code required for this option is:
PW5W2B,WW5TM9,WW2PCZ,WW3M4H,WW4HPG,ERASE_
AUTH
CLEAN_ TABLE
8
Remove all invalidated auth codes from the system. When an auth code is removed, it is simply invalidated and so it still uses one of the 24 spaces reserved for auth codes in the receiver. Use the CLEAN_TABLE option to free up the spaces from removed auth codes.
The special auth code required for this option is: 4DR69H,G369W8,34MNJJ,5NHXCJ,GW7C75,CLEAN_AUTH
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2.13 AUTOSURVEY
Survey for accurate position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The AUTOSURVEY command uses position averaging to automatically determine the position for a base station. When the AUTOSURVEY command is sent, the receiver starts position averaging. The position averaging continues until a specified accuracy level is met or until the specified survey time expires. When position averaging is complete, the calculated position is saved as the fix position for the base station. This calculated position is then used when transmitting differential corrections to the rover.
If the FIX command is entered by a user, the SAVECONFIG command must then be issued to save to NVM. If the FIX command is issued by the AUTOSURVEY feature, the SAVECONFIG command does not need to be issued, because it is automatically saved to NVM.
On subsequent power ups or resets, an AUTOSURVEY runs to determine if the base station has moved. As the AUTOSURVEY runs, the average position calculated is compared to the saved fix position. If the average position is within the AUTOSURVEY tolerance setting, the receiver assumes it has not moved and uses the previously saved fix position. If the average position is outside of the AUTOSURVEY tolerance setting, the receiver assumes it has moved and will continue calculating a position average until the accuracy level is met or until the specified survey time expires. The surveyed positions saved using the AUTOSURVEY command can be viewed using the SAVEDSURVEYPOSITIONS log on page 791. Surveyed positions can be added or deleted using the SURVEYPOSITION command on page 368.
Message ID: 1795
Abbreviated ASCII Syntax: AUTOSURVEY control [time] [accuracy] [tolerance] [save_nvm] [position_id]
Input Example: In the following example, the receiver is set up to survey its position for up to 24 hours or until the averaged position accuracy is 10 cm. On subsequent power ups at the same location, the survey will terminate as soon as the receiver determines the position is within 4 m of its surveyed position. Once the receiver has fixed its position, it will transmit RTCMV3 corrections over COM2.
SERIALCONFIG COM2 115200 N 8 1 N ON
INTERFACEMODE COM2 NONE RTCMV3 OFF
LOG COM2 RTCM1004 ONTIME 1
LOG COM2 RTCM1012 ONTIME 1
LOG COM2 RTCM1006 ONTIME 10
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LOG COM2 RTCM1033 ONTIME 10 LOG COM2 RTCM1019 ONTIME 120 AUTOSURVEY ENABLE 1440 .1 4 SAVECONFIG
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
AUTOSURVEY header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
control
Disables the self-survey
disable 0
feature and halts any selfsurvey related activity
(default = disable)
Enum 4
H
enable 1
Enables the self-survey feature
3
time
Maximum amount of time
1 - 6000 minutes to perform self-survey
Ulong 4
(default = 1440 minutes)
H+4
Desired horizontal
4
accuracy
0 - 100 metres standard deviation
Float
4
(default = 0.1 metres)
H+8
Maximum distance
between calculated
position and saved
position. During the self-
survey, if the distance
5
tolerance
3 - 100 metres
between the calculated position and the
Float
4
previously surveyed
position is less than this
value, the previous
position is used.
(default = 10 metres)
H+12
OFF
0
6
save_nvm
ON
1
Do not save position in NVM
Save position in NVM (default = ON)
Enum 4
H+16
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Field Field Type
7
position_id
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
4 character string
ID for the saved position.
If the ID is not specified
or if the ID is entered as
"AUTO", receiver
automatically generates a
unique ID for the position String [5]
51
Note: This ID is the ID for
the surveyed position, not
the station ID set using
the DGPSTXID command
on page 127.
H+20
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.14 BASEANTENNAPCO
Sets the PCO model of the base receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use the BASEANTENNAPCO command to set the Phase Center Offsets (PCO) for a given frequency on the remote base receiver from which this receiver is receiving corrections. The Offsets are defined as North, East and Up from the Antenna Reference Point to the Frequency Phase Center in millimetres.
Message ID: 1415
Abbreviated ASCII Syntax: BASEANTENNAPCO Frequency NorthOffset EastOffset UpOffset [CorrectionType [StationId]]
ASCII Example: BASEANTENNAPCO GPSL1 0.61 1.99 65.64
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
Command header.
1
BASEANTENNAPCO header
-
-
See Messages on page 25 for more
-
information.
H
0
2
Frequency
See Table 19:
The frequency that
Frequency Type the phase center
Enum 4
H
on the next page offsets are valid for.
3
NorthOffset
NGS standard Phase Center North Offset Double 8 in millimetres.
H+4
4
EastOffset
NGS standard Phase Center East Offset in Double 8 millimetres.
H+12
5
UpOffset
NGS standard Phase Center Up Offset in Double 8 millimetres.
H+20
See Table 53:
Correction type
6
CorrectionType
DGPS Type on
Enum 4
page 286
(default = AUTO)
H+28
7
StationID
Char [8] or ANY
ID string for the base station
(default = ANY)
Char
8
H+32
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Table 19: Frequency Type
Value
Name
Description
0 GPSL1
GPS L1 frequency
1 GPSL2
GPS L2 frequency
2 GLONASSL1
GLONASS L1 frequency
3 GLONASSL2
GLONASS L2 frequency
5 GPSL5
GPS L5 frequency
7 GALILEOE1
Galileo E1 frequency
8 GALILEOE5A
Galileo E5a frequency
9 GALILEOE5B
Galileo E5b frequency
10 GALILEOALTBOC Galileo AltBOC frequency
11 BEIDOUB1
BeiDou B1 frequency
12 BEIDOUB2
BeiDou B2 frequency
13 QZSSL1
QZSS L1 frequency
14 QZSSL2
QZSS L2 frequency
15 QZSSL5
QZSS L5 frequency
16 QZSSL6
QZSS L6 frequency
17 GALILEOE6
Galileo E6 frequency
18 BEIDOUB3
BeiDou B3 frequency
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2.15 BASEANTENNAPCV
Sets the PCV model of the base receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use the BASEANTENNAPCV command to set the Phase Center Variation (PCV) for a given frequency on the remote base receiver from which this receiver is receiving corrections. The Phase Center Variation entries follow the NGS standard and correspond to the phase elevation at 5 degree increments starting at 90 degrees and decreasing to 0.
Message ID: 1416
Abbreviated ASCII Syntax: BASEANTENNAPCV Frequency [PCVArray [CorrectionType [StationId]]]
ASCII Example: BASEANTENNAPCV GPSL1 0.00 -0.020 -0.07 -0.15 -0.24 -0.34 -0.43 -0.51 -0.56 0.61 -0.65 -0.69 -0.69 -0.62 -0.44 -0.13 0.28 0.70 1.02
Field
Field Type
ASCII Binary Value Value
Description
1
BASEANTENNAPCV header
-
-
Command header. See Messages on page 25 for more information.
2
Frequency
See Table 19: Frequency Type on the previous page
The frequency for which the phase center variations are valid.
3
PCVArray
NGS standard 19 element array of phase center variations, in millimetres, in 5 degree elevation increments from 90 to 0. Defaults to zero for all elevation increments.
4
CorrectionType
See Table 53: DGPS Type on page 286
Correction type (default = AUTO)
5
StationID
Char [8] or ANY
ID string (default = ANY)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Double [19]
152
H+4
Enum 4
Char
8
H+156 H+160
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2.16 BASEANTENNATYPE
Sets the antenna type of the base receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use the BASEANTENNATYPE command to set the type of antenna type connected to the base receiver from which this receiver is receiving RTK corrections. There are two sources of antenna information:
l An internal table The firmware contains a set of predefined antenna and radome types taken from the IGS ANTEX file. Refer to Table 20: Antenna Type on the next page and Table 21: Radome Type on page 95 for the antennas currently supported.
l User-defined antennas User-defined antenna types can be entered using the ANTENNATYPE command (see page 65).
The THISANTENNATYPE command (see page 373) is used to set the type of antenna being used with this receiver.
Message ID: 1419
Abbreviated ASCII Syntax:
BASEANTENNATYPE AntennaType [RadomeType] [CorrectionType] [StationId]
ASCII Examples:
BASEANTENNATYPE NOV702
BASEANTENNATYPE USER_ANTENNA_1
Field
Field Type
ASCII Value
Binary Value
1
BASEANTENNATYPE header
-
-
2
AntennaType
3
RadomeType
See Table 20: Antenna Type on the next page or Table 14: User-Defined Antenna Type on page 66
See Table 21: Radome Type on page 95
Description
Command header. See Messages on page 25 for more information.
Antenna type
Radome type (default = NONE)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
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Field
Field Type
4
CorrectionType
5
StationID
ASCII Value
Binary Value
See Table 53: DGPS Type on page 286
Char [8] or ANY
Description
Format
Binary Bytes
Binary Offset
Correction type (default = AUTO)
Enum 4
H+8
Base station ID
(default =
Char
8
ANY)
H+12
The latest information can be obtained from the National Geodetic Survey (NGS) site www.ngs.noaa.gov/ANTCAL.
Table 20: Antenna Type
Value
Name
Description
0 NONE
No antenna model
2 AUTO
Determine the antenna model from the RTK corrections (Not valid for THISANTENNATYPE)
3 AERAT2775_43
4 AOAD_M_B
5 AOAD_M_T
AOAD/M_T
6 AOAD_M_TA_NGS AOAD/M_TA_NGS
7 APSAPS-3
8 ASH700228A
9 ASH700228B
10 ASH700228C
11 ASH700228D
12 ASH700228E
13 ASH700699.L1
14 ASH700700.A
15 ASH700700.B
16 ASH700700.C
17 ASH700718A
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Value
Name
18 ASH700718B
19 ASH700829.2
20 ASH700829.3
21 ASH700829.A
22 ASH700829.A1
23 ASH700936A_M
24 ASH700936B_M
25 ASH700936C_M
26 ASH700936D_M
27 ASH700936E
28 ASH700936E_C
29 ASH700936F_C
30 ASH701008.01B
31 ASH701073.1
32 ASH701073.3
33 ASH701933A_M
34 ASH701933B_M
35 ASH701933C_M
36 ASH701941.1
37 ASH701941.2
38 ASH701941.A
39 ASH701941.B
40 ASH701945B_M
41 ASH701945C_M
42 ASH701945D_M
43 ASH701945E_M
44 ASH701945G_M
45 ASH701946.2
Description
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Value
Name
46 ASH701946.3
47 ASH701975.01A
48 ASH701975.01AGP
49 JAV_GRANT-G3T
50 JAV_RINGANT_G3T
51 JAVRINGANT_DM
52 JNSMARANT_GGD
53 JPLD/M_R
54 JPLD/M_RA_SOP
55 JPSLEGANT_E
56 JPSODYSSEY_I
57 JPSREGANT_DD_E
58 JPSREGANT_SD_E
59 LEIAR10
60 LEIAR25
61 LEIAR25.R3
62 LEIAR25.R4
63 LEIAS05
64 LEIAX1202GG
65 LEIAS10
66 LEIAX1203+GNSS
67 LEIAT202+GP
68 LEIAT202-GP
69 LEIAT302+GP
70 LEIAT302-GP
71 LEIAT303
72 LEIAT502
73 LEIAT503
Description
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Value
Name
74 LEIAT504
75 LEIAT504GG
76 LEIATX1230
77 LEIATX1230+GNSS
78 LEIATX1230GG
79 LEIAX1202
80 LEIGG02PLUS
81 LEIGS08
82 LEIGS09
83 LEIGS12
84 3S-02-TSADM
85 3S-02-TSATE
86 LEIGS15
87 LEIMNA950GG
88 LEISR299_INT
89 LEISR399_INT
90 LEISR399_INTA
91 MAC4647942
92 MPL_WAAS_2224NW
93 MPL_WAAS_2225NW
94 MPLL1_L2_SURV
95 NAVAN2004T
96 NAVAN2008T
97 NAX3G+C
98 NOV_WAAS_600
99 NOV501
100 NOV501+CR
101 NOV502
Description
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Value
Name
102 NOV502+CR
103 NOV503+CR
104 NOV531
105 NOV531+CR
106 NOV600
107 NOV702
108 NOV702GG
109 NOV750.R4
110 SEN67157596+CR
111 SOK_RADIAN_IS
112 SOK502
113 SOK600
114 SOK702
115 SPP571212238+GP
116 STXS9SA7224V3.0
117 TOP700779A
118 TOP72110
119 TPSCR.G3
120 TPSCR3_GGD
121 TPSCR4
122 TPSG3_A1
123 TPSHIPER_GD
124 TPSHIPER_GGD
125 TPSHIPER_LITE
126 TPSHIPER_PLUS
127 TPSLEGANT_G
128 TPSLEGANT2
129 TPSLEGANT3_UHF
Description
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Value
Name
130 TPSODYSSEY_I
131 TPSPG_A1
132 TPSPG_A1+GP
133 TRM14177.00
134 TRM14532.00
135 TRM14532.10
136 TRM22020.00+GP
137 TRM22020.00-GP
138 TRM23903.00
139 TRM27947.00+GP
140 TRM27947.00-GP
141 TRM29659.00
142 TRM33429.00+GP
143 TRM33429.00-GP
144 TRM33429.20+GP
145 TRM39105.00
146 TRM41249.00
147 TRM41249USCG
148 TRM4800
149 TRM55971.00
150 TRM57970.00
151 TRM57971.00
152 TRM5800
153 TRM59800.00
154 TRM59800.80
155 TRM59900.00
156 TRMR8_GNSS
157 TRMR8_GNSS3
Description
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Value
Name
158 ASH701023.A
159 CHCC220GR
160 CHCC220GR2
161 CHCX91+S
162 GMXZENITH10
163 GMXZENITH20
164 GMXZENITH25
165 GMXZENITH25PRO
166 GMXZENITH35
167 JAVRINGANT_G5T
168 JAVTRIUMPH_1M
169 JAVTRIUMPH_1MR
170 JAVTRIUMPH_2A
171 JAVTRIUMPH_LSA
172 JNSCR_C146-22-1
173 JPSREGANT_DD_E1
174 JPSREGANT_DD_E2
175 JPSREGANT_SD_E1
176 JPSREGANT_SD_E2
177 LEIAR20
178 LEIGG03
179 LEIGS08PLUS
180 LEIGS14
181 LEIICG60
182 NOV533+CR
183 NOV703GGG.R2
184 NOV750.R5
185 RNG80971.00
Description
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Value
Name
186 SEPCHOKE_B3E6
187 SEPCHOKE_MC
188 STXS10SX017A
189 STXS8PX003A
190 STXS9PX001A
191 TIAPENG2100B
192 TIAPENG2100R
193 TIAPENG3100R1
194 TIAPENG3100R2
195 TPSCR.G5
196 TPSG5_A1
197 TPSPN.A5
198 TRM55970.00
199 TRMR10
200 TRMR4-3
201 TRMR6-4
202 TRMR8-4
203 TRMR8S
204 TRMSPS985
205 AERAT1675_120
206 ITT3750323
207 NOV702GGL
208 NOV704WB
209 ARFAS1FS
210 CHAPS9017
211 CHCI80
212 GMXZENITH15
213 HXCCGX601A
Description
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Value
Name
214 IGAIG8
215 LEICGA60
216 LEIGS15.R2
217 LEIGS16
218 MVEGA152GNSSA
219 SEPALTUS_NR3
220 SJTTL111
221 SOKGCX3
222 SOKSA500
223 STHCR3-G3
224 STXS9I
225 TPSCR.G5C
226 TPSHIPER_HR
227 TPSHIPER_HR+PS
228 TRM105000.10
229 TRM115000.00
230 TRM115000.10
231 TRMR2
232 TWIVP6000
233 TWIVP6050_CONE
234 JAVTRIUMPH_2A+G
235 JAVTRIUMPH_2A+P
236 LEIGS18
237 LEIGG04PLUS
238 STXS800
239 STXS800A
240 NOV850
241 TRM159800.00
Description
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Value
Name
242 TRM159900.00
1001 USER_ANTENNA_1
1002 USER_ANTENNA_2
1003 USER_ANTENNA_3
1004 USER_ANTENNA_4
1005 USER_ANTENNA_5
Description
User defined antenna type 1 User defined antenna type 2 User defined antenna type 3 User defined antenna type 4 User defined antenna type 5
Table 21: Radome Type
Value
Name
0
NONE
1
SPKE
2
SNOW
3
SCIS
4
SCIT
5
OLGA
6
PFAN
7
JVDM
8
LEIT
9
LEIC
10
LEIS
11
MMAC
12
NOVS
13
TPSH
14
CONE
15
TPSD
16
TCWD
17
UNAV
18
TZGD
19
CHCD
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Value 20 21 22 23 24 25 26 27
Name JAVC LEIM NOVC ARFC HXCS JVGR STHC DUTD
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2.17 BDSECUTOFF
Sets elevation cut-off angle for BeiDou satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to set the elevation cut-off angle for tracked BeiDou satellites. The receiver does not start automatically searching for a BeiDou satellite until it rises above the cutoff angle (when satellite position is known). Tracked satellites that fall below the cut-off angle are no longer tracked unless they are manually assigned (see the ASSIGN command on page 68). In either case, satellites below the BDSECUTOFF angle are eliminated from the internal position and clock offset solution computations. This command permits a negative cut-off angle; it could be used in these situations:
l The antenna is at a high altitude, and thus can look below the local horizon l Satellites are visible below the horizon due to atmospheric refraction
Care must be taken when using BDSECUTOFF command because the signals from lower elevation satellites are traveling through more atmosphere and are therefore degraded. Use of satellites below 5 degrees is not recommended.
Use the ELEVATIONCUTOFF command on page 141 to set the cut-off angle for all other systems.
For dual antenna receivers, this command applies to both the primary and secondary antennas.
Message ID: 1582
Abbreviated ASCII Syntax: BDSECUTOFF angle
Factory Default: BDSECUTOFF 5.0
ASCII Example: BDSECUTOFF 10.0
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Field
Field Type
ASCII Binary Value Value
Description
1
BDSECUTOFF header
-
-
Command header. See Messages on page 25 for more information.
2
angle
�90.0 degrees
Elevation cut-off angle relative to horizon
Format
Binary Bytes
Binary Offset
-
H
0
Float
4
H
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2.18 BESTVELTYPE
Sets the velocity used in the BESTVEL and GPVTG logs
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command configures the source of the velocity that is output in the BESTVEL and GPVTG logs. Set the type to something other than BESTPOS when an unchanging velocity source with specific characteristics is needed. The Doppler velocity is the highest-availability, lowest-latency velocity available from the receiver. Due to its low latency, it is also the noisiest velocity.
Message ID: 1678
Abbreviated ASCII Syntax: BESTVELTYPE mode
Factory Default: BESTVELTYPE bestpos
ASCII Example: BESTVELTYPE doppler
Field Field Type
Description
1
BESTVELTYPE Command header. See Messages on
header
page 25 for more information.
2
mode
Velocity type (see Table 22: Velocity Types below)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Table 22: Velocity Types
ASCII Binary
Description
BESTPOS
1
Use the velocity from the same positioning filter that is being used to fill BESTPOS and GPGGA
DOPPLER
2
Always fill BESTVEL using Doppler-derived velocities
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2.19 CANCONFIG
Configure CAN ports
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use the CANCONFIG command to configure the hardware parameters of the CAN ports.
Message ID: 884
Abbreviated ASCII Syntax: CANCONFIG port switch [speed]
Factory Default: CANCONFIG CAN1 OFF 250K CANCONFIG CAN2 OFF 250K
ASCII Example: CANCONFIG CAN1 OFF 500K
Field
Field Type
ASCII Value
Binary Value
Description
1
CANCONFIG header
-
-
Command header. See Messages on page 25 for more information.
2
port
CAN1 1 CAN2 2
Physical CAN port ID
3
switch
ON
1
OFF
0
Sets the port to be On or Off the CAN bus
4
speed
See Table 23: CAN Port Speed below
Physical CAN port speed (bits per second) (default = 250K
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4 Enum 4
H H+4
Enum 4
H+8
The CAN port must be set to OFF (using CANCONFIG <port> OFF) before the port speed can be changed.
Table 23: CAN Port Speed
ASCII Value Binary Value
10K
0
20K
1
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ASCII Value Binary Value
50K
2
100K
3
125K
4
250K
5
500K
6
1M
7
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2.20 CCOMCONFIG
Configure the CAN COM port
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Bind a CAN communication port to a J1939 node (see J1939CONFIG command on page 221) and specify the CAN protocol, PGN, priority and address for messages transmitted and received over the CCOM port.
Message ID: 1902
Abbreviated ASCII Syntax: CCOMCONFIG port node protocol [pgn [priority [address]]]
Factory Default: CCOMCONFIG ccom1 node1 J1939 61184 7 fe CCOMCONFIG ccom2 node2 J1939 61184 7 fe CCOMCONFIG ccom3 node1 J1939 126720 7 fe CCOMCONFIG ccom4 none none 0 0 0 CCOMCONFIG ccom5 none none 0 0 0 CCOMCONFIG ccom6 none none 0 0 0
ASCII Example : ccomconfig ccom1 node1 j1939 1792 6 1b
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
CCOMCONFIG Header
-
-
Command header. See Messages on page 25 for more information.
H
0
CCOM1 38
CCOM2 39
2
port
CCOM3 40 CCOM4 41
Name of CCOM port
Enum 4
H
CCOM5 42
CCOM6 43
3
node
NODE1 1 NODE2 2
The J1939 node to use.
This binds a CCOM port to the CAN NAME/address
Enum
4
associated with the node.
H+4
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Field Field Type
4
protocol
5
pgn
6
priority
7
address
ASCII Binary Value Value
Description
See Table 24: CAN Protocol on the next page
CAN transport protocol to use
0 - 131071
Any valid PGN as defined by the J1939 protocol.
All messages transmitted over this CCOM port will contain this PGN value.
Only messages with this PGN will be received on this CCOM port
Note: This value is ignored if the protocol is NMEA2000.
Default CAN message
priority for transmitted
messages. (Priority 0 is
0-7
the highest priority)
Note: This value is ignored if the protocol is NMEA2000.
00 � FF
00 � FD: Transmit and receive messages to/from this address only
FE: Transmit and receive message to/from the address of the first message received
FF: Broadcast messages and receive messages from all addresses.
Note: This value is ignored if the protocol is NMEA2000.
Format
Binary Bytes
Binary Offset
Enum 4
H+8
Ulong 4
H+12
Uchar 1
H+16
Hex
1
H+17
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Table 24: CAN Protocol
Binary ASCII
Description
2
J1939
J1939 single packet
3
NMEA2000 NMEA2000 (single packet, multi-packet, fast packet)
5
ISO11783 ISO 11783 transport protocol
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2.21 CLOCKADJUST
Enables clock adjustments
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
All oscillators have some inherent drift. By default, the receiver attempts to steer the receiver's clock to accurately match GPS reference time. Use the CLOCKADJUST command to disable this function. The TIME log can then be used to monitor clock drift.
1. The CLOCKADJUST command should only be used by advanced users. 2. If the CLOCKADJUST command is ENABLED and the receiver is configured to use an
external reference frequency (set in the EXTERNALCLOCK command (see page 151) 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 176). 3. When using the EXTERNALCLOCK and CLOCKADJUST commands together, issue the EXTERNALCLOCK command (see page 151) first to avoid losing satellites. 4. When disabled, the range measurement bias errors continue to accumulate with clock drift. 5. Pseudorange, carrier phase and Doppler measurements may jump if the CLOCKADJUST mode is altered while the receiver is tracking. 6. When disabled, the time reported on all logs may be offset from GPS reference time. The 1PPS output may also be offset. The amount of this offset may be determined from the TIME log (see page 855). 7. A discussion on GPS reference time may be found in GPS Reference Time Status on page 45.
Message ID: 15
Abbreviated ASCII Syntax: CLOCKADJUST switch
Factory Default: CLOCKADJUST ENABLE
ASCII Example: CLOCKADJUST DISABLE
The CLOCKADJUST command can be used to calibrate an internal oscillator. Disable the CLOCKADJUST mode in order to find out what the actual drift is from the internal oscillator. Watch the CLOCKMODEL log to see the drift rate and adjust the oscillator until the drift stops.
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Field Field Type
ASCII Binary Value Value
Description
1
CLOCKADJUST header
-
Command header. See
-
Messages on page 25
for more information.
2
switch
DISABLE 0 ENABLE 1
Disallow adjustment of internal clock
Allow adjustment of internal clock
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.22 CLOCKCALIBRATE
Adjusts clock steering parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to adjust the control parameters of the clock steering loop. The receiver must be enabled for clock steering before these values can take effect. Refer to the CLOCKADJUST command on page 105 to enable or disable clock steering. To disable the clock steering process, issue the CLOCKADJUST DISABLE command. The current values used by the clock steering process are listed in the CLOCKSTEERING command (see page 463).
The values entered using the CLOCKCALIBRATE command are saved to non-volatile memory (NVM). To restore the values to their defaults, the FRESET CLKCALIBRATION command must be used. Issuing FRESET without the CLKCALIBRATION parameter will not clear the values (see FRESET command on page 179 for more details).
Message ID: 430
Abbreviated ASCII Syntax: CLOCKCALIBRATE [mode] [period] [pulsewidth] [slope] [bandwidth]
ASCII Example: CLOCKCALIBRATE AUTO
The receiver by default steers its INTERNAL VCTCXO but can be commanded to control an EXTERNAL reference oscillator. Use the EXTERNALCLOCK command (see page 151) 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 176). It is expected that the VARF signal is used to provide a stable reference voltage by the use of a filtered charge pump type circuit (not supplied).
Field
Field Type
ASCII Binary Value Value
Description
CLOCK
1
CALIBRATE -
-
header
Command header. See Messages on page 25 for more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
SET 0
Sets the period, pulsewidth, slope and bandwidth values into NVM for the currently selected steered oscillator (INTERNAL or EXTERNAL)
Forces the receiver to do a
clock steering calibration to
measure the slope (change in
clock drift rate with a 1 bit
change in pulse width) and
2
mode
required pulsewidth to zero Enum 4
H
AUTO 1
the clock drift rate. After the
calibration, these values
along with the period and
bandwidth are entered into
NVM and are then used from
this point forward on the
selected oscillator
OFF 2
Terminates a calibration process currently underway (default)
3
period
0 to 262144
Signal period in 10 ns steps.
Frequency Output = 100,000,000 / Period (default=11000)
Ulong 4
H+4
Sets the initial pulse width
that should provide a near
zero drift rate from the
selected oscillator being
4
pulsewidth
The valid range for this parameter is 10% to 90% of the period
steered. The valid range for this parameter is 10% to 90% of the period. If this value is not known, (in the case of a new external oscillator) then it should be
Ulong
4
set to � the period and the
mode should be set to AUTO
to force a calibration
(default=6600)
H+8
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Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
5
slope
This value should correspond
to how much the clock drift
changes with a 1 bit change
in the pulsewidth m/s/bit.
The default values for the
slope used for the INTERNAL
and EXTERNAL clocks is -2.0
and -0.01 respectively. If this
value is not known, then its
value should be set to 1.0
and the mode should be set
to AUTO to force a
calibration. Once the calibration process is
Float
4
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 463). This process
should be repeated until the
measured slope value
remains constant (less than a
5% change)
(default=0.774)
H+12
6
bandwidth
This is the value used to
control the smoothness of the
clock steering process.
Smaller values result in
slower and smoother
changes to the receiver
clock. Larger values result in
faster responses to changes Float
4
in oscillator frequency and
faster start up clock pull in.
The default values are 0.03
and 0.001 Hz respectively for
the INTERNAL and EXTERNAL
clocks
(default=0.03)
H+16
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2.23 CLOCKOFFSET
Adjusts for delay in 1PPS output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is used to remove a delay in the PPS output. The PPS signal is delayed from the actual measurement time due to two major factors:
l A delay in the signal path from the antenna to the receiver l An intrinsic delay through the RF and digital sections of the receiver The second delay is automatically accounted for by the receiver using a nominal value determined for each receiver type. However, since the delay from the antenna to the receiver cannot be determined by the receiver, an adjustment cannot automatically be made. The CLOCKOFFSET command can be used to adjust for this delay.
Message ID: 596
Abbreviated ASCII Syntax: CLOCKOFFSET offset
Factory Default: CLOCKOFFSET 0
ASCII Example: CLOCKOFFSET -15
There may be small variances in the delays for each cable or card. The CLOCKOFFSET command can be used to characterize each setup. For example, for a cable with a delay of 10 ns, the offset can be set to -10 to remove the delay from the PPS output.
Field
Field Type
ASCII Binary Value Value
Description
1
CLOCKOFFSET header
-
-
Command header. See Messages on page 25 for more information.
2
offset
�200
Specifies the offset in nanoseconds
Format
Binary Bytes
Binary Offset
-
H
0
Long
4
H
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2.24 CNOUPDATE
Sets the C/No update rate
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is used to set the C/No update rate.
Message ID: 849
Abbreviated ASCII Syntax: CNOUPDATE rate
Factory Default: CNOUPDATE default
ASCII Example: CNOUPDATE 20Hz
Use the CNOUPDATE command for higher resolution update rate of the C/No measurements of the incoming GNSS signals. By default, the C/No values are calculated at approximately 4 Hz but this command allows you to increase that rate to 20 Hz.
Field Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
1
CNOUPDATE header
-
Command header. See
-
Messages on page 25 for -
more information.
H
0
2
rate
DEFAULT 0
C/No update rate: 0 = Turn off C/No
enhancement
Enum 4
H
20HZ
1
default = 4 Hz 1 = 20 Hz C/No updates
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2.25 COMCONTROL
Controls the serial port hardware control lines
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to control the hardware control lines of the serial communication (COM) ports. The TOGGLEPPS mode of this command is typically used to supply a timing signal to a host PC computer by using the RTS and DTR lines. The accuracy of controlling the COM control signals is better than 900 �s. The other modes are typically used to control custom peripheral devices.
1. If handshaking is disabled, any of these modes can be used without affecting regular serial communications through the selected COM port. However, if handshaking is enabled, it may conflict with handshaking of the selected COM port, causing unexpected results.
2. The PULSEPPSLOW control type cannot be issued for a TX signal. 3. Only PULSEPPSHIGH, FORCEHIGH and FORCELOW control types can be used for a TX
signal. 4. To use the COM2 flow control signals, COM5 must be disabled. See OEM7600, OEM7700
and OEM7720 Multiplexed Port in the OEM7 Installation and Operation User Manual for more information.
Message ID: 431
Abbreviated ASCII Syntax: COMCONTROL [port] [signal] [control]
Factory Default: COMCONTROL COM1 RTS DEFAULT COMCONTROL COM2 RTS DEFAULT COMCONTROL COM3 RTS DEFAULT COMCONTROL COM4 RTS DEFAULT COMCONTROL COM5 RTS DEFAULT
ASCII Example 1: SERIALCONFIG COM1 9600 N 8 1 N (to disable handshaking) COMCONTROL COM1 RTS FORCELOW
ASCII Example 2: COMCONTROL COM1 RTS TOGGLEPPS COMCONTROL COM2 RTS TOGGLEPPS
ASCII Example 3: To set a break condition on COM1:
COMCONTROL COM1 TX FORCELOW A break condition remains in effect until it is cleared. To clear a break condition on COM1:
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COMCONTROL COM1 TX DEFAULT or
COMCONTROL COM1 TX FORCEHIGH
Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
COM
1
CONTROL -
header
Command header.
-
See Messages on page 25 for more
-
information.
H
0
COM1
1
COM2
2
2
port
COM3
3
Serial port to control. Enum 4
H
COM4
19
COM5
31
RTS
3
signal
DTR
TX
COM signal to control.
0
The controllable COM
signals are RTS, DTR
and TX. (Default =
1
RTS)
Enum 4
H+4
See also Table 25:
Tx, DTR and RTS
2
Availability on the
next page
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Field
Field Type
4
control
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
Disables this
DEFAULT
0
command and returns the COM signal to its
default state (Default)
FORCEHIGH
1
Immediately forces the signal high
FORCELOW
2
Immediately forces the signal low
TOGGLE
Immediately toggles
3
the current state of
the signal
TOGGLEPPS
4
Toggles the state of the selected signal within 900 s after each 1PPS event. The Enum 4 state change of the signal lags the 1PPS by an average value of 450 s. The delay of each pulse varies by a uniformly random amount less than 900 s
H+8
PULSEPPSLOW 5
Pulses the line low at a 1PPS event and to high 1 ms after it. Not for TX
PULSEPPSHIGH 6
Pulses the line high for 1 ms at the time of a 1PPS event
OEM719 OEM729 OEM7600 OEM7700 OEM7720
Table 25: Tx, DTR and RTS Availability
Tx Available On
DTR Available On
COM1, COM2, COM3
N/A
COM1, COM2, COM3
N/A
COM1, COM2, COM3, COM4, COM5
N/A
COM1, COM2, COM3, COM4, COM5
N/A
COM1, COM2, COM3, COM4, COM5
N/A
RTS Available On N/A
COM1 and COM2 COM1 and COM2 COM1 and COM2 COM1 and COM2
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2.26 DATADECODESIGNAL
Enable/Disable navigation data decoding for GNSS signal
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to enable or disable framing and decoding of the navigation message for each GNSS signal. When disabled, the receiver will no longer output raw frame data, ephemeris or almanac data from that signal. Signals which do not yet have the built in capability to output raw frame data are not configurable. Note that if a primary signal such as GPSL1CA is disabled, it may cause the receiver to no longer function normally because this signal's data is essential for setting receiver time and computing positions.
The default setting for each GNSS signal, and which signals can be configured, is available in Table 26: GNSS Signal Default and Configurability below. The table also lists if the signal's navigation message is used to compute the satellite position. For the binary value and a longer description for each signal, see Table 27: Signal Type (DATADECODESIGNAL) on page 117.
Table 26: GNSS Signal Default and Configurability
Signal
Primary Signal
Default
Configurable
Used for satellite positioning
GPSL1C
No
Disabled No
No
GPSL1CA
Yes
Enabled Yes
Yes
GPSL2Y
No
Disabled No
No
GPSL2C
No
Disabled Yes
No
GPSL2P
No
Disabled No
No
GPSL5
No
Disabled Yes
No
GLOL1CA
Yes
Enabled Yes
Yes
GLOL2CA
No
Disabled No
No
GLOL2P
No
Disabled No
No
GLOL3
No
Disabled No
No
SBASL1
No
Enabled Yes
Yes
SBASL5
No
Enabled Yes
Yes
GALE1
Yes
Enabled Yes
Yes
GALE5A
No
Enabled Yes
No
GALE5B
No
Enabled Yes
Yes
GALALTBOC No
Disabled No
No
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Signal
Primary Signal
Default
Configurable
Used for satellite positioning
GALE6B
No
Enabled Yes
No
GALE6C
No
Enabled Yes
No
BDSB1C
No
Disabled No
No
BDSB1D1
Yes
Enabled Yes
Yes
BDSB1D2
Yes
Enabled Yes
Yes
BDSB2A
No
Disabled No
No
BDSB2D1
No
Disabled No
No
BDSB2D2
No
Disabled No
No
BDSB3D1
No
Disabled No
No
BDSB3D2
No
Disabled No
No
QZSSL1C
No
Disabled No
No
QZSSL1CA Yes
Enabled Yes
Yes
QZSSL2CM No
Disabled Yes
No
QZSSL5
No
Disabled Yes
No
QZSSL6
No
Disabled No
No
NAVICL5SPS Yes
Enabled Yes
Yes
Message ID: 1532 Abbreviated ASCII Syntax:
DATADECODESIGNAL signaltype switch
Abbreviated ASCII Example: DATADECODESIGNAL GPSL2C enable
Field Field Type
ASCII Value
DATADECODE
1
SIGNAL
-
header
Binary Value
-
Description
Format
Binary Bytes
Binary Offset
Command
header. See
Messages on
-
page 25 for more
information.
H
0
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Field Field Type
2
signal type
3
switch
ASCII Value
Binary Value
See Table 27: Signal Type (DATADECODESIGNAL) below
Disable
0
Enable
1
Description
Format
Binary Bytes
Binary Offset
GNSS Signal Type
Enum 4
H
Enable or disable the data decoding
Enum
4
H+4
Table 27: Signal Type (DATADECODESIGNAL)
Value (Binary) Signal (ASCII)
Description
33
GPSL1CA
GPS L1 C/A-code
69
GPSL2C
GPS L2 C/A-code
70
GPSL2P
GPS L2 P-code
103
GPSL5
GPS L5
2177
GLOL1CA
GLONASS L1 C/A-code
2211
GLOL2CA
GLONASS L2 C/A-code
2212
GLOL2P
GLONASS L2 P-code
2662
GLOL3
GLONASS L3
4129
SBASL1
SBAS L1
4194
SBASL5
SBAS L5
16737
LBAND
LBAND
10433
GALE1
Galileo E1
10466
GALE5A
Galileo E5A
10499
GALE5B
Galileo E5B
10565
GALE6C
Galileo E6C
10572
GALE6B
Galileo E6B
12673
BDSB1D1
BeiDou B1 with D1 navigation data
12674
BDSB1D2
BeiDou B1 with D2 navigation data
12803
BDSB2D1
BeiDou B2 with D1 navigation data
12804
BDSB2D2
BeiDou B2 with D2 navigation data
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Value (Binary) Signal (ASCII)
Description
12877
BDSB3D1
BeiDou B3 with D1 navigation data
12880
BDSB3D2
BeiDou B3 with D2 navigation data
12979
BDSB1C
BeiDou B1C
13012
BDSB2A
BeiDou B2a
14753
QZSSL1CA
QZSS L1 C/A-code
14787
QZSSL2CM
QZSS L2 C/A-code
14820
QZSSL5
QZSS L5
19073
NAVICL5SPS
NavIC L5 SPS
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2.27 DATUM
Chooses a datum name type
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to select the geodetic datum for operation of the receiver. If not set, the factory default value is wgs84. See the USERDATUM command (see page 392) for user definable datums. The datum you select causes all position solutions to be based on that datum.
This command is not suitable for use with RTK.
The transformation for the WGS84 to Local used in the OEM7 family is the Bursa-Wolf transformation or reverse Helmert transformation. In the Helmert transformation, the rotation of a point is counter clockwise around the axes. In the Bursa-Wolf transformation, the rotation of a point is clockwise. Therefore, the reverse Helmert transformation is the same as the BursaWolf. See Table 29: Datum Transformation Parameters on page 121 for a complete listing of all available predefined datums. The offsets in the table are from the local datum to WGS84.
Message ID: 160
Abbreviated ASCII Syntax: DATUM datum
Factory Default: DATUM wgs84
ASCII Example: DATUM CSRS
Also, as an example, you can achieve spatial integrity with Government of Canada maps and surveys if the coordinates are output using the CSRS datum (Datum ID# 64). Table 28: Reference Ellipsoid Constants on the next page contains the internal ellipsoid and transformation parameters used in the receiver. The values contained in these tables were derived from the following dma reports: 1 TR 8350.2 Department of Defense World Geodetic System 1984 and Relationships
with Local Geodetic Systems - Revised March 1, 1988 2 TR 8350.2B Supplement to Department of Defense World Geodetic System 1984
Technical Report - Part II - Parameters, Formulas, and Graphics for the Practical Application of WGS84 - December 1, 1987 3 TR 8350.2 Department of Defense World Geodetic System 1984 National Imagery and Mapping Agency Technical Report, Third Addition, Amendment 1 January 3, 2000
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By default, NovAtel receivers output positions in WGS84, with the following exceptions:
EGNOS, TerraStar and Veripos use ITRF2008, which is coincident with WGS84 at about the decimetre level.
Field
Field Type
ASCII Value
Binary Value
1
DATUM header
-
-
See Table 29: Datum
2
Datum Transformation Type Parameters on the next
page
Description
Command header. See Messages on page 25 for more information.
The datum to use
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Table 28: 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
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ELLIPSOID World Geodetic System 1972 World Geodetic System 1984
ID CODE
WD
WE
a (metres)
1/f
f
6378135.0 6378137.0
298.26
0.00335277945417
298.257223563 0.00335281066475
The default user datum is WGS84. See also the USERDATUM command (see page 392) and USEREXPDATUM command (see page 394). The following logs report the datum used according to the Datum ID column:
l BESTPOS log (see page 433) l BESTUTM log (see page 446) l MATCHEDPOS log (see page 601) l PSRPOS log (see page 662)
Datum ID#
NAME
1
ADIND
2
ARC50
3
ARC60
Table 29: Datum Transformation Parameters
DX1 DY1 DZ1
DATUM DESCRIPTION
-162 -12 -143 -90 -160 -8
206
This datum has been updated, see ID# 652
-294 ARC 1950 (SW & SE Africa)
-300
This datum has been updated, see ID# 662
4
AGD66 -133 -48 148 Australian Geodetic Datum 1966
5
AGD84 -134 -48 149 Australian Geodetic Datum 1984
6
BUKIT -384 664 -48 Bukit Rimpah (Indonesia)
7
ASTRO -104 -129 239 Camp Area Astro (Antarctica)
8
CHATM 175 -38 113 Chatham 1971 (New Zealand)
9
CARTH -263 6
431 Carthage (Tunisia)
ELLIPSOID
Clarke 1880
Clarke 1880
Clarke 1880
Australian National Australian National Bessel 1841 International 1924 International 1924 Clarke 1880
1The DX, DY and DZ offsets are from your local datum to WGS84. 2The updated datum have the new x, y and z translation values updated to the latest numbers. The old datum values can still be used for backwards compatibility.
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Datum ID#
NAME
10 CAPE
11 DJAKA
12 EGYPT
DX1 DY1 DZ1
DATUM DESCRIPTION
-136 -108 -292 CAPE (South Africa) -377 681 -50 Djakarta (Indonesia) -130 110 -13 Old Egyptian
13 ED50
-87 -98 -121 European 1950
14 ED79
-86 -98 -119 European 1979
15 GUNSG -403 684 41 G. Segara (Kalimantan - Indonesia)
16 GEO49 84 -22 209 Geodetic Datum 1949 (New Zealand)
17 GRB36 375 -111 431 Do not use. Use ID# 76 instead2
18 GUAM -100 -248 259 Guam 1963 (Guam Island)
19
HAWAII 89
-279
-183
Do not use. Use ID# 77 or ID# 81 instead3
20
KAUAI 45
-290
-172
Do not use. Use ID# 78 or ID# 82 instead3
21 MAUI
65
-290
-190
Do not use. Use ID# 79 or ID# 83 instead3
22
OAHU
56
-284
-181
Do not use. Use ID# 80 or ID# 84 instead3
23 HERAT -333 -222 114 Herat North (Afghanistan)
24 HJORS -73 46 -86 Hjorsey 1955 (Iceland)
25 HONGK -156 -271 -189 Hong Kong 1963
26
HUTZU
-634
-549
-201
This datum has been updated, see ID# 682
27
INDIA
289
734
257
Do not use. Use ID# 69 or ID# 70 instead3
ELLIPSOID
Clarke 1880 Bessel 1841 Helmert 1906 International 1924 International 1924 Bessel 1841 International 1924 Airy 1830 Clarke 1866
Clarke 1866
Clarke 1866
Clarke 1866
Clarke 1866
International 1924 International 1924 International 1924 International 1924
Everest (EA)
1The DX, DY and DZ offsets are from your local datum to WGS84. 2Use the corrected datum only (with the higher ID#) as the old datum is incorrect.
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Datum ID#
NAME
28 IRE65
DX1 DY1 DZ1
DATUM DESCRIPTION
506 -122 611 Do not use. Use ID# 71 instead3
ELLIPSOID 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 32 LUZON -133 -77 -51 Do not use. Use ID# 72 instead3
Clarke 1880 Clarke 1866
33
MINDA -133 -70
-72
This datum has been updated, see ID# 732
Clarke 1866
34 MERCH 31 146 47 Merchich (Morocco)
Clarke 1880
35
NAHR
-231 -196 482
This datum has been updated, see ID# 742
Clarke 1880
36 NAD83 0
0
0
N. American 1983 (Includes Areas 3742)
GRS-80
37 CANADA -10 158 187 N. American Canada 1927
Clarke 1866
38 ALASKA -5
135 172 N. American Alaska 1927
Clarke 1866
39 NAD27 -8
160 176 N. American Conus 1927
Clarke 1866
40 CARIBB -7
152
178
This datum has been updated, see ID# 752
Clarke 1866
41 MEXICO -12 130 190 N. American Mexico
Clarke 1866
42 CAMER 0
125 194 N. American Central America
Clarke 1866
43 MINNA -92 -93 122 Nigeria (Minna)
Clarke 1880
44 OMAN -346 -1
224 Oman
Clarke 1880
45 PUERTO 11 72 -101 Puerto Rica and Virgin Islands
Clarke 1866
46 QORNO 164 138 -189 Qornoq (South Greenland)
International 1924
47 ROME -255 -65 9
Rome 1940 Sardinia Island
International 1924
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Datum ID#
NAME
48 CHUA
49 SAM56
50 SAM69
51 CAMPO
52 SACOR
53 YACAR
54 TANAN
55 TIMBA
56 TOKYO
57 TRIST 58 VITI 59 WAK60 60 WGS72 61 WGS84 62 ZANDE 63 USER 64 CSRS 65 ADIM
DX1 DY1 DZ1
DATUM DESCRIPTION
-134 229
-29
South American Chua Astro (Paraguay)
-288 175 -376 South American (Provisional 1956)
-57 1
-41 South American 1969
-148 136 90 -206 172 -6
S. American Campo Inchauspe (Argentina)
South American Corrego Alegre (Brazil)
-155 171 37 South American Yacare (Uruguay)
-189 -242 -91 -689 691 -46 -128 481 664
Tananarive Observatory 1925 (Madagascar)
This datum has been updated, see ID# 852
This datum has been updated, see ID# 862
-632 438 -609 Tristan Astro 1968 (Tristan du Cunha)
51 391 -36 Viti Levu 1916 (Fiji Islands)
101 52
-39
This datum has been updated, see ID# 672
0
0
4.5 World Geodetic System - 72
0
0
0
World Geodetic System - 84
-265 120 -358 Zanderidj (Surinam)
0
0
0
User Defined Datum Defaults
Time-variable 7 parameter transformation
-166 -15
204
Adindan (Ethiopia, Mali, Senegal & Sudan)2
ELLIPSOID
International 1924 International 1924 S. American 1969 International 1924 International 1924 International 1924 International 1924
Everest (EB)
Bessel 1841
International 1924 Clarke 1880
Hough 1960
WGS72 WGS84 International 1924 User
Clarke 1880
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Datum ID#
NAME
66 ARSM
67 ENW
DX1 DY1 DZ1
DATUM DESCRIPTION
-160 -6 102 52
-302 -38
ARC 1960 (Kenya, Tanzania)2 Wake-Eniwetok (Marshall Islands)2
68 HTN
-637 -549 -203 Hu-Tzu-Shan (Taiwan)2
69 INDB 70 INDI 71 IRL
282 726 254 Indian (Bangladesh)3 295 736 257 Indian (India, Nepal)3 506 -122 611 Ireland 1965 3
72 LUZA
-133 -77
-51
Luzon (Philippines excluding Mindanoa Is.)3, 2
73 LUZB
-133 -79 -72 Mindanoa Island2
74
NAHC
-243 -192 477 Nahrwan (Saudi Arabia)2
75 NASP
-3
142 183 N. American Caribbean2
76
OGBM
375
-111 431
Great Britain 1936 (Ordinance Survey)3
77
OHAA
89
-279 -183 Hawaiian Hawaii3
78
OHAB
45
-290 -172 Hawaiian Kauaii3
79
OHAC
65
-290 -190 Hawaiian Maui3
80
OHAD
58
-283 -182 Hawaiian Oahu3
81 OHIA
229 -222 -348 Hawaiian Hawaii3
82 OHIB
185 -233 -337 Hawaiian Kauai3
83 OHIC
205 -233 -355 Hawaiian Maui3
84 OHID
198 -226 -347 Hawaiian Oahu3
ELLIPSOID
Clarke 1880 Hough 1960 International 1924 Everest (EA) Everest (EA) Modified Airy
Clarke 1866
Clarke 1866 Clarke 1880 Clarke 1866
Airy 1830
Clarke 1866 Clarke 1866 Clarke 1866 Clarke 1866 International 1924 International 1924 International 1924 International 1924
1The DX, DY and DZ offsets are from your local datum to WGS84. 2The original LUZON values are the same as for LUZA but the original has an error in the code.
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Datum ID#
NAME
85 TIL
86 TOYM
DX1 DY1 DZ1
DATUM DESCRIPTION
-679 669
-48
Timbalai (Brunei and East Malaysia) 19482
-148 507 685 Tokyo (Japan, Korea and Okinawa)2
ELLIPSOID Everest (EB) Bessel 1841
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2.28 DGPSTXID
Sets DGPS station ID
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is used to set the station ID value for the receiver when it is transmitting corrections. This allows for the easy identification of which base station was the source of the data. For example, if you want to compare RTCM and RTCMV3 corrections, you would be easily able to identify their base stations by first setting their respective DGPSTXID values.
Message ID: 144
Abbreviated ASCII Syntax: DGPSTXID type ID
Factory Default: DGPSTXID auto ANY
ASCII Examples: DGPSTXID RTCM 2 - using an RTCM type and ID DGPSTXID CMR 30 - using a CMR type and ID DGPSTXID CMR ANY - using the default CMR ID DGPSTXID RTCA d36d - using an RTCA type and ID DGPSTXID RTCMV3 2050 - using an RTCMV3 type and ID
Field
Field Type
ASCII Binary Value Value
Description
1
DGPSTXID header
-
Command header. See
-
Messages on page 25 for
more information.
RTCM 0
2
type
RTCA 1
CMR
2
AUTO 10
See Table 53: DGPS Type on page 286
RTCMV3 13
3
ID
Char[5]
Base Station ID String
See Table 53: DGPS Type on page 286
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Char[5] 8
H+4
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2.29 DIFFCODEBIASCONTROL
Enables /disables satellite differential code biases
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
The purpose of the differential code biases is to correct pseudorange errors that affect the L1/L2 ionospheric corrections. This command enables or disables the biases. A set of biases is included in the firmware and use of the biases is enabled by default. See also the SETDIFFCODEBIASES command on page 347.
Message ID: 913
Abbreviated ASCII Syntax: DIFFCODEBIASCONTROL switch
Factory Default: DIFFCODEBIASCONTROL enable
Example: DIFFCODEBIASCONTROL disable
Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
DIFFCODEBIAS
1
CONTROL
-
header
Command header. See
-
Messages on page 25 -
for more information.
H
0
2
switch
DISABLE 0
Disable the differential code bias
Enum 4
H
ENABLE 1
Enable the differential code bias
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2.30 DLLTIMECONST
Sets carrier smoothing
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command sets the amount of carrier smoothing performed on the code measurements. An input value of 100 corresponds to approximately 100 seconds of smoothing. Upon issuing the command, the locktime (amount of continuous tracking in seconds) for all tracking satellites is reset to zero and each code smoothing filter is restarted. You must wait for at least the length of smoothing time for the new smoothing constant to take full effect. The optimum setting for this command depends on the application.
1. This command may not be suitable for every GNSS application.
2. When using DLLTIMECONST in differential mode with the same receivers, the same setting should be used at both the base and rover station. If the base and rover stations use different types of receivers, it is recommended that you use the command default value at each receiver (DLLTIMECONST <signaltype> 100).
3. There are several considerations when using the DLLTIMECONST command:
l The attenuation of low frequency noise (multipath) in pseudorange measurements
l The effect of time constants on the correlation of phase and code observations
l The rate of "pulling-in" of the code tracking loop (step response)
l The effect of ionospheric divergence on carrier smoothed pseudorange (ramp response)
4. To get unsmoothed psuedorange measurements, choose 0 as the time constant.
The primary reason for applying carrier smoothing to the measured pseudoranges is to mitigate the high frequency noise inherent in all code measurements. Adding more carrier smoothing by increasing the DLLTIMECONST value filters out lower frequency noise, including some multipath frequencies.
There are also some adverse effects of higher DLLTIMECONST values on some performance aspects of the receiver. Specifically, the time constant of the tracking loop is directly proportional to the DLLTIMECONST value and affects the degree of dependence between the carrier phase and pseudorange information. Carrier phase smoothing of the code measurements (pseudoranges) is accomplished by introducing data from the carrier tracking loops into the code tracking system. Phase and code data, collected at a sampling rate greater than about 3 time constants of the loop, are correlated (the greater the sampling rate, the greater the correlation). This correlation is not relevant if only positions are logged from the receiver, but is an important consideration if the data is combined in some other process such as post-mission carrier smoothing. Also, a narrow bandwidth in a feedback loop impedes the ability of the loop to track step functions. Steps in the pseudorange are encountered during initial lock-on of the satellite and when working in an environment conductive to multipath. A low DLLTIMECONST value allows the receiver to effectively adapt to these situations.
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Also, increased carrier smoothing may cause problems when satellite signals are strongly affected by the ionosphere. The rate of divergence between the pseudoranges and phase-derived ranges is greatest when a satellite is low in the sky since the GPS signal must travel through a much "thicker" ionosphere. The tracking error of the receiver is greatest at these times when a lot of carrier smoothing is implemented. In addition, changing periods of ionospheric activity (diurnal changes and the 11-year cycle) influences the impact of large DLLTIMECONST values. It is important to realize that the advantages of carrier smoothing do not come without some trade off in receiver performance. The factory default DLLTIMECONST value of 100 was selected as an optimal compromise of the above considerations. For the majority of applications, this default value should be appropriate. However, the flexibility exists to adjust the parameter for specific applications by users who are familiar with the consequences.
Message ID: 1011 Abbreviated ASCII Syntax:
DLLTIMECONST signaltype timeconst
Factory Defaults: DLLTIMECONST <signaltype> 100
Example: DLLTIMECONST GPSL2C 100
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
DLLTIMECONST header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
signal type
See Table 30: Signal Type below
Signal type
Enum 4
H
3
time const
Time constant (seconds) Ulong 4
H+4
Table 30: Signal Type
Value (Binary) Signal (ASCII)
Description
33
GPSL1CA
GPS L1 C/A-code
47
GPSL1CP
GPS L1C P-code
68
GPSL2Y
GPS L2 P(Y)-code
69
GPSL2C
GPS L2 C/A-code
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Value (Binary) Signal (ASCII)
Description
70
GPSL2P
GPS L2 P-code
103
GPSL5
GPS L5
2177
GLOL1CA
GLONASS L1 C/A-code
2211
GLOL2CA
GLONASS L2 C/A-code
2212
GLOL2P
GLONASS L2 P-code
2662
GLOL3
GLONASS L3
4129
SBASL1
SBAS L1
4194
SBASL5
SBAS L5
10433
GALE1
Galileo E1
10466
GALE5A
Galileo E5A
10499
GALE5B
Galileo E5B
10532
GALALTBOC
Galileo ALT-BOC
10565
GALE6C
Galileo E6C
10572
GALE6B
Galileo E6B
12673
BDSB1D1
BeiDou B1 with D1 navigation data
12674
BDSB1D2
BeiDou B1 with D2 navigation data
12803
BDSB2D1
BeiDou B2 with D1 navigation data
12804
BDSB2D2
BeiDou B2 with D2 navigation data
12877
BDSB3D1
BeiDou B3 with D1 navigation data
12880
BDSB3D2
BeiDou B3 with D2 navigation data
12979
BDSB1C
BeiDou B1C
13012
BDSB2A
BeiDou B2a
14753
QZSSL1CA
QZSS L1 C/A-code
14760
QZSSL1CP
QZSS L1C P-code
14787
QZSSL2CM
QZSS L2 C/A-code
14820
QZSSL5
QZSS L5
14891
QZSSL6P
QZSS L6P
19073
NAVICL5SPS
NavIC L5 SPS
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2.31 DNSCONFIG
Manually configures Ethernet DNS servers
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
This command is part of the Ethernet set up. It is used to configure the Domain Name Servers (DNS) so that host names can be used instead of IP addresses.
The DNSCONFIG command configures a DNS server for the Ethernet interface, ETHA.
The DNSCONFIG command will fail if the IP address for the Ethernet interface, ETHA, is configured to use DHCP. Ensure the IP address for the Ethernet interface is configured to use a static IP address before entering the DNSCONFIG command.
When using DHCP, the DNS server received using DHCP is used and the DNS server configured by DNSCONFIG is ignored.
Message ID: 1244 Abbreviated ASCII Syntax:
DNSCONFIG NumDNSSservers IP
Factory Default: DNSCONFIG 0
ASCII Example: DNSCONFIG 1 192.168.1.5
Field Field Type
ASCII Binary Value Value
1
DNSCONFIG Header
-
-
0
0
2
NumDNSServers
1
1
3
IP
ddd.ddd. ddd.ddd
Data Description
Command header. See Messages on page 25 for more information.
Number of DNS servers
If this field is set to 0, an IP address is not required.
IP address of primary DNS server
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
String [16]
variable
1
H+4
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.32 DUALANTENNAPORTCONFIG
Select Dual Antenna Source Port
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command was replaced in OEM7 firmware version 7.04 (OM7MR0400RN0000). If the receiver is using OEM 7.04 or later, use the INSALIGNCONFIG command on page 895.
When the SPAN system is configured for dual antenna, it automatically attempts to connect to an ALIGN capable rover to establish dual antenna corrections. It also attempts to re-establish these corrections should they stop. The default port for connecting to the ALIGN rover is COM2. If an IMU is connected to COM2, COM1 is used instead. This command is used to designate a different serial port to be used for dual antenna positioning, or to disable this automatic configuration altogether. If automatic configuration is disabled, dual antenna corrections can still be used, but ALIGN corrections must be manually configured.
Message ID: 1356
Abbreviated ASCII Syntax: DUALANTENNAPORTCONFIG Port_Selection
Abbreviated ASCII Example: DUALANTENNAPORTCONFIG COM3
Field
Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
DUALANTENNA
1
PORTCONFIG -
-
header
Command header. See Messages on page 25 for more information.
h
0
0
NOPORT Specify which serial port
1
COM1 should be used to
communicate with an
2
COM2 external ALIGN capable
2
Port_Selection
3
COM3
receiver.
Enum 4
H
Selecting NOPORT
19
COM4 disables automatic dual
31
COM5
antenna configuration.
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2.33 DYNAMICS
Tunes receiver parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to adjust the receiver dynamics to that of an application. It is used to optimally tune receiver parameters.
The DYNAMICS command adjusts the Tracking State transition time out value of the receiver, see Table 134: Tracking State on page 694. When the receiver loses the position solution, see Table 74: Solution Status on page 436, it attempts to steer the tracking loops for fast reacquisition (5 s time-out by default). The DYNAMICS command adjusts this time-out value, effectively increasing the steering time. The three states AIR, LAND or FOOT set the time-out to 5, 10 or 20 seconds respectively.
The DYNAMICS command should only be used by advanced users. The default of AUTO should not be changed except under very specific conditions.
Message ID: 258 Abbreviated ASCII Syntax:
DYNAMICS settings
Factory Default: DYNAMICS auto
Example: DYNAMICS FOOT
Field
Field Type
ASCII Binary Value Value
1
DYNAMICS header
-
-
See Table 31:
2
settings
User Dynamics on
the next page
Description
Command header. See Messages on page 25 for more information.
Receiver dynamics based on the current environment
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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Table 31: User Dynamics
Binary ASCII
Description
Receiver is in an aircraft or a land vehicle, for example a high speed train, with
0
AIR
velocity greater than 110 km/h (30 m/s). This is also the most suitable dynamic
for a jittery vehicle at any speed.
1
LAND Receiver is in a stable land vehicle with velocity less than 110 km/h (30 m/s).
2
FOOT Receiver is being carried by a person with velocity less than 11 km/h (3 m/s).
3
AUTO Receiver monitors dynamics and adapts behavior accordingly
Qualifying North American Solar Challenge cars annually weave their way through 1000's of miles between the US and Canada. GNSS keeps them on track through many intersections on secondary highways and gives the Calgary team constant intelligence on the competition's every move. In this case, with average speeds of 46 miles/hour and at times a jittery vehicle, AIR is the most suitable dynamic.
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2.34 ECHO
Sets port echo
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to set a port to echo.
Message ID: 1247
Abbreviated ASCII Syntax: ECHO [port] echo
Factory Default: ECHO COM1 OFF ECHO COM2 OFF ECHO COM3 OFF (not supported on OEM719) ECHO COM4 OFF (OEM7600, OEM7700 and OEM7720 only) ECHO COM5 OFF (OEM7600, OEM7700 and OEM7720 only) ECHO USB1 OFF ECHO USB2 OFF ECHO USB3 OFF ECHO ICOM1 OFF (not supported on OEM719) ECHO ICOM2 OFF (not supported on OEM719) ECHO ICOM3 OFF (not supported on OEM719) ECHO ICOM4 OFF (not supported on OEM719) ECHO ICOM5 OFF (not supported on OEM719) ECHO ICOM6 OFF (not supported on OEM719) ECHO ICOM7 OFF (not supported on OEM719) ECHO SCOM1 OFF ECHO SCOM2 OFF ECHO SCOM3 OFF ECHO SCOM4 OFF
ASCII Example: ECHO COM1 ON ECHO ON
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Field
Field Type
ASCII Value
Binary Value
1
ECHO Header
-
-
See Table 32:
2
port
Communications Port
Identifiers below
OFF
0
3
echo
ON
1
Description
Command header. See Messages on page 25 for more information.
Port to configure (default = THISPORT)
Sets port echo to off Sets port echo to on
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4 Enum 4
H H+4
Table 32: Communications Port Identifiers
ASCII Port Name Binary Value
ALL
8
BT1
33
CCOM1
38
CCOM2
39
CCOM3
40
CCOM4
41
CCOM5
42
CCOM6
43
COM1
1
COM2
2
COM3
3
COM4
19
COM5
31
COM6
32
COM7
34
COM8
35
COM9
36
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ASCII Port Name Binary Value
COM10
37
ETH1
20
FILE
7
ICOM1
23
ICOM2
24
ICOM3
25
ICOM4
29
ICOM5
46
ICOM6
47
ICOM7
48
IMU
21
NCOM1
26
NCOM2
27
NCOM3
28
NOPORT
0
SCOM1
49
SCOM2
50
SCOM3
51
SCOM4
52
THISPORT
6
USB1
13
USB2
14
USB3
15
WCOM1
30
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2.35 ECUTOFF
Sets satellite elevation cut-off for GPS Satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to set the elevation cut-off angle for tracked GPS satellites. The receiver does not start automatically searching for a GPS satellite until it rises above the cut-off angle (when satellite position is known). Tracked satellites that fall below the cut-off angle are no longer tracked unless they are manually assigned (see the ASSIGN command on page 68). In either case, satellites below the ECUTOFF angle are eliminated from the internal position and clock offset solution computations. This command permits a negative cut-off angle; it could be used in these situations:
l The antenna is at a high altitude, and thus can look below the local horizon l Satellites are visible below the horizon due to atmospheric refraction
Care must be taken when using ECUTOFF command because the signals from lower elevation satellites are traveling through more atmosphere and are therefore degraded. Use of satellites below 5 degrees is not recommended.
Use the ELEVATIONCUTOFF command (see page 141) to set the cut-off angle for any system.
For dual antenna receivers, this command applies to both the primary and secondary antennas.
Message ID: 50 Abbreviated ASCII Syntax:
ECUTOFF angle
Factory Default: ECUTOFF 5.0
ASCII Example: ECUTOFF 10.0
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Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
ECUTOFF header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
angle
�90.0 degrees
Elevation cut-off angle relative to horizon
Float
4
H
A low elevation satellite is a satellite the receiver tracks just above the horizon. Generally, a satellite is considered low elevation if it is between 0 and 15 degrees above the horizon.
There is no difference between the data transmitted from a low elevation satellite and that transmitted from a higher elevation satellite. However, differences in the signal path of a low elevation satellite make their use less desirable. Low elevation satellite signals have more error due to the increased amount of atmosphere they must travel through. In addition, signals from low elevation satellites don't fit the assumption that a signal travels in air nearly the same as in a vacuum. As such, using low elevation satellites in the solution results in greater position inaccuracies.
The elevation cut-off angle is specified with ECUTOFF to ensure that noisy, low elevation satellite data below the cut-off is not used in computing a position. If post-processing data, it is still best to collect all data (even that below the cut-off angle). Experimenting with different cut-off angles can then be done to provide the best results. In cases where there are not enough satellites visible, a low elevation satellite may actually help in providing a useful solution.
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2.36 ELEVATIONCUTOFF
Sets the elevation cut-off angle for tracked satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The ELEVATIONCUTOFF command is used to set the elevation cut-off angle for tracked satellites. The receiver does not start automatically searching for a satellite until it rises above the cut-off angle (when the satellite position is known). Tracked satellites that fall below the cut-off angle are no longer tracked unless they are manually assigned (refer to the ASSIGN command on page 68). In either case, satellites below the elevation cut-off angle are eliminated from the internal position and clock offset solution computations. This command permits a negative cut-off angle and can be used in the following situations:
l The antenna is at a high altitude and thus can look below the local horizon l Satellites are visible below the horizon due to atmospheric refraction
Care must be taken when using ELEVATIONCUTOFF command because the signals from lower elevation satellites are traveling through more atmosphere and are therefore degraded. Use of satellites below 5 degrees is not recommended.
This command combines the following commands into one convenient command: ECUTOFF, GLOECUTOFF, GALECUTOFF, QZSSECUTOFF, SBASECUTOFF, BDSECUTOFF and NAVICECUTOFF.
For dual antenna receivers, this command applies to both the primary and secondary antennas.
A low elevation satellite is a satellite the receiver tracks just above the horizon. Generally, a satellite is considered low elevation if it is between 0 and 15 degrees above the horizon. There is no difference between the data transmitted from a low elevation satellite and that transmitted from a higher elevation satellite. However, differences in the signal path of a low elevation satellite make their use less desirable. Low elevation satellite signals have more error due to the increased amount of atmosphere they must travel through. In addition, signals from low elevation satellites don't fit the assumption that a signal travels in air nearly the same as in a vacuum. As such, using low elevation satellites in the solution results in greater position inaccuracies. The elevation cut-off angle is specified with the ELEVATIONCUTOFF command to ensure that noisy, low elevation satellite data below the cut-off is not used in computing a position. If post-processing data, it is still best to collect all data (even that below the cutoff angle). Experimenting with different cut-off angles can then be done to provide the best results. In cases where there are not enough satellites visible, a low elevation satellite may actually help in providing a useful solution.
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Message ID: 1735 Abbreviated ASCII Syntax:
ELEVATIONCUTOFF Constellation Angle [Reserved]
Factory default: ELEVATIONCUTOFF ALL 5.0 0
ASCII Example: ELEVATIONCUTOFF GPS 5 ELEVATIONCUTOFF ALL 5
Field Field Type
ASCII Value
ELEVATION
1
CUTOFF
-
header
Binary Value
Description
Format
Binary Bytes
Binary Offset
Command header. See
-
Messages on page 25 for -
more information.
H
0
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Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
GPS
0
Sets the cut-off angle for GPS Constellation satellites only.
GLONASS 1
Sets the cut-off angle for GLONASS constellation satellites only.
SBAS
2
Sets the cut-off angle for SBAS constellation satellites only.
Sets the cut-off angle
GALILEO 5
for Galileo constellation
2
Constellation
satellites only.
Enum 4
H
Sets the cut-off angle
BEIDOU 6
for BeiDou constellation
satellites only.
QZSS
7
Sets the cut-off angle for QZSS constellation satellites only.
NAVIC
9
Sets the cut-off angle for NavIC constellation satellites only.
Sets the cut-off angle
ALL
32
for all satellites regardless of the
constellation.
3
Angle
�90.0 degrees
Elevation cut-off angle relative to the horizon.
Float
4
H+4
4
Reserved
0
Reserved Field (optional)
Ulong 4
H+8
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2.37 ETHCONFIG
Configures Ethernet physical layer
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
This command is used to configure the Ethernet physical layer.
Message ID: 1245
Abbreviated ASCII Syntax: ETHCONFIG interface_name [speed] [duplex] [crossover] [power_mode]
Factory Default: ETHCONFIG etha auto auto auto powerdown (OEM7 receiver cards) ETHCONFIG etha auto auto auto auto (PwrPak7)
ASCII Example: ETHCONFIG etha 100 full mdix normal
Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
1
ETHCONFIG Header
-
Command header.
-
See Messages on page 25 for more
-
information.
H
0
2
interface_ name
ETHA
2
Name of the Ethernet interface
Enum
4
H
3
speed
AUTO
Auto-negotiate speed (default)
AUTO is the
recommended value
for the speed
1
parameter.
If setting speed to AUTO, duplex must Enum 4
H+4
be set to AUTO at the
same time otherwise
a "parameter 3 out of
range" error occurs.
10
2
Force 10BaseT
100
3
Force 100BaseT
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Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
4
duplex
AUTO
Auto-negotiate duplex (default)
If setting duplex to
1
AUTO, speed must be
set to AUTO at the
same time otherwise Enum 4
H+8
a "parameter 3 out of
range" error occurs.
HALF
2
Force half duplex
FULL
3
Force full duplex
AUTO
1
Auto-detect crossover (default)
5
crossover MDI
2
Force MDI (straight through)
Enum
4
H+12
MDIX
3
Force MDIX (crossover)
AUTO
1
6
power_ mode
POWERDOWN 2
Energy detect mode (default for PwrPak7)
Soft power down mode (default for
Enum 4
OEM7 receiver cards)
H+16
NORMAL
3
Normal mode
The crossover parameter is ignored on OEM7 receivers, as the hardware automatically detects the cable connection and configures the interface for proper communication. For backwards compatibility, the crossover options are still accepted, but have no functional impact.
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2.38 EVENTINCONTROL
Controls Event-In input triggers
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command controls up to four Event-In input triggers. Each input can be used as an event strobe. When used as an event strobe, an accurate GPS time or position is applied to the rising or falling edge of the input event pulse (refer to the MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME log on page 596, MARKPOS, MARK2POS, MARK3POS and MARK4POS log on page 593 or MARK1PVA, MARK2PVA, MARK3PVA and MARK4PVA log on page 1003). Each input strobe is usually associated with a separate device, therefore different solution output lever arm offsets can be applied to each strobe. When used as an Event Input Trigger, it is possible to overwhelm the receiver with a very high rate of input events that impacts the performance of the receiver. For this reason, the receiver internally throttles the rate at which it responds to input events. The limit is 200 Hz.
Message ID: 1637
Abbreviated ASCII Syntax:
EVENTINCONTROL mark switch [polarity] [t_bias] [t_guard]
ASCII Example:
EVENTINCONTROL MARK1 ENABLE
Field
Field Type
ASCII Value
EVENTIN
1
CONTROL -
header
MARK1
MARK2
2
mark
MARK3
MARK4
DISABLE
EVENT
3
switch
ENABLE
Binary Value
Description
Command header. See
-
Messages on page 25 for
more information.
0
Choose which Event-In
Mark to change. This value
1
must be specified.
Note: MARK3 and MARK4
2
are available only on
OEM7600, OEM7700 and
3
OEM7720 receivers.
0
Disables Event Input
1
Enables Event Input
A synonym for the EVENT
3
option (for compatibility
with previous releases)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
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Field
Field Type
4
polarity
5
t_bias
6
t_guard
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
NEGATIVE 0 POSITIVE 1
Negative polarity (default) Enum 4
Positive polarity
H+8
default: 0 minimum: 999,999,999 maximum: 999,999,999
A constant time bias in
nanoseconds can be
applied to each event
pulse. Typically this is used
to account for a transmission delay.
Long
4
This field is not used if the switch field is set to COUNT.
H+12
default: 4 minimum: 2 maximum: 3,599,999
The time guard specifies the minimum number of milliseconds between pulses. This is used to coarsely filter the input pulses.
If Field 3 is COUNT, this field is not used.
Ulong 4
H+16
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2.39 EVENTOUTCONTROL
Control Event-Out properties
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command configures up to seven Event-Out output strobes. The event strobes toggle between 3.3 V and 0 V. The pulse consists of two periods: one active period followed by a not active period. The start of the active period is synchronized with the top of the GNSS time second and the signal polarity determines whether the active level is 3.3 V or 0 V. The not active period immediately follows the active period and has the alternate voltage.
The outputs that are available vary according to the platform.
A 100 MHz clock is used internally to create these output signals. As a result, all period values are limited to 10 ns steps.
The EVENTOUT outputs cannot synchronize with GPS time until the receiver reaches FINESTEERING time status. As the receiver transitions to GPS time, there may be additional, unexpected pulses on the EVENTOUT signals.
Message ID: 1636 Abbreviated ASCII Syntax:
EVENTOUTCONTROL mark switch [polarity] [active_period] [non_active_period]
ASCII Example: EVENTOUTCONTROL MARK3 ENABLE
Field
Field Type
ASCII Value
EVENTOUT
1
CONTROL -
header
Binary Value
Description
Command header. See
-
Messages on page 25 for
more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
2
mark
3
switch
4
polarity
5
active_ period
non_
6
active_
period
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
MARK1
0
MARK2
1
Choose which Event-Out Mark to change. This value must be specified.
MARK3
2
Note: On OEM719 and OEM729 receivers, only
MARK4
3
MARK1 is available.
Enum 4
H
MARK5
4
MARK6
5
MARK7
6
Note: On OEM7600, OEM7700 and OEM7720 receivers, only MARK1 through MARK4 are available.
DISABLE 0 ENABLE 1
Disables the Event output Enum 4
Enables the Event output
H+4
NEGATIVE 0 POSITIVE 1
Negative polarity (active
= 0V)
(default)
Enum 4
Positive polarity (active = 3.3V)
H+8
default: 500,000,000 minimum: 10 maximum: 999,999,990
Active period of the Event Out signal in nanoseconds.
10ns steps must be used.
Note: If the value
Ulong 4
entered is not a multiple
of 10, it will be rounded
down to the nearest 10
ns.
H+12
default: 500,000,000 minimum: 10 maximum: 999,999,990
Non-active period of the Event Out signal in nanoseconds.
10 ns steps must be used.
Note: If the value
Ulong 4
entered is not a multiple
of 10, it will be rounded
down to the nearest 10
ns.
H+16
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The sum of the active period and inactive period should total 1,000,000,000 ns. If the total exceeds one full second, the active period duration will be as given and the inactive period will be the remainder of the second. Alternately, the sum of the active and inactive periods may be less than 1,000,000,000 ns, but should divide evenly into 1,000,000,000 ns. For example, if the active period is 150,000,000 and the inactive period is 50,000,000, the sum of the periods is 200,000,000 ns which divides evenly into one full second. If the sum is less than one full second and not an even multiple, the last active or inactive period is stretched or truncated to equal one full second. A 100 MHz clock is used internally to create these output signals. As a result, all period values are limited to 10 ns steps.
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2.40 EXTERNALCLOCK
Sets external clock parameters
Platform: OEM729 The EXTERNALCLOCK command is used to enable the OEM7 card to operate with an optional external oscillator. You are able to optimally adjust the clock model parameters of these receivers for various types of external clocks.
1. This command affects the interpretation of the CLOCKMODEL log. 2. If the EXTERNALCLOCK command is enabled and set for an external clock (TCXO,
OCXO, RUBIDIUM, CESIUM or USER) and the CLOCKADJUST command (see page 105) is ENABLED, then the clock steering process takes over the VARF output pins and may conflict with a previously entered FREQUENCYOUT command (see page 176). If clocksteering is not used with the external oscillator, the clocksteering process must be disabled by using the CLOCKADJUST disable command. 3. When using the EXTERNALCLOCK command and CLOCKADJUST command together, issue the EXTERNALCLOCK command first to avoid losing satellites.
There are three steps involved in using an external oscillator: 1. Follow the procedure outlined in the OEM7 Installation and Operation User Manual to connect
an external oscillator to the OEM7. 2. Using the EXTERNALCLOCK command, select a standard oscillator and its operating fre-
quency. 3. Using the CLOCKADJUST command, disable the clocksteering process if external clock-
steering is not used. An unsteered oscillator can be approximated by a three-state clock model, with two states representing the range bias and range bias rate, and a third state assumed to be a Gauss-Markov (GM) process representing the range bias error generated from satellite clock dither. The third state is included because the Kalman filter assumes an (unmodeled) white input error. The significant correlated errors produced by satellite clock dither are obviously not white and the Markov process is an attempt to handle this kind of short term variation. The internal units of the new clock model's three states (offset, drift and GM state) are metres, metres per second and metres. When scaled to time units for the output log, these become seconds, seconds per second and seconds, respectively. The user has control over 3 process noise elements of the linear portion of the clock model. These are the h0, h-1 and h-2 elements of the power law spectral density model used to describe the frequency noise characteristics of oscillators:
where f is the sampling frequency and Sy(f) is the clock's power spectrum. Typically only h0, h1, and h-2 affect the clock's Allan variance and the clock model's process noise elements. Before using an optional external oscillator, several clock model parameters must be set. There are default settings for a Voltage-Controlled Temperature-Compensated Crystal Oscillator (VCTCXO), Ovenized Crystal Oscillator (OCXO), Rubidium and Cesium standard, which are given
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in Table 33: Clock Type on the next page. You may alternatively choose to supply customized settings.
The EXTERNALCLOCK command determines whether the receiver uses its own internal temperature-compensated crystal oscillator or that of an external oscillator as a frequency reference. It also sets which clock model is used for an external oscillator.
To force the OEM7 to use the internal oscillator, use the EXTERNALCLOCK disable command and physically disconnect the external oscillator input. Do not use the EXTERNALCLOCK OCXO, CESIUM, RUBIDIUM or USER parameters if there is no external oscillator connected to the OEM7.
Message ID: 230 Abbreviated ASCII Syntax:
EXTERNALCLOCK clocktype [freq] [h0[h-1[h-2]]]
Factory Default: EXTERNALCLOCK disable
ASCII Examples: EXTERNALCLOCK USER 10MHZ 1.0167e-23 6.87621e-25 8.1762e-26 EXTERNALCLOCK TCXO 5MHZ
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
EXTERNAL
1
CLOCK
-
-
header
Command header. See
Messages on page 25 for
-
more information.
H
0
See Table 33:
2
clocktype Clock Type on Clock type
the next page
Enum 4
H
3
freq
5MHz 1 10MHz 2
Optional frequency. If a value is not specified, the default is Enum 4 5 MHz
H+4
4
h0
5
h-1
6
h-2
1.0 e-35 to 1.0 e-18
1.0 e-35 to 1.0 e-18
1.0 e-35 to 1.0 e-18
Optional timing standards.
These fields are only valid when the USER clocktype is
Double 8
selected. Do not use h values
with VCTCXO, OCXO, CESIUM
or RUBIDIUM clock types. The Double 8
h values for these options are
fixed, see Table 34: Pre-
Defined Values for Oscillators
on the next page
Double 8
(default=0.0)
H+8 H+16 H+24
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Table 33: Clock Type
ASCII Binary
Description
DISABLE TCXO
Turns the external clock input off, reverts back to the on-board VCTCXO.
0
When used in a binary command, use the parameter defaults (i.e. freq=1,
h0=0, h-1=0, h-2=0).
1
Sets the predefined values for a VCTCXO
OCXO
2
Sets the predefined values for an OCXO
RUBIDIUM
3
Sets the predefined values for a rubidium oscillator
CESIUM
4
Sets the predefined values for a cesium oscillator
USER
5
Defines custom process noise elements
Table 34: Pre-Defined Values for Oscillators
Clock Type VCTCXO
h0 1.0 e-21
h -1 1.0 e-20
h -2 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
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2.41 FILEAUTOTRANSFER
Enables/Disables automatic file transfer
Platform: PwrPak7 Use this command to configure the automatic transfer function from internal memory to an external USB stick. If the mode is set to COPY or MOVE, all log files, except the file currently being logged to, will be automatically transferred to a USB stick when the USB stick is inserted. This command will transfer all recorded log files to the USB stick provided the USB stick has enough free space to hold all the data. Files too large to fit in the remaining space on the USB stick are skipped. The command must be issued before the USB stick is inserted. If the command is not issued first, the USB stick must be removed and reinserted to trigger the auto transfer. The status of the transfer can be viewed by logging the FILETRANSFERSTATUS log (see page 477). A transfer in progress can be canceled by issuing the FILETRANSFER CANCEL command. The settings for this command can be saved using the SAVECONFIG command (see page 321).
Message ID: 2135
Abbreviated ASCII Syntax: FILEAUTOTRANSFER [FileAutoTransferMode]
ASCII Example: FILEAUTOTRANSFER COPY
Field
Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
1
FILEAUTOTRANSFER header
-
-
Command header.
See Messages on page 25 for more
-
information.
H
0
Automatic
1
OFF
copy/move is
disabled (default)
2
COPY
Automatically copies all files
2
FileAutoTransferMode
Ulong 4
H
Automatically
copies all files and
3
MOVE
then deletes them from internal
memory after a
successful copy
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For the fastest transfer of files to an external memory stick, it is recommended that logging to a file be stopped.
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2.42 FILECONFIG
Open or close a log file
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
To record logs, log requests are sent to the FILE port. Before the logs sent to the FILE port can be saved in a file, the file must be opened using the FILECONFIG command. When configured to be open, a log file will be opened when the active file media is ready and has sufficient space. Once a log file is opened, any logs requested for the FILE port are recorded to the file. Use the FILESTATUS log (see page 471) to determine the state of the log file.
The file media is separately configured: l On core cards, this is always USBSTICK, which is the only media available. l On Enclosure products, the active file media is configured using a product-specific command, such as FILEMEDIACONFIG command on page 159.
When a file is opened, the file name is automatically generated based on the following format: <PSN>_<INDEX>.LOG where:
l <PSN> is the PSN of the receiver l <INDEX> is a number from 1 to 511.
The lowest number that produces an unused file name is selected. If there is no such number available, the FILESTATUS log (see page 471) will report an error. The number is not zero-padded (i.e. the sequence is as follows: 1,2, ... ,9,10,11,12, ... ,99,100, ... , 510,511). When a file is closed and the receiver has a valid time, the file is renamed based on the following format: <PSN>_<UTC Date>_<UTC Time>.LOG where: l <PSN> is the PSN of the receiver l <UTC_Date> is the UTC date in the format YYYY-MM-DD l <UTC_Time> is the UTC time in the format HH-MM-SS Example file name: NOV12001200A_2017-01-10_12-14-34.LOG When a file is closed, but the receiver does not have a valid time, the file is left with its automatically generated name. Other Notes: l The FILE port represents the internal logging to flash memory. It has a NOVATEL Interface Mode - output only, no input is possible. l Only logs that are published after the log file is open are recorded.
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l Only one log file can be open at a time. l Logs requested to the FILE port are still produced even if the log file is closed; however the
logs are not recorded. (This is similar to requesting logs to COM4 when there's no cable on COM4.) If a new log file is opened, recording of the previously requested logs continues with the new file. l When a file is closed, the log file is renamed to the format <PSN>_<UTC Date>_<UTC Time>.LOG, where the UTC time is the time when the file is closed. If the time is not available, the file is not renamed. If there is already a file with the intended name, the file is not renamed. l After closing a file, the file system will be flushed to ensure that all data is written to the media. l A disk is considered "full" when is has <= 10 MB of free space. This buffer is left in place to allow the system time and space to open up a new file if required.
Message ID: 2116
Abbreviated ASCII Syntax: FILECONFIG FileOperation
Factory Default: FILECONFIG CLOSE
Example: FILECONFIG OPEN
Field
Field Type
ASCII Binary Value Value
Description
1
FILECONFIG header
-
-
Command header. See Messages on page 25 for more information.
1
2
FileOperation
2
OPEN CLOSE
Open (create) a new logging file
Close the logging file
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.43 FILEDELETE
Deletes files from the currently selected mass storage device
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to delete a single file, or use the wild card symbol (*) to delete all files, from the logging directory of the currently selected file media. This command will not delete a file if it is currently open for logging. Use the FILESTATUS log (see page 471) to determine the state of the log file.
The wild card symbol deletes all files in the directory. It cannot be used to delete a subset of the files in the directory. For example, the command FILEDELETE *.LOG will be rejected by the receiver.
The file media is separately configured:
l On receiver cards, the file media is always USBSTICK, which is the only media available.
l On enclosure products, the active file media is configured using a product-specific command, such as FILEMEDIACONFIG command (see page 159).
The list of files stored on the currently selected file media can be retrieved using the FILELIST log on page 469.
Message ID: 2190
Abbreviated ASCII Syntax: FILEDELETE FileName
Example:
FILEDELETE NMNE17130016A_2017-12-11_18-17-06.LOG NMNE17130016A_2017-12-11_18-17-06.LOG
� Delete the file
Field Field Type
Description
1
FILEDELETE Command header. See Messages on
header
page 25 for more information.
2
FileName
Name of file to delete, or the wild card symbol (*)
Format
Binary Bytes
Binary Offset
H
0
String (Max 128)
variable
1
H
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.44 FILEMEDIACONFIG
Specify the file media
Platform: PwrPak7 Use this command to specify which storage media is used for File operations. To determine what storage device is currently being used for File operations, log this command. For example:
LOG FILEMEDIACONFIG
On OEM7 receiver cards, the file media is always USBSTICK, which is the only media available. On PwrPak7 products, the active file media is configured using the FILEMEDIACONFIG command.
Message ID: 2117 Abbreviated ASCII Syntax:
FILEMEDIACONFIG MassStorage
ASCII Example: FILEMEDIACONFIG INTERNAL_FLASH FILEMEDIACONFIG USBSTICK
� Use internal flash as the media � Use a USB stick as the media
Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
1
FILEMEDIACONFIG header
-
-
Command
header. See
Messages on
-
page 25 for more
information.
H
0
Use a USB stick
1
USBSTICK as the mass
storage device
2
MassStorageDevice
Use Internal
Enum 4
H
2
INTERNAL_ storage as the
FLASH
mass storage
device
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2.45 FILEROTATECONFIG
Set the maximum size and duration of a log file
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to configure the maximum size and duration for a log file. This command also configures the action taken when the log file media is full. A file rotation is when a new file is opened, the currently opened file is closed and logging on the FILE port is rerouted to this new file. There is no data loss during this process and individual logs within the file are not spread between log files.
Message ID: 2133
Abbreviated ASCII Syntax: FILEROTATECONFIG [MaxFileTime] [MaxFileSize] [DiskFullAction]
Factory Default: FILEROTATECONFIG 0 4096 STOP
Example: FILEROTATECONFIG 2 4096 STOP The file is left open for 2 hours or until the file size reaches 4096 MB. When the log file media is full, the file is closed. FILEROTATECONFIG 4 4096 OVERWRITE The file is left open for 4 hours or until the file size reaches 4096 MB. When the log media file is full, the oldest file on the log media file will be deleted.
Field
Field Type
ASCII Value
Binary Value
FILEROTATE
1
CONFIG
-
-
header
2
MaxFileTime 0 to 24
Description
Format
Binary Bytes
Binary Offset
Command header.
See Messages on page 25 for more
-
information.
H
0
Maximum number of
hours to leave a file
open before
triggering a file
rotation. Set to 0 for no
Ushort 2
H
maximum time.
Maximum value is 24.
Default is 0.
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Field
Field Type
ASCII Value
Binary Value
3
MaxFileSize 1 to 4096
Description
Format
Binary Bytes
Binary Offset
Maximum number of
mega bytes (MB) for
the file size. A file
rotation is triggered
when the file is within
1 MB of this size.
Ushort 2
Maximum value is 4096 MB
Default is 4096 MB (4 GB).
H+2
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Field
Field Type
ASCII Value
Binary Value
4
DiskFullAction 0
STOP
Description
Stops logging when the file media has 1 MB of free space or less. Default is STOP.
Format
Binary Bytes
Binary Offset
Enum 4
H+4
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Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
Deletes the oldest log file when the file media has 10 MB of free space or less.
To be selected for deletion a file must satisfy these requirements:
l The file must use the FILECONFIG command (see page 156) file name format.
l The <PSN> value must match the current receiver.
File age is
1
OVERWRITE determined using the
FILECONFIG
command (see page
156) file name
format.
l Temporary files (i.e. those with an <INDEX> value) are considered oldest. Such files will be sorted by their <INDEX> value with lower values considered older.
l Non-temporary files will be sorted by the date reported in the file format.
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2.46 FILETRANSFER
Copy files from internal memory
Platform: PwrPak7 Use this command to copy files from internal memory to a USB stick. This command can also be used to cancel the file transfer in progress.
This command returns a response immediately to show that the copy/move operation started. However, the actual transfer of files will take some time. Use the FILETRANSFERSTATUS log (see page 477) to monitor the status of the file transfer.
To view the names of the files in memory, log the FILELIST log (see page 469).
Message ID: 2109
Abbreviated ASCII Syntax: FILETRANSFER FileTransferOperation <FileName>
ASCII Examples:
FILETRANSFER COPY ALL
� Copies all files on internal memory
FILETRANSFER MOVE BMHR16460033T_2017-3-16_21-18-48.log
FILETRANSFER CANCEL
� Cancels file transfer operation
Field
Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
1
FILETRANSFER header
-
-
Command
header. See
Messages on
-
page 25 for more
information.
H
0
1
COPY Copy the file
Copy the file and
2
MOVE
then delete file from internal
2
FileTransferOperation
memory
Enum 4
H
Cancels the file
3
CANCEL
transfer currently in
progress
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Field
Field Type
3
FileName
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
The name of the file to be moved or copied.
To move or copy all of the files on internal memory, use ALL.
String
Variable H+4
When a FILETRANSFER CANCEL ALL command is issued, the file currently being transferred, and any pending files, are not transferred to the destination media. Any files already transferred are unaffected.
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2.47 FIX
Constrains to fixed height or position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to fix height or position to the input values. For various applications, fixing these values can assist in improving acquisition times and accuracy of position or corrections. For example, fixing the position is a requirement for differential base stations as it provides the reference position to base the differential corrections from. If you enter a FIXPOSDATUM command (see page 170), the FIX command is then issued internally with the FIXPOSDATUM command (see page 170) values translated to WGS84. It is the FIX command that appears in the RXCONFIG log. If the FIX command or the FIXPOSDATUM command (see page 170) are used, their newest values overwrite the internal FIX values.
1. It is strongly recommended that the FIX POSITION entered be accurate to within a few metres. This level of accuracy can be obtained from a receiver using single point positioning once 5 or 6 satellites are being tracked.
2. FIX POSITION should only be used for base station receivers. Applying FIX POSITION to a rover switches it from RTK mode to a fixed position mode. Applying FIX POSITION to the rover does not speed up ambiguity resolution.
3. Any setting other than FIX POSITION disables output of differential corrections unless the MOVINGBASESTATION command (see page 244) is set to ENABLE.
4. You can fix the position of the receiver using latitude, longitude and height in Mean Sea Level (MSL) or ellipsoidal parameters depending on the UNDULATION setting. The factory default for the UNDULATION command (see page 383) setting is EGM96, where the height entered in the FIX command is set as MSL height. If you change the UNDULATION setting to USER 0, the height entered in the FIX command is set as ellipsoidal height (refer to Table 35: FIX Parameters on the next page).
Error checking is performed on the entered fixed position by the integrity monitor. Depending on the result of this check, the position can be flagged with the following statuses.
l SOL_COMPUTED: The entered position has been confirmed by measurement. l PENDING: Insufficient measurements are available to confirm the entered position. l INTEGRITY_WARNING: First level of error when an incorrect position has been entered. The
fixed position is off by approximately 25-50 meters. l INVALID_FIX: Second level of error when an inaccurate position has been entered. The fixed
position is off by a gross amount.
An incorrectly entered fixed position will be flagged either INTEGRITY_WARNING or INVALID_FIX. This will stop output of differential corrections or RTK measurements and can affect the clock steering and satellite signal search. Checks on the entered fixed position can be disabled using the RAIMMODE command (see page 294).
Message ID: 44
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Abbreviated ASCII Syntax: FIX type [param1 [param2 [param3]]]
Factory Default: FIX none
ASCII Example: FIX none FIX HEIGHT 4.567 FIX position 51.116 -114.038 1065.0
In order to maximize the absolute accuracy of RTK rover positions, the base station coordinates must be fixed to their known position using the FIX POSITION [lat][lon] [hgt] command.
Field
Field Type
ASCII Binary Value Value
Description
1
FIX header
-
-
Command header. See Messages on page 25 for more information.
See Table 36: Fix
2
type
Types on the next Fix type
page
3
param1
Parameter 1
4
param2
See Table 35: FIX Parameters below
Parameter 2
5
param3
Parameter 3
ASCII Type Name AUTO
HEIGHT
NONE
Table 35: FIX Parameters
Parameter 1
Parameter 2
Not used Default MSL height 1 (-1000 to 20000000 m) Not used
Not used Not used Not used
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
Double 8 Double 8 Double 8
H
H+4 H + 12 H + 20
Parameter 3 Not used Not used Not used
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ASCII Type Name
Parameter 1
POSITION
Lat (-90 to 90 degrees) where a `-' sign denotes south and a `+' sign denotes north
Parameter 2
Parameter 3
Lon (-360 to 360 degrees) where a `-' sign denotes west and a `+' sign denotes east
Default MSL height 1 (-1000 to 20000000 m)
For a discussion on height, refer to An Introduction to GNSS available on our website.
ASCII Name NONE AUTO
HEIGHT
Table 36: Fix Types
Binary Value
Description
0
Unfix. Clears any previous FIX commands
Configures the receiver to fix the height at the last calculated value if the
1
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
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,
2
see the BESTPOS log on page 433 (is in metres). The receiver is capable of
receiving and applying differential corrections from a base station while fix
height is in effect. The fix height command overrides any previous FIX
HEIGHT or FIX POSITION command.
Note: This command only affects pseudorange corrections and solutions.
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ASCII Binary Name Value
Description
Configures the receiver with its position fixed. This command is used when it is necessary to generate differential corrections.
For both pseudorange and differential corrections, this command must be properly initialized before the receiver can operate as a GNSS base station. Once initialized, the receiver computes differential corrections for each satellite being tracked. The computed differential corrections can then be output to rover stations using the RTCMV3 differential corrections data log format. See the OEM7 Installation and Operation User Manual for information about using the receiver for differential applications.
POSITION
3
The values entered into the fix position command should reflect the precise position of the base station antenna phase center. Any errors in the fix
position coordinates directly bias the corrections calculated by the base
receiver.
The receiver performs all internal computations based on WGS84 and the DATUM command (see page 119) is defaulted as such. The datum in which you choose to operate (by changing the DATUM command (see page 119)) is internally converted to and from WGS84. Therefore, all differential corrections are based on WGS84, regardless of your operating datum.
The FIX POSITION command overrides any previous FIX HEIGHT or FIX POSITION command settings.
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2.48 FIXPOSDATUM
Sets position in a specified datum
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to set the FIX position in a specific datum. The input position is transformed into the same datum as that in the receiver's current setting. The FIX command (see page 166) is then issued internally with the FIXPOSDATUM command values. It is the FIX command (see page 166) that appears in the RXCONFIG log (see page 764). If the FIX command (see page 166) or the FIXPOSDATUM command are used, their newest values overwrite the internal FIX values.
Message ID: 761
Abbreviated ASCII Syntax: FIXPOSDATUM datum lat lon height
Factory Default: fix none
ASCII Example: FIXPOSDATUM USER 51.11633810554 -114.03839550586 1048.2343
Use the FIXPOSDATUM command in a survey to fix the position with values from another known datum, rather than manually transforming them into WGS84.
Field
Field Type
ASCII Value
Binary Value
FIXPOS
1
DATUM -
-
header
See Table 29: Datum
2
datum
Transformation Parameters on
page 121
3
lat
�90
4
lon
�360
5
height -1000 to 20000000
Description
Format
Binary Bytes
Binary Offset
Command header. See Messages on page 25 for more information.
H
0
Datum ID
Enum 4
H
Latitude (degrees)
Longitude (degrees)
Mean sea level (MSL) height (m)
Double 8 Double 8 Double 8
H+4 H+12 H+20
For a discussion on height, refer to An Introduction to GNSS available on our website.
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2.49 FORCEGALE6CODE
Force receiver to track Galileo E6C or E6B signal
Platform: OEM719, OEM729, OEM7700, PwrPak7 Use this command to force Galileo E6 channels to track E6B or E6C.
Message ID: 2222
Abbreviated ASCII Syntax: FORCEGALE6CODE E6codetype
Factory Default: FORCEGALE6CODE E6B
Field
Field Type
ASCII Binary Value Value
Description
1
FORCEGALE6CODE -
-
Command header. See Messages on page 25 for more information.
2
E6codetype
E6B 0 E6C 1
Galileo E6 code type (default = E6B)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.50 FORCEGLOL2CODE
Forces receiver to track GLONASS satellite L2 P or L2 C/A code
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is used to force the receiver to track GLONASS satellite L2 P-code or L2 C/A code. This command has no effect if the channel configuration contains both GLONASS L2 P and L2 C/A channels.
Message ID: 1217
Abbreviated ASCII Syntax: FORCEGLOL2CODE L2type
Factory Default: FORCEGLOL2CODE default
ASCII Example: FORCEGLOL2CODE p
Field
Field Type
ASCII Binary Value Value
FORCEGLO
1
L2CODE -
-
header
See Table 37:
2
L2type
GLONASS L2 Code
Type below
Description
Command header. See Messages on page 25 for more information.
GLONASS L2 code type
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Table 37: GLONASS L2 Code Type
Binary ASCII
Description
1
P
L2 P-code or L2 Precise code
2
C
L2 C/A code or L2 Coarse/Acquisition code
3
DEFAULT Set to channel default
The following table lists which L2 signal is tracked based on the channel configuration and the setting used for the L2type parameter.
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Table 38: Signals Tracked � Channel Configuration and L2type Option
Channel Configuration for L2 Signal
L2type Setting
P
C DEFAULT
L2
P
C
P
L2C
P
C
C
L2PL2C
Both Both Both
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2.51 FORCEGPSL2CODE
Forces receiver to track GPS satellite L2 P or L2C code
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is used to force the receiver to track GPS L2 P-code or L2C code. AUTO tells the receiver to use L2C code type if available and L2 P-code if L2C code is not available. This command has no effect if the channel configuration contains both GPS L2 P and L2 C channels.
Message ID: 796
Abbreviated ASCII Syntax: FORCEGPSL2CODE L2type
Factory Default: FORCEGPSL2CODE default
ASCII Example: FORCEGPSL2CODE p
Field
Field Type
ASCII Binary Value Value
Description
FORCEGPS
Command header. See
1
L2CODE -
-
Messages on page 25 for
header
more information.
See Table 39:
2
L2type
GPS L2 Code
GPS L2 code type
Type below
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Table 39: GPS L2 Code Type
Binary ASCII
Description
Receiver uses the L2C if available and L2 P otherwise. An exception is when
the receiver is doing RTK positioning. In that case, AUTO changes the L2 code
0
AUTO type being tracked to match the L2 code type found in the base station
corrections, which ensures the greatest number of satellites are used in the
solution.
1
P
L2 P-code or L2 Precise code
2
C
L2C code or L2 Civilian code
3
DEFAULT Set to channel default
The following table lists which L2 signal is tracked based on the channel configuration and the setting used for the L2type parameter.
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Table 40: Signals Tracked � Channel Configuration and L2type Option
Channel Configuration for L2 Signal L2
L2C
L2P
L2AUTO
L2PL2C
Auto
C if available, P(Y) otherwise C if available, P(Y) otherwise C if available, P(Y) otherwise C if available, P(Y) otherwise Both
L2type Setting
P
C
DEFAULT
P(Y) C
P(Y)
P(Y) C
C
P(Y) C
P(Y)
P(Y) C
C if available, P(Y) otherwise
Both Both Both
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2.52 FREQUENCYOUT
Sets output pulse train available on VARF
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is used to set the output pulse train available on the Variable Frequency (VARF) or EVENT_OUT1 pin. The output waveform is coherent with the 1PPS output, see the usage note and Figure 4: Pulse Width and 1PPS Coherency on the next page.
If the CLOCKADJUST command (see page 105) command is ENABLED and the receiver is configured to use an external reference frequency (set in the EXTERNALCLOCK command (see page 151) for an external clock - TCXO, OCXO, RUBIDIUM, CESIUM, or USER), then the clock steering process takes over the VARF output pins and may conflict with a previously entered FREQUENCYOUT command.
Figure 4: Pulse Width and 1PPS Coherency on the next page shows how the chosen pulse width is frequency locked but not necessarily phase locked when using ENABLE option. To synchronize the phase, use ENABLESYNC option.
The EVENTOUT outputs cannot synchronize with GPS time until the receiver reaches FINESTEERING time status. As the receiver transitions to GPS time, there may be additional, unexpected pulses on the EVENTOUT signals.
Message ID: 232
Abbreviated ASCII Syntax: FREQUENCYOUT [switch] [pulsewidth] [period]
Factory Default: FREQUENCYOUT disable
ASCII Example: FREQUENCYOUT ENABLE 2 4
This example generates a 50% duty cycle 25 MHz square wave.
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When using ENABLE option, the VARF and 1PPS are not necessarily in phase as described in Figure 4: Pulse Width and 1PPS Coherency above. To align the phase of the VARF with the 1PPS, use the ENABLESYNC option and the VARF phase will be synchronized to the leading edge of the 1PPS pulse. Note that if the VARF and 1PPS frequencies are not even multiples of each other, this may cause the VARF to have a shorter cycle pulse prior to each 1PPS pulse. 1PPS is not affected.
Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
FREQUENCYOUT header
-
Command header.
-
See Messages on page 25 for more
-
information.
H
0
DISABLE 0
Disable causes the output to be fixed low (if NONE specified, defaults to DISABLE)
2
switch
ENABLE 1
Enables customized Enum 4 frequency output
H
ENABLE SYNC
2
Enable customized frequency output synchronized to PPS
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Field Field Type
3
pulsewidth
4
period
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
Number of 10 ns steps for which the output is high.
Duty cycle =
pulsewidth / period. If
pulsewidth is greater
(0 to 1073741823) than or equal to the
Ulong 4
period, the output is a
high DC signal. If
pulsewidth is 1/2 the
period, then the
output is a square
wave (default = 0)
H+4
Signal period in 10 ns steps.
(0 to 1073741823) Frequency Output = Ulong 4 100,000,000 / Period
(default = 0)
H+8
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2.53 FRESET
Clears selected data from NVM and reset
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to clear data which is stored in non-volatile memory. Such data includes the almanac, ephemeris, and any user specific configurations. The commands, ephemeris, almanac, and L-Band related data, excluding the subscription information, can be cleared by using the STANDARD target. The receiver is forced to reset.
FRESET STANDARD (which is also the default) causes most commands, ephemeris, GNSS and almanac data previously saved to NVM to be erased.
The FRESET STANDARD command will erase all user settings. You should know your configuration (by requesting the RXCONFIG log on page 764) and be able to reconfigure the receiver before you send the FRESET command.
Message ID: 20 Abbreviated ASCII Syntax:
FRESET [target]
Input Example: FRESET COMMAND
Field
Field Type
ASCII Value
Binary Value
1
FRESET header
-
-
See Table 41:
2
target FRESET Target on
the next page
Description
Command header. See Messages on page 25 for more information.
What data is to be reset by the receiver (default = STANDARD)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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If you are receiving no data or random data from your receiver, try the following before contacting NovAtel:
l Verify that the receiver is tracking satellites by logging the TRACKSTAT log (see page 859) and checking that the receiver is tracking at least four satellites.
l Check the integrity and connectivity of power and data cables
l Verify the baud rate settings of the receiver and terminal device (your PC, data logger or laptop)
l Switch COM ports
l Issue the FRESET command.
Table 41: FRESET Target
Binary
ASCII
Description
0
STANDARD
Resets commands (except CLOCKCALIBRATION and MODEL), ephemeris and almanac (default).
Also resets all L-Band related data except for the subscription information.
Does not reset the Ethernet settings or stored Profile configurations.
1
COMMAND
Resets the stored commands (saved configuration)
2
GPSALMANAC
Resets the stored GPS almanac
3
GPSEPHEM
Resets the stored GPS ephemeris
4
GLOEPHEM
Resets the stored GLONASS ephemeris
5
MODEL
Resets the currently selected model
10 USERDATA
Resets the user data saved using the NVMUSERDATA command (see page 258)
11
CLKCALIBRATION
Resets the parameters entered using the CLOCKCALIBRATE command (see page 107)
20 SBASALMANAC
Resets the stored SBAS almanac
21 LAST_POSITION Resets the position using the last stored position
31 GLOALMANAC
Resets the stored GLONASS almanac
39 GALFNAV_EPH
Resets the stored GALFNAV ephemeris
40 GALINAV_EPH
Resets the stored GALINAV ephemeris
45 GALFNAV_ALM
Resets the stored GALFNAV almanac
46 GALINAV_ALM
Resets the stored GALINAV almanac
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Binary
ASCII
Description
52 PROFILEINFO
Resets the stored profile configurations
54 QZSSALMANAC Resets the QZSS almanac
55 QZSSEPHEMERIS Resets the QZSS ephemeris
57 BDSALMANAC
Resets the BeiDou almanac
58 BDSEPHEMERIS Resets the BeiDou ephemeris
60 USER_ACCOUNTS Resets the admin password to the default (the receiver PSN)
64 ETHERNET
Resets the stored Ethernet settings
85
SRTK_ SUBSCRIPTIONS
Resets the Secure RTK Subscription data stored on the rover receiver
87 NAVICEPHEMERIS Resets the NavIC ephemeris
88 NAVICALMANAC Resets the NavIC almanac
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2.54 GALECUTOFF
Sets elevation cut-off angle for Galileo satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to set the elevation cut-off angle for tracked Galileo satellites. The receiver does not start automatically searching for a satellite until it rises above the cut-off angle (when satellite position is known). Tracked satellites that fall below the cut-off angle are no longer tracked unless they were manually assigned (see the ASSIGN command on page 68). In either case, satellites below the GALECUTOFF angle are eliminated from the internal position and clock offset solution computations. This command permits a negative cut-off angle and can be used in the following situations:
l The antenna is at a high altitude and thus look below the local horizon l Satellites are visible below the horizon due to atmospheric refraction
Care must be taken when using GALECUTOFF because the signals from lower elevation satellites are traveling through more atmosphere and are therefore degraded. Use of satellites below 5 degrees is not recommended.
Use the ELEVATIONCUTOFF command (see page 141) to set the cut-off angle for any system.
For dual antenna receivers, this command applies to both the primary and secondary antennas.
Message ID: 1114 Abbreviated ASCII Syntax:
GALECUTOFF angle
Factory Default: GALECUTOFF 5.0
ASCII Example: GALECUTOFF 10.0
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Field
Field Type
ASCII Binary Value Value
Description
1
GALECUTOFF header
-
-
Command header. See Messages on page 25 for more information.
2
angle
�90.0 degrees
Elevation cut-off angle relative to horizon
Format
Binary Bytes
Binary Offset
-
H
0
Float
4
H
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2.55 GENERATEALIGNCORRECTIONS
Configure ALIGN Master
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to configure the ALIGN Master and starts sending out ALIGN corrections through the specified port. This command is like sending the following commands to the Master, assuming the use of a serial port and default ALIGN corrections:
unlogall [port] fix none movingbasestation enable interfacemode [port] novatel rtca serialconfig [port] [baud] N 8 1 N ON log [port] rtcaobs3 ontime [rate = 1/ obsreqrate] log [port] rtcarefext ontime [rate = 1/ refextreqrate]
Message ID: 1349
Abbreviated ASCII Syntax: GENERATEALIGNCORRECTIONS port [baud] [obsreqrate] [refextreqrate] [interfacemode]
ASCII Example: GENERATEALIGNCORRECTIONS COM2 230400 10 10
Field Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
GENERATEALIGN
1
CORRECTIONS -
header
Command header.
-
See Messages on page 25 for more
-
H
0
information.
2
port
See Table 32: Communications Port Identifiers on page 137
Port identifier (default = THISPORT)
Enum 4
H
3
baud
9600, 19200, 38400, Communication
57600, 115200,
baud rate (bps)
Ulong 4
230400 or 460800
(default = 9600)
H+4
4
obsreqrate
1, 2, 4, 5, 10, 20, 50 or 100
RTCAOBS3 data rate in Hz (default = 1)
Ulong 4
H+8
5
refextreqrate
0, 1, 2, 4, 5, 10, 20, 50 or 100
RTCAREFEXT data rate in Hz (default = 1)
Ulong
4
H+12
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Field Field Type
6
interfacemode
ASCII Value
Binary Value
RTCA
3
NOVATELX 35
Description
Correction interface mode (default = RTCA)
Format
Binary Bytes
Binary Offset
Enum 4
H+16
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2.56 GENERATEDIFFCORRECTIONS
Sends a preconfigured set of differential corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to configure the receiver to send a preconfigured set of differential pseudorange corrections.
Message ID: 1296
Abbreviated ASCII Syntax: GENERATEDIFFCORRECTIONS mode port
ASCII Example: GENERATEDIFFCORRECTIONS rtcm com2
Preconfigured set of differential corrections sent when RTCM: RTCM1 ontime 1 RTCM31 ontime 1 RTCM3 ontime 10
Preconfigured set of differential corrections sent when RTCA: RTCA1 ontime 1 RTCAREF ontime 10
Field
Field Type
ASCII Binary Value Value
Description
GENERATEDIFF
Command header. See
1
CORRECTIONS -
-
Messages on page 25
header
for more information.
2
mode
RTCM 2 RTCA 3
Serial port interface mode identifier. See Table 42: Serial Port Interface Modes on page 201
3
port
See Table 59: COM Port Identifiers on page 338
Port to configure
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
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2.57 GENERATERTKCORRECTIONS
Sends a preconfigured set of RTK corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to configure the receiver to send a preconfigured set of RTK (carrier phase) corrections.
Message ID: 1260
Abbreviated ASCII Syntax: GENERATERTKCORRECTIONS mode port
ASCII Example: GENERATERTKCORRECTIONS rtcmv3 com2
Preconfigured set of differential corrections sent when RTCM: RTCM1819 ontime 1 RTCM3 ontime 10 RTCM22 ontime 10 RTCM23 ontime 60 RTCM24 ontime 60
Preconfigured set of differential corrections sent when RTCMV3: RTCM1004 ontime 1 RTCM1012 ontime 1 RTCM1006 ontime 10 RTCM1008 ontime 10 RTCM1033 ontime 10
Preconfigured set of differential corrections sent when RTCA: RTCAOBS2 ontime 1 RTCAREF ontime 10
Preconfigured set of differential corrections sent when CMR: CMROBS ontime 1 CMRGLOOBS ontime 1 CMRREF ontime 10
Preconfigured set of differential corrections sent when NOVATELX COM2: NOVATELXOBS ontime 1
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Field Field Type
ASCII Value
Binary Value
Description
GENERATERTK
1
CORRECTIONS -
header
Command header.
-
See Messages on page 25 for more
information.
2
mode
RTCM
2
RTCA
3
CMR
4
RTCMV3 14
NOVATELX 35
Serial port interface mode identifier. For more information, see Table 42: Serial Port Interface Modes on page 201
3
port
See Table 59: COM Port Identifiers on page 338
Port to configure
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
For information about the RTCM, RTCA and CMR messages, refer to the official standards document for those messages.
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2.58 GGAQUALITY
Customizes the GPGGA GPS quality indicator
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to customize the NMEA GPGGA GPS quality indicator. See also the GPGGA log on page 515.
Message ID: 691
Abbreviated ASCII Syntax: GGAQUALITY #entries pos_type quality
Input Example 1: GGAQUALITY 1 waas 2
Makes the WAAS solution type show 2 as the quality indicator.
Input Example 2: GGAQUALITY 2 waas 2 NARROW_FLOAT 3
Makes the WAAS solution type show 2 and the NARROW_FLOAT solution type show 3, as their quality indicators.
Input Example 3: GGAQUALITY 0
Sets all the quality indicators back to the default.
Some solution types, see Table 75: Position or Velocity Type on page 437, share a quality indicator. For example, converged PPP and NARROW_FLOAT all share an indicator of 5. This command can be used to customize an application to have unique indicators for each solution type. Sets all the quality indicators back to the default. Refer to Table 99: GPS Quality Indicators on page 517.
Field
Field Type
ASCII Value
Binary Value
1
GGAQUALITY header
-
-
2
#entries
0-20
Description
Command header. See Messages on page 25 for more information.
The number of position types that are being remapped (20 max)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
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Field Field Type
3
pos_type
ASCII Binary Value Value
See Table 75: Position or Velocity Type on page 437
Description
The position type that is being remapped
4
quality
See Table 99: GPS Quality Indicators on page 517
The remapped quality indicator value that will appear in the GPGGA log for this position type
...
Next solution type and quality indicator set, if applicable
Format
Binary Bytes
Binary Offset
Enum 4
H+4
Ulong 4 Variable
H+8
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2.59 GLIDEINITIALIZATIONPERIOD
Configures the GLIDE initialization period
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command sets the initialization period for Relative PDP (GLIDE) when pseudorange measurements are used more heavily. During the initialization period, the PDP output position is not as smooth as during full GLIDE operation, but it helps to get better absolute accuracy at the start. The longer this period is, the better the absolute accuracy that can be attained. The maximum period that can be set through GLIDEINITIALIZATIONPERIOD is 1200 seconds.
Message ID: 1760
Abbreviated ASCII Syntax: GLIDEINITIALIZATIONPERIOD initialization
Factory Default: GLIDEINITIALIZATIONPERIOD 300
ASCII Example: GLIDEINITIALIZATIONPERIOD 100
Field
Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
1
GLIDEINITIALIZATION PERIOD header
-
-
Command
header. See
Messages on
-
page 25 for more
information.
H
0
2
initialization
0 -1200 s
Initialization
period for GLIDE Double 8
H
in seconds
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2.60 GLOECUTOFF
Sets GLONASS satellite elevation cut-off
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to set the elevation cut-off angle for tracked GLONASS satellites. The receiver does not start automatically searching for a satellite until it rises above the cut-off angle (when satellite position is known). Tracked satellites that fall below the cut-off angle are no longer tracked unless they were manually assigned (see the ASSIGN command on page 68). In either case, satellites below the GLOECUTOFF angle are eliminated from the internal position and clock offset solution computations. This command permits a negative cut-off angle and can be used in the following situations:
l The antenna is at a high altitude and can look below the local horizon l Satellites are visible below the horizon due to atmospheric refraction
Care must be taken when using GLOECUTOFF because the signals from lower elevation satellites are traveling through more atmosphere and are therefore degraded. Use of satellites below 5 degrees is not recommended.
Use the ELEVATIONCUTOFF command (see page 141) to set the cut-off angle for any system.
For dual antenna receivers, this command applies to both the primary and secondary antennas.
Message ID: 735 Abbreviated ASCII Syntax:
GLOECUTOFF angle
Factory Default: GLOECUTOFF 5.0
ASCII Example: GLOECUTOFF 0
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Field
Field Type
ASCII Binary Value Value
Description
1
GLOECUTOFF header
-
-
Command header. See Messages on page 25 for more information.
2
angle
�90.0 degrees
Elevation cut-off angle relative to horizon
Format
Binary Bytes
Binary Offset
-
H
0
Float
4
H
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2.61 HDTOUTTHRESHOLD
Controls GPHDT log output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to control the output of the NMEA GPHDT log (see page 530). It sets a heading standard deviation threshold. Only heading information with a standard deviation less than this threshold can be output into a GPHDT message.
Message ID: 1062
Abbreviated ASCII Syntax: HDTOUTTHRESHOLD thresh
Factory Default: HDTOUTTHRESHOLD 2.0
ASCII Example: HDTOUTTHRESHOLD 12.0
Field
Field Type
ASCII Binary Value Value
Description
1
HDTOUTTHRESHOLD header
-
-
Command header. See Messages on page 25 for more information.
2
thresh
0.0 - 180.0
Heading standard deviation threshold (degrees)
Format
Binary Bytes
Binary Offset
-
H
0
Float
4
H
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2.62 HEADINGOFFSET
Adds heading and pitch offset values
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to add an offset in the heading and pitch values of the HEADING2 log (see page 547) and GPHDT log (see page 530).
Message ID: 1082
Abbreviated ASCII Syntax: HEADINGOFFSET headingoffsetindeg [pitchoffsetindeg]
Factory Default: HEADINGOFFSET 0 0
ASCII Example: HEADINGOFFSET 2 -1
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
HEADINGOFFSET header
-
-
Command header.
See Messages on page 25 for more
-
information.
H
0
Offset added to
2
headingoffsetindeg -180.0 - 180.0 heading output
Float
4
H
(degrees). Default=0
Offset added to pitch
3
pitchoffsetindeg
-90.0 - 90.0
output (degrees).
Float
4
Default=0
H+4
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2.63 ICOMCONFIG
Configures IP virtual COM port
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
This command is used for Ethernet set up and to configure the transport/application layer of the configuration.
Access to the ICOM ports can be restricted by turning on ICOM security using the IPSERVICE command (see page 207).
Message ID: 1248
Abbreviated ASCII Syntax: ICOMCONFIG [port] protocol [endpoint[bindinterface]]
Factory Default: ICOMCONFIG ICOM1 TCP :3001 ICOMCONFIG ICOM2 TCP :3002 ICOMCONFIG ICOM3 TCP :3003 ICOMCONFIG ICOM4 TCP :3004 ICOMCONFIG ICOM5 TCP :3005 ICOMCONFIG ICOM6 TCP :3006 ICOMCONFIG ICOM7 TCP :3007
ASCII Example: ICOMCONFIG ICOM1 TCP :2000 All
Due to security concerns, configuring and enabling ICOM ports should only be done to receivers on a closed system, that is, board-to-board. NovAtel is not liable for any security breaches that may occur if not used on a closed system.
Field Field Type
ASCII Value
1
ICOMCONFIG Header
-
Binary Value
-
Data Description
Command header. See Messages on page 25 for more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field Field Type
2
port
ASCII Value
Binary Value
THISPORT 6
ICOM1
23
ICOM2
24
ICOM3
25
ICOM4
29
ICOM5
46
ICOM6
47
ICOM7
48
3
protocol
DISABLED 1
TCP
2
UDP
3
4
endpoint
Host:Port
For example: 10.0.3.1:8000
mybase.com:3000
5
bindInterface
ALL (default)
1
Data Description
Format
Binary Bytes
Binary Offset
Name of the port
(default =
Enum 4
H
THISPORT).
Will disable the service
Use Raw TCP
Use Raw UDP
Endpoint to wait on, or to connect to where host is a host name or IP address and port is the TCP/UDP port number. If host is blank, act as a server
Not supported. Set to ALL for future compatibility.
Enum
String [80]
Enum
4
H+4
variable
1
H+8
4
H+88
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.64 INTERFACEMODE
Sets receive or transmit modes for ports
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to specify what type of data a particular port on the receiver can transmit and receive. The receive type tells the receiver what type of data to accept on the specified port. The transmit type tells the receiver what kind of data it can generate. For example, to accept RTCMV3 differential corrections, set the receive type on the port to RTCMV3.
It is also possible to disable or enable the generation or transmission of command responses for a particular port. Disabling of responses is important for applications where data is required in a specific form and the introduction of extra bytes may cause problems, i.e., RTCA, RTCM, RTCMV3 or CMR. Disabling a port prompt is also useful when the port is connected to a modem or other device that responds with data the RECEIVER does not recognize.
For applications running in specific interface modes, see Table 42: Serial Port Interface Modes on page 201, please set the appropriate interface modes before sending or receiving corrections. It is important that the port interface mode matches the data being received on that port. Mismatches between the interface mode and received data can result in CPU overloads.
When INTERFACEMODE port NONE NONE OFF is set, the specified port is disabled from interpreting any input or output data. Therefore, no commands or differential corrections are decoded by the specified port. When GENERIC is set for a port, it is also disabled but data can be passed through the disabled port and be output from an alternative port using the pass-through logs PASSCOM, PASSAUX and PASSUSB. See PASSCOM, PASSAUX, PASSUSB, PASSETH1, PASSICOM, PASSNCOM on page 633 for details on these logs along with the Operation chapter in the OEM7 Installation and Operation User Manual for information about pass-through logging. See also the SERIALCONFIG command on page 336.If you intend to use the SERIALCONFIG command (see page 336), ensure you do so before the INTERFACEMODE command on each port. The SERIALCONFIG command (see page 336) can remove the INTERFACEMODE command setting if the baud rate is changed after the interface mode is set. You should also turn break detection off using the SERIALCONFIG command (see page 336) to stop the port from resetting because it is interpreting incoming bits as a break command. If such a reset happens, the Interface mode will be set back to the default NOVATEL mode for both input and output.
2.64.1 SPAN Systems
The INTERFACEMODE of the receiver is also configured for the serial port dedicated to the IMU. This mode changes automatically upon sending a CONNECTIMU command (see page 886) and the change is reflected when logging this command. This is normal operation.
When the CONNECTIMU command (see page 886) is used to configure the IMU connected to the receiver, the correct interface mode for the IMU port is automatically set. The IMU port should not be altered using the INTERFACEMODE command in normal operation. Doing so may result in the loss of IMU communication.
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Message ID: 3
Abbreviated ASCII Syntax: INTERFACEMODE [port] rxtype txtype [responses]
Factory Default: INTERFACEMODE COM1 NOVATEL NOVATEL ON INTERFACEMODE COM2 NOVATEL NOVATEL ON INTERFACEMODE COM3 NOVATEL NOVATEL ON INTERFACEMODE AUX NOVATEL NOVATEL ON INTERFACEMODE USB1 NOVATEL NOVATEL ON INTERFACEMODE USB2 NOVATEL NOVATEL ON INTERFACEMODE USB3 NOVATEL NOVATEL ON INTERFACEMODE ICOM1 NOVATEL NOVATEL ON INTERFACEMODE ICOM2 NOVATEL NOVATEL ON INTERFACEMODE ICOM3 NOVATEL NOVATEL ON INTERFACEMODE ICOM4 NOVATEL NOVATEL ON INTERFACEMODE ICOM5 NOVATEL NOVATEL ON INTERFACEMODE ICOM6 NOVATEL NOVATEL ON INTERFACEMODE ICOM7 NOVATEL NOVATEL ON INTERFACEMODE NCOM1 RTCMV3 NONE OFF INTERFACEMODE NCOM2 RTCMV3 NONE OFF INTERFACEMODE NCOM3 RTCMV3 NONE OFF INTERFACEMODE CCOM1 NOVATELBINARY NOVATELBINARY ON INTERFACEMODE CCOM2 NOVATELBINARY NOVATELBINARY ON INTERFACEMODE CCOM3 AUTO NOVATEL OFF INTERFACEMODE CCOM4 AUTO NOVATEL OFF INTERFACEMODE CCOM5 AUTO NOVATEL OFF INTERFACEMODE CCOM6 AUTO NOVATEL OFF INTERFACEMODE SCOM1 NOVATEL NOVATEL ON INTERFACEMODE SCOM2 NOVATEL NOVATEL ON INTERFACEMODE SCOM3 NOVATEL NOVATEL ON INTERFACEMODE SCOM4 NOVATEL NOVATEL ON
ASCII Example 1: INTERFACEMODE COM1 RTCMV3 NOVATEL ON
ASCII Example 2: INTERFACEMODE COM2 MRTCA NONE
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Are NovAtel receivers compatible with others on the market?
All GNSS receivers output two solutions: position and time. The manner in which they output them makes each receiver unique. Most geodetic and survey grade receivers output the position in electronic form (typically RS-232), which makes them compatible with most computers and data loggers. All NovAtel receivers have this ability. However, each manufacturer has a unique way of formatting the messages. A NovAtel receiver is not directly compatible with a Trimble or Ashtech receiver (which are also incompatible with each other) unless everyone uses a standard data format.
However, there are several standard data formats available. For position and navigation output there is the NMEA format. Real-time differential corrections use RTCM or RTCA format. For receiver code and phase data RINEX format is often used. NovAtel and all other major manufacturers support these formats and can work together using them. The NovAtel format measurement logs can be converted to RINEX using the utilities provided in NovAtel Connect.
Field Field Type
ASCII Value
Binary Value
1
INTERFACEMODE header
-
-
2
port
3
rxtype
4
txtype
5
responses
See Table 32: Communications Port Identifiers on page 137
See Table 42: Serial Port Interface Modes on the next page
See Table 42: Serial Port Interface Modes on the next page
OFF
0
ON
1
Description
Command header. See Messages on page 25 for more information. Serial port identifier (default = THISPORT)
Receive interface mode
Transmit interface mode
Turn response generation off Turn response generation on (default)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
Enum 4
H+8
Enum 4
H+12
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Table 42: Serial Port Interface Modes
Binary Value
ASCII Value
Description
0
NONE
The port accepts/generates nothing. The port is disabled
1
NOVATEL
The port accepts/generates NovAtel commands and logs
2
RTCM
The port accepts/generates RTCM corrections
3
RTCA
The port accepts/generates RTCA corrections
4
CMR
The port accepts/generates CMR corrections
5
Reserved
6
Reserved
7
IMU
This port supports communication with a NovAtel supported IMU.
8
RTCMNOCR
When RTCMNOCR is used as the txtype, the port generates RTCM corrections without the CR/LF appended.
When RTCMNOCR is used as the rxtype, the port accepts RTCM corrections with or without the CR/LF appended.
9
Reserved
10 TCOM1 11 TCOM2 12 TCOM3 13 TAUX 1
INTERFACEMODE tunnel modes. To configure a full duplex tunnel, configure the baud rate on each port. Once a tunnel is established, the baud rate does not change. Special characters, such as a BREAK condition, do not route across the tunnel transparently and the serial port is altered, see the SERIALCONFIG command on page 336. Only serial ports may be in a tunnel configuration: COM1, COM2, COM3 or AUX may be used.
For example, configure a tunnel at 115200 bps between COM1 and AUX:
SERIALCONFIG AUX 115200
SERIALCONFIG COM1 115200
INTERFACEMODE AUX TCOM1 NONE OFF
INTERFACEMODE COM1 TAUX NONE OFF
The tunnel is fully configured to receive/transmit at a baud rate of 115200 bps
14 RTCMV3
The port accepts/generates RTCM Version 3.0 corrections
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Binary Value
ASCII Value
Description
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
18 GENERIC
The port accepts/generates nothing. The SEND command (see page 333) or SENDHEX command (see page 335) from another port generate data on this port. Any incoming data on this port can be seen with PASSCOM logs on another port, see PASSCOM, PASSAUX, PASSUSB, PASSETH1, PASSICOM, PASSNCOM log on page 633
19 IMARIMU
This port supports communication with an iMAR IMU.
20 MRTCA
The port accepts/generates Modified Radio Technical Commission for Aeronautics (MRTCA) corrections
21-22 Reserved
23 KVHIMU
This port supports communication with a KVH CG5100 IMU.
24-26 Reserved
27 AUTO
For auto-detecting different RTK correction formats and incoming baud rate (over serial ports).
The change of baud rate will not appear when SERIALCONFIG is logged as this shows the saved baud rate for that port.
28-34 Reserved
35 NOVATELX
The port accepts/generates NOVATELX corrections
36-40 Reserved
41 KVH1750IMU
This port supports communication with a KVH 17xx series IMU.
42-45 Reserved
46 TCCOM1
CCOM1 Tunnel
47 TCCOM2
CCOM2 Tunnel
48 TCCOM3
CCOM3 Tunnel
49
NOVATELMINBINARY
NovAtel binary message with a minimal header. Only available for CCOM ports.
50 TCCOM4
CCOM4 Tunnel
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Binary Value
ASCII Value
51 TCCOM5
52 TCCOM6
53-57 Reserved
60
TSCOM1
61
TSCOM2
62
TSCOM3
63
TSCOM4
64
LUA
CCOM5 Tunnel CCOM6 Tunnel
Description
SCOM1 Tunnel SCOM2 Tunnel SCOM3 Tunnel SCOM4 Tunnel Lua stdin/stdout/stderr. Use the LUA PROMPT command to set this Interface Mode.
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2.65 IONOCONDITION
Sets ionospheric condition
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is used to change the level of ionosphere activity that is assumed by the RTK positioning algorithms.
Only advanced users should use this command.
Message ID: 1215 Abbreviated ASCII Syntax:
IONOCONDITION mode
Factory Default: IONOCONDITION AUTO
ASCII Example: IONOCONDITION normal
Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
Command header.
1
IONOCONDITION header
-
-
See Messages on page 25 for more
H
information.
quiet
0
Receiver assumes a low level of ionosphere activity
normal 1
Receiver assumes a medium level of ionosphere activity
2
mode
Receiver assumes a Enum 4
H
disturbed 2
high level of
ionosphere activity
AUTO
10
Receiver monitors the ionosphere activity and adapts behavior accordingly
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2.66 IPCONFIG
Configures network IP settings
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
This command is used to configure static/dynamic TCP/IP properties for the Ethernet connection.
In addition to configuring an IP address and netmask for the interface, this command also includes a gateway address.
Message ID: 1243 Abbreviated ASCII Syntax:
IPCONFIG [interface_name] address_mode [IP_address [netmask [gateway]]]
Factory Default: IPCONFIG ETHA DHCP
ASCII Examples: IPCONFIG ETHA STATIC 192.168.74.10 255.255.255.0 192.168.74.1
Field
Field Type
ASCII Binary Value Value
1
IPCONFIG Header
-
-
2
interface name
ETHA
2
3
address mode
DHCP 1 STATIC 2
4
IP address
ddd.ddd.ddd.ddd (For example: 10.0.0.2)
Description
Command header. See Messages on page 25 for more information.
Name of the Ethernet interface (default = ETHA)
Use Dynamic IP address
Use Static IP address
IP Address-decimal dot notation
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
String [16]
variable
1
H+8
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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Field
Field Type
5
netmask
6
gateway
ASCII Binary Value Value
ddd.ddd.ddd.ddd (For example: 255.255.255.0)
ddd.ddd.ddd.ddd (For example: 10.0.0.1)
Description
Netmask-decimal dot notation
Gateway-decimal dot notation
Format
Binary Bytes
Binary Offset
String [16]
variable
1
H+24
String [16]
variable
1
H+40
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2.67 IPSERVICE
Configure availability of networks ports/services
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
Use the IPSERVICE command to configure the availability of specific network ports/services. When disabled, the service does not accept incoming connections.
On most OEM7 receivers, the FTP Server is disabled by default. The exception is the PwrPak7 which has FTP enabled by default.
We have found two problems in the Microsoft� FTP clients contained within the Internet Explorer� and Edge browsers which make them unsuitable for retrieving files from a NovAtel receiver. When using a Windows� computer to transfer files off a NovAtel
receiver, we suggest using a 3rd party FTP client.
Message ID: 1575
Abbreviated ASCII Syntax: IPSERVICE IPService switch
Factory Default: IPSERVICE WEB_SERVER DISABLE (OEM719 and OEM7500) IPSERVICE WEB_SERVER ENABLE (OEM729, OEM7600 OEM7700 and OEM7720) IPSERVICE SECURE_ICOM DISABLE
ASCII Example: IPSERVICE FTP_SERVER ENABLE
Field
Field Type
ASCII Value
1
IPSERVICE header
-
Binary Value
Description
Command header. See
-
Messages on page 25 for
more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
2
ipservice
3
switch
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
NO_ PORT
0
No port
FTP_ SERVER
1
FTP server port. For most OEM7 receivers the default = DISABLE. For the PwrPak7 the default = ENABLE.
WEB_ SERVER
2
Web server port For most OEM7 receivers the default = ENABLE. For the OEM7500 and OEM719 the default = DISABLE.
Enables or disables
security on ICOM ports.
Enum 4
H
SECURE_ ICOM
3
When security is enabled, a login is required as part of the connection process (see the LOGIN command on page 231).
Default = DISABLE
Note: Security in this sense means users must supply a name and password before being allowed to enter commands on the ICOM ports. It does not mean there is data encryption
DISABLE 0 ENABLE 1
Disable the IP service specified.
Enable the IP service specified.
Enum 4
H+4
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2.68 ITBANDPASSCONFIG
Enable and configure bandpass filter on receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to apply a bandpass filter at a certain frequency to mitigate interference in the pass band of GNSS signals. The ITBANDPASSBANK log (see page 563) provides information on the allowable configuration settings for each frequency band. The bandpass filter is symmetrical in nature, which means that specifying one cutoff frequency will apply a cutoff on both the low side and high side of the spectrum center frequency. Only one filter can be applied for each signal.
On OEM7720, PwrPak7D, PwrPak7D-E1 and SPAN CPT7receivers, any filter enabled for GPS L2 or GLONASS L2 on the secondary antenna will be applied to both GPS L2 and GLONASS L2. For this reason, care must be taken to avoid attenuating the signals with a bandpass filter that is too narrow in bandwidth. The recommended maximum lower cutoff frequency is 1221 MHz. The recommended minimum upper cutoff frequency is 1254 MHz.
Message ID: 1999 Abbreviated ASCII Syntax:
ITBANDPASSCONFIG frequency switch [cutofffrequency]
ASCII Example: ITBANDPASSCONFIG gpsl5 enable 1165.975
Field Field Type
ASCII Binary Value Value
Description
1
ITBANDPASS CONFIG header
-
Command header.
-
See Messages on page 25 for more
information.
2
frequency
See Table 49: Frequency Types on page 219
Set the frequency band on which to apply the filter
3
switch
DISABLE 0 ENABLE 1
Disable filter Enable filter
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4 Enum 4
H H+4
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Field Field Type
4
cutofffrequency
ASCII Value
Binary Value
Description
Cut off frequency for band pass filter (MHz). (default = 0)
Refer to ITBANDPASSBANK log (see page 563) for the allowable values.
Format
Binary Bytes
Binary Offset
Float
4
H+8
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2.69 ITDETECTCONFIG
Enable interference detection on receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to enable or disable interference detection on the receiver. It is applicable to both Spectral Analysis Detection and Statistical Analysis Detection at the same time. Detection can be enabled on all RF paths, only one RF path (L1, L2, or L5), or no RF paths. By default, only the RF paths connecting to the first antenna are enabled.
Message ID: 2143
Abbreviated ASCII Syntax: ITDETECTCONFIG RFPath [reserved1] [reserved2] [reserved3]
Factory Default: ITDETECTCONFIG all
ASCII Example: ITDETECTCONFIG L1 ITDETECTCONFIG none
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
ITDETECTCONFIG header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
RFPath
RF path selected for
See Table 43: RF Path Selection below
detection. By default, all paths are turned on. The receiver will cycle through all
Enum
4
H
active paths.
3
reserved1
0
Reserved parameter Ulong 4
H+4
4
reserved2
0
Reserved parameter Ulong 4
H+8
5
reserved3
0
Reserved parameter Ulong 4
H+12
Table 43: RF Path Selection
ASCII Value Binary Value
Description
NONE
0
Turn off detection on all paths
ALL
1
Turn on detection on all paths (cycle through all active paths)
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ASCII Value Binary Value
Description
L1
2
Turn on detection only on L1 path
L2
3
Turn on detection only on L2 path
L5
4
Turn on detection only on L5 path
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2.70 ITFRONTENDMODE
Configure the front end mode settings
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to configure the front end mode for the L1, L2 and L5 RF paths to use the default third-order CIC mode or HDR (High Dynamic Range) mode. The HDR mode is used in an interference environment to obtain best interference rejection in general. However, the power consumption will increase in this mode.
Message ID: 2039
Abbreviated ASCII Syntax: ITFRONTENDMODE frequency mode
Factory Default ITFRONTENDMODE L1 cic3 ITFRONTENDMODE L2 cic3 ITFRONTENDMODE LBAND cic3 ITFRONTENDMODE L5 cic3
ASCII Example: ITFRONTENDMODE L1 hdr
On the OEM7500, the default mode for all frequency bands is HDR.
Field
Field Type
ASCII Binary Value Value
1
ITFRONTENDMODE header
-
-
2
frequency
3
mode
See Table 44: Frequency Bands on the next page
See Table 45: Mode on the next page
Description
Command header. See Messages on page 25 for more information.
Set the frequency band for adjustment
Select the desired mode
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4 Enum 4
H H+4
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Table 44: Frequency Bands
Binary Value ASCII Value
Description
2
L1
Selects the L1 frequency
3
L2
Selects the L2 frequency
4
LBAND
Selects the L-Band frequency
5
L5
Selects the L5 frequency
Table 45: Mode
Binary Value ASCII Value
Description
0
CIC3
3rd order CIC (CIC3) mode (default)
1
HDR
High Dynamic Range (HDR) mode
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2.71 ITPROGFILTCONFIG
Enable and configure filtering on the receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to set the programmable filter to be either a notch filter or a bandpass filter to mitigate interference in the pass band of GNSS signals. The notch filter is used to attenuate a very narrow band of frequencies (specified by the notch width) around the center frequency. The bandpass filter is symmetrical in nature, which means that specifying one cutoff frequency will apply a cutoff on both the low side and high side of the spectrum center frequency. The ITPROGFILTBANK log (see page 571) provides information on the allowable configuration settings for the programmable filter (i.e. the allowable settings for the notch filter and bandpass filter) for each frequency band. Only one filter can be applied for each frequency.
Message ID: 2000
Abbreviated ASCII Syntax: ITPROGFILTCONFIG frequency filterid switch [filtermode] [cutofffreq] [notchwidth]
ASCII Example: ITPROGFILTCONFIG gpsl1 pf0 enable notchfilter 1580 1
Field Field Type
ASCII Value
Binary Value
Description
ITPROGFILT
1
CONFIG
-
header
Command header. See
-
Messages on page 25
for more information.
See Table 49:
Set the frequency band
2
frequency Frequency Types on on which to apply the
page 219
filter
3
filterid
See Table 46: Programmable Filter ID on the next page
Select the filter ID to use
4
switch
DISABLE 0 ENABLE 1
Disable the filter Enable the filter
5
filtermode
See Table 47: Programmable Filter Mode on the next page
Configure the type of filter to use (default = NONE)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
Enum 4
H+8
Enum 4
H+12
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Field Field Type
ASCII Value
6
cutofffreq
7
notchwidth
Binary Value
Description
Center frequency for notch filter or cut off frequency for bandpass filter (MHz).
Refer to ITPROGFILTBANK log (see page 571) for the allowable values.
(default = 0)
Notch width (MHz).
Refer to ITPROGFILTBANK log (see page 571) for the allowable values.
(default = 0)
Format
Binary Bytes
Binary Offset
Float
4
H+16
Float
4
H+20
Table 46: Programmable Filter ID
Binary Value ASCII Value
Description
0
PF0
Programmable Filter 0
1
PF1
Programmable Filter 1
Table 47: Programmable Filter Mode
Binary Value
ASCII Value
Description
0
NOTCHFILTER
Configure the filter as a notch filter
1
BANDPASSFILTER Configure the filter as a bandpass filter
2
NONE
Turn off filter
If the switch parameter is set to ENABLED while the filtermode parameter is set to NONE, the system will return a parameter out of range message.
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2.72 ITSPECTRALANALYSIS
Enable and configure spectral analysis on receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to view the spectrum in a range of frequencies. The ITSPECTRALANALYSIS command enables and configures the spectral analysis. The spectrum is viewed by plotting the PSD samples in the ITPSDFINAL log (see page 573).
Decreasing the update period or increasing the FFT size will impact receiver idle time. The idle time should be monitored to prevent adverse effects on receiver performance.
Message ID: 1967
Abbreviated ASCII Syntax: ITSPECTRALANALYSIS mode [frequency] [updateperiod] [FFTsize] [timeavg] [integration_window]
Factory Default: ITSPECTRALANALYSIS off
ASCII Example: ITSPECTRALANALYSIS predecimation gpsl1 100 16k 0 1
Field
Field Type
ASCII Binary Value Value
Description
ITSPECTRAL
1
ANALYSIS
-
-
header
Command header. See Messages on page 25 for more information.
2
mode
See Table 48: Data Sources for PSD Samples on the next page
Set the view mode
See Table 49:
3
frequency
Frequency Types on
Set the frequency band to view
page 219
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
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Field
Field Type
ASCII Binary Value Value
Description
The spectrum update rate in milliseconds
The update period is
limited by the FFT size
4
updateperiod 50 to 100000
chosen. For 32k the minimum update period is
100 ms and for 64k the
minimum update period is
200 ms.
(default = 1000)
5
FFTsize
See Table 50: FFT Sizes on page 220
The frequency resolution of the spectrum
(default = 1k)
6
timeavg
0 to 50
Time averaging window in seconds. 0 means no time average
(default = 10)
7
integration window
1 to 1024
The integration window size of FFT samples. 1 means no integration.
(default = 5)
Format
Binary Bytes
Binary Offset
Ulong 4
H+8
Enum 4
H+12
Ulong 4
H+16
Ulong 4
H+20
Binary Value 0 1
2
3
Table 48: Data Sources for PSD Samples
ASCII Value
Description
OFF
Disable spectral analysis
PREDECIMATION
Perform spectrum analysis on the pre-decimated spectrum.
This can be used to see a wide view of the spectrum for an RF path (L1, L2 or L5).
POSTDECIMATION
Perform spectrum analysis on the post-decimated spectrum.
This is narrower than predecimation and is used to see the spectrum for a given signal.
POSTFILTER
Perform spectrum analysis on the post-filtered spectrum.
This can be used when either bandpass or notch filters have been enabled to see the spectrum after the filters are applied.
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The post-filter spectrum is not available for the Galileo AltBOC frequency. Only the predecimation and post-decimation spectrums are available for Galileo AltBOC.
Table 49: Frequency Types
Binary Value ASCII Value
Description
0
GPSL1
GPS L1 frequency
1
GPSL2
GPS L2 frequency
2
GLONASSL1
GLONASS L1 frequency
3
GLONASSL2
GLONASS L2 frequency
4
Reserved
5
GPSL5
GPS L5 frequency
61
LBAND
Inmarsat L-Band frequency
7
GALILEOE1
Galileo E1 frequency
8
GALILEOE5A
Galileo E5A frequency
9
GALILEOE5B
Galileo E5B frequency
10
GALILEOALTBOC Galileo AltBOC frequency
11
BEIDOUB1
BeiDou B1 frequency
12
BEIDOUB2
BeiDou B2 frequency
13
QZSSL1
QZSS L1 frequency
14
QZSSL2
QZSS L2 frequency
15
QZSSL5
QZSS L5 frequency
16
QZSSL6
QZSS L6 frequency
17
GALILEOE6
Galileo E6 frequency
18
BEIDOUB3
BeiDou B3 frequency
19
GLONASSL3
GLONASS L3 frequency
20
NAVICL5
NavIC L5 frequency
21
BEIDOUB1C
BeiDou B1C frequency
22
BEIDOUB2A
BeiDou B2a frequency
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Table 50: FFT Sizes
Binary Value ASCII Value
Description
0
1K
1K FFT, 1024 samples
1
2K
2K FFT, 2048 samples
2
4K
4K FFT, 4096 samples
3
8K
8K FFT, 8192 samples
4
16K
16K FFT, 16384 samples
5
32K
32K FFT, 32768 samples
6
64K
64K FFT, 65536 samples
The 64k FFT is not available in post-decimation or post-filter modes.
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2.73 J1939CONFIG
Configure CAN network-level parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to configure the CAN J1939 network-level parameters (NAME, etc). Issuing this command may initiate a CAN 'Address Claim' procedure. The status of the node and address claim are reported in the J1939STATUS log (see page 577). Once a "node" is configured using J1939CONFIG, and the "port" is configured to ON using CANCONFIG "port" ON, J1939CONFIG "node" cannot be entered again until the "port" is configured to "OFF" using CANCONFIG "port" OFF. (See the CANCONFIG command on page 100
Message ID: 1903
Abbreviated ASCII Syntax: J1939CONFIG node port [pref_addr [alt_addr_range_start] [alt_addr_range_end] [mfgcode] [industry] [devclass] [devinstance] [func] [funcinstance] [ECUinstance]]
Factory Default: J1939CONFIG NODE1 CAN1 1C 0 FD 305 2 0 0 23 0 0 J1939CONFIG NODE2 CAN2 1C 0 FD 305 2 0 0 23 0 0
ASCII Example : J1939CONFIG NODE1 CAN1 AA 0 FD 305 2 0 0 23 0 0
Field
Field Type
ASCII Binary Value Value
Description
1
J1939CONFIG header
-
-
Command header. See Messages on page 25 for more information.
2
node
NODE1 1 NODE2 2
Identifies the J1939 Node (i.e. CAN NAME)
3
port
CAN1 1 CAN2 2
Physical CAN port to use
4
pref_addr
0x0 - 0xFD
Preferred CAN address. The receiver attempts to claim this address
(default = 0x0)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4 Enum 4
H H+4
Ulong 4
H+8
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Field Field Type
5
alt_addr_ range_start
6
alt_addr_ range_end
7
mfgcode
8
industry
9
devclass
10
devinstance
11
func
12
funcinstance
13
ECUinstance
ASCII Binary Value Value
0x0 - 0xFD
0x0 - 0xFD
0-2047 0-7 0 - 127 0 - 15 0 - 255 0 - 31 0-7
Description
Format
Binary Bytes
Binary Offset
When the pref_addr
cannot be claimed, the
receiver attempts to claim
an address from this
Ulong 4
range.
(default: 0x0)
H+12
End of alternative address
range.
Ulong 4
(default: 0xFD)
H+16
NAME: Manufacturer
Code. Refer to ISO 11783-
5.
Ulong 4
(default: 0)
H+20
NAME: Industry Group (default: 2)
Ulong 4
H+24
NAME: Device Class (default: 0)
Ulong 4
H+28
NAME: Device Class Instance
(default: 0)
Ulong 4
H+32
NAME: Function (default: 23)
Ulong 4
H+36
NAME: Function instance Ulong 4
(default: 0)
H+40
NAME: ECU Instance (default: 0)
Ulong 4
H+44
Due to current limitations in the CAN stack, NODE1 can only be associated with CAN1 and NODE2 can only be associated with CAN2. A mismatch combination results in an 'invalid parameter' error.
Node statistics are reported in the J1939STATUS log (see page 577).
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2.74 LOCKOUT
Prevents the receiver from using a satellite
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to prevent the receiver from using a satellite in the solution computations.
The LOCKOUT command does not prevent the receiver from tracking an undesirable satellite. LOCKOUT command and UNLOCKOUT command (see page 385) can be used with GPS, GLONASS, SBAS and QZSS PRNs.
This command must be repeated for each satellite to be locked out. See also the UNLOCKOUT command on page 385 and UNLOCKOUTALL command on page 386.
Message ID: 137
Abbreviated ASCII Syntax: LOCKOUT prn
Input Example: LOCKOUT 8
The LOCKOUT command removes one or more satellites from the solution while leaving other satellites available.
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
LOCKOUT header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
prn
Refer to PRN Numbers on page 44
Unique identifier for the satellite being locked out
Ulong 4
H
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2.75 LOCKOUTSYSTEM
Prevents the receiver from using a system
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to prevent the receiver from using satellites in a system in the solution computations.
The LOCKOUTSYSTEM command does not prevent the receiver from tracking an undesirable satellite.
This command must be repeated for each system to be locked out. See also the UNLOCKOUTSYSTEM command on page 387 and UNLOCKOUTALL command on page 386.
Message ID: 871
Abbreviated ASCII Syntax: LOCKOUTSYSTEM system
Factory Defaults: LOCKOUTSYSTEM sbas LOCKOUTSYSTEM navic
The LOCKOUTSYSTEM command removes one or more systems from the solution while leaving other systems available.
Field
Field Type
ASCII Binary Value Value
Description
Command header.
1
LOCKOUTSYSTEM header
-
-
See Messages on page 25 for more
information.
2
system
See Table 105: Satellite System on page 553
A single satellite system to be locked out
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.76 LOG
Requests logs from the receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Many different types of data can be logged using different methods of triggering the log events. Every log element can be directed to any combination of the receiver's ports. The ontime trigger option requires the addition of the period parameter. See Logs on page 409 for further information and a complete list of data log structures. The LOG command tables in this section show the binary format followed by the ASCII command format.
The optional parameter [hold] prevents a log from being removed when the UNLOGALL command (see page 390), 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 388). To remove all logs that have the [hold] parameter, use the UNLOGALL command (see page 390) with the held field set to 1.
The [port] parameter is optional. If [port] is not specified, [port] is defaulted to the port that the command was received on.
1. The OEM7 family of receivers can handle 80 simultaneous log requests. If an attempt is made to log more than 80 logs at a time, the receiver responds with an Insufficient Resources error. Note that RXSTATUSEVENTA logs are requested on most ports by default and these logs count against the 80.
2. The user is cautioned that each log requested requires additional CPU time and memory buffer space. Too many logs may result in lost data and low CPU idle time. Receiver overload can be monitored using the idle-time field and buffer overload bits of the Receiver Status in any log header.
3. Only the MARKPOS, MARK2POS, MARK3POS and MARK4POS log (see page 593), MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME log (see page 596) and `polled' log types are generated, on the fly, at the exact time of the mark. Synchronous and asynchronous logs output the most recently available data.
4. Use the ONNEW trigger with the MARKPOS, MARK2POS, MARK3POS and MARK4POS log (see page 593) and MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME log (see page 596).
5. Polled log types do not all allow fractional offsets.
6. If ONTIME trigger is used with asynchronous logs, the time stamp in the log does not necessarily represent the time the data was generated but rather the time when the log is transmitted.
7. Published logs are not placed in a queue if there is no physical or virtual connection when the log is generated. Thus, a log requested ONNEW or ONCHANGED that is in SAVECONFIG may not be received if it is published before connections are made. This can happen if there's no cable connected or if the communication protocol has not been established yet (e.g. CAN, Ethernet, USB, etc).
Message ID: 1
Abbreviated ASCII Syntax:
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LOG [port] message ONNEW LOG [port] message ONCHANGED LOG [port] message ONTIME period [offset [hold]] LOG [port] message ONNEXT LOG [port] message ONCE LOG [port] message ONMARK
Factory Default: LOG COM1 RXSTATUSEVENTA ONNEW LOG COM2 RXSTATUSEVENTA ONNEW LOG COM3 RXSTATUSEVENTA ONNEW LOG AUX RXSTATUSEVENTA ONNEW LOG USB1 RXSTATUSEVENTA ONNEW LOG USB2 RXSTATUSEVENTA ONNEW LOG USB3 RXSTATUSEVENTA ONNEW LOG ICOM1 RXSTATUSEVENTA ONNEW LOG ICOM2 RXSTATUSEVENTA ONNEW LOG ICOM3 RXSTATUSEVENTA ONNEW LOG ICOM4 RXSTATUSEVENTA ONNEW LOG ICOM5 RXSTATUSEVENTA ONNEW LOG ICOM6 RXSTATUSEVENTA ONNEW LOG ICOM7 RXSTATUSEVENTA ONNEW
Abbreviated ASCII Example 1: LOG COM1 BESTPOS ONTIME 7 0.5 HOLD
The above example shows BESTPOS logging to com port 1 at 7 second intervals and offset by 0.5 seconds (output at 0.5, 7.5, 14.5 seconds and so on). The [hold] parameter is set so that logging is not disrupted by the UNLOGALL command (see page 390). To send a log once, the trigger option can be omitted.
Abbreviated ASCII Example 2: LOG COM1 BESTPOS ONCE
Using the NovAtel Connect utility there are two ways to initiate data logging from the receiver's serial ports. Either enter the LOG command in the Console window or use the interface provided in the Logging Control window. Ensure the Power Settings on the computer are not set to go into Hibernate or Standby modes. Data is lost if one of these modes occurs during a logging session.
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2.76.1 Binary
Field
Field Type
Binary Value
Description
1
LOG (binary) header
See Table 3: Binary Message Header Structure on page 30
This field contains the message header
2
port
See Table 4:
Detailed Port
Output port
Identifier on page 31
3
message
Any valid message ID
Message ID of the log to output
Bits 0-4 =
Measurement source1
Bits 5-6 = Format
00 = Binary
01 = ASCII
10 = Abbreviated
4
message ASCII, NMEA
type
11 = Reserved
Message type of log
Bit 7 = Response Bit (Binary Response on page 41)
0 = Original Message
1 = Response Message
5
Reserved
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4 Ushort 2
H H+4
Char
1
H+6
Char
1
H+7
1Bits 0-4 are used to indicate the measurement source. For dual antenna receivers, if bit 0 is set, the log is from the secondary antenna.
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Field
Field Type
Binary Value
0 = ONNEW
1 = ONCHANGED
2 = ONTIME
6
trigger
3 = ONNEXT
4 = ONCE
5 = ONMARK
Description
Format
Binary Bytes
Binary Offset
Does not output current message but outputs when the message is updated (not necessarily changed)
Outputs the current message and then continues to output when the message is changed
Output on a time interval
Output only the next message
Enum 4
H+8
Output only the current message (default). If no message is currently present, the next message is output when available.
Output when a pulse is
detected on the mark 1 input, MK1I 1 2
1Refer to the Technical Specifications appendix in the OEM7 Installation and Operation User Manual for more details on the MK1I pin. ONMARK only applies to MK1I. Events on MK2I (if available) do not trigger logs when ONMARK is used. Use the ONNEW trigger with the MARKTIME, MARK2TIME, MARKPOS or MARK2POS logs. 2Once the 1PPS signal has hit a rising edge, for both MARKPOS and MARKTIME logs, a resolution of both measurements is 10 ns. As for the ONMARK trigger for other logs that measure latency, for example RANGE and POSITION logs such as BESTPOS, it takes typically 20-30 ms (50 ms maximum) for the logs to output information from the 1PPS signal. Latency is the time between the reception of the 1PPS pulse and the first byte of the
associated log. See also the MARKPOS, MARK2POS, MARK3POS and MARK4POS log on page 593 and the
MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME log on page 596.
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Field
Field Type
7
period
8
offset
9
hold
Binary Value
Description
Format
Binary Bytes
Binary Offset
Log period (for ONTIME trigger) in seconds
If the value entered is
Valid values for the lower than the minimum
high rate logging are measurement period, the
0.05, 0.1, 0.2, 0.25 command will be rejected.
and 0.5. For logging See Appendix A in the
Double 8
slower than 1 Hz any OEM7 Installation and
integer value is
Operation User Manual for
accepted
the maximum raw
measurement rate to
calculate the minimum
period.
H+12
A valid value is any integer (whole number) smaller than the period.
Offset for period
These decimal values, on
(ONTIME trigger) in their own, are also valid:
seconds. To log data 0.1, 0.2, 0.25 or 0.5, as
at 1 second, after
well as any multiple of the Double 8
every minute, set
maximum logging rate
the period to 60 and defined by the receiver
the offset to 1
model. The offset cannot
be smaller than the
minimum measurement
period supported by the
model.
H+20
0 = NOHOLD 1 = HOLD
Allow log to be removed by the UNLOGALL command (see page 390)
Prevent log from being
Enum 4
removed by the default
UNLOGALL command (see
page 390)
H+28
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2.76.2 ASCII
Field
Field Name
ASCII Value
LOG
1
(ASCII) -
header
2
port
Table 4: Detailed Port Identifier on page 31
Any valid
3
message
message name, with an optional
A or B suffix
ONNEW
ONCHANGED
ONTIME
4
trigger
ONNEXT
ONCE
ONMARK
Any positive
double value
larger than the
5
period receiver's
minimum raw
measurement
period
Any positive
6
offset
double value smaller than the
period
NOHOLD
7
hold
HOLD
Description
This field contains the command name or the message header depending on whether the command is abbreviated ASCII or ASCII respectively
Output port (default = THISPORT)
Message name of log to output
Output when the message is updated (not necessarily changed)
Output when the message is changed
Output on a time interval
Output only the next message
Output only the current message (default)
Output when a pulse is detected on the mark 1 input, MK1I 2, 3
Log period (for ONTIME trigger) in seconds (default = 0) If the value entered is lower than the minimum measurement period, the command will be rejected. See Appendix A in the OEM7 Installation and Operation User Manual for the maximum raw measurement rate to calculate the minimum period.
Offset for period (ONTIME trigger) in seconds. If you want to log data, at 1 second after every minute, set the period to 60 and the offset to 1 (default = 0)
To be removed by the UNLOGALL command (see page 390) (default)
Prevent log from being removed by the default UNLOGALL command (see page 390)
Format Enum Char [ ]
Enum
Double Double Enum
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2.77 LOGIN
Start a secure ICOM/SCOM connection to the receiver
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
When ICOM/SCOM ports have security enabled (see the IPSERVICE command on page 207), a session to the ICOM/SCOM port can be established but commands are refused until a valid LOGIN command is issued. Both the UserName and Password are required. The LOGIN command checks the supplied credentials against known UserNames/Passwords and determines if the login is successful or not. A successful login permits the secured ICOM/SCOM command interpreter to accept further commands and returns OK. An unsuccessful login does not release the secured ICOM/SCOM command interpreter and returns Login Failed.
Entering a LOGIN command on any command port other than the ICOM/SCOM port has no effect, regardless of whether the UserName/Password is correct. In this case, the appropriate response (OK or Login Failed) is returned, but there is no effect on the command interpreter.
When security is enabled, access to the port is restricted unless a valid name and password are supplied. It does not mean there is data encryption enabled. Username is case-insensitive and password is case-sensitive.
Message ID: 1671 Abbreviated ASCII Syntax:
LOGIN [commport] UserName Password
ASCII Example: LOGIN ADMIN ADMINPASSWORD
Field
Field Type
1
LOGIN header
ASCII Binary Value Value
Description
Command header. See
-
-
Messages on page 25 for
more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
ASCII Binary Value Value
Description
ICOM1 23
ICOM2 24
ICOM3 25
ICOM4 29
ICOM5 46
2
commport ICOM6 47
ICOM7 48
SCOM1 49
SCOM2 50
The ICOM or SCOM port to log into.
This is an optional parameter.
If no value is entered, logs in to the ICOM port currently being used. (default=THISPORT)
SCOM3 51
SCOM4 52
3
username
Provide the user name for the login command.
The user name is not case sensitive.
4
password
Provide the password for the user name. The password is case sensitive
Format
Binary Bytes
Binary Offset
Enum 4
H
String [32]
variable
1
H+4
String [28]
variable
1
variable
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.78 LOGOUT
End a secure ICOM/SCOM session started using the LOGIN command
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
Use the LOGOUT command to sign out of an ICOM/SCOM connection after a user has successfully logged in using the LOGIN command. After the sending the LOGOUT command, the ICOM/SCOM connection will not accept further commands, other than a new LOGIN command. The session itself is not ended. This only applies to ICOM/SCOM ports that have had security enabled (see the IPSERVICE command on page 207).
Message ID: 1672
Abbreviated ASCII Syntax: LOGOUT [commport]
ASCII Example: LOGOUT
Field
Field Type
ASCII Binary Value Value
Description
1
LOGOUT header
-
-
Command header. See Messages on page 25 for more information.
ICOM1 23
ICOM2 24
ICOM3 25
ICOM4 29
ICOM5 46
2
commport ICOM6 47
ICOM7 48
SCOM1 49
The ICOM or SCOM port from which to log out. This is an optional parameter. If no value is entered, logs out from the ICOM/SCOM port currently being used.
SCOM2 50
SCOM3 51
SCOM4 52
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.79 LUA
Configure Lua Interpreter
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to configure the execution of the Lua interpreter on the receiver. Scripts that appear within the LUAFILELIST log (see page 587) can be executed by the Lua interpreter.
Message ID: 2049
Abbreviated ASCII Syntax: LUA option [LuaInterpreterArguments]
Abbreviated ASCII Example: lua start "printarguments.lua 1 2 3 4 5"
Field Field Type
1
Lua header
2
option
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
Command header. See
-
-
Messages for more
-
H
0
information.
START 1
Start the Lua interpreter in the background. The file descriptors stdout, stdin and stderr will not be accessible outside the receiver.
Start the Lua
interpreter in
Enum 4
H
interactive mode and
connect stdout, stdio
and stderr to the port
PROMPT 2
on which the command
was entered. The
INTERFACEMODE of
that port will be
changed to LUA for
both RX and TX.
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Field Field Type
ASCII Binary Value Value
Description
3
LuaInterpreter Arguments
STRING
String containing Lua interpreter options including the name of the script file to run and arguments to pass to the script.
This string must be enclosed in quotes if it contains any spaces.
String arguments within the field must be enclosed by single quotes.
Format
Binary Bytes
Binary Offset
String [400]
Variable H+4
The format of the Lua Interpreter Arguments is as follows as adapted from the standard Lua 5.3 interpreter:
[options] [script [args]]
Available options are:
-e stat execute string 'stat'
-i
enter interactive mode after executing 'script'.
(This is added to the arguments when using the PROMPT option of the
LUA command)
-l name require library 'name'
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2.80 MAGVAR
Sets a magnetic variation correction
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The receiver computes directions referenced to True North (also known as geodetic north). The Magnetic Variation Correction command (MAGVAR) is used to navigate in agreement with magnetic compass bearings. The correction value entered here causes the "bearing" field of the navigate log to report bearing in degrees Magnetic. The receiver computes the magnetic variation correction when using the auto option. See Figure 5: Illustration of Magnetic Variation and Correction on the next page. The receiver calculates values of magnetic variation for given values of latitude, longitude and time using the International Geomagnetic Reference Field (IGRF) 2015 spherical harmonic coefficients and IGRF time corrections to the harmonic coefficients. (IGRF-2015 is also referred to as IGRF-12.) The model is intended for use up to the year 2020, however due to accelerated drift of the earth's magnetic north pole starting in 2018, the accuracy of the model will degrade sooner than the intended date. Furthermore, the receiver will compute for years beyond 2020, but accuracy may be further reduced depending on the behavior of the magnetic pole.
Message ID: 180
Abbreviated ASCII Syntax: MAGVAR type [correction [std dev]]
Factory Default: MAGVAR correction 0 0
ASCII Example 1: MAGVAR AUTO
ASCII Example 2: MAGVAR CORRECTION 15 0
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How does GNSS determine what Magnetic North is? Do the satellites transmit a database or some kind of look up chart to determine the declination for your given latitude and longitude? How accurate is it?
Magnetic North refers to the location of the Earth's Magnetic North Pole. Its position is constantly changing in various cycles over centuries, years and days. These rates of change vary and are not well understood. However, we are able to monitor the changes.
True North refers to the earth's spin axis, that is, at 90� north latitude or the location where the lines of longitude converge. The position of the spin axis does not vary with respect to the Earth.
The locations of these two poles do not coincide. Thus, a relationship is required between these two values for users to relate GNSS bearings to their compass bearings. This value is called the magnetic variation correction or declination.
GNSS does not determine where Magnetic North is nor do the satellites provide magnetic correction or declination values. However, OEM7 receivers store this information internally in look up tables so that when you specify that you want to navigate with respect to Magnetic North, this internal information is used. These values are also available from various information sources such as the United States Geological Survey (USGS). The USGS produces maps and has software which enables the determination of these correction values. By identifying your location (latitude and longitude), you can obtain the correction value. Refer to An Introduction to GNSS available on our website.
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Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
1
MAGVAR header
-
Command header. See
-
Messages on page 25 -
for more information.
H
0
AUTO
0
Use IGRF corrections
2
type
CORRECTION 1
Use the correction supplied
Enum 4
H
3
correction � 180.0 degrees
Magnitude of correction
(Required field if type Float
4
= Correction)
H+4
4
std_dev � 180.0 degrees
Standard deviation of
correction
Float
4
(default = 0)
H+8
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2.81 MARKCONTROL
Controls processing of mark inputs
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is used to control the processing of the mark inputs. Using this command, the mark inputs can be enabled or disabled, polarity can be changed and a time offset and guard against extraneous pulses can be added. The MARKPOS and MARKTIME logs have their outputs (and extrapolated time tags) pushed into the future (relative to the mark input (MKI) event) by the amount entered into the time bias field. In almost all cases, this value is set to 0, which is also the default setting (see MARKPOS, MARK2POS, MARK3POS and MARK4POS on page 593 and MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME on page 596).
Message ID: 614
Abbreviated ASCII Syntax: MARKCONTROL signal [switch [polarity [timebias [timeguard]]]]
Factory Default: MARKCONTROL MARK1 ENABLE MARKCONTROL MARK2 ENABLE
ASCII Example: MARKCONTROL MARK1 ENABLE NEGATIVE 50 100
Figure 6: TTL Pulse Polarity
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If using an external device, such as a camera, connect the device to the receiver's I/O port. Use a cable that is compatible to both the receiver and the device. A MARKIN pulse can be a trigger from the device to the receiver. See also the MARKPOS, MARK2POS, MARK3POS and MARK4POS command on page 593 and the MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME command on page 596.
Field Field Type
ASCII Value
1
MARKCONTROL header
-
MARK1
2
signal
MARK2 MARK3
3
switch
MARK4 DISABLE ENABLE
Binary Value
Description
Format
Binary Bytes
Binary Offset
Command header.
-
See Messages on page 25 for more
-
information.
H
0
Specifies which mark
input the command
0
should be applied to.
Set to MARK1 for the
Event1 input, MARK2
for Event2, MARK3
1
for Event3 and
MARK4 for Event4. All
of the mark inputs
have 10 K pull-up
Enum 4
H
resistors to 3.3 V and
2
are leading edge
triggered
MARK3 and MARK4
are available only on
3
the OEM7600,
OEM7700 and
OEM7720
Disables or enables
0
processing of the
mark input signal for
the input specified. If DISABLE is selected,
Enum
4
H+4
the mark input signal
1
is ignored (default =
ENABLE)
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Field Field Type
4
polarity
5
timebias
6
timeguard
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
NEGATIVE 0 POSITIVE 1
Optional field to specify the polarity of the pulse to be received on the mark input. See Figure 6: Enum 4 TTL Pulse Polarity on page 239 for more information (default= NEGATIVE)
H+8
Any valid long value
Optional value to
specify an offset, in
nanoseconds, to be applied to the time
Long
4
the mark input pulse
occurs (default =0)
H+12
default: 4 minimum: 2
Any valid Ulong value larger than the receiver's minimum raw measurement period 1
Optional field to
specify a time period,
in milliseconds,
during which
Ulong 4
subsequent pulses
after an initial pulse
are ignored
H+16
1See the Receiver Technical Specification appendices in the OEM7 Installation and Operation User Manual for the maximum raw measurement rate to determine the minimum period. If the value entered is lower than the minimum measurement period, the value is ignored and the minimum period is used.
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2.82 MEDIAFORMAT
Format the media for PwrPak7
Platform: PwrPak7 Formats the specified media as FAT32, using PwrPak7 specific cluster size and other parameters.
Only the internal flash memory can be formatted.
Entering this command results in complete loss of all data stored on the media.
Entering this command initiates the format operation. An error is reported if formatting could not be initiated, for example due to the media being disconnected.
Formatting progress can be observed using the FILESYSTEMSTATUS log on page 475, which will report BUSY, followed by MOUNTED.
The receiver may reboot in the process.
Message ID: 2128 Abbreviated ASCII Syntax:
MEDIAFORMAT MassStorage
Example: MEDIAFORMAT INTERNAL_FLASH
Field Field Type
ASCII Value
Binary Value
Description
1
MEDIAFORMAT header
-
Command header.
-
See Messages on page 25 for more
information.
2
MassStorage
INTERNAL_ FLASH
4
Format the internal memory in the PwrPak7.
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.83 MODEL
Switches to a previously authorized model
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to switch the receiver between models previously added with the AUTH command (see page 76). When the MODEL command is issued, the receiver saves the specified model as the active model. The active model is now used on every subsequent start up. The MODEL command causes an automatic reset. Use the VALIDMODELS log (see page 869) to output a list of available models on the receiver. Use the VERSION log (see page 874) to output the active model. Use the AUTHCODES log (see page 419) to output a list of the auth codes present on the receiver.
If the MODEL command is used to switch to an expired model, the receiver will reset and enter into an error state. Switch to a valid model to continue.
Message ID: 22
Abbreviated ASCII Syntax: MODEL model
Input Example: MODEL D2LR0RCCR
NovAtel uses the term models to refer to and control different levels of functionality in the receiver firmware. For example, a receiver may be purchased with an L1 only capability and be easily upgraded at a later time to a more feature intensive model, like L1/L2 dual-frequency. All that is required to upgrade is an authorization code for the higher model and the AUTH command (see page 76). Reloading the firmware or returning the receiver for service to upgrade the model is not required. Upgrades are available from NovAtel Customer Support.
Field
Field Type
ASCII Value
1
MODEL header
-
Binary Value
-
Description
Command header. See Messages on page 25 for more information.
Max 16 character null-
2
model terminated string
Model name
(including the null)
Format
Binary Bytes
Binary Offset
-
H
0
String
[max 16]
Variable
1
H
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.84 MOVINGBASESTATION
Enables the use of a moving base station
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to enable or disable a receiver from transmitting corrections without a fixed position. The moving base function allows you to obtain a centimeter level xyz baseline estimate when the base station and possibly the rover are moving. It is very similar to normal RTK, with one stationary base station and a moving rover (refer to Transmitting and Receiving Corrections section of the Operation chapter in the OEM7 Installation and Operation User Manual). The BSLNXYZ log is an asynchronous `matched' log that can be logged with the onchanged trigger to provide an accurate baseline between the base and rover. Due to the latency of the reference station position messages, the following logs are not recommended to be used when in moving baseline mode: BESTXYZ, GPGST, MARKPOS, MARK2POS, MATCHEDPOS, MATCHEDEYZ, RTKPOS and RTKXYZ. The position error of these logs could exceed 100 m, depending on the latency of the reference station position message. If a rover position is required during moving basestation mode, then PSRPOS is recommended. The MOVINGBASESTATION command must be used to allow the base to transmit messages without a fixed position.
1. Use the PSRPOS position log at the rover. It provides the best accuracy and standard deviations when the MOVINGBASESTATION mode is enabled.
2. This command supports RTCM V3 operation. 3. RTCM V3 support includes GPS + GLONASS operation.
Message ID: 763
Abbreviated ASCII Syntax: MOVINGBASESTATION switch
Factory Default: MOVINGBASESTATION disable
ASCII Example: MOVINGBASESTATION ENABLE
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Consider the case where there is a fixed base, an airplane flying with a moving base station near its front and a rover station at its tail end. Corrections can be sent between the receivers in a `daisy chain' effect, where the fixed base station sends corrections to the moving base station, which in turn can send corrections to the rover.
Figure 7: Moving Base Station `Daisy Chain' Effect
When using this method, the position type is only checked at the fixed base station. Moving base stations will continue to operate under any conditions.
This command is useful for moving base stations doing RTK positioning at sea. A rover station is used to map out local areas (for marking shipping lanes, hydrographic surveying and so on), while the base station resides on the control ship. The control ship may not move much (parked at sea), but there is a certain amount of movement due to the fact that it is floating in the ocean. By using the MOVINGBASESTATION command, the control ship is able to use RTK positioning and move to new survey sites.
Field Field Type
ASCII Binary Value Value
Description
MOVING
1
BASESTATION -
header
Command header. See
-
Messages on page 25
for more information.
2
switch
DISABLE 0 ENABLE 1
Do not transmit corrections without a fixed position
Transmit corrections without a fixed position
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.85 NAVICECUTOFF
Sets elevation cut-off angle for NavIC satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to set the elevation cut-off angle for tracked NavIC satellites. The receiver does not start automatically searching for a NavIC satellite until it rises above the cutoff angle (when satellite position is known). Tracked satellites that fall below the cut-off angle are no longer tracked unless they are manually assigned (see the ASSIGN command on page 68). In either case, satellites below the NAVICECUTOFF angle are eliminated from the internal position and clock offset solution computations. This command permits a negative cut-off angle; it could be used in these situations:
l The antenna is at a high altitude, and thus can look below the local horizon l Satellites are visible below the horizon due to atmospheric refraction
Care must be taken when using NAVICECUTOFF command because the signals from lower elevation satellites are traveling through more atmosphere and are therefore degraded. Use of satellites below 5 degrees is not recommended.
Use the ELEVATIONCUTOFF command on page 141 to set the cut-off angle for all other systems.
For dual antenna receivers, this command applies to both the primary and secondary antennas.
Message ID: 2134
Abbreviated ASCII Syntax: NAVICECUTOFF angle
Factory Default: NAVICECUTOFF 5.0
ASCII Example: NAVICECUTOFF 10.0
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Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
NAVICECUTOFF header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
angle
�90.0 degrees
Elevation cut-off angle relative to horizon
Float
4
H
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2.86 NMEAFORMAT
Customize NMEA output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use the NMEAFORMAT command to customize the NMEA GPGGA and GPGGALONG output.
Modifying the NMEA output will make it not compliant with the NMEA standard.
Message ID: 1861
Abbreviated ASCII Syntax: NMEAFORMAT field format
Factory Default: NMEAFORMAT GGA_LATITUDE 9.4 NMEAFORMAT GGA_LONGITUDE 10.4 NMEAFORMAT GGA_ALTITUDE .2 NMEAFORMAT GGALONG_LATITUDE 12.7 NMEAFORMAT GGALONG_LONGITUDE 13.7 NMEAFORMAT GGALONG_ALTITUDE .3
Example: The following settings increase the precision of the GPGGA latitude and longitude fields:
NMEAFORMAT GGA_LATITUDE 11.6 NMEAFORMAT GGA_LONGITUDE 12.6 The following settings decrease the precision of the GPGGALONG latitude and longitude fields: NMEAFORMAT GGALONG_LATITUDE 11.6 NMEAFORMAT GGALONG_LONGITUDE 12.6 The following setting stops the undulation fields of the GPGGALONG log being filled, making a log like the GPGGARTK log that was in NovAtel's OEM6 firmware: NMEAFORMAT GGALONG_UNDULATION !0
Field
Field Type
ASCII Value
Binary Value
Description
NMEA
1
FORMAT -
Header
Command header. See
-
Messages on page 25 for
more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
2
Field
ASCII Value
Binary Value
Description
GGA_ LATITUDE
0
GPGGA latitude field
GGA_ LONGITUDE
1
GPGGA longitude field
GGA_ ALTITUDE
2
GPGGA altitude (height) field
GGA_ UNDULATION
3
GPGGA undulation field
GGALONG_ LATITUDE
10
GPGGALONG latitude field
GGALONG_ LONGITUDE
11
GPGGALONG longitude field
GGALONG_ ALTITUDE
12
GPGGALONG altitude (height) field
GGALONG_ UNDULATION
13
GPGGALONG undulation field
Format
Binary Bytes
Binary Offset
Enum 4
H
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Field
Field Type
3
Format
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
Char[8]
The Format field has a syntax similar to the printf function commonly found in programming languages. The format is:
!x.y
Where:
y is the number of digits to display after the decimal point
x sets the minimum field width including the decimal point. X is optional if ! is not used. If the value requires fewer digits than x, leading zeros are added to the out- Char[8] 8 put.
! forces the field width to x. ! is optional. If a value exceeds the permitted width, the value will be saturated. If ! is used, y must be less than x.
Examples (GGA_ LATITUDE):
.5 = 5106.98120
2.3 = 5106.981
7.1 = 05107.0
!7.2 = 5106.98
!7.3 = 999.999
H+4
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2.87 NMEATALKER
Sets the NMEA talker ID
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to alter the behavior of the NMEA talker ID. The talker is the first 2 characters after the $ sign in the log header of the GPGLL, GPGRS, GPGSA, GPGST, GPGSV, GPRMB, GPRMC, GPVTG and GPZDA log outputs. The other NMEA logs are not affected by the NMEATALKER command.
On SPAN systems, the GPGGA position is always based on the position solution from the BESTPOS log which incorporate GNSS + INS solutions as well.
The default GPS NMEA messages (NMEATALKER GP) include specific information about only the GPS satellites that have a 'GP' talker solution, even when GLONASS satellites are present. As well, the default GPS NMEA message outputs GP as the talker ID regardless of the position type given in position logs such as BESTPOS. The NMEATALKER AUTO command changes this behavior so that the NMEA messages include all satellites in the solution and the talker ID changes according to those satellites. If NMEATALKER is set to auto and there are both GPS and GLONASS satellites in the solution, two sentences with the GN talker ID are output. The first sentence contains information about the GPS and the second sentence on the GLONASS satellites in the solution. If NMEATALKER is set to auto and there are only GLONASS satellites in the solution, the talker ID of this message is GL.
If the solution comes from SPAN, the talker ID is IN.
Message ID: 861
Abbreviated ASCII Syntax: NMEATALKER id
Factory Default: NMEATALKER gp
ASCII Example: NMEATALKER auto
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Field
Field Type
ASCII Binary Value Value
Description
1
NMEATALKER header
-
-
Command header. See Messages on page 25 for more information.
2
ID
GP
0
AUTO 1
GPS (GP) only
GPS, Inertial (IN) and/or GLONASS
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
The NMEATALKER command only affects NMEA logs that are capable of a GPS output. For example, GLMLA is a GLONASS-only log and the output will always use the GL talker. Table 51: NMEA Talkers below shows the NMEA logs and whether they use GPS (GP), GLONASS (GL), Galileo (GA) or combined (GN) talkers with NMEATALKER AUTO.
Table 51: NMEA Talkers
Log
Talker IDs
GLMLA GL
GPALM GP
GPGGA GP
GPGLL GP or GL or GA or GN
GPGRS GP or GL or GA or GN
GPGSA GP or GL or GA or GN
GPGST GP or GL or GA or GN
GPGSV GP and GL and GA
GPRMB GP or GL or GA or GN
GPRMC GP or GL or GA or GN
GPVTG GP or GL or GA or GN
GPZDA GP
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2.88 NMEAVERSION
Sets the NMEA Version for Output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to set the output version of NMEA messages.
Message ID: 1574
Abbreviated ASCII Syntax: NMEAVERSION Version
Factory Defaults: NMEAVERSION V31
ASCII Example: NMEAVERSION V41
Field
Field Type
ASCII Binary Value Value
Description
1
NMEAVERSION header
-
-
Command header. See Messages on page 25 for more information.
2
Version
V31 0 V41 1
NMEA messages will be output in NMEA version 3.10 format.
NMEA messages will be output in NMEA version 4.10 format.
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.89 NTRIPCONFIG
Configures NTRIP
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
This command sets up and configures NTRIP communication.
Message ID: 1249
Abbreviated ASCII Syntax: NTRIPCONFIG port type [protocol [endpoint [mountpoint [username [password [bindinterface]]]]]]
Mountpoint, username and password are all set up on the caster.
Factory Default: NTRIPCONFIG ncom1 disabled NTRIPCONFIG ncom2 disabled NTRIPCONFIG ncom3 disabled NTRIPCONFIG ncomX disabled
ASCII Example: NTRIPCONFIG ncom1 client v1 :2000 calg0
ASCII example (NTRIP client): NTRIPCONFIG ncom1 client v2 192.168.1.100:2101 RTCM3 calgaryuser calgarypwd
ASCII example (NTRIP server): NTRIPCONFIG ncom1 server v1 192.168.1.100:2101 RTCM3 "" casterpwd
Field Field Type
ASCII Value
1
NTRIPCONFIG Header
-
2
port
NCOM1 NCOM2 NCOM3
Binary Value
Description
Format
Binary Bytes
Command header.
-
See Messages on page 25 for more
-
H
information.
26
Name of the port see
Table 32:
27
Communications Port Enum 4
Identifiers on
28
page 137
Binary Offset 0
H
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Field Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
DISABLED 1
3
type
CLIENT
2
NTRIP type
Enum 4
H+4
SERVER 3
V1
4
protocol
V2
1 Protocol (default V1) Enum 4
2
H+8
5
endpoint
Max 80 character string
Endpoint to wait on or to connect to where host is a hostname or IP address and port is the TCP/UDP port number (default = 80)
String [80]
variable
1
H+12
6
mountpoint
Max 80 character string
Which mount point to String
use
[80]
variable
1
variable
7
user name
Max 30 character string
Login user name
String [30]
variable
1
variable
8
password
Max 30 character string
Password
String [30]
variable
1
variable
9
bindInterface
ALL (default)
1
Not supported. Set to
ALL for future
Enum 4
compatibility.
variable
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.90 NTRIPSOURCETABLE
Set NTRIPCASTER ENDPONTS
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
This command is used to set the NTRIPCASTER ENDPOINTS to be used for the SOURCETABLE log (see page 847).
Message ID: 1343
Abbreviated ASCII Syntax: NTRIPSOURCETABLE endpoint [reserved1] [reserved2]
Factory Default: NTRIPSOURCETABLE none
ASCII Example: NTRIPSOURCETABLE base.station.novatel.ca:1001 NTRIPSOURCETABLE 192.168.1.100:1001
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
NTRIP
1
SOURCETABLE -
header
Command header. See Messages on page 25 for more information.
H
0
2
Endpoint
Max 80 character string
Endpoint, in format of host:port, to connect to where the host is a hostname or IP address and port is the TCP/IP port number
String [80]
variable
1
H
3
Reserved1
Reserved
Reserved
Ulong 4
variable
4
Reserved2
Reserved
Reserved
Ulong 4
variable
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.91 NVMRESTORE
Restores NVM data after an NVM failure
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to restore Non-Volatile Memory (NVM) data after a NVM Fail error. This failure is indicated by bit 15 of the receiver error word being set (see also RXSTATUS command on page 766 and RXSTATUSEVENT command on page 780). If corrupt NVM data is detected, the receiver remains in the error state and continues to flash an error code on the Status LED until the NVMRESTORE command is issued (refer to the chapter on Built-In Status Tests in the OEM7 Installation and Operation User Manual for further explanation). If you have more than one auth code and the saved model is lost, then the model may need to be entered using the MODEL command or it is automatically saved in NVM on the next start up. If the almanac was lost, a new almanac is automatically saved when the next complete almanac is received (after approximately 15 minutes of continuous tracking). If the user configuration was lost, it has to be reentered by the user. This could include communication port settings.
The factory default for the COM ports is 9600, n, 8, 1.
After entering the NVMRESTORE command and resetting the receiver, the communications link may have to be reestablished at a different baud rate from the previous connection.
Message ID: 197
Abbreviated ASCII Syntax: NVMRESTORE
The possibility of NVM failure is extremely remote, however, if it should occur it is likely that only a small part of the data is corrupt. This command is used to remove the corrupt data and restore the receiver to an operational state. The data lost could be the user configuration, almanac, model or other reserved information.
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2.92 NVMUSERDATA
Write User Data to NVM
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command writes the data provided in the data array to NVM. This data can be retrieved by issuing the command LOG NVMUSERDATA.
The user data is maintained through power cycles and a standard FRESET command (see page 179). To clear the user data, use the FRESET USERDATA command.
The user data may be deleted if the NVMRESTORE command (see page 257) is sent. NVMRESTORE should be used with caution and is meant for use only in the event of a NVM receiver error.
Message ID: 1970 Abbreviated ASCII Syntax:
NVMUSERDATA N DATA
Field
Field Type
Binary Value
Description
Binary Binary Binary Format Bytes Offset
1
NVMUSERDATA header
-
Command header. See Messages on page 25 for more information.
-
H
0
2
N
-
Number of bytes of data to follow Ulong 4
H
3
DATA
User input data up to a maximum of 2000 bytes.
-
Data is entered in hexadecimal
Uchar 2000 H+4
values with no separators
between the values. For example,
1a2b3c4e
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2.93 PDPFILTER
Enables, disables or resets the PDP filter
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to enable, disable or reset the Pseudorange/Delta-Phase (PDP) filter. The main advantages of the PDP implementation are:
l Smooths a jumpy position l Bridges outages in satellite coverage (the solution is degraded from normal but there is at
least a reasonable solution without gaps)
Enable the PDP filter to output the PDP solution in the BESTPOS log (see page 433), BESTVEL log (see page 449) and NMEA Standard Logs on page 624. Refer to the Operation chapter of the OEM7 Installation and Operation User Manual for information on configuring your receiver for PDP or GLIDE� operation.
2.93.1 GLIDE Position Filter
GLIDE is a mode of the PDP1 filter that optimizes the position for consistency over time rather than absolute accuracy. This is ideal in clear sky conditions where the user needs a tight, smooth and consistent output. The GLIDE filter works best with SBAS. The PDP filter is smoother than a least squares solution but is still noisy in places. The GLIDE filter produces a very smooth solution with relative rather than absolute position accuracy. There should typically be less than 1 centimeter difference in error from epoch to epoch. GLIDE also works in single point and DGPS VBS modes. See also the PDPMODE command on page 261 and the PDPPOS log on page 643, PDPVEL log on page 647 and PDPXYZ log on page 648.
Message ID: 424
Abbreviated ASCII Syntax: PDPFILTER switch
Factory Default: PDPFILTER disable
ASCII Example: PDPFILTER enable
1Refer also to our application note APN038 on Pseudorange/Delta-Phase (PDP), available on our website a www.novatel.com/support/search.
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Field
Field Type
ASCII Binary Value Value
Description
1
PDPFILTER header
-
Command header. See
-
Messages on page 25 for
more information.
DISABLE 0
Disable the PDP filter.
ENABLE 1
Enable the PDP filter.
2
switch
RESET 2
Reset the PDP filter. A reset clears the filter memory so that the PDP filter can start over
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.94 PDPMODE
Selects the PDP mode and dynamics
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to select the mode and dynamics of the PDP filter.
The PDPFILTER ENABLE command (see the PDPFILTER command on page 259) must be entered before the PDPMODE command.
It is recommended that the ionotype be left at AUTO when using either normal mode PDP or GLIDE. See also the SETIONOTYPE command on page 349.
Message ID: 970 Abbreviated ASCII Syntax:
PDPMODE mode dynamics
Factory Default: PDPMODE normal auto
ASCII Example: PDPMODE relative dynamic
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
PDPMODE header
-
Command header. See
-
Messages on page 25 for
-
more information.
H
0
In relative mode, GLIDE
NORMAL 0
performance is optimized to obtain a consistent error
in latitude and longitude
over time periods of 15
2
mode
RELATIVE 1
minutes or less, rather than to obtain the smallest
Enum
4
H
absolute position error. See
also GLIDE Position Filter
GLIDE
3
on page 259 for GLIDE mode additional
information
AUTO
0
Auto detect dynamics mode
3
dynamics STATIC 1
Static mode
Enum 4
H+4
DYNAMIC 2
Dynamic mode
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2.95 PGNCONFIG
Configure NMEA2000 PGNs.
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to configure the PGNs of the proprietary NMEA 2000 fast-packet messages the OEM7 receivers produce. The receiver must be reset after issuing a SAVECONFIG command (see page 321) for all the configuration changes to take affect.
Message ID: 1892
Abbreviated ASCII Syntax: PGNCONFIG message_id pgn priority
Factory Default: PGNCONFIG INSPVACMP 130816 7 PGNCONFIG INSPVASDCMP 130817 7
ASCII Example: PGNCONFIG INSPVACMP 129500 3
This example sets the INSPVACMP message to PGN 129500 with priority 3.
Field Field Type
ASCII Value
Binary Value
Description
1
PGNCONFIG Header
-
Command header.
-
See Messages on page 25 for more
information.
2
INSPVACMP 1889 message_id
INSPVASDCMP 1890
NovAtel message ID
3
pgn
0 to 4294967295
PGN to use for message_id
4
priority
0-7
CAN priority to use
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4 Ulong 4 Uchar 1
H H+4 H+8
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2.96 POSAVE
Implements base station position averaging
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command implements position averaging for base stations. Position averaging continues for a specified number of hours or until the estimated averaged position error is within specified accuracy limits. Averaging stops when the time limit or the horizontal standard deviation limit or the vertical standard deviation limit is achieved. When averaging is complete, the FIX POSITION command is automatically invoked. See the FIX command on page 166. If differential logging is initiated, then issue the POSAVE command followed by the SAVECONFIG command (see page 321). The receiver averages positions after every power on or reset. It then invokes the FIX POSITION command to enable it to send differential corrections.
Message ID: 173
Abbreviated ASCII Syntax: POSAVE state [maxtime [maxhstd [maxvstd]]]
Factory Default: POSAVE off
ASCII Example 1: POSAVE on 24 1 2
ASCII Example 2: POSAVE OFF
Field
Field Type
ASCII Binary Value Value
Description
1
POSAVE header
-
-
Command header. See Messages on page 25 for more information.
ON
1
2
state
OFF 0
Enable position averaging Disable position averaging
3
maxtime
0.01 - 100 hours
Maximum amount of time that positions are to be averaged (default=0.01)
4
maxhstd 0 - 100 m
Desired horizontal standard deviation (default = 0.0)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Float
4
H+4
Float
4
H+8
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Field
Field Type
ASCII Binary Value Value
Description
5
maxvstd 0 - 100 m
Desired vertical standard deviation (default = 0.0)
Format
Binary Bytes
Binary Offset
Float
4
H+12
The POSAVE command can be used to establish a new base station, in any form of survey or RTK data collection, by occupying a site and averaging the position until either a certain amount of time has passed or position accuracy has reached a user specified level. User specified requirements can be based on time or horizontal or vertical quality of precision.
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2.97 POSTIMEOUT
Sets the position time out
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This commands is used to set the time out value for the position calculation in seconds. In position logs, for example BESTPOS log (see page 433) or PSRPOS log (see page 662), when the position time out expires, the Position Type field is set to NONE. Other field values in these logs remain populated with the last available position data. Also, the position is no longer used in conjunction with the almanac to determine what satellites are visible.
Message ID: 612
Abbreviated ASCII Syntax: POSTIMEOUT sec
Factory Default: POSTIMEOUT 600
ASCII Example: POSTIMEOUT 1200
When performing data collection in a highly dynamic environment (for example, urban canyons or in high speed operations), you can use POSTIMEOUT to prevent the receiver from outputting calculated positions that are too old. Use POSTIMEOUT to force the receiver position type to NONE. This ensures that the position information being used in the BESTPOS log (see page 433) or PSRPOS log (see page 662) is based on a recent calculation. All position calculations are then recalculated using the most recent satellite information.
Field
Field Type
ASCII Binary Value Value
Description
1
POSTIMEOUT header
-
-
Command header. See Messages on page 25 for more information.
2
sec
0-86400
Time out in seconds
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
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2.98 PPPBASICCONVERGEDCRITERIA
Configures decision for PPP Basic convergence
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The PPPBASICCONVERGEDCRITERIA command sets the threshold that determines if the solution has converged for lower accuracy PPP solutions. These are the PPP solutions reported with the PPP_BASIC and PPP_BASIC_CONVERGING position types.
The convergence threshold for high-accuracy PPP solutions (reported with PPP and PPP_ CONVERGING position types) is set using the PPPCONVERGEDCRITERIA command (see page 267).
Relaxing the convergence threshold shortens the time before a PPP solution is reported as converged. However, it does not alter solution behavior. During the initial PPP solution period, the positions can have decimeter error variation. Only relax the convergence threshold if the application can tolerate higher solution variability.
Message ID: 1949 Abbreviated ASCII Syntax:
PPPBASICCONVERGEDCRITERIA criteria tolerance
Factory Default: PPPBASICCONVERGEDCRITERIA horizontal_stddev 0.60
ASCII Example: PPPBASICCONVERGEDCRITERIA total_stddev 0.45
Field Field Type
ASCII Value
Binary Value
Description
PPPBASIC
1
CONVERGED CRITERIA
-
header
Command header.
-
See Messages on page 25 for more
information.
2
Criteria
TOTAL_ STDDEV
1
HORIZONTAL_ STDDEV
2
Use the total, 3D, standard deviation
Use the horizontal, 2D, standard deviation
3
Tolerance
Tolerance (m)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Float
4
H+4
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2.99 PPPCONVERGEDCRITERIA
Configures decision for PPP convergence
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The PPPCONVERGEDCRITERIA command sets the threshold that determines if the solution has converged for high-accuracy PPP solutions. These are the PPP solutions reported with the PPP and PPP_CONVERGING position types.
The convergence threshold for lower accuracy PPP solutions (reported with PPP_BASIC and PPP_BASIC_CONVERGING position types) is set using the PPPBASICCONVERGEDCRITERIA command (see page 266).
Relaxing the convergence threshold shortens the time before a PPP solution is reported as converged. However, it does not alter solution behavior. During the initial PPP solution period, the positions can have decimeter error variation. Only relax the convergence threshold if the application can tolerate higher solution variability.
Message ID: 1566 Abbreviated ASCII Syntax:
PPPCONVERGEDCRITERIA criteria tolerance
Factory Default: PPPCONVERGEDCRITERIA horizontal_stddev 0.32
ASCII Example: PPPCONVERGEDCRITERIA total_stddev 0.15
Field Field Type
ASCII Value
Binary Value
Description
PPP
1
CONVERGED CRITERIA
-
header
Command header.
-
See Messages on page 25 for more
information.
2
Criteria
TOTAL_ STDDEV
1
HORIZONTAL_ STDDEV
2
Use the total, 3D, standard deviation
Use the horizontal, 2D, standard deviation
3
Tolerance
Tolerance (m)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Float
4
H+4
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2.100 PPPDYNAMICS
Sets the PPP dynamics mode
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command configures the dynamics assumed by the PPP filter. AUTO detects the antenna dynamics and adapts filter operation accordingly.
The automatic dynamics detection may be fooled by very slow, "creeping" motion, where the antenna consistently moves less than 2 cm/s. In such cases, the mode should explicitly be set to DYNAMIC.
Message ID: 1551 Abbreviated ASCII Syntax:
PPPDYNAMICS mode
Factory Default: PPPDYNAMICS dynamic
ASCII Example: PPPDYNAMICS auto
Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
PPPDYNAMICS header
-
Command header. See
-
Messages on page 25 -
for more information.
H
0
2
Mode
Automatically
AUTO
0
determines dynamics
mode
Enum 4
H
STATIC 1
Static mode
DYNAMIC 2
Dynamic mode
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2.101 PPPDYNAMICSEED
Seed the PPP filter in any platform motion state
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command enables seeding of the PPP engine regardless of the receiver motion state. Accurate seeds can be used to improve initial PPP convergence and re-convergence following signal outages. The seed position given by the PPPDYNAMICSEED command must be in a datum consistent with the PPP corrections that are in use. For NovAtel CORRECT with PPP, the datum is ITRF2008. The dynamic seed's time must refer to receiver time and cannot be more than 15 seconds in the past. A valid PPP solution (the PPPPOS log (see page 652) solution status is SOL_COMPUTED) must have been computed for the same epoch as the seed in order for the seed to be used. See the PPPSEED command on page 272 for stationary-only seeding and for other control over seeding.
Message ID: 2071
Abbreviated ASCII Syntax:
PPPDYNAMICSEED week seconds latitude longitude height northing_std_dev easting_std_dev height_std_dev [northing_easting_covariance] [northing_ height_covariance] [easting_height_covariance]
Example :
PPPDYNAMICSEED 1817 247603 51.2086442297 -113.9810263055 1071.859 0.02 0.02 0.04
Field
Field Type
ASCII Binary Value Value
Description
1
PPPDYNAMICSEED header
-
-
Command header. See Messages on page 25 for more information.
2
week
0-9999
GPS Week number
3
seconds
0-604800
Number of seconds into GPS week
4
latitude
�90
Latitude (degrees)
5
longitude
�180
Longitude (degrees)
6
height
> -2000.0
Ellipsoidal height (metres)
7
northing_std_dev
Northing standard deviation (metres)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Ulong 4 Double 8 Double 8 Double 8
Float
4
H H+4 H+8 H+16 H+24
H+32
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Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
8
easting_std_dev
Easting standard deviation (metres)
Float
4
H+36
9
height_std_dev
Ellipsoidal height standard deviation (metres)
Float
4
H+40
10
northing_easting_ covariance
Covariance between
northing and easting Float
4
components (metres)
H+44
11
northing_height_ covariance
Covariance between
northing and height
Float
4
components (metres)
H+48
12
easting_height_ covariance
Covariance between
easting and height
Float
4
components (metres)
H+52
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2.102 PPPRESET
Reset the PPP filter
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command resets the PPP filter. After a reset, the PPP filter is restored to its initial state and PPP convergence will start over.
If deletion of the NVM-saved PPP seed information is also required, then a PPPSEED CLEAR command must be applied before the PPPRESET command. See the PPPSEED command on the next page.
Message ID: 1542 Abbreviated ASCII Syntax:
PPPRESET [Option]
ASCII Example : PPPRESET
Field
Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Bytes Format Offset
1
PPPRESET header
-
-
Command header. See
Messages on page 25 for
-
more information.
H
0
2
Option
FILTER 1
Reset the PPP filter.
This is an optional parameter. 4 (default = FILTER)
Enum H
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2.103 PPPSEED
Control the seeding of the PPP filter
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The PPPSEED command controls the seeding of the PPP filter. Accurate position seeding can accelerate PPP convergence. PPPSEED SET is used to explicitly specify a seed position. The seed position must be in a datum consistent with the PPP corrections that will be used. For NovAtel CORRECT with PPP, this is ITRF2008. The PPPSEED SET command can only be used to give seed positions for stationary platforms. If the platform is moving, use the PPPDYNAMICSEED command (see page 269).
Caution must be exercised when using PPPSEED SET. While a good seed position can accelerate convergence, a bad seed position hurts performance. In some cases, a bad seed can prevent a solution from ever converging to a correct position. In other cases, a bad seed might be rejected immediately. In still other cases, the filter might operate with it for a time period only to reject it later. In this case, the filter position is partially reset, with a corresponding discontinuity in the PPP position.
PPPSEED STORE and RESTORE are intended to simplify seeding in operations where the antenna does not move between power-down and power-up. For example, in agricultural operations a tractor might be stopped in a field at the end of a day and then re-started the next day in the same position. Before the receiver is powered-down, the current PPP position could be saved to NVM using the PPPSEED STORE command, and then that position applied as a seed after power-up using PPPSEED RESTORE. PPPSEED AUTO automates the STORE and RESTORE process. When this option is used, the PPP filter automatically starts using the stopping position of the previous day. For this command to work, the PPPDYNAMICS command (see page 268) setting must be AUTO so that the receiver can determine when it is static, or the filter must explicitly be told it is static using PPPDYNAMIC STATIC. Additionally, in order for the receiver to recall the saved seed, the PPPSEED AUTO command should be saved to NVM using the SAVECONFIG command (see page 321).
Message ID: 1544
Abbreviated ASCII Syntax: PPPSEED option [latitude] [longitude] [height] [northing_std._dev.] [easting_std._dev.] [height_std._dev.]
ASCII Example: PPPSEED set 51.11635322441 -114.03819311672 1064.5458 0.05 0.05 0.05
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Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
PPPSEED header
-
Command header. See
-
Messages on page 25 for
-
more information.
H
0
CLEAR 0
Resets the stored seed, and prevents any auto seeding from occurring.
SET
1
Immediately apply the specified co-ordinates as a seed position.
Store the current PPP
2
option
STORE
2
position in NVM for use as a Enum 4
H
future seed.
RESTORE 3
Retrieve and apply a seed position that was previously saved in NVM via the STORE or AUTO options.
AUTO
4
Automatically store and restore PPP seed positions.
3
latitude �90
Latitude (degrees)
Double 8
H+4
4
longitude �180
Longitude (degrees)
Double 8
H+12
5
height
> -2000.0
Ellipsoidal height (metres) Double 8
H+20
6
northing std. dev.
Northing standard deviation (metres)
Float
4
H+28
7
easting std. dev.
Easting standard deviation (metres)
Float
4
H+32
8
height std. dev.
Ellipsoidal height standard deviation (metres)
Float
4
H+36
9
Reserved
Float
4
H+40
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2.104 PPPSOURCE
Specifies the PPP correction source
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command determines what corrections the PPP filter will use. When transitioning between explicitly specified sources, there can be some delay between this command being accepted and the source specified in the PPP solution changing.
The AUTO source behavior is subject to change.
Message ID: 1707 Abbreviated ASCII Syntax:
PPPSOURCE source
Factory Default: PPPSOURCE auto
ASCII Example: PPPSOURCE none
Field Field Type
ASCII Value
1
PPPSOURCE header
-
Binary Value
Description
Command header.
-
See Messages on page 25 for more
information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
NONE
Reject all
0
PPP corrections.
Disable the PPP filter
TERRASTAR 1
Only accept TerraStar PPP corrections
VERIPOS
2
Only accept Veripos PPP corrections
2
source
TERRASTAR_ L
8
Only accept TerraStar-L PPP corrections
Enum 4
H
TERRASTAR_ C
10
Only accept TerraStar-C PPP corrections
AUTO
Automatically select
100
and use the best
corrections
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2.105 PPPTIMEOUT
Sets the maximum age of the PPP corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command sets the maximum age of the corrections used in the PPP filter. Corrections older than the specified duration are not applied to the receiver observations and uncorrected observations are not used in the filter.
Message ID: 1560
Abbreviated ASCII Syntax: PPPTIMEOUT delay
Factory Default: PPPTIMEOUT 360
ASCII Example: PPPTIMEOUT 120
Field
Field Type
ASCII Binary Value Value
Description
1
PPPTIMEOUT header
-
-
Command header. See Messages on page 25 for more information.
2
delay
5 to 900 s
Maximum corrections age
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
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2.106 PPSCONTROL
Controls the PPS output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command provides a method for controlling the polarity, period and pulse width of the PPS output on the OEM7. The PPS output can also be disabled using this command.
This command is used to setup the PPS signal coming from the receiver. For example, to take measurements such as temperature or pressure, in synch with your GNSS data, the PPS signal can be used to trigger measurements in other devices.
The leading edge of the 1 PPS pulse is always the trigger/reference. For example: PPSCONTROL ENABLE NEGATIVE
generates a normally high, active low pulse with the falling edge as the reference, while: PPSCONTROL ENABLE POSITIVE
generates a normally low, active high pulse with the rising edge as the reference. The pulse width is user-adjustable. The adjustable pulse width feature supports triggers/systems that need longer, or shorter, pulse widths than the default to register the pulse enabling a type of GPIO line for manipulation of external hardware control lines. The switch states allow more control over disabling/enabling the PPS. The ENABLE_FINETIME switch prevents the PPS from being enabled until FINE or FINESTEERING time status has been reached. The ENABLE_FINETIME_MINUTEALIGN switch is similar to ENABLE_FINETIME with caveat that the PPS will still not be enabled until the start of the next 60 seconds (a 1 minute modulus) after FINE or FINESTEERING time status has been reached.
If the value of a field shared with PPSCONTROL2 is changed in PPSCONTROL, the value of that field is also changed in PPSCONTROL2. For example, if the polarity is changed using the PPSCONTROL command, the polarity is also changed in PPSCONTROL2 command.
Message ID: 613
Abbreviated ASCII Syntax: PPSCONTROL [switch [polarity [period [pulsewidth]]]]
Factory Default: PPSCONTROL enable negative 1.0 1000
ASCII Example: PPSCONTROL enable positive 0.5 2000
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Field Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
1
PPSCONTROL header
-
Command header.
-
See Messages on page 25 for more
-
information.
H
0
DISABLE
0
Disable the PPS
ENABLE
1
Enable the PPS (default)
2
switch
Enable the PPS only
ENABLE_ FINETIME
2
when FINE or FINESTEERING time status has
been reached
Enum 4
H
Enable the PPS only
when FINE or
FINESTEERING
ENABLE_
time status has
FINETIME_
3
been reached AND
MINUTEALIGN
the start of the
next 60 seconds (1
minute modulus)
has occurred
3
polarity
NEGATIVE
0
POSITIVE
1
Optional field to specify the polarity of the pulse to be generated on the PPS output. See Figure 6: TTL Pulse Enum 4 Polarity on page 239 for more information (default= NEGATIVE)
H+4
4
period
0.05, 0.1, 0.2, 0.25, 0.5, 1.0, 2.0, 3.0,...20.0
Optional field to specify the period of the pulse, in seconds (default=1.0)
Double 8
H+8
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Field Field Type
5
pulsewidth
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
Optional field to
specify the pulse
width of the PPS
Any positive value less than or equal to half the period
signal in microseconds. This value should always be less than
Ulong
4
or equal to half the
period
(default=1000)
H+16
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2.107 PPSCONTROL2
Controls polarity, period, pulse width and estimated error limit of the PPS output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
The PPSCONTROL2 command provides a method for controlling the polarity, period, pulse width, and estimated error limit of the PPS output on the OEM7. The PPS output can also be disabled using this command.
This command is identical to the PPSCONTROL command (see page 277) with the addition of a new parameter that represents the Estimated Error Limit.
If the value of a field shared with PPSCONTROL is changed in PPSCONTROL2, the value of that field is also changed in PPSCONTROL. For example, if the polarity is changed using the PPSCONTROL2 command, the polarity is also changed in PPSCONTROL command.
The estimated error limit sets an allowable � range for the clock offset. The PPS output is only enabled when the clock offset is within this range.
Message ID: 1740
Abbreviated ASCII Syntax: PPSCONTROL2 [switch [polarity [period [pulsewidth [estimatederrorlimit]]]]]
Factory default: PPSCONTROL2 enable negative 1.0 1000 0
ASCII Example: PPSCONTROL2 enable_finetime positive 0.5 2000 10
Field Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
1
PPSCONTROL2 header
-
Command header.
-
See Messages on page 25 for more
-
information.
H
0
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Field Field Type
2
switch
3
polarity
4
period
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
DISABLE
0
Disable the PPS
ENABLE
1
Enable the PPS (default)
ENABLE_ FINETIME
2
Enable the PPS only when FINE or FINESTEERING time status has been reached
Enable the PPS
Enum 4
H
only when FINE or
FINESTEERING
ENABLE_
FINETIME_
3
MINUTEALIGN
time status has been reached AND the start of the next 60 seconds
(1 minute
modulus) has
occurred
NEGATIVE
0
POSITIVE
1
Optional field to
specify the
polarity of the
pulse to be
generated on the
PPS output. See Figure 6: TTL
Enum
4
Pulse Polarity on
page 239 for more
information
(default =
NEGATIVE).
H+4
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
Double 8
seconds (default
= 1.0).
H+8
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Field Field Type
5
pulse width
6
estimated error limit
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
Optional field to
specify the pulse
width of the PPS
Any value less than or signal in
equal to half the pulse microseconds.
Ulong 4
period in microseconds. This value should
always be equal
to half the period
(default = 1000).
H+16
0 to 2147483647 in nanoseconds
Optional field to
specify the �
estimated error
limit (in
nanoseconds) for
the clock offset
(default = 0). The
PPS output is only
enabled when the Long
4
clock offset is
within this limit.
An estimated error limit of 0 removes the estimated error limit restraint on the PPS.
H+20
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2.108 PROFILE
Profile in Non-Volatile Memory (NVM)
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is used to configure multiple profiles in the NVM at receiver startup. The output is in the PROFILEINFO log (see page 656).
Message ID: 1411
Abbreviated ASCII Syntax: PROFILE Option Name [command]
ASCII Examples: PROFILE create Base PROFILE createelement Base "log com1 versiona" PROFILE createelement Base "serialconfig com2 115200" PROFILE createelement Base "log com2 rtcm1004 ontime 1" PROFILE activate Base
Field
Field Type
1
PROFILE header
2
Option
ASCII Binary Value Value
-
-
Refer to Table 52: Profile Option on the next page
Description
Command header. See Messages on page 25 for more information.
Profile options
3
Name
Profile name
4
Command
Profile command
Format
Binary Bytes
Binary Offset
-
H
0
Enum
4
H
String [Max 20]
variable
1
H+4
String [Max 200]
variable
1
variable
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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Restrictions: 1. Only supports up to a maximum of 9 profiles. 2. Only supports up to a maximum of 20 commands per profile. 3. Only supports up to a maximum of 200 characters long for each command. 4. Only supports up to a maximum of 1500 characters for all commands in one profile. 5. If one of the profiles is activated, the SAVECONFIG functionality is disabled. 6. All profiles are deleted by a FRESET PROFILEINFO command (see the FRESET com-
mand on page 179). 7. The receiver resets after a profile is activated. 8. Some commands optionally accept a port parameter and will default to THISPORT if no
port is provided (e.g.LOG command). Since the commands in a profile are not sent from a port THISPORT is undefined in this case. When adding such commands to a profile, be sure to specify the port for the command rather than letting the command use the default, which may result in incorrect behavior. 9. Commands that lead to a reset of the receiver are rejected by the PROFILE command (see page 283).
Table 52: Profile Option
Binary
ASCII
Description
0
Reserved
1
CREATE
Create a profile
2
DELETE
Delete an existing profile
3
CREATEELEMENT Create an element in an existing profile
4
DELETEELEMENT Delete an existing element in an existing profile
5
ACTIVATE
Activate an existing profile
6
DEACTIVATE
Deactivate a running profile
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2.109 PSRDIFFSOURCE
Sets the pseudorange differential correction source
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to identify which base station to accept differential corrections from. This is useful when the receiver is receiving corrections from multiple base stations. See also the RTKSOURCE command on page 316.
1. When a valid PSRDIFFSOURCE command is received, the current correction is removed immediately rather than in the time specified in the (PSRDIFFSOURCETIMEOUT command (see page 288)).
2. To use L-Band differential corrections, an L-Band receiver and NovAtel Correct with PPP service or use of a DGPS service is required. Contact NovAtel for details.
3. For ALIGN users: the ALIGN rover will not use RTK corrections automatically to do PSRDIFF positioning, as ALIGN is commonly used with a moving base. If you have a static base and want a PSRDIFF position, at the ALIGN rover, set the PSRDIFFSOURCE to RTK.
Message ID: 493
Abbreviated ASCII Syntax: PSRDIFFSOURCE type [id]
Factory Default: PSRDIFFSOURCE auto ANY
ASCII Examples: 1. Enable only SBAS:
RTKSOURCE NONE PSRDIFFSOURCE SBAS SBASCONTROL ENABLE AUTO 2. Enable RTK and PSRDIFF from RTCM, with a fall-back to SBAS: RTKSOURCE RTCM ANY PSRDIFFSOURCE RTCM ANY SBASCONTROL ENABLE AUTO 3. Disable all corrections: RTKSOURCE NONE PSRDIFFSOURCE none
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Since several errors affecting signal transmission are nearly the same for two receivers near each other on the ground, a base at a known location can monitor the errors and generate corrections for the rover to use. This method is called Differential GPS and is used by surveyors to obtain submetre accuracy.
Major factors degrading GPS signals, which can be removed or reduced with differential methods, are atmospheric, satellite orbit errors and satellite clock errors. Errors not removed include receiver noise and multipath.
Field
Field Type
ASCII Binary Value Value
Description
1
PSRDIFFSOURCE header
-
-
Command header. See Messages on page 25 for more information.
2
type
See Table 53: DGPS Type below
ID Type. All types (except NONE) may revert to SBAS (if enabled) or SINGLE position types. See Table 75: Position or Velocity Type on page 437 1
3
Base station ID Char [5] or ANY ID string
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Char[5] 8 2
H+4
Binary ASCII
0
RTCM
1
RTCA
2
CMR3
3
Reserved
4
Reserved
Table 53: DGPS Type Description
RTCM ID: 0 RTCM ID 1023 or ANY RTCA ID: A four character string containing only alpha (a-z) or numeric characters (0-9) or ANY CMR ID: 0 CMR ID 31 or ANY
1If ANY is chosen, the receiver ignores the ID string. Specify a Type when using base station IDs. 2In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment. 3This cannot be used in the PSRDIFFSOURCE command.
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Binary ASCII
5
SBAS1
6
RTK4
10 AUTO4 11 NONE4
Description
In the PSRDIFFSOURCE command, when enabled, SBAS such as WAAS, EGNOS and MSAS, forces the use of SBAS as the pseudorange differential source. SBAS is able to simultaneously track two SBAS satellites and incorporate the SBAS corrections into the position to generate differential quality position solutions. An SBAS-capable receiver permits anyone within the area of coverage to take advantage of its benefits.
If SBAS is set in the RTKSOURCE command (see page 316), it can not provide carrier phase positioning and returns an error
In the PSRDIFFSOURCE command, RTK enables using RTK correction types for PSRDIFF positioning. The correction type used is determined by the setting of the RTKSOURCE command (see page 316)
In the PSRDIFFSOURCE command, AUTO means that if any correction format is received then it will be used. If multiple correction formats are available, then RTCMV3 and RTK will be preferred over SBAS messages. If RTCMV3 and RTK are all available then the type of the first received message will be used.
In the RTKSOURCE command (see page 316), AUTO means that both the NovAtel RTK filter is enabled. The NovAtel RTK filter selects the first received RTCMV3 message.
Disables all differential correction types
12 Reserved
13
RTCMV3 3,
2
RTCM Version 3.0 ID: 0 RTCMV3 ID 4095 or ANY
14
NOVATELX
NovAtel proprietary message format ID: A four character string containing alpha (a-z) or numeric characters (0-9) or ANY
All PSRDIFFSOURCE entries fall back to SBAS (except NONE).
1Available only with the PSRDIFFSOURCE command. 2Base station ID parameter is ignored.
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2.110 PSRDIFFSOURCETIMEOUT
Sets pseudorange differential correction source timeout
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
When multiple differential correction sources are available, this command allows the user to set a time in seconds, that the receiver will wait before switching to another differential source, if corrections from the original source are lost.
Message ID: 1449
Abbreviated ASCII Syntax: PSRDIFFSOURCETIMEOUT option [timeout]
Factory Default: PSRDIFFSOURCETIMEOUT AUTO
ASCII Example: PSRDIFFSOURCETIMEOUT auto PSRDIFFSOURCETIMEOUT set 180
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
PSRDIFFSOURCE TIMEOUT header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
option
AUTO 1 SET 2
Use AUTO or SET to set the time
Enum
4
H
3
timeout
0 to 3600 sec
Specify the timeout (default=0)
Ulong 4
H+4
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2.111 PSRDIFFTIMEOUT
Sets maximum age of pseudorange differential data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to set the maximum age of pseudorange differential correction data to use when operating as a rover station. Received pseudorange differential correction data, older than the specified time, is ignored. This time out period also applies to differential corrections generated from RTK corrections.
The RTCA Standard for scat-i stipulates that the maximum age of differential correction messages cannot be greater than 22 seconds. Therefore, for RTCA rover users, the recommended PSRDIFF delay setting is 22.
Message ID: 1450 Abbreviated ASCII Syntax:
PSRDIFFTIMEOUT delay
Factory Default: PSRDIFFTIMEOUT 300
ASCII Example: PSRDIFFTIMEOUT 60
Field
Field Type
ASCII Binary Value Value
Description
PRSDIFF
1
TIMEOUT -
-
header
Command header. See Messages on page 25 for more information.
2
delay
2 to 1000 s
Maximum pseudorange differential age
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
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2.112 QZSSECUTOFF
Sets QZSS satellite elevation cutoff
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to set the elevation cut-off angle for tracked QZSS satellites. The receiver does not start automatically searching for a QZSS satellite until it rises above the cut-off angle (when satellite position is known). Tracked satellites that fall below the cut-off angle are no longer tracked unless they are manually assigned (see the ASSIGN command on page 68). In either case, satellites below the QZSSECUTOFF angle are eliminated from the internal position and clock offset solution computations. This command permits a negative cut-off angle; it could be used in these situations:
l The antenna is at a high altitude, and thus can look below the local horizon l Satellites are visible below the horizon due to atmospheric refraction
Care must be taken when using QZSSECUTOFF command because the signals from lower elevation satellites are traveling through more atmosphere and are therefore degraded. Use of satellites below 5 degrees is not recommended.
Use the ELEVATIONCUTOFF command (see page 141) to set the cut-off angle for any system.
For dual antenna receivers, this command applies to both the primary and secondary antennas.
Message ID: 1350 Abbreviated ASCII Syntax:
QZSSECUTOFF angle
Factory Default: QZSSECUTOFF 5.0
ASCII Example QZSSECUTOFF 10.0
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Field
Field Type
ASCII Binary Value Value
Description
1
QZSSECUTOFF header
-
-
Command header. See Messages on page 25 for more information.
2
angle
�90 degrees
Elevation cutoff angle relative to the horizon
Format
Binary Bytes
Binary Offset
-
H
0
Float
4
H
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2.113 RADARCONFIG
Configure the Emulated Radar Output
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to configure the Emulated Radar (ER) output.
The ER signal is output on the VARF or EVENT_OUT1 pin of the receiver.
Message ID: 1878
Abbreviated ASCII Syntax: RADARCONFIG switch [frequency_step [update_rate [response_mode [threshold]]]]
Factory Default: radarconfig disable
ASCII Example: radarconfig enable 26.11 5hz 2 3.5
Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
RADARCONFIG header
-
Command header. See
-
Messages on page 25 -
for more information.
H
0
2
switch
DISABLE 0 ENABLE 1
Disables radar emulation
Enables radar emulation
Enum 4
H
3
freq_step
10.06 16.32 26.11 28.12 34.80 36.11
Frequency step per kilometer per hour.
(default = 36.11 Hz/kph)
Double 8
H+4
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Field Field Type
4
update_rate
5
resp_mode
6
threshold
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1HZ
1
2HZ
2
5HZ
5
10HZ
10
Rate at which the output frequency is adjusted
(default = 10HZ)1
Enum 4
H+12
20HZ
20
See Table 54: Response Modes below
Specify how responsive
radar emulation is to changes in velocity
Integer 4
(Default = 500)1
H+16
2 to 50 kph
The speed threshold at
which to switch
between response
mode 1000 and
response mode 500.
The threshold is only
Double 8
applicable when the
response mode is set
to 2.
(default = 5 kph)
H+20
Table 54: Response Modes
Mode
Description
1
Immediate. This results in the lowest latency at the cost of higher noise
2
Automatically switch between 1000 and 500 depending on speed. When speed is below the Threshold parameter, use Response Mode 500. Otherwise, use Response Mode 1000.
500 Signal is minimally smoothed resulting in low latency but increased noise.
1000
Output signal is smoothed over a smaller window resulting in less latency than 2000 and less noise than 500.
2000 Output signal is smoothed to reduce noise at the cost of higher latency
1The number of samples used for smoothing depends on both the update_rate and resp_mode parameters. For instance, if the update_rate is 5 Hz and the resp_mode is 2000 ms, the number of samples used will be 10.
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2.114 RAIMMODE
Configures RAIM mode
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is used to configure Receiver Autonomous Integrity Monitoring (RAIM) operation. This command uses RTCA MOPS characteristics which defines the positioning accuracy requirements for airborne lateral navigation (LNAV) and vertical navigation (VNAV) at 3 stages of flight:
1. En route travel
2. Terminal (within range of air terminal)
3. Non-precision approach
In order to ensure that the required level of accuracy is available in these phases of flight, MOPS requires the computation of protection levels (HPL and VPL). MOPS has the following definitions that apply to NovAtel's RAIM feature:
Horizontal Protection Level (HPL) is a radius of the circle in the horizontal plane. Its center is at the true position, that describes the region, assured to contain the indicated horizontal position. It is the horizontal region where the missed alert and false alert requirements are met using autonomous fault detection.
Vertical Protection Level (VPL) is half the length of the segment on the vertical axis. Its center is at the true position, that describes the region, assured to contain the indicated vertical position when autonomous fault detection is used.
Horizontal Alert Limit (HAL) is a radius of the circle in the horizontal plane. Its center is at the true position, that describes the region, required to contain the indicated horizontal position with the required probability.
Vertical Alert Limit (VAL) is half the length of the segment on the vertical axis. Its center is at the true position, that describes the region, required to contain the indicated vertical position with certain probability.
Probability of False Alert (Pfa) is a false alert defined as the indication of a positioning failure, when a positioning failure has not occurred (as a result of false detection). A false alert would cause a navigation alert.
2.114.1 Detection strategy
NovAtel's RAIM detection strategy uses the weighted Least-Squares Detection (LSA) method. This method computes a solution using a LSA and is based on the sum of squares of weighted residuals. It is a comparison between a root sum of squares of residuals and a decision threshold to determine a pass/fail decision.
2.114.2 Isolation strategy
NovAtel RAIM uses the maximum residual method. Logically it is implemented as a second part of Fault Detection and Exclusion (FDE) algorithm for LSA detection method. Weighted LSA residuals are standardized individually and the largest residual is compared to a decision threshold. If it is more than the threshold, the observation corresponding to this residual is declared faulty.
Message ID: 1285
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Abbreviated ASCII Syntax: RAIMMODE mode [hal [val [pfa]]]
Factory Default: RAIMMODE default
Input Example: RAIMMODE user 100 100 0.01 RAIMMODE terminal
Field
Field Type
ASCII Binary Value Value
Description
1
RAIMMODE Header
-
-
Command header. See Messages on page 25 for more information.
2
MODE
See Table 55: RAIM Mode Types below
3
HAL
5 HAL 9999.99
Horizontal alert limit (m) (Default = 0.0)
4
VAL
5 VAL 9999.99
Vertical alert limit (m) (Default = 0.0)
5
PFA
(Pfa) = 1e-7 Pfa 0.25
Probability of false alert (Default = 0.0)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4 Double 8
H H+4
Double 8
H+12
Double 8
H+20
Table 55: RAIM Mode Types
Binary ASCII
Description
0
DISABLE Do not do integrity monitoring of least squares solution
1
USER
User will specify alert limits and probability of false alert
2
DEFAULT Use NovAtel RAIM (default)
3
APPROACH
Default numbers for non-precision approach navigation modes are used HAL = 556 m (0.3 nm), VAL = 50 m for LNAV/VNAV
4
TERMINAL
Default numbers for terminal navigation mode are used - HAL = 1855 m (1 nm), no VAL requirement
5
ENROUTE
Default numbers for enroute navigation mode are used - HAL = 3710 m (2 nm), no VAL requirement
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2.115 REFERENCESTATIONTIMEOUT
Sets timeout for removing previously stored base stations
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command sets how long the receiver will retain RTK base station co-ordinates. Shorter durations might be required if the receiver is operating in a VRS RTK network that recycles base station IDs quickly.
Message ID: 2033
Abbreviated ASCII Syntax: REFERENCESTATIONTIMEOUT option [timeout]
Factory Default: REFERENCESTATIONTIMEOUT AUTO
ASCII Example: REFERENCESTATIONTIMEOUT SET 90
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
REFERENCESTATION TIMEOUT header
-
-
Command header.
See Messages on page 25 for more
-
information.
H
0
2
option
Sets the Timeout to 90 seconds1
AUTO 1
The Timeout field is optional for AUTO and has no effect
Must set the
Enum 4
H
timeout value using
SET 2
the Timeout field 0 is not accepted
when using the SET
option
3
timeout
1 to 3600 s
Specify the time
Ulong 4
H+4
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2.116 RESET
Performs a hardware reset
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command performs a hardware reset. The receiver configuration reverts either to the factory default, if no user configuration was saved or the last SAVECONFIG settings. Refer to the FRESET command on page 179 and SAVECONFIG command on page 321. The optional delay field is used to set the number of seconds the receiver is to wait before resetting.
Message ID: 18
Abbreviated ASCII Syntax: RESET [delay]
Input Example RESET 30
The RESET command can be used to erase any unsaved changes to the receiver configuration. Unlike the FRESET command on page 179, the RESET command does not erase data stored in the NVM, such as Almanac and Ephemeris data.
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
RESET header
-
-
Command header. See Messages on page 25 for more information.
-
H
0
2
delay (0-60)
Seconds to wait before resetting (default = 0)
Ulong
4
H
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2.117 RFINPUTGAIN
Configure the Calibrated Antenna Gain (CAG)
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to select the mode (AUTO or MANUAL) of setting the CAG for the purpose of interference detection. If auto mode is used, the receiver will automatically compute the CAG at start up. In this case it is assumed that the receiver is powered up with its antenna connected and no interference is present.
If the antenna is changed, either reset the receiver or reissue this command to allow receiver to re-compute the CAG.
If manual mode is used, the CAG input by the user is used by the receiver to detect interference. The CAG is defined to be the cascaded RF gain before receiver input plus LNA noise figure (NF), counting active antenna LNA gain, in-line amplifier, RF cable or distribution loss prior to receiver input connector. A typical GNSS active antenna (of reasonable quality) has a noise figure of ~2dB (dominated by the LNA in an active antenna). RFINPUTGAIN = Cascaded Gain before receiver + LNA NF
For advanced users. If using this command in manual mode, the antenna gain must be accurately measured when the system is not experiencing any interference. If an erroneous CAG is injected, the interference detection performance can be degraded.
Message ID: 1658
Abbreviated ASCII Syntax: RFINPUTGAIN RFPath [mode] [CAG]
Factory Default: RFINPUTGAIN L1 AUTO RFINPUTGAIN L2 AUTO RFINPUTGAIN L5 AUTO
ASCII Example: RFINPUTGAIN L1 MANUAL 30 RFINPUTGAIN L2 30
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Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
RFINPUTGAIN header
-
Command header. See
-
Messages on page 25 for -
more information.
H
0
L1
2
2
RFPath
L2
3
RF path selection
Enum 4
H
L5
5
3
mode
AUTO 0 MANUAL 1
Calibrated Antenna Gain
(CAG) mode.
Enum 4
Default = MANUAL
H+4
4
CAG
0.0-100.0
Calibrated Antenna Gain value
If the mode is MANUAL, Float
4
a value for CAG must be
entered.
H+8
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2.118 RTKANTENNA
Specifies L1 phase center (PC) or ARP and enables/disables PC modeling
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to specify whether to use L1 phase center or Antenna Reference Point (ARP) positioning. There is also an option to apply phase center variation modeling. If there are any conditions that make a selected mode impossible, the solution status in the position log will indicate an error or warning. L1 ARP offsets and L2 ARP offsets can be entered using the BASEANTENNAPCO command on page 82 and THISANTENNAPCO command on page 371. Phase center variation parameters can be entered using the BASEANTENNAPCV command on page 84 and THISANTENNAPCV command on page 372. Error states occur if either the rover does not have the necessary antenna information entered or the base is not sending sufficient information to work in the requested mode. An example of these error conditions is:
l Position reference to the ARP is requested but no rover antenna model is available
Message ID: 858
Abbreviated ASCII Syntax: RTKANTENNA posref pcv
Factory Default: RTKANTENNA unknown disable
ASCII Example: RTKANTENNA arp enable
This command is used for high precision RTK positioning allowing application of antenna offset and phase center variation parameters.
Field Field Type
ASCII Value
1
RTKANTENNA header
-
Binary Value
Description
Format
Binary Bytes
Binary Offset
Command header. See
-
Messages on page 25 -
for more information.
H
0
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Field Field Type
2
posref
3
pcv
4
Reserved
5
Reserved
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
L1PC
0
L1 phase center position reference
ARP
1
ARP position reference Enum 4
H
UNKNOWN 2
Unknown position reference
DISABLE 0
ENABLE
1
Disable PCV modeling Enum 4
Enable PCV modeling
H+4
Bool
4
H+8
Bool
4
H+12
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2.119 RTKASSIST
Enable or disable RTK ASSIST
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command enables or disables RTK ASSIST.
RTK ASSIST uses L-Band-delivered corrections to enable RTK operation to continue for extended durations if RTK corrections are lost. In order to use RTK ASSIST, a receiver with L-Band tracking capability and RTK ASSIST capability is needed. The duration of RTK ASSIST operation can be limited using the RTKASSISTTIMEOUT command (see page 303).
When active, RTK ASSIST is shown in the RTKPOS and BESTPOS extended solution status field (see Table 78: Extended Solution Status on page 440). The active status and further details on the RTK ASSIST status are available through the RTKASSISTSTATUS log on page 748.
For reliable RTK ASSIST performance, the RTK base station position must be within 1 metre of its true WGS84 position.
Message ID: 1985 Abbreviated ASCII Syntax:
RTKASSIST switch
Factory Default: RTKASSIST enable
ASCII Example: RTKASSIST disable
Field
Field Type
ASCII Binary Value Value
Description
1
RTKASSIST header
-
Command header. See
-
Messages on page 25 for
more information.
2
switch
DISABLE 0 ENABLE 1
Disable RTK ASSIST Enable RTK ASSIST
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.120 RTKASSISTTIMEOUT
Set the maximum RTK ASSIST duration
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command sets how long the receiver will report an RTK solution when RTK is being maintained by RTK ASSIST. The maximum permitted duration of RTK ASSIST operation is determined by the subscription and receiver model. Values less than the subscription limit can be set using the RTKASSISTTIMEOUT command.
When RTK ASSIST is active, the RTKTIMEOUT command is disregarded. The maximum time that RTK will continue past an RTK corrections outage is controlled by RTKASSISTTIMEOUT.
Message ID: 2003 Abbreviated ASCII Syntax:
RTKASSISTTIMEOUT limit_type [limit_value]
Factory Default: RTKASSISTTIMEOUT SUBSCRIPTION_LIMIT
ASCII Example: RTKASSISTTIMEOUT USER_LIMIT 900
Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
RTKASSIST
1
TIMEOUT -
header
Command header.
-
See Messages on page 25 for more
-
information.
H
0
SUBSCRIPTION _LIMIT
0
Use maximum permitted duration limit.
2
limit_type
The maximum RTK
ASSIST duration is Enum
4
H
USER_LIMIT
1
user set, up to the limit permitted by
the subscription and
model.
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Field
Field Type
3
limit_value
ASCII Value
Binary Value
Description
Time out value in seconds.
Only valid for the USER_LIMIT Limit Type.
Format
Binary Bytes
Binary Offset
Ulong 4
H+4
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2.121 RTKDYNAMICS
Sets the RTK dynamics mode
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to specify how the receiver looks at the data. There are three modes: STATIC, DYNAMIC and AUTO. The STATIC mode forces the RTK software to treat the rover station as though it were stationary. DYNAMIC mode forces the software to treat the rover as though it were in motion. If the receiver is undergoing very slow, steady motion (<2.5 cm/s for more than 5 seconds), use DYNAMIC mode (as opposed to AUTO) to prevent inaccurate results and possible resets.
For reliable performance, the antenna should not move more than 1-2 cm when in STATIC mode.
Message ID: 183
Abbreviated ASCII Syntax: RTKDYNAMICS mode
Factory Default: RTKDYNAMICS dynamic
ASCII Example: RTKDYNAMICS static
Use the STATIC option to decrease the time required to fix ambiguities and reduce the amount of noise in the position solution. If STATIC mode is used when the antenna is not static, the receiver will have erroneous solutions and unnecessary RTK resets.
Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
RTKDYNAMICS header
-
Command header. See
-
Messages on page 25 -
for more information.
H
0
2
mode
Automatically
AUTO
0
determines dynamics
mode
Enum 4
H
STATIC 1
Static mode
DYNAMIC 2
Dynamic mode
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2.122 RTKINTEGERCRITERIA
Report inaccurate fixed-integer RTK positions with float solution type
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command forces a fixed-integer RTK position to be reported as float if the estimated solution standard deviation exceeds a threshold. Normally, a fixed-integer solution is very accurate. However, in some rarely-occurring situations, even a fixed-integer solution can become inaccurate; for example, if the DOP is high due to satellites not being visible. In such cases, the accuracy of the RTK solution might be worse than what is customarily expected from a fixed-integer solution. The RTKINTEGERCRITERIA command changes the solution type of these high standard deviation integer solutions to their float equivalent. NARROW_INT, for instance, becomes NARROW_FLOAT. Depending on the GGAQUALITY command setting, this will also impact the NMEA GGA quality flag.
Message ID: 2070
Abbreviated ASCII Syntax: RTKINTEGERCRITERIA criteria threshold
Factory Default: RTKINTEGERCRITERIA TOTAL_STDDEV 1.0
ASCII Example: RTKINTEGERCRITERIA HORIZONTAL_STDDEV 0.25
Field Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
RTKINTEGER
1
CRITERIA
-
header
Command header.
-
See Messages on page 25 for more
-
information.
H
0
Test the threshold
TOTAL_ STDDEV
1
against the estimated total, 3D,
standard deviation
2
criteria
Test the threshold Enum
4
H
HORIZONTAL_ STDDEV
2
against the estimated horizontal standard
deviation
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Field Field Type
3
threshold
ASCII Value
Binary Value
Description
0.01 m and higher
Estimated solution standard deviation (m) required for solution to be reported as integer
Format
Binary Bytes
Binary Offset
Float
4
H+4
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2.123 RTKMATCHEDTIMEOUT
Sets RTK filter reset time after corrections are lost
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command sets the length of time the receiver continues to use the last RTK correction data once the corrections stop. Once this time is reached, the RTK filter is reset.
Message ID: 1447
Abbreviated ASCII Syntax: RTKMATCHEDTIMEOUT timeout
ASCII Example: RTKMATCHEDTIMEOUT 180
Factory Default RTKMATCHEDTIMEOUT 300
Field
Field Type
ASCII Binary Value Value
Description
RTKMATCHED
1
TIMEOUT
-
-
header
Command header. See Messages on page 25 for more information.
2
timeout
1 to 3600 s
Time out period
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
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2.124 RTKNETWORK
Specifies the RTK network mode
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Network RTK uses permanent base station installations, allowing kinematic GNSS users to achieve centimetre accuracies, without the need of setting up a GNSS base station, at a known site. This command sets the RTK network mode for a specific network. For more details on Network RTK, refer to the application note APN-041 Network RTK, available on our website a www.novatel.com/support/search.
Message ID: 951
Abbreviated ASCII Syntax: RTKNETWORK mode [network#]
Factory Default: RTKNETWORK AUTO
Input Example: RTKNETWORK imax
Field
Field Type
ASCII Binary Value Value
Description
1
RTKNETWORK header
-
-
Command header. See Messages on page 25 for more information.
2
mode
Table 56: Network RTK Mode below
RTK network mode. The factory default is auto where the receiver switches to the first available network RTK source
Specify a number for the
3
network#
0 to 4294967295
network
(default = 0)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Ulong 4
H+4
Table 56: Network RTK Mode
Binary ASCII
Description
0
DISABLE
Single reference station RTK mode. All received network RTK corrections are ignored.
1-4 Reserved
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Binary ASCII
5
VRS
6
IMAX
7
FKP
8
MAX
Description
The Virtual Reference Station (VRS) or Virtual Base Station (VBS) idea introduced by Trimble, is that a base station is artificially created in the vicinity of a rover receiver. All baseline length dependent errors, such as abnormal troposphere variation, ionospheric disturbances and orbital errors, are reduced for this VRS. The rover receiving VRS information has a lower level of these errors than a distant base station. The VRS is calculated for a position, supplied by the rover during communication start up, with networking software. The VRS position can change if the rover is far away from the initial point. The format for sending the rover's position is standard NMEA format. Most rovers receive VRS data, for a calculated base station, within a couple of metres away.
The VRS approach requires bi-directional communication for supplying the rover's position to the networking software.
The iMAX idea, introduced by Leica Geosystems, is that networking software corrections, based on the rover's position, are calculated as with VRS. However, instead of calculating the base station observations for the provided position or another position closer to the base station, original observation information is corrected with the calculated corrections and broadcast. VRS works so that although the rover is unaware of the errors the VRS is taking care of, there still might be ionospheric remains in the base station observations. iMAX provides actual base station position information. The rover may assume the base station is at a distance and open its settings for estimation of the remaining ionospheric residuals. The iMAX method may trigger the rover to open its settings further than required, since the networking software removes at least part of the ionospheric disturbances. However, compared to VRS above, this approach is safer since it notifies the rover when there might be baseline length dependent errors in the observation information. iMAX requires bi-directional communication to the networking software for supplying the base station observation information.
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.
The basic principle of the master-auxiliary concept is to provide, in compact form, as much of the information from the network and the errors it is observing to the rover as possible. With more information about the state and distribution of the dispersive and non-dispersive errors across the network, the rover is able to use more intelligent algorithms in the determination of its position solution. Each supplier of reference station software will have their own proprietary algorithms for modeling or estimating these error sources. The rover system can decide to use or to neglect the network RTK information, depending on its own firmware algorithm performance.
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Binary ASCII
Description
9
Reserved
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.
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2.125 RTKPORTMODE
Assigns the port for RTK and ALIGN messages
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command only applies to receivers with both RTK and ALIGN enabled.
A rover receiver with RTK and ALIGN enabled can receive RTK and ALIGN corrections at the same time. However, the two different sources (RTK and ALIGN) must be sent to different ports. Use the RTKPORTMODE command to route correction feeds to different ports. RTK and ALIGN can be routed to any user specified ports. Failing to specify the mode for the incoming source could cause unexpected behavior of RTK or ALIGN.
Ports configured using the RTKPORTMODE command must also be configured using the INTERFACEMODE command (see page 198).
Message ID: 1936 Abbreviated ASCII Syntax:
RTKPORTMODE [port] mode
Factory Default: RTKPORTMODE COM1 RTK RTKPORTMODE COM2 RTK RTKPORTMODE COM3 RTK RTKPORTMODE COM4 RTK RTKPORTMODE COM5 RTK RTKPORTMODE COM6 RTK RTKPORTMODE ICOM1 RTK RTKPORTMODE ICOM2 RTK RTKPORTMODE ICOM3 RTK RTKPORTMODE ICOM4 RTK RTKPORTMODE ICOM5 RTK RTKPORTMODE ICOM6 RTK RTKPORTMODE ICOM7 RTK RTKPORTMODE NCOM1 RTK RTKPORTMODE NCOM2 RTK RTKPORTMODE NCOM3 RTK
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RTKPORTMODE USB1 RTK RTKPORTMODE USB2 RTK RTKPORTMODE USB3 RTK RTKPORTMODE WCOM1 RTK RTKPORTMODE BT1 RTK RTKPORTMODE AUX RTK RTKPORTMODE CCOM1 RTK RTKPORTMODE CCOM2 RTK RTKPORTMODE CCOM3 RTK RTKPORTMODE CCOM4 RTK RTKPORTMODE CCOM5 ALIGN RTKPORTMODE CCOM6 RTK
ASCII Example: RTKPORTMODE COM2 RTK RTKPORTMODE COM3 ALIGN
Field Field Type
ASCII Value
Binary Value
1
RTKPORTMODE header
-
-
2
Port
3
Mode
See Table 32: Communications Port Identifiers on page 137
RTK
0
ALIGN
1
Description
Command header. See Messages on page 25 for more information.
Port identifier (default = THISPORT)
Mode for this port
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
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2.126 RTKQUALITYLEVEL
Sets an RTK quality mode
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to select an RTK quality mode.
Message ID: 844
Abbreviated ASCII Syntax: RTKQUALITYLEVEL mode
Factory Default: RTKQUALITYLEVEL normal
ASCII Example: RTKQUALITYLEVEL extra_safe
The EXTRA_SAFE mode is needed in areas where the signal is partially blocked and the position solution in NORMAL mode shows NARROW_INT even though the real position solution is out by several metres. Using EXTRA_SAFE in these environments means the solution will be slower getting to NARROW_INT but it is less likely to be erroneous.
Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
RTKQUALITYLEVEL header
-
Command header. See
-
Messages on page 25 for -
more information.
H
0
2
mode
NORMAL 1
Set the RTK quality level mode to Normal RTK
Enum 4
H
EXTRA_ SAFE
4
Set the RTK quality level mode to Extra Safe RTK
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2.127 RTKRESET
Reset the RTK filter
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command resets the RTK filter and causes the AdVanceRTK filter to undergo a complete reset, forcing the system to restart the ambiguity resolution calculations.
Message ID: 2082
Abbreviated ASCII Syntax: RTKRESET [Switch]
Example : RTKRESET
Field
Field Type
ASCII Binary Value Value
Description
1
RTKRESET header
-
-
Command header. See Messages on page 25 for more information.
2
Switch
FILTER 1
Reset the RTK filter. This is an optional parameter
Format
Binary Byte
Binary Offset
-
H
0
Enum 4
H
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2.128 RTKSOURCE
Sets the RTK correction source
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to identify from which base station to accept RTK (RTCMV3) differential corrections. This is useful when the receiver is receiving corrections from multiple base stations. See also the PSRDIFFSOURCE command on page 285.
Message ID: 494
Abbreviated ASCII Syntax: RTKSOURCE type [id]
Factory Default: RTKSOURCE auto ANY
ASCII Examples: 1. Specify the format before specifying the base station IDs:
RTKSOURCE RTCM3 5 RTKSOURCE RTCMV3 6 2. Select only SBAS: RTKSOURCE NONE PSRDIFFSOURCE SBAS SBASCONTROL ENABLE AUTO 3. Enable RTK and PSRDIFF from RTCM, with a fall-back to SBAS: RTKSOURCE RTCMV3 ANY PSRDIFFSOURCE RTCMV3 ANY SBASCONTROL ENABLE AUTO
Consider an agricultural example where a farmer has their own RTCM base station set up but due to either obstructions or radio problems, occasionally experiences loss of corrections. By specifying a fall back to SBAS, the farmer could set up their receiver to use transmitted RTCM corrections when available but fall back to SBAS.
Field
Field Type
ASCII Value
Binary Value
Description
1
RTKSOURCE header
-
-
Command header. See Messages on page 25 for more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
ASCII Value
Binary Value
Description
2
type
See Table 53: DGPS Type on page 286
ID Type 1
3
Base station ID
Char [4] or ANY
ID string
Format
Binary Bytes
Binary Offset
Enum 4
H
Char[5] 8 2
H+4
1If ANY chosen, the receiver ignores the ID string. Specify a type when using base station IDs. 2In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment.
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2.129 RTKSOURCETIMEOUT
Sets RTK correction source timeout
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
When multiple RTK correction sources are available, this command allows the user to set a time, in seconds, that the receiver will wait before switching to another RTK correction source if corrections from the original source are lost.
Message ID: 1445
Abbreviated ASCII Syntax: RTKSOURCETIMEOUT option [timeout]
Factory Default: RTKSOURCETIMEOUT AUTO
ASCII Example: RTKSOURCETIMEOUT auto RTKSOURCETIMEOUT set 180
Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
RTKSOURCE
1
TIMEOUT
-
-
header
Command header. See
Messages on page 25 for
-
more information.
H
0
AUTO 1
Sets the timeout according to network type or other self-detected conditions.
2
option
Timeout field is optional for
AUTO and has no effect
Enum 4
H
SET 2
Sets the timeout to the value entered in the timeout field.
Specify the time
3
timeout
1 to 3600 s (maximum)
0 is not accepted if SET is entered in the option field
Ulong 4
(default=0 for the AUTO
option)
H+4
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2.130 RTKSVENTRIES
Sets number of satellites in corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command sets the number of satellites (at the highest elevation) that are transmitted in the RTK corrections from a base station receiver. This is useful when the amount of bandwidth available for transmitting corrections is limited.
Message ID: 92
Abbreviated ASCII Syntax: RTKSVENTRIES number
Factory Default: RTKSVENTRIES 24
ASCII Example: RTKSVENTRIES 7
GPS devices have enabled many transit and fleet authorities to provide Automatic Vehicle Location (AVL). AVL systems track the position of individual vehicles and relay that data back to a remote dispatch location that can store or better utilize the information. Consider the implementation of an AVL system within a police department, to automatically log and keep track of the location of each cruiser. Typically a fleet uses a 9600 bps connection where AVL data is relayed back to headquarters. The limited bandwidth of the radio must be shared amongst the AVL and other systems in multiple cruisers. When operating with a low baud rate radio transmitter (9600 or lower), especially over a long distance, the AVL system could limit the number of satellites for which corrections are sent using the RTKSVENTRIES command.
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
RTKSVENTRIES header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
number
4-24
The number of SVs to be
transmitted in correction Ulong 4
H
messages
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2.131 RTKTIMEOUT
Sets maximum age of RTK data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to set the maximum age of RTK data to use when operating as a rover station. RTK data received that is older than the specified time is ignored.
When RTK ASSIST is active, the RTKTIMEOUT command is disregarded. The maximum time that RTK will continue past an RTK corrections outage is controlled by the settings in the RTKASSISTTIMEOUT command (see page 303).
Message ID: 910 Abbreviated ASCII Syntax:
RTKTIMEOUT delay
Factory Default: RTKTIMEOUT 60
ASCII Example (rover): RTKTIMEOUT 20
Field
Field Type
ASCII Binary Value Value
Description
1
RTKTIMEOUT header
-
-
Command header. See Messages on page 25 for more information.
2
delay
5 to 60 s
Maximum RTK data age
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
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2.132 SAVECONFIG
Save current configuration in NVM
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command saves the present configuration in Non-Volatile Memory (NVM). The configuration includes the current log settings, FIX settings, port configurations and so on. The output is in the RXCONFIG log (see page 764). See also the FRESET command on page 179.
If using the SAVECONFIG command in NovAtel Connect, ensure that you have all windows other than the Console window closed. Otherwise, log requests used for the various windows are saved as well. This will result in unnecessary data being logged.
Message ID: 19 Abbreviated ASCII Syntax:
SAVECONFIG
Field
Field Type
ASCII Binary Value Value
Description
1
SAVECONFIG header
-
-
Command header. See Messages on page 25 for more information.
Format
Binary Bytes
Binary Offset
-
H
0
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2.133 SAVEETHERNETDATA
Save the configuration data associated with an Ethernet interface
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
Saving the configuration data for an Ethernet interface allows the interface to start automatically at boot time and be configured with either a static IP address or to obtain an address using DHCP. The SAVEETHERNETDATA command saves the configuration for the interface previously entered using the ETHCONFIG command (see page 144), IPCONFIG command (see page 205) and DNSCONFIG command (see page 132). The configuration data that is saved will survive a RESET command (see page 297) and FRESET command (see page 179). To clear the Ethernet interface configuration data, the FRESET ETHERNET command is used. It is not necessary to issue the SAVECONFIG command (see page 321) to save the Ethernet interface configuration data. In fact, if SAVECONFIG is used to save the ETHCONFIG, IPCONFIG and DNSCONFIG commands, the configuration saved by SAVEETHERNETDATA will take precedence over the SAVECONFIG configuration.
Message ID: 1679
Abbreviated ASCII Syntax: SAVEETHERNETDATA [Interface]
ASCII Example: ETHCONFIG ETHA AUTO AUTO AUTO AUTO
IPCONFIG ETHA STATIC 192.168.8.11 255.255.255.0 192.168.8.1
DNSCONFIG 1 192.168.4.200
SAVEETHERNETDATA ETHA
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
SAVEETHERNET DATA header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
Interface
The Ethernet interface to
ETHA 2
save the configuration data for. The default is
Enum
4
H
ETHA.
Note that the configurations set using the ICOMCONFIG command (see page 196) and NTRIPCONFIG command (see page 254) are not saved by the SAVEETHERDATA command. The following factory default ICOM configurations can be used if Ethernet access to the receiver is required immediately after the receiver is RESET or FRESET.
ICOMCONFIG ICOM1 TCP :3001 ICOMCONFIG ICOM2 TCP :3002 ICOMCONFIG ICOM3 TCP :3003 ICOMCONFIG ICOM4 TCP :3004
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ICOMCONFIG ICOM5 TCP :3005 ICOMCONFIG ICOM6 TCP :3006 ICOMCONFIG ICOM7 TCP :3007 See also the following commands: l ETHCONFIG command on page 144 l IPCONFIG command on page 205 l DNSCONFIG command on page 132 l FRESET command on page 179
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2.134 SBASCONTROL
Sets SBAS test mode and PRN
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to dictate how the receiver tracks and uses correction data from Satellite Based Augmentation Systems (SBAS). To enable the position solution corrections, issue the SBASCONTROL ENABLE command. The receiver does not, by default, attempt to track or use any SBAS signals satellites unless told to do so by the SBASCONTROL command. When in AUTO mode, if the receiver is outside the defined satellite system's corrections grid, it reverts to ANY mode and chooses a system based on other criteria. The "testmode" parameter in the example provides a method to use a particular satellite even if it is currently operating in test mode. The recommended setting for tracking satellites operating in test mode is ZEROTOTWO. On a simulator, you may want to leave this parameter off or specify NONE explicitly. When using the SBASCONTROL command to direct the receiver to use a specific correction type, the receiver begins to search for and track the relevant GEO PRNs for that correction type only. The receiver can be forced to track a specific PRN using the ASSIGN command (see page 68). The receiver can also be forced to use the corrections from a specific SBAS PRN using the SBASCONTROL command. Disable stops the corrections from being used.
Message ID: 652
Abbreviated ASCII Syntax: SBASCONTROL switch [system] [prn] [testmode]
Factory Default: SBASCONTROL disable
ASCII Example: SBASCONTROL enable waas
Field Field Type
ASCII Value
1
SBASCONTROL header
-
Binary Value
Description
Format
Binary Bytes
Binary Offset
Command header.
-
See Messages on page 25 for more
-
information.
H
0
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Field Field Type
2
switch
3
system
4
prn
5
testmode
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
Receiver does not
DISABLE
0
use the SBAS corrections it
receives (default) Enum
4
H
ENABLE
1
Receiver uses the SBAS corrections it receives
See Table 57: System Types below
Choose the SBAS the receiver will use
Enum
4
H+4
0
Receiver uses any PRN (default)
Receiver uses
Ulong 4
120-158 and 183-187 SBAS corrections
only from this PRN
H+8
NONE
Receiver
interprets Type 0
0
messages as they are intended (as
do not use)
(default)
ZEROTOTWO 1
Receiver
interprets Type 0 messages as Type
Enum
4
2 messages
H+12
IGNOREZERO 2
Receiver ignores the usual interpretation of Type 0 messages (as do not use) and continues
Table 57: System Types
ASCII Binary
Description
NONE
Does not use any SBAS satellites 0
(Default for SBASCONTROL DISABLE)
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ASCII Binary
Description
AUTO
Automatically determines satellite system to use and prevents the receiver
1
from using satellites outside of the service area
(Default for SBASCONTROL ENABLE)
ANY
2
Uses any and all SBAS satellites found
WAAS
3
Uses only WAAS satellites
EGNOS
4
Uses only EGNOS satellites
MSAS
5
Uses only MSAS satellites
GAGAN
6
Uses only GAGAN satellites
QZSS
7
Uses only QZSS SAIF signals
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2.135 SBASECUTOFF
Sets SBAS satellite elevation cut-off
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command sets the elevation cut-off angle for tracked SBAS satellites. The receiver does not start automatically searching for an SBAS satellite until it rises above the cut-off angle (when satellite position is known). Tracked SBAS satellites that fall below the cut-off angle are no longer tracked unless they are manually assigned (see the ASSIGN command on page 68).
This command permits a negative cut-off angle and can be used in the following situations:
l The antenna is at a high altitude and can look below the local horizon
l Satellites are visible below the horizon due to atmospheric refraction
Use the ELEVATIONCUTOFF command (see page 141) to set the cut-off angle for any system.
Message ID: 1000 Abbreviated ASCII Syntax:
SBASECUTOFF angle
Factory Default: SBASECUTOFF -5.0
ASCII Example: SBASECUTOFF 10.0
Field
Field Type
ASCII Binary Value Value
Description
1
SBASECUTOFF header
-
-
Command header. See Messages on page 25 for more information.
2
angle
�90.0 degrees
Elevation cut-off angle relative to horizon
Format
Binary Bytes
Binary Offset
-
H
0
Float
4
H
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2.136 SBASTIMEOUT
Sets the SBAS position time out
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to set the amount of time the receiver remains in an SBAS position if it stops receiving SBAS corrections.
Message ID: 1001
Abbreviated ASCII Syntax: SBASTIMEOUT mode [delay]
Factory Default: SBASTIMEOUT auto
ASCII Example: SBASTIMEOUT set 100
When the time out mode is AUTO, the time out delay is 180 s.
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
SBASTIMEOUT header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
mode
See Table 58: SBAS Time Out Mode below
Time out mode
Enum 4
H
3
delay
2 to 1000 s
Maximum SBAS position age (default=180)
Double
8
H+4
4
Reserved
Double 8
H+12
Table 58: SBAS Time Out Mode
Binary ASCII
Description
0
Reserved
1
AUTO Set the default value (180 s)
2
SET
Set the delay in seconds
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2.137 SELECTCHANCONFIG
Sets the channel configuration
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Some software models come with support for more than one channel configuration, which can be verified by logging CHANCONFIGLIST log (see page 457). The SELECTCHANCONFIG command is used to pick a different channel configuration. If a different channel configuration is selected via the SELECTCHANCONFIG command, the receiver resets and starts up with the new configuration. The Set in Use number in the CHANCONFIGLIST log (see page 457) changes as a result.
After a FRESET, the channel configuration is reset to 1.
Message ID: 1149 Abbreviated ASCII Syntax:
SELECTCHANCONFIG chanconfigsetting
Factory Default: SELECTCHANCONFIG 1
ASCII Example: SELECTCHANCONFIG 2
Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
Command
header. See
1
SELECTCHANCONFIG header
-
-
Messages on page 25 for
-
H
0
more
information.
1 to n
where n is the number Channel
2
chanconfigsetting
of channel
configuration Ulong 4
H
configurations in the to use
CHANCONFIGLIST
log (see page 457)
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Below is a use case example of the SELECTCHANCONFIG command. Abbreviated ASCII commands and logs are used to better illustrate the example.
1. LOG CHANCONFIGLIST to show what the channel configuration options are and which channel configuration set is being used.
CHANCONFIGLIST COM1 0 69.5 FINESTEERING 2005 317450.284 02000000 d1c0 14860 15
7 16 GPSL1L2PL5 4 QZSSL1CAL2CL5 4 SBASL1 14 GLOL1L2 16 GALE1E5B 22 BEIDOUB1B2 3 LBAND 7 16 GPSL1L2 4 QZSSL1CAL2C 4 SBASL1 14 GLOL1L2 16 GALE1E5B 22 BEIDOUB1B2 3 LBAND 7 16 GPSL1L2PL2CL5 4 QZSSL1CAL2CL5 4 SBASL1 14 GLOL1L2PL2C 16 GALE1E5AE5BALTBOC 22 BEIDOUB1B2 3 LBAND 8 16 GPSL1L2PL2CL5 4 QZSSL1CAL2CL5 4 SBASL1L5 14 GLOL1L2PL2C 16 GALE1E5AE5BALTBOC 22 BEIDOUB1B2B3 7 NAVICL5 3 LBAND 8 16 GPSL1L2PL2CL5L1C 4 QZSSL1CAL2CL5L1CL6 4 SBASL1L5 14 GLOL1L2PL2CL3 11 GALE1E5AE5BALTBOCE6 16 BEIDOUB1B1CB2B3 7 NAVICL5 3 LBAND
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2. There are two options given for the model and the first channel configuration set is currently being used.
3. If the user would like to use the third channel configuration set enter, SELECTCHANCONFIG 3 command.
4. The receiver receives the command and resets. At startup, the third channel configuration set is configured.
5. To verify that setting has changed, enter LOG CHANCONFIGLIST.
CHANCONFIGLIST COM1 0 69.5 FINESTEERING 2005 317450.284 02000000 d1c0 14860 15
7 16 GPSL1L2PL5 4 QZSSL1CAL2CL5 4 SBASL1 14 GLOL1L2 16 GALE1E5B 22 BEIDOUB1B2 3 LBAND 7 16 GPSL1L2 4 QZSSL1CAL2C 4 SBASL1 14 GLOL1L2 16 GALE1E5B 22 BEIDOUB1B2 3 LBAND 7 16 GPSL1L2PL2CL5 4 QZSSL1CAL2CL5 4 SBASL1 14 GLOL1L2PL2C 16 GALE1E5AE5BALTBOC 22 BEIDOUB1B2 3 LBAND 8 16 GPSL1L2PL2CL5 4 QZSSL1CAL2CL5 4 SBASL1L5 14 GLOL1L2PL2C 16 GALE1E5AE5BALTBOC 22 BEIDOUB1B2B3 7 NAVICL5 3 LBAND 8 16 GPSL1L2PL2CL5L1C 4 QZSSL1CAL2CL5L1CL6 4 SBASL1L5 14 GLOL1L2PL2CL3 11 GALE1E5AE5BALTBOCE6
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16 BEIDOUB1B1CB2B3 7 NAVICL5 3 LBAND 6. This log shows that the third set is selected. To further verify, enter LOG TRACKSTAT to show all the configured channels.
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2.138 SEND
Sends an ASCII message to a COM port
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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 data is sent. If the data string contains delimiters (that is, spaces, commas, tabs and so on), the entire string must be contained within double quotation marks. Carriage return and line feed characters (for example, 0x0D, 0x0A) are appended to the sent ASCII data.
Message ID: 177
Abbreviated ASCII Syntax: SEND [port] data
ASCII Example SEND com1 "log com1 rtcaobs ontime 5"
Scenario: Assume you are operating receivers as base and rover stations. It could also be assumed that the base station is unattended but operational and you wish to control it from the rover station. From the rover station, you could establish the data link and command the base station receiver to send differential corrections.
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Chapter 2 GNSS Commands Figure 8: Using the SEND Command
Field
Field Type
ASCII Value
Binary Value
Description
Command header.
1
SEND header
-
-
See Messages on page 25 for more
information.
2
port
See Table 4: Detailed Port Identifier on page 31
Output port (default=THISPORT)
Max 100 character string
(99 typed visible chars
3
message and a null char added by ASCII data to send
the firmware
automatically)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
String [max 100]
Variable
1
H+4
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.139 SENDHEX
Send non-printable characters in hex pairs
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is like the SEND command (see page 333) except it is used to send non-printable characters expressed as hexadecimal pairs. Carriage return and line feed characters (for example, 0x0D, 0x0A) will not be appended to the sent data and so must be explicitly added to the data if needed.
Message ID: 178
Abbreviated ASCII Syntax: SENDHEX [port] length data
Input Example: SENDHEX COM1 6 143Ab5910D0A
Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
1
SENDHEX header
-
-
Command header.
See Messages on page 25 for more
-
information.
H
0
2
port
See Table 4: Detailed Port Identifier on page 31
Output port (default=THISPORT)
Enum
4
H
3
length
0 - 700
Number of hex pairs Ulong 4
H+4
limited to a 700
maximum string (1400
pair hex). Even number
4
message
of ASCII characters from set of 0-9, A-F. No
Data
spaces are allowed
between pairs of
characters
String [max 700]
Variable
a
H+8
aIn the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.140 SERIALCONFIG
Configures serial port settings
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to configure the receiver's asynchronous serial port communications drivers.
1. Also refer to the ECHO command on page 136. 2. The SERIALCONFIG command can be used as a log to confirm settings. 3. The entire content of the current log is sent before pausing due to the receipt of the
XOFF character.
The current SERIALCONFIG port configuration can be reset to its default state by sending it two hardware break signals of 250 milliseconds each, spaced by fifteen hundred milliseconds (1.5 seconds) with a pause of at least 250 milliseconds following the second break. This will:
l Stop the logging of data on the current port (see the UNLOGALL command on page 390) l Clear the transmit and receive buffers on the current port l Return the current port to its default settings (see Factory Defaults on page 52 for details) l Set the interface mode to NovAtel for both input and output (see the INTERFACEMODE com-
mand on page 198) This break detection can be disabled using the SERIALCONFIG command.
1. The COMCONTROL command (see page 112) may conflict with handshaking of the selected COM port. If handshaking is enabled, then unexpected results may occur.
2. Baud rates higher than 115,200 bps are not supported by standard PC hardware. Special PC hardware may be required for higher rates, including 230400 bps and 460800 bps. Avoid having COM ports of two receivers connected together using baud rates that do not match. Data transmitted through a port operating at a slower baud rate may be misinterpreted as break signals by the receiving port if it is operating at a higher baud rate because data transmitted at the lower baud rate is stretched relative to the higher baud rate. In this case, configure the receiving port to break detection disabled using the SERIALCONFIG command.
Use the SERIALCONFIG command before using the INTERFACEMODE command on each port. Turn break detection off using the SERIALCONFIG command to stop the port from resetting because it is interpreting incoming bits as a break command.
Message ID: 1246
Abbreviated ASCII Syntax: SERIALCONFIG [port] baud [parity[databits[stopbits[handshaking[break]]]]]
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Factory Defaults: SERIALCONFIG COM1 9600 N 8 1 N ON SERIALCONFIG COM2 9600 N 8 1 N ON SERIALCONFIG COM3 9600 N 8 1 N ON SERIALCONFIG COM4 9600 N 8 1 N ON SERIALCONFIG COM5 9600 N 8 1 N ON
ASCII Example: SERIALCONFIG com1 9600 n 8 1 n off
Field Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
Command header.
1
SERIALCONFIG Header
-
-
See Messages on page 25 for more
-
H
0
information.
2
port
See Table 59: COM Port to configure
Port Identifiers on
(default =
Enum 4
H
the next page
THISPORT)
3
bps/baud
2400, 4800, 9600, 19200, 38400, 57600, 115200, 230400 and 460800
Communication baud rate (bps).
Ulong 4
H+4
4
parity
See Table 60: Parity on the next page
Parity
Enum 4
H+8
5
databits
7 or 8
Number of data bits (default = 8)
Ulong
4
H+12
6
stopbits
1 or 2
Number of stop bits (default = 1)
Ulong
4
H+16
See Table 61:
7
handshake1
Handshaking on the Handshaking
next page
Enum 4
H+20
8
break
OFF
0
ON
1
Disable break
detection Enable break
Enum 4
detection (default)
H+24
1The OEM719, SPAN CPT7 and SMART7 do not support hardware handshaking. Only transmit and receive lines exist for the OEM719, SPAN CPT7 and SMART7 ports.
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Table 59: COM Port Identifiers
Binary ASCII
Description
Applicable Receiver
1
COM1
COM port 1
OEM719, OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7
2
COM2
COM port 2
OEM719, OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7
3
COM3
COM port 3
OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SMART7
6
THISPORT
The current COM port
OEM719, OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
19 COM4
COM port 4
OEM7700, OEM7600, OEM7720
21 IMU
IMU COM port dependent on hardware configuration
31 COM5
COM port 5
OEM7700, OEM7600, OEM7720
32 COM6
COM port 6
33 BT1
Bluetooth COM port
dependent on hardware configuration
34 COM7
COM port 7
35 COM8
COM port 8
36 COM9
COM port 9
37 COM10
COM port 10
Table 60: Parity
Binary ASCII Description
0
N No parity (default)
1
E Even parity
2
O Odd parity
Table 61: Handshaking
Binary ASCII
Description
0
N No handshaking (default)
1
XON XON/XOFF software handshaking
2
CTS CTS/RTS hardware handshaking
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2.141 SERIALPROTOCOL
Sets the protocol to be used by a serial port
Platform: OEM729, PwrPak7 On some OEM7 receiver cards, selected ports can support either RS-232 or RS-422 signaling protocol. The default protocol is RS-232. The SERIALPROTOCOL command is used to select the protocol (RS-232 or RS-422) supported on the port.
RS-422/RS-232 selection is available only on COM1 of the OEM729 or COM1 and COM2 on the PwrPak7.
Message ID: 1444 Abbreviated ASCII Syntax:
SERIALPROTOCOL port protocol
ASCII Example: SERIALPROTOCOL COM1 RS422
Field
Field Type
ASCII Value
Binary Value
Description
SERIAL
Command header. See
1
PROTOCOL -
-
Messages on page 25 for
header
more information.
2
port
See Table 62: Ports Supporting RS-422 on the next page
Select the COM port on which the protocol is being set.
The port that can be entered depends on the hardware platform being used.
RS232 0
3
protocol
RS422 1
Set the port to use RS232 protocol
Set the port to use RS422 protocol
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
After switching a COM port from RS-232 to RS-422, send a carriage return (CR) on the newly configured port to flush the buffer prior to sending new commands on the port.
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Table 62: Ports Supporting RS-422
OEM7 Receiver Type Allowable Ports Binary Value
OEM719
None
OEM729
COM1
1
OEM7600
None
OEM7700
None
OEM7720
None
PwrPak7
COM1
1
COM2
2
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2.142 SETADMINPASSWORD
Sets the administration password
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
This command sets the administration password used to log into various web services. l The administration password is required for Secure ICOM access.
The default admin password is the receiver`s PSN. For OEM7 enclosures, such as the PwrPak7, the default password is the enclosure PSN. The enclosure PSN is shown on the label on the bottom of the enclosure and in the ENCLOSURE line in the VERSION log (see page 874). The default password should be changed before connecting the receiver to a network.
Message ID: 1579
Abbreviated ASCII Syntax: SETADMINPASSWORD oldpassword newpassword
Input example SETADMINPASSWORD ABC123 XYZ789
Field
Field Type
ASCII Binary Value Value
Description
SETADMIN
1
PASSWORD -
-
header
Command header. See Messages on page 25 for more information.
2
OldPassword
Maximum 28 character string
Previous password.
3
NewPassword
Maximum 28 character string
New password.
Format
Binary Bytes
-
H
String [28]
String [28]
variable1 variable1
Binary Offset
0
H variable
This password can be restored to default (the receiver`s PSN) by issuing the FRESET USER_ACCOUNTS command (see FRESET on page 179).
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.143 SETAPPROXPOS
Sets an approximate position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command sets an approximate latitude, longitude and height in the receiver. Estimating these parameters, when used in conjunction with an approximate time (see the SETAPPROXTIME command on the next page), can improve satellite acquisition times and Time To First Fix (TTFF). For more information about TTFF and Satellite Acquisition, refer to An Introduction to GNSS available on our website. The horizontal position entered should be within 200 km of the actual receiver position. The approximate height is not critical and can normally be entered as zero. If the receiver cannot calculate a valid position within 2.5 minutes of entering an approximate position, the approximate position is ignored. The approximate position is not visible in any position logs. It can be seen by issuing a SETAPPROXPOS log.
Message ID: 377
Abbreviated ASCII Syntax: SETAPPROXPOS lat lon height
Input Example: SETAPPROXPOS 51.116 -114.038 0
For an example on the use of this command, refer to the SETAPPROXTIME command on the next page.
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
SETAPPROXPOS header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
Lat
� 90 degrees Approximate latitude
Double 8
H
3
Lon
� 180 degrees Approximate longitude Double 8
H+8
4
Height
-1000 to +20000000 m
Approximate height
Double 8
H+16
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2.144 SETAPPROXTIME
Sets an approximate GPS reference time
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command sets an approximate time in the receiver. The receiver uses this time as system time until a coarse time can be acquired. This can be used in conjunction with an approximate position (see the SETAPPROXPOS command on the previous page) to improve Time To First Fix (TTFF). For more information TTFF and Satellite Acquisition, refer to An Introduction to GNSS available on our website.
The time entered should be within 10 minutes of the actual GPS reference time. If the week number entered does not match the broadcast week number, the receiver resets once it is tracking.
Message ID: 102 Abbreviated ASCII Syntax:
SETAPPROXTIME week sec
Input Example: SETAPPROXTIME 1930 501232
Upon power up, the receiver does not know its position or time and therefore cannot use almanac information to aid satellite acquisition. You can set an approximate GPS reference time using the SETAPPROXPOS command (see page 342).
Approximate time and position may be used in conjunction with a current almanac to aid satellite acquisition. See the table below for a summary of the OEM7 family commands used to inject an approximated time or position into the receiver:
Approximate
Command
Time
SETAPPROXTIME
Position
SETAPPROXPOS
Base station aiding can help in these environments. A set of ephemerides can be injected into a rover station by broadcasting the RTCAEPHEM message from a base station. This is also useful in environments where there is frequent loss of lock. GPS ephemeris is three frames long within a sequence of five frames. Each frame requires 6 s of continuous lock to collect the ephemeris data. This gives a minimum of 18 s and a maximum of 36 s continuous lock time or when no recent ephemerides (new or stored) are available.
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Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
SETAPPROXTIME header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
week
0-9999
GPS reference week number
Ulong 4
H
3
sec
0-604800
Number of seconds into GPS reference week
Double
8
H+4
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2.145 SETBASERECEIVERTYPE
Sets base receiver type
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command allows the user to specify the base receiver type to aid GLONASS ambiguity fixing in RTK. It can be used as a substitute for RTCM1033 messages that contains the information on the base receiver type. This command should be issued to the Rover.
An incorrect base type setting can significantly impair ambiguity resolution.
Message ID: 1374 Abbreviated ASCII Syntax:
SETBASERECEIVERTYPE base_type
Factory Default: SETBASERECEIVERTYPE unknown
ASCII Example: SETBASERECEIVERTYPE novatel
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
SETBASERECEIVER TYPE header
-
Command header.
-
See Messages on page 25 for more
-
information.
H
0
unknown 0
Unknown Base
novatel 1
NovAtel Base
2
base_type
trimble 2
Trimble Base
Enum 4
H
topcon 3
Topcon Base
magellan 4
Magellan Base
leica
5
Leica Base
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2.146 SETBESTPOSCRITERIA
Sets selection criteria for BESTPOS
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to set the criteria for the BESTPOS log (see page 433) and choose between 2D and 3D standard deviation to obtain the best position from the BESTPOS log (see page 433). It also allows you to specify the number of seconds to wait before changing the position type. This delay provides a single transition that ensures position types do not skip back and forth.
The SETBESTPOSCRITERIA command is also used as the basis for the UALCONTROL command (see page 378) standard deviations.
Message ID: 839 Abbreviated ASCII Syntax:
SETBESTPOSCRITERIA type [delay]
Factory Default: SETBESTPOSCRITERIA pos3d 0
Input Example: SETBESTPOSCRITERIA pos2d 5
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
SETBESTPOS
1
CRITERIA
-
-
header
Command header. See
Messages on page 25 for
-
more information.
H
0
2
type
See Table 63: Selection Type below
Select a 2D or 3D standard deviation type to obtain the best position from the BESTPOS log
Enum
4
H
3
delay
0 to 100 s
Set the number of seconds to wait before changing the Ulong 4 position type. Default=0
H+4
Table 63: Selection Type
ASCII Binary
Description
POS3D
0
3D standard deviation
POS2D
1
2D standard deviation
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2.147 SETDIFFCODEBIASES
Sets satellite differential code biases
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Changing the biases may negatively affect positioning accuracy. NovAtel recommends that only advanced users modify the biases.
Use this command to set the differential code biases that correct pseudorange errors affecting the L1/L2 ionospheric corrections. Bias values are restricted to between -10 ns and +10 ns. A set of biases is included in the firmware and use of the biases is enabled by default. See also the DIFFCODEBIASCONTROL command on page 128. The receiver uses the C/A code on L1 and the P code on L2 to calculate a dual-frequency ionospheric correction. However, the GNSS clock corrections are broadcast as if the P codes on both L1 and L2 are used to calculate this correction. The biases account for the differences between the P and C/A codes on L1 and improve the estimate of the ionospheric correction. The biases are calculated by the International GNSS Service (IGS). Calculation details, analysis and results are available at http://aiuws.unibe.ch/spec/dcb.php. The most recent 30 day average bias values can be downloaded from ftp://ftp.unibe.ch/aiub/CODE/CODE_FULL.DCB.
Message ID: 687
Abbreviated ASCII Syntax: SETDIFFCODEBIASES bias_type biases
ASCII Example: <SETDIFFCODEBIASES COM1 2 91.0 UNKNOWN 0 0.470 02440020 365b 32768 < GPS_C1P1 1.302 -1.326 1.360 1.649 1.357 1.586 0.776 -0.079 -0.123 0.888 0.321 0.718 0.527 -0.720 1.193 -1.331 0.828 -1.061 -2.497 -2.106 -1.979 -2.747 -0.254 1.202 -0.716 0.077 -0.180 -1.059 1.269 -0.481 0.734 1.516 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 <SETDIFFCODEBIASES COM1 1 91.0 UNKNOWN 0 0.471 02440020 365b 32768 < GLONASS_C1P1 -0.092 0.381 0.581 1.033 0.642 -0.561 0.794 0.899 0.380 -0.832 -0.358 -0.606 -2.181 0.023 1.135 0.346 0.009 0.384 -1.394 0.224 -0.022 -0.824 0.133 -0.437 0.000 0.608 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 <SETDIFFCODEBIASES COM1 0 91.0 UNKNOWN 0 0.473 02440020 365b 32768 < GPS_C2P2 1.358 0.000 -0.381 0.000 -0.344 -0.707 0.306 -1.068 0.624 1.480 0.000 -0.401 0.000 0.000 -0.169 0.0 00 0.236 0.000 0.000 0.000 0.000 0.000 0.000 0.051 -0.711 1.082 -0.128 0.000 -0.101 -0.483 -0.630 -0.015 0.000 0.0 00 0.000 0.000 0.000 0.000 0.000 0.000
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Field Field Type
ASCII Value
Binary Value
Description
SETDIFFCODE
1
BIASES
-
header
Command header.
-
See Messages on page 25 for more
information.
GPS_C1P1 0
2
bias_type
GPS_C2P2 1
GLONASS_ C1P1
2
Code pair to which biases refer
3
biases
-10 to +10 ns
Array of 40 biases (ns)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Float [40]
160
H+4
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2.148 SETIONOTYPE
Enables ionospheric models
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to set which ionospheric corrections model the receiver should use. If the selected model is not available, the receiver reverts to AUTO.
L1 only models automatically use SBAS ionospheric grid corrections, if available.
Message ID: 711 Abbreviated ASCII Syntax:
SETIONOTYPE model Factory Default:
SETIONOTYPE auto ASCII Example:
SETIONOTYPE Klobuchar
An ionotype of AUTO is recommended for PDP and GLIDE.
Field
Field Type
ASCII Value
Binary Value
SETIONO-
1
TYPE
-
-
header
See Table 64:
2
model
Ionospheric Correction Models
below
Description
Command header. See Messages on page 25 for more information.
Choose an ionospheric corrections model
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Table 64: Ionospheric Correction Models
ASCII
Binary
Description
NONE
0
Don't use ionosphere modeling
KLOBUCHAR 1
Use the Klobuchar model broadcast by GPS
GRID
2
Use the SBAS grid model
L1L2
3
Use the L1/L2 model
AUTO
4
Automatically determine the ionospheric model to use
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2.149 SETNAV
Sets start and destination waypoints
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command permits entry of one set of navigation waypoints (see Figure 9: Illustration of SETNAV Parameters below). The origin (from) and destination (to) waypoint coordinates entered are considered on the ellipsoidal surface of the current datum (default wgs84). Once SETNAV has been set, monitor the navigation calculations and progress by observing messages in the NAVIGATE log (see page 621). Track offset is the perpendicular distance from the great circle line drawn between the from latlon and to lat-lon waypoints. It establishes the desired navigation path or track, that runs parallel to the great circle line, which now becomes the offset track, and is set by entering the track offset value in metres. A negative track offset value indicates that the offset track is to the left of the great circle line track. A positive track offset value (no sign required) indicates the offset track is to the right of the great circle line track (looking from origin to destination). See Figure 9: Illustration of SETNAV Parameters below for clarification.
Message ID: 162
Abbreviated ASCII Syntax: SETNAV fromlat fromlon tolat tolon trackoffset from-point to-point
Factory Default: SETNAV 90.0 0.0 90.0 0.0 0.0 from to
ASCII Example: SETNAV 51.1516 -114.16263 51.16263 -114.1516 -125.23 FROM TO
Figure 9: Illustration of SETNAV Parameters
Consider the case of setting waypoints in a deformation survey along a dam. The surveyor enters the From and To point locations, on either side of the dam using the SETNAV command. They then use the NAVIGATE log messages to record progress and show where they are in relation to the From and To points.
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Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
SETNAV header
-
-
Command header. See
Messages on page 25 for
-
more information.
H
0
Origin latitude in units of
degrees/decimal degrees.
2
fromlat
� 90 degrees
A negative sign for South
Double 8
H
latitude. No sign for North
latitude
Origin longitude in units of
degrees/decimal degrees.
3
fromlon
� 180 degrees A negative sign for West
Double 8
longitude. No sign for East
longitude
H+8
4
tolat
� 90 degrees
Destination latitude in units of degrees/decimal degrees
Double
8
H+16
5
tolon
� 180 degrees
Destination longitude in units of degrees/decimal degrees
Double 8
H+24
6
trackoffset � 1000 km
Waypoint great circle line offset (in metres) establishes offset track. Positive indicates right of great circle line and negative indicates left of great circle line
Double 8
H+32
7
from-point
5 characters maximum
ASCII origin station name
String [max 5]
Variable
1
H+40
8
to-point
5 characters maximum
ASCII destination station name
String [max 5]
Variable
1
Variable
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.150 SETROVERID
Set ID for ALIGN rovers
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command sets the Rover ID output in the ROVERPOS log (see page 741), HEADING2 log (see page 547), ALIGNBSLNXYZ log (see page 413) and ALIGNBSLNENU log (see page 411).
The default value for the ID is set using the last six characters of the receiver PSN Number. For example, if the receiver PSN number is DAB07170027, ID is set as R027, i.e., 17 is represented as R and last three characters are filled in as is. The fourth last character is ignored.
It is not guaranteed that each receiver will have a unique auto-generated ID. Use this command to set the ID in case the auto-generated ID overlaps with other rovers. It is the user's responsibility to ensure each receiver ID is unique (if they own multiple receivers). If the ID overlaps, use this command to set the ID.
Message ID: 1135 Abbreviated ASCII Syntax:
SETROVERID rovid
Factory Default: If the receiver PSN is: DAB07170027 SETROVERID R027
Input Example SETROVERID rov1
Field
Field Type
ASCII Binary Value Value
Description
1
SETROVERID header
-
-
Command header. See Messages on page 25 for more information.
2
ID
4 Character String e.g., ROV1
ID String (maximum 4 characters plus NULL)
Format
Binary Bytes
Binary Offset
-
H
0
String [5]
51
H
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.151 SETTIMEBASE
Sets primary and backup systems for time base
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command configures the primary and backup steering system(s) for timing. The primary system is the system that the receiver steers the clock to. Upon startup, the primary system must be present long enough to steer the clock to be valid once, otherwise, the backup system cannot be used. The backup system is used whenever the primary system is not present.
Message ID: 1237
Abbreviated ASCII Syntax: SETTIMEBASE primarysystem numbackups[system[timeout]]
Factory Default: For GLONASS only receiver:
SETTIMEBASE glonass 0 For GPS capable receiver:
SETTIMEBASE gps 1 auto 0 For BeiDou only receiver:
SETTIMEBASE beidou 0
Input Example: SETTIMEBASE gps 1 glonass 30
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
SETTIMEBASE header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
primarysystem
Table 65: System Used for Timing on the next page
The primary system for steering the receiver clock
Enum
4
H
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Field Field Type
3
numbackups
4
system1
5
timeout1
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
0 or 4
The number of records to follow.
Note: When more than
one backup system is specified, the backup
Ulong 4
systems are selected
according to numeric
order.
H+4
Table 65: System Used for Timing below
The system to be used for backup
Enum
4
H+8
0 to +4294967295 (seconds)
Duration that the backup
system is used to steer the clock. 0 means
Ulong
4
ongoing
H+12
Table 65: System Used for Timing
Binary
ASCII
0
GPS
1
GLONASS
2
GALILEO
3
BEIDOU
4
NAVIC
99
AUTO2
1The system and timeout fields can repeat. 2AUTO is used only as a backup system (not available for primary system field).
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2.152 SETTROPOMODEL
Sets Troposphere model
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command sets the troposphere model used to correct ranges used in the PSRPOS and PDPPOS solutions.
Message ID: 1434
Abbreviated ASCII Syntax: SETTROPOMODEL model
Factory Default: SETTROPOMODEL auto
Input Example: SETTROPOMODEL none
Disabling the troposphere model may negatively affect positioning accuracy. NovAtel recommends that only advanced users modify this setting.
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
SETTROPOMODEL header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
model
NONE 1
Do not apply any troposphere corrections
Enum 4
H
AUTO 2
Automatically use an appropriate model
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2.153 SETUTCLEAPSECONDS
Sets future leap seconds
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command allows the user to force the UTC offset to be updated according to the input date. Leap seconds will occur at the end of the UTC day specified. The receiver will use the leap second set by this command until a leap second can be obtained over the air.
Message ID: 1150
Abbreviated ASCII Syntax: SETUTCLEAPSECONDS seconds [futureweeknumber [futuredaynumber [futureseconds]]]
Input Example: SETUTCLEAPSECONDS 18 1929 7 18
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
SETUTCLEAP
1
SECONDS
-
-
header
2
Seconds1
0-
Command header. See Messages on page 25 for more information.
H
0
Current UTC leap second Ulong 4
H
3
Futureweek number
0-10000
GPS Week when future leap seconds will take effect
Ulong 4
H+4
4
Futureday number
1-7
Day of the week when future leap seconds will take effect
Ulong 4
H+8
5
Futureseconds 0-
Future leap second offset
that will take effect at the
end of the
Ulong 4
futuredaynumber of the
futureweeknumber
H+12
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2.154 SOFTLOADCOMMIT
Completes the SoftLoad process
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command completes the SoftLoad process by verifying the downloaded image and activating it. Refer to the OEM7 Installation and Operation User Manual for more information about the SoftLoad process. This command can only be sent to the receiver when the SOFTLOADSTATUS log (see page 844) reports READY_FOR_DATA. After issuing the SOFTLOADCOMMIT command the user must wait for the OK or ERROR command response before proceeding. This response is guaranteed to be output from the receiver within 300 seconds from the time the command was received by the receiver. If an error response is returned, consult the SOFTLOADSTATUS log on page 844 for more detail.
Message ID: 475
Abbreviated ASCII Syntax: SOFTLOADCOMMIT
Input Example: SOFTLOADCOMMIT
Field
Field Type
ASCII Binary Value Value
Description
1
SOFTLOADCOMMIT header
-
-
Command header. See Messages on page 25 for more information.
2
Reserved
-
Reserved. Set to 1 in the binary case
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.155 SOFTLOADDATA
Sends firmware image data to the receiver for the SoftLoad process
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is only valid in binary mode. This command is used to upload data to the receiver for the SoftLoad process. Refer to the OEM7 Installation and Operation User Manual for more information about the SoftLoad process. After each SOFTLOADDATA command, the user must wait for the OK or ERROR command response before proceeding. This response is guaranteed to be output from the receiver within 15 seconds from the time the command was received by the receiver. If an error response is returned, consult the SOFTLOADSTATUS log on page 844 for more detail. This command can only be sent to the receiver after the SOFTLOADSREC command (see page 362) or SOFTLOADSETUP command (see page 360) have sent the content of the S0 records from the start of a firmware *.shex file. In these cases, the SOFTLOADSTATUS log (see page 844) reports READY_FOR_SETUP or READY_FOR_DATA.
Message ID: 1218
Abbreviated ASCII Syntax: Not applicable
Field
Field Type
Binary Value
Description
1
SOFTLOADDATA header
-
NovAtel binary message header
2
offset
-
Offset of the data within the downloaded image
3
data length
-
Number of bytes of data. This must match the number of bytes contained within the "data" field
4
data
-
Incoming data up to a maximum of 4096 bytes
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
Ulong 4
H+4
Uchar 4096 H+8
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2.156 SOFTLOADRESET
Initiates a new SoftLoad process
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command restarts the SoftLoad process. Refer to the OEM7 Installation and Operation User Manual for more information about the SoftLoad process. The command does not affect the flash and does not reset the receiver. The SOFTLOADRESET command can be issued at any time. If it is issued while a SoftLoad process is currently in progress then that process is terminated and a new one is started. After the SOFTLOADRESET command is processed the SOFTLOADSTATUS log will report a status of READY_FOR_SETUP. After issuing the SOFTLOADRESET command the user must wait for the OK or ERROR command response before proceeding. This response is guaranteed to be output from the receiver within 300 seconds from the time the command was received by the receiver. If an error response is returned, consult the SOFTLOADSTATUS log on page 844 for more detail.
Message ID: 476
Abbreviated ASCII Syntax: SOFTLOADRESET
Input Example: SOFTLOADRESET
Field
Field Type
ASCII Binary Value Value
Description
1
SOFTLOADRESET header
-
-
Command header. See Messages on page 25 for more information.
2
Reserved
-
-
Reserved. Set to 1 in the binary case
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.157 SOFTLOADSETUP
Sends configuration information to the receiver for the SoftLoad process
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The SOFTLOADSETUP command can be used in place of the SOFTLOADSREC command when sending S0 Records. This command is meant to be used if the user requires that the entire SoftLoad process be performed in binary, but can also be used in ASCII or abbreviated ASCII. The examples below are given in abbreviated ASCII for simplicity.
Refer to the OEM7 Installation and Operation User Manual for more information about the SoftLoad process.
This command can only be sent to the receiver when the SOFTLOADSTATUS log reports READY_ FOR_SETUP.
After each SOFTLOADSETUP command, the user must wait for the OK or ERROR command response before proceeding. This response is guaranteed to be output from the receiver within 15 seconds from the time the command was received by the receiver. If an error response is returned, consult the SOFTLOADSTATUS log on page 844 for more detail.
NovAtel S0 records use the following format: S0~X~<<DATA>>, where X is the Setup Type and <<DATA>> is a NULL terminated string. To convert from S0 record to the SOFTLOADSETUP command, convert the Setup Type to the appropriate Setup type enumeration, as described in Table 66: Available Set Up Commands on the next page, and copy the <<DATA>> string in to the Setup data string.
Message ID: 1219
Abbreviated ASCII Syntax:
SOFTLOADSETUP setuptype setupdata
Input Example:
SOFTLOADSETUP datatype "APP"
Field
Field Type
ASCII Binary Value Value
Description
SOFTLOAD
1
SETUP
-
-
header
Command header. See Messages on page 25 for more information.
See Table 66:
Available Set
2
Setup type Up Commands The type of setup command
on the next
page
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
3
Setup data -
-
ASCII setup data string. See Table 66: Available Set Up Commands below for details on this data. This data can be pulled from the S0 records of the hex file being loaded onto the receiver. If the ASCII form of this command is used, this string must be enclosed in double quotes (" ")
String [512]
variable
1
H+4
Table 66: Available Set Up Commands
Binary ASCII
Description
Comma separated list of platforms supported by the data to be uploaded. This
1
Platform
corresponds to S0~P~. For example, the S-Record S0~P~OEM729,OEM7700,OEM719, translates to SOFTLOADSETUP PLATFORM
"OEM729,OEM7700,OEM719"
Version of the data to be uploaded. This corresponds to S0~V~. For example,
2
Version the S-Record S0~V~OMP070400RN0000, translates to SOFTLOADSETUP
VERSION "OMP070400RN0000"
Intended data block for the data to be uploaded. This corresponds to S0~T~.
3
Datatype For example, the S-Record S0~T~APP, translates to SOFTLOADSETUP
DATATYPE "APP"
PSN and AUTH code for the data to be uploaded. The format is:
PSN:AuthCode.Note that since there are commas within the AuthCode, double
4
Authcode quotes must surround the PSN:AuthCode string. For example:
SOFTLOADSETUP AUTHCODE "BFN10260115: T48JF2,W25DBM,JH46BJ,2WGHMJ,8JW5TW,G2SR0RCCR,101114"
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.158 SOFTLOADSREC
Sends an S-Record to the receiver for the SoftLoad process
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to send S-Records to the receiver for the SoftLoad process. Refer to the OEM7 Installation and Operation User Manual for more information about the SoftLoad process. After each SOFTLOADDATA command, the user must wait for the OK or ERROR command response before proceeding. This response is guaranteed to be output from the receiver within 15 seconds from the time the command was received by the receiver. If an error response is returned, consult the SOFTLOADSTATUS log on page 844 for more detail. This command can only be sent to the receiver when the SOFTLOADSTATUS log reports READY_ FOR_SETUP or READY_FOR_DATA.
Message ID: 477
Abbreviated ASCII Syntax: SOFTLOADSREC s-record
Input Example: SOFTLOADSREC "S30900283C10FAA9F000EF"
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
SOFTLOADSREC header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
SREC
-
ASCII S-Record string copites from firmware *.shex file
String [515]
variable
1
H
3
Reserved
-
1
Reserved. Set to 1 in the binary case
Ulong
4
variable
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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2.159 STATUSCONFIG
Configures RXSTATUSEVENT mask fields
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command is used to configure the various status mask fields in the RXSTATUSEVENT log (see page 780). These masks can modify whether various status fields generate errors or event messages when they are set or cleared. Receiver Errors automatically generate event messages. These event messages are output in RXSTATUSEVENT log (see page 780). It is also possible to have status conditions trigger event messages to be generated by the receiver. This is done by setting/clearing the appropriate bits in the event set/clear masks. The set mask tells the receiver to generate an event message when the bit becomes set. Likewise, the clear mask causes messages to be generated when a bit is cleared. To disable all these messages without changing the bits, simply UNLOG the RXSTATUSEVENT log (see page 780) on the appropriate ports. Refer also to the Built in Status Tests chapter in the OEM7 Installation and Operation User Manual.
Message ID: 95
Abbreviated ASCII Syntax: STATUSCONFIG type word mask
Factory Default: STATUSCONFIG PRIORITY STATUS 0 STATUSCONFIG PRIORITY AUX1 0x00000008 STATUSCONFIG PRIORITY AUX2 0 STATUSCONFIG SET STATUS 0x00000000 STATUSCONFIG SET AUX1 0 STATUSCONFIG SET AUX2 0 STATUSCONFIG CLEAR STATUS 0x00000000 STATUSCONFIG CLEAR AUX1 0 STATUSCONFIG CLEAR AUX2 0
ASCII Example: STATUSCONFIG SET STATUS 0028A51D
The receiver gives the user the ability to determine the importance of the status bits. In the case of the Receiver Status, setting a bit in the priority mask causes the condition to trigger an error. This causes the receiver to idle all channels, set the ERROR strobe line, flash an error code on the status LED, turn off the antenna (LNA power) and disable the RF hardware, the same as if a bit in the Receiver Error word is set. Setting a bit in an Auxiliary Status priority mask causes that condition to set the bit in the Receiver Status word corresponding to that Auxiliary Status.
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Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
STATUSCONFIG header
-
Command header.
-
See Messages on page 25 for more
-
information.
H
0
PRIORITY 0
Replace the Priority mask
2
type
SET
1
Replace the Set mask Enum 4
H
CLEAR
2
Replace the Clear mask
STATUS 1
Receiver Status word
AUX1
2
Auxiliary 1 Status word
3
word
AUX2
3
Auxiliary 2 Status word
Enum 4
H+4
AUX3
4
Auxiliary 3 Status word
AUX4
5
Auxiliary 4 Status word
4
mask
8 digit hexadecimal
The hexadecimal bit mask
Ulong
4
H+8
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2.160 STEADYLINE
Configures position mode matching
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The STEADYLINE� functionality helps mitigate the discontinuities that often occur when a GNSS receiver changes positioning modes. The effect is especially evident when a receiver transitions from an RTK position mode solution to a lower accuracy "fall back" solution, such as DGPS, WAAS+GLIDE or even autonomous GLIDE. Smooth transitions are particularly important for agricultural steering applications where sudden jumps may be problematic.
The STEADYLINE internally monitors the position offsets between all the positioning modes present in the receiver. When the receiver experiences a position transition, the corresponding offset is applied to the output position to limit a potential real position jump. When the original accurate position type returns, the STEADYLINE algorithm will slowly transition back to the new accurate position at a default rate of 0.005 m/s. This creates a smoother pass-to-pass relative accuracy at the expense of a possible degradation of absolute accuracy.
For example, a receiver can be configured to do both RTK and GLIDE. If this receiver has a fixed RTK position and experiences a loss of correction data causing the loss of the RTK solution it will immediately apply the offset between the two position modes and uses the GLIDE position stability to maintain the previous trajectory. Over time the GLIDE (or non-RTK) position will experience some drift. Once the RTK position is achieved again the receiver will start using the RTK positions for position stability and will slowly transition back to the RTK positions at a default rate of 0.005 m/s.
If the position type is OUT_OF_BOUNDS (see the UALCONTROL command on page 378) then STEADYLINE is reset.
Message ID: 1452
Abbreviated ASCII Syntax:
STEADYLINE mode [transition_time]
Factory Default:
STEADYLINE disable
ASCII Example:
STEADYLINE prefer_accuracy 100
Field
Field Type
ASCII Binary Value Value
Description
1
STEADYLINE header
-
-
Command header. See Messages on page 25 for more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
ASCII Binary Value Value
Description
2
mode
See Table 67: STEADYLINE Mode below
STEADYLINE mode
3
Transition time
Time over which solutions will transition in seconds. The minimum rate of change is 0.005 m/s regardless of this parameter.
Format
Binary Bytes
Binary Offset
Enum 4
H
Ulong 4
H+4
Table 67: STEADYLINE Mode
ASCII
Binary
Description
DISABLE
0
Disable STEADYLINE (default)
MAINTAIN
Maintain the relative offset of the solution. There is no discontinuity in the
1
position solution when the reference position type changes. Any offset in
the position is maintained.
Transition, at a user-configurable rate. There is no discontinuity in the
TRANSITION
2
position solution when the reference position type changes. The position will slowly transition to the new reference position type over the time
period specified by the Transition time parameter.
RESET
3
Reset the saved offsets
PREFER_ ACCURACY
TRANSITION when changing from less accurate reference positioning type
4
to more accurate reference positioning type. MAINTAIN when changing from more accurate reference positioning type to a less accurate
reference positioning type.
UAL
For use with the UALCONTROL command (see page 378):
5
TRANSITION when the position type is in WARNING MAINTAIN when the position type is in OPERATIONAL DISABLE when the position type is OUT_
OF_BOUNDS
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2.161 STEADYLINEDIFFERENTIALTIMEOUT
Sets how long the receiver will report RTK/PPP after corrections are lost
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to set how long STEADYLINE will report RTK or PPP solutions after a loss of corrections. If able, STEADYLINE will report an RTK or PPP solution until this timeout expires or until the RTK/PPP timeout expires, whichever is higher. For example:
l If the RTKTIMEOUT is 60 seconds and the STEADYLINEDIFFERENTIALTIMEOUT is 300 seconds, STEADYLINE will report an RTK solution for 300 seconds.
l If the RTKTIMEOUT is 60 seconds and the STEADYLINEDIFFERENTIALTIMEOUT is 30 seconds, STEADYLINE will report an RTK solution for 60 seconds.
Message ID: 2002
Abbreviated ASCII Syntax: STEADYLINEDIFFERENTIALTIMEOUT timeout
Factory Default: STEADYLINEDIFFERENTIALTIMEOUT 60
ASCII Example: STEADYLINEDIFFERENTIALTIMEOUT 300
Field
Field Type
ASCII Binary Value Value
Description
STEADYLINE
1
DIFFERENTIALTIMEOUT -
-
header
Command header. See Messages on page 25 for more information.
2
timeout
5 to 1200
Timeout period in seconds
Format
Binary Bytes
Binary Offset
-
H
0
Float
4
H
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2.162 SURVEYPOSITION
Saves or deletes a surveyed position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this command to add or delete a surveyed position saved in the receiver NVM. The surveyed positions added or deleted with this command are used in conjunction with the AUTOSURVEY command on page 79.
Message ID: 1952
Abbreviated ASCII Syntax: SURVEYPOSITION option id [latitude] [longitude] [height] [tolerance]
ASCII Examples: SURVEYPOSITION save auto 51.116 -114.038 1065.0 10.0 SURVEYPOSITION delete cal2
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
SURVEY
Command header. See
1
POSITION -
-
Messages on page 25 for
-
header
more information.
H
0
SAVE 1
Save the surveyed position in the receiver NVM
2
option
Enum 4
H
DELETE 2
Delete the surveyed position from the receiver NVM
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Field
Field Type
3
id
4
latitude
5
longitude
6
height
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
4 character string
ID for the saved position
When saving a position, "AUTO" can be entered and the receiver will automatically generate a unique ID for the position. "AUTO" cannot be used when deleting a position.
To determine the ID for a saved position, use the
String [5]
8
SAVEDSURVEYPOSITIONS
log on page 791.
Note: In the Binary case, the ID string must be null terminated and additional bytes of padding must be added to make the total length of the field 8 bytes.
H+4
-90 to 90
Latitude of the position in degrees (default=0.0)
A "-" sign denotes south and a "+" sign denotes north
Double 8
H+12
-360 to 360
Longitude of the position in degrees (default=0)
Double 8
A "-" sign denotes west and a "+" sign denotes east
H+20
-1000 to 20000000
Mean Sea Level height of the
position in metres
Double 8
(default=0.0)
H+28
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Field
Field Type
7
tolerance
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
3 - 100
Position tolerance in metres (default=10.0)
The maximum distance
between the position
calculated during an self-
survey and the saved position. During the self-
Double 8
survey, if the distance
between the calculated
position and the previously
surveyed position is less than
this value, the previous
position is used.
H+36
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2.163 THISANTENNAPCO
Sets the PCO model of this receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use the THISANTENNAPCO command to set the Phase Center Offsets (PCO) for the given frequency of this receiver. The Offsets are defined as North, East and Up from the Antenna Reference Point to the Frequency Phase Center in mm.
Message ID: 1417
Abbreviated ASCII Syntax: THISANTENNAPCO Frequency[NorthOffset][EastOffset][UpOffset]
ASCII Example: THISANTENNAPCO GPSL1 0.61 1.99 65.64
Field
Field Type
ASCII Binary Value Value
Description
1
THISANTENNAPCO header
-
-
Command header. See Messages on page 25 for more information.
2
Frequency
See Table 19: Frequency Type on page 83
The frequency for which the phase center offsets are valid.
3
North Offset
NGS standard Phase
Center North Offset (millimetres).1
4
East Offset
NGS standard Phase
Center East Offset (millimetres).1
5
Up Offset
NGS standard Phase
Center Up Offset (millimetres).1
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Double 8 Double 8 Double 8
H+4 H+12 H+20
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2.164 THISANTENNAPCV
Sets the PCV model of this receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use the THISANTENNAPCV command to set the Phase Center Variation (PVC) for the given frequency of this receiver. The Phase Center Variation entries follow the NGS standard and correspond to the phase elevation at 5 degree increments starting at 90 degrees and decreasing to 0.
Message ID: 1418
Abbreviated ASCII Syntax: THISANTENNAPCV Frequency[PCVArray]
ASCII Example: THISANTENNAPCV GPSL1 0.00 -0.020 -0.07 -0.15 -0.24 -0.34 -0.43 -0.51 -0.56 0.61 -0.65 -0.69 -0.69 -0.62 -0.44 -0.13 0.28 0.70 1.02
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
THISANTENNAPCV header
-
-
Command header.
See Messages on page 25 for more
-
information.
H
0
2
Frequency
See Table 19: Frequency Type on page 83
The frequency for which the phase center variations is valid.
Enum 4
H
3
PCV Array
NGS standard 19
Element array of
Phase Center
Variations for phase variation for 5 degree Double elevation increments Array 152
starting at 90 degrees [19] and decreasing to 0.
The variances are
entered in
millimetres.
H+4
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2.165 THISANTENNATYPE
Sets the antenna type of this receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use the THISANTENNATYPE command to set the type of antenna being used with the receiver. There are two sources of antenna information:
l An internal table The firmware contains a set of predefined antenna and radome types taken from the IGS ANTEX file. Refer to Table 20: Antenna Type on page 86 and Table 21: Radome Type on page 95 for the antennas currently supported.
l User-defined antennas User-defined antenna types can be entered using the ANTENNATYPE command (see page 65).
The BASEANTENNATYPE command (see page 85) is used to set the RTK base antenna type.
Message ID: 1420
Abbreviated ASCII Syntax:
THISANTENNATYPE AntennaType [RadomeType]
ASCII Examples:
THISANTENNATYPE NOV702
THISANTENNATYPE USER_ANTENNA_1
Field
Field Type
ASCII Value
Binary Value
1
THISANTENNATYPE header
-
-
2
AntennaType
3
RadomeType
See Table 20: Antenna Type on page 86 or Table 14: User-Defined Antenna Type on page 66
See Table 21: Radome Type on page 95
Description
Command header. See Messages on page 25 for more information.
Antenna type
Radome type (default = NONE)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
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2.166 TRACKSV
Overrides automatic satellite assignment criteria
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to override the automatic satellite/channel assignment for all satellites with manual instructions.
Message ID: 1326
Abbreviated ASCII Syntax: TRACKSV system SVID condition
Factory Default: GPS, GLONASS, GALILEO, QZSS, BeiDou and NavIC default = GOODHEALTH SBAS default = ANYHEALTH TRACKSV QZSS 198 NEVER TRACKSV QZSS 202 NEVER
QZSS 198 and QZSS 202 are excluded because they are defined as test PRNs in the QZSS ICD.
Input Example: TRACKSV GALILEO 0 ANYHEALTH
For dual antenna receivers, this command applies to both the primary and secondary antennas.
Field
Field Type
ASCII Value
Binary Value
Description
1
TRACKSV header
-
-
Command header. See Messages on page 25 for more information.
2
System
See Table 105: Satellite System on page 553
System that the SVID belongs to
Satellite SVID number
3
SVID
Refer to PRN
"0" is allowed and applies
Numbers on page 44 to all SVIDs for the
specified system type
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Ulong 4
H+4
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Field
Field Type
ASCII Value
Binary Value
See Table 68:
4
Condition TRACKSV Command
Condition below
Description Tracking condition
Format
Binary Bytes
Binary Offset
Enum 4
H+8
Table 68: TRACKSV Command Condition
Binary
ASCII
Description
1
NEVER
Never track this satellite
2
GOODHEALTH
Track this satellite if the health is indicated as healthy in both the almanac and ephemeris
3
ANYHEALTH Track this satellite regardless of health status
4
ALWAYS
Always track this satellite
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2.167 TUNNELESCAPE
Breaks out of an established tunnel
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The tunnel escape sequence feature allows you to break out of a tunnel between two ports by sending a predefined sequence of bytes through the tunnel in-line with the data stream. Use the TUNNELESCAPE command to specify the tunnel escape sequence. The escape sequence is applied independently to all active tunnels. Use the SAVECONFIG command (see page 321) to save the escape sequence in case of a power cycle. This command is used to define an escape sequence that, when detected in a byte stream between any two COM (or AUX) ports, resets the interface mode to NOVATEL NOVATEL on those ports. The baud rate and other port parameters remain unaffected. The TUNNELESCAPE command accepts three parameters. The first is the switch parameter with ENABLE or DISABLE options. The second is the length parameter. It is a number from 1 to 8 and must be present if the switch parameter is set to ENABLE. The third parameter, esc seq, consists of a series of pairs of digits representing hexadecimal numbers, where the number of pairs are equal to the value entered for the second parameter. The series of hexadecimal pairs of digits represent the escape sequence. The receiver detects a sequence in a tunnel exactly as it was entered. For example, the command TUNNELESCAPE ENABLE 4 61626364 searches for the bytes representing "abcd" in a tunnel stream. TUNNELESCAPE ENABLE 3 AA4412 searches for the NovAtel binary log sync bytes. You must first set up a tunnel. For example, create a tunnel between COM1 and COM2 by entering INTERFACEMODE COM1 TCOM2 NONE OFF. The commands can be entered in any order.
1. All bytes, leading up to and including the escape sequence, pass through the tunnel before it is reset. Therefore, the escape sequence is the last sequence of bytes that passes through the tunnel. Configure the receiver to detect and interpret the escape sequence. For example, use this information to reset equipment or perform a shutdown process.
2. The receiver detects the escape sequence in all active tunnels in any direction. 3. Create tunnels using the INTERFACEMODE command (see page 198).
Message ID: 962
Abbreviated ASCII Syntax: TUNNELESCAPE switch length escseq
Factory Default: TUNNELESCAPE disable 0
ASCII Example: TUNNELESCAPE enable 1 aa
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Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
TUNNELESCAPE header
-
Command header. See
-
Messages on page 25 H
0
-
for more information.
2
switch
DISABLE 0 ENABLE 1
Enable or disable the tunnel escape mode
Enum
4
H
3
length
1 to 8
Specifies the number of hex bytes to follow
Ulong
4
H+4
4
escseq
Escape sequence
where Hex pairs are entered without spaces, for example,
Uchar [8]
8
AA4412
H+8
If using the SAVECONFIG command (see page 321) in NovAtel Connect, ensure all windows other than the Console window are closed. If open, NovAtel Connect also saves log commands used for its various windows. This results in unnecessary data being logged.
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2.168 UALCONTROL
Setup User Accuracy levels
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The UALCONTROL command is used to define User Accuracy Levels. User accuracy levels are user defined standard deviations thresholds, used to determine solution acceptability. Issuing the UALCONTROL command causes the BESTPOS and GPGGA solution types to be controlled via the specified thresholds, rather than by the solution source or mode. The new solution types are described in the table below.
Table 69: User Accuracy Level Supplemental Position Types and NMEA Equivalents
Value BESTPOS Position Type1 NMEA Equivalent2
70 OPERATIONAL
4
71 WARNING
5
72 OUT_OF_BOUNDS
1
The SETBESTPOSCRITERIA command (see page 346) determines which standard deviations are compared against the provided thresholds. When using the STEADYLINE command (see page 365) together with the UALCONTROL command, the UAL setting is recommended. Refer to Table 67: STEADYLINE Mode on page 366 for mode details.
UAL is useful for applications that rely upon specific solutions types being present in the BESTPOS or GPGGA logs. For example, if an agricultural steering system commonly requires an RTK fixed GPGGA solution type (4) to operate, and interruptions in RTK conventionally cause the GPGGA to switch to another solution type. This causes the steering system to disengage. However, while using STEADYLINE, solutions with fixed RTK accuracy can be maintained by GLIDE even if RTK is interrupted. UALCONTROL can be used to ensure that the required solution type is maintained through such interruptions, permitting the steering system to function continuously.
Message ID: 1627 Abbreviated ASCII Syntax:
UALCONTROL Action [Operational_limit] [Warning_limit] Factory Default:
UALCONTROL disable ASCII Example:
1As reported in the BESTPOS log (see page 433). 2Refers to the GPGGA quality indicator (see GPGGA on page 515 for details).
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UALCONTROL enable 0.10 0.20
Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
UALCONTROL header
-
Command header. See
-
Messages on page 25 for -
more information.
H
0
DISABLE 0
Disables this feature
2
Action
Replace BESTPOS and
GPGGA position types
with OPERATIONAL,
WARNING or OUT_OF_
BOUNDS based on the
ENABLE 1
entered standard
deviations (refer to Table 69: User Accuracy
Enum
4
H
Level Supplemental
Position Types and NMEA
Equivalents on the
previous page)
CLEAR 2
Disable this feature and reset the entered standard deviations.
3
Operational Limit
Standard deviation in metres to report OPERATIONAL
Double 8
H+4
4
Warning Limit
Standard deviation in metres to report WARNING
Note: OUT_OF_BOUND Double 8 reports when the standard deviation exceeds this value
H+12
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2.169 UNASSIGN
Unassigns a previously assigned channel
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command cancels a previously issued ASSIGN command (see page 68) and the SV channel reverts to automatic control (the same as ASSIGN AUTO). Message ID: 29 Abbreviated ASCII Syntax:
UNASSIGN channel [state]
Input Example: UNASSIGN 11
Issuing the UNASSIGN command to a channel that was not previously assigned by the ASSIGN command (see page 68) has no effect.
For dual antenna receivers, when using the UNASSIGN command for SV channels on the primary antenna, the SV channel count goes from 0 to N-1, where N is the number of channels in the primary antenna channel configuration. When using the UNASSIGN command for channels on the secondary antenna, the SV channel count begins at N and goes to N+(M-1), where M is the number of channels in the secondary antenna SV channel configuration.
Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
Command
header. See
1
UNASSIGN header
-
-
Messages on page 25 for
-
H
0
more
information.
Channel number
0 to n, where n is the
reset to
2
channel
number of the last channel in automatic
the current channel
search and
Ulong 4
H
configuration
acquisition
mode
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Field
Field Type
3
state
ASCII Value
Binary Value
These return SV channel control to the automatic search engine immediately (see Table 15: Channel State on page 70)
Description
Set the SV channel state (currently ignored)
Format
Binary Bytes
Binary Offset
Enum 4
H+4
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2.170 UNASSIGNALL
Unassigns all previously assigned channels
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command cancels all previously issued ASSIGN commands for all SV channels (same as ASSIGNALL AUTO). Tracking and control for each SV channel reverts to automatic mode.
Message ID: 30
Abbreviated ASCII Syntax: UNASSIGNALL [system]
Input Example: UNASSIGNALL GPS
Issuing the UNASSIGNALL command has no effect on channels that were not previously assigned using the ASSIGN command (see page 68).
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
UNASSIGNALL header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
system
See Table 16: Channel System on page 72
System that will be affected by the UNASSIGNALL command (default = ALL)
Enum
4
H
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2.171 UNDULATION
Chooses undulation
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command permits you to enter a specific geoidal undulation value. In the option field, the EGM96 table provides ellipsoid heights at a 0.5� by 0.5� spacing while the OSU89B is implemented at a 2� by 3� spacing. In areas of rapidly changing elevation, you could be operating somewhere within the 2� by 3� grid with an erroneous height. EGM96 provides a more accurate model of the ellipsoid which results in a denser grid of heights. It is also more accurate because the accuracy of the grid points themselves has also improved from OSU89B to EGM96. For example, the default grid (EGM96) is useful where there are underwater canyons, steep dropoffs or mountains. The undulation values reported in the position logs are in reference to the ellipsoid of the chosen datum. Refer to the application note APN-006 Geoid Issue, available on our website www.novatel.com/support/search/ for a description of the relationships in Figure 10: Illustration of Undulation below.
Figure 10: Illustration of Undulation
Message ID: 214 Abbreviated ASCII Syntax:
UNDULATION option [separation]
Factory Default: UNDULATION egm96 0.0000
ASCII Example 1: UNDULATION osu89b
ASCII Example 2: UNDULATION USER -5.599999905
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Field Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
UNDULATION header
-
Command header. See
-
Messages on page 25 for -
more information.
H
0
USER 1
Use the user specified undulation value
2
option
OSU89B 2
Use the OSU89B undulation table
Enum 4
H
EGM96 3
Use global geoidal height model EGM96 table
3
separation
�1000.0 m
The undulation value
(required for the USER
Float
4
option) (default = 0.000)
H+4
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2.172 UNLOCKOUT
Reinstates a satellite in the solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command allows a satellite which has been previously locked out (LOCKOUT command on page 223) to be reinstated in the solution computation. If more than one satellite is to be reinstated, this command must be reissued for each satellite reinstatement.
Message ID: 138
Abbreviated ASCII Syntax: UNLOCKOUT prn
Input Example: UNLOCKOUT 8
The UNLOCKOUT command is used to reinstate a satellite while leaving other locked out satellites unchanged. This command can be used for GPS, GLONASS, SBAS and QZSS.
Field
Field Type
ASCII Binary Value Value
Description
1
UNLOCKOUT header
-
-
Command header. See Messages on page 25 for more information.
2
prn
Refer to PRN Numbers on page 44
A single satellite PRN number to be reinstated
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
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2.173 UNLOCKOUTALL
Reinstates all previously locked out satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command allows all satellites which have been previously locked out (LOCKOUT command on page 223 or LOCKOUTSYSTEM command on page 224) to be reinstated in the solution computation.
Message ID: 139
Abbreviated ASCII Syntax: UNLOCKOUTALL
Input Example: UNLOCKOUTALL
Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
UNLOCKOUTALL header
-
-
Command header. See Messages on page 25 for more information.
H
0
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2.174 UNLOCKOUTSYSTEM
Reinstates previously locked out system
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command allows a system which has been previously locked out (refer to the LOCKOUTSYSTEM command on page 224) to be reinstated in the solution computation.
If more than one system is to be reinstated, this command must be reissued for each system reinstatement.
Message ID: 908 Abbreviated ASCII Syntax:
UNLOCKOUTSYSTEM system
Input Example: UNLOCKOUTSYSTEM glonass
The UNLOCKOUTSYSTEM command is used to reinstate a system while leaving other locked out systems unchanged.
Field Field Type
ASCII Value
Binary Value
UNLOCKOUT
1
SYSTEM
-
-
header
2
system
See Table 105: Satellite System on page 553
Description
Command header. See Messages on page 25 for more information.
A single satellite system to be reinstated
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
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2.175 UNLOG
Removes a log from logging control
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is used to remove a specific log request from the system.
Message ID: 36
Abbreviated ASCII Syntax: UNLOG [port] message
Input Example: UNLOG com1 bestposa UNLOG bestposa
The UNLOG command is used to remove one or more logs while leaving other logs unchanged.
2.175.1 Binary
Field
Field Name
Binary Value
1
UNLOG (binary) header
(See Table 3: Binary Message Header Structure on page 30)
2
port
See Table 4: Detailed Port Identifier on page 31 (decimal port values greater than 16 may be used)
3
message Any valid message ID
Description
Format
Binary Bytes
Binary Offset
This field
contains the message
-
header
H
0
Port to which
log is being Enum 4
H
sent
Message ID of log to output
Ushort 2
H+4
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Field
Field Name
Binary Value
Bits 0-4 = Reserved
Bits 5-6 = Format
00 = Binary
01 = ASCII
4
message type
10 = Abbreviated ASCII, NMEA
11 = Reserved
Bit 7 = Response Bit (Message Responses on page 41)
0 = Original Message
1 = Response Message
5
Reserved
Description
Format
Binary Bytes
Binary Offset
Message type of log
Char
1
H+6
Char
1
H+7
2.175.2 ASCII
Field
Field Type
ASCII Value
Binary Value
UNLOG
1
(ASCII) -
-
header
2
port
See Table 4: Detailed Port Identifier on page 31 (decimal port values greater than 16 may be used)
3
message
Message Name
N/A
Description
Format
Binary Bytes
Binary Offset
This field contains the
command name or the
message header depending on whether the command
-
is abbreviated ASCII or
ASCII, respectively
H
0
Port to which log is being
sent
Enum 4
H
(default = THISPORT)
Message Name of log to be disabled
Ulong
4
H+4
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2.176 UNLOGALL
Removes all logs from logging control
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
If [port] is specified, this command disables all logs on the specified port only. All other ports are unaffected. If [port] is not specified this command defaults to the ALL_PORTS setting.
Message ID: 38
Abbreviated ASCII Syntax: UNLOGALL [port] [held]
Input Example: UNLOGALL com2_15 UNLOGALL true
The UNLOGALL command is used to remove all log requests currently in use.
Field
Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
Command header.
1
UNLOGALL header
-
-
See Messages on page 25 for more
-
H
0
information.
2
port
See Table 4: Detailed Port Port to clear
Identifier on page 31 (decimal values greater
(default = ALL_
Enum 4
H
than 16 may be used)
PORTS)
FALSE
0
3
held
TRUE
1
Does not remove logs with the HOLD parameter (default)
Removes
Bool
4
previously held
logs, even those
with the HOLD
parameter
H+4
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2.177 USBSTICKEJECT
Prepare a USB stick for removal
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to unmount the USB stick and prepare it for safe physical removal. This command may fail with a Busy error if there is an ongoing USB stick mounting or unmounting operation. The FILETRANSFERSTATUS log (see page 477) indicates the USBSTICK UNMOUNTED status when it is safe to physically remove the stick. This may take up to 10 seconds.
Message ID: 2115
Abbreviated ASCII Syntax: USBSTICKEJECT
Example: USBSTICKEJECT
Field Field Type
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
1
USBSTICKEJECT header
-
Command
header. See
-
Messages on
-
page 25 for more
information.
H
0
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2.178 USERDATUM
Sets user customized datum
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command permits entry of customized ellipsoidal datum parameters. This command is used in conjunction with the DATUM command (see page 119). If used, the command default setting for USERDATUM is WGS84.
This command is not suitable for use with RTK.
When the USERDATUM command is entered, the USEREXPDATUM command on page 394 is then issued internally with the USERDATUM command values. It is the USEREXPDATUM command that appears in the RXCONFIG log (see page 764). If the USEREXPDATUM command or USERDATUM command are used, their newest values overwrite the internal USEREXPDATUM values. The transformation for the WGS84 to Local used in the OEM7 family is the Bursa-Wolf transformation or reverse Helmert transformation. In the Helmert transformation, the rotation of a point is counter clockwise around the axes. In the Bursa-Wolf transformation, the rotation of a point is clockwise. Therefore, the reverse Helmert transformation is the same as the BursaWolf.
Message ID: 78
Abbreviated ASCII Syntax: USERDATUM semimajor flattening dx dy dz rx ry rz scale
Factory Default: USERDATUM 6378137.0 298.2572235628 0.0 0.0 0.0 0.0 0.0 0.0 0.0
ASCII Example: USERDATUM 6378206.400 294.97869820000 -12.0000 147.0000 192.0000 0.0000 0.0000 0.0000 0.000000000
Use the USERDATUM command in a survey to fix the position with values from another known datum so that the GNSS calculated positions are reported in the known datum rather than WGS84.
Field
Field Type
ASCII Binary Value Value
Description
1
USERDATUM header
-
-
Command header. See Messages on page 25 for more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
2
semimajor
6300000.0 6400000.0
Datum Semi-major Axis (a) (metres)
Double
8
H
Reciprocal Flattening,
3
flattening
290.0 - 305.0
1/f = a/(a-b)
Double 8
H+8
4
dx
5
dy
6
dz
� 2000.0 � 2000.0 � 2000.0
Datum offsets from local to Double 8 WGS84. These are the
translation values between the user datum and WGS84
Double
8
(internal reference) (metres)
Double 8
H+16 H+24 H+32
7
rx
8
ry
9
rz
Datum rotation angle about
� 10.0 radians X, Y and Z. These values
Double 8
are the rotation from your
� 10.0 radians
local datum to WGS84. A positive sign is for counter
Double 8
clockwise rotation and a
� 10.0 radians negative sign is for clockwise rotation
Double 8
H+40 H+48 H+56
10
scale
� 10.0 ppm
Scale value is the difference in ppm between Double 8 the user datum and WGS84
H+64
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2.179 USEREXPDATUM
Set custom expanded datum
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Like the USERDATUM command, this command allows you to enter customized ellipsoidal datum parameters. However, USEREXPDATUM literally means user expanded datum which allows additional datum information such as velocity offsets and time constraints. The 7 expanded parameters are rates of change of the initial 7 parameters. These rates of change affect the initial 7 parameters over time relative to the Reference Date provided by the user.
This command is not suitable for use with RTK.
This command is used in conjunction with the DATUM command (see page 119). If this command is used without specifying any parameters, the command defaults to WGS84. If a USERDATUM command is entered, the USEREXPDATUM command is then issued internally with the USERDATUM command values (USERDATUM command on page 392). It is the USEREXPDATUM command that appears in the RXCONFIG log. If the USEREXPDATUM or the USERDATUM command are used, their newest values overwrite the internal USEREXPDATUM values.
Message ID: 783
Abbreviated ASCII Syntax: USEREXPDATUM semimajor flattening dx dy dz rx ry rz scale xvel yvel zvel xrvel yrvel zrvel scalev refdate
Factory Default: USEREXPDATUM 6378137.0 298.25722356280 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
ASCII Example: USEREXPDATUM 6378137.000 298.25722356280 0.000000000 0.000000000 0.000000000 0.00000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.0000 0.000000000 0.000000000 0.000000000 0.000000000
Use the USEREXPDATUM command in a survey to fix the position with values from another known datum so that the GPS calculated positions are reported in the known datum rather than WGS84. For example, it is useful for places like Australia, where the continent is moving several centimetres a year relative to WGS84. With USEREXPDATUM you can also input the velocity of the movement to account for drift over the years.
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Field
Field Type
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1
USEREXPDATUM header
-
-
Command header. See
Messages on page 25
-
for more information.
H
0
2
semimajor
6300000.0 6400000.0 m
Datum semi-major axis (a) in metres
Double
8
H
3
flattening
290.0 - 305.0
Reciprocal Flattening, 1/f = a/(a-b)
Double 8
H+8
4
dx
5
dy
6
dz
� 2000.0 m � 2000.0 m � 2000.0 m
Datum offsets from local to WGS84. These
Double 8
are the translation values between the user
Double
8
datum and WGS84 (internal reference)
Double 8
H+16 H+24 H+32
7
rx
8
ry
9
rz
� 10.0 radians � 10.0 radians � 10.0 radians
Datum rotation angle about X, Y and Z. These Double 8
values are the rotation
from your local datum
to WGS84. A positive
Double 8
sign is for counter
clockwise rotation and a
negative sign is for clockwise rotation
Double 8
H+40 H+48 H+56
10
scale
� 10.0 ppm
Scale value is the
difference in ppm between the user datum
Double
8
and WGS84
H+64
11
xvel
� 2000.0 m/yr
Velocity vector along Xaxis
Double
8
H+72
12
yvel
� 2000.0 m/yr
Velocity vector along Yaxis
Double
8
H+80
13
zvel
� 2000.0 m/yr
Velocity vector along Zaxis
Double
8
H+88
14
xrvel
� 10.0 radians/yr
Change in the rotation about X over time
Double 8
H+96
15
yrvel
� 10.0 radians/yr
Change in the rotation about Y over time
Double 8
H+104
16
zrvel
� 10.0 radians/yr
Change in the rotation about Z over time
Double 8
H+112
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Field Field Type
17
scalev
18
refdate
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
� 10.0 ppm/yr
Change in scale from WGS84 over time
Double 8
H+120
0.0 year
Reference date of parameters
Example: 2011.00 = Jan 1, 2011
Double 8
2011.19 = Mar 11, 2011
H+128
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2.180 USERI2CREAD
Read data from devices on the I2C bus
Platform: OEM7600, OEM7700, OEM7720 Use this command to read data from devices on the I2C bus.
This command only applies to OEM7 receivers that have I2C signals available on the interface connector. The compatible receivers are listed in the Platform section above.
The USERI2CRESPONSE log (see page 866) can be used to check the completion or status of the read operation. An optional user defined Transaction ID can be provided to help synchronize requests with responses in the USERI2CRESPONSE log (see page 866). This command is primarily intended to be used by Lua applications that need to interact with external devices. Reading from an I2C device requires a device address, to distinguish which physical device is to be accessed, a register within the device, and the expected number of bytes to be read. Depending on the type of I2C device, register addresses can be 1 to 4 bytes in length, so the actual number of bytes for the register address must be specified. For some I2C devices there are no registers within the device. In this case, the Register Address Length is 0 and no bytes are supplied for the Register Address. The USERI2CREAD command is flexible to handle all of these situations.
Message ID: 2232
Abbreviated ASCII Syntax: USERI2CREAD DeviceAddress RegisterAddressLen RegisterAddress RequestReadLen [TransactionID]
Examples: USERI2CREAD 70 1 AB 12 1234
USERI2CREAD 74 3 ABCDEF 234 5678
USERI2CREAD 74 0 234 5678
Field
Field Type
1
USERI2CREAD header
Description
Command header. See Messages for more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
Description
Format
Binary Bytes
Binary Offset
The 7 bit address of the I2C device. Valid values are 0 through 127.
2
DeviceAddress
For ASCII and Abbreviated commands, Uchar 11
H
this field is a hexadecimal string of two
digits. There is no 0x prefix and spaces
are not allowed in the string.
3
RegisterAddressLen
The length of the register address that follows. Valid values are 0 through 4.
Ulong
4
H+4
The actual address of the register to be
read. The number of bytes here must
match the RegisterAddressLen. In
particular, when RegisterAddressLen is
0, this field is empty (even for a binary
4
RegisterAddress
command)
Uchar
X1
Array
For ASCII and Abbreviated commands,
this field is a hexadecimal string of two
digits for each byte in the register
address. There is no 0x prefix and
spaces are not allowed in the string.
H+8
The length of data expected to be
5
RequestReadLen
retrieved from the device. Valid values Ulong 4
are 1 through 256.
H+122
6
TransactionID
An optional user provided ID for this transaction. Default = 0.
This transaction ID will be copied to the Ulong 4 USERI2CRESPONSE log (see page 866) created for this read operation.
H+163
1In the binary case, additional bytes of padding are added after this field to maintain 4-byte alignment for the fields that follow. 2H+8 if X=0
3H+12 if X=0
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2.181 USERI2CWRITE
Write data to device on I2C bus
Platform: OEM7600, OEM7700, OEM7720 Use this command to write data to devices on the I2C bus.
This command only applies to OEM7 receivers that have I2C signals available on the interface connector. The compatible receivers are listed in the Platform section above.
The USERI2CRESPONSE log (see page 866) can be used to check the completion or status of the write operation. An optional user defined Transaction ID can be provided to help synchronize requests with responses in the USERI2CRESPONSE log (see page 866). This command is primarily intended to be used by Lua applications that need to interact with external devices. Writing to an I2C device requires a device address, to distinguish which physical device is to be accessed, a register within the device and the data. Depending on the type of I2C device, register addresses can be 1 to 4 bytes in length, and so the actual number of bytes for the register address must be specified. For some I2C devices there are no registers within the device. In this case, the Register Address Length is 0, and no bytes are supplied for the Register Address. For some other I2C devices, write operations are done in two stages: 1. The first stage sends a write command with a register address, but no data. This is a dummy
write to set the register within the device for write operations that follow. 2. The second stage sends a write command with no register address, but does send a stream
of data. The USERI2CWRITE command is flexible to handle all of these situations.
Message ID: 2233
Abbreviated ASCII Syntax: USERI2CWRITE DeviceAddress RegisterAddressLen RegisterAddress WriteDataLength WriteData [TransactionID]
Examples: USERI2CWRITE 70 1 AB 12 3132333435363738393A3B3C 1234 USERI2CWRITE 74 3 ABCDED 5 1234567890 1234 USERI2CWRITE 40 0 5 1234567890 1234 USERI2CWRITE 40 2 AABB 0 1234 (a dummy write)
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Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
USERI2CWRITE header
Command header. See Messages for more information.
-
H
0
The 7 bit address of the I2C device. Valid values 0 through 127.
2
DeviceAddress
For ASCII and Abbreviated commands, this field is a
Uchar 11
H
hexadecimal string of two digits.
There is no 0x prefix and spaces
are not allowed in the string.
The length of the register
3
RegisterAddressLen address that follows. Valid values Ulong 4
are 0 through 4.
H+4
The actual address of the register
to be written. The number of
bytes here must match the
RegisterAddressLen. In
particular, when
RegisterAddressLen is 0, this
field is empty (even for a binary
4
RegisterAddress
command)
Uchar
X1
Array
For ASCII and Abbreviated
commands, this field is a
hexadecimal string of two digits
for each byte in the register
address. There is no 0x prefix
and spaces are not allowed in the
string.
H+8
The length of data to be written
5
WriteDataLength
in bytes. Valid values are 0
Ulong 4
through 256.
H+122
1In the binary case, additional bytes of padding are added after this field to maintain 4-byte alignment for the fields
that follow. 2H+8 if X=0
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Field
Field Type
6
WriteData
7
TransactionID
Description
Format
Binary Bytes
Binary Offset
The data to be written. The number of bytes in this data block must match the WriteDataLength. In particular, when WriteDataLength is 0, this field is empty.
For ASCII and Abbreviated commands, this field is a hexadecimal string of two digits
Uchar Array
Y1
for each byte in the data block.
There is no 0x prefix and spaces
are not allowed in the string.
Data is streamed to the device as a series of bytes in the order provided.
H+162
An optional user provided ID for this transaction. Default = 0.
This transaction ID will be copied Ulong 4 to the USERI2CRESPONSE log (see page 866) created for this write operation.
H+16+4*INT ((Y+3)/4)3
1In the binary case, additional bytes of padding are added after this field to maintain 4-byte alignment for the fields that follow. 2H+12 if X=0
3H+12+4*INT((Y+3)/4) if X=0
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2.182 UTMZONE
Sets UTM parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command sets the UTM persistence, zone number or meridian. Refer to earth-info.nga.mil/GandG/coordsys/grids/referencesys.html for more information and a world map of UTM zone numbers.
1. The latitude limits of the UTM System are 80�S to 84�N, so if your position is outside this range, the BESTUTM log (see page 446) outputs a northing, easting and height of 0.0, along with a zone letter of "*" and a zone number of 0, so that it is obvious that the data in the log is dummy data.
2. If the latitude band is X, then the Zone number should not be set to 32, 34 or 36. These zones were incorporated into other zone numbers and do not exist.
Message ID: 749
Abbreviated ASCII Syntax: UTMZONE command [parameter]
Factory Default: UTMZONE auto 0
ASCII Example 1: UTMZONE SET 10
ASCII Example 2: UTMZONE CURRENT
The UTM grid system is displayed on all National Topographic Series (NTS) of Canada maps and United States Geological Survey (USGS) maps. On USGS 7.5-minute quadrangle maps (1:24,000 scale), 15-minute quadrangle maps (1:50,000, 1:62,500, and standard-edition 1:63,360 scales) and Canadian 1:50,000 maps the UTM grid lines are drawn at intervals of 1,000 metres and are shown either with blue ticks at the edge of the map or by full blue grid lines. On USGS maps at 1:100,000 and 1:250,000 scale and Canadian 1:250,000 scale maps a full UTM grid is shown at intervals of 10,000 metres.
Field
Field Type
ASCII Binary Value Value
Description
1
UTMZONE header
-
-
Command header. See Messages on page 25 for more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
ASCII Binary Value Value
Description
2
command See Table 70: UTM Zone Commands below
3
parameter See Table 70: UTM Zone Commands below
Format
Binary Bytes
Binary Offset
Enum
4
H
Long
4
H+4
Table 70: UTM Zone Commands
Binary ASCII
Description
0
AUTO
UTM zone default that automatically sets the central meridian and does not switch zones until it overlaps by the set persistence. This a spherical approximation to the earth unless you are at the equator (default = 0) (m)
1
CURRENT
Same as UTMZONE AUTO with infinite persistence of the current zone. The parameter field is not used
2
SET
Sets the central meridian based on the specified UTM zone. A zone includes its western boundary, but not its eastern boundary, Meridian. For example, zone 12 includes (108�W, 114�W) where 108� < longitude < 114�
Sets the central meridian as specified in the parameter field. In the
3
MERIDIAN
BESTUTM log (see page 446), the zone number is output as 61 to indicate the manual setting (zones are set by pre-defined central meridians not user-
set ones)
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2.183 WIFIAPCHANNEL
Set the channel for the Wi-Fi access point
Platform: PwrPak7, SMART7-I, SMART7-W Use this command to set the operating channel for the Wi-Fi module when operating as an access point. The new channel will be used the next time the WIFIMODE AP or WIFIMODE CONCURRENT command is received.
Client mode and Concurrent mode available on the SMART7-I and SMART7-W only.
Message ID: 2091 Abbreviated ASCII Syntax:
WIFIAPCHANNEL channel
Factory Default: WIFIAPCHANNEL 11
Example: WIFIAPCHANNEL 6
Field
Field Type
ASCII Binary Value Value
Description
1
WIFIAPCHANNEL header
-
-
Command header. See Messages on page 25 for more information.
2
channel
1-14
802.11 channel
Format
Binary Value
Binary Offset
-
H
0
Long
4
H
For best performance, choose one of the non-overlapping channels: 1, 6, or 11.
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2.184 WIFIAPIPCONFIG
Set the IP address and netmask for the Wi-Fi access point
Platform: PwrPak7, SMART7-I, SMART7-W Use this command to set the Wi-Fi IP address and netmask for Wi-Fi module when operating as an access point. The new network configuration takes effect the next time the WIFIMODE AP or WIFIMODE CONCURRENT command is received.
Client mode and Concurrent mode available on the SMART7-I and SMART7-W only.
Message ID: 2096 Abbreviated ASCII Syntax:
WIFIAPIPCONFIG ip_address ip_netmask
Factory Default: WIFIAPIPCONFIG 192.168.19.1 255.255.255.0
Example: WIFIAPIPCONFIG 192.162.55.20 255.255.0.0
Field
Field Type
ASCII Binary Value Value
Description
1
WIFIAPIPCONFIG header
-
-
Command header. See Messages on page 25 for more information.
2
ip_address
Null-terminated IP address, dot
ASCII string
decimal format
3
ip_netmask
Null-terminated ASCII string
IP netmask, dot decimal format (optional)
Default =255.255.255.0
Format
Binary Bytes
Binary Offset
-
H
0
String [16]
Variable H
String [16]
Variable Variable
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2.185 WIFIAPPASSKEY
Set Wi-Fi access point passkey
Platform: PwrPak7, SMART7-I, SMART7-W Use this command to set the WPA2 PSK ASCII passkey for the Wi-Fi module when the receiver is operating as an Access Point. The default passkey is printed on the receiver label. The new passkey takes effect the next time the WIFIMODE AP or WIFIMODE CONCURRENT command is received.
The term passkey and password are the same.
Client mode and Concurrent mode available on the SMART7-I and SMART7-W only.
Message ID: 2090 Abbreviated ASCII Syntax:
WIFIAPPASSKEY passkey
Factory Default: The default passkey/password is printed on the receiver label.
Example: WIFIAPPASSKEY "bysP3zE6SZmFQeyd"
Field Field Type
ASCII Binary Value Value
1
WIFIAPPASSKEY header
-
-
2
passkey
Null-terminated ASCII string, 8 to 64 characters
Description
Command header. See Messages on page 25 for more information.
WPA2 PSK ASCII passkey
Format
Binary Bytes
Binary Offset
-
H
0
String [65]
Variable H
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2.186 WIFIMODE
Configure the receiver Wi-Fi mode
Platform: PwrPak7, SMART7-I, SMART7-W Use this command to enable, disable or set the operating mode of Wi-Fi on the receiver. This command is also applies any Wi-Fi configuration changes specified by other Wi-Fi commands such as WIFIAPCHANNEL.
Client mode and Concurrent mode available on the SMART7-I and SMART7-W only.
Message ID: 2144 Abbreviated ASCII Syntax:
WIFIMODE mode
Factory Default: WIFIMODE AP
Example: WIFIMODE CLIENT WIFIMODE OFF
Field
Field Type
ASCII Value
Binary Value
Description
1
WIFIMODE header
-
Command header.
-
See Messages on page 25 for more
information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
2
mode
ASCII Value
Binary Value
Description
Format
Binary Bytes
Binary Offset
OFF
0
Power off the Wi-Fi module
Configure the Wi-Fi
AP
1
module as an Access
Point (AP)
CLIENT
Configure the Wi-Fi
2
module as a
Client/Station
Supply power to the
ON
3
Wi-Fi module, but do
not configure it.
Enum 4
H
Configure the Wi-Fi
module as both an
access point and
client/station
simultaneously. When
configured in this
CONCURRENT 4
mode it is possible to
connect the receiver
to an access point and
for Clients/Stations to
connect to the
receiver
simultaneously.
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3.1 Log Types
See the LOG command on page 225, for details about requesting logs.
The receiver is capable of generating three type of logs: synchronous, asynchronous and polled. The data for synchronous logs is generated on a regular schedule. In order to output the most current data as soon as it is available, asynchronous data is generated at irregular intervals. The data in polled logs is generated on demand. The following table outlines the log types and the valid triggers to use:
Table 71: Log Type Triggers
Type Recommended Trigger Illegal Trigger
Synch ONTIME
ONNEW, ONCHANGED
Asynch ONCHANGED or ONCE Polled ONCE or ONTIME a
ONNEW, ONCHANGED
See Message Time Stamps on page 46 for information about how the message time stamp is set for each type of log.
1. The OEM7 family of receivers can handle 80 logs at a time. If an attempt is made to log more than 80 logs at a time, the receiver responds with an Insufficient Resources error.
2. Asynchronous logs, such as MATCHEDPOS, should only be logged ONCHANGED. Otherwise, the most current data is not output when it is available. This is especially true of the ONTIME trigger, which may result in inaccurate time tags.
3. Use the ONNEW trigger with the MARKTIME or MARKPOS logs. 4. Before the output of fields for ASCII and binary logs, there is an ASCII or binary
header respectively. See Table 2: ASCII Message Header Structure on page 28 and Table 3: Binary Message Header Structure on page 30. There is no header information before Abbreviated ASCII output, see Abbreviated ASCII on page 29.
3.1.1 Log Type Examples
For polled logs, the receiver only supports an offset that is: l smaller than the logging period l decimal values that are a multiple of the maximum logging rate defined by the receiver model. For more information see the LOG command on page 225.
The following are valid examples for a polled log: log portstats ontime 4 2
aPolled log types do not allow fractional offsets and cannot do ontime rates faster than 1 Hz.
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log version once
For polled logs, the following examples are invalid:
log serialconfig ontime 1 2
[offset is larger than the logging period]
log serialconfig ontime 4 1.5 [offset is not an integer]
For synchronous and asynchronous logs, the receiver supports any offset that is:
l smaller than the logging period
l a multiple of the minimum logging period
For example, if the receiver supports 20 Hz logging, the minimum logging period is 1/20 Hz or 0.05 s. The following are valid examples for a synchronous or asynchronous log, on a receiver that can log at rates up to 20 Hz:
log bestpos ontime 1
[1 Hz]
log bestpos ontime 1 0.1
log bestpos ontime 1 0.90
log avepos ontime 1 0.95
log avepos ontime 2
[0.5 Hz]
log avepos ontime 2 1.35
log avepos ontime 2 1.75
For synchronous and asynchronous logs, the following examples are invalid:
log bestpos ontime 1 0.08 [offset is not a multiple of the minimum logging period]
log bestpos ontime 1 1.05 [offset is larger than the logging period]
3.2 Log Reference
Logs are the mechanism used to extract information from the receiver.
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3.3 ALIGNBSLNENU
ENU baselines using ALIGN
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log outputs the RTK quality ENU baselines from ALIGN. The XYZ baselines (output in ALIGNBSLNXYZ log) are rotated relative to master position (output in MASTERPOS) to compute ENU baselines.
On dual antenna receivers, the ALIGNBSLNENU log is not available for the secondary antenna input.
Message ID: 1315
Log Type: Asynch
Recommended Input: log alignbslnenua onnew
ASCII Example: #ALIGNBSLNENUA,COM1,0,29.0,FINESTEERING,1629,259250.000,02040000,100b,39448;SO L_COMPUTED,NARROW_INT,4.1586,-1.9197,0.0037,0.0047,0.0050,0.0062,"0092","AAAA",22,16,16,16,0,01,0,33*11e1d4c0
Field Field type
Description
Format
Binary Bytes
Binary Offset
1
ALIGNBSLNENU
Log header. See Messages on page 25 for more information.
H
0
2
sol stat
Solution status, see Table 74: Solution
Enum 4
H
Status on page 436
3
pos type
Position type, see Table 75: Position or Velocity Type on page 437
Enum 4
H+4
4
East
East Baseline (relative to master position) in metres
Double
8
H+8
5
North
North Baseline (relative to master position) in metres
Double 8
H+16
6
Up
Up Baseline (relative to master position) in metres
Double
8
H+24
7
East
East Baseline standard deviation in metres Float
4
H+32
8
North
North Baseline standard deviation in metres
Float
4
H+36
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Field Field type
9
Up
10
Rover id
11
Master id
12
#SVs
13
#solnSVs
14
#obs
15
#multi
16
Reserved
17
ext sol stat
Galileo and
18
BeiDou sig
mask
GPS and
19
GLONASS sig
mask
20
xxxx
21
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
Up Baseline standard deviation in metres Float
4
H+40
Rover Receiver ID
Set using the SETROVERID command (see
page 352) on the Rover
Char[4] 4
e.g., setroverid RRRR
H+44
Master Receiver ID Set using the DGPSTXID command (see page 127) on the Master
Default: AAAA
Char[4] 4
H+48
Number of satellites tracked
Uchar 1
H+52
Number of satellites in solution
Uchar 1
H+53
Number of satellites above elevation mask angle
Uchar
1
H+54
Number of satellites above elevation mask angle with L2, B2
Uchar
1
H+55
Hex
1
H+56
Extended solution status, see Table 78: Extended Solution Status on page 440
Hex
1
H+57
Galileo and BeiDou signals used mask (see
Table 77: Galileo and BeiDou Signal-Used Hex
1
Mask on page 440)
H+58
GPS and GLONASS signals used mask (see
Table 76: GPS and GLONASS Signal-Used Hex
1
Mask on page 439)
H+59
32-bit CRC (ASCII and Binary only)
Hex
4
H+60
Sentence Terminator (ASCII only)
-
-
-
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3.4 ALIGNBSLNXYZ
XYZ baselines using ALIGN
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log outputs the RTK quality XYZ baselines from ALIGN.
On dual antenna receivers, the ALIGNBSLNXYZ log is not available for the secondary antenna input.
Message ID: 1314
Log Type: Asynch
Recommended Input: log alignbslnxyza onnew
ASCII Example: #ALIGNBSLNXYZA,COM1,0,29.0,FINESTEERING,1629,259250.000,02040000,9d28,39448;SO L_COMPUTED,NARROW_INT,3.1901,3.0566,1.2079,0.0050,0.0054,0.0056,"0092","AAAA",22,16,16,16,0,01,0,33*ac372198
Field Field type
Description
1
ALIGNBSLNXYZ
Log header. See Messages on page 25 for more information.
2
sol stat
Solution status, see Table 74: Solution Status on page 436
3
pos type
Position type, see Table 75: Position or Velocity Type on page 437
4
dX
X Baseline in metres
5
dY
Y Baseline in metres
6
dZ
Z Baseline in metres
7
dX
X Baseline standard deviation in metres
8
dY
Y Baseline standard deviation in metres
9
dZ
Z Baseline standard deviation in metres
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
Enum 4
Double 8
Double 8
Double 8
Float
4
Float
4
Float
4
H+4
H+8 H+16 H+24 H+32 H+36 H+40
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Field Field type
10
Rover id
11
Master id
12
#SVs
13
#solnSVs
14
#obs
15
#multi
16
Reserved
17
ext sol stat
Galileo and
18
BeiDou sig
mask
GPS and
19
GLONASS sig
mask
20
xxxx
21
[CR][LF]
Description
Rover Receiver ID Set using SETROVERID command (see page 352) on the Rover e.g. SETROVERID RRRR
Master Receiver Id Set using the DGPSTXID command (see page 127) on the Master Default: AAAA
Number of satellites tracked
Number of satellites in solution
Number of satellites above elevation mask angle
Number of satellites above elevation mask angle with L2, B2
Extended solution status, see Table 78: Extended Solution Status on page 440
Galileo and BeiDou signals used mask (see Table 77: Galileo and BeiDou Signal-Used Mask on page 440)
GPS and GLONASS signals used mask (see Table 76: GPS and GLONASS Signal-Used Mask on page 439)
32-bit CRC (ASCII and Binary only)
Sentence Terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Uchar [4]
4
H+44
Uchar [4]
4
Uchar 1 Uchar 1 Uchar 1
Uchar 1
Hex
1
Hex
1
Hex
1
Hex
1
Hex
4
-
-
H+48
H+52 H+53 H+54 H+55 H+56 H+57
H+58
H+59 H+60 -
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3.5 ALIGNDOP
Calculated DOP values
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log outputs the DOP computed using the satellites used in the heading solution. This log comes out at a default 1 Hz rate. Additional logs may be output not on the even second if the DOP changes and ALIGN is operating at greater than 1 Hz.
Message ID: 1332
Log Type: Asynch
Recommended Input: log aligndopa onnew
ASCII Example: #ALIGNDOPA,COM1,0,22.5,FINESTEERING,1629,259250.000,02040000,de2d,39448;1.6160, 1.2400,0.6900,0.9920,0.7130,10.0,16,4,32,23,10,7,20,13,30,16,47,43,46,53,54,44, 45*90a72971
Field
Field type
Description
1
ALIGNDOP
Log header. See Messages on page 25 for more information.
2
GDOP
Geometric DOP
3
PDOP
Position DOP
4
HDOP
Horizontal DOP
5
HTDOP
Horizontal and time DOP
6
TDOP
Time DOP
7
Elev mask Elevation mask angle
8
#sats
Number of satellites to follow
9
sats
Satellites in use at time of calculation
10
Next sat offset = H+28+(#sats * 4)
11
xxxx
32-bit CRC (ASCII and Binary only)
12
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
H
0
Float
4
Float
4
Float
4
Float
4
Float
4
Float
4
Ulong 4
Ulong 4
H H+4 H+8 H+12 H+16 H+20 H+24 H+28
Hex
4
-
-
H+28+ (#sats * 4)
-
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3.6 ALMANAC
Decoded GPS Almanac
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the decoded GPS almanac parameters from subframes four and five, as received from the satellite, with the parity information removed and appropriate scaling applied. For more information about almanac data, refer to the GPS SPS Signal Specification. The OEM7 family of receivers automatically save almanacs in their Non-Volatile Memory (NVM), so creating an almanac boot file is not necessary.
Message ID: 73
Log Type: Asynch
Recommended Input: log almanaca onchanged
ASCII Example: #ALMANACA,COM1,0,54.0,SATTIME,1364,409278.000,02000000,06de,2310; 29, 1,1364,589824.0,6.289482e-03,-7.55460039e-09,-2.2193421e+00,-1.7064776e+00,7.94268362e-01,4.00543213e-05,3.63797881e-12,1.45856541e04,2.6560037e+07,4.45154034e-02,1,0,0,FALSE, 2,1364,589824.0,9.173393e-03,-8.16033991e09,1.9308788e+00,1.9904300e+00,6.60915023e-01,-1.62124634e05,0.00000000,1.45860023e-04,2.6559614e+07,8.38895743e-03,1,0,0,FALSE, 3,1364,589824.0,7.894993e-03,-8.04604944e-09,7.95206128e-01,6.63875501e-01,2.00526792e-01,7.91549683e-05,3.63797881e-12,1.45858655e-04,2.6559780e+07,1.59210428e-02,1,0,0,TRUE, ... 28,1364,589824.0,1.113367e-02,-7.87461372e-09,-1.44364969e-01,2.2781989e+00,1.6546425e+00,3.24249268e-05,0.00000000,1.45859775e04,2.6559644e+07,1.80122900e-02,1,0,0,FALSE, 29,1364,589824.0,9.435177e-03,-7.57745849e-09,-2.2673888e+00,-9.56729511e01,1.1791713e+00,5.51223755e-04,1.09139364e-11,1.45855297e04,2.6560188e+07,4.36225787e-02,1,0,0,FALSE, 30,1364,589824.0,8.776665e-03,-8.09176563e-09,-1.97082451e01,1.2960786e+00,2.0072936e+00,2.76565552e-05,0.00000000,1.45849410e04,2.6560903e+07,2.14517626e-03,1,0,0,FALSE*de7a4e45
The speed at which the receiver locates and locks onto new satellites is improved if the receiver has approximate time and position, as well as an almanac. This allows the receiver to compute the elevation of each satellite so it can tell which satellites are visible and their Doppler offsets, improving Time to First Fix (TTFF).
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Field Field type
Description
Format
Binary Bytes
Binary Offset
1
ALMANAC
Log header. See Messages on page 25 for more information.
H
0
The number of satellite PRN almanac
2
#messages messages to follow. Set to zero until
Long
4
H
almanac data is available
3
PRN
Satellite PRN number for current message (dimensionless)
Ulong
4
H+4
4
week
Almanac reference week (GPS reference week number)
Ulong
4
H+8
5
seconds
Almanac reference time (seconds into the week)
Double
8
H+12
6
ecc
Eccentricity (dimensionless)
Double 8
H+20
7
Rate of right ascension (radians/second) Double 8
H+28
8
o
9
Right ascension (radians) Argument of perigee (radians)
Double 8 Double 8
H+36 H+44
10
Mo
Mean anomaly of reference time (radians) Double 8
11
afo
Clock aging parameter (seconds)
Double 8
12
af1
Clock aging parameter (seconds/second) Double 8
13
N0
Computed mean motion (radians/second) Double 8
14
A
Semi-major axis (metres)
Double 8
Angle of inclination relative to 0.3
15
incl-angle (radians)
Double 8
H+52 H+60 H+68 H+76 H+84
H+92
16
SV config Satellite configuration
Ulong 4
H+100
SV health from Page 25 of subframe 4 or 5
17
health-prn
Ulong 4
(6 bits)
H+104
18
health-alm SV health from almanac (8 bits)
Ulong 4
H+108
Anti-spoofing on?
19
antispoof
0 = FALSE
1 = TRUE
Bool
4
H+112
20... Next PRN offset = H + 4 + (#messages x 112)
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Field Field type
Description
21
xxxx
32-bit CRC (ASCII and Binary only)
22
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Hex
4
H+4+ (112 x #messages)
-
-
-
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3.7 AUTHCODES
List of authorization codes
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains all authorization codes (auth codes) entered into the system since the last complete firmware reload. Signature authorization codes will be maintained through a SoftLoad. The log also indicates the status of the firmware signature. For more information about firmware signatures see the "Upgrading Using the AUTH Command" section of the OEM7 Installation and Operation User Manual.
The following situations will cause an authorization code to be marked invalid: l Authorization Code is for a different receiver l Authorization Code has expired l Authorization Code was entered incorrectly
If you require new authorization codes, contact NovAtel Customer Service.
Message ID: 1348
Log Type: Polled
Recommended Input: log authcodesa once
ASCII Example: #AUTHCODESA,COM1,0,80.5,UNKNOWN,0,10.775,024c0000,2ad2,12143;VALID,2,SIGNATURE, TRUE,"63F3K8,MX43GD,T4BJ2X,924RRB,BZRWBT,D2SB0G550",STANDARD,TRUE,"CJ43M9,2RNDB H,F3PDK8,N88F44,8JMKK9,D2SB0G550"*6f778e32
Field Field type
Description
1
AUTHCODES header
Log header. See Messages on page 25 for more information.
Status of the Firmware Signature
1 = NONE
2
AUTHCODES
2 = INVALID
Signature Status 3 = VALID
4 = RESERVED
5 = HIGH_SPEED
3
Number of Auth # of Auth Codes to follow
Codes
(max is 24)
Format
Binary Bytes
Binary Offset
H
0
Enum
4
H
Ulong 4
H+4
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Field Field type
Description
Format
Binary Bytes
Binary Offset
1=STANDARD
4
Auth code type 2=SIGNATURE
3=EMBEDDED
Enum
4
H+8
5
Valid
TRUE if the Auth Code has been verified
Bool
4
H+12
6
Auth Code String
ASCII String of the Auth Code
String [max 80]
variable
1
H+16
7... Next AuthCode = H+8+ (#AuthCodes*variable)
8
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+8+ (#AuthCodes* variable)
9
[CR][LF]
Sentence terminator (ASCII only) -
-
-
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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3.8 AVEPOS
Position averaging
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
When position averaging is underway, the various fields in the AVEPOS log contain the parameters being used in the position averaging process. Table 72: Position Averaging Status on the next page shows the possible position averaging status values seen in field #8 of the AVEPOS log table. See the description of the POSAVE command on page 263. For general positioning information, refer to An Introduction to GNSS available on our website.
Asynchronous logs should only be logged ONCHANGED. Otherwise, the most current data is not output when it is available. This is especially true of the ONTIME trigger, which may cause inaccurate time tags to result.
Message ID: 172
Log Type: Asynch
Recommended Input: log aveposa onchanged
ASCII Example: #AVEPOSA,COM1,0,48.5,FINESTEERING,1364,492100.000,82000000,e3b4,2310;51.1163558 9900,114.03833558937,1062.216134356,1.7561,0.7856,1.7236,INPROGRESS,2400,2*72a550c1
When a GNSS position is computed, there are four unknowns being solved: latitude, longitude, height and receiver clock offset (often just called time). The solutions for each of the four unknowns are correlated to satellite positions in a complex way. Since satellites are above the antenna (none are below) there is a geometric bias. Therefore, geometric biases are present in the solutions and affect the computation of height. These biases are called DOPs (Dilution Of Precision). Smaller biases are indicated by low DOP values. VDOP (Vertical DOP) pertains to height. Most of the time, VDOP is higher than HDOP (Horizontal DOP) and TDOP (Time DOP). Therefore, of the four unknowns, height is the most difficult to solve. Many GNSS receivers output the Standard Deviations (SD) of the latitude, longitude and height. Height often has a larger value than the other two. Accuracy is based on statistics and reliability is measured in percent. When a receiver states it can measure height to one metre, this is an accuracy. Usually this is a one sigma value (one SD). A one sigma value for height has a reliability of 68%. In other words, the error is less than one metre 68% of the time. For a more realistic accuracy, double the one sigma value (one metre) and the result is 95% reliability (error is less than two metres 95% of the time). Generally, GNSS heights are 1.5 times poorer than horizontal positions. See also GPGST log on page 526 for CEP and RMS definitions.
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Field
Field type
Description
1
AVEPOS header
Log header. See Messages on page 25 for more information.
2
lat
Average WGS84 latitude (degrees)
3
lon
Average WGS84 longitude (degrees)
4
hgt
Average height above sea level (m)
5
lat
Estimated average standard deviation of latitude solution element (m)
6
lon
Estimated average standard deviation of longitude solution element (m)
7
hgt
Estimated average standard deviation of height solution element (m)
8
posave
Position averaging status (see Table 72: Position Averaging Status below)
9
ave time Elapsed time of averaging (s)
10
#samples Number of samples in the average
11
xxxx
32-bit CRC (ASCII and Binary only)
12
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
H
0
Double 8 Double 8 Double 8
H H+8 H+16
Float
4
H+24
Float
4
H+28
Float
4
H+32
Enum 4
Ulong 4
Ulong 4
Hex
4
-
-
H+36
H+40 H+44 H+48 -
Table 72: Position Averaging Status
Binary
ASCII
Description
0
OFF
Receiver is not averaging
1
INPROGRESS Averaging is in progress
2
COMPLETE
Averaging is complete
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3.9 BDSALMANAC
Decoded BDS Almanac
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the decoded BeiDou almanac parameters, with the parity information removed and appropriate scaling applied. Multiple messages are transmitted, one for each SV almanac collected. For more information about almanac data, refer to the BDS Signal Specification. The OEM7 family of receivers automatically save almanacs in their Non-Volatile Memory (NVM), so creating an almanac boot file is not necessary.
Message ID: 1584
Log Type: Asynch
Recommended Input: log bdsalmanaca onchanged
ASCII Example: #BDSALMANACA,COM1,13,88.5,SATTIME,1727,518438.000,02000000,24ad,44226;1,371,245 760,6493.394531,2.9134750366e-04,-2.289514637,-0.021819903,2.456844003,1.30291141e-09,2.7785425443e-02,-1.096725e-04,2.18279e11,0*77017e1b
...
#BDSALMANACA,COM1,0,88.5,SATTIME,1727,518108.000,02000000,24ad,44226;14,371,217 088,5282.558105,1.4486312866e-03,-2.970093901,2.846651891,1.512957087,6.91457373e-09,1.7820542434e-02,7.438660e-05,0.00000,d8*ce944672
The speed at which the receiver locates and locks onto new satellites is improved if the receiver has approximate time and position, as well as an almanac. This allows the receiver to compute the elevation of each satellite so it can tell which satellites are visible and their Doppler offsets, improving Time to First Fix (TTFF).
Field Field Type
Description
1
BDSALMANAC Log header. See Messages on page 25 for
header
more information.
2
satellite ID Satellite ID/ranging code
3
week
Week number
4
toa
Time of almanac (seconds)
5
RootA
Square root of semi-major axis (sqrt (metres))
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Ulong 4 Ulong 4
H H+4 H+8
Double 8
H+12
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Field Field Type
6
ecc
7
8
M0
9
10
11
i
12
a0
13
a1
14
health
15
xxxx
16
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
Eccentricity (dimensionless)
Double 8
H+20
Argument of perigee (radians)
Double 8
H+28
Mean anomaly at reference time (radians)
Double 8
H+36
Longitude of ascending node of orbital of plane computed according to reference time Double 8 (radians)
H+44
Rate of right ascension (radians/second)
Double 8
H+52
Correction of orbit reference inclination at reference time (radians)
Double 8
H+60
Constant term of clock correction polynomial (seconds)
Double
8
H+68
Linear term of clock correction polynomial (seconds/seconds)
Double 8
H+76
Satellite health information
Ulong 4
H+84
32-bit CRC (ASCII and Binary only)
Hex
4
H+88
Sentence terminator (ASCII only)
-
-
-
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3.10 BDSCLOCK
BeiDou time parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains time parameters transmitted by the BeiDou satellites. These parameters can be used to calculated the offset between BeiDou time (BDT) and other time frames.
Message ID: 1607
Log Type: Asynch
Recommended Input: log bdsclocka onchanged
ASCII Example: #BDSCLOCKA,COM1,0,80.0,SATTIME,1730,193994.000,02000000,3b16,44290; -9.313225746154785e-010,-8.881784197001252e-016,2,6,0,2, 0.000000000000000e+000,0.000000000000000e+000,0.000000000000000e+000, 0.000000000000000e+000,0.000000000000000e+000,0.000000000000000e+000 *84820676
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
BDSCLOCK Log header. See Messages on page 25 for more
header
information.
H
0
2
A0UTC
BDT clock bias relative to UTC (seconds)
Double 8
H
3
A1UTC
BDT clock rate relative to UTC (seconds/second)
Double 8
H+8
4
TLS
Delta time due to leap seconds before the new leap second is effective (seconds)
Short
2
H+16
5
WNLSF
Week number of the new leap second
Ushort 2
H+18
6
DN
Day number of week of the new leap second
Ushort 2
H+20
7
TLSF
Delta time due to leap seconds after the new leap second effective
Short
2
H+22
8
A0GPS
BDT clock bias relative to GPS time (seconds) Double 8
H+24
9
A1GPS
BDT clock rate relative to GPS time (seconds/second)
Double 8
H+32
10
A0Gal
BDT clock bias relative to Galileo time (seconds)
Double 8
H+40
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Field
Field Type
11
A1Gal
12
A0GLO
13
A1GLO
14
xxxx
15
[CR][LF]
Description
BDT clock rate relative to Galileo time (seconds/second) BDT clock bias relative to GLONASS time (seconds) BDT clock rate relative to GLONASS time (seconds/second) 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Double 8
H+48
Double 8
H+56
Double 8
Ulong 4
-
-
H+64 H+72 -
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3.11 BDSEPHEMERIS
Decoded BDS ephemeris
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains a single set of BDS ephemeris parameters with appropriate scaling applied. Multiple messages are transmitted, one for each SV ephemeris collected.
Message ID: 1696
Log Type: Asynch
Recommended Input: log bdsephemerisa onchanged
ASCII Example: #BDSEPHEMERISA,COM1,0,82.5,SATTIME,1774,162464.000,02000000,2626,45436;13,418,2 .00,1,8.20e-09,3.10e-09,11,162000,2.33372441e-04,5.73052716e-12,8.53809211e19,12,162000,5282.609060,2.3558507673e-03,3.122599126,4.1744595973e-09,0.654635278,1.950232658e+00,-6.98564812e-09,9.5674299203e-01,3.164417525e10,4.325527698e-06,8.850824088e-06,179.3593750,87.5312500,7.171183825e08,1.024454832e-08*d8b97536
Field Field Type
Description
1
BDSEPHEMERIS Log header. See Messages on page 25 for
header
more information.
2
satellite ID
ID/ranging code
3
Week
Week number
4
URA
User range accuracy (metres). This is the evaluated URAI/URA lookup-table value.
5
health 1
Autonomous satellite health flag. 0 means broadcasting satellite is good and 1 means not.
6
tgd1
Equipment group delay differential for the B1 signal (seconds)
7
tgd2
Equipment group delay differential for the B2 signal (seconds)
8
AODC
Age of data, clock
9
toc
Reference time of clock parameters (seconds)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Ulong 4
H H+4
Double 8
H+8
Ulong 4
H+16
Double 8 Double 8 Ulong 4 Ulong 4
H+20 H+28 H+36 H+40
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Field Field Type
10
a0
11
a1
12
a2
13
AODE
14
toe
15
RootA
16
ecc
17
18
N
19
M0
20
0
21
22
i0
23
IDOT
24
cuc
25
cus
26
crc
27
crs
28
cic
Description
Constant term of clock correction polynomial (seconds)
Linear term of clock correction polynomial (seconds/seconds)
Quadratic term of clock correction polynomial (seconds/seconds^2)
Age of data, ephemeris
Reference time of ephemeris parameters (seconds)
Square root of semi-major axis (sqrt (metres))
Eccentricity (dimensionless)
Argument of perigee (radians)
Mean motion difference from computed value (radians/second)
Mean anomaly at reference time (radians)
Longitude of ascending node of orbital of plane computed according to reference time (radians)
Rate of right ascension (radians/second)
Inclination angle at reference time (radians)
Rate of inclination angle (radians/second)
Amplitude of cosine harmonic correction term to the argument of latitude (radians)
Amplitude of sine harmonic correction term to the argument of latitude (radians)
Amplitude of cosine harmonic correction term to the orbit radius (metres)
Amplitude of sine harmonic correction term to the orbit radius (metres)
Amplitude of cosine harmonic correction term to the angle of inclination (radians)
Format
Binary Bytes
Binary Offset
Double 8
H+44
Double 8
H+52
Double 8 Ulong 4 Ulong 4
H+60 H+68 H+72
Double 8 Double 8 Double 8 Double 8 Double 8
H+76 H+84 H+92 H+100 H+108
Double 8
H+116
Double 8 Double 8 Double 8 Double 8
H+124 H+132 H+140 H+148
Double 8
H+156
Double 8
H+164
Double 8
H+172
Double 8
H+180
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Field Field Type
Description
29
cis
30
xxxx
31
[CR][LF]
Amplitude of sine harmonic correction term to the angle of inclination (radians)
32-bit CRC (ASCII and Binary only)
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Double 8
H+188
Ulong 4
-
-
H+196 -
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3.12 BDSIONO
BeiDou Klobuchar ionosphere delay model
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the Klobuchar ionosphere model parameters transmitted by the BeiDou satellites.
Message ID: 1590
Log Type: Asynch
Recommended Input: log bdsionoa onchanged
ASCII Example: #BDSIONOA,COM1,0,80.0,SATTIME,1734,58094.000,02080000,1956,44836;6, 2.607703208923340e-008,4.097819328308105e-007,-3.695487976074218e-006, 7.212162017822263e-006,69632.0,360448.0,-524288.0,-327680.0*69c2a6c6
Field
Field Type
1
BDSIONO Header
2
ID
3
0
4
1
5
2
6
3
7
0
8
1
9
2
10
3
Description
Format
Binary Bytes
Binary Offset
Log header. See Messages on page 25 for more information.
H
0
Transmitting satellite ID
Ulong 4
H
Klobuchar cosine curve amplitude constant term (seconds)
Double 8
H+4
Klobuchar cosine curve amplitude first-order
term (seconds/)
Double
8
H+12
Klobuchar cosine curve amplitude second-
order term (seconds/2)
Double 8
H+20
Klobuchar cosine curve amplitude third-
order term (seconds/3)
Double 8
H+28
Klobuchar cosine curve period constant term (seconds)
Double
8
H+36
Klobuchar cosine curve period first-order
term (seconds/)
Double 8
H+44
Klobuchar cosine curve period second-order
term (seconds/2)
Double
8
H+52
Klobuchar cosine curve period third-order
term (seconds/3)
Double 8
H+60
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Field
Field Type
11
xxxx
12
[CR][LF]
Description 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
H+68
-
-
-
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3.13 BDSRAWNAVSUBFRAME
Raw BeiDou subframe data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the raw BeiDou subframe data with parity bits removed. Only subframes that have passed the parity check are output.
Message ID: 1695
Log Type: Asynch
Recommended Input: log bdsrawnavsubframea onchanged
ASCII Example: #BDSRAWNAVSUBFRAMEA,COM1,0,85.5,SATTIME,1774,162554.000,02000000,88f3,45436;84, 13,B1D1,1,e24049ebb2b00d113c685207c4d0ee9fd1bf364e41f8f4b57003268c*6b1f478b
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
BDSRAWNAVSUBFRAME Log header. See Messages on
header
page 25 for more information.
H
0
2
signal channel
Signal channel number
Ulong 4
H
3
satellite ID
Satellite ID
Ulong 4
H+4
4
data source
Source of data (refer to Table 73: Data Source below)
Enum
4
H+8
5
subframe ID
Subframe identifier
Ulong 4
H+12
6
raw subframe data
Framed raw navigation bits
Hex[28] 28
H+16
7
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+44
8
[CR][LF]
Sentence terminator (ASCII only) -
-
-
Table 73: Data Source
ASCII Binary
Description
B1D1
0
Data is from a B1/D1 signal
B1D2
1
Data is from a B1/D2 signal
B2D1 65536 Data is from a B2/D1 signal
B2D2 65537 Data is from a B2/D2 signal
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3.14 BESTPOS
Best position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
When positioning with GNSS, there are four parameters being solved for: latitude, longitude, height and receiver clock offset from GPS time. The quality of the solution for all four parameters depends on the geometry of where the satellites are with respect to the antenna (and receiver). The strength of the positioning geometry is indicated by Dilution of Precision (DOP) values, with lower DOP numbers indicating better geometry. Because all the GNSS satellites are above terrestrial receivers, the VDOP (vertical DOP) is the largest DOP value. This is why the reported standard deviation for height is usually larger than for latitude or longitude.
Accuracy is based on statistics and reliability is measured in percentages. When a receiver states it can measure height to one metre, this is an accuracy measure. Usually this is a one sigma value (one SD). A one sigma value for height has a reliability of 68%. In other words, the error is less than one metre 68% of the time. For a more realistic accuracy, double the one sigma value (one metre) and the result is 95% reliability (error is less than two metres 95% of the time). Generally, GNSS heights are 1.5 times poorer than horizontal positions. See also the note in the GPGST log on page 526 for CEP and RMS definitions.
This log contains the best position computed by the receiver. In addition, it reports several status indicators, including differential age, which is useful in predicting anomalous behavior brought about by outages in differential corrections. A differential age of 0 indicates that no differential correction was used.
SPAN Systems On systems with SPAN enabled, this log contains the best available combined GNSS and Inertial Navigation System (INS - if available) position (in metres) computed by the receiver.
With the system operating in an RTK mode, BESTPOS reflects the latest low-latency solution for up to 60 seconds after reception of the last base station observation. After this 60 second period, the position reverts to the best solution available and the degradation in accuracy is reflected in the standard deviation fields. If the system is not operating in RTK mode, pseudorange differential solutions continue for the time specified in the PSRDIFFTIMEOUT command (see page 289). If the receiver is SPAN enabled, the GNSS+INS combined solution is also a candidate for BESTPOS output.
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The RTK system in the receiver provides two kinds of position solutions. The Matched RTK position is computed with buffered observations, so there is no error due to the extrapolation of base station measurements. This provides the highest accuracy solution possible at the expense of some latency which is affected primarily by the speed of the differential data link. The MATCHEDPOS log (see page 601) contains the matched RTK solution and can be generated for each processed set of base station observations. The Low-Latency RTK position is computed from the latest local observations and extrapolated base station observations. This supplies a valid RTK position with the lowest latency possible at the expense of some accuracy. The degradation in accuracy is reflected in the standard deviation and is summarized in An Introduction to GNSS available on our website. The amount of time that the base station observations are extrapolated is in the "differential age" field of the position log. The Low-Latency RTK system extrapolates for 60 seconds. The RTKPOS log (see page 754) contains the LowLatency RTK position when valid, and an "invalid" status when a Low-Latency RTK solution could not be computed. The BESTPOS log contains either the low-latency RTK, PPP or pseudorange-based position, whichever has the smallest standard deviation.
Multi-frequency GNSS receivers offer two major advantages over single-frequency equipment:
l Ionospheric errors, inherent in all GNSS observations, can be modeled and significantly reduced by combining satellite observations made on two different frequencies.
l Observations on two frequencies allow for faster ambiguity resolution times. In general, multi-frequency GNSS receivers provide a faster, more accurate and more reliable solution than single-frequency equipment. They do, however, cost significantly more and so it is important for potential GNSS buyers to carefully consider their current and future needs.
Different positioning modes have different maximum logging rates, which are also controlled by model option. The maximum rates are: 100 Hz for RTK, 100 Hz for pseudorange based positioning, 20 Hz for GLIDE (PDP) and 20 Hz for PPP.
BESTPOS always outputs positions at the antenna phase center.
Message ID: 42
Log Type: Synch
Recommended Input: log bestposa ontime 1
ASCII Example 1:
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#BESTPOSA,COM1,0,90.5,FINESTEERING,1949,403742.000,02000000,b1f6,32768;SOL_ COMPUTED,SINGLE,51.11636937989,-114.03825348307,1064.533,16.9000,WGS84,1.3610,1.0236,2.4745,"",0.000,0.000,19,19,19,19,00,06,00,33*6e08f a22
ASCII Example 2:
#BESTPOSA,COM1,0,78.5,FINESTEERING,1419,336208.000,02000040,6145,2724;SOL_ COMPUTED,NARROW_INT,51.11635910984,-114.03833105168,1063.8416,16.2712,WGS84,0.0135,0.0084,0.0172,"AAAA",1.000,0.000,8,8,8,8,0,01,0,03*3d9fbd4 8
Field Field type
Description
1
BESTPOS header
2
sol stat
3
pos type
4
lat
5
lon
6
hgt
Log header. See Messages on page 25 for more information.
Solution status, see Table 74: Solution Status on the next page
Position type, see Table 75: Position or Velocity Type on page 437
Latitude (degrees)
Longitude (degrees)
Height above mean sea level (metres)
Undulation - the relationship between the geoid and the ellipsoid (m) of the chosen datum
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
Enum 4
Double 8 Double 8 Double 8
H+4
H+8 H+16 H+24
7
undulation
8
datum id#
9
lat
10
lon
11
hgt
12
stn id
13
diff_age
When using a datum other than WGS84, the undulation value also includes the vertical shift due to differences between the datum in use and WGS84.
Datum ID number (see Table 29: Datum Transformation Parameters on page 121)
Latitude standard deviation (m)
Longitude standard deviation (m)
Height standard deviation (m)
Base station ID
Differential age in seconds
Float
4
Enum 4
Float
4
Float
4
Float
4
Char[4] 4
Float
4
H+32
H+36 H+40 H+44 H+48 H+52 H+56
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Field Field type
Description
14
sol_age
Solution age in seconds
15
#SVs
Number of satellites tracked
16
#solnSVs
Number of satellites used in solution
17
#solnL1SVs
Number of satellites with L1/E1/B1 signals used in solution
18
#solnMultiSVs
Number of satellites with multi-frequency signals used in solution
19
Reserved
20
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Galileo and
Galileo and BeiDou signals used mask (see
21
BeiDou sig
Table 77: Galileo and BeiDou Signal-Used
mask
Mask on page 440)
GPS and
GPS and GLONASS signals used mask (see
22
GLONASS sig Table 76: GPS and GLONASS Signal-Used
mask
Mask on page 439)
23
xxxx
32-bit CRC (ASCII and Binary only)
24
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Float
4
H+60
Uchar 1
H+64
Uchar 1
H+65
Uchar 1
H+66
Uchar 1
Hex
1
Hex
1
H+67 H+68 H+69
Hex
1
H+70
Hex
1
Hex
4
-
-
H+71
H+72 -
Table 74: Solution Status
Binary
ASCII
Description
0
SOL_COMPUTED Solution computed
1
INSUFFICIENT_ OBS
Insufficient observations
2
NO_ CONVERGENCE
No convergence
3
SINGULARITY Singularity at parameters matrix
4
COV_TRACE
Covariance trace exceeds maximum (trace > 1000 m)
5
TEST_DIST
Test distance exceeded (maximum of 3 rejections if distance >10 km)
6
COLD_START
Not yet converged from cold start
7
V_H_LIMIT
Height or velocity limits exceeded (in accordance with export licensing restrictions)
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Binary
ASCII
8
VARIANCE
9
RESIDUALS
10-12 Reserved
13
INTEGRITY_ WARNING
14-17 Reserved
Variance exceeds limits Residuals are too large
Description
Large residuals make position unreliable
When a FIX position command is entered, the receiver computes its own position and determines if the fixed position is valid
18 PENDING
PENDING implies there are not enough satellites currently tracked to verify if the FIX POSITION entered into the receiver is valid. Under normal conditions, you should only see PENDING for a few seconds on power up before the GNSS receiver has locked onto its first few satellites. If your antenna is obstructed (or not plugged in) and you have entered a FIX POSITION command, then you may see PENDING indefinitely.
19 INVALID_FIX
The fixed position, entered using the FIX position command, is not valid
20 UNAUTHORIZED Position type is unauthorized
21 Reserved
22 INVALID_RATE The selected logging rate is not supported for this solution type.
Binary
ASCII
0
NONE
1
FIXEDPOS
2
FIXEDHEIGHT
3
Reserved
4
FLOATCONV
5
WIDELANE
Table 75: Position or Velocity Type Description
No solution Position has been fixed by the FIX position command or by position averaging. Position has been fixed by the FIX height or FIX auto command or by position averaging
Solution from floating point carrier phase ambiguities Solution from wide-lane ambiguities
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Binary
ASCII
Description
6
NARROWLANE
Solution from narrow-lane ambiguities
7
Reserved
8
DOPPLER_ VELOCITY
Velocity computed using instantaneous Doppler
9-15 Reserved
16 SINGLE
Single point position
17 PSRDIFF
Pseudorange differential solution
18 WAAS
Solution calculated using corrections from an SBAS
19 PROPAGATED
Propagated by a Kalman filter without new observations
20-31 Reserved
32 L1_FLOAT
Floating L1 ambiguity solution
33 IONOFREE_FLOAT Floating ionospheric-free ambiguity solution
34 NARROW_FLOAT Floating narrow-lane ambiguity solution
35-47 Reserved
48 L1_INT
Integer L1 ambiguity solution
49 WIDE_INT
Integer wide-lane ambiguity solution
50 NARROW_INT
Integer narrow-lane ambiguity solution
51
RTK_DIRECT_INS
RTK status where the RTK filter is directly initialized from the INS filter
52 INS_SBAS
INS calculated position corrected for the antenna
53 INS_PSRSP
INS pseudorange single point solution � no DGPS corrections
54 INS_PSRDIFF
INS pseudorange differential solution
55 INS_RTKFLOAT
INS RTK floating point ambiguities solution
56 INS_RTKFIXED
INS RTK fixed ambiguities solution
57-67 Reserved
68 PPP_CONVERGING Converging TerraStar-C solution
69 PPP
Converged TerraStar-C solution
70 OPERATIONAL
Solution accuracy is within UAL operational limit
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Binary
ASCII
71 WARNING
72 OUT_OF_BOUNDS
73
INS_PPP_ CONVERGING
74 INS_PPP
77
PPP_BASIC_ CONVERGING
78 PPP_BASIC
79
INS_PPP_BASIC _CONVERGING
80 INS_PPP_BASIC
Description Solution accuracy is outside UAL operational limit but within warning limit Solution accuracy is outside UAL limits INS NovAtel CORRECT Precise Point Positioning (PPP) solution converging INS NovAtel CORRECT PPP solution
Converging TerraStar-L solution
Converged TerraStar-L solution
INS NovAtel CORRECT PPP basic solution converging
INS NovAtel CORRECT PPP basic solution
NovAtel CORRECT� with PPP requires access to a suitable correction stream, delivered either through L-Band or the Internet. For L-Band delivered TerraStar or Veripos service, an L-Band capable receiver and software model is required, along with a subscription to the desired service. Contact NovAtel for TerraStar and Veripos subscription details.
Table 76: GPS and GLONASS SignalUsed Mask
Bit Mask
Description
0 0x01 GPS L1 used in Solution
1 0x02 GPS L2 used in Solution
2 0x04 GPS L5 used in Solution
3 0x08 Reserved
4 0x10 GLONASS L1 used in Solution
5 0x20 GLONASS L2 used in Solution
6 0x40 GLONASS L3 used in Solution
7 0x80 Reserved
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Table 77: Galileo and BeiDou Signal-Used Mask
Bit Mask
Description
0 0x01 Galileo E1 used in Solution
1 0x02 Galileo E5A used in Solution
2 0x04 Galileo E5B used in Solution
3 0x08 Galileo ALTBOC used in Solution
4 0x10 BeiDou B1 used in Solution
5 0x20 BeiDou B2 used in Solution
6 0x40 BeiDou B3 used in Solution
7 0x80 Reserved
Table 78: Extended Solution Status
Bit Mask
Description
If an RTK solution: NovAtel CORRECT solution has been verified 0 0x01 If a PDP solution: solution is GLIDE
Otherwise: Reserved
Pseudorange Iono Correction 0 = Unknown or default Klobuchar model 1 = Klobuchar Broadcast 1-3 0x0E 2 = SBAS Broadcast 3 = Multi-frequency Computed 4 = PSRDiff Correction 5 = NovAtel Blended Iono Value
4 0x10 RTK ASSIST active
0 - No antenna warning 5 0x20 1 - Antenna information is missing
See the RTKANTENNA command on page 300
6-7 0xC0 Reserved
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Table 79: Supplemental Position Types and NMEA Equivalents
Value Documented Enum Name NMEA Equivalent
68 PPP_CONVERGING
2
69 PPP
5
70 OPERATIONAL
4
71 WARNING
5
72 OUT_OF_BOUNDS
1
77 PPP_BASIC_CONVERGING
1
78 PPP_BASIC
2
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3.15 BESTSATS
Satellites used in BESTPOS
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log lists the used and unused satellites for the corresponding BESTPOS solution. It also describes the signals of the used satellites or reasons for exclusions.
Message ID: 1194
Log Type: Synch
Recommended Input: log bestsats ontime 1
Abbreviated ASCII Example:
<BESTSATS COM1 0 57.5 FINESTEERING 1729 12132.000 02000000 95e7 11487
<
26
<
GPS 3 GOOD 00000003
<
GPS 5 GOOD 00000003
...
<
GPS 26 GOOD 00000003
<
GPS 28 GOOD 00000003
<
GLONASS 3+5 GOOD 00000003
<
GLONASS 4+6 GOOD 00000003
...
<
GLONASS 23+3 GOOD 00000003
<
GLONASS 24+2 GOOD 00000003
<
BEIDOU 6 GOOD 00000003
<
BEIDOU 9 GOOD 00000003
...
<
BEIDOU 12 GOOD 00000003
<
BEIDOU 13 GOOD 00000003
Field
Field type
Description
1
BESTSATS Log header. See Messages on page 25 for
header
more information.
2
#entries Number of records to follow
3
System
See Table 105: Satellite System on page 553
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Enum 4
H H+4
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Field
Field type
Description
Format
Binary Bytes
Binary Offset
In binary logs, the satellite ID field is 4 bytes.
The 2 lowest-order bytes, interpreted as a
USHORT, are the system identifier: for
instance, the PRN for GPS, or the slot for
GLONASS. The 2 highest-order bytes are the
frequency channel for GLONASS, interpreted
4
Satellite ID
as a SHORT and zero for all other systems. In ASCII and abbreviated ASCII logs, the
Ulong 4
satellite ID field is the system identifier. If the
system is GLONASS and the frequency channel
is not zero, then the signed channel is
appended to the system identifier. For
example, slot 13, frequency channel -2 is
output as 13-2.
H+8
5
Status
Satellite status. See Table 80: Observation Statuses below
Enum 4
H+12
See Table 81: BESTSATS GPS Signal Mask on
the next page, Table 82: BESTSATS GLONASS
6
Signal mask
Signal Mask on page 445, Table 83: BESTSATS Galileo Signal Mask on page 445
Hex
4
and Table 84: BESTSATS BeiDou Signal Mask
on page 445
H+16
7
Next satellite offset = H + 4 + (#entries x 16)
8
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+4 (#entries x 16)
9
[CR][LF] Sentence terminator (ASCII only)
-
-
-
Value
Name
0 GOOD
1 BADHEALTH
2 OLDEPHEMERIS
6 ELEVATIONERROR
7 MISCLOSURE
8 NODIFFCORR
Table 80: Observation Statuses Description
Observation is good Satellite is flagged as bad health in ephemeris or almanac Ephemeris >3 hours old Satellite was below the elevation cutoff Observation was too far from predicted value No differential correction available
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Value
Name
9 NOEPHEMERIS
10 INVALIDIODE
11 LOCKEDOUT
12 LOWPOWER
13 OBSL2
15 UNKNOWN
16 NOIONOCORR
17 NOTUSED
18 OBSL1
19 OBSE1
20 OBSL5
21 OBSE5
22 OBSB2
23 OBSB1
24 OBSB3
25 NOSIGNALMATCH
26 SUPPLEMENTARY
99 NA
100 BAD_INTEGRITY
101 LOSSOFLOCK
102 NOAMBIGUITY
Description No ephemeris available IODE used is invalid Satellite has been locked out Satellite has low signal power An L2 observation not directly used in the solution Observation was not used because it was of an unknown type No ionosphere delay correction was available Observation was not used in the solution An L1 observation not directly used in the solution An E1 observation not directly used in the solution An L5 observation not directly used in the solution An E5 observation not directly used in the solution A B2 observation not directly used in the solution A B1 observation not directly used in the solution A B3 observation not directly used in the solution Signal type does not match Observation contributes supplemental information to the solution No observation available Observation was an outlier and was eliminated from the solution Lock was broken on this signal No RTK ambiguity type resolved
Table 81: BESTSATS GPS Signal Mask
Bit
Mask
Description
0
0x01 GPS L1 used in Solution
1
0x02 GPS L2 used in Solution
2
0x04 GPS L5 used in Solution
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Table 82: BESTSATS GLONASS Signal Mask
Bit Mask
Description
0
0x01 GLONASS L1 used in Solution
1
0x02 GLONASS L2 used in Solution
2
0x04 GLONASS L3 used in Solution
Table 83: BESTSATS Galileo Signal Mask
Bit Mask
Description
0
0x01 Galileo E1 used in Solution
1
0x02 Galileo E5A used in Solution
2
0x04 Galileo E5B used in Solution
3
0x08 Galileo ALTBOC used in Solution
Table 84: BESTSATS BeiDou Signal Mask
Bit Mask
Description
0
0x01 BeiDou B1 used in Solution
1
0x02 BeiDou B2 used in Solution
2
0X04 BeiDou B3 used in Solution
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3.16 BESTUTM
Best available UTM data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the best available position computed by the receiver in UTM coordinates. See also the UTMZONE command on page 402 and the BESTPOS log on page 433.
The latitude limits of the UTM System are 80�S to 84�N. If your position is outside this range, the BESTUTM log outputs a northing, easting and height of 0.0, along with a zone letter of `*'and a zone number of 0, to indicate that the data in the log is unusable.
Refer to http://earth-info.nga.mil/GandG/coordsys/grids/referencesys.html for more information and a world map of UTM zone numbers.
Message ID: 726
Log Type: Synch
Recommended Input: log bestutma ontime 1
ASCII Example: #BESTUTMA,COM1,0,73.0,FINESTEERING,1419,336209.000,02000040,eb16,2724;SOL_ COMPUTED,NARROW_INT,11,U,5666936.4417,707279.3875,1063.8401,16.2712,WGS84,0.0135,0.0084,0.0173,"AAAA",1.000,0.000,8,8,8,8,0,01,0,03*a6d0632 1
Field Field type
1
BESTUTM header
2
sol status
3
pos type
4
z#
5
zletter
Description
Format
Binary Bytes
Binary Offset
Log header. See Messages on page 25 for more information.
H
0
Solution status, see Table 74: Solution Status on page 436
Enum
4
H
Position type, see Table 75: Position or Velocity Type on page 437
Enum 4
H+4
Longitudinal zone number
Ulong 4
H+8
Latitudinal zone letter
Ulong 4
H+12
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Field Field type
6
northing
7
easting
8
hgt
Description
Format
Binary Bytes
Binary Offset
Northing (m) where the origin is defined as
the equator in the northern hemisphere and
as a point 10000000 metres south of the
Double 8
equator in the southern hemisphere (that is, a
`false northing' of 10000000 m)
H+16
Easting (m) where the origin is 500000 m west of the central meridian of each longitudinal zone (that is, a `false easting' of 500000 m)
Double 8
H+24
Height above mean sea level (m)
Double 8
H+32
Undulation - the relationship between the geoid and the ellipsoid (m) of the chosen datum
9
undulation
When using a datum other than WGS84, the undulation value also includes the vertical shift due to differences between the datum in use and WGS84.
Float
4
10
datum id#
Datum ID number (see Table 29: Datum Transformation Parameters on page 121)
Enum 4
11
N
Northing standard deviation (m)
Float
4
12
E
Easting standard deviation (m)
Float
4
13
hgt
Height standard deviation (m)
Float
4
14
stn id
Base station ID
Char[4] 4
15
diff_age
Differential age in seconds
Float
4
16
sol_age
Solution age in seconds
Float
4
17
#SVs
Number of satellites tracked
Uchar 1
18
#solnSVs
Number of satellite vehicles used in solution Uchar 1
19
#ggL1
Number of GPS plus GLONASS plus BDS L1/B1 used in solution
Uchar 1
20
#solnMultiSV
Number of satellites with L1/E1/B1 signals used in solution
Uchar 1
21
Reserved
Uchar 1
H+40
H+44 H+48 H+52 H+56 H+60 H+64 H+68 H+72 H+73 H+74 H+75 H+76
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Field Field type
Description
22
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Galileo and Galileo and BeiDou signals used mask (see
23
BeiDou sig Table 77: Galileo and BeiDou Signal-Used
mask
Mask on page 440)
GPS and
GPS and GLONASS signals used mask (see
24
GLONASS sig Table 76: GPS and GLONASS Signal-Used
mask
Mask on page 439)
25
xxxx
32-bit CRC (ASCII and Binary only)
26
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Hex
1
H+77
Hex
1
H+78
Hex
1
Hex
4
-
-
H+79
H+80 -
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3.17 BESTVEL
Best available velocity data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the best available velocity information computed by the receiver. In addition, it reports a velocity status indicator, which is needed to determine whether or not the corresponding data is valid. The velocities calculated by the receiver can have a latency associated with them. When present, the velocity time of validity is the time tag in the log minus the latency value.
The velocity is typically from the same source used in the BESTPOS solution. For example, if the BESTPOS is from the pseudorange filter, then the BESTVEL velocity type is the same as for PSRVEL. However, a specific velocity source can be chosen. See the BESTVELTYPE command on page 99.
In a BESTVEL log, the actual speed and direction of the receiver antenna over ground is provided. The receiver does not determine the direction a vessel, craft or vehicle is pointed (heading) but rather the direction of motion of the GNSS antenna relative to ground.
The RTK, PDP and PPP velocities are computed from the average change in position over the time interval between consecutive solutions. As such, they are an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the BESTVEL time tag. The velocity latency to be subtracted from the time tag is normally half the time between filter updates. Under default operation, the positioning filters are updated at a rate of 2 Hz. This average velocity translates into a velocity latency of 0.25 seconds. To reduce the latency, increase the update rate of the positioning filter being used by requesting the BESTVEL or BESTPOS messages at a rate higher than 2 Hz. For example, a logging rate of 10 Hz would reduce the velocity latency to 0.05 seconds. If the velocity in the BESTVEL log comes from the pseudorange filter, it has been computed from instantaneous Doppler measurements. You know that you have an instantaneous Doppler derived velocity solution when the velocity type is PSRDIFF, WAAS or DOPPLER_VELOCITY. The instantaneous Doppler derived velocity has low latency and is not position change dependent. If you change your velocity quickly, you can see this in the DOPPLER_VELOCITY solution. Under typically seen dynamics with minimal jerk, the velocity latency is zero. Under extreme, high-jerk dynamics, the latency cannot be well represented: it will still be reported as being zero, but may be as high as 0.15 seconds. Such dynamics are typically only seen in simulated trajectories.
Message ID: 99
Log Type: Synch
Recommended Input: log bestvela ontime 1
ASCII Example:
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#BESTVELA,COM1,0,61.0,FINESTEERING,1337,334167.000,02000000,827b,1984; SOL_COMPUTED,PSRDIFF,0.250,4.000,0.0206,227.712486,0.0493,0.0*0e68bf05
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
BESTVEL Log header. See Messages on page 25 for more header information.
H
0
2
sol status
Solution status, see Table 74: Solution Status on page 436
Enum
4
H
3
vel type
Velocity type, see Table 75: Position or Velocity Type on page 437
Enum
4
H+4
A measure of the latency in the velocity time tag
4
latency in seconds. It should be subtracted from the time Float
4
to give improved results (s)
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
Vertical speed, in metres per second, where
8
vert spd
positive values indicate increasing altitude (up) and negative values indicate decreasing altitude
Double 8
(down)
H+32
9
Reserved
Float
4
H+40
10
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+44
11
[CR][LF] Sentence terminator (ASCII only)
-
-
-
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Velocity (speed and direction) calculations are computed from either Doppler or carrier phase measurements rather than from pseudorange measurements. Typical speed accuracies are around 0.03m/s (0.07 mph, 0.06 knots).
Direction accuracy is derived as a function of the vehicle speed. A simple approach would be to assume a worst case 0.03 m/s cross-track velocity that would yield a direction error function something like:
d (speed) = tan-1(0.03/speed)
For example, if you are flying in an airplane at a speed of 120 knots or 62 m/s, the approximate directional error will be:
tan-1 (0.03/62) = 0.03 degrees
Consider another example applicable to hiking at an average walking speed of 3 knots or 1.5 m/s. Using the same error function yields a direction error of about 1.15 degrees.
You can see from both examples that a faster vehicle speed allows for a more accurate heading indication. As the vehicle slows down, the velocity information becomes less and less accurate. If the vehicle is stopped, a GNSS receiver still outputs some kind of movement at speeds between 0 and 0.5 m/s in random and changing directions. This represents the noise and error of the static position.
In a navigation capacity, the velocity information provided by your GNSS receiver is as, or more, accurate than that indicated by conventional instruments as long as the vehicle is moving at a reasonable rate of speed. It is important to set the GNSS measurement rate fast enough to keep up with all major changes of the vehicle's speed and direction. It is important to keep in mind that although the velocity vector is quite accurate in terms of heading and speed, the actual track of the vehicle might be skewed or offset from the true track by plus or minus 0 to 1.8 metres as per the standard positional errors.
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3.18 BESTXYZ
Best available cartesian position and velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the receiver's best available position and velocity in ECEF coordinates. The position and velocity status fields indicate whether or not the corresponding data is valid. See Figure 11: The WGS84 ECEF Coordinate System on page 454, for a definition of the ECEF coordinates.
See also the BESTPOS log on page 433 and BESTVEL log on page 449.
These quantities are always referenced to the WGS84 ellipsoid, regardless of the use of the DATUM command (see page 119) or USERDATUM command (see page 392).
Message ID: 241
Log Type: Synch
Recommended Input: log bestxyza ontime 1
ASCII Example: #BESTXYZA,COM1,0,55.0,FINESTEERING,1419,340033.000,02000040,d821,2724; SOL_COMPUTED,NARROW_INT,-1634531.5683,-3664618.0326,4942496.3270,0.0099, 0.0219,0.0115,SOL_COMPUTED,NARROW_INT,0.0011,-0.0049,-0.0001,0.0199,0.0439, 0.0230,"AAAA",0.250,1.000,0.000,12,11,11,11,0,01,0,33*e9eafeca
Field Field type
Description
1
BESTXYZ header
Log header. See Messages on page 25 for more information.
2
P-sol status
Solution status, see Table 74: Solution Status on page 436
3
pos type
Position type, see Table 75: Position or Velocity Type on page 437
4
P-X
Position X-coordinate (m)
5
P-Y
Position Y-coordinate (m)
6
P-Z
Position Z-coordinate (m)
7
P-X
Standard deviation of P-X (m)
8
P-Y
Standard deviation of P-Y (m)
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
Enum 4
Double 8
Double 8
Double 8
Float
4
Float
4
H+4
H+8 H+16 H+24 H+32 H+36
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Field Field type
Description
Format
Binary Bytes
Binary Offset
9
P-Z
Standard deviation of P-Z (m)
Float
4
H+40
10
V-sol status
Solution status, see Table 74: Solution Status on page 436
Enum 4
H+44
11
vel type
Velocity type, see Table 75: Position or Velocity Type on page 437
Enum 4
H+48
12
V-X
Velocity vector along X-axis (m/s)
Double 8
H+52
13
V-Y
Velocity vector along Y-axis (m/s)
Double 8
H+60
14
V-Z
Velocity vector along Z-axis (m/s)
Double 8
H+68
15
V-X
Standard deviation of V-X (m/s)
Float
4
H+76
16
V-Y
Standard deviation of V-Y (m/s)
Float
4
H+80
17
V-Z
Standard deviation of V-Z (m/s)
Float
4
H+84
18
stn ID
Base station identification
Char[4] 4
H+88
19
V-latency
A measure of the latency in the velocity time
tag in seconds. It should be subtracted from Float
4
the time to give improved results
H+92
20
diff_age
Differential age in seconds
Float
4
H+96
21
sol_age
Solution age in seconds
Float
4
H+100
22
#SVs
Number of satellites tracked
Uchar 1
H+104
23
#solnSVs
Number of satellite vehicles used in solution Uchar 1
H+105
24
#ggL1
Number of GPS plus GLONASS plus BDS L1/B1 used in solution
Uchar 1
H+106
25
#solnMultiSVs
Number of satellites with L1/E1/B1 signals used in solution
Uchar
1
H+107
26
Reserved
Char
1
H+108
27
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Hex
1
H+109
Galileo and
Galileo and BeiDou signals used mask (see
28
BeiDou sig
Table 77: Galileo and BeiDou Signal-Used Hex
1
mask
Mask on page 440)
H+110
GPS and
GPS and GLONASS signals used mask (see
29
GLONASS sig Table 76: GPS and GLONASS Signal-Used
Hex
1
mask
Mask on page 439)
H+111
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Field Field type
Description
30
xxxx
31
[CR][LF]
32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Hex
4
H+112
-
-
-
Figure 11: The WGS84 ECEF Coordinate System
Table 85: Definitions Origin = Earth's center of mass Z-Axis = Parallel to the direction of the Conventional Terrestrial Pole (CTP) for polar motion, as
defined by the Bureau International de l'Heure (BIH) on the basis of the coordinates adopted for the BIH stations. X-Axis = Intersection of the WGS 84 Reference Meridian Plane and the plane of the CTP's Equator, the Reference Meridian being parallel to the Zero Meridian defined by the BIH on the basis of the coordinates adopted for the BIH stations. Y-Axis = Completes a right-handed, earth-centered, earth-fixed (ECEF) orthogonal coordinate system, measured in the plane of the CTP Equator, 90� East of the X-Axis.
These definitions are analogous to the BIH Defined Conventional Terrestrial System (CTS), or BTS, 1984.0.
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3.19 BSLNXYZ
RTK XYZ baseline
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the receiver's RTK baseline in ECEF coordinates. The position status field indicates whether or not the corresponding data is valid. See Figure 11: The WGS84 ECEF Coordinate System on the previous page for a definition of the ECEF coordinates.
The BSLNXYZ log comes from time-matched base and rover observations such as in the MATCHEDXYZ log on page 606.
Asynchronous logs, such as BSLNXYZ, should only be logged ONCHANGED. Otherwise, the most current data is not output when it is available. This is especially true of the ONTIME trigger, which may cause inaccurate time tags to result.
Message ID: 686
Log Type: Asynch
Recommended Input: log bslnxyza onchanged
ASCII Example: #BSLNXYZA,COM1,0,59.5,FINESTEERING,1419,340033.000,02000040,5b48,2724;SOL_ COMPUTED,NARROW_INT,0.0012,0.0002,0.0004,0.0080,0.0160,0.0153,"AAAA",12,12,12,12,0,01,0,33*1a8a1b65
Field Field type
Data Description
1
BSLNXYZ header
2
sol status
3
bsln type
4
B-X
5
B-Y
6
B-Z
7
B-X
8
B-Y
Log header. See Messages on page 25 for more information.
Solution status, see Table 74: Solution Status on page 436
Baseline type, see Table 75: Position or Velocity Type on page 437
X-axis offset (m)
Y-axis offset (m)
Z-axis offset (m)
Standard deviation of B-X (m)
Standard deviation of B-Y (m)
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
Enum 4
Double 8
Double 8
Double 8
Float
4
Float
4
H+4
H+8 H+16 H+24 H+32 H+36
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Field Field type
Data Description
Format
Binary Bytes
Binary Offset
9
B-Z
Standard deviation of B-Z (m)
Float
4
H+40
10
stn ID
Base station identification
Char[4] 4
H+44
11
#SVs
Number of satellites tracked
Uchar 1
H+48
12
#solnSVs
Number of satellite vehicles used in solution Uchar 1
H+49
13
#ggL1
Number of GPS plus GLONASS plus BDS L1/B1 used in solution
Uchar 1
H+50
14
#solnMultiSVs
Number of satellites with L1/E1/B1 signals used in solution
Uchar
1
H+51
15
Reserved
Uchar 1
H+52
16
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Hex
1
H+53
Galileo and
Galileo and BeiDou signals used mask (see
17
BeiDou sig
Table 77: Galileo and BeiDou Signal-Used Hex
1
mask
Mask on page 440)
H+54
GPS and
GPS and GLONASS signals used mask (see
18
GLONASS sig Table 76: GPS and GLONASS Signal-Used
Hex
1
mask
Mask on page 439)
H+55
19
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+56
20
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.20 CHANCONFIGLIST
Channel configuration list
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log provides the channel configuration list including the number of channels and signal types. If more than one channel configuration is available, then it can be switched using the SELECTCHANCONFIG command (see page 329).
Message ID: 1148
Log Type: Polled
Recommended Input:
log chanconfiglista once
Abbreviated ASCII Example:
CHANCONFIGLIST COM1 2 73.5 FINESTEERING 1783 585128.718 02000040 d1c0 12793 44 6 12 GPSL1L2PL5 2 QZSSL1CAL2CL5 2 SBASL1 10 GLOL1L2 9 GALE1E5AE5BALTBOC 10 BEIDOUB1B2 6 10 GPSL1L2PL2CL5 2 QZSSL1CAL2CL5 2 SBASL1 8 GLOL1L2PL2C 8 GALE1E5AE5BALTBOC 8 BEIDOUB1B2 6 12 GPSL1L2PL5 2 QZSSL1CAL2CL5 2 SBASL1L5 10 GLOL1L2 9 GALE1E5AE5BALTBOC 9 BEIDOUB1B2 6 9 GPSL1L2PL2CL5 2 QZSSL1CAL2CL5 2 SBASL1L5 8 GLOL1L2PL2C 8 GALE1E5AE5BALTBOC 9 BEIDOUB1B2
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Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
CHANCONFIGLIST Log header. See Messages on page 25
header
for more information.
H
0
2
SetInUse
Current channel configuration being
used. For example, if SetInUse is 2 then
the second channel configuration listed Ulong 4
H
in this log is the current channel
configuration
3
#chanconfigs
Number of channel configurations to follow
Ulong 4
H+4
4
#signaltypes
Total number of signal types in this channel configuration
Ulong 4
H+8
5
NumChans
Number of channels for individual signal type
Ulong
4
H+12
6
SignalType
See Table 86: CHANCONFIGLIST Signal Type below
Ulong
4
H+16
7
Next chanconfig offset = H + 8+ (#chanconfigs * (4 + (#signaltypes * 8)))
8
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
variable
9
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
Table 86: CHANCONFIGLIST Signal Type
Value
Name
Description
0 GPSL1
GPS L1 C/A signal
1 GPSL1L2
GPS L1 C/A and L2P(Y) signal
4 SBASL1
SBAS L1 C/A signal
5 GPSL5
GPS L5 signal
6 GPSL1L2C
GPS L1 C/A and L2C signal
7 GPSL1L2AUTO
GPS L1 C/A and L2 P(Y) or L2C signal
8 GLOL1L2
GLONASS L1 C/A and L2P signal
9 LBAND
L-Band signal
10 GLOL1
GLONASS L1 C/A signal
11 GALE1
Galileo E1 signal
12 GALE5A
Galileo E5a signal
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Value
Name
Description
13 GALE5B
Galileo E5b signal
14 GALALTBOC
Galileo E5 AltBOC signal
15 BEIDOUB1
BeiDou B1 signal
16 GPSL1L2PL2C
GPS L1 C/A, L2 P(Y), and L2C signal
17 GPSL1L5
GPS L1 C/A and L5 signal
18 SBASL1L5
SBAS L1 C/A and L5 signal
19 GPSL1L2PL2CL5
GPS L1 C/A, L2 P(Y), L2C, and L5 signal
20 GPSL1L2PL5
GPS L1 C/A, L2 P(Y), and L5 signal
21 GALE1E5AE5B
Galileo E1, E5a, and E5b signal
22 GALE1E5AE5BALTBOC Galileo E1, E5a, E5b, and E5 AltBOC signal
23 GALE1E5A
Galileo E1 and E5a signal
24 GLOL1L2C
GLONASS L1 C/A and L2C signal
25 GLOL1L2PL2C
GLONASS L1 C/A, L2 P, and L2C signal
26 QZSSL1CA
QZSS L1 C/A signal
27 QZSSL1CAL2C
QZSS L1 C/A and L2C signal
28 QZSSL1CAL2CL5
QZSS L1 C/A, L2C, and L5 signal
29 QZSSL1CAL5
QZSS L1 C/A and L5 signal
30 BEIDOUB1B2
BeiDou B1 and B2I/B2a signal
31 GALE1E5B
Galileo E1 and E5b signal
32 BEIDOUB1B3
BeidDou B1, B3
33 BEIDOUB3
BeiDou B3
34 BEIDOUB1B2B3
BeiDou B1, B2I/B2a and B3 signal
35 GALE1E5AE5BALTBOCE6 Galileo E1, E5A, E5B, AltBOC, E6
36 GPSL1L2PL2CL5L1C
GPS L1CA, L2P, L2C, L5, L1C
37 QZSSL1CAL2CL5L1C
QZSS L1CA, L2C, L5, L1C
38 QZSSL1CAL2CL5L1CL6 QZSS L1CA, L2C, L5, L1C, L6
39 GLOL1L3
GLONASS L1CA, L3
40 GLOL3
GLONASS L3
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Value
Name
41 GLOL1L2PL2CL3
42 GPSL1L2PL2CL1C
43 QZSSL1CAL2CL1C
44 NAVICL5
45 BEIDOUB1C
46 BEIDOUB1B1C
47 BEIDOUB1B1CB2B3
48 BEIDOUB1B1CB2
Description GLONASS L1CA, L2P, L2CA, L3 GPS L1CA, L2P, L2C, L1C QZSS L1CA, L2C, L1C NavIC L5 BeiDou B1C BeiDou B1I, B1C BeiDou B1I, B1C, B2I/B2a, B3 BeiDou B1I, B1C, B2I/B2a
Configurations with BeiDou B2 will automatically track either the B2I or B2a signal provided that the receiver RF supports both frequencies. Phase 2 BDS satellites transmit B2I but not B2a, while phase 3 satellites transmit B2a but not B2I.
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3.21 CLOCKMODEL
Current clock model status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The CLOCKMODEL log contains a filtered representation of the receiver's clock bias relative to GPS system time.
Message ID: 16
Log Type: Synch
Recommended Input: log clockmodela ontime 1
ASCII Example: #CLOCKMODELA,USB1,0,76.5,FINESTEERING,2032,240222.000,02000020,98f9,32768; VALID,0,240222.000,240222.000,-9.477561087e-02,-4.830560778e-02,0.000000000, 4.862723266e-02,1.117247043e-03,0.000000000,1.117247043e-03,4.002808929e-03, 0.000000000,0.000000000,0.000000000,0.000000000,-0.030,-5.532940561e-02,FALSE *71e347cc
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.
Field Field type
1
CLOCKMODEL header
2
status
3
reject_count
4
propagation_ time
5
update_time
6
bias
7
rate
8
Reserved
Description
Log header. See Messages on page 25 for more information.
Clock model status. See Table 87: Clock Model Status on the next page
Number of rejected instantaneous clock errors
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
Ulong 4
H+4
Time of last propagation
GPSec 4
H+8
Time of last update Receiver clock bias (metres) Receiver clock bias rate (metres)
GPSec 4 Double 8 Double 8 Double 8
H+12 H+16 H+24 H+32
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Field Field type
Description
9
bias_variance Receiver clock bias variance (metres2)
Format
Binary Bytes
Binary Offset
Double 8
H+40
10
covariance
Receiver clock bias/bias rate covariance (metres2/second)
Double 8
H+48
11
Reserved
Double 8
H+56
12
Reserved
Double 8
H+64
13
rate_variance
Receiver clock bias rate variance (metres2/second2)
Double 8
H+72
14
Reserved
Double 8
H+80
15
Reserved
Double 8
H+88
16
Reserved
Double 8
H+96
17
Reserved
Double 8
H+104
18
instantaneous_ Last instantaneous receiver clock bias
bias
(metres)
Double 8
H+112
19
instantaneous_ rate
Last instantaneous receiver clock bias rate (metre/second)
Double
8
H+120
20
Reserved
Bool
4
H+128
21
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+132
22
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
Table 87: Clock Model Status
Clock Status (Binary) Clock Status (ASCII)
Description
0
VALID
The clock model is valid
1
CONVERGING
The clock model is near validity
2
ITERATING
The clock model is iterating towards validity
3
INVALID
The clock model is not valid
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3.22 CLOCKSTEERING
Clock steering status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The CLOCKSTEERING log is used to monitor the current state of the clock steering process. All oscillators have some inherent drift. By default the receiver attempts to steer the receiver clock to accurately match GPS reference time. If for some reason this is not desired, this behavior can be disabled using the CLOCKADJUST command (see page 105).
If the CLOCKADJUST command (see page 105) is ENABLED and the receiver is configured to use an external reference frequency (set in the EXTERNALCLOCK command (see page 151)), then the clock steering process takes over the VARF output pins and may conflict with a previously entered FREQUENCYOUT command (see page 176).
Message ID: 26
Log Type: Asynch
Recommended Input: log clocksteeringa onchanged
ASCII Example: #CLOCKSTEERINGA,COM1,0,56.5,FINESTEERING,1337,394857.051,02000000,0f61,1984; 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 151.
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
CLOCKSTEERING Log header. See Messages on page 25 for
header
more information.
H
0
2
source
Clock source, see Table 88: Clock Source on the next page
Enum
4
H
3
steering state
Steering state, see Table 89: Steering State on page 465
Enum 4
H+4
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Field
Field type
4
period
5
pulse width
6
bandwidth
7
slope
8
offset
9
drift rate
10
xxxx
11
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
Period of the FREQUENCYOUT signal used
to control the oscillator, refer to the
FREQUENCYOUT command on page 176. This value is set using the
Ulong
4
CLOCKCALIBRATE command (see page
107)
H+8
Current pulse width of the
FREQUENCYOUT signal. The starting point
for this value is set using the
CLOCKCALIBRATE command (see page 107). The clock steering loop continuously
Double
8
adjusts this value in an attempt to drive
the receiver clock offset and drift terms to
zero
H+12
The current band width of the clock
steering tracking loop in Hz. This value is set using the CLOCKCALIBRATE
Double
8
command (see page 107)
H+20
The current clock drift change in m/s/bit
for a 1 LSB pulse width. This value is set using the CLOCKCALIBRATE command
Float
4
(see page 107)
H+28
The last valid receiver clock offset computed (m). It is the same as Field # Double 8 18 of the CLOCKMODEL log on page 461
H+32
The last valid receiver clock drift rate received (m/s). It is the same as Field # 19 of the CLOCKMODEL log (see page 461)
Double 8
H+40
32-bit CRC (ASCII and Binary only)
Hex
4
H+48
Sentence terminator (ASCII only)
-
-
-
Table 88: Clock Source
Binary ASCII
Description
0
INTERNAL
The receiver is currently steering its internal VCTCXO using an internal VARF signal
1
EXTERNAL
The receiver is currently steering an external oscillator using the external VARF signal
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Table 89: Steering State
Binary
ASCII
Description
0
FIRST_ ORDER
Upon start-up, the clock steering task adjusts the VARF pulse width to reduce the receiver clock drift rate to below 1 ms using a 1st order control loop. This is the normal start-up state of the clock steering loop.
1
SECOND_ ORDER
Once the receiver has reduced the clock drift to below 1 m/s, it enters a second order control loop and attempts to reduce the receiver clock offset to zero. This is the normal runtime state of the clock steering process.
This state corresponds to when the calibration process is measuring at the "High" pulse width setting.
The CALIBRATE_HIGH state is only seen if you force the receiver to do a
2
CALIBRATE_ clock steering calibration using the CLOCKCALIBRATE command (see
HIGH
page 107). With the CLOCKCALIBRATE command (see page 107), you
can force the receiver to calibrate the slope and center pulse width of the
currently selected oscillator, to steer. The receiver measures the drift rate
at several "High" and "Low" pulse width settings.
This state corresponds to when the calibration process is measuring at the "Low" pulse width setting.
The CALIBRATE_LOW state is only seen if you force the receiver to do a
3
CALIBRATE_ clock steering calibration using the CLOCKCALIBRATE command (see
LOW
page 107). With the CLOCKCALIBRATE command (see page 107), you
can force the receiver to calibrate the slope and center pulse width of the
currently selected oscillator, to steer. The receiver measures the drift rate
at several "High" and "Low" pulse width settings.
This state corresponds to the "Center" calibration process. Once the center
has been found, the modulus pulse width, center pulse width, loop
bandwidth and measured slope values are saved in NVM and are used from
4
CALIBRATE_ now on for the currently selected oscillator (INTERNAL or EXTERNAL). CENTER
After the receiver has measured the "High" and "Low" pulse width setting,
the calibration process enters a "Center calibration" process where it
attempts to find the pulse width required to zero the clock drift rate.
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3.23 DUALANTENNAHEADING
Synchronous heading information for dual antenna product
Platform: OEM7720, PwrPak7D, PwrPak7D-E1, PwrPak7D-E2, SPAN CPT7 The heading is the angle from True North of the primary antenna to secondary antenna vector in a clockwise direction.
You must have an ALIGN capable, dual antenna receiver to use this log.
Message ID: 2042
Log Type: Synch
Recommended Input: log dualantennaheadinga ontime 1
ASCII Example: #DUALANTENNAHEADINGA,UNKNOWN,0,66.5,FINESTEERING,1949,575614.000,02000000,d426, 32768;SOL_COMPUTED,NARROW_INT,1.000000000,255.538528442,0.006041416,0.0,0.043859947,0.052394450,"J56X",24,18, 18,17,04,01,00,33*1f082ec5
Field Field type
Description
Binary Binary Binary Format Bytes Offset
1
DUALANTENNA HEADING header
Log header. See Messages on page 25 for more information.
-
H
0
2
sol stat
Solution status, see Table 74: Solution Status on page 436
Enum 4
H
3
pos type
Position type, see Table 75: Position or Velocity Type on page 437
Enum 4
H+4
4
length
Baseline length in metres
For ALIGN Heading models, this field is -1.
For ALIGN Relative Positioning models with
a fixed position, this field is -1.
Float
4
For ALIGN Relative Positioning models, this field is the baseline length in metres, unless the position is fixed.
H+8
5
heading
Heading in degrees (0� to 359.999�)
Float
4
H+12
6
pitch
Pitch (�90 degrees)
Float
4
H+16
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Field Field type
7
Reserved
8
hdg std dev
9
ptch std dev
10
stn ID
11
#SVs
12
#solnSVs
13
#obs
14
#multi
15
sol source
16
ext sol stat
Galileo and
17
BeiDou sig
mask
GPS and
18
GLONASS sig
mask
19
xxxx
20
[CR][LF]
Description
Heading standard deviation in degrees Pitch standard deviation in degrees Station ID string Number of satellites tracked Number of satellites in solution Number of satellites above the elevation mask angle Number of satellites above the mask angle with L2 Solution source (see Table 104: Solution Source on page 549) Extended solution status (see Table 78: Extended Solution Status on page 440) Galileo and BeiDou signals used mask (see Table 77: Galileo and BeiDou Signal-Used Mask on page 440) GPS and GLONASS signals used mask (see Table 76: GPS and GLONASS Signal-Used Mask on page 439) 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Binary Binary Binary Format Bytes Offset
Float
4
H+20
Float
4
H+24
Float
4
H+28
Char[4] 4
H+32
Uchar 1
H+36
Uchar 1
H+37
Uchar 1
H+38
Uchar 1
H+39
Hex
1
H+40
Hex
1
H+41
Hex
1
H+42
Hex
1
Hex
4
-
-
H+43
H+44 -
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3.24 ETHSTATUS
Current Ethernet status
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
This log provides the current status of the Ethernet ports.
Message ID: 1288
Log Type: Polled
Recommended Input: log ethstatusa once
ASCII Example: #ETHSTATUSA,COM1,0,89.5,FINESTEERING,1609,500138.174,02000000,e89d,6259;1,ETHA, "00-21-66-00-05-A2",100_FULL*98d86b04
Field Field Type
1
ETHSTATUS header
Description
Log header. See Messages on page 25 for more information.
Format
Binary Bytes
-
H
Binary Offset
0
2
#of interfaces
Number of records to follow
Ulong 4
H
3
interface
Name of the Ethernet interface (e.g., ETHA)
Enum
4
H+4
4
MAC address
An identifier assigned to the network adapters or network interface card
String [18]
variable
a
H+8
5
interface configuration
Current connectivity, speed and duplex settings of the Ethernet interface
Enum
4
H+26
6... Next interface = H+4+(# of interfaces * 26)
7
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+4+(# of interfaces * 26)
8
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
Refer to the ETHCONFIG command (see page 144) for enum values.
aIn the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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3.25 FILELIST
Display the storage media contents
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this log to display the root directory of the active media. A log is produced for each file and directory in the root directory. The active media is set with the FILEMEDIACONFIG command on page 159.
Message ID: 2100
Log Type: Asynch
Recommended Input: log filelista
ASCII Example: #FILELISTA,COM1,0,95.0,UNKNOWN,0,77428.011,024c4009,e8c9,32768;USBSTICK,0,20161 117,104430,"blah.txt"*a212a600 #FILELISTA,COM1,1,94.5,UNKNOWN,0,77428.011,024c4009,e8c9,32768;USBSTICK,0,19700 101,0,"BMHR15470145U_1930_501232.LOG"*d12f9c46
Field
Field Type
Description
1
FILELIST header
Log header. See Messages on page 25 for more information.
Mass Storage Device
2
MassStorageDevice See Table 91: Mass Storage Device
on page 472
3
FileType
The type of entry for this log. See Table 90: File Type on the next page
4
FileSize
File Size (in Bytes)
5
ChangeDate
Date of the last change
6
ChangeTime
Time of last change
7
FileName
Name of the file or directory File Name STRING Variable H + 20
8
xxxx
32-bit CRC (ASCII and Binary only)
9
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
Ulong 4 Ulong 4 Ulong 4
H+8 H+12 H+16
String Variable H+20
Hex
4
-
-
Variable -
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Table 90: File Type
Binary ASCII
Description
0
NONE Indicates there are no entries in the selected media
1
FILE File
2
DIR Directory
When there no files or directories on the specified media, a single FILELIST log is output with FileType set to NONE and file information set to 0 and empty strings.
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3.26 FILESTATUS
Displays the state of the data log file
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this log to display the current state of the data log file. Typically the FILESTATUS log is used to determine if the log file is open for writing or closed. However, it also shows any error that has occurred.
Message ID: 2127
Log Type: Asynch
Recommended Input: log filestatusa
ASCII Example #FILESTATUSA,USB3,0,75.0,FINESTEERING,1983,171080.615,02104020,4dbd,14434;INTER NAL_FLASH,CLOSED,"",0,14039057,15754462,""*7de99c77
Field
Field Type
1
FILESTATUS Header
2
MassStorageDevice
3
FileStatus
Description
Log header. See Messages on page 25 for more information.
The type of recording device
See Table 91: Mass Storage Device on the next page.
File status
See Table 92: File Status on the next page.
4
FileName
Filename of the log file
5
FileSize
File Size (bytes)
6
MediaRemainingCapacity
Remaining capacity on the storage media (kb)
7
MediaTotalCapacity
Total capacity of the storage media (kb)
Format
Binary Bytes
-
H
Enum 4
Enum 4
Fixed UCHAR Array
Ulong
MAX_ FILENAME_ LENGTH (MFL)
4
Ulong 4
Ulong 4
Binary Offset 0
H
H+4
H+8 H+MFL+8 H+MFL+12 H+MFL+16
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Field
Field Type
8
ErrorMsg
9
xxxx
10
[CR][LF]
Description
Error Message 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
String Variable
Hex
4
-
-
Table 91: Mass Storage Device
Binary
ASCII
Description
1
USBSTICK
USB mass storage device
2
RAMDRIVE
-
3
NO_STORAGE
No mass storage
4
INTERNAL_FLASH Internal eMMC flash
Table 92: File Status
Binary ASCII
Description
0
OPEN
Log file is open
1
CLOSED Log file is closed
3
ERROR An error has occurred
5
PENDING Operation during initialization state
Binary Offset H+MFL+20
Variable
-
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3.27 FILESYSTEMCAPACITY
Displays storage capacity available
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this log to check the amount of storage capacity available in both the internal and external storage.
Message ID: 2137
Log Type: Polled
Recommended Input: log filesystemcapacity
Abbreviated ASCII Example:
<FILESYSTEMCAPACITY COM1 0 92.0 UNKNOWN 0 2736.008 0244c009 fded 32768
<
2
<
USBSTICK 31546671104 688128
<
INTERNAL_FLASH 14735147008 12288
ASCII Example:
#FILESYSTEMCAPACITYA,COM1,0,92.0,UNKNOWN,0,2767.008,0244c009,fded,32768;2,USBST ICK,31546671104,688128,INTERNAL_FLASH,14735147008,12288*8a8d384b
The INTERNAL_FLASH is only present on the PwrPak7.
Field
Field Type
Description
1
FILESYSTEMCAPACITY Log header. See Messages on
header
page 25 for more information.
2
#Dev
Number of device with data to follow
File system type (recording
device)
3
MassStorageDevice
See Table 91: Mass Storage
Device on the previous page
4
TotalStorage
Total storage on device in bytes
5
UsedStorage
Amount of storage used on the device in bytes
6
Next device offset = H+4+(#Dev x 20)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
Enum 4
Ulong 8 Ulong 8
H+4
H+8 H+16
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Field
Field Type
7
xxxx
8
[CR][LF]
Description
Format
Binary Bytes
32-bit CRC (ASCII and Binary only)
Hex
4
Sentence terminator (ASCII only) -
-
Binary Offset
H+4+ (#Dev x 20)
-
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3.28 FILESYSTEMSTATUS
Display state of recording media
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log displays the current state of the recording media. It can be used to determine the state of the file system, such as any mounting errors.
When logging the FILESYSTEMSTATUS log, use the ONNEW or ONCHANGED log trigger.
Message ID: 2104
Log Type: Asynch
Recommended Input: log filesystemstatusa onchanged
Abbreviated ASCII Example:
<FILESYSTEMSTATUS COM1 1 91.5 UNKNOWN 0 5.387 02000020 143c 32768
<
USBSTICK MOUNTED 3862430 ""
<FILESYSTEMSTATUS COM1 0 91.5 COARSESTEERING 1953 153609.680 02000020 143c
32768
<
INTERNAL_FLASH MOUNTED 14756709 ""
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
FILESYSTEMSTATUS Log header. See Messages on
header
page 25 for more information.
-
H
0
Recording Device
2
MassStorageDevice See Table 91: Mass Storage Device Enum 4
H
on page 472
Media Status
3
MassStorageStatus See Table 93: Mass Storage Status Enum 4
on the next page
H+4
4
TotalCapacity
Media total capacity (in kB)
Ulong 4
H+8
5
ErrorMsg
Error Message
String Variable H+12
6
xxxx
32-bit CRC (ASCII and Binary only) Hex
4
Variable
7
[CR][LF]
Sentence Terminator (ASCII only) -
-
-
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Table 93: Mass Storage Status
Binary
ASCII
Description
0
UNMOUNTED Mass storage unmounted
1
MOUNTED
Mass storage mounted
2
BUSY
Mass storage busy. i.e. formatting
3
ERROR
Mounting error
4
MOUNTING
Mass storage is being mounted
5
UNMOUNTING Mass storage is being unmounted
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3.29 FILETRANSFERSTATUS
Display the current state of a file transfer
Platform: PwrPak7 This log contains the current state of a file transfer from the internal memory to a USB stick. This logs also indicates any file transfer errors that may have occurred.
Message ID: 2101
Log Type: Asynch
Recommended Input: log filetransferstatusa onchanged
ASCII Example: <FILETRANSFERSTATUS COM1 0 38.0 FINESTEERING 1953 248960.848 02440020 ce81 32768 TRANSFERRING 0 4096035 "NPP714520001W_2017-06-10_01-16-20.LOG" "" <FILETRANSFERSTATUS COM1 0 88.5 FINESTEERING 1953 248961.853 02000020 ce81 32768 TRANSFERRING 1138 4096035 "NPP714520001W_2017-06-10_01-16-20.LOG" "" <FILETRANSFERSTATUS COM1 0 17.5 FINESTEERING 1953 248962.853 02000020 ce81 32768 TRANSFERRING 2277 4096035 "NPP714520001W_2017-06-10_01-16-20.LOG" "" ...
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
FILETRANSFERSTATUS Log header. See Messages on
header
page 25 for more information.
-
H
0
The status of the file transfer. See
2
File Transfer Status
Table 94: File Transfer Status on Enum 4
H
the next page.
3
Total Transferred
Total amount of data transferred. (kbytes)
Ulong
4
H+4
4
Total Transfer Size
Total size of the data to transfer. (kbytes)
Ulong
4
H+8
5
Filename
Name of the file that is currently transferring.
String
Variable H+12
6
Error Msg
Error message (if an error occurred)
String Variable Variable
7
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
Variable
8
[CR][LF]
Sentence terminator (ASCII only) -
-
-
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Table 94: File Transfer Status
Binary Value ASCII Value
Description
1
NONE
There is no file transfer in progress
2
TRANSFERRING There is an active file transfer
3
FINISHED
The transfer has been successfully completed
4
ERROR
An error occurred during the transfer
5
CANCELLED
A user cancelled the active file transfer
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3.30 GALALMANAC
Decoded Galileo Almanac
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the decoded Galileo almanac parameters from Galileo navigation messages. Multiple messages are transmitted, one for each satellite ID with data. The OEM7 family of receivers automatically save almanacs in their Non-Volatile Memory (NVM), so creating an almanac boot file is not necessary.
Message ID: 1120
Log Type: Asynch
Recommended Input: log galalmanaca onchanged
ASCII Example: #GALALMANACA,COM1,3,83.5,SATTIME,1769,333371.000,02000020,131f,45362; 19,FALSE,TRUE,0,0,0,0,10,745,332400.000,1.221e-04,-5.486e-09, 2.757e+00,2.038e+00,-1.226e+00,-1.1444e-05,0.000,2.539e-02,-1.457e-02 *5c77f44b
#GALALMANACA,COM1,2,83.5,SATTIME,1769,333399.000,02000020,131f,45362; 20,FALSE,TRUE,0,0,0,0,10,745,332400.000,1.831e-04,-5.486e-09, 2.757e+00,1.542e+00,-3.1734e-02,4.8084e-03,9.495e-10,2.539e-02, -1.457e-02*3530e391
#GALALMANACA,COM1,1,83.5,SATTIME,1769,333939.000,02000020,131f,45362; 11,FALSE,TRUE,0,0,0,0,11,745,333000.000,6.104e-05,-5.120e-09, 6.6412e-01,2.396e+00,-1.032e+00,5.1498e-05,1.091e-11,3.125e-02, -1.764e-02*afa0f631
#GALALMANACA,COM1,0,83.5,SATTIME,1769,333941.000,02000020,131f,45362; 12,FALSE,TRUE,0,0,0,0,11,745,333000.000,1.526e-04,-5.120e-09, 6.6412e-01,-2.392e+00,-1.818e+00,6.4850e-05,1.091e-11,3.516e-02, -1.764e-02*ef41e1b2
The speed at which the receiver locates and locks onto new satellites is improved if the receiver has approximate time and position, as well as an almanac. This allows the receiver to compute the elevation of each satellite so it can tell which satellites are visible and their Doppler offsets, improving Time to First Fix (TTFF).
Field Field Type
Description
1
GALALMANAC Log header. See Messages on page 25 for
header
more information.
Format
Binary Bytes
Binary Offset
H
0
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Field Field Type
Description
Format
Binary Bytes
Binary Offset
2
SatId
Satellite ID
Ulong 4
H
3
FNAVReceived Indicates FNAV almanac data received
Bool
4
H+4
4
INAVReceived Indicates INAV almanac data received
Bool
4
H+8
5
E1BHealth
E1B health status bits (only valid if INAVReceived is TRUE)
Uchar 1
H+12
6
E5aHealth
E5a health status bits (only valid if FNAVReceived is TRUE)
Uchar 1
H+13
7
E5bHealth
E5b health status bits (only valid if INAVReceived is TRUE)
Uchar 1
H+14
8
Reserved
Uchar 1
H+15
9
IODa
Almanac issue of data
Ulong 4
H+16
10
Weeks
Almanac reference week
Ulong 4
H+20
11
Seconds
Almanac reference time of week (seconds for ASCII, milliseconds for binary)
GPSec 4
H+24
12
Ecc
Eccentricity (dimensionless)
Double 8
H+28
13
OmegaDot
Rate of right ascension (radians/second)
Double 8
H+36
14
Omega0
Right ascension (radians)
Double 8
H+44
15
Omega
Argument of perigee (radians)
Double 8
H+52
16
M0
Mean anomaly at ref time (radians)
Double 8
H+60
17
Af0
Satellite clock correction bias (seconds)
Double 8
H+68
18
Af1
Satellite clock correction linear (seconds/second)
Double 8
H+76
19
DeltaRootA
Difference with respect to the square root of the nominal semi-major axis (sqrt(metres))
Double
8
H+84
20
DeltaI
Inclination at reference time relative to I0 = 56 deg
Double
8
H+92
21
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+100
22
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.31 GALCLOCK
Galileo clock information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the Galileo time information.
This log is populated from both the INAV and FNAV messages. Depending on the data source, it is possible that the time in the header of the log is earlier than the time in a previous log. This is expected behavior.
Message ID: 1121
Log Type: Asynch
Recommended Input: log galclocka onchanged
ASCII Example: #GALCLOCKA,COM1,0,84.5,SATTIME,1769,336845.000,02000020,c6cf,45362; 8.381903172e-09,-3.5527137e-15,16,259200,233,28,7,16,-3.5216e-09, -1.776e-14,345600,41*186e9085
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
GALCLOCK Log header. See Messages on page 25 for more
header
information.
H
0
2
A0
Constant term of polynomial
Double 8
H
3
A1
1st order term of polynomial
Double 8
H+8
4
DeltaTls
Leap second count before leap second adjustment
Long
4
H+16
5
Tot
UTC data reference time of week (seconds)
Ulong 4
H+20
6
WNt
UTC data reference week number
Ulong 4
H+24
7
WNlsf
Week number of leap second adjustment
Ulong 4
H+28
8
DN
Day number at the end of which a leap second adjustment becomes effective
Ulong
4
H+32
9
DeltaTlsf Leap second count after leap second adjustment Long
4
H+36
10
A0g
Constant term of the polynomial describing the difference between Galileo and GPS time
Double 8
H+40
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Field
Field Type
11
A1g
12
T0g
13
WN0g
14
xxxx
15
[CR][LF]
Description
Rate of change of offset the offset between Galileo and GPS time Reference time for GGTO data Week number of GGTO reference 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Double 8
H+48
Ulong 4
Ulong 4
Hex
4
-
-
H+56 H+60 H+64 -
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3.32 GALCNAVRAWPAGE
Galileo raw CNAV page
Platform: OEM719, OEM729, OEM7500, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log provides Galileo raw C-NAV page data from Galileo E6 signals.
The GALCNAVRAWPAGE log is not output by default. To receive this log, data decoding for E6B/E6C must be enabled using the DATADECODESIGNAL command (see page 115) the specific signal.
Message ID: 2239 Log Type: Asynch
Recommended Input: log galcnavrawpage onnew
Abbreviated ASCII Example:
<GALCNAVRAWPAGE USB1 0 49.5 SATTIME 1997 145162.000 02040020 ab53 32768
<
319 30 2761
2b26bcef0c04f6711bf86137086a12c14f87c07b4c6aa4de04bceb8612c34c691bfabceceb86bce
d4f851bfb0c074c68613604bff48448d33487
Field
Field Type
Description
1
GALCNAVRAWPAGE Log header. See Messages on
header
page 25 for more information.
2
signal channel
Signal channel providing the bits
3
PRN
Satellite PRN number
4
Page ID
The page ID
5
data
Raw CNAV page data
6
xxxx
7
[CR][LF]
32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
Ulong 4
Ulong 4
HEX [58]
58
Hex
4
-
-
H H+4 H+8
H+12
h+70 -
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3.33 GALFNAVEPHEMERIS
Decoded Galileo FNAV Ephemeris
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The GALFNAVEPHEMERIS log contains the Galileo FNAV ephemeris information. Multiple messages are transmitted, one for each satellite ID with date.
Message ID: 1310
Log Type: Asynch
Recommended Input: log galfnavephemerisa onchanged
ASCII Example: #GALFNAVEPHEMERISA,COM2,0,82.5,SATTIME,1874,148850.000,02400000,02cd, 32768;22,0,0,0,0,118,122,0,147600,147600,-6.101167919e-01,3.1687e-09, 4.478077171e-04,5.44059147e+03,9.639218456e-01,6.4610e-10, 2.329679501e-01,2.55827293e+00,-5.5577315e-09,1.0207e-06,8.2552e-06, 1.611e+02,2.313e+01,4.0978e-08,-1.8626e-09,1.335504232e-03, 1.768257e-10,0.0,2.561e-09*d02e28ca
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
GALFNAV EPHEMERIS header
Log header. See Messages on page 25 for more information.
H
0
2
SatId
Satellite identifier
Ulong 4
H
3
E5aHealth E5a health status bits
Uchar 1
H+4
4
E5aDVS
E5a data validity status
Uchar 1
H+5
5
Reserved
Uchar 1
H+6
6
Reserved
Uchar 1
H+7
7
IODnav
Issue of data ephemeris
Ushort 2
H+8
8
SISA Index Signal in space accuracy (unitless)
Uchar 1
H+10
9
Reserved
Uchar 1
H+11
10
T0e
Ephemeris reference time (s)
Ulong 4
H+12
11
T0c
Clock correction data reference time of week from the F/NAV message (s)
Ulong
4
H+16
12
M0
Mean anomaly at ref time (radians)
Double 8
H+20
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Field
Field Type
13
DeltaN
14
Ecc
15
RootA
16
I0
17
IDot
18
Omega0
19
Omega
20
OmegaDot
21
Cuc
22
Cus
23
Crc
24
Crs
25
Cic
26
Cis
27
Af0
28
Af1
29
Af2
30
E1E5aBGD
31
xxxx
32
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
Mean motion difference (radians/s)
Double 8
H+28
Eccentricity (unitless)
Double 8
H+36
Square root of semi-major axis
Double 8
H+44
Inclination angle at ref time (radians)
Double 8
H+52
Rate of inclination angle (radians/s)
Double 8
H+60
Longitude of ascending node of orbital plane at weekly epoch (radians)
Double
8
H+68
Argument of perigee (radians)
Double 8
H+76
Rate of right ascension (radians/s)
Double 8
H+84
Amplitude of the cosine harmonic correction term to the argument of latitude (radians)
Double 8
H+92
Amplitude of the sine harmonic correction term to the argument of latitude (radians)
Double
8
H+100
Amplitude of the cosine harmonic correction term to the orbit radius (m)
Double 8
H+108
Amplitude of the sine harmonic correction term to the orbit radius (m)
Double
8
H+116
Amplitude of the cosine harmonic correction term to the angle of inclination (radians)
Double 8
H+124
Amplitude of the sine harmonic correction term to the angle of inclination (radians)
Double
8
H+132
SV clock bias correction coefficient from the F/NAV message (s)
Double 8
H+140
SV clock drift correction coefficient from the F/NAV message (s/s)
Double 8
H+148
SV clock drift rate correction coefficient from the F/NAV message (s/s^2)
Double 8
H+156
E1, E5a broadcast group delay
Double 8
H+164
32-bit CRC (ASCII and Binary only)
Hex
4
H+172
Sentence terminator (ASCII only)
-
-
-
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3.34 GALFNAVRAWPAGE
Raw Galileo FNAV page data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the raw Galileo FNAV page data.
Message ID: 1413
Log Type: Asynch
Recommended Input: log galfnavrawpagea onchanged
ASCII Example: #GALFNAVRAWPAGEA,USB3,0,85.0,SATTIME,1680,434410.000,02000008,d4fb, 43274;56,11,0b818df50ad5ffc151001baffdaa04d5dae655e17affc8a41a83aa *5955b14d
Field
Field Type
Description
1
GALFNAVRAWPAGE Log header. See Messages on
header
page 25 for more information.
2
signal channel
Signal channel providing the data
3
SVID
SVID of transmitting satellite
4
raw frame data
Raw F/NAV page (214 bits). Does not include CRC or Tail bits
5
xxxx
32-bit CRC (ASCII and Binary only)
6
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
H
Ulong 4 Ulong 4
Hex[27] 27
Hex
4
-
-
Binary Offset
0
H H+4
H+8
H+35 -
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3.35 GALINAVEPHEMERIS
Decoded Galileo INAV Ephemeris
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The GALINAVEPHEMERIS log contains the Galileo INAV ephemeris information. Multiple messages are transmitted, one for each SVID with date.
Message ID: 1309
Log Type: Asynch
Recommended Input: log galinavephemerisa onchanged
ASCII Example: #GALINAVEPHEMERISA,COM1,10,82.0,SATTIME,1930,494134.000,02000020,dbe9, 32768;1,0,0,0,0,0,0,0,0,54,107,1,493200,493200,2.98962614e+00, 2.7990e-09,1.763084438e-04,5.44061901e+03,9.996620695e-01,-2.8608e-10, -2.52251354e+00,-1.37786826e+00,-5.7041662e-09,-3.7253e-09,3.8184e-06, 2.773e+02,4.6875e-01,-7.0781e-08,4.6566e-08,3.960891627e-05, -9.904966e-12,0.0,-6.752e-09,-7.683e-09*b575a8b9
#GALINAVEPHEMERISA,COM1,9,82.0,SATTIME,1930,511405.000,02000020,dbe9, 32768;2,0,0,0,0,0,0,0,0,81,107,3,509400,509400,1.23345967e+00, 2.9637e-09,2.852674806e-04,5.44061650e+03,9.996659901e-01,-2.3537e-10, -2.52264339e+00,-7.551901559e-01,-5.8113135e-09,5.2713e-07,2.4810e-06, 3.021e+02,1.034e+01,-1.3039e-08,1.8626e-09,-2.745073289e-07, 1.705303e-13,0.0,-8.149e-09,-9.546e-09*6df98c07
#GALINAVEPHEMERISA,COM1,8,82.0,SATTIME,1930,511384.000,02000020,dbe9, 32768;8,0,0,0,0,0,0,0,0,83,107,3,510600,510600,1.19121266e+00, 3.0755e-09,1.157049555e-04,5.44062434e+03,9.581430032e-01,-2.9858e-10, 1.66547803e+00,7.075104782e-01,-5.5223729e-09,-1.5851e-06,1.2502e-05, 6.706e+01,-3.447e+01,5.5879e-09,-5.7742e-08,4.641003208e-03, 3.982876e-10,0.0,-1.048e-08,-1.211e-08*99c692a8
...
#GALINAVEPHEMERISA,COM1,1,82.0,SATTIME,1930,511405.000,02000020,dbe9, 32768;26,0,0,0,0,0,0,0,0,83,107,1,510600,510600,-1.25500637e+00,2.9951 e-09,2.602027962e-04,5.44060480e+03,9.688215634e-01,3.7894e-10,-4.2237 68063e-01,-2.61686286e+00,-5.6309488e-09,-4.0233e-07,8.1658e-06,1.711e +02,-8.500e+00,-1.3039e-08,-3.1665e-08,5.767530005e-03,4.148148e-10, 0.0,-6.985e-10,-9.313e-10*0e6670f3
#GALINAVEPHEMERISA,COM1,0,82.0,SATTIME,1930,511405.000,02000020,dbe9, 32768;30,0,0,0,0,0,0,0,0,83,107,1,510600,510600,-2.836817871e-01, 2.9558e-09,2.358634956e-04,5.44061465e+03,9.972253278e-01,-1.9894e-10, -2.51793093e+00,1.101770916e-01,-5.7991701e-09,7.0594e-07,2.4680e-06, 3.045e+02,1.675e+01,-1.8626e-08,5.0291e-08,4.957979254e-03, 3.988703e-10,0.0,-4.889e-09,-5.821e-09*4513b897
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Field
Field Type
Description
Format
Binary Bytes
Binary Offset
GALINAV
1
EPHEMERIS Log Header
header
H
0
2
SatId
Satellite identifier
Ulong 4
H
3
E5bHealth E5b health status bits
Uchar 1
H+4
4
E5bDVS
E5b data validity status
Uchar 1
H+5
5
Reserved
Uchar 1
H+6
6
Reserved
Uchar 1
H+7
7
E1bHealth E1b health status bits
Uchar 1
H+8
8
E1bDVS
E1b data validity status
Uchar 1
H+9
9
Reserved
Uchar 1
H+10
10
Reserved
Uchar 1
H+11
11
IODnav
Issue of data ephemeris
Ushort 2
H+12
12
SISA Index Signal in space accuracy (unitless)
Uchar 1
H+14
13
INAV Source
Identifies the source signal: 0 = Unknown 1 = E1b 2 = E5b 3 = E1b and E5b
Uchar 1
H+15
14
T0e
Ephemeris reference time (s)
Ulong 4
H+16
15
T0c
Clock correction data reference time of week from the I/NAV message (s)
Ulong
4
H+20
16
M0
Mean anomaly at ref time (radians)
Double 8
H+24
17
DeltaN
Mean motion difference (radians/s)
Double 8
H+32
18
Ecc
Eccentricity (unitless)
Double 8
H+40
19
RootA
Square root of semi-major axis
Double 8
H+48
20
I0
Inclination angle at ref time (radians)
Double 8
H+56
21
IDot
Rate of inclination angle (radians/s)
Double 8
H+64
22
Omega0
Longitude of ascending node of orbital plane at weekly epoch (radians)
Double
8
H+72
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Field
Field Type
23
Omega
24
OmegaDot
25
Cuc
26
Cus
27
Crc
28
Crs
29
Cic
30
Cis
31
Af0
32
Af1
33
Af2
34
E1E5aBGD
35
E1E5bBGD
36
xxxx
37
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
Argument of perigee (radians)
Double 8
H+80
Rate of right ascension (radians/s)
Double 8
H+88
Amplitude of the cosine harmonic correction term to the argument of latitude (radians)
Double 8
H+96
Amplitude of the sine harmonic correction term to the argument of latitude (radians)
Double
8
H+104
Amplitude of the cosine harmonic correction term to the orbit radius (m)
Double 8
H+112
Amplitude of the sine harmonic correction term to the orbit radius (m)
Double
8
H+120
Amplitude of the cosine harmonic correction term to the angle of inclination (radians)
Double 8
H+128
Amplitude of the sine harmonic correction term to the angle of inclination (radians)
Double
8
H+136
SV clock bias correction coefficient from the I/NAV message (s)
Double 8
H+144
SV clock drift correction coefficient from the I/NAV message (s/s)
Double 8
H+152
SV clock drift rate correction coefficient from the I/NAV message (s/s^2)
Double 8
H+160
E1, E5a broadcast group delay
Double 8
H+168
E1, E5b broadcast group delay
Double 8
H+176
32-bit CRC (ASCII and Binary only)
Hex
4
H+184
Sentence terminator (ASCII only)
-
-
-
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3.36 GALINAVRAWWORD
Raw Galileo INAV word data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the raw Galileo INAV word data.
Message ID: 1414
Log Type: Asynch
Recommended Input: log galinavrawworda onchanged
ASCII Example: #GALINAVRAWWORDA,USB3,0,84.5,SATTIME,1680,434401.000,02000008,884b, 43274;55,11,GALE1,0b81e655e17a26eb5237d7d20088ffc9*dcb4bedb
Field
Field Type
Description
1
GALINAVRAWWORD Log header. See Messages on
header
page 25 for more information.
2
signal channel
Signal channel providing data
3
SVID
Space Vehicle ID (SVID) of transmitting satellite
4
signal type
Signal Type as defined in Table 95: Signal Type below
5
raw frame data
Raw I/NAV word (128 bits)
6
xxxx
32-bit CRC (ASCII and binary only)
7
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
H
Ulong 4
H+4
Enum 4
Hex[16] 16
Hex
4
-
-
H+8
H+12 H+28 -
Table 95: Signal Type
Value (Binary) Signal (ASCII)
Description
33
GPSL1CA
GPS L1 C/A-code
47
GPSL1CP
GPS L1C P-code
68
GPSL2Y
GPS L2 P(Y)-code
69
GPSL2C
GPS L2 C/A-code
70
GPSL2P
GPS L2 P-code
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Value (Binary) Signal (ASCII)
Description
103
GPSL5
GPS L5
2177
GLOL1CA
GLONASS L1 C/A-code
2211
GLOL2CA
GLONASS L2 C/A-code
2212
GLOL2P
GLONASS L2 P-code
2662
GLOL3
GLONASS L3
4129
SBASL1
SBAS L1
4194
SBASL5
SBAS L5
10433
GALE1
Galileo E1
10466
GALE5A
Galileo E5A
10499
GALE5B
Galileo E5B
10532
GALALTBOC
Galileo ALT-BOC
10565
GALE6C
Galileo E6C
10572
GALE6B
Galileo E6B
12673
BDSB1D1
BeiDou B1 with D1 navigation data
12674
BDSB1D2
BeiDou B1 with D2 navigation data
12803
BDSB2D1
BeiDou B2 with D1 navigation data
12804
BDSB2D2
BeiDou B2 with D2 navigation data
12877
BDSB3D1
BeiDou B3 with D1 navigation data
12880
BDSB3D2
BeiDou B3 with D2 navigation data
12979
BDSB1C
BeiDou B1C
13012
BDSB2A
BeiDou B2a
14753
QZSSL1CA
QZSS L1 C/A-code
14760
QZSSL1CP
QZSS L1C P-code
14787
QZSSL2CM
QZSS L2 C/A-code
14820
QZSSL5
QZSS L5
14891
QZSSL6P
QZSS L6P
19073
NAVICL5SPS
NavIC L5 SPS
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3.37 GALIONO
Decoded Galileo ionospheric corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the decoded Galileo ionospheric corrections.
Message ID: 1127
Log Type: Asynch
Recommended Input: log galionoa onchanged
ASCII Example: #GALIONOA,COM1,0,81.5,SATTIME,1930,512134.000,02000020,d22e,32768; 6.03e+01,-2.344e-02,-3.9368e-03,0,0,0,0,0*f50fae69
Field
Field Type
1
GALIONO header
2
Ai0
3
Ai1
4
Ai2
5
SF1
6
SF2
7
SF3
8
SF4
9
SF5
10
xxxx
11
[CR][LF]
Description
Log header. See Messages on page 25 for more information. Effective ionization level 1st order parameter (sfu) Effective ionization level 2st order parameter (sfu/degree) Effective ionization level 3st order parameter (sfu/degree2) Ionospheric disturbance flag for region 1 Ionospheric disturbance flag for region 2 Ionospheric disturbance flag for region 3 Ionospheric disturbance for flag region 4 Ionospheric disturbance for flag region 5 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
H
Double 8
Double 8
Double 8
Uchar 1
Uchar 1
Uchar 1
Uchar 1
Uchar 1
Hex
4
-
-
Binary Offset 0
H
H+8
H+16 H+24 H+25 H+26 H+27 H+28 H+29 -
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3.38 GLMLA
NMEA GLONASS Almanac data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log outputs almanac data for GLONASS satellites. Multiple sentences are transmitted, one for each satellite.
The following relationships enable translation between the NMEA GLONASS satellite IDs, the NovAtel GLONASS PRN IDs, and the GLONASS slot numbers:
NMEA GLONASS satellite ID NovAtel GLONASS PRN ID
= GLONASS slot number + 64 = GLONASS slot number + 37
= NMEA GLONASS satellite ID - 27
Message ID: 859
Log Type: Asynch
Recommended Input: log glmlaa onchanged
ASCII Example: $GLMLA,16,01,65,1176,07,0496,4c,5ff2,8000,34c05e,0e93e8,04b029,001fa2,099,213*6 8 $GLMLA,16,02,66,1176,01,12e3,4c,42cc,8000,34c08e,10fae9,02f48c,00224e,099,003*6 4 $GLMLA,16,03,67,1176,8c,08f6,4a,ef4d,8000,34c051,13897b,00d063,001b09,099,000*6 3 $GLMLA,16,04,68,1176,06,116b,48,3a00,8000,34c09d,02151f,0e49e8,00226e,099,222*6 3 $GLMLA,16,05,70,1176,01,140f,49,45c4,8000,34c0bc,076637,0a3e40,002214,099,036*3 7 $GLMLA,16,06,71,1176,05,0306,4c,5133,8000,34c025,09bda7,085d84,001f83,099,21d*6 E $GLMLA,16,07,72,1176,06,01b1,4c,4c19,8000,34c021,0c35a0,067db8,001fca,099,047*3 D $GLMLA,16,08,74,1176,84,076b,45,7995,8000,34c07b,104b6d,0e1557,002a38,099,040*3 5 $GLMLA,16,09,78,1176,84,066c,46,78cf,8000,34c07b,0663f0,1a6239,0029df,099,030*3 8 $GLMLA,16,10,79,1176,80,0afc,45,8506,8000,34c057,08de48,1c44ca,0029d7,099,000*6 B
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$GLMLA,16,11,82,1176,8a,12d3,0f,e75d,8000,34be85,10aea6,1781b7,00235a,099,207*6 E $GLMLA,16,12,83,1176,03,0866,0f,6c08,8000,34c009,11f32e,18839d,002b22,099,214*3 6 $GLMLA,16,13,85,1176,88,01a6,0d,9dc9,8000,34bff8,031887,02da1e,002838,099,242*6 D $GLMLA,16,14,86,1176,8a,00e1,0e,4b15,8000,34c016,058181,010433,0027f0,099,227*6 F $GLMLA,16,15,87,1176,03,0383,0f,824c,8000,34bfda,081864,1104ea,002b04,099,00c*6 0 $GLMLA,16,16,88,1176,02,0821,0f,8ac8,8000,34c05b,0a8510,12dcb6,002b6f,099,020*3 F
Refer to the GLONASS section of An Introduction to GNSS available on our website.
Field Structure
Description
Symbol Example
1
$GLMLA
Log header. See Messages on page 25 for more information.
$GLMLA
2
#alm
Number of NMEA almanac messages in the set
x.x
16
3
alm#
Current message number
x.x
13
4
slot
Slot number for satellite (65-96)
The NMEA GLONASS PRN numbers are 64 plus the
GLONASS slot number. Current slot numbers are 1 to
xx
85
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.
5
N
Calendar day count within the four year period from the last leap year
x.x
1176
Health and frequency for satellite
Health and carrier frequency numbers are represented
in this 2-character Hex field as:
6
hlth & freq
hh
88
7
ecc
Eccentricity 1
hhhh
01a6
1The LSB of the Hex data field corresponds to the LSB of the word indicated in the Table 4.3 of the GLONASS Interface Control Document, 1995. If the number of available bits in the Hex field is greater than the word, the MSB (upper bits) are unused and filled with zeroes.
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Field Structure
Description
8
Tdot
Rate of change of orbital period (s/orbital period2) 1
9
w
Argument of perigee (PZ-90.02), in radians 1
10
t16MSB
11
T
Clock offset, in seconds 1
Correction to the mean value of the Draconian period (s/orbital period) 1
12
t
GLONASS Time of ascending node equator crossing, in seconds 1
13
l
14
i
Longitude of ascending node equator crossing (PZ90.02), in radians 1
Correction to nominal inclination, in radians 1
15
t12LSB
16
t
Clock offset, in seconds 1 Coarse value of the time scale shift 1
17
xxxx
32-bit CRC (ASCII and Binary only)
18
[CR][LF] Sentence terminator (ASCII only)
Symbol Example
hh
0d
hhhh
9dc9
hhhh
8000
hhhhhh 34bff8
hhhhhhh 031887
hhhhhhh 02da1e
hhhhhhh 002838
hhh
099
hhh
242
Hex
*6D
-
[CR][LF]
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3.39 GLOALMANAC
Decoded GLONASS Almanac
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The GLONASS almanac reference time and week are in GPS reference time coordinates. GLONASS ephemeris information is available through the GLOEPHEMERIS command (see page 501). Nominal orbit parameters of the GLONASS satellites are as follows:
l Draconian period - 11 hours 15 minutes 44 seconds (see fields 14 and 15 in the following table)
l Orbit altitude - 19100 km l Inclination - 64.8 (see field 11) l Eccentricity - 0 (see field 12) The OEM7 family of receivers automatically save almanacs in their Non-Volatile Memory (NVM), so creating an almanac boot file is not necessary.
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).
Message ID: 718
Log Type: Asynch
Recommended Input: log gloalmanaca onchanged
ASCII Example: #GLOALMANACA,COM1,0,52.5,SATTIME,1364,410744.000,02000000,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, . . .
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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
Field Field type
Description
Format
Binary Bytes
Binary Offset
1
GLOALMANAC Log header. See Messages on page 25 for
header
more information.
H
0
2
#recs
The number of GLONASS almanac records to
follow. Set to zero until almanac data is
Long
4
H
available
3
week
GPS reference week, in weeks
Ulong 4
H+4
4
time
GPS reference time, in milliseconds (binary data) or seconds (ASCII data)
GPSec
4
H+8
5
slot
Slot number for satellite, ordinal
Uchar 1
H+12
6
frequency
Frequency for satellite, ordinal (frequency channels are in the range -7 to +6)
Char
1
H+13
7
sat type
Satellite type where 0 = GLO_SAT 1 = GLO_SAT_M (M type) 2 = GLO_SAT_K (K type)
Uchar 1
H+14
8
health
Satellite status where 0 = OPERATIONAL 1 = MALFUNCTION
Uchar 1
H+15
9
TlambdaN
GLONASS Time of ascending node equator crossing, in seconds
Double 8
H+16
10
lambdaN
Longitude of ascending node equator crossing (PZ-90.02), in radians
Double
8
H+24
11
deltaI
Correction to nominal inclination, in radians Double 8
H+32
12
ecc
Eccentricity
Double 8
H+40
13
ArgPerig
Argument of perigee (PZ-90.02), in radians Double 8
H+48
14
deltaT
Correction to the mean value of the Draconian period (s/orbital period)
Double 8
H+56
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Field Field type
Description
15
deltaTD
Rate of change of orbital period (s/orbital period2)
16
tau
Clock offset, in seconds
17
Next message offset = H + 4 + (#recs x 76)
18
xxxx
32-bit CRC (ASCII and Binary only)
19
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Double 8
H+64
Double 8
H+72
Ulong 4
-
-
H+4+ (76 x #recs)
-
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3.40 GLOCLOCK
GLONASS clock information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the time difference information between GPS and GLONASS time as well as status flags. The status flags are used to indicate the type of time processing used in the least squares adjustment. GPS and GLONASS time are both based on the Universal Time Coordinated (UTC) time scale with some adjustments. GPS reference time is continuous and does not include any of the leap second adjustments to UTC applied since 1980. The result is that GPS reference time currently leads UTC time by 15 seconds. GLONASS time applies leap seconds but is also three hours ahead to represent Moscow time. The nominal offset between GPS and GLONASS time is therefore due to the three hour offset minus the leap second offset. As well as the nominal offset, there is a residual offset on the order of nanoseconds which must be estimated in the least squares adjustment. The GLONASSM 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,1364,411884.000,02000000,1d44,2310; 0,0.000000000,0.000000000,0,0,-0.000000275,792,-0.000001207, 0.000000000,0.000000000,0*437e9afaf
Field
Field type
Description
1
GLOCLOCK Log header. See Messages on page 25 for more
header
information.
2
3
Reserved
4
Satellite type where
0 = GLO_SAT
5
sat type
1 = GLO_SAT_M (M type)
2 = GLO_SAT_K (K type)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Double 8 Double 8
H H+4 H+12
Uchar 1
H+20
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Field
Field type
6
N4
7
GPS
8
NA
9
C
10
b1
11
b2
12
Kp
13
xxxx
14
[CR][LF]
Description
Four-year interval number starting from 1996
Correction to GPS time relative to GLONASS time
GLONASS calendar day number within a four year period beginning since the leap year, in days
GLONASS time scale correction to UTC(SU) given at beginning of day N4, in seconds
Beta parameter 1st order term
Beta parameter 2nd order term
Kp provides notification of the next expected leap second. For more information, see Table 96: Kp UTC Leap Second Descriptions below
32-bit CRC (ASCII and Binary only)
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Uchar 1 1
H+21
Double 8
H+24
Ushort 2 1
H+32
Double 8 Double 8 Double 8
Uchar 1
Ulong 4
-
-
H+36 H+44 H+52
H+60
H+61 -
Table 96: Kp UTC Leap Second Descriptions
Kp
Information on UTC Leap Second2
00 No UTC update for this quarter
01 UTC update of plus 1 second at the end of current quarter
11 UTC update of minus 1 second at end of current quarter
1In the binary log case, additional bytes of padding are added to maintain 4-byte alignment. 2Based on GLONASS ICD version 5.1, 2008.
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3.41 GLOEPHEMERIS
Decoded GLONASS ephemeris
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains GLONASS ephemeris information. GLONASS ephemerides are referenced to the PZ90.02 geodetic datum. No adjustment between the GPS and GLONASS reference frames are made for positioning. Multiple messages are transmitted, one for each SVID with data.
Message ID: 723
Log Type: Asynch
Recommended Input: log gloephemerisa onchanged
Example: #GLOEPHEMERISA,COM1,3,49.0,SATTIME,1364,413624.000,02000000,6b64,2310; 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,1364,413626.000,02000000,6b64,2310; 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,1364,413624.000,02000000,6b64,2310; 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,1364,413624.000,02000000,6b64,2310; 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-0 6,-3.72529029846191406e-06,-1.86264514923095703e-06,7.9257413744926452 6e-05,4.656612873e-09,2.72848410531878471e-12,78810,0,0,0,12*ed7675f5
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Field Field type
Description
Format
Binary Bytes
Binary Offset
1
GLOEPHEMERIS Log header. See Messages on page 25 for
header
more information.
H
0
2
sloto
Slot information offset - PRN identification
(Slot + 37). This is also called SLOTO in
Ushort 2
H
Connect
3
freqo
Frequency channel offset for satellite in the range 0 to 20
Ushort
2
H+2
4
sat type
Satellite type where 0 = GLO_SAT 1 = GLO_SAT_M (M type) 2 = GLO_SAT_K (K type)
Uchar 1
H+4
5
Reserved
1
H+5
6
e week
Reference week of ephemeris (GPS reference time)
Ushort 2
H+6
7
e time
Reference time of ephemeris (GPS reference time) (ms)
Ulong 4
H+8
8
t offset
Integer seconds between GPS and
GLONASS time. A positive value implies
Ulong 4
GLONASS is ahead of GPS reference time.
H+12
9
Nt
Calendar number of day within 4 year interval starting at Jan 1 of a leap year
Ushort 2
H+16
10 Reserved
11
1
H+18
1
H+19
12
issue
15 minute interval number corresponding to ephemeris reference time
Ulong
4
H+20
13
healtha
Ephemeris health where 0-3 = GOOD 4-15 = BAD
Ulong 4
H+24
aThe last four bits of this field are used to describe the health. Bit 0-2: Bn Bit 3: In All other bits are reserved and set to 0.
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Field Field type
14
pos x
15
pos y
16
pos z
17
vel x
18
vel y
19
vel z
20
LS acc x
21
LS acc y
22
LS acc z
23
tau_n
24
delta_tau_n
25
gamma
26
Tk
27
P
28
Ft
29
age
30
Flags
31
xxxx
32
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
X coordinate for satellite at reference time (PZ-90.02) (metres)
Double
8
H+28
Y coordinate for satellite at reference time (PZ-90.02) (metres)
Double
8
H+36
Z coordinate for satellite at reference time (PZ-90.02) (metres)
Double
8
H+44
X coordinate for satellite velocity at reference time (PZ-90.02) (metres/s)
Double 8
H+52
Y coordinate for satellite velocity at reference time (PZ-90.02) (metres/s)
Double 8
H+60
Z coordinate for satellite velocity at reference time (PZ-90.02), (metres/s)
Double 8
H+68
X coordinate for lunisolar acceleration at reference time (PZ-90.02), (metres/s/s)
Double 8
H+76
Y coordinate for lunisolar acceleration at reference time (PZ-90.02) (metres/s/s)
Double 8
H+84
Z coordinate for lunisolar acceleration at reference time (PZ-90.02) (metres/s/s)
Double 8
H+92
Correction to the nth satellite time t_n relative to GLONASS time t_c (seconds)
Double 8
H+100
Time difference between navigation RF
signal transmitted in L2 sub-band and navigation RF signal transmitted in L1 sub-
Double
8
band by nth satellite (seconds)
H+108
Frequency correction (seconds/second)
Double 8
H+116
Time of frame start (since start of GLONASS day) (seconds)
Ulong 4
H+124
Technological parameter
Ulong 4
H+128
User range
Ulong 4
H+132
Age of data (days)
Ulong 4
H+136
Information flags, see Table 97: GLONASS Ephemeris Flags Coding on the next page
Ulong
4
H+140
32-bit CRC (ASCII and Binary only)
Ulong 4
H+144
Sentence terminator (ASCII only)
-
-
-
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Table 97: GLONASS Ephemeris Flags Coding
Nibble Number
Bit
Description
Range Values
0 P1 Flag - Time interval between adjacent 1 iISSUE (fb) values
See Table 98: P1 Flag Range Values below
N0
2
P2 Flag - Oddness or Evenness of iISSUE (fb) value
0 = even 1 = odd
3
P3 Flag - Number of satellites with almanac information within current subframe
0 = four 1 = five
N-1 through
N-7
4 ... Reserved 31
Hex Value 00000001 00000002
00000004
00000008
Table 98: P1 Flag Range Values
State Description
00
0 minutes
01 30 minutes
10 45 minutes
11 60 minutes
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3.42 GLORAWALM
Raw GLONASS Almanac data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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,1364,419924.000,02000000,77bb,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
Field Field type
Description
Format
Binary Bytes
Binary Offset
1
GLORAWALM Log header. See Messages on page 25 for
header
more information.
H
0
2
week
GPS reference week, in weeks
Ulong 4
H
3
time
GPS reference time, in milliseconds (binary data) or seconds (ASCII data)
GPSec 4
H+4
4
#recs
Number of records to follow
Ulong 4
H+8
5
string
GLONASS data string
String [11]
11
H+12
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Field Field type
Description
6
Reserved
7
Next record offset = H+8+(#recs x 12)
8
xxxx
32-bit CRC (ASCII and Binary only)
9
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Uchar 1
H+23
Ulong 4
-
-
H+12+ (#recsx12)
-
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3.43 GLORAWEPHEM
Raw GLONASS Ephemeris data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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,1340,398653.000,02000000,332d,2020; 38,9,0,1340,398653.080,4,0148d88460fc115dbdaf78,0,0218e0033667aec83af 2a5,0,038000b9031e14439c75ee,0,0404f22660000000000065,0*17f3dd17 ... #GLORAWEPHEMA,COM1,0,47.0,SATTIME,1340,398653.000,02000000,332d,2020; 41,13,0,1340,398653.078,4,0108d812532805bfa1cd2c,0,0208e0a36e8e0952b1 11da,0,03c02023b68c9a32410958,0,0401fda44000000000002a,0*0b237405
Field Field type
Description
Format
Binary Bytes
Binary Offset
1
GLORAWEPHEM Log header. See Messages on page 25
header
for more information.
H
0
2
sloto
Slot information offset - PRN
identification (Slot + 37). Ephemeris relates to this slot and is also called
Ushort 2
H
SLOTO in NovAtel Connect
3
freqo
Frequency channel offset in the range 0 to 20
Ushort
2
H+2
4
sigchan
Signal channel number
Ulong 4
H+4
5
week
GPS reference week, in weeks
Ulong 4
H+8
6
time
GPS reference time, in milliseconds (binary data) or seconds (ASCII data)
GPSec
4
H+12
7
#recs
Number of records to follow
Ulong 4
H+16
8
string
GLONASS data string
String [11]
11
H+20
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Field Field type
Description
9
Reserved
10
Next record offset = H+20+(#recs x 12)
11
xxxx
32-bit CRC (ASCII and Binary only)
12
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Uchar 1
H+31
Ulong 4
-
-
H+20+ (#recsx12)
-
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3.44 GLORAWFRAME
Raw GLONASS frame data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the raw GLONASS frame data as received from the GLONASS satellite. Multiple messages are transmitted, one for each SVID with data.
Message ID: 721
Log Type: Asynch
Recommended Input: log glorawframea onchanged
Example: #GLORAWFRAMEA,COM1,19,53.0,SATTIME,1340,398773.000,02000000,8792,2020; 3,39,8,1340,398773.067,44,44,15,0148dc0b67e9184664cb35,0, 0218e09dc8a3ae8c6ba18d,0, ... 0f00000000000000000000,0*11169f9e ... #GLORAWFRAMEA,COM1,0,53.0,SATTIME,1340,398713.000,02000000,8792,2020; 1,41,13,1340,398713.077,36,36,15,0108da12532805bfa1cded,0, 0208e0a36e8e0952b111da,0,03c02023b68c9a32410958,0, ... 0f6efb59474697fd72c4e2,0*0a6267c8
Field Field type
Description
1
GLORAWFRAME Log header. See Messages on page 25 for
header
more information.
2
frame#
Frame number
3
sloto
Slot information offset - PRN identification (Slot + 37). Ephemeris relates to this slot and is also called SLOTO in NovAtel Connect.
4
freqo
Frequency channel offset in the range 0 to 20
5
week
GPS Week, in weeks
6
time
GPS Time, in milliseconds (binary data) or seconds (ASCII data)
7
frame decode Frame decoder number
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
H
Ushort 2
H+4
Ushort 2 Ulong 4 GPSec 4 Ulong 4
H+6 H+8 H+12 H+16
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Field Field type
Description
8
sigchan
9
#recs
Signal channel number Number of records to follow
10
string
GLONASS data string
11
Reserved
12
Next record offset = H+28+ (#recs x 12)
13
xxxx
32-bit CRC (ASCII and Binary only)
14
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
H+20
Ulong 4
H+24
String [11]
11
H+28
Uchar 1
H+39
Ulong 4
-
-
H +28+ (#recs x 12)
-
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3.45 GLORAWSTRING
Raw GLONASS string
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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,1340,399113.000,02000000,50ac,2020; 4,6,061000000000000000004f,0*5b215fb2
Field Field type
Description
1
GLORAWSTRING Log header. See Messages on page 25
header
for more information.
2
slot
Slot identification
3
freq
Frequency channel (frequency channels are in the range -7 to +13)
4
string
GLONASS data string
5
Reserved
6
xxxx
32-bit CRC (ASCII and Binary only)
7
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
H
0
Uchar 1
H
Char
1
H+1
Hex[11] 11
Uchar 1
Ulong 4
-
-
H+2 H+13 H+14 -
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3.46 GPALM
Almanac data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log outputs raw almanac data for each GPS satellite PRN contained in the broadcast message. A separate record is logged for each PRN, up to a maximum of 32 records. GPALM outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time, calculated with default parameters. In this case, the UTC time status (see the TIME log on page 855) is set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the receiver uses the real parameters. UTC time is then set to VALID. It takes a minimum of 12.5 minutes to collect a complete almanac following receiver boot-up. In the case of a GLONASS capable receiver, the UTC offset can be determined once the GLONASS ephemeris is decoded, which takes about 50 seconds. If an almanac was stored in NVM, the stored values are reported in the GPALM log once time is set on the receiver.
To obtain copies of ICD-GPS-200, refer to ARINC on our website at www.novatel.com/support/knowledge-and-learning/published-papers-and-documents/standardsand-references/. NMEA contact information is also located there.
Message ID: 217
Log Type: Asynch
Recommended Input: log gpalm onchanged
Example: $GPALM,28,01,01,1337,00,305a,90,1b9d,fd5b,a10ce9,ba0a5e,2f48f1,cccb76,006,001*2 7 $GPALM,28,02,02,1337,00,4aa6,90,0720,fd50,a10c5a,4dc146,d89bab,0790b6,fe4,000*7 0 . . . $GPALM,28,24,26,1337,00,878c,90,1d32,fd5c,a10c90,1db6b6,2eb7f5,ce95c8,00d,000*2 3 $GPALM,28,25,27,1337,00,9cde,90,07f2,fd54,a10da5,adc097,562da3,6488dd,00e,000*2 F $GPALM,28,26,28,1337,00,5509,90,0b7c,fd59,a10cc4,a1d262,83e2c0,3003bd,02d,000*7 8 $GPALM,28,27,29,1337,00,47f7,90,1b20,fd58,a10ce0,d40a0b,2d570e,221641,122,006*7 D
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$GPALM,28,28,30,1337,00,4490,90,0112,fd4a,a10cc1,33d10a,81dfc5,3bdb0f,178,004*2 8
See the The NMEA (National Marine Electronics Association) has defined standards that specify how electronic equipment for marine users communicate. GNSS receivers are part of this standard and the NMEA has defined the format for several GNSS data logs otherwise known as 'sentences'. on page 515 that applies to all NMEA logs.
Field Structure
Description
1
$GPALM
Log header. See Messages on page 25 for more information.
2
# msg
Total number of messages logged. Set to zero until almanac data is available
3
msg #
Current message number1
4
PRN
Satellite PRN number: GPS = 1 to 32
5
GPS wk
GPS reference week number
6
SV hlth
SV health, bits 17-24 of each almanac page2
e, eccentricity3
7
ecc
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.
8
alm ref time
to a almanac reference time 3
9
incl angle (sigma)i, inclination angle 3
10
omegadot OMEGADOT, rate of right ascension 3
11
rt axis
(A)1/2, root of semi-major axis 3
Symbol Example $GPALM
x.x
17
x.x
17
xx
28
x.x
653
hh
00
hhhh
3EAF
hh
87
hhhh
OD68
hhhh
FD30
hhhhhh A10CAB
1Variable length integer, 4-digits maximum from (2) most significant binary bits of Subframe 1, Word 3 reference Table 20-I, ICD-GPS-200, Rev. B, and (8) least significant bits from subframe 5, page 25, word 3 reference Table 20-I, ICD-GPS-200. 2Reference paragraph 20.3.3.5.1.3, Table 20-VII and Table 20-VIII, ICD-GPS-200, Rev. B.
3Reference Table 20-VI, ICD-GPS-200, Rev. B for scaling factors and units.
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Description
omega, argument of perigee 3
12
omega
A measurement along the orbital path from the ascending node to the point where the SV is closest to the Earth, in the direction of the SV's motion.
13
long asc node
(OMEGA)�, longitude of ascension node 3
14
Mo
Mo, mean anomaly 3
15
af0
af0, clock parameter 3
16
af1
af1, clock parameter 3
17
*xx
Check sum
18
[CR][LF] Sentence terminator
Symbol Example hhhhhh 6EE732
hhhhhh 525880
hhhhhh 6DC5A8
hhh
009
hhh
005
*hh
*37
[CR][LF]
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3.47 GPGGA
GPS fix data and undulation
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains time, position and fix related data of the GNSS receiver. See also Table 100: Position Precision of NMEA Logs on page 521. The GPGGA log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time, calculated with default parameters. In this case, the UTC time status (see the TIME log on page 855) is set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the receiver uses the real parameters. Then the UTC time status is set to VALID.
The GPGGA log can be customized using the NMEAFORMAT command (see page 248).
Message ID: 218
Log Type Synch
Recommended Input: log gpgga ontime 1
Example: $GPGGA,134658.00,5106.9792,N,11402.3003,W,2,09,1.0,1048.47,M,16.27,M,08,AAAA*60
The NMEA (National Marine Electronics Association) has defined standards that specify how electronic equipment for marine users communicate. GNSS receivers are part of this standard and the NMEA has defined the format for several GNSS data logs otherwise known as 'sentences'. Each NMEA sentence begins with a '$' followed by a two-letter prefix identifying the type of sending device (for example 'GP', 'GL' or `GN'), followed by a sequence of letters that define the type of information contained in the sentence. Data contained within the sentence is separated by commas and the sentence is terminated with a two digit checksum followed by a carriage return/line feed. Here is an example of a NMEA sentence describing time, position and fix related data:
$GPGGA,134658.00,5106.9792,N,11402.3003,W,2,09,1.0,1048.47,M, -16.27,M,08,AAAA*60 The GPGGA sentence shown above and other NMEA logs are output the same no matter what GNSS receiver is used, providing a standard way to communicate and process GNSS information. For more information about NMEA, see the NMEATALKER command on page 251.
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Field Structure
Description
Symbol
Example
1
$GPGGA
Log header. See Messages on page 25 for more information.
$GPGGA
2
utc
UTC time status of position (hours/minutes/seconds/ decimal seconds)
hhmmss.ss 202134.00
3
lat
Latitude (DDmm.mm)
llll.ll
5106.9847
4
lat dir
Latitude direction (N = North, S = South)
a
N
5
lon
Longitude (DDDmm.mm)
yyyyy.yy 11402.2986
6
lon dir
Longitude direction (E = East, W = West)
a
W
7
quality
refer to Table 99: GPS Quality Indicators on the next page
x
1
8
# sats
Number of satellites in use. May be different to the number in view
xx
10
9
hdop
Horizontal dilution of precision
x.x
1.0
10
alt
Antenna altitude above/below mean sea level
x.x
1062.22
11
a-units
Units of antenna altitude (M = metres) M
M
12
undulation
Undulation - the relationship between the geoid and the WGS84 ellipsoid
x.x
-16.271
13
u-units
Units of undulation (M = metres)
M
M
14
age
Age of correction data (in seconds)
The maximum age reported here is
xx
limited to 99 seconds.
(empty when no differential data is present)
15
stn ID
Differential base station ID
xxxx
(empty when no differential data is present)
16
*xx
Check sum
*hh
*48
17
[CR][LF] Sentence terminator
[CR][LF]
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Table 99: GPS Quality Indicators
Indicator
Description
0
Fix not available or invalid
Single point 1
Converging PPP (TerraStar-L)
Pseudorange differential
2
Converged PPP (TerraStar-L)
Converging PPP (TerraStar-C)
4
RTK fixed ambiguity solution
RTK floating ambiguity solution 5
Converged PPP (TerraStar-C)
6
Dead reckoning mode
7
Manual input mode (fixed position)
8
Simulator mode
9
WAAS (SBAS)1
Refer to the BESTPOS log (see page 433) and Table 79: Supplemental Position Types and NMEA Equivalents on page 441.
1An indicator of 9 has been temporarily set for SBAS (NMEA standard for SBAS not decided yet). This indicator can be customized using the GGAQUALITY command.
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3.48 GPGGALONG
Fix data, extra precision and undulation
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains, time, position, undulation and fix related data of the GNSS receiver. This is output as a GPGGA log but the GPGGALONG log differs from the normal GPGGA log by its extra precision. See also Table 100: Position Precision of NMEA Logs on page 521. The GPGGALONG log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time, calculated with default parameters. In this case, the UTC time status is set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the receiver uses the real parameters. Then the UTC time status is set to VALID.
The GPGGALONG log can be customized using the NMEAFORMAT command (see page 248).
Message ID: 521
Log Type: Synch
Recommended Input: log gpggalong ontime 1
Example 1: $GPGGA,181126.00,5106.9802863,N,11402.3037304,W,7,11,0.9,1048.234,M,16.27,M,,*51
Example 2: $GPGGA,134658.00,5106.9802863,N,11402.3037304,W,2,09,1.0,1048.234,M,16.27,M,08,AAAA
See the Note in the GPGGA log (see page 515) that applies to all NMEA logs.
Field Structure
Description
1
$GPGGALONG Log header
2
utc
UTC time status of position (hours/minutes/seconds/ decimal seconds)
3
lat
Latitude (DDmm.mm)
4
lat dir
Latitude direction (N = North, S = South)
Symbol
Example $GPGGA
hhmmss.ss 202126.00
llll.ll a
5106.9847029 N
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5
lon
6
lon dir
7
GPS qual
8
# sats
9
hdop
10
alt
11
units
12
undulation
13
u-units
14
age
15
stn ID
16
*xx
17
[CR][LF]
Description
Symbol
Longitude (DDDmm.mm)
yyyyy.yy
Longitude direction (E = East, W = West)
a
Refer to Table 99: GPS Quality Indicators on page 517
x
Number of satellites in use (00-12).
May be different to the number in
xx
view
Horizontal dilution of precision
x.x
Antenna altitude above/below msl
x.x
Units of antenna altitude (M = metres)
M
Undulation - the relationship between the geoid and the WGS84 ellipsoid
x.x
Units of undulation (M = metres)
M
Age of Differential GPS data (in seconds)
xx The maximum age reported here is limited to 99 seconds.
Differential base station ID, 00001023
xxxx
Check sum
*hh
Sentence terminator
Example 11402.2986286
W
1
10
1.0 1062.376
M
-16.271
M 10 (empty when no differential data is present) AAAA (empty when no differential data is present) *48 [CR][LF]
Refer to the BESTPOS log (see page 433) and Table 79: Supplemental Position Types and NMEA Equivalents on page 441.
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3.49 GPGLL
Geographic position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains latitude and longitude of present vessel position, time of position fix and status. Table 100: Position Precision of NMEA Logs on the next page compares the position precision of selected NMEA logs. The GPGLL log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time, calculated with default parameters. In this case, the UTC time status (see the TIME log on page 855) is set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the receiver uses the real parameters. Then the UTC time status is set to VALID.
If the NMEATALKER command (see page 251) is set to AUTO, the talker (the first 2 characters after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites only) or GN (satellites from both systems) or GA (Galileo satellites only).
Message ID: 219
Log Type: Synch
Recommended Input: log gpgll ontime 1
Example 1 (GPS only): $GPGLL,5107.0013414,N,11402.3279144,W,205412.00,A,A*73
Example 2 (Combined GPS and GLONASS): $GNGLL,5107.0014143,N,11402.3278489,W,205122.00,A,A*6E
See the Note in the GPGGA log (see page 515) that applies to all NMEA logs.
Field Structure
Description
Example
1
$GPGLL
Log header. See Messages on page 25 for more information. $GPGLL
2
lat
Latitude (DDmm.mm)
5106.7198674
3
lat dir
Latitude direction (N = North, S = South)
N
4
lon
Longitude (DDDmm.mm)
11402.3587526
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Description
Example
5
lon dir
Longitude direction (E = East, W = West)
W
6
utc
UTC time status of position (hours/minutes/seconds/decimal seconds)
220152.50
7
data status
Data status: A = Data valid, V = Data invalid
A
8
mode ind
Positioning system mode indicator, see Table 101: NMEA Positioning System Mode Indicator on page 534
A
9
*xx
Check sum
*1B
10
[CR][LF] Sentence terminator
[CR][LF]
Table 100: Position Precision of NMEA Logs
NMEA Log
Latitude
Longitude
Altitude
(# of decimal places) (# of decimal places) (# of decimal places)
GPGGA
4
4
2
GPGGALONG
7
7
3
GPGLL
7
7
N/A
GPRMC
7
7
N/A
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3.50 GPGRS
GPS range residuals for each satellite
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Range residuals can be computed in two ways, and this log reports those residuals. Under mode 0, residuals output in this log are used to update the position solution output in the GPGGA message. Under mode 1, the residuals are recomputed after the position solution in the GPGGA message is computed. The receiver computes range residuals in mode 1. An integrity process using GPGRS would also require GPGGA (for position fix data), GPGSA (for DOP figures) and GPGSV (for PRN numbers) for comparative purposes. The GPGRS log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time, calculated with default parameters. In this case, the UTC time status (see the TIME log on page 855) is set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the receiver uses the real parameters. Then the UTC time status is set to VALID.
1. If the range residual exceeds � 99.9, then the decimal part is dropped. Maximum value for this field is � 999. The sign of the range residual is determined by the order of parameters used in the calculation as follows: range residual = calculated range - measured range
2. If the NMEATALKER command (see page 251) is set to AUTO, the talker (the first 2 characters after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites only) or GN (satellites from both systems) or GA (Galileo satellites only).
Message ID: 220
Log Type: Synch
Recommended Input: log gpgrs ontime 1
Example 1 (GPS only): $GPGRS,142406.00,1,-1.1,-0.1,1.7,1.2,-2.0,-0.5,1.2,-1.2,-0.1,,,*67
Example 2 (Combined GPS and GLONASS): $GNGRS,143209.00,1,-0.2,-0.5,2.2,1.3,-2.0,-1.3,1.3,-0.4,-1.2,-0.2,,*72 $GNGRS,143209.00,1,1.3,-6.7,,,,,,,,,,*73
See the Note in the GPGGA log (see page 515) that applies to all NMEA logs.
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Field Structure
Description
1
$GPGRS
Log header. See Messages on page 25 for more information.
2
utc
UTC time status of position (hours/minutes/seconds/decimal seconds)
3
mode
Mode 0= residuals were used to calculate the position given in the matching GGA line (apriori) (not used by OEM7 receivers)
Mode 1= residuals were recomputed after the GGA position was computed (preferred mode)
415
res
Range residuals for satellites used in the navigation solution. Order matches order of PRN numbers in GPGSA
16
*xx
Check sum
17
[CR][LF] Sentence terminator
Symbol
Example
$GPGRS
hhmmss.ss 192911.0
x
1
x.x,x.x,.....
-13.8,1.9,11.4,33.6,0.9, 6.9,12.6,0.3,0.6, -22.3
*hh
*65
[CR][LF]
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3.51 GPGSA
GPS DOP and active satellites
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains GNSS receiver operating mode, satellites used for navigation and DOP values. The GPGSA log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time, calculated with default parameters. In this case, the UTC time status (see the TIME log on page 855) is set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the receiver uses the real parameters. Then the UTC time status is set to VALID.
If the NMEATALKER command (see page 251) is set to AUTO, the talker (the first 2 characters after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites only), or GN (satellites from both systems) or GA (Galileo satellites only).
Message ID: 221
Log Type: Synch
Recommended Input: log gpgsa ontime 1
Example 1 (GPS only): $GPGSA,M,3,17,02,30,04,05,10,09,06,31,12,,,1.2,0.8,0.9*35
Example 2 (Combined GPS and GLONASS): $GNGSA,M,3,17,02,30,04,05,10,09,06,31,12,,,1.2,0.8,0.9*2B $GNGSA,M,3,87,70,,,,,,,,,,,1.2,0.8,0.9*2A
The DOPs provide a simple characterization of the user satellite geometry. DOP is related to the volume formed by the intersection points of the user satellite vectors, with the unit sphere centered on the user. Larger volumes give smaller DOPs. Lower DOP values generally represent better position accuracy. The role of DOP in GNSS positioning is often misunderstood. A lower DOP value does not automatically mean a low position error. The quality of a GNSS derived position estimate depends upon both the measurement geometry as represented by DOP values and range errors caused by signal strength, ionospheric effects, multipath and so on.
See the Note in the GPGGA log (see page 515) that applies to all NMEA logs.
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Field Structure
Description
1
$GPGSA
Log header. See Messages on page 25 for more information.
A = Automatic 2D/3D
2
mode MA
M = Manual, forced to operate in 2D or 3D
3
mode 123 Mode: 1 = Fix not available; 2 = 2D; 3 = 3D
415
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 1
16
pdop
Position dilution of precision
17
hdop
Horizontal dilution of precision
18
vdop
Vertical dilution of precision
19
*xx
Check sum
20
[CR][LF] Sentence terminator
Symbol Example $GPGSA
M
M
x
3
18,03,13, 25,16, xx,xx,..... 24,12, 20,,,,
x.x
1.5
x.x
0.9
x.x
1.2
*hh
*3F
[CR][LF]
1The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number. Current slot numbers are 1 to 24 which give the range 65 to 88. PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to onorbit spares.
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3.52 GPGST
Pseudorange measurement noise statistics
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains pseudorange measurement noise statistics are translated in the position domain in order to give statistical measures of the quality of the position solution. This log reflects the accuracy of the solution type used in the BESTPOS log (see page 433) and GPGGA log (see page 515), 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 662). The GPGST log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time, calculated with default parameters. In this case, the UTC time status (see the TIME log on page 855) is set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the receiver uses the real parameters. Then the UTC time status is set to VALID.
If the NMEATALKER command (see page 251) is set to AUTO, the talker (the first 2 characters after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites only) or GN (satellites from both systems) or GA (Galileo satellites only).
Message ID: 222
Log Type: Synch
Recommended Input: log gpgst ontime 1
Example 1 (GPS only): $GPGST,141451.00,1.18,0.00,0.00,0.0000,0.00,0.00,0.00*6B
Example 2 (Combined GPS and GLONASS): $GNGST,143333.00,7.38,1.49,1.30,68.1409,1.47,1.33,2.07*4A
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1. See the Note in the GPGGA log (see page 515) that applies to all NMEA logs.
2. Accuracy is based on statistics, reliability is measured in percent. When a receiver can measure height to one metre, this is an accuracy. Usually this is a one sigma value (one SD). A one sigma value for height has a reliability of 68%, that is, the error is less than one metre 68% of the time. For a more realistic accuracy, double the one sigma value (1 m) and the result is 95% reliability (error is less than 2 m 95% of the time). Generally, GNSS heights are 1.5 times poorer than horizontal positions.
As examples of statistics, the GPGST message and NovAtel performance specifications use Root Mean Square (RMS). Specifications may be quoted in CEP:
l RMS - root mean square (a probability level of 68%)
l CEP - circular error probable (the radius of a circle such that 50% of a set of events occur inside the boundary)
Field Structure
Description
1
$GPGST
Log header. See Messages on page 25 for more information.
2
utc
UTC time status of position (hours/minutes/seconds/ decimal seconds)
3
rms
RMS value of the standard deviation of the range inputs to the navigation process. Range inputs include pseudoranges and DGPS corrections
4
smjr std
Standard deviation of semi-major axis of error ellipse (m)
5
smnr std
Standard deviation of semi-minor axis of error ellipse (m)
6
orient
Orientation of semi-major axis of error ellipse (degrees from true north)
7
lat std
Standard deviation of latitude error (m)
8
lon std
Standard deviation of longitude error (m)
9
alt std
Standard deviation of altitude error (m)
10
*xx
Check sum
11
[CR][LF] Sentence terminator
Symbol Example $GPGST
hhmmss.ss 173653.00
x.x
2.73
x.x
2.55
x.x
1.88
x.x
15.2525
x.x
2.51
x.x
1.94
x.x
4.30
*hh
*6E
[CR][LF]
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3.53 GPGSV
GPS satellites in view
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the number of GPS SVs in view, PRN numbers, elevation, azimuth and SNR value. Four satellites maximum per message. When required, additional satellite data sent in 2 or more messages (a maximum of 9). The total number of messages being transmitted and the current message being transmitted are indicated in the first two fields. The GPGSV log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time, calculated with default parameters. In this case, the UTC time status (see the TIME log on page 855) is set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the receiver uses the real parameters. Then the UTC time status is set to VALID.
1. Satellite information may require the transmission of multiple messages. The first field specifies the total number of messages, minimum value 1. The second field identifies the order of this message (message number), minimum value 1.
2. If the NMEATALKER command (see page 251) is set to AUTO, the talker (the first 2 characters after the $ sign in the log header) is set to GP (GPS satellites only) or GL (GLONASS satellites only) or GN (satellites from both systems) or GA (Galileo satellites only). Each system is output in a separate message.
3. The ID setting in the NMEATALKER command (see page 251) controls the satellites reported in this log. If the NMEATALKER ID is set to GP, only GPS satellites are reported in this log. If the NMEATALKER ID is set to AUTO, all satellites in view are reported.
4. A variable number of 'PRN-Elevation-Azimuth-SNR' sets are allowed up to a maximum of four sets per message. Null fields are not required for unused sets when less than four sets are transmitted.
Message ID: 223
Log Type: Synch
Recommended Input: log gpgsv ontime 1
Example (Including GPS and GLONASS sentences): $GPGSV,3,1,11,18,87,050,48,22,56,250,49,21,55,122,49,03,40,284,47*78
$GPGSV,3,2,11,19,25,314,42,26,24,044,42,24,16,118,43,29,15,039,42*7E
$GPGSV,3,3,11,09,15,107,44,14,11,196,41,07,03,173,*4D
$GLGSV,2,1,06,65,64,037,41,66,53,269,43,88,39,200,44,74,25,051,*64
$GLGSV,2,2,06,72,16,063,35,67,01,253,*66
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The GPGSV log can be used to determine which GPS satellites are currently available to the receiver. Comparing the information from this log to that in the GPGSA log shows if the receiver is tracking all available satellites.
See also the Note in the GPGGA log (see page 515) that applies to all NMEA logs.
Field Structure
Description
1
$GPGSV
Log header. See Messages on page 25 for more information.
2
# msgs
Total number of messages (1-9)
3
msg #
Message number (1-9)
Total number of satellites in view. May be different
4
# sats
than the number of satellites in use (see also the
GPGGA log on page 515)
Satellite PRN number
GPS = 1 to 32
5
prn
SBAS = 33 to 64 (add 87 for PRN#s)
GLO = 65 to 96 1
6
elev
Elevation, degrees, 90 maximum
7
azimuth Azimuth, degrees True, 000 to 359
8
SNR
SNR (C/No) 00-99 dB, null when not tracking
...
...
...
...
...
...
Next satellite PRN number, elev, azimuth, SNR, ... Last satellite PRN number, elev, azimuth, SNR,
variable *xx
Check sum
variable [CR][LF] Sentence terminator
Symbol Example
$GPGSV
x
3
x
1
xx
09
xx
03
xx
51
xxx
140
xx
42
*hh
*72
[CR][LF]
1The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number. Current slot numbers are 1 to 24 which give the range 65 to 88. PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to onorbit spares.
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3.54 GPHDT
NMEA heading log
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains actual vessel heading in degrees True (from True North). See also a description of heading in the HEADING2 log on page 547. You can also set a standard deviation threshold for this log, see the HDTOUTTHRESHOLD command on page 194.
You must have an ALIGN capable receiver to use this log.
The GPHDT log can only be logged using the ONCHANGED trigger. Other triggers, such as ONTIME are not accepted.
If the NMEATALKER command (see page 251) is set to AUTO, the talker (the first 2 characters after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites only) or GN (satellites from both systems) or GA (Galileo satellites only).
Message ID: 1045 Log Type: Asynch Recommended Input:
log gphdt onchanged
Example 1 (GPS only): $GPHDT,75.5664,T*36
Example 2 (Combined GPS and GLONASS): $GNHDT,75.5554,T*45
Field Structure
Description
1
$GPHDT
Log header. See Messages on page 25 for more information.
2
heading Heading in degrees
3
True
Degrees True
4
*xx
Check sum
5
[CR][LF] Sentence terminator
Symbol Example
$GPHDT
x.x
75.5554
T
T
*hh
*36
[CR][LF]
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3.55 GPHDTDUALANTENNA
Synchronous NMEA heading log
Platform: OEM7720, PwrPak7D, PwrPak7D-E1, PwrPak7D-E2, SPAN CPT7 This log contains actual vessel heading in degrees True (from True North). It provide the same information as the GPHDT log (see page 530), but with synchronous output.
You must have an ALIGN capable, dual antenna receiver to use this log.
If the NMEATALKER command (see page 251) is set to AUTO, the talker (the first 2 characters after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites only) or GN (satellites from both systems) or GA (Galileo satellites only).
Message ID: 2045 Log Type: Synch Recommended Input:
log gphdtdualantenna ontime 1
Example 1 (GPS only): $GPHDT,75.5664,T*36
Example 2 (Combined GPS and GLONASS): $GNHDT,75.5554,T*45
Field Structure
Description
1
$GPHDT
Log header. See Messages on page 25 for more information.
2
heading Heading in degrees
3
True
Degrees True
4
*xx
Check sum
5
[CR][LF] Sentence terminator
Symbol Example
$GPHDT
x.x
75.5554
T
T
*hh
*36
[CR][LF]
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3.56 GPRMB
Navigation information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains navigation data from present position to a destination waypoint. The destination is set active by the receiver SETNAV command (see page 350). The GPRMB log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time, calculated with default parameters. In this case, the UTC time status (see the TIME log on page 855) is set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the receiver uses the real parameters. Then the UTC time status is set to VALID.
Message ID: 224
Log Type: Synch
Recommended Input: log gprmb ontime 1
Example 1 (GPS only): $GPRMB,A,5.14,L,FROM,TO,5109.7578000,N,11409.0960000,W,5.1,303.0,-0.0,V,A*6F
Example 2 (Combined GPS and GLONASS): $GNRMB,A,5.14,L,FROM,TO,5109.7578000,N,11409.0960000,W,5.1,303.0,-0.0,V,A*71
If the NMEATALKER command (see page 251) is set to AUTO, the talker (the first 2 characters after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites only) or GN (satellites from both systems) or GA (Galileo satellites only).
See the Note in the GPGGA log (see page 515) that applies to all NMEA logs.
Field Structure
Field Description
1
$GPRMB
Log header. See Messages on page 25 for more information.
2
data status
Data status: A = data valid; V = navigation receiver warning
Symbol
Example
$GPRMB
A
A
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Field Structure
Field Description
Cross track error
Represents the track error from the intended course
Symbol
Example
3
xtrack
If the cross track error exceeds 9.99
NM, displays 9.99.
x.x
5.14
One nautical mile (NM) = 1,852 metres.
Direction to steer to get back on track (L/R)
Direction to steer is based on the sign of the
4
dir
crosstrack error, that is,
a
L
L = xtrack error (+)
R = xtrack error (-)
5
origin ID Origin waypoint ID 1
c--c
FROM
6
dest ID
Destination waypoint ID 1
c--c
TO
7
dest lat
Destination waypoint latitude (DDmm.mm) 1
llll.ll
5109.7578000
8
lat dir
Latitude direction (N = North, S = South) 1
a
N
9
dest lon
Destination waypoint longitude (DDDmm.mm) 1 yyyyy.yy 11409.0960000
10
lon dir
Longitude direction (E = East, W = West) 1
a
W
Range to destination, nautical miles
11
range
If the range to destination exceeds
x.x
5.1
999.9 NM, displays 999.9.
12
bearing
Bearing to destination, degrees True
13
vel
Destination closing velocity, knots
Arrival status:
14
arr status A = perpendicular passed
V = destination not reached or passed
x.x
303.0
x.x
-0.0
A
V
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Field Structure
Field Description
Positioning system mode indicator, see Table
15
mode ind 101: NMEA Positioning System Mode Indicator
below
16
*xx
Check sum
17
[CR][LF] Sentence terminator
Symbol
Example
a
A
*hh
*6F
[CR][LF]
Table 101: NMEA Positioning System Mode Indicator
Mode
Indicator
A Autonomous
D Differential
E Estimated (dead reckoning) mode
M Manual input
N Data not valid
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3.57 GPRMC
GPS specific information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains time, date, position, track made good and speed data provided by the GPS navigation receiver. RMC and RMB are the recommended minimum navigation data to be provided by a GNSS receiver. A comparison of the position precision between this log and other selected NMEA logs can be seen in Table 100: Position Precision of NMEA Logs on page 521. The GPRMC log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time, calculated with default parameters. In this case, the UTC time status (see the TIME log on page 855) is set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the receiver uses the real parameters. Then the UTC time status is set to VALID.
If the NMEATALKER command (see page 251) is set to AUTO, the talker (the first 2 characters after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites only) or GN (satellites from both systems) or GA (Galileo satellites only).
Message ID: 225
Log Type: Synch
Recommended Input: log gprmc ontime 1
Example 1 (GPS): $GPRMC,144326.00,A,5107.0017737,N,11402.3291611,W,0.080,323.3,210307,0.0,E,A*20
Example 2 (Combined GPS and GLONASS): $GNRMC,143909.00,A,5107.0020216,N,11402.3294835,W,0.036,348.3,210307,0.0,E,A*31
See the Note in the GPGGA log (see page 515) that applies to all NMEA logs.
Field Structure
Field Description
Symbol
Example
1
$GPRMC
Log header. See Messages on page 25 for more information.
$GPRMC
2
utc
UTC of position
hhmmss.ss 144326.00
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Field Structure
Field Description
Symbol
3
pos status
Position status (A = data valid, V = data invalid)
A
4
lat
Latitude (DDmm.mm)
llll.ll
5
lat dir
Latitude direction: (N = North, S = South)
a
6
lon
Longitude (DDDmm.mm)
yyyyy.yy
7
lon dir
Longitude direction: (E = East, W = West)
a
8
speed Kn Speed over ground, knots
x.x
9
track true Track made good, degrees True
x.x
10
date
Date: dd/mm/yy
xxxxxx
Magnetic variation, degrees
Note that this field is the actual magnetic
11
mag var variation and will always be positive. The
x.x
direction of the magnetic variation is always
positive.
12
var dir
Magnetic variation direction E/W
Easterly variation (E) subtracts from True
a
course.
Westerly variation (W) adds to True course.
Positioning system mode indicator, see Table
13
mode ind 101: NMEA Positioning System Mode Indicator a
on page 534
14
*xx
Check sum
*hh
15
[CR][LF] Sentence terminator
Example A 5107.0017737 N 11402.3291611 W 0.080 323.3 210307
0.0
E
A *20 [CR][LF]
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3.58 GPSCNAVRAWMESSAGE
GPS CNAV Raw Message
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This log provides the raw CNAV message from signals which contain the CNAV message (L2C, L5). It also indicates whether the raw message is generated from an L2C signal or L5 signal. The GPSCNAVRAWMESSAGE log is not output by default. To receive this log, data decoding for L2C or L5 must be enabled using the DATADECODESIGNAL command (see page 115) for the specific signal.
Message ID: 2262
Log Type: Asynch
Recommended Input: log gpscnavrawmessagea onnew
ASCII Example: #GPSCNAVRAWMESSAGEA,COM1,0,82.5,SATTIME,2020,252582.000,02000020,06c3,32768; 185,8,GPSL5,11,8b20b52391ac86ea3ac949e16706c0b2e089dff9600320045e2013a780317 1003c2f11485870*35aaa6c3 #GPSCNAVRAWMESSAGEA,COM1,0,81.5,SATTIME,2020,252576.000,02000020,06c3,32768; 178,10,GPSL2C,10,8b28a52390fc85777dad008893a00013232e8fffeb5c6df0cd300fa631c 636ac8b5c643a7ce0*1db60694
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
GPSCNAVRAWMESSAGE Log header. See Messages on
header
page 25 for more information.
H
0
2
signal channel
Signal channel providing the bits Ulong 4
H
3
PRN
Satellite PRN number
Ulong 4
H+4
4
signal type
Signal type (L2C or L5)
See Table 102: Signal Type on the next page
Enum 4
H+8
5
message ID
Message ID
Ulong 4
H+12
6
data
Raw message data
Hex[38] 38
H+16
7
xxxx
32-bit CRC (ASCII and binary only)
Hex
4
H+54
8
[CR][LF]
Sentence terminator (ASCII only) �
�
�
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Table 102: Signal Type
Value (Binary) Signal (ASCII)
Description
33
GPSL1CA
GPS L1 C/A-code
47
GPSL1CP
GPS L1C P-code
68
GPSL2Y
GPS L2 P(Y)-code
69
GPSL2C
GPS L2 C/A-code
70
GPSL2P
GPS L2 P-code
103
GPSL5
GPS L5
2177
GLOL1CA
GLONASS L1 C/A-code
2211
GLOL2CA
GLONASS L2 C/A-code
2212
GLOL2P
GLONASS L2 P-code
2662
GLOL3
GLONASS L3
4129
SBASL1
SBAS L1
4194
SBASL5
SBAS L5
10433
GALE1
Galileo E1
10466
GALE5A
Galileo E5A
10499
GALE5B
Galileo E5B
10532
GALALTBOC
Galileo ALT-BOC
10565
GALE6C
Galileo E6C
10572
GALE6B
Galileo E6B
12673
BDSB1D1
BeiDou B1 with D1 navigation data
12674
BDSB1D2
BeiDou B1 with D2 navigation data
12803
BDSB2D1
BeiDou B2 with D1 navigation data
12804
BDSB2D2
BeiDou B2 with D2 navigation data
12877
BDSB3D1
BeiDou B3 with D1 navigation data
12880
BDSB3D2
BeiDou B3 with D2 navigation data
12979
BDSB1C
BeiDou B1C
13012
BDSB2A
BeiDou B2a
14753
QZSSL1CA
QZSS L1 C/A-code
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Value (Binary) Signal (ASCII)
Description
14760
QZSSL1CP
QZSS L1C P-code
14787
QZSSL2CM
QZSS L2 C/A-code
14820
QZSSL5
QZSS L5
14891
QZSSL6P
QZSS L6P
19073
NAVICL5SPS
NavIC L5 SPS
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3.59 GPSEPHEM
Decoded GPS ephemerides
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains a single set of GPS ephemeris parameters.
Message ID: 7
Log Type: Asynch
Recommended Input: log gpsephema onchanged
ASCII Example: #GPSEPHEMA,COM1,12,59.0,SATTIME,1337,397560.000,02000000,9145,1984;3,397560.0,0 ,99,99,1337,1337,403184.0,2.656004220e+07,4.971635660e-09,2.752651501e+00,7.1111434372e-03,6.0071892571e-01,2.428889275e-06,1.024827361e05,1.64250000e+02,4.81562500e+01,1.117587090e-08,-7.078051567e08,9.2668266314e-01,-1.385772009e-10,-2.098534041e+00,-8.08319384e09,99,403184.0,-4.190951586e-09,2.88095e-05,3.06954e12,0.00000,TRUE,1.458614684e-04,4.00000000e+00*0f875b12 #GPSEPHEMA,COM1,11,59.0,SATTIME,1337,397560.000,02000000,9145,1984;25,397560.0, 0,184,184,1337,1337,403200.0,2.656128681e+07,4.897346851e09,1.905797220e+00,1.1981436634e-02,-1.440195331e+00,-1.084059477e06,6.748363376e-06,2.37812500e+02,-1.74687500e+01,1.825392246e-07,1.210719347e-07,9.5008501632e-01,2.171519024e-10,2.086083072e+00,-8.06140722e09,184,403200.0,-7.450580597e-09,1.01652e-04,9.09495e13,0.00000,TRUE,1.458511425e-04,4.00000000e+00*18080b24 ... #GPSEPHEMA,COM1,0,59.0,SATTIME,1337,397560.000,02000000,9145,1984;1,397560.0,0, 224,224,1337,1337,403200.0,2.656022490e+07,3.881233098e09,2.938005195e+00,5.8911956148e-03,-1.716723741e+00,-2.723187208e06,9.417533875e-06,2.08687500e+02,-5.25625000e+01,9.126961231e-08,7.636845112e-08,9.8482911735e-01,1.325055194e-10,1.162012787e+00,-7.64138972e09,480,403200.0,-3.259629011e-09,5.06872e-06,2.04636e12,0.00000,TRUE,1.458588731e-04,4.00000000e+00*97058299
The GPSEPHEM log can be used to monitor changes in the orbits of GPS satellites.
To obtain copies of ICD-GPS-200, refer to the GPS website (www.gps.gov) .
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Field
Field type
Description
1
GPSEPHEM Log header. See Messages on page 25 for more
header
information.
2
PRN
Satellite PRN number
3
tow
Time stamp of subframe 1 (seconds)
4
health
Health status - a 6-bit health code as defined in ICD-GPS-200
5
IODE1
Issue of ephemeris data 1
6
IODE2
Issue of ephemeris data 2
7
week
toe week number (computed from Z count week)
Z count week number. This is the week number
8
z week
from subframe 1 of the ephemeris. The `toe week' (field #7) is derived from this to account
for rollover
9
toe
Reference time for ephemeris (seconds)
10
A
Semi-major axis (metres)
11
N
Mean motion difference (radians/second)
12
M0
Mean anomaly of reference time (radians)
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
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
15
cuc
Argument of latitude (amplitude of cosine, radians)
16
cus
Argument of latitude (amplitude of sine, radians)
17
crc
Orbit radius (amplitude of cosine, metres)
18
crs
Orbit radius (amplitude of sine, metres)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Double 8
H H+4
Ulong 4
H+12
Ulong 4 Ulong 4
H+16 H+20
Ulong 4
H+24
Ulong 4
Double 8 Double 8 Double 8 Double 8
Double 8
H+28
H+32 H+40 H+48 H+56
H+64
Double 8
H+72
Double 8
Double 8 Double 8 Double 8
H+80
H+88 H+96 H+104
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Field
Field type
19
cic
20
cis
21
I0
22
I0
23
o
24
25
iodc
26
toc
27
tgd
28
af0
29
af1
30
af2
31
AS
Description
Inclination (amplitude of cosine, radians) Inclination (amplitude of sine, radians) Inclination angle at reference time, radians Rate of inclination angle, radians/second Right ascension, radians Rate of right ascension, radians/second Issue of data clock SV clock correction term, seconds Estimated group delay difference, seconds Clock aging parameter (seconds) Clock aging parameter, (seconds/second) Clock aging parameter, (seconds/second/second) Anti-spoofing on: 0 = FALSE 1 = TRUE Corrected mean motion (radians/second)
Format
Binary Bytes
Binary Offset
Double 8
H+112
Double 8
H+120
Double 8
H+128
Double 8
H+136
Double 8
H+144
Double 8 Ulong 4 Double 8 Double 8
H+152 H+160 H+164 H+172
Double 8
H+180
Double 8
H+188
Double 8
H+196
Bool
4
H+204
32
N
This field is computed by the receiver.
Double 8
H+208
User Range Accuracy variance (metres2)
33
URA
The ICD specifies that the URA index transmitted in the ephemerides can be converted to a nominal standard deviation value using an algorithm listed there. We publish the Double 8 square of the nominal value (variance). The correspondence between the original URA index and the value output is shown in Table 103: URA Variance on the next page
34
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
35
[CR][LF] Sentence terminator (ASCII only)
-
-
H+216
H+224 -
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Table 103: URA Variance Index Value (m) A: Standard Deviations (m) Variance: A2 (m2)
0
2.0
4
1
2.8
7.84
2
4.0
16
3
5.7
32.49
4
8
64
5
11.3
127.69
6
16.0
256
7
32.0
1024
8
64.0
4096
9
128.0
16384
10
256.0
65536
11
512.0
262144
12
1024.0
1048576
13
2048.0
4194304
14
4096.0
16777216
15
8192.0
67108864
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3.60 GPVTG
Track made good and ground speed
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the track made good and speed relative to the ground. The GPVTG log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time, calculated with default parameters. In this case, the UTC time status (see the TIME log on page 855) is set to WARNING since it may not be one hundred percent accurate. When a valid almanac is available, the receiver uses the real parameters. Then the UTC time status is set to VALID.
Message ID: 226
Log Type: Synch
Recommended Input: log gpvtg ontime 1
Example 1 (GPS only): $GPVTG,172.516,T,155.295,M,0.049,N,0.090,K,D*2B
Example 2 (Combined GPS and GLONASS): $GNVTG,134.395,T,134.395,M,0.019,N,0.035,K,A*33
If the NMEATALKER command (see page 251) is set to AUTO, the talker (the first 2 characters after the $ sign in the log header) is set to GP (GPS satellites only), GL (GLONASS satellites only) or GN (satellites from both systems).
See the Note in the GPGGA log (see page 515) that applies to all NMEA logs.
Field Structure
Description
1
$GPVTG
Log header. See Messages on page 25 for more information.
2
track true Track made good, degrees True
3
T
True track indicator
Track made good, degrees Magnetic;
4
track mag Track mag = Track true + (MAGVAR correction)
See the MAGVAR command on page 236
Symbol Example
$GPVTG
x.x
24.168
T
T
x.x
24.168
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Field Structure
Description
5
M
Magnetic track indicator
6
speed Kn Speed over ground, knots
7
N
Nautical speed indicator (N = Knots)
8
speed Km Speed, kilometres/hour
9
K
Speed indicator (K = km/hr)
10
mode ind
Positioning system mode indicator, see Table 101: NMEA Positioning System Mode Indicator on page 534
11
*xx
Check sum
12
[CR][LF] Sentence terminator
Symbol Example
M
M
x.x
0.4220347
N
N
x.x
0.781608
K
K
a
A
*hh
*7A
[CR][LF]
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3.61 GPZDA
UTC time and date
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The GPSZDA log outputs the UTC date and time. If no valid almanac is stored in the receiver, a default UTC offset is used to generate the time until a new almanac is downloaded. If the offset is not up-to-date, this initial UTC time may be incorrect until the new almanac is present.
Message ID: 227
Log Type: Synch
Recommended Input: log gpzda ontime 1
Example: $GPZDA,143042.00,25,08,2005,,*6E
See the Note in the GPGGA log (see page 515) that applies to all NMEA logs.
Field Structure
Description
Symbol
Example
1
$GPZDA
Log header. See Messages on page 25 for more information.
$GPZDA
2
utc
UTC time status
hhmmss.ss 220238.00
3
day
Day, 01 to 31
xx
15
4
month
Month, 01 to 12
xx
07
5
year
Year
xxxx
1992
Local zone description--not available
6
null
Local time zones are not sup-
ported by OEM7 family
xx
receivers.
Fields 6 and 7 are always
null.
7
null
Local zone minutes description--not available
xx
8
*xx
Check sum
*hh
9
[CR][LF] Sentence terminator
(empty when no data is present)
(empty when no data is present) *6F [CR][LF]
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3.62 HEADING2
Heading information with multiple rovers
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The heading is the angle from True North of the base to rover vector in a clockwise direction. This log can be output at both Master and Rover ends.
An ALIGN capable receiver is required to use this log.
Asynchronous logs, such as HEADING2, should only be logged ONCHANGED or ONNEW otherwise the most current data is not available or included in the output. An example of this occurrence is in the ONTIME trigger. If this trigger is not logged ONNEW or ONCHANGED, it may cause inaccurate time tags.
The HEADING2 log is dictated by the output frequency of the master receiver sending out RTCAOBS2, RTCAOBS3 or NovAtelXObs messages. HEADING2 supports 20 Hz output rate. Ensure sufficient radio bandwidth is available between the ALIGN Master and the ALIGN Rover.
Message ID: 1335
Log Type: Asynch
Recommended Input: log heading2a onnew
ASCII Example: #HEADING2A,COM1,0,39.5,FINESTEERING,1622,422892.200,02040000,f9bf,6521;SOL_ COMPUTED,NARROW_INT,0.927607417,178.347869873,1.3037414550.0,0.261901051,0.391376048,"R222","AAAA",18,17,17,16,0,01,0,33*7be8 36f6
Field
Field type
Description
Binary Binary Binary Format Bytes Offset
1
HEADING2 Log header. See Messages on page 25 for more
header
information.
H
0
2
sol stat
Solution status, see Table 74: Solution Status on page 436
Enum
4
H
3
pos type
Position type, see Table 75: Position or Velocity Type on page 437
Enum
4
H+4
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Field
Field type
Description
Binary Binary Binary Format Bytes Offset
Baseline length in metres
For ALIGN Heading models with position access, this field is -1.
For ALIGN Heading models without position
access, this field is only the decimal portion of
the baseline in metres.
4
length
For ALIGN Relative Positioning models receiving Float
4
corrections from a master with a fixed position,
this field is -1.
For ALIGN Relative Positioning models receiving corrections from a master in moving baseline mode, this field is the complete baseline length in metres.
H+8
5
heading Heading in degrees (0� to 359.999�)
Float
4
H+12
6
pitch
Pitch (�90 degrees)
Float
4
H+16
7
Reserved
Float
4
H+20
8
hdg std dev
Heading standard deviation in degrees
Float
4
H+24
9
ptch std dev
Pitch standard deviation in degrees
Float
4
H+28
Rover Receiver ID
10
rover stn ID
Set using the SETROVERID command (see page 352) on the Rover
e.g. setroverid RRRR
Char[4] 4
H+32
Master Receiver ID
11
Master stn Set using the DGPSTXID command (see page
ID
127) on the Master
Char[4] 4
Default: AAAA
H+36
12
#SVs
Number of satellites tracked
Uchar 1
H+40
13
#solnSVs Number of satellites in solution
Uchar 1
H+41
14
#obs
Number of satellites above the elevation mask angle
Uchar
1
H+42
15
#multi
Number of satellites above the mask angle with L2
Uchar
1
H+43
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Field
Field type
Description
Binary Binary Binary Format Bytes Offset
16
sol source
Solution source (see Table 104: Solution Source below)
Hex
1
H+44
17
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Uchar 1
H+45
18
Galileo and BeiDou sig mask
Galileo and BeiDou signals used mask (see Table 77: Galileo and BeiDou Signal-Used Mask on page 440)
Hex
1
H+46
GPS and GPS and GLONASS signals used mask (see Table
19
GLONASS 76: GPS and GLONASS Signal-Used Mask on
Hex
1
sig mask page 439)
H+47
20
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+48
21
[CR][LF] Sentence terminator (ASCII only)
-
-
-
Table 104: Solution Source
Bit Mask
Description
0-1 0x03 Reserved
2-3 0x0C
Source antenna 0 = Primary antenna 1 = Secondary antenna
4-7 0xF0 Reserved
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3.63 HEADINGRATE
Heading rate information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log provides rate of change for the heading parameters. The heading is the angle from True North of the base to rover vector in a clockwise direction.
You must have an ALIGN capable receiver to use this log.
Message ID: 1698
Log Type: Asynch
Recommended Input: log headingratea onchanged
ASCII Example: #HEADINGRATEA,UNKNOWN,0,60.0,FINESTEERING,1873,411044.700,02040008,c53a,32768;S OL_COMPUTED,NARROW_INT,0.025000000,0.000000000,0.308837891,0.575313330,0.000000000,1.264251590,1.663657904,0.0,"748M","725U",0 0,0,0,0*66f97b96
Field Field type
Description
Format
Binary Bytes
Binary Offset
1
HEADINGRATE Log header. See Messages on page 25 for
header
more information.
H
0
2
sol stat
Solution status, see Table 74: Solution Status on page 436
Enum 4
H
3
pos type
Position type, see Table 75: Position or Velocity Type on page 437
Enum 4
H+4
4
latency
A measure of the latency in the velocity
time tag in seconds. It should be subtracted Float
4
from the time to give improved results.
H+8
Rate of change of the baseline length in m/s.
5
length rate
For Z ALIGN rovers, this field outputs the
Float
4
decimal portion of the baseline rate.
H+12
6
heading rate Rate of change of the heading in degrees/s Float
4
H+16
7
pitch rate
Rate of change of the pitch in degrees/s
Float
4
H+20
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Field Field type
Description
8
length rate std dev
Baseline rate standard deviation in m/s
9
heading rate std dev
Heading rate standard deviation in degrees/s
10
pitch rate std dev
Pitch rate standard deviation in degrees/s
11
Reserved
Rover Receiver ID
12
rover stn ID
Set using the SETROVERID command (see
page 352) on the Rover receiver. For
example, setroverid RRRR.
Master Receiver ID
13
master stn ID Set using the DGPSTXID command (see
page 127) on the Master receiver. Default:
AAAA
14
sol source
Solution source (see Table 104: Solution Source on page 549)
15
Reserved
16
Reserved
17
Reserved
18
xxxx
32-bit CRC (ASCII and Binary only)
19
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Float
4
H+24
Float
4
H+28
Float
4
Float
4
H+32 H+36
Uchar 4
H+40
Uchar 4
H+44
Hex
1
Uchar 1
Uchar 1
Uchar 1
Hex
4
-
-
H+48
H+49 H+50 H+51 H+52 -
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3.64 HEADINGSATS
Satellite used in heading solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log provides information on the satellites that are used in a heading solution.
The HEADINGSATS log can only be used from the ALIGN rover.
Message ID: 1316
Log Type: Asynch
Recommended Input: log headingsatsa onnew
ASCII Example: #HEADINGSATSA,COM1,0,26.0,FINESTEERING,1625,344654.600,02000008,f5b0,6569;17,GP S,31,GOOD,00000003,GPS,23,GOOD,00000003,GPS,30,GOOD,00000003,GPS,16,GOOD,000000 03,GPS,20,GOOD,00000003,GPS,25,GOOD,00000003,GPS,4,GOOD,00000003,GPS,24,GOOD,00 000003,GPS,11,GOOD,00000003,GPS,32,GOOD,00000003,GPS,14,GOOD,00000003,GLONASS,2 0+2,GOOD,00000003,GLONASS,14-7,GOOD,00000001,GLONASS,24,GOOD,00000003,GLONASS,13-2,GOOD,00000003,GLONASS,121,GOOD,00000003,GLONASS,19+3,GOOD,00000001*15ec53a6
Field Field type
Description
Format
Binary Bytes
Binary Offset
1
HEADINGSATS
Log header. See Messages on page 25 for more information.
H
0
2
#entries
Number of records to follow
Ulong 4
H
3
System
Refer to Table 105: Satellite System on the next page.
Enum
4
H+4
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Field Field type
Description
Format
Binary Bytes
Binary Offset
In binary logs, the satellite ID field is 4
bytes. The 2 lowest-order bytes,
interpreted as a USHORT, are the system
identifier: for instance, the PRN for GPS,
or the slot for GLONASS. The 2 highest-
order bytes are the frequency channel for
GLONASS, interpreted as a SHORT and
4
Satellite ID
zero for all other systems.
Ulong 4
In ASCII and abbreviated ASCII logs, the satellite ID field is the system identifier. If the system is GLONASS and the frequency channel is not zero, then the signed channel is appended to the system identifier. For example, slot 13, frequency channel -2 is output as 13-2
H+8
5
Status
see Table 80: Observation Statuses on page 443
Enum
4
H+12
see
Table 81: BESTSATS GPS Signal Mask on
page 444,
Table 82: BESTSATS GLONASS Signal
6
Signal Mask Mask on page 445,
Hex
4
Table 83: BESTSATS Galileo Signal Mask
on page 445,
Table 84: BESTSATS BeiDou Signal Mask
on page 445
H+16
7
Next satellite offset = H + 4 + (#sat x 16)
8
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+4+ (#satx16)
9
[CR][LF]
Sentence Terminator (ASCII only)
-
-
-
Table 105: Satellite System
Binary Value ASCII Mode Name
0
GPS
1
GLONASS
2
SBAS
5
Galileo
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Binary Value ASCII Mode Name
6
BeiDou
7
QZSS
9
NAVIC
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3.65 HWMONITOR
Monitor hardware levels
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log allows the user to monitor temperature, antenna current and voltages.
Message ID: 963
Log Type: Polled
Recommended Input: log hwmonitora ontime 10
ASCII Example: #HWMONITORA,COM1,0,90.5,FINESTEERING,1928,153778.000,02000020,52db,32768;7,43.2 84492493,100,0.000000000,200,5.094994068,700,1.195970654,800,3.279609442,f00,1. 811965823,1100,44.017093658,1600*52beac4b
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
HWMONITOR header
Log header. See Messages on page 25 for more information.
H
0
2
#
Number of measurements to
measurements follow
Ulong
4
H
3
reading
4
status
Temperature, antenna current or voltage reading Units:
l Degree Celsius for Temperature
l Amps for Antenna Current l Volts for Voltage
See Table 106: HWMONITOR Status Table on the next page
Float
4
HexUlong 4
H+4 H+8
5... Next reading offset = H + 4 + (# measurements x 8)
6
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+4+ (# measurements x 8)
7
[CR][LF]
Sentence Terminator (ASCII only) -
-
-
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Table 106: HWMONITOR Status Table
Bits
Description
Boundary Limit Status (Hex): 0x00 = Value falls within acceptable bounds 0x01 = Value is under the lower warning limit
0-7 0x02 = Value is under the lower error limit 0x03 = Value is over the upper warning limit 0x04 = Value is over the upper error limit
8- Reading Type (Hex): 15
0x00 = Reserved
0x01 = Temperature A temperature sensor is located on the receiver and provides the approximate temperature of the PCB surface near critical components (for example, CPU, TCXO) (degrees Celsius)
0x02 = Antenna Current The amount of current being drawn by the active antenna (mA)
0x06 = Digital Core 3V3 Voltage Internal regulator output voltage supplying a key component on the receivers (Volts) 0x06 = 3.3V Supply Voltage (Volts)
0x07 = Antenna Voltage
0x08 = Digital 1V2 Core Voltage Internal regulator output voltage supplying a key component on the receiver (Volts)
0x0F = Regulated Supply Voltage Internal regulator output voltage supplying a key component on the receiver (Volts)
0x0F = Supply Voltage Voltage applied to Pins 1 and 2 of the main connector
0x11 = 1V8
Applicable Platforms
All All except OEM7500 All except OEM7720 OEM7720 All except OEM7500 All All except OEM7720 OEM7720 All
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Bits
Description
0x16 = Secondary Temperature A second temperature sensor is located on the receiver PCB (degrees Celsius)
0x17 = Peripheral Core Voltage
0x18 = Secondary Antenna Current
0x19 = Secondary Antenna Voltage
Applicable Platforms
All except OEM7500
All except OEM7500
OEM7720, PwrPak7D, PwrPak7D-E1, SPAN CPT7
OEM7720, PwrPak7D, PwrPak7D-E1, SPAN CPT7
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3.66 IONUTC
Ionospheric and UTC data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the Ionospheric Model parameters (ION) and the Universal Time Coordinated parameters (UTC).
Message ID: 8
Log Type: Asynch
Recommended Input: log ionutca onchanged
ASCII Example: #IONUTCA,COM1,0,58.5,FINESTEERING,1337,397740.107,02000000,ec21,1984;1.21071934 7000122e-08,2.235174179077148e-08,-5.960464477539062e-08,-1.192092895507812e07,1.003520000000000e+05,1.146880000000000e+05,-6.553600000000000e+04,3.276800000000000e+05,1337,589824,-1.2107193470001221e-08,-3.907985047e14,1355,7,13,14,0*c1dfd456
The Receiver-Independent Exchange (RINEX1a) format is a broadly accepted, receiver independent format for storing GPS data. It features a non-proprietary ASCII file format that can be used to combine or process data generated by receivers made by different manufacturers. Use the NovAtel's Convert utility to produce RINEX files from NovAtel receiver data files. For the best results, the NovAtel receiver input data file should contain the logs as specified in the NovAtel Firmware and Software chapter of the OEM7 Installation and Operation User Manual including IONUTC.
Field
Field type
1
IONUTC header
2
a0
3
a1
4
a2
5
a3
Description
Log header. See Messages on page 25 for more information. Alpha parameter constant term Alpha parameter 1st order term Alpha parameter 2nd order term Alpha parameter 3rd order term
Format
Binary Bytes
Binary Offset
H
0
Double 8 Double 8 Double 8 Double 8
H H+8 H+16 H+24
aRefer to the U.S. National Geodetic Survey website at: www.ngs.noaa.gov/CORS/data.shtml. OEM7 Commands and Logs Reference Manual v10
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Field
Field type
Description
6
b0
Beta parameter constant term
7
b1
Beta parameter 1st order term
8
b2
Beta parameter 2nd order term
9
b3
Beta parameter 3rd order term
10
utc wn
UTC reference week number
11
tot
Reference time of UTC parameters
12
A0
UTC constant term of polynomial
13
A1
UTC 1st order term of polynomial
14
wn lsf
Future week number
15
dn
Day number (the range is 1 to 7 where Sunday = 1 and Saturday = 7)
16
deltat ls Delta time due to leap seconds
17
deltat lsf Future delta time due to leap seconds
18
Reserved
19
xxxx
32-bit CRC (ASCII and Binary only)
20
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Double 8
Double 8
Double 8
Double 8
Ulong 4
Ulong 4
Double 8
Double 8
Ulong 4
Binary Offset H+32 H+40 H+48 H+56 H+64 H+68 H+72 H+80 H+88
Ulong 4
H+92
Long
4
Long
4
4
Hex
4
-
-
H+96 H+100 H+104 H+108 -
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3.67 IPSTATS
IP statistics
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
This log contains the current IP interface statistics.
Message ID: 1669
Log Type: Polled
Recommended Input: log ipstatsa
ASCII Example: #IPSTATSA,COM1,0,70.5,FINESTEERING,1749,328376.337,02000020,0d94,45068;1,CELL,0 ,526,526*01c4847c
Field
Field Type
Description
1
IPSTATS header
Log header. See Messages on page 25 for more information.
2
#Interface Number of records to follow.
IP Interface Type
3
Physical Interface
1 = ALL
2 = ETHA
4
Reserved
5
Receive Bytes
Total number of bytes received
6
Transmit Bytes
Total number of bytes transmitted
7
Next reading offset = H+4+(#Interface * 16)
8
xxxx
32-bit CRC (ASCII and Binary only)
9
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
H
Enum 4
H+4
Ulong 4 Ulong 4 Ulong 4
H+8 H+12 H+16
Hex
4
-
-
H+4+ (#Interface * 16)
-
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3.68 IPSTATUS
Current network configuration status
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
This log provides the configuration of IP address, netmask, gateway and a list of DNS servers currently in use.
Message ID: 1289
Log Type: Polled
Recommended Input: log ipstatusa once
ASCII Example: #IPSTATUSA,COM1,0,90.5,FINESTEERING,1609,500464.121,02000000,7fe2,6259;1,ETHA," 10.4.44.131","255.255.255.0","10.4.44.1",1,"198.161.72.85"*ec22236c
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
IPSTATUS Header
Log header. See Messages on page 25 for more information.
-
H
0
2
#IPrec
Number of records to follow
Ulong 4
H
Name of the network interface
3
interface
2 = ETHA
Enum 4
H+4
4
IP address IP Address-decimal dot notation
5
netmask
Netmask-decimal dot notation
String [16]
String [16]
variable
1
H+8
variable
1
H+24
Gateway-decimal dot notation
6
gateway
This is the default gateway that is
currently in use by the receiver.
String [16]
variable
1
H+40
7... Next reading offset = H+4+(#IPrec * 52)
8
#dnsserver Number of DNS Servers to follow
Ulong 4
H+4+ (#IPrec x 52)
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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Field
Field Type
Description
Format
Binary Bytes
Binary Offset
9
server IP address
IP address-decimal dot notation
String [16]
variable
1
H+4+ (#IPrec x 52)+4
10... Next reading offset = H+4+(#IPrec * 52)+4+(#dnsserver * 16)
11
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+4+ (#IPrec x 52)+4+ (#dnsserver x 16)
12
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.69 ITBANDPASSBANK
Allowable band pass filter configurations
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The ITBANDPASSBANK log provides information on the allowable configurations for each frequency when applying a bandpass filter. The current filters in use can be seen with the ITFILTTABLE log on page 567.
Message ID: 2022
Log Type: Asynch
Recommended Input: log itbandpassbanka once
Abbreviated ASCII Example: <ITBANDPASSBANK USB1 0 87.5 FINESTEERING 1933 346809.694 12000020 fb2e 14137 5 GPSL5 1164.3750 1173.1250 1178.1250 1186.8750 0.05 GALILEOE5B 1195.6250 1204.3750 1209.3750 1218.1250 0.05 BEIDOUB1 1551.2500 1560.0000 1565.0000 1573.7500 0.05 BEIDOUB2 1195.6250 1204.3750 1209.3750 1218.1250 0.05 QZSSL5 1164.3750 1173.1250 1178.1250 1186.8750 0.05
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
ITBANDPASSBANK Log header. See Messages on
header
page 25 for more information.
-
H
0
2
# of entries
Number of entries to follow
Ulong 4
H
3
frequency
See Table 49: Frequency Types on page 219
Enum
4
H+4
4
min lower frequency cutoff
The minimum frequency cutoff at the lower end (MHz)
Float
4
H+8
5
max lower frequency cutoff
The maximum frequency cutoff at the lower end (MHz)
Float
4
H+12
6
min upper frequency cutoff
The minimum frequency cutoff at the upper end (MHz)
Float
4
H+16
7
max upper frequency cutoff
The maximum frequency cutoff at the upper end (MHz)
Float
4
H+20
8
frequency step
The minimum cut off frequency resolution (MHz)
Float
4
H+24
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Field
Field Type
Description
9
Next entry offset = H + 4 + (#entries * 24)
10
xxxx
32-bit CRC (ASCII and Binary only)
11
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
-
-
H+4+ (#entries * 24)
-
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3.70 ITDETECTSTATUS
Interference detection status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log lists all of the detected interferences from all active paths where interference detection is enabled.
This log should be used with the onchanged trigger only.
Message ID: 2065
Log Type: Asynch
Recommended Input: log itdetectstatusa onchanged
ASCII Example #ITDETECTSTATUSA,USB2,0,74.0,FINESTEERING,1982,430605.267,0200c000,7fdb,32768; 3, L1,STATISTICANALYSIS,-0.718,29.167,0.126,12.797,00000000,00000000,00000000, L2,SPECTRUMANALYSIS,1249.961,71.191,-56.769,132.907,00000000,00000000,00000000, L2,SPECTRUMANALYSIS,1289.512,1.978,-75.967,138.493,00000000,00000000,00000000*5e83b175
Field
Field Type
Description
1
ITDETECTSTATUS Log header. See Messages on page 25
header
for more information.
2
# of entries
Number of interferences to follow
3
RF Path
RF path for this entry. 2 = L1 3 = L2 5 = L5
Interference detection type for this
4
Interference detection type
entry. 0 = SPECTRALANALYSIS
1 = STATISTICALANALYSIS
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
Enum 4
H+4
Enum 4
H+8
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Field
Field Type
Description
Format
Binary Bytes
Binary Offset
5
Parameter 1
The first parameter of the interference.
For SPECTRALANALYSIS type, this is the center frequency in MHz.
Float
4
For STATISTICALANALYSIS type, this is reserved.
H+12
6
Parameter 2
The second parameter of the interference.
For SPECTRALANALYSIS type, this is the bandwidth in MHz.
Float
4
For STATISTICALANALYSIS type, this is reserved.
H+16
7
Parameter 3
The third parameter of the interference.
For SPECTRALANALYSIS type, this is
the estimated power in dBm of the
Float
4
interference.
For STATISTICALANALYSIS type, this is reserved.
H+20
8
Parameter 4
The fourth parameter of the interference.
For SPECTRALANALYSIS type, this is
the highest estimated power spectrum Float
4
density in dBmHz of the interference.
For STATISTICALANALYSIS type this is reserved.
H+24
9
Reserved 1
Reserved
Ulong 4
H+28
10
Reserved 2
Reserved
Ulong 4
H+32
11
Reserved 3
Reserved
Ulong 4
H+36
12
Next interference signal offset = H + 4 + (#entries * 36)
13
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H=4+ (#entries * 36)
14
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.71 ITFILTTABLE
Filter configuration for each frequency
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The ITFILTTABLE log contains the filter configuration summary for each frequency. It lists which bandpass or notch filters are enabled and how each is configured.
Message ID: 1991
Log Type: Asynch
Recommended Input: log itfilttablea once
ASCII Example: #ITFILTTABLEA,USB2,0,80.5,FINESTEERING,1923,232588.825,12000000,35d0,32768; 13, GPSL1,8,CIC3,00000001,DISABLE,0.0000,0.0000,1, ENABLE,PF0,NOTCHFILTER,1572.2500,1577.7500,1.000, GPSL2,4,CIC3,00000000,DISABLE,0.0000,0.0000,0, GLONASSL1,9,CIC3,00000000,DISABLE,0.0000,0.0000,0, GLONASSL2,5,CIC3,00000000,DISABLE,0.0000,0.0000,0, GPSL5,0,CIC3,00000000,DISABLE,0.0000,0.0000,0, ... QZSSL1,8,CIC3,00000001,DISABLE,0.0000,0.0000,1, ENABLE,PF0,NOTCHFILTER,1572.2500,1577.7500,1.000, QZSSL2,4,CIC3,00000000,DISABLE,0.0000,0.0000,0, QZSSL5,0,CIC3,00000000,DISABLE,0.0000,0.0000,0*3ca84167
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
ITFILTTABLE Log header. See Messages on page 25 for
header
more information.
-
H
0
2
# entries
Number of records with information to follow Ulong 4
H
3
frequency
The frequency at which the filter is applied. See Table 49: Frequency Types on page 219
Enum
4
H+4
4
Encoder ID ID of the digital path used by this frequency Ulong 4
H+8
5
DDC filter type
The DDC filter type (see Table 107: DDC Filter Type on page 569)
Enum 4
H+12
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Field Field Type
Description
Filter warning limit status. Raise a warning
flag if the filter is placed too close to the
6
status word center frequency of the GNSS signal (see
Table 108: ITFILTTable Status Word on the
next page)
7
switch
Filter is enabled or disabled (see Table 109: Filter Switches on page 570)
8
lower cut off frequency
Cut off frequency at the lower end (MHz)
9
upper cut off frequency
Cut off frequency at the upper end (MHz)
10
# prog filters
Number of programmable filters applied
11
switch
Filter is enabled or disabled (see Table 109: Filter Switches on page 570)
12
prog filter ID
The programmable filter ID (see Table 46: Programmable Filter ID on page 216)
13
mode
Programmable filter mode (notch filter or bandpass) (see Table 47: Programmable Filter Mode on page 216)
14
lower cut off frequency
Cut off frequency at the lower end (MHz)
15
upper cut off frequency
Cut off frequency at the upper end (MHz)
16
notch width Width of notch filter (MHz)
17
Next programmable filter � variable binary offset
18
Next frequency � variable binary offset
19
xxxx
32-bit CRC (ASCII and Binary only)
20
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
H+16
Enum 4
Float
4
Float
4
Ulong 4
Enum 4
Enum 4
Enum 4
Float
4
Float
4
Float
4
H+20 H+24 H+28 H+32 H+36 H+40 H+44 H+48 H+52 H+56
Ulong 4
-
-
variable -
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Table 107: DDC Filter Type
Binary
ASCII
0
PASSTHROUGH
1
CIC1
2
CIC2
3
CIC3
4
HALFBAND
Table 108: ITFILTTable Status Word
Nibble Bit
Mask
Description
Range Value
0 0x00000001
1 0x00000002 N0
2 0x00000004
3 0x00000008 First enabled filter
4 0x00000010
0 = Within acceptable limit 1 = Warning
5 0x00000020 N1
6 0x00000040
7 0x00000080
8 0x00000100
9 0x00000200 N2
10 0x00000400
11 0x00000800
0 = Within acceptable limit
Second enabled filter
12 0x00001000
1 = Warning
13 0x00002000 N3
14 0x00004000
15 0x00008000
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Nibble Bit
Mask
Description
Range Value
16 0x00010000
17 0x00020000 N4
18 0x00040000
19 0x00080000 Third enabled filter
20 0x00100000
0 = Within acceptable limit 1 = Warning
21 0x00200000 N5
22 0x00400000
23 0x00800000
24 0x01000000
25 0x02000000 N6
26 0x04000000
27 0x08000000
0 = Within acceptable limit
Fourth enabled filter
28 0x10000000
1 = Warning
29 0x20000000 N7
30 0x40000000
31 0x80000000
Table 109: Filter Switches
Binary Value ASCII Value Description
0
DISABLE
Filter disabled
1
ENABLE
Filter enabled
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3.72 ITPROGFILTBANK
Allowable filter configurations
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The ITPROGFILTBANK log provides information on the allowable configurations for the programmable filter for each frequency when applying either a notch filter or bandpass filter. The current filters in use can be seen with the ITFILTTABLE log on page 567.
Message ID: 2023
Log Type: Asynch
Recommended Input: log itprogfiltbanka once
Abbreviated ASCII Example: <ITPROGFILTBANK USB1 0 88.0 FINESTEERING 1933 346362.985 12000020 3696 14137 12
GPSL1 5 NOTCHFILTER 1563.0000 1574.0000 1576.0000 1587.0000 0.05 0.15 NOTCHFILTER 1563.7500 1573.6000 1576.4000 1586.2500 0.05 0.50 NOTCHFILTER 1564.0500 1573.3000 1576.7000 1585.9500 0.05 1.00 NOTCHFILTER 1565.7500 1571.7000 1578.3000 1584.2500 0.05 2.50 BANDPASSFILTER 1563.7500 1572.5000 1577.5000 1586.2500 0.05 0.00
GPSL2 5 NOTCHFILTER 1215.5000 1226.5000 1228.5000 1239.5000 0.05 0.15 NOTCHFILTER 1216.2500 1226.1000 1228.9000 1238.7500 0.05 0.50 NOTCHFILTER 1216.5500 1225.8000 1229.2000 1238.4500 0.05 1.00 NOTCHFILTER 1218.2500 1224.2000 1230.8000 1236.7500 0.05 2.50 BANDPASSFILTER 1216.2500 1225.0000 1230.0000 1238.7500 0.05 0.00
GLONASSL1 5 NOTCHFILTER 1589.5625 1600.5625 1602.5625 1613.5625 0.05 0.15 NOTCHFILTER 1590.3125 1600.1625 1602.9625 1612.8125 0.05 0.50 NOTCHFILTER 1590.6125 1599.8625 1603.2625 1612.5125 0.05 1.00 NOTCHFILTER 1592.3125 1598.2625 1604.8625 1610.8125 0.05 2.50 BANDPASSFILTER 1590.3125 1599.0625 1604.0625 1612.8125 0.05 0.00
...
Field Field Type
Description
1
ITPROGFILTBANK Log header. See Messages on page 25
header
for more information.
2
# entries
Number of entries to follow
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
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Field Field Type
Description
Format
Binary Bytes
Binary Offset
3
frequency
See Table 49: Frequency Types on page 219
Enum 4
H+4
4
# prog filters
Number of programmable filters applied with information to follow
Ulong 4
H+8
5
mode
Programmable filter mode (notch filter
or bandpass) (see Table 47: Programmable Filter
Enum 4
Mode on page 216)
H+12
6
min lower
The minimum frequency cutoff at the
frequency cutoff lower end (MHz)
Float
4
H+16
7
max lower
The maximum frequency cutoff at the
frequency cutoff lower end (MHz)
Float
4
H+20
8
min upper
The minimum frequency cutoff at the
frequency cutoff upper end (MHz)
Float
4
H+24
9
max upper
The maximum frequency cutoff at the
frequency cutoff upper end (MHz)
Float
4
H+28
10
frequency step
The minimum cut off frequency resolution (MHz)
Float
4
H+32
11
notch width
Width of notch filter (MHz)
Float
4
H+36
12
Next programmable filter � variable binary offset
13
Next frequency � variable binary offset
14
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
variable
15
[CR][LF]
Sentence terminator (ASCII only)
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3.73 ITPSDFINAL
Processed power spectral density
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The ITPSDFINAL log contains the samples for the spectral analysis. The rate and size is set by the update period and the FFT size respectively when issuing the ITSPECTRALANALYSIS command (see page 217).
PSD samples are compressed into 2 byte samples to reduce log sizes. The range of values that can be displayed is -200 dBm to +56 dBm with a 1/256 resolution. The following steps should be performed on the PSD samples in this log to convert them back into dBm units for display purposes:
1. Divide the sample by 256.0
2. Subtract 200
The number of samples are calculated according to the following table. The maximum number of samples in one ITPSDFINAL log is 1024. That means if the number of samples is less than 1024, one log is enough to output them. However, if the number of samples is larger than 1024, more than one ITPSDFINAL log is needed. For example, in postdecimation mode with the FFT size of 8K and subcarrier integration of 5, there is one log with 1024 samples and another log with 614 samples. The output logs can be grouped together through the sequence number of the log header.
Data Source
Number of Samples
PREDECIMATION FFTsize/(2*subcarrier_integration )
POSTDECIMATION FFTsize/subcarrier_integration
POSTFILTER
FFTsize/subcarrier_integration
As the data rate for the ITPSDFINAL log is dictated by the updateperiod parameter in the ITSPECTRALANALYSIS command (see page 217), do not use ONTIME to log this message. Instead use ONNEW to log ITPSDFINAL.
The pre-decimation spectrum shows the absolute power in dBm. The post-decimation and post-filter spectrum shows the signal magnitude in relative power (dB).
The reported spectrum level can be interpreted in an unit of dBm / RBW (resolution bandwidth) referred to the receiver input. For the L1/L2/L5 path, RBW in Hz = 2e8 / FFT size.
Message ID: 1968
Log Type: Asynch
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Recommended Input: log itpsdfinala onnew
ASCII Example #ITPSDFINALA,UNKNOWN,0,66.0,FINESTEERING,1891,166978.221,02040000,b79a,32768;13 10752,1531.250,195312.500,512,28033,30370,30225,29190,27254,29521,32694,33025,2 8553,28902,29060,26663,30267,30054, ... 34027,38038,31082,29418,28805,27373,27869,28847,28331,31901,30251,33625,33625*0 00b928d
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
ITPSDFINAL Log header. See Messages on page 25 for
header
more information.
-
H
0
Status word containing information about the
2
status word
configuration of the spectral analysis (see Table 110: Spectral Analysis Status Word on
Ulong
4
H
the next page)
3
frequency start
Frequency represented by first data sample (MHz)
Float
4
H+4
4
step size
Frequency step for each subsequent data sample (Hz)
Float
4
H+8
5
# samples Number of spectral density samples
Ulong 4
H+12
6
sample
Power spectral density sample
Ushort 2
H+16
7
Next sample = H+16+(2*#samples)
8
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+16+ (2*# samples)
9
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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Table 110: Spectral Analysis Status Word
Nibble Bit
Mask
Description
Range Value
0 0x00000001
1 0x00000002 N0
2 0x00000004 Frequency
3 0x00000008
0 � 20 See Table 49: Frequency Types on page 219
4 0x00000010
5 0x00000020 N1
6 0x00000040 Data Source
7 0x00000080
0�3
See Table 48: Data Sources for PSD Samples on page 218
8 0x00000100
9 0x00000200 FFT Size N2
10 0x00000400
0�6 See Table 50: FFT Sizes on page 220
11 0x00000800
12 0x00001000
N3
13 0x00002000 Integration
14 0x00004000 Window
1 � 1024 samples
15 0x00008000
16 0x00010000
17 0x00020000 N4
18 0x00040000
19 0x00080000
20
0x00100000
Time Average Window
0 � 100 seconds
21 0x00200000 N5
22 0x00400000
23 0x00800000
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Nibble Bit
Mask
Description
24 0x01000000
25 0x02000000 N6
26 0x04000000
27 0x08000000
28 0x10000000 Reserved
29 0x20000000 N7
30 0x40000000
31 0x80000000
Range Value
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3.74 J1939STATUS
Status of CAN J1939 Node
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This logs reports the status of J1939 node, specifically J1939 Address Claim function (initiated using the J1939CONFIG command (see page 221)). This log displays the status only for nodes that have been set.
Message ID: 1907
Log Type: Asynch
Recommended Input: LOG J1939STATUSA ONCHANGED
ASCII Examples: #J1939STATUSA,COM1,1,81.0,UNKNOWN,0,0.000,02004020,e9ce,32768;NODE1,DISABLED,0, FE*637c7f #J1939STATUSA,COM1,0,81.0,UNKNOWN,0,0.000,02004020,e9ce,32768;NODE2,DISABLED,0, FE*c41af5ee
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
J1939STATUS Log header. See Messages on page 25 for
header
more information.
-
H
0
2
node
J1939 Node. The node can be either NODE1 or NODE2.
Enum
4
H
3
status
Node status. See Table 111: Node Status on the next page
Enum
4
H+4
4
count
Number of attempts that were made to claim address.
This will be 1 when the preferred address is Ulong 4 used and may be more if the alternate range is used.
H+8
5
address
Claimed CAN Address.
0xFE (NULL address) if the address could not Uchar 1 be negotiated.
H+12
6
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+13
7
[CR][LF]
Sentence Terminator (ASCII only)
-
-
-
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Table 111: Node Status
Value ASCII
Description
1
DISABLED
Address claim activity is not taking place. The node does not have J1939 enabled.
2
CLAIMING Address claim procedure is in progress.
3
CLAIMED Address claimed successfully. Ready for data transfer.
4
FAILED
Address claim was not successful. No further activity is taking place.
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Chapter 3 Logs
3.75 LBANDBEAMTABLE
List of L-Band beams
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log lists the TerraStar and Veripos L-Band beams known to the receiver.
Message ID: 1718
Log Type: Asynch
Recommended Input: log lbandbeamtablea onchanged
Abbreviated ASCII Example:
<LBANDBEAMTABLE COM1 0 51.5 UNKNOWN 0 1.031 02000008 19b8 14968
<
7
<
"AORE" "A" 1545855000 1200 -15.50 1
<
"AORW" "B" 1545845000 1200 -54.00 1
<
"IOR" "C" 1545865000 1200 64.50 1
<
"POR" "D" 1545905000 1200 178.00 1
<
"25E" "E" 1545825000 1200 25.00 1
<
"143.5E" "F" 1545835000 1200 143.50 1
<
"98W" "G" 1545865000 1200 -98.00 1
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
LBANDBEAMTABLE Log header. See Messages on page 25
header
for more information.
H
0
2
#entries
Number of records to follow
Ulong 4
H
3
Name
Beam/transmitting satellite name
Char[8] 8
H+4
4
Reserved
Char[8] 8
H+12
5
Frequency
Frequency (Hz)
Ulong 4
H+20
6
Baud
Baud rate (bps)
Ulong 4
H+24
7
Longitude
Transmitting satellite longitude (degrees)
Float
4
H+28
8
Access
Beam service availability flag 0 = Denied 1 = Granted
Ulong 4
H+32
9
Next beam offset = H + 4 + (#entries * 32)
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Field
Field type
10
xxxx
11
[CR][LF]
Description 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
H+4+ (#entries * 32)
-
-
-
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3.76 LBANDTRACKSTAT
L-Band Beams status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log reports the L-Band tracking and Viterbi decoding status for the tracked L-Band beams.
The maximum logging rate for LBANDTRACKSTAT is 2 Hz.
Message ID: 1201
Log Type: Synch
Recommended Input: log lbandtrackstata ontime 1
ASCII Example: #LBANDTRACKSTATA,COM1,0,39.0,FINESTEERING,2017,242093.000,02000008, 29e3,14968;3, "98W",1545865000,1200,974c,00c2,0,-317.605,38.755,2.7162,186.335, 3520,14,13,450560,1711,0.0038, "AORW",1545845000,1200,974c,00c2,0,-392.937,41.963,3.6840,182.385, 3392,1,1,434176,66,0.0001, "POR",1545905000,1200,974c,00c2,0,-42.481,39.084,2.5597,195.944, 3648,13,13,466944,2524,0.0046*491b53d6
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
LBANDTRACKSTAT Log header. See Messages on page 25
header
for more information.
H
0
2
#entries
Number of records to follow
Ulong 4
H
3
Name
Beam/transmitting satellite name
Char[8] 8
H+4
4
Frequency
Frequency assigned to this L-Band beam (Hz)
Ulong 4
H+12
5
Baud rate
Baud rate of assigned beam
Ushort 2
H+16
6
ID
Service ID of the assigned beam
Ushort 2
H+18
7
Status
Tracking status word. See Table 112: L-Band Signal Tracking Status on the Ushort 2 next page
H+20
8
Reserved
Reserved
Ushort 2
H+22
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Field
Field type
Description
9
Doppler
Signal Doppler (Hz)
10
C/No
Carrier to noise density ratio (dB-Hz)
11
Phase std. dev.
Phase error standard deviation (cycles)
12
Lock time
Lock time (seconds)
13
Unique word bits Total unique word bits
14
Bad unique word bits
Bad unique word bits
15
Bad unique words Bad unique words
16
Viterbi symbols
Total Viterbi symbols
17
Corrected Viterbi Corrected Viterbi symbols
18
Bit error rate
Estimated pre-Viterbi Bit Error Rate (BER)
19
Next entry offset = H + 4 + (#entries x 60)
20
xxxx
32-bit CRC (ASCII and Binary only)
21
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Float
4
H+24
Float
4
H+28
Float
4
H+32
Float
4
Ulong 4
H+36 H+40
Ulong 4
H+44
Ulong 4 Ulong 4 Ulong 4
H+48 H+52 H+56
Float
4
H+60
Hex
4
-
-
H+4+ (#entries x 60)
-
Table 112: L-Band Signal Tracking Status
Nibble Bit Mask
Description
Range Value
0 0x0001
Tracking State
N0
1 0x0002
0 = Searching, 1 = Pull-in, 2 = Tracking, 3 = Idle
2 0x0004 Reserved
3 0x0008
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Nibble Bit Mask
Description
Range Value
4 0x0010
5 0x0020
N1
6 0x0040 Bit Timing Lock
0 = Not Locked, 1 = Locked
7 0x0080 Phase Locked
0 = Not Locked, 1 = Locked
8
0x0100
DC Offset Unlocked
0 = Good, 1 = Warning
N2
9 0x0200 AGC Unlocked
0 = Good, 1 = Warning
10 0x0400
11 0x0800
12 0x1000 Reserved
13 0x2000
N3
14 0x4000
15 0x8000 Error
0 = Good, 1 = Error
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3.77 LOGLIST
List of system logs
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log lists which messages are currently being logged to each port and when. The following tables show the binary and ASCII output. See also the RXCONFIG log on page 764 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,1337,398279.996,02000000,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
Do not use undocumented logs or commands. Doing so may produce errors and void your warranty.
3.77.1 Binary
Field
Field type
Description
1
LOGLIST (binary) header
Log header. See Messages on page 25 for more information.
2
#logs
Number of messages to follow, maximum = 80
3
port
Output port, see Table 4: Detailed Port Identifier on page 31
4
message
Message ID of the log
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Enum 4 Ushort 2
H H+4 H+8
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Field
Field type
Description
5
6 7 8 9 10 11...
message type
Bits 0-4 = Reserved
Bits 5-6 = Format 00 = Binary 01 = ASCII 10 = Abbreviated ASCII, NMEA 11 = Reserved
Bit 7 = Response Bit (see Message Responses on page 41)
0 = Original Message 1 = Response Message
Reserved
trigger
0 = ONNEW 1 = ONCHANGED 2 = ONTIME 3 = ONNEXT 4 = ONCE 5 = ONMARK
period
Log period for ONTIME
offset
Offset for period (ONTIME trigger)
hold
0 = NOHOLD 1 = HOLD
Next log offset = H + 4 + (#logs x 32)
variable xxxx
32-bit CRC
Format
Binary Bytes
Binary Offset
Char
1
H+10
Char
1
H+11
Enum 4
H+12
Double 8 Double 8 Enum 4
H+16 H+24 H+32
Hex
4
H+4+ (#logs x 32)
3.77.2 ASCII
Field 1 2 3 4
Field type LOGLIST (ASCII) header #port
port
message
Description
Format
Log header. See Messages on page 25 for more information.
Number of messages to follow, maximum = 80
Long
Output port, see Table 4: Detailed Port Identifier on page 31 Enum
Message name of log with no suffix for abbreviated ASCII, an A suffix for ASCII and a B suffix for binary
Char [ ]
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Field Field type
5
trigger
6
period
7
offset
8
hold
9...
Next port
variable xxxx
variable [CR][LF]
Description ONNEW ONCHANGED ONTIME ONNEXT ONCE ONMARK Log period for ONTIME Offset for period (ONTIME trigger) NOHOLD HOLD
32-bit CRC Sentence terminator
Format
Enum
Double Double Enum
Hex -
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3.78 LUAFILELIST
List available Lua scripts
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This sequenced log informs the user of the available scripts, obtained from the ISO loaded onto the receiver. The size of the file, last change date in yyyymmdd format, last change time in hhmmss format, and path to the files are printed as well.
Message ID: 2151
Log Type: Polled
Recommended Input: LOG LUAFILELIST
Abbreviated ASCII Example:
[COM1]<LUAFILELIST COM1 6 89.5 UNKNOWN 0 4.000 02444020 b447 14635
<
0 20180202 151403 "/lua/uppercase.lua"
<LUAFILELIST COM1 5 90.5 UNKNOWN 0 4.000 02444020 b447 14635
<
2706 20180129 152042 "/lua/debugloop.lua"
<LUAFILELIST COM1 4 90.5 UNKNOWN 0 4.000 02444020 b447 14635
<
4692 20180202 110107 "/lua/parsetime.lua"
<LUAFILELIST COM1 3 90.5 UNKNOWN 0 4.000 02444020 b447 14635
<
4764 20180205 105415 "/lua/scom_rx.lua"
<LUAFILELIST COM1 2 90.5 UNKNOWN 0 4.000 02444020 b447 14635
<
3728 20180202 104830 "/lua/scomtunnel.lua"
<LUAFILELIST COM1 1 90.5 UNKNOWN 0 4.000 02444020 b447 14635
<
3044 20180201 144849 "/lua/scriptargs.lua"
<LUAFILELIST COM1 0 90.5 UNKNOWN 0 4.000 02444020 b447 14635
<
2337 20180129 155140 "/lua/sendtocom2.lua"
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
LUAFILELIST Log header. See Messages for more
header
information.
-
H
0
2
Size
File size (in Bytes)
Ulong 4
H
3
Date
Last change date
When viewed as a string, the date is of the
Ulong 4
form YYYYMMDD. So, numerically, the date is
(Year * 10000) + (Month * 100) + (Day).
H+4
4
Time
Last change time
When viewed as a string, the time is
Ulong 4
HHMMSS. So, numerically, the time is (Hour
* 10000) + (Minute * 100) + (Second).
H+8
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Field Field Type
Description
5
Path
The path to the Lua script
The maximum length of this string is 256 bytes.
Format
Binary Bytes
Binary Offset
String Variable H+12
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3.79 LUAFILESYSTEMSTATUS
Query mount status of Lua scripts
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this log to query the mount status of the ISO image that contains the Lua scripts loaded on to the receiver.
Message ID: 2150
Log Type: Asynch
Recommended Input: LOG LUAFILESYSTEMSTATUS
Abbreviated ASCII Example:
<LUAFILESYSTEMSTATUS COM1 0 90.0 UNKNOWN 0 0.204 02444020 b8f8 14635
<
MOUNTED ""
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
LUAFILESYSTEMSTATUS Log header. See Messages for
header
more information.
H
0
2
Status
The status of the file system. See
Table 113: File System Status
Enum 4
H
below.
3
Error
String that indicates the error message if mounting fails
The maximum length of this string is 52 bytes.
String Variable H+4
Table 113: File System Status
Value Description
1
UNMOUNTED
2
MOUNTED
3
BUSY
4
ERROR
5
UNMOUNTING
6
MOUNTING
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3.80 LUAOUTPUT
Output stderr and stdout from the Lua interpreter
Platform: OEM719, OEM729, OEM7500, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this log to output stderr and stdout messages from the Lua interpreter.
Message ID: 2240
Log Type: Asynch
Recommended Input: LOG LUAOUTPUT ONNEW
Abbreviated ASCII Example:
<LUAOUTPUT 0 346044.929
<
1 0 STDOUT "Lua 5.3.4
<LUAOUTPUT 0 346044.987
<
2 0 STDOUT "> "
Copyright (C) 1994-2017 Lua.org, PUC-Rio"
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
LUAOUTPUT Log header. See Messages for more
header
information.
-
H
0
2
Sequence Number
Running number of each LUAOUTPUT log produced by the system
Ulong 4
H
3
Executor Number
Lua Executor Number that produced the data Ulong 4
H+4
4
Data Source
See Table 114: Lua Data Source on the next page
Enum
4
H+8
5
Data
NULL-terminated string containing a single line of data from stderr or stdout. This string is not terminated with a carriage return or line feed.
This string contains only printable characters.
The maximum length of this string is 128 bytes.
String
Variable H+12
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Table 114: Lua Data Source
Binary ASCII
Description
0
STDOUT Data is from stdout
1
STDERR Data is from stderr
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3.81 LUASTATUS
Display status of Lua scripts
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Use this log to determine which scripts are running on the receiver and whether the scripts have exited or encountered errors.
Message ID: 2181
Log Type: Collection
Recommended Input: LOG LUASTATUS
Abbreviated ASCII Example:
[COM1]<LUASTATUS COM1 1 84.5 FINESTEERING 1963 402110.866 02400000 2e18 32768
<
0 "icom_rx.lua 127.0.0.1 3001" EXECUTING
<LUASTATUS COM1 0 84.5 FINESTEERING 1963 402110.866 02400000 2e18 32768
<
1 "" NOT_STARTED
The example above is for the projected log output for two executors.
Field Field Type
1
LUASTATUS header
2
Number
3
Script
4
Status
Description
Log header. See Messages for more information. Executor number
Script and arguments
Script status. See Table 115: Script Status below.
Format
Binary Bytes
H
Ulong
String [256]
4 Variable
Enum 4
Binary Format 0 H H+4
Variable
Binary
ASCII
0
NOT_STARTED
1
EXECUTING
2
COMPLETED
3
SCRIPT_ERROR
4
EXECUTOR_ ERROR
Table 115: Script Status Description
There is no script running on the executor The script is running The script completed successfully The script exited with an error The script executor encountered an error while attempting to run the script
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3.82 MARKPOS, MARK2POS, MARK3POS and MARK4POS
Position at time of mark input event
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the estimated position of the antenna when a pulse is detected at a mark input. MARKPOS is generated when a pulse occurs on the MK1I input. MARK2POS is generated when a pulse occurs on the MK2I input. MARK3POS is generated when a pulse occurs on the MK3I input (OEM7600, OEM7700 and OEM7720 only). MARK4POS is generated when a pulse occurs on the MK4I input (OEM7600, OEM7700 and OEM7720 only). Refer to the product specific Technical Specifications appendices in the OEM7 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 reference weeks and seconds into the week. The resolution of the latched time is 10 ns. See also the notes on MARKPOS in the MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME log on page 596.
Message ID:
181 (MARKPOS) 615 (MARK2POS) 1738 (MARK3POS) 1739 (MARK4POS)
Log Type: Asynch
Recommended Input: log markposa onnew
1. Use the ONNEW trigger with the MARKTIME or MARKPOS logs.
2. Refer to the Technical Specifications appendix in the OEM7 Installation and Operation User Manual for more details on the MK1I pin. ONMARK only applies to MK1I. Events on MK2I (if available) do not trigger logs when ONMARK is used. Use the ONNEW trigger with the MARKTIME, MARK2TIME, MARKPOS or MARK2POS logs.
3. Once the 1PPS signal has hit a rising edge, for both MARKPOS and MARKTIME logs, a resolution of both measurements is 10 ns. As for the ONMARK trigger for other logs that measure latency, for example RANGE and POSITION logs such as BESTPOS, it takes typically 20-30 ms (50 ms maximum) for the logs to output information from the 1PPS signal. Latency is the time between the reception of the 1PPS pulse and the first byte of the associated log. See also the MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME log on page 596.
Abbreviated ASCII Example:
<MARKPOS COM1 0 89.0 FINESTEERING 1670 413138.000 02000020 c223 42770 SOL_ COMPUTED SINGLE 51.11289233689 -114.02932170726 1018.9653 1049.4915 BUKIT 1.9372 1.1981 4.0909 "" 0.000 0.000 19 18 18 18 0 06 0 33
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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 about 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.
Field Field type
Description
MARKPOS/
1
MARK2POS/ MARK3POS/ MARK4POS
Log header. See Messages on page 25 for more information.
header
2
sol status
Solution status (see Table 74: Solution Status on page 436)
3
pos type
Position type (see Table 75: Position or Velocity Type on page 437)
4
lat
Latitude (degrees)
5
lon
Longitude (degrees)
6
hgt
Height above mean sea level (m)
Undulation - the relationship between the geoid and the WGS84 ellipsoid (m)
Format
Binary Bytes
Binary Offset
H
0
Enum 4
Enum 4 Double 8 Double 8 Double 8
H
H+4 H+8 H+16 H+24
7
undulation
8
datum id#
9
lat
10
lon
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.
Float
4
Datum ID number (refer to Table 29: Datum Transformation Parameters on page 121)
Enum
4
Latitude standard deviation (m)
Float
4
Longitude standard deviation (m)
Float
4
H+32
H+36 H+40 H+44
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Field Field type
Description
Format
Binary Bytes
Binary Offset
11
hgt
Height standard deviation (m)
Float
4
H+48
12
stn id
Base station ID
Char[4] 4
H+52
13
diff_age
Differential age in seconds
Float
4
H+56
14
sol_age
Solution age in seconds
Float
4
H+60
15
#SVs
Number of satellites tracked
Uchar 1
H+64
16
#solnSVs
Number of satellite vehicles used in solution Uchar 1
H+65
17
#ggL1
Number of satellites with L1/E1/B1 signals used in solution
Uchar
1
H+66
18
#solnMultiSVs
Number of satellites with multi-frequency signals used in solution
Uchar 1
H+67
19
Reserved
Uchar 1
H+68
20
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Hex
1
H+69
Galileo and
Galileo and BeiDou signals used mask (see
21
BeiDou sig
Table 77: Galileo and BeiDou Signal-Used Hex
1
mask
Mask on page 440)
H+70
GPS and
GPS and GLONASS signals used mask (see
22
GLONASS sig Table 76: GPS and GLONASS Signal-Used
Hex
1
mask
Mask on page 439)
H+71
23
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+72
24
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.83 MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME
Time of mark input event
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the time of the leading edge of the detected mark input pulse.
l MARKTIME is generated when a pulse occurs on a MK1I input
l MARK2TIME is generated when a pulse occurs on a MK2I input
l MARK3TIME is generated when a pulse occurs on a MK3I input (OEM7600, OEM7700 and OEM7720 only)
l MARK4TIME is generated when a pulse occurs on a MK4I input (OEM7600, OEM7700 and OEM7720 only)
Refer to the Technical Specifications appendix in the OEM7 Installation and Operation User Manual for mark input pulse specifications and the location of the mark input pins. The resolution of this measurement is 10 ns.
1. Use the ONNEW trigger with the MARKTIME or the MARKPOS logs.
2. Only the MARKPOS logs, 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.
3. Refer to the Technical Specifications appendix in the OEM7 Installation and Operation User Manual for more details on the MK1I pin. ONMARK only applies to MK1I. Events on MK2I (if available) do not trigger logs when ONMARK is used. Use the ONNEW trigger with the MARKTIME, MARK2TIME, MARKPOS or MARK2POS logs.
4. Once the 1PPS signal has hit a rising edge, for both MARKPOS and MARKTIME logs, a resolution of both measurements is 10 ns. As for the ONMARK trigger for other logs that measure latency, for example RANGE and POSITION logs such as BESTPOS, it takes typically 20-30 ms (50 ms maximum) for the logs to output information from the 1PPS signal. Latency is the time between the reception of the 1PPS pulse and the first byte of the associated log. See also the MARKPOS, MARK2POS, MARK3POS and MARK4POS log on page 593.
Message ID:
231 (MARKTIME) 616 (MARK2TIME) 1075 (MARK3TIME) 1076 (MARK4TIME)
Log Type: Asynch
Recommended Input: log marktimea onnew
ASCII Example:
#MARKTIMEA,COM1,0,77.5,FINESTEERING,1358,422621.000,02000000,292e,2214;1358,422 621.000000500,-1.398163614e-08,7.812745577e-08,-14.000000002,VALID*d8502226
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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 239.
GPS reference time is the receiver's estimate of the true GPS system time. GPS reference time can be found in the header of the log. The relationship between GPS reference time and true GPS system time is: GPS system time = GPS reference time - offset
Field Field type
Description
Format
Binary Bytes
Binary Offset
MARKTIME/
1
MARK2TIME/ MARK3TIME/ MARK4TIME
Log header. See Messages on page 25 for more information.
header
H
0
2
week
GPS reference week number
Long
4
H
3
seconds
Seconds into the week as measured from the
receiver clock, coincident with the time of
Double 8
electrical closure on the Mark Input port
H+4
4
offset
Receiver clock offset, in seconds. A positive
offset implies that the receiver clock is ahead
of GPS system time. To derive GPS system
time, use the following formula:
GPS system time = GPS reference time -
Double 8
(offset)
Where GPS reference time can be obtained from the log header
H+12
5
offset std
Standard deviation of receiver clock offset (s) Double 8
H+20
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Field Field type
6
utc offset
Description
This field represents the offset of GPS system time from UTC time (s), computed using almanac parameters. UTC time is GPS reference time plus the current UTC offset minus the receiver clock offset.
UTC time = GPS reference time - offset + UTC offset
Format
Binary Bytes
Binary Offset
Double 8
H+28
0 indicates that UTC time is unknown because there is no almanac available in order to acquire the UTC offset.
7
status
Clock model status, see Table 87: Clock Model Status on page 462
8
xxxx
32-bit CRC (ASCII and Binary only)
9
[CR][LF]
Sentence terminator (ASCII only)
Enum 4
Ulong 4
-
-
H+36 H+40 -
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3.84 MASTERPOS
Master Position using ALIGN
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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. This log can be output from both Y and Z ALIGN models and can be output at both Master and Rover ends.
You must have an ALIGN capable receiver to use this log.
1. ALIGN is useful for obtaining the relative directional heading of a vessel/body, separation heading between two vessels/bodies or heading information with moving base and pointing applications.
2. The log can be output at both Y and Z model Rover if it is receiving the RTCAREFEXT or NovAtelXRef message from the Master. The log can be output at any Master if the Master is receiving HEADINGEXTB or HEADINGEXT2B from the Rover. Refer to the NovAtel application note APN-048 for details on HEADINGEXT (available on our website at www.novatel.com/support/.)
3. MASTERPOS logging is dictated by the output frequency of the RTCAREFEXT or NovAtelXRef output frequency.
Message ID: 1051
Log Type: Asynch
Recommended Input: log masterposa onchanged
ASCII Example: #MASTERPOSA,COM1,0,21.5,FINESTEERING,1544,340322.000,02000008,5009,4655;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*a72e8d3f
Asynchronous logs, such as MASTERPOS, should only be logged ONCHANGED or ONNEW otherwise, the most current data is not output when it is available. This is especially true of the ONTIME trigger, which may cause inaccurate time tags to result.
Field Field Type
Description
1
MASTERPOS Log header. See Messages on page 25 for
header
more information.
Format
Binary Bytes
Binary Offset
H
0
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Field Field Type
Description
Format
Binary Bytes
Binary Offset
2
sol stat
Solution Status, see Table 74: Solution Status on page 436
Enum
4
H
3
pos type
Position Type see Table 75: Position or Velocity Type on page 437
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) (refer to Table 29: Datum Transformation Parameters on page 121)
Enum 4
H+36
9
lat
Latitude standard deviation in metres
Float
4
H+40
10
long
Longitude standard deviation in metres
Float
4
H+44
11
hgt
Height standard deviation in metres
Float
4
H+48
12
stn id
Receiver ID can be set using the DGPSTXID command (see page 127)
Char[4] 4
H+52
13 Reserved
14
Float
4
Float
4
H+56 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 with L1/E1/B1 signals used in solution
Uchar 1
H+66
18
#multi
Number of satellites with multi-frequency signals used in solution
Uchar 1
H+67
19
sol source
Solution source (see Table 104: Solution Source on page 549)
Hex
1
H+68
20
Uchar 1
H+69
21
Reserved
Uchar 1
H+70
22
Uchar 1
H+71
23
xxxx
32-bit CRC (ASCII and Binary only)
HEX
1
H+72
24
[CR][LF]
Sentence Terminator (ASCII only)
-
-
-
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3.85 MATCHEDPOS
Matched RTK position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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, that is, 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 log (see page 754) or BESTPOS log (see page 433). The data in the logs changes only when a base observation (RTCMv3) 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.
The RTK system in the receiver provides two kinds of position solutions. The Matched RTK position is computed with buffered observations, so there is no error due to the extrapolation of base station measurements. This provides the highest accuracy solution possible at the expense of some latency which is affected primarily by the speed of the differential data link. The MATCHEDPOS log contains the matched RTK solution and can be generated for each processed set of base station observations. The Low-Latency RTK position is computed from the latest local observations and extrapolated base station observations. This supplies a valid RTK position with the lowest latency possible at the expense of some accuracy. The degradation in accuracy is reflected in the standard deviation and is summarized in An Introduction to GNSS available on our website. The amount of time that the base station observations are extrapolated is in the "differential age" field of the position log. The Low-Latency RTK system extrapolates for 60 seconds. The RTKPOS log (see page 754) contains the LowLatency RTK position when valid, and an "invalid" status when a Low-Latency RTK solution could not be computed. The BESTPOS log (see page 433) contains either the low-latency RTK, PPP or pseudorange-based position, whichever has the smallest standard deviation.
Message ID: 96
Log Type: Asynch
Recommended Input: log matchedposa onchanged
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ASCII Example: #MATCHEDPOSA,COM1,0,63.0,FINESTEERING,1419,340034.000,02000040,2f06,2724;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*fea c3a3a
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 GNSS receiver. Position precision is a value that shows the accuracy of the position computation 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 GNSS receiver is a civilian grade GPS device and does not have direct access to the decrypted military L2 P(Y) code. This means that NovAtel's semi-codeless P-code L2 measurements are noisier than the civilian band C/A code measurements. Refer to the OEM7 Installation and Operation User Manual for the technical specification of the OEM7 card.
Field Field type
Description
1
MATCHEDPOS Log header. See Messages on page 25 for
header
more information.
2
sol status
Solution status (see Table 74: Solution Status on page 436)
3
pos type
Position type (see Table 75: Position or Velocity Type on page 437)
4
lat
Latitude (degrees)
5
lon
Longitude (degrees)
6
hgt
Height above mean sea level (m)
Undulation - the relationship between the geoid and the WGS84 ellipsoid (m)
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
Enum 4
Double 8 Double 8 Double 8
H+4
H+8 H+16 H+24
7
undulation
When using a datum other than WGS84, the undulation value also includes the vertical shift due to differences between the datum in use and WGS84.
Float
4
8
datum id#
Datum ID number (see Table 29: Datum Transformation Parameters on page 121)
Enum 4
9
lat
Latitude standard deviation (m)
Float
4
H+32
H+36 H+40
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Field Field type
Description
Format
Binary Bytes
Binary Offset
10
lon
Longitude standard deviation (m)
Float
4
H+44
11
hgt
Height standard deviation (m)
Float
4
H+48
12
stn id
Base station ID
Char[4] 4
H+52
13 Reserved
14
Float
4
Float
4
H+56 H+60
15
#SVs
Number of satellites tracked
Uchar 1
H+64
16
#solnSVs
Number of satellite vehicles used in solution Uchar 1
H+65
17
#ggL1
Number of satellites with L1/E1/B1 signals used in solution
Uchar
1
H+66
18
#solnMultiSVs
Number of satellites with multi-frequency signals used in solution
Uchar 1
H+67
19
Reserved
Hex
1
H+68
20
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Hex
1
H+69
Galileo and
Galileo and BeiDou signals used mask (see
21
BeiDou sig
Table 77: Galileo and BeiDou Signal-Used Hex
1
mask
Mask on page 440)
H+70
GPS and
GPS and GLONASS signals used mask (see
22
GLONASS sig Table 76: GPS and GLONASS Signal-Used
Hex
1
mask
Mask on page 439)
H+71
23
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+72
24
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.86 MATCHEDSATS
Satellites used in MATCHEDPOS solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log lists the used and unused satellites for the corresponding MATCHEDPOS solution. It also describes the signals of the used satellites and reasons for exclusions.
Message ID: 1176
Log Type: Asynch
Recommended Input: log matchedsats onchanged
Abbreviated ASCII Example:
<MATCHEDSATS COM1 0 60.5 FINESTEERING 1728 524924.000 02000000 b555 11487
<
24
<
GPS 3 GOOD 00000003
<
GPS 5 GOOD 00000003
...
<
GPS 23 GOOD 00000003
<
GPS 30 GOOD 00000003
<
GLONASS 1+1 GOOD 00000003
<
GLONASS 2-4 GOOD 00000003
...
<
GLONASS 21+4 GOOD 00000003
<
BEIDOU 6 GOOD 00000003
<
BEIDOU 11 GOOD 00000003
...
<
BEIDOU 12 GOOD 00000003
<
BEIDOU 13 GOOD 00000003
Field Field type
Description
1
MATCHEDSATS Log header. See Messages on page 25 for
header
more information.
2
#entries
Number of records to follow
3
system
See Table 105: Satellite System on page 553
4
Satellite ID
Satellite identifier
5
Status
Satellite status (Table 80: Observation Statuses on page 443)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
H
Enum 4
H+4
Ulong 4
H+8
Enum 4
H+12
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Field Field type
6
Signal mask
Description
See Table 81: BESTSATS GPS Signal Mask on page 444, Table 82: BESTSATS GLONASS Signal Mask on page 445, Table 83: BESTSATS Galileo Signal Mask on page 445, and Table 84: BESTSATS BeiDou Signal Mask on page 445
Format
Binary Bytes
Binary Offset
Hex
4
H+16
7
Next satellite offset = H + 4 + (#sat x 16)
8
xxxx
32-bit CRC (ASCII and Binary only)
Hex
1
H+4+ (#sat x 16)
9
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.87 MATCHEDXYZ
Matched RTK Cartesian position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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, that is, 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 11: The WGS84 ECEF Coordinate System on page 454 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 log (see page 452) or RTKXYZ log (see page 761). The data in the logs changes only when a base observation (RTCMv3) changes.
The time stamp in the header is the time of the matched observations that the computed position is based on and 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,1419,340035.000,02000040,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*e4b 84015
Field Field type
Description
1
MATCHEDXYZ Log header. See Messages on page 25 for
header
more information.
2
P-sol status
Solution status, see Table 74: Solution Status on page 436
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
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Field Field type
Description
Format
Binary Bytes
Binary Offset
3
pos type
Position type, see Table 75: Position or Velocity Type on page 437
Enum
4
H+4
4
P-X
Position X-coordinate (m)
Double 8
H+8
5
P-Y
Position Y-coordinate (m)
Double 8
H+16
6
P-Z
Position Z-coordinate (m)
Double 8
H+24
7
P-X
Standard deviation of P-X (m)
Float
4
H+32
8
P-Y
Standard deviation of P-Y (m)
Float
4
H+36
9
P-Z
Standard deviation of P-Z (m)
Float
4
H+40
10
stn ID
Base station ID
Char[4] 4
H+44
11
#SVs
Number of satellites tracked
Uchar 1
H+48
12
#solnSVs
Number of satellite vehicles used in solution Uchar 1
H+49
13
#ggL1
Number of satellites with L1/E1/B1 signals used in solution
Uchar
1
H+50
14
#solnMultiSVs
Number of satellites with multi-frequency signals used in solution
Uchar 1
H+51
15
Reserved
Char
1
H+52
16
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Hex
1
H+53
Galileo and
Galileo and BeiDou signals used mask (see
17
BeiDou sig
Table 77: Galileo and BeiDou Signal-Used Hex
1
mask
Mask on page 440)
H+54
GPS and
GPS and GLONASS signals used mask (see
18
GLONASS sig Table 76: GPS and GLONASS Signal-Used
Hex
1
mask
Mask on page 439)
H+55
19
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+56
20
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.88 MODELFEATURES
States features available for current loaded model
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The MODELFEATURES log states the features available for the current loaded model.
To see which satellite systems are available for the current model, use the CHANCONFIGLIST log (see page 457).
Most features have a boolean state: authorized or unauthorized. However, some have more complex licensed states with varying degrees of capability.
This log is best viewed in Abbreviated ASCII.
Message ID: 1329
Log Type: Polled
Recommended Input: log modelfeatures once
Abbreviated ASCII Example:
<MODELFEATURES COM1 0 92.5 COARSESTEERING 2007 237316.648 02400000 141a 14898
<
20
<
1HZ MAX_MSR_RATE
<
0HZ MAX_POS_RATE
<
SINGLE ANTENNA
<
AUTHORIZED NTRIP
<
UNAUTHORIZED IMU
<
UNAUTHORIZED INS
<
UNAUTHORIZED MEAS_OUTPUT
<
UNAUTHORIZED DGPS_TX
<
UNAUTHORIZED RTK_TX
<
UNAUTHORIZED RTK_FLOAT
<
UNAUTHORIZED RTK_FIXED
<
UNAUTHORIZED PPP
<
UNAUTHORIZED LOW_END_POSITIONING
<
UNAUTHORIZED RAIM
<
UNAUTHORIZED ALIGN_HEADING
<
UNAUTHORIZED ALIGN_RELATIVE_POS
<
UNAUTHORIZED API
<
UNAUTHORIZED INTERFERENCE_MITIGATION
<
UNAUTHORIZED RTKASSIST
<
UNAUTHORIZED SCINTILLATION
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Field
Field type
Description
1
MODELFEATURES Log header. See Messages on
header
page 25 for more information.
Format
Binary Bytes
Binary Offset
-
H
0
2
# Feature
Number of features in list
Ulong 4
H
Licensing status of feature
3
Feature Status
See Table 116: Feature Status
below
Enum 4
Type of feature
4
Feature Type
See Table 117: Feature Type on the Enum 4
next page
H+4 H+8
5... Next feature = H+4+(# Feature x 8)
6
xxxx
32-bit CRC (ASCII and Binary only) Ulong 4
H+4+(# Feature x 8)
7
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
Table 116: Feature Status
Value
Name
Description
0
AUTHORIZED
The feature is authorized
1
UNAUTHORIZED
The feature is unauthorized
2
0Hz
Disables output of POS logs
6
20Hz
Maximum logging rate for POS or MSR logs is 20 Hz
8
100Hz
Maximum logging rate for POS or MSR logs is 100 Hz
9
RATE_INVALID
Option bits don't correspond to a valid rate
15
STANDARD
SPAN Standard Model
20
COMMERCIAL_MEMS
IMU Grade-Commercial MEMS
21
TACTICAL
IMU Grade-Tactical
22
HIGH_GRADE_TACTICAL
IMU Grade-High Grade Tactical
23
NAVIGATION
IMU Grade-Navigation
25
SINGLE
Single antenna
26
DUAL
Dual antenna
30
LITE
SPAN Lite Model
33
CONSUMER_MEMS
IMU Grade-Consumer MEMS
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Value
Name
0
MAX_MSR_RATE
1
MAX_POS_RATE
3
MEAS_OUTPUT
4
DGPS_TX
5
RTK_TX
6
RTK_FLOAT
7
RTK_FIXED
8
RAIM
9
LOW_END_ POSITIONING
10
ALIGN_HEADING
11
ALIGN_RELATIVE_POS
12
API
15
NTRIP
19
PPP
20
SCINTILLATION
22
INS
23
IMU
FEATURE_
26
INTERFERENCE_
MITIGATION
28
ANTENNA
29
GENERIC_IMU
30
INS_PLUS_PROFILES
31
HEAVE
32
RELATIVE_INS
999 MODEL_INVALID
Table 117: Feature Type Description
Maximum measurement logging rate Maximum position logging rate Output of raw measurements (phase and pseudorange) Transmission of DGPS (non RTK) corrections Transmission of RTK corrections RTK float positioning RTK fixed positioning Extended RAIM
GLIDE and TerraStar-L positioning
Heading Heading and Relative Positioning Lua Scripted User Interface (formerly User Application API) NTRIP Server/Client TerraStar-C positioning Scintillation Inertial (SPAN) IMU Grade
Interference Mitigation
Number of antenna enabled on the receiver SPAN Generic IMU Interface SPAN Plus Profiles SPAN Heave Option SPAN Relative INS If a bad model is loaded, MODELFEATURES will contain one entry: MODEL_INVALID STATUS_INVALID
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3.89 NAVICALMANAC
Decoded NavIC Almanac
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the decoded NavIC almanac parameters from NavIC navigation messages. Multiple messages are transmitted, one for each satellite ID with data. The OEM7 family of receivers automatically save almanacs in their Non-Volatile Memory (NVM), so creating an almanac boot file is not necessary.
Message ID: 2122
Log Type: Asynch
Recommended Input: log navicalmanaca onchanged
ASCII Example: #NAVICALMANACA,COM1,4,69.5,SATTIME,1943,158160.000,02000020,fb6e,32768 ;919,0.001982212,86400,0.075264303,8.457495146e-10,6493.383789062, 1.327344662,2.996060720,2.542881375,-0.000580788,7.275957614e-12, 6,0,0,5*05cfbc62
#NAVICALMANACA,COM1,3,69.5,SATTIME,1943,156276.000,02000020,fb6e,32768 ;919,0.001962662,0,0.509411950,2.742971399e-10,6493.538574219, 1.844826864,3.107479183,-3.001633760,-0.000161171,-5.093170330e-11, 4,0,0,7*8fbd9e3a
#NAVICALMANACA,COM1,2,69.5,SATTIME,1943,158148.000,02000020,fb6e,32768 ;919,0.001979351,86400,0.499982612,2.400099974e-10,6493.359375000, -1.300198895,-3.061969089,0.047002130,0.000025749,-3.637978807e-12, 5,0,0,5*be12ffa2
#NAVICALMANACA,COM1,1,69.5,SATTIME,1943,157620.000,02000020,fb6e,32768 ;919,0.001854897,86400,0.509561753,1.371485699e-10,6493.388671875, 1.842267109,3.032190537,2.385950946,0.000114441,-5.456968211e-11, 2,0,0,5*b64cf69c
#NAVICALMANACA,COM1,0,69.5,SATTIME,1943,156804.000,02000020,fb6e,32768 ;919,0.000161171,86400,0.076541746,1.142904749e-09,6493.613281250, 1.349937548,0.783248119,0.142653098,0.000204086,-8.003553376e-11, 7,0,0,7*495808b9
The speed at which the receiver locates and locks onto new satellites is improved if the receiver has approximate time and position, as well as an almanac. This allows the receiver to compute the elevation of each satellite so it can tell which satellites are visible and their Doppler offsets, improving Time to First Fix (TTFF).
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Field Field Type
Description
1
NAVICALMANAC Log header. See Messages on page 25 for
header
more information.
2
WNa
Week number for the almanac since the IRNSS system time start epoch (August 22nd 1999)
3
Ecc
Eccentricity (dimensionless)
4
Toa
Time of Almanac (sec)
5
I0
Inclination angel (radians)
6
OmegaDot
Rate of RAAN (radians/sec)
7
RootA
Square root of semi-major axis(sqrt (metres))
8
Omega0
Longitude of ascending node (LAN) (radians)
9
Omega
Argument of perigee (radians)
10
M0
Mean Anomaly (radians)
11
Af0
Clock bias A0 (sec)
12
Af1
Clock Drift A1 (sec/sec)
13
AlmSVID
PRN ID for Almanac
14
InterSigCorr
Inter Signal Correction (sec)
15
Spare
16
PRN
Satellite Identifier
17
xxxx
32-bit CRC (ASCII and Binary only)
18
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
Double 8 Ulong 4 Double 8 Double 8
Double 8
Double 8
Double 8
Double 8
Double 8
Double 8
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Hex
4
-
-
H
H+4 H+12 H+16 H+24
H+32
H+40
H+48 H+56 H+64 H+72 H+80 H+84 H+88 H+92 H+96 -
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3.90 NAVICEPHEMERIS
Decoded NavIC Ephemeris
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains NavIC ephemeris parameters with the appropriate scaling applied. Multiple messages are transmitted, one for each SV ephemeris collected.
Message ID: 2123
Log Type: Asynch
Recommended Input: log navicephemerisa onchanged
ASCII Example: #NAVICEPHEMERISA,COM1,5,74.0,SATTIME,1943,255984.000,02000020,01fa, 32768;2,919,1.05838757e-04,-5.63886715e-11,0.00000000,0,252000, -1.86e-09,3.2829938927e-09,11,0,0,0,1.922249794e-06,1.032650471e-05, 2.011656761e-07,4.097819328e-08,-230.9375000,66.1250000, -5.239503961e-10,0,1.900019163,252000,1.8492219970e-03,6493.385761, 1.842761896e+00,3.027013584,-2.94012247e-09,5.0965660552e-01,0,0,0 *d2f4c9a5
#NAVICEPHEMERISA,COM1,4,74.0,SATTIME,1943,255984.000,02000020,01fa, 32768;6,919,-5.79587650e-04,1.02318154e-11,0.00000000,1,252000, -1.86e-09,8.5817860373e-09,11,0,0,0,-1.282989979e-05,2.417713404e-06, 1.974403858e-07,2.644956112e-07,-83.3125000,-395.3125000, -5.535944880e-10,0,2.050709297,252000,1.9699299010e-03,6493.408867, 1.328589850e+00,2.996532035,-7.66746224e-09,7.5298187077e-02,0,0,0 *50cdb388
...
#NAVICEPHEMERISA,COM1,0,74.0,SATTIME,1943,255984.000,02000020,01fa, 32768;7,919,1.90386083e-04,-8.28777047e-11,0.00000000,1,255024, -1.40e-09,6.3988379659e-09,252,0,0,0,-8.992850780e-06, -1.732259989e-06,-9.313225746e-08,-2.235174179e-08,60.1250000, -266.1875000,-3.928735076e-10,0,-0.445949980,255024,2.4348858278e-04, 6493.269802,1.351327715e+00,1.099632488,-5.54308803e-09, 7.6573741924e-02,0,0,0*01bf330e
Field
Field Type
Description
1
NAVICEPHEMERIS Log header. See Messages on page 25
header
for more information.
2
PRN
Satellite Identifier (1 to 7)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
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Field
Field Type
3
WN
4
Af0
5
Af1
6
Af2
7
URA
8
toc
9
TGD
10
DeltaN
11
IODEC
12
Reserved
13
L5 Health
14
S Health
15
Cuc
16
Cus
17
Cic
18
Cis
19
Crc
Description
Week number since the IRNSS system time start epoch (August 22nd 1999)
Clock bias (sec)
Clock drift (sec/sec) Clock drift rate (sec/sec2)
SV Accuracy
Reference time for the satellite clock corrections (sec)
Total group delay (sec)
Mean motion difference (radian/sec)
Issue of data ephemeris and clock
Health status of navigation data on L5 SPS signal 0=OK; 1=bad
Health status of navigation data on S SPS signal 0=OK; 1=bad
Amplitude of the cosine harmonic correction term to the argument of latitude (radians)
Amplitude of the sine harmonic correction term to the argument of latitude (radians)
Amplitude of the cosine harmonic correction term to the angle of inclination (radians)
Amplitude of the sine harmonic correction term to the angle of inclination (radians)
Amplitude of the cosine harmonic correction term to the orbit radius (metres)
Format
Binary Bytes
Binary Offset
Ulong 4
H+4
Double 8 Double 8 Double 8 Ulong 4
H+8 H+16 H+24 H+32
Ulong 4
H+36
Double 8 Double 8 Ulong 4 Ulong 4
H+40 H+48 H+56 H+60
Ulong 4
H+64
Ulong 4
H+68
Double 8 Double 8 Double 8 Double 8 Double 8
H+72 H+80 H+88 H+96 H+104
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Field
Field Type
20
Crs
21
IDOT
22
Spare
23
M0
24
toe
25
Ecc
26
RootA
27
Omega0
28
Omega
29
OmegaDot
30
I0
31
Spare
32
Alert flag
33
AutoNav flag
34
xxxx
35
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
Amplitude of the sine harmonic correction term to the orbit radius (metres)
Double 8
H+112
Rate of inclination angle (radians/sec)
Double 8
H+120
Ulong 4
H+128
Mean anomaly (radians)
Double 8
H+132
Time of ephemeris (sec)
Ulong 4
H+140
Eccentricity (dimensionless)
Double 8
H+144
Square root of semi-major axis (sqrt (metres))
Double 8
H+152
Longitude of ascending node (radians)
Double 8
H+160
Argument of perigee (radians)
Double 8
H+168
Rate of RAAN (radians/sec)
Double 8
H+176
Inclination angle (radians)
Double 8
H+184
Ulong 4
H+192
The utilization of navigation data shall be
at the users' own risk.
Ulong 4
1=Alert; 0=OK )
H+196
When set to 1, satellite is in AutoNav
mode.
Satellite broadcasts primary navigation parameters from AutoNav data sets with
Ulong
4
no uplink from ground for maximum of 7
days
H+200
32-bit CRC (ASCII and Binary only)
Hex
4
H+204
Sentence terminator (ASCII only)
-
-
-
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3.91 NAVICIONO
NavIC ionospheric coefficients parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains NavIC ionospheric coefficients parameters. Ionospheric error correction for single frequency (L5) users of the NavIC are provided through a set of eight coefficients. The correction coefficients are:
l 4 Alpha Coefficients (n; n=0,1,2,3) These are the coefficients of the cubic polynomial representing the amplitude of the positive cosine curve in the cosine model approximation of ionospheric delay.
l 4 Beta Coefficients (n; n=0,1,2,3) These are the coefficients of the cubic polynomial representing the period of the positive cosine curve in the cosine model approximation of ionospheric delay.
Message ID: 2124
Log Type: Asynch
Recommended Input: log navicionoa onchanged
ASCII Example: #NAVICIONOA,COM1,0,92.5,SATTIME,1944,166272.000,02000020,56c0,32768; 5,2.980232238769531e-08,3.874301910400390e-07,-2.562999725341796e-06, -7.510185241699216e-06,558.0,168.0,-2286.0,2286.0,0*2b250bbd
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
NAVICIONO header
Log header. See Messages on page 25 for more information.
-
H
0
2
PRN
Satellite Identifier of the transmitting NavIC SV (from 1 to 7)
Ulong 4
H
3
Alpha 0
Coefficient of the amplitude of the vertical delay constant term (sec)
Double 8
H+4
4
Alpha 1
Coefficient of the amplitude of the vertical delay first-order term (sec/semi-circle)
Double 8
H+12
5
Alpha 2
Coefficient of the amplitude of the vertical delay second-order term (sec/(semi-circle)2)
Double 8
H+20
6
Alpha 3
Coefficient of the amplitude of the vertical delay third-order term (sec/(semi-circle)3)
Double 8
H+28
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Field Field Type
Description
Format
Binary Bytes
Binary Offset
7
Beta 0
The coefficient of a cubic equation representing the period of the model constant term (sec)
Double
8
H+36
8
Beta 1
The coefficient of a cubic equation representing
the period of the model first-order term
Double 8
(sec/semi-circle)
H+44
9
Beta 2
The coefficient of a cubic equation representing
the period of the model second-order term
Double 8
(sec/(semi-circle)2)
H+52
10
Beta 3
The coefficient of a cubic equation representing
the period of the model third-order term (sec/ Double 8 (semi-circle)3)
H+60
11
Spare
Ulong 4
H+68
12
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+72
13
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.92 NAVICRAWSUBFRAME
Raw NavIC subframe data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the raw NavIC subframe data with parity bits removed. Only subframes that have passed the parity check are output.
Message ID: 2105
Log Type: Asynch
Recommended Input: log navicrawsubframea onchanged
ASCII Example: #NAVICRAWSUBFRAMEA,COM1,0,72.5,SATTIME,1943,159168.000,02000020,76af,32768;182, 7,1,8b19e883971a005bf4880009ab3f400eac0af84f7541befff78018e6d7e1dfacd1*88c2ba19 #NAVICRAWSUBFRAMEA,COM1,0,72.5,SATTIME,1943,159168.000,02000020,76af,32768;177, 2,1,8b19e883970e8fc3f8500009ab3f00087f0af8415e4232800f7fd9eb8650b7b630*c7e27e82 #NAVICRAWSUBFRAMEA,COM1,0,72.5,SATTIME,1943,159168.000,02000020,76af,32768;181, 6,1,8b19e88397b3e73401600009ab3f0012370af84f550327c032800ad1d9da339260*0bb7b256 #NAVICRAWSUBFRAMEA,COM1,0,72.5,SATTIME,1943,159168.000,02000020,76af,32768;180, 5,1,8b19e88397036703ff1c0049ab3fc009b10af84fe7e3773ffd7fd6d8f5fddc4181*f42f59ab
Field
Field Type
Description
Format
Binary Bytes
1
NAVICRAWSUBFRAME Log header. See Messages on
header
page 25 for more information.
-
H
2
Signal channel
Signal channel providing the data Ulong 4
3
PRN
Satellite Identifier of transmitting NavIC SV (from 1 to 7)
Ulong
4
4
Subframe Id
Subframe ID
Ulong 4
Raw subframe data (262 bits).
5
Raw subframe data
Hex[33] 33
Does not include CRC or Tail bits
6
xxxx
32-bit CRC (ASCII and Binary only) Hex
4
7
[CR][LF]
Sentence terminator (ASCII only) -
-
Binary Offset 0 H H+4 H+8
H+12
H+45 -
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3.93 NAVICSYSCLOCK
NavIC clock parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log provides the NavIC system time offset with respect to UTC, UTC (NPLI) and other GNSS times such as GPS, GALILEO, GLONASS.
Message ID: 2125
Log Type: Asynch
Recommended Input: log navicsysclocka onchanged
ASCII Example: #NAVICSYSCLOCKA,COM1,0,93.0,SATTIME,1944,166320.000,02000020,3dfd, 32768;7,-7.625203579664230e-09,-1.598721155460225e-14, 0.000000000000000e+00,18,32508,920,905,7,18,2,2.149608917534351e-07, -5.151434834260726e-14,-1.998997755520149e-19,32508,920,0*f6617e67
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
NAVICSYSCLOCK Log header. See Messages on page 25 for
header
more information.
H
0
2
PRN
Satellite Identifier of the transmitting NavIC SV (from 1 to 7)
Ulong 4
H
3
A0utc
Bias coefficient of the NavIC time scale relative to the UTC time scale (sec)
Double 8
H+4
4
A1utc
Drift coefficient of the NavIC time scale relative to the UTC time scale (sec/sec)
Double 8
H+12
5
A2utc
Drift rate coefficient of the NavIC time
scale relative to the UTC time scale (sec/sec2)
Double 8
H+20
6
tLS
Current or past leap second count (sec) Long
4
H+28
7
Toutc
Time data reference time of week (sec) Ulong 4
H+32
8
WNoutc
Time data reference week number (week) Ulong 4
H+36
9
WNLSF
Leap second reference week number (week)
Ulong 4
H+40
10
DN
Leap second reference day number (days) Ulong 4
H+44
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Field Field Type
11
tLSF
12
GNSSID
13
A0
14
A1
15
A2
16
Tot
17
WNot
18
Spare
19
xxxx
20
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
Current or future leap second count (sec) Long
4
H+48
Timescale for the time offsets with respect to NavIC (Table 118: GNSS Time Ulong 4 Scales below)
H+52
Bias coefficient of the NavIC time scale relative to the GNSS time scale (sec)
Double 8
H+56
Drift coefficient of the NavIC time scale relative to the GNSS time scale (sec/sec)
Double
8
H+64
Drift rate correction coefficient of the
NavIC time scale relative to the GNSS time scale (sec/sec2)
Double 8
H+72
Time data reference time of week (sec) Ulong 4
H+80
Time data reference week number (week) Ulong 4
H+84
Ulong 4
H+88
32-bit CRC (ASCII and Binary only)
Hex
4
H+92
Sentence terminator (ASCII only)
-
-
-
Table 118: GNSS Time Scales
GNSS ID Time Scale
0
GPS
1
GALILEO
2
GLONASS
3-6
Reserved
7
UTC (NPLI)
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3.94 NAVIGATE
User navigation data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log reports the status of the waypoint navigation progress. It is used in conjunction with the SETNAV command (see page 350). See the figure below for an illustration of navigation parameters.
The SETNAV command (see page 350) must be enabled before valid data will be reported from this log.
Figure 12: Navigation Parameters
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
Message ID: 161
Log Type: Sync
Recommended Input: log navigatea ontime 1
ASCII Example:
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#NAVIGATEA,COM1,0,56.0,FINESTEERING,1337,399190.000,02000000,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 (see page 350) 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 from where you started. For example, a backpacker 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 defined route.
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
NAVIGATE Log header. See Messages on page 25 for more
header
information.
H
0
2
sol status
Solution status, see Table 74: Solution Status on page 436
Enum
4
H
3
pos type
Position type, see Table 75: Position or Velocity Type on page 437
Enum
4
H+4
4
vel status
Velocity status, see Table 74: Solution Status on page 436
Enum
4
H+8
5
nav type
Navigation data type (see Table 119: Navigation Data Type on the next page)
Enum
4
H+12
Straight line horizontal distance from current
position to the destination waypoint, in metres
6
distance
(see Figure 12: Navigation Parameters on the previous page). This value is positive when
Double 8
approaching the waypoint and becomes negative
on passing the waypoint
H+16
Direction from the current position to the
destination waypoint, in degrees, with respect to
7
bearing True North (or magnetic if corrected for
Double 8
magnetic variation by the MAGVAR command
on page 236)
H+24
8
along track
Horizontal track distance from the current position to the closest point on the waypoint arrival perpendicular; expressed in metres. This Double 8 value is positive when approaching the waypoint and becomes negative on passing the waypoint
H+32
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Field
Field Type
9
xtrack
10
eta week
11
eta secs
12
xxxx
13
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
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 (see page 350), xtrack is the perpendicular error
Double
8
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
H+40
Estimated GPS reference week number at time of arrival at the "TO" waypoint, along track arrival perpendicular based on current position and speed, in units of GPS reference weeks. If Ulong 4 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"
H+48
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
Double 8
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"
H+52
32-bit CRC (ASCII and Binary only)
Ulong 4
H+60
Sentence terminator (ASCII only)
-
-
-
Table 119: Navigation Data Type
Binary
ASCII
Description
0
GOOD
Navigation is good
1
NOVELOCITY
Navigation has no velocity
2
BADNAV
Navigation calculation failed for an unknown reason
3
FROM_TO_SAME
"From" is too close to "To" for computation
4
TOO_CLOSE_TO_TO Position is too close to "To" for computation
5
ANTIPODAL_WAYPTS Waypoints are antipodal on surface
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3.95 NMEA Standard Logs
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains NMEA logs.
GLMLA GPALM GPGGA GPGGALONG GPGLL GPGRS GPGSA GPGST GPGSV GPHDT GPRMB GPRMC GPVTG GPZDA
GLONASS Almanac Data Almanac Data Global Position System Fix Data and Undulation GPS Fix Data, Extra Precision and Undulation Geographic Position GPS Range Residuals for Each Satellite GPS DOP on Active Satellites Pseudorange Measurement Noise Statistics GPS Satellites in View NMEA Heading Log (ALIGN) Navigation Information GPS Specific Information Track Made Good and Ground Speed 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, refer to the Standards and References section of our website www.novatel.com/support/. 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 parameter is indicated after the description.
See the Note in the GPGGA log (see page 515) that applies to all NMEA logs.
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 length be limited to 82 characters.
Field Type Symbol Special Format Fields
Definition
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Field Type Symbol
Definition
Status
A
Single character field: A = Yes, Data Valid, Warning Flag Clear V = No, Data Invalid, Warning Flag Set
Latitude
llll.ll
Fixed/Variable length field:
degrees|minutes.decimal - 2 fixed digits of degrees, 2 fixed digits of mins and a variable number of digits for decimal-fraction of mins. Leading zeros always included for degrees and mins to maintain fixed length. The decimal point and associated decimal-fraction are optional if full resolution is not required
Longitude
yyyyy.yy
Fixed/Variable length field:
degrees|minutes.decimal - 3 fixed digits of degrees, 2 fixed digits of mins and a variable number of digits for decimal-fraction of mins. Leading zeros always included for degrees and mins to maintain fixed length. The decimal point and associated decimal-fraction are optional if full resolution is not required
Time
Fixed/Variable length field:
hhmmss.ss
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 predefined 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 field
hh___
Fixed length HEX numbers only, MSB on the left
Information Fields
Variable text c--c
Variable length valid character field
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Field Type Symbol
Fixed alpha field
aa___
Fixed number field
xx___
Fixed text field
cc___
Definition Fixed length field of uppercase or lowercase alpha characters Fixed length field of numeric characters Fixed length field of valid characters
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3.96 NOVATELXOBS
NovAtel proprietary RTK correction
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
NOVATELX is a combined observation and reference station message used to transmit RTK corrections. This is a proprietary message and supports sending data for all systems.
Message ID: 1618
Log Type: Synch
Recommended Input: log com2 novatelxobs ontime 1
To calculate the size of the NOVATELXOBS messages, use the following formula. Size = 168 + s * (6 + p * (54 + f*33) )
where: s = number of systems (maximum 8) p = number of PRN per system (maximum 64) f = number of signals data per PRN � 1 (maximum 10 signals possible)
Example size calculations: l For 2 systems (GPS and GLONASS), 12 PRN per system, and 2 signals per satellite (L1CA, L2PY) Size = 168 + 2 * (6 + 12 * (54 + 33)) = 2268 bits per second = 284 bytes + NovAtelXHeader (8 bytes)
l For 3 systems (GPS, BEIDOU and GLONASS), 12 PRN per system, and 2 signals per satellite (L1CA, L2PY) Size = 168 + 3 * (6 + 12 * (54 + 33)) = 3318 bits per second = 415 bytes + NovAtelXHeader (8 bytes)
l For 3 systems (GPS, BEIDOU and GLONASS), 12 PRN per system, and 3 signals per satellite (L1CA, L2PY, L2C) Size = 168 + 3 * (6 + 12 * (54 + 2*33)) = 4506 bits per second = 564 bytes + NovAtelXHeader (8 bytes)
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3.97 NOVATELXREF
NovAtel proprietary reference station message for use in ALIGN
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
NOVATELXREF is a proprietary extended reference station message for use in ALIGN configurations only. This message enables the output of the MASTERPOS log (see page 599), ROVERPOS log (see page 741) and ALIGNBSLNENU log (see page 411) on the rover.
Message ID: 1620
Log Type: Synch
Recommended Input: log com2 novatelxref ontime 1
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3.98 OCEANIXINFO
Oceanix subscription information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains details on the Oceanix subscription.
Message ID: 2159
Log Type: Asynch
Recommended Input: log oceanixinfoa onchanged
ASCII Example: #OCEANIXINFOA,COM1,0,83.0,FINESTEERING,1987,253328.270,02040020,9ce8,14635;"QU2 42:3004:3631",TERM,80001803,44,2018,0,NEARSHORE*de2b56e3
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
OCEANIXINFO Log header. See Messages on page 25 for
header
more information.
H
0
2
PAC
Product activation code
Char [16]
16
H
3
Type
Subscription type (see Table 120: Oceanix Subscription Type on the next page)
Enum
4
H+16
Services permitted by the subscription (see
Table 121: Oceanix Subscription Details
4
Subscription permissions
Mask on the next page) Hex
Note: Bits in the Reserved areas of this field
4
may be set, but the Reserved bits should be
ignored.
H+20
The day of the year when the subscription
5
Service End Day
ends.
Ulong 4
Service ends at 00:00 UTC on this day.
H+24
6
Service End Year
Year that the subscription ends.
Ulong 4
H+28
7
Reserved
Ulong 4
H+32
8
Region restriction
For region restricted subscriptions, the type
of region restriction (see Table 122:
Enum 4
Oceanix Region Restriction on the next page)
H+36
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Field Field Type
Description
9
xxxx
10
[CR][LF]
32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
H+40
-
-
-
ASCII UNASSIGNED TERM MODEL
BUBBLE
INCOMPATIBLE_ SUBSCRIPTION
Table 120: Oceanix Subscription Type
Binary
Description
0
Decoder has not had an assigned operating mode
1
Term subscription
5
Reserved
100
Receiver is operating in an Oceanix-permitted subscriptionfree bubble
104
Subscription is incompatible with this version of firmware
Table 121: Oceanix Subscription Details Mask
Bit
Mask
Description
0
0x00000001 Reserved
1
0x00000002 Oceanix - H service
2-31 0xFFFFFFFC Reserved
Table 122: Oceanix Region Restriction
ASCII
Binary
Description
NONE
0
Oceanix operation has no region restrictions
GEOGATED 1
Oceanix operation is limited to land regions. GEOGATED is also the default value reported if there is no subscription
NEARSHORE 3
Oceanix operation is limited to land and near shore (coastal) regions
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3.99 OCEANIXSTATUS
Oceanix decoder and subscription status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains status information for the Oceanix decoder and subscription.
Message ID: 2160
Log Type: Asynch
Recommended Input: log oceanixstatusa onchanged
ASCII Example: #OCEANIXSTATUSA,COM1,0,89.0,FINESTEERING,1982,315542.430,03000020,049a,32768;EN ABLE,LOCKED,IN_REGION*954083ea
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
OCEANIXSTATUS Log header. See Messages on page 25 for
header
more information.
H
0
2
Access
Access status.
ENABLE (1) if the subscription is valid.
Enum 4
H
DISABLE (0) otherwise
3
Sync state
Decoder data synchronization state (see Table 123: Decoder Data Synchronization Enum 4 State below)
H+4
4
Region restriction status
Region restriction status (see Table 124: Region Restriction Status on the next page)
Enum
4
H+8
5
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+12
6
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
Table 123: Decoder Data Synchronization State
ASCII Binary
Description
NO_SIGNAL
0
None of the decoders have received data in the last 30 seconds
SEARCH
1
At least one decoder is receiving data and is searching for the format
LOCKED
2
At lease one decoder has locked onto the format
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Table 124: Region Restriction Status
ASCII
Binary
Description
UNKNOWN
0
Region restriction status cannot be determined
IN_REGION
1
Receiver is within the permitted region
OUT_OF_REGION
2
Receiver is outside the permitted region
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3.100 PASSCOM, PASSAUX, PASSUSB, PASSETH1, PASSICOM, PASSNCOM
Redirects data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The pass-through logging feature enables the receiver to redirect any ASCII or binary data, 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 198. There are many pass through logs: PASSCOM1, PASSCOM2, PASSCOM3, PASSCOM4, PASSCOM5, PASSCOM6, PASSAUX, PASSETH1, PASSICOM1, PASSICOM2, PASSICOM3, PASSICOM4, PASSICOM5, PASSICOM6, PASSICOM7, PASSNCOM1, PASSNCOM2, PASSNCOM3 allow for redirection of data that is arriving at COM1, COM2, COM3, virtual COM1, virtual COM2 or AUX. PASSCOM4 and PASSCOM5 are only available on OEM7600, OEM7700 and OEM7720 receivers. The AUX port is available on some products. PASSUSB1, PASSUSB2, PASSUSB3 are used to redirect data from USB1, USB2 or USB3. PASSETH1 is only available on receivers supporting Ethernet and can be used to redirect data from ETH1. 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, COM4, COM5, COM6, 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).
To pass through data arriving on all ports, use the PASSTHROUGH log (see page 638).
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:
l blocks of 80 characters l any block of characters ending in a <CR> l any block of characters ending in a <LF> l any block remaining in the receiver code when a timeout occurs (100 ms) If the data being injected is binary or the port INTERFACEMODE mode is set to GENERIC, then the data is grouped as follows: l blocks of 80 bytes l any block remaining in the receiver code when a timeout occurs (100 ms)
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If a binary value is encountered in an ASCII output, then the byte is output as a hexadecimal byte preceded by a backslash and an x. For example 0A is output as \x0A. An actual `\' in the data is output as \\. The output counts as one pass through byte although it is four characters.
The first character of each pass-through record is time tagged in GPS reference weeks and seconds.
PASSAUX PASSCCOM1 PASSCCOM2 PASSCCOM3 PASSCCOM4 PASSCCOM5 PASSCCOM6 PASSCOM1 PASSCOM2 PASSCOM3 PASSCOM4 PASSCOM5 PASSCOM6 PASSCOM7 PASSCOM8 PASSCOM9 PASSCOM10 PASSETH1 PASSICOM1 PASSICOM2 PASSICOM3 PASSICOM4 PASSICOM5 PASSICOM6 PASSICOM7 PASSNCOM1 PASSNCOM2 PASSNCOM3 PASSUSB1 PASSUSB2 PASSUSB3
Message ID: 690 Message ID: 1893 Message ID: 1894 Message ID: 1895 Message ID: 1930 Message ID: 1937 Message ID: 1938 Message ID: 233 Message ID: 234 Message ID: 235 Message ID: 1384 Message ID: 1576 Message ID: 1577 Message ID: 1701 Message ID: 1702 Message ID: 1703 Message ID: 1704 Message ID: 1209 Message ID: 1250 Message ID: 1251 Message ID: 1252 Message ID: 1385 Message ID: 2119 Message ID: 2120 Message ID: 2121 Message ID: 1253 Message ID: 1254 Message ID: 1255 Message ID: 607 Message ID: 608 Message ID: 609
Log Type: Asynch
Recommended Input: log passcom1a onchanged
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Asynchronous logs should only be logged ONCHANGED otherwise the most current data is not output when it is available. This is especially true of the ONTIME trigger, which may cause inaccurate time tags to result.
ASCII Example 1: #PASSCOM2A,COM1,0,59.5,FINESTEERING,1337,400920.135,02000000,2b46,1984;80, #BESTPOSA,COM3,0,80.0,FINESTEERING,1337,400920.000,02000000,4ca6,1899;SOL_ COMPUT*f9dfab46 #PASSCOM2A,COM1,0,64.0,FINESTEERING,1337,400920.201,02000000,2b46,1984;80,ED,SI NGLE,51.11636326036,-114.03824210485,1062.6015,16.2713,WGS84,1.8963,1.0674*807fd3ca #PASSCOM2A,COM1,0,53.5,FINESTEERING,1337,400920.856,02000000,2b46,1984;49,,2.28 62,"",0.000,0.000,9,9,0,0,0,0,0,0*20b24878\x0d\x0a*3eef4220 #PASSCOM1A,COM1,0,53.5,FINESTEERING,1337,400922.463,02000000,13ff,1984;17, unlog passcom2a\x0d\x0a*ef8d2508
ASCII Example 2: #PASSCOM2A,COM1,0,53.0,FINESTEERING,1337,400040.151,02000000,2b46,1984; 80,\x99A\x10\x04\x07yN&\xc6\xea\xf10\x00\x01\xde\x00\x00\x10\xfe\xbf \xfe1\xfe\x9c\xf4\x03\xe2\xef\x9f\x1f\xf3\xff\xd6\xff\xc3_A~z\xaa \xfe\xbf\xf9\xd3\xf8\xd4\xf4-\xe8kHo\xe2\x00>\xe0QOC>\xc3\x9c\x11\xff \x7f\xf4\xa1\xf3t\xf4'\xf4xvo\xe6\x00\x9d*dcd2e989 In the example, note that `~' is a printable character.
For example, you could connect two OEM7 family receivers together via their COM1 ports such as in the Figure 13: Pass Through Log Data on the next page (a rover station to base station scenario). If the rover station is logging BESTPOSA data to the base station, it is possible to use the pass through logs to pass through the received BESTPOSA data to a disk file (let's call it diskfile.log) at the base station host PC hard disk.
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Figure 13: Pass Through Log Data
Under default conditions, the two receivers "chatter" back and forth with the Invalid Command Option message (due to the command interpreter in each receiver not recognizing the command prompts of the other receiver). The chattering in turn causes the accepting receiver to transmit new pass through logs with the response data from the other receiver. To avoid the chattering problem, use the INTERFACEMODE command (see page 198) on the accepting port to disable error reporting from the receiving port command interpreter.
If the accepting port's error reporting is disabled by INTERFACEMODE, the BESTPOSA data record passes through and creates two records.
The reason that two records are logged from the accepting receiver is the first record was initiated by receipt of the BESTPOSA first terminator <CR>. The second record followed in response to the BESTPOSA second terminator <LF>.
Note the time interval between the first character received and the terminating <LF> can be calculated by differencing the two GPS reference time tags. This pass through feature is useful for time tagging the arrival of external messages. These messages can be any user related data. When using this feature for tagging external events, it is recommended that the rover receiver be disabled from interpreting commands so the receiver does not respond to the messages, using the INTERFACEMODE command (see page 198).
If the BESTPOSB binary log data is input to the accepting port (log com2 passcom1a onchanged), the BESTPOSB binary data at the accepting port is converted to a variation of ASCII hexadecimal before it is passed through to com2 port for logging.
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Field Field Type
Description
1
PASSCOM header
Log header. See Messages on page 25 for more information.
2
#bytes
Number of bytes to follow
3
data
Message data
Format
Binary Bytes
H
Ulong 4
Char [80]
80
4
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
5
[CR][LF]
Sentence terminator (ASCII only)
-
-
Binary Offset
0
H
H+4
H+4+ (#bytes) -
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3.101 PASSTHROUGH
Redirected data from all ports
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log outputs pass through data from all receiver ports. The behavior is the same as the port specific pass though logs described in PASSCOM, PASSAUX, PASSUSB, PASSETH1, PASSICOM, PASSNCOM on page 633.
Message ID: 1342
Log Type: Asynch
Recommended Input: log passthrougha onchanged
ASCII Example: #PASSTHROUGHA,COM1,0,73.0,FINESTEERING,1625,165965.067,02040008,5fa3, 39275;USB1,80,i\xd3\x00\x87>\xb0\x00'\x91\xb3"\xa0D?\xaa\xb2\x00\x07op \x18@\x05\xe9\xd4\x08\xe7\x03\x7f\xfd\x18{\x80w\xff\xf2N_cy\x11\x80\ x0bC\xdc\x01@\x00\xdfr\xb1`\x873\xff\x81]\x7f\xe3\xff\xea\x83v\x08M\ xd8?\xfcr\xf7\x01\x18\x00\x17\x1d2\xd1\xd1b\x00*5cb8bd9a
Field Field type
Description
1
PASSTHROUGH Log header. See Messages on
header
page 25 for more information.
2
Port
See Table 59: COM Port Identifiers on page 338
3
#bytes
Number of bytes to follow
4
data
Message data
5
xxxx
6
[CR][LF]
32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
H
0
Enum 4
Ulong 4
Char [80]
80
Ulong 4
-
-
H H+4 H+8 H+8+#bytes -
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3.102 PDPDOP
DOP values for the satellites in the PDP solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The PDPDOP log contains the Dilution Of Precision (DOP) values for the satellites being used in the PDP solution. The PDP DOPs are updated every 60 seconds or whenever the satellites used in the PDP solution changes.
DOP values are a measure of the solution strength. Essentially, the DOPs reflect the geometry of the satellites used in the solution. Solutions with good counts of well-distributed satellites will have low DOPs and should be accurate and reliable. Solutions with fewer or poorly-distributed satellites will have high DOPs and be less accurate and reliable. As a rough guideline, PDOP values less than 4 imply a solution with reasonable geometry.
There can be many reasons for high DOP values. The most common reason is that there are obstructions limiting satellite visibility. Even if satellites are visible and being tracked they might still not be used in the solution if, for example, they are unhealthy or there are not corrections available for them. The PDPSATS log (see page 645) will inform which satellites are being tracked and explain why a tracked satellite is not used in the solution.
The DOPs do not consider that different satellites or signals will be weighted differently in the solution. Therefore, they do not completely reflect the solution quality. Ultimately, the standard deviations reported in the PDPPOS log (see page 643) are the best reflection of the solution accuracy.
Message ID: 1998
Log Type: Asynch
Recommended Input:
log pdpdopa onchanged
ASCII Example:
#PDPDOPA,USB1,0,82.0,FINESTEERING,2010,149390.500,02000008,3bf3,32768;1.6490,0. 9960,0.5950,0.7950,0.5280,5.0,22,3,28,19,6,2,24,12,22,17,1,50,59,61,52,60,51,1, 30,12,11,6,9*13e052ef
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
PDPDOP Log header. See Messages on page 25 for more header information.
-
H
0
Geometric dilution of precision - assumes 3D
2
gdop
position and receiver clock offset (all 4
Float
4
H
parameters) are unknown
3
pdop
Position dilution of precision - assumes 3D position is unknown and receiver clock offset is known
Float
4
H+4
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Field
Field Type
Description
Format
Binary Bytes
Binary Offset
4
hdop
Horizontal dilution of precision
Float
4
H+8
5
htdop Horizontal position and time dilution of precision Float
4
H+12
Time dilution of precision - assumes 3D position is
6
tdop
known and only the receiver clock offset is
Float
4
unknown
H+16
7
cutoff GPS elevation cut-off angle
Float
4
H+20
8
#PRN Number of satellites PRNs to follow
Long
4
H+24
9
PRN
PRN of a satellite used in the position solution
Ulong 4
H+28
10
Next PRN offset = H+28+(#prn x 4)
11
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+28+ (#prn x 4)
12
[CR] [LF]
Sentence terminator (ASCII only)
-
-
-
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3.103 PDPDOP2
DOP values for the satellites used in the PDP solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The PDPDOP2 log contains the Dilution Of Precision (DOP) values for the satellites being used in the PDP solution. This log is similar to the PDPDOP log (see page 639) but contains the per-system TDOPs; see the PDPDOP log on page 639 for more information on the DOPs.
Message ID: 1995
Log Type: Asynch
Recommended Input: log pdpdop2a onchanged
ASCII Example: #PDPDOP2A,USB1,0,82.0,FINESTEERING,2010,149390.500,02000008,2488,32768;1.6490,0 .9960,0.5950,0.7990,4,GPS,0.5280,GLONASS,0.6880,GALILEO,0.7200,BEIDOU,0.6750*25 f8324a
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
PDPDOP2 Log header. See Messages on page 25 for
header
more information.
H
0
Geometric dilution of precision - assumes 3D
2
GDOP
position and receiver clock offset (all 4
Float
4
H
parameters) are unknown
Position dilution of precision - assumes 3D
3
PDOP
position is unknown and receiver clock offset Float
4
is known
H+4
4
HDOP
Horizontal dilution of precision
Float
4
H+8
5
VDOP
Vertical dilution of precision
Float
4
H+12
6
#systems Number of systems
Ulong 4
H+16
7
system
See Table 125: System Used for Timing on the next page
Enum
4
H+20
8
TDOP
Time dilution of precision
Float
4
H+24
9
Next system offset = H+20+(#systems x 8)
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Field
Field type
Description
10
xxxx
32-bit CRC (ASCII and Binary only)
11
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Hex
4
H+20+ (#systems x 8)
-
-
-
Table 125: System Used for Timing
Binary
ASCII
0
GPS
1
GLONASS
2
GALILEO
3
BEIDOU
4
NAVIC
99
AUTO1
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3.104 PDPPOS
PDP filter position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The PDPPOS log contains the receiver position computed by the receiver with the PDP filter enabled. See also the PDPFILTER command on page 259.
Message ID: 469
Log Type: Synch
Recommended Input: log pdpposa ontime 1
ASCII Example: #PDPPOSA,COM1,0,75.5,FINESTEERING,1431,494991.000,02040000,a210,35548; SOL_ COMPUTED,SINGLE,51.11635010310,-114.03832575772,1065.5019,16.9000,WGS84,4.7976,2.0897,5.3062,"",0.000,0.000,8,8,0,0,0,0,0,0*3cbfa646
Field
Field type
1
PDPPOS header
2
sol status
3
pos type
4
lat
5
lon
6
hgt
Description
Log header. See Messages on page 25 for more information.
Solution status (refer to Table 74: Solution Status on page 436)
Position type (refer to Table 75: Position or Velocity Type on page 437)
Latitude (degrees)
Longitude (degrees)
Height above mean sea level (m)
Undulation - the relationship between the geoid and the WGS84 ellipsoid (m)
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
Enum 4
Double 8 Double 8 Double 8
H+4
H+8 H+16 H+24
7
undulation
When using a datum other than WGS84, the undulation value also includes the vertical shift due to differences between the datum in use and WGS84.
Float
4
8
datum id#
Datum ID number (refer to Table 29: Datum Transformation Parameters on page 121)
Enum 4
H+32 H+36
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Field
Field type
Description
Format
Binary Bytes
Binary Offset
9
lat
Latitude standard deviation (m)
Float
4
H+40
10
lon
Longitude standard deviation (m)
Float
4
H+44
11
hgt
Height standard deviation (m)
Float
4
H+48
12
stn id
Base station ID
Char[4] 4
H+52
13
diff_age Differential age in seconds
Float
4
H+56
14
sol_age Solution age in seconds
Float
4
H+60
15
#sats
Number of satellites tracked
Uchar 1
H+64
16
#sats soln Number of satellites in the solution
Uchar 1
H+65
17
Uchar 1
H+66
18
Reserved
Uchar 1
H+67
19
Hex
1
H+68
20
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Hex
1
H+69
21
Galileo and BeiDou sig mask
Galileo and BeiDou signals used mask (see Table
77: Galileo and BeiDou Signal-Used Mask on
Hex
page 440)
1
H+70
GPS and GPS and GLONASS signals used mask (see Table
22
GLONASS 76: GPS and GLONASS Signal-Used Mask on
Hex
1
sig mask page 439)
H+71
23
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+72
24
[CR][LF] Sentence terminator (ASCII only)
-
-
-
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3.105 PDPSATS
Satellites used in PDPPOS solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log lists the used and unused satellites for the corresponding PDPPOS solution. It also describes the signals of the used satellites and reasons for exclusions.
Message ID: 1234
Log Type: Synch
Recommended Input: log pdpsatsa ontime 1
Abbreviated ASCII Example: <PDPSATS COM1 0 80.0 FINESTEERING 1690 603073.000 02000008 be33 43488 < 21 < GPS 11 GOOD 00000001 < GPS 27 GOOD 00000001 ... < GPS 1 GOOD 00000001 < GPS 7 GOOD 00000001 < SBAS 133 NOTUSED 00000000 < SBAS 138 NOTUSED 00000000 < SBAS 135 NOTUSED 00000000 < GLONASS 10-7 GOOD 00000001 < GLONASS 21+4 GOOD 00000001 ... < GLONASS 12-1 GOOD 00000001 < GLONASS 11 GOOD 00000001
Field
Field type
Description
1
PDPSATS Log header. See Messages on page 25 for more header information.
2
#entries Number of records to follow
3
system See Table 105: Satellite System on page 553
4
Satellite ID
Satellite identifier
5
Status
Satellite status (see Table 80: Observation Statuses on page 443)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Enum 4
H H+4
Ulong 4
H+8
Enum 4
H+12
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Field
Field type
Description
See Table 81: BESTSATS GPS Signal Mask on
6
Status mask
page 444, Table 82: BESTSATS GLONASS Signal Mask on page 445, Table 83: BESTSATS Galileo Signal Mask on page 445, and Table 84:
BESTSATS BeiDou Signal Mask on page 445
7
Next satellite offset = H+4+(#sat x 16)
8
xxxx
32-bit CRC (ASCII and Binary only)
9
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Hex
4
H+16
Ulong 4
-
-
H+4+ (#sat x 16)
-
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3.106 PDPVEL
PDP filter velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The PDPVEL log contains the pseudorange velocity computed by the receiver with the PDP filter enabled. See also the PDPFILTER command on page 259.
Message ID: 470
Log Type: Synch
Recommended Input: log pdpvela ontime 1
ASCII Example: #PDPVELA,COM1,0,75.0,FINESTEERING,1430,505990.000,02000000,b886,2859;SOL_ COMPUTED,SINGLE,0.150,0.000,27.4126,179.424617,-0.5521,0.0*7746b0fe
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
PDPVEL Log header. See Messages on page 25 for more header information.
H
0
2
sol status
Solution status (refer to Table 74: Solution Status on page 436)
Enum
4
H
3
vel type
Velocity type (refer to Table 75: Position or Velocity Type on page 437)
Enum 4
H+4
A measure of the latency in the velocity time tag in
4
latency seconds. It should be subtracted from the time to Float
4
give improved results
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
Height in metres where positive values indicate
8
height increasing altitude (up) and negative values
Double 8
indicate decreasing altitude (down)
H+32
9
Reserved
Float
4
H+40
10
xxxx 32-bit CRC (ASCII and Binary only)
Ulong 4
H+44
11
[CR] [LF]
Sentence terminator (ASCII only)
-
-
-
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3.107 PDPXYZ
PDP filter Cartesian position and velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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 259.
Message ID: 471
Log Type: Synch
Recommended Input: log pdpxyza ontime 1
ASCII Example: #PDPXYZA,COM1,0,75.5,FINESTEERING,1431,494991.000,02040000,33ce,35548;SOL_ COMPUTED,SINGLE,-1634531.8128,3664619.4862,4942496.5025,2.9036,6.1657,3.0153,SOL_COMPUTED,SINGLE,-2.5588e308,-3.1719e-308,3.9151e308,0.0100,0.0100,0.0100,"",0.150,0.000,0.000,8,8,0,0,0,0,0,0*a20dbd4f
Field
Field type
1
PDPXYZ header
2
P-sol status
3
pos type
4
P-X
5
P-Y
6
P-Z
7
P-X
8
P- Y
9
P-Z
10
V-sol status
11
vel type
Description
Log header. See Messages on page 25 for more information. Solution status (refer to Table 74: Solution Status on page 436) Position type (refer to Table 75: Position or Velocity Type on page 437) Position X-coordinate (m) Position Y-coordinate (m) Position Z-coordinate (m) Standard deviation of P-X (m) Standard deviation of P-Y (m) Standard deviation of P-Z (m) Solution status (refer to Table 74: Solution Status on page 436) Velocity type (refer to Table 75: Position or Velocity Type on page 437)
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
Enum 4
Double 8
Double 8
Double 8
Float
4
Float
4
Float
4
Enum 4
H+4
H+8 H+16 H+24 H+32 H+36 H+40
H+44
Enum 4
H+48
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Field
Field type
Description
Format
Binary Bytes
Binary Offset
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
Standard deviation of V-X (m)
Float
4
H+76
16
V-Y
Standard deviation of V-Y (m)
Float
4
H+80
17
V-Z
Standard deviation of V-Z (m)
Float
4
H+84
18
stn ID
Base station ID
Char[4] 4
H+88
A measure of the latency in the velocity time tag
19
V-latency in seconds. It should be subtracted from the
Float
4
time to give improved results
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
Uchar 1
H+106
25
Reserved
Uchar 1
H+107
26
Uchar 1
H+108
27
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Hex
1
H+109
28
Galileo and BeiDou sig mask
Galileo and BeiDou signals used mask (see Table 77: Galileo and BeiDou Signal-Used Mask on page 440)
Hex
1
H+110
GPS and GPS and GLONASS signals used mask (see Table
29
GLONASS 76: GPS and GLONASS Signal-Used Mask on
Hex
1
sig mask page 439)
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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3.108 PORTSTATS
Port statistics
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log conveys various status parameters of the receiver's communication 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,USB1,0,69.5,FINESTEERING,1971,489026.000,02004020,a872,14434;29,COM 1,0,3109742555,0,0,435636653,0,0,0,0,COM2,0,207,0,0,32,0,0,0,0,COM3,0,207,0,0,3 2,0,0,0,0,FILE,0,0,0,0,0,0,0,0,0,USB1,175513,21321491,175513,0,0,0,0,0,0,USB2,0 ,0,0,0,0,0,0,0,0,USB3,0,0,0,0,0,0,0,0,0,COM4,139542424,189379232,139542424,0,69 771230,0,0,0,0,ICOM1,0,0,0,0,0,0,0,0,0,ICOM2,0,0,0,0,0,0,0,0,0,ICOM3,0,0,0,0,0, 0,0,0,0,NCOM1,0,0,0,0,0,0,0,0,0,NCOM2,0,0,0,0,0,0,0,0,0,NCOM3,0,0,0,0,0,0,0,0,0 ,ICOM4,0,0,0,0,0,0,0,0,0,WCOM1,0,394864554,0,0,0,0,0,0,0,COM5,0,6,0,0,4,0,0,0,0 ,CCOM1,0,0,0,0,0,0,0,0,0,CCOM2,0,0,0,0,0,0,0,0,0,CCOM3,0,0,0,0,0,0,0,0,0,CCOM4, 0,0,0,0,0,0,0,0,0,CCOM5,0,0,0,0,0,0,0,0,0,CCOM6,0,0,0,0,0,0,0,0,0,ICOM5,0,0,0,0 ,0,0,0,0,0,ICOM6,0,0,0,0,0,0,0,0,0,ICOM7,0,0,0,0,0,0,0,0,0*b9c28761
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.
Field Field type
Description
Format
Binary Bytes
1
PORTSTATS Log header. See Messages on page 25 for
header
more information.
H
2
#port
Number of ports with information to follow Long
4
3
port
Refer to Table 32: Communications Port Identifiers on page 137
Enum
4
4
rx chars
Total number of characters received through this port
Ulong 4
Binary Offset 0 H H+4
H+8
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Field Field type
Description
5
tx chars
Total number of characters transmitted through this port
6
acc rx chars
Total number of accepted characters received through this port
7
dropped rx chars
Number of software overruns in receive
8
interrupts Number of interrupts on this port
9
breaks
Number of breaks (only for serial ports)
10
par err
Number of parity errors (only for serial ports)
11
frame err
Number of framing errors (only for serial ports)
12
rx overruns Number of hardware overruns in receive
13
Next port offset = H+4+(#port x 40)
14
xxxx
32-bit CRC (ASCII and Binary only)
15
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
H+12
Ulong 4
H+16
Ulong 4 Ulong 4 Ulong 4 Ulong 4
H+20 H+24 H+28 H+32
Ulong 4 Ulong 4
H+36 H+40
Ulong 4
-
-
H+4+ (#port x 40)
-
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3.109 PPPPOS
PPP filter position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the position solution computed by the PPP filter.
Message ID: 1538
Log Type: Synch
Recommended Input: log pppposa ontime 1
ASCII Example: #PPPPOSA,COM1,0,80.0,FINESTEERING,1735,345300.000,02000000,6f47,44027;SOL_ COMPUTED,PPP,51.11635350286,-114.03819287079,1064.5365,16.9000,WGS84,0.0375,0.0460,0.0603,"0",4.000,0.000,12,12,12,12,0,00,00,03*ef17d 668
Field Field type
1
PPPPOS header
2
Status
3
Type
4
lat
5
lon
6
hgt
7
undulation
8
datum id#
9
lat
10
lon
Description
Log header. See Messages on page 25 for more information.
Solution status (see Table 74: Solution Status on page 436)
Position type (see Table 126: Position Type on the next page)
Latitude (degrees)
Longitude (degrees)
Height above mean sea level (m)
Undulation - the relationship between the geoid and the WGS84 ellipsoid (m)a
Datum ID number (see Table 29: Datum Transformation Parameters on page 121)
Latitude standard deviation (m)
Longitude standard deviation (m)
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
Enum 4
Double 8 Double 8 Double 8
Float
4
H+4 H+8 H+16 H+24 H+32
Enum 4
Float
4
Float
4
H+36 H+40 H+44
aWhen 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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Field Field type
Description
11
hgt
Height standard deviation (m)
12
stn id
Base station ID
13
diff_age
Differential age in seconds
14
sol_age
Solution age in seconds
15
#SVs
Number of satellites tracked
16
#solnSVs
Number of satellites vehicles used in solution
17
#ggL1
Number of GPS plus GLONASS plus BDS L1/B1 used in solution
18
#solnMultiSVs
Number of satellites with multi-frequency signals used in solution
19
Reserved
20
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
21
Reserved
22
GPS and GLONASS sig mask
GPS and GLONASS signals used mask (see Table 76: GPS and GLONASS Signal-Used Mask on page 439 or Table 77: Galileo and BeiDou Signal-Used Mask on page 440)
23
xxxx
32-bit CRC (ASCII and Binary only)
24
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Float
4
H+48
Char[4] 4
H+52
Float
4
H+56
Float
4
H+60
Uchar 1
H+64
Uchar 1
H+65
Uchar 1
H+66
Uchar 1
Hex
1
Hex
1
Hex
1
H+67 H+68 H+69 H+70
Hex
1
H+71
Ulong 4
-
-
H+72 -
Table 126: Position Type
ASCII
Binary
Description
NONE
0
No solution
PPP_CONVERGING
68 Converging TerraStar-C solution
PPP
69 Converged TerraStar-C solution
PPP_BASIC_CONVERGING 77 Converging TerraStar-L solution
PPP_BASIC
78 Converged TerraStar-L solution
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3.110 PPPSATS
Satellites used in the PPPPOS solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log lists the used and unused satellites for the corresponding PPPPOS solution. It also describes the signals of the used satellites and reasons for exclusions.
Message ID: 1541
Log Type: Synch
Recommended Input: log pppsatsa ontime 1
Abbreviated ASCII Example: <PPPSATS COM1 0 80.0 FINESTEERING 1735 345300.000 02000000 ce3f 44027 < 12 < GPS 3 GOOD 00000003 < GPS 5 GOOD 00000003 < GPS 6 GOOD 00000003 < GPS 7 GOOD 00000003 < GPS 8 GOOD 00000003 < GPS 10 GOOD 00000003 < GPS 13 GOOD 00000003 < GPS 16 GOOD 00000003 < GPS 19 GOOD 00000003 < GPS 23 GOOD 00000003 < GPS 26 GOOD 00000003 < GPS 28 GOOD 00000003
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
PPPSATS Log header. See Messages on page 25 for more header information.
H
0
2
#entries Number of records to follow
Ulong 4
H
3
System
Satellite system (see Table 105: Satellite System on page 553)
Enum 4
H+4
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Field
Field type
Description
Format
Binary Bytes
Binary Offset
In binary logs, the satellite ID field is 4 bytes.
The 2 lowest-order bytes, interpreted as a
USHORT, are the system identifier: for
instance, the PRN for GPS, or the slot for
GLONASS. The 2 highest-order bytes are the
frequency channel for GLONASS, interpreted as
4
Satellite a SHORT and zero for all other systems. ID
Ulong 4
In ASCII and abbreviated ASCII logs, the
satellite ID field is the system identifier. If the
system is GLONASS and the frequency channel
is not zero, then the signed channel is appended
to the system identifier. For example, slot 13,
frequency channel -2 is output as 13-2.
H+8
5
Status
Satellite status (see Table 80: Observation Statuses on page 443)
Enum 4
H+12
Signals used in the solution (see Table 81:
BESTSATS GPS Signal Mask on page 444, Table
6
Signal Mask
82: BESTSATS GLONASS Signal Mask on page 445, Table 83: BESTSATS Galileo Signal
Hex
4
Mask on page 445 and Table 84: BESTSATS
BeiDou Signal Mask on page 445)
H+16
7
Next satellite offset = H + 4 + (#entries x 16)
8
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+4+ (#entries x 16)
9
[CR][LF] Sentence terminator (ASCII only)
-
-
-
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3.111 PROFILEINFO
Profile information in NVM
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log outputs a list of Profiles in the system. Refer also to the PROFILE command on page 283.
A list may consist of a maximum of 20 profiles.
Message ID: 1412
Log Type: Polled
Recommended Input: log profileinfoa onchanged
ASCII Examples: #PROFILEINFOA,COM1,0,84.0,UNKNOWN,0,17539.339,024c0020,ae3a,10526; "BASE",0,2, "LOG VERSION", "SERIALCONFIG COM2 230400"*0ad5cda5
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
PROFILEINFO Log header. See Messages on page 25
header
for more information.
-
H
0
2
Name
Profile Name
String [Max 20]
variable
1
H
3
Status Word
Refer toTable 127: Status Word on the next page
Ulong
4
variable
4
# of Commands
Number of commands assigned to the Profile
Ulong
4
variable
5
Command
Profile command
String
variable
[Max 150] 1
variable
6
Next command offset = variable
7
xxxx
32-bit CRC (ASCII and Binary only)
Ulong
4
variable
8
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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Table 127: Status Word
Bit #
Mask
Description
0
0x00000001
Activate Flag (0 � Deactivate (default), 1 �Activate)
1 � 3 0x0000000E Reserved
4
0x00000010
Command 1 validation Flag (0 � Valid (default), 1 � Invalid)
5
0x00000020 Command 2 validation Flag
6
0x00000040 Command 3 validation Flag
7
0x00000080 Command 4 validation Flag
8
0x00000100 Command 5 validation Flag
9
0x00000200 Command 6 validation Flag
10
0x00000400 Command 7 validation Flag
11
0x00000800 Command 8 validation Flag
12
0x00001000 Command 9 validation Flag
13
0x00002000 Command 10 validation Flag
14
0x00004000 Command 11 validation Flag
15
0x00008000 Command 12 validation Flag
16
0x00010000 Command 13 validation Flag
17
0x00020000 Command 14 validation Flag
18
0x00040000 Command 15 validation Flag
19
0x00080000 Command 16 validation Flag
20
0x00100000 Command 17 validation Flag
21
0x00200000 Command 18 validation Flag
22
0x00400000 Command 19 validation Flag
23
0x00800000 Command 20 validation Flag
24 - 31 0xFF000000 Reserved
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3.112 PSRDOP
DOP values for the satellites used in the PSR solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The PSRDOP log contains the Dilution Of Precision (DOP) values for the satellites being used in the PSR solution. The PSR DOPs are updated every 60 seconds or whenever the satellites used in the PSR solution changes.
DOP values are a measure of the solution strength. Essentially, the DOPs reflect the geometry of the satellites used in the solution. Solutions with good counts of well-distributed satellites will have low DOPs and should be accurate and reliable. Solutions with fewer or poorly-distributed satellites will have high DOPs and be less accurate and reliable. As a rough guideline, PDOP values less than 4 imply a solution with reasonable geometry.
There can be many reasons for high DOP values. The most common reason is that there are obstructions limiting satellite visibility. Even if satellites are visible and being tracked they might still not be used in the solution if, for example, they are unhealthy or there are not corrections available for them. The PSRSATS log (see page 664) will inform which satellites are being tracked and explain why a tracked satellite is not used in the solution.
The DOPs do not consider that different satellites or signals will be weighted differently in the solution. Therefore, they do not completely reflect the solution quality. Ultimately, the standard deviations reported in the PSRPOS log (see page 662) are the best reflection of the solution accuracy.
1. If a satellite is locked out using the LOCKOUT command (see page 223), it will still show in the prn list but it will be significantly deweighted in the dop calculation.
2. The vertical dilution of precision can be calculated by: vdop = pdop2 - hdop2
3. If the DOP is not yet calculated, a default value of 9999.0 is displayed.
Message ID: 174
Log Type: Asynch
Recommended Input: log psrdopa onchanged
ASCII Example: #PSRDOPA,COM1,0,56.5,FINESTEERING,1337,403100.000,02000000,768f,1984;1.9695,1.7 613,1.0630,1.3808,0.8812,5.0,10,14,22,25,1,24,11,5,20,30,7*106de10a
Field
Field type
1
PSRDOP Log header. See Messages on page 25 for more header information.
Format
Binary Bytes
Binary Offset
H
0
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Field
Field type
Format
Binary Bytes
Binary Offset
Geometric dilution of precision - assumes 3D
2
gdop
position and receiver clock offset (all 4
Float
4
H
parameters) are unknown
3
pdop
Position dilution of precision - assumes 3D position is unknown and receiver clock offset is known
Float
4
H+4
4
hdop
Horizontal dilution of precision.
Float
4
H+8
5
htdop Horizontal position and time dilution of precision. Float
4
H+12
Time dilution of precision - assumes 3D position is
6
tdop
known and only the receiver clock offset is
Float
4
unknown
H+16
7
cutoff GPS elevation cut-off angle
Float
4
H+20
8
#PRN Number of satellites PRNs to follow
Long
4
H+24
9
PRN
PRN of SV PRN tracking, null field until position solution available
Ulong 4
H+28
10... Next PRN offset = H+28+(#prn x 4)
11
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+28+ (#prn x 4)
12
[CR] [LF]
Sentence terminator (ASCII only)
-
-
-
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3.113 PSRDOP2
DOP values for the satellites used in the PSR solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The PSRDOP2 log contains the Dilution Of Precision (DOP) values for the satellites being used in the PSR solution. This log is similar to the PSRDOP log (see page 658) but contains the per-system TDOPs; see the PSRDOP log on page 658 for more information on the DOPs.
Message ID: 1163
Log Type: Asynch
Recommended Input: log psrdop2a onchanged
ASCII Example: #PSRDOP2A,COM1,0,89.5,FINESTEERING,1613,164820.000,02000008,0802,39031;1.6740,1 .3010,0.6900,1.1030,2,GPS,0.6890,GLONASS,0.7980*5dd123d0.
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
PSRDOP2 Log header. See Messages on page 25 for
header
more information.
H
0
Geometric dilution of precision - assumes 3D
2
GDOP
position and receiver clock offset (all 4
Float
4
H
parameters) are unknown
Position dilution of precision - assumes 3D
3
PDOP
position is unknown and receiver clock offset Float
4
is known
H+4
4
HDOP
Horizontal dilution of precision
Float
4
H+8
5
VDOP
Vertical dilution of precision
Float
4
H+12
6
#systems Number of systems
Ulong 4
H+16
7
system
See Table 128: System Used for Timing on the next page
Enum
4
H+20
8
TDOP
Time dilution of precision
Float
4
H+24
9
Next satellite offset = H+20+(#systems x 8)
10
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+20+ (#systems x 8)
11
[CR][LF] Sentence terminator (ASCII only)
-
-
-
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Table 128: System Used for Timing
Binary
ASCII
0
GPS
1
GLONASS
2
GALILEO
3
BEIDOU
4
NAVIC
99
AUTO1
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Chapter 3 Logs
3.114 PSRPOS
Pseudorange position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the position 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,1419,340037.000,02000040,6326,2724;SOL_ COMPUTED,SINGLE,51.11636177893,-114.03832396506,1062.5470,16.2712,WGS84,1.8532,1.4199,3.3168,"",0.000,0.000,12,12,0,0,0,06,0,33*d200a78c
There are DGPS use cases in which the base receiver is not maintained or controlled by the positioning user. For example, the US Coast Guard operates a differential correction service which broadcasts GPS differential corrections over marine radio beacons. As a user, all you need is a marine beacon receiver and a GNSS receiver to achieve positioning accuracy of less than 1 metre. In this case, the Coast Guard owns and operates the base receiver at known coordinates. Other examples of users appearing to use only one GNSS receiver include FM radio station correction services, privately owned radio transmitters and corrections carried by communication satellites. Some of the radio receivers have built-in GNSS receivers and combined antennas, so they even appear to look as one self contained unit. The major factors degrading GPS signals which can be removed or reduced with differential methods are the atmosphere, ionosphere, satellite orbit errors, and satellite clock errors. Some errors which are not removed include receiver noise and multipath.
Field Field type
Description
1
PSRPOS header
Log header. See Messages on page 25 for more information.
2
sol status
Solution status (see Table 74: Solution Status on page 436)
3
pos type
Position type (see Table 75: Position or Velocity Type on page 437)
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
Enum 4
H+4
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Field Field type
Description
4
lat
Latitude (degrees)
5
lon
Longitude (degrees)
6
hgt
Height above mean sea level (m)
7
undulation
Undulation - the relationship between the geoid and the WGS84 ellipsoid (m) a
8
datum id#
Datum ID number (see Table 29: Datum Transformation Parameters on page 121)
9
lat
Latitude standard deviation (m)
10
lon
Longitude standard deviation (m)
11
hgt
Height standard deviation (m)
12
stn id
Base station ID
13
diff_age
Differential age in seconds
14
sol_age
Solution age in seconds
15
#SVs
Number of satellites tracked
16
#solnSVs Number of satellite vehicles used in solution
17
18
Reserved
19
20
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Galileo and Galileo and BeiDou signals used mask (see
21
BeiDou sig Table 77: Galileo and BeiDou Signal-Used
mask
Mask on page 440)
GPS and
GPS and GLONASS signals used mask (see
22
GLONASS Table 76: GPS and GLONASS Signal-Used
sig mask
Mask on page 439)
23
xxxx
32-bit CRC (ASCII and Binary only)
24
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Double 8
H+8
Double 8
H+16
Double 8
H+24
Float
4
H+32
Enum 4
Float
4
Float
4
Float
4
Char[4] 4
Float
4
Float
4
Uchar 1
Uchar 1
Uchar 1
Uchar 1
Hex
1
Hex
1
H+36
H+40 H+44 H+48 H+52 H+56 H+60 H+64 H+65 H+66 H+67 H+68
H+69
Hex
1
H+70
Hex
1
Hex
4
-
-
H+71
H+72 -
aWhen 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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3.115 PSRSATS
Satellites used in PSRPOS solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log lists the used and unused satellites for the corresponding PSRPOS solution. It also describes the signals of the used satellites and reasons for exclusions.
Message ID: 1162
Log Type: Synch
Recommended Input:
log psrsats ontime 1
Abbreviated ASCII Example:
<PSRSATS COM1 0 80.0 FINESTEERING 1729 154910.000 02004000 fea4 11465 < 20 < GPS 31 GOOD 00000003 < GPS 14 GOOD 00000003 < GPS 22 GOOD 00000003 < GPS 11 GOOD 00000003 < GPS 1 GOOD 00000003 < GPS 32 GOOD 00000003 < GPS 18 GOOD 00000003 < GPS 24 GOOD 00000003 < GPS 19 GOOD 00000003 < GLONASS 24+2 GOOD 00000003 < GLONASS 10-7 GOOD 00000003 < GLONASS 9-2 GOOD 00000003 < GLONASS 2-4 GOOD 00000003 < GLONASS 1+1 GOOD 00000003 < GLONASS 11 GOOD 00000003 < GLONASS 17+4 GOOD 00000003 < GLONASS 18-3 GOOD 00000003 < GALILEO 12 LOCKEDOUT 00000000 < GALILEO 11 LOCKEDOUT 00000000 < BEIDOU 8 GOOD 00000003
Field
Field type
Description
1
PSRSATS Log header. See Messages on page 25 for more header information.
2
#entries Number of records to follow
3
system See Table 105: Satellite System on page 553
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Enum 4
H H+4
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Field
Field type
4
Satellite ID
Description Satellite identifier
5
Status
Satellite status (see Table 80: Observation Statuses on page 443)
See Table 81: BESTSATS GPS Signal Mask on
6
Signal mask
page 444, Table 82: BESTSATS GLONASS Signal Mask on page 445, Table 83: BESTSATS Galileo Signal Mask on page 445, and Table 84:
BESTSATS BeiDou Signal Mask on page 445
7
Next satellite offset = H+4+(#sat x 16)
8
xxxx
32-bit CRC (ASCII and Binary only)
9
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
H+8
Enum 4
H+12
Hex
4
H+16
Hex
4
-
-
H+4+ (#sat x 16)
-
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3.116 PSRVEL
Pseudorange velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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.
In a PSRVEL log, the actual speed and direction of the receiver antenna over ground is provided. The receiver does not determine the direction a vessel, craft or vehicle is pointed (heading) but rather the direction of motion of the GNSS antenna relative to ground.
The velocity in the PSRVEL log is determined by the pseudorange filter. Velocities from the pseudorange filter are calculated from the Doppler. 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,1337,403362.000,02000000,658b,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
Description
Format
Binary Bytes
Binary Offset
1
PSRVEL Log header. See Messages on page 25 for more header information.
H
0
2
sol
Solution status, see Table 74: Solution Status on
status page 436
Enum
4
H
3
vel type
Velocity type, see Table 75: Position or Velocity Type on page 437
Enum 4
H+4
A measure of the latency in the velocity time tag in
4
latency seconds. It should be subtracted from the time to Float
4
give improved results
H+8
5
age
Differential age in seconds
Float
4
H+12
6
hor spd
Horizontal speed over ground, in metres per second
Double 8
H+16
7
trk gnd
Actual direction of motion over ground (track over ground) with respect to True North, in degrees
Double 8
H+24
8
vert spd
Vertical speed, in metres per second, where positive values indicate increasing altitude (up) and Double 8 negative values indicate decreasing altitude (down)
H+32
9
Reserved
Float
4
H+40
10
xxxx 32-bit CRC (ASCII and Binary only)
Ulong 4
H+44
11
[CR] [LF]
Sentence terminator (ASCII only)
-
-
-
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3.117 PSRXYZ
Pseudorange Cartesian position and velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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 11: The WGS84 ECEF Coordinate System on page 454 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 GNSS 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: 243
Log Type: Synch
Recommended Input: log psrxyza ontime 1
ASCII Example: #PSRXYZA,COM1,0,58.5,FINESTEERING,1419,340038.000,02000040,4a28,2724;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.
Field
Field type
1
PSRXYZ header
2
P-sol status
Description
Log header. See Messages on page 25 for more information.
Solution status, see Table 74: Solution Status on page 436
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
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Field
Field type
3
pos type
4
P-X
5
P-Y
6
P-Z
7
P-X
8
P-Y
9
P-Z
10
V-sol status
11
vel type
12
V-X
13
V-Y
14
V-Z
15
V-X
16
V-Y
17
V-Z
18
stn ID
19
V-latency
20
diff_age
21
sol_age
22
#SVs
23
#solnSVs
24
25
Reserved
26
Description
Format
Binary Bytes
Binary Offset
Position type, see Table 75: Position or Velocity Type on page 437
Enum
4
H+4
Position X-coordinate (m)
Double 8
H+8
Position Y-coordinate (m)
Double 8
H+16
Position Z-coordinate (m)
Double 8
H+24
Standard deviation of P-X (m)
Float
4
H+32
Standard deviation of P-Y (m)
Float
4
H+36
Standard deviation of P-Z (m)
Float
4
H+40
Solution status, see Table 74: Solution Status on page 436
Enum
4
H+44
Velocity type, see Table 75: Position or Velocity Type on page 437
Enum
4
H+48
Velocity vector along X-axis (m/s)
Double 8
H+52
Velocity vector along Y-axis (m/s)
Double 8
H+60
Velocity vector along Z-axis (m/s)
Double 8
H+68
Standard deviation of V-X (m/s)
Float
4
H+76
Standard deviation of V-Y (m/s)
Float
4
H+80
Standard deviation of V-Z (m/s)
Float
4
H+84
Base station ID
Char[4] 4
H+88
A measure of the latency in the velocity time tag
in seconds. It should be subtracted from the
Float
4
time to give improved results
H+92
Differential age in seconds
Float
4
H+96
Solution age in seconds
Float
4
H+100
Number of satellites tracked
Uchar 1
H+104
Number of satellite vehicles used in solution
Uchar 1
H+105
Char
1
H+106
Char
1
H+107
Char
1
H+108
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Field
Field type
Description
Format
Binary Bytes
Binary Offset
27
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Hex
1
H+109
28
Galileo and BeiDou sig mask
Galileo and BeiDou signals used mask (see Table 77: Galileo and BeiDou Signal-Used Mask on page 440)
Hex
1
H+110
GPS and GPS and GLONASS signals used mask (see Table
29
GLONASS 76: GPS and GLONASS Signal-Used Mask on
Hex
1
sig mask page 439)
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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3.118 QZSSALMANAC
Decoded QZSS Almanac parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the decoded almanac parameters as received from the satellite with the parity information removed and appropriate scaling applied. The OEM7 family of receivers automatically save almanacs in their Non-Volatile Memory (NVM), so creating an almanac boot file is not necessary.
For more information about QZSS almanac data, refer to the Interface Specifications for QZSS at http://qzss.go.jp/en/technical/ps-is-qzss/ps-is-qzss.html.
Message ID: 1346
Log Type: Asynch
Recommended Input: log qzssalmanaca onchanged
ASCII Example: #QZSSALMANACA,COM1,0,89.5,SATTIME,1642,148584.000,02000008,67d2,39655; 1, 193,1642,208896.0,7.587582e-02,-2.94869425e-09,-1.4441238e+00, -1.5737385e+00,1.7932513e+00,0.00000000,0.00000000,7.29336435e-05, 4.2159360e+07,7.11809030e-01,7,7*fb648921
The speed at which the receiver locates and locks onto new satellites is improved if the receiver has approximate time and position, as well as an almanac. This allows the receiver to compute the elevation of each satellite so it can tell which satellites are visible and their Doppler offsets, improving Time to First Fix (TTFF).
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
QZSSALMANAC Log header. See Messages on page 25
Header
for more information.
H
0
Number of satellite PRN almanac
2
#messages
messages to follow. Set to zero until Ulong 4
H
almanac data is available
3
PRN
Satellite PRN number for current message (dimensionless)
Ulong 4
H+4
4
week
Almanac reference week
Ulong 4
H+8
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Field Field Type
Description
Format
Binary Bytes
Binary Offset
5
seconds
Almanac reference time (s)
Double 8
H+12
6
ecc
Eccentricity (dimensionless) defined for a conic section where e = 0 is a circle, e = 1 is a parabola, 0 < e < 1 is an ellipse e > 1 is a hyperbola
Double 8
H+20
7
Rate of right ascension (radians/s)
Double 8
H+28
8
0
9
Right, ascension (radians)
Double 8
Argument of perigee (radians) measurement along the orbital path from the ascending node to the point Double 8 where the SV is closest to the Earth, in the direction of the SV's motion
H+36 H+44
10
M0
Mean anomaly of reference time (radians)
Double 8
H+52
11
af0
12
af1
13
N
Clock aging parameter (s) Clock aging parameter (s/s) Corrected mean motion (radians/s)
Double 8 Double 8 Double 8
H+60 H+68 H+76
14
A
Semi-major axis (m)
Double 8
H+84
15
inclination angle
Angle of inclination
Double 8
H+92
16
health-prn
SV health from Page 25 of subframe 4 or 5 (6 bits)
Ulong
4
H+100
17
health-alm
SV health from almanac (8 bits)
Ulong 4
H+104
18
Next PRN offset = H+4+(#messages x 104)
19
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+4+ (#messages x 104)
20
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.119 QZSSCNAVRAWMESSAGE
QZSS CNAV Raw Message
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This log provides the raw CNAV message from signals which contain the CNAV message (L2C, L5). It also indicates whether the raw message is generated from an L2C signal or L5 signal. The QZSSCNAVRAWMESSAGE log is not output by default. To receive this log, data decoding for L2C or L5 must be enabled using the DATADECODESIGNAL command (see page 115)
DATADECODESIGNAL QZSSL2CM ENABLE DATADECODESIGNAL QZSSL5 ENABLE
Message ID: 2261
Log Type: Asynch
Recommended Input: log QZSSCNAVRAWMESSAGEa onnew
ASCII Example: #QZSSCNAVRAWMESSAGEA,COM1,0,79.5,SATTIME,2020,252846.000,02000020,65aa,32768; 194,195,QZSSL5,11,8b0cb524f1aa067dfda0c73af40ca8c680e42003e011a0706fff7189c09 e5b02f1700f19a020*a0cbddf1 #QZSSCNAVRAWMESSAGEA,COM1,0,81.5,SATTIME,2020,252840.000,02000020,65aa,32768; 193,195,QZSSL2CM,33,8b0e1524f1aa7406a80007f18000400001b80000024d8367e43c4b890 0000000000001909db0*01417a78
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
QZSSCNAVRAWMESSAGE Log header. See Messages on
header
page 25 for more information.
H
0
2
signal channel
Signal channel providing the bits Ulong 4
H
3
PRN
Satellite PRN number
Ulong 4
H+4
4
signal type
Signal type (L2C or L5)
See Table 129: Signal Type on Enum 4 the next page
H+8
5
message ID
Message ID
Ulong 4
H+12
6
data
Raw message data
Hex[38] 38
H+16
7
xxxx
32-bit CRC (ASCII and binary only)
Hex
4
H+54
8
[CR][LF]
Sentence terminator (ASCII only)
�
�
�
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Table 129: Signal Type
Value (Binary) Signal (ASCII)
Description
33
GPSL1CA
GPS L1 C/A-code
47
GPSL1CP
GPS L1C P-code
68
GPSL2Y
GPS L2 P(Y)-code
69
GPSL2C
GPS L2 C/A-code
70
GPSL2P
GPS L2 P-code
103
GPSL5
GPS L5
2177
GLOL1CA
GLONASS L1 C/A-code
2211
GLOL2CA
GLONASS L2 C/A-code
2212
GLOL2P
GLONASS L2 P-code
2662
GLOL3
GLONASS L3
4129
SBASL1
SBAS L1
4194
SBASL5
SBAS L5
10433
GALE1
Galileo E1
10466
GALE5A
Galileo E5A
10499
GALE5B
Galileo E5B
10532
GALALTBOC
Galileo ALT-BOC
10565
GALE6C
Galileo E6C
10572
GALE6B
Galileo E6B
12673
BDSB1D1
BeiDou B1 with D1 navigation data
12674
BDSB1D2
BeiDou B1 with D2 navigation data
12803
BDSB2D1
BeiDou B2 with D1 navigation data
12804
BDSB2D2
BeiDou B2 with D2 navigation data
12877
BDSB3D1
BeiDou B3 with D1 navigation data
12880
BDSB3D2
BeiDou B3 with D2 navigation data
12979
BDSB1C
BeiDou B1C
13012
BDSB2A
BeiDou B2a
14753
QZSSL1CA
QZSS L1 C/A-code
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Value (Binary) Signal (ASCII)
Description
14760
QZSSL1CP
QZSS L1C P-code
14787
QZSSL2CM
QZSS L2 C/A-code
14820
QZSSL5
QZSS L5
14891
QZSSL6P
QZSS L6P
19073
NAVICL5SPS
NavIC L5 SPS
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3.120 QZSSEPHEMERIS
Decoded QZSS parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains a single set of QZSS ephemeris parameters.
Message ID: 1336
Log Type: Asynch
Recommended Input: log qzssephemerisa onchanged
ASCII Example: #QZSSEPHEMERISA,COM1,0,93.5,SATTIME,1642,153690.000,02000008,1e9d, 39655;193,153690.000000000,7,201,201,1642,1642,154800.000000000, 4.216030971806980e+07,2.115802417e-09,-2.152109479,0.075863329, -1.573817810,-0.000007546,0.000009645,-177.375000000,-219.875000000, -0.000000797,-0.000002151,0.711859299,-2.978695503e-10,-1.443966112, -1.636139580e-09,713,154800.000000000,-5.122274160e-09,-0.000000163, 1.250555215e-12,0.000000000,FALSE,0.000072933,4.000000000,0,0,0,0 *fbb52c7f
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
QZSSEPHEMERIS Log header. See Messages on page 25 for
header
more information.
H
0
2
PRN
Satellite PRN number
Ulong 4
H
3
tow
Time stamp of subframe 0 (s)
Double 8
H+4
4
health
Health status - a 6-bit health code as defined in QZSS Interface Specification
Ulong
4
H+12
5
IODE1
Issue of ephemeris data 1
Ulong 4
H+16
6
IODE2
Issue of ephemeris data 2
Ulong 4
H+20
7
week
GPS reference week number
Ulong 4
H+24
8
z week
Z count week number. This is the week
number from subframe 1 of the ephemeris. The `toe week' (field #7) is
Ulong 4
derived from this to account for rollover
H+28
9
toe
Reference time for ephemeris (s)
Double 8
H+32
10
A
Semi-major axis (m)
Double 8
H+40
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Field Field Type
11
N
12
M0
13
ecc
14
15
cuc
16
cus
17
crc
18
crs
19
cic
20
cis
21
I0
22
23
0
24
25
iodc
26
toc
27
tgd
28
afo
29
af1
Description
Format
Binary Bytes
Binary Offset
Mean motion difference (radians/s)
Double 8
H+48
Mean anomaly of reference time (radius) Double 8
H+56
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 e>1 is a hyperbola
Double 8
H+64
Argument of perigee (radians) measurement along the orbital path from the ascending node to the point where the Double 8 SV is closest to the Earth, in the direction of the SV's motion
H+72
Argument of latitude (amplitude of cosine, radians)
Double 8
H+80
Argument of latitude (amplitude of sine, radians)
Double 8
H+88
Orbit radius (amplitude of cosine, metres)
Double 8
H+96
Orbit radius (amplitude of sine, metres) Double 8
H+104
Inclination (amplitude of cosine, radians) Double 8
H+112
Inclination (amplitude of sine, radians)
Double 8
H+120
Inclination angle at reference time (radians)
Double 8
H+128
Rate of inclination angle (radians/s)
Double 8
H+136
Right ascension (radians)
Double 8
H+144
Rate of right ascension (radians/s)
Double 8
H+152
Issue of data clock
Ulong 4
H+160
SV clock correction term (s)
Double 8
H+164
Estimated group delay difference (s)
Double 8
H+172
Clock aging parameter (s)
Double 8
H+180
Clock aging parameter (s/s)
Double 8
H+188
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Field Field Type
30
af2
31
AS
32
N
33
URA
34
Fit Interval
35
Reserved
36
Reserved
37
Reserved
38
xxxx
39
[CR][LF]
Description
Clock aging parameter (s/s/s) Anti-spoofing on: 0= FALSE 1=TRUE Corrected mean motion (radians/s) User Range Accuracy variance, m2. The ICD specifies that the URA index transmitted in the ephemerides can be converted to a nominal standard deviation value using an algorithm listed there. We publish the square of the nominal value (variance) Curve fit interval: 0 = Ephemeris data are effective for 2 hours 1 = Ephemeris data are effective for more than 2 hours
32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Double 8
H+196
Enum 4
H+204
Double 8
H+208
Double 8
H+216
Uchar 1
H+224
Uchar 1
Uchar 1
Uchar 1
Ulong 4
-
-
H+225 H+226 H+227 H+228 -
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3.121 QZSSIONUTC
QZSS ionospheric and time information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the Ionospheric Model parameters (ION) and the Universal Time Coordinated parameters (UTC) for QZSS.
Message ID: 1347
Log Type: Asynch
Recommended Input: log qzssionutca onchanged
ASCII Example: #QZSSIONUTCA,COM1,0,94.0,FINESTEERING,1642,153300.565,02480008,158b, 39655;1.396983861923218e-08,-6.705522537231444e-8, 0.000000000000000e+000,1.788139343261719e-07,8.396800000000000e+04, 7.536640000000000e+05,-7.864320000000000e+05,-6.946816000000000e+06, 1642,307200,-5.5879354476928711e-09,5.329070518e-15,1768,4,15,15,0 *0204eec1
Field Field Type
Description
1
QZSSIONUTC Log header. See Messages on page 25
Header
for more information.
2
a0
Alpha parameter constant term
3
a1
Alpha parameter 1st order term
4
a2
Alpha parameter 2nd order term
5
a3
Alpha parameter 3rd order term
6
b0
Beta parameter constant term
7
b1
Beta parameter 1st order term
8
b2
Beta parameter 2nd order term
9
b3
Beta parameter 3rd order term
10
utc wn
UTC reference week number
11
tot
Reference time of UTC parameters
12
A0
UTC constant term of polynomial
13
A1
UTC 1st order term of polynomial
Format
Binary Bytes
Binary Offset
H
0
Double 8 Double 8 Double 8 Double 8 Double 8 Double 8 Double 8 Double 8 Ulong 4 Ulong 4 Double 8 Double 8
H H+8 H+16 H+24 H+32 H+40 H+48 H+56 H+64 H+68 H+72 H+80
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Field Field Type
14
wn lsf
15
dn
16
deltat ls
17
deltat lsf
18
Reserved
19
xxxx
20
[CR][LF]
Description
Format
Binary Bytes
Future week number
Ulong 4
Day number (the range is 1 to 7 where Sunday=1 and Ulong 4 Saturday=7)
Delta time due to leap seconds
Long
4
Future delta time due to leap seconds
Long
4
4
32-bit CRC (ASCII and Binary only)
Ulong 4
Sentence terminator (ASCII only)
-
-
Binary Offset H+88
H+92
H+96 H+100 H+104 H+108 -
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3.122 QZSSRAWALMANAC
Raw QZSS almanac data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the undecoded almanac subframes as received from the QZSS satellite.
Message ID: 1345
Log Type: Asynch
Recommended Input: log qzssrawalmanaca onchanged
ASCII Example: #QZSSRAWALMANACA,COM1,0,93.5,SATTIME,1642,153300.000,02480008,64c4,39655;1642, 208896.000,7, 1,8b000031c390c1820e33d007fefe07cae831c5293ebfe15049104a000001, 51,8b000031c613f3336a1fffffffffffffffffffffffffffffffffff000000, 49,8b000031cd90f14e6a7cf3cf1cf1cf3cf3c73cf1cf1cf3cf3cf3cf000002, 50,8b000031ce14f24e6a0cf3cf1df1cfffffffffffffffffffffffff000002, 56,8b000031d511f80ff70003292ef496000006fffffffa4b6a0fe8040f0002, 52,8b000031e692f4a00a0fff83f060f2080180082082082082082002080381, 53,8b000031e717f58082082082082082082082082082082082082082082080 *ca4596f9
The OEM7 family of receivers automatically saves almanacs in their Non-Volatile Memory (NVM), therefore creating an almanac boot file is not necessary.
Field Field Type
Description
1
QZSSRAW ALMANAC header
Log header. See Messages on page 25 for more information.
2
ref week
Almanac reference week number
3
ref secs
Almanac reference time, in milliseconds (binary data) or seconds (ASCII data)
4
#subframes Number of subframes to follow
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 GPSec 4 Ulong 4
H H+4 H+8
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Field Field Type
Description
5
svid
6
data
SV ID (satellite vehicle ID)
A value between 1 and 32 for the SV ID indicates the PRN of the satellite. Any other values indicate the page ID.
SV ID 1 to 10 corresponds to QZSS PRN 193 to 202. Refer to QZSS Interface Specification for more details.
Subframe page data
7
Next subframe offset = H+12+(#subframe x 32)
8
xxxx
32-bit CRC (ASCII and Binary only)
9
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Hex
2
H+12
Hex
30
H+14
Hex
4
-
-
H+12+ (#subframes x 32)
-
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3.123 QZSSRAWCNAVMESSAGE
Raw QZSS L2C and L5 CNAV message
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log provides the raw QZSS L2C and L5 CNAV message.
The QZSSRAWCNAVMESSAGE log is not output by default. To receive this log, data decoding for QZSSL2C or QZSSL5 must be enabled using the DATADECODESIGNAL command (see page 115) for the specific signal.
Message ID: 1530
Log Type: Collection
Recommended Input: log qzssrawcnavmessage onnew
ASCII Example: #QZSSRAWCNAVMESSAGEA,COM1,0,66.5,SATTIME,1902,405696.000,02000020,20f7,13677;40 ,193,10,8b04a84110edc2a346a97d311c3ff854620220004eba94f1313134f005530056c9da0cc c2300*1f2abac5
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
QZSSRAWCNAVMESSAGE Log header. See Messages on
header
page 25 for more information.
-
H
0
2
signal channel
Signal channel providing the bits Ulong 4
H
3
PRN
QZSS satellite PRN number
Ulong 4
H+4
4
message ID
CNAV message ID
Ulong 4
H+8
5
data
CNAV raw message data
Hex[38] 38
H+12
6
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+50
7
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.124 QZSSRAWEPHEM
QZSS Raw ephemeris information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the raw binary information for subframes one, two and three from the satellite with the parity information removed. Each subframe is 240 bits long (10 words - 24 bits each) and the log contains a total 720 bits (90 bytes) of information (240 bits x 3 subframes). This information is preceded by the PRN number of the satellite from which it originated. This message is not generated unless all 10 words from all 3 frames have passed parity.
Message ID: 1331
Log Type: Asynch
Recommended Input: log qzssrawephema onnew
ASCII Example: #QZSSRAWEPHEMA,COM1,0,84.5,SATTIME,1642,230580.000,02000008,2f9e,39655; 193,1642,234000,8b00004b0f879aa01c8000000000000000000000f6df3921fe0005 fffdbd,8b00004b1009dfd2bb1ec493a98277e8fd26d924d5062dcae8f5b739210e,8b 00004b108ffe5bc52864ae00591d003b8b02b6bfe13f3affe2afdff1e7*d2bd151e
Field Field Type
Description
1
QZSSRAWEPHEM Log header. See Messages on page 25
header
for more information.
2
prn
Satellite PRN number
3
ref week
Ephemeris reference week number
4
ref secs
Ephemeris reference time (s)
5
subframe1
Subframe 1 data
6
subframe2
Subframe 2 data
7
subframe3
Subframe 3 data
8
xxxx
32-bit CRC (ASCII and Binary only)
9
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
H
Ulong 4
Ulong 4
Ulong 4
Hex
30
Hex
30
Hex
30
Ulong 4
-
-
Binary Offset
0
H H+4 H+8 H+12 H+42 H+72 H+102 -
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3.125 QZSSRAWSUBFRAME
Raw QZSS subframe data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the raw QZSS subframe data. A raw QZSS subframe is 300 bits in total, 10 words of 30 bits each. This includes the parity 6 bits at the end of each word, for a total of 60 parity bits. Note that in Field #4, the `data' field below, the 60 parity bits are stripped out and only the raw subframe data remains, for a total of 240 bits. There are two bytes added onto the end of this 30 byte packed binary array to pad out the entire data structure to 32 bytes in order to maintain 4 byte alignment.
Message ID: 1330
Log Type: Asynch
Recommended Input: log qzssrawsubframea onnew
ASCII Example: #QZSSRAWSUBFRAMEA,COM1,0,85.5,SATTIME,1642,230604.000,02000008,e56b,39655;193,5 ,8b00004b11970637984efbf7fd4d0fa10ca49631ace140740a08fe0dfd43,65*6a7b9123
Field Field Type
Description
1
QZSSRAW SUBFRAME header
Log header. See Messages on page 25 for more information.
2
PRN
Satellite PRN number
3
subframe ID Subframe ID
4
data
Raw subframe data
5
chan
Signal channel number that the frame was decoded on
6
xxxx
32-bit CRC (ASCII and Binary only)
7
[CR][LF]
Sentence terminator
Format
Binary Bytes
H
Ulong 4
Ulong 4
Hex [30]
32a
Ulong 4
Ulong 4
-
-
Binary Offset
0
H H+4 H+8
H+40 H+44 -
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3.126 RAIMSTATUS
RAIM status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log provides information on Receiver Autonomous Integrity Monitoring (RAIM) status (refer to the RAIMMODE command on page 294).
Message ID: 1286
Log Type: Synch
Recommended Input: log raimstatusa ontime 1
ASCII Example: #RAIMSTATUSA,COM1,0,88.5,FINESTEERING,1837,268443.500,02040008,bf2d,32768;DEFAU LT,PASS,NOT_AVAILABLE,0.000,NOT_AVAILABLE,0.000,1,GLONASS,10-7*6504be7b
Field Field Type
Description
1
RAIMSTATUS Log header. See Messages on page 25 for
Header
more information.
2
RAIM Mode
RAIM mode (refer to Table 130: RAIM Mode Types on the next page)
3
Integrity status
Integrity Status (see Table 131: Integrity Status on page 688)
4
HPL status
Horizontal protection level status (see Table 132: Protection Level Status on page 688)
5
HPL
Horizontal protection level (m)
6
VPL status
Vertical protection level status (see Table 132: Protection Level Status on page 688)
7
VPL
Vertical protection level (m)
8
#SVs
Number of excluded satellites
9
System
Satellite system (see Table 105: Satellite System on page 553)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4
H+4
Enum 4 Double 8 Enum 4 Double 8 Ulong 4 Enum 4
H+8 H+12 H+20 H+24 H+32 H+36
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Field Field Type
Description
Format
Binary Bytes
Binary Offset
In binary logs, the satellite ID field is 4 bytes.
The 2 lowest order bytes, interpreted as a
USHORT, are the system identifier. For
instance, the PRN for GPS or the slot for
GLONASS. The 2 highest-order bytes are the
frequency channel for GLONASS, interpreted
as a SHORT and zero for all other systems.
10
Satellite ID
Ulong 4
In ASCII and abbreviated ASCII logs, the
satellite ID field is the system identifier. If
the system is GLONASS and the frequency
channel is not zero, then the signed channel is
appended to the system identifier. For
example, slot 13, frequency channel -2 is
output as 13-2
H+40
11
Next offset field = H+36+(#SVs * 8)
12
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+36 + (#SVs * 8)
13
[CR][LF]
Sentence terminator (ASCII only)
Table 130: RAIM Mode Types
Binary ASCII
Description
0
DISABLE Do not do integrity monitoring of least squares solution
1
USER
User will specify alert limits and probability of false alert
2
DEFAULT Use NovAtel RAIM (default)
3
APPROACH
Default numbers for non-precision approach navigation modes are used HAL = 556 m (0.3 nm), VAL = 50 m for LNAV/VNAV
4
TERMINAL
Default numbers for terminal navigation mode are used - HAL = 1855 m (1 nm), no VAL requirement
5
ENROUTE
Default numbers for enroute navigation mode are used - HAL = 3710 m (2 nm), no VAL requirement
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Table 131: Integrity Status
Binary ASCII
Description
0
NOT_
RAIM is unavailable because either there is no solution or because the
AVAILABLE solution is unique, that is, there is no redundancy
1
PASS
RAIM succeeded. Either there were no bad observations or the bad observations were successfully removed from the solution
2
FAIL
RAIM detected a failure and was unable to isolate the bad observations
Table 132: Protection Level Status
Binary ASCII
Description
0
NOT_ AVAILABLE
When RAIM is not available for example, after issuing a FRESET command (see page 179) or when there are not enough satellites tracked to produce the required redundant observations
1
PASS
Current protection levels are below alert limits, meaning positioning accuracy requirements are fulfilled
HPL < HAL
VPL < VAL
2
ALERT
Current protection levels are above alert limits, meaning required positioning accuracy cannot be guaranteed by RAIM algorithm
HPL HAL
VPL VAL
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3.127 RANGE
Satellite range information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The RANGE log contains the channel measurements for the currently tracked satellites. When using this log, please keep in mind the constraints noted along with the description. It is important to ensure that the receiver clock has been set. This can be monitored by the bits in the Receiver Status field of the log header. Large jumps in pseudorange as well as Accumulated Doppler Range (ADR) occur as the clock is being adjusted. If the ADR measurement is being used in precise phase processing, it is important not to use the ADR if the "parity known" flag, in the ch-tr-status field, is not set as there may exist a half (1/2) cycle ambiguity on the measurement. The tracking error estimate of the pseudorange and carrier phase (ADR) is the thermal noise of the receiver tracking loops only. It does not account for possible multipath errors or atmospheric delays. If multiple signals are being tracked for a given PRN, an entry for each signal, with the same PRN, appears in the RANGE logs. As shown in Table 133: Channel Tracking Status on page 692, these entries can be differentiated by bits 21-25, which indicate the signal type of the observation.
For dual antenna receivers, a RANGE_1 log can be requested to get RANGE data from the second antenna. As described in Table 3: Binary Message Header Structure on page 30, the message type indicates the log is from the second antenna. To request an ASCII log enter RANGEA_1, and for a binary log enter RANGEB_1.
Message ID: 43
Log Type: Synch
Recommended Input: log rangea ontime 30
Abbreviated ASCII Example: <RANGE COM1 0 82.0 FINESTEERING 1729 155076.000 02004000 5103 11465 46 31 0 24514687.250 0.064 -128825561.494675 0.010 3877.473 45.0 563.310 18109c04 31 0 24514688.765 0.096 -100383546.734328 0.010 3021.415 39.8 558.900 02309c0b 14 0 20345286.178 0.047 -106915249.491005 0.008 90.799 47.6 10283.130 08109c24 14 0 20345282.367 0.130 -83310588.842026 0.008 70.753 44.0 10276.900 01303c2b 22 0 20789170.556 0.038 -109247823.573628 0.007 -1421.169 49.4 15829.450 18109c44 22 0 20789164.279 0.138 -85128150.759123 0.007 -1107.404 43.6 15822.400 11303c4b 11 0 21977065.699 0.057 -115490261.964920 0.009 1235.428 46.0 5831.400 18109c64 11 0 21977062.220 0.201 -89992401.903056 0.011 962.671 40.3 5823.900 11303c6b 1 0 23109644.678 0.073 -121441999.794897 0.011 2971.250 43.8 3239.620 18109ca4 1 0 23109646.769 0.073 -94630142.467139 0.011 2315.261 42.1 3233.420 02309cab 1 0 23109647.385 0.009 -90687226.778371 0.009 2218.538 48.9 3237.080 01d03ca4
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32 0 23839782.353 0.133 -125278916.608912 0.022 3033.561 38.7 2193.280 18109cc4 32 0 23839781.295 0.363 -97619939.025504 0.026 2363.815 35.1 2184.900 11303ccb 18 0 22923322.792 0.062 -120462840.747702 0.009 -2710.945 45.3 20493.260 18109d04 18 0 22923320.071 0.350 -93867119.471860 0.012 -2112.426 35.5 20484.400 11303d0b 24 0 23708761.188 0.111 -124590391.778428 0.015 -2376.459 40.2 10643.820 08109d24 24 0 23708763.572 0.065 -97083440.180816 0.015 -1851.788 43.1 10639.420 02309d2b 24 0 23708765.724 0.009 -93038305.697497 0.008 -1774.807 49.1 10641.680 01d03d24 19 0 23739234.067 0.078 -124750470.392697 0.013 -2778.561 43.3 12263.180 08109d64 19 0 23739230.131 0.250 -97208136.646475 0.014 -2165.115 38.4 12255.400 01303d6b 61 9 22189063.544 0.155 -118654856.801346 0.011 -3985.235 43.3 13310.882 08119e04 61 9 22189063.246 0.055 -92287085.024614 0.011 -3099.631 37.6 13303.964 00b13e0b 47 0 21209673.567 0.147 -113059527.680842 0.011 -804.710 43.8 7342.680 08119e24 47 0 21209679.575 0.043 -87935228.320976 0.011 -625.886 39.7 7334.968 00b13e2b 46 5 24097664.754 0.213 -128680178.570435 0.014 -3740.543 40.6 10098.600 08119e44 46 5 24097669.137 0.048 -100084595.729257 0.015 -2909.311 38.8 10082.838 10b13e4b 39 3 21484445.079 0.161 -114645140.076744 0.012 2864.162 43.0 4463.150 18119e64 39 3 21484447.532 0.046 -89168467.325722 0.013 2227.683 39.1 4453.468 10b13e6b 38 8 19445896.471 0.101 -103949483.524466 0.008 -389.973 47.1 11640.260 18119e84 38 8 19445897.101 0.048 -80849619.556577 0.009 -303.312 38.8 11632.974 00b13e8b 48 7 21301665.694 0.166 -113829687.684616 0.011 3143.656 42.8 3778.910 08119ea4 48 7 21301667.294 0.054 -88534230.502244 0.012 2445.068 37.8 3770.968 10b13eab 54 11 20899591.029 0.131 -111837944.708346 0.009 -401.734 44.8 7155.190 18119ec4 54 11 20899589.241 0.024 -86985062.942139 0.009 -312.461 44.8 7146.970 10b13ecb 55 4 23127316.661 0.318 -123455195.443877 0.020 3067.787 37.1 1588.420 18119ee4 55 4 23127321.850 0.032 -96020732.562183 0.021 2386.060 42.3 1580.442 00b13eeb 12 0 26239080.161 0.048 -137887256.553732 0.015 -2696.802 47.6 11527.710 48539c24 12 0 26239085.285 0.012 -102967750.707625 0.013 -2013.883 46.8 11523.770 41933c24 12 0 26239083.219 0.011 -105653860.401460 0.013 -2066.457 47.3 11523.712 42333c24 12 0 26239094.196 0.019 -104310841.607718 0.014 -2040.204 42.7 11522.970 42933c24 11 0 25589806.061 0.045 -134475330.397885 0.013 -729.686 48.0 4974.653 48539c64 11 0 25589809.285 0.010 -100419891.315177 0.012 -545.179 47.8 4969.770 41933c64 11 0 25589806.124 0.010 -103039536.069621 0.011 -559.405 48.0 4969.734 42333c64 11 0 25589818.004 0.017 -101729751.744395 0.013 -552.305 43.7 4967.060 42933c64 8 0 39844800.850 0.077 -207482308.002186 0.018 -507.335 37.4 12048.980 18149c84
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8 0 39844800.076 0.043 -160438471.200694 0.013 -392.547 42.5 12038.660 00349c84
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
RANGE Log header. See Messages on page 25 for more header information.
H
0
2
# obs
Number of observations with information to follow 1
Ulong 4
H
Satellite PRN number of range measurement
3
PRN/slot
Ushort 2
H+4
Refer to PRN Numbers on page 44
4
glofreq
(GLONASS Frequency + 7) (see GLONASS Slot and Frequency Numbers section of this manual)
Ushort
2
H+6
5
psr
Pseudorange measurement (m)
Double 8
H+8
6
psr
Pseudorange measurement standard deviation (m)
Float
4
H+16
7
adr
Carrier phase, in cycles (accumulated Doppler range)
Double 8
H+20
8
adr
Estimated carrier phase standard deviation (cycles)
Float
4
H+28
9
dopp
Instantaneous carrier Doppler frequency (Hz) Float
4
H+32
Carrier to noise density ratio
10
C/No
C/No = 10[log10(S/N0)] (dB-Hz)
Float
4
11
locktime
Number of seconds of continuous tracking (no cycle slipping)
Float
4
H+36 H+40
Tracking status (see Table 133: Channel
12
ch-trstatus
Tracking Status on the next page and the example in Figure 14: Channel Tracking
Example on the next page)
Ulong 4
H+44
13...
Next PRN offset = H + 4 + (#obs x 44)
variable xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+4+ (#obs x 44)
variable [CR][LF] Sentence terminator (ASCII only)
-
-
-
1Satellite PRNs may have multiple lines of observations, one for each signal tracked. OEM7 Commands and Logs Reference Manual v10
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Figure 14: Channel Tracking Example
Table 133: Channel Tracking Status
Nibble Bit
Mask
Description
Range Value
0 0x00000001
1 0x00000002 N0
2 0x00000004 Tracking state
3 0x00000008
0-23,
see Table 134: Tracking State on page 694
4 0x00000010
5 0x00000020 N1
6 0x00000040
7 0x00000080 SV channel number
8 0x00000100
(n-1) (0 = first, n = last) n depends on the receiver
9 0x00000200 N2
10 0x00000400 Phase lock flag
0 = Not locked , 1 = Locked
11 0x00000800 Parity known flag
0 = Not known, 1 = Known
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Nibble Bit
Mask
Description
12 0x00001000 Code locked flag
13 0x00002000 N3
14 0x00004000 Correlator type
15 0x00008000
16 0x00010000
17 0x00020000 Satellite system N4
18 0x00040000
19 0x00080000 Reserved
20 0x00100000 Grouping
21 0x00200000
N5 22 0x00400000 Signal type (Dependent on satellite
23 0x00800000 system above)
24 0x01000000
N6 25 0x02000000 26 0x04000000 Reserved
Range Value 0 = Not locked, 1 = Locked
0-7, see Table 135: Correlator Type on page 695
0 = GPS 1 = GLONASS 2 = SBAS 3 = Galileo
4 = BeiDou 5 = QZSS 6 = NavIC 7 = Other
0 = Not grouped, 1 = Grouped
GPS: 0 = L1C/A 5 = L2P 9 = L2P (Y), semicodeless 14 = L5 (Q) 16 = L1C (P) 17 = L2C (M)
GLONASS: 0 = L1C/A 1 = L2C/A 5 = L2P 6 = L3 (Q)
BeiDou: 0 = B1 (I) with D1 data 1 = B2 (I) with D1 data 2 = B3 (I) with D1 data 4 = B1 (I) with D2 data 5 = B2 (I) with D2 data 6 = B3 (I) with D2 data 7 = B1C (P) 9 = B2a (P)
Galileo: 2 = E1 (C) 6 = E6B 7 = E6C 12 = E5a (Q) 17 = E5b (Q) 20 = E5AltBOC (Q)
QZSS: 0 = L1C/A 14 = L5 (Q) 16 = L1C (P) 17 = L2C (M) 27 = L6P
SBAS: 0 = L1C/A 6 = L5 (I)
NavIC: 0 = L5 SPS
Other: 19 = L-Band
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Nibble Bit
Mask
Description
Range Value
27 0x08000000 Primary L1 channel
0 = Not primary, 1 = Primary
28
0x10000000
Carrier phase measurement 1
0 = Half Cycle Not Added 1 = Half Cycle Added
N7
29
0x20000000 Digital filtering on signal
0 = No digital filter 1 = Digital filter
30 0x40000000 PRN lock flag 2
0 = PRN Not Locked Out 1 = PRN Locked Out
31 0x80000000 Channel assignment
0 = Automatic, 1 = Forced
Table 134: Tracking State
State
Description
0 Idle
1 Sky Search
2 Wide frequency band pull-in
3 Narrow frequency band pull-in
4 Phase lock loop
6 Channel steering
7 Frequency lock loop
9 Channel alignment
10 Code search
11 Aided phase lock loop
23 Side peak detection
1This bit is zero until the parity is known and the parity known flag (bit 11) is set to 1. After a loss of lock, there is a half cycle ambiguity on the ADR (carrier phase) until enough navigation data has been decoded to determine the correct phase of the carrier. At the point this is determined, the "parity known" and "half cycle added" flags will get set. If the half cycle flag is set to 1, it indicates that a half cycle was added to the ADR to correct an inverted phase.
2A PRN can be locked out using the LOCKOUT command.
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Table 135: Correlator Type
State
Description
0 N/A
1 Standard correlator: spacing = 1 chip
2 Narrow Correlator: spacing < 1 chip
3 Reserved
4 Pulse Aperture Correlator (PAC)
5 Narrow PAC
6 Reserved
Table 136: RINEX Mappings
GNSS Frequency
System
Band
Frequency
Signal Type
Observation Codes
Pseudo Range
Carrier Phase
Doppler
Signal Strength
L1CA
C1C
L1C
D1C
S1C
L1
1575.42
L1C(P) C1L
L1L
D1L
S1L
GPS L2
1227.6
L2C(M) C2S
L2S
D2S
S2S
L2P
L2P
C2P
D2P
S2P
L2P(Y) C2W
L2W
D2W
S2W
L5
1176.45
L5(Q)
C5Q
L5Q
D5Q
S5Q
G1
1598.06251609.3125
L1CA
C1C
L1C
D1C
S1C
GLONASS G2
1242.9375- L2CA
C2C
L2C
D2C
S2C
1251.6875
L2P
C2P
L2P
D2P
S2P
G3
1202.025
L3(Q)
C3Q
L3Q
D3Q
S3Q
E1
1575.42
E1C
C1C
L1C
D1C
S1C
E5a
1176.45
E5a(Q) C5Q
L5Q
D5Q
S5Q
Galileo
E5b
E5 (E5a+E5b)
1207.14 1191.795
E5b(Q) C7Q
E5AltBOC (Q)
C8Q
L7Q L8Q
D7Q D8Q
S7Q S8Q
E6
1278.75
E6C
C6C
L6C
D6C
S6C
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GNSS Frequency
System
Band
Frequency
L1 SBAS
L5
1575.42 1176.45
Signal Type
L1CA
L5(I)
L1CA
L1
1575.42
L1C(P)
QZSS
L2
1227.6
L2C(M)
L5
1176.45
L5(Q)
L6
1278.75
L6(P)
B1
1561.098
B1(I)
BeiDou
B1C B2
1575.42 1207.14
B1C(P) B2(I)
B2a
1176.45
B2a(P)
B3
1268.52
B3(I)
NavIC
L5
1176.45
L5SPS
Observation Codes
Pseudo Range
Carrier Phase
Doppler
Signal Strength
C1C
L1C
D1C
S1C
C5I
L5I
D5I
S5I
C1C
L1C
D1C
S1C
C1L
L1L
D1L
S1L
C2S
L2S
D2S
S2S
C5Q
L5Q
D5Q
S5Q
C6L
L6L
D6L
S6L
C2I
L2I
D2I
S2I
C1P
L1P
C7I
L7I
D1P
S1P
D7I
S7I
C5P
L5P
D5P
S5P
C6I
L6I
D6I
S6I
C5A
L5A
D5A
S5A
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3.128 RANGECMP
Compressed version of the RANGE log
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the RANGE data in a compressed format.
For dual antenna receivers, a RANGECMP_1 log can be requested to get RANGECMP data from the second antenna. As described in Table 3: Binary Message Header Structure on page 30, the message type indicates the log is from the second antenna. To request an ASCII log enter RANGECMPA_1, and for a binary log enter RANGECMPB_1.
Message ID: 140
Log Type: Synch
Recommended Input: log rangecmpa ontime 10
ASCII Example: #RANGECMPA,COM1,0,63.5,FINESTEERING, 1429,226780.000,02000000,9691,2748; 26, 049c10081857f2df1f4a130ba2888eb9600603a709030000, 0b9c3001225bf58f334a130bb1e2bed473062fa609020000, 449c1008340400e0aaa9a109a7535bac2015cf71c6030000, 4b9c300145030010a6a9a10959c2f09120151f7166030000, ... 0b9d301113c8ffefc284000c6ea051dbf3089da1a0010000, 249d1018c6b7f67fa228820af2e5e39830180ae1a8030000, 2b9d301165c4f8ffb228820a500a089f31185fe0a8020000, 449d1018be18f41f2aacad0a1a934efc40074ecf88030000, 4b9d301182b9f69f38acad0a3e3ac28841079fcb88020000, 849d101817a1f95f16d7af0a69fbe1fa401d3fd064030000, 8b9d30112909fb2f20d7af0a9f24a687521ddece64020000, 249e1118af4e0470f66d4309a0a631cd642cf5b821320000, 2b9eb110a55903502f6e4309ee28d1ad032c7cb7e1320000, 849e1118b878f54f4ed2aa098c35558a532bde1765220000, 8b9eb110abcff71f5ed2aa09cb6ad0f9032b9d16c5220000*0eeead18
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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 GNSS collected from the vehicles. The logs necessary for post-processing include:
RANGECMPB ONTIME 1
RAWEPHEMB ONCHANGED
This is an example of data collection for post-processing. OEM7 based output is compatible with post-processing software from NovAtel's Waypoint Products. Refer to our website at www.novatel.com/support/ for more details.
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
RANGECMP Log header. See Messages on page 25 for more
header
information.
H
0
2
#obs
Number of satellite observations with information to follow
Ulong 4
H
3
1st range record
Compressed range log in format of Table 137: Range Record Format (RANGECMP only) below
Hex
24
H+4
4
Next rangecmp offset = H+4 (#obs x 24)
5
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+4+ (#obs x 24)
6
[CR][LF] Sentence terminator (ASCII only)
-
-
-
Data
Channel Tracking Status
Doppler Frequency
Table 137: Range Record Format (RANGECMP only)
Description
Bits first to
last
Length (bits)
Scale Factor
Channel tracking status word
0-31
32
see Table 133: Channel Tracking Status on page 692
Units -
Instantaneous carrier Doppler frequency 32-59 28
1/256
Hz
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Data
Description
Bits first to
last
Length (bits)
Scale Factor
Units
Pseudorange (PSR)
Pseudorange measurement
60-95 36
1/128
m
ADR
ADR (Accumulated Doppler Range) is calculated as follows:
ADR_ROLLS = (RANGECMP_PSR / WAVELENGTH + RANGECMP_ADR) / MAX_VALUE
Round to the closest integer
IF (ADR_ROLLS 0) ADR_ROLLS = ADR_ROLLS - 0.5
ELSE ADR_ROLLS = ADR_ROLLS + 0.5
At this point integerise ADR_ROLLS CORRECTED_ADR = RANGECMP_ADR (MAX_VALUE*ADR_ROLLS) where
ADR has units of cycles WAVELENGTH = 0.1902936727984 for GPS L1 WAVELENGTH = 0.2442102134246 for GPS L2 MAX_VALUE = 8388608
96-127 32
Note: GLONASS satellites emit L1 and L2 carrier waves at a satellite-specific frequency, refer to the GLONASS section of An Introduction to GNSS available on our website
1/256
cycles
StdDev-PSR
Pseudorange measurement standard deviation
128-131 4
See Table
138:
StdDevPSR Values
m
on the next
page
StdDev-ADR ADR measurement standard deviation
132-135 4
(n+1)/512 cycles
PRN/Slot
Refer to PRN Numbers on page 44
136-143 8
1
-
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Data
Lock Time
C/No
GLONASS Frequency number Reserved
Description
Bits first to
last
Length (bits)
Scale Factor
Number of seconds of continuous tracking (no cycle slipping)
This field is constrained to a maximum value of 2,097,151 which represents a lock time of 65535.96875 s (2097151 � 32).
144-164 21
1/32
Carrier to noise density ratio
The C/No is constrained to a value
between 20-51 dB-Hz. Thus, if it is reported that C/No = 20 dB-Hz, the
165-169 5
actual value could be less. Likewise, if it
is reported that C/No = 51, the true value
could be greater.
(20+n)
GLONASS Frequency number
170-175 n+7
1
176-191 16
Units s dB-Hz
Table 138: StdDev-PSR Values
Code
StdDev-PSR (m)
0
0.050
1
0.075
2
0.113
3
0.169
4
0.253
5
0.380
6
0.570
7
0.854
8
1.281
9
2.375
10
4.750
11
9.500
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Code 12 13 14 15
StdDev-PSR (m) 19.000 38.000 76.000 152.000
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3.129 RANGECMP2
Compressed version of the RANGE log
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the RANGE data in a compressed format to handle more channels and different channel types than the RANGECMP log.
For dual antenna receivers, a RANGECMP2_1 log can be requested to get RANGECMP2 data from the second antenna. As described in Table 3: Binary Message Header Structure on page 30, the message type indicates the log is from the second antenna. To request an ASCII log enter RANGECMP2A_1, and for a binary log enter RANGECMP2B_1.
Message ID: 1273
Log Type: Synch
Recommended Input: log rangecmp2a ontime 10
Example: #RANGECMP2A,COM1,0,84.5,FINESTEERING,1681,163457.000,02000020,1fe3, 10526;634,000d00f4fddf05920620e1ffff2979e806e81301c8ffe4ffff03106b5a50 a902c8ff01100054f6bd05410720e1ffff2996ea0e90fb01e2ffe4ffff030e0d656816 03e3ff020400acdcd605c40320e1ffff697b080e9859801300e4ffff4310c94fb8c701 14000317002c554685260520e1ffff295f4412b0ad03c4ffe4ffff03d5a60d18c705c4 ff0401008452b08583f92fe1ffff2998ac65302c800000e4ffff03f32edf784b000000 0520000c8500056cfd2fe1ffff295fa40dd04a822300e4ffff03b8242a58f802230006 1f00c0081385effb2fe1ffff295fc408a83884f8ffe4ffff03b8861608c286f8ff081e 008cb25105970520e1ffff295c2604989483ceffe4ffff03f2862f489006cfff091400 3027e204930020e1ffff695e4407188602ddffe4ffff43b8241480c903ddff0a0e0050 e3e305d3f92fe1ffff2979c89c506d800700e4ffff030f4bdd603a8006000b1900d8f3 cc8543fb2fe1ffff297a280950f2002500e4ffff03f1286880e8022500140118341c0f 0581f92fe1ffff299d4404d02401f2ffe4ffff03920c2f900d82faff160d158cfa6b85 400820e1ffff69baa600b83d02d9ffe4ffff03734a4380ea04ceff170b178874ef0409 fa2fe1ffff299d6409d01904e6ffe4ffff0374ea31304d87daff180213c8039884fd00 20e1ffff697fe401007082d4ffe4ffff033b0616688084c4ff19131a5cdc9585f9fe2f e1ffff69b8c80e08e5800200e4ffff0357c830a8d001ebff1b0c16a45ca384c80220e1 ffff697f6401888a04efffe4ffff033a463d605e8802001c031c905434051d0720e1ff ff299cc60b18e881f3ffe4ffff0339462d38e182fbff231050f05e6406b9fd1fe6ffff 6998080f1013801300*61b80516
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Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
RANGECMP2 Log header. See Messages on page 25 for
header
more information.
H
0
2
# bytes
Number of bytes in the compressed binary range data1
Uchar 4
H
Compressed binary range data in the format of
Table 139: Satellite Block of the Range Record
3
RangeData Format (RANGECMP2 only) below and Table
Uchar #bytes H+4
140: Signal Block of the Range Record Format (RANGECMP2 only) on the next page 2
4
xxxx
32-bit CRC (ASCII and binary only)
Hex
4
H+4+ (# bytes)
5
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
Table 139: Satellite Block of the Range Record Format (RANGECMP2 only)
Data
Description
Bits first
to last
Length (bits)
Scale Factor
Units
SV Channel Number
Receiver SV channel number
0-7 8
-
-
Satellite identifier specific to the satellite
Satellite Identifier
system
8-15 8
-
-
Refer to PRN Numbers on page 44
GLONASS Frequency Identifier
GLONASS frequency channel offset by +7
16-19 4
(7+Ch#) -
Satellite System Identifier
Defined in Table 105: Satellite System on page 553
20-24 5
-
Enum
Reserved
25
1
-
-
1Maximum is 2880 bytes for 120 channels; maximum 5760 for 240 channels.
2The compressed binary range data is organized into satellite blocks, one for each satellite. Each satellite block is followed by a variable number of signal blocks corresponding to the same satellite. For example, a Satellite Block for GPS PRN 17 may be followed by two Signal Blocks for the L1 C/A and L2C signals.
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Data
Description
Bits first
to last
Length (bits)
Scale Factor
Pseudorange Base
Pseudorange base value to be combined with PSR Diff and Phaserange Diff in each following Signal Block
26-54 29
1
Doppler Base
Doppler base value to be combined with the Scaled Doppler Diff value in each following Signal Block
55-75 21
1
Number of Signal Blocks
The number of Signal Blocks to follow this Satellite Block. See Table 140: Signal Block of the Range Record Format (RANGECMP2 only) below for Signal Block definition
76-79 4
-
Units m Hz -
Table 140: Signal Block of the Range Record Format (RANGECMP2 only)
Data
Description
Bits first to last
Length (bits)
Scale Factor
Units
Signal Type
Defined in Table 144: Signal Type (only in RANGECMP2) on page 708
0-4
5
-
Enum
Phase Lock Phase Lock: 0 = Not locked, 1 = Locked 5
1
-
Bool
Parity Known
Parity Known: 0 = Not known, 1 = Known
6
1
-
Bool
Code Lock
Code Lock: 0 = Not locked, 1 = Locked 7
1
-
Bool
Time of continuous tracking with no
Locktime
cycle slips. The locktime value
8-24 17
1
ms
saturates at a maximum of 131071 ms
Correlator Type
Correlator type: (see Table 135: Correlator Type on page 695)
25-28 4
-
Enum
Primary Signal
Primary signal: 0 = Not primary, 1 = Primary
29
1
-
Bool
Carrier Phase Measurement
Carrier phase measurement: 0 = Half cycle not added, 1 = Half cycle added
30
1
-
Bool
Reserved
31
1
-
-
C/No
Carrier to Noise density ratio
32-36 5
(20 + n) dB-Hz
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Data
Description
StdDev PSR
Pseudorange Standard Deviation (defined Table 141: Std Dev PSR Scaling below)
StdDev ADR
Carrier-Phase Standard Deviation (defined Table 142: Std Dev ADR Scaling on the next page)
PSR Diff
Pseudorange Diff to be combined with Pseudorange base i.e., PSR = PSRBase + PSRDiff/128
Phaserange Diff
Phaserange Diff to be combined with Pseudorange Base i.e., ADR = PSRBase + PhaserangeDiff/2048
Scaled Doppler Diff1
Doppler Diff to be combined with Doppler Base. Note that all Doppler values are scaled to the L1/E1 equivalent value. (refer to Table 143: L1/E1/B1 Scaling on page 707) i.e., Doppler = (DopplerBase + ScaledDopplerDiff/256)/L1ScaleFactor
Bits first to last
Length (bits)
Scale Factor
Units
37-40 4
Bit Field
in Table
141: Std Dev PSR
-
Scaling
below
41-44 4
Bit Field
in Table
142: Std
Dev ADR Scaling
-
on the
next
page
45-58 14
1/128
m (unsigned)
59-78 20
1/2048
m (unsigned)
79-95 17
1/256
Hz (signed)
Table 141: Std Dev PSR Scaling
PSR Std Dev Bit Field Value Represented Std Dev (m)
0
0.02
1
0.03
2
0.045
1The Scaled Doppler Diff field is the only field in the RANGECMP2 that should be parsed as Two's Complement. The most significant byte (MSB) determines whether the number will be positive (< 0x7) or negative (> 0x7). Two's complement should be applied prior to AND, right bit shift computations.
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PSR Std Dev Bit Field Value Represented Std Dev (m)
3
0.066
4
0.099
5
0.148
6
0.22
7
0.329
8
0.491
9
0.732
10
1.092
11
1.629
12
2.43
13
3.625
14
5.409
15
>5.409
Table 142: Std Dev ADR Scaling
ADR Std Dev Bit Field Value Represented Std Dev (cycles)
0
0.00391
1
0.00521
2
0.00696
3
0.00929
4
0.01239
5
0.01654
6
0.02208
7
0.02947
8
0.03933
9
0.05249
10
0.07006
11
0.09350
12
0.12480
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ADR Std Dev Bit Field Value Represented Std Dev (cycles)
13
0.16656
14
0.22230
15
>0.22230
Table 143: L1/E1/B1 Scaling
Satellite System Signal Type L1/E1/B1 Scale Factor
L1CA
1.0
GPS
L2Y
154/120
L2C
154/120
L5Q
154/115
L1CA
1.0
GLONASS
L2CA
9/7
L2P
9/7
SBAS
L1CA L5I
1.0 154/115
E1
1.0
E5A
154/115
Galileo
E5B AltBOC
154/118 154/116.5
E6C
154/125
E6B
154/125
L1CA
1.0
QZSS
L2C
154/120
L5Q
154/115
L6P
154/125
LBAND
LBAND
1.0
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Satellite System Signal Type L1/E1/B1 Scale Factor
B1
1.0
B1C
1526/1540
BDS
B2
1526/1180
B2a
1526/1150
B3
1526/1240
NAVIC
L5SPS
1.0
Table 144: Signal Type (only in RANGECMP2)
Satellite System
Signal Type
Value
L1CA
1
L2Y
4
GPS
L2CM
5
L5Q
7
L1C
15
L1CA
1
L2CA
3
GLONASS
L2P
4
L3Q
6
SBAS
L1CA
1
L5I
2
E1C
1
E5AQ
2
Galileo
E5BQ
3
AltBOCQ
4
E6C
5
E6B
12
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Satellite System
QZSS
LBAND
BDS
NAVIC
Signal Type L1CA L2CM L5Q L1C L6P LBAND B1D1I B1D2I B2D1I B2D2I B3D1I B3D2I B1CP B2AP L5SPS
Value 1 3 4 8 11 1 1 2 3 4 13 14 19 20 1
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3.130 RANGECMP4
Highly compressed version of the RANGE log
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the RANGE data in a more heavily compressed format compared to the RANGECMP2 log.
For dual antenna receivers, a RANGECMP4_1 log can be requested to get RANGECMP4 data from the second antenna. As described in Table 3: Binary Message Header Structure on page 30, the message type indicates the log is from the second antenna. To request an ASCII log enter RANGECMP4A_1, and for a binary log enter RANGECMP4B_1.
Message ID: 2050
Log Type: Synch
Recommended Input: log rangecmp4a ontime 10
Example: #RANGECMP4A,COM1,0,81.5,FINESTEERING,1921,228459.000,00000020,fb0e, 32768;627,630032090851000000009200dbbf7d8306f822d0a3b2bc897f0010d35042 8cf31228ea9f7300040050ff5e641cb7c7463d2a00b6a4644f6e5ee2a0fe530a00fe1f 829dcfe4cf30d52abaf37f94e01621cd8d8c04a0bafcaf00e43b0761690064e7bfe90f 11ce8710a4eb2b573202607403fc28e647c6fe9f550118007a9d839c2680ebfedff687 6be81150411adbc972feef4686c483f30a09f01773ff0b0050d8b8a843f41576b94100 440e1e4f59ace54fffca2700fc1f62e14720f4facba64affbf9c52ff39ce4b3eef9f14 fd0f00244387d00d80fefabfeb0fb3cf456ae97542d410fc9ffab7f601e73580e5efda ff0f00a0b33991fc072ccbaa99ff134efa9fd0dc684bfc61f0fffeff60b02000000000 8004c0ff3fa0b2f724f7e1eee889e9fb9f3977c0437391ab135877fe0b00301edf93f4 bd63c62850fdbf8527e6e5cd438e3a208400e0ff43bb6f5fc2101c75b058daff375c5e a4378f51940022eeffff0fe1c97dcda81887c83a63007c9d5a7ed65ce6f901427bffff 3f9c04f735db1d55294a3bfc5f35ccc66df318c412181400140060eedbd7285feaf6a6 53f9bf9fc7fe27cd653633c0b5fcffff03197b4f8228d4e59d0cfbffa731b2f73b07e9 b68078f47f0000a9be7dcdcc51898da269fe839b6191ab9cc67701f21000fc3f0001a1 000000008002c03fb4362793b9bfeb657dfcffe6badabb9a4375b77f5bff1fed87bce6 4454a98ae16c14ff4fec6f7a48f3206b03e8040138fbd0023d225492cd7679a4ffa562 3b08810e42bf05fce17fa41f9a9ccfc8e2626231edf2ff208a1225ce6150204067febf ef030100000000000028000ca9cc8728bb3306e68af97f921cfce3e632f0d1cf8300c8 f701*6de99eb7
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Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
RANGECMP4 Log header. See Messages on page 25 for
header
more information.
-
H
0
2
# bytes
Number of bytes in the compressed binary Range Data.
Uchar 4
H
The compressed binary range data is organized into satellite system blocks which break down into measurement blocks for each active signal within each system. Refer to the following tables for more details about this format:
Table 145: Header on the next page (sent once)
Table 146: Satellite and Signal Block on page 713 (sent once per satellite system bit set to 1 in the GNSS Field found in Table 145: Header on the next page)
Table 147: Measurement Block Header on
page 714 (sent once for each bit set to 1 in the
Satellites Field found in Table 146: Satellite
and Signal Block on page 713)
3
Range Data Table 148: Primary Reference Signal
Uchar
# bytes
H+4
Measurement Block on page 715 and Table
149: Secondary Reference Signals
Measurement Block on page 716, or Table
150: Primary Differential Signal Measurement
Block on page 717 and Table 151: Secondary
Differential Signals Measurement Block on
page 718, Measurement Block (sent for each
bit set to 1 in the Included Signals Field for a
given satellite found in Table 146: Satellite
and Signal Block on page 713)
The byte data is received MSB first so each group of bytes (as defined by the number of needed bits) must be swapped prior to processing.
4
xxxx
32-bit CRC (ASCII only)
5
[CR][LF]
Sentence terminator (ASCII only)
Hex
4
-
-
H+4+ (# bytes)
-
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Table 145: Header
Data Name
Description
GNSS
Indicates which satellite system data is encoded and in what order. When the bit is set the satellite data is included. Data for each system is encoded sequentially: Bit 0 = GPS Bit 1 = GLONASS Bit 2 = SBAS Bit 5 = Galileo Bit 6 = BeiDou Bit 7 = QZSS Bit 9 = NavIC
Bits
Scale Factor
16 1
L-Band channels are not reported. This block is sent once per message
Bit Sum: 16
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Table 146: Satellite and Signal Block
Data Name
Range
Description
Bits
Scale Factor
Indicates which satellites are present for this system and their order in the message. Each PRN is represented by a bit. (Bit 0 = PRN 1, Bit 1 = PRN 2, ...)
Notes:
l Manually assigned channels are not reported.
l GLONASS Satellite: This value represents the Slot
ID of the satellite (range of 1 to 24 where Bit 0 =
Slot ID 1). In the event the Slot ID is between 43
Satellites
0... 1.84467E+19
and 63, the actual GLONASS Slot ID has not yet been determined and has been replaced with a tem-
64
1
porary Slot ID calculated using the GLONASS Fre-
quency Number. See the GLONASS Frequency
Number field in Table 147: Measurement Block
Header on the next page for more details.
l SBAS Satellite PRNs 120 to 158 are offset by 120. (Bit 0 = PRN 120, Bit 1 = 121, ...)
l SBAS Satellite PRNs 183 to 187 are offset by 130
l QZSS Satellite PRNs are offset by 193
Signals 0... 65535
Indicates which signals are present for this system and
their order in the message. Each signal is represented by a bit as defined in Table 152: Signal Bit Mask on
16
1
page 719.
Included Signals
0... mxn
A two dimensional field to tell the decoder which signals are present for each of the satellites.
m = The number of rows equals the number of bits set to 1 found in the Satellites field. (Maximum number of PRNs in the satellite system)
mxn
n = The number of columns equals the number of bits set to 1 found in the Signals field. (Maximum number of Signals in the satellite system)
Bit Sum: 80 + mxn
This block is sent once for each bit set to 1 in the GNSS field found in Table 145: Header on the previous page.
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Table 147: Measurement Block Header
Data Name
Range
Description
Bits
Scale Factor
Identifies what type of Measurement Block will be used:
0 = Reference
(Table 148: Primary Reference Signal Measurement Block
Data
on the next page and Table 149: Secondary Reference
Format
0... 1 Signals Measurement Block on page 716)
1
1
Flag
1 = Differential
(Table 150: Primary Differential Signal Measurement Block
on page 717 and Table 151: Secondary Differential Signals
Measurement Block on page 718)
Ref Data Block ID
0... 7
This ID identifies to which reference data the Differential Data is linked. This value is incremented by 1 each time a new Reference Measurement Block is used.
3
1
These bits are only present for GLONASS satellites in the Reference Data. This represents the GLONASS Frequency Number which identifies the frequency offset of the carrier frequency. The value will appear as a number between 0 and 20 which directly translates into a frequency offset number between -7 to +13.
GLONASS 0... 20 If the GLONASS Slot ID is unknown, a temporary Slot ID for
Frequency (-7 to this satellite will be set between 43 and 63 based on the
5
1
Number +13) GLONASS Frequency Number:
PRN = 63 � GLONASS Frequency Number
The GLONASS Frequency Number used in this calculation is the 0 to 20 value, not the adjusted -7 to +13 value.
Bit Sum:
4 (NonGLONASS)
9 (GLONASS)
This block is sent once for each bit set to 1 in the Satellites field found in Table 146: Satellite and Signal Block on the previous page.
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Table 148: Primary Reference Signal Measurement Block
Data Name
Range
Description
Bits
0 = Parity Unknown
Parity Flag
0... 1
1
1 = Parity Known
0 = Half Cycle Not Added
� Cycle Flag 0... 1
1
1 = Half Cycle Added
C/No
0... 63.95
C/No
11
Lock Time
0... 15
The Lock Time � See Table 153: Lock Time on page 720
4
Pseudorange Std Dev
0... 15
The Pseudorange Standard Deviation (m) � See Table 155: Pseudorange Std Dev on 4 page 722
ADR Std Dev 0... 15
The ADR Standard Deviation (cycles) � See Table 154: ADR Std Dev on page 721
4
Primary Pseudorange
The Pseudo Range of the 1st signal
(Signals field in Table 146: Satellite and
0...
Signal Block on page 713).
68719476.74 If this value equals (237-1) =
37
137438953471, it represents a signal that
is not locked.
PhaseRange � Primary Pseudorange
�419.4303
(2's Complement) If this value equals �(223-1) = -4194304, 23
it represents the signal is not locked.
Primary Doppler
�3355.4431
(2's Complement) If this value equals �(226-1) = -33554432, 26
it represents an invalid Doppler.
Bit Sum: 111
Scale Factor 1 1 0.05 dBHz 1 1 1
0.0005 m
0.0001 m 0.0001 m/s
This block is sent once for the first bit set to 1 in the Included Signals field found in Table 146: Satellite and Signal Block on page 713. For any bits set to 1 after the first bit set to 1, refer to Table 149: Secondary Reference Signals Measurement Block on the next page.
This table is for Reference blocks only, as indicated by the Data Format Flag (see Table 147: Measurement Block Header on the previous page).
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Table 149: Secondary Reference Signals Measurement Block
Data Name
Range
Description
Bits
0 = Parity Unknown
Parity Flag
0... 1
1
1 = Parity Known
0 = Half Cycle Not Added
� Cycle Flag
0... 1
1
1 = Half Cycle Added
C/No Indicator 0... 63.95 C/No
11
Lock Time
0... 15
The Lock Time � See Table 153: Lock Time on page 720
4
Pseudorange Std Dev
0... 15
The Pseudorange Standard Deviation
(m) � See Table 155: Pseudorange
4
Std Dev on page 722
ADR Std Dev
0... 15
The ADR Standard Deviation (cycles) �
See Table 154: ADR Std Dev on
4
page 721
Pseudorange � Primary Signal Pseudorange
�262.1435
(2's Complement) If this value equals �(220-1) = 524288, it indicates the signal is not locked.
20
Phaserange � Pseudorange
(2's Complement)
�419.4303
If this value equals �(223-1) = 4194304, it indicates the signal is not
23
locked.
Doppler � Primary Doppler
�0.8191
(2's Complement) If this value equals �(214-1) = -8192, 14
it indicates an invalid Doppler.
Bit Sum: 82
Scale Factor 1 1 0.05 dBHz 1 1
1
0.0005 m
0.0001 m
0.0001 m/s
This block is sent once for each bit set to 1 after the first bit set to 1 in the Included Signals field found in Table 146: Satellite and Signal Block on page 713.
This table is for Reference blocks only, as indicated by the Data Format Flag (see Table 147: Measurement Block Header on page 714).
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Table 150: Primary Differential Signal Measurement Block
Data Name Range
Description
Bits
Scale Factor
Parity Flag 0... 1
0 = Parity Unknown 1 = Parity Known
1
1
� Cycle Flag 0... 1
0 = Half Cycle Not Added 1 = Half Cycle Added
1
1
C/No
0... 63.95 C/No
11
0.05 dBHz
Lock Time 0... 15
The Lock Time � See Table 153: Lock Time on page 720
4
1
Pseudorange Std Dev
0... 15
The Pseudorange Standard Deviation (m) � See Table 155: Pseudorange Std Dev on page 722
4
1
ADR Std Dev 0... 15
The ADR Standard Deviation (cycles) � See Table 154: ADR Std Dev on page 721
4
1
(2's Complement) If this value equals �(219-1) = -262144, it indicates a
signal that is not locked.
Pseudorange
The Predicted Pseudorange = reference pseudorange
� Predicted �131.0715 plus (the reference doppler x time difference between 19
Pseudorange
the reference log and the differential log). The
Reference log and Differential logs used must contain
matching Ref Data Block ID references (Table 147:
Measurement Block Header on page 714).
0.0005 m
Phaserange � Predicted Phaserange
�3.2767
(2's Complement) If this value equals �(216-1) = -32768, it indicates the signal is not locked.
The Predicted Phaserange = reference phaserange plus (the reference doppler x time difference between 16 the reference log and the differential log). The Reference log and Differential logs used must contain matching Ref Data Block ID references (Table 147: Measurement Block Header on page 714).
0.0001 m
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Data Name Range
Doppler � Reference Doppler
�13.1071
Description
Bits
Scale Factor
(2's Complement) If this value equals �(218-1) = -131072, it indicates an invalid Doppler.
The Reference Doppler is the Doppler for that PRN and 18 for that signal from the Reference log. The Reference log and Differential logs used must contain matching Ref Data Block ID references (Table 147: Measurement Block Header on page 714).
0.0001 m/s
Bit Sum: 78
This block is sent once for each bit set to 1 after the first bit set to 1 in the Included Signals field found in Table 146: Satellite and Signal Block on page 713. For any bits set to 1 after the first bit set to 1, refer to Table 151: Secondary Differential Signals Measurement Block below.
This table is for Differential blocks only, as indicated by the Data Format Flag (see Table 147: Measurement Block Header on page 714).
Table 151: Secondary Differential Signals Measurement Block
Data Name Range
Description
Bits
Scale Factor
Parity Flag 0... 1
0 = Parity Unknown 1 = Parity Known
1
1
� Cycle Flag 0... 1
0 = Half Cycle Not Added 1 = Half Cycle Added
1
1
C/No
0... 63.95 C/No
11
0.05 dBHz
Lock Time 0... 15
The Lock Time � See Table 153: Lock Time on page 720
4
1
Pseudorange Std Dev
0... 15
The Pseudorange Standard Deviation (m) � See Table 155: Pseudorange Std Dev on page 722
4
1
ADR Std Dev 0... 15
The ADR Std Dev (cycles)� See Table 154: ADR Std Dev on page 721
4
1
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Data Name Range
Description
Bits
Scale Factor
(2's Complement) If this value equals �(219-1) = -262144, it indicates
the signal is not locked.
Pseudorange
The Predicted Pseudorange = reference pseudorange
� Predicted �131.0715 plus (the reference doppler x time difference between 19
Pseudorange
the reference log and the differential log). The
Reference log and Differential logs used must contain
matching Ref Data Block ID references (Table 147:
Measurement Block Header on page 714).
0.0005 m
Phaserange � Predicted Phaserange
�3.2767
(2's Complement) If this value equals �(216-1) = -32768, it indicates the signal is not locked.
The Predicted Phaserange = reference phaserange plus (the reference doppler x time difference between 16 the reference log and the differential log). The Reference log and Differential logs used must contain matching Ref Data Block ID references (Table 147: Measurement Block Header on page 714).
0.0001 m
Doppler � Reference Doppler
�13.1071
(2's Complement) If this value equals �(214-1) = -8192, it indicates an invalid Doppler.
The Reference Doppler is the Doppler for that PRN and 14 for that signal from the Reference log. The Reference log and Differential logs used must contain matching Ref Data Block ID references (Table 147: Measurement Block Header on page 714).
0.0001 m/s
Bit Sum: 74
This block is sent once for each bit set to 1 after the first bit set to 1 in the Included Signals field found in Table 146: Satellite and Signal Block on page 713.
This table is for Differential blocks only, as indicated by the Data Format Flag (see Table 147: Measurement Block Header on page 714).
Bit 1
Table 152: Signal Bit Mask
GPS GLONASS SBAS Galileo BeiDou QZSS NavIC
L1CA L1CA
L1CA E1
B1
L1CA L5SPS
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GPS GLONASS SBAS Galileo BeiDou QZSS NavIC
Bit 2
L5I E5A
B1GEO
Bit 3
L2CA
E5B
B2
L2C
Bit 4 L2Y L2P
ALTBOC B2GEO L5Q
Bit 5 L2C
E6C
B3
Bit 6 L2P L3
B3GEO
Bit 7 L5Q
B1CP
Bit 8
L1C
Bit 9
B2AP
Bit 10
Bit 11
L6P
Bit 12
E6B
Bit 13
Bit 14
Bit 15 L1C
Table 153: Lock Time
Indicator (i)
Minimum Lock Time (ms)
Range of Indicated Lock Times (t represents the Lock Time) (ms)
0
0
0 t < 16
1
16
16 t < 32
2
32
32 t < 64
3
64
64 t < 128
4
128
128 t < 256
5
256
256 t < 512
6
512
512 t < 1024
7
1024
1024 t < 2048
8
2048
2048 t < 4096
9
4096
4096 t < 8192
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Indicator (i)
Minimum Lock Time (ms)
Range of Indicated Lock Times (t represents the Lock Time) (ms)
10
8192
8192 t < 16384
11
16384
16384 t < 32768
12
32768
32768 t < 65536
13
65536
65536 t < 131072
14
131072
131072 t < 262144
15
262144
262144 t
Table 154: ADR Std Dev
ADR Std Dev (cycles)
0
0.0039
1
0.0052
2
0.0070
3
0.0093
4
0.0124
5
0.0165
6
0.0221
7
0.0295
8
0.0393
9
0.0525
10
0.0701
11
0.0935
12
0.1248
13
0.1666
14
0.2223
15
> 0.2223
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Table 155: Pseudorange Std Dev
Pseudorange Std Dev (m)
0
0.020
1
0.030
2
0.045
3
0.066
4
0.099
5
0.148
6
0.220
7
0.329
8
0.491
9
0.732
10
1.092
11
1.629
12
2.430
13
3.625
14
5.409
15
> 5.409
For more information about decoding the RANGECMP4 log, refer to Example of Bit Parsing a RANGECMP4 Log on page 1062.
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3.131 RANGEGPSL1
L1 version of the RANGE log
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log is identical to the RANGE log (see page 689) except that it only includes L1 GPS observations.
Message ID: 631
Log Type: Synch
Recommended Input: log rangegpsl1a ontime 30
ASCII Example: #RANGEGPSL1A,COM1,0,57.0,FINESTEERING,1337,404766.000,02000000,5862, 1984; 10, 14,0,21773427.400,0.037,-114420590.433332,0.006,2408.171,49.9, 14963.280,18109c04, 22,0,24822942.668,0.045,-130445851.055756,0.009,-3440.031,48.0, 22312.971,08109c24, 25,0,20831000.299,0.033,-109468139.214586,0.006,1096.876,50.7, 7887.840,08109c44, 1,0,20401022.863,0.032,-107208568.887106,0.006,-429.690,51.1, 10791.500,18109c64, 24,0,23988223.932,0.074,-126058964.619453,0.013,2519.418,43.8, 493.550,18109c84, 11,0,22154466.593,0.043,-116423014.826717,0.007,-1661.273,48.4, 11020.952,08109ca4, 5,0,24322401.516,0.067,-127815012.260616,0.012,-1363.596,44.6, 6360.282,18109cc4, 20,0,22294469.347,0.043,-117158267.467388,0.008,2896.813,48.5, 4635.968,08109ce4, 30,0,23267589.649,0.051,-122271969.418761,0.009,822.194,47.0, 4542.270,08109d04, 23,0,24975654.673,0.058,-131247903.805678,0.009,3395.097,45.9, 406.762,18109d24*be4b7d70
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Since the RANGEGPSL1 log includes only L1 GPS observations, it is smaller in size than the RANGE log which contains entries for multiple systems and signals. Use the RANGEGPSL1 log when data throughput is limited and you are only interested in GPS L1 range data. For GPS L1 only models, RANGE and RANGEGPSL1 logs are identical.
Field Field type
Description
1
RANGEGPSL1 Log header. See Messages on page 25 for
header
more information.
Format
Binary Bytes
Binary Offset
H
0
2
# obs
Number of L1 observations with information to follow
Long
4
H
3
PRN
Satellite PRN number of range measurement (1-32)
Ushort
2
H+4
4
Reserved
Ushort 2
H+6
5
psr
Pseudorange measurement (m)
Double 8
H+8
6
psr std
7
adr
Pseudorange measurement standard deviation (m)
Carrier phase, in cycles (accumulated Doppler range)
Float
4
Double 8
H+16 H+20
8
adr std
Estimated carrier phase standard deviation (cycles)
Float
4
H+28
9
dopp
Instantaneous carrier Doppler frequency (Hz) Float
4
H+32
10
C/No
11
locktime
Carrier to noise density ratio C/No = 10[log10(S/N0)] (dB-Hz)
Float
4
Number of seconds of continuous tracking (no cycle slipping)
Float
4
H+36 H+40
12
ch-tr-status
Tracking status (see Table 133: Channel Tracking Status on page 692)
Ulong 4
H+44
13... Next PRN offset = H + 4 + (#obs x 44)
14
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+4+ (#obs x 44)
15
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.132 RAWALM
Raw GPS Almanac data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the undecoded GPS almanac subframes as received from the satellite. For more information about Almanac data, refer to An Introduction to GNSS available on our website.
Message ID: 74
Log Type: Asynch
Recommended Input:
log rawalma onchanged
ASCII Example:
#RAWALMA,COM1,0,56.0,SATTIME,1337,405078.000,02000000,cc1b,1984;1337,589824.000 ,43, 3,8b04e4839f35433a5590f5aefd3900a10c9aaa6f40187925e50b9f03003f, 27,8b04e483a1325b9cde9007f2fd5300a10da5562da3adc0966488dd01001a, 4,8b04e483a1b44439979006e2fd4f00a10d15d96b3b021e6c6c5f23feff3c, 28,8b04e483a3b05c5509900b7cfd5800a10cc483e2bfa1d2613003bd050017, 5,8b04e483a43745351c90fcb0fd4500a10d8a800f0328067e5df8b6100031, 57,8b04e483a6337964e036d74017509f38e13112df8dd92d040605eeaaaaaa, 6,8b04e483a6b54633e390fa8bfd3f00a10d4facbc80b322528f62146800ba, 29,8b04e483a8b05d47f7901b20fd5700a10ce02d570ed40a0a2216412400cb, 7,8b04e483a935476dee90fb94fd4300a10d93aba327b7794ae853c02700ba, ... 1,8b04e483d8b641305a901b9dfd5a00a10ce92f48f1ba0a5dcccb7500003b, 25,8b04e483dab25962259004fcfd4c00a10dc154eee5c555d7a2a5010d000d, 2,8b04e483db37424aa6900720fd4f00a10c5ad89baa4dc1460790b6fc000f, 26,8b04e483dd305a878c901d32fd5b00a10c902eb7f51db6b6ce95c701fff4*83cae97a
The OEM7 family of receivers automatically saves almanacs in their Non-Volatile Memory (NVM), therefore creating an almanac boot file is not necessary.
Field Field type
Description
1
RAWALM header
Log header. See Messages on page 25 for more information.
2
ref week
Almanac reference week number
3
ref secs
Almanac reference time (ms)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 GPSec 4
H H+4
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Field Field type
Description
4
#subframes Number of subframes to follow
SV ID (satellite vehicle ID)
A value between 1 and 32 for the SV ID indicates the PRN of the satellite. Any other values indicate the page ID.
Format
Binary Bytes
Binary Offset
Ulong 4
H+8
5
svid
See section 20.3.3.5.1.1, Data ID and SV ID, of ICDGPS-200C for more details. To obtain copies of ICDGPS-200, refer to the GPS website (www.gps.gov/).
6
data
Subframe page data
7... Next subframe offset = H+12+(#subframe x 32)
8
xxxx
32-bit CRC (ASCII and Binary only)
9
[CR][LF]
Sentence terminator (ASCII only)
Ushort 2
Hex
30
Hex
4
-
-
H+12
H+14 H+12+ (#subframes x 32) -
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3.133 RAWCNAVFRAME
Raw GPS CNAV frame data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log provides raw frame data from signals which contain the CNAV message (L2C, L5).
The RAWCNAVFRAME log is not output by default. To receive this log, data decoding for L2C or L5 must be enabled using the DATADECODESIGNAL command (see page 115) for the specific signal.
Message ID: 1066
Log Type: Asynch
Recommended Input: log rawcnavframea onnew
ASCII Example: #RAWCNAVFRAMEA,COM1,0,63.0,SATTIME,1902,431718.000,02000020,ee56,13677;17,6,11, 8b18b8c892cd499a403d89d3a5bfc05f500a1fff6007dff412e017a3c029ccff5d6001fc9a70*0d ddab32
Field Field type
Description
1
RAWCNAVFRAME Log header. See Messages on page 25
header
for more information.
2
signal channel
Signal channel providing the bits
3
PRN
Satellite PRN number
4
frame ID
frame ID
5
data
Raw frame data
6
xxxx
32-bit CRC (ASCII and Binary only)
7
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
H
Ulong 4
Ulong 4
Ulong 4
Hex[38] 38
Hex
4
-
-
Binary Offset
0
H H+4 H+8 H+12 H+50 -
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3.134 RAWEPHEM
Raw GPS ephemeris
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the raw binary information for subframes one, two and three from the GPS satellite L1 C/A signal with the parity information removed. Each subframe is 240 bits long (10 words - 24 bits each) and the log contains a total 720 bits (90 bytes) of information (240 bits x 3 subframes). This information is preceded by the PRN number of the satellite from which it originated. This message is not generated unless all 10 words from all 3 frames have passed parity. Ephemeris data whose Time of Ephemeris (TOE) is older than six hours is not shown. Multiple logs are output, one for each GPS satellite with collected ephemeris information.
Message ID: 41
Log Type: Asynch
Recommended Input: log rawephema onnew
ASCII Example: #RAWEPHEMA,COM1,30,48.0,SATTIME,2017,215910.000,02000008,58ba,14968;8, 2017,215984, 8b0f84464926f8500023bc389922867c68cea8010b0d34bb00fff5f10fbe, 8b0f844649ab0dfac632fe6b077ab8fbc101cbf3970702a10cf7c334bb16, 8b0f84464a2fffd51d287903005b2781e24627e6ef75369dffa4920dfe27*e26b8cb9
...
#RAWEPHEMA,COM1,29,48.0,SATTIME,2017,217440.000,02000008,58ba,14968; 10,2017,223200, 8b0f8446c8a7f8500012fcc99922867c68cea801045e367e00ffef1817c6, 8b0f8446c9295efea1313adc677649fe7a01ea37a913e4a10d5206367e7e, 8b0f8446c9af003072eca2d5fff527313d1619108e3984d6ffa8df5e08ba*85ccfe5a
A way to use only one receiver and achieve better than 1 metre accuracy is to use precise orbit and clock files. Three types of GPS ephemeris, clock and earth orientation solutions are compiled by an elaborate network of GNSS receivers around the world all monitoring the satellite characteristics. IGS rapid orbit data is processed to produce files that correct the satellite clock and orbit parameters. Since there is extensive processing involved, these files are available on a delayed schedule from the US National Geodetic Survey at: www.ngs.noaa.gov/orbits Precise ephemeris files are available today to correct GPS data which was collected a few days ago. All you need is one GNSS receiver and a computer to process on. Replace the ephemeris data with the precise ephemeris data and post-process to correct range values.
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Field Field type
Description
Format
Binary Bytes
1
RAWEPHEM Log header. See Messages on page 25 for
header
more information.
H
2
PRN
Satellite PRN number
Ulong 4
3
ref week
Ephemeris reference week number
Ulong 4
4
ref secs
Ephemeris reference time (s)
Ulong 4
5
subframe1 Subframe 1 data
Hex[30] 30
6
subframe2 Subframe 2 data
Hex[30] 30
7
subframe3 Subframe 3 data
Hex[30] 30
8
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
9
[CR][LF]
Sentence terminator (ASCII only)
-
-
Binary Offset
0
H H+4 H+8 H+12 H+42 H+72 H+102 -
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3.135 RAWGPSSUBFRAME
Raw GPS L1 C/A subframe data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the raw GPS L1 C/A subframe data. A raw GPS L1 C/A subframe is 300 bits in total. This includes the parity bits which are interspersed with the raw data ten times in six bit chunks, for a total of 60 parity bits. Note Field #5, below, has these 60 parity bits stripped out and only the raw subframe data remains, for a total of 240 bits.
Message ID: 25
Log Type: Asynch
Recommended Input: log rawgpssubframea onnew
ASCII Example: #RAWGPSSUBFRAMEA,COM1,59,62.5,SATTIME,1337,405348.000,02000000,f690,1984;2,22,4 ,8b04e483f3b17ee037a3732fe0fc8ccf074303ebdf2f6505f5aaaaaaaaa9,2*41e768e4 ... #RAWGPSSUBFRAMEA,COM1,35,62.5,SATTIME,1337,405576.000,02000000,f690,1984;4,25,2 ,8b04e48406a8b9fe8b364d786ee827ff2f062258840ea4a10e20b964327e,4*52d460a7 ... #RAWGPSSUBFRAMEA,COM1,0,62.5,SATTIME,1337,400632.000,02000000,f690,1984;20,9,3, 8b04e4826aadff3557257871000a26fc34a31d7a300bede5ffa3de7e06af,20*55d16a4a
The RAWGPSSUBFRAME log can be used to receive the data bits with the parity bits stripped out. Alternately, you can use the RAWGPSWORD log (see page 732) to receive the parity bits in addition to the data bits.
Field
Field type
Description
1
RAWGPSSUBFRAME Log header. See Messages on
header
page 25 for more information.
2
decode #
Frame decoder number
3
PRN
Satellite PRN number
4
subframe id
Subframe ID
5
data
Raw subframe data
Format
Binary Bytes
Binary Offset
H
0
Long
4
Ulong 4
Ulong 4
Hex[30] 321
H H+4 H+8 H+12
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Field
Field type
6
signal channel
7
xxxx
8
[CR][LF]
Description
Signal channel number that the frame was decoded on 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
H+44
Ulong 4
-
-
H+48 -
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3.136 RAWGPSWORD
Raw GPS navigation word
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This message contains the framed GPS raw navigation words. Each log contains a new 30 bit navigation word (in the least significant 30 bits), plus the last 2 bits of the previous word (in the most significant 2 bits). The 30 bit navigation word contains 24 bits of data plus 6 bits of parity. The GPS reference time stamp in the log header is the time the first bit of the 30 bit navigation word was received. Only navigation data that has passed parity checking appears in this log. One log appears for each PRN being tracked every 0.6 seconds if logged ONNEW or ONCHANGED.
Message ID: 407
Log Type: Asynch
Recommended Input: log rawgpsworda onnew
ASCII Example: #RAWGPSWORDA,COM1,0,58.5,FINESTEERING,1337,405704.473,02000000,9b16,1984;14,7ff 9f5dc*8e7b8721 ... #RAWGPSWORDA,COM1,0,57.0,FINESTEERING,1337,405783.068,02000000,9b16,1984;1,93fe ff8a*6dd62c81 ... #RAWGPSWORDA,COM1,0,55.5,FINESTEERING,1337,405784.882,02000000,9b16,1984;5,ffff f8ce*a948b4de
The RAWGPSWORD log can be used to receive the parity bits in addition to the data bits. Alternately, you can use the RAWGPSSUBFRAME log which already has the parity bits stripped out
Field Field type
Description
1
RAWGPSWORD Log header. See Messages on page 25
header
for more information.
2
PRN
Satellite PRN number
3
nav word
Raw navigation word
4
xxxx
32-bit CRC (ASCII and Binary only)
5
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
Hex[4] 4
Ulong 4
-
-
H H+4 H+8 -
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3.137 RAWSBASFRAME
Raw SBAS frame data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the raw SBAS frame data of 226 bits (8-bit preamble, 6-bit message type and 212 bits of data but without a 24-bit CRC). Only frame data with a valid preamble and CRC are reported.
Message ID: 973
Log Type: Asynch
Recommended Input: log rawsbasframea onnew
ASCII Example: #RAWSBASFRAMEA,COM1,0,91.0,SATTIME,1610,341534.000,02000000,58e4,38637;32,133,4 ,c6115ffc00000c009ffc07004c089ffdffdffdffdfff957bbb6bffffc0,32*5afc5f95 #RAWSBASFRAMEA,COM1,0,91.0,SATTIME,1610,341535.000,02000000,58e4,38637;32,133,2 ,53084007ff9fffffc03002c0000f0009ffc004005ffd6b961e39b9fb80,32*db5dfa62 #RAWSBASFRAMEA,COM1,0,91.0,SATTIME,1610,341535.000,02000000,58e4,38637;35,135,2 ,53084007ff9fffffc03002c0000f0009ffc004005ffd6b961e39b9fb80,35*b72ff2a0 ... #RAWSBASFRAMEA,COM1,0,90.0,SATTIME,1610,341539.000,02000000,58e4,38637;34,138,3 ,9a0c4000009ffc009ffdffc007fb9ffdffc0000040315b9bb96fb95680,34*cb050361
The RAWSBASFRAME log output contains all the raw data required for an application to compute its own SBAS correction parameters.
Field Field type
Description
Format
Binary Bytes
Binary Offset
1
RAWSBASFRAME Log header. See Messages on page 25 for
header
more information.
H
0
2
decode #
Frame decoder number
Ulong 4
H
3
PRN
SBAS satellite PRN number
Ulong 4
H+4
4
SBAS frame ID SBAS frame ID
Ulong 4
H+8
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Field Field type
5
raw frame data
6
signal channel
7
xxxx
8
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
Raw SBAS frame data. There are 226 bits of data and 6 bits of padding
Hex[29]
321
H+12
Signal channel number that the frame was decoded on
Ulong 4
H+44
32-bit CRC (ASCII and Binary only)
Ulong 4
H+48
Sentence terminator (ASCII only)
-
-
-
1In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment. OEM7 Commands and Logs Reference Manual v10
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3.138 RAWSBASFRAME2
Raw SBAS frame data 2
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the raw SBAS frame data of 226 bits (8-bit preamble, 6-bit message type and 212 bits of data but without a 24-bit CRC). It also contains the transmitted frequency. Only frame data with a valid preamble and CRC are reported.
Message ID: 2185
Log Type: Asynch
Recommended Input: log rawsbasframe2a onnew
ASCII Example: #RAWSBASFRAME2A,COM1,0,77.5,SATTIME,1977,514394.000,02000020,b39f,32768;135,209 ,2,1,0,3,c60d4009ffc018001ffc005ffdfffffbff9ffc00bfed79db9bb95b9540*9a75ce69 #RAWSBASFRAME2A,COM1,0,77.5,SATTIME,1977,514394.000,02000020,b39f,32768;138,207 ,2,1,0,4,c6125ffdffc005ffffffffbfe3fb9ffdffdffdffdfffba3956abffffc0*9324a574 #RAWSBASFRAME2A,COM1,0,77.5,SATTIME,1977,514395.000,02000020,b39f,32768;135,208 ,1,0,0,4,53125ffdffc011ffc000007fe3fb5ffdffdffdffdfffba3956abffffc0*69490ac5 #RAWSBASFRAME2A,COM1,0,78.5,SATTIME,1977,514395.000,02000020,b39f,32768;138,206 ,1,0,0,3,530c7ff9ffc017ff9fffff9ffdfffffbfedffc003fe579db9bb95b9540*c7ca1531
The RAWSBASFRAME2 log output contains all the raw data required for an application to compute its own SBAS correction parameters.
Field
Field Type
Description
1
RAWSBASFRAME2 Log header. See Messages on page 25
header
for more information.
2
PRN
SBAS satellite PRN number
3
signal channel
Signal channel number that the frame was decoded on
4
SBAS Signal Source
Identifies the source of the SBAS signal:
1 � SBASL1CA
2 � SBASL5I
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
H
Ulong 4
H+4
Uchar 1
H+8
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Field
Field Type
5
SBAS Preamble Type
6
Reserved
7
SBAS frame ID
8
data
9
xxxx
10
[CR][LF]
Description
Identifies what preamble was used when tracking the SBAS signal:
0 � SBASL1CA 8-bit Preamble 1 � SBASL5I 8-bit Preamble
SBAS frame ID Raw SBAS frame data. There are 226 bits of data and 6 bits of padding 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Uchar 1
H+9
Ushort 2 Ulong 4
Hex[29] 321
Ulong 4
-
-
H+10 H+12 H+16 H+48 -
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3.139 REFSTATION
Base station position and health
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the ECEF Cartesian position of the base station as received through the RTCMV3 message. It also features a time tag, the health status of the base station and the station ID. This information is set at the base station using the FIX command (see page 166) and the DGPSTXID command (see page 127). See Figure 11: The WGS84 ECEF Coordinate System on page 454 for a definition of the ECEF coordinates. The base station health, Field #6, may be one of 8 values (0 to 7). Values 0 through 5 indicate the scale factor that is multiplied with the satellite UDRE one-sigma differential error values. Below are values 0 to 5 and their corresponding UDRE scale factors:
0: 1 (Health OK) 0.75 2: 0.5 3: 0.3 4: 0.2 5: 0.1 The base station health field only applies to RTCM base stations. A value of 6 means the base station transmission is not monitored and a value of 7 means that the base station is not working.
Message ID: 175
Log Type: Asynch
Recommended Input: log refstationa onchanged
ASCII Example: #REFSTATIONA,COM1,0,66.5,FINESTEERING,1364,490401.124,82000000,4e46,2310;000000 00,-1634532.443,-3664608.907,4942482.713,0,RTCMV3,"AAAA"*1e2a0508
Field Field type
Description
Format
Binary Bytes
Binary Offset
1
REFSTATION Log header. See Messages on page 25 for
header
more information.
H
0
2
status
Status of the base station information (see
Table 156: Base Station Status on the next
Ulong 4
H
page)
3
x
ECEF X value (m)
Double 8
H+4
4
y
ECEF Y value (m)
Double 8
H+12
5
z
ECEF Z value (m)
Double 8
H+20
6
health
Base station health, see the description at the start of this section
Ulong
4
H+28
7
stn type
Station type (see Table 157: Station Type on the next page)
Enum
4
H+32
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Field Field type
Description
8
stn ID
9
xxxx
10
[CR][LF]
Base station ID 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Char[5] 81
H+36
Ulong 4
H+44
-
-
-
Table 156: Base Station Status
Bit #
Mask
Description
Bit = 0 Bit = 1
0 0x00000001 Validity of the base station Valid Invalid
Table 157: Station Type
Base Station Type Binary ASCII
Description
0
NONE
Base station is not used
1 - 3 Reserved
4
RTCMV3 Base station is RTCMV3
The REFSTATION log can be used for checking the operational status of a remotely located base station. You can verify that the base station is operating properly without traveling to it. This is especially useful for RTK work on long baselines.
1In the binary log case, an additional 3 bytes of padding are added to maintain 4-byte alignment. OEM7 Commands and Logs Reference Manual v10
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3.140 REFSTATIONINFO
Base Station position information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This is an extended version of the REFSTATION log with latitude, longitude and ellipsoidal height of the base station in WGS84. In addition to the base station position, ARP height, antenna model name and antenna serial number are available if provided by the base station only through RTCMV3.
Message ID: 1325
Log Type: Asynch
Recommended Input: log refstationinfoa onchanged
ASCII Example: #REFSTATIONINFOA,USB1,0,89.5,EXACT,0,0.000,02000040,d38f,6782; 51.116375174,-114.038254922,1048.502830628,WGS84,1.234,0,RTCMV3, "0","702GG","NVH05410007"*bedf8ece
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
REFSTATIONINFO Log header. See Messages on page 25
header
for more information.
H
0
2
latitude
Latitude (degrees)
Double 8
H
3
longitude
Longitude (degrees)
Double 8
H+8
4
height
Ellipsoidal Height (m)
Double 8
H+16
5
datum
Datum ID number (WGS84) (refer to Table 29: Datum Transformation Parameters on page 121)
Enum 4
H+24
6
ARP height
Base Antenna ARP (m)
Float
4
H+28
7
health
Base Station Health, see Table 156: Base Station Status on the previous page
Ulong
4
H+32
8
Ref Stn Type
9
stn ID
Base Station Type, see (Table 157: Station Type on the previous page)
Base Station ID
Enum 4 Char[5] 8a
H+36 H+40
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Field
Field type
Description
10
Ant Model
Base Antenna Model Name
11
Ant Serial
12
xxxx
13
[CR][LF]
Base Antenna Serial Number 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Char [32]
32
H+48
Char [32]
32
H+80
Ulong 4
H+112
-
-
-
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3.141 ROVERPOS
Position using ALIGN
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
ALIGN generates distance and bearing information between a master and rover receiver. This log outputs the position information of the rover when using the ALIGN feature. This log can only be output from a Y ALIGN model and can be output at both Master and Rover ends.
You must have an ALIGN capable receiver to use this log.
l 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.
l The log can be output at the Y model Rover only if it is receiving the RTCAREFEXT message from the Master. The log can be output at any Master if the Master is receiving HEADINGEXTB from the Rover. Refer to the NovAtel application note APN-048 for details on HEADINGEXT (available at www.novatel.com/support/).
l ROVERPOS is dependent on the output frequency of the RTCAREFEXT message from the master to the rover.
l On dual antenna receivers, the ROVERPOS log outputs the position for the secondary antenna input.
Message ID: 1052
Log Type: Asynch
Recommended Input: log roverposa onchanged
ASCII Example: #ROVERPOSA,COM1,0,21.5,FINESTEERING,1544,340322.000,02000008,7453,4655;SOL_ COMPUTED,NARROW_INT,51.11605565964,-114.03854655975,1055.8559,16.9000,WGS84,0.0130,0.0122,0.0206,"RRRR",0.0,0.0,13,12,12,11,0,0,0,0*635b3a1c
Asynchronous logs, such as ROVERPOS, should only be logged ONCHANGED or ONNEW otherwise the most current data is not output when it is available. This is especially true of the ONTIME trigger, which may cause inaccurate time tags to result.
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Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
ROVERPOS Log header. See Messages on page 25 for more
header
information.
H
0
2
sol stat
Solution Status, see Table 74: Solution Status on page 436
Enum
4
H
3
pos type
Position Type see Table 75: Position or Velocity Type on page 437
Enum
4
H+4
4
lat
Rover WGS84 Latitude in degrees
Double 8
H+8
5
long
Rover WGS84 Longitude in degrees
Double 8
H+16
6
hgt
Rover MSL Height in metres
Double 8
H+24
7
undulation Undulation in metres
Float
4
H+32
8
datum id#
WGS84 (default) (refer to Table 29: Datum Transformation Parameters on page 121)
Enum 4
H+36
9
lat
Latitude standard deviation in metres
Float
4
H+40
10
long
Longitude standard deviation in metres
Float
4
H+44
11
hgt
Height standard deviation in metres
Float
4
H+48
12
stn id
Rover ID (default = "RRRR")
Char[4] 4
H+52
13
Reserved
Float
4
H+56
14
Reserved
Float
4
H+60
15
#SVs
Number of satellite tracked
Uchar 1
H+64
16
#solnSVs Number of satellite in solution
Uchar 1
H+65
17
#obs
Number of satellites above elevation mask angle
Uchar 1
H+66
18
#multi
Number of satellites above the mask angle with L2, B2
Uchar
1
H+67
19
Hex
1
H+68
20 Reserved
21
Uchar 1 Uchar 1
H+69 H+70
22
Uchar 1
H+71
23
xxxx
32-bit CRC (ASCII and Binary only)
Hex
1
H+72
24
[CR][LF] Sentence Terminator (ASCII only)
-
-
-
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3.142 RTCMV3 Standard Logs
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
NovAtel's RTCMv3 logs are implementations of the messages described by the RTCM SC-104 committee's "Differential GNSS (Global Navigation Satellite Systems) Services � Version 3" standard. These messages are primarily intended to support RTK operations. They are also an alternative raw data format to NovAtel's proprietary messages.
The RTCMv3 logs can be divided into several categories that are described below. An RTK base station must minimally transmit one or more observable message, together with one or more station and antenna message. The GENERATERTKCORRECTIONS command on page 187 illustrates an appropriate set of messages and is an easy way to configure logging.
Example Input: interfacemode com2 none RTCMV3 fix position 51.1136 -114.0435 1059.4 thisantennatype NOV702 log com2 rtcm1006 ontime 10 log com2 rtcm1033 ontime 10 2 log com2 rtcm1004 ontime 1 log com2 rtcm1012 ontime 1
3.142.1 Legacy Observable Messages
The legacy observable messages contain GPS and GLONASS code and phase observables. The extended messages additionally contain the C/N0.
Table 158: Legacy Observable Messages
Log Name Message ID
Description
RTCM1001 772
GPS L1-only observables, basic
RTCM1002 774
GPS L1-only observables, extended
RTCM1003 776
GPS L1/L2 basic observables, basic
RTCM1004 770
GPS L1/L2 basic observables, extended
RTCM1009 885
GLONASS L1-only observables, basic
RTCM1010 887
GLONASS L1-only observables, extended
RTCM1011 889
GLONASS L1/L2 basic observables, basic
RTCM1012 891
GLONASS L1/L2 basic observables, extended
3.142.2 MSM Observable Messages
The Multiple Signal Messages (MSM) are observable messages for all current GNSS systems. They provide a standardized framework for message content and are designed to support future
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systems and signals.
Sending legacy (1001-1004 and 1009-1012) and MSM messages in the same stream can cause problems for remote RTK users and is not recommended.
Each GNSS system has a set of seven MSM types numbered from 1 to 7. The MSM type for each GNSS system provides the same generic information. Generally, as the MSM number increases, more information is available in the messages. For example, MSM1 for each GNSS system provides the code measurements for the system, while MSM3 provides both the code and phase.
The information encoded in each MSM variant is described in Table 159: MSM Type Descriptions below for the descriptions of each of the seven MSM types. For RTK operations, MSM3 is minimally recommended.
Table 159: MSM Type Descriptions
Message
Description
MSM1
Provides the code measurements.
MSM2
Provides the phase measurements.
MSM3
Provides the data from MSM1 (code) and MSM2 (phase) in a single message.
MSM4
Provides all the data from MSM3 (code and phase) and adds the CNR measurements.
MSM5
Provides all the data from MSM4 (code, phase and CNR) and adds the doppler measurements.
MSM6
Provides the same information as MSM4, but has extended resolution on the measurements.
MSM7
Provides the same information as MSM5, but has extended resolution on the measurements.
Table 160: MSM Log Names below lists the MSM message name and Table 161: MSM Message IDs on the next page lists the message IDs.
Table 160: MSM Log Names
Message
GPS
GLONASS
Galileo
QZSS
BeiDou
MSM1
RTCM1071
RTCM1081
RTCM1091
RTCM1111
RTCM1121
MSM2
RTCM1072
RTCM1082
RTCM1092
RTCM1112
RTCM1122
MSM3
RTCM1073
RTCM1083
RTCM1093
RTCM1113
RTCM1123
MSM4
RTCM1074
RTCM1084
RTCM1094
RTCM1114
RTCM1124
MSM5
RTCM1075
RTCM1085
RTCM1095
RTCM1115
RTCM1125
MSM6
RTCM1076
RTCM1086
RTCM1096
RTCM1116
RTCM1126
MSM7
RTCM1077
RTCM1087
RTCM1097
RTCM1117
RTCM1127
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Message MSM1 MSM2 MSM3 MSM4 MSM5 MSM6 MSM7
GPS 1472 1473 1474 1475 1476 1477 1478
Table 161: MSM Message IDs
GLONASS
Galileo
1479
1486
1480
1487
1481
1488
1482
1489
1483
1490
1484
1491
1485
1492
QZSS 1648 1649 1650 1651 1652 1653 1654
BeiDou 1592 1593 1594 1595 1596 1597 1598
3.142.3 Station and Antenna Messages
The station and antenna messages listed in Table 162: Station and Antenna Messages on the next page provide the base station's coordinates and hardware. Remote RTK users require this information so that they can position themselves relative to a base station.
l Message Type 1005 provides the Earth-Centered, Earth-Fixed (ECEF) coordinates of the Antenna Reference Point (ARP). The ARP is an explicit physical point on the antenna, typically the center of its base. It is related to the antenna phase center from where the measurements are emitted via the Phase Center Offsets (PCOs). The PCOs can be set using the THISANTENNAPCO command (see page 371) or THISANTENNATYPE command (see page 373). If the PCOs are not set, then the coordinates transmitted by Message types 1005 and 1006 will be those that the receiver is fixed to by the FIX command (see page 166).
l Message Type 1006 is the same as 1005 but additionally provides the antenna height. This value is always set to zero by the receiver firmware.
l Message Type 1007 provides the base station antenna type. Conventionally, the antenna name from the International GNSS Service (IGS) is used. The antenna name can be set using the THISANTENNATYPE command (see page 373).
l Message Type 1008 is the same as 1007 but additionally provides the antenna serial number. The serial number is always set to null by the receiver firmware.
l Message Type 1033, like message types 1007 and 1008, also provides the antenna information. Message type 1033 additionally provides the receiver type and firmware version. The primary use of this information is to more-easily enable RTK rovers to fix their GLONASS ambiguities. This information is filled automatically and appropriately by the receiver firmware.
For a receiver operating as an RTK base station, the recommended messages to transmit are 1006 and 1033. With these messages remote RTK users have all the information describing the base station.
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Table 162: Station and Antenna Messages
Log Name
Message RTCM Message
ID
Type
Description
RTCM1005 765
1005
Stationary RTK Base Station Antenna Reference Point (ARP)
RTCM1006 768
1006
Stationary RTK Base Station ARP with Antenna Height
RTCM1007 852
1007
Extended Antenna Descriptor and Setup Information
RTCM1008 854
1008
Extended Antenna Reference Station Description and Serial Number
RTCM1033 1097
1033
Receiver and antenna descriptors
3.142.4 Ephemeris Messages
The ephemeris messages listed in Table 163: Ephemeris Messages below provide the satellite ephemerides. For RTK operations this information is optional, as RTK rovers will be downloading their own ephemerides directly from the satellites.
There are two messages for each ephemeris type. For the messages logged ONTIME (e.g. LOG RTCM1019 ONTIME 10) a single satellite's ephemeris is output at each ONTIME interval. The ephemerides will be cycled through in numerical order. For the messages logged ONCHANGED (e.g., LOG RTCM1019ASYNC ONCHANGED), new or changed ephemerides will be output as soon as they are available.
Log Name
Table 163: Ephemeris Messages
Message ID
RTCM Message Type
Description
RTCM1019
893
1019
GPS Ephemerides, logged ONTIME
RTCM1019ASYNC 2088
1019
GPS Ephemerides, logged ONCHANGED
RTCM1020
895
1020
GLONASS Ephemerides, logged ONTIME
RTCM1020ASYNC 2089
1020
GLONASS Ephemerides, logged ONCHANGED
RTCM1042
2171
1042
BeiDou Ephemerides, logged ONTIME
RTCM1042ASYNC 2170
1042
BeiDou Ephemerides, logged ONCHANGED
RTCM1044
2177
1044
QZSS Ephemerides, logged ONTIME
RTCM1044ASYNC 2176
1044
QZSS Ephemerides, logged ONCHANGED
RTCM1045
2173
1045
Galileo F/NAV Ephemerides, logged ONTIME
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Log Name
Message ID
RTCM Message Type
RTCM1045ASYNC 2172
1045
RTCM1046
2175
1046
RTCM1046ASYNC 2174
1046
Description
Galileo F/NAV Ephemerides, logged ONCHANGED
Galileo I/NAV Ephemerides, logged ONTIME
Galileo I/NAV Ephemerides, logged ONCHANGED
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3.143 RTKASSISTSTATUS
RTK ASSIST status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log provides information on the state of RTK ASSIST.
RTK ASSIST operates in two modes: coast and full assist. The RTKASSISTSTATUS log reports which mode is currently available. Coast mode is available as soon as the RTK ASSIST corrections are received from the L-Band satellite, while full assist mode requires a convergence period. In coast mode, position error growth during RTK correction outages is slightly worse than in full assist mode and RTK will not resume following a full signal outage until after RTK corrections are restored. Full assist gives the lowest position error growth during RTK correction outages, and makes it possible for RTK to resume even if there are complete GNSS signal outages during the RTK ASSIST period.
The RTK ASSIST ACTIVE state reported in the RTKASSISTSTATUS log is also reported in the RTKPOS and BESTPOS extended solution status field. See Table 78: Extended Solution Status on page 440.
The RTKASSISTSTATUS log reports the time remaining in the RTK ASSIST ACTIVE state. Once RTK ASSIST becomes active, the remaining time will count down from the time out set by the RTKASSISTTIMEOUT command (see page 303) .
The corrections age reported in the RTKASSISTSTATUS log should typically be below 30 seconds. If the age exceeds this value, then L-Band tracking is likely being degraded. The most likely cause of degraded L-Band tracking are obstructions between the antenna and the L-Band satellite.
Message ID: 2048
Log Type: Synch
Recommended Input:
log rtkassiststatusa ontime 5
ASCII Example:
#RTKASSISTSTATUSA,COM1,0,80.0,FINESTEERING,1932,491359.000,02000020,80fe,46672; ACTIVE,ASSIST,969.0,14.0*26e32616
Field
Field type
Description
1
RTKASSISTSTATUS Log header. See Messages on page 25
header
for more information.
2
State
State: INACTIVE (0) ACTIVE (1)
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
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Field
Field type
3
Mode
4
Remaining time
5
Corrections age
6
xxxx
7
[CR][LF]
Description
Mode: UNAVAILABLE (0) COAST (1) ASSIST (2)
Time remaining in seconds Age of the RTK ASSIST corrections in seconds. Maximum value of 120 seconds. 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Enum 4
H+4
Float
4
Float
4
Hex
4
-
-
H+8 H+12 H+16 -
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3.144 RTKDOP
DOP values for the satellites used in the RTK solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The RTKDOP log contains the Dilution Of Precision (DOP) values for the satellites being used in the RTK solution. Note that unlike the PSRDOP log (see page 658), the RTKDOP log is synchronous. DOP values will be calculated at the requested rate, up to a maximum rate of 1 Hz.
DOP values are a measure of the solution strength. Essentially, the DOPs reflect the geometry of the satellites used in the solution. Solutions with good counts of well-distributed satellites will have low DOPs and should be accurate and reliable. Solutions with fewer or poorly-distributed satellites will have high DOPs and be less accurate and reliable. As a rough guideline, PDOP values less than 4 imply a solution with reasonable geometry.
There can be many reasons for high DOP values. The most common reason is that there are obstructions limiting satellite visibility. Even if satellites are visible and being tracked they might still not be used in the solution if, for example, they are unhealthy or there aren't corrections available for them. The RTKSATS log (see page 757) will inform which satellites are being tracked and explain why a tracked satellite is not used in the solution.
The DOPs do not consider that different satellites or signals will be weighted differently in the solution. Therefore, they do not completely reflect the solution quality. Ultimately, the standard deviations reported in the RTKPOS log (see page 754) are the best reflection of the solution accuracy.
Message ID: 952
Log Type: Synch
Recommended Input:
log rtkdopa ontime 10
ASCII Example:
#RTKDOPA,COM1,0,60.0,FINESTEERING,1449,446982.000,02000008,b42b,3044;2.3386,1.9 856,0.9407,1.5528,1.2355,10.0,11,21,58,6,7,10,16,18,24,26,29,41*85f8338b
Field
Field type
1
RTKDOP header
2
GDOP
3
PDOP
4
HDOP
5
HTDOP
Description
Format
Binary Bytes
Log header. See Messages on page 25 for more information.
H
Geometric DOP
Float
4
Position DOP
Float
4
Horizontal DOP
Float
4
Horizontal and Time DOP
Float
4
Binary Offset
0
H H+4 H+8 H+12
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Field
Field type
Description
6
TDOP
Time DOP
7
elev mask GPS elevation mask angle
8
#sats
Number of satellites to follow
9
sats
Satellites in use at time of calculation
10
Next satellite offset = H+28+(#sats * 4)
11
xxxx
32-bit CRC (ASCII and Binary only)
12
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Float
4
Float
4
Ulong 4
Ulong 4
Binary Offset H+16 H+20 H+24
H+28
Ulong 4
-
-
H+28+ (#sats * 4)
-
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3.145 RTKDOP2
DOP values for the satellites used in the RTK solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The RTKDOP2 log contains the Dilution Of Precision (DOP) values for the satellites being used in the RTK solution. This log is similar to the RTKDOP log (see page 750) but contains the per-system TDOPs; see the RTKDOP log on page 750 for more information on the DOPs.
Message ID: 1172
Log Type: Synch
Recommended Input: log rtkdop2a ontime 10
ASCII Example: #RTKDOP2A,COM1,0,80.0,FINESTEERING,1690,601478.000,02000008,ab50,43488;1.5000,1 .1850,0.6580,0.9850,2,GPS,0.6530,GLONASS,0.6490*c5f1a25f
Field Field type
Description
Format
Binary Bytes
1
RTKDOP2 header
Log header. See Messages on page 25 for more information.
H
2
GDOP
Geometric DOP
Float
4
3
PDOP
Position DOP
Float
4
4
HDOP
Horizontal DOP
Float
4
5
VDOP
Vertical DOP
Float
4
6
#systems Number of entries to follow
Ulong 4
7
system
See Table 164: System Used for Timing on the next page
Enum
4
8
TDOP
Time DOP (Dilution of Precision)
Float
4
9
Next satellite offset = H+20+(#systems * 8)
10
xxxx
32-bit CRC (ASCII and Binary only)
11
[CR][LF]
Sentence terminator (ASCII only)
Hex
4
-
-
Binary Offset
0
H H+4 H+8 H+12 H+16
H+20
H+24
H+20+ (#systems * 8) -
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Table 164: System Used for Timing
Binary
ASCII
0
GPS
1
GLONASS
2
GALILEO
3
BEIDOU
4
NAVIC
99
AUTO1
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3.146 RTKPOS
RTK low latency position data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the low latency RTK position computed by the receiver, along with two status flags. In addition, it reports other status indicators, including differential age, which is useful in predicting anomalous behavior brought about by outages in differential corrections. This log is recommended for kinematic operation. Better accuracy can be obtained in static operation with the MATCHEDPOS log (see page 601). 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. See also the DGPSTXID command (see page 127).
The RTK system in the receiver provides two kinds of position solutions. The Matched RTK position is computed with buffered observations, so there is no error due to the extrapolation of base station measurements. This provides the highest accuracy solution possible at the expense of some latency which is affected primarily by the speed of the differential data link. The MATCHEDPOS log (see page 601) contains the matched RTK solution and can be generated for each processed set of base station observations. The Low-Latency RTK position is computed from the latest local observations and extrapolated base station observations. This supplies a valid RTK position with the lowest latency possible at the expense of some accuracy. The degradation in accuracy is reflected in the standard deviation. The amount of time that the base station observations are extrapolated is in the "differential age" field of the position log. The Low-Latency RTK system extrapolates for 60 seconds. The RTKPOS log contains the Low-Latency RTK position when valid, and an "invalid" status when a Low-Latency RTK solution could not be computed. The BESTPOS log (see page 433) contains either the low-latency RTK, PPP or pseudorange-based position, whichever has the smallest standard deviation.
Message ID: 141
Log Type: Synch
Recommended Input:
log rtkposa ontime 1
ASCII Example:
#RTKPOSA,COM1,0,54.5,FINESTEERING,1419,340040.000,02000040,176e,2724;SOL_ COMPUTED,NARROW_INT,51.11635911294,-114.03833103654,1063.8336,16.2712,WGS84,0.0179,0.0096,0.0174,"AAAA",1.000,0.000,12,11,11,11,0,01,0,33*0ad b3e47
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Consider the case of a racing car, on a closed circuit, requiring RTK operation. In this situation, you would have to send live data to the pits using a radio link.
RTK operation enables live centimeter level position accuracy. When answers are required in the field, the base station must transmit information to the rover in real-time. For RTK operation, extra equipment such as radios are required to transmit and receive this information. The base station has a corresponding base radio and the rover station has a corresponding rover radio.
Post-processing can provide post-mission position and velocity data using raw GNSS data collected from the car. The logs necessary for post-processing include:
RANGECMPB ONTIME 1 RAWEPHEMB ONNEW
These are examples of data collection for post-processing, and real-time operation. OEM7-based output is compatible with post-processing software from the NovAtel's Waypoint Products Group or refer to our website at www.novatel.com for more details.
Field Field type
Description
1
RTKPOS header
2
sol status
3
pos type
4
lat
5
lon
6
hgt
Log header. See Messages on page 25 for more information.
Solution status (see Table 74: Solution Status on page 436)
Position type (see Table 75: Position or Velocity Type on page 437)
Latitude (degrees)
Longitude (degrees)
Height above mean sea level (m)
Undulation - the relationship between the geoid and the WGS84 ellipsoid (m)
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
Enum 4
Double 8 Double 8 Double 8
H+4
H+8 H+16 H+24
7
undulation
8
datum id#
9
lat
10
lon
When using a datum other than WGS84, the undulation value also includes the vertical shift due to differences between the datum in use and WGS84.
Datum ID number (see Table 29: Datum Transformation Parameters on page 121)
Latitude standard deviation (m)
Longitude standard deviation (m)
Float
4
Enum 4
Float
4
Float
4
H+32
H+36 H+40 H+44
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Field Field type
Description
11
hgt
Height standard deviation (m)
12
stn id
Base station ID
13
diff_age
Differential age in seconds
14
sol_age
Solution age in seconds
15
#SVs
Number of satellites tracked
16
#solnSVs
Number of satellites vehicles used in solution
17
#ggL1
Number of satellites with L1/E1/B1 signals used in solution
18
#solnMultiSVs
Number of satellites with multi-frequency signals used in solution
19
Reserved
20
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Galileo and
Galileo and BeiDou signals used mask (see
21
BeiDou sig
Table 77: Galileo and BeiDou Signal-Used
mask
Mask on page 440)
GPS and
GPS and GLONASS signals used mask (see
22
GLONASS sig Table 76: GPS and GLONASS Signal-Used
mask
Mask on page 439)
23
xxxx
32-bit CRC (ASCII and Binary only)
24
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Float
4
H+48
Char[4] 4
H+52
Float
4
H+56
Float
4
H+60
Uchar 1
H+64
Uchar 1
H+65
Uchar 1
H+66
Uchar 1
Hex
1
Hex
1
H+67 H+68 H+69
Hex
1
H+70
Hex
1
Hex
4
-
-
H+71
H+72 -
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3.147 RTKSATS
Satellites used in RTKPOS solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log lists the used and unused satellites for the corresponding RTKPOS solution. It also describes the signals of the used satellites and reasons for exclusions.
Message ID: 1174
Log Type: Synch
Recommended Input:
log rtksats ontime 1
Abbreviated ASCII Example:
<RTKSATS COM1 0 60.5 FINESTEERING 1728 524924.000 02000000 95e7 11487 < 24 < GPS 3 GOOD 00000003 < GPS 5 GOOD 00000003 ... < GPS 23 GOOD 00000003 < GPS 30 GOOD 00000003 < GLONASS 1+1 GOOD 00000003 < GLONASS 2-4 GOOD 00000003 ... < GLONASS 20+2 GOOD 00000003 < GLONASS 21+4 GOOD 00000003 < BEIDOU 6 GOOD 00000003 < BEIDOU 11 GOOD 00000003 ... < BEIDOU 12 GOOD 00000003 < BEIDOU 13 GOOD 00000003
Field
Field type
Description
1
RTKSATS Log header. See Messages on page 25 for more header information.
2
#entries Number of records to follow
3
system
Satellite system (refer to Table 105: Satellite System on page 553)
4
Satellite ID
Satellite identifiers
5
Status
Satellite status. See Table 80: Observation Statuses on page 443
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
H
Enum 4
H+4
Ulong 4
H+8
Enum 4
H+12
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Field
Field type
Description
See Table 81: BESTSATS GPS Signal Mask on
6
Signal mask
page 444, Table 82: BESTSATS GLONASS Signal Mask on page 445, Table 83: BESTSATS Galileo Signal Mask on page 445, and Table 84:
BESTSATS BeiDou Signal Mask on page 445
7
Next satellite offset = H+4+(#sat x 16)
8
xxxx
32-bit CRC (ASCII and Binary only)
9
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Hex
4
H+16
Hex
4
-
-
H+4+ (#sat x 16)
-
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3.148 RTKVEL
RTK velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the RTK velocity information computed by the receiver. In addition, it reports a velocity status indicator that is useful in indicating whether or not the corresponding data is valid and differential age 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.
Velocities from the RTK filter are calculated from the delta-position. In RTKVEL, the velocity type is the same as the position type.
In an 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 GNSS antenna relative to ground.
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 half 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,1364,496137.000,02100000,71e2,2310;SOL_ COMPUTED,NARROW_INT,0.250,1.000,0.0027,207.645811,0.0104,0.0*f551cc42
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Consider the case of an unmanned aircraft. A base station must send differential correction data to the remote aircraft. In this type of application, the aircraft's radio may pass the differential solution, for example RTKVEL, to the positioning system so it can process it and generate precise position information for the flight controls.
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
RTKVEL Log header. See Messages on page 25 for more header information.
H
0
2
sol
Solution status, see Table 74: Solution Status on
status page 436
Enum
4
H
3
vel type
Velocity type, see Table 75: Position or Velocity Type on page 437
Enum 4
H+4
A measure of the latency in the velocity time tag in
4
latency seconds. It should be subtracted from the time to Float
4
give improved results
H+8
5
age
Differential age in seconds
Float
4
H+12
6
hor spd
Horizontal speed over ground, in metres per second
Double 8
H+16
7
trk gnd
Actual direction of motion over ground (track over ground) with respect to True North, in degrees
Double 8
H+24
8
vert spd
Vertical speed, in metres per second, where positive values indicate increasing altitude (up) and Double 8 negative values indicate decreasing altitude (down)
H+32
9
Reserved
Float
4
H+40
10
xxxx 32-bit CRC (ASCII and Binary only)
Ulong 4
H+44
11
[CR] [LF]
Sentence terminator (ASCII only)
-
-
-
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3.149 RTKXYZ
RTK Cartesian position and velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the receiver's low latency position and velocity in ECEF coordinates. The position and velocity status fields indicate whether or not the corresponding data is valid. See Figure 11: The WGS84 ECEF Coordinate System on page 454 for a definition of the ECEF coordinates. The velocity measurements 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 Standards and References section of our website www.novatel.com/support/. See also the DGPSTXID command (see page 127). 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 half 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 log on page 452 and MATCHEDXYZ log on page 606.
Message ID: 244
Log Type: Synch
Recommended Input:
log rtkxyza ontime 1
ASCII Example:
#RTKXYZA,COM1,0,56.0,FINESTEERING,1419,340041.000,02000040,3d88,2724;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*0497 d146
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Field Field type
1
RTKXYZ header
2
P-sol status
3
pos type
4
P-X
5
P-Y
6
P-Z
7
P-X
8
P-Y
9
P-Z
10
V-sol status
11
vel type
12
V-X
13
V-Y
14
V-Z
15
V-X
16
V-Y
17
V-Z
18
stn ID
19
V-latency
20
diff_age
21
sol_age
22
#SVs
23
#solnSVs
Description
Format
Binary Bytes
Binary Offset
Log header. See Messages on page 25 for more information.
H
0
Solution status, see Table 74: Solution Status on page 436
Enum 4
H
Position type, see Table 75: Position or Velocity Type on page 437
Enum 4
H+4
Position X-coordinate (m)
Double 8
H+8
Position Y-coordinate (m)
Double 8
H+16
Position Z-coordinate (m)
Double 8
H+24
Standard deviation of P-X (m)
Float
4
H+32
Standard deviation of P-Y (m)
Float
4
H+36
Standard deviation of P-Z (m)
Float
4
H+40
Solution status, see Table 74: Solution Status on page 436
Enum 4
H+44
Velocity type, see Table 75: Position or Velocity Type on page 437
Enum 4
H+48
Velocity vector along X-axis (m)
Double 8
H+52
Velocity vector along Y-axis (m)
Double 8
H+60
Velocity vector along Z-axis (m)
Double 8
H+68
Standard deviation of V-X (m)
Float
4
H+76
Standard deviation of V-Y (m)
Float
4
H+80
Standard deviation of V-Z (m)
Float
4
H+84
Base station identification
Char[4] 4
H+88
A measure of the latency in the velocity time
tag in seconds. It should be subtracted from Float
4
the time to give improved results
H+92
Differential age in seconds
Float
4
H+96
Solution age in seconds
Float
4
H+100
Number of satellites tracked
Uchar 1
H+104
Number of satellite vehicles used in solution Uchar 1
H+105
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Field Field type
Description
24
#ggL1
Number of satellites with L1/E1/B1 signals used in solution
25
#solnMultiSVs
Number of satellites with multi-frequency signals used in solution
26
Reserved
27
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Galileo and
Galileo and BeiDou signals used mask (see
28
BeiDou sig
Table 77: Galileo and BeiDou Signal-Used
mask
Mask on page 440)
GPS and
GPS and GLONASS signals used mask (see
29
GLONASS sig Table 76: GPS and GLONASS Signal-Used
mask
Mask on page 439)
30
xxxx
32-bit CRC (ASCII and Binary only)
31
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Uchar 1
H+106
Uchar 1
Char
1
Hex
1
H+107 H+108 H+109
Hex
1
H+110
Hex
1
Ulong 4
-
-
H+111
H+112 -
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3.150 RXCONFIG
Receiver configuration
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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 584 for a list of currently active logs. One log is output for each current command.
Message ID: 128
Log Type: Collection
Recommended Input: log rxconfiga once
ASCII Example: #RXCONFIGA,COM1,71,47.5,APPROXIMATE,1337,333963.260,02000000,f702,1984; #ADJUST1PPSA,COM1,71,47.5,APPROXIMATE,1337,333963.260,02000000,f702,1984;OFF,ON CE,0*ba85a20b*91f89b07 #RXCONFIGA,COM1,70,47.5,APPROXIMATE,1337,333963.398,02000000,f702,1984; #ANTENNAPOWERA,COM1,70,47.5,APPROXIMATE,1337,333963.398,02000000,f702,1984;ON*d 12f6135*8f8741be #RXCONFIGA,COM1,69,47.5,APPROXIMATE,1337,333963.455,02000000,f702,1984; #CLOCKADJUSTA,COM1,69,47.5,APPROXIMATE,1337,333963.455,02000000,f702,1984;ENABL E*0af36d92*b13280f2 ... #RXCONFIGA,COM1,7,47.5,APPROXIMATE,1337,333966.781,02000000,f702,1984; #STATUSCONFIGA,COM1,7,47.5,APPROXIMATE,1337,333966.781,02000000,f702,1984;CLEAR ,AUX2,0*a6141e28*d0bba9f2 #RXCONFIGA,COM1,2,47.5,APPROXIMATE,1337,333967.002,02000000,f702,1984; #SBASECUTOFFA,COM1,2,47.5,APPROXIMATE,1337,333967.002,02000000,f702,1984;5.000000000*b9b11096*2e8b77cf #RXCONFIGA,COM1,1,47.5,FINESTEERING,1337,398382.787,02000000,f702,1984; #LOGA,COM1,1,47.5,FINESTEERING,1337,398382.787,02000000,f702,1984;COM1,MARKPOSA ,ONNEW,0.000000,0.000000,NOHOLD*a739272d*6692c084 #RXCONFIGA,COM1,0,47.5,FINESTEERING,1337,400416.370,02000000,f702,1984; #LOGA,COM1,0,47.5,FINESTEERING,1337,400416.370,02000000,f702,1984;COM2,PASSCOM2 A,ONCHANGED,0.000000,0.000000,NOHOLD*55fc0c62*17086d18
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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 The CRC is really e0d91f89.
Do not use undocumented commands or logs! Doing so may produce errors and void your warranty.
The RXCONFIG log can be used to ensure your receiver is correctly setup for your application.
Field
Field type
Description
1
RXCONFIG Log header. See Messages on page 25 for
header
more information.
2
e header Embedded header
3
e msg
Embedded message
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
4
e xxxx
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
5
xxxx
32-bit CRC (ASCII and Binary only)
6
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
-
H
0
-
h
Varied a
H H+h
Ulong 4
H+h+a
Hex
4
-
-
H+h+a+4 -
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3.151 RXSTATUS
Receiver status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log conveys various status parameters of the GNSS 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 363.
Field #4, the receiver status word as represented in Table 166: Receiver Status on page 771, is also in Field #8 of the header. See the ASCII Example below and Table 166: Receiver Status on page 771 for clarification. Refer also to the chapter on Built-In Status Tests in the OEM7 Installation and Operation User Manual .
Message ID: 93
Log Type: Asynch
Recommended Input: log rxstatusa onchanged
Abbreviated ASCII Example: #RXSTATUS COM1 0 90.5 FINESTEERING 1740 232531.278 02000020 2AE1 44913 00000000 5 (Receiver Error)
02000020 00000000 00000000 00000000 (Receiver Status) 00040080 00001008 00000000 00000000 (Aux1 Status) 00000000 00000000 00000000 00000000 (Aux2 Status) 02000000 00000000 00000000 00000000 (Aux3 Status) 00000000 00000000 00000000 00000000 (Aux4 Status)
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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 363 for details.
If you wish to disable all these messages without changing the bits, simply UNLOG the RXSTATUSEVENT logs on the appropriate ports. See the UNLOG command on page 388.
Field
Field type
Description
1
RXSTATUS Log header. See Messages on page 25 for more
header
information.
2
error
Receiver error (see Table 165: Receiver Error on page 769). A value of zero indicates no errors
Number of status codes (including Receiver
Status). Each status code consists of 4 fields,
the status, priority mask, event set mask and
event clear mask. Each set is repeated for each
3
# stats
status type.
Note that for clarity, the Receiver Status, Auxiliary 1 Status, Auxiliary 2 Status, Auxiliary 3 Status and Auxiliary 4 status are listed separately in this message
4
rxstat
Receiver status word (see Table 166: Receiver Status on page 771)
Receiver status priority mask, which can be set
5
rxstat pri using the STATUSCONFIG command on
page 363
Receiver status event set mask, which can be
6
rxstat set set using the STATUSCONFIG command on
page 363
7
rxstat clear
Receiver status event clear mask, which can be set using the STATUSCONFIG command on page 363
8
aux1stat
Auxiliary 1 status word (see Table 168: Auxiliary 1 Status on page 773)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
H
Ulong 4
H+4
Ulong 4 Ulong 4 Ulong 4 Ulong 4 Ulong 4
H+8 H+12 H+16 H+20 H+24
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Field
Field type
9
aux1stat pri
10
aux1stat set
11
aux1stat clear
12
aux2stat
13
aux2stat pri
14
aux2stat set
15
aux2stat clear
16
aux3stat
17
aux3stat pri
18
aux3stat set
19
aux3stat clear
20
aux4stat
21
aux4stat pri
Description
Auxiliary 1 status priority mask, which can be set using the STATUSCONFIG command on page 363
Auxiliary 1 status event set mask, which can be set using the STATUSCONFIG command on page 363
Auxiliary 1 status event clear mask, which can be set using the STATUSCONFIG command on page 363
Auxiliary 2 status word (see Table 169: Auxiliary 2 Status on page 775)
Auxiliary 2 status priority mask, which can be set using the STATUSCONFIG command on page 363
Auxiliary 2 status event set mask, which can be set using the STATUSCONFIG command on page 363
Auxiliary 2 status event clear mask, which can be set using the STATUSCONFIG command on page 363
Auxiliary 3 status word (see Table 170: Auxiliary 3 Status on page 776)
Auxiliary 3 status priority mask, which can be set using the STATUSCONFIG command on page 363
Auxiliary 3 status event set mask, which can be set using the STATUSCONFIG command on page 363
Auxiliary 3 status event clear mask, which can be set using the STATUSCONFIG command on page 363
Auxiliary 4 status word (see Table 172: Auxiliary 4 Status on page 778)
Auxiliary 4 status priority mask, which can be set using the STATUSCONFIG command on page 363
Format
Binary Bytes
Binary Offset
Ulong 4
H+28
Ulong 4
H+32
Ulong 4 Ulong 4 Ulong 4
H+36 H+40 H+44
Ulong 4
H+48
Ulong 4 Ulong 4 Ulong 4
H+52 H+56 H+60
Ulong 4
H+64
Ulong 4 Ulong 4 Ulong 4
H+68 H+72 H+76
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Field
Field type
22
aux4stat set
23
aux4stat clear
24
xxxx
25
[CR][LF]
Description
Auxiliary 4 status event set mask, which can be set using the STATUSCONFIG command on page 363
Auxiliary 4 status event clear mask, which can be set using the STATUSCONFIG command on page 363
32-bit CRC (ASCII and Binary only)
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
H+80
Ulong 4
Ulong 4
-
-
H+84
H+88 -
Table 165: Receiver Error
Nibble Bit
Mask
Description
Bit = 0
Bit =1
Dynamic Random Access Memory (DRAM) status
0 0x00000001 RAM failure on an OEM7 card may also be indicated by a OK Error flashing red LED.
N0
1 0x00000002 Invalid firmware
OK Error
2 0x00000004 ROM status
OK Error
3 0x00000008 Reserved
4 0x00000010 Electronic Serial Number (ESN) access status
OK Error
5 0x00000020 Authorization code status N1
6 0x00000040 Reserved
OK Error
7 0x00000080 Supply voltage status
OK Error
8 0x00000100 Reserved
9
0x00000200
Temperature status (as compared against acceptable limits)
N2
10 0x00000400 MINOS status
OK Error OK Error
PLL RF status. Error with an RF PLL. See AUX2 status bits
11 0x00000800 (Table 169: Auxiliary 2 Status on page 775) for
OK Error
individual PLL status
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Nibble Bit
Mask
Description
12 0x00001000
13 0x00002000 Reserved N3
14 0x00004000
15 0x00008000 NVM status
16 0x00010000 Software resource lim exceeded
17 0x00020000 Model invalid for this receiver N4
18 0x00040000 Reserved
19 0x00080000
20 0x00100000 Remote loading has begun
21 0x00200000 Export restriction N5
22 0x00400000 Safe Mode
23 0x00800000
24 0x01000000
25 0x02000000 N6
26 0x04000000 Reserved
27 0x08000000
28 0x10000000
29 0x20000000 N7
30 0x40000000
31 0x80000000 Component hardware failure
Bit = 0
Bit =1
OK Error OK Error OK Error
No Yes OK Error OK Error
OK Error
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Table 166: Receiver Status
Nibble Bit
Mask
Description
Bit = 0
Bit = 1
0
0x00000001
Error flag, see Table 165: Receiver Error on page 769
No error
Error
1 0x00000002 Temperature status N0
2 0x00000004 Voltage supply status
Within specifications
Warning
OK
Warning
Primary antenna power status
3 0x00000008 See the ANTENNAPOWER command on page 63
Powered
Not powered
4 0x00000010 LNA Failure
OK
Failure
Primary antenna open circuit flag
5 0x00000020 This flag is only available on certain OK products.
Open, antenna disconnected
N1
Primary antenna short circuit flag
6 0x00000040 This flag is only available on certain OK
products.
Short circuit detected
CPU overload flag
7 0x00000080 This flag is only available on certain No overload products.
Overload
COM port transmit buffer overrun.
8
0x00000100
See AUX2 status bits (Table 169: Auxiliary 2 Status on page 775) for
OK
individual COM port status
COM buffer overrun
9 0x00000200 Reserved
10 0x00000400
Link overrun flag N2
This flag indicates if any of the USB,
ICOM, CCOM, NCOM or File ports
are overrun. See AUX1, AUX2 and
11 0x00000800 AUX3 status bits (Table 168: Auxiliary 1 Status on page 773,
No overrun Overrun
Table 169: Auxiliary 2 Status on
page 775 or Table 170: Auxiliary 3
Status on page 776) for the specific
port for which the buffer is overrun.
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Nibble Bit
Mask
Description
Bit = 0
Bit = 1
Input overrun flag
12 0x00001000 This flag is set if any of the receiver ports (COM, USB, ICOM or NCOM) experience an input overrun.
No overrun
Overrun
13 0x00002000 Aux transmit overrun flag
No overrun Overrun
Antenna gain state N3
14 0x00004000 See the AUX3 status bits (Table 170: OK Auxiliary 3 Status on page 776) for
the antenna gain status.
Out of range
Jammer Detected.
15 0x00008000 See the AUX1 status bits (Table 168: OK Auxiliary 1 Status on the next page) for individual RF status
Jammer Detected
16 0x00010000 INS reset flag
No INS reset INS reset
17 0x00020000 IMU communication failure N4
18 0x00040000 GPS almanac flag/UTC known
No error Valid
No IMU communication
Invalid
19 0x00080000 Position solution flag
Valid
Invalid
20
0x00100000
Position fixed flag, see the FIX command on page 166
Not fixed
Fixed
N5
21 0x00200000 Clock steering status
22 0x00400000 Clock model flag
Enabled Valid
Disabled Invalid
23 0x00800000 External oscillator locked flag
Unlocked
Locked
24 0x01000000 Software resource
OK
Warning
25
Version bit 0
N6
0x06000000
26
Version bit 1
See Table 167: Version Bits on the next page
See Table 167: Version Bits on the next page
27 0x08000000 Tracking mode
Normal tracking
HDR tracking
28 0x10000000 Digital Filtering Enabled
Disabled
Enabled
29 0x20000000 Auxiliary 3 status event flag N7
30 0x40000000 Auxiliary 2 status event flag
No event No event
Event Event
31 0x80000000 Auxiliary 1 status event flag
No event
Event
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Bit 25 0 1 0 1
Bit 26 0 0 1 1
Table 167: Version Bits Description
Interpret Status/Error Bits as OEM6 or earlier format Interpret Status/Error Bits as OEM7 format Reserved for a future version Reserved for a future version
Nibble Bit
Mask
Table 168: Auxiliary 1 Status Description
0 0x00000001 Jammer detected on RF1
1 0x00000002 Jammer detected on RF2 N0
2 0x00000004 Jammer detected on RF3
3 0x00000008 Position averaging
4 0x00000010 Jammer detected on RF4
5 0x00000020 Jammer detected on RF5 N1
6 0x00000040 Jammer detected on RF6
7 0x00000080 USB connection status
8 0x00000100 USB1 buffer overrun flag
9 0x00000200 USB2 buffer overrun flag N2
10 0x00000400 USB3 buffer overrun flag
11 0x00000800 Reserved
Bit = 0 Bit = 1
OK
Jammer detected
OK
Jammer detected
OK
Jammer detected
Off
On
OK
Jammer detected
OK
Jammer detected
OK
Jammer detected
Connected
Not connected
No overrun
Overrun
No overrun
Overrun
No overrun
Overrun
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Nibble Bit
Mask
Description
12 0x00001000 Profile Activation Bit
13 0x00002000 Throttled Ethernet Reception N3
14 0x00004000 Reserved
15 0x00008000 Reserved
16 0x00010000 Reserved
17 0x00020000 Reserved
N4
18 0x00040000 Ethernet not connected
19 0x00080000 ICOM1 buffer overrun flag
20 0x00100000 ICOM2 buffer overrun flag
21 0x00200000 ICOM3 buffer overrun flag N5
22 0x00400000 NCOM1 buffer overrun flag
23 0x00800000 NCOM2 buffer overrun flag
24 0x01000000 NCOM3 buffer overrun flag
N6
25 0x02000000 Reserved
26 0x04000000 Reserved
27 0x08000000 Reserved
28 0x10000000 Reserved
29 0x20000000 Reserved
30 0x40000000 Reserved
N7
IMU measurement outlier detected.
Indicates when the SPAN system has
31 0x80000000 detected an outlier in the IMU performance.
May be treated as a notice unless the issue
persists.
Bit = 0 OK OK
Bit = 1 Error Throttled
Connected
Not connected
No overrun
Overrun
No overrun
Overrun
No overrun
Overrun
No overrun
Overrun
No overrun
Overrun
No overrun
Overrun
OK
Outlier detected
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Nibble Bit
Mask
Table 169: Auxiliary 2 Status
Description
Bit = 0
Bit = 1
0 0x00000001 SPI Communication Failure 1 0x00000002 I2C Communication Failure
OK
Error
OK
Error
N0
2 0x00000004 COM4 buffer overrun flag
No overrun
Buffer Overrun
3 0x00000008 COM5 buffer overrun flag
No overrun
Buffer Overrun
4 0x00000010 Reserved
5 0x00000020 Reserved N1
6 0x00000040 Reserved
7 0x00000080 Reserved
8 0x00000100 Reserved
9 0x00000200 COM1 buffer overrun flag N2
10 0x00000400 COM2 buffer overrun flag
OK
Buffer Overrun
OK
Buffer Overrun
11 0x00000800 COM3 buffer overrun flag
OK
Buffer Overrun
12 0x00001000 PLL RF1 unlock flag
OK
PLL Unlock
13 0x00002000 PLL RF2 unlock flag N3
14 0x00004000 PLL RF3 unlock flag
OK
PLL Unlock
OK
PLL Unlock
15 0x00008000 PLL RF4 unlock flag
OK
PLL Unlock
16 0x00010000 PLL RF5 unlock flag
OK
PLL Unlock
17 0x00020000 PLL RF6 unlock flag N4
18 0x00040000 CCOM1 buffer overrun
OK
PLL Unlock
OK
Buffer Overrun
19 0x00080000 CCOM2 buffer overrun
OK
Buffer Overrun
20 0x00100000 CCOM3 buffer overrun
OK
Buffer Overrun
21 0x00200000 CCOM4 buffer overrun N5
22 0x00400000 CCOM5 buffer overrun
OK
Buffer Overrun
OK
Buffer Overrun
23 0x00800000 CCOM6 buffer overrun
OK
Buffer Overrun
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Nibble Bit
Mask
Description
24 0x01000000 ICOM4 buffer overrun
25 0x02000000 ICOM5 buffer overrun N6
26 0x04000000 ICOM6 buffer overrun
27 0x08000000 ICOM7 buffer overrun
Secondary antenna power status 28 0x10000000 See the ANTENNAPOWER
command (see page 63)
Secondary antenna open circuit
29 0x20000000 This flag is only available on certain
N7
products
Secondary antenna short circuit 30 0x40000000 This flag is only available on certain
products
31 0x80000000 Reset loop detected
Bit = 0
Bit = 1
OK
Buffer Overrun
OK
Buffer Overrun
OK
Buffer Overrun
OK
Buffer Overrun
Powered Not Powered
OK
Open, antenna disconnected
OK
Short circuit detected
OK
Reset Detected
Table 170: Auxiliary 3 Status
Nibble Bit
Mask
Description
SCOM buffer overrun flag. 0 0x00000001 This flag is set if any of the SCOM ports
(SCOM1 � SCOM4) experience overrun.
N0
1 0x00000002 WCOM1 buffer overrun flag
2 0x00000004 FILE buffer overrun flag
3 0x00000008 Reserved
4 0x00000010 Antenna 1 Gain State
5 0x00000020 N1
6 0x00000040 Antenna 2 Gain State
7 0x00000080
8 0x00000100
9 0x00000200
N2
Reserved
10 0x00000400
11 0x00000800
Bit = 0
Bit = 1
No overrun
Overrun
No overrun
No overrun
Overrun Overrun
Table 171: Antenna Gain State on the next page
Table 171: Antenna Gain State on the next page
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Nibble Bit
Mask
Description
Bit = 0
Bit = 1
12 0x00001000
13 0x00002000
N3
Reserved
14 0x00004000
15 0x00008000
16 0x00010000
17 0x00020000
N4
Reserved
18 0x00040000
19 0x00080000
20 0x00100000
21 0x00200000
N5
Reserved
22 0x00400000
23 0x00800000
24 0x01000000
25 0x02000000
N6
Reserved
26 0x04000000
27 0x08000000
28 0x10000000 Reserved
29
0x20000000 Web content is corrupt or does not exist
Content is OK
Error with content
N7
30
0x40000000
RF Calibration Data is present and in error
Data is OK
Data has an error
31 0x80000000 RF Calibration Data is present
No data found
Data exists and has no errors
Table 171: Antenna Gain State
Bits 4-5 or
Bits 6-7
Description
00
Antenna Gain in range
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Bits 4-5 or
Bits 6-7
Description
Antenna Gain Low
01
This state indicates that the input signal is very weak (under -160 dBm/Hz). It can
indicate the antenna is not operating correctly, the antenna is not suitable for NovAtel
receivers, or there is no antenna connected.
Antenna Gain High.
10
This state indicates that the input signal is very strong (above -120 dBm/Hz). This can
be caused by a strong in-band interference or by too much signal gain or too many LNAs
cascaded in the path.
Antenna Gain Anomaly.
11
This state indicates that an anomaly has been detected for the input signal. It can be
caused by strong in-band or out-of-band interference, or by the antenna being
disconnected/changed during operation.
Nibble Bit
Mask
Table 172: Auxiliary 4 Status Description
0 0x00000001
GNSS Tracked Status
N0
1 0x00000002
2 0x00000004 Reserved
3 0x00000008
4 0x00000010
5 0x00000020
N1
Reserved
6 0x00000040
7 0x00000080
8 0x00000100
9 0x00000200
N2
Reserved
10 0x00000400
11 0x00000800
Bit = 1
<60% of available satellites are tracked well
<15% of available satellites are tracked well
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Nibble Bit
Mask
Description
Bit = 1
12
0x00001000
Clock freewheeling due to bad position integrity
Clock freewheeling
13 0x00002000 Reserved
N3
14 0x00004000 Usable RTK Corrections
<60% of expected corrections available
Percentage of expected measurements which
have timely RTK corrections (latency <20 15 0x00008000 seconds)
<15% of expected corrections available
16 0x00010000 Bad RTK Geometry
PDOP >5.0
17 0x00020000
N4
Reserved
18 0x00040000
19 0x00080000 Long RTK Baseline
Baseline >50 km
20 0x00100000 Poor RTK COM Link (poor correction quality)
Corrections quality 60%
N5
21
0x00200000 Poor ALIGN COM Link (poor correction quality)
Corrections quality 60%
22 0x00400000 GLIDE Not Active
GLIDE not active
23 0x00800000 Bad PDP Geometry
PDOP >5.0
24 0x01000000 No TerraStar Subscription
No subscription
25 0x02000000 N6
26 0x04000000 Reserved
27 0x08000000
28 0x10000000 Bad PPP Geometry
PDOP >5.0
29 0x20000000 Reserved N7
30 0x40000000 No INS Alignment
No alignment
31 0x80000000 INS not converged
Not converged
Only GPS and GLONASS are considered in the Auxiliary 4 status word states.
For bits relating to RTK, ALIGN or INS, the bits will only be set if the receiver has that type of positioning is enabled via Auth Code.
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3.152 RXSTATUSEVENT
Status event indicator
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log is used to output event messages as indicated in the RXSTATUS log (see page 766). An event message is automatically generated for all receiver errors, which are indicated in the receiver error word. In addition, event messages can be generated when other conditions, which are indicated in the receiver status and auxiliary status words, are met. Whether or not an event message is generated under these conditions is specified using the STATUSCONFIG command (see page 363). On start-up, the receiver is set to log RXSTATUSEVENTA ONNEW HOLD on all ports. You can remove this message using the UNLOG command (see page 388). To remove this log using an UNLOGALL command (see page 390), you must use the True option. Logging RXSTATUSEVENT on all ports is a factory default setting. If it is unlogged, the RXSTATUSEVENT log will not be collected until the next start-up. After a start-up, logging RXSTATUSEVENT on all ports will start again.
See also the chapter on Built-In Status Tests in the OEM7 Installation and Operation User Manual.
Message ID: 94
Log Type: Asynch
Recommended Input: log rxstatuseventa onchanged
ASCII Example 1: #RXSTATUSEVENTA,COM1,0,17.0,FREEWHEELING,1337,408334.510,02480000,b967,1984;STA TUS,19,SET,"No Valid Position Calculated"*6de945ad
ASCII Example 2: #RXSTATUSEVENTA,COM1,0,41.0,FINESTEERING,1337,408832.031,03000400,b967,1984;STA TUS,10,SET,"COM3 Transmit Buffer Overrun"*5b5682a9
When a fatal event occurs (for example, in the event of a receiver hardware failure), a bit is set in the receiver error word, part of the RXSTATUS log (see page 766) 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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Field Field type
Description
Format
Binary Bytes
Binary Offset
1
RXSTATUSEVENT Log header. See Messages on page 25 for
header
more information.
H
0
2
word
The status word that generated the event
message (see Table 173: Status Word
Enum 4
H
below)
3
bit position
Location of the bit in the status word (see
Table 166: Receiver Status on page 771,
Table 168: Auxiliary 1 Status on page 773, Table 169: Auxiliary 2 Status
Ulong
4
on page 775 or Table 170: Auxiliary 3
Status on page 776
H+4
4
event
Event type (see Table 174: Event Type below)
Enum 4
H+8
5
description
This is a text description of the event or error
Char [32]
32
H+12
6
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+44
7
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
Table 173: Status Word
Binary ASCII
Description
Receiver Error word,
0
ERROR
see Table 165: Receiver Error on page 769
Receiver Status word,
1
STATUS
see Table 166: Receiver Status on page 771
Auxiliary 1 Status word,
2
AUX1
see Table 168: Auxiliary 1 Status on page 773
Auxiliary 2 Status word
3
AUX2
see Table 169: Auxiliary 2 Status on page 775
Auxiliary 3 Status word
4
AUX3
see Table 170: Auxiliary 3 Status on page 776
Table 174: Event Type
Binary ASCII Description
0
CLEAR Bit was cleared
1
SET
Bit was set
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3.153 SAFEMODESTATUS
Safe Mode Status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log provides additional information about the state of the receiver in the event that the Safe Mode error bit and/or Reset Loop Detected status bit are set in the RXSTATUS log (see page 766). The data within this log is set at receiver start up and will not change over time.
Message ID: 2060
Log Type: Asynch
Recommended Input: log SAFEMODESTATUSA once
Abbreviated ASCII Example: #SAFEMODESTATUSA,COM1,0,89.0,UNKNOWN,0,0.000,024c0020,8e55,32768;SAFE_MODE_ OK,0,"Normal Operation."*29c7d28a
Field
Field Type
Description
Binary Binary Binary Format Bytes Offset
1
SAFEMODESTATUS Log header. See Messages on page 25
header
for more information.
-
H
0
2
Status
Safe Mode State. See Table 175: Safe Mode States on the next page
Enum
4
H
3
Reset Count
Number of resets since power up or a successful boot
Ulong
4
H+4
4
Description
String for additional information about the Safe Mode State
String
80
H+8
5
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+88
6
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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Table 175: Safe Mode States
Value
State
Safe Mode Error
Bit
Reset Loop Detected
Bit
Notes
Recovery Steps
0
SAFE_MODE_OK 0
0
Normal Operation. No reset loop detected.
No action required
1
SAFE_MODE_ WARNING
0
1
An unexpected reset was detected. The receiver will operate as normal
No action required
SAFE_MODE_
2
DISABLE_
0
1
SATELLITE_DATA
Satellite Navigation Data previously saved to NVM is ignored in this state. As the receiver continues to track GNSS satellites, new data will be downloaded. There may be some delay in initial satellite acquisition as this will effectively be a Cold Start, but the receiver will otherwise operate as normal.
No action required
SAFE_MODE_
DISABLE_
3
NON_
1
1
COMMUNICATION_
NVM
All data previously saved to NVM that is not related to communication is ignored in this state.
Communication ports (COM, USB, ICOM, etc.) will remain in the configuration previously saved by SAVECONFIG allowing the user to take corrective action.
Depending on what NVM data is causing the problem, a FRESET may resolve the issue.
If a standard FRESET does not resolve the issue, see the FRESET command on page 179 for other NVM targets that may be causing the issue and could be removed.
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Chapter 3 Logs
Value
State
SAFE_MODE_
4
DISABLE_
ALL_NVM
SAFE_MODE_
5
DISABLE_
AUTH
6
SAFE_MODE_ FAILED
SAFE_MODE_
7
UNEXPECTED_
MAIN_FIRMWARE
Safe Mode Error
Bit
Reset Loop Detected
Bit
Notes
1
1
All data previously saved to NVM is ignored in this state.
1
1
All data previously saved to NVM and all Auth Codes are ignored in this state.
1
1
All data previously saved to NVM and all Auth Codes are ignored in this state.
An error related to main
1
0 or 1
firmware loading
occurred.
Recovery Steps
See recovery steps for SAFE_MODE_ DISABLE_ NON_ COMMUNICATION_ NVM.
Use the AUTH REMOVE command to remove the offending Auth Code. The AUTHCODES log (see page 419) can be used to determine what Auth Codes are currently loaded.
This state is unexpected. The recovery steps for other states may apply.
Reload the main firmware.
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3.154 SATVIS2
Satellite visibility
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains satellite visibility data for all available systems with additional satellite and satellite system information. One log is output for each available satellite system.
1. The SATVIS2 log is meant to provide a brief overview. The satellite positions and velocities used in the computation of this log are based on Almanac orbital parameters, not the higher precision Ephemeris parameters.
2. In the SATVIS2 log output, there may be double satellite number entries. These are GLONASS antipodal satellites in the same orbit plane separated by 180 degrees latitude. Refer to the GLONASS section of An Introduction to GNSS available on our website.
3. The SATVIS2 log is generated every 10 seconds. If the log is requested at a faster rate than ontime 10, it will only be output every 10 seconds.
Message ID: 1043
Log Type: Asynch
Recommended Input: log satvis2a onchanged
Abbreviated ASCII Example: <SATVIS2 COM1 5 70.0 FINESTEERING 1729 166550.000 02000000 a867 44263 < GPS TRUE TRUE 31 < 32 0 71.1 177.8 -1183.650 -1184.441 < 20 0 66.2 265.9 462.684 461.894 ... < 26 0 -78.7 246.3 805.272 804.481 < 9 0 -79.0 7.3 -930.480 -931.271
<SATVIS2 COM1 4 70.0 FINESTEERING 1729 166550.000 0200000 a867 44263 < GLONASS TRUE TRUE 24 < 3+5 0 75.2 326.1 1088.078 1087.272 < 13-2 0 61.4 188.2 2243.727 2242.923 ... < 9-2 0 -72.3 6.3 -1384.534 -1385.337 < 7+5 0 -81.2 146.3 -666.742 -667.548
<SATVIS2 COM1 0 70.0 FINESTEERING 1729 166550.000 02000000 a867 44263 < BEIDOU TRUE TRUE 14 < 11 0 2.6 342.2 -711.023 -711.807 < 12 0 -5.0 297.0 -2407.877 -2408.661 ... < 10 216 -79.3 254.5 122.316 121.532 < 13 216 -81.5 51.2 76.611 75.827
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Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
SATVIS2 Log header. See Messages on page 25 for more header information.
H
0
2
Satellite GNSS satellite system identifier. See Table 105: System Satellite System on page 553
Enum
4
H
Is satellite visibility valid?
3
sat vis
0 = FALSE
1 = TRUE
Enum 4
H+4
Was complete GNSS almanac used?
4
almanac flag
0 = FALSE
1 = TRUE
Enum 4
H+8
5
#sat
Number of satellites with data to follow
Ulong 4
H+12
In binary logs, the satellite ID field is 4 bytes. The
2 lowest order bytes, interpreted as a USHORT,
are the system identifier: for instance, the PRN
for GPS or the slot for GLONASS. The 2 highest-
order bytes are the frequency channel for
GLONASS, interpreted as a SHORT and zero for all
6
Satellite ID
other systems. In ASCII and abbreviated ASCII logs, the satellite ID field is the system identifier.
Ulong
4
If the system is GLONASS and the frequency
channel is not zero, then the signed channel is
appended to the system identifier. For example,
slot 13, frequency channel -2 is output as 13-2
For more information, refer to PRN Numbers on page 44
H+16
Satellite health
7
health
Satellite health values may be found in the applicable Interface Control Document for each system.
Ulong 4
8
elev
9
az
Elevation (degrees) Azimuth (degrees)
Double 8 Double 8
H+20
H+24 H+32
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Field
Field type
Description
Format
Binary Bytes
Binary Offset
Theoretical Doppler of satellite - the expected
10
true Doppler
Doppler frequency based on a satellite's motion relative to the receiver. It is computed using the satellite's coordinates and velocity along with the
Double
8
receiver's coordinates and velocity (Hz)
H+40
11
apparent Doppler
Apparent Doppler for this receiver - the same as Theoretical Doppler above but with clock drift correction added (Hz)
Double 8
H+48
12
Next satellite offset = H + 16 + (#sat x 40)
13
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+16+ (#sat x 40)
14
[CR][LF] Sentence terminator (ASCII only)
-
-
-
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Chapter 3 Logs
3.155 SATXYZ2
Satellite positions in ECEF Cartesian coordinates
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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 used in the corresponding PSRPOS solution are reported here. See also Figure 11: The WGS84 ECEF Coordinate System on page 454.
Message ID: 1451
Log Type: Synch
Recommended Input: log satxyz2 ontime 1
Abbreviated ASCII Example: <SATXYZ2 COM1 0 83.5 FINESTEERING 1686 489605.000 02000040 7513 43391 < 18 < GPS 1 -15502299.3828 1012325.6443 21538404.8435 76246.262 6.990 3.395 0.0 0.0 < GPS 19 -25806091.5135 -6923139.1454 1709844.1975 -78547.421 5.734 9.238 0.0 0.0 < GPS 12 20368857.0090 -5772890.2153 15912912.0724 20118.104 2.415 12.239 0.0 0.0
...
< GLONASS 23+3 -22246787.0962 -4287240.2873 11721201.0046 -116210.453 6.928 4.205 0.0 0.0 < GLONASS 7+5 4586441.8834 -14896106.2729 20222034.1193 -6061.174 1.636 2.529 0.0 0.0 < GLONASS 8+6 -12121452.4145 -4467306.1322 21995556.9720 -7165.609 0.350 2.586 0.0 0.0
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The OEM7 family defines ionospheric and tropospheric corrections positively which means that ionospheric and tropospheric corrections are added to the geometric ranges or subtracted from the measured pseudoranges. A positive clock offset indicates the clock is running ahead of the reference time. 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
Note that when dual frequency ionosphere corrections are used, the corrections include receiver biases. Consequently, the correction does not provide a measure of the ionosphere delay in an absolute sense.
Field
Field Type
Description
1
SATXYZ2 Log header. See Messages on page 25 for
header
more information.
2
#sat
Number of satellites to follow
3
System
Satellite system (refer to Table 105: Satellite System on page 553)
4
Satellite ID
Satellite ID
5
X
Satellite X co-ordinates (ECEF,m)
6
Y
Satellite Y co-ordinates (ECEF,m)
7
Z
Satellite Z co-ordinates (ECEF,m)
8
clk corr Satellite clock correction (m)
9
iono delay Ionosphere delay (m)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
Enum 4
H+4
Ulong 4
Double 8 Double 8 Double 8 Double 8 Double 8
H+8
H+12 H+20 H+28 H+36 H+44
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Field
Field Type
10
tropo delay
Description Troposphere delay (m)
11
Reserved1
12
Reserved2
13
Next satellite offset = H+4+(#sat x 72)
14
xxxx
32-bit CRC (ASCII and Binary only)
15
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Double 8
H+52
Double 8 Double 8
H+60 H+68
Ulong 4
H+4+ (#sat x 72)
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3.156 SAVEDSURVEYPOSITIONS
Saved surveyed positions
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log lists the surveyed positions saved on the receiver. A surveyed position is saved using the AUTOSURVEY command (see page 79) or SURVEYPOSITION command (see page 368).
Message ID: 1951
Log Type: Polled
Recommended Input: log savedsurveypositions once
Abbreviated ASCII Example:
<SAVEDSURVEYPOSITIONS COM1 0 82.5 FINESTEERING 2003 313938.731 02000008 ddf2
32768
<
3
<
"MN01" 51.00000000000 100.00000000000 150.0000
<
"TST1" 90.00000000000 90.00000000000 90.0000
<
"MON1" 45.00000000000 45.00000000000 45.0000
Field Field Type
Description
1
SAVEDSURVEY POSITIONS header
Log header. See Messages on page 25 for more information.
2
#Positions
Number of records to follow.
ID for the saved position.
Note: In the Binary case, the ID string
3
Position ID
must be null terminated and additional
bytes of padding must be added to
make the total length of the field 8
bytes.
4
Latitude
Latitude of the position
(-90 to 90 degrees) where a `-' sign denotes south and a `+' sign denotes north
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
H
String 8
H+4
Double 8
H+12
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Field Field Type
5
Longitude
6
Height
Description
Format
Binary Bytes
Binary Offset
Longitude of the position
(-360 to 360 degrees) where a `-' sign denotes west and a `+' sign denotes east
Double 8
H+20
Mean Sea Level height of the position in metres
Double
8
H+28
7
Next reading offset = H+4+(#Positions * 32)
8
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+4+ (#Positions * 32)
9
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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Chapter 3 Logs
3.157 SBAS0
Do not use for safety applications
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This message specifies the PRN if GEO transmitting SBAS corrections is operating in test mode, and should not be used for safety applications for a period of time outlined in the SBAS signal specification.
The GEO transmitting SBAS corrections is operating in test mode, and should not be used for safety-of-life applications.
See how the SBAS0 message relates to the SBAS testing modes in the SBASCONTROL command on page 324.
Message ID: 976
Log Type: Asynch
Recommended Input: log SBAS0a onchanged
ASCII Example: #SBAS0A,COM1,0,68.5,SATTIME,1093,161299.000,02040020,7d6a,209;122*e9a5ab08
Although the SBAS was designed for aviation users, it supports a wide variety of non-aviation uses including agriculture, surveying, recreation, and surface transportation.
Field
Field type
1
SBAS0 header
2
prn
3
xxxx
4
[CR][LF]
Description
Log header. See Messages on page 25 for more information. Source PRN message - also PRN not to use 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
H
Ulong 4
Ulong 4
-
-
Binary Offset
0
H H+4 -
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3.158 SBAS1
PRN mask assignments
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The PRN mask is given in SBAS1. 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 SBAS2, SBAS3, SBAS4, SBAS5, SBAS7, SBAS24 and SBAS25 messages (SBAS32, SBAS33, SBAS34, SBAS35 and SBAS45). 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: 977
Log Type: Asynch
Recommended Input: log SBAS1a onchanged
ASCII Example: #SBAS1A,COM1,0,24.5,SATTIME,1337,415802.000,02000000,5955,1984;134,ffeffffe0000 000000000000000000400400000000000000000000,2*3633cf7b
Each raw SBAS frame gives data for a specific frame decoder number. The SBAS1 message can be logged to view the data breakdown of SBAS frame 1 which contains information about the PRN mask assignment.
Field
Field type
1
SBAS1 header
2
prn
Description
Log header. See Messages on page 25 for more information. Source PRN of message
3
mask
PRN bit mask
4
iodp
Issue of PRN mask data
5
xxxx
32-bit CRC (ASCII and Binary only)
6
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
H
0
Ulong Uchar [27] Ulong Ulong -
4 28 1
4 4 -
H H+4 H+32 H+36 -
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Chapter 3 Logs
3.159 SBAS2
Fast correction slots 0-12
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS2 are fast corrections for slots 0-12 in the mask of SBAS1. This message may or may not come when SBAS is in testing mode (see the SBASCONTROL command on page 324 for details).
Message ID: 982
Log Type: Asynch
Recommended Input: log SBAS2a onchanged
ASCII Example: #SBAS2A,COM1,0,29.0,SATTIME,1337,415925.000,02000000,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 SBAS frame gives data for a specific frame decoder number. The SBAS2 message can be logged to view the data breakdown of SBAS frame 2 which contains information about fast correction slots 0-12.
Field
Field type
1
SBAS2 header
2
prn
3
iodf
4
iodp
Description
Log header. See Messages on page 25 for more information. Source PRN of message Issue of fast corrections data Issue of PRN mask data
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Ulong 4 Ulong 4
H H+4 H+8
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Field
Field type
5
prc0
6
prc1
7
prc2
8
prc3
9
prc4
10
prc5
11
prc6
12
prc7
13
prc8
14
prc9
15
prc10
16
prc11
17
prc12
18
udre0
19
udre1
20
udre2
21
udre3
22
udre4
23
udre5
24
udre6
25
udre7
26
udre8
27
udre9
28
udre10
29
udre11
30
udre12
31
xxxx
32
[CR] [LF]
Description
prc(i): Fast corrections (-2048 to +2047) for the PRN in slot i (i = 0-12)
udre(i): User differential range error indicator for the PRN in slot i (i = 0-12) See Table 176: Evaluation of UDREI on the next page for scaling information.
32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Long
4
H+12
Long
4
H+16
Long
4
H+20
Long
4
H+24
Long
4
H+28
Long
4
H+32
Long
4
H+36
Long
4
H+40
Long
4
H+44
Long
4
H+48
Long
4
H+52
Long
4
H+56
Long
4
H+60
Ulong 4
H+64
Ulong 4
H+68
Ulong 4
H+72
Ulong 4
H+76
Ulong 4
H+80
Ulong 4
H+84
Ulong 4
H+88
Ulong 4
H+92
Ulong 4
H+96
Ulong 4
H+100
Ulong 4
H+104
Ulong 4
H+108
Ulong 4
H+112
Ulong 4
H+116
-
-
-
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Table 176: Evaluation of UDREI UDREI 1 UDRE metres 2 i.udre metres2
0
0.75
1
1.0
0.0520 0.0924
2
1.25
3
1.75
0.1444 0.2830
4
2.25
5
3.0
6
3.75
0.4678 0.8315 1.2992
7
4.5
8
5.25
1.8709 2.5465
9
6.0
10
7.5
3.3260 5.1968
11
15.0
12
50.0
20.7870 230.9661
13
150.0
2078.695
14
Not Monitored Not Monitored
15
Do Not Use
Do Not Use
1The s2UDRE broadcast in SBAS2, SBAS3, SBAS4, SBAS5, SBAS6 and SBAS24 applies at a time prior to or at the time of applicability of the associated corrections.
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Chapter 3 Logs
3.160 SBAS3
Fast corrections slots 13-25
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS3 are fast corrections for slots 13-25 in the mask of SBAS1.
Message ID: 987
Log Type: Asynch
Recommended Input: log SBAS3a onchanged
ASCII Example: #SBAS3A,COM1,0,17.0,SATTIME,1337,415990.000,02000000,bff5,1984;134,1,2,2047,0,2 047,2047,-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 SBAS frame gives data for a specific frame decoder number. The SBAS3 message can be logged to view the data breakdown of SBAS frame 3 which contains information about fast correction slots 13-25.
Field
Field type
1
SBAS3 header
2
prn
3
iodf
4
iodp
Description
Format
Binary Bytes
Log header. See Messages on page 25 for more information.
H
Source PRN of message
Ulong 4
Issue of fast corrections data
Ulong 4
Issue of PRN mask data
Ulong 4
Binary Offset
0
H H+4 H+8
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Chapter 3 Logs
Field
Field type
Description
5
prc13
6
prc14
7
prc15
8
prc16
9
prc17
10
prc18
prc(i):
11
prc19
Fast corrections (-2048 to +2047) for the PRN
12
prc20
in slot i (i = 13-25)
13
prc21
14
prc22
15
prc23
16
prc24
17
prc25
18
udre13
19
udre14
20
udre15
21
udre16
22
udre17 udre(i):
23
udre18
24
udre19 User differential range error indicator for the
PRN in slot i (i = 13-25)
25
udre20 See Table 176: Evaluation of UDREI on
26
udre21 page 797 for scaling information.
27
udre22
28
udre23
29
udre24
30
udre25
31
xxxx
32-bit CRC (ASCII and Binary only)
32
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
-
-
Binary Offset H+12 H+16 H+20 H+24 H+28 H+32 H+36 H+40 H+44 H+48 H+52 H+56 H+60 H+64 H+68 H+72 H+76 H+80 H+84 H+88 H+92 H+96 H+100 H+104 H+108 H+112 H+116 -
OEM7 Commands and Logs Reference Manual v10
799
Chapter 3 Logs
3.161 SBAS4
Fast correction slots 26-38
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS4 are fast corrections for slots 26-38 in the mask of SBAS1.
Message ID: 992
Log Type: Asynch
Recommended Input: log SBAS4a onchanged
ASCII Example: #SBAS4A,COM1,0,58.0,SATTIME,1093,163399.000,02000020,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 SBAS frame gives data for a specific frame decoder number. The SBAS4 message can be logged to view the data breakdown of SBAS frame 4 which contains information about fast correction slots 26-38.
Field
Field type
1
SBAS4 header
2
prn
3
iodf
4
iodp
Description
Format
Binary Bytes
Log header. See Messages on page 25 for more information.
H
Source PRN of message
Ulong 4
Issue of fast corrections data
Ulong 4
Issue of PRN mask data
Ulong 4
Binary Offset
0
H H+4 H+8
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Field
Field type
Description
5
prc26
6
prc27
7
prc28
8
prc29
9
prc30
10
prc31
prc(i):
11
prc32
Fast corrections (-2048 to +2047) for the PRN
12
prc33
in slot i (i = 26-38)
13
prc34
14
prc35
15
prc36
16
prc37
17
prc38
18
udre26
19
udre27
20
udre28
21
udre29
22
udre30 udre(i):
23
udre31
24
udre32 User differential range error indicator for the
PRN in slot i (i = 26-38)
25
udre33 See Table 176: Evaluation of UDREI on
26
udre34 page 797 for scaling information.
27
udre35
28
udre36
29
udre37
30
udre38
31
xxxx
32-bit CRC (ASCII and Binary only)
32
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
-
-
Binary Offset H+12 H+16 H+20 H+24 H+28 H+32 H+36 H+40 H+44 H+48 H+52 H+56 H+60 H+64 H+68 H+72 H+76 H+80 H+84 H+88 H+92 H+96 H+100 H+104 H+108 H+112 H+116 -
OEM7 Commands and Logs Reference Manual v10
801
Chapter 3 Logs
3.162 SBAS5
Fast correction slots 39-50
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS5 are fast corrections for slots 39-50 in the mask of SBAS1.
Message ID: 994
Log Type: Asynch
Recommended Input: log SBAS5a onchanged
ASCII Example: #SBAS5A,COM1,0,72.5,SATTIME,1093,161480.000,02040020,31d4,209;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 SBAS frame gives data for a specific frame decoder number. The SBAS5 message can be logged to view the data breakdown of SBAS frame 5 which contains information about fast correction slots 39-50.
Field
Field type
1
SBAS5 header
2
prn
3
iodf
4
iodp
Description
Format
Binary Bytes
Log header. See Messages on page 25 for more information.
H
Source PRN of message
Ulong 4
Issue of fast corrections data
Ulong 4
Issue of PRN mask data
Ulong 4
Binary Offset
0
H H+4 H+8
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Field
Field type
Description
5
prc39
6
prc40
7
prc41
8
prc42
9
prc43
prc(i):
10
prc44
11
prc45
Fast corrections (-2048 to +2047) for the PRN
in slot i (i = 39-50)
12
prc46
13
prc47
14
prc48
15
prc49
16
prc50
17
prc51 (Invalid, do not use)
18
udre39
19
udre40
20
udre41
21
udre42
udre(i):
22
udre43
23
udre44 User differential range error indicator for the
24
udre45 PRN in slot i (i = 39-50)
25
udre46 See Table 176: Evaluation of UDREI on
page 797 for scaling information.
26
udre47
27
udre48
28
udre49
29
udre50
30
udre51 (Invalid, do not use)
31
xxxx
32-bit CRC (ASCII and Binary only)
32
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
-
-
Binary Offset H+12 H+16 H+20 H+24 H+28 H+32 H+36 H+40 H+44 H+48 H+52 H+56 H+60 H+64 H+68 H+72 H+76 H+80 H+84 H+88 H+92 H+96 H+100 H+104 H+108 H+112 H+116 -
OEM7 Commands and Logs Reference Manual v10
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Chapter 3 Logs
3.163 SBAS6
Integrity message
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS6 is the integrity information message. Each message includes an IODF for each fast corrections message. The 2UDRE information for each block of satellites applies to the fast corrections with the corresponding IODF.
Message ID: 995
Log Type: Asynch
Recommended Input: log SBAS6a onchanged
ASCII Example: #SBAS6A,COM1,0,57.5,SATTIME,1093,273317.000,02000020,526a,209;122,3,3,3,3,9,14, 14,2,3,10,2,14,14,3,14,14,5,14,14,7,14,14,14,14,14,14,3,3,14,14,14,14,3,15,11,1 1,15,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*925a2a9b
Each raw SBAS frame gives data for a specific frame decoder number. The SBAS6 message can be logged to view the data breakdown of SBAS frame 6 which contains information about the integrity message.
Field
Field type
1
SBAS6 header
2
prn
3
iodf2
4
iodf3
5
iodf4
6
iodf5
7
udre0
8
udre1
Description
Format
Binary Bytes
Log header. See Messages on page 25 for more information.
H
Source PRN of message
Ulong 4
Issue of fast corrections data
Ulong 4
Issue of fast corrections data
Ulong 4
Issue of fast corrections data
Ulong 4
Issue of fast corrections data
Ulong 4
udre(i):
User differential range error indicator for the
PRN in slot i (i = 0-50)
Ulong 4
See Table 176: Evaluation of UDREI on page 797 for scaling information.
Ulong 4
Binary Offset 0 H H+4 H+8 H+12 H+16
H+20
H+24
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Field
Field type
9
udre2
10
udre3
11
udre4
12
udre5
13
udre6
14
udre7
15
udre8
16
udre9
17
udre10
18
udre11
19
udre12
20
udre13
21
udre14
22
udre15
23
udre16
24
udre17
25
udre18
26
udre19
27
udre20
28
udre21
29
udre22
30
udre23
31
udre24
32
udre25
33
udre26
34
udre27
35
udre28
Description
Format
Binary Bytes
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Binary Offset H+28 H+32 H+36 H+40 H+44 H+48 H+52 H+56 H+60 H+64 H+68 H+72 H+76 H+80 H+84 H+88 H+92 H+96 H+100 H+104 H+108 H+112 H+116 H+120 H+124 H+128 H+132
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Chapter 3 Logs
Field
Field type
Description
36
udre29
37
udre30
38
udre31
39
udre32
40
udre33
41
udre34
42
udre35
43
udre36
44
udre37
45
udre38
46
udre39
47
udre40
48
udre41
49
udre42
50
udre43
51
udre44
52
udre45
53
udre46
54
udre47
55
udre48
56
udre49
58
udre50
58
udre51 (Invalid, do not use)
59
xxxx
32-bit CRC (ASCII and Binary only)
60
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
-
-
Binary Offset H+136 H+140 H+144 H+148 H+152 H+156 H+160 H+164 H+168 H+172 H+176 H+180 H+184 H+188 H+192 H+196 H+200 H+204 H+208 H+212 H+216 H+220 H+224 H+228 -
OEM7 Commands and Logs Reference Manual v10
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Chapter 3 Logs
3.164 SBAS7
Fast correction degradation
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The SBAS7 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: 996
Log Type: Asynch
Recommended Input: log SBAS7a onchanged
ASCII Example: #SBAS7A,COM1,0,36.5,SATTIME,1337,416367.000,02000000,12e3,1984;122,1,2,0,15,15, 15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,15,1 5,15,15,15,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*827a7364
Each raw SBAS frame gives data for a specific frame decoder number. The SBAS7 message can be logged to view the data breakdown of SBAS frame 7 which contains information about fast correction degradation.
Field
Field type
Description
1
SBAS7 header
Log header. See Messages on page 25 for more information.
2
prn
Source PRN of message
3
latency System latency (s)
4
iodp
Issue of PRN mask data
5
spare bits Unused spare bits
6
aI(0)
aI(i):
Degradation factor indicator for the PRN in slot i (i = 0-50)
7
aI(1)
8
aI(2)
9
aI(3)
10
aI(4)
Format
Binary Bytes
H
Ulong 4 Ulong 4 Ulong 4 Ulong 4
Ulong 4
Ulong 4 Ulong 4 Ulong 4 Ulong 4
Binary Offset 0 H H+4 H+8 H+12
H+16
H+20 H+24 H+28 H+32
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Chapter 3 Logs
Field
Field type
11
aI(5)
12
aI(6)
13
aI(7)
14
aI(8)
15
aI(9)
16
aI(10)
17
aI(11)
18
aI(12)
19
aI(13)
20
aI(14)
21
aI(15)
22
aI(16)
23
aI(17)
24
aI(18)
25
aI(19)
26
aI(20)
27
aI(21)
28
aI(22)
29
aI(23)
30
aI(24)
31
aI(25)
32
aI(26)
33
aI(27)
34
aI(28)
35
aI(29)
36
aI(30)
37
aI(31)
Description
Format
Binary Bytes
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Binary Offset H+36 H+40 H+44 H+48 H+52 H+56 H+60 H+64 H+68 H+72 H+76 H+80 H+84 H+88 H+92 H+96 H+100 H+104 H+108 H+112 H+116 H+120 H+124 H+128 H+132 H+136 H+140
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Chapter 3 Logs
Field
Field type
Description
38
aI(32)
39
aI(33)
40
aI(34)
41
aI(35)
42
aI(36)
43
aI(37)
44
aI(38)
45
aI(39)
46
aI(40)
47
aI(41)
48
aI(42)
49
aI(43)
50
aI(44)
51
aI(45)
52
aI(46)
53
aI(47)
54
aI(48)
55
aI(49)
56
aI(50)
57
aI(51) (Invalid, do not use)
58
xxxx
32-bit CRC (ASCII and Binary only)
59
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
-
-
Binary Offset H+144 H+148 H+152 H+156 H+160 H+164 H+168 H+172 H+176 H+180 H+184 H+188 H+192 H+196 H+200 H+204 H+208 H+212 H+216 H+220 H+224 -
OEM7 Commands and Logs Reference Manual v10
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Chapter 3 Logs
3.165 SBAS9
GEO navigation message
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS9 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: 997
Log Type: Asynch
Recommended Input: log SBAS9a onchanged
ASCII Example: #SBAS9A,COM1,0,38.0,SATTIME,1337,416426.000,02000000,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 SBAS frame gives data for a specific frame decoder number. The SBAS9 message can be logged to view the data breakdown of SBAS frame 9 which contains the GEO navigation message.
Field
Field type
1
SBAS9 header
2
prn
3
iodn
4
t0
5
ura
6
x
7
y
8
z
Description
Log header. See Messages on page 25 for more information. Source PRN of message Issue of GEO navigation data Time of applicability URA value ECEF x coordinate (m) ECEF y coordinate (m) ECEF z coordinate (m)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Ulong 4 Ulong 4 Ulong 4 Double 8 Double 8 Double 8
H H+4 H+8 H+12 H+16 H+24 H+32
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Chapter 3 Logs
Field
Field type
9
xvel
10
yvel
11
zvel
12
xaccel
13
yaccel
14
zaccel
15
af0
16
af1
17
xxxx
18
[CR][LF]
Description
X rate of change (m/s) Y rate of change (m/s) Z rate of change (m/s) X rate of rate change (m/s2) Y rate of rate change (m/s2) Z rate of rate change (m/s2) Time offset (s) Time drift (s) 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Double 8
Double 8
Double 8
Double 8
Double 8
Double 8
Double 8
Double 8
Ulong 4
-
-
Binary Offset H+40 H+48 H+56 H+64 H+72 H+80 H+88 H+96 H+104 -
OEM7 Commands and Logs Reference Manual v10
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Chapter 3 Logs
3.166 SBAS10
Degradation factor
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The fast corrections, long term corrections and ionospheric corrections are all provided in the SBAS10 message.
Message ID: 978
Log Type: Asynch
Recommended Input: log SBAS10a onchanged
ASCII Example: #SBAS10A,COM1,0,35.5,SATTIME,1337,416469.000,02000000,c305,1984;122,54,38,76,25 6,152,100,311,83,256,6,0,300,292,0,1,0000000000000000000000*8884d248
Each raw SBAS frame gives data for a specific frame decoder number. The SBAS10 message can be logged to view the data breakdown of SBAS frame 10 which contains information about degradation factors.
Field
Field type
Description
Format
Binary Bytes
Binary Offset
Scaling
1
SBAS10 Log header. See Messages on page 25 header for more information.
H
0
-
2
prn
Source PRN of message
Ulong 4
H
-
3
brcc
Estimated noise and round off error parameter
Ulong 4
H+4
0.002
4
cltc_lsb
Maximum round off due to the least significant bit (lsb) of the orbital clock
Ulong
4
H+8
0.002
5
cltc_vl Velocity error bound
Ulong 4
H+12 0.00005
6
iltc_vl
Update interval for v=1 long term
7
cltc_v0 Bound on update delta
Ulong 4 Ulong 4
H+16 H+20
0.002
8
iltc_v1 Minimum update interval v = 0
Ulong 4
9
cgeo_lsb
Maximum round off due to the lsb of the orbital clock
Ulong 4
H+24 H+28
0.0005
10
cgeo_v Velocity error bound
Ulong 4
H+32 0.00005
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Chapter 3 Logs
Field
Field type
11
igeo
12
cer
13
ciono_
step
14
iiono
15
ciono_
ramp
16
rssudre
17
rssiono
18
spare bits
19
xxxx
20
[CR] [LF]
Description
Update interval for GEO navigation message Degradation parameter Bound on ionospheric grid delay difference Minimum ionospheric update interval
Format
Binary Bytes
Binary Offset
Scaling
Ulong 4
H+36 -
Ulong 4
H+40 0.5
Ulong 4
H+44 0.001
Ulong 4
H+48 -
Rate of ionospheric corrections change Ulong 4
H+52 0.000005
User differential range error flag Root sum square flag
Ulong 4 Ulong 4
H+56 H+60 -
Spare 88 bits, possibly GLONASS
Hex[11] 11
H+64 -
32-bit CRC (ASCII and Binary only)
Ulong 4
H+75 -
Sentence terminator (ASCII only)
-
-
-
-
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Chapter 3 Logs
3.167 SBAS12
SBAS network time and UTC
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS12 contains information bits for the UTC parameters and UTC time standard from which an offset is determined. The UTC parameters correlate UTC time with the SBAS network time rather than with GPS reference time.
Message ID: 979
Log Type: Asynch
Recommended Input: log SBAS12a onchanged
Each raw SBAS frame gives data for a specific frame decoder number. The SBAS12 message can be logged to view the data breakdown of SBAS frame 12 which contains information about time parameters.
Field Field type
Description
1
SBAS12 header
2
prn
3
A1
4
A0
5
seconds
6
week
7
dtls
8
wnlsf
9
dn
10
dtlsf
11
utc id
12
gpstow
13
gpswn
Log header. See Messages on page 25 for more information. Source PRN of message Time drift (s/s) Time offset (s) Seconds into the week (s) Week number Delta time due to leap seconds Week number, leap second future Day of the week (the range is 1 to 7 where Sunday = 1 and Saturday = 7) Delta time, leap second future UTC type identifier GPS reference time of the week GPS de-modulo week number
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Double 8 Double 8 Ulong 4 Ushort 2 Short 2 Ushort 2
H H+4 H+12 H+20 H+24 H+26 H+28
Ushort 2
H+30
Ushort 2 Ushort 2 Ulong 4 Ulong 4
H+32 H+34 H+36 H+40
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Field Field type
Description
Is GLONASS information present?
14
glo indicator
0 = FALSE
1 = TRUE
15
Reserved array of hexabytes for GLONASS
16
xxxx
32-bit CRC (ASCII and Binary only)
17
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Enum 4
H+44
Char [10]
121
Ulong 4
-
-
H+48 H+60 -
1In the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment. OEM7 Commands and Logs Reference Manual v10
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Chapter 3 Logs
3.168 SBAS17
GEO Almanac message
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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: 980
Log Type: Asynch
Recommended Input: log SBAS17a onchanged
ASCII Example: #SBAS17A,COM1,0,84.5,SATTIME,1610,514149.000,02000000,896c,39061;135,3,0,135, 0,-11536200,-40536600,-260000,0,0,0,0,138,0,-12521600,-40258400, 0,0,0,0,0,133,0,-5551000,-41774200,-1248000,0,0,120,82112*2be5146f
Each raw SBAS frame gives data for a specific frame decoder number. The SBAS17 message can be logged to view the data breakdown of SBAS frame 17 which contains GEO almanacs.
Field
Field type
Description
Format
Binary Bytes
1
SBAS17 header
Log header. See Messages on page 25 for more information.
H
2
prn
Source PRN of message
Ulong 4
3
#ents
Number of almanac entries with information to follow
Ulong 4
4
data id
Data ID type
Ushort 2
5
entry prn PRN for this entry
6
health
Health bits
Ushort 2 Ushort 41
Binary Offset
0
H
H+4
H+8 H+10 H+12
1In the binary log case, an additional 2 bytes of padding is added to maintain 4-byte alignment. OEM7 Commands and Logs Reference Manual v10
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Field
Field type
7
x
8
y
9
z
10
x vel
11
y vel
12
z vel
Description
ECEF x coordinate (m) ECEF y coordinate (m) ECEF z coordinate (m) X rate of change (m/s) Y rate of change (m/s) Z rate of change (m/s)
13... Next entry = H+8+(#ents x 32)
14
t0
Time of day in seconds (0 to 86336) Scaling = 64
15
xxxx
32-bit CRC (ASCII and Binary only)
16
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Binary Offset H+16 H+20 H+24 H+28 H+32 H+36
Ulong 4
Ulong 4
-
-
H+8+ (#ents x 32)
H+12+ (#ents x 32)
-
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Chapter 3 Logs
3.169 SBAS18
IGP mask
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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: 981
Log Type: Asynch
Recommended Input: log SBAS18a onchanged
ASCII Example: #SBAS18A,COM1,0,33.0,SATTIME,1337,417074.000,02000000,f2c0,1984;122,4,2,2,0000f fc0007fc0003ff0000ff80007fe0007fe0003ff0000ff80,0*b1ed353e
Each raw SBAS frame gives data for a specific frame decoder number. The SBAS18 message can be logged to view the data breakdown of SBAS frame 18 which contains information about ionospheric grid points.
Field
Field type
1
SBAS18 header
2
prn
3
#bands
4
band num
5
iodi
6
igp mask
Description
Log header. See Messages on page 25 for more information. Source PRN of message Number of bands broadcast Specific band number that identifies which of the 11 IGP bands the data belongs to Issue of ionospheric data
IGP mask
Format
Binary Bytes
H
Ulong 4 Ulong 4
Ulong 4
Ulong 4
Uchar [26]
28a
Binary Offset 0 H H+4 H+8 H+12 H+16
aIn the binary log case, an additional 2 bytes of padding are added to maintain 4-byte alignment. OEM7 Commands and Logs Reference Manual v10
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Field
Field type
Description
7
spare bit
One spare bit
8
xxxx
32-bit CRC (ASCII and Binary only)
9
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
H+44
Ulong 4
-
-
H+48 -
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Chapter 3 Logs
3.170 SBAS24
Mixed fast/slow corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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 176: Evaluation of UDREI on page 797. 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: 983
Log Type: Asynch
Recommended Input: log SBAS24a onchanged
ASCII Example: #SBAS24A,COM1,0,34.0,SATTIME,1337,417108.000,02000000,0a33,1984;134,2047,2047,2 047,2047,-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 SBAS frame gives data for a specific frame decoder number. The SBAS24 message can be logged to view the data breakdown of SBAS frame 24 which contains mixed fast/slow corrections.
Field
Field type
Description
1
SBAS24 header
Log header. See Messages on page 25 for more information.
2
prn
Source PRN of message
Format
Binary Bytes
Binary Offset
H
0
-
Ulong 4
H
-
Scaling
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Field
Field type
Description
Format
Binary Bytes
Binary Offset
Scaling
3
prc0
4
prc1
prc(i):
Long
4
Long
4
H+4
-
H+8
-
5
prc2
Long
4
Fast corrections (-2048 to
6
prc3
+2047) for the PRN in slot i Long
4
7
prc4
(i = 0-5)
Long
4
8
prc5
Long
4
H+12 H+16 H+20 H+24 -
9
udre0
udre(i):
10
udre1
Ulong 4 Ulong 4
11
udre2 User differential range
Ulong 4
12
udre3 error indicator for the PRN Ulong 4
in slot i
13
udre4
(i = 0-5)
Ulong 4
14
udre5
Ulong 4
H+28 H+32 H+36 H+40 H+44 H+48
See Table 176: Evaluation of UDREI on page 797
15
iodp
Issue of PRN mask data
Ulong 4
H+52 -
16
block id Associated message type
Ulong 4
H+56
17
iodf
Issue of fast corrections data
Ulong 4
H+60 -
18
spare Spare value
Ulong 4
H+64 -
19
vel
Velocity code flag
Ulong 4
H+68 -
20
mask1
Index into PRN mask (Type 1)
Ulong
4
H+72 -
21
iode1 Issue of ephemeris data
Ulong 4
H+76 -
22
dx1
Delta x (ECEF)
Long
4
H+80 0.125
23
dy1
Delta y (ECEF)
Long
4
H+84 0.125
24
dz1
25
daf0
Delta z (ECEF) Delta af0 clock offset
Long
4
Long
4
H+88 H+92
0.125 2-31
26
mask2
Second index into PRN mask (Type 1)
Ulong 4
H+96 -
27
iode2
Second issue of ephemeris data
Ulong
4
H+100 -
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Field
Field type
28
ddx
29
ddy
30
ddz
31
daf1
32
t0
33
iodp
34
corr spare
35
xxxx
36
[CR] [LF]
Description
Delta delta x (ECEF) Delta delta y (ECEF) Delta delta z (ECEF) Delta af1 clock offset
Format
Binary Bytes
Binary Offset
Scaling
Long
4
H+104 2-11
Long
4
H+108 2-11
Long
4
H+112 2-11
Long
4
H+116 2-39
Applicable time of day
Ulong 4
H+120 16
Issue of PRN mask data
Ulong 4
Spare value when velocity code is equal to 0
Ulong
4
32-bit CRC (ASCII and Binary only)
Ulong 4
Sentence terminator (ASCII only)
-
-
H+124 H+128 -
H+132 -
-
-
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Chapter 3 Logs
3.171 SBAS25
Long term slow satellite corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS25 provides error estimates for slow varying satellite ephemeris and clock errors with respect to WGS-84 ECEF coordinates.
Message ID: 984
Log Type: Asynch
Recommended Input: log SBAS25a onchanged
ASCII Example: #SBAS25A,COM1,0,37.5,SATTIME,1337,417193.000,02000000,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 SBAS frame gives data for a specific frame decoder number. The SBAS25 message can be logged to view the data breakdown of SBAS frame 25 which contains long term slow satellite corrections.
Field
Field type
1
SBAS25 header
2
prn
3
1st half vel
4
1st half mask1
5
1st half iode1
6
1st half dx1
7
1st half dy1
8
1st half dz1
Description Log header. See Messages on page 25 for more information. Source PRN of message Velocity code flag (0 or 1)
Index into PRN mask (Type 1)
Issue of ephemeris data
Delta x (ECEF)
Delta y (ECEF)
Delta z (ECEF)
Format
Binary Bytes
Binary Offset
Scaling
H
0
-
Ulong 4
H
-
Ulong 4
H+4
-
Ulong 4
H+8
-
Ulong 4
H+12 -
Long
4
H+16 0.125
Long
4
H+20 0.125
Long
4
H+24 0.125
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Chapter 3 Logs
Field
Field type
Description
9
1st half af0 Delta af0 clock offset
Format
Binary Bytes
Long
4
Binary Offset
H+28
Scaling 2-31
Second index into PRN mask (Type
10
1st half mask2
1) Dummy value when velocity code =
Ulong
4
1
H+32 -
11
1st half iode2
Second issue of ephemeris data Dummy value when velocity code = Ulong 4 1
H+36 -
12
1st half ddx
Delta delta x (ECEF) when velocity code = 1 Delta x (dx) when velocity code = 0
Long
4
H+40
2-11
13
1st half ddy
Delta delta y (ECEF) when velocity code = 1 Delta y (dy) when velocity code = 0
Long
4
H+44
2-11
14
1st half ddz
Delta delta z (ECEF) when velocity code = 1 Delta z (dz) when velocity code = 0
Long
4
H+48
2-11
Delta af1 clock offset when velocity
15
1st half af1
code = 1 Delta af0 clock offset when velocity
Long
4
code = 0
H+52
2-39
Applicable time of day
16
1st half t0 Dummy value when velocity code = Ulong 4
0
H+56 16
17
1st half iodp
Issue of PRN mask data
Ulong 4
H+60 -
18
1st half corr spare
Spare value when velocity code = 0 Dummy value when velocity code = 1
Ulong
4
H+64 -
19
2nd half vel
Velocity code flag (0 or 1)
Ulong 4
H+68 -
20
2nd half mask1
Index into PRN mask (Type 1)
Ulong 4
H+72 -
21
2nd half iode1
Issue of ephemeris data
Ulong 4
H+76 -
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Field
Field type
Description
Format
Binary Bytes
Binary Offset
Scaling
22
2nd half dx1
Delta x (ECEF)
Long
4
H+80 0.125
23
2nd half dy1
Delta y (ECEF)
Long
4
H+84 0.125
24
2nd half dz1
Delta z (ECEF)
Long
4
H+88 0.125
25
2nd half af0
Delta af0 clock offset
Long
4
Second index into PRN mask (Type
26
2nd half mask2
1) Dummy value when velocity code =
Ulong
4
1
H+92
2-31
H+96 -
27
2nd half iode2
Second issue of ephemeris data Dummy value when velocity code = Ulong 4 1
H+100 -
28
2nd half ddx
Delta delta x (ECEF) when velocity code = 1 Delta x (dx) when velocity code = 0
Long
4
H+104 2-11
29
2nd half ddy
Delta delta y (ECEF) when velocity code = 1 Delta y (dy) when velocity code = 0
Long
4
H+108 2-11
30
2nd half ddz
Delta delta z (ECEF) when velocity code = 1 Delta z (dz) when velocity code = 0
Long
4
H+112 2-11
Delta af1 clock offset when velocity
31
2nd half af1
code = 1 Delta af0 clock offset when velocity
Long
4
code = 0
H+116 2-39
Applicable time of day
32
2nd half t0 Dummy value when velocity code = Ulong 4
0
H+120 16
33
2nd half iodp
Issue of PRN mask data
Ulong 4
H+124 -
34
2nd half corr spare
Spare value when velocity code = 0 Dummy value when velocity code = 1
Ulong
4
H+128 -
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Field
Field type
35
xxxx
36
[CR][LF]
Description 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Ulong 4
-
-
Binary Offset
H+132
-
Scaling -
OEM7 Commands and Logs Reference Manual v10
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Chapter 3 Logs
3.172 SBAS26
Ionospheric delay corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS26 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: 985
Log Type: Asynch
Recommended Input: log SBAS26a onchanged
ASCII Example: #SBAS26A,COM1,0,38.0,SATTIME,1337,417243.000,02000000,ec70,1984;134,1,2,15,27,1 1,25,11,23,11,19,11,16,11,16,12,15,13,16,13,29,14,30,13,27,11,27,11,24,11,19,11 ,16,12,2,0*3b6d6806
Each raw SBAS frame gives data for a specific frame decoder number. The SBAS26 message can be logged to view the data breakdown of SBAS frame 26 which contains ionospheric delay corrections
Field
Field type
Description
Format
Binary Bytes
1
SBAS26 header
Log header. See Messages on page 25 for more information.
H
2
prn
Source PRN of message
Ulong 4
3
band num Band number
Ulong 4
4
block id Block ID
Ulong 4
5
#pts
Number of grid points with information to follow
Ulong
4
IGP vertical delay estimates
6
igpvde
Scaling = 0.125
Ulong 4
7
givei
Grid ionospheric vertical error indicator Ulong 4
8... Next #pts entry = H + 16 + (#pts x 8)
Binary Offset 0 H H+4 H+8 H+12
H+16
H+20
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Chapter 3 Logs
Field
Field type
9
iodi
Description Issue of data - ionosphere
10
spare
7 spare bits
11
xxxx
32-bit CRC (ASCII and Binary only)
12
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Ulong 4
Ulong 4
Ulong 4
-
-
Binary Offset
H+16+ (#pts x 8)
H+20+ (#pts x 8)
H+24+ (#pts x 8)
-
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Chapter 3 Logs
3.173 SBAS27
SBAS service message
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS27 messages apply only to the service provider transmitting the message. The number of service messages indicates the total number of unique SBAS27 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 parameter in any SBAS27 message is changed.
Message ID: 986
Log Type: Asynch
Recommended Input: log SBAS27a onchanged
Each raw SBAS frame gives data for a specific frame decoder number. The SBAS27 message can be logged to view the data breakdown of SBAS frame 27 which contains information about SBAS service messages.
Field Field type
Description
Format
Binary Bytes
1
SBAS27 header
Log header. See Messages on page 25 for more information.
H
2
prn
Source PRN of message
Ulong 4
3
iods
Issue of slow corrections data
Ulong 4
4
#messages Low-by-one count of messages
Ulong 4
5
message num
Low-by-one message number
Ulong 4
6
priority code
Priority code
Ulong 4
7
dudre inside
Delta user differential range error - inside Ulong 4
8
dudre outside
Delta user differential range error -outside Ulong 4
9... #reg
Number of regions with information to follow
Ulong 4
10
lat1
Coordinate 1 latitude
Long
4
Binary Offset 0 H H+4 H+8 H+12
H+16
H+20
H+24
H+28 H+32
OEM7 Commands and Logs Reference Manual v10
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Field Field type
Description
11
lon1
Coordinate 1 longitude
12
lat2
Coordinate 2 latitude
13
lon2
Coordinate 2 longitude
14
shape
Shape where: 0 = triangle, 1 = square
15
Next #reg entry = H+32+(#reg x 20)
16
Reserved
17
xxxx
32-bit CRC (ASCII and Binary only)
18
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Long
4
Long
4
Long
4
Ulong 4
Binary Offset H+36 H+40 H+44 H+48
Ulong 4
Ulong 4
-
-
H+32+ (#reg x 20)
H+36+ (#reg x 20)
-
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Chapter 3 Logs
3.174 SBAS32
Fast correction slots 0-10
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS32 are fast corrections for slots 0-10 in the mask of SBAS1, see SBAS1 log on page 794.
Message ID: 988
Log Type: Asynch
Recommended Input: log SBAS32a onchanged
ASCII Example: #SBAS32A,COM2,0,70.5,FINE,1295,153284.000,02000240,18e9,34461;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
Field
Field type
1
SBAS32 header
2
prn
3
iodp
4
prc0
5
prc1
6
prc2
7
prc3
8
prc4
9
prc5
10
prc6
11
prc7
12
prc8
13
prc9
14
prc10
Description
Format
Binary Bytes
Log header. See Messages on page 25 for more information.
H
Source PRN of message
Ulong 4
Issue of PRN mask data
Ulong 4
Long
4
Long
4
Long
4
prc(i):
Long
4
Long
4
Long
4
Fast corrections (-2048 to +2047) for the PRN
in slot i (i = 0-10)
Long
4
Long
4
Long
4
Long
4
Long
4
Binary Offset
0
H H+4 H+8 H+12 H+16 H+20 H+24 H+28 H+32 H+36 H+40 H+44 H+48
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Chapter 3 Logs
Field
Field type
15
udre0
16
udre1
17
udre2
18
udre3
19
udre4
20
udre5
21
udre6
22
udre7
23
udre8
24
udre9
25
udre10
26
xxxx
27
[CR][LF]
Description
Format
Binary Bytes
Ulong 4
Ulong 4
Ulong 4
udre(i):
Ulong 4
Ulong 4
User differential range error indicator for the Ulong 4 PRN in slot i (i = 0-10)
See Table 177: Evaluation of UDREI below
Ulong 4
for scaling information
Ulong 4
Ulong 4
Ulong 4
Ulong 4
32-bit CRC (ASCII and Binary only)
Ulong 4
Sentence terminator (ASCII only)
-
-
Binary Offset H+52 H+56 H+60 H+64 H+68 H+72 H+76 H+80 H+84 H+88 H+92 H+96 -
Table 177: Evaluation of UDREI
UDREI UDRE Metres
0
0.01
1
0.02
2
0.03
3
0.05
4
0.10
5
0.15
6
0.20
7
0.25
8
0.30
9
0.35
10
0.40
11
0.45
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Chapter 3 Logs
UDREI UDRE Metres
12
0.50
13
0.60
14 Not Monitored
15
Do Not Use
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Chapter 3 Logs
3.175 SBAS33
Fast correction slots 11-21
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS33 are fast corrections for slots 11-21.
Message ID: 989
Log Type: Asynch
Recommended Input: log SBAS33a onchanged
ASCII Example: #SBAS33A,COM2,0,47.5,FINE,1295,158666.000,03000240,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 mask frame gives data for a specific frame decoder number. The SBAS33 message can be logged to view the data breakdown of SBAS frame 33 which contains information about correction slots 11-21.
Field
Field type
1
SBAS33 header
2
prn
3
iodp
Description
Log header. See Messages on page 25 for more information. Source PRN of message Issue of PRN mask data
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Ulong 4
H H+4
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Field
Field type
4
prc11
5
prc12
6
prc13
7
prc14
8
prc15
9
prc16
10
prc17
11
prc18
12
prc19
13
prc20
14
prc21
15
udre11
16
udre12
17
udre13
18
udre14
19
udre15
20
udre16
21
udre17
22
udre18
23
udre19
24
udre20
25
udre21
26
xxxx
27
[CR][LF]
Description
prc(i): Fast corrections (-2048 to +2047) for the PRN in slot i (i = 11-21)
udre(i): User differential range error indicator for the PRN in slot i (i = 11-21) See Table 177: Evaluation of UDREI on page 832 for scaling information
32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
-
-
Binary Offset H+8 H+12 H+16 H+20 H+24 H+28 H+32 H+36 H+40 H+44 H+48 H+52 H+56 H+60 H+64 H+68 H+72 H+76 H+80 H+84 H+88 H+92 H+96 -
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3.176 SBAS34
Fast correction slots 22-32
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS34 are fast corrections for slots 22-32 in the mask of SBAS1, see SBAS1 log on page 794.
Message ID: 990
Log Type: Asynch
Recommended Input: log SBAS34a onchanged
ASCII Example: #SBAS34A,COM2,0,73.0,FINE,1295,226542.000,02000040,1be8,34461;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 mask frame gives data for a specific frame decoder number. The SBAS34 message can be logged to view the data breakdown of SBAS frame 34 which contains information about fast correction slots 22-32.
Field
Field type
1
SBAS34 header
2
prn
3
iodp
Description
Log header. See Messages on page 25 for more information. Source PRN of message Issue of PRN mask data
Format
Binary Bytes
Binary Offset
H
0
Ulong 4 Ulong 4
H H+4
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Field
Field type
4
prc22
5
prc23
6
prc24
7
prc25
8
prc26
9
prc27
10
prc28
11
prc29
12
prc30
13
prc31
14
prc32
15
udre22
16
udre23
17
udre24
18
udre25
19
udre26
20
udre27
21
udre28
22
udre29
23
udre30
24
udre31
25
udre32
26
xxxx
27
[CR][LF]
Description
prc(i): Fast corrections (-2048 to +2047) for the PRN in slot i (i = 22-32)
udre(i): User differential range error indicator for the PRN in slot i (i = 22-32) See Table 177: Evaluation of UDREI on page 832 for scaling information
32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
-
-
Binary Offset H+8 H+12 H+16 H+20 H+24 H+28 H+32 H+36 H+40 H+44 H+48 H+52 H+56 H+60 H+64 H+68 H+72 H+76 H+80 H+84 H+88 H+92 H+96 -
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3.177 SBAS35
Fast correction slots 33-43
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
SBAS35 are fast corrections for slots 33-43 in the mask of SBAS1, see SBAS1 log on page 794.
Message ID: 991
Log Type: Asynch
Recommended Input: log SBAS35a onchanged
Each raw mask frame gives data for a specific frame decoder number. The SBAS35 message can be logged to view the data breakdown of SBAS frame 35 which contains information about fast correction slots 33-43.
Field
Field type
1
SBAS35 header
2
prn
3
iodp
4
prc33
5
prc34
6
prc35
7
prc36
8
prc37
9
prc38
10
prc39
11
prc40
12
prc41
13
prc42
14
prc43
Description Log header. See Messages on page 25 for more information. Source PRN of message Issue of PRN mask data
prc(i): Fast corrections (-2048 to +2047) for the PRN in slot i (i = 33-43)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
Ulong 4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
H H+4 H+8 H+12 H+16 H+20 H+24 H+28 H+32 H+36 H+40 H+44 H+48
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Field
Field type
15
udre33
16
udre34
17
udre35
18
udre36
19
udre37
20
udre38
21
udre39
22
udre40
23
udre41
24
udre42
25
udre43
26
xxxx
27
[CR][LF]
Description
udre(i): User differential range error indicator for the PRN in slot i (i = 33-43) See Table 177: Evaluation of UDREI on page 832 for scaling information
32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
Ulong 4
-
-
Binary Offset H+52 H+56 H+60 H+64 H+68 H+72 H+76 H+80 H+84 H+88 H+92 H+96 -
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3.178 SBAS45
Slow corrections
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
Each SBAS45 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 satellite of the first bit of the message block.
Message ID: 993
Log Type: Asynch
Recommended Input: log SBAS45a onchanged
ASCII Example: #SBAS45A,COM2,0,73.0,FINE,1295,228498.000,02000040,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 mask frame gives data for a specific frame decoder number. The SBAS45 message can be logged to view the data breakdown of SBAS frame 45 which contains information about slow corrections.
Field
Field type
1
SBAS45 header
2
prn
3
mask1
4
iode1
5
dx1
6
dy1
7
dz1
8
ddx1
9
ddy1
10
ddz1
11
daf01
Description
Log header. See Messages on page 25 for more information. Source PRN of message Index into PRN mask (Type 1) Issue of ephemeris data Delta x (ECEF) Delta y (ECEF) Delta z (ECEF) Delta delta x (ECEF) Delta delta y (ECEF) Delta delta z (ECEF) Delta af0 clock offset
Format
Binary Bytes
Binary Offset
Scaling
H
0
-
Ulong 4
Ulong 4
Ulong 4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
Long
4
H H+4 H+8 H+12 H+16 H+20 H+24 H+28 H+32 H+36
0.125 0.125 0.125 2-11 2-11 2-11 2-31
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Field
Field type
12
t01
13
mask2
14
iode2
15
dx2
16
dy2
17
dz2
Description
Format
Binary Bytes
Applicable time of day
Ulong 4
Second index into PRN mask (Type 1) Ulong 4
Second issue of ephemeris data
Ulong 4
Delta x (ECEF)
Long
4
Delta y (ECEF)
Long
4
Delta z (ECEF)
Long
4
18
ddx2
Delta delta x (ECEF)
Long
4
19
ddy2
Delta delta y (ECEF)
Long
4
20
ddz2
Delta delta z (ECEF)
Long
4
21
daf02
Delta af0 clock offset
Long
4
22
t02
Applicable time of day
Ulong 4
23
iodp
Issue of PRN mask data
Ulong 4
24
xxxx
32-bit CRC (ASCII and Binary only) Ulong 4
25
[CR][LF] Sentence terminator (ASCII only)
-
-
Binary Offset H+40 H+44 H+48 H+52 H+56 H+60 H+64 H+68 H+72 H+76 H+80 H+84 H+88 -
Scaling
16 0.125 0.125 0.125 2-11 2-11 2-11 2-31 16 -
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3.179 SBASALMANAC
SBAS Almanac collection
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains a collection of all current SBAS almanacs that have been decoded by the receiver and may contain almanac data for multiple PRNs. The SBASALMANAC log is populated by the GEO Almanac Message Type 17 which is available in the SBAS17 log (see page 816). These PRNs are broken out into individual SBAS almanac entries for this message and output individually. If multiple SBAS subsystems (e.g., WAAS, EGNOS, GAGAN, MSAS) are tracked, this message will include almanac data collected from each with the subsystem identified in each message entry. The almanac data contains all of the information required to compute the satellite position as well as health and status information. The OEM7 family of receivers automatically save almanacs in their Non-Volatile Memory (NVM), so creating an almanac boot file is not necessary.
Message ID: 1425
Log Type: Asynch
Recommended Input: Log SBASALMANACA onchanged
ASCII Example: #SBASALMANACA,COM1,2,80.0,SATTIME,1672,411186.000,02000020,84d8,43119;133,WAAS, 65600,0,0,-5571800,-41758600,-1456000,0,0,120*22da17e8
#SBASALMANACA,COM1,1,80.0,SATTIME,1672,411186.000,02000020,84d8,43119;135,WAAS, 65600,0,0,-28758600,-30825600,0,0,0,0*dd122ca1
#SBASALMANACA,COM1,0,80.0,SATTIME,1672,411186.000,02000020,84d8,43119;138,WAAS, 65600,0,0,-12547600,-40248000,0,0,0,0*89c6c51c
Field Field Type
Description
1
SBASALMANAC Log header. See Messages on page 25 for
Header
more information.
2
Satellite ID
Satellite ID
3
Variant
System variant (refer to Table 178: SBAS Subsystem Types on the next page)
4
Time
Time of day (s)
5
Data ID
Data identification
6
Health
Satellite health
7
X
ECEF X coordinate (m)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
H
Enum 4
H+4
Ulong 4
Ushort 2
Ushort 2
Long
4
H+8 H + 12 H + 14 H + 16
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Field Field Type
Description
8
Y
9
Z
10
X Velocity
11
Y Velocity
12
Z Velocity
13
CRC
14
[CR][LF]
ECEF Y coordinate (m) ECEF Z coordinate (m) X rate of change (m/s) Y rate of change (m/s) Z rate of change (m/s) 32-bit CRC (ASCII and binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Long
4
H + 20
Long
4
H + 24
Long
4
H + 28
Long
4
H + 32
Long
4
H + 36
Ulong 4
H + 40
-
-
-
Table 178: SBAS Subsystem Types
ASCII Binary Description
NONE
0
No system
UNKNOWN
1
Unknown system
WAAS
2
WAAS system
EGNOS
3
EGNOS system
MSAS
4
MSAS system
GAGAN
5
GAGAN system
QZSS
7
QZSS System
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3.180 SOFTLOADSTATUS
Describes the status of the SoftLoad process
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log describes the status of the SoftLoad process.
Status values >= 16 (ERROR) indicate that an error has occurred during the loading process. Status < 16 (ERROR) are part of normal SoftLoad operation.
Message ID: 1235
Log Type: Asynch
Recommended Input: log softloadstatusa onchanged
ASCII Example: #SOFTLOADSTATUSA,COM1,0,97.5,UNKNOWN,0,0.113,024c0001,2d64,10481;NOT_ STARTED*827fdc04
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
SOFTLOADSTATUS Log header. See Messages on page 25
header
for more information.
-
H
0
2
status
Status of the SoftLoad process see Table 179: SoftLoad Status Type below
Enum
4
H
3
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+4
4
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
Value
Name
1
NOT_STARTED
2
READY_FOR_ SETUP
Table 179: SoftLoad Status Type
Description
SoftLoad process has not begun
SoftLoad process is ready to receive setup information in the form of the SOFTLOADSETUP command or SOFTLOADSREC command with S0 records. Once sufficient setup data has been sent, the process is also ready for the SOFTLOADDATA command
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Value
Name
Description
SoftLoad process is ready to receive data in the form of the
3
READY_FOR_ DATA
SOFTLOADDATA command or SOFTLOADSREC command with S3 records. Once all data has been sent, send the SOFTLOADCOMMIT
command
4
DATA_VERIFIED
SoftLoad data has passed CRC. This status occurs after a SOFTLOADCOMMIT command
5
WRITING_ FLASH
SoftLoad data is being written to flash. This status occurs after a SOFTLOADCOMMIT command. During a firmware upload, the receiver may remain in this state for 300 seconds or longer
6
WROTE_FLASH SoftLoad data has been written to flash
7
WROTE_ AUTHCODE
The embedded AuthCode was successfully written
8
COMPLETE
SoftLoad process has completed. The next step is to send the RESET command to reset the receiver
9
VERIFYING_ DATA
SoftLoad is verifying the downloaded image
10
COPIED_ SIGNATURE_ AUTH
Signature AuthCodes have been copied from the current firmware to the downloaded firmware.
11
WROTE_ TRANSACTION_ TABLE
The downloaded firmware has been activated and will be executed if the receiver is reset. This status is effectively identical to COMPLETE.
16
ERROR
Indicates an internal error in the SoftLoad process. This error is not expected to occur. Contact NovAtel Customer Support for assistance.
17
RESET_ERROR
Error resetting SoftLoad. Reset the receiver and restart the SoftLoad process.
18
BAD_SRECORD
A bad S Record was received. Ensure that S Records are enclosed in double quotes within the SOFTLOADSREC command (see page 362).
19
BAD_PLATFORM
This data cannot be loaded onto this platform. Ensure that the correct *.shex file for the platform is being used.
20
BAD_MODULE
This module cannot be loaded with SoftLoad. This file must be loaded using WinLoad or a similar loader.
21
BAD_ AUTHCODE
Bad AuthCode received for this PSN
22
NOT_READY_ FOR_SETUP
A SOFTLOADSETUP command was entered before a SOFTLOADRESET command or after a SOFTLOADDATA command
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Value
Name
Description
No data type was entered before a SOFTLOADDATA command was
23
NO_MODULE
received. Set the data type using the SOFTLOADSETUP command or
SOFTLOADSREC command with an "S0~T~" S Record.
No platform was entered before a SOFTLOADDATA command was
24
NO_PLATFORM received. Set the platform using the SOFTLOADSETUP command or
SOFTLOADSREC command with an "S0~P~" S Record.
25
NOT_READY_ FOR_DATA
A SOFTLOADDATA command was received but the receiver was not ready for it
26
MODULE_ MISMATCH
The SoftLoad data module was changed in the middle of loading. Restart the SoftLoad process using the SOFTLOADRESET command (see page 359).
27
OUT_OF_ MEMORY
SoftLoad has run out of RAM to store the incoming data. Reset the receiver and restart the SoftLoad process.
SoftLoad data has overlapped. Ensure that the correct address and
28
DATA_OVERLAP length is set in the SOFTLOADDATA command or SOFTLOADSREC
command.
29
BAD_IMAGE_ CRC
CRC of the downloaded image has failed. Ensure that all content from the *.shex file has been successfully downloaded.
30
IMAGE_ OVERSIZE
The downloaded image is too big for the intended data module
31
AUTHCODE_ WRITE_ERROR
An error occurred when writing the embedded AuthCode to flash
32
BAD_FLASH_ ERASE
Erasing of the flash failed. This could indicate a failure in the flash hardware.
33
BAD_FLASH_ WRITE
Writing to the flash failed. This could indicate a failure in the flash hardware.
34
TIMEOUT
SoftLoad time out has occurred
35
INCOMPATIBLE_ FLASH
Application image that does not support the onboard flash rejected
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3.181 SOURCETABLE
NTRIP source table entries
Platform: OEM729, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7I
This log outputs the NTRIP SOURCETABLE entries from the NTRIPCASTER set by the NTRIPSOURCETABLE command (see page 256). The entry data field in the first entry is always the header of the retrieved SOURCETABLE. The entry data field in the last entry is always a string "ENDSOURCETABLE" which indicates the end of the source table. Entries in between these fields are the real SOURCETABLE entries.
Message ID: 1344
Log Type: Polled
Recommended Input: log sourcetablea once
ASCII Example: #SOURCETABLEA,COM1,17,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;" hera.novatel.com:2101",0,0,"HTTP/1.1 200 OK;Ntrip-Version: Ntrip/2.0;NtripFlags: st_filter,st_auth,st_match,st_strict,rtsp,plain_rtp;Server: NTRIP Caster/2.0.15;Date: Fri, 27 Jan 2017 18:12:01 GMT;Connection: close;ContentType: gnss/sourcetable;Content-Length: 2057"*87a7d39d
#SOURCETABLEA,COM1,16,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;" hera.novatel.com:2101",0,0,"CAS;hera.novatel.ca;80,2101;NovAtel;NovAtel;0;CAN;5 1;-115;http://www.novatel.com"*e3ec11a0
#SOURCETABLEA,COM1,15,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;" hera.novatel.com:2101",0,0,"NET;GREF;NovAtel;B;N;http://novatel.com;none;novate l.com;none"*2a6b50eb
#SOURCETABLEA,COM1,14,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;" hera.novatel.com:2101",0,0,"STR;novatel_rtcmv3;Office Roof DL1L2;RTCM 3.0;1033 (10),1005(10),1019(60),1020(60),1003(1),1011(1);2;GPS+GLO;NovAtel;CAN;51;115;0;0;NovAtel OEM628;none;B;N;9600;Test"*8a7c760f
#SOURCETABLEA,COM1,13,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;" hera.novatel.com:2101",0,0,"STR;novatel_rtcm;Office Roof DL1L2;RTCM 2.3;1(1),3 (10),31(1),32(10);0;GPS+GLO;NovAtel;CAN;51;-115;0;0;NovAtel OEM628;none;B;N;9600;Test"*08c57cb7
#SOURCETABLEA,COM1,12,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;" hera.novatel.com:2101",0,0,"STR;novatel_rtca;Office Roof DL1L2;RTCA;RTCAREF (10),RTCA1(1),RTCAEPHEM(60);0;GPS;NovAtel;CAN;51;-115;0;0;NovAtel OEM628;none;B;N;9600;Test"*006997bc
#SOURCETABLEA,COM1,11,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;" hera.novatel.com:2101",0,0,"STR;novatel_cmr;Office Roof DL1L2;CMR;CMRREF (10),CMROBS(1),CMRGLOOBS(1);2;GPS+GLO;NovAtel;CAN;51;-115;0;0;NovAtel OEM628;none;B;N;9600;Test"*0955ccb7
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#SOURCETABLEA,COM1,10,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;" hera.novatel.com:2101",0,0,"STR;novatel_rtcaobs2;Office Roof DL1L2;RTCA;rtcaref (10),rtcaobs2(1),rtcaephem(60);2;GPS+GLO;NovAtel;CAN;51;-115;0;0;NovAtel OEM628;none;B;N;9600;Test"*426e39a5
#SOURCETABLEA,COM1,9,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h era.novatel.com:2101",0,0,"STR;novatel_cmrplus;Office Roof DL1L2;CMR+;cmrplus (1),cmrobs(1),cmrgloobs(1);2;GPS+GLO;NovAtel;CAN;51;-115;0;0;NovAtel OEM628;none;B;N;9600;Test"*2d5ba56e
#SOURCETABLEA,COM1,8,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h era.novatel.com:2101",0,0,"STR;novatel_rtcm2021;Office Roof DL1L2;RTCM 2.3;3 (10),2021(1);2;GPS+GLO;NovAtel;CAN;51;-115;0;0;NovAtel OEM628;none;B;N;9600;Test"*d82df5de
#SOURCETABLEA,COM1,7,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h era.novatel.com:2101",0,0,"STR;novatel_1819;Office Roof DL1L2;RTCM 2.3;3(10),22 (10),23(60),24(60),1819(1);2;GPS+GLO;NovAtel;CAN;51;-115;0;0;NovAtel OEM628;none;B;N;9600;Test"*7aead153
#SOURCETABLEA,COM1,6,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h era.novatel.com:2101",0,0,"STR;novatel_rtcaobs;Office Roof DL1L2;RTCA;rtcaref (10),rtcaobs(1),rtcaephem(60);2;GPS+GLO;NovAtel;CAN;51;-115;0;0;NovAtel OEM628;none;B;N;9600;Test"*530a51c4
#SOURCETABLEA,COM1,5,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h era.novatel.com:2101",0,0,"STR;novatel_novatelx;Office Roof;NovatelX;novatelobs;2;GPS+GLO;NovAel;CAN;51;-114;0;0;NovAtel OEM628;none;B;N;9600;Test"*4438c2e2
#SOURCETABLEA,COM1,4,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h era.novatel.com:2101",0,0,"STR;Hyderabad1;hyderabad test1;unknown;unknown;2;GPS+GLO;NovAtel;INDIA;17;78;0;0;NovAtel OEM628;none;B;N;9600;Test"*de6c19f0
#SOURCETABLEA,COM1,3,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h era.novatel.com:2101",0,0,"STR;Hyderabad2;hyderabad test1;unknown;unknown;2;GPS+GLO;NovAtel;INDIA;17;78;0;0;NovAtel OEM628;none;B;N;9600;Test"*27e9eee1
#SOURCETABLEA,COM1,2,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h era.novatel.com:2101",0,0,"STR;Hyderabad3;hyderabad test1;unknown;unknown;2;GPS+GLO;NovAtel;INDIA;17;78;0;0;NovAtel OEM628;none;B;N;9600;Test"*3ed5941b
#SOURCETABLEA,COM1,1,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h era.novatel.com:2101",0,0,"STR;Hyderabad4;hyderabad test1;unknown;unknown;2;GPS+GLO;NovAtel;INDIA;17;78;0;0;NovAtel OEM628;none;B;N;9600;Test"*a3a188e2
#SOURCETABLEA,COM1,0,84.0,COARSESTEERING,1933,497547.000,02400020,71dd,32768;"h era.novatel.com:2101",0,0,"ENDSOURCETABLE"*7758fba9
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Field Field Type
Description
Format
1
SOURCETABLE Log header. See Messages on
header
page 25 for more information.
2
endpoint
NTRIPCASTER Endpoint
String with varied length up to 80 bytes
3
Reserved1
reserved
Ulong
4
Reserved2
reserved
Ulong
5
Entry data
Source table entry data
String with varied length up to 512 bytes
6
xxxx
32-bit CRC (ASCII and binary only)
Ulong
7
[CR][LF]
Sentence terminator (ASCII only)
-
Binary Binary Bytes Offset
H
0
a1
H
4
H+a
4
H+a+4
b1
H+a+8
4
H+a+b+8
-
-
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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3.182 TERRASTARINFO
TerraStar subscription information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains details on the TerraStar subscription.
Message ID: 1719
Log Type: Asynch
Recommended Input: log terrastarinfoa onchanged
ASCII Example: #TERRASTARINFOA,COM1,0,65.5,UNKNOWN,0,1.168,02040008,E776,13260;"QR391:3006:617 9",TERM,00000301,167,2015,0,NONE,0.00000,0.00000,0*7E4A9EC0
Field Field type
Description
1
TERRASTAR INFO header
Log header. See Messages on page 25 for more information.
2
PAC
Product activation code
3
Type
Subscription type (see Table 180: TerraStar Subscription Type on the next page)
Services permitted by the subscription (see
Table 181: TerraStar Subscription Details
4
Subscription Mask on the next page) permissions Note: Bits in the Reserved areas of this field
may be set, but the Reserved bits should be
ignored.
Day of the year when the subscription ends. Service ends at 00:00 UTC on this day.
5
Service End For example, if the TerraStar service end
Day
date/time is 2015-06-15 00:01:05 HRS UTC
(DOY = 166), then the Service End DOY will
indicate it as 167 and Service End Year will
indicate it as 2015.
6
Service End Year
Year that subscription ends
7
Reserved
Format
Binary Bytes
Binary Offset
H
0
Char [16]
16
Enum 4
H H+16
Hex
4
H+20
Ulong 4
H+24
Ulong 4 Ulong 4
H+28 H+32
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Field Field type
Description
Format
Binary Bytes
Binary Offset
8
Region restriction
For region restricted subscriptions, the type of region restriction (see Table 182: TerraStar Region Restriction on the next page)
Enum
4
H+36
9
Center point For local area subscriptions, the center point
latitude
latitude (degrees)
Float
4
H+40
10
Center point For local area subscriptions, the center point
longitude
longitude (degrees)
Float
4
H+44
11
Radius
For local area subscriptions, the maximum permitted distance from center point (kilometers)
Ulong 4
H+48
12
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+52
13
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
ASCII UNASSIGNED TERM MODEL
BUBBLE INCOMPATIBLE_ SUBSCRIPTION
Table 180: TerraStar Subscription Type
Binary
Description
0
Decoder has not had an assigned operating mode
1
Term subscription
5
Receiver is operating with an RTK assist enabled model and there is not an active TerraStar subscription installed
100
Receiver is operating in a TerraStar-permitted subscription-free bubble
104 Subscription is incompatible with this version of firmware
Table 181: TerraStar Subscription Details Mask
Bit
Mask
Description
0-8 0x000001FF Reserved
9
0x00000200 TerraStar-C service
10
0x00000400 TerraStar-L service
11
0x00000800 RTK ASSIST service
12
0x00001000 RTK ASSIST PRO service
13
0x00002000 TerraStar-C PRO service
14-31 0xFFFFC000 Reserved
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Table 182: TerraStar Region Restriction
ASCII
Binary
Description
NONE
0
TerraStar operation has no region restrictions.
GEOGATED
TerraStar operation limited to on-land 1
GEOGATED is also the default value reported if there is no subscription
LOCAL_AREA
2
TerraStar operation limited to radius from local area center point
NEARSHORE
3
TerraStar operation limited to on land and near shore (coastal) regions
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3.183 TERRASTARSTATUS
TerraStar decoder and subscription status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains status information for the TerraStar decoder and subscription.
Message ID: 1729
Log Type: Asynch
Recommended Input: log terrastarstatusa onchanged
ASCII Example: #TERRASTARSTATUSA,COM1,0,49.5,FINESTEERING,1769,332336.443,02000000,fdc1,12602; ENABLE,LOCKED,0,DISABLED,ONSHORE*555155a5
Field Field type
Description
Format
Binary Bytes
Binary Offset
1
TERRASTAR STATUS header
Log header. See Messages on page 25 for more information.
H
0
2
Access
Access status. ENABLE (1) if the subscription is valid; DISABLE (0) otherwise
Enum
4
H
Decoder data synchronization state (see Table
3
Sync state 183: Decoder Data Synchronization State on Enum 4
the next page)
H+4
4
Reserved
Ulong 4
H+8
For local-area subscriptions, indicates if the
5
Local area status
receiver is within the permitted area (see Table 184: TerraStar Local Area Status on the
Enum
4
next page)
H+12
6
Geogating Geogating status (see Table 185: TerraStar
status
Geogating Status on the next page)
Enum 4
H+16
7
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+20
8
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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Table 183: Decoder Data Synchronization State
ASCII Binary
Description
NO_SIGNAL
0
None of the decoders have received data in the last 30 seconds
SEARCH
1
At least one decoder is receiving data and is searching for the format
LOCKED
2
At lease one decoder has locked onto the format
Table 184: TerraStar Local Area Status
ASCII
Binary
Description
DISABLED
The subscription is not restricted to a local area. 0
This is also the value when there is no subscription.
WAITING_FOR_POSITION
1
Waiting for a position
RANGE_CHECK
16 Checking position against local area region restriction
IN_RANGE
129 Receiver is within the permitted local area
OUT_OF_RANGE
130 Receiver is outside the permitted local area
POSITION_TOO_OLD
255 Position is too old
ASCII
DISABLED
WAITING_FOR_ POSITION ONSHORE OFFSHORE POSITION_TOO_OLD PROCESSING
Table 185: TerraStar Geogating Status
Binary
Description
The subscription is restricted to a local area or there is no region
0
restriction.
This is also the value when there is no subscription.
1
Waiting for a position
129 130 255 1000
Receiver is over land Receiver is over water Position is too old Geogater is determining status
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3.184 TIME
Time data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log provides several time related pieces of information including receiver clock offset and UTC time and offset. It can also be used to determine any offset in the PPS signal relative to GPS reference time. To find any offset in the PPS signal, log the TIME log 'ontime' at the same rate as the PPS output. For example, if the PPS output is configured to output at a rate of 0.5 seconds (see the PPSCONTROL command on page 277) log the TIME log 'ontime 0.5' as follows:
log time ontime 0.5 The TIME log offset field can then be used to determine any offset in PPS output relative to GPS reference time.
GPS reference time is the receiver's estimate of the true GPS system time. GPS reference time can be found in the header of the TIME log. The relationship between GPS reference time and true GPS system time is: GPS system time = GPS reference time - offset
Message ID: 101
Log Type: Synch
Recommended Input: log timea ontime 1
ASCII Example: #TIMEA,COM1,0,86.5,FINESTEERING,1930,428348.000,02000020,9924,32768;VALID, 1.667187222e-10,9.641617960e-10,-18.00000000000,2017,1,5,22,58,50000,VALID *2a066e78
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1. Consider the case where you used the ADJUST1PPS command (see page 53) to synchronize two receivers in a primary/secondary relationship to a common external clock. You can use the TIME log after the clock model status is valid to monitor the time difference between the Primary and Secondary receivers.
2. The header of the TIME log gives you the GPS reference time (the week number since January 5th, 1980) and the seconds into that week. The TIME log outputs the UTC offset (offset of GPS system time from UTC time) and the receiver clock offset from GPS system time.
If you want the UTC time in weeks and seconds, take the week number from the header. Then take the seconds into that week, also from the header, and add the correction to the seconds using the 2 offsets. Ensure not to go negative or rollover (go over the total number of seconds, 604800, in a week). In the case of a rollover, add a week and the left over seconds become the seconds into this new week. If negative, subtract a week and the remainder from the seconds of that week become the seconds into this new week.
For example:
TIME COM1 0 73.5 FINESTEERING 1432 235661.000 02000000 9924 2616 VALID -0.000000351 0.000000214 -14.00000000106 2007 6 19 17 27 27000 VALID
From the time information above:
GPS reference time = 1432 (GPS reference week), 235661.000 (GPS seconds) from the header.
From the description in UTC offset row in the following table:
UTC time = GPS reference time - offset + UTC offset UTC time
= week 1432, 235661.000 s � (- 0.000000351 (offset) ) - 14.00000000106 (UTC offset) = week 1432, seconds 235647.00000034994
Field
Field type
1
TIME header
2
clock status
Description
Log header. See Messages on page 25 for more information.
Clock model status (not including current measurement data), see Table 87: Clock Model Status on page 462
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
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Field
Field type
Description
Format
Binary Bytes
Binary Offset
Receiver clock offset in seconds from GPS
system time. A positive offset implies that the
receiver clock is ahead of GPS system time. To
derive GPS system time, use the following
3
offset
formula:
Double 8
GPS system time = GPS reference time - offset.
The GPS reference time can be obtained from the log header.
H+4
4
offset std Receiver clock offset standard deviation (s)
Double 8
H+12
The offset of GPS system time from UTC time,
computed using almanac parameters. UTC time
is GPS reference time plus the current UTC offset
5
utc offset minus the receiver clock offset:
Double 8
UTC time = GPS reference time - offset + UTC offset
H+20
6
utc year UTC year
Ulong 4
H+28
UTC month (0-12)
7
utc month
Uchar 1
If UTC time is unknown, the value for month is 0.
H+32
UTC day (0-31)
8
utc day
Uchar 1
If UTC time is unknown, the value for day is 0.
H+33
9
utc hour UTC hour (0-23)
Uchar 1
H+34
10
utc min UTC minute (0-59)
Uchar 1
H+35
UTC millisecond (0-60999)
11
utc ms
Ulong 4
Maximum of 60999 when leap second is applied.
H+36
UTC status
0 = Invalid
12
utc status
1 = Valid
2 = Warning1
Enum 4
H+40
13
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+44
14
[CR][LF] Sentence terminator (ASCII only)
-
-
-
1Indicates that the leap second value is used as a default due to the lack of an almanac. OEM7 Commands and Logs Reference Manual v10
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3.185 TIMESYNC
Synchronize time between GNSS receivers
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The TIMESYNC log is used in conjunction with the ADJUST1PPS command (see page 53) to synchronize the time between GNSS receivers.
Message ID: 492
Log Type: Synch
Recommended Input: log timesynca ontime 1
ASCII Example: #TIMESYNCA,COM1,0,46.0,FINESTEERING,1337,410095.000,02000000,bd3f,1984;1337, 410095000,FINESTEERING*aa2025db
The time data embedded in this log represents the time of the most recent 1PPS signal. The receiver issues this log from a communications port within 200 ms of the last 1PPS event. The 200 ms value is a "worst case scenario." Refer to Figure 2: 1PPS Alignment on page 54 to see the alignment between a Fine and a Cold Clock receiver. Also refer to the Transfer Time Between Receivers section in the OEM7 Installation and Operation User Manual.
Field
Field type
Description
Format
Binary Bytes
Binary Offset
1
TIMESYNC Log header. See Messages on page 25 for more
header
information.
H
0
2
week
GPS reference week number
Ulong 4
H
3
ms
Number of milliseconds into the GPS reference week
Ulong
4
H+4
4
time status
GPS reference time Status, see Table 11: GPS Reference Time Status on page 45
Enum
4
H+8
5
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+12
6
[CR][LF] Sentence terminator (ASCII only)
-
-
-
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3.186 TRACKSTAT
Tracking status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
The TRACKSTAT log contains an entry for each channel. If there are multiple signal channels for one satellite (for example L1, L2 P(Y), L2C, and L5 for GPS), then there will be multiple entries for that satellite.
As shown in Table 133: Channel Tracking Status on page 692 these entries can be differentiated by bit 20, which is set if there are multiple observables for a given satellite, and bits 21-25, which denote the signal type for the observation.
A zero in the PRN/slot of the TRACKSTAT log indicates the channel should be considered idle with the exception of those for GLONASS. A GLONASS channel should only be considered idle if the tracking state is 0 in the channel tracking status word.
For dual antenna receivers, a TRACKSTAT_1 log can be requested to get TRACKSTAT data from the second antenna. As described in Table 3: Binary Message Header Structure on page 30, the message type indicates the log is from the second antenna. To request an ASCII log enter TRACKSTATA_1 and for a binary log enter TRACKSTATB_1.
Message ID: 83
Log Type: Synch
Recommended Input: log trackstata ontime 1
ASCII Example: #TRACKSTATA,COM1,0,49.5,FINESTEERING,1337,410139.000,02000000,457c,1984; SOL_COMPUTED,PSRDIFF,5.0,30, 1,0,18109c04,21836080.582,-2241.711,50.087,1158.652,0.722,GOOD,0.973, 1,0,11309c0b,21836083.168,-1746.788,42.616,1141.780,0.000,OBSL2,0.000, 30,0,18109c24,24248449.644,-2588.133,45.237,939.380,-0.493,GOOD,0.519, 30,0,11309c2b,24248452.842,-2016.730,38.934,939.370,0.000,OBSL2,0.000, ... 14,0,18109da4,24747286.206,-3236.906,46.650,1121.760,-0.609,GOOD,0.514, 14,0,11309dab,24747288.764,-2522.270,35.557,1116.380,0.000,OBSL2,0.000, 0,0,0c0221c0,0.000,0.000,0.047,0.000,0.000,NA,0.000, 0,0,0c0221e0,0.000,0.000,0.047,0.000,0.000,NA,0.000*255a732e
Field Field Type
Description
1
TRACKSTAT Log header. See Messages on page 25 for
header
more information.
Format
Binary Bytes
Binary Offset
H
0
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Field Field Type
Description
Format
Binary Bytes
Binary Offset
2
sol status
Solution status (see Table 74: Solution Status on page 436)
Enum
4
H
3
pos type
Position type (see Table 75: Position or Velocity Type on page 437)
4
cutoff
GPS tracking elevation cut-off angle
5
# chans
Number of hardware channels with information to follow
Enum 4
Float
4
Ulong 4
H+4 H+8 H+12
Satellite PRN number of range measurement
6
PRN/slot
Short 2
Refer to PRN Numbers on page 44
H+16
7
glofreq
(GLONASS Frequency + 7), see GLONASS Slot and Frequency Numbers on page 43
Short
2
H+18
8
ch-tr-status
Channel tracking status (see Table 133: Channel Tracking Status on page 692)
Ulong 4
H+20
9
psr
Pseudorange (m) - if this field is zero but the channel tracking status in the previous field indicates that the card is phase locked and code locked, the pseudorange has not been calculated yet
Double 8
H+24
10
Doppler
Doppler frequency (Hz)
Float
4
H+32
11
C/No
Carrier to noise density ratio (dB-Hz)
Float
4
H+36
12
locktime
Number of seconds of continuous tracking (no cycle slips)
Float
4
H+40
13
psr res
Pseudorange residual from pseudorange filter (m)
Float
4
H+44
14
reject
Range reject code from pseudorange filter (see Table 80: Observation Statuses on page 443)
Enum 4
H+48
15
psr weight Pseudorange filter weighting
Float
4
H+52
16... Next PRN offset = H+16+(#chans x 40)
17
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+16 (#chans x 40)
18
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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3.187 TRANSFERPORTSTATUS
Display the state of the USB transfer port
Platform: PwrPak7 This log displays the current state of the USB transfer port.
Message ID: 2114
Log Type: Asynch
Recommended Input: log transferportstatusa onchanged
ASCII Example: #TRANSFERPORTSTATUSA,COM1,0,86.5,UNKNOWN,0,10.551,02100000,4b3f,32768;USBSTICK, HOST*9f7ad7be
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
TRANSFERPORTSTATUS Log header. See Messages on
header
page 25 for more information.
-
H
0
Type of connection detected
2
USB Detection Type
See Table 186: USB Detection
Enum 4
H
Type below
3
USB Mode
Current USB operation mode See Table 187: USB Mode on the Enum 4 next page
H+4
4
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+8
5
[CR][LF]
Sentence terminator (ASCII only) -
-
-
Table 186: USB Detection Type
Binary ASCII
Description
0
NONE
Nothing is detected
1
USBSTICK A flash drive is detected
2
PC
A computer is detected
3
ERROR
This is an error state
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Table 187: USB Mode
Binary
ASCII
Description
0
DEVICE
The USB port is in device mode
1
HOST
The USB port is in host mode
2
OTG
The USB port is in OTG mode
3
INVALID
The USB port is in an invalid mode
4
NONE
The USB port is not in an operation mode
5
TRANSITION The USB port operation mode is transitioning
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3.188 UPTIME
Report the running time of the receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log reports the number of seconds the receiver's firmware has been running, after the application of power or after the completion of a reset.
Message ID: 1777
Log Type: Polled
Recommended Input: log uptime once
ASCII Example: #UPTIMEA,COM1,0,80.0,FINESTEERING,1928,495123.000,02000020,27d2,32768;151639*01 3e11a7
151639 seconds since power-on = 42.1 hours.
Field
Field Type
1
UPTIME header
2
Uptime
3
xxxx
4
[CR][LF]
Description
Log header. See Messages on page 25 for more information. The number of seconds the receiver has been running after a power up or reset. 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
Hex
4
-
-
H H+4 -
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3.189 USERANTENNA
Display user defined antennas
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This log lists the stored used defined antennas and their parameters.
Message ID: 2282
Recommended input: log userantennaa onchanged
ASCII Example: #USERANTENNAA,COM1,1,80.5,UNKNOWN,0,1.101,02000020,7fac,32768;USER_ANTENNA_1, "NOVCUSTOM",2,GPSL1,0.09,0.00,51.74,0.00,-0.02,-0.10,-0.20,0.23,-0.17,-0.03, 0.14,0.25,0.25,0.07,-0.23,-0.54,-0.67,-0.49,-0.01,0.55,0.83,0.46,GPSL2,-1.53, 1.65,52.00,0.00,0.00,0.00,-0.02,-0.12,-0.28,-0.47,-0.61,-0.56,-0.28,0.23,0.83, 1.28,1.30,0.76,-0.15,-0.94,-0.81,0.97*8b6fb25e
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
USERANTENNA Log header. See Messages on page 25 for
header
more information.
H0
User defined antenna type
2
Antenna type See Table 188: User-Defined Antenna
Type on the next page
Enum
4H
3
Antenna name Name of the user defined antenna
Char [16]
16 H+4
4
Number of frequencies
Number of frequencies for which corrections are stored
Ulong
8 H+20
The frequency for which the phase center
5
Frequency
corrections are valid
Enum
See Table 19: Frequency Type on page 83
4 H+28
6
NorthOffset
North phase center offset in millimetres
Float
4 H+32
7
EastOffset
East phase center offset in millimetres
Float
4 H+36
8
UpOffset
Up phase center offset in millimetres
Float
4 H+40
9
PCVArray
19 element array of Phase Center Variations, in millimetres, in 5-degree elevation increments from 90 to 0
Float [19]
76 H+44
10
Next Frequency = H + 28 + (Number of frequencies x 92)
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Field Field Type
Description
11
xxxx
12
[CR][LF]
32-bit CRC (ASCII and binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Hex
4
Variable
�
�
�
Table 188: User-Defined Antenna Type
Binary
ASCII
1001
USER_ANTENNA_1
1002
USER_ANTENNA_2
1003
USER_ANTENNA_3
1004
USER_ANTENNA_4
1005
USER_ANTENNA_5
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3.190 USERI2CRESPONSE
Status of USERI2CREAD or USERI2CWRITE Command
Platform: OEM7600, OEM7700, OEM7720
This log reports the status of a previously executed USERI2CREAD or USERI2CWRITE command. There is one log emitted for each command that is executed.
For the USERI2CREAD command (see page 397), this log outputs the data read from the device on the I2C bus and the status of the read operation.
For the USERI2CWRITE command (see page 399), the status of the write operation is reported and the data field will always be 0.
Message ID: 2234
Recommended Input: log USERI2CRESPONSE onnew
Abbreviated ASCII Example 1:
USERI2CREAD 70 4 aabbccdd 12 6789
<USERI2CRESPONSE COM1 0 84.0 FINESTEERING 1994 257885.895 02000000 e3f6 32768
<
70 aabbccdd OK READ 6789 12 000102030405060708090a0b
Abbreviated ASCII Example 2:
USERI2CWRITE 70 3 aabbcc 8 0001020304050607 12345
<USERI2CRESPONSE COM1 0 84.0 FINESTEERING 1994 257885.895 02000000 e3f6 32768
<
70 aabbcc OK WRITE 12345 0
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
USERI2CRESPONSE Log header. See Messages for more
header
information.
-
H
0
The 7 bit address of the I2C device. Valid values are 0 through 127.
For ASCII and Abbreviated
2
DeviceAddress
commands, this field is a hexadecimal Uchar
11
H
string of two digits. There is no 0x
prefix and spaces are not allowed in
the string.
1In the binary case, additional bytes of padding are added after this field to maintain 4-byte alignment for the fields that follow.
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Field
Field Type
3
RegisterAddress
4
ErrorCode
5
OperationMode
6
TransactionID
7
ReadDataLength
8
ReadData
Description
Format
Binary Bytes
Binary Offset
The actual register address used for
the operation. This is a ULONG value in hexadecimal format (without 0x
Ulong
4
prefix).
H+4
Error code for the operation. See Table 189: Error Code below.
Enum
4
H+8
Operation mode code. See Table 190:
Operation Mode Code on the next
Enum
4
page.
H+12
This is the copy of Transaction ID provided to the command.
Ulong
4
H+16
For a Read operation, this is the actual
number of bytes read from the I2C
device.
Ulong
4
For a Write operation, this value is always zero.
H+20
For a Read operation, this is the data
read from the device. For ASCII logs
this field is displayed as a string of
hexadecimal digits, with two digits per
byte. The first byte retrieved from the
I2C device is the first byte displayed and so on.
HEXBYTE ARRAY
Y
The maximum size of this field is 256 bytes.
When ReadDataLength is zero, this field will be empty.
H+24
Table 189: Error Code
Binary
ASCII
Description
0
OK
I2C transaction is successful
1
IN_PROGRESS
I2C transaction is currently in progress
2
DATA_TRUNCATION I2C transaction read data was truncated
3
BUS_BUSY
I2C bus is busy
4
NO_DEVICE_REPLY No device replied to the I2C transaction request
5
BUS_ERROR
I2C bus error or bus arbitration lost
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Binary
ASCII
Description
6
TIMEOUT
I2C transaction has timed out
7
UNKNOWN_FAILURE I2C transaction has an unexplained failure
Table 190: Operation Mode Code
Binary ASCII
Description
0
NONE
No Operation
1
READ
Read Operation
2
WRITE
Write Operation
3
SHUTDOWN Shut down Operation
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3.191 VALIDMODELS
Valid model information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log gives a list of valid authorized models available and expiry date information. If a model has no expiry date, it reports the year, month and day fields as 0, 0 and 0 respectively.
Message ID: 206
Log Type: Asynch
Recommended Input: log validmodelsa once
ASCII Example: #VALIDMODELSA,COM1,0,92.0,FINESTEERING,1610,499139.682,02000000,342f,6293;1,"D2 LR0RCCR",0,0,0*d0580c1b
Use the VALIDMODELS log to output a list of available models for the receiver. Use the AUTH command (see page 76), to add a model and the MODEL command (see page 243) to change the currently active model. See the VERSION log on page 874 for the currently active model
Field Field type
Description
1
VALIDMODELS Log header. See Messages on
header
page 25 for more information.
2
#mod
Number of models with information to follow
3
model
Model name
4
expyear
Expiry year
5
expmonth
Expiry month
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
H
String [Max16]
Variable
1
H+4
Ulong 4
Variable Max: H+20
Ulong 4
Variable Max: H+24
1In the binary case, each string field needs to be NULL terminated and additional bytes of padding added to maintain 4-byte alignment, up to the maximum defined by the string size. The next defined field starts immediately at the next 4-byte alignment following the NULL.
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Field Field type
Description
6
expday
Expiry day
Format
Binary Bytes
Ulong 4
Binary Offset
Variable: Max: H+28
7... Next model offset = H+4+(#mod x variable [max:28])
8
xxxx
32-bit CRC (ASCII and Binary only) Ulong 4
H+4+ (#mod x variable [max:28])
9
[CR][LF]
Sentence terminator (ASCII only) -
-
-
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3.192 VERIPOSINFO
Veripos subscription information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains details on the Veripos subscription.
Message ID: 1728
Log Type: Asynch
Recommended Input: log veriposinfoa onchanged
ASCII Example: #VERIPOSINFOA,COM2,0,60.5,FINESTEERING,1779,176287.725,02044008,31fa,12740;3203 25,NCC_CONTROLLED,00000101,"Q"*26a9f04e
Field Field type
Description
1
VERIPOSINFO Log header. See Messages on page 25 for
header
more information.
2
Serial number
Receiver serial number
3
Mode
Operating mode (see Table 191: Veripos Operating Mode below)
4
Details
Subscription details (refer to Table 192: Veripos Subscription Details Mask on the next page)
5
Service code Veripos service code
6
xxxx
32-bit CRC (ASCII and Binary only)
7
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
H
0
Ulong 4
H
Enum 4
H+4
Hex
4
Char[4] 4
Ulong 4
-
-
H+8
H+12 H+16 -
ASCII UNASSIGNED NCC_ CONTROLLED NO_DISABLE
Table 191: Veripos Operating Mode
Binary
Description
0
Decoder has not had an assigned operating mode
7
Decoder operation disabled by a command from the Network Control Center (NCC)
8
Decoder operation not disabled
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ASCII
Binary
Description
BUBBLE
100 Decoder is operating in a Veripos permitted subscription-free bubble
MODEL_DENIED 101 Decoder operation is not permitted on the current firmware model
Table 192: Veripos Subscription Details Mask
Bit Mask
Description
0 0x001 Subscription permits differential positioning
8 0x100 Subscription permits Apex PPP positioning
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3.193 VERIPOSSTATUS
Veripos decoder and subscription status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains status information for the Veripos decoder and subscription.
Message ID: 1730
Log Type: Asynch
Recommended Input: log veriposstatusa onchanged
ASCII Example: #VERIPOSSTATUSA,COM2,0,62.0,FINESTEERING,1779,176955.656,02004008,0719,12740;EN ABLE,LOCKED*7c5f85ae
Field Field type
Description
Format
Binary Bytes
Binary Offset
1
VERIPOSSTATUS Log header. See Messages on page 25 for
header
more information.
H
0
2
Access
Access status. ENABLE (1) if the subscription is valid; DISABLE (0) otherwise
Enum 4
H
3
Sync state
Decoder data synchronization state (see Table 193: Decoder Data Synchronization Enum 4 State below)
H+4
4
xxxx
32-bit CRC (ASCII and Binary only)
Ulong 4
H+8
5
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
Table 193: Decoder Data Synchronization State
ASCII Binary
Description
NO_SIGNAL
0
None of the decoders have received data in the last 30 seconds
SEARCH
1
At least one decoder is receiving data and is searching for the format
LOCKED
2
At lease one decoder has locked onto the format
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3.194 VERSION
Version information
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
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 195: Firmware and Boot Version Field Formats on page 877 for details on the format of key fields.
See also the VALIDMODELS log on page 869.
Message ID: 37
Log Type: Polled
Recommended Input: log versiona once
ASCII Example:
<VERSION USB1 0 72.0 FINESTEERING 2025 247123.828 02000020 3681 14970
< 11
<
GPSCARD "FFNRNNCBES1" "BMHR17090005E" "OEM7700-1.00" "OM7CR0500RN0000"
"OM7BR0001RB0000" "2018/Jul/10" "14:37:01"
<
OEM7FPGA "" "" "" "OMV070001RN0000" "" "" ""
<
WHEELSENSOR "" "" "" "SWS000101RN0000" "" "2018/Jul/10" "14:37:28"
<
WIFI "RS9113" "" "" "1.6.8" "" "2018/Jul/10" "14:37:32"
<
APPLICATION "" "" "" "EP7AR0500RN0000" "" "2018/Jul/10" "14:37:13"
<
DEFAULT_CONFIG "" "" "" "EP7CR0500RN0000" "" "2018/Jul/10" "14:37:23"
<
PACKAGE "" "" "" "EP7PR0500RN0000" "" "2018/Jul/10" "14:37:18"
<
DB_WWWISO "WWWISO" "0" "" "WMC010201AN0004" "" "2017/Sep/20" "21:00:04"
<
ENCLOSURE "" "NMNE17200009B" "" "" "" "" ""
<
REGULATORY "US" "" "" "" "" "" ""
<
IMUCARD "Epson G320N" "" "" "" "" "" ""
The VERSION log is a useful log as a first communication with your receiver. Once connected, using NovAtel Connect or a terminal emulator program, log VERSION and check that the output makes sense. Also, ensure that you have the receiver components you expected.
Field
Field type
Description
1
VERSION Log header. See Messages on page 25 for more header information.
Format
Binary Bytes
Binary Offset
H
0
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Field
Field type
Description
Format
Binary Bytes
Binary Offset
2
# comp Number of components (cards, and so on)
Long
4
H
3
type
Component type (see Table 194: Component Types on the next page)
Enum 4
H+4
4
model
OEM7 firmware model number e.g., CFNPNNTVN indicates the receiver's current model functionality
Char [16]
16
H+8
5
psn
Product serial number
Char [16]
16
H+24
Hardware version in the format:
P-R
6
hw version
Where P = hardware platform
R = hardware revision
Example: OEM7700-1.00
Char [16]
16
H+40
7
sw version
Firmware version, see Table 195: Firmware and Char
Boot Version Field Formats on page 877
[16]
16
H+56
8
boot version
Boot code version, see Table 195: Firmware and Char
Boot Version Field Formats on page 877
[16]
16
H+72
Firmware compile date in the format:
YYYY/Mmm/DD
9
comp date
Where YYYY = year
Mmm = month
DD = day (1-31)
Example: 2018/Jul/10
Char [12]
12
H+88
10
comp time
Firmware compile time in the format:
HH:MM:SS
Where:
HH = hours MM = minutes SS = seconds
Example: 14:37:01
Char [12]
12
H+100
11... Next component offset = H + 4 + (#comp x 108)
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Field
Field type
Description
12
xxxx
32-bit CRC (ASCII and Binary only)
13
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
H+4+ (#comp x 108)
-
-
-
Table 194: Component Types
Binary
ASCII
Description
0
UNKNOWN
Unknown component
OEM7 family receiver
1
GPSCARD
In an enclosure product this is the
receiver card in the enclosure.
2
CONTROLLER
Reserved
3
ENCLOSURE
OEM card enclosure
4-6
Reserved
7
IMUCARD
IMU integrated in the enclosure
8
USERINFO
Application specific information
12-14
Reserved
15
WIFI
Wi-Fi radio firmware
16-17
Reserved
18
RADIO
UHF radio component
19
WWW_CONTENT Web Server content
20
Regulatory
Regulatory configuration
21
OEM7FPGA
OEM7 FPGA version
22
APPLICATION
Embedded application
23
Package
Package
24
Reserved
25
DEFAULT_CONFIG Default configuration data
26
WHEELSENSOR
Wheel sensor in the enclosure
27
EMBEDDED_AUTH Embedded Auth Code data
981073920 (0x3A7A0000) DB_HEIGHTMODEL Height/track model data
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Binary
ASCII
981073928 (0x3A7A0008) DB_WWWISO
981073930 (0x3A7A000A) DB_LUA_SCRIPTS
Description Web UI ISO Image Lua Script ISO Image
Table 195: Firmware and Boot Version Field Formats
Field Format (ASCII)
Description
Example
N = Family Name NWXYZFFMMRN0000 The Family Name can be:
O = OEM
Software Version: OM7CR0500RN0000
Boot Version: OM7BR0001RB0000
In both examples, the Family Name is O.
WX = Product The Product can be: M7: OEM7 product A7: Agriculture optimized OEM7 product
In both examples, the Product is M7.
Y = Image Type
The Image Type can be:
B: boot code
M: main firmware application
C: combined main firmware application and user application
In the Software Version example, the Image Type is C.
In the Boot Version example, the Image Type is B.
Z = Signature The Signature can be: R: Officially signed H: High Speed signed
In both examples the Signature is R.
FF = Feature Release Number
In the Software Version example, the Feature Release Number is 05.
In the Boot Version example, the Feature Release Number is 00.
MM = Maintenance Release Number
In both examples, the Maintenance Release Number is 00.
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Field Format (ASCII)
Description
R = Release Type The Release Type can be: A: Alpha B: Beta R: Release S: Special E: Engineering Special C: Customer Approved Special
N = Distribution Permit The Distribution Permit can be: N: No restrictions B: Boot Code H: High Speed Build (Requires a permit to use)
0000 = Minor Release Indicator
Example
In both examples, the Release Type is R.
In the Software Version example, the Distribution Permit is N. In the Boot Version example, the Distribution Permit is B.
In both examples, the Minor Release Indicator is 0000.
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3.195 WIFIAPSETTINGS
Display the Wi-Fi access point configuration
Platform: PwrPak7, SMART7-I, SMART7-W Use this log to display the Wi-Fi access point configuration. If the access point is not currently operational, the log reports the access point configuration to be applied the next time the WIFIMODE AP or WIFIMODE CONCURRENT command is received.
The term passkey and password are the same.
Message ID: 2093
Log Type: Polled
Recommended Input: LOG WIFIAPSETTINGS
ASCII Example: #WIFIAPSETTINGSA,COM1,0,77.5,FINESTEERING,2007,167962.000,02000000,fc0e,14693;" PwrPak7NMNE16470005M","12345678",2P4GHZ,WPA2,CCMP,US,11,"2d:43:5a:63:79:6f"*546c6f08
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
WIFIAPSETTINGS Log header. See Messages on page 25
header
for more information.
-
H
0
2
SSID
SSID of the AP
String [Max 33]
Variable H
3
passkey
Passkey of the AP
String [Max 65]
Variable Variable
4
band
Wi-Fi operating band. See Table 196: Wi-Fi Band on the next page.
Enum
4
Variable
Wireless security protocol. See Table
5
security protocol 197: Wi-Fi Security Protocol on the
Enum 4
next page.
Variable
6
encryption
Wireless encryption type. See Table 198: Wi-Fi Encryption Type on the next Enum 4 page.
Variable
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Field
Field Type
7
region
8
channel
9
BSSID
10
xxxx
11
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
Regulatory region. See Table 199: Regulatory Region on the next page.
Enum 4
Variable
Wireless channel used by access point to communicate with connected clients.
Int
4
Variable
BSSID of the AP (MAC of the Wi-Fi interface)
String [Max 18]
Variable Variable
32-bit CRC (ASCII or Binary only)
Hex
4
Variable
Sentence terminator (ASCII only)
-
-
-
Table 196: Wi-Fi Band
Binary ASCII Description
1
2P4GHZ 2.4 GHz
Table 197: Wi-Fi Security Protocol
Binary ASCII
Description
1
OPEN Open network (No security)
2
WPA Wi-Fi Protected Access
3
WPA2 Wi-Fi Protected Access version 2
NovAtel Wi-Fi access points only support the WPA2 security protocol. As a result, the WIFIAPSETTINGS log will only report WPA2.
Novatel Wi-Fi Clients support OPEN, WPA, and WPA2 security protocols (SMART7 only).
Table 198: Wi-Fi Encryption Type
Binary ASCII
Description
1
OPEN Open (no encryption)
2
TKIP Temporal Key Integrity Protocol (used with WPA)
3
CCMP AES-based CCMP (Cipher Chaining Message Authentication) used with WPA2
NovAtel Wi-Fi access points only support the WPA2 security protocol. As a result, the WIFIAPSETTINGS log will only report CCMP.
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Table 199: Regulatory Region
Binary ASCII
Description
Receiver has not been configured to comply with any regional regulatory
0
None requirements. Wireless components (e.g. Wi-Fi) will not operate. Contact
NovAtel Customer Support.
1
US
United States
2
EU
Europe
3
AU
Australia
4
JP
Japan
5
NZ
New Zealand
6
BR
Brazil
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Chapter 4 SPAN Commands
The commands used to configure GNSS+INS functions are described in the following sections. For information about other available commands, refer to GNSS Commands on page 51.
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4.1 ALIGNMENTMODE
Set the Alignment Mode
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to set the alignment method used to initialize the SPAN system. The default ALIGNMENTMODE is AUTOMATIC. In this mode, the first available method to align is used. Sending the ALIGNMENTMODE command manually overrides the AUTOMATIC setting and changes the options available to complete an alignment.
Message ID: 1214
Abbreviated ASCII Syntax: ALIGNMENTMODE mode
Abbreviated ASCII Example: ALIGNMENTMODE AIDED_TRANSFER
Field
Field Type
ASCII Value
1
ALIGNMENTMODE header
-
Binary Value
Description
Binary Binary Binary Format Bytes Offset
Command
header. See
-
Messages on
-
page 25 for more
information.
H
0
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Field
Field Type
2
mode
ASCII Value
Binary Value
Description
Binary Binary Binary Format Bytes Offset
UNAIDED 0
Static coarse alignment or kinematic alignment methods are available.
AIDED_ TRANSFER
2
Seed the initial azimuth estimate from the ALIGN solution.
Seed the full
attitude from the
ALIGN solution,
perform a
Enum 4
H
regular static
AUTOMATIC 3
coarse alignment
or perform a
kinematic
alignment,
whichever is
possible first.
STATIC
4
Static coarse alignment method only.
KINEMATIC 5
Kinematic alignment method only.
If the ALIGNMENTMODE selected can use a kinematic alignment (UNAIDED, KINEMATIC or AUTOMATIC), the SETINSROTATION command on page 919 must be sent to the receiver regardless of system configuration and IMU orientation.
NVM Seed injected (see the INSSEED command on page 903) and commanded (see SETINITAZIMUTH command on page 916) alignments are valid for all alignment modes and will supersede all other options if valid and available.
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4.2 ASYNCHINSLOGGING
Enable Asynchronous INS Logs
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to enable or disable the asynchronous INS logs (IMURATECORRIMUS and IMURATEPVAS).
The asynchronous INS logs are highly advanced logs for users of SPAN on OEM7. The rate controls that limit the output of logs are not applicable to these logs, allowing the user to drive the idle time to zero.
Users of the IMURATECORRIMUS log (see page 952) or IMURATEPVAS log (see page 956) should be limited to those who must have full rate INS solution data, or full rate corrected IMU data, without possible shifts in log time that are present in the synchronous version of these logs.
The asynchronous INS logs are only available at the full rate of the IMU.
Message ID: 1363 Abbreviated ASCII Syntax:
ASYNCHINSLOGGING switch
Abbreviated ASCII Example: ASYNCHINSLOGGING ENABLE
Field Field Type
ASCII Value
Binary Value
Description
ASYNCHINS
1
LOGGING -
header
Command header. See
-
Messages on page 25 for
more information.
2
Switch
DISABLE 0 ENABLE 1
Enable or disable the asynchronous INS logs.
The default value is DISABLE.
Binary Binary Binary Format Bytes Offset
-
H
0
Enum 4
H
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4.3 CONNECTIMU
Connects an IMU to a Port
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use this command to specify the type of IMU connected to the receiver and the receiver port used by the IMU.
Message ID: 1428
Abbreviated ASCII Syntax: CONNECTIMU IMUPort IMUType
Abbreviated ASCII Example: CONNECTIMU COM2 LN200
Field
Field Type
ASCII Binary Value Value
Description
1
CONNECTIMU header
-
-
Command header. See Messages on page 25 for more information.
COM1 1
IMU Port is COM port 1
COM2 2
IMU Port is COM port 2
COM3 3
2
IMUPort1
SPI
7
IMU Port is COM port 3 IMU Port is the SPI port
COM4 19
IMU Port is COM port 4
COM5 31
IMU Port is COM port 5
3
IMUType
See Table 200: IMU Type on the next page
IMU Type
Binary Binary Binary Format Bytes Offset
-
H
0
Enum 4
H
Enum 4
H+4
SPI is available only on the OEM7500, OEM7600, OEM7700, and OEM7720.
COM4 and COM5 are available only on the OEM7600, OEM7700 and OEM7720.
1The IMU-ISA-100C, IMU-FSAS, IMU-HG1900, IMU-LN200, IMU-�IMU, IMU-CPT and IMU-KVH1750 use RS-422 protocol and must be connected to a receiver port that is configured to use RS-422. Refer to the OEM7 Installation and Operation User Manual for information about which receiver ports support RS-422 and instructions for enabling RS-422.
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Table 200: IMU Type
Binary
ASCII
Description
0
UNKNOWN
Unknown IMU type (default)
1
HG1700_AG11
Honeywell HG1700 AG11
4
HG1700_AG17
Honeywell HG1700 AG17
5
HG1900_CA29
Honeywell HG1900 CA29
8
LN200
Northrop Grumman LN200/LN200C
11
HG1700_AG58
Honeywell HG1700 AG58
12
HG1700_AG62
Honeywell HG1700 AG62
13
IMAR_FSAS
iMAR iIMU-FSAS
16
KVH_COTS
KVH CPT IMU
20
HG1930_AA99
Honeywell HG1930 AA99
26
ISA100C
Northrop Grumman Litef ISA-100C
27
HG1900_CA50
Honeywell HG1900 CA50
28
HG1930_CA50
Honeywell HG1930 CA50
31
ADIS16488
Analog Devices ADIS16488
32
STIM300
Sensonor STIM300
33
KVH_1750
KVH1750 IMU
41
EPSON_G320
Epson G320N
52
LITEF_MICROIMU Northrop Grumman Litef �IMU-IC
56
STIM300D
Sensonor STIM300, Direct Connection
58
HG4930_AN01
Honeywell HG4930 AN01
The IMU Type field also supports the legacy ASCII values that contain the "IMU_" prefix. For example, LN200 or IMU_LN200. IMUs recently added as SPAN supported devices, such as the LITEF_MICROIMU and STIM300D, do not support the "IMU_" prefix.
Values not shown in this table are reserved.
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4.4 EXTERNALPVAS
Enter PVA Update
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This command should only be used by advanced users of GNSS/INS.
The standard deviations entered using this command must be representative of actual input error.
The EXTERNALPVAS command uses a short header if the command is entered in ASCII or Binary.
This command allows a user to provide full position, velocity and attitude updates, in any combination, to the INS. The user can also provide height or attitude only updates, along with Zero Velocity Updates (ZUPTs). These position and velocity updates are entered in local level frame or ECEF.
The default input frame is ECEF. Updates are entered in ECEF unless Local Level is specified using the OptionsMask parameter.
Message ID: 1463
Abbreviated ASCII Syntax: EXTERNALPVAS Position1 Position2 Position3 Velocity1 Velocity2 Velocity3 Attitude1 Attitude2 Attitude3 PosStdDev1 PosStdDev2 PosStdDev3 VelStdDev1 VelStdDev2 VelStdDev3 AttStdDev1 AttStdDev2 AttStdDev3 UpdateMask OptionsMask
Abbreviated ASCII Example: EXTERNALPVAS 51.13495816 -114.03232307 1064.5895 -10.4502 0.2485 -0.09598 1.3152366 -3.6474718 179.5885212 0.01 0.01 0.01 0.01 0.01 0.01 0.1 0.1 0.1 C020 1
Field
Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
1
EXTERNALPVAS header
-
-
Command header. See Messages on page 25 for more information.
H
0
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Field Field Type
2
Position1
3
Position2
4
Position3
5
Velocity1
6
Velocity2
7
Velocity3
8
Attitude1
9
Attitude2
10
Attitude3
11
PosStdDev1
12
PosStdDev2
13
PosStdDev3
14
VelStdDev1
15
VelStdDev2
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
Latitude in degrees or
ECEF X-coordinate in
Double 8
H
metres
Longitude in degrees or ECEF Y-coordinate in metres
Double 8
H+8
Height or ECEF Zcoordinate in metres
Double 8
H+16
North velocity or velocity
along the X-axis in
Float
4
metres/second
H+24
East velocity or velocity
along the Y-axis in
Float
4
metres/second
H+28
Up velocity or velocity
along the Z-axis in
Float
4
metres/second
H+32
Pitch in local level in degrees
Float
4
H+36
Roll in local level in degrees
Float
4
H+40
Azimuth in local level in degrees
Float
4
H+44
Position1 standard deviation in metres
Float
4
H+48
Position2 standard deviation in metres
Float
4
H+52
Position3 standard deviation in metres
Float
4
H+56
Velocity1 standard deviation in metres/second
Float
4
H+60
Velocity2 standard deviation in metres/second
Float
4
H+64
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Field Field Type
16
VelStdDev3
17
AttStdDev1
18
AttStdDev2
19
AttStdDev3
20
UpdateMask
21
OptionsMask
ASCII Binary Value Value
Description
Velocity3 standard deviation in metres/second
Attitude1 standard deviation in degrees
Attitude2 standard deviation in degrees
Attitude3 standard deviation in degrees
This mask selects which updates are applied. Setting a bit applies the update and more than one update can be applied at one time.
See Table 201: EXTERNALPVAS Updates Mask below.
This mask selects the update options. See Table 202: EXTERNALPVAS Options Mask on the next page.
Binary Binary Binary Format Bytes Offset
Float
4
H+68
Float
4
Float
4
Float
4
H+72 H+76 H+80
HEX Ulong
4
H+84
HEX Ulong
4
H+88
Table 201: EXTERNALPVAS Updates Mask
Bit Mask
Description
0 0x00001 Reserved
1 0x00002 Reserved
2 0x00004 ZUPT Update. No fields required in the EXTERNALPVAS command for this update.
3 0x00008 Reserved
4 0x00010 Reserved
External Position Update. 5 0x00020 This update is entered using Position1 to Position3 in the EXTERNALPVAS
command.
6 0x00040 Reserved
7 0x00080 Reserved
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Bit Mask
Description
8 0x00100 Reserved
9 0x00200 Reserved
10 0x00400 Reserved
11 0x00800 Reserved
12 0x01000 Reserved
13 0x02000 Reserved
External Velocity Update. 14 0x04000 This update is entered using Velocity1 to Velocity3 in the EXTERNALPVAS
command.
External Attitude Update. 15 0x08000 This update is entered using Attitude1 to Attitude3 in the EXTERNALPVAS
command.
16
0x10000
External Heading Update. This update is entered using Attitude3 in the EXTERNALPVAS command.
17
0x20000
External Height Update. This update is entered using Position3 in the EXTERNALPVAS command.
If both the External Position Update and External Height Update bits are set, only the External Position Update will be applied.
If both the External Attitude Update and External Heading Update bits are set, only the External Attitude Update will be applied.
Table 202: EXTERNALPVAS Options Mask
Bit Mask
Description
0 0x1
If this bit is set, the position and velocity input frame is set to local level. If cleared, the input frame is ECEF.
1 0x2
If this bit is set, the heading update is set relative. If cleared, the heading update is absolute.
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4.5 HEAVEFILTER
Enables or Disables Heave Filtering
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to enable or disable the filter used for heave processing.
To configure the length of the heave filter, use the SETHEAVEWINDOW command (see page 912).
Message ID: 1427 Abbreviated ASCII Syntax:
HEAVEFILTER switch
Abbreviated ASCII Example: HEAVEFILTER ENABLE
Field Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
1
HEAVEFILTER header
-
Command header. See
-
Messages on page 25 for -
more information.
H
0
2
switch
DISABLE 0
Disables the Heave filter.
Enum 4
H
ENABLE 1
Enables the Heave filter.
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4.6 INPUTGIMBALANGLE
Input Gimbal Angles into the Receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to input information about the current mount gimbal angles. Gimbal angles are the angle from the locked mount frame to the current gimbal location. They are input in the mount body frame. See OEM7 SPAN Installation and Operation User Manual for details on frame definitions.
It is very important to follow the order of rotations (Z, X, Y) when determining the rotations from the locked mount frame to the current gimbal location.
Message ID: 1317 Abbreviated ASCII Syntax:
INPUTGIMBALANGLE XAngle YAngle ZAngle [XUncert] [YUncert] [ZUncert]
Abbreviated ASCII Examples: INPUTGIMBALANGLE 0.003 -0.1234 12.837 INPUTGIMBALANGLE 0.003 -0.1234 12.837 0.001 0.001 0.005
Field
Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
1
INPUTGIMBAL ANGLE header
-
-
Command header. See Messages on page 25 for more information.
H
0
2
X Angle
�180
Right hand rotation from
the locked mount frame X axis to the current gimbal
Double
8
H
location in degrees.
3
Y Angle
�180
Right hand rotation from
the locked mount frame Y axis to the current gimbal
Double
8
location in degrees.
H+8
4
Z Angle
�180
Right hand rotation from
the locked mount frame Z axis to the current gimbal
Double
8
location to in degrees.
H+16
4
X Uncertainty 0 � 180
Uncertainty of X rotation in degrees. Default is 0
Double 8
H+24
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Field
Field Type
ASCII Binary Value Value
Description
5
Y Uncertainty 0 � 180
Uncertainty of Y rotation in degrees. Default is 0
6
Z Uncertainty 0 � 180
Uncertainty of Z rotation in degrees. Default is 0
Binary Binary Binary Format Bytes Offset
Double 8
H+32
Double 8
H+40
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4.7 INSALIGNCONFIG
Configure ALIGN Parameters for SPAN Receiver
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This command is not available on the systems using firmware 7.03.04 and earlier. On these systems, use the DUALANTENNAPORTCONFIG command on page 133.
When the SPAN system is configured for dual antenna, it automatically attempts to connect to an ALIGN capable rover to establish dual antenna corrections. It also attempts to re-establish these corrections should they stop.
Use the INSALIGNCONFIG command to configure ALIGN for a SPAN master receiver to a secondary rover receiver.
Important
l By default, the receiver is configured to use COM2 for both the master and rover receivers for ALIGN communication.
l When using ICOM ports, the Ethernet settings on the SPAN master and rover receiver must be manually configured.
l The master and rover ports must be the same interface type (i.e. Serial to Serial or Ethernet to Ethernet).
l The INSALIGNCONFIG command can be used to set the output rate for dual antenna receivers (e.g. OEM7720). In these cases, the port configuration fields are ignored.
Message ID: 2163 Abbreviated ASCII Syntax:
INSALIGNCONFIG masterport [roverport] [baudrate] [outputrate]
Abbreviated ASCII Example: INSALIGNCONFIG COM1 COM2 230400 5
Field
Field Type
ASCII Binary Value Value
Description
1
INSALIGNCONFIG header
-
Command header.
-
See Messages on page 25 for more
information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
2
masterport
3
roverport
4
baudrate
ASCII Binary Value Value
Description
NOPORT 0
COM1 1
COM2 2
COM3 3 COM4 19 COM5 31 ICOM1 23 ICOM2 24 ICOM3 25 ICOM4 29
Specify which COM port on the master receiver to use to communicate with an external ALIGN capable receiver.
Selecting NOPORT disables automatic dual antenna configuration.
ICOM5 46
ICOM6 47
ICOM7 48
COM1 1
COM2 2
COM3 3
COM4 19
COM5 31 ICOM1 23 ICOM2 24 ICOM3 25
Specify which rover COM port is connected to the master receiver
(Default = COM2)
ICOM4 29
ICOM5 46
ICOM6 47
ICOM7 48
57600, 115200, 230400, or 460800
Baud rate for communication
(Default = 230400)
Format
Binary Bytes
Binary Offset
Enum 4
H
Enum 4
H+4
Ulong 4
H+8
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Field
Field Type
5
outputrate
6
Reserved
ASCII Binary Value Value
Description
Format
Binary Bytes
Binary Offset
1, 2, 4, 5, 10
The data rate, in Hz,
in which ALIGN will
be output
Ulong 4
(Default = 1 Hz)
H+12
�
Reserved
Ulong 4
H+16
The SPAN filter only requires ALIGN updates at 1 Hz. Increasing the output rate (using the outputrate field) does not increase performance, it only provides ALIGN logs at higher rates.
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4.8 INSCALIBRATE
Initiate calibration of the INS offsets
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use this command to initiate the calibration of INS offsets.
The RBV calibration requires a valid RBV estimate to be entered prior to initializing the calibration. See the SETINSROTATION command on page 919 for details on entering a RBV estimate.
For optimal SPAN performance when using Dual Antenna with SPAN, an ALIGN offset calibration is required for each unique installation. This calibration refines the IMU to antenna baseline angular offset from the initial estimate derived from the input lever arms.
Message ID: 1882 Abbreviated ASCII Syntax:
INSCALIBRATE Offset [Trigger] [SDThreshold]
Abbreviated ASCII Example: INSCALIBRATE RBV NEW 1.0
Field
Field Type
ASCII Binary Value Value
Description
1
INSCALIBRATE header
-
-
Command header. See Messages on page 25 for more information.
Binary Binary Binary Format Bytes Offset
-
H
0
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Field Field Type
2
Offset
3
Trigger
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
Use this option to set the INS calibration offset from the IMU to the primary GNSS antenna
ANT1 1
Note: The ANT1 option is available only on IMU
Grade 2 or higher IMUs.
See Models and Features
in the OEM7 SPAN
Installation and
Enum 4
H
Operation User Manual.
ALIGN 8
Use this option to set the INS calibration offset from the IMU Body frame to ALIGN frame rotation.
RBV 11
Use this option to set the INS calibration offset from the IMU Body frame to Vehicle frame rotation.
STOP 0
Ends the INS calibration and uses the current estimate for the RBV offsets
NEW 1
Begins a new single line
calibration, overwriting
any previous input or
cumulative average offset values
Enum 4
H+4
ADD 2
Adds a new path. Only valid for multi-path RBV calibrations
RESET 3
Resets the calibration process and restores the RBV offsets to previous user input values
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Field Field Type
4
SDThreshold
ASCII Binary Value Value
Description
Standard Deviation Threshold
(default for lever arm calibration = 0.10 m) (default for RBV calibration = 0.5 degrees)
Binary Binary Binary Format Bytes Offset
Float
4
H+8
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4.9 INSCOMMAND
INS Control Command
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use this command to enable or disable INS. When INS is disabled, no INS position, velocity or attitude is output (however IMU data is still available). Also, INS aiding of tracking reacquisition is disabled. If the command is used to disable INS and then re-enable it, the INS system has to go through its alignment procedure (equivalent to issuing a RESET command). See the relevant SPAN User Manual for information about the SPAN alignment procedures.
Message ID: 379
Abbreviated ASCII Syntax: INSCOMMAND action
Abbreviated ASCII Example: INSCOMMAND ENABLE
Field
Field Type
ASCII Value
INS
1
COMMAND -
header
Binary Value
Description
Command header. See
-
Messages on page 25 for
more information.
Binary Binary Binary Format Bytes Offset
-
H
0
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Field
Field Type
2
Action
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
RESET 0
Resets the GNSS/INS alignment without resetting INS biases.
DISABLE 1
Disables INS navigation.
ENABLE 2
Enables INS navigation where alignment initialization starts again if the Action parameter was previously set to DISABLE.
Raw IMU data will begin to
START_
NO_
3
TIME
flow upon system startup. Enum
4
IMU data collection can
begin before the receiver
has a GNSS solution.
H
(default)
START_
FINE_
4
TIME
RAWIMU data will only be output after the system reaches FINESTEERING.
RESTART 5
Resets the GNSS/INS alignment and restarts the alignment initialization.
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4.10 INSSEED
Enable or disable last known SPAN solution
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This command enables or disables the saving and restoration of the last known SPAN solution from NVM.
Message ID: 1906
Abbreviated ASCII Syntax: INSSEED Command [Validation]
Abbreviated ASCII Example: INSSEED ENABLE
Field
Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
1
INSSEED Header
-
Command header. See
-
Messages on page 25 for -
more information.
H
0
DISABLE 0
Disable the INS seed functionality
2
Command ENABLE 1
Enable the INS seed functionality
Enum 4
H
CLEAR
2
Clear the currently saved seed value so it will not be used until re-saved
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Field
Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
VALIDATE 0
Validate INS Seed data using GNSS solution before injecting (default)
Force an NVM seed value (if available) to be used, without any motion validation.
3
Validation
INJECT 1
4
Reserved
5
Reserved
Using this option to force the seed to be used can result in an unstable INS solution if the vehicle has moved. For advanced users only.
Enum 4
Ulong 4 Ulong 4
H+4
H+8 H+12
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4.11 INSTHRESHOLDS
Change the INS_HIGH_VARIANCE Threshold
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
The INSTHRESHOLDS command allows you to customize the criteria by which the system reports the inertial solution status. This criteria is used to determine whether the solution status is reported as INS_SOLUTION_GOOD or INS_HIGH_VARIANCE. This command is useful in situations where system dynamics are known to be challenging.
Message ID: 1448
Abbreviated ASCII Syntax: INSTHRESHOLDS ThresholdConfiguration
Abbreviated ASCII Example: INSTHRESHOLDS DEFAULT
Field Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
1
INSTHRESHOLDS header
-
Command header.
-
See Messages on page 25 for more
-
information.
H
0
DEFAULT 0
Standard INS status threshold settings
2
Threshold Configuration
Low INS status
threshold settings
Enum 4
H
LOW
1
(only checks the
Attitude standard
deviation)
3
Reserved
Double 8
H+4
4
Reserved
Double 8
H+12
5
Reserved
Double 8
H+20
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4.12 INSZUPT
Request Zero Velocity Update
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to manually perform a Zero Velocity Update (ZUPT). NovAtel's SPAN Technology System does ZUPTs automatically. It is not necessary to use this command under normal circumstances.
This command should only be used by advanced users of GNSS/INS and only when the system is truly stationary. Applying a ZUPT while moving will result in severe instability of the solution.
Message ID: 382 Abbreviated ASCII Syntax:
INSZUPT
Field
Field Type
ASCII Binary Value Value
Description
1
INSZUPT header
-
-
Command header. See Messages on page 25 for more information.
Reserved
2
This parameter is optional when using abbreviated ASCII
syntax.
Binary Binary Binary Format Bytes Offset
-
H
0
BOOL 4
H
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4.13 RELINSAUTOMATION
Enables Relative INS on the Rover
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use this command to configure the Relative INS plug and play feature on the rover receiver. RELINSAUTOMATION enables/disables the plug and play feature, sets the rover COM port to which the master receiver is connected, sets the baud rate for communication, sets the correction transfer rate and enables/disables sending the HEADINGEXTB/HEADINGEXT2B log back to the master receiver. On issuing this command at the rover receiver, the rover will automatically sync with the master receiver and configure it to send corrections at the specified baud rate and specified data rate.
The recommended method for configuring Relative INS is to use the RELINSCONFIG command (see page 909).
This command should only be issued at the rover receiver.
if the rover receiver is not connected to the master receiver using a serial COM port, use the RELINSCONFIG command (see page 909).
Message ID: 1763 Abbreviated ASCII Syntax:
RELINSAUTOMATION option [comport] [baudrate] [datarate] [headingextboption]
Abbreviated ASCII Example: RELINSAUTOMATION enable com2 230400 10 on
Field Field Type
ASCII Binary Value Value
Description
RELINS
1
AUTOMATION -
header
Command header. See
-
Messages on page 25
for more information.
2
option
ENABLE 0 DISABLE 1
Enables or disables the plug and play feature.
Binary Binary Binary Format Bytes Offset
-
H
0
Enum 4
H
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Field Field Type
3
comport
4
baudrate
5
datarate
6
headingextb option
ASCII Binary Value Value
COM1
1
COM2
2
COM3
3
9600, 19200, 38400, 57600, 115200, 230400, 460800
1, 2, 4, 5, 10 or 20 Hz
ON OFF
Description
Binary Binary Binary Format Bytes Offset
The COM port on the rover receiver to which the master receiver is Enum 4 connected. (default = COM2)
H+4
The baud rate used for
communication between the master and rover
Ulong
4
receivers.
H+8
The rate at which corrections are transferred between the Ulong 4 receivers. (default =10 Hz)
H+12
Enables or disables sending the HEADINGEXTB/ HEADINGEXT2B log back to the master receiver. (default = ON)
Enum 4
H+16
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4.14 RELINSCONFIG
Configure Relative INS
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use this command to configure Relative INS on this receiver.
Message ID: 1797
Abbreviated ASCII Syntax: RELINSCONFIG enable rxtype [port] [baud] [rateinhz]
Abbreviated ASCII Example: RELINSCONFIG ENABLE ROVER COM2 230400 10
Field
Field Type
ASCII Value
Binary Value
RELINS
1
CONFIG -
-
header
DISABLE 0
2
enable
ENABLE 1
ROVER 1
3
rxtype
MASTER 2
See Table 203:
4
port
COM Ports on the
next page
9600, 19200,
5
baud
38400, 57600, 115200, 230400,
460800
6
rateinhz
1, 2, 4, 5, 10 or 20 Hz
Description
Command header. See Messages on page 25 for more information.
Binary Binary Binary Format Bytes Offset
-
H
0
Enables or disables the Relative INS functionality.
Enum
4
H
Defines the receiver as the master or rover in a Relative Enum 4 INS configuration.
Communication port used to communicate with the other Enum 4 receiver. (default = COM2)
The baud rate used for
communication between the master and rover receivers.
Ulong
4
(default = 230400)
The rate at which
corrections are transferred between the receivers.
Ulong
4
(default =10 Hz)
H+4 H+8 H+12 H+16
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Table 203: COM Ports
Decimal ASCII
Description
1
COM1 COM port 1
2
COM2 COM port 2
3
COM3 COM port 3
13
USB1 USB port 1
14
USB2 USB port 2
15
USB3 USB port 3
19
COM4 COM port 4
23
ICOM1 IP virtual COM port 1
24
ICOM2 IP virtual COM port 2
25
ICOM3 IP virtual COM port 3
29
ICOM4 IP virtual COM port 4
31
COM5 COM port 5
46
ICOM5 IP virtual COM port 5
47
ICOM6 IP virtual COM port 6
48
ICOM7 IP virtual COM port 7
49
SCOM1 Scripted application COM port 1
50
SCOM2 Scripted application COM port 2
51
SCOM3 Scripted application COM port 3
52
SCOM4 Scripted application COM port 4
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4.15 SETALIGNMENTVEL
Set the Minimum Kinematic Alignment Velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use the SETALIGNMENTVEL command to adjust the minimum required velocity for a kinematic alignment. Useful in cases, such as helicopters, where alignment velocity should be increased to prevent a poor alignment before the vehicle/aircraft is able to flight straight and level.
Message ID: 1397
Abbreviated ASCII Syntax: SETALIGNMENTVEL velocity
Abbreviated ASCII Example SETALIGNMENTVEL 5.0
Field
Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
1
SETALIGNMENTVEL header
-
Command
header. See
-
Messages on
-
page 25 for more
information.
H
0
2
Velocity
Minimum: 0.2 m/s (Default is 5 m/s)
The minimum
velocity, in m/s,
required to
Double 8
H
kinematically
align.
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4.16 SETHEAVEWINDOW
Set Heave Filter Length
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to control the length of the heave filter. This filter determines the heave (vertical displacement) of the IMU, relative to a long term level surface.
Message ID: 1383
Abbreviated ASCII Syntax: SETHEAVEWINDOW filterlength
Abbreviated ASCII Example: SETHEAVEWINDOW 35
Field
Type
ASCII Binary Value Value
Description
SETHEAVE
1
WINDOW -
header
Command header. See
-
Messages on page 25 for
more information.
Integer
2
Filter Length
(1 � 300 s) (default
= 20 s)
This filter length will be used in the heave filter. Typically, set the filter length to 5 x wave period
Binary Binary Binary Format Bytes Offset
-
H
0
Long
4
H
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4.17 SETIMUPORTPROTOCOL
Sets the Protocol Used for the IMU Serial Port
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use the SETIMUPORTPROTOCOL command to change the IMU serial port to use either RS-232 or RS-422 protocol. This overrides the default configured internally when the CONNECTIMU command is sent.
Before changing the IMU serial port protocol:
1. Make sure the receiver port connected to the IMU is capable of RS-422 protocol. Refer to the OEM7 Installation and Operation User Manual for information about the receiver serial ports.
2. The IMU data message is input into the receiver at that particular protocol.
Message ID: 1767 Abbreviated ASCII Syntax:
SETIMUPORTPROTOCOL SerialProtocol
Abbreviated ASCII Example: SETIMUPORTPROTOCOL RS422
Field
Field Type
ASCII Binary Value Value
Description
SETIMUPORT
1
PROTOCOL -
-
header
Command header. See Messages on page 25 for more information.
2
Serial Protocol
RS232 RS422
The protocol for the IMU serial port.
Binary Binary Binary Format Bytes Offset
-
H
0
Enum 4
H
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4.18 SETIMUSPECS
Specify Error Specifications and Data Rate
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
This command should only be used by advanced users of GNSS/INS.
Use the SETIMUSPECS command to specify the error specifications and data rate for the desired IMU. If the default specs for the supported models are different than the unit used then this command can be used to override the default values. This command is only available for the following IMUs:
l Honeywell HG1930 (default specifications are for the AA99/CA50 model) l Honeywell HG1900 (default specifications are for the CA29/CA50 model)
Message ID: 1295
Abbreviated ASCII Syntax: SETIMUSPECS DataRate AccelBias AccelVRW GyroBias GyroARW AccelSFError GyroSFError [DataLatency]
Abbreviated ASCII Example: (iMAR-FSAS Specs) SETIMUSPECS 200 1 .0198 0.75 0.0028 300 300 2.5
Field
Field Type
ASCII Binary Value Value
Description
1
SETIMUSPECS header
-
-
Command header. See Messages on page 25 for more information.
2
Data Rate
100 Hz to 400 Hz
Data rate of the IMU
3
Accel Bias
-
Total accelerometer bias in milli-g
4
Accel VRW
-
Accelerometer velocity random walk in m/s/rt-hr
5
Gyro Bias
-
Total gyroscope bias in deg/hr
6
Gyro ARW
-
Gyroscope angular random walk in deg/rt-hr
Binary Binary Binary Format Bytes Offset
-
H
0
Ushort 2 Double 8 Double 8 Double 8 Double 8
H H+2 H+10 H+18 H+26
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Field Field Type
7
Accel Scale Factor Error
8
Gyro Scale Factor Error
9
Data Latency
10
Reserved
11
CRC
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
Accelerometer scale
> 0
factor error in parts per million. Optional.
Ulong 4
H+34
Default = 1000 ppm.
Gyroscopic scale factor
> 0
error in parts per million. Optional.
Ulong
4
H+38
Default = 1000 ppm.
Time delay in milliseconds
from the time of validity
of the IMU data to the
time the input pulse is
received by the SPAN
enabled receiver. This
may include filtering
> 0
delays, processing delays Double 8
H+42
and transmission times
depending on the timing
method (TOV, ASYNC,
SYNC) and the internal
IMU handling. Optional.
Default = 0.0.
-
Reserved
Ulong 4
H+50
-
32-bit CRC
Hex
4
H+54
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4.19 SETINITAZIMUTH
Set Initial Azimuth and Standard Deviation
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use this command to start SPAN operation with a previously known azimuth. Azimuth is the weakest component of a coarse alignment and is also the easiest to know from an external source (i.e., like the azimuth of roadway). When using this command, SPAN operation through alignment will appear the same as with a usual coarse alignment. Roll and pitch is determined using averaged gyro and accelerometer measurements. The input azimuth is used rather than what is computed by the normal coarse alignment routine.
l Input azimuth values must be accurate for good system performance.
l Sending SETINITAZIMUTH resets the SPAN filter. Following realignment, vehicle dynamics are required for the filter to re-converge. Bridging performance is poor before filter convergence.
l The entered azimuth angle is with respect to the configured output frame. This is generally the vehicle frame unless a User Frame offset has been configured using the SETINSROTATION command (see page 919). All offsets should be entered before entering the SETINITAZIMUTH command.
l This command is not save configurable and must be re-entered after each start-up. The command can be entered at any time and will be used automatically when the system is ready to begin alignment.
Azimuth is positive in a clockwise direction when looking towards the z-axis origin.
Message ID: 863 Abbreviated ASCII Syntax:
SETINITAZIMUTH azimuth azSTD
Abbreviated ASCII Example: SETINITAZIMUTH 90 5
Field
Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
SETINIT
1
AZIMUTH -
-
header
Command header. See Messages on page 25 for more information.
H
0
2
azimuth 0 to 360
Input azimuth angle (degrees) Double 8
H
3
azSTD
1 to 25
Input azimuth standard deviation angle (degrees)
Float
4
H+8
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4.20 SETINSPROFILE
Sets filter behavior depending on system environment
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This command sets specific filter behavior depending on the environment the system is installed in. The DEFAULT profile is the legacy setting from earlier SPAN products. The other profiles make changes specific to that environment. The BASIC INS Profiles are available to all SPAN software models, but the enhanced configurations, denoted by "PLUS", are restricted by the SPAN model. The enhanced configurations allow for enhanced profile behavior such as Dead Reckoning for land and Heave for marine. See the OEM7 SPAN Installation and Operation User Manual for a detailed description of each profile's effect.
Message ID: 1944
Abbreviated ASCII Syntax: SETINSPROFILE profile
Abbreviated ASCII Example: SETINSPROFILE LAND_BASIC
Field Field Type
ASCII Value
1
SETINSPROFILE Header
-
Binary Value
Description
Binary Binary Binary Format Bytes Offset
Command
header. See
-
Messages on
-
page 25 for more
information.
H
0
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Field Field Type
2
Profile
ASCII Value
Binary Value
Description
Binary Binary Binary Format Bytes Offset
Default INS
Default
0
profile with standard SPAN
behavior.
LAND_BASIC 1
Basic INS profile for land vehicles
MARINE_ BASIC
2
Basic INS profile for marine vehicles
FIXEDWING_ BASIC
3
Basic INS profile for fixed wing aircraft
Reserved
4
Reserved
Basic INS profile
for vertical
VTOL_BASIC 5
takeoff and landing vehicles Enum 4
H
(UAVs,
helicopters, etc.)
RAIL_BASIC 6
Basic INS profile for trains
LAND_PLUS 33
Enhanced INS profile for land vehicles. Enables Dead Reckoning. Requires INS Enhanced Profile Model.
MARINE_ PLUS
34
Enhanced INS profile for marine vehicles. Enables Heave. Requires INS Enhanced Profile Model.
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4.21 SETINSROTATION
Specifies rotational offsets between the IMU frame and other reference frames
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use the SETINSROTATION command to specify rotational offsets between the IMU frame and other reference frames, such as the vehicle frame or an ALIGN baseline. Offsets must be entered as the rotation from the IMU body frame, to the frame of interest. The order of rotations is Z, X, Y. All rotations are right handed.
It is very important to follow the order of rotations (Z, X, Y) when determining the rotations from IMU body frame to frame of interest.
To specify translational offsets between frames, see the SETINSTRANSLATION command on page 922.
Message ID: 1921
Abbreviated ASCII Syntax: SETINSROTATION INSRotation XRotation YRotation ZRotation [XRotationSD] [YRotationSD] [ZRotationSD]
Abbreviated ASCII Example: SETINSROTATION RBV 0 0 90 0.0 0.0 0.0
Field
Field Type
ASCII Binary Value Value
Description
Command header.
1
SETINSROTATION Header
-
-
See Messages on page 25 for more
information.
2
INS Rotation
Table 204: Rotational Offset Types on the next page
Rotational offset to be set.
3
XRotation
�180
X rotation offset from IMU origin (degrees)
Binary Binary Binary Format Bytes Offset
-
H
0
Enum 4
H
Float
4
H+4
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Field
Field Type
4
YRotation
5
ZRotation
6
XRotationSD
7
YRotationSD
8
ZRotationSD
9
Reserved
ASCII Binary Value Value
Description
�180
Y rotation offset from IMU origin (degrees)
�180
Z rotation offset from IMU origin (degrees)
0 to 45
Optional X rotation offset standard deviation (degrees) Default: 0.0
0 to 45
Optional Y translation offset standard deviation (degrees) Default: 0.0
0 to 45
Optional Z translation offset standard deviation (degrees) Default: 0.0
Binary Binary Binary Format Bytes Offset
Float
4
H+8
Float
4
H+12
Float
4
H+16
Float
4
H+20
Float
4
Long
4
H+24 H+28
Table 204: Rotational Offset Types
ASCII Binary Value Value
Description
USER 4
Rotation from the IMU body frame to the user output frame.
This offset shifts the attitude information in the INSPVA, INSPOS, INSVEL, INSATT, and INSSPD logs, along with their short header and extended versions.
MARK1 5
Rotation from the IMU body frame to the desired output for MARK1. This offset rotates the attitude information in the MARK1PVA log.
MARK2 6
Rotation from the IMU body frame to the desired output for MARK2. This offset rotates the attitude information in the MARK2PVA log.
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ASCII Binary Value Value
Description
Rotation from the IMU body frame to an ALIGN dual antenna solution.
ALIGN 8
MARK3 9 MARK4 10 RBV 11 RBM 12
When using a dual antenna ALIGN solution with SPAN, this offset will be calculated automatically if translational offsets to both the primary and secondary GNSS antennas are provided using the SETINSTRANSLATION command on the next page.
Rotation from the IMU body frame to the desired output for MARK3. This offset rotates the attitude information in the MARK3PVA log.
Rotation from the IMU body frame to the desired output for MARK4. This offset rotates the attitude information in the MARK4PVA log.
Rotation from the IMU body frame to the vehicle frame.
Rotation from the IMU body frame to the gimbal mount body frame.
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4.22 SETINSTRANSLATION
Specifies translational offsets between the IMU frame and other reference frames
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use the SETINSTRANSLATION command to specify translational offsets between the IMU frame and other reference frames, including GNSS antennas or the desired output frame. Offsets must be entered as the vector from the IMU, to the frame or position of interest. Offsets can be entered either in the IMU body frame, or the vehicle frame; offsets in the vehicle frame will be automatically rotated into the IMU body frame using the best available IMU Body to Vehicle Rotation (RBV). For details on entering the RBV rotation or other angular offsets, see the SETINSROTATION command on page 919.
Message ID: 1920
Abbreviated ASCII Syntax: SETINSTRANSLATION INSTranslation XTranslation YTranslation ZTranslation [XTranslationSD] [YTranslationSD] [ZTranslationSD] [InputFrame]
Abbreviated ASCII Example: SETINSTRANSLATION USER 1.0 2.0 3.0 0.05 0.05 0.05 VEHICLE
Field Field Type
ASCII Binary Value Value
SETINS
1
TRANSLATION -
-
Header
See Table 205:
2
InsTranslation
Translation Offset Types on the next
page
3
XTranslation �100
4
YTranslation
�100
5
ZTranslation �100
6
XTranslationSD 0 to 10
Description
Command header. See Messages on page 25 for more information.
Binary Binary Binary Format Bytes Offset
-
H
0
Translation offset to be set
Enum
4
H
X translation offset from IMU origin (m)
Float
4
Y translation offset from IMU origin (m)
Float
4
Z translation offset from IMU origin (m)
Float
4
Optional X translation
offset standard
Float
4
deviation (m)
H+4 H+8 H+12 H+16
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Field Field Type
ASCII Binary Value Value
7
YTranslationSD 0 to 10
8
ZTranslationSD 0 to 10
Table 206:
9
InputFrame
Translation Input Frame on the next
page
Description
Binary Binary Binary Format Bytes Offset
Optional Y translation
offset standard
Float
4
deviation (m)
H+20
Optional Z translation
offset standard
Float
4
deviation (m)
H+24
Optional input frame for translation offset Enum 4 values
H+48
For the ANT1, ANT2, EXTERNAL and GIMBAL translations, the standard deviation defaults are set to 10% of the translation value (up to a max of 10 metres).
If you are uncertain of the standard deviation values for an offset, err on the side of a larger standard deviation.
Table 205: Translation Offset Types
ASCII Value
Binary Value
Description
ANT1
1
Offset from the IMU center of navigation to the phase center of the primary GNSS antenna.
ANT2
2
Offset from the IMU center of navigation to the phase center of the secondary GNSS antenna.
EXTERNAL 3
Offset from the IMU center of navigation to the external position source location.
This offset type is for use with the EXTERNALPVAS command (see page 888).
USER
4
Translation from the IMU center of navigation to the user output location.
This offset shifts the position and velocity information in the INSPVA, INSPOS, INSVEL, INSATT, and INSSPD logs, along with their short header and extended versions.
MARK1
5
Translation from the IMU center of navigation to the MARK1 output location. This offset shifts the position and velocity information in the MARK1PVA log.
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ASCII Value MARK2
GIMBAL
MARK3
MARK4
Binary Value
Description
Translation from the IMU center of navigation to the MARK2 output location. 6
This offset shifts the position and velocity information in the MARK2PVA log.
7
Translation from the IMU center of navigation to the gimbal mount center of rotation.
Translation from the IMU center of navigation to the MARK3 output location. 9
This offset shifts the position and velocity information in the MARK3PVA log.
Translation from the IMU center of navigation to the MARK4 output location. 10
This offset shifts the position and velocity information in the MARK4PVA log.
Table 206: Translation Input Frame
ASCII Binary Value Value
Description
IMUBODY 0
Offset is provided in the IMU enclosure frame. Default: IMUBODY
VEHICLE 1
Offset is provided in the vehicle frame.
Offsets entered in the vehicle frame will be automatically rotated into the IMU frame using the best available RBV (rotation from IMU Body to Vehicle) information when required.
Vehicle frame offsets should only be used if the RBV is known accurately, either though user measurement or calibration.
The order of entry for vehicle frame offsets and the RBV rotation does not matter.
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4.23 SETINSUPDATE
Enable/Disable INS Filter Updates
This command should only be used by advanced users of GNSS+INS.
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use this command to enable or disable the available INS filter updates.
Message ID: 1821
Abbreviated ASCII Syntax: SETINSUPDATE INSUpdate Trigger
Abbreviated ASCII Example: SETINSUPDATE ZUPT DISABLE
Field Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
1
SETINSUPDATE header
-
Command header.
-
See Messages on page 25 for more
-
information.
H
0
POS
0
Position updates
ZUPT
1
Zero velocity updates
PSR
2
Pseudorange updates
ADR
3
Carrier phase updates
2
INSUpdate
Enum 4
H
DOPPLER 4
Doppler updates
ALIGN 5
Heading updates
DMI
6
Distance measuring instrument (wheel sensor) updates
3
Trigger
DISABLE 0 ENABLE 1
Disable the INS
update specified in the
INSUpdate field. Enum 4
Enable the INS update
specified in the
INSUpdate field.
H+4
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4.24 SETMAXALIGNMENTTIME
Set a Time Limit for Static Course Alignment
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use this command to set a maximum time limit allowed for static coarse alignments. Coarse alignments typically take under 60 seconds, but in heavy vibration conditions they can take much longer trying to compensate for the vibration induced noise. This command is used to cap the time to a specific length.
This command is for advanced users only. Alignment accuracy cannot be guaranteed if the alignment time is capped using this command.
Message ID: 1800 Abbreviated ASCII Syntax:
SETMAXALIGNMENTTIME switch [duration]
Abbreviated ASCII Example: SETMAXALIGNMENTTIME ENABLE 90
Field Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
SETMAX
1
ALIGNMENTTIME -
header
Command header.
-
See Messages on page 25 for more
-
information.
H
0
2
switch
DISABLE 0
Disables the static alignment time limit.
Enum 4
H
ENABLE 1
Enables the static alignment time limit.
3
duration
30 - 300
Maximum static alignment time in seconds. Default is 180.
Ulong 4
H+4
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4.25 SETRELINSOUTPUTFRAME
Sets the Relative INS Output Frame
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use this command to change the frame of the output solution provided in the RELINSPVA and SYNCRELINSPVA logs. See RELINSPVA log on page 1039 and SYNCRELINSPVA log on page 1043 for information about these logs. See OEM7 SPAN Installation and Operation User Manual for information about the Relative INS functionality.
Message ID: 1775
Abbreviated ASCII Syntax: SETRELINSOUTPUTFRAME OutputFrame [DiffCriteria]
Abbreviated ASCII Example: SETRELINSOUTPUTFRAME ECEF TRUE
Field Field Type
ASCII Value
Binary Value
Description
Binary Binary Binary Format Bytes Offset
SETRELINS
1
OUTPUTFRAME -
header
Command header.
-
See Messages on page 25 for more
-
information.
H
0
ROVER
1
Frame of the output solution in the RELINSPVA and SYNCRELINSPVA logs.
MASTER
2
ROVER � the output frame of the rover INS solution
2
OutputFrame
MASTER � the
output frame of the Enum
4
H
master INS solution
ECEF
3
ECEF � Earth
Centered Earth
Fixed
LOCALLEVEL 4
LOCALLEVEL � Local level
The default is the ROVER.
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Field Field Type
ASCII Value
FALSE
3
DiffCriteria
TRUE
Binary Value
Description
Binary Binary Binary Format Bytes Offset
The delta solution is
0
computed as Rover minus Master.
(default)
Bool
1
H+4
The delta solution is
1
computed as Master
minus Rover.
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4.26 SETUPSENSOR
Add a new sensor object
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to add a new sensor object to the system. A sensor object consists of an ID, an Event_Out line and an Event_In line. This is intended as a simplified way to set up triggering to and from a sensor rather than configuring all connections independently. It also allows for event pulses to be sent to a sensor at specific GPS times (see the TIMEDEVENTPULSE command on page 933).
Message ID: 1333
Abbreviated ASCII Syntax: SETUPSENSOR SensorID EventOut OPP OAP EventIn EIC IPP ITB MITG
Abbreviated ASCII Example: SETUPSENSOR SENSOR3 MARK1 POSITIVE 2 MARK4 EVENT POSITIVE 0 2
Field
Field Type
ASCII Value
Binary Value
Description
Binary Binary Binary Format Bytes Offset
SETUP
1
SENSOR -
header
Command header. See
-
Messages on page 25 for
-
more information.
H
0
SENSOR1 0
2
Sensor ID
SENSOR2 1
The sensor to configure.
Enum 4
H
SENSOR3 2
MARK1
0
MARK2
1
3
EventOut
MARK3
2
MARK4
3
Associate a specific MARK
Event_Out line to this
Enum 4
sensor configuration.
H+4
4
OPP
NEGATIVE 0 POSITIVE 1
Mark output pulse polarity Enum 4
H+8
5
OAP
2 - 500
Mark output active period in
milliseconds. Value must be divisible by
Ulong
4
2.
H+12
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Field
Field Type
6
EventIn
7
EIC
8
IPP
9
ITB
10
ITG
ASCII Value
Binary Value
Description
MARK1
0
MARK2
1
MARK3
2
MARK4
3
Associate a specific MARK Event_In line to this sensor configuration.
DISABLE 0
EVENT
1
Event in control
NEGATIVE 0 POSITIVE 1
Mark input pulse polarity
-99999999 to 99999999
Mark input time bias in milliseconds
2 to 3599999
Mark input time guard in milliseconds
Binary Binary Binary Format Bytes Offset
Enum 4
H+16
Enum 4
Enum 4
Long
4
Ulong 4
H+20 H+24 H+28 H+32
The Event_In and Event_Out options available are dependent on the receiver used in the SPAN system. For information about the Event lines supported, see the Strobe Specifications for the receiver in the OEM7 SPAN Installation and Operation User Manual.
MARK3 and MARK4 are available only on SPAN systems with an OEM7600, OEM7700 or OEM7720 receiver.
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4.27 SETWHEELPARAMETERS
Set Wheel Parameters
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
The SETWHEELPARAMETERS command can be used when wheel sensor data is available. It gives the filter a good starting point for the wheel size scale factor.
Message ID: 847
Abbreviated ASCII Syntax: SETWHEELPARAMETERS ticks circ reserved
Abbreviated ASCII Example: SETWHEELPARAMETERS 58 1.96 1.0
Field
Field Type
ASCII Binary Value Value
Description
SETWHEEL
1
PARAMETERS -
-
header
Command header. See Messages on page 25 for more information.
2
Ticks
1-10000
Number of ticks per revolution
3
Circ
0.1-100
Wheel circumference (m) (default = 1.96 m)
4
Reserved
-
Reserved field. Set to 1.0 on input.
Binary Binary Binary Format Bytes Offset
-
H
0
Ushort 41
H
Double 8 Double 8
H+4 H+12
Fields 2 and 3 are used with an estimated scale factor to determine the distance traveled.
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4.28 TAGNEXTMARK
Tags the Next Incoming Mark Event
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to tag the next incoming mark event on the selected mark with a 32-bit number. This is available in the TAGGEDMARK1PVA, TAGGEDMARK2PVA, TAGGEDMARK3PVA and TAGGEDMARK4PVA log (see page 1046) to easily associate the PVA log with a supplied event.
Message ID: 1257
Abbreviated ASCII Syntax: TAGNEXTMARK Mark Tag
Abbreviated ASCII Example: TAGNEXTMARK MARK1 1234
Field
Field Type
ASCII Binary Value Value
Description
Binary Binary Binary Format Bytes Offset
1
TAGNEXTMARK header
-
-
Command header. See Messages on page 25 for more information.
H
0
MARK1 0
2
Mark
MARK2 1 MARK3 2
Event line
Enum 4
H
MARK4 3
3
Tag
-
-
Tag for next mark event Ulong 4
H+4
The Mark options available are dependent on the receiver used in the SPAN system. For information about the Event lines supported, see the Strobe Specifications for the receiver in the OEM7 SPAN Installation and Operation User Manual.
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4.29 TIMEDEVENTPULSE
Add a new camera event
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use this command to add a new camera event to the system. TIMEDEVENTPULSE sends a pulse on the sensor MARK output at the selected GPS time and sets the trigger on the sensor MARK input to be tagged with an event ID (see the TAGGEDMARK1PVA, TAGGEDMARK2PVA, TAGGEDMARK3PVA and TAGGEDMARK4PVA log on page 1046). The lines connected to each sensor are configured using the SETUPSENSOR command (see page 929).
A maximum of 10 unprocessed events can be buffered into the system. A TIMEDEVENTPULSE command must be entered at least 1 second prior to the requested event time.
Message ID: 1337 Abbreviated ASCII Syntax:
TIMEDEVENTPULSE SensorID GPSWeek GPSSeconds [Event ID]
Abbreviated ASCII Example: TIMEDEVENTPULSE -1 1617 418838 100
Field
Field Type
TIMED
1
EVENT PULSE
header
2
Sensor ID
3
GPS Week
ASCII Value
Binary Value
Description
Binary Binary Binary Format Bytes Offset
-
-
Command header. See Messages on page 25 for more information.
H
0
The sensor(s) affected
ALL
-1
by the trigger
(0xFFFFFFFF) command.
SENSOR1 0x01 SENSOR2 0x02 SENSOR3 0x04
The decimal
representation of the
combination of bits 0-2 Long
4
can be used to select a
combination of active
sensors (e.g. 5 [101]
will select sensors 1
and 3).
0 - MAX Ulong
The GPS week that triggers the event.
Ulong 4
H H+4
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Field
Field Type
ASCII Value
Binary Value
4
GPS Seconds
0 - 604800
5
Event ID
0- MAX Ulong
Description
Binary Binary Binary Format Bytes Offset
The GPS week seconds
that triggers the
Double 8
event.
H+8
The event's identifier, used to tag the TAGGEDMARKxPVA logs if a sensor input is Ulong 4 enabled. Optional
Default = 0
H+16
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4.30 WHEELVELOCITY
Wheel Velocity for INS Augmentation
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7
Use the WHEELVELOCITY command to input wheel sensor data into the OEM7 receiver.
This command should be used only if the wheel sensor cannot be directly connected to a wheel sensor port in the SPAN system.
When wheel sensor data is entered using this command, only the Cumulative Ticks/s value is used by the system. Values entered for Wheel Velocity and Float Wheel Velocity are not used at this time.
This command should be input at 1 Hz and synced to the receiver 1 Hz PPS for optimized performance.
Message ID: 504
Abbreviated ASCII Example: WHEELVELOCITY 123 8 10 0 0 0 0 40 WHEELVELOCITY 123 8 10 0 0 0 0 80 WHEELVELOCITY 123 8 10 0 0 0 0 120
The examples above are for a vehicle traveling at a constant velocity with these wheel sensor characteristics:
l Wheel Circumference = 2 m l Vehicle Velocity (assumed constant for this example) = 10 m/s l Ticks Per Revolution = 8 l Cumulative Ticks Per Second = (10 m/s)*(8 ticks/rev)/(2 m/rev) = 40 l Latency between 1PPS and measurement from wheel sensor hardware = 123 ms
Field
Field Type
ASCII Binary Value Value
Description
1
WHEELVELOCITY header
-
-
Command header. See Messages on page 25 for more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field Field Type
2
Latency
3
Ticks/rev
4
Wheel Velocity
5
Reserved
6
Float Wheel Velocity
7
Reserved
8
Reserved
9
Cumulative Ticks/s
ASCII Binary Value Value
Description
A measure of the latency in the velocity time tag in ms.
Number of ticks per revolution
Short wheel velocity in ticks/s
Float wheel velocity in ticks/s
Cumulative number of ticks/s
Format
Binary Bytes
Binary Offset
Ushort 2
H
Ushort 2
Ushort 2
Ushort 2
Float
4
Ulong 4 Ulong 4
Ulong 4
H+2
H+4 H+6 H+8 H+12 H+16 H+20
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The SPAN specific logs follow the same general logging scheme as normal OEM7 Family logs. They are available in ASCII or binary formats and are defined as being either synchronous or asynchronous. All the logs in this chapter are used only with the SPAN system.
For information on other available logs and output logging, refer to Logs on page 409.
One difference from the standard OEM7 Family logs is there are two possible headers for the ASCII and binary versions of the logs. Which header is used for a given log is described in the log definitions in this chapter. The reason for the alternate short headers is that the normal OEM7 binary header is quite long at 28 bytes. This is nearly as long as the data portion of many of the INS logs and creates excess storage and baud rate requirements. Note that the INS related logs contain a time tag within the data block in addition to the time tag in the header. The time tag in the data block should be considered the exact time of applicability of the data. All INS Position, Velocity and Attitude logs can be obtained at a rate of up to 200 Hz. The standard deviation and update logs are available once per second.
Each ASCII log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters, for example, *1234ABCD[CR][LF]. This value is a 32-bit CRC of all bytes in the log, excluding the '#' or `%' identifier and the asterisk preceding the four checksum digits. See also Description of ASCII and Binary Logs with Short Headers on page 40.
Table 207: Inertial Solution Status on page 959 shows the status values included in the INS position, velocity and attitude output logs. If the IMU is connected properly and a good status value is not being received, check the hardware setup to ensure it is properly connected. This situation can be recognized in the RAWIMU data by observing accelerometer and gyro values which are not changing with time.
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Logging Restriction Important Notice
Logging excessive amounts of high rate data can overload the system. When configuring the output for SPAN, NovAtel recommends that only one high rate (>50Hz) message be configured for output at a time. It is possible to log more than one message at high rates, but doing so could have negative impacts on the system. Also, if logging 100/125/200Hz data, always use the binary format.
For optimal performance, log only one high rate output at a time. These logs could be:
l Raw data for post processing RAWIMUXSB ONNEW (100, 125 or 200 Hz depending on IMU)
l RAWIMU logs are not valid with the ONTIME trigger. The raw IMU observations contained in these logs are sequential changes in velocity and rotation. As such, you can only use them for navigation if they are logged at their full rate.
l Real time INS solution INSPVASB ONTIME 0.01 or 0.005 (maximum rate equals the IMU rate)
l Other possible INS solution logs available at high rates are: INSPOSSB, INSVELSB, INSATTSB
The periods available when using the ONTIME trigger are 0.005 (200 Hz), 0.01 (100 Hz), 0.02 (50 Hz), 0.05, 0.1, 0.2, 0.25, 0.5, 1, and any integer number of seconds.
5.1 Logs with INS or GNSS Data
There are several logs in the system designed to output the best available solution as well as many logs that output only a specific solution type (PSR, RTK, INS, etc). The table below lists the logs that can provide either a GNSS solution or an INS solution. Most of these derive from the solution the system picks as the best solution. SPAN systems also have a secondary best solution that derives from the GNSS solution only (BESTGNSSPOS log (see page 939) and BESTGNSSVEL log (see page 942)). The position output from these logs is at the phase center of the antenna.
Log Log Format GNSS/INS
BESTPOS NovAtel
YES
BESTVEL NovAtel
YES
BESTUTM NovAtel
YES
BESTXYZ NovAtel
YES
GPGGA NMEA
YES
GPGLL
NMEA
YES
GPVTG NMEA
YES
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5.2 BESTGNSSPOS
Best GNSS Position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log contains the best available GNSS position (without INS) computed by the receiver. In addition, it reports several status indicators, including differential age, which is useful in predicting anomalous behavior brought about by outages in differential corrections. A differential age of 0 indicates that no differential correction was used.
With the system operating in an RTK mode, this log reflects the latest low latency solution for up to 60 seconds after reception of the last base station observations. After this 60 second period, the position reverts to the best solution available and the degradation in accuracy is reflected in the standard deviation fields. If the system is not operating in an RTK mode, pseudorange differential solutions continue for the time specified in the PSRDIFFTIMEOUT command (see page 289).
BESTGNSSPOS always outputs positions at the antenna phase center.
Message ID: 1429
Log Type: Synch
Recommended Input: log bestgnssposa ontime 1
ASCII Example: #BESTGNSSPOSA,COM1,0,92.5,FINESTEERING,1692,332119.000,02000000,8505,43521;SOL_ COMPUTED,SINGLE,51.11635530655,-114.03819448382,1064.6283,16.9000,WGS84,1.2612,0.9535,2.7421,"",0.000,0.000,11,11,11,11,0,06,00,03*52d3f7 c0
Field Field type
Data Description
1
BESTGNSSPOS Log header. See Messages on page 25 for
Header
more information.
2
Sol Status
Solution status, see Table 74: Solution Status on page 436
3
Pos Type
Position type, see Table 75: Position or Velocity Type on page 437
4
Lat
Latitude (degrees)
5
Lon
Longitude (degrees)
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Enum 4 Double 8 Double 8
H+4 H+8 H+16
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Field Field type
Data Description
6
Hgt
Height above mean sea level (metres)
Undulation - the relationship between the geoid and the ellipsoid (m) of the chosen datum
Format
Binary Bytes
Binary Offset
Double 8
H+24
7
Undulation
When using a datum other than WGS84, the undulation value also includes the vertical shift due to differences between the datum in use and WGS84.
Float
4
8
Datum ID
Datum ID (refer Table 29: Datum Transformation Parameters on page 121)
Enum 4
9
Lat
Latitude standard deviation (metres)
Float
4
10
Lon
Longitude standard deviation (metres)
Float
4
11
Hgt
Height standard deviation (metres)
Float
4
12
Stn ID
Base station ID
Char[4] 4
13
Diff_age
Differential age in seconds
Float
4
14
Sol_age
Solution age in seconds
Float
4
15
#SVs
Number of satellites tracked
Uchar 1
16
#solnSVs
Number of satellite solutions used in solution
Uchar 1
17
#solnL1SVs
Number of satellites with L1/E1/B1 signals used in solution
Uchar
1
18
#solnMultiSVs
Number of satellites with multi-frequency signals used in solution
Uchar 1
19
Reserved
Uchar 1
20
ext sol stat
Extended solution status (see Table 78: Extended Solution Status on page 440)
Hex
1
Galileo and
Galileo and BeiDou signals used mask (see
21
BeiDou sig
Table 77: Galileo and BeiDou Signal-Used Hex
1
mask
Mask on page 440)
H+32
H+36 H+40 H+44 H+48 H+52 H+56 H+60 H+64 H+65 H+66 H+67 H+68 H+69
H+70
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Field Field type
GPS and
22
GLONASS sig
mask
23
xxxx
24
[CR][LF]
Data Description
GPS and GLONASS signals used mask (see Table 76: GPS and GLONASS Signal-Used Mask on page 439) 32-bit CRC (ASCII and Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Hex
1
H+71
Hex
4
-
-
H+72 -
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5.3 BESTGNSSVEL
Best Available GNSS Velocity Data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log contains the best available GNSS velocity information (without INS) computed by the receiver. In addition, it reports a velocity status indicator, which is useful to indicate whether or not the corresponding data is valid. The velocity measurements sometimes have a latency associated with them. The time of validity is the time tag in the log minus the latency value.
The velocity is typically computed from the average change in pseudorange over the time interval or the RTK Low Latency filter. As such, it is an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the BESTGNSSVEL time tag. The velocity latency to be subtracted from the time tag is normally half the time between filter updates. Under default operation, the positioning filters are updated at a rate of 2 Hz. This translates into a velocity latency of 0.25 seconds. The latency is reduced by increasing the update rate of the positioning filter used by requesting the BESTGNSSVEL or BESTGNSSPOS messages at a rate higher than 2 Hz. For example, a logging rate of 10 Hz reduces the velocity latency to 0.005 seconds. For integration purposes, the velocity latency should be applied to the record time tag.
A valid solution with a latency of 0.0 indicates the instantaneous Doppler measurement was used to calculate velocity.
Message ID: 1430
Log Type: Synch
Recommended Input:
log bestgnssvela ontime 1
ASCII Example:
#BESTGNSSVELA,COM1,0,91.5,FINESTEERING,1692,332217.000,02000000,00b0,43521;SOL_ COMPUTED,DOPPLER_VELOCITY,0.150,0.000,0.0168,323.193320,0.0232,0.0*159c13ad
Field Field type
Data Description
Format
Binary Bytes
Binary Offset
1
BESTGNSSVEL Log header. See Messages on page 25 for
Header
more information.
-
H
0
2
Sol Status
Solution status, see Table 74: Solution Status on page 436
Enum 4
H
3
Vel Type
Velocity type, see Table 75: Position or Velocity Type on page 437
Enum 4
H+4
4
Latency
A measure of the latency in the velocity time
tag in seconds. It should be subtracted from Float
4
the time to give improved results.
H+8
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Field Field type
5
Age
6
Hor Spd
7
Trk Gnd
8
Vert Spd
9
Reserved
10
xxxx
11
[CR][LF]
Data Description
Format
Binary Bytes
Binary Offset
Differential age
Float
4
H+12
Horizontal speed over ground, in metres per second
Double
8
H+16
Actual direction of motion over ground (track over ground) with respect to True North, in degrees
Double 8
H+24
Vertical speed, in metres per second, where
positive values indicate increasing altitude (up) and negative values indicate decreasing
Double
8
altitude (down)
H+32
Float
4
H+40
32-bit CRC (ASCII and Binary only)
Hex
4
H+44
Sentence terminator (ASCII only)
-
-
-
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5.4 CORRIMUDATA
Corrected IMU Measurements
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
The CORRIMUDATA log contains the RAWIMU data corrected for gravity, the earth's rotation and estimated sensor errors. The values in this log are incremental values, accumulated over the logging interval of CORRIMUDATA, in units of radians for the attitude rate and m/s for the accelerations. Data output is not in the IMU Body frame, but is automatically rotated into the user configured output frame (configured with the SETINSROTATION command (see page 919), default Vehicle frame).
The short header format, CORRIMUDATAS, is recommended, as it is for all high data rate logs.
CORRIMUDATA can be logged with the ONTIME trigger, up to a rate of 200 Hz.
Since the CORRIMUDATA log is synchronous, if you log at a rate less than full data rate of the IMU, the corrected IMU data is accumulated to match the requested time interval. For asynchronous, full rate data, see the IMURATECORRIMUS log on page 952.
To obtain the instantaneous rates of acceleration (in m/s/s) or rotation (in rad/s) from the output values of measurements per sample rate (m/s/sample and rad/sample), multiply the output values by the CORRIMUDATA logging rate in Hz.
Message ID: 812
Log Type: Synch
Recommended Input: log corrimudatab ontime 0.01
Example log: #CORRIMUDATAA,COM1,0,77.5,FINESTEERING,1769,237601.000,02000020,bdba,12597;1769 ,237601.000000000,0.000003356,0.000002872,0.000001398,0.000151593,0.000038348,0.000078820*1f7eb709
Field Field Type
Description
1
CORRIMUDATA Log header. See Messages on page 25
Header
for more information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field Field Type
Description
2
Week
GNSS week
3
Seconds
GNSS seconds from week start
4
PitchRate
About x axis rotation (right-handed) (rad/sample)
5
RollRate
About y axis rotation (right-handed) (rad/sample)
6
YawRate
About z axis rotation (right-handed) (rad/sample)
7
LateralAcc
INS Lateral Acceleration (along x axis) (m/s/sample)
8
LongitudinalAcc
INS Longitudinal Acceleration (along y axis) (m/s/sample)
9
VerticalAcc
INS Vertical Acceleration (along z axis) (m/s/sample)
10
xxxx
32-bit CRC
11
[CR][LF]
Sentence Terminator (ASCII only)
Format
Binary Bytes
Ulong 4
Double 8
Double 8
Double 8
Double 8
Double 8
Double 8
Double 8
Hex
4
-
-
Binary Offset H+ H+4 H+12
H+20
H+28
H+36
H+44
H+52 H+56 -
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5.5 CORRIMUDATAS
Short Corrected IMU Measurements
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log is the short header version of the CORRIMUDATA log (see page 944).
To obtain the instantaneous rates of acceleration (in m/s/s) or rotation (in rad/s) from the output values of measurements per sample rate (m/s/sample and rad/sample), multiply the output values by the CORRIMUDATAS logging rate in Hz.
Message ID: 813
Log Type: Synch
Recommended Input: log corrimudatasb ontime 0.01
Example log: %CORRIMUDATASA,1581,341553.000;1581,341552.997500000,-0.000000690,0.000001549,0.000001654,0.000061579,-0.000012645,-0.000029988*770c6232
Field Field Type
Description
Format
Binary Bytes
1
CORRIMUDATAS Log header. See Messages on page 25
Header
for more information.
-
H
2
Week
GNSS week
Ulong 4
3
Seconds
GNSS seconds from week start
Double 8
4
PitchRate
About x-axis rotation (right-handed) (rad/sample)
Double 8
5
RollRate
About y-axis rotation (right-handed) (rad/sample)
Double 8
6
YawRate
About z-axis rotation (right-handed) (rad/sample)
Double 8
7
LateralAcc
INS Lateral Acceleration (along x-axis) (m/s/sample)
Double
8
8
LongitudinalAcc
INS Longitudinal Acceleration (along yaxis) (m/s/sample)
Double
8
9
VerticalAcc
INS Vertical Acceleration (along z-axis) (m/s/sample)
Double
8
Binary Offset 0 H+ H+4 H+12
H+20
H+28
H+36
H+44
H+52
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Field Field Type
10
xxxx
11
[CR][LF]
Description 32-bit CRC Sentence Terminator (ASCII only)
Format
Binary Bytes
Hex
4
-
-
Binary Offset
H+56
-
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5.6 DELAYEDHEAVE
Delayed Heave Filter
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log contains the value of the delayed heave filter. The delayed heave value differs from the heave value in that delayed heave uses forward and backward smoothing, while heave uses backward smoothing only.
The heave filter must be enabled using the HEAVEFILTER command (see page 892) before this log is available.
The DELAYEDHEAVE log is output with default values and the current time stamp when the HEAVEFILTER is DISABLED. When the HEAVEFILTER is ENABLED, the DELAYEDHEAVE log will not be output until the heave window conditions (see the SETHEAVEWINDOW command on page 912) have been met.
Message ID: 1709
Log Type: Synch
Recommended Input: log delayedheavea ontime 0.1
ASCII example: #DELAYEDHEAVEA,COM1,0,72.0,FINESTEERING,1769,237598.000,02000020,27a3,12597;0.0 00080643,0.086274510*85cdb46d
Field Field Type
Description
1
DELAYEDHEAVE Log header. See Messages on page 25
Header
for more information.
2
Delayed Heave Delayed heave value
3
Std. Dev.
Standard deviation of the delayed heave value
4
xxxx
32-bit CRC (ASCII and Binary only)
5
[CR][LF]
Sentence Terminator (ASCII only)
Format
Binary Bytes
Binary Offset
-
H
0
Double 8
H
Double 8
H+8
Hex
4
-
-
H+16 -
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5.7 GIMBALLEDPVA
Display Gimballed Position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use the GIMBALLEDPVA log to view the re-calculated position, velocity and attitude of the gimbal null position whenever a new INPUTGIMBALANGLE command (see page 893) is received.
Message ID: 1321
Log Type: Asynch
Recommended Input: log gimballedpvaa onnew
ASCII Example: #GIMBALLEDPVAA,COM1,0,93.5,FINESTEERING,1635,320568.514,02000000,0000,407;1635, 320568.514000000,51.116376614,-114.038259915,1046.112025828,-0.000291756,0.000578067,0.030324466,-0.243093917,-0.127718304,19.495023227, INS_ALIGNMENT_ COMPLETE*32fbb61b
Field Field Type
Description
1
GIMBALLEDPVA Log header. See Messages on page 25 for
Header
more information.
2
Week
GPS week
3
Seconds
Seconds from week start
4
Latitude
WGS84 latitude in degrees
5
Longitude
WGS84 longitude in degrees
6
Height
WGS84 ellipsoidal height
7
North Velocity Velocity in a northerly direction
8
East Velocity Velocity in an easterly direction
9
Up Velocity
Velocity in an upward direction
10
Roll
Right-handed rotation from local level around the y-axis in degrees
11
Pitch
Right-handed rotation from local level around the x-axis in degrees
12
Azimuth
Right-handed rotation from local level around the z-axis in degrees
Format
Binary Bytes
-
H
Ulong 4 Double 8 Double 8 Double 8 Double 8 Double 8 Double 8 Double 8
Double 8
Double 8
Double 8
Binary Offset 0 H H+4 H+12 H+20 H+28 H+36 H+44 H+52 H+60
H+68
H+76
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Field Field Type
Description
13
Status
14
xxxx
15
[CR][LF]
INS status, see Table 207: Inertial Solution Status on page 959
32-bit CRC
Sentence Terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Enum 4
H+84
Hex
4
-
-
H+88 -
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5.8 HEAVE
Heave Filter Log
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log provides vessel heave computed by the integrated heave filter. Refer also to information in the SETHEAVEWINDOW command on page 912. This log is asynchronous, but is available at approximately 10 Hz.
You must have an inertial solution to use this log.
The heave filter must be enabled using the HEAVEFILTER command (see page 892), before this log is available.
Message ID: 1382
Log Type: Asynch
Recommended Input: log heavea onnew
Example: #HEAVEA,USB1,0,38.5,FINESTEERING,1630,232064.599,02000000,a759,6696;1630,232064 .589885392,0.086825199*93392cb4
Field Field Type
Description
Format
Binary Bytes
1
HEAVE Header
Log header. See Messages on page 25 for more information.
-
H
2
Week
GNSS Week
Ulong 4
3
Seconds into Week
Seconds from week start
Double 8
4
Heave
Instantaneous heave in metres
Double 8
5
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
Hex
4
6
[CR][LF]
Sentence Terminator (ASCII Only)
-
-
Binary Offset 0 H H+4 H+12 H+20 -
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5.9 IMURATECORRIMUS
Asynchronous Corrected IMU Data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log provides the same information as the CORRIMUDATAS log (see page 946), but is available asynchronously at the full rate of the IMU.
Using this log consumes significant system resources and should only be used by experienced users. However, using this log consumes less resources than logging the synchronous CORRIMUDATAS log at the same rate.
To use this log, asynchronous logging must be enabled. See the ASYNCHINSLOGGING command on page 885.
To obtain the instantaneous rates of acceleration (in m/s/s) or rotation (in rad/s) from the output values of measurements per sample rate (m/s/sample and rad/sample), multiply the output values by the IMU data rate in Hz.
Message ID: 1362
Log Type: Asynch
Recommended Input: log imuratecorrimusb onnew
Example log: %IMURATECORRIMUSA,1581,341553.000;1581,341552.997500000,-0.000000690,0.000001549,0.000001654,0.000061579,-0.000012645,-0.000029988*770c6232
Field
Field Type
Description
1
IMURATECORRIMUS Log header. See Messages on
Header
page 25 for more information.
2
Week
GNSS week
3
Seconds
GNSS seconds from week start
4
PitchRate
About x axis rotation (rad/sample)
5
RollRate
About y axis rotation (rad/sample)
6
YawRate
About z axis rotation (right-handed) (rad/sample)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4 Double 8 Double 8 Double 8
H+ H+4 H+12 H+20
Double 8
H+28
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Field
Field Type
7
LateralAcc
8
LongitudinalAcc
9
VerticalAcc
10
xxxx
11
[CR][LF]
Description
INS Lateral Acceleration (along xaxis) (m/s/sample) INS Longitudinal Acceleration (along y-axis) (m/s/sample) INS Vertical Acceleration (along zaxis)(m/s/sample) 32-bit CRC Sentence Terminator (ASCII only)
Format
Binary Bytes
Double 8
Double 8
Double 8
Hex
4
-
-
Binary Offset H+36
H+44
H+52 H+56 -
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5.10 IMURATEPVA
Asynchronous INS Position, Velocity and Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log provides the same information as the INSPVA log (see page 978), but is available asynchronously at the full rate of the IMU.
Using this log consumes significant system resources and should only be used by experienced users.
However, using this log consumes less resources than logging the synchronous INSPVA log at the same rate.
To use this log, asynchronous logging must be enabled. See the ASYNCHINSLOGGING command on page 885.
Message ID: 1778
Log Type: Asynch
Recommended Input: log imuratepvaa onnew
ASCII Example: #IMURATEPVAA,COM1,0,57.0,FINESTEERING,1802,320345.180,02000000,9b1f,12987;1802, 320345.180000030,51.11695246671,-114.03897779953,1047.6905,0.2284,0.0076,0.2227,0.160588332,-0.039823409,269.988184416,INS_ALIGNMENT_ COMPLETE*f60016a6
Field Field Type
Description
1
IMURATEPVA Log header. See Messages on page 25
Header
for more information.
2
Week
GNSS Week
3
Seconds
Seconds from week start
4
Latitude
Latitude (WGS84) [degrees]
5
Longitude
Longitude (WGS84) [degrees]
6
Height
Ellipsoidal Height (WGS84) [m]
7
North Velocity
Velocity in a northerly direction (a -ve value implies a southerly direction) [m/s]
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4 Double 8 Double 8 Double 8 Double 8
H H+4 H+12 H+20 H+28
Double 8
H+36
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Field Field Type
Description
Format
Binary Bytes
Binary Offset
8
East Velocity
Velocity in an easterly direction (a -ve value implies a westerly direction) [m/s]
Double
8
H+44
9
Up Velocity Velocity in an up direction [m/s]
Double 8
H+52
10
Roll
Right-handed rotation from local level around y-axis in degrees
Double 8
H+60
11
Pitch
Right-handed rotation from local level around x-axis in degrees
Double 8
H+68
12
Azimuth
Left-handed rotation around z-axis in
degrees clockwise from North This is the inertial azimuth calculated
Double 8
from the IMU gyros and the SPAN filters.
H+76
13
Status
INS Status, see Table 207: Inertial Solution Status on page 959
Enum 4
H+84
14
xxxx
32-bit CRC
Hex
4
H+88
15
[CR][LF]
Sentence Terminator (ASCII only)
-
-
-
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5.11 IMURATEPVAS
Asynchronous INS Position, Velocity and Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log provides the same information as the INSPVAS log (see page 980), but is available asynchronously at the full rate of the IMU.
Using this log consumes significant system resources and should only be used by experienced users.
However, using this log consumes less resources than logging the synchronous INSPVAS log at the same rate.
To use this log, asynchronous logging must be enabled. See the ASYNCHINSLOGGING command on page 885.
Message ID: 1305
Log Type: Asynch
Recommended Input: log imuratepvas
ASCII Example: %IMURATEPVASA,1264,144059.000;1264,144059.002135700,51.116680071,114.037929194,515.286704183,277.896368884,84.915188605,8.488207941,0.759619515,-2.892414901,6.179554750,INS_ALIGNMENT_ COMPLETE*855d6f76
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
IMURATEPVAS Log header. See Messages on page 25 for
Header
more information.
-
H
0
2
Week
GNSS Week
Ulong 4
H
3
Seconds
Seconds from week start
Double 8
H+4
4
Latitude
Latitude (WGS84)
Double 8
H+12
5
Longitude
Longitude (WGS84)
Double 8
H+20
6
Height
Ellipsoidal Height (WGS84) [m]
Double 8
H+28
7
North Velocity
Velocity in a northerly direction (a -ve value implies a southerly direction) [m/s]
Double
8
H+36
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Field Field Type
8
East Velocity
9
Up Velocity
10
Roll
11
Pitch
12
Azimuth
13
Status
14
xxxx
15
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
Velocity in an easterly direction (a -ve value implies a westerly direction) [m/s]
Double
8
H+44
Velocity in an up direction [m/s]
Double 8
H+52
Right-handed rotation from local level around y-axis in degrees
Double 8
H+60
Right-handed rotation from local level around x-axis in degrees
Double 8
H+68
Left-handed rotation around z-axis in degrees clockwise from North
Double 8
H+76
INS Status, see Table 207: Inertial Solution Status on page 959
Enum
4
H+84
32-bit CRC
Hex
4
H+88
Sentence Terminator (ASCII only)
-
-
-
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5.12 INSATT
INS Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log contains the most recent attitude measurements computed by the SPAN filter. This attitude definition may not correspond to other definitions of the terms pitch, roll and azimuth. By default, the output attitude is with respect to the vehicle frame. If the attitude output is desired with respect to another frame of reference, use the SETINSROTATION USER command (see the SETINSROTATION command on page 919) to configure the user output frame offset rotation.
Message ID: 263
Log Type: Synch
Recommended Input: log insatta ontime 1
ASCII Example: #INSATTA,USB2,0,14.5,FINESTEERING,1541,487970.000,02040000,5b35,37343;1541,4879 70.000549050,1.876133508,-4.053672765,328.401460897,INS_SOLUTION_GOOD*ce4ac533
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
INSATT Header
Log header. See Messages on page 25 for more information.
-
H
0
2
Week
GNSS Week
Ulong 4
H
3
Seconds into Week
Seconds from week start
Double 8
H+4
4
Roll
Right-handed rotation from local level around y-axis in degrees.
Double 8
H+12
5
Pitch
Right-handed rotation from local level around x-axis in degrees.
Double 8
H+20
Left-handed rotation around z-axis in degrees
clockwise from North.
6
Azimuth
Double 8
This is the inertial azimuth calculated from the
IMU gyros and the SPAN filters.
H+28
7
Status
INS status, see Table 207: Inertial Solution Status on the next page.
Enum
H+36
8
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
Hex
H+40
9
[CR][LF] Sentence terminator (ASCII only)
-
-
-
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Table 207: Inertial Solution Status
Binary
ASCII
Description
0
INS_INACTIVE
IMU logs are present, but the alignment routine has not started; INS is inactive.
1
INS_ALIGNING INS is in alignment mode.
The INS solution is in navigation mode but the azimuth solution
uncertainty has exceeded the threshold. The default threshold is 2
degrees for most IMUs. The solution is still valid but you should
monitor the solution uncertainty in the INSSTDEV log (see page 991).
2
INS_HIGH_ VARIANCE
You may encounter this state during times when the GNSS, used to aid the INS, is absent.
The INS solution uncertainty contains outliers and the solution may be outside specifications.1 The solution is still valid but you should monitor the solution uncertainty in the INSSTDEV log (see page 991). It may be encountered during times when GNSS is absent or poor.
INS_
3
SOLUTION_
The INS filter is in navigation mode and the INS solution is good.
GOOD
The INS filter is in navigation mode and the GNSS solution is suspected
INS_
to be in error.
6
SOLUTION_
This may be due to multipath or limited satellite visibility. The inertial
FREE
filter has rejected the GNSS position and is waiting for the solution
quality to improve.
7
INS_ ALIGNMENT_ COMPLETE
The INS filter is in navigation mode, but not enough vehicle dynamics have been experienced for the system to be within specifications.
8
DETERMINING_ ORIENTATION
INS is determining the IMU axis aligned with gravity.
9
WAITING_ INITIALPOS
The INS filter has determined the IMU orientation and is awaiting an initial position estimate to begin the alignment process.
10
WAITING_ AZIMUTH
The INS filer has orientation, initial biases, initial position and valid roll/pitch estimated. Will not proceed until initial azimuth is entered.
11
INITIALIZING_ The INS filter is estimating initial biases during the first 10 seconds of
BIASES
stationary data.
12
MOTION_ DETECT
The INS filter has not completely aligned, but has detected motion.
1The solution uncertainty threshold levels can be adjusted using the INSTHRESHOLDS command on page 905.
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5.13 INSATTQS
Short INS Quaternion Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART7-I, SMART7-S, SMART7-W
This log contains the attitude from the INSATT log, but the rotation from local level is given as a Quaternion rather than Euler Angles. The quaternion takes the form:
The element w is the rotational component, defining the magnitude of the rotation to be performed. The elements x, y, and z are the vector portion of the rotation, which define the axis about which the rotation is to be performed.
If is the rotational angle, and the axis of rotation is defined by the vector the elements of the quaternion can be written as:
, then
Message ID: 2118
Log Type: Synch
Recommended Input: log insattqsa ontime 1
ASCII Example: %INSATTQSA,1943,425090.000;1943,425090.000000000,0.706276782,0.001974400,0.001083571,-0.707932225,INS_ALIGNMENT_COMPLETE*552d93f0
Field Field Type
Description
Format
Binary Bytes
1
INSATTQS Header
Log header. See Messages on page 25 for more information.
-
H
2
Week
GNSS Week
Ulong 4
3
Seconds into Week
Seconds from week start
Double 8
4
Quaternion w
Quaternion rotation from local level, w component
Double 8
Binary Offset 0 H H+4
H+12
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Field Field Type
Description
5
Quaternion x
Quaternion rotation from local level, x component
6
Quaternion y
Quaternion rotation from local level, y component
7
Quaternion z
Quaternion rotation from local level, z component
8
Status
INS status, see Table 207: Inertial Solution Status on page 959
9
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
10
[CR][LF]
Sentence Terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Double 8
H+20
Double 8
H+28
Double 8
H+36
Enum 4
H+44
Hex
4
-
-
H+48 -
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5.14 INSATTS
Short INS Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log is the short header version of the INSATT log (see page 958).
Message ID: 319
Log Type: Synch
Recommended Input: log insattsa ontime 1
ASCII Example: %INSATTSA,1541,487975.000;1541,487975.000549050,2.755452422,4.127365126,323.289778434,INS_SOLUTION_GOOD*ba08754f
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
INSATTS Header
Log header. See Messages on page 25 for more information.
-
H
0
2
Week
GNSS Week
Ulong 4
H
3
Seconds into Week
Seconds from week start
Double 8
H+4
4
Roll
Right-handed rotation from local level around y-axis in degrees
Double 8
H+12
5
Pitch
Right-handed rotation from local level around x-axis in degrees
Double 8
H+20
Left-handed rotation around z-axis in degrees
clockwise from North
6
Azimuth
Double 8
This is the inertial azimuth calculated from the
IMU gyros and the SPAN filters.
H+28
7
Status
INS status, see Table 207: Inertial Solution Status on page 959
Enum 4
H+36
8
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
Hex
4
H+40
9
[CR][LF] Sentence terminator (ASCII only)
-
-
-
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5.15 INSATTX
Inertial Attitude � Extended
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log includes the information from the INSATT log (see page 958), as well as information about the attitude standard deviation. The position type and solution status fields indicate whether or not the corresponding data is valid.
The INSATTX log is a large log and is not recommend for high rate logging.
If you want to use high rate logging, log the INSATTS log at a high rate and the INSSTDEVS log ontime 1.
Message ID: 1457
Log Type: Synch
Recommended Input: log insattxa ontime 1
ASCII Example: #INSATTXA,COM1,0,81.0,FINESTEERING,1690,494542.000,02000040,5d25,43441;INS_ ALIGNMENT_COMPLETE,INS_PSRSP,1.137798832,0.163068414,135.754208544,0.017797431,0.017861038,3.168394804,4,0*f944b004
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
INSATTX Header
Log header. See Messages on page 25 for more information.
H
0
Solution status
2
INS Status See Table 207: Inertial Solution Status on
Enum 4
H
page 959
Position type
3
Pos Type See Table 75: Position or Velocity Type on
page 437
Enum 4
H+4
4
Roll
Roll in Local Level (degrees)
Double 8
H+8
5
Pitch
Pitch in Local Level (degrees)
Double 8
H+16
Azimuth in Local Level (degrees)
6
Azimuth This is the inertial azimuth calculated from the Double 8
IMU gyros and the SPAN filters.
H+24
7
Roll
Roll standard deviation (degrees)
Float
4
H+32
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Field
Field Type
Description
8
Pitch
Pitch standard deviation (degrees)
9
Azimuth Azimuth standard deviation (degrees)
10
Ext sol stat
Extended solution status See Table 208: Extended Solution Status below
Time
11
Since
Update
Elapsed time since the last ZUPT or position update (seconds)
11
xxxx
32-bit CRC (ASCII and Binary only)
12
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Float
4
H+36
Float
4
H+40
Hex
4
H+44
Ushort 2
Hex
4
-
-
H+48
H+50 -
Table 208: Extended Solution Status
Nibble Bit
Mask
Description
Range Value
0 0x00000001 Position update
0 = Unused 1 = Used
1 0x00000002 Phase update
0 = Unused 1 = Used
N0
2
0x00000004 Zero velocity update
0 = Unused 1 = Used
3
0x00000008 Wheel sensor update
0 = Unused 1 = Used
4
0x00000010
ALIGN (heading) update
0 = Unused 1 = Used
5
0x00000020
External position update
N1
6
0x00000040
INS solution convergence flag
0 = Unused 1 = Used
0 = Not converged 1 = Converged
7 0x00000080 Doppler update
0 = Unused 1 = Used
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Nibble Bit
Mask
Description
Range Value
8
0x00000100 Pseudorange update
0 = Unused 1 = Used
9 0x00000200 Velocity update N2
10 0x00000400 Reserved
0 = Unused 1 = Used
11
0x00000800
Dead reckoning update
0 = Unused 1 = Used
12
0x00001000 Phase wind up update
0 = Unused 1 = Used
13
0x00002000
Course over ground update
0 = Unused 1 = Used
N3
14
0x00004000
External velocity update
0 = Unused 1 = Used
15
0x00008000
External attitude update
0 = Unused 1 = Used
16
0x00010000
External heading update
0 = Unused 1 = Used
N4
17
0x00020000
External height update
0 = Unused 1 = Used
18 0x00040000 Reserved
19 0x00080000 Reserved
20
0x00100000 Rover position update
0 = Unused 1 = Used
N5
21
0x00200000
Rover position update type
0 = Non-RTK update 1 = RTK integer update
22 0x00400000 Reserved
23 0x00800000 Reserved
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Nibble Bit
Mask
Description
24
0x01000000
Turn on biases estimated
25
0x02000000
Alignment direction verified
N6
26
0x04000000
Alignment Indication 1
27
0x08000000
Alignment Indication 2
28
0x10000000
Alignment Indication 3
29
0x20000000
NVM Seed Indication 1
N7
30
0x40000000
NVM Seed Indication 2
31
0x80000000
NVM Seed Indication 3
Range Value
0 = Static turn-on biases not estimated (starting from zero) 1 = Static turn-on biases estimated
0 = Not verified 1 = Verified
0 = Not set, 1 = Set Refer to Table 209: Alignment Indication below
0 = Not set, 1 = Set Refer to Table 209: Alignment Indication below
0 = Not set, 1 = Set Refer to Table 209: Alignment Indication below
0 = Not set, 1 = Set Refer to Table 210: NVM Seed Indication on the next page
0 = Not set, 1 = Set Refer to Table 210: NVM Seed Indication on the next page
0 = Not set, 1 = Set Refer to Table 210: NVM Seed Indication on the next page
Table 209: Alignment Indication
Bits 26-28 Values Hex Value Completed Alignment Type
000
0x00
Incomplete Alignment
001
0x01
Static
010
0x02
Kinematic
011
0x03
Dual Antenna
100
0x04
User Command
101
0x05
NVM Seed
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Bit 2931
Values
Hex Value
000
0x00
001
0x01
010
0x02
011
0x03
100
0x04
101
0x05
110
0x06
Table 210: NVM Seed Indication
NVM Seed Type
NVM Seed Inactive Seed stored in NVM is invalid NVM Seed failed validation check NVM Seed is pending validation (awaiting GNSS) NVM Seed Injected (includes error model data) NVM Seed data ignored due to a user-commanded filter reset or configuration change NVM Seed error model data injected
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5.16 INSCALSTATUS
Offset calibration status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log reports the status and estimated values of the currently running offset calibration.
Message ID: 1961
Log Type: Asynch
Abbreviated ASCII Syntax: log inscalstatus onchanged
ASCII Example: #INSCALSTATUSA,COM1,0,80.0,FINESTEERING,1880,317815.012,02000000,a4f2,32768;RBV ,0.0000,-180.0000,-90.0000,45.0000,45.0000,45.0000,INS_CONVERGING,1*e0b3152d
Field Field Type
Description
Binary Binary Binary Format Bytes Offset
1
INSCALSTATUS Log header. See Messages on page 25 for
header
more information.
-
H
0
2
Offset Type
Type of offset (see Table 211: Offset Type on the next page).
Enum
4
H
3
X axis offset
IMU body frame X-axis offset (m/degrees). Float
4
H+4
4
Y axis offset
IMU body frame Y-axis offset (m/degrees). Float
4
H+8
5
Z axis offset
IMU body frame Z-axis offset (m/degrees). Float
4
H+12
6
X uncertainty
IMU body frame X-axis offset uncertainty (m/degrees).
Float
4
H+16
7
Y uncertainty
IMU body frame Y-axis offset uncertainty (m/degrees).
Float
4
H+20
8
Z uncertainty
IMU body frame Z-axis offset uncertainty (m/degrees).
Float
4
H+24
Source from which offset values originate
9
Source Status (see Table 212: Source Status on the next Enum 4
page).
H+28
Multi-line
10
Calibration
Count
Counter for number of completed calibrations cumulatively averaged.
Ulong 4
H+32
11
xxxx
32-bit CRC (ASCII and Binary only).
Hex
4
H+36
12
[CR][LF]
Sentence terminator (ASCII only).
-
-
-
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Units for the axis offset and uncertainty values (fields 3-8) are in metres for translational offset components and degrees for rotational offset components.
Table 211: Offset Type
Binary ASCII
Description
1
ANT1 Primary IMU to antenna lever arm
8
ALIGN Align offset
11
RBV IMU body to vehicle offset
Table 212: Source Status
Binary
ASCII
Description
1
FROM_NVM
Offset values originate from saved parameters in NVM
2
CALIBRATING Offset values originate from a currently running calibration process
3
CALIBRATED
Offset values originate from a completed calibration process
4
FROM_ COMMAND
Offset values originate from a user command
5
RESET
Offset values originate from a system reset
6
FROM_DUAL_ ANT
Offset values originate from a dual antenna Align solution
7
INS_ CONVERGING
Offset values originate from initial input values. Calibration process on hold until INS solution is converged.
8
INSUFFICIENT_ Offset values originate from a currently running calibration process.
SPEED
Further estimation on hold due to insufficient speed.
9
HIGH_ ROTATION
Offset values originate from a currently running calibration process. Further estimation on hold due to high vehicle rotations.
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5.17 INSCONFIG
Determine required settings for post-processing or system analysis
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log is the single message required to determine all required settings for post-processing or system analysis. This log is asynchronous and published for any change to the included fields. It is intended to be recorded occasionally though it could be updated frequently at system startup.
Message ID: 1945
Log Type: Polled
Recommended Input: log insconfig onchanged
ASCII Example: #INSCONFIGA,COM1,0,71.0,COARSESTEERING,1931,517331.006,02400000,6d7a, 32768;EPSON_G320,6,50,20,DEFAULT,00ffd1bf,AUTOMATIC,ROVER,FALSE, 00000000,0,0,0,0,0,0,0,0,0,1,ANT1,IMUBODY,0.0540,0.0699,-0.0346,0.0200, 0.0200,0.0200,FROM_NVM,1,RBV,IMUBODY,180.0000,0.0000,90.0000,5.0000, 5.0000,5.0000,FROM_COMMAND*b1233ac4
Field 1 2 3
4
5 6 7 8
Field Type
INSCONFIG Header IMU Type Mapping
Initial Alignment Velocity
Heave Window
Profile
Enabled Updates
Alignment Mode
Description
Binary Binary Binary Format Bytes Offset
Command header. See Messages on page 25 for more information.
-
H
0
IMU type
Enum 4
H
Mapping / Orientation
Uchar 1
H+4
Minimum Alignment Velocity entered by the user.
Uchar 1 Note: Velocity (m/s) is scaled by 10 for 10cm/s precision
H+5
Length of the heave window in seconds (if set)
Ushort
2
H+6
Profile setting (see the SETINSPROFILE command on page 917)
Enum
4
H+8
Enabled update types
Hex
4
H+12
Alignment mode configured on the system (see the ALIGNMENTMODE command on Enum 4 page 883)
H+16
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Field 9
10
11
12 13 14 15 16 17 18 19
Field Type
Description
Binary Binary Binary Format Bytes Offset
The user specified output frame of the
Relative INS Vector (see
Relative INS SETRELINSOUTPUTFRAME command
Output
on page 927)
Enum 4
Frame
If not specified, the default value
appears.
H+20
The User specified Output direction of the
Relative INS Vector (From or To Master-
Rover) (see the
Relative INS SETRELINSOUTPUTFRAME command
Output
on page 927).
Bool
4
Direction
If not specified, the default value
appears. TRUE if From Master, FALSE
(Default) if From Rover
H+24
Lower byte- INS Reset. Corresponds numerically to the INS Reset as described by the INSResetEnum
INS Receiver Status
Second byte= 0x01 if an IMU Communication Error (Receiver status bit 17).
Hex
4
= 0x00 otherwise.
Other values are reserved for future use.
Upper 2 bytes - reserved.
H+28
INS Seed Enabled
INS Seed Enable setting (see the INSSEED command on page 903) Enabled = 1, Disabled = 0
Uchar 1
H+32
INS Seed Validation
INS Seed Validation setting (see the INSSEED command on page 903)
Uchar 1
H+33
Reserved 1
N/A
2
H+34
Reserved 2
N/A
4
H+36
Reserved 3
N/A
4
H+40
Reserved 4
N/A
4
H+44
Reserved 5
N/A
4
H+48
Reserved 6
N/A
4
H+52
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Field Field Type
20
Reserved 7
Description
Binary Binary Binary Format Bytes Offset
N/A
4
H+56
21
Number of Translations
Number of translation entries to follow
Ulong 4
H+60
22
Translation
Translation to follow (see Table 205: Translation Offset Types on page 923)
Enum 4
23
Frame
Frame of translation (IMUBODY or VEHICLE)
Enum 4
variable variable
24
X Offset
X Offset
Float
4
variable
25
Y Offset
Y Offset
Float
4
variable
26
Z Offset
Z Offset
Float
4
variable
27
X Uncertainty X Uncertainty
Float
4
variable
28
Y Uncertainty Y Uncertainty
Float
4
variable
29
Z Uncertainty Z Uncertainty
Float
4
variable
30
Translation Source
Source of translation (see Table 212: Source Status on page 969)
Enum 4
variable
Next Translation
variable
Number of Rotations
Number of rotation entries to follow
Ulong 4
variable
variable Rotation
Rotation to follow (see Table 204: Rotational Offset Types on page 920)
Enum 4
variable
variable Frame
Frame of rotation (IMUBODY or VEHICLE) Enum 4
variable
variable X Rotation
X Rotation
Float
4
variable
variable Y Rotation
Y Rotation
Float
4
variable
variable Z Rotation
Z Rotation
Float
4
variable
variable
X Rotation Std Dev
X Rotation offset standard deviation (degrees)
Float
4
variable
variable
Y Rotation STD Dev
Y Rotation offset standard deviation (degrees)
Float
4
variable
variable
Z Rotation STD Dev
Z Rotation offset standard deviation (degrees)
Float
4
variable
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Field Field Type
variable
Rotation Source
Description
Binary Binary Binary Format Bytes Offset
Source of rotation (see Table 212: Source Status on page 969)
Enum
4
variable
Next Rotation
variable xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
variable
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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5.18 INSPOS
INS Position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log contains the most recent position measurements in WGS84 coordinates and includes an INS status indicator. The log reports the position at the IMU center, unless the SETINSTRANSLATION USER command was issued. See the SETINSTRANSLATION command on page 922.
This log provides the position information in WGS84.
Message ID: 265
Log Type: Synch
Recommended Input: log insposa ontime 1
ASCII Example: #INSPOSA,USB2,0,18.0,FINESTEERING,1541,487977.000,02040000,17cd,37343;1541, 487977.000549050,51.121315135,-114.042311349,1038.660737046,INS_SOLUTION_GOOD *2fffd557
Field Field Type
Description
1
INSPOS Header
Log header. See Messages on page 25 for more information.
2
Week
GNSS Week
3
Seconds into Week
Seconds from week start
4
Latitude
Latitude (WGS84)
5
Longitude Longitude (WGS84)
6
Height
Ellipsoidal Height (WGS84) [m]
7
Status
INS status, see Table 207: Inertial Solution Status on page 959
8
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
9
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
Double 8
H+4
Double 8 Double 8 Double 8
H+12 H+20 H+28
Enum 4
H+36
Hex
4
-
-
H+40 -
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5.19 INSPOSS
Short INS Position
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log is the short header version of the INSPOS log (see page 974).
This log provides the position information in WGS84.
Message ID: 321
Log Type: Synch
Recommended Input: log inspossa ontime 1
ASCII Example: %INSPOSSA,1541,487916.000;1541,487916.000549050,51.115797277,-114.037811065, 1039.030700122,INS_SOLUTION_GOOD*5ca30894
Field Field Type
Description
1
INSPOSS Header
Log header. See Messages on page 25 for more information.
2
Week
GNSS Week
3
Seconds into Week
Seconds from week start
4
Latitude
Latitude (WGS84)
5
Longitude Longitude (WGS84)
6
Height
Ellipsoidal Height (WGS84) [m]
7
Status
INS status, see Table 207: Inertial Solution Status on page 959
8
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
9
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
Double 8
H+4
Double 8 Double 8 Double 8
H+12 H+20 H+28
Enum 4
H+36
Hex
4
-
-
H+40 -
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5.20 INSPOSX
Inertial Position � Extended
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log includes the information from the INSPOS log, as well as information about the position standard deviation. The position type and solution status fields indicate whether or not the corresponding data is valid.
The INSPOSX log is a large log and is not recommend for high rate logging. If you want to use high rate logging, log the INSPOSS log at a high rate and the INSSTDEVS log ontime 1.
This log provides the position information in the user datum. To determine the datum being used, log the BESTPOS log.
Message ID: 1459
Log Type: Synch
Recommended Input: log insposxa ontime 1
ASCII example: #INSPOSXA,COM1,0,79.0,FINESTEERING,1690,493465.000,02000040,7211,43441;INS_ SOLUTION_GOOD,INS_PSRSP,51.11637750859,114.03826206294,1049.1191,0.4883,0.4765,0.8853,3,0*dee048ab
Field Field Type
Description
Format
Binary Bytes
1
INSPOSX Header
Log header. See Messages on page 25 for more information.
H
Solution status
2
INS Status See Table 207: Inertial Solution Status on Enum 4
page 959
Position type
3
Pos Type
See Table 75: Position or Velocity Type
Enum
4
on page 437
4
Lat
Latitude
Double 8
5
Long
Longitude
Double 8
6
Height
Height above sea level (m)
Double 8
Binary Offset 0
H
H+4 H+8 H+16 H+24
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Field Field Type
Description
7
Undulation Undulation (m)
8
Lat
Latitude standard deviation
9
Long
Longitude standard deviation
10
Height
Height standard deviation
Extended solution status
11
Ext sol stat See Table 208: Extended Solution Status
on page 964
11
Time Since Update
Elapsed time since the last ZUPT or position update (seconds)
12
xxxx
32-bit CRC (ASCII and Binary only)
13
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Float
4
Float
4
Float
4
Float
4
Hex
4
Ushort 2
Hex
4
-
-
Binary Offset H+32 H+36 H+34 H+44
H+48
H+52 H+54 -
The INS covariance and standard deviation values reported by the SPAN filter are an estimate of the Inertial filter solution quality. In lower accuracy GNSS position modes, such as SINGLE or WAAS (see Table 75: Position or Velocity Type on page 437), the position covariance and standard deviation values can appear to become optimistic compared with the absolute GNSS accuracy. This is due to the INS filter's ability to smooth short term noise in the GNSS solution, although the overall position error envelope still reflects the GNSS accuracy. Therefore, if the desired application requires absolute GNSS position accuracy, it is recommended to also monitor GNSS position messages such as BESTGNSSPOS (see BESTGNSSPOS log on page 939).
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5.21 INSPVA
INS Position, Velocity and Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log allows INS position, velocity and attitude, with respect to the SPAN frame, to be collected in one log, instead of using three separate logs. Refer to the INSATT log (see page 958) for an explanation of how the SPAN frame may differ from the IMU enclosure frame.
This log provides the position information in WGS84.
Message ID: 507
Log Type: Synch
Recommended Input: log inspvaa ontime 1
ASCII Example: #INSPVAA,COM1,0,31.0,FINESTEERING,1264,144088.000,02040000,5615,1541;1264,14408 8.002284950,51.116827527,114.037738908,401.191547167,354.846489850,108.429407241,10.837482850,1.116219952,-3.476059035,7.372686190,INS_ALIGNMENT_ COMPLETE*af719fd9
Field
Field Type
Description
1
INSPVA Header
Log header. See Messages on page 25 for more information.
2
Week
GNSS Week
3
Seconds Seconds from week start
4
Latitude Latitude (WGS84) [degrees]
5
Longitude Longitude (WGS84) [degrees]
6
Height
Ellipsoidal Height (WGS84) [m]
7
North Velocity
Velocity in a northerly direction (a -ve value implies a southerly direction) [m/s]
8
East Velocity
Velocity in an easterly direction (a -ve value implies a westerly direction) [m/s]
9
Up Velocity
Velocity in an up direction [m/s]
Format
Binary Bytes
-
H
Ulong 4 Double 8 Double 8 Double 8 Double 8
Double 8
Double 8
Double 8
Binary Offset 0 H H+4 H+12 H+20 H+28 H+36
H+44
H+52
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Field
Field Type
10
Roll
11
Pitch
12
Azimuth
13
Status
14
xxxx
15
[CR][LF]
Description
Right-handed rotation from local level around y-axis in degrees
Right-handed rotation from local level around x-axis in degrees
Left-handed rotation around z-axis in degrees clockwise from North This is the inertial azimuth calculated from the IMU gyros and the SPAN filters.
INS Status, see Table 207: Inertial Solution Status on page 959
32-bit CRC
Sentence Terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Double 8
H+60
Double 8
H+68
Double 8
H+76
Enum 4
Hex
4
-
-
H+84 H+88 -
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5.22 INSPVAS
Short INS Position, Velocity and Attitude
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log is the short header version of the INSPVA log (see page 978).
This log provides the position information in WGS84.
Message ID: 508
Log Type: Synch
Recommended Input: log inspvasa ontime 1
ASCII Example: %INSPVASA,1264,144059.000;1264,144059.002135700,51.116680071,114.037929194,515.286704183,277.896368884,84.915188605,8.488207941,0.759619515,-2.892414901,6.179554750,INS_ALIGNMENT_ COMPLETE*855d6f76
Field
Field Type
Description
1
INSPVAS Log header. See Messages on page 25 for more Header information.
2
Week
GNSS Week
3
Seconds Seconds from week start
4
Latitude Latitude (WGS84) [degrees]
5
Longitude Longitude (WGS84) [degrees]
6
Height
Ellipsoidal Height (WGS84) [m]
7
North Velocity
Velocity in a northerly direction (a -ve value implies a southerly direction) [m/s]
8
East Velocity
Velocity in an easterly direction (a -ve value implies a westerly direction) [m/s]
9
Up Velocity
Velocity in an up direction [m/s]
10
Roll
Right-handed rotation from local level around y-axis in degrees
Format
Binary Bytes
-
H
Ulong 4 Double 8 Double 8 Double 8 Double 8
Double 8
Double 8
Double 8
Double 8
Binary Offset 0 H H+4 H+12 H+20 H+28 H+36
H+44
H+52
H+60
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Field
Field Type
11
Pitch
12
Azimuth
13
Status
14
xxxx
15
[CR][LF]
Description
Right-handed rotation from local level around x-axis in degrees
Left-handed rotation around z-axis in degrees clockwise from north This is the inertial azimuth calculated from the IMU gyros and the SPAN filters.
INS Status, see Table 207: Inertial Solution Status on page 959
32-bit CRC
Sentence Terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Double 8
H+68
Double 8
H+76
Enum 4
Hex
4
-
-
H+84 H+88 -
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5.23 INSPVAX
Inertial PVA � Extended
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log includes the information from the INSPVA log, as well as information about the position standard deviation. The position type and solution status fields indicate whether or not the corresponding data is valid.
The INSPVAX log is a large log and is not recommend for high rate logging. If you want to use high rate logging, log the INSPVAS log at a high rate and the INSSTDEVS log ontime 1.
This log provides the position information in the user datum. To determine the datum being used, log the BESTPOS log.
Message ID: 1465
Log Type: Synch
Recommended Input: log inspvaxa ontime 1
ASCII example: #INSPVAXA,COM1,0,73.5,FINESTEERING,1695,309428.000,02000040,4e77,43562;INS_ SOLUTION_GOOD,INS_PSRSP,51.11637873403,-114.03825114994,1063.6093,-16.9000,0.0845,-0.0464,0.0127,0.138023492,0.069459386,90.000923268,0.9428,0.6688,1.4746,0.0430,0.0518, 0.0521,0.944295466,0.944567084,1.000131845,3,0*e877c178
Field
Field Type
Data Description
1
INSPVAX Header
Log header. See Messages on page 25 for more information.
Solution status
2
INS Status See Table 207: Inertial Solution Status on
page 959
Position type
3
Pos Type See Table 75: Position or Velocity Type on
page 437
4
Lat
Latitude (degrees)
Format
Binary Bytes
Binary Offset
H
0
Enum 4
H
Enum 4 Double 8
H+4 H+8
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Field
Field Type
Data Description
Format
Binary Bytes
Binary Offset
5
Long
Longitude (degrees)
Double 8
H+16
6
Height
Height above mean sea level (m)
Double 8
H+24
7
Undulation Undulation (m)
Float
4
H+32
8
North Vel North velocity (m/s)
Double 8
H+36
9
East Vel
East velocity (m/s)
Double 8
H+44
10
Up Vel
Up velocity (m/s)
Double 8
H+52
11
Roll
Roll in Local Level (degrees)
Double 8
H+60
12
Pitch
Pitch in Local Level (degrees)
Double 8
H+68
Azimuth in Local Level (degrees)
13
Azimuth
This is the inertial azimuth calculated from the Double 8
IMU gyros and the SPAN filters.
H+76
14
Lat
Latitude standard deviation (m)
Float
4
H+84
15
Long
Longitude standard deviation (m)
Float
4
H+88
16
Height Height standard deviation (m)
Float
4
H+92
17
North Vel North velocity standard deviation (m/s)
Float
4
H+96
18
East Vel East velocity standard deviation (m/s)
Float
4
H+100
19
Up Vel Up velocity standard deviation (m/s)
Float
4
H+104
20
Roll
Roll standard deviation (degrees)
Float
4
H+108
21
Pitch
Pitch standard deviation (degrees)
Float
4
H+112
22
Azimuth Azimuth standard deviation (degrees)
Float
4
H+116
Extended solution status
23
Ext sol stat See Table 208: Extended Solution Status on Hex
4
page 964
H+120
24
Time Since Elapsed time since the last ZUPT or position
Update
update (seconds)
Ushort 2
H+124
25
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+126
26
[CR][LF] Sentence terminator (ASCII only)
-
-
-
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The INS covariance and standard deviation values reported by the SPAN filter are an estimate of the Inertial filter solution quality. In lower accuracy GNSS position modes, such as SINGLE or WAAS (see Table 75: Position or Velocity Type on page 437), the position covariance and standard deviation values can appear to become optimistic compared with the absolute GNSS accuracy. This is due to the INS filter's ability to smooth short term noise in the GNSS solution, although the overall position error envelope still reflects the GNSS accuracy. Therefore, if the desired application requires absolute GNSS position accuracy, it is recommended to also monitor GNSS position messages such as BESTGNSSPOS (see BESTGNSSPOS log on page 939).
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Chapter 5 SPAN Logs
5.24 INSSEEDSTATUS
Status of INS Seed
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log reports the current status of the INS Seed. See the OEM7 SPAN Installation and Operation User Manual for more information about an INS Seed.
Message ID: 2129
Log Type: Asynch
Abbreviated ASCII Syntax: log insseedstatusa onnew
Example: #INSSEEDSTATUSA,COM3,0,66.0,FINESTEERING,1945,315811.009,02040020,9fd0,32768;IN JECTED,ALLVALID,-0.098151498,0.298816800,95.888587952,1634544.0523482216522098,-3664556.8064546003006399,4942534.6315599447116256,16.9000,0,0,0,0*f353470c
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
INSSEEDSTATUS Command header. See Messages on
header
page 25 for more information.
-
H
0
Status of the INS Seed being injected into
2
Injection Status the solution. See Table 213: Injection
Enum 4
H
Status on the next page
Flag to indicate if current seed data in
3
Validity Status NVM is valid. See Table 214: Validity
Bool
4
Status on the next page
H+4
4
Pitch
IMU frame pitch angle (degrees)
Float
4
H+8
5
Roll
IMU frame roll angle (degrees)
Float
4
H+12
6
Azimuth
IMU frame azimuth angle (degrees)
Float
4
H+16
7
PositionX
ECEF-based x-coordinate
Double 8
H+20
8
PositionY
ECEF-based y-coordinate
Double 8
H+28
9
PositionZ
ECEF-based z-coordinate
Double 8
H+36
10
Undulation
Geoid undulation
Float
4
H+44
11
Reserved
Ulong 4
H+48
12
Reserved
Ulong 4
H+52
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Field Field Type
13
Reserved
14
Reserved
15
xxxx
16
[CR][LF]
Description
32-bit CRC (ASCII and Binary only) Sentence Terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Ulong 4
H+56
Ulong 4
H+60
Hex
4
H+64
-
-
-
Table 213: Injection Status
Binary
ASCII
Description
0
NOT_INITIALIZED
INS Seed has not been injected into the solution
1
INVALID
Valid INS Seed was not found in non-volatile memory
2
FAILED
INS Seed has failed validation and has been discarded
3
PENDING
INS Seed is awaiting validation
4
INJECTED
INS Seed alignment data has successfully been injected (including error model data)
5
IGNORED
INS Seed was pending, but has been ignored due to a user commanded filter reset or configuration change
6
ERRORMODELINJECTED INS Seed error model data has successfully been injected
Table 214: Validity Status
Binary
ASCII
Description
0
INVALID
INS Seed in NVM is not valid
1
ALLVALID
INS Seed in NVM is valid
2
ERRORMODELVALID INS Seed error model in NVM is valid (alignment data is not valid)
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5.25 INSSPD
INS Speed
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log contains the most recent speed measurements in the horizontal and vertical directions and includes an INS status indicator.
Message ID: 266
Log Type: Synch
Recommended Input: log insspda ontime 1
ASCII Example: #INSSPDA,USB2,0,20.0,FINESTEERING,1541,487969.000,02040000,7832,37343;1541,4879 69.000549050,329.621116190,14.182070674,-0.126606551,INS_SOLUTION_GOOD *c274fff2
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
INSSPD Header
Log header. See Messages on page 25 for more information.
-
H
0
2
Week
GNSS Week
Ulong 4
H
3
Seconds into Week
Seconds from week start
Double 8
H+4
Actual direction of motion over ground (track over ground) with respect to True North, in degrees
The track over ground is determined by
comparing the current position determined from
4
Trk gnd the GNSS/INS solution with the previously
Double 8
determined position.
Track over ground is best used when the vehicle is moving. When the vehicle is stationary, position error can make the direction of motion appear to change randomly.
H+12
5
Horizontal Speed
Magnitude of horizontal speed in m/s where a positive value indicates forward movement and a negative value indicates reverse movement.
Double
8
H+20
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Field
Field Type
6
Vertical Speed
7
Status
8
xxxx
9
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
Magnitude of vertical speed in m/s where a positive value indicates speed upward and a negative value indicates speed downward.
Double 8
H+28
INS status, see Table 207: Inertial Solution Status on page 959
Enum 4
H+36
32-bit CRC (ASCII, Binary and Short Binary only) Hex
4
H+40
Sentence terminator (ASCII only)
-
-
-
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5.26 INSSPDS
Short INS Speed
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log is the short header version of the INSSPD log (see page 987).
Message ID: 323
Log Type: Synch
Recommended Input: log insspdsa ontime 1
ASCII Example: %INSSPDSA,1541,487975.000;1541,487975.000549050,323.101450813,9.787233999,0.038980077,INS_SOLUTION_GOOD*105ba028
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
INSSPDS Log header. See Messages on page 25 for more
Header
information.
-
H
0
2
Week
GNSS Week
Ulong 4
H
3
Seconds into Week
Seconds from week start
Double 8
H+4
Actual direction of motion over ground (track over ground) with respect to True North, in degrees.
The track over ground is determined by
comparing the current position determined from
4
Trk gnd the GNSS/INS solution with the previously
Double 8
determined position.
Track over ground is best used when the vehicle is moving. When the vehicle is stationary, position error can make the direction of motion appear to change randomly.
H+12
5
Horizontal Speed
Magnitude of horizontal speed in m/s where a positive value indicates forward movement and a negative value indicates reverse movement.
Double
8
H+20
6
Vertical Speed
Magnitude of vertical speed in m/s where a positive value indicates speed upward and a negative value indicates speed downward.
Double 8
H+28
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Field
Field Type
7
Status
8
xxxx
9
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
INS status, see Table 207: Inertial Solution Status on page 959
Enum 4
H+36
32-bit CRC (ASCII, Binary and Short Binary only) Hex
4
H+40
Sentence terminator (ASCII only)
-
-
-
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5.27 INSSTDEV
INS PVA standard deviations
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log displays the INS PVA standard deviations.
Message ID: 2051
Log Type: Synch
Abbreviated ASCII Syntax: log insstdev ontime 1
ASCII Example: #INSSTDEVA,COM1,0,78.0,FINESTEERING,1907,233990.000,02000020,3e6d,32768;0.4372, 0.3139,0.7547,0.0015,0.0015,0.0014,3.7503,3.7534,5.1857,26000005,0,0,01ffd1bf,0 *3deca7d2
Field Field Type
Description
Binary Format
Binary Binary Bytes Offset
1
INSSTDEV Header
Log header. See Messages on page 25 for more information.
-
H
0
2
Latitude Latitude standard deviation (m)
Float
4
H
3
Longitude Longitude standard deviation (m)
Float
4
H+4
4
Height
Height standard deviation (m)
Float
4
H+8
5
North Velocity
North velocity standard deviation (m/s)
Float
4
H+12
6
East Velocity
East velocity standard deviation (m/s) Float
4
H+16
7
Up Velocity
Up velocity standard deviation (m/s)
Float
4
H+20
8
Roll
Roll standard deviation (degrees)
Float
4
H+24
9
Pitch
Pitch standard deviation (degrees)
Float
4
H+28
10
Azimuth Azimuth standard deviation (degrees) Float
4
H+32
Extended solution status
11
Ext sol stat See Table 208: Extended Solution
Ulong
4
Status on page 964
H+36
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Field Field Type
Description
12
Time Since Elapsed time since the last ZUPT or
Update
position update (seconds)
13
Reserved
14
Reserved
15
Reserved
16
xxxx
32-bit CRC (ASCII and Binary only).
17
[CR][LF]
Sentence terminator (ASCII only).
Binary Format
Binary Binary Bytes Offset
Ushort
2
H+40
Ushort
2
Ulong
4
Ulong
4
Hex
4
-
-
H+42 H+44 H+48 H+52 -
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5.28 INSSTDEVS
Short INS PVA standard deviations
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log is the short header version of the INSSTDEV log (see page 991).
Message ID: 2052
Log Type: Synch
Abbreviated ASCII Syntax: log insstdevs ontime 1
ASCII Example: %INSSTDEVSA,1907,233990.000;0.4372,0.3139,0.7547,0.0015,0.0015,0.0014,3.7503,3. 7534,5.1857,26000005,0,0,01ffd1bf,0*2c967ced
Field Field Type
Description
Binary Format
Binary Binary Bytes Offset
1
INSSTDEV Header
Log header. See Messages on page 25 for more information.
-
H
0
2
Latitude Latitude standard deviation (m)
Float
4
H
3
Longitude Longitude standard deviation (m)
Float
4
H+4
4
Height
Height standard deviation (m)
Float
4
H+8
5
North Velocity
North velocity standard deviation (m/s)
Float
4
H+12
6
East Velocity
East velocity standard deviation (m/s) Float
4
H+16
7
Up Velocity
Up velocity standard deviation (m/s)
Float
4
H+20
8
Roll
Roll standard deviation (degrees)
Float
4
H+24
9
Pitch
Pitch standard deviation (degrees)
Float
4
H+28
10
Azimuth Azimuth standard deviation (degrees) Float
4
H+32
Extended solution status
11
Ext sol stat See Table 208: Extended Solution
Ulong
4
Status on page 964
H+36
12
Time Since Elapsed time since the last ZUPT or
Update
position update (seconds)
Ushort
2
H+40
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Field Field Type
Description
13
Reserved
14
Reserved
15
Reserved
16
xxxx
32-bit CRC (ASCII and Binary only).
17
[CR][LF]
Sentence terminator (ASCII only).
Binary Format
Binary Binary Bytes Offset
Ushort
2
H+42
Ulong
4
H+44
Ulong
4
H+48
Hex
4
H+52
-
-
-
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5.29 INSUPDATESTATUS
INS Update Status
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log provides the most recent INS update information. It provides information about what updates were performed in the INS filter at the last update epoch and a wheel sensor status indicator.
Message ID: 1825
Log Type: Asynch
Recommended Input: log insupdatestatus onchanged
ASCII Example: #INSUPDATESTATUSA,COM2,0,76.0,FINESTEERING,1934,149288.000,02000000,78f1,32768; SINGLE,0,0,0,INACTIVE,INACTIVE,00000005,00ffd1bf,0,0*d6b7ee02
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
INSUPDATE STATUS Header
Log header. See Messages on page 25 for more information.
-
H
0
Type of GNSS solution used for the last INS
2
PosType
filter update. See Table 75: Position or Velocity Type on
Enum
4
H
page 437
3
NumPSR
Number of raw pseudorange observations used in the last INS filter update.
Integer 4
H+4
4
NumADR
Number of raw phase observations used in the last INS filter update.
Integer 4
H+8
5
NumDOP
Number of raw doppler observations used in the last INS filter update.
Integer
4
H+12
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Field Field Type
6
DMI Update Status
Heading
7
Update
Status
8
Ext sol stat
9
INS Update Options
10
Reserved
11
Reserved
12
xxxx
13
[CR][LF]
Description
Distance measurement instrument (wheel sensor) status 0 = INACTIVE 1 = ACTIVE 2 = USED 3 = UNSYNCED 4 = BAD_MISC 5 = HIGH_ROTATION 6 = DISABLED 7 = ZUPT Status of the heading update during the last INS filter update. See Table 215: Heading Update Values below Extended solution status See Table 208: Extended Solution Status on page 964 INS Update Options mask. See Table 216: INS Update Status on the next page
32-bit CRC (ASCII, Binary and Short Binary only) Sentence terminator (ASCII only)
Format
Binary Bytes
Enum 4
Enum 4
Ulong 4
Ulong 4
Ulong 4 Ulong 4
Hex
4
-
-
Binary Offset
H+16
H+20 H+24 H+28 H+32 H+36 H+40 -
Table 215: Heading Update Values
Binary ASCII
Description
0
INACTIVE A heading update was not available.
Heading updates are running, but the epoch is not used as an update. When
1
ACTIVE
all other rejection criteria pass, a heading update will still only be applied
once every 5 seconds (20 seconds when stationary).
2
USED
The update for that epoch was taken.
5
HEADING_ UPDATE_
Heading updates are running, but was not performed this epoch due to a large disagreement with filter estimates.
BAD_MISC
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Table 216: INS Update Status
Nibble Bit
Mask
Description
Range Value
0 0x00000001 Position update
0 = Disabled 1 = Enabled
1 0x00000002 Phase update N0
2 0x00000004 Zero velocity update
0 = Disabled 1 = Enabled
0 = Disabled 1 = Enabled
3 0x00000008 Wheel sensor update
0 = Disabled 1 = Enabled
4 0x00000010 ALIGN (heading) update
0 = Disabled 1 = Enabled
N1
5 0x00000020 External position update
0 = Disabled 1 = Enabled
6 0x00000040 Reserved
7 0x00000080 Doppler update
0 = Disabled 1 = Enabled
8 0x00000100 Pseudorange update
0 = Disabled 1 = Enabled
9 0x00000200 Velocity update N2
10 0x00000400 Reserved
0 = Disabled 1 = Enabled
11 0x00000800 Dead reckoning update
0 = Disabled 1 = Enabled
12 0x00001000 Phase wind up update
0 = Disabled 1 = Enabled
13
0x00002000
Course over ground update
0 = Disabled 1 = Enabled
N3
14 0x00004000 External velocity update
0 = Disabled 1 = Enabled
15 0x00008000 External attitude update
0 = Disabled 1 = Enabled
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Nibble Bit
Mask
Description
16 0x00010000 External heading update
N4
17 0x00020000 External height update
18 0x00040000 Reserved 19 0x00080000 Reserved
Range Value
0 = Disabled 1 = Enabled
0 = Disabled 1 = Enabled
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5.30 INSVEL
INS Velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log contains the most recent North, East and Up velocity vector values, with respect to the local level frame and also includes an INS status indicator.
Message ID: 267
Log Type: Synch
Recommended Input: log insvela ontime 1
ASCII Example: #INSVELA,USB1,0,19.0,FINESTEERING,1543,236173.000,02000000,9c95,37343;1543,2361 73.002500000,14.139471871,-0.070354464,-0.044204369,INS_SOLUTION_GOOD*3c37c0fc
Field Field Type
Description
1
INSVEL Header
Log header. See Messages on page 25 for more information.
2
Week
GNSS Week
3
Seconds into Week
Seconds from week start
4
North Velocity
Velocity North in m/s
5
East Velocity
Velocity East in m/s
6
Up Velocity Velocity Up in m/s
7
Status
INS status, see Table 207: Inertial Solution Status on page 959
8
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
9
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
Double 8
H+4
Double 8
H+12
Double 8 Double 8 Enum 4
H+20 H+28 H+36
Hex
4
-
-
H+40 -
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5.31 INSVELS
Short INS Velocity
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log is the short header version of the INSVEL log (see page 999).
Message ID: 324
Log Type: Synch
Recommended Input: log insvelsa ontime 1
ASCII Example: %INSVELSA,1921,152855.200;1921,152855.200000000,0.1077,-9.8326,-0.1504,INS_ SOLUTION_GOOD*efd71f65
Field Field Type
Description
1
INSVELS Header
Log header. See Messages on page 25 for more information.
2
Week
GNSS Week
3
Seconds into Week
Seconds from week start
4
North Velocity
Velocity North m/s
5
East Velocity
Velocity East m/s
6
Up Velocity Velocity Up m/s
7
Status
INS status, see Table 207: Inertial Solution Status on page 959
8
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
9
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
Double 8
H+4
Double 8
H+12
Double 8 Double 8 Enum 4
H+20 H+28 H+36
Hex
4
-
-
H+40 -
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5.32 INSVELX
Inertial Velocity � Extended
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log includes the information from the INSVEL log, as well as information about the velocity standard deviation. The position type and solution status fields indicate whether or not the corresponding data is valid.
The INSVELX log is a large log and is not recommend for high rate logging.
If you want to use high rate logging, log the INSVELS log at a high rate and the INSSTDEVS log ontime 1.
Message ID: 1458
Log Type: Synch
Recommended Input: log insvelxa ontime 1
ASCII example: #INSVELXA,COM1,0,80.0,FINESTEERING,1690,494394.000,02000040,1f8e,43441;INS_ ALIGNMENT_COMPLETE,INS_ PSRSP,0.0086,0.0015,0.0215,0.0549,0.0330,0.0339,3,0*ec33e372
Field Field Type
Description
Format
Binary Bytes
1
INSVELX Header
Log header. See Messages on page 25 for more information.
H
Solution status
2
INS Status See Table 207: Inertial Solution Status on Enum 4
page 959
Position type
3
Pos Type
See Table 75: Position or Velocity Type
Enum
4
on page 437
4
North Vel
North velocity (m/s)
Double 8
5
East Vel
East velocity (m/s)
Double 8
6
Up Vel
Up velocity (m/s)
Double 8
7
North Vel North velocity standard deviation (m/s)
Float
4
8
East Vel East velocity standard deviation (m/s)
Float
4
Binary Offset 0
H
H+4
H+8 H+16 H+24 H+32 H+36
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Field Field Type
Description
9
Up Vel
Up velocity standard deviation (m/s)
Extended solution status
10
Ext sol stat See Table 208: Extended Solution Status
on page 964
11
Time Since Update
Elapsed time since the last ZUPT or position update (seconds)
11
xxxx
32-bit CRC (ASCII and Binary only)
12
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Float
4
Hex
4
Ushort 2
Hex
4
-
-
Binary Offset H+40
H+44
H+48 H+50 -
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5.33 MARK1PVA, MARK2PVA, MARK3PVA and MARK4PVA
Position, Velocity and Attitude at Mark Input Event
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
These logs output position, velocity and attitude information, with respect to the SPAN frame, when an event is received on the Mark input. If the SETINSTRANSLATION command (see page 922) and SETINSROTATION command (see page 919) has been entered with a MARKx parameter, the MARKxPVA log will contain the solution translated, and then rotated, by the values provided in the commands (e.g. SETINSTRANSLATION MARK1 and SETINSROTATION MARK1 commands for the MARK1PVA log). See the SETINSTRANSLATION command on page 922 and SETINSROTATION command on page 919.
The MARKxPVA logs available are dependent on the receiver used in the SPAN system. For information about the Event lines supported, see the Strobe Specifications for the receiver in the OEM7 SPAN Installation and Operation User Manual.
Message ID:
1067 (MARK1PVA) 1068 (MARK2PVA) 1118 (MARK3PVA) 1119 (MARK4PVA)
Log Type: Synch
Recommended Input: log mark1pva onnew log mark2pva onnew log mark3pva onnew log mark4pva onnew
Abbreviated ASCII Example:
#MARK1PVAA,COM1,0,74.5,FINESTEERING,1732,247231.455,02040020,5790, 12002;1732,247231.454623850,51.11693182283,-114.03885213810,1047.4525, 0.0004,0.0004,-0.0006,0.847121689,1.124640813,278.577037489, INS_SOLUTION_GOOD*5a6b060e
#MARK2PVAA,COM1,0,74.5,FINESTEERING,1732,247232.271,02040020,2425, 12002;1732,247232.271459820,51.11693179023,-114.03885206704,1047.4529, 0.0004,-0.0011,-0.0007,0.837101074,1.134127754,278.346498557, INS_SOLUTION_GOOD*08209ec0
#MARK3PVAA,COM1,0,74.5,FINESTEERING,1732,247232.271,02040020,2425, 12002;1732,247232.271459820,51.11693179023,-114.03885206704,1047.4529, 0.0004,-0.0011,-0.0007,0.837101074,1.134127754,278.346498557, INS_SOLUTION_GOOD*08209ec0
#MARK4PVAA,COM1,0,74.5,FINESTEERING,1732,247232.271,02040020,2425, 12002;1732,247232.271459820,51.11693179023,-114.03885206704,1047.4529,
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0.0004,-0.0011,-0.0007,0.837101074,1.134127754,278.346498557, INS_SOLUTION_GOOD*08209ec0
Field
Field Type
Description
1
MARKxPVA Log header. See Messages on page 25 for more
Header
information.
2
Week
GNSS Week at Mark input
3
Seconds Seconds from week at Mark input
4
Latitude Latitude (WGS84) at Mark input
5
Longitude Longitude (WGS84) at Mark input
6
Height
Height (WGS84) at Mark input (m)
7
North Velocity
Velocity in a northerly direction (a -ve value implies a southerly direction) at Mark input (m/s)
8
East Velocity
Velocity in an easterly direction (a -ve value implies a westerly direction) at Mark input (m/s)
9
Up Velocity
Velocity in an up direction at Mark input (m/s)
10
Roll
Right-handed rotation from local level around y-axis in degrees at Mark input
11
Pitch
Right-handed rotation from local level around x-axis in degrees at Mark input
12
Azimuth
Left-handed rotation around z-axis in degrees clockwise from North at Mark input
13
Status
INS Status, see Table 207: Inertial Solution Status on page 959 at Mark input
14
xxxx
32-bit CRC
15
[CR][LF] Sentence Terminator (ASCII only)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4 Double 8 Double 8 Double 8 Double 8
H H+4 H+12 H+20 H+28
Double 8
H+36
Double 8
Double 8
Double 8
Double 8
Double 8
Enum 4
Hex
4
-
-
H+44
H+52 H+60 H+68 H+76 H+84 H+88 -
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5.34 PASHR
NMEA, Inertial Attitude Data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
The PASHR log uses a UTC time, calculated with default parameters, to output NMEA messages without waiting for a valid almanac. The UTC time status is set to WARNING since it may not be 100% accurate. When a valid almanac is available, the receiver uses the real parameters and sets the UTC time to VALID. For more information about NMEA, refer to NMEA Standard Logs on page 624. The PASHR log contains only INS derived attitude information and is only filled when an inertial solution is available.
As of firmware version 7.03.00, an INS status flag (field 12) has been added to the PASHR log. This change was made to match the industry accepted form of the message. Previous firmware versions on OEM7 and OEM6 do not output this field.
Message ID: 1177 Log Type: Synch Recommended Input:
log pashr ontime 1
Example: $PASHR,123816.80,312.95,T,-0.83,-0.42,-0.01,0.234,0.224,0.298,2,1*0B
Field Structure
1
$PASHR
2
Time
3
Heading
4
True Heading
5
Roll
6
Pitch
7
Heave
Description
Symbol Example
Log header. See Messages on page 25 for more information.
---
$PASHR
UTC Time
hhmmss.ss 195124.00
Heading value in decimal degrees
The heading is the inertial azimuth calculated from the IMU gyros and the SPAN filters.
HHH.HH
305.30
T displayed if heading is relative to true north.
T
T
Roll in decimal degrees. The � sign will always be displayed.
RRR.RR
Pitch in decimal degrees. The � sign will always be displayed.
PPP.PP
Instantaneous heave in meters. The � will always be displayed
Heave
+0.05 -0.13 +0.01
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Field Structure
Description
8
Roll Accuracy
Roll standard deviation in decimal degrees.
9
Pitch Accuracy
Pitch standard deviation in decimal degrees.
10
Heading Accuracy
Heading standard deviation in decimal degrees.
0 = No position
11
GPS Update Quality Flag
1 = All non-RTK fixed integer positions
2 = RTK fixed integer position
0 = All SPAN Pre-Alignment INS Status
1 = All SPAN Post-Alignment INS Status - These
12
INS Status Flag
include: INS_ALIGNMENT_COMPLETE, INS_SOLUTION_
GOOD, INS_HIGH_VARIANCE, INS_SOLUTION_
FREE
13
Checksum Checksum
14
[CR][LF]
Sentence terminator
Symbol Example
rr.rrr
0.180
pp.ppp
0.185
hh.hhh
4.986
1
1
1
1
*XX
*2B
[CR][LF]
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5.35 RAWIMU
Raw IMU Data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log contains an IMU status indicator and the measurements from the accelerometers and gyros with respect to the IMU enclosure frame. If logging this data, consider the RAWIMUS log (see page 1027) to reduce the amount of data.
The change in velocity (acceleration) and angle (rotation rate) scale factors for each IMU type can be found in Table 229: Raw IMU Scale Factors on page 1029. Multiply the appropriate scale factor by the count value for the velocity (field 5-7) and angle (field 810) increments.
To obtain acceleration in m/s/s or rotation rate in rad/s, multiply the velocity/rotation increments by the output rate of the IMU (e.g., 100 Hz for HG1700, HG1900, HG1930 and HG4930; 200 Hz for ISA-100C, iMAR-FSAS, LN200, KVH1750 and ADIS16488; 125 Hz for STIM300 and G320N). The units of acceleration and rotation rate will depend on the IMU Scale Factors.
This log is output in the IMU Body frame.
Message ID: 268
Log Type: Asynch
Recommended Input: log rawimua onnew
ASCII Example: #RAWIMUA,COM1,0,68.5,FINESTEERING,1724,219418.009,024c0040,6125,30019;1724,2194 18.008755000,00000077,64732,56,298,8,28,-3*7378486f
Field
Field Type
Description
1
RAWIMU Log header. See Messages on page 25 for more Header information.
2
Week
GNSS Week
Seconds
3
into
Seconds from week start
Week
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
Double 8
H+4
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Field
Field Type
4
IMU Status
5
Z Accel Output
- (Y
6
Accel
Output)
7
X Accel Output
Description
Format
Binary Bytes
Binary Offset
The status of the IMU. This field is given in a fixed length (n) array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs.
For the raw IMU status, see one of the following tables:
l Table 217: iIMU-FSAS IMU Status on the next page
l Table 218: HG1700 IMU Status on page 1010
l Table 219: LN200 IMU Status on page 1012
l Table 220: ISA-100C IMU Status on page 1013
l Table 221: IMU-CPT IMU Status on page 1014
l Table 222: IMU-KVH1750 IMU Status on page 1016
Hex Ulong
4
l Table 223: HG1900 and HG1930 IMU Status on page 1017
l Table 224: HG4930 IMU Status on page 1019
l Table 225: ADIS16488 and IMU-IGM-A1 IMU Status on page 1020
l Table 226: STIM300 and IMU-IGM-S1 IMU Status on page 1022
l Table 227: �IMU IMU Status on page 1023
l Table 228: G320N IMU Status on page 1025
Also refer to Interface Control Documentation as provided by Honeywell or Northrop Grumman.
H+12
Change in velocity count along z axis
Long
4
H+16
- (Change in velocity count along y axis)
A negative value implies the output is along the
positive y-axis marked on the IMU. A positive
Long
4
value implies the change is in the direction
opposite to that of the y-axis marked on the IMU.
H+20
Change in velocity count along x axis
Long
4
H+24
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Field
Field Type
Description
8
Z Gyro Output
Change in angle count around z axis. Right-handed
- (Change in angle count around y axis).
Right-handed
- (Y
9
Gyro
A negative value implies the output is along the
Output) positive y-axis marked on the IMU. A positive
value implies the change is in the direction
opposite to that of the y-axis marked on the IMU.
10
X Gyro Output
Change in angle count around x axis. Right-handed
11
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
12
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Long
4
H+28
Long
4
H+32
Long
4
Hex
4
-
-
H+36 H+40 -
Table 217: iIMU-FSAS IMU Status
Nibble Bit
Mask
Description
0 0x00000001
1 0x00000002
N0
Reserved
2 0x00000004
3 0x00000008
4 0x00000010 Gyro warm-up
5 0x00000020 Gyro self-test active N1
6 0x00000040 Gyro status bit set
7 0x00000080 Gyro time-out command interface
8 0x00000100 Power-up built-in test (PBIT)
9 0x00000200 Reserved N2
10 0x00000400 Interrupt
11 0x00000800 Reserved
12 0x00001000 Warm-up
13 0x00002000
N3
Reserved
14 0x00004000
15 0x00008000 Initiated built-in test (IBIT)
Range Value
0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed
0 = Passed, 1 = Failed
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Nibble Bit
Mask
16 0x00010000
17 0x00020000 N4
18 0x00040000
19 0x00080000
20 0x00100000
21 0x00200000 N5
22 0x00400000
23 0x00800000
24 0x01000000
25 0x02000000 N6
26 0x04000000
27 0x08000000
28 0x10000000
29 0x20000000 N7
30 0x40000000
31 0x80000000
Description
Reserved
Accelerometer Accelerometer time-out Reserved Gyro initiated BIT Gyro self-test Gyro time-out Analog-to-Digital (AD) Test mode Software RAM/ROM Reserved Operational Interface Interface time-out
Range Value
0 = Passed, 1 = Failed 0 = Passed, 1 = Failed
0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed
0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed
Nibble N0
N1
Bit 0 1 2 3 4 5 6 7
Table 218: HG1700 IMU Status
Mask
Description
Range Value
0x00000001
Reserved
0x00000002
Reserved
0x00000004
Reserved
0x00000008
Reserved
0x00000010
IMU Status
0 = Passed, 1 = Failed
0x00000020
IMU Status
0 = Passed, 1 = Failed
0x00000040
IMU Status
0 = Passed, 1 = Failed
0x00000080
IMU Status
0 = Passed, 1 = Failed
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Nibble N2 N3 N4 N5 N6 N7
Bit 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Mask 0x00000100 0x00000200 0x00000400 0x00000800 0x00001000 0x00002000 0x00004000 0x00008000 0x00010000 0x00020000 0x00040000 0x00080000 0x00100000 0x00200000 0x00400000 0x00800000 0x01000000 0x02000000 0x04000000 0x08000000 0x10000000 0x20000000 0x40000000 0x80000000
Description Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved IMU Status IMU Status IMU Status IMU Status IMU Status
Range Value
0 = Passed, 1= Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed
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Nibble N0 N1 N2 N3 N4 N5
Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
Table 219: LN200 IMU Status
Mask
Description
Range Value
0x00000001
IMU Status
0 = Passed, 1 = Failed
0x00000002
IMU Status
0 = Passed, 1 = Failed
0x00000004
IMU Status
0 = Passed, 1 = Failed
0x00000008
IMU Status
0 = Passed, 1 = Failed
0x00000010
IMU Status
0 = Passed, 1 = Failed
0x00000020
IMU Status
0 = Passed, 1 = Failed
0x00000040
IMU Status
0 = Passed, 1 = Failed
0x00000080
IMU Status
0 = Passed, 1 = Failed
0x00000100
IMU Status
0 = Passed, 1 = Failed
0x00000200
IMU Status
0 = Passed, 1 = Failed
0x00000400
IMU Status
0 = Passed, 1 = Failed
0x00000800
IMU Status
0 = Passed, 1 = Failed
0x00001000
IMU Status
0 = Passed, 1 = Failed
0x00002000
IMU Status
0 = Passed, 1 = Failed
0x00004000
IMU Status
0 = Passed, 1 = Failed
0x00008000
Reserved
0x00010000
Reserved
0x00020000
Reserved
0x00040000
Reserved
0x00080000
Reserved
0x00100000
Reserved
0x00200000
Reserved
0x00400000
Reserved
0x00800000
Reserved
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Nibble N6
N7
Bit 24 25 26 27 28 29 30 31
Mask 0x01000000 0x02000000 0x04000000 0x08000000 0x10000000 0x20000000 0x40000000 0x80000000
Description IMU Status IMU Status IMU Status IMU Status IMU Status Reserved IMU Status Reserved
Range Value 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed
0 = Passed, 1 = Failed
Table 220: ISA-100C IMU Status
Nibble Bit
Mask
Description
Range Value
0 0x00000001 Maintenance Indication
0 = Normal, 1 = System Maintenance Indicator
N0
1 0x00000002 Accelerometers Invalid
0 = Normal, 1 = Invalid
2 0x00000004 Accelerometer X Warning 0 = Normal, 1 = Warning
3 0x00000008 Accelerometer Y Warning 0 = Normal, 1 = Warning
4 0x00000010 Accelerometer Z Warning 0 = Normal, 1 = Warning
5 0x00000020 Accelerometer X NOGO
0 = Normal, 1 = NOGO
N1
6 0x00000040 Accelerometer Y NOGO
0 = Normal, 1 = NOGO
7 0x00000080 Accelerometer Z NOGO
0 = Normal, 1 = NOGO
8 0x00000100 Reset Occurred
0 = Normal, 1 = First Message after ISA-100C Reset
N2
9 0x00000200 Gyroscopes Invalid
0 = Normal, 1 = Invalid
10 0x00000400 Gyroscope X Warning
0 = Normal, 1 = Warning
11 0x00000800 Gyroscope Y Warning
0 = Normal, 1 = Warning
12 0x00001000 Gyroscope Z Warning
0 = Normal, 1 = Warning
13 0x00002000 Gyroscope X NOGO N3
14 0x00004000 Gyroscope Y NOGO
0 = Normal, 1 = NOGO 0 = Normal, 1 = NOGO
15 0x00008000 Gyroscope Z NOGO
0 = Normal, 1 = NOGO
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Nibble Bit
Mask
Description
16 0x00010000
17 0x00020000 N4
18 0x00040000
19 0x00080000
20 0x00100000
21 0x00200000 N5
22 0x00400000 IMU temperature reading as follows:
23 0x00800000 Signed 2-byte value (SHORT)
24 0x01000000 1 LSB = 3.90625e-3 Celsius
25 0x02000000 Temperature Range +/- 128 Celsius N6
26 0x04000000
27 0x08000000
28 0x10000000
29 0x20000000 N7
30 0x40000000
31 0x80000000
Range Value
Table 221: IMU-CPT IMU Status
Nibble Bit
Mask
Description
Range Value
0 0x00000001 Gyro X Status
1 = Valid, 0 = Invalid
1 0x00000002 Gyro Y Status N0
2 0x00000004 Gyro Z Status
1 = Valid, 0 = Invalid 1 = Valid, 0 = Invalid
3 0x00000008 Unused
Set to 0
4 0x00000010 Accelerometer X Status
1 = Valid, 0 = Invalid
5 0x00000020 Accelerometer Y Status N1
6 0x00000040 Accelerometer Z Status
1 = Valid, 0 = Invalid 1 = Valid, 0 = Invalid
7 0x00000080 Unused
Set to 0
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Nibble Bit
Mask
8 0x00000100
9 0x00000200 N2
10 0x00000400
11 0x00000800
12 0x00001000
13 0x00002000 N3
14 0x00004000
15 0x00008000
16 0x00010000
17 0x00020000 N4
18 0x00040000
19 0x00080000
20 0x00100000
21 0x00200000 N5
22 0x00400000
23 0x00800000
24 0x01000000
25 0x02000000 N6
26 0x04000000
27 0x08000000
28 0x10000000
29 0x20000000 N7
30 0x40000000
31 0x80000000
Description
Range Value
IMU Data Sequence Counter read in a Ushort. Note: Increments for each message and resets to 0 after 127.
Unused
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Table 222: IMU-KVH1750 IMU Status
Nibble Bit
Mask
Description
Range Value
0 0x00000001 Gyro X Status
1 = Valid, 0 = Invalid
1 0x00000002 Gyro Y Status N0
2 0x00000004 Gyro Z Status
1 = Valid, 0 = Invalid 1 = Valid, 0 = Invalid
3 0x00000008 Unused
Set to 0
4 0x00000010 Accelerometer X Status
1 = Valid, 0 = Invalid
5 0x00000020 Accelerometer Y Status N1
6 0x00000040 Accelerometer Z Status
1 = Valid, 0 = Invalid 1 = Valid, 0 = Invalid
7 0x00000080 Unused
Set to 0
8 0x00000100
9 0x00000200 N2
10 0x00000400
11 0x00000800 IMU Data Sequence Counter read in a Ushort. 12 0x00001000 Note: Increments for each message and resets to 0 after 127.
13 0x00002000 N3
14 0x00004000
15 0x00008000
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Nibble Bit
Mask
Description
Range Value
16 0x00010000
17 0x00020000 N4
18 0x00040000
IMU temperature reading as follows: 19 0x00080000
Signed 2-byte value (SHORT) 20 0x00100000
Rounded to the nearest degree
21 0x00200000 N5
22 0x00400000 Example:
23 0x00800000 <RAWIMU COM1 0 75.0 FINESTEERING 1813 514207.000 00000020 fa9a 45836 1813 514207.000000000 00260077 32164 -47 -305 1 -10
24 0x01000000 0
25 0x02000000
N6
26 0x04000000 IMU status = 00260077
Temperatures bytes = 0026 27 0x08000000
Decimal value = 38 degrees C
28 0x10000000
29 0x20000000 N7
30 0x40000000
31 0x80000000
Nibble N0
N1
Bit 0 1 2 3 4 5 6 7
Table 223: HG1900 and HG1930 IMU Status
Mask
Description
Range Value
0x00000001
0x00000002 0x00000004
Reserved
0x00000008
0x00000010
IMU Status
0 = Passed, 1 = Failed
0x00000020
IMU Status
0 = Passed, 1 = Failed
0x00000040
IMU Status
0 = Passed, 1 = Failed
0x00000080
IMU Status
0 = Passed, 1 = Failed
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Nibble N2 N3 N4 N5 N6 N7
Bit 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Mask 0x00000100 0x00000200 0x00000400 0x00000800 0x00001000 0x00002000 0x00004000 0x00008000 0x00010000 0x00020000 0x00040000 0x00080000 0x00100000 0x00200000 0x00400000 0x00800000 0x01000000 0x02000000 0x04000000 0x08000000 0x10000000 0x20000000 0x40000000 0x80000000
Description Reserved
Range Value
Reserved
Reserved
Reserved
IMU Status Reserved IMU Status IMU Status IMU Status IMU Status IMU Status Reserved
0 = Passed, 1 = Failed
0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed 0 = Passed, 1 = Failed
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Nibble N0 N1 N2 N3 N4 N5
Table 224: HG4930 IMU Status
Bit
Mask
Description
Range Value
0
0x00000001
IMU Status
0 = Passed, 1 = Failed
1
0x00000002
2
0x00000004
Reserved
3
0x00000008
Gyro Status
0 = Passed, 1 = Failed
4
0x00000010
Accelerometer Status
0 = Passed, 1 = Failed
5
0x00000020
Reserved
6
0x00000040
IMU Status
0 = Passed, 1 = Failed
7
0x00000080
Reserved
8
0x00000100
9
0x00000200
10 0x00000400
Reserved
11 0x00000800
12 0x00001000
13 0x00002000 14 0x00004000
Reserved
15 0x00008000
16 0x00010000
17 0x00020000 18 0x00040000
Reserved
19 0x00080000
20 0x00100000
21 0x00200000 22 0x00400000
Reserved
23 0x00800000
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Nibble N6
N7
Bit
Mask
24 0x01000000
25 0x02000000
26 0x04000000
27 0x08000000
28 0x10000000
29 0x20000000
30 0x40000000
31 0x80000000
Description Reserved
Reserved
Range Value
Table 225: ADIS16488 and IMU-IGM-A1 IMU Status
Nibble Bit
Mask
Description
Range Value
0 0x00000001 Alarm Status Flag
1 0x00000002
N0
Reserved
2 0x00000004
3 0x00000008 SPI Communication Error
0 = Passed, 1 = Failed
4 0x00000010 Sensor Over-Range
N1
5 0x00000020 Initial Self Test Failure
0 = Passed, 1 = One of more sensors overranged
0 = Passed, 1= Failed
6 0x00000040 Flash Memory Failure
0 = Passed, 1 = Failed
7 0x00000080 Processing Overrun
0 = Passed, 1 = Failed
8 0x00000100 Self Test Failure � X-axis gyro
0 = Passed, 1 = Failed
9 0x00000200 Self Test Failure � Y-axis gyro
0 = Passed, 1 = Failed
N2
10 0x00000400 Self Test Failure � Z-axis gyro
0 = Passed, 1 = Failed
11
0x00000800
Self Test Failure � X-axis accelerometer
0 = Passed, 1 = Failed
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Nibble Bit
Mask
Description
Range Value
12
0x00001000
Self Test Failure � Y-axis accelerometer
0 = Passed, 1 = Failed
N3
13 0x00002000 Self Test Failure � Z-axis
14 0x00004000 Reserved
15 0x00008000
0 = Passed, 1 = Failed
16 0x00010000
17 0x00020000 N4
18 0x00040000
19 0x00080000
20 0x00100000
21 0x00200000
N5
22 0x00400000 IMU temperature reading as follows:
Signed 2-byte value (SHORT) 23 0x00800000
25�C = 0x0000
24 0x01000000 1 LSB = 0.00565�C
25 0x02000000 N6
26 0x04000000
27 0x08000000
28 0x10000000
29 0x20000000 N7
30 0x40000000
31 0x80000000
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Table 226: STIM300 and IMU-IGM-S1 IMU Status
Nibble Bit
Mask
Description
Range Value
0 0x00000001
0 = OK, 1 = X-channel
1 0x00000002
N0
2 0x00000004
0 = OK, 1 = Y-channel 0 = OK, 1 = Z-channel
3 0x00000008 Gyro status
4 0x00000010
0 = OK, 1 = Error in measurement channel (Bits 0-2 flag the error channels)
0 = OK, 1 = Overload (Bits 0-2 flag the error channels)
N1
5 0x00000020
6 0x00000040
0 = OK, 1 = Outside operating conditions 0 = OK, 1 = Startup
7 0x00000080
0 = OK, 1 = System integrity error
8 0x00000100
0 = OK, 1 = X-channel
9 0x00000200
N2
10 0x00000400
0 = OK, 1 = Y-channel 0 = OK, 1 = Z-channel
11 0x00000800
0 = OK, 1 = Error in measurement channel (Bits 0-2 flag the error channels)
Accelerometer Status
12 0x00001000
0 = OK, 1 = Overload (Bits 0-2 flag the error channels)
N3
13 0x00002000
14 0x00004000
0 = OK, 1 = Outside operating conditions 0 = OK, 1 = Startup
15 0x00008000
0 = OK, 1 = System integrity error
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Nibble Bit
Mask
Description
16 0x00010000
17 0x00020000 N4
18 0x00040000
19 0x00080000
20 0x00100000
21 0x00200000 N5
22 0x00400000 Temperature of the X gyro sensor
23 0x00800000 0�C = 0x0000
24 0x01000000 1 LSB = 2-8 �C
25 0x02000000 N6
26 0x04000000
27 0x08000000
28 0x10000000
29 0x20000000 N7
30 0x40000000
31 0x80000000
Range Value
Nibble N0
N1
Bit
Mask
0
0x00000001
1
0x00000002
2
0x00000004
3
0x00000008
4
0x00000010
5
0x00000020
6
0x00000040
7
0x00000080
Table 227: �IMU IMU Status
Description
Range Value
Reset Acknowledged
0 = Normal, 1 = Reset
Gyros Not Initialized
0 = Normal, 1 = Not Initialized
Gyro X Warning
0 = Normal, 1 = Warning
Gyro Y Warning
0 = Normal, 1 = Warning
Gyro Z Warning
0 = Normal, 1 = Warning
Gyro X NOGO
0 = Normal, 1 = NOGO
Gyro Y NOGO
0 = Normal, 1 = NOGO
Gyro Z NOGO
0 = Normal, 1 = NOGO
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Nibble N2 N3 N4 N5 N6 N7
Bit
Mask
8
0x00000100
9
0x00000200
10 0x00000400
11 0x00000800
12 0x00001000
13 0x00002000
14 0x00004000
15 0x00008000
16 0x00010000
17 0x00020000
18 0x00040000
19 0x00080000
20 0x00100000
21 0x00200000
22 0x00400000
23 0x00800000
24 0x01000000
25 0x02000000
26 0x04000000
27 0x08000000
28 0x10000000
29 0x20000000
30 0x40000000
31 0x80000000
Description Reserved Accels Not Initialized Accel X Warning Accel Y Warning Accel Z Warning Accel X NOGO Accel Y NOGO Accel Z NOGO
Range Value
0 = Normal, 1 = Not Initialized 0 = Normal, 1 = Warning 0 = Normal, 1 = Warning 0 = Normal, 1 = Warning 0 = Normal, 1 = NOGO 0 = Normal, 1 = NOGO 0 = Normal, 1 = NOGO
IMU temperature reading as follows: Signed 2-byte value (SHORT) 1 LSB = 3.90625e^-3 �C Temperature Range +/- 128 �C
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Nibble Bit
Mask
0 0x00000001
1 0x00000002 N0
2 0x00000004
3 0x00000008
4 0x00000010
5 0x00000020 N1
6 0x00000040
7 0x00000080
8 0x00000100
9 0x00000200 N2
10 0x00000400
11 0x00000800
12 0x00001000
13 0x00002000 N3
14 0x00004000
15 0x00008000
Table 228: G320N IMU Status
Description
Range Value
Error All
0 = Normal, 1 = Sensor Failure
Reserved
Accel Z - New Data Accel Y - New Data Accel X - New Data Gyro Z - New Data Gyro Y - New Data Gyro X - New Data Temperature - New Data
New Data = 1, No Data = 0 New Data = 1, No Data = 0 New Data = 1, No Data = 0 New Data = 1, No Data = 0 New Data = 1, No Data = 0 New Data = 1, No Data = 0 New Data = 1, No Data = 0
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Nibble Bit
Mask
16 0x00010000
17 0x00020000 N4
18 0x00040000
19 0x00080000
20 0x00100000
21 0x00200000 N5
22 0x00400000
23 0x00800000
24 0x01000000
25 0x02000000 N6
26 0x04000000
27 0x08000000
28 0x10000000
29 0x20000000 N7
30 0x40000000
31 0x80000000
Description
Range Value
IMU Temperature reading as follows: Temperature = [(-0.0037918 * (A - 2634)) + 25] Celsius A: Temperature Sensor output data (decimal)
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5.36 RAWIMUS
Short Raw IMU Data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log is the short header version of the RAWIMU log (see page 1007).
The change in velocity (acceleration) and angle (rotation rate) scale factors for each IMU type can be found in Table 229: Raw IMU Scale Factors on page 1029. Multiply the appropriate scale factor by the count value for the velocity (field 5-7) and angle (field 810) increments.
To obtain acceleration in m/s/s or rotation rate in rad/s, multiply the velocity/rotation increments by the output rate of the IMU (e.g., 100 Hz for HG1700, HG1900, HG1930 and HG4930; 200 Hz for ISA-100C, iMAR-FSAS, LN200, KVH1750 and ADIS16488; 125 Hz for STIM300 and G320N). The units of acceleration and rotation rate will depend on the IMU Scale Factors.
This log is output in the IMU Body frame.
Message ID: 325
Log Type: Asynch
Recommended Input: log rawimusa onnew
ASCII Example: %RAWIMUSA,1105,425384.180;1105,425384.156166800,111607,43088060,430312,3033352,-132863,186983,823*5aa97065
Field
Field Type
Description
1
RAWIMUS Log header. See Messages on page 25 for more
Header
information.
2
Week
GNSS Week
3
Seconds into Week
Seconds from week start
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4
H
Double 8
H+4
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Field
Field Type
Description
Format
Binary Bytes
Binary Offset
The status of the IMU. This field is given in a fixed length (n) array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs.
For the raw IMU status, see one of the following tables:
l Table 217: iIMU-FSAS IMU Status on page 1009
l Table 218: HG1700 IMU Status on page 1010
l Table 219: LN200 IMU Status on page 1012
l Table 220: ISA-100C IMU Status on page 1013
4
IMU Status
l Table 221: IMU-CPT IMU Status on page 1014
l Table 222: IMU-KVH1750 IMU Status on page 1016
Hex Ulong
4
l Table 223: HG1900 and HG1930 IMU Status on page 1017
l Table 224: HG4930 IMU Status on page 1019
l Table 225: ADIS16488 and IMU-IGM-A1 IMU Status on page 1020
l Table 226: STIM300 and IMU-IGM-S1 IMU Status on page 1022
l Table 227: �IMU IMU Status on page 1023
l Table 228: G320N IMU Status on page 1025
Also refer to Interface Control Documentation as provided by Honeywell or Northrop Grumman.
H+12
5
Z Accel Output
Change in velocity count along z axis
Long
4
H+16
- (Change in velocity count along y axis)
A negative value implies the output is along the
6
- (Y Accel positive y-axis marked on the IMU. A positive Output) value implies the change is in the direction
Long
4
opposite to that of the y-axis marked on the
IMU.
H+20
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Field
Field Type
7
X Accel Output
8
Z Gyro Output
9
- (Y Gyro Output)
10
X Gyro Output
11
xxxx
12
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
Change in velocity count along x axis
Long
4
H+24
Change in angle count around z axis Right-handed
Long
4
- (Change in angle count around y axis) Right-handed
A negative value implies the output is along the
positive y-axis marked on the IMU. A positive
Long
4
value implies the change is in the direction
opposite to that of the y-axis marked on the
IMU.
Change in angle count around x axis Right-handed
Long
4
32-bit CRC (ASCII, Binary and Short Binary only) Hex
4
Sentence terminator (ASCII only)
-
-
H+28
H+32
H+36 H+40 -
HG1700-AG58 HG1900-CA29/CA50 HG1930-AA99/CA50
HG1700-AG62 HG4930-AN01
IMU-CPT IMU-KVH1750
IMU-FSAS LN-200
ISA-100C �IMU
Table 229: Raw IMU Scale Factors
Gyroscope Scale Factor
Acceleration Scale Factor
2.0-33 rad/LSB1
2.0-27 ft/s/LSB
2.0-33 rad/LSB 2.0-33 rad/LSB
0.1 / (3600.0x256.0) rad/LSB 0.1x 2-8 arcsec/LSB 2-19 rad/LSB
1.0E-9 rad/LSB
2.0-26 ft/s/LSB 2.0-29 ft/s/LSB 0.05/215 m/s/LSB 0.05 x 2-15 m/s/LSB 2-14 m/s/LSB
2.0E-9 m/s/LSB
1Least Significant Bit (LSB) OEM7 Commands and Logs Reference Manual v10
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ADIS16488 IMU-IGM-A1
STIM300 IMU-IGM-S1
G320N
Gyroscope Scale Factor 720/231 deg/LSB
Acceleration Scale Factor 200/231 m/s/LSB
2-21 deg/LSB (0.008/65536)/125 deg/LSB
2-22 m/s/LSB (0.200/65536)/125 mG/s/LSB 1
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5.37 RAWIMUSX
IMU Data Extended
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This is the short header version of the extended RAWIMUX log intended for use with post-processing. The extended version includes IMU information that is used by the NovAtel Inertial Explorer post-processing software.
The change in velocity (acceleration) and angle (rotation rate) scale factors for each IMU type can be found in Table 229: Raw IMU Scale Factors on page 1029. Multiply the appropriate scale factor by the count value for the velocity (field 7-9) and angle (field 10-12) increments.
To obtain acceleration in m/s/s or rotation rate in rad/s, multiply the velocity/rotation increments by the output rate of the IMU (e.g., 100 Hz for HG1700, HG1900, HG1930 and HG4930; 200 Hz for ISA-100C, iMAR-FSAS, LN200, KVH1750 and ADIS16488; 125 Hz for STIM300 and G320N). The units of acceleration and rotation rate will depend on the IMU Scale Factors.
This log is output in the IMU Body frame.
Message ID: 1462
Log Type: Asynch
Recommended Input: log rawimusxb onnew
ASCII example: %RAWIMUSXA,1692,484620.664;00,11,1692,484620.664389000,00801503,43110635,817242,-202184,-215194,-41188,-9895*a5db8c7b
Field
Field Type
Description
Format
Binary Bytes
Binary Offset
1
RAWIMUSX Log header. See Messages on page 25 for more
Header
information. (short)
-
H
0
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Field
Field Type
2
IMU Info
3
IMU Type
4
GNSS Week
GNSS
5
Week
Seconds
Description
IMU Info Bits Bit 0: If set, an IMU error was detected. Check the IMU Status field for details. Bit 1: If set, the IMU data is encrypted and should not be used. Bits 2 to 7: Reserved
IMU Type identifier. See Table 200: IMU Type on page 887.
Format
Binary Bytes
Binary Offset
Hex Uchar
1
H
Uchar 1
H+1
GNSS Week
Ushort 2
H+2
Seconds from week start
Double 8
H+4
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Field
Field Type
Description
Format
Binary Bytes
Binary Offset
The status of the IMU. This field is given in a fixed length (n) array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs.
For the raw IMU status, see one of the following tables:
l Table 217: iIMU-FSAS IMU Status on page 1009
l Table 218: HG1700 IMU Status on page 1010
l Table 219: LN200 IMU Status on page 1012
l Table 220: ISA-100C IMU Status on page 1013
l Table 221: IMU-CPT IMU Status on
6
IMU Status
page 1014
Hex
4
l Table 222: IMU-KVH1750 IMU Status on Ulong
page 1016
l Table 223: HG1900 and HG1930 IMU Status on page 1017
l Table 224: HG4930 IMU Status on page 1019
l Table 225: ADIS16488 and IMU-IGM-A1 IMU Status on page 1020
l Table 226: STIM300 and IMU-IGM-S1 IMU Status on page 1022
l Table 227: �IMU IMU Status on page 1023
l Table 228: G320N IMU Status on page 1025
Also refer to Interface Control Documentation as provided by Honeywell or Northrop Grumman.
H+12
7
Z Accel
Change in velocity count along Z-axis.
Long
4
H+16
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Field
Field Type
8
-(Y Accel)
9
X Accel
10
Z Gyro
11
-(Y Gyro)
12
X Gyro
13
XXXX
14
[CR][LF]
Description
Format
Binary Bytes
Binary Offset
- (Change in velocity count along y-axis.)
A negative value implies the output is along the
positive y-axis marked on the IMU. A positive Long
4
value implies the change is in the direction
opposite to that of the y-axis marked on the
IMU.
H+20
Change in velocity count along x axis.
Long
4
H+24
Change in angle count around z axis. Right-handed
Long
4
H+28
- (Change in angle count around y axis.) Right-handed
A negative value implies the output is along the
positive y-axis marked on the IMU. A positive Long
4
value implies the change is in the direction
opposite to that of the y-axis marked on the
IMU.
H+32
Change in angle count around x axis. Right-handed
Long
4
H+36
32-bit CRC (ASCII, Binary, and Short Binary only)
Hex
4
H+40
Sentence terminator (ASCII only)
-
-
-
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5.38 RAWIMUX
IMU Data Extended
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log is an extended version of the RAWIMU log intended for use with post-processing. The extended version includes IMU information that is used by the NovAtel Inertial Explorer post-processing software.
The change in velocity (acceleration) and angle (rotation rate) scale factors for each IMU type can be found in Table 229: Raw IMU Scale Factors on page 1029. Multiply the appropriate scale factor by the count value for the velocity (field 7-9) and angle (field 10-12) increments.
To obtain acceleration in m/s/s or rotation rate in rad/s, multiply the velocity/rotation increments by the output rate of the IMU (e.g., 100 Hz for HG1700, HG1900, HG1930 and HG4930; 200 Hz for ISA-100C, iMAR-FSAS, LN200, KVH1750 and ADIS16488; 125 Hz for STIM300 and G320N). The units of acceleration and rotation rate will depend on the IMU Scale Factors.
This log is output in the IMU Body frame.
Message ID: 1461
Log Type: Asynch
Recommended Input: log rawimuxb onnew
ASCII example: #RAWIMUXA,COM1,0,81.5,FINESTEERING,1691,410338.819,024c0020,3fd1,43495;00,5,169 1,410338.818721000,00170705,-113836,-464281,43146813,89,11346,181*01cd06bf
Field
Field Type
Description
1
RAWIMUX Log header. See Messages on page 25 for more
Header
information.
Format
Binary Bytes
Binary Offset
-
H
0
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Field
Field Type
Description
IMU Info Bits
Bit 0: If set, an IMU error was detected. Check
the IMU Status field for details.
2
IMU Info
Bit 1: If set, the IMU data is encrypted and
should not be used.
Bits 2 to 7: Reserved
IMU Type identifier.
3
IMU Type
See Table 200: IMU Type on page 887.
4
GNSS Week
GNSS Week
GNSS
5
Week
Seconds from week start
Seconds
Format
Binary Bytes
Binary Offset
Hex Uchar
1
H
Uchar 1 Ushort 2 Double 8
H+1 H+2 H+4
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Field
Field Type
Description
Format
Binary Bytes
Binary Offset
The status of the IMU. This field is given in a fixed length (n) array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs.
For the raw IMU status, see one of the following tables:
l Table 217: iIMU-FSAS IMU Status on page 1009
l Table 218: HG1700 IMU Status on page 1010
l Table 219: LN200 IMU Status on page 1012
l Table 220: ISA-100C IMU Status on page 1013
6
IMU Status
l Table 221: IMU-CPT IMU Status on page 1014
l Table 222: IMU-KVH1750 IMU Status on page 1016
Hex Ulong
4
l Table 223: HG1900 and HG1930 IMU Status on page 1017
l Table 224: HG4930 IMU Status on page 1019
l Table 225: ADIS16488 and IMU-IGM-A1 IMU Status on page 1020
l Table 226: STIM300 and IMU-IGM-S1 IMU Status on page 1022
l Table 227: �IMU IMU Status on page 1023
l Table 228: G320N IMU Status on page 1025
Also refer to Interface Control Documentation as provided by Honeywell or Northrop Grumman.
H+12
7
Z Accel
Change in velocity count along Z-axis.
Long
4
H+16
- (Change in velocity count along y-axis.)
A negative value implies the output is along the
8
-(Y Accel) positive y-axis marked on the IMU. A positive
Long
4
value implies the change is in the direction
opposite to that of the y-axis marked on the
IMU.
H+20
9
X Accel
Change in velocity count along x axis.
Long
4
H+24
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Field
Field Type
Description
10
Z Gyro
Change in angle count around z axis. Right-handed
- (Change in angle count around y axis.) Right-handed
A negative value implies the output is along the
11
-(Y Gyro) positive y-axis marked on the IMU. A positive
value implies the change is in the direction
opposite to that of the y-axis marked on the
IMU.
12
X Gyro
Change in angle count around x axis. Right-handed
13
XXXX
32-bit CRC (ASCII, Binary, and Short Binary only)
14
[CR][LF] Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Long
4
H+28
Long
4
H+32
Long
4
Hex
4
-
-
H+36 H+40 -
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5.39 RELINSPVA
Relative INSPVA log
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log provides the relative offset between the Master and Rover Inertial Solutions. The output solution provides the offset of where the local station is with respect to the other station.
Message ID: 1446
Log Type: Asynch
Recommended Input: LOG RELINSPVAA ONNEW
ASCII example: #RELINSPVAA,COM1,0,61.0,FINESTEERING,1805,245074.000,02000000,2338,45757;BODY,9 .285958662,-0.755483058,0.079229338,0.001739020,0.000126304,0.001525848,0.321033045,0.669367786,4.466250181,0.000000000,"b81V", INS_ALIGNMENT_COMPLETE,"B20C",INS_ALIGNMENT_COMPLETE,NARROW_ INT,00000000*a114ce3c
Field Field Type
1
RELINSPVA Header
2
Output Frame
3
DeltaPosX
Description
Log header. See Messages on page 25 for more information.
The current output frame (IMU body, ECEF or local level frame).
The output frame is specified using the SETRELINSOUTPUTFRAME command (see page 927)
Difference in the position between the two receivers (m). The position difference is relative to the output frame:
BODY = along the X-axis ECEF = along the X-axis Local level = Northing
Format
Binary Bytes
Binary Offset
-
H
0
Enum 4
H
Double 8
H+4
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Field Field Type
4
DeltaPosY
5
DeltaPosZ
6
DeltaVelX
7
DeltaVelY
8
DeltaVelZ
9
DeltaRoll
10
DeltaPitch
Description
Difference in the position between the two receivers (m). The position difference is relative to the output frame:
BODY = along the Y-axis ECEF = along the Y-axis Local level = Easting
Difference in the position between the two receivers (m). The position difference is relative to the output frame:
BODY = along the Z-axis ECEF = along the Z-axis Local level = Up
Difference in velocity between the two receivers (m/s). The position difference is relative to the output frame:
BODY = along the X-axis ECEF = along the X-axis Local level = Northing
Difference in velocity between two receivers (m/s). The position difference is relative to the output frame:
BODY = along the Y-axis ECEF = along the Y-axis Local level = Easting
Difference in velocity between the two receivers (m/s). The position difference is relative to the output frame:
BODY = along the Z-axis ECEF = along the Z-axis Local level = Up
Difference in roll between the two receivers (degrees).
Difference in pitch between the two receivers (degrees).
Format
Binary Bytes
Binary Offset
Double 8
H+12
Double 8
H+20
Double 8
H+28
Double 8
H+36
Double 8
H+44
Double 8 Double 8
H+52 H+60
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Field Field Type
Description
11
DeltaHeading
Difference in heading between the two receivers (degrees).
12
Diff Age
Differential age in seconds.
13
Rover ID
Rover receiver ID string.
14
Rover INSStatus
INS status of the rover receiver. See Table 207: Inertial Solution Status on page 959
15
Master ID
Master receiver ID string.
16
Master INSStatus
INS status of the master receiver. See Table 207: Inertial Solution Status on page 959
Status of the current RTK vector between
17
RTK Status
master and rover. See Table 75: Position or Velocity Type on
page 437
18
ExtStatus
Extended solution status. See Table 208: Extended Solution Status on page 964
20
xxxx
32-bit CRC (ASCII and Binary only)
21
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Double 8
H+68
Float
4
Char[4] 4
H+76 H+80
Enum 4
H+84
Char[4] 4
H+88
Enum 4
H+92
Enum 4
Hex
4
Hex
4
-
-
H+96
H+100 H+104 -
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5.40 SYNCHEAVE
Synchronous Log Containing the Instantaneous Heave Value
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Synchronous heave is available up to the rate of the IMU. It can also be logged 'on time' at lower rates. This log also includes information about the estimated accuracy of the heave value through the standard deviation of the heave. You must have an inertial solution to use this log. The heave filter must be enabled using the HEAVEFILTER command (see page 892), before this log is available.
Message ID: 1708
Log Type: Synch
Recommended Input: log syncheavea ontime 0.05
ASCII example: #SYNCHEAVEA,COM1,0,50.0,FINESTEERING,1770,245720.925,02000020,552e,12622;0.045410579,0.436800622*b8c14286
Field Field Type
Description
Format
Binary Bytes
1
SYNCHEAVE Header
Log header. See Messages on page 25 for more information.
-
H
2
Heave
Instantaneous heave value (metres)
Double 8
3
Std. Dev.
Standard deviation of the heave value (metres)
Double 8
4
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
5
[CR][LF]
Sentence Terminator (ASCII only)
-
-
Binary Offset 0 H H+8 H+16 -
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5.41 SYNCRELINSPVA
Synchronous Relative INSPVA log
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log provides the relative offset between the master and rover inertial solutions. The output solution provides the offset of where the local station is with respect to the other station.
This log is designed to provide synchronous, relative Position, Velocity and Attitude information, propagating the information between matched corrections between the master and remote solutions. It is highly recommended that the highest rate of corrections be used at all times for the most precise and robust performance.
Message ID: 1743
Log Type: Synch
Recommended Input: LOG SYNCRELINSPVAA ONTIME 1
ASCII example: #SYNCRELINSPVAA,COM1,0,72.5,FINESTEERING,1805,247243.000,02000000,e9c7,13005;BO DY,8.141080733,-2.779177478,2.045421773,-0.001464009,0.001038329,0.002323548,0.409467974,0.715633909,6.204731538,0.000000000,"B81V",INS_ALIGNMENT_COMPLETE,"B20C",INS_ALIGNMENT_ COMPLETE,INS_PSRSP,00000000*e270f5c8
Field Field Type
Description
Format
Binary Bytes
Binary Offset
1
SYNCRELINSPVA Log header. See Messages on page 25 for
Header
more information.
-
H
0
The current output frame (IMU body, ECEF or local level frame).
2
Output Frame
The output frame is specified using the
Enum 4
H
SETRELINSOUTPUTFRAME command
(see page 927)
3
DeltaPosX
Difference in the position between the two
receivers (m).
The position difference is relative to the
output frame:
Double 8
BODY = along the X-axis ECEF = along the X-axis Local level = Northing
H+4
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Field Field Type
4
DeltaPosY
5
DeltaPosZ
6
DeltaVelX
7
DeltaVelY
8
DeltaVelZ
9
DeltaRoll
10
DeltaPitch
Description
Format
Binary Bytes
Binary Offset
Difference in the position between the two
receivers (m).
The position difference is relative to the
output frame:
Double 8
BODY = along the Y-axis ECEF = along the Y-axis Local level = Easting
H+12
Difference in the position between the two
receivers (m).
The position difference is relative to the
output frame:
Double 8
BODY = along the Z-axis ECEF = along the Z-axis Local level = Up
H+20
Difference in velocity between the two receivers (m/s). The position difference is relative to the output frame:
BODY = along the X-axis ECEF = along the X-axis Local level = Northing
Double 8
H+28
Difference in velocity between two receivers (m/s). The position difference is relative to the output frame:
BODY = along the Y-axis ECEF = along the Y-axis Local level = Easting
Double 8
H+36
Difference in velocity between the two receivers (m/s). The position difference is relative to the output frame:
BODY = along the Z-axis ECEF = along the Z-axis Local level = Up
Double 8
H+44
Difference in roll between the two receivers (degrees).
Double 8
H+52
Difference in pitch between the two receivers (degrees).
Double 8
H+60
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Field Field Type
Description
Format
Binary Bytes
Binary Offset
11
DeltaHeading
Difference in heading between the two receivers (degrees).
Double 8
H+68
12
Diff Age
Differential age in seconds.
Float
4
H+76
13
Rover ID
Rover receiver ID string.
Char[4] 4
H+80
INS status of the rover receiver.
14
Rover INSStatus See Table 207: Inertial Solution Status on Enum 4
page 959
H+84
15
Master ID
Master receiver ID string.
Char[4] 4
H+88
16
Master INSStatus
INS status of the master receiver. See Table 207: Inertial Solution Status on Enum 4 page 959
H+92
17
RTK Status
Status of the current RTK vector between
master and rover. See Table 75: Position or Velocity Type
Enum
4
on page 437
H+96
18
ExtStatus
Extended solution status.
See Table 208: Extended Solution Status Hex
4
on page 964
H+100
20
xxxx
32-bit CRC (ASCII and Binary only)
Hex
4
H+104
21
[CR][LF]
Sentence terminator (ASCII only)
-
-
-
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5.42 TAGGEDMARK1PVA, TAGGEDMARK2PVA, TAGGEDMARK3PVA and TAGGEDMARK4PVA
Position, Velocity and Attitude at a Tagged Mark Request
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
TAGGEDMARKxPVA contains the same information as MARKxPVA with the addition of a unique identifying number (tag).
The TAGGEDMARKxPVA logs available are dependent on the receiver used in the SPAN system. For information about the Event lines supported, see the Strobe Specifications for the receiver in the OEM7 SPAN Installation and Operation User Manual.
The user specifies a TAG for the upcoming TAGGEDMARKxPVA via the TAGNEXTMARK command (see page 932). That tag shows up at the end of this message, which is otherwise identical to the MARKXPVA message.
Message ID:
1258 (TAGGEDMARK1PVA) 1259 (TAGGEDMARK2PVA) 1327 (TAGGEDMARK3PVA) 1328 (TAGGEDMARK4PVA)
Log Type: Synch
Recommended Input: log taggedmark1pva onnew log taggedmark2pva onnew log taggedmark3pva onnew log taggedmark4pva onnew
Abbreviated ASCII Example:
#TAGGEDMARK1PVAA,COM1,0,63.0,FINESTEERING,1732,247787.965,024c0020,ae1e,12002;1 732,247787.964913500,51.11693231436,114.03884974751,1046.9481,0.0001,0.0007,0.0004,1.090392628,0.766828598,244.4139 50146,INS_SOLUTION_GOOD,1234*34fda4f4
#TAGGEDMARK2PVAA,COM1,0,73.0,FINESTEERING,1732,248347.693,020500a0,2ab3,12002;1 732,248347.692695400,51.11693017508,114.03884746120,1046.3929,0.0009,0.0014,0.0015,0.559580646,1.121028629,255.5411 53133,INS_SOLUTION_GOOD,1234*1e97dd88
#TAGGEDMARK3PVAA,COM1,0,73.0,FINESTEERING,1732,248347.693,020500a0,2ab3,12002;1 732,248347.692695400,51.11693017508,114.03884746120,1046.3929,0.0009,0.0014,0.0015,0.559580646,1.121028629,255.5411 53133,INS_SOLUTION_GOOD,1234*1e97dd88
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#TAGGEDMARK4PVAA,COM1,0,73.0,FINESTEERING,1732,248347.693,020500a0,2ab3,12002;1 732,248347.692695400,51.11693017508,114.03884746120,1046.3929,0.0009,0.0014,0.0015,0.559580646,1.121028629,255.5411 53133,INS_SOLUTION_GOOD,1234*1e97dd88
Field
Field Type
Description
1
TAGGEDMARKxPVA Log header. See Messages on page 25
Header
for more information.
2
Week
GNSS Week at Mark request
3
Seconds into Week GNSS Seconds at Mark request
4
Latitude
Latitude at Mark request
5
Longitude
Longitude at Mark request
6
Height
Height at Mark request
7
North Velocity
North Velocity at Mark request
8
East Velocity
East Velocity at Mark request
9
Up Velocity
Up Velocity at Mark request
10
Roll
Roll at Mark request
11
Pitch
Pitch at Mark request
12
Azimuth
Azimuth at Mark request
13
Status
INS Status at Mark request
14
Tag
Tag ID from the TAGNEXTMARK command (see page 932), if any (default = 0)
15
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
16
[CR][LF]
Sentence Terminator (ASCII only)
Format
Binary Bytes
Binary Offset
-
H
0
Ulong 4 Double 8 Double 8 Double 8 Double 8 Double 8 Double 8 Double 8 Double 8 Double 8 Double 8 Enum 4
H H+4 H+12 H+20 H+28 H+36 H+44 H+52 H+60 H+68 H+76 H+84
Ulong 4
H+88
Hex
4
-
-
H+92 -
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5.43 TIMEDWHEELDATA
Timed Wheel Data
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log contains time stamped wheel sensor data. The time stamp in the header is the time of validity for the wheel data and not the time the TIMEDWHEELDATA log was output. See the relevant SPAN User Manual for information about wheel sensor messages.
Depending on the method used to connect the wheel sensor (through an IMU using a UIC, an IMU in an IMU Enclosure (IMU-ISA-100C, IMU-HG1900, IMU-ENC-LN200 or IMU�IMU-IC), an IMU-FSAS or an IMU-CPT, or directly into an IMU-IGM enclosure), either field 3 or field 4 of the log will be filled for wheel velocity. They are equivalent, but are filled differently depending on what data is provided to SPAN. For the PwrPak7, only field 7 (Cumulative Ticks) will be filled. Both fields 3 and 4 will be zero even when the wheel sensor is operating correctly. Note that neither velocity value is used by the SPAN filter. Rather, the SPAN filter uses cumulative ticks per second.
Message ID: 622
Log Type: Asynch
Recommended Input: log timedwheeldataa onnew
ASCII Example: %TIMEDWHEELDATAA,1393,411345.001;58,0,215.814910889,0,0,1942255*3b5fa236
This example is from the iMAR iMWS wheel sensor.
Field
Field Type
Description
1
TIMEDWHEELDATA Log header. See Messages on page 25
Header
for more information. (short header)
2
Ticks Per Rev
Number of ticks per revolution
3
Wheel Vel
Wheel velocity in counts/s
4
fWheel Vel
Float wheel velocity in counts/s
5 Reserved
6
Format
Binary Bytes
Binary Offset
-
H
0
Ushort 2
Ushort 2
Float
4
Ulong 4
Ulong 4
H H+2 H+4 H+8 H+12
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Chapter 5 SPAN Logs
Field
Field Type
Description
7
Cumulative Ticks Number of ticks
8
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
9
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
Binary Offset
Long
4
H+16
Hex
4
H+20
-
-
-
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Chapter 5 SPAN Logs
5.44 TSS1
TSS1 Protocol for Heave, Roll and Pitch
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log provides heave, roll and pitch information in TSS1 protocol.
This message is in a different format than any other log output by the SPAN system.
To use this log, make sure that Heave is enabled (see the HEAVEFILTER command (see page 892)) and the INS status is greater than INS_ALIGNMENT_COMPLETE
Message ID: 1456 Log Type: Synch Recommended Input:
log tss1a ontime 1
Message Format: :XXAAAASMHHHHQMRRRRSMPPPP<CR><LF>
ASCII Example: :00FFCA -0003F-0325 0319
Field Field Type
Description
Symbol
1
TSS1 Header
Log header. See Messages on page 25 for more information.
-
Horizontal acceleration from 0 to 9.81m/s2.
2
Horizontal Acceleration
Shown as a one byte unsigned hex number where
XX
the least significant bit = 3.83 cm/s2.
Vertical acceleration from -20.48 to +20.48 m/s2.
3
Vertical Acceleration
Shown as a two byte hex number where the least
AAAA
significant bit = 0.0625 cm/s2.
4
Space Character
A space delimiter.
S
5
Heave Polarity
Space if positive. Minus sign (-) if negative.
M
Example 0 00 FFCA
-
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Chapter 5 SPAN Logs
Field Field Type
Description
6
Heave
Heave value from -99.99 to +99.99 m.
Shown as a four digit integer where the least significant bit = 0.01 m.
F if INS Active.
7
Status Flag
H if INS has not completed an alignment.
Space if positive.
8
Roll Polarity
Minus sign (-) if negative.
9
Roll
Roll value from -99.99 to +99.99 degrees.
Shown as a four digit integer where the least significant bit = 0.01 degrees.
10
Space Character
A space delimiter.
Space if positive.
11
Pitch Polarity
Minus sign (-) if negative.
12
Pitch
Pitch value from -99.99 to +99.99 degrees.
Shown as a four digit integer where the least significant bit = 0.01 degrees.
13
[CR][LF]
Sentence terminator
Symbol Example
HHHH
0003
Q
F
M
-
RRRR S M
0325
PPPP
0319
<CR><LF>
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Chapter 5 SPAN Logs
5.45 VARIABLELEVERARM
Display Variable Lever Arm Details
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
Use this log to redisplay the re-calculated variable lever arm whenever a new INPUTGIMBALANGLE command is received. This message is output in the IMU body frame.
Message ID: 1320
Log Type: Asynch
Recommended Input: log variableleverarma onnew
ASCII Example: #VARIABLELEVERARMA,SPECIAL,0,81.5,FINESTEERING,1614,495820.512,42040000,0000,32 0;-0.0959421909646755,0.1226971902356540,1.1319295452903300, 0.0100057787272846,0.0122604827412661,0.1131929545290330*9611d3c6
Field
Field Type
Description
1
VARIABLELEVERARM Log header. See Messages on
Header
page 25 for more information.
2
XOffset
IMU body frame x-axis offset
3
YOffset
IMU body frame y-axis offset
4
ZOffset
IMU body frame z-axis offset
5
XUncert
X-axis uncertainty in metres
6
YUncert
Y-axis uncertainty in metres
7
ZUncert
Z-axis uncertainty in metres
8
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
9
[CR][LF]
Sentence terminator (ASCII only)
Format
Binary Bytes
-
H
Double 8 Double 8 Double 8 Double 8 Double 8 Double 8
Hex
4
-
-
Binary Offset
0
H H+8 H+16 H+24 H+32 H+40
H+48
-
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Chapter 5 SPAN Logs
5.46 WHEELSIZE
Wheel Size
Platform: OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7-S
This log contains wheel sensor information. The inertial filter models the size of the wheel to compensate for changes in wheel circumference due to hardware or environmental changes. The default wheel size is 1.96 m. A scale factor to this default size is modeled in the filter and this log contains the current estimate of the wheel size.
Message ID: 646
Log Type: Asynch
Recommended Input: log wheelsizea onnew
ASCII Example: #WHEELSIZEA,COM3,0,44.0,FINESTEERING,0,0.000,02000000,85f8,33738;1.025108123,2. 009211922,0.000453791*b65d28e6
Field Field Type
Description
Format
Binary Bytes
1
WHEELSIZE Header
Log header. See Messages on page 25 for more information.
-
H
2
Scale
Wheel sensor scale factor
Double 8
3
Circum
4
Var
Wheel circumference (m) Variance of circumference (m2)
Double 8 Double 8
5
xxxx
32-bit CRC (ASCII, Binary and Short Binary only)
Hex
4
6
[CR][LF]
Sentence terminator (ASCII only)
-
-
Binary Offset 0 H H+8 H+16
H+24 -
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Chapter 6 Responses
The receiver is capable of outputting several responses for various conditions. Most responses are error messages to indicate when something is not correct.
The output format of the messages is dependent on the format of the input command. If the command is input as abbreviated ASCII, the output will be abbreviated ASCII. The same rule applies for both ASCII and binary formats.
Table 230: Response Messages
ASCII Message
Binary Message
ID
Meaning
OK
1
Command was received correctly
Requested log does not exist
2
The log requested does not exist
Not enough resources in system
3
The request has exceeded a limit (for example, the maximum number of logs are being generated)
Data packet doesn't verify
4
Data packet is not verified
Command failed on receiver
5
Command did not succeed in accomplishing requested task
Invalid Message ID
6
The input message ID is not valid
Invalid Message. Field =x
7
Field x of the input message is not correct
Invalid Checksum
8
The checksum of the input message is not correct. Only applies to ASCII and binary format messages.
Message missing field
9
A field is missing from the input message
Array size for field x exceeds max
10
Field x contains more array elements than allowed
parameter x is out of range
11
Field x of the input message is outside the acceptable limits
Message Id already exists in system
12
Message Id already exists in system
Debug token unknown
13
Debug token unknown
Trigger x not valid for this log
14
Trigger type x is not valid for this type of log
Authcode table full Reload Software
15
Too many authcodes are stored in the receiver. The receiver firmware must be reloaded
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Chapter 6 Responses
ASCII Message
Binary Message
ID
Meaning
Invalid date format
16
This error is related to the inputting of authcodes. Indicates the date attached to the code is not valid
Invalid Authcode entered
17
The authcode entered is not valid
No matching model to remove
18
The model requested for removal does not exist
Not valid Auth code for
that Model
19
The model attached to the authcode is not valid
Channel is invalid
20
The selected channel is invalid
Requested rate is invalid
21
The requested rate is invalid
Word has no mask for this type
22
The word has no mask for this type of log
Channels locked due to error
23
Channels are locked due to error
Injected time invalid
24
Injected time is invalid
Com port not supported
25
The COM or USB port is not supported
Message is incorrect
26
The message is invalid
Invalid PRN
27
The PRN is invalid
PRN not locked out
28
The PRN is not locked out
PRN lockout list is full
29
PRN lockout list is full
PRN already locked out
30
The PRN is already locked out
Message timed out
31
Message timed out
Unknown COM port requested
33
Unknown COM or USB port requested
Hex string not formatted correctly
34
Hex string not formatted correctly
Invalid baud rate
35
The baud rate is invalid
Message is invalid for this model
36
Message is invalid for this model of receiver
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Chapter 6 Responses
ASCII Message
Binary Message
ID
Meaning
Could Not Save Configuration
38
Could Not Save Configuration
Too Many Configuration Items
39
Too Many Configuration Items
Command only valid if in NVM Fail mode
40
Command is only valid if NVM is in fail mode
Invalid offset
41
The offset is invalid
File conflict
43
File conflict
File not found
44
File not found
File open
45
File open
File not open
46
File not open
Invalid DOS FileName
47
Invalid DOS File name
File channel in use
48
File channel in use
File close fail
50
File close fail
Disk not present
51
Disk not present
Disk error
52
Disk error
Disk full
53
Disk full
NVM Write Fail
74
NVM Write Fail
NVM Read Fail
75
NVM Read Fail
Not allowed for input
77
Not allowed for input
Maximum number of user messages reached
78
Maximum number of user messages has been reached
User message decryption
failed
79
User message decryption failed
GPS precise time is already known
84
GPS precise time is already known
The message could not be created
87
The message could not be created
Not enough memory to start application
113
Not enough memory to start application
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Chapter 6 Responses
ASCII Message No data available
Binary Message
ID
114
No data available
Meaning
Invalid handshaking
117
Invalid handshaking
Message name already exists
118
Message name already exists
Invalid message name
119
Invalid message name
The datatype is invalid
120
The data type is invalid
Message ID is reserved
121
Message ID is reserved
Message size too large
122
Message size too large
Invalid Security Key
126
Invalid security key
Hardware not available
127
Hardware not available
Requested pulse width is invalid
131
Requested pulse width is invalid
Coarse time is not achieved yet
133
Coarse time is not achieved yet
Invalid Config Code
134
Invalid Config Code
ConfigCode table full -
Reload Software
135
Config Code table is full. Reload the software.
Unknown Object Type
136
Unknown object type
This operation is not valid at this time
137
This operation is not valid at this time
User VARF in use
140
User VARF in use
Must enable CLOCKADJUST
141
Must enable CLOCKADJUST. See the CLOCKADJUST command on page 105 for information about enabling.
Disk busy
142
Disk busy
Invalid Word Input Argument
143
Invalid Word Input Argument
Parameter %d is not valid for this model
148
The parameter specified is not valid for this model
ZUPT DISABLED BY USER
An INSZUPT command (see page 906) was sent after a
149
SETINSUPDATE ZUPT command was used to disable
the use of ZUPTs.
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Chapter 6 Responses
ASCII Message
IMU SPECS LOCKED FOR THIS IMU TYPE
Binary Message
ID
Meaning
SPAN allows the default specifications for a select few
150
IMUs to be modified to support different variants. However, most IMU specifications are not allowed to
change.
Invalid interface mode.
Parameter %d
151
The specified Interface mode parameter is not valid.
COMMAND INVALID FOR THIS IMU
The entered command cannot be used with the
154
configured IMU. For example, the INSCALIBRATE ANT1 command is
not valid for lower quality IMUs.
IMU protocol is locked for this IMU type
155
IMU protocol is locked for this IMU type
IMU TYPE IS NOT SUPPORTED WITH CURRENT MODEL
157
A firmware model upgrade is required to use the requested IMU (CONNECTIMU command on page 886).
Trigger start time is invalid
159
Trigger start time is invalid
Sensor is not initialized
160
Sensor is not initialized
TRIGGER BUFFER IS FULL
The TIMEDEVENTPULSE command (see page 933) limit
161
of 10 events has been reached, and a new event cannot
be set until an event is cleared.
Board has not achieved finesteering
162
The receiver has not achieved finesteering
SETUPSENSOR COMMAND IS LOCKED
The SETUPSENSOR command (see page 929) cannot be
163
modified because there are remaining trigger events
queued.
Invalid Profile Name
165
Invalid Profile Name
Maximum Number Profiles
Exceeded
166
The maximum number of profiles is exceeded
Failed To Delete Profile
167
Failed to delete the profile
Profile Name Already Exists
168
Profile name already exists
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Chapter 6 Responses
ASCII Message
Total Profile Commands Size Over Limit
Binary Message
ID
Meaning
169
Total Profile commands size over limit
Cannot Change Profile When Activated
170
Cannot change a Profile when it is activated
Signature Authcode Copy
Fail
171
Signature Authcode copy fail
Maximum Number of Profile Commands Exceeded
172
The maximum number of PROFILE commands exceeded
Profile Active, Could Not Save Configuration
173
Profile active, could not save configuration
Current PPP position has bad status and cannot be used for seeding
178
Current PPP position has bad status and cannot be used for seeding
PPP seed position failed integrity check
179
PPP seed position failed integrity check
Invalid password
180
Invalid password
Too many files
181
Too many files
Encryption key output is not allowed
186
Encryption key output is not allowed
Secure port requires login
187
Secure port requires login
NMEA2000/J1939 stack is
already running on the CAN port
188
NMEA2000/J1939 stack is already running on the CAN port
No saved PPP seed position
191
No saved PPP seed position
System type is invalid for this model
192
System type is invalid for this model
Command is not supported for this model
193
Command is not supported for this model
Position Averaging Not Started
194
Position averaging not started
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Chapter 6 Responses
ASCII Message
Binary Message
ID
Meaning
Not in GLIDE mode
200
Not in GLIDE mode
PPP seeding invalid in forced dynamics mode
201
PPP seeding invalid in forced dynamics mode
Wrong combination of parameters
202
Wrong combination of parameters
Invalid Calibration Request
203
Invalid calibration request
Active Gimbal Detected
204
Active gimbal detected
Authcode table full Use auth erase_table
Authcode table full. An authcode must be removed before another authcode can be added.
205
Refer to the AUTH command (see page 76) for
instructions on removing authcodes and cleaning up the
authcode table.
Profile Not Running Profile should be activated
206
Profile not running - Profile should be activated
ID provided is already in use
208
ID provided is already in use
ID provided does not exist
209
ID provided does not exist
Calibration already in progress
210
Calibration already in progress
Filter cannot be enabled due to channel speed settings
211
Filter cannot be enabled due to channel speed settings
Notch Filter and Frequency are mismatching
212
Notch filter and frequency are mismatching
Filter can not cascade
213
Filter can not cascade
There is no RF filter applied
214
There is no RF filter applied
ID provided should be 4 character long
215
ID provided should be 4 characters long
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Chapter 6 Responses
ASCII Message
Binary Message
ID
Meaning
Invalid subscription code
216
Invalid subscription code
Subscription table full
217
Subscription table full
Network id does not
match subscription code
218
Network ID does not match the subscription code
Subscription not found
219
Subscription not found
Subscription not active
220
Subscription not active
Cannot activate expired
subscription
221
Cannot activate expired subscription
Maximum number of logs exceeded. No new log added.
222
Maximum number of logs exceeded. No new log added.
Seed is too far in the past
223
Seed is too far in the past
Final log request must use the ONCE trigger
224
Final log request must use the ONCE trigger
Channel invalid for region x
225
Channel invalid for region x
Region not set
226
Region not set
Estimated RBV must be entered first
227
Initial RBV estimate is required before RBV calibration
Command failed because WIFIALIGNAUTOMATION is enabled
240
Command failed because WIFIALIGNAUTOMATION is enabled. See the WIFIALIGNAUTOMATION command.
Specified network not enabled with WIFINETCONFIG command
241
Specified network not enabled with WIFINETCONFIG command. See the WIFINETCONFIG command.
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APPENDIX A Example of Bit Parsing a RANGECMP4 Log
The following takes a sample RANGECMP4 log and breaks it down into its raw components.
Data was captured in both RANGE and in RANGECMP4 logs which are shown here for reference. These logs were captured at a rate of 4 Hz such that the Reference and Differential parts of the RANGECMP4 could be explained.
Some of the RANGECMP4 values will have some very slight differences (at the millicycle level) compared to the equivalent RANGE log data due to truncating the double values into integers.
Here are two RANGE logs to reference against once the RANGECMP4 logs have been determined:
RANGE COM1 0 88.5 FINESTEERING 1919 507977.000 02000020 5103 32768 22 27 0 21761200.335 0.036 -114355879.993103 0.006 1121.758 50.0 876.785
18109c04 27 0 21761202.795 0.128 -89108485.029683 0.007 874.097 44.2 862.386
11303c0b 27 0 21761200.306 0.007 -85395622.838987 0.004 837.685 51.7 865.845
01d03c04 21 0 21214757.684 0.027 -111484302.588995 0.005 -1107.624 52.6 888.968
08109c24 21 0 21214757.049 0.122 -86870882.607297 0.006 -863.084 44.6 874.389
01303c2b 10 0 21540290.811 0.027 -113194996.162910 0.005 2288.688 52.6 889.905
08109c44 10 0 21540293.632 0.110 -88203904.731314 0.006 1783.394 45.6 868.725
01303c4b 10 0 21540289.869 0.006 -84528728.138216 0.004 1709.022 53.0 872.386
01d03c44 15 0 21776375.653 0.032 -114435625.391762 0.007 -1814.485 50.9 879.586
18109c64 15 0 21776376.038 0.129 -89170616.457446 0.007 -1413.886 44.1 862.706
11303c6b 18 0 20493192.703 0.031 -107692454.149639 0.007 212.747 51.1 891.550
08109c84 18 0 20493191.933 0.105 -83916195.494946 0.007 165.777 45.9 874.710
01303c8b 61 9 20375330.794 0.104 -108956045.737322 0.006 -3039.481 46.8 891.931
08119ca4 61 9 20375332.806 0.083 -84743599.055547 0.007 -2364.042 34.0 876.813
00b13cab 55 4 22748433.080 0.146 -121432681.638722 0.009 4061.119 43.9 416.032
18119cc4 55 4 22748438.602 0.021 -94447660.068923 0.009 3158.651 46.0 415.562
00b13ccb
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APPENDIX A Example of Bit Parsing a RANGECMP4 Log
38 8 19781617.845 0.058 -105744080.698106 0.004 -2024.611 51.8 893.563 18119ce4
38 8 19781623.453 0.032 -82245418.313339 0.005 -1574.698 42.2 878.833 00b13ceb
39 3 19968976.955 0.055 -106558290.405759 0.004 2248.713 52.3 875.210 08119d04
39 3 19968980.676 0.019 -82878686.553631 0.005 1749.000 46.9 870.890 00b13d0b
54 11 19507573.213 0.059 -104388964.028915 0.005 1289.410 51.8 894.613 08119d24
54 11 19507576.477 0.017 -81191427.275619 0.004 1002.874 48.0 878.832 10b13d2b
RANGE COM1 0 88.5 FINESTEERING 1919 507977.250 02000020 5103 32768 22 27 0 21761146.982 0.036 -114355599.642256 0.006 1121.140 49.9 877.035
18109c04 27 0 21761149.447 0.122 -89108266.573995 0.007 873.616 44.6 862.636
11303c0b 27 0 21761146.957 0.007 -85395413.484293 0.004 837.294 51.8 866.095
01d03c04 21 0 21214810.390 0.027 -111484579.560955 0.005 -1108.100 52.6 889.218
08109c24 21 0 21214809.754 0.120 -86871098.429369 0.005 -863.454 44.8 874.639
01303c2b 10 0 21540181.949 0.027 -113194424.080322 0.005 2288.176 52.6 890.155
08109c44 10 0 21540184.767 0.111 -88203458.952394 0.006 1782.995 45.4 868.975
01303c4b 10 0 21540181.003 0.006 -84528300.928648 0.004 1708.751 53.0 872.636
01d03c44 15 0 21776461.990 0.032 -114436079.084785 0.006 -1814.956 50.9 879.836
18109c64 15 0 21776462.375 0.129 -89170969.984233 0.007 -1414.253 44.1 862.956
11303c6b 18 0 20493182.598 0.031 -107692401.054068 0.007 212.183 51.2 891.800
08109c84 18 0 20493181.833 0.110 -83916154.122137 0.007 165.338 45.6 874.960
01303c8b 61 9 20375472.914 0.104 -108956805.696703 0.006 -3040.142 46.9 892.181
08119ca4 61 9 20375474.924 0.084 -84744190.134355 0.007 -2364.555 33.9 877.063
00b13cab 55 4 22748242.897 0.150 -121431666.427728 0.009 4060.804 43.7 416.282
18119cc4 55 4 22748248.421 0.021 -94446870.460803 0.009 3158.405 46.0 415.812
00b13ccb 38 8 19781712.549 0.059 -105744586.938646 0.004 -2025.149 51.8 893.813
18119ce4 38 8 19781718.158 0.032 -82245812.055601 0.005 -1575.117 42.3 879.083
00b13ceb
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APPENDIX A Example of Bit Parsing a RANGECMP4 Log
39 3 19968871.615 0.055 -106557728.318448 0.004 2248.162 52.3 875.460 08119d04
39 3 19968875.343 0.019 -82878249.374953 0.005 1748.571 46.8 871.140 00b13d0b
54 11 19507512.994 0.059 -104388641.780659 0.005 1288.778 51.7 894.863 08119d24
54 11 19507516.256 0.016 -81191176.637999 0.005 1002.383 48.1 879.082 10b13d2b
Here are the equivalent RANGECMP4 logs which will be broken down into their individual components:
#RANGECMP4A,COM1,0,88.5,FINESTEERING,1919,507977.000,02000020,fb0e, 32768;295,030000421204000000009200df7688831f611fd87ca0b03a00638bbdf7b8 2f49b080fd0ec0ff1f091f8214ff4d4d00a1009cbf1751f6911f5141f87fd9571a96db d7040c8090f87f0080fcf722fe9bfa8a49a8ff4f299d7f96fb9afefc771800fcffd006 3f02cde01f3c7dd3ffb75240886f5fa2b0ff91f57f00003edf8b78868c882878014065 dbf7d3ed6b722680d5fc0f00a4c08730fe7fecf8bffa3f003008000000002001f03fa0 19f8136a11273649b8fcefab9c434c7b89e71560dbfe070030b2e04fd841f33125320b 80b0ecefa5ee21243ac0bb03e0ffc36a813fb13bbe5791a0f5ff9e3bdbffbb87f0cb80 64f03f0000e4b67dd15bc5f4a50a3a006ca72fdee53ec86405b2c0fffa3fa450f725d5 bfed7c49b1fb0fb16b45a87a9adb0740cbfe0700*7DD8F893
#RANGECMP4A,COM1,0,88.5,FINESTEERING,1919,507977.250,02000020,fb0e, 32768;239,030000421204000000009200dff688831f6102005500e70162dc977c0040 15c07988840f6101803a805921cedf8b80002011207080e5f6351f003804081c2200be 0808005c01620808725f93028057801822dae0476000a00f207180fef6251700e80340 1c62f3bdc8060052013009986f5f22020054004ca2053ec408005401ca870180410000 0000000980ff6306fec408004801de07c8692f5102805180f721b2e04f600040152081 804ef7102500600540202205fe040a0086013a0938780f61020061804e224edbdb6800 2010c0498030f7411d0018047812a2d47d090a004c01a609c8544f62028052006a02 *48E189A2
A.1 Reference Log Decoding
The RANGECMP4 log at time 507977.0 will be decoded first:
#RANGECMP4A,COM1,0,88.5,FINESTEERING,1919,507977.000,02000020,fb0e, 32768;295,030000421204000000009200df7688831f611fd87ca0b03a00638bbdf7b8 2f49b080fd0ec0ff1f091f8214ff4d4d00a1009cbf1751f6911f5141f87fd9571a96db d7040c8090f87f0080fcf722fe9bfa8a49a8ff4f299d7f96fb9afefc771800fcffd006 3f02cde01f3c7dd3ffb75240886f5fa2b0ff91f57f00003edf8b78868c882878014065 dbf7d3ed6b722680d5fc0f00a4c08730fe7fecf8bffa3f003008000000002001f03fa0 19f8136a11273649b8fcefab9c434c7b89e71560dbfe070030b2e04fd841f33125320b 80b0ecefa5ee21243ac0bb03e0ffc36a813fb13bbe5791a0f5ff9e3bdbffbb87f0cb80 64f03f0000e4b67dd15bc5f4a50a3a006ca72fdee53ec86405b2c0fffa3fa450f725d5 bfed7c49b1fb0fb16b45a87a9adb0740cbfe0700*7DD8F893
Since this log falls on a whole second (507977.000), it is a Reference log.
At the start of the RANGECMP4 log is the identifier for how many bytes are in the log. In this case, there are 295 bytes. The rest of the message is compressed binary data and is transmitted as LSB first so the bytes must be swapped before processing.
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A.1.1 Reference Header
The Reference Header is sent once per message. See Table 145: Header on page 712 in the RANGECMP4 log section. Decoding the bits starting with the first bytes: GNSS Field (16 bits)
l Grab the first 2 bytes (16 bits) = 0x0300 l Swap the bytes = 0x0003 l 0x0003 in binary form = 0000 0000 0000 0011
In this example the receiver was configured to track only GPS and GLONASS systems. If other systems had been in the configuration and tracked, they would have shown here.
A.1.2 Reference Satellite and Signal Block: GPS
This block is sent once for each bit set to 1 in the GNSS field (See Table 145: Header on page 712). As identified by the above GNSS field, the first system (right to left) is the GPS System. Use Table 146: Satellite and Signal Block on page 713 to determine what satellites and signals data are contained in this GPS system: GPS Satellites field (64 bits)
l Grab the next 8 bytes (64 bits) = 0x0042120400000000 l Swap the bytes = 0x0000000004124200 l 0x0000000004124200 in binary form =
l The 1's above identify that there are 5 tracking GPS PRNs. GPS Signals field (16 bits)
l Grab the next 2 bytes (16 bits) = 0x9200 l Swap the bytes = 0x0092 l 0x0092 in binary form =
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l The 1's above identify that there are 3 tracking GPS signals: L1CA, L2Y, and L5Q.
GPS Included Signals field (5 PRNs x 3 Signals = 15 bits � Therefore need 2 bytes)
l Up to the point of processing the Included Signals field, the bytes are aligned such that the bits start and end within each batch of bytes. After processing this step, it is quite common for the Included Signals Field (mxn matrix) to not be divisible by 8 so bytes not processed will need to be carried over to the next section depending on the size of the matrix.
l Grab the next 2 bytes (16 bits) = 0xdf76
l Swap the bytes = 0x76df
l 0x76df in binary form = 0111011011011111
l Only need 15 of the 16 bits = X111011011011111
l This bit string breaks down into 5 rows (PRNs) and 3 columns (signals) as specified by the mxn (PRN x signals) parameters. Take the bit string and break it up into sets of 3 starting at the MSB. This will result with the lowest PRN being at the bottom row of the stack and the first signal (L1CA) being the far right column.
111 011 011 011 111
l This stack can be further broken apart to identify the PRNs vs. their Signals:
PRN L5Q L2Y L1CA 27 1 1 1 21 0 1 1 18 0 1 1 15 0 1 1 10 1 1 1
A.1.3 Reference Measurement Block Header: GPS
This block is sent once for each bit set to 1 in the Satellites field found in Table 146: Satellite and Signal Block on page 713. Now that the PRN's signals have been determined, the next step is to determine the specifics of the first PRN (10) and its list of signals (L1CA, L2Y, L5Q). Working from bottom right to upper left of the PRN/Signal chart above, each 1 represents a signal for a PRN. Use Table 147: Measurement Block Header on page 714 to determine the contents of each field:
GPS PRN 10 (first PRN found in the Satellites field)
We will grab enough bytes to process the whole Measurement Block Header. If this was a GLONASS System, a total of 9 bits would be required for this step (1 bit for the Data Format Flag, 3 bits for the Ref Data Block ID, plus 5 bits for the GLONASS Frequency Number). Since this is a GPS system, only 4 bits in total are required (1 bit for the Data Format Flag and 3 bits for the Ref Data Block ID).
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There was 1 bit not processed in the last byte so that byte will be carried forward. Only 4 bits need to be looked at for this step so grab the next byte as well:
l Use the last byte (0x76) plus the next byte (0x88)= 0x7688 l Swap the bytes = 0x8876 l 0x8876 in binary form = 1000100001110110 l Ignore the 7 processed bits from the last step = 100010000XXXXXXX l Ignore the 5 MSB bits leaving 4 bits for processing =
The Data Format Flag identifies that this batch of data is Reference (0) data. The Ref Data Block ID is 0x000.
The 5 MSBs have not been processed so this byte will be carried forward.
The Data Format Flag identifies if the upcoming data is Reference or Differential data. By default every log that was published on a whole second will always be Reference logs. Logs between seconds will be Differential logs but could be Reference logs depending on the compression calculations. If a discontinuity occurred that made it impossible for a Differential calculation to fit within the Differential Constraints, it will revert to a Reference log.
A.1.4 Reference Measurement Block: GPS
This block is sent once for each bit set to 1 in the Included Signals Field found in Table 146: Satellite and Signal Block on page 713. Use Table 148: Primary Reference Signal Measurement Block on page 715 and Table 149: Secondary Reference Signals Measurement Block on page 716 to determine the contents of each field: A Measurement Block for a single PRN will look like the following:
Primary Parity Flag Primary � Cycle Slip Flag Primary C/No Primary Lock Time Primary Pseudorange Std Deviation Primary Phaserange Std Deviation Primary Pseudorange Primary Phaserange - Primary Pseudorange (determines the Phaserange for the 1st Signal) Primary Doppler
2nd Parity Flag 2nd � Cycle Slip Flag 2nd C/No
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2nd Lock Time 2nd Pseudorange Std Deviation 2nd Phaserange Std Deviation 2nd Pseudorange - Primary Pseudorange (determines the Pseudorange for the 2nd Signal 2nd Phaserange - 2nd Pseudorange (determines the Phaserange for the 2nd Signal) 2nd Doppler - Primary Doppler (determines the Doppler for the 2nd Signal)
3rd Parity Flag 3rd � Cycle Slip Flag 3rd C/No 3rd Lock Time 3rd Pseudorange Std Deviation 3rd Phaserange Std Deviation 3rd Pseudorange - Primary Pseudorange (determines the Pseudorange for the 3rd Signal 3rd Phaserange - 3rd Pseudorange (determines the Phaserange for the 3rd Signal) 3rd Doppler - Primary Doppler (determines the Doppler for the 3rd Signal) ...
A.1.5 Reference Primary Signal Measurement Block: GPS PRN 10 � L1CA
The next bytes collected will be for the GPS PRN 10 - L1CA signal data. This is the primary signal of the PRN since it is the first signal. As a result, its Measurement Block consists of 111 bits as listed in Table 148: Primary Reference Signal Measurement Block on page 715. Since 111 bits takes up a lot of space, these bits will be split into two groups from Table 148: Primary Reference Signal Measurement Block on page 715: the top 25 bits for signal info followed by the bottom 86 bits for signal data. The signal info section (top 25 bits) is processed as follows:
l With 5 bits left unprocessed from the previous byte, we calculate 25 � 5 = 20 bits which rounds up to 3 bytes. Therefore the previous last byte (0x88) plus the next 3 bytes will be needed. l Use the last byte (0x88) plus grab 3 bytes (x831f61) = 0x88831f61 l Swap the bytes = 0x611f8388 l 0x611f8388 in binary form = 01100001000111111000001110001000 l The previous step used the 3 LSBs = 01100001000111111000001110001XXX
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l Parity flag is a 1 (Parity Known) l � Cycle Slip flag is a 0 (Cycle Slip Not Present) l C/No is:
0x10000011100b = 1052 x Scaling Factor of 0.05 = 52.60 dBHz l The Lock Time value is: 0x1111b = 15 which means that this signal has been locked for 262144 ms or more. l The Pseudorange Std Deviation value is: 0x0001b = 1 which means: 0.020 m < PSR Std Dev <= 0.030 m using Table 155: Pseudorange Std Dev on page 722. l The ADR Std Deviation value is: 0x0001b = 1 which means: 0.0039 < ADR Std Dev <= 0.0052 cycles using Table 154: ADR Std Dev on page 721. The signal data section (bottom 86 bits) is processed as follows: l With 4 bits unprocessed from the previous byte, we calculate 86 � 4 = 82 bits = 11 bytes (2 bits will not be processed in the last byte).
l Use the last byte (0x61) plus grab 11 bytes (0x1fd87ca0b03a00638bbdf7) = 0x611fd87ca0b03a00638bbdf7
l Swap the bytes = 0xf7bd8b63003ab0a07cd81f61 l 0xf7bd8b63003ab0a07cd81f61 in binary form =
111 0111 1011 1101 1000 1011 0110 0011 0000 0000 0011 1010 1011 0000 1010 0000 0111 1100 1101 1000 0001 1111 0110 0001 l Only need 86 bits. Ignore last 4 LSBs and first 6 MSBs =
l Use Table 148: Primary Reference Signal Measurement Block on page 715 to identify if a 2's Complement Conversion is needed as well as what Scale Factor should be used before these binary numbers are used in the following calculations.
l The 1st (Primary) Pseudorange is processed by: 1st Pseudorange = 0x0101000000111110011011000000111110110b x Scaling Factor 1st Pseudorange = 43080581622 x 0.0005 L1CA Pseudorange for PRN 10= 21540290.811 m
l The 1st (Primary) Phaserange is a 2's Complement number (as identified by the Range
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column in Table 148: Primary Reference Signal Measurement Block on page 715) so it is processed in the following manner: 1st Phaserange � 1st Pseudorange = 2's Complement(0x00000000001110101011000b) * Scaling Factor 1st Phaserange � 21540290.811 m = 7512 * 0.0001 L1CA Phaserange = 21540291.5622 m l Convert this to ADR to check against the original RANGE log: ADR = 1st Phaserange * Frequency * (-1)/Speed Of Light ADR = 21540291.5622 m * 1575420000 Hz * (-1)/299792458 m/s L1CA ADR for PRN 10 = -113194996.1627158 cycles
In the range logs, PSR and ADR have opposite signs.
l The 1st (Primary) Doppler is a 2's Complement number (as identified by the Range column in Table 148: Primary Reference Signal Measurement Block on page 715) so it is processed in the following manner: 1st Doppler(m/s) = 2's Complement(0x11101111011000101101100011b) x Scaling Factor 1st Doppler(m/s) = -4,355,229 x 0.0001 L1CA Doppler(m/s) = -435.5229 m/s Convert the Doppler to Hz: 1st Doppler(Hz) = 1st Doppler(m/s) x Frequency * (-1)/Speed Of Light L1CA Doppler(Hz) for PRN 10 = 2288.6883 Hz 1st Doppler(Hz) = -435.5229 m/s x 1575420000 Hz * (-1)/299792458 m/s
A.1.6 Reference Secondary Signals Measurement Block: GPS PRN 10 � L2Y
Signal L1CA was the 1st signal (Primary Signal) of the three PRN 10 signals found in this RANGECMP4 log data. L1CA's data is now used to determine the L2Y's signals data. Since this is the second signal block of this PRN, its data will be processed by using Table 149: Secondary Reference Signals Measurement Block on page 716. With 6 bits left unprocessed from the previous byte, we will require 82 � 6 = 76 bits which rounds up to 10 bytes.
l Use the last byte (0xf7) plus grab the next 10 bytes (0xb82f49b080fd0ec0ff1f) = 0xf7b82f49b080fd0ec0ff1f
l Swap the bytes = 0x1fffc00efd80b0492fb8f7 l 0x1fffc00efd80b0492fb8f7 in binary form =
0001 1111 1111 1111 1100 0000 0000 1110 1111 1101 1000 0000 1011 0000 0100 1001 0010 1111 1011 1000 1111 0111 l Only need 78 bits. The 2 LSBs are ignored as they were already processed above and the 4
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Use Table 149: Secondary Reference Signals Measurement Block on page 716 to identify if a 2's Complement Conversion is needed as well as what Scale Factor should be used before these binary numbers are used in the following calculations.
l Parity flag is a 1 (Parity Known)
l � Cycle Slip flag is a 0 (Cycle Slip Not Present)
l C/No is: 0x01110001111b = 911 x Scaling factor of 0.05 = 45.55 dBHz
l The Lock Time value is: 0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
l The Pseudorange Std Deviation value is: 0x0101b = 5 which means: 0.099 m < PSR Std Dev <= 0.148 m using Table 155: Pseudorange Std Dev on page 722.
l The ADR Std Deviation value is: 0x0010b = 2 which means: 0.0052 < ADR Std Dev <= 0.0070 cycles using Table 154: ADR Std Dev on page 721.
l The L2Y Pseudorange is a 2's Complement number (as identified by the Range column in Table 149: Secondary Reference Signals Measurement Block on page 716) so it is processed in the following manner:
Pseudorange � 1st Pseudorange = 2's Complement(0x00000001011000001001b) x Scaling Factor Pseudorange � 21540290.811 m = 5641 x 0.0005 2Y Pseudorange = 21540293.6315 m
l The L2Y Phaserange is a 2's Complement number (as identified by the Range column in Table 149: Secondary Reference Signals Measurement Block on page 716) so it is calculated in the following manner:
Phaserange � Pseudorange = 2's Complement(0x00000000001110111111011b) * Scaling Factor Phaserange � 21540293.6315 m = 7675 * 0.0001 L2Y Phaserange = 21540294.399 m
l Convert this to ADR to check against the original RANGE log:
ADR = Phaserange * Frequency * (-1)/Speed Of Light ADR = 21540294.399 m * 1227600000 Hz * (-1)/299792458 m/s L2Y ADR for PRN 10 = -88203904.73002626 cycles
In the range logs, PSR and ADR have opposite signs.
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l The L2Y Doppler is a 2's Complement number (as identified by the Range Column in Table 149: Secondary Reference Signals Measurement Block on page 716) so it is calculated in the following manner:
Doppler(m/s) � 1st Doppler(m/s) = 2's Complement(0x11111111111111b) x Scaling Factor Doppler(m/s) � (-435.5229 m/s) = (-1) x 0.0001 L2Y Doppler(m/s) = -435.5228 m/s
Convert the Doppler to Hz:
Doppler(Hz) = Doppler(m/s) x Frequency * (-1)/Speed Of Light Doppler(Hz) = -435.5228 m/s x 1227600000 Hz * (-1)/299792458 m/s L2Y Doppler(Hz) for PRN 10 = 1783.3938 Hz
A.1.7 Reference Third Signals Measurement Block: GPS PRN 10 � L5Q
Signal L1CA was the 1st signal (Primary Signal) of the three PRN 10 signals found in this RANGECMP4 log data. L1CA's data is now used to determine the L5Q's signals data. Since this is the third signal block of this PRN, its data will be processed using Table 149: Secondary Reference Signals Measurement Block on page 716.
With 4 bits left unprocessed from the previous byte, we will require 82 � 4 = 78 bits which rounds up to 10 bytes.
l Use the last byte (0x1f) plus grab the next 10 bytes (0x091f8214ff4d4d00a100) = 0x1f091f8214ff4d4d00a100
l Swap the bytes = 0x00a1004d4dff14821f091f
l 0x00a1004d4dff14821f091f in binary form = 0000 0000 1010 0001 0000 0000 0100 1101 0100 1101 1111 1111 0001 0100 1000 0010 0001 1111 0000 1001 0001 1111
l Only need 78 bits. The 4 LSBs are ignored as they were already processed above and the 2 MSBs are ignored so there is a total of 82 bits to process
Use Table 149: Secondary Reference Signals Measurement Block on page 716 to identify if a 2's Complement Conversion is needed as well as what Scale Factor should be used before these binary numbers are used in the following calculations.
l Parity flag is a 1 (Parity Known)
l � Cycle Slip flag is a 0 (Cycle Slip Not Present)
l C/No is: 0x10000100100b = 1060 x Scaling Factor of 0.05 = 53.00 dBHz
l The Lock Time value is: 0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
l The Pseudorange Std Deviation value is: 0x0000b = 0 which means: PSR Std Dev <= 0.020 m using Table 155: Pseudorange Std Dev
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on page 722. l The ADR Std Deviation value is:
0x0001b = 1 which means: 0.0039 < ADR Std Dev <= 0.0052 cycles using Table 154: ADR Std Dev on page 721. l The L5Q Pseudorange is a 2's Complement number (as identified by Range column in Table 149: Secondary Reference Signals Measurement Block on page 716) so it is processed in the following manner: Pseudorange � 1st Pseudorange = 2's Complement(0x11111111100010100100b) x Scaling Factor Pseudorange � 21540290.811 m = (-1884) x 0.0005 L5Q Pseudorange = 21540289.869 m l The L5Q Phaserange is a 2's Complement number (as identified by the Range column in Table 149: Secondary Reference Signals Measurement Block on page 716) so it is calculated in the following manner: Phaserange � Pseudorange = 2's Complement(0x00000000010011010100110b) * Scaling Factor Phaserange � 21540289.869 m = 9894 * 0.0001 L5Q Phaserange = 21540290.8584 m l Convert this to ADR to check against the original RANGE log: ADR = Phaserange * Frequency * (-1)/Speed Of Light ADR = 21540290.8584 m * 1176450000 Hz * (-1)/299792458 m/s L5Q ADR for PRN 10 = -84528728.13886692 cycles
In the range logs, PSR and ADR have opposite signs.
l The L5Q Doppler is a 2's Complement number (as identified by the Range column Table 149: Secondary Reference Signals Measurement Block on page 716) so it is calculated in the following manner: Doppler(m/s) � 1st Doppler(m/s) = 2's Complement(0x00000010100001b) x Scaling Factor Doppler(m/s) � (-435.5229 m/s) = 80 x 0.0001 L5Q Doppler(m/s) = -435.5149 m/s Convert the Doppler to Hz: Doppler(Hz) = Doppler(m/s) x Frequency * (-1)/Speed Of Light Doppler(Hz) = -435.5149 m/s x 1176450000 Hz * (-1)/299792458 m/s L5Q Doppler(Hz) for PRN 10 = 1709.054 Hz
This concludes the processing of the signals present for PRN 10.
The next PRN as identified in the GPS Included Signals Field is PRN 15 with 2 signals. Processing of this data would be handled as described above, starting with the 4 bit Measurement Block followed by the individual signals. This would be followed by PRN 18, 21, and 27. Processing these remaining PRNs and their signals would use up the next 870 bits as shown below: Bits required for remaining GPS PRNs and Signals: PRN 15
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l 4 bits Measurement Block header l 111 bits - 1st Signal l 82 bits - 2nd Signal PRN 18 l 4 bits Measurement Block header l 111 bits - 1st Signal l 82 bits - 2nd Signal PRN 21 l 4 bits Measurement Block header l 111 bits - 1st Signal l 82 bits - 2nd Signal PRN 27 l 4 bits Measurement Block header l 111 bits - 1st Signal l 82 bits - 2nd Signal l 82 bits - 3rd Signal Total = 870 bits There are 2 bits left unprocessed from the last byte of PRN 10's processing so 868 more bits (109 bytes) are required. After processing the remaining GPS data, there will be 4 bits left from the last byte to start off the next system (GLONASS as identified by the GNSS field in the Header). After the last GPS bit, the GLONASS system will then be processed since it was identified as the next system by the GNSS field in the Header.
A.1.8 Reference Satellite and Signal Block: GLONASS
This block is sent once for each bit set to 1 in the GNSS field found in Table 145: Header on page 712. As identified by the above GNSS field, the second system (right to left) is the GLONASS System. Use Table 146: Satellite and Signal Block on page 713 to determine what satellites slots and signals data are contained in this GLONASS System: GLONASS Satellites field (64 bits)
l Grab the next 8 bytes (64 bits) = 0x3f0030080000000020 l Swap the bytes = 0x20000000000830003f l 0x20000000000830003f in binary form =
001000000000000000000000000000000000000000001000001100000000000000111111 l Mask out the used 4 LSBs =
00100000000000000000000000000000000000000000100000110000000000000011XXXX l Determine the required 64 bits =
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l The 1's above identify that there are 5 tracking GLONASS Slots. l The present GLONASS satellite PRNs/Slot ID's (when between 1 to 24) are therefore (37 +
Slot ID): Slot 1 = PRN 38 Slot 2 = PRN 39 Slot 17 = PRN 54 Slot 18 = PRN 55 Slot 24 = PRN 61
If the GLONASS Slot ID was between 43 and 64, this would represent a GLONASS satellite that has an unknown Slot ID and is instead assigned a temporary one based upon 64 minus the unadjusted GLONASS Frequency Number (0 to 20). This Slot ID will be updated once the actual PRN/Slot ID has been determined.
GLONASS Signals field (16 bits) l Append the next 2 bytes (0x01f0) to the last byte (0x20) = 0x2001f0 l Swap the bytes = 0x0f0120 l 0x0f0120 in binary form = 11110000000100100000 l Ignore the processed bits = 1111000000010010XXXX l Determine the required 16 bits =
l The 1's above identify that there are 2 tracking GLONASS signals: L1CA and L2P. GLONASS Included Signals field (5 Slot ID's x 2 Signals = 10 bits)
l Append the next byte (0x3f) to the last byte (0xf0) = 0xf03f l Swap the bytes = 0x3ff0 l 0x3ff0in binary form = 0011111111110000 l Ignore the processed bits = 001111111111XXXX l Determine the required 10 bits = XX1111111111XXXX l This bit string breaks down into 5 rows (Slots) and 2 columns (signals) as specified by the
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mxn (Slot IDs x signals) parameters. Take the bit string and break it up into sets of 2 starting at the MSB. This will result with the lowest Slot ID being at the bottom row of the stack and the first signal (L1CA) being the far right column.
11 11 11 11 11 l This stack can be further broken apart to identify the Slot ID's vs. their Signals: SLOT L2P L1CA 24 1 1 18 1 1 17 1 1 2 1 1 1 1 1
A.1.9 Reference Measurement Block Header: GLONASS PRN 38
(Slot 1 which was the first Slot found in the Satellites Field) We will grab enough bytes to process the whole Measurement Block Header. Since this is a GLONASS System, a total of 9 bits will be required for this step (1 bit for the Data Format Flag, 3 bits for the Ref Data Block ID, plus 5 bits for the GLONASS Frequency Number). With 2 bits left unprocessed from the previous byte, we will require 9 � 2 = 7 bits which rounds up to 1 byte:
l Use the last byte (0x3f) plus the next byte (0xa0)= 0x3fa0 l Swap the bytes = 0xa03f l 0xa03f in binary form = 1010000000111111 l Ignore the 6 processed bits from the last step = 1010000000XXXXXX l Ignore the 1 MSB bits leaving 9 bits for processing =
The Data Format Flag identifies that this batch of data is Reference (0) data. The Ref Data Block ID is 0x000. The GLONASS Frequency Number is 8 (adjusted to 1). When calculating the GLONASS Carrier frequency, this value (0 to 20) will be adjusted to its -7 to +13 value and then multiplied by that frequencies delta. Note that this field only appears in the Reference data and will not be found in the Differential data.
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Special Case: When the Slot ID is between 43 and 63, the Slot ID of the GLONASS satellite is unknown. In order to keep track of which satellite it is for these calculations, the Frequency Number is used to assign this GLONASS Satellite a temporary Slot ID based on the GLONASS Frequency Numbers binary value of 0 to 20.
A.1.10 Reference Primary Signal Measurement Block: GLONASS PRN 38 � L1CA
The next bytes collected will be for the GLONASS PRN 38 - L1CA signal data. This is the primary signal of the satellite since it is the first signal. As a result, its Measurement Block consists of 111 bits as listed in Table 148: Primary Reference Signal Measurement Block on page 715. Since 111 bits takes up a lot of space, these bits will be split into two groups from Table 148: Primary Reference Signal Measurement Block on page 715: the top 25 bits for signal info followed by the bottom 86 bits for signal data. The signal info section (top 25 bits) is processed as follows:
l With 1 bit left unprocessed from the previous byte, we calculate 25 � 1 = 24 bits which equals 3 bytes. Therefore the previous last byte (0xa0) plus the next 3 bytes will be needed. l Use the last byte (0xa0) plus grab 3 bytes (x19f813) = 0xa019f813 l Swap the bytes = 0x13f819a0 l 0x13f819a0 in binary form = 00010011111110000001100110100000 l The previous step used the 7 LSBs = 0001001111111000000110011XXXXXXX l Need 25 bits which is exactly what is left over:
l Parity flag is a 1 (Parity Known)
l � Cycle Slip flag is a 1 (Cycle Slip Present)
l C/No is: 0x10000001100b = 1036 x Scaling factor of 0.05 = 51.80 dBHz
l The Lock Time value is: 0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
l The Pseudorange Std Deviation value is: 0x0011b = 3 which means: 0.045 m < PSR Std Dev <= 0.066 m using Table 155: Pseudorange Std Dev on page 722.
l The ADR Std Deviation value is: 0x0001b = 1 which means: 0.0039 < ADR Std Dev <= 0.0052 cycles using Table 154: ADR Std Dev on page 721.
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The signal data section (bottom 86 bits) is processed as follows: l With no unprocessed bits from the previous byte, we need 86 bits which rounds up to 11 bytes. l Grab 11 bytes = 0x6a11273649b8fcefab9c43 l Swap the bytes = 0x439cabeffcb8493627116a l 0x439cabeffcb8493627116a in binary form = 0100 0011 1001 1100 1010 1011 1110 1111 1111 1100 1011 1000 0100 1001 0011 0110 0010 0111 0001 0001 0110 1010 l Only need 86 bits. Ignore first 2 MSBs =
l Use Table 148: Primary Reference Signal Measurement Block on page 715 to identify if a 2's Complement Conversion is needed as well as what Scale Factor should be used before these binary numbers are used in the following calculations.
l The 1st (Primary) Pseudorange is processed by: 1st Pseudorange = 0x0100100110110001001110001000101101010b x Scaling Factor 1st Pseudorange = 39563235690 x 0.0005 L1CA Pseudorange for PRN 38 = 19781617.845 m
l The 1st (Primary) Phaserange is a 2's Complement number (as identified by the Range column in Table 148: Primary Reference Signal Measurement Block on page 715) so it is processed in the following manner: 1st Phaserange � 1st Pseudorange = 2's Complement(0x11111111110010111000010b) * Scaling Factor 1st Phaserange � 19781617.845 m = -6718 * 0.0001 L1CA Phaserange = 19781617.1732 m
l Convert this to ADR to check against the original RANGE log: ADR = 1st Phaserange * (Carrier Frequency + Frequency Number * 562500 Hz) * (-1)/Speed Of Light ADR = 19781617.1732 m * (1602000000 Hz + 1 * 562500 Hz) * (-1)/299792458 m/s ADR = 19781617.1732 m * 1602562500 Hz * (-1)/299792458 m/s L1CA ADR for PRN 38 = -105744080.6970745 cycles
In the range logs, PSR and ADR have opposite signs.
l The 1st (Primary) Doppler is a 2's Complement number (as identified by the Range column in Table 148: Primary Reference Signal Measurement Block on page 715) so it is processed in the following manner: 1st Doppler(m/s) = 2's Complement(0x00001110011100101010111110b) x Scaling Factor 1st Doppler(m/s) = 3787454 m/s x 0.0001 L1CA Doppler(m/s) = 378.7454 m/s Convert the Doppler to Hz:
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1st Doppler(Hz) = 1st Doppler(m/s) x (Carrier Frequency + Frequency Number * 562500 Hz) * (-1)/Speed Of Light 1st Doppler(Hz) = 378.7454 m/s x (1602000000 Hz + 1 * 562500 Hz) * (-1)/299792458 m/s 1st Doppler(Hz) = 378.7454 m/s x 1602562500 Hz * (-1)/299792458 m/s L1CA Doppler(Hz) for PRN 38 = -2024.6112 Hz The rest of the GLONASS Reference Signals are handled in a similar manner as described in the above GPS section.
A.2 Differential Log Decoding
Logs not falling on a whole second are most likely Differential logs which are processed differently than the Reference logs. It is possible for a sub-second RANGECMP4 log to be a Reference log if the data contained within it did not fit the tight Differential Compression requirements. Differential logs use the reference data of the same signal unlike reference logs which uses the first signal to define the other signals. The next RANGECMP4 log is at time 507977.250:
#RANGECMP4A,COM1,0,88.5,FINESTEERING,1919,507977.250,02000020,fb0e, 32768;239,030000421204000000009200dff688831f6102005500e70162dc977c0040 15c07988840f6101803a805921cedf8b80002011207080e5f6351f003804081c2200be 0808005c01620808725f93028057801822dae0476000a00f207180fef6251700e80340 1c62f3bdc8060052013009986f5f22020054004ca2053ec408005401ca870180410000 0000000980ff6306fec408004801de07c8692f5102805180f721b2e04f600040152081 804ef7102500600540202205fe040a0086013a0938780f61020061804e224edbdb6800 2010c0498030f7411d0018047812a2d47d090a004c01a609c8544f62028052006a02 *48E189A2
At the start of the RANGECMP4 log is the identifier for how many bytes are in the log. In this case, there are 239 bytes (just under 20% less than a Reference Log). The rest of the message is compressed binary data and is transmitted as LSB first so the bytes must be swapped before processing.
A.2.1 Differential Header
The Differential Header is sent once per message (See Table 145: Header on page 712). Decoding the bits starting with the first bytes: GNSS field (16 bits)
l Grab the first 2 bytes (16 bits) = 0x0300 l Swap the bytes = 0x0003 l 0x0003 in binary form =
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In this example the receiver was configured to track only GPS and GLONASS systems. If other systems had been in the configuration and tracked, they would have shown here.
A.2.2 Differential Satellite and Signal Block
This block is sent once for each bit set to 1 in the GNSS field found in Table 145: Header on page 712. As identified by the above GNSS field, the first system (right to left) is the GPS System. Use Table 146: Satellite and Signal Block on page 713 to determine what satellites and signals data are contained in this GPS System: GPS Satellites field (64 bits)
l Grab the next 8 bytes (64 bits) = 0x0042120400000000 l Swap the bytes = 0x...0000000004124200 l 0x0000000004124200 in binary form =
l The 1's above identify that there are 5 tracking GPS PRNs. GPS Signals field (16 bits)
l Grab the next 2 bytes (16 bits) = 0x9200 l Swap the bytes = 0x0092 l 0x0092 in binary form =
l The 1's above identify that there are 3 tracking GPS signals: L1CA, L2Y, and L5Q. GPS Included Signals field (5 PRNs x 3 Signals = 15 bits � therefore need 2 bytes) Up to the point of processing the Included Signals field, the bytes are aligned such that the bits start and end within each batch of bytes. After processing this step, it is quite common for the Included Signals field (mxn matrix) to not be divisible by 8 so bytes not processed will need to be carried over to the next section depending on the size of the matrix.
l Grab the next 2 bytes (16 bits) = 0xdff6 l Swap the bytes = 0xf6df l 0xf6df in binary form = 1111011011011111 l Only need 15 of the 16 bits = X111011011011111 l This bit string breaks down into 5 rows (PRNs) and 3 columns (signals) as specified by the
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mxn (PRN x signals) parameters. Take the bit string and break it up into sets of 3 starting at the MSB. This will result with the lowest PRN being at the bottom row of the stack and the first signal (L1CA) being the far right column.
111 011 011 011 111
l This stack can be further broken apart to identify the PRNs vs. their Signals:
PRN L5Q L2Y L1CA
27 1
1
1
21 0
1
1
18 0
1
1
15 0
1
1
10 1
1
1
A.2.3 Differential Measurement Block Header
This block is sent once for each bit set to 1 in the Satellites field found in Table 146: Satellite and Signal Block on page 713. Now that the PRN's signals have been determined, the next step is to determine the specifics of the first PRN (10) and its list of signals (L1CA, L2Y, L5Q). Working from bottom right to upper left of the PRN/Signal chart above, each 1 represents a signal for a PRN. Use Table 147: Measurement Block Header on page 714 to determine the contents of each field:
GPS PRN 10 (first PRN found in the Satellites field)
We will grab enough bytes to process the whole Measurement Block Header. If this was a GLONASS system, a total of 9 bits would be required at this step (1 bit for the Data Format Flag, 3 bits for the Ref Data Block ID, plus 5 bits for the GLONASS Frequency Number). Since this is a GPS system, only 4 bits in total are required (1 bit for the Data Format Flag and 3 bits for the Ref Data Block ID).
There was 1 bit not processed in the last byte so that byte will be carried forward. Only 4 bits need to be looked at for this step so grab the next byte as well:
l Use the last byte (0xf6) plus the next byte (0x88)= 0xf688
l Swap the bytes = 0x88f6
l 0x88f6 in binary form = 1000 1000 1111 0110
l Ignore the processed bits from the last step = 1000 1000 1XXX XXXX
l Ignore the 5 MSB bits leaving 4 bits for processing =
The Data Format Flag identifies that this batch of data is Differential (1) data.
The Ref Data Block ID is 0x000. The Ref Data Block ID here identifies that this differential data will be calculated from the Reference data that had a Ref Data Block ID equaling 000 (which was determined in the RANGECMP4 log at time 507977.00 seconds).
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The 5 MSBs have not been processed so this byte will be carried forward.
Logs between seconds will be Differential logs but could be Reference logs depending on the compression calculations. If a discontinuity occurred that made it impossible for a Differential calculation to fit within the Differential Constraints, it will revert to a Reference log.
A.2.4 Differential Measurement Block
This block is sent once for each bit set to 1 in the Included Signals field found in Table 146: Satellite and Signal Block on page 713. Use Table 150: Primary Differential Signal Measurement Block on page 717 and Table 151: Secondary Differential Signals Measurement Block on page 718 to determine the contents of each field: A Measurement Block for a single PRN will look like the following:
Primary Parity Flag Primary � Cycle Slip Flag Primary C/No Primary Lock Time Primary Pseudorange Std Deviation Primary Phaserange Std Deviation Primary Pseudorange Primary Phaserange - Primary Pseudorange (determines the Phaserange for the 1st Signal) Primary Doppler
2nd Parity Flag 2nd � Cycle Slip Flag 2nd C/No 2nd Lock Time 2nd Pseudorange Std Deviation 2nd Phaserange Std Deviation 2nd Pseudorange - Primary Pseudorange (determines the Pseudorange for the 2nd Signal 2nd Phaserange � 2nd Pseudorange (determines the Phaserange for the 2nd Signal) 2nd Doppler � Primary Doppler (determines the Doppler for the 2nd Signal)
3rd Parity Flag 3rd � Cycle Slip Flag 3rd C/No 3rd Lock Time
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3rd Pseudorange Std Deviation 3rd Phaserange Std Deviation 3rd Pseudorange - Primary Pseudorange (determines the Pseudorange for the 3rd Signal 3rd Phaserange � 3rd Pseudorange (determines the Phaserange for the 3rd Signal) 3rd Doppler � Primary Doppler (determines the Doppler for the 3rd Signal) ...
A.2.5 Differential Primary Signal Measurement Block GPS PRN 10 � L1CA
The next bytes collected will be for the GPS PRN 10 - L1CA signal data. Since this is the primary signal of the PRN, its Measurement Block consists of 78 bits as listed in Table 150: Primary Differential Signal Measurement Block on page 717. The signal info section (top 25 bits) is processed as follows:
l With 5 bits left from the previous byte, we calculate 25 � 5 = 20 bits which rounds up to 3 bytes. Therefore the previous last byte (0x88) plus the next 3 bytes will be needed. l Use the last byte (0x88) plus grab 3 bytes (x831f61) = 0x88831f61 l Swap the bytes = 0x611f8388 l 0x611f8388 in binary form = 0110 0001 0001 1111 1000 0011 1000 1000 l Only need 25 bits. The last byte uses the 5 MSBs and the first byte ignores the 4 MSBs
l Parity flag is a 1 (Parity Known)
l � Cycle Slip flag is a 0 (Cycle Slip Not Present)
l C/No is: 0x10000011100b = 1052 x Scaling factor of 0.05 = 52.60 dBHz
l The Lock Time value is: 0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
l The Pseudorange Std Deviation value is: 0x0001b = 1 which means: 0.020 m < PSR Std Dev <= 0.030 m using Table 155: Pseudorange Std Dev on page 722.
l The ADR Std Deviation value is: 0x0001b = 1 which means: 0.0039 < ADR Std Dev <= 0.0052 cycles using Table 154: ADR Std Dev on page 721Table 10.
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l For the following calculations, the time difference between the Differential Log and the Reference log is 0.25 seconds as shown below: Time Difference = Current Log Time � Reference log Time = 507977.250 - 507977.000 = 0.250 seconds
The signal data section (bottom 53 bits) is processed as follows: l With 4 bits unprocessed from the previous byte, we calculate 53 � 4 = 49 bits = 7 bytes (7 bits will not be processed in the last byte). l Use the last byte (0x61) plus grab 7 bytes (0x02005500e70162) = 0x6102005500e70162 l Swap the bytes = 0x6201e70055000261 l 0x6201e70055000261 in binary form = 0110 0010 0000 0001 1110 0111 0000 0000 0101 0101 0000 0000 0000 0010 0110 0001 l Only need 53 bits. Ignore last 4 LSBs and first 7 MSBs =
l Use Table 150: Primary Differential Signal Measurement Block on page 717 to identify if a 2's Complement Conversion is needed as well as what Scale Factor should be used before these binary numbers are used in the following calculations.
l The 1st (Primary) Differential Pseudorange is processed by: Predicted Pseudorange = Reference 1st Pseudorange + (1st Doppler x TimeDifference) = 21540181.930275 m = 21540290.811 m + ((-435.5229 m/s) x 0.250 s) 1st DiffPseudorange � Predicted Pseudorange = 0x0000000000000100110b x Scaling Factor 1st DiffPseudorange � 21540181.930275 m = 38 x 0.0005 L1CA Pseudorange for PRN 10 = 21540181.949275 m
l The 1st (Primary) Differential Phaserange is a 2's Complement number (as identified by the Range column in Table 150: Primary Differential Signal Measurement Block on page 717) so it is processed in the following manner: Predicted Phaserange = Reference 1st DiffPhaserange + (1st Doppler x TimeDifference) = 21540291.5622 m + ((-435.5229 m/s) x 0.250 s) = 21540182.681475 m 1st DiffPhaserange � Predicted Phaserange = 2's Complement(0x0000000010101010b) * Scaling Factor 1st DiffPhaserange � 21540182.681475 m = 170 * 0.0001 L1CA Phaserange = 21540182.698475 m
l Convert this to ADR to check against the original RANGE log: ADR = 1st DifPhaserange * Frequency * (-1)/Speed Of Light ADR = 21540182.698475 m * 1575420000 Hz * (-1)/299792458 m/s L1CA ADR for PRN 10 = -113194424.0799796 cycles
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In the range logs, PSR and ADR have opposite signs.
l The 1st (Primary) Differential Doppler is a 2's Complement number (as identified by the Range column in Table 150: Primary Differential Signal Measurement Block on page 717) so it is processed in the following manner: 1st DiffDoppler(m/s)- Reference 1st Doppler = 2's Complement(0x000000001111001110b) x Scaling Factor 1st DiffDoppler(m/s) � (-435.5229 m/s) = 974 x 0.0001 L1CA Doppler(m/s) = -435.4255 m/s Convert the Doppler to Hz: 1st DiffDoppler(Hz) = 1st DiffDoppler(m/s) x Frequency * (-1)/Speed Of Light 1st DiffDoppler(Hz) = -435.4255 m/s x 1575420000 Hz * (-1)/299792458 m/s L1CA Doppler(Hz) for PRN 10 = 2288.1764464 Hz
A.2.6 Differential Secondary Signals Measurement Block GPS PRN 10 � L2Y
Unlike Reference logs which always reflect back to the initial signal for their computations, Differential logs uses the last Reference log data of the same signal for its calculations.
l With 7 bits unprocessed from the previous byte, we will require 74 � 7 = 67 bits which rounds up to 9 bytes. l Use the last byte (0x62) plus grab the next 9 bytes (0xdc977c004015c07988) = 0x62dc977c004015c07988 l Swap the bytes = 0x8879c01540007c97dc62 l 0x8879c01540007c97dc62 in binary form = 1000 1000 0111 1001 1100 0000 0001 0101 0100 0000 0000 0000 0111 1100 1001 0111 1101 1100 0110 0010 l Only need 74 bits. The 1 LSB is ignored as it was already processed above and the 5 MSBs are ignored so there is a total of 74 bits to process
l Parity flag is a 1 (Parity Known)
l � Cycle Slip flag is a 0 (Cycle Slip Not Present)
l C/No is: 0x01110001100b = 908 x Scaling Factor of 0.05 = 45.4 dBHz
l The Lock Time value is: 0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
l The Pseudorange Std Deviation value is:
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0x0101b = 5 which means: 0.099 m < PSR Std Dev <= 0.148 m using Table 155: Pseudorange Std Dev on page 722.
l The ADR Std Deviation value is: 0x0010b = 2 which means: 0.0052 < ADR Std Dev <= 0.0070 cycles using Table 154: ADR Std Dev on page 721.
l The L2Y Pseudorange is a 2's Complement number (as identified by the Range column in Table 151: Secondary Differential Signals Measurement Block on page 718) so it is processed in the following manner:
Predicted Pseudorange = Reference 2nd Pseudorange + (2nd Doppler x TimeDifference) = 21540293.6315 m + ((-435.523 m/s) x 0.250 s) = 21540184.75075 m
DiffPseudorange � Predicted Pseudorange = 2's Complement(0x0000000000000011111b) x Scaling Factor DiffPseudorange � 21540184.75075 m = 31 x 0.0005 L2Y Pseudorange = 21540184.76625 m
l The L2Y Phaserange is a 2's Complement number (as identified by the Range column in Table 151: Secondary Differential Signals Measurement Block on page 718) so it is calculated in the following manner:
Predicted Phaserange = Reference 2nd DiffPhaserange + (2nd Doppler x TimeDifference) = 21540294.399 m + ((-435.523 m/s) x 0.250 s) = 21540185.51825 m
DiffPhaserange � Predicted Phaserange = 2's Complement(0x0000000010101010b) * Scaling Factor DiffPhaserange � 21540185.51825 m = 170 * 0.0001 L2Y Phaserange = 21540185.53525 m
l Convert this to ADR to check against the original RANGE log:
ADR = Phaserange * Frequency * (-1)/Speed Of Light ADR = 21540185.53525 m * 1227600000 Hz * (-1)/299792458 m/s L2Y ADR for PRN 10 = -88203458.95116848 cycles
In the range logs, PSR and ADR have opposite signs.
l The L2Y Doppler is a 2's Complement number (as identified by the Range column in Table 151: Secondary Differential Signals Measurement Block on page 718) so it is calculated in the following manner:
DiffDoppler(m/s) � Ref 2nd Doppler(m/s) = 2's Complement(0x00001111001110b) x Scaling Factor DiffDoppler(m/s) � (-435.5229 m/s) = (974) x 0.0001 L2Y Doppler(m/s) = -435.4255 m/s
Convert the Doppler to Hz:
Doppler(Hz) = Doppler(m/s) x Frequency * (-1)/Speed Of Light Doppler(Hz) = -435.4255 m/s x 1227600000 Hz * (-1)/299792458 m/s L2Y Doppler(Hz) for PRN 10 = 1782.994633 Hz
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A.2.7 Differential Third Signals Measurement Block GPS PRN 10 � L5Q
Unlike Reference logs which always reflect back to the initial signal for their computations, Differential logs uses the last Reference log data of the same signal for its calculations.
l With 3 bits unprocessed from the previous byte, we will require 74 � 3 = 71 bits which rounds up to 9 bytes. l Use the last byte (0x88) plus grab the next 9 bytes (0x 840f6101803a805921) = 0x88840f6101803a805921 l Swap the bytes = 0x2159803a8001610f8488 l 0x2159803a8001610f8488 in binary form = 0010 0001 0101 1001 1000 0000 0011 1010 1000 0000 0000 0001 0110 0001 0000 1111 1000 0100 1000 1000 l Only need 74 bits. The 3 LSBs are ignored as they were already processed and the 3 MSBs are ignored so there is a total of 74 bits to process
l Parity flag is a 1 (Parity Known)
l � Cycle Slip flag is a 0 (Cycle Slip Not Present)
l C/No is: 0x10000100100b = 1060 x Scaling factor of 0.05 = 53.0 dBHz
l The Lock Time value is: 0x1111b = 15 which means that this signal has been locked for 262144 ms or more.
l The Pseudorange Std Deviation value is: 0x0000b = 0 which means: PSR Std Dev <= 0.020 m using Table 155: Pseudorange Std Dev on page 722.
l The ADR Std Deviation value is: 0x0001b = 1 which means: 0.0039 < ADR Std Dev <= 0.0052 cycles using Table 154: ADR Std Dev on page 721.
l The L5Q Pseudorange is a 2's Complement number (as identified by the Range column in Table 151: Secondary Differential Signals Measurement Block on page 718) so it is processed in the following manner:
Predicted Pseudorange = Reference 3rd Pseudorange + (3rd Doppler x TimeDifference) = 21540289.869 m + ((-435.5149 m/s) x 0.250 s) = 21540180.990275 m
DiffPseudorange � Predicted Pseudorange = 2's Complement(0x000 0000 0000 0001 0110b) x Scaling Factor DiffPseudorange � 21540180.990275 m = 22 x 0.0005 L5Q Pseudorange = 21540181.001275 m
l The L5Q Phaserange is a 2's Complement number (as identified by the Range column in
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Table 151: Secondary Differential Signals Measurement Block on page 718) so it is calculated in the following manner: Predicted Phaserange = Reference 3rd DiffPhaserange + (3rd Doppler x TimeDifference) = 21540290.8584 m + ((-435.5149 m/s) x 0.250 s) = 21540181.979675 m DiffPhaserange � Predicted Phaserange = 2's Complement(0x0000000001110101b) * Scaling Factor DiffPhaserange � 21540181.979675 m = 117 * 0.0001 L5Q Phaserange = 21540181.991375 m l Convert this to ADR to check against the original RANGE log: ADR = Phaserange * Frequency * (-1)/Speed Of Light ADR = 21540181.991375 m * 1176450000 Hz * (-1)/299792458 m/s L5Q ADR for PRN 10 = -84528300.92127641 cycles
In the range logs, PSR and ADR have opposite signs.
l The L5Q Doppler is a 2's Complement number (as identified by the Range column in Table 151: Secondary Differential Signals Measurement Block on page 718) so it is calculated in the following manner: DiffDoppler(m/s) � Ref 3rd Doppler(m/s) = 2's Complement(0x00001010110011b) x Scaling Factor DiffDoppler(m/s) � (-435.5149 m/s) = 691 x 0.0001 L5Q Doppler(m/s) = -435.4458 m/s Convert this to Hz: Doppler(Hz) = Doppler(m/s) x Frequency * (-1)/Speed Of Light Doppler(Hz) = -435.4458 m/s x 1176450000 Hz * (-1)/299792458 m/s L5Q Doppler(Hz) for PRN 10 = 1708.78285 Hz
This concludes the decoding of the Differential Log for PRN 10 (signals L1CA, L2Y, and L5Q). The rest of the decoding for the other PRNs and systems are handled in the same manner.
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