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OEM4_Commands_and_Logs_OM-20000047_Vol 2_Rev_8

1. Structure Message ID 404 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 prn Number of PRNs with information to Ulong 4 H 24 follow maximum of 3 9 scale Scale where Ulong 4 H 28 0 0 02 m and 0 002 m s 1 0 32 m and 0 032 m s 10 UDRE User differential range error Ulong 4 H 32 11 prn Satellite PRN number Ulong 4 H 36 12 psr corr Scaled pseudorange correction Long 4 H 40 meters 13 rate corr Scaled range rate correction Long 4 H 44 14 IOD Issue of data Long 4 H 48 15 Next PRN offset H 28 prns x 24 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only Recommended Input log rtemdata9a ontime 10 ASCII Example FRICMDATA9A COM1 0 74 0 FINESTEERING 1117 160710 160710000 0 3850 0 1117 6 3 0 0 21 866 29 153 0 0 6 1438 29 88 0 0 26 409 30 35 818597db 000 00100020 8265 399 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 199 Chapter 3 Data Log
2. Field Field type Data Description Format Offset Scaling 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 4 iodf Issue of fast corrections data Ulong 4 H 8 3 iodp Issue of PRN mask data Ulong 4 H 12 6 pre26 pre i Long 4 H 16 7 pre27 Long 4 H 20 e ceo fr Tong Ja mer gt 9 pre29 Long 4 H 28 10 pre30 Long 4 H 32 11 pre31 Long 4 H 36 12 pre32 Long 4 H 40 13 pre33 Long 4 H 44 14 pre34 Long 4 H 48 15 pre35 Long 4 H 52 16 pre36 Long 4 H 56 17 pre37 Long 4 H 60 18 pre38 Long 4 H 64 19 udrei26 udre i Ulong 4 H 68 See Table 79 20 udrei27 7 ppe Ulong 4 H 72 ai atsoa diem range ever indistor Drong a Ts 22 udrei29 Ulong 4 H 80 23 udrei30 Ulong 4 H 84 24 udrei3 1 Ulong 4 H 88 25 udrei32 Ulong 4 H 92 26 udrei33 Ulong 4 H 96 27 udrei34 Ulong 4 H 100 28 udrei35 Ulong 4 H 104 29 udrei36 Ulong 4 H 108 30 udrei37 Ulong 4 H 112 31 udrei38 Ulong 4 H 116 32 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 120 33 CR LF Sentence terminator ASCII only Recommended Input log WAAS4 onchanged ASCII Example W AAS4A COM1 0 58 0 SATTIME 1093 163399 000 00000020 b4b0 209 122 0 3 2047 3 1 2047 2047 2047 3 1 5 3 3 2047 2 14 3 3 14 14 14 6 3 4 5 4 14 3 2e0894b1 240 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 88 WAAS5 Fast Correction Slots 39 50
3. Field Field type Data Description Format Bytes Offset Scaling 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 4 iodf Issue of fast corrections data Ulong 4 H 8 5 iodp Issue of PRN mask data Ulong 4 H 12 6 prcO pre i Long 4 H 16 1 prel Fast corrections 2048 to 2047 for Loig ned 8 pre2 the prn in slot i i 0 12 Long 4 H 24 9 pre3 Long 4 H 28 10 prc4 Long 4 H 32 11 pres Long 4 H 36 12 prc Long 4 H 40 13 pre7 Long 4 H 44 14 pre8 Long 4 H 48 15 pre9 Long 4 H 52 16 pre10 Long 4 H 56 17 prell Long 4 H 60 18 pre12 Long 4 H 64 19 udreO udre i Ulong 4 H 68 See Table 79 20 udrel ha Ulong 4 H 72 21 ude riera range eos iio F yong a Has 22 udre3 Ulong 4 H 80 23 udre4 Ulong 4 H 84 24 udre5 Ulong 4 H 88 25 udre6 Ulong 4 H 92 26 udre7 Ulong 4 H 96 27 udreS Ulong 4 H 100 28 udre9 Ulong 4 H 104 29 udre10 Ulong 4 H 108 30 udre11 Ulong 4 H 112 31 udre12 Ulong 4 H 116 32 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 120 33 CR LF Sentence terminator ASCII only OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 237 Chapter 3 Data Logs Recommended Input log WAAS2 onchanged ASCII Example WAAS2A COM1 0 58 0 SATTIME 1093 163399 000 00000020 b4b0 209 122 0 3 2047 3 1 2047 2047 2047 3 1 5 3 3 2047 2 14 3 3 14 14 14 6 3 4
4. Field Field type Data Description Format Bytes Offset header Log header H 0 2 sol status Solution status see Table 40 Solution Status Enum 4 H on Page 124 3 pos type Position type see Table 39 Position or Enum 4 H 4 Velocity Type on Page 123 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation Float 4 H 32 8 datum id Datum ID number see Chapter 2 Table 17 Enum 4 H 36 Datum Transformation Parameters on Page 54 9 lat o Latitude standard deviation Float 4 H 40 10 lon Longitude standard deviation Float 4 H 44 11 hgt o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff_age Differential age in seconds Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 Uchar 1 H 66 18 Uchar 1 H 67 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only Recommended Input log psrposa ontime 1 ASCII Example PSRPOSA COM1 0 58 0 FINE 1027 324231 000 00000000 c91 0 SOL_COMPUTED PSRDIFF 51 11615533807 114 03850611829 1010 452 16 271 61 19 50677306162 14 52973740177 39 584
5. logs Structure Message ID 402 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count week Ulong 4 H 8 number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 ECEF X Base station ECEF X coordinate 1 100 m Double 8 H 24 9 ECEF Y Base station ECEF Y coordinate 1 100 m Double 8 H 32 10 ECEF Z Base station ECEF Z coordinate 1 100 m Double 8 H 40 11 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 48 12 CR LF Sentence terminator ASCII only Recommended Input log rtemdata3a ontime 10 ASCII Example RTCMDATA3A COM1 0 74 0 FINESTEERING 1117 160636 477 00100020 2e19 399 1117 0 3727 160636477 180 6 163452535 7607752382755280 366461076 2499782443046570 494248361 4689489603042603 f 621 163 198 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 61 RTCMDATAY Partial Differential GPS Corrections DGPS Chapter 3 See the chapter on Message Formats in Volume 1 of this manual for information on RTCM standard logs This log is the same as the RTCMDATA 1 log but there will only be corrections for a maximum of 3 satellites
6. Bytes Offset 1 header Log header H 0 2 clock status Clock model status not including current Enum 4 H measurement data see Table 41 on Page 128 3 offset Receiver clock offset in seconds from GPS Double 8 H 4 time A positive offset implies that the receiver clock is ahead of GPS time To derive GPS time use the following formula GPS time receiver time offset 4 offset std Receiver clock offset standard deviation Double H 12 5 utc offset This field represents the offset of GPS time Double H 20 from UTC time computed using almanac parameters UTC time is GPS time plus the current UTC offset plus the receiver clock offset UTC time GPS time offset UTC offset 6 utc year UTC year Ulong 4 H 28 T utc month UTC month 0 12 Uchar 1 H 32 8 utc day UTC day 0 31 Uchar 1 H 33 9 utc hour UTC hour 0 23 Uchar 1 H 34 10 utc min UTC minute 0 59 Uchar 1 H 35 11 utc millisec UTC millisecond 0 59999 Ulong 4 H 36 12 utc status UTC status Enum 4 H 40 0 Invalid 1 Valid 13 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 14 CR LF Sentence terminator ASCII only Recommended Input log timea ontime 1 ASCII Example TIMEA COM1 0 58 0 FINESTEERING 1049 248050 000 00000128 5c46 0 VALID 0 000000002 0 000001901 13 00000000294 2000 2 15 20 53 57011 Valid d6f14d5d 228 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data L
7. 2 mode See Table 30 Set the dynamics mode Enum 4 H ASCII Example RTKDYNAMICS DYNAMIC Table 30 Dynamics Mode ASCII Binary Description AUTO 0 Automatically determine dynamics mode STATIC 1 Static mode DYNAMIC 2 Dynamic mode OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 85 Chapter 2 Commands 2 6 35 RTKELEVMASK RTK This command sets the mask angle below which satellites will not be included On a base station this limits the satellites that will be transmitted in RTK observations On a rover receiver satellites below the mask angle will be deweighted in RTK computations On startup the GPSCard defaults to the AUTO setting Abbreviated ASCII Syntax Message ID 91 RTKELEVMASK type angle Field ASCII Binary Binary Binary Binary Fiel Description ele Type Value Value oscriptio Format Bytes Offset 1 header This field contains the command name H 0 or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type AUTO 0 Base all available satellites are Enum 4 H included Rover elevation mask varies depending on baseline length USER 1 User entered angle 3 angle 0 90 degrees Elevation mask angle required for Float 4 H 4 USER setting ASCII Example RTKELEVMASK USER 10 5 86 OEM4 GPSCard Firmware Version 1 400 Command and Log Refer
8. 26 HUTZU 634 549 201 Hu Tzu Shan Taiwan International 1924 27 INDIA 289 734 257 Indian India Nepal Bangladesh Everest EA 28 IRE65 506 122 611 Ireland 1965 Modified Airy 29 KERTA 11 851 5 Kertau 1948 West Malaysia and Singapore Everest ED 30 KANDA 97 787 86 Kandawala Sri Lanka Everest EA 31 LIBER 90 40 88 Liberia 1964 Clarke 1880 32 LUZON 133 77 51 Luzon Philippines excluding Mindanoa Is Clarke 1866 33 MINDA 133 70 72 Mindanoa Island Clarke 1866 34 MERCH 31 146 47 Merchich Morocco Clarke 1880 35 NAHR 231 196 482 Nahrwan Saudi Arabia Clarke 1880 36 NAD83 0 0 0 N American 1983 Includes Areas 37 42 GRS 80 37 CANADA 10 158 187 N American Canada 1927 Clarke 1866 38 ALASKA 5 135 172 N American Alaska 1927 Clarke 1866 39 NAD27 8 160 176 N American Conus 1927 Clarke 1866 40 CARIBB 7 152 178 N American Caribbean 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 12 101 Puerto Rica and Virgin Islands Clarke 1866 46 QORNO 164 138 189 Qornoq South Greenland International 1924 47 ROME 255 65 9 Rome 1940 Sardinia Island International 1924 48 CHUA 134 229 29 South American Chua Astro Paraguay International 1924 49 SAM56 288 175 376 South American Provisional 1956 International 1924 50 SAM69 57 1 41
9. 174 Recommended Input log psrvela ontime 1 ASCII Example PSRVELA COM1 0 62 5 FINESTEERING 1049 247680 000 00000128 cf7a 0 SOL_COMPUTED DOPPLER_VELOCITY 0 250 1 000 0 112280259 0 0435 54 537543 0 0255 9f4a42ad OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 42 PSRXYZ Pseudorange Cartesian Position and Velocity 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 6 Page 127 for a definition of the ECEF coordinates The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value The velocity status indicates varying degrees of velocity quality To ensure healthy velocity the position sol status must also be checked If the sol status is non zero the velocity will likely be invalid It should be noted that the receiver does not determine the direction of a vessel craft or vehicle is pointed heading but rather the direction of the motion of the GPS antenna relative to the ground The velocity is computed using Doppler values typically derived from differences in consecutive carrier phase measurements As such it is an average velocity based on the average change in pseudorange over the time interval and not an instantaneous vel
10. Abbreviated ASCII Syntax Message ID 98 ANTENNAPOWER flag Field ASCII Binary oo de Binary Binary Binary ried Type Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 flag OFF 0 Disables internal powering of Enum 4 H antenna ON 1 Enables internal powering of antenna ASCII Example ANTENNAPOWER ON 38 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands 2 6 3 ASSIGN The ASSIGN command should only be used by advanced users of GPS Chapter 2 This command may be used to aid in the initial acquisition of a satellite by allowing you to override the automatic satellite channel assignment and reacquisition processes with manual instructions The command specifies that the indicated tracking channel search for a specified satellite at a specified Doppler frequency within a specified Doppler window The instruction will remain in effect for the specified SV channel and PRN even if the assigned satellite subsequently sets If the satellite Doppler offset of the assigned SV channel exceeds that specified by the Window parameter of the ASSIGN command the satellite may never be acquired or re acquired To cancel the effects of ASSIGN you must issue the ASSIGN AUTO UNASSIGN or UNASSIGNALL command This will return SV channe
11. See also the FRESET and SAVECONFIG commands OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 81 Chapter 2 Commands 2 6 32 RTKBASELINE RTK 82 This command only affects RT 2 operation and not RT 20 This command is used in differential RTK mode to set the initial baseline information for the base station and rover station Setting the initial baseline speeds up ambiguity resolution by indicating to the RT 2 software the exact length of the vector between the rover and base station antennas It only affects the operation of an RT 2 system on baselines not exceeding 30 km There are two methods of entering the baseline information LLH and ECEF The first method is to use absolute LAT LON HEIGHT coordinates LAT in degrees requires a decimal fraction format a negative sign for South latitude LON in degrees requires a decimal fraction format a negative sign for West longitude HEIGHT in meters can refer either to mean sea level default or to an ellipsoid The optional 20 defines the accuracy 2 sigma 3 dimensional of the input position in meters it must be 0 03 m or less to cause the RT 2 algorithms to undergo a forced initialization to fixed integer ambiguities If no value is entered a default value of 0 30 m is assumed this will not cause an initialization to occur The optional M or E in the type field refers to the height if M the height will be assumed to be abo
12. a In addition to a NovAtel OEMA card a NovAtel OmniSTAR L Band receiver and a subscription to the OmniSTAR service is required Contact NovAtel for details b Output only by the BESTPOS and BESTVEL logs when using an inertial navigation system such as NovAtel s Black Diamond System BDS Please visit our website refer to your BDS Users Guide or contact NovAtel for more information OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 123 Chapter 3 124 Data Logs Table 40 Solution Status Solution Status Description Binary ASCII 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT_OBS Insufficient observations 2 NO_CONVERGENCE No convergence 3 SINGULARITY Singularity at parameters matrix 4 COV_TRACE Covariance trace exceeds maximum trace gt 1000 m 5 TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km 6 COLD_START Not yet converged from cold start 7 V_H_LIMIT Height or velocity limits exceeded in accordance with COCOM export licensing restrictions 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 10 DELTA_POS Delta position is too large 11 NEGATIVE_VAR Negative variance 12 Reserved 13 INTEGRITY_WARNING Large residuals make position unreliable OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 44 BESTVEL Best Available V
13. 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 162 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Field Structure Field Type header Message ID 161 Log Type Synch Data Description Log header Format Chapter 3 Binary Binary Bytes H Offset 0 sol status Solution status see Table 40 Solution Status on Page 124 Enum 4 H pos type Position type see Table 39 Position or Velocity Type on Page 123 Enum 4 H 4 vel type Velocity type see Table 39 Position or Velocity Type on Page 123 Enum H 8 nav type Navigation data type see Table 49 Navigation Data Type on Page 162 Enum H 12 distance Straight line horizontal distance from current position to the destination waypoint in meters see Figure 7 Navigation Parameters on Page 162 This value is positive when approaching the waypoint and becomes negative on passing the waypoint Double H 16 bearing Direction from the current position to the destination waypoint in degrees with respect to True North or Magnetic if corrected for magne
14. Binary ASCII Description 0 OFF Card is not averaging 1 INPROGRESS Averaging is in progress 2 COMPLETE Averaging is complete OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 121 Chapter 3 Data Logs 343 BESTPOS Best Position This log contains the best available combined GPS and inertial navigation system INS if available 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 O indicates that no differential correction was used With the system operating in an RTK mode this log will reflect the latest low latency solution for up to 30 seconds after reception of the last base station observations After this 30 second period the position reverts to the best solution available the degradation in accuracy is reflected in the standard deviation fields If the system is not operating in an RTK mode pseudorange differential solutions continue for the time specified in the DGPSTIMEOUT command see Page 57 See also the table footnote for position logs on Page 106 as well as the MATCHEDPOS PSRPOS and RTKPOS logs on Pages 159 173 and 214 respectively Structure Message ID 42 Log Type Synch Binary Binary Field Field t
15. BESTPOS Best position data Synch BESTVEL Velocity data Synch GPRMB NMEA waypoint status Synch GPRMC NMEA navigation information Synch GPVTG NMEA track made good and speed Synch NAVIGATE Navigation waypoint status Synch OMNIHPPOS OmniSTAR HP position data Synch PSRPOS Pseudorange position Synch PSRVEL Pseudorange velocity Synch PSRXYZ Pseudorange cartesian coordinate position Synch RTKVEL RTK Velocity Synch CLOCK INFORMATION STATUS AND TIME Descriptions CLOCKMODEL Range bias information Synch CLOCKSTEERING Clock steering status Asynch GPZDA NMEA UTC time and date Synch TIME Receiver time information Synch TIMESYNC Synchronize time between receivers Synch a The RTK velocity is computed from the latest local observations and extrapolated base station observations This supplies a valid RTK velocity with the lowest latency possible at the expense of some accuracy The degradation in accuracy is reflected in the standard deviation and is summarized in the Differential Positioning section in the GPS Overview appendix in Volume 1 of this manual The amount of time that the base station observations are extrapolated is provided in the differential age field of the velocity log The Low Latency RTK system will extrapolate for 30 seconds The RTKVEL log contains the Low Latency RTK velocity when valid and an invalid status when a low latency RTK solution could not be computed The BESTVEL log con
16. 1 of this manual for more details on pinouts Abbreviated ASCII Example 1 LOG COM1 BESTPOSA ONTIME 7 2 5 HOLD The above example shows the BESTPOSA log is logging to COM port 1 at 7 second intervals and offset by 2 5 seconds output at 2 5 9 5 16 5 seconds and so on The hold parameter is set so that logging is not disrupted by the UNLOGALL command To send a log only one time the trigger option can be ignored Abbreviated ASCII Example 2 LOG COM1 BESTPOSA ONCE 0 000000 0 000000 NOHOLD See Section 2 1 Command Formats on Page 22 for additional examples OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 73 Chapter 2 Commands 2 6 26 MAGVAR Field 1 The GPSCard computes directions referenced to True North Use this command magnetic variation correction if you intend to navigate in agreement with magnetic compass bearings The correction value entered here will cause the bearing field of the NAVIGATE log to report bearing in degrees Magnetic The GPSCard will compute the magnetic variation correction if you use the auto option See Figure 2 Illustration of Magnetic Variation amp Correction on Page 75 The receiver calculates values of magnetic variation for given values of latitude longitude and time using the International Geomagnetic Reference Field IGRF 95 spherical harmonic coefficients and IGRF time corrections to the harmonic coefficients Abbreviated ASCII Syntax Message ID
17. In the PSRDIFFSOURCE command AUTO means the first received RTCM or RTCA message has preference over an OmniSTAR VBS message In the RTKSOURCE command for RTK models AUTO means the NovAtel RTK filter is enabled and the first received RTCM RTCA or CMR message is selected For non RTK models AUTO means the OmniSTAR HP if allowed message is enabled 11 NONE Disables all the DGPS and OMNISTAR types a Disables OmniSTAR Virtual Base Stations VBS b Available only with the RTKSOURCE command see Page 88 c ID parameter is ignored OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 31 RESET This command performs a hardware reset Following a RESET command the GPSCard will initiate a cold start bootup Therefore the receiver configuration will revert either to the factory default if no user configuration was saved or the last SAVECONFIG settings The optional delay field is used to set the number of seconds the receiver is to wait before resetting Abbreviated ASCII Syntax Message ID 18 RESET delay Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field Description 2 delay Seconds to wait before Ulong 4 H resetting default 0
18. Sentence terminator ASCII only a 0 indicates that UTC time is unknown because there is no almanac available in order to acquire the UTC offset Recommended Input log marktimea onmark Example MARKTIME COM1 0 63 0 COARSE 1027 322788 595 00000000 6221 0 653 338214 773382376 0 000504070 0 000000013 8 000000000 0 523581ba Using the onmark trigger with this or the MARKPOS log is no different than using the onnew trigger Only the MARKPOS log the MARKTIME log and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs will output the most recently available data 158 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 30 MATCHEDPOS Matched RTK Position RTK This log represents positions that have been computed from time matched base and rover observations There is no base station extrapolation error on these positions because they are based on buffered measurements they lag real time by some amount depending on the latency of the data link If the rover receiver has not been enabled to accept RTK differential data or is not actually receiving data leading to a valid solution this will be reflected by the code shown in field 2 solution status and 3 position type This log provides the best accuracy in static operation For lower latency i
19. Table 46 URA Variance Index Value m A Standard Deviations m Variance A m 0 2 0 4 1 2 8 7 84 2 4 0 16 3 5 7 32 49 4 8 56 5 11 3 127 69 6 16 0 256 7 32 0 1024 8 64 0 4096 9 128 0 16384 10 256 0 65536 11 512 0 262144 12 1024 0 1048576 13 2048 0 4194304 14 4096 0 16777216 15 8192 0 67108864 Recommended Input log gpsephema onchanged ASCII Example GPSEPHEMA COM1 6 52 5 SATTIME 1048 505920 000 00000028 e05d 0 7 505920 0 0 61 61 048 1048 511200 0 2 65611412e 07 5 11057002e 09 2 44168504e 00 1 081193e 02 2 09812298e 00 1 81607902e 06 4 31202352e 06 2 90031250e 02 3 44062500e 01 1 73225999e 07 5 40167093e 08 9 5 8 406064e 09 61 51 914192e 01 8 32177521e 11 2 763202e 00 200 0 1 86264515e 09 3 9749e 04 4 8885e 11 0 00000 TRUE 1 45852555e 04 1 02400000e 03 0491840F GPSEPHEMA COM1 0 52 5 SATTIME 1048 505950 000 00000028 e05d 0 4 505950 0 0 171 17 1048 1048 511184 0 2 65606308e 07 4 19731769e 09 1 07102804e 00 5 387515e 03 6 16884846e 01 2 86661088e 06 7 91251659e 06 2 31062500e 02 5 39687500e 01 1 34110451e 07 1 49011612e 08 9 77176578e 01 3 72872675e 10 2 430120e 00 8 025334e 09 171 5 1184 0 6 05359674e 09 7 0939e 04 2 0009e 11 0 00000 TRUE 1 45855846e 04 1 02400000e 03 abbeec64 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 151 Chapter 3 Data Logs
20. be set using the STATUSCONFIG command see Page 97 18 aux3stat set Auxiliary 3 status event set mask which can ULong 4 H 64 be set using the STATUSCONFIG command see Page 97 19 aux3stat clear Auxiliary 3 status event clear mask which ULong 4 H 68 can be set using the STATUSCONFIG command see Page 97 20 Next status code offset H 8 stats x 64 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 ar x variable CR LF Sentence terminator ASCH only Recommended Input log rxstatusa onchanged ASCII Example RXSTATUSA COM1 0 54 5 FINESTEERING 1075 321753 938 00040028 bfad 97 00000000 4 00040028 00000000 00000000 00000000 00400006 00000008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 4ef4a6c3 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 221 Chapter 3 Data Logs Table 69 Receiver Error Nibble Bit Mask Description NO 0 0x00000001 Dynamic Random Access Memory DRAM status OK Error 1 0x00000002 No application OK Error Nl 4 0x00000010 Electronic Serial Number ESN access status OK Error 5 0x00000020 Authorization code status OK Error 6 0x00000040 Slow ADC status OK Error 7 0x00000080 Supply voltage status OK Error N2 8 0x00000100 Thermometer status OK Error 9 0x00000200 Hazardous
21. Delta user differential range error Ulong 4 H 20 inside 8 dudre outside Delta user differential range error Ulong 4 H 24 outside 9 reg Number of regions with information Ulong 4 H 28 to follow variable latl Coordinate 1 latitude Long 4 H 32 variable lon1 Coordinate 1 longitude Long 4 H 36 variable lat2 Coordinate 2 latitude Long 4 H 40 variable lon2 Coordinate 2 longitude Long 4 H 44 variable shape Shape where 0 triangle and Ulong 4 H 48 1 square variable Next reg entry H 32 reg x 20 variable tg Time of applicability Ulong 4 H 32 16 reg x 20 variable xxxx 32 bit CRC ASCII and Binary Hex 4 H 36 only reg x 20 variable CR LF Sentence terminator ASCII only Recommended Input log WAAS27 onchanged ASCII Example Not available at time of print 256 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 100 WAASCORR SBAS Range Corrections Used SBAS The info will be updated with each pseudorange position calculation It will have an entry for each tracked satellite Satellites that are not included in an SBAS corrected solution will have 0 0 in both the psr corr and corr stdv fields The psr corr is the combined fast and slow corrections and is to be added to the pseudorange lonospheric and tropospheric corrections are not included and should be applied sep
22. limited to a 700 maximum string Data String 700 H 8 1400 pair hex by command max 700 interpreter buffer even number of ASCII characters from set of 0 9 A F e no spaces are allowed between pairs of characters Input Example sendhex COM 1 6 143Ab5910DOA 92 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 42 SETAPPROXPOS This command sets an approximate latitude longitude and height in the GPSCard Estimating these parameters when used in conjunction with an approximate time see the SETAPPROXTIME command on Page 94 can improve satellite acquisition times and time to first fix For more information please refer to the TT FF and Satellite Acquisition appendix in Volume 1 of this manual 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 will be ignored The approximate position will not be visible in any position logs It can be seen by entering a LOG SETAPPROXPOS message See also the SATVIS log on Page 226 Abbreviated ASCII Syntax Message ID 377 SETAPPROXPOS lat lon height ASCII Binary Binary Binary Value Value Format Offset 1 header This field contains the H 0 command name or the message
23. s position 5 SATCOORDINATEERROR Satellite coordinate error during computation of the satellite s position 6 ELEVATIONERROR Elevation error due to the satellite being below the cut off angle 7 MISCLOSURE Misclosure too large due to excessive gap between estimated and actual positions 8 NODIFFCORR No compatible differential correction is available for this particular satellite 9 NOEPHEMERIS Ephemeris data for this satellite has not yet been received 10 INVALIDIODE Invalid IODE Issue Of Data Ephemeris due to mismatch between differential stations 11 LOCKEDOUT Locked out satellite is excluded by the user LOCKOUT command 12 LOWPOWER Low power satellite is rejected due to low carrier noise ratio 13 OBSL2 L2 measurements are not being used by the filter 16 NOIONOCORR No compatible ionospheric correction is available for this particular satellite 99 NA No observation a reject code is not applicable OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 231 Chapter 3 Data Logs 3 4 81 VALIDMODELS Valid Model Information 232 This log gives a list of valid authorized models available and expiry date information See the VERSION log on Page 233 for currently active models Use the MODEL command see Page 76 to change the currently active model See the AUTH command on Page 44 to add new models up to a maximum of 5 models If a model has no expiry date it will report the year month and
24. 4 month Month 01 to 12 XX 07 5 year Year XXXX 1992 6 null Local zone description not available XX 3 7 null Local zone minutes description not available 1 XX gt gt 8 xx Checksum hh 6F 9 CR LF Sentence terminator CR LF 1 Local time zones are not supported by the GPSCard Fields 6 and 7 will always be null Example SGPZDA 145129 00 04 08 2000 62 Recommended Input log gpzda ontime 1 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 153 Chapter 3 Data Logs 3 4 26 JONUTC lonospheric and UTC Data The Ionospheric Model parameters ION and the UTC Time parameters UTC are provided Structure Message ID 8 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 a0 Alpha parameter constant term Double 8 H 3 al Alpha parameter 1st order term Double 8 H 8 4 a2 Alpha parameter 2nd order term Double 8 H 16 5 a3 Alpha parameter 3rd order term Double 8 H 24 6 bO Beta parameter constant term Double 8 H 32 7 bl Beta parameter 1st order term Double 8 H 40 8 b2 Beta parameter 2nd order term Double 8 H 48 9 b3 Beta parameter 3rd order term Double 8 H 56 10 utc wn UTC reference week number Ulong 4 H 64 11 tot Reference time of UTC parameters Ulong 4 H 68 12 a0 2nd alpha parameter constant term Double 8 H 72 13 al 2nd alpha parameter 1s
25. 9f 9f 85 67 9d 82 20 20 20 20 25 20 5f 8e 23 9f 30 3 8 21 9f 80 2 9f 20 20 74 20 21 20 5 7c 20 21 90 20 2b 20 21 28 22 9b 2f 8d 83 9d 4b 20 22 62 20 3d 30 3 7 6 21 99 80 20 6e 60 26 78 20 4c 20 21 68 20 38 60 27 9f 9f 8e 67 9c 6a 20 IF 40 20 26 60 5 78 20 21 70 20 31 20 22 60 20 3b 20 21 7c 27 9 20 5 56 20 23 80 20 47 20 22 28 24 24 20 39 63 9a 5d 20 33 9f 9e 90 2 98 94 20 25 28 20 5 6 20 20 28 27 92 60 5d 96 23 94 30 3 34 20 23 30 20 51 60 9d 74 20 32 40 20 44 20 2a 60 2a 28 20 8c 67 95 32 20 58 20 28 24 3f 8a 78 22 6e 5 81 58 9 3e 20 20 51 60 9b 7c 20 36 40 21 86 20 37 60 21 97 20 2e 28 20 59 60 25 54 20 4 7 20 51 9f 9f 74 2 9a 80 20 21 68 20 2d 60 20 34 27 9b 20 5 3c 23 98 80 3 4c 21 9f 68 20 2c 60 9 94 20 25 80 5 80 20 21 70 3c 9b 9d 29 27 9b 8a 20 9b 8C 27 9e 40 20 42 20 25 70 20 42 20 22 48 2 94 20 21 2c 27 93 20 5f 8e 23 9 2 80 3e 60 22 2 27 9c 8a 20 9b 3c 20 64 4 0d 3 68 41 20 3b 95 21 44 20 48 25 2e 31 22 2a 83 37 57 8e 7c 20 41 5e 70 44 9e 2 5 9c 9b 27 3 2e 81 80 8f 7 22 42 96 21 53 29 70 33 71 5 69 32 794ce370 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8
26. ASCH or binary respectively 2 semimajor 6300000 0 Datum Semi major Axis a in Double 8 H 6400000 0 m meters 3 flattening 290 0 305 0 Reciprocal Flattening 1 f a a b Double 8 H 8 4 dx 2000 0 Datum offsets from WGS84 These Double 8 H 16 5 dy 2000 0 will be the translation values Double 8 H 24 between the user datum and WGS84 6 dz 2000 0 internal reference Double 8 H 32 7 rx 10 0 radians Datum Rotation Angle about X Y Double 8 H 40 8 ry 10 0 radians and Z axis These values will be the Double 8 H 48 rotation from WGS 84 to your datum 9 IZ 10 0 radians A positive sign is for clockwise Double 8 H 56 rotation and a negative sign is for counter clockwise rotation 10 scale 10 0 ppm Scale value is the difference in ppm Double 8 H 64 between the user datum and WGS84 ASCII Example USERDATUM 6378206 400 294 97869820000 12 0000 147 0000 192 0000 0 0000 0 0000 0 0000 0 000000000 102 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 55 WAASCORRECTION SBAS This command allows you to dictate how the card handles SBAS corrections The receiver will automatically switch to Pseudorange Differential RTCM or RTCA or RTK if the appropriate corrections are received regardless of the current setting To enable the position solution corrections you must issue the WAASCORRECTION ENABLE command Abbreviated ASCII Syntax Message ID 312 WAASCORRECTIO
27. Chapter 2 Commands 2 6 37 RTKSOURCE RTK This command sets the station ID value which identifies the base station from which to accept RTK RTCM RTCA CMR and OmniSTAR High Performance HP differential corrections This is useful when the GPSCard is receiving corrections from multiple base stations See also the PSRDIFFSOURCE command on Page 79 In addition to a NovAtel OEM4 card a NovAtel OmniSTAR L Band receiver and a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume 1 of this manual Abbreviated ASCII Syntax Message ID 494 RTKSOURCE type ID Field ASCII Binary ates Binary Binary Binary das Type Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCII or binary respectively 2 type See Table 27 ID Type Enum 4 H DGPS Type on Page 80 3 ID Char 5 or ANY ID string Char 5 ga H 4 a In the binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment ASCII Examples 1 Select only SBAS RTKSOURCE NONE PSRDIFFSOURCE NONE WAASCORRECTION ENABLE 0 WAASTESTMODE Enable OmniSTAR HP and VBS RTKSOURCE OMNISTAR PSRDIFFSOURCE OMNISTAR Enable RTK and PSRDIFF from RTCM w
28. Chapter 3 Data Logs 3 4 71 RTKXYZ RTK Cartesian Position and Velocity RTK This log contains the receiver s low latency position and velocity in ECEF coordinates The position and velocity status field s indicate whether or not the corresponding data is valid See Figure 6 Page 127 for a definition of the ECEF coordinates The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value With the system operating in an RTK mode this log will reflect if the solution is a good RTK Low Latency solution from extrapolated base station measurements or invalid A valid RTK Low Latency solution will be computed for up to 30 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 Differential Positioning section in the GPS Overview appendix in Volume 1 of this manual 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 RTK VEL time tag The velocity latency to be subtracted from the time tag will normally be 1 2 the time between filter updates Under default operation the RTK low latency filter is updated at a rate of 2 Hz This translates into a velocity latency of 0 25 seconds The
29. GPS 1 GLONASS prn Satellite PRN number Ulong 4 corr scale Pseudorange correction scale factor Ulong 4 0 0 02 1 0 32 quality Data quality indicator see Table 63 Ulong 4 RTCM2021 Data Quality Indicator on Page 208 multipath Multipath indicator see Table 64 Ulong 4 RTCM2021 Multipath Indicator on Page 208 IODE Issue of ephemeris data Ulong 4 range corr Pseudorange correction scaled Long 4 range rate Pseudorange range correction rate Long 4 scaled variable Next RTCM21 observation offset variable variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCH only OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 207 Chapter 3 Data Logs Recommended Input log rtemdata2021a ontime 10 ASCII Example RTCMDATA2021A COM1 0 72 0 FINESTEERING 1117 161400 000 00100020 fc4d 399 0 5000 0 0 6 0 0 10 0 3 0 1 43 324 0 15 0 1 96 812 0 18 0 1 1 514 0 21 0 1 153 997 0 6 0 7 88 779 0 26 0 1 35 39 0 23 0 1 167 229 0 28 0 1 22 1738 0 31 0 1 125 5194 0 22 0 4 27 102 5000 0 0 6 0 10 0 3 0 0 3 43 661 9 0 15 0 0 3 96 479 11 0 18 0 0 3 1 152 8 0 21 0 0 3 153 933 9 0 6 0 0 3 88 2151 12 0 26 0 0 3 35 630 8 0 23 0 0 3 167 259 10 0 28 0 0 3 22 1503 7 0 31 0 0 3 125 1905 9 0 22 0 0 3 27 2281 14 f 3963096 Table 63 RTCM2021 Data Quality Indicator Code Pseudorange Error
30. Logs triggered by a mark event e g MARKEDPOS MARKTIME have the estimated GPS time of the mark event in their header In the header of polled logs e g LOGLIST PORTSTATS VERSION is the approximate GPS time when their data was generated 20 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Messages Chapter 1 1 5 32 Bit CRC The ASCII and Binary OEM4 message formats all contain a 32 bit CRC for data verification This allows the user to ensure that the data received or transmitted is valid with a high level of certainty This CRC can be generated using the following C algorithm define CRC32_POLYNOMIAL 0xEDB88320L unsigned long CRC32Value int i int j unsigned long ulCRC ulCRC i for j 8 j gt 0 j if ulCRC amp 1 ulCRC ulCRC gt gt 1 CRC32_POLYNOMIAL else ulCRC gt gt 1 return ulCRC unsigned long CalculateBlockCRC32 unsigned long ulCount Number of bytes in the data block unsigned char ucBuffer Data block unsigned long ulTempl unsigned long ulTemp2 unsigned long ulCRC 0 while ulCount 0 ulTemp ulCRC gt gt 8 amp OxOOFFFFFFL ulTemp2 CRC32Value int ulCRC ucBuffer amp Oxff ulCRC ulTemp1 ulTemp2 return ulCRC OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 21 Chapter 1 Messages 22 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference
31. Long 4 H 36 to follow 12 multi bit Multiple message indicator Ulong 4 H 40 13 code Is code P Code Ulong 4 H 44 0 FALSE 1 TRUE 14 sat type Satellite type Ulong 4 H 48 0 GPS 1 GLONASS 15 prn Satellite PRN number Ulong 4 H 52 16 quality Data quality indicator see Table 63 Ulong 4 H 56 RTCM2021 Data Quality Indicator on Page 208 17 continuity Cumulative loss of continuity indicator Ulong 4 H 60 with a loss of lock counter 18 IODE Issue of ephemeris data Ulong 4 H 64 19 phase Carrier phase correction 1 256 cycles Long 4 H 68 20 Next RTMC20 observation offset H 40 obs x 32 206 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 variable RTCM header RTCM message type Ulong 4 variable for RTCM21 Base station ID Ulong 4 Modified Z count where the Z count week Ulong 4 number is the week number from subframe 1 of the ephemeris Sequence number Ulong 4 Length of frame Ulong 4 Base station health Ulong 4 variable freq Frequency indicator Ulong 4 variable Reserved Ulong 4 GNSS time GNSS time of measurement Long 4 obs Number of observations with information Ulong 4 to follow variable rate scale Pseudorange rate correction scale factor Ulong 4 variable 0 0 002 1 0 032 code Is code P Code Ulong 4 0 FALSE 1 TRUE sat type Satellite type Ulong 4 0
32. Message ID 7 Log Type Asynch Field Gps Data Description Format Byes Pinay 1 header Log header H 0 2 PRN Satellite PRN number Ulong 4 H 3 tow Time stamp of subframe O seconds Double 8 H 4 4 health Health status A 6 bit health code as defined in ICD GPS 200 Ulong 4 H 12 5 IODE1 Issue of ephemeris data 1 Ulong 4 H 16 6 IODE2 Issue of ephemeris data 2 Ulong 4 H 20 7 week GPS week number Ulong 4 H 24 8 z week Z count week number This is the week number from subframe 1 Ulong 4 H 28 of the ephemeris The toe week field 7 is derived from this to account for rollover 9 toe Reference time for ephemeris seconds Double 8 H 32 10 A Semi major axis meters Double 8 H 40 11 AN Mean motion difference radians second Double 8 H 48 12 Mo Mean anomaly of reference time radians Double 8 H 56 13 ecc Eccentricity dimensionless Double 8 H 64 14 o Argument of perigee radians Double 8 H 72 15 cuc Argument of latitude amplitude of cosine radians Double 8 H 80 16 cus Argument of latitude amplitude of sine radians Double 8 H 88 17 cre Orbit radius amplitude of cosine meters Double 8 H 96 18 crs Orbit radius amplitude of sine meters Double 8 H 104 19 cic Inclination amplitude of cosine radians Double 8 H 112 20 cis Inclination amplitude of sine radians Double 8 H 120 21 lo Inclination angle at reference
33. OEM4 Family of Receivers USER MANUAL VOLUME 2 Command and Log Reference s Sua S OM 20000047 Rev 8 Proprietary Notice OEMA Family of Receivers Command and Log Reference Manual Publication Number OM 20000047 Revision Level 8 Revision Date 2002 05 02 This manual reflects Firmware Version 1 400 Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel GPSolution MiLLennium ProPak RT 20 and RT 2 are registered trademarks of NovAtel Inc PAC GPSCard and GPS Antenna are trademarks of NovAtel Inc All other brand names are trademarks of their respective holders Copyright 2002 NovAtel Inc All rights reserved Unpublished rights
34. RANGECMP only ssssssesssseesesrresrresrrerirerirerrrerrnerrnsrene 181 Base Station A a ie reel arata tae a et 189 Base Station Type a relegate sett a dd ect 189 RTCM1819 Data Quality Indicator ooooonnnnonicinnncnanccnnncncnnancnarnnnnrncnnrn conan cnnnn non 204 RTCM1819 Smoothing InterVal oooooncnnncccnonccnnoccnnonnnnancnann conan conan nn narco ran nrnnnnnnnn nn 205 RTCM1819 Multipath Indicator oo eee eee eeeeeeeseeeseeeesaeeeeaeeeeaeeseseesseneeeeaeeesaeeees 205 RTCM2021 Data Quality Indicator 0 eee eee eeeeeeeeeeeeeaeeteaeeeeeeeeeeeeeseaeeeeaeees 208 RTCM2021 Multipath Indicator eee eee eeeeeeeeeeeeeeeeeeeeeseaeeeeaeeeeeeeeseeeeeeaeeeeaeeees 208 Searcher Ly Peers a Ai sa 213 Ambiguity TY POS 25 205 cst S52 e e a ae ea dhe ott hepa Bel eee A 213 RTK Information s cps fen seet e Suche eke chan seh Sacha ota sUl che a aa a Gace 213 Receiver Hardware Parameters cesceesceeeseeeeeneeeeeeeeeeeseaeeseaeesesneeeeaeeseneeeeeees 219 Receiver Error iis gi ii 222 Receiver Status viii ie rra 223 Auxiliary 1 Status taa o Pi eee aes 224 Auxillary 2 Status so e ccs sats ses risa 224 AUXIN AY S AUS ia hated tabig take las 224 STATUS WOrd alesis tescctte tert Mees aMatiat io 225 A 225 hange RejechGodes aida 231 Component POS x citas 234 Versi n Log Field Formats mesita 234 Evaluation ofUDREI tadas 238 Response Messages ici iii 258 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8
35. RF2 Jammed Good Jammed 17 0x00020000 RF2 AGC Bad Good Bad Ng 18 0x00040000 Almanac Invalid Valid Invalid 19 0x00080000 Position Solution Invalid Valid Invalid 20 0x00100000 Fixed Position see FIX on Page 65 Not Fixed Fixed N5 21 0x00200000 Clock Steering Disabled Enabled Disabled 22 0x00400000 Clock Model Invalid Valid Invalid 23 0x00800000 Euro4 External Oscillator PLL Not Locked PLL Locked 24 0x01000000 Reserved 25 0x02000000 N6 26 0x04000000 27 0x08000000 28 0x 10000000 29 0x20000000 N7 30 0x40000000 AUX2 Status Event No Event Event 31 0x80000000 AUXI Status Event No Event Event OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 223 Chapter 3 224 Table 71 Auxiliary 1 Status Data Logs Nibble Bit Description NO 0 0x00000001 COM connected Connected Not connected 1 0x00000002 COM2 connected Connected Not connected 2 0x00000004 COM3 connected Connected Not connected 3 0x00000008 Position Averaging Off On Nibble Bit Table 72 Auxiliary 2 Status Description NO 0 0x0000001 Reserved Nibble Bit Table 73 Auxiliary 3 Status Description NO 0 0x0000001 Reserved OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 75 RXSTATUSEVENT Status Event Indicator This log is used to output event messages as indicated in the RXSTATUS log
36. To derive the closest GPS time subtract the clock offset shown in the CLOCKMODEL log field 4 from the GPS time reported The following symbols are used throughout this section B range bias m BR _ range bias rate m s SAB Gauss Markov process representing range bias error due to SA clock dither m The standard clock model now used is as follows clock parameters array B BR SAB covariance matrix sn a o o o o o BR B BR BR SAB fo o o o SAB B SAB BR SAB Table 41 Clock Model Status Sins Clock Status Description Binary ASCII 0 VALID The clock model is valid 1 CONVERGING The clock model is near validity 2 ITERATING The clock model is iterating towards validity 3 INVALID The clock model is not valid 4 ERROR Clock model error OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Structure Message ID 16 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset header Log header H 0 2 clock status Clock model status as computed from current Enum 4 H measurement data see Table 41 Clock Model Status on Page 128 3 reject Number of rejected range bias measurements Ulong 4 H 4 4 noise time GPS time of last noise addition GPSec 4 H 8 5 update time GPS time of last update GPSec 4 H 12 6 parameters Cloc
37. do not use Ulong 4 H 224 59 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 228 60 CR LF Sentence terminator ASCII only Recommended Input log WAAS6 onchanged ASCII Example W AAS6A COM1 0 57 5 SATTIME 1093 273317 000 00000020 526a 209 122 3 3 3 3 9 14 14 2 3 10 2 14 14 3 14 14 5 14 14 7 14 14 14 14 14 14 3 3 14 14 14 14 3 15 11 11 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 925a2a9b OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 243 Chapter 3 Data Logs 3 4 90 WAAS7 Fast Correction Degradation SBAS The WAAS7 message specifies the applicable IODP system latency time and fast degradation factor indicator for computing the degradation of fast and long term corrections Structure Message ID 305 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 latency System latency Ulong 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 8 5 spare bits Unused spare bits Ulong 4 H 12 6 al 0 al i Ulong 4 H 16 Degradation factor indicator for the prn in slot i i 0 50 al 1 Ulong 4 H 20 8 alQ Ulong 4 H 24 al 3 Ulong 4 H 28 10 al 4 Ulong 4 H 32 11 al 5 Ulong 4 H 36 12 al 6 Ulong 4 H 40 13 al 7 Ulong 4
38. 0 0 20 00 OC O0D 00No0 0 D0 0 0 0 00 00 MN 0 lt 0 1 m 1 lt 0 25m 2 lt 0 5 m 3 lt 1 0m 4 lt 2 0m 5 lt 3 5 m 6 lt 5m T gt 5 Table 64 RTCM2021 Multipath Indicator Code Multipath Error 0 lt 0 1m 1 lt 0 25 m 2 lt 0 5m 3 lt 10m 4 lt 2 5m 5 lt 5m 6 gt 5m 7 Undetermined multipath 208 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 66 RTCMDATA22 Extended Base Station RTK See the chapter on Message Formats in Volume 1 of this manual for information on RTCM standard logs Structure Message ID 401 Log Type Synch Field Field type Data Description Format Binary v Binary Bytes Offset 1 header Log header H 0 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count week Ulong 4 H 8 number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 L1 ECEF X L1 ECEF AX correction 1 256 cm Long 4 H 24 9 L1 ECEF Y L1 ECEF AY correction 1 256 cm Long 4 H 28 10 L1 ECEF Z L1 ECEF AZ correction 1 256 cm Long 4 H 32 11 Reserved Ulong 4 H 36 12 height stat No height flag where Enum 4 H 40 0 FALSE 1 TRUE 13 phase center Antenna L1 phase center height 1 256 cm
39. 0 0 23 423 111 0 0 874 445 0 0 22 2146 445 19ed193 200 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 63 RTCMDATA16 Special Message DGPS amp RTK Chapter 3 See the chapter on Message Formats in Volume 1 of this manual for information on RTCM standard logs Structure Message ID 398 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 chars Number of characters to follow Ulong 4 H 24 9 character Character Char ya H 28 10 Next PRN offset H 28 chars x 4 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment Recommended Input log rtemdatal6a once ASCII Example RTCMDATA16A COM1 0 66 0 F INESTEERING 1117 161024 000 00100020 e639 399 161024000 0 4373 2243048 6958196 6 21 Base station will shut down in 1 hour b6202f15 OEM4 GPSCard Firmware Version 1
40. 0 001199 0 000 25 6 0 004366 0 008 481a9 30 Table 65 Searcher Type e Searcher Type ASCII Description 0 NONE_REQUESTED No search requested 1 BUFFERING_MEASUREMENTS Buffering measurements 2 SEARCHING Currently searching 3 COMPLETE Searcher made decision 4 HANDOFF_COMPLETE Hand off to L1 and L2 complete Table 66 Ambiguity Types Ambiguity Type binary Ambiguity Type ASCII Description 0 UNDEFINED Undefined ambiguity 1 L1_FLOAT Floating L1 ambiguity 2 IONOFREE_FLOAT Floating ionospheric free ambiguity 3 NARROW_FLOAT Floating narrow lane ambiguity 4 NLF_FROM_WL1 Floating narrow lane ambiguity derived from integer wide lane ambiguity 5 L1_INT Integer L1 ambiguity 6 WIDE_INT Integer wide lane ambiguity 7 NARROW_INT Integer narrow lane ambiguity 8 IONOFREE_DISCRETE Discrete ionospheric free ambiguity Table 67 RTK Information Bit LEDS Description Bit 0 Bit 1 0 0x00000001 RTK dynamics Static Dynamic 1 0x00000002 RTK dynamics mode Auto Forced 2 0x00000004 Severe differential ionosphere detected No Yes 3 31 OxFFFFFF8 Reserved OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 213 Chapter 3 3 4 69 RTKPOS RTK Low Latency Position Data RTK Data Logs This log contains the low latency RTK position computed by the receiver along with two status flags In addition it reports other
41. 006 122201546 725 0 000 3424 688 47 8 9795 172 8105c24 10 0 23513127 359 0 026 96282262 554 0 000 600 467 32 0 7007 400 1305d6b bc7d38a8 Table 54 Channel Tracking Example 1 uf 2 38 2 7 0 1 0 0 Frequency Grouping Satellite Correlator Code Parity PM Phase J Channel Numi Spacing locked J flag lock flag flag LI Narrow lt 1 fj Locked Known ff Locked Channel 1 chip a Fora complete list of hexadecimal and binary equivalents please refer to the appendix on Unit Conversion in Volume 1 of this manual 178 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Table 55 Tracking State State Description State Description 0 L1 Idle 6 L1 Steering 1 L1 Sky search 7 L1 Frequency lock loop 2 L1 Wide frequency band pull in 8 L2 Idle 3 L1 Narrow frequency band pull in 9 L2 P code alignment 4 L1 Phase lock loop 10 L2 Search 5 L1 Reacquisition 11 L2 Phase lock loop Table 56 Correlator Spacing State Description Reserved Standard correlator spacing 1 chip Narrow Correlator spacing lt 1 chip Reserved Pulse Aperture Correlator PAC BRAjfu0 N O OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 179 Chapter 3 Data Logs 3 444 RANGECMP Compressed Version of the RANGE Log Structure Message ID 140 Log Typ
42. 1 H 48 23 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 49 24 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 50 25 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 51 26 Reserved Char 1 H 52 27 Char 1 H 53 28 Char 1 H 54 29 Char 1 H 55 30 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 56 31 CR LF Sentence terminator ASCII only Recommended Input log matchedxyza onchanged ASCII Example MATCHEDXYZA COM1 0 55 5 FINESTEERING 1058 410372 000 00000028 7eb2 37 SOL_COMPUTED NARROW_INT 1634527 499 3664605 328 4942486 979 0 0028 0 0049 0 0047 AAAA 9 6 6 6 0 0 0 0 17085764 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 161 Chapter 3 Data Logs 3 4 32 NAVIGATE User Navigation Data This log reports the status of the waypoint navigation progress It is used in conjunction with the SETNAV command see Page 93 See Figure 7 below for an illustration of navigation parameters The SETNAV command must be enabled before valid data will be reported from this log Figure 7 Navigation Parameters Reference Description 1 TO lat lon X Track perpendicular reference point Current GPS position A Track perpendicular reference point X Track cross track A Track along track Distance and bearing from 3 to 1 N o1 B WP Table 49 Navigation Data Type Navigation Data Type
43. 10 pre17 Long 4 H 32 11 pre18 Long 4 H 36 12 prel9 Long 4 H 40 13 pre20 Long 4 H 44 14 pre21 Long 4 H 48 15 pre22 Long 4 H 52 16 pre23 Long 4 H 56 17 pre24 Long 4 H 60 18 pre25 Long 4 H 64 19 udreil3 udre i Ulong 4 H 68 See Table 79 20 udreil4 i RaT Ulong 4 H 72 21 atra prior eno erica Fong 4 22 udreil6 Ulong 4 H 80 23 udreil7 Ulong 4 H 84 24 udreil8 Ulong 4 H 88 25 udreil9 Ulong 4 H 92 26 udrei20 Ulong 4 H 96 27 udrei21 Ulong 4 H 100 28 udrei22 Ulong 4 H 104 29 udrei23 Ulong 4 H 108 30 udrei24 Ulong 4 H 112 31 udrei25 Ulong 4 H 116 32 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 120 33 CR LF Sentence terminator ASCII only Recommended Input log WAAS3 onchanged ASCII Example WAAS3A COM1 0 72 5 SATTIME 1093 161480 000 00040020 3 1d4 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 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 239 Chapter 3 Data Logs 3 4 87 WAAS4 Fast Correction Slots 26 38 SBAS WAAS4 are fast corrections for slots 26 38 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the WAASCORRECTION command for details Structure Message ID 302 Log Type Asynch Binary
44. 11402 3589020 W 1 08 0 9 1080 406 M 48 Recommended Input log gpggartk ontime 1 142 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 16 GPGLL Geographic Position NMEA Latitude and longitude of present vessel position time of position fix and status Table 45 compares the position precision of selected NMEA logs This log will output null data in all fields until a valid almanac is obtained Structure Message ID 219 Log Type Synch Field Structure Field Description Symbol Example 1 GPGLL Log header GPGLL 2 lat Latitude DDmm mm 10 1 5106 7198674 3 lat dir Latitude direction N North S South a N 4 lon Longitude DDDmm mm yyyyy yy 11402 358752 6 5 lon dir Longitude direction E East W West a W 6 ute UTC time of position hours minutes seconds hhmmss ss 220152 50 decimal seconds data status Data status A Data valid V Data invalid A A xx Checksum hh 1B CR LF Sentence terminator CR LF Example SGPGLL 5106 9819704 N 11402 2965916 W 144618 00 A 10 Recommended Input log gpggl ontime 1 Table 45 Position Precision of NMEA Logs Latitude of Longitude of Altitude of NMEA Log decimal places decimal places decimal places GPGGA 4 4 2 GPGGARTK 7 7 3 GPGLL 7 7 N A GPRMC 7 7 N A OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 143
45. 2 CMR header Synch character for the message Ulong 4 H 3 Message status Ulong 4 H 4 4 CMR message type Ulong 4 H 8 5 Message body length Ulong 4 H 12 6 Version Ulong 4 H 16 7 Station ID Ulong 4 H 20 8 Message Type Ulong 4 H 24 9 battery Is the battery low Enum 4 H 28 0 FALSE 1 TRUE 10 memory Is memory low Enum 4 H 32 0 FALSE 1 TRUE 11 Reserved Ulong 4 H 36 12 L2 Is L2 enabled Enum 4 H 40 0 FALSE 1 TRUE 13 Reserved Ulong 4 H 44 14 epoch Epoch time milliseconds Ulong 4 H 48 15 motion Motion state Ulong 4 H 52 0 UNKNOWN 1 STATIC 2 KINEMATIC 16 Reserved Ulong 4 H 56 17 rec length Record length bytes The length altogether of the Double 8 H 60 four fields that follow 18 short ID Short station ID A sequence of eight numbers Uchar 8 8 H 68 19 code COGO code A sequence of 16 numbers Uchar 16 16 H 76 20 ID length Long ID length The length of the long ID field that Ulong 4 H 92 follows 21 long ID Long station ID Variable length Check Field 20 Uchar 50 52a H 96 above 22 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 148 23 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 133 Chapter 3 Data Logs Recommended Input log cmrdatadesca ontime 10 5 ASCII Example CMRDATADESCA COM1 0 76 5 FINESTEERING 1117 162906 461 00
46. 3 424 GPVTG Track Made Good And Ground Speed NMEA The track made good and speed relative to the ground This log will output null data in all fields until a valid almanac is obtained Structure Message ID 226 Log Type Synch Field Structure Field Description Symbol Example 1 GPVTG Log header GPVTG 2 track true Track made good degrees True X X 24 168 3 T True track indicator T T 4 track mag Track made good degrees Magnetic X X 24 168 Track mag Track true MAGVAR correction See the MAGVAR command Page 74 5 M Magnetic track indicator M M 6 speed Kn Speed over ground knots X X 0 4220347 7 N Nautical speed indicator N Knots N N 8 speed Km Speed kilometers hour X X 0 781608 9 K Speed indicator K km hr K K 10 XX Checksum hh TA 11 CR LF Sentence terminator CR LF Example SGPVTG 337 817 T 337 817 M 0 020 N 0 042 K 4a Recommended Input log gpvtg ontime 1 152 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 25 GPZDA UTC Time and Date NMEA This log will output null data in all fields until a valid almanac is downloaded from a satellite Any alternate almanac already in NVM will not be output Structure Message ID 227 Log Type Synch Field Structure Field Description Symbol Example 1 GPZDA Log header GPZDA 2 utc UTC time hhmmss ss 220238 00 3 day Day 01 to 31 XX 15
47. 4 H 16 pts x 8 variable spare 7 spare bits Ulong 4 H 20 pts x 8 variable xxxx 32 bit CRC ASCII and Binary Hex 4 H 24 only pts x 8 variable CR LF Sentence terminator ASCII only Recommended Input log WAAS26 onchanged ASCII Example W AAS26A COM1 0 68 5 SATTIME 1 122 333809 000 00000000 a76c 459 122 2 1 15 26 15 50 15 42 15 32 3 27 2 24 1 22 2 23 15 28 15 57 15 46 15 39 4 33 3 27 3 24 2 0 0 166bc58a OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 255 Chapter 3 Data Logs 3 4 99 WAAS27 SBAS Service Message SBAS WAAS27 messages apply only to the service provider transmitting the message The number of service messages indicates the total number of unique WAAS27 messages for the current IODS Each unique message for that IODS includes a sequential message number The IODS is incremented in all messages each time that any parameter in any WAAS27 message is changed Structure Message ID 300 Log Type Asynch Field Field type Data Description Format Binary Binary Scaling Bytes Offset 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 iods Issue of slow corrections data Ulong 4 H 4 4 messages Low by one count of messages Ulong 4 H 8 5 message num Low by one message number Ulong 4 H 12 6 priority code Priority code Ulong 4 H 16 7 dudre inside
48. 40 10 yvel Y rate of change Double 8 H 48 11 zvel Z rate of change Double 8 H 56 12 xaccel X rate of rate change Double 8 H 64 13 yaccel Y rate of rate change Double 8 H 72 14 zaccel Z rate of rate change Double 8 H 80 15 afo Time offset Double 8 H 88 16 ary Time drift Double 8 H 96 17 XXXX 32 bit CRC ASCII and Binary Hex 4 H 104 only 18 CR LF Sentence terminator ASCII only Recommended Input log WAAS9 onchanged ASCII Example W AAS9A COM1 0 69 0 SATTIME 1093 161622 000 00040020 8a3d 209 122 72 75072 0 24792366 0000 34095207 2800 38650 8000 14 93 1250000 0 168750000 4 0800000 0 0000750 0 0001 125 0 000187500 5 587935448e 09 7 275957614e 12 18bc92b6 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 92 WAAS10 Degradation Factor SBAS The fast corrections long term corrections and ionospheric corrections are all provided in the WAAS 10 message Structure Message ID 292 Log Type Asynch z acca Binary Field type Data Description Offset header Log header H 0 prn Source PRN of message Ulong 4 H 3 brce Estimated noise and round off error Ulong 4 H 4 0 002 parameter 4 Clte_ Isb Maximum round off due to the lest Ulong 4 H 8 0 002 significant bit lsb of the orbital clock 5 Clte_vl Velocity error bound Ulong 4 H 12 0 00005 6 Ute_v
49. 400 Command and Log Reference Manual Rev 8 177 Chapter 3 Data Logs Structure Message ID 43 Log Type Synch Field ape Data Description Format pan 4 real 1 header Log header H 0 2 obs Number of observations with information to follow Long 4 H 3 PRN GPS satellite PRN number of range measurement UShort 2 H 4 4 Reserved UShort 2 H 6 5 psr Pseudorange measurement m Double 8 H 8 6 psr std Pseudorange measurement standard deviation m Float 4 H 16 7 adr Carrier phase in cycles accumulated Doppler range Double 8 H 20 8 adr std Estimated carrier phase standard deviation cycles Float 4 H 28 9 dopp Instantaneous carrier Doppler frequency Hz Float 4 H 32 10 C INQ Carrier to noise density ratio Float 4 H 36 C No 10 log10 S No dB Hz 11 locktime Number of seconds of continuous tracking no cycle Float 4 H 40 slipping 12 ch tr Tracking status see Channel Tracking Status on Page 177 ULong 4 H 44 13 Next PRN offset H 4 obs x 44 variable Xxxx 32 bit CRC ASCII and Binary only Hex 4 H 4 obs x 44 variable CR LF Sentence terminator ASCII only a Some satellite PRN numbers may have two lines of observations one for the L1 frequency and the other for L2 Recommended Input log rangea ontime 30 ASCII Example RANGEA COM1 0 54 5 FINESTEERING 1039 422126 500 00000028 5b72 0 Lay 18 0 22308014 258 0
50. 458 926672761 25 0 0 61 3 73 7 1252 6 1251 902056196 1 0 0 55 9 277 4 1799 2 1799 897879028 16 0 0 33 6 305 9 2874 8 2875 534296744 22 0 0 21 6 146 3 3450 4 3451 136917152 30 0 0 15 8 38 6 1911 6 1910 870440955 26 0 0 82 0 114 8 188 9 188 237459086 bf8c9522 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 77 SATXYZ SV Position in ECEF Cartesian Coordinates 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 Hopfield model The corrections are to be added to the Chapter 3 pseudoranges Only those satellites that are healthy are reported here See also Figure 6 The WGS84 ECEF Coordinate System on Page 127 Message ID 270 Log Type Synch Structure Field Field type Data Description Format pate da poate 1 header Log header H 0 2 Reserved Double 8 H 3 sat Number of satellites with Cartesian Ulong 4 H 8 information to follow 4 prn Satellite PRN number Ulong 4 H 12 5 x Satellite X coordinates ECEF m Double 8 H 16 6 y Satellite Y coordinates ECEF m Double 8 H 24 7 Z Satellite Z coordinates ECEF m Double 8 H 32 8 clk corr Satellite clock correction m Double 8 H 40 9 ion corr Ionospheric correction m Double 8
51. 5 4 14 3 2e0894b1 Table 79 Evaluation of UDREI UDREI UDRE meters o i udre meters 0 0 75 0 0520 1 1 0 0 0924 2 1 25 0 1444 3 1 75 0 2830 4 2 25 0 4678 5 3 0 0 8315 6 3 75 1 2992 7 4 5 1 8709 8 5 25 2 5465 9 6 0 3 3260 10 TS 5 1968 11 15 0 20 7870 12 50 0 230 9661 13 150 0 2078 695 14 Not Monitored Not Monitored 15 Do Not Use Do Not Use 1 The O UDRE broadcast in WAAS2 WAAS3 WAAS4 WAAS5 WAAS6 and WAAS24 applies at a time prior to or at the time of applicability of the associated corrections 238 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 86 WAAS3 Fast Corrections Slots 13 25 SBAS WAAS3 are fast corrections for slots 13 25 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the WAASCORRECTION command for details Structure Message ID 301 Log Type Asynch Field Field type Data Description Format Binary Scaling Offset 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 4 iodf Issue of fast corrections data Ulong 4 H 8 5 iodp Issue of PRN mask data Ulong 4 H 12 6 pre13 pre i Long 4 H 16 7 prel4 Long 4 H 20 a a oe a a le a 9 prel6 Long 4 H 28
52. 6 6 0 0 0 0 0 0 370ee18 Figure 6 The WGS84 ECEF Coordinate System Definitions Origin Earth s center of mass Z Axis Parallel to the direction of the Conventional Terrestrial Pole CTP for polar motion as defined by the Bureau International de I 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 90i East of the X Axis BIH Defined CTP 1984 0 Z was 84 A al ae Earth s Center o of Mass ye BIH Defined PR Y Zero Meridian 1984 0 Y A J WGS 84 WGS 84 Analogous to the BIH Defined Conventional Terrestrial System CTS or BTS 1984 0 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 127 Chapter 3 Data Logs 3 4 6 CLOCKMODEL Current Clock Model Status 128 The CLOCKMODEL log contains the current clock model status of the receiver Monitoring the CLOCKMODEL log will allow you to determine the error in your GPSCard receiver reference oscillator as compared to the GPS satellite reference All logs report GPS time not corrected for local receiver clock error
53. ALMANAC log Following a cold start the log will output null fields until a new almanac is collected from a satellite Structure Message ID 217 Log Type Asynch Data Logs Field Structure Field Description Symbol Example 1 GPALM Log header GPALM 2 msg Total number of messages logged X X 17 3 msg Current message number X X 17 4 PRN Satellite PRN number 01 to 32 XX 28 5 GPS wk GPS reference week number X X 653 6 SV hlth SV health bits 17 24 of each almanac page hh 00 7 ecc e eccentricity hhhh 3EAF 8 alm ref time toa almanac reference time hh 87 9 incl angle sigma inclination angle hhhh OD68 10 omegadot OMEGADOT rate of right ascension hhhh FD30 11 rt axis ANS toot of s ri major axis hhhhhh A10CAB 12 omega omega argument of perigee hhhhhh 6EE732 13 ae ase OMEGA o longitude of ascension node hhhhhh 525880 14 Mo Mo mean anomaly hhhhhh 6DC5A8 15 afo af0 clock parameter hhh 009 16 af afl clock parameter hhh 005 17 xx Checksum hh 37 18 CR LF Sentence terminator CR LF Variable length integer 4 digits maximum from 2 most significant binary bits of Subframe 1 Word 3 reference Table 20 I ICD GPS 200 Rev B and 8 least significant bits from subframe 5 page 25 word 3 reference Table 20 I ICD GPS 200 Rev B paragraph 20 3 3 5 1 7 Reference paragraph 20 3 3 5 1 3 Table 20 VII and Table 20
54. ASCII Example BESTPOSA COM1 0 62 5 FINESTEERING 1036 484878 000 00000028 63e2 0 SOL_COMPUTED SINGLE 51 11629893124 114 03820302746 1052 3434 16 271287293 61 19 6934 13 1515 23 8561 0 0 60 000 10 10 0 0 0 0 0 0 1051ada9 Position Type Table 39 Position or Velocity Type Position Type binary ASCII Description 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT or FIX AUTO command FIXEDVEL Position has been fixed by the FIX VELOCITY command DOPPLER_VELOCITY Velocity has been computed using instantaneous Doppler measurements 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from a Satellite Based Augmentation System SBAS 20 OMNISTAR OmniSTAR VBS position L1 sub meter 32 L1_FLOAT Floating L1 ambiguity solution 33 IONOFREE_FLOAT Floating ionospheric free ambiguity solution 34 NARROW_FLOAT Floating narrow lane ambiguity solution 48 L1_INT Integer L1 ambiguity solution 49 WIDE_INT Integer wide lane ambiguity solution 50 NARROW_INT Integer narrow lane ambiguity solution 51 RTK_DIRECT_INS RTK status where the RTK filter is directly initialized from the INS filter P 52 INS INS calculated position corrected for the antenna p 64 OMNISTAR_HP OmniSTAR HP position L1 L2 decimeter
55. Bit s first to last Length bits Scale Factor Units Channel Tracking 0 31 32 see Table 53 Channel Status Tracking Status on Page 177 Doppler Frequency 32 59 28 1 256 Hz Pseudorange PSR 60 95 36 1 128 m ADR 96 127 32 1 256 cycles StdDev PSR 128 131 see m StdDev ADR 132 135 n 1 512 cycles PRN 136 143 8 1 Lock Time 144 164 21 1 32 s C Nod 165 169 5 20 n dB Hz Reserved 170 191 22 a ADR Accumulated Doppler Range is calculated as follows ADR_ROLLS RANGECMP_PSR WAVELENGTH RANGECMP_ADR MAX_VALUE Round to the closest integer IF ADR_ROLLS lt 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 L1 WAVELENGTH 0 2442102134246 for L2 MAX_VALUE 8388608 b 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 12 19 000 13 38 000 14 76 000 15 152 000 c Lock time rolls over after 2 097 151 seconds d C No is constrained to a value between 20 51 dB Hz Thus if it is reported that C No 20 dB Hz the actual value could be less Likewise if it is reported that C No 51 dB Hz the true value could be greater OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 181 Chapter 3 Data Logs 3 4 45 RAWALM Raw Almanac Da
56. Chapter 3 Message ID PELE Description RTCM Format Logs 131 RTCM16T Type16T Special Text Message 260 RTCM1819 Type18 and Type 19 Raw Measurements 215 RTCM9 Type 9 Partial Differential GPS Corrections 307 RTCM15 Type 15 Ionospheric Corrections 374 RTCM2021 Type 20 and Type 21 Measurement Corrections 217 GPALM Almanac Data 218 GPGGA GPS Fix Data and Undulation 219 GPGLL Geographic Position latitude longitude 220 GPGRS GPS Range Residuals for Each Satellite 221 GPGSA GPS DOP and Active Satellites 222 GPGST Pseudorange Measurement Noise Statistics 223 GPGSV GPS Satellites in View 224 GPRMB Generic Navigation Information 225 GPRMC GPS Specific Information 226 GPVTG Track Made Good and Ground Speed 227 GPZDA UTC Time and Date 259 GPGGARTK GPS Fix Data a CMR RTCA and RTCM logs may be logged with an A or B extension to give an ASCII or Binary output with a NovAtel header followed by Hex or Binary data respectively OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 117 Chapter 3 Data Logs 3 3 MiLLennium GPSCard Compatibility Table 37 MiLLennium OEM3 Log Comparison on Page 118 shows the MiLLennium logs that are comparable to current OEM4 family logs Table 37 MiLLennium OEM3 Log Comparison MiLLennium Log Comparable OEM4 EURO4 Log 118 ALM ALMANAC and IONUTC BSL RTKDATA CDS PORTSTATS CLK CLOCKMODEL CLM CLOCKMODEL CMR CMR COM1 PASSCOM1 COM2 PASSCOM2 DOP PSRDOP ETS TRA
57. Field Field type Data Description Format inary Binary Bytes Offset 1 header Log header H 0 2 decode Frame decoder number Ulong 4 H 3 PRN SBAS satellite PRN number Ulong 4 H 4 4 WAASmsg id SBAS frame ID Ulong 4 H 8 5 data Raw SBAS frame data There are Uchar 29 322 H 12 226 bits of data and 6 bits of padding 6 chan Signal channel number that the Ulong 4 H 44 frame was decoded on 7 XXXX 32 bit CRC ASCII and Binary Hex 4 H 48 only 8 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment Recommended Input log rawwaasframea onnew ASCII Example RAWWAASFRAMEA CO 24 9a63ff9ffdffc00 RAWWAASFRAMEA CO 0 c600fff5fffff8001 RAWWAASFRAMEA CO 3 530cdffdffdffdff RAWWAASFRAMEA CO 26 9a68c0d9e5ff267 3 4 RAWWAASFRAI 93 c000000000000 RAWWAASFRAI 9a63ff5ffdffc003 RAWWAASFRAI EA CO EA CO EA CO y COOOfff1fff fCOOS 188 13 62 5 SATTIME 1093 494 1 12 59 5 SATTIME 1093 494 H 1 11 59 5 SATTIME 1093 494 1 10 59 5 SATTIME 1093 494 L 299 000 00000020 bfe8010fb96efa0873dffbebfd401a020003fef37c0 300 000 00000020 fdffdffcOl15ffffflffdffc00078cfbb979bb900 301 000 00000020 ffec001fffffaffco10009ffffe7bbbscbsf8878c0 302 000 00000020 8dfc de418f1e78d47c6de00000000000000000000000 Y 1 1 1 0 62 0 SATTIME
58. Figures ONOaRWND TPPS AlignMe nt ni ee eee ee ee a ee 35 Illustration of Magnetic Variation amp Correction ccccccceccseceeeeeteeeeeeseeeeeeees 75 Using the SEND Command coococccccconccinononcnnnnccnonononnnn nono rn naar nn n nc anna 91 Illustration of SETNAV Parameters cocoocccinncccconccnnnonnnconccononnnnnnnn cc ranr cnn cana 95 Illustration of Undulation oooonnncccnnnninccccnnnncccccnnnnnnccnnnnnonrnn cnn nn nnnn cnn rana 99 The WGS84 ECEF Coordinate System ooccincccnnoccconnccccoonnnnnnonannncc nano nanannncnns 127 Navigation Parameters conoocccccnnnoccccccononnnnnnnnnnnnnncnnnonnnnn nana nn cnc nnnn nn nr rnnnn nara 162 1PPS Alignment TIMESYNC Log occcccooccnononccconccnnonanonanccnonnnnna anna conca rann nn 229 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Foreword Congratulations Congratulations on purchasing a NovAtel product Whether you have bought a stand alone GPSCard or a packaged receiver you will have also received companion documents to this manual They will help you get the hardware operational Afterwards this text will be your primary OEM4 family command and logging reference Scope This manual describes each command and log that the OEMA family of receivers are capable of accepting or generating Sufficient detail is provided so that you should understand the purpose syntax and structure of each command or log and be able to effectively communicate with t
59. GPGSV GPS Satellites in View NMEA oseese 147 3 4 21 GPRMB Navigation Information NMEA 148 3 4 22 GPRMC GPS Specific Information NMEA e 149 3 4 23 GPSEPHEM Decoded GPS Ephemerides ooococococcnncccccoccconacccncnccc n 150 3 4 24 GPVTG Track Made Good And Ground Speed NMEA 05 152 3 4 25 GPZDA UTC Time and Date NMBEA occcinnniccnncccnnoncnnnnocccannnnncnncccnns 153 3 4 26 IONUTC lonospheric and UTC Data conccconnccccconcccnconnnnnnccnannnnannncnnnns 154 3 4 27 LOGLIST List of System LOGS 0oooooncccccnncccnnonoccnncccononnnnnnoncnonnnnanancnnnns 155 3 4 28 MARKPOS Position at Time of Markln Event 157 3 4 29 MARKTIME Time of Markln Event c ceeeeeecceeeeeeeeeeeeeseeeeeeeeeeeeeaees 158 3 4 30 MATCHEDPOS Matched RTK Position RTK 159 3 4 31 MATCHEDXYZ_ Matched RTK Cartesian Position RTK 00 161 3 4 32 NAVIGATE User Navigation Data ooocnccccinnnncinnccccnonnnnncccnonrnnnnnncnnnns 162 3 4 33 NMEA Standard OOS i inr iaaeaie aa slds 164 3 4 34 OMNIHPPOS OMNISTAR HP Position aeee 165 3 4 35 OMNIINFO OmniSTAR Configuration Information c ceeee 166 3 4 36 OMNISTAT OmniSTAR Status Information onccconnnnnnncccnnnnnnnnaccnnns 168 3 4 37 PASSCOM1 PASSCOM2 PASSCOM3 Redirect Data 170 3 4 38 PORTSTATS COM Port Statistics oooniccinnnininnncccnnnnonmncccnnrnnnnannnnns 171 3 4 39 PSRDOP Pseudorange DOP cooooccnncccccocccnononcccnnccnnnnnnncnnncnanannnnnnncnnns 172 3 4 40 PSRPOS
60. H 32 time and the measurement time where Z count time from subframe 1 of the ephemeris 0 1 seconds lsb 10 Reserved Ulong 4 H 36 11 prn Number of PRNs with information to Ulong 4 H 40 follow 12 prn Satellite PRN number Ulong 4 H 44 13 lock Lock time Ulong 4 H 48 0 lt 20 seconds 1 20 40 seconds 2 40 80 seconds 3 gt 80 seconds 14 psr Pseudorange correction 1 10 m Ulong 4 H 52 15 adr Accumulated Doppler Range ADR Long 4 H 56 correction 1 1000 m 16 Next PRN offset H 44 prns x 16 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 210 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Recommended Input log rtemdata59a ontime 10 ASCII Example RTCMDATA5 9A COM1 0 71 5 FINESTEERING 1117 323592 000 00140000 3df8 337 67108864 0 5320 67272710 0 6 78 20341249 0 0 10 15 2 36613566 153 30 2 24667890 209 17 3 21548029 138 6 3 6 68 23 3 43118232 225 5 0 45608604 118 24 3 31489783 218 10 3 5398457 55 22 3 35679766 33 26 2 42925557 101 203b6b3d OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 211 Chapter 3 3 4 68 RTKDATA RTK Solution Parameters RTK This is the RTK output log and it cont
61. H 48 10 trop corr Tropospheric correction m Double 8 H 56 11 Reserved Double 8 H 64 12 Double 8 H 72 13 Next satellite offset H 12 sat x 68 variable xxxx 32 bit CRC ASCII and Binary Hex 4 H 12 only sat x 68 variable CR LF Sentence terminator ASCII only Recommended Input log satxyz ontime 1 ASCII Example SATXYZA COM1 0 55 5 FINESTEERING 1075 321955 000 00040028 75fd 97 0 0 5 17 4912363 4478 21873193 4180 13712406 6234 80726 382 7 627007266 3 186367161 0 000000000 0 000000000 3 18466102 2956 4149634 2037 138615299 2261 9459 257 7 638836266 3 336822112 0 000000000 0 000000000 9 135809955 4029 203380283 3629 2122 11 0922 1192 473 13 205660767 10 519492770 0 000000000 0 000000000 26 12760597 3855 8106208 6797 21767386 6663 161356 045 8 973848676 4 427102154 0 000000000 0 000000000 21 20362669 2858 10170553 3022 14511463 0224 4328 159 7 840224374 3 224598285 0 000000000 0 000000000 a888df72 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 227 Chapter 3 3 4 78 TIME Time Data This log provides several time related pieces of information These include receiver clock offset and UTC time and offset It also reports any error in the 1PPS signal Message ID 101 Log Type Synch Structure Field Field type Data Description Format Data Logs Binary Binary
62. ID Ulong 4 H 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 prn Number of PRNs with information to Ulong 4 H 24 follow 9 scale Scale where Ulong 4 H 28 0 0 02 m and 0 002 m s 1 0 32 m and 0 032 m s 10 UDRE User differential range error Ulong 4 H 32 12 prn Satellite PRN number Ulong 4 H 36 12 psr corr Scaled pseudorange correction Long 4 H 40 meters 13 rate corr Scaled range rate correction Long 4 H 44 14 IOD Issue of data Long 4 H 48 LS Next PRN offset H 28 prns x 24 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only Recommended Input log rtemdatala ontime 10 3 ASCII Example RTCMDATAIA COM1 0 73 0 FINESTEERING 1117 160453 000 00100020 5745 399 1117 0 3421 8461020 1730644 6 9 0 0 3 545 46 43 0 0 15 313 44 96 0 0 18 112 41 1 0 0 21 874 43 153 0 0 0 0 0 0 0 0 0 0 6 1368 43 88 26 398 43 35 23 123 43 167 28 1302 39 22 22 1515 48 27 b60b 22f OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 197 Chapter 3 Data Logs 3 4 60 RTCMDATA3 Base Station Parameters RTK See the chapter on Message Formats in Volume 1 of this manual for information on RTCM standard
63. Manual Rev 8 Chapter 2 Commands 2 1 2 2 Command Formats The receiver will accept commands in 3 formats as described in Chapter 1 Abbreviated ASCII ASCII Binary Abbreviated ASCII is the easiest to use for your input The other two formats include a CRC for error checking and are intended for use when interfacing with other electronic equipment Here are examples of the same command in each format Abbreviated ASCII Example LOG COM2 BESTPOSB ONTIME 1 CR ASCII Example LOGA COM72 0 66 0 UNKNOWN O 15 917 004c0000 5255 32858 COM1 BESTPOSB ONTIME 1 000000 0 000000 NOHOLD F95592DD CR Binary Example AA44121C 01000240 20000000 1D1D0000 29160000 00004C00 55525A80 20000000 2A000000 02000000 00000000 0000F03F 00000000 00000000 00000000 EC58E065 Command Settings Their are several ways to determine the current command settings of the receiver 1 Request an RXCONFIG log see Page 218 This will provide a listing of all commands and their parameter settings This log provides the most complete information but the size and format do not make it easy to read 2 For some specific commands logs are available to indicate all their parameter settings The LOGLIST log see Page 155 will show all active logs in the receiver beginning with the LOG command The COMCONFIG log see Page 135 will show both the COM and INTERFACEMODE commands parameter settings for all serial ports 3 Request a log of the specific command of interest
64. ONCE 0 000000 0 000000 NOHOLD As you can see the array of 4 logs are offset from the left hand side and start with lt 1 1 3 Binary Binary messages are meant strictly as a machine readable format They are also ideal for applications where the amount of data being transmitted is fairly high Because of the inherent compactness of binary as opposed to ASCII data the messages are much smaller This allows a larger amount of data to be transmitted and received by the receiver s communication ports The structure of all Binary messages follows the general conventions as noted here l Basic format of Header 3 Sync bytes plus 25 bytes of header information The header length is variable as fields may be appended in the future Always check the header length Data variable CRC 4 bytes 2 The 3 Sync bytes will always be 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 21 for the CRC algorithm performed on all data including the header 4 The header is in the format shown in Table 4 Binary Message Header Structure on Page 16 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 15 Chapter 1 Messages Table 4 Binary Message Header Structure Field p Field a Binary Binary Ignored Field Name Type Description Bytes Offset on Input 1 Sync Char Hexade
65. Page 229 4 A new command has been added see COMCONTROL on Page 51 to manage the hardware control lines of RS232 ports 5 A new field for the issue of ionospheric data iodi has been added to the WAAS26 log see Page 255 Also as a correction in this manual additional slot number fields have been added in the WAAS2 WAAS 7 and WAAS 4 logs see Pages 237 244 and Page 251 respectively OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 11 Chapter 1 Messages 1 1 Message Types The receiver handles all 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 OEMA can be used All NovAtel commands and logs can be entered transmitted output or received in any of the three formats The receiver also supports RTCA RTCM CMR and NMEA format messaging see the chapter on Message Formats in Volume 1 of this manual When entering an ASCII or abbreviated ASCII command in order to request an output log the message type is indicated by the character appended to the end of the message name A indicates that the message is ASCII and B indicates that it is binary No character means that the message is Abbreviated ASCII When issuing binary commands the output message type is dependant on the bit format in the message s binary header see Binary on Page 15 The following table describes the field typ
66. Pseudorange PositiON oooonnnnccnnccnnnnnnnnnnccccnorncnnncnncancccnns 173 3 4 41 PSRVEL Pseudorange VeloCitY ccoocconinnnccnnnccnnnocinconcccconnnnnnnrnnncnnncnns 174 3 4 42 PSRXYZ Pseudorange Cartesian Position and Velocity 175 3 4 43 RANGE Satellite Range Informati0N ooooocnnnnnnnncccnnnnnnnnncccnnnncnannccccnns 177 3 4 44 RANGECMP Compressed Version of the RANGE Log 0 8 180 3 4 45 RAWALM Raw Almanac Data ococonninccccnnnnoccccnnnnccnncnnnnnnncccnnnnnn nc 182 3 4 46 RAWEPHEM Raw EphemeriS occccccncocccccnonconcccnnnanonccnnnnnoncccnnnnnn cnn 183 3 4 47 RAWGPSSUBFRAME Raw Subframe Dalta ccococccinncccccncncnnncccconncn n 184 3 4 48 RAWGPSWORD Raw Navigation Word ooooociincccnnnnicnnncccconninnnnccnnno 185 3 4 49 RAWOMNIFRAME Raw OmniSTAR Frame Dala oooccniccciconicccnnccc n 186 3 4 50 RAWOMNIPACKET Raw OmniSTAR Data PaCk8t oconnccinnicicinnccc 187 3 4 51 RAWWAASFRAME Raw SBAS Frame Data SBAS onccinnicinnccccnns 188 3 4 52 REFSTATION Base Station Position and Health RTK 189 3 4 53 RTCA Standard Logs DGPS ccccescceceeeeeeeeeeeceeeeeeeeeseteeeeeeeeees 190 3 4 54 RTCADATA1 Differential GPS Corrections DGP S eee 191 3 4 55 RTCADATAEPHEM Ephemeris and Time Information DGPS amp RTK192 3 4 56 RTCADATAOBS Base Station Observations RTK 193 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 3 4 57 RTCADATAREF Base Station Parameters RTK 0
67. Reference Manual Rev 8 249 Chapter 3 Data Logs 3 4 95 WAAS18 IGP Mask SBAS The ionospheric delay corrections are broadcast as vertical delay estimates at specified ionospheric grid points IGPs applicable to a signal on L1 The predefined IGPs are contained in 11 bands numbered 0 to 10 Bands 0 8 are vertical bands on a Mercator projection map and bands 9 10 are horizontal bands on a Mercator projection map Since it is impossible to broadcast IGP delays for all possible locations a mask is broadcast to define the IGP locations providing the most efficient model of the ionosphere at the time Structure Message ID 295 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 bands Number of bands broadcast Ulong 4 H 4 4 band num Specific brand number Ulong 4 H 8 3 iodi Issue of ionospheric data Ulong 4 H 12 6 igp mask IGP mask Uchar 26 29a H 16 7 spare bit One spare bit Ulong 4 H 44 8 XXXX 32 bit CRC ASCII and Binary Hex 4 H 48 only 9 CR LF Sentence terminator ASCII only a In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment Recommended Input log WAAS18 onchanged ASCII Example WAAS18A COM1 0 68 0 SATTIME 1093 161963 000 00000020 f88e 209 122 4 3 0 000 1 ff000000000000000000000000000000000000000
68. Rev 8 131 Chapter 3 Data Logs 3 48 CMR Standard Logs RTK CMROBS BASE STATION SATELLITE OBSERVATION INFORMATION Message ID 103 CMRREF BASE STATION POSITION INFORMATION Message ID 105 CMRDESC BASE STATION DESCRIPTION INFORMATION Message ID 310 The Compact Measurement Record CMR Format is a standard communications protocol used in Real Time Kinematic RTK systems to transfer GPS carrier phase and code observations from a base station to one or more rover stations The above messages can be logged with an A or B suffix for an ASCII or Binary output with a NovAtel header followed by Hex or Binary raw data respectively See the chapter on Message Formats in Volume 1 of this manual for more information on CMR standard logs Example Input interfacemode com2 none CMR fix position 51 113 114 044 1059 4 log com2 cmrobs ontime 2 log com2 cmrref ontime 10 log com2 cmrdesc ontime 10 5 132 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 49 CMRDATADESC Base Station Description RTK See the chapter on Message Formats in Volume 1 of this manual for information on CMR standard logs Structure Message ID 389 Log Type Synch Chapter 3 TA Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0
69. SETRTCM16 command is used to define the ASCII text at the base station The text defined by the SETRTCM16 command can be verified in the RXCONFIG log Once the ASCII text is defined it can be broadcast periodically by the base station with the command log port RTCM16 ONTIME interval The received ASCII text can be displayed at the rover by logging RTCM16T This command will limit the input message length to a maximum of 90 ASCII characters If the message string contains any delimiters i e spaces commas tabs etc the entire string must be contained in double quotation marks Abbreviated ASCII Syntax Message ID 131 SETRTCM 16 text Field ASCII Binary Binary Binary Binary Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field Description Type Value Value 2 text Max 90 character The text string String 922 H string max 90 a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment Input Example SETRTCM16 Base station will shut down in 1 hour 96 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 46 STATUSCONFIG This command is used to configure the various status mask fields in the RXSTATUSEVENT log These masks allow you to modify whether various status fiel
70. Status oooooooccnnnccnnonncnonncnonnnonncnnnnnonnnnnnno nc nnn nn nan nn ran n cnn a nn nnn nana 121 Position or Velocity Ty Pe eee eeeeeeeseeeeneeeeeeeeeeeeeeeeeeeeeseaeessaeeseaeeseeeeeeeeeeeaeeeaes 123 Solution Status ita 124 Clock ModeliStatus ssiri intrii iia a ia iaia iatea an EEE 128 Clock SOUC inie a o g ieaiai a 131 Steering State ci e are oaa e aaa ee aa ee aiaee iage ET 131 Position ACCUraCy inni d cbr 138 Position Precision of NMEA LOgS 0oooooocccoccccnonccononononnncnncnnnccnn cnn occ nn nn nan nnnnnn nana 143 URA VAN E a rearea a a nialcd 151 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 LOGLIST Binary Format oooocccnocccnoccccnoncnonnnononcnnnn corno nn nn nono nn nn nro ran nn ran nnrnn anna rra 155 LOGLIST ASCII ForMat oocooocccnocccnncccnnonncnnnnnnnnnnnnnnncnnn conocio nn nr nan nnrnn nn narran nena rcnnnn 156 Navigation Data Type iia tiie eects Rede hi nce A ees 162 OmniSTAR Subscription Type oooconocccnocccnnoncnannnononcnnnnncnnn nn non nn cnn n cnn nn nn nn nn nn cnn nnnnns 167 OmniSTAR Signal Tracking Status ooooconnnccnnoncnnncnnnonncnonnnnnrnnnnn cnn nn nana no nan nn nan nnnnns 169 VBS Sta S WO O de 169 Channel Tracking Stat S ino ea ei aeae aa eio eani 177 Channel Tracking Example ss esseeseeeseesnesrnesrnsernerrnnernnenanennrenatnnstnnrrnncrnnrnneenneee 178 Track Mati e e e aaa eea oe a a 179 Gorrelator Spacing iiare e e a tee raa aeai 179 Range Record Format
71. The structures of all ASCII messages follow the general conventions as noted here 1 The lead code identifier for each record is 2 Each log or command is of variable length depending on amount of data and formats 3 All data fields are delimited by a comma with two exceptions The first exception is the last header field which is followed by a to denote the start of the data message The other exception is the last data field which is followed by a to indicate end of message data 4 Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters e g 1234ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the identifier and the asterisk preceding the four checksum digits See 32 Bit CRC on Page 21 for the algorithm used to generate the CRC 5 An ASCII string is one field and is surrounded by double quotation marks e g ASCII string If separators are surrounded by quotation marks then the string is still one field and the separator will be ignored e g xxx xxx is one field Double quotation marks within a string are not allowed 6 If the card detects an error parsing an input message it will return an error response message Please see Chapter 4 Responses on Page 258 for a list of response messages from the receiver OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev
72. 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 97 for details If you wish to disable all these messages without changing the bits simply UNLOG the RXSTATUSEVENT logs on the appropriate ports Note that Field 4 the receiver status word as represented in Table 70 is also in Field 8 of the header See the ASCII Example and Table 70 on Page 223 for clarification Refer also to the chapter on Built In Status Tests in Volume 1 of this manual Structure Message ID 93 Log Type Asynch Binary Binary Bytes Offset 1 header Log header H 0 2 error Receiver error see Table 69 on Page 222 A ULong 4 H value of zero indicates no errors 3 stats Number of status codes including Receiver ULong 4 H 4 Status Normally 4 4 rxstat Receiver status word see Table 70 on ULong 4 H 8 Page 223 5 rxstat pri Receiver status priority mask which can be ULong 4 H 12 set using the STATUSCONFIG command see Page 97 6 rxstat set Receiver status event set mask which can be ULong 4 H 16 set usi
73. This will 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 This is very useful for most commands but for commands that are repeated with different parameters for example COM LOG and INTERFACEMODE this will only show the most recent set of parameters used To see all sets of parameters try method 1 or 2 above Abbreviated ASCII Example Log fix lt FIX COM1 0 45 0 FINE 1114 151898 288 00200000 dbfd 33123 lt NONE 10000 00000000000 10000 00000000000 10000 0000 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 22 Commands Chapter2 2 3 Commands by Function Table 7 lists the commands by function while Table 8 on Page 27 is an alphabetical listing of commands repeated in Table 9 on Page 30 with the commands in the order of their message IDs Please see 2 6 Command Reference on Page 35 for a more detailed description of individual commands which are listed alphabetically Table 7 Commands By Function Table COMMUNICATIONS CONTROL AND STATUS Commands Descriptions ANTENNAPOWER Control power to low noise amplifier LNA of an active antenna COM Set COM port configuration COMCONTROL Control the hardware control lines of the RS232 ports FREQUENCYOUT Set the output pulse train available on VARF INTERFACEMODE Set interface type Receive Rx Transmit
74. Ulong 4 H 44 14 L2 ECEF X L1 ECEF AX correction 1 256 cm Long 4 H 48 15 L2 ECEF Y L1 ECEF AY correction 1 256 cm Long 4 H 52 16 L2 ECEF Z L1 ECEF AZ correction 1 256 cm Long 4 H 56 17 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 60 18 CR LF Sentence terminator ASCII only Recommended Input log rtemdata22a ontime 10 ASCII Example RTCMDATA22A COM1 0 70 0 FINESTEERING 1117 161590 000 00100020 990 399 1730644 0 5316 2324476 8451556 6 61 64 120 0 TRUE 0 0 0 0 b86eb 12 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 209 Chapter 3 Data Logs 3 4 67 RTCMDATA59 Type 59N 0 NovAtel RT20 Differential RTK See the chapter on Message Formats in Volume 1 of this manual for information on RTCM standard logs Structure Message ID 403 Log Type Synch Field Field type Data Description Format Emery Binary YP P Bytes Offset 1 header Log header H 0 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 subtype Message subtype Char 4a H 24 9 min psr Minimum pseudorange m Long 4 H 28 10 time offset Time difference between the Z count Long 4
75. acquire new authorization codes for the required models If you wish to update the firmware in the receiver please contact NovAtel Customer Service WARNING Removing an authorization code will cause the receiver to permanently lose this information OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Abbreviated ASCII Syntax AUTH state part part2 part3 part4 part5 model model date Chapter 2 Message ID 49 y Field ASCII Binary ss Binary Binary Binary MEG Type Value Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 state REMOVE 0 Remove the authcode Enum 4 H from the system ADD 1 Add the authcode to the system default 3 part1 4 digit hexadecimal 0 FFFF Authorization code ULong 4 H 4 section 1 4 part2 4 digit hexadecimal 0 FFFF Authorization code ULong 4 H 8 section 2 gt part3 4 digit hexadecimal 0 FFFF Authorization code ULong 4 H 12 section 3 6 part4 4 digit hexadecimal 0 FFFF Authorization code ULong 4 H 16 section 4 7 part5 4 digit hexadecimal 0 FFFF Authorization code ULong 4 H 20 section 5 8 model Alpha numeric Null Model name of the String 16 H 24 terminated receiver max 16 9 date Numeric Null Expiry date entered as String ga H
76. be averaged Only becomes optional if State OFF 4 maxhstd 0 100 m Desired horizontal standard Float 4 H 8 deviation default 0 5 maxvstd 0 100 m Desired vertical standard Float 4 H 12 deviation default 0 ASCII Example POSAVE 24 1 2 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 30 PSRDIFFSOURCE DGPS This command sets the station ID value which identifies the base station from which to accept RTCA 1 RTCM1 or OmniSTAR Virtual Base Station VBS differential corrections This is useful when the GPSCard is receiving corrections from multiple base stations See also the RTKSOURCE command on Page 88 1 When a valid PSRDIFFSOURCE command is received the current correction is removed immediately rather than waiting for the time specified in DGPSTIMEOUT see Page 57 2 Inaddition to a NovAtel OEM4 card a NovAtel OmniSTAR L Band receiver and a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume 1 of this manual Abbreviated ASCII Syntax Message ID 493 PSRDIFFSOURCE type ID ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or bin
77. beginning of the GPS week 16 NC 14 Receiver Ulong 32 bits representing the status of various hardware 4 20 Y Status and software components of the receiver see Table 70 Receiver Status on Page 223 15 Reserved Ushort Reserved for internal use 2 24 Y 16 Receiver Ushort This is a value 0 65535 that represents the 2 26 Y S W Version receiver software build number Recommended value is THISPORT binary 192 This ENUM is not 4 bytes long but as indicated in the table is only 1 byte These time fields are ignored if Field 11 Time Status is invalid In this case the current receiver time is used The recommended values for the three time fields are 0 0 0 16 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Messages Table 5 Serial Port Identifiers Chapter 1 ASCII Port Name Port Value Description NO_PORTS 0 No ports specified COM1_ALL 1 All virtual ports for COM port 1 COM2_ALL 2 All virtual ports for COM port 2 COM3_ALL 3 All virtual ports for COM port 3 THISPORT_ALL 6 All virtual ports for the current COM port ALL_PORTS 8 All virtual ports for all COM ports COM1 32 COM port 1 virtual port 0 COM1_1 33 COM port 1 virtual port 1 COM1_31 63 COM port 1 virtual port 31 COM2 64 COM port 2 virtual port 0 COM2_31 95 COM port 2 virtual port 31 COM3 96 COM port 3 virtual port 0 COM3_31 127 COM port 3 virtual port 31 THISPORT 192 Curren
78. binary or an ASCII format output For binary the output is in milliseconds and is a long type For ASCII the output is in seconds and is a float type Hex n Hex is a packed fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs String n String is a variable length array of bytes that is null terminated in the binary case The maximum byte length for each String field is shown in their row in the log or command tables OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 12 Messages Chapter 1 Table 2 Byte Arrangements 7 0 char address n 15 7 0 short n 1 address n 31 23 15 7 0 ow CIT T wos compliment n 3 n 2 n 1 address n 63 62 52 51 0 double S Biased Exponent 52 bits mantissa n 7 n 6 n 5 n 4 n 3 n 2 n 1 address n 31 30 23 22 0 float S Biased Exponent 23 bits mantissa n 3 n 2 n 1 address n Table 2 shows the arrangement of bytes within each field type when used by IBM PC computers All data sent to or from the OEM4 card however is read least significant bit LSB first opposite to what is shown in Table 2 Data is then stored in the OEM4 card LSB first For example in char type data the LSB is bit 0 and the most significant bit MSB is bit 7 See Table 54 Channel Tracking Example on Page 178 for a more detailed example 1 1 1 ASCII ASCII messages are readable by both the user and a computer
79. day fields as 0 0 and 0 respectively Structure Message ID 206 Log Type Polled Binary Binary Field Field type Data Description Format Bytes Offset header Log header H 0 2 mod Number of models with information Ulong 4 H to follow 3 model Model name String 16 H 4 max 16 4 expyear Expiry year Ulong 4 H 20 5 expmonth Expiry month Ulong 4 H 24 6 expday Expiry day Ulong 4 H 28 Le Next model offset H 4 mods x 28 variable xxxx 32 bit CRC ASCII and Binary Hex 4 H 4 only mods x 28 variable CR LF Sentence terminator ASCII only Recommended Input log validmodelsa once ASCII Example VALIDMODELSA COM1 0 78 5 FINESTEERING 1159 160078 661 00000000 Of9 673 2 RT2WA 2003 12 31 RT2 2003 12 31 94415c6d OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 82 VERSION Version Information This log contains the version information for all components of a system When using a standard receiver there will only be 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 user applications or Field Programmable Gate Array FPGA configurations See Table 78 Version Log Field Formats on Page 234 for details on the format of key fields See als
80. level regardless of the use of the DATUM or USERDATUM commands except for the height parameter field 6 The relation between the geoid and the WGS84 ellipsoid is the geoidal undulation and can be obtained from the PSRPOS log Structure Message ID 172 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 lat Average WGS84 latitude degrees Double 8 H 3 lon Average WGS84 longitude degrees Double 8 H 8 4 ht Average height above sea level or geoid m Double 8 H 16 5 lat o Estimated average standard deviation of Float 4 H 24 latitude solution element in meters 6 lon Estimated average standard deviation of Float 4 H 28 longitude solution element in meters 7 hgt o Estimated average standard deviation of height Float 4 H 32 solution element in meters 8 posave Position averaging status see Table 38 Enum 4 H 36 ave time Elapsed time of averaging s Ulong 4 H 40 10 samples Number of samples in the average Ulong 4 H 44 11 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 48 12 CR LF Sentence terminator ASCII only Recommended Input log aveposa onchanged ASCII Example AVEPOSA COM1 0 65 0 FINESTEERING 1058 272851 000 80000000 3a72 32800 51 11635672780 114 03824509533 1046 6118 5 0299 3 4216 8 0996 INPROGRESS 13800 24 a2f7b21b Table 38 Position Averaging Status
81. logs Structure Message ID 393 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 des NovAtel designator Uchar 1 H 3 subtype RTCA message subtype Uchar 3a H 1 4 week GPS week number weeks Ulong 4 H 4 5 sec Seconds into the week seconds Ulong 4 H 8 6 prn PRN number Ulong 4 H 12 7 Reserved Uchar 4b H 16 8 raw data Raw ephemeris data Hex 90 92 H 20 9 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 112 10 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment b In the binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment Recommended Input log rtcadataephema ontime 10 7 ASCII Example RTCADATAEPHEMA COM1 0 73 5 FINESTEERING 1117 159879 363 00100020 1cab 399 78 2 12 159879 28 0 8b0174340b2717520225c6b86ef0c9b885c3c315ea16286e00ffed006 98b8b017434092816015d2f38c3da966d010e029f09a2161ca1172de3286e7c8b01743409ae00 63e6 be1f7ffd7271ba3bd16679 e0ae8f1ffab981l6e5c4 eeac48cc 192 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 56 RTCADATAOBS Base Station Observations RTK See the chapter on Message Formats in Volume 1 of this manual for information on RTCA standard logs Structure Message ID 394 Log Type Synch Chapt
82. mean 119 150 MSB 13 multipath 177 Index N NAVIGATE 162 navigation commands 25 data 145 149 information 148 log 162 magnetic compass 74 path 95 status 148 162 163 waypoint 95 107 word 185 NMEA 106 109 142 143 146 node 140 noise oscillators 62 statistics 146 thermal 177 time of 129 non printable characters 23 92 non volatile memory NVM 32 erase 68 reset 68 restore 77 save almanacs 119 182 save current configuration 90 note antenna motion 85 authorization code 44 channel assignment 39 41 clock adjustment 46 differential corrections 56 58 65 elevation cut off angle 61 ephemeris delay 56 factory default 77 GPSolution 90 logging 71 101 navigation 162 range residual 144 reset 32 68 RTK 82 84 satellite 147 172 status 220 225 WGS84 121 NovAtel Inc 2 NVMRESTORE 77 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 265 Index O offset clock 61 62 108 128 158 172 228 Doppler 39 track 95 163 OMNIHPPOS 165 OMNIINFO 166 OMNISTAT 168 one pulse per second 1PPS 26 46 67 228 operating mode 145 optionality 11 origin 95 oscillator 46 62 128 output pulse 67 overload 71 P parity 119 171 177 183 PASSCOMx 170 pass through logs 170 PDOP see dilution of precision perigee 119 period 71 73 155 156 perpendicular distance 95 163 phase lock loop PLL 178 179 222 PLL see phase lock loop polled logs 104 ports ascii header 14 COM 17 2
83. 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 76 Enum 4 H 48 Range Reject Codes on Page 231 15 psr weight Pseudorange filter weighting Float 4 H 52 16 Next PRN offset H 16 chans x 40 variable XxXx 32 bit CRC ASCII and Binary only Hex 4 H 16 chans x 40 variable CR LF Sentence terminator ASCII only 230 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Reject Code Reject Code Recommended Input log trackstata ontime 1 ASCII Example TRACKSTATA COM1 0 64 5 FINESTEERING 1048 507426 700 00000028 228e 0 SOL_COMPUTED SINGLE 0 0 24 5 0 8105c04 25052294 167 3388 063 40 188 63 560 7 209 GOOD 1 000 2 0 1305c2b 21433408 821 1310 921 43 913 1514 040 0 000 0BSL2 1 000 26 0 1305d6b 24444419 776 2365 217 31 530 1506 520 0 000 OBSL2 1 000 cd40e0aa Table 76 Range Reject Codes Description binary ASCII oscriptio 0 GOOD Observations are good 1 BADHEALTH Bad satellite health is indicated by ephemeris data 2 OLDEPHEMERIS Old ephemeris due to date not being updated during the last 3 hours 3 ECCENTRICANOMALY Eccentric anomaly error during computation of the satellite s position 4 TRUEANOMALY True anomaly error during computation of the satellite
84. of this manual for further explanation The possibility of NVM failure is extremely remote however if it should occur it is likely 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 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 will be automatically saved in NVM on the next startup If the almanac was lost a new almanac will automatically be saved when the next complete almanac is received after approximately 15 minutes of continuous tracking If the user configuration was lost it will have to be re entered by the user This could include communication port settings The factory default is 9600 n 8 1 After entering the NVMRESTORE command and resetting the card the communications link may have to be re established at a different baud rate from the previous connection Abbreviated ASCII Syntax Message ID 197 NVMRESTORE OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 77 Chapter 2 Commands 2 6 29 POSAVE 78 This command implements position averaging for base stations Position averaging will continue for a specified number of hours or until the estimated averaged position error is within specified accuracy limits Averaging w
85. of those indicators Parity and framing errors will occur 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 Structure Message ID 72 Log Type Polled Binary Binary Field Field type Data Description Format Bytes Offset header Log header H 0 2 port Number of ports with information to Long 4 H follow 3 port Serial port identifier see Table 13 Enum 4 H 4 Serial Port Identifiers on Page 50 4 rx chars Total number of characters received Ulong 4 H 8 through this port 5 tx chars Total number of characters Ulong 4 H 12 transmitted through this port 6 acc rx chars Total number of accepted characters Ulong 4 H 16 received through this port 7 dropped Number of software overruns Ulong 4 H 20 chars 8 interrupts Number of interrupts on this port Ulong 4 H 24 breaks Number of breaks Ulong 4 H 28 10 par err Number of parity errors Ulong 4 H 32 11 fram err Number of framing errors Ulong 4 H 36 12 overruns Number of hardware overruns Ulong 4 H 40 13 Next port offset H 4 port x 40 14 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 port x 40 15 CR LF Sentence terminator ASCII only Recomm
86. only 9 CR LF Sentence terminator ASCII only Recommended Input log rawephema onchanged ASCII Example RAWEPHEMA COM1 0 70 0 FINESTEERING 1023 512190 000 00000000 2e9f 0 7 1023 518400 8b0ffca6bbb24ffa70173931172f3b03c9c99c678fc267e9000ffe1l4b88a0 8b0ffca6bb92b26087a3187cbf13a9e079605828cd00ee8a10d73527e907e 8b0ffcabb9 ad0088f0526ba5005a26e038131e06a8925200ffa76826fcd8 2ddcf8b5 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 183 Chapter 3 Data Logs 3 4 47 RAWGPSSUBFRAME Raw Subframe Data This log contains the raw GPS subframe data Structure Message ID 25 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 decode Frame decoder number Ulong 4 H 3 PRN Satellite PRN number Ulong 4 H 4 4 subfr id Subframe ID Ulong 4 H 8 5 data Raw subframe data Hex 30 324 H 12 6 chan Signal channel number that the Ulong 4 H 44 frame was decoded on 7 XXXX 32 bit CRC ASCII and Binary Hex 4 H 48 only 8 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment Recommended Input log rawgpssubframea onnew ASCII Example RAWGP SSUBFRAME COM1 29 58 5 SATTIME 1047 228642 000 00000128 d5dc 0 0 1 3 8b005c4a6e2e0033 78c7961002a271db312167
87. pin The output waveform will be coherent with the 1PPS output If the CLOCKADJUST command is ENABLED see Page 46 and the receiver is configured to use an external reference frequency set in the EXTERNALCLOCK command see Page 62 for an external clock TCXO OCXO RUBIDIUM CESIUM or USER then the clock steering process will take over the VARF output pins and may conflict with a previously entered FREQUENCYOUT command Abbreviated ASCII Syntax Message ID 232 FREQUENCY OUT switch pulsewidth period Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Disable will cause the output Enum 4 H to be fixed low default ENABLE 1 Enables customized frequency output 3 pulse 0 to 262144 Number of 25 ns steps for Ulong 4 H 4 width which the output will be high Duty cycle pulsewidth period Field Description Must be less than or equal to the period default 0 If pulsewidth is the same as the period the output will be a high DC signal If pulsewidth is 1 2 the period then the output will be a square wave 4 period 0 to 262144 Signal period in 25 ns steps Ulong 4 H 8 Frequency Output 40 000 000 Period default 0 ASCII Ex
88. preliminary state NovAtel s current support for this Standard is based on Minimum Aviation System Performance Standards DGNSS Instrument Approach System SCAT I dated August 27 1993 The above messages can be logged with an A or B suffix for an ASCII or Binary output with a NovAtel header followed by Hex or Binary raw data respectively See the chapter on Message Formats in Volume 1 of this manual for more information on RTCA standard logs Example Input interfacemode com2 none RTCA fix position 51 1136 114 0435 1059 4 log com2 rtcaobs ontime 2 log com2 rtcaref ontime 10 log com2 rtcal ontime 10 3 log com2 rtcaephem ontime 10 7 190 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 54 RTCADATA1 Differential GPS Corrections DGPS See the chapter on Message Formats in Volume 1 of this manual for information on RTCA standard Chapter 3 logs Structure Message ID 392 Log Type Synch Field Field type Data Description Format Binary Binary yP p Bytes Offset 1 header Log header H 0 2 z count Modified Z count where the Z count Double 8 H week number is the week number from subframe 1 of the ephemeris AEB Acceleration Error Bound Uchar 42 H 8 4 prn Number of satellite corrections with Ulong 4 H 12 information to follow 5 prn PRN number of satellite Ulong H 16 6 range Pseudorange correction m Double H 20 7
89. s Double 8 H 68 15 V X O Standard deviation of V X m s Float 4 H 76 16 V Yo 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 Float 4 H 92 seconds It should be subtracted from the time to give improved results 20 diff_age Differential age Float 4 H 96 21 sol_age Solution age in seconds Float 4 H 100 22 obs Number of observations tracked Uchar 1 H 104 23 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 105 24 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 106 25 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 107 126 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 26 Reserved Char 1 H 108 27 Char 1 H 109 28 Char 1 H 110 29 Char 1 H 111 30 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 112 31 CR LF Sentence terminator ASCII only Recommended Input log bestxyza ontime 1 ASCII Example BESTXYZA COM1 0 72 5 FINESTEERING 1058 404080 000 00000028 06e1 37 SOL_COMPUTED SINGLE 1634502 769 3664601 068 4942471 986 26 3812 34 7726 38 3204 SOL_COMPUTED DOPPLER_VELOCITY 0 195 0 496 0 254 3 1532 4 1561 4 5802 0 250 0 000 0 000
90. 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 6 Page 127 for a definition of the ECEF coordinates See also the BESTPOS and BESTVEL logs on Pages 122 and 125 respectively the DATUM or USERDATUM commands These quantities are always referenced to the WGS84 ellipsoid regardless of the use of Structure Message ID 241 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 P sol status Solution status see Table 40 Solution Status on Page Enum 4 H 124 3 pos type Position type see Table 39 Position or Velocity Type on Enum 4 H 4 Page 123 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 Yo Standard deviation of P Y m Float 4 H 36 9 P Z o Standard deviation of P Z m Float 4 H 40 10 V sol status Solution status see Table 40 Solution Status on Page Enum 4 H 44 124 11 vel type Velocity type see Table 39 Position or Velocity Type on Enum 4 H 48 Page 123 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
91. status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections This log is recommended for kinematic operation Better accuracy can be obtained in static operation with the MATCHEDPOS log With the system operating in an RTK mode this log will reflect if the solution is a good RTK low latency solution from extrapolated base station measurements or invalid A valid RTK low latency solution will be computed for up to 30 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 Differential Positioning section in the GPS Overview appendix in Volume 1 of this manual Structure Message ID 141 Log Type Synch Binary Binary de Field type Data Description Format Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 40 Solution Status on Page 124 Enum 4 H 3 pos type Position type see Table 39 Position or Velocity Type on Enum 4 H 4 Page 123 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation Float 4 H 32 8 datum id Datum ID number see Chapter 2 Table 17 Datum Enum 4 H 36 Transformation Parameters on Page 54 9 lat o Latitude standard dev
92. the value used to control the smoothness of the clock steering process Smaller values will result in slower and smoother changes to the receiver clock Larger values will result in faster responses to changes in oscillator frequency and faster startup clock pull in The default values are 0 03 and 0 001 Hz respectively for the INTERNAL and EXTERNAL clocks Float H 16 48 ASCII Example CLOCKCALIBRATE AUTO OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 9 COM This command permits you to configure the receiver s asynchronous serial port communications drivers The current COM port configuration can be reset to its default state at any time by sending it two hardware break signals of 250 milliseconds each spaced by fifteen hundred milliseconds 1 5 seconds with a pause of at least 250 milliseconds following the second break This will e Stop the logging of data on the current port see the UNLOGALL command on Page 101 e Clear the transmit and receive buffers on the current port e Return the current port to its default settings see Page 34 for details e Set the interface mode to NovAtel for both input and output see the INTERFACEMODE command on Page 69 See also Section 2 5 Factory Defaults on Page 34 for a description of the factory defaults and the COMCONHIG log on Page 139 The COMCONTROL command see Page 51 may conflict with handshak
93. time radians Double 8 H 128 22 I Rate of inclination angle radians second Double 8 H 136 23 Op Right ascension radians Double 8 H 144 24 Rate of right ascension radians second Double 8 H 152 25 iodc Issue of data clock Ulong 4 H 160 26 toc SV clock correction term seconds Double 8 H 164 27 tgd Estimated group delay difference seconds Double 8 H 172 28 afo Clock aging parameter seconds s Double 8 H 180 29 afi Clock aging parameter s s Double 8 H 188 30 ap Clock aging parameter s s s Double 8 H 196 31 AS Anti spoofing on 0 FALSE Enum 4 H 204 1 TRUE 32 N Corrected mean motion radians second Double 8 H 208 150 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Field e Binary Binary Field type Data Description Format Bytes Offset 33 URA User Range Accuracy variance m The ICD specifies that the Double 8 H 216 URA index transmitted in the ephemerides can be converted to a nominal standard deviation value using an algorithm listed there We publish the square of the nominal value variance The correspondance between the original URA index and the value output is shown in Table 46 34 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 224 35 CR LF Sentence terminator ASCII only a To obtain copies of ICD GPS 200 see ARINC in the appendix on Standards and References in Volume 1 of this manual
94. velocity latency should be applied to the record time tag Structure Message ID 216 Log Type Synch Field Field oer Binary Binary Data Description Form type ata Desenptio ormat Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 40 Solution Status on Page 124 Enum 4 H 3 vel type Velocity type see Table 39 Position or Velocity Type on Page Enum 4 H 4 123 4 latency A measure of the latency in the velocity time tag in seconds It Float 4 H 8 should be subtracted from the time to give improved results 5 age Differential age Float 4 H 12 6 hor spd Horizontal speed over ground in meters per second Double 8 H 16 7 trk gnd Actual direction of motion over ground track over ground with Double 8 H 24 respect to True North in degrees 8 vert spd Vertical speed in meters per second where positive values Double 8 H 32 indicate increasing altitude up and negative values indicate decreasing altitude down 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 Recommended Input log rtkvela ontime 1 ASCII Example RTKVELA COM1 0 56 0 FINESTEERING 1037 322331 500 00000028 c9ad 0 SOL_COMPUTED DOPPLER_VELOCITY 0 250 1 000 0 112280259 114 237364983 0 1229 0 0659 9f5e535d OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 215
95. when the number of satellites available allows a 3 D solution HEIGHT 2 Configures the GPSCard in 2 D mode with its height constrained to a given value The command would be 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 always referenced to the geoid mean sea level see the BESTPOS log on Page 122 and uses units of meters The receiver is capable of receiving and applying differential corrections from a base station while FIX HEIGHT is in effect The FIX HEIGHT command will override any previous FIX HEIGHT or FIX POSITION command Note This command only affects pseudorange corrections and solutions and so has no meaning within the context of RT 2 and RT 20 POSITION 3 Configures the GPSCard 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 GPSCard can operate as a GPS base station Once initialized the receiver will compute differential corrections for each satellite being tracked The computed differential corrections can then be output to rover stations by utilizing any of the following GPSCard differential corrections data log formats RTCM RTCA or CMR See the OEM4 User Manual Volume 1 for information on using the receiver for differential applications T
96. 0 0 0 60 000 9 8 8 1 0 0 0 0 de152d 7 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 173 Chapter 3 Data Logs 3 4 41 PSRVEL Pseudorange Velocity In the PSRVEL log the actual speed and direction of the GPSCard antenna over ground is provided The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value See also the table footnote for velocity logs on Page 107 The velocity status indicates varying degrees of velocity quality To ensure healthy velocity the position sol status must also be checked If the sol status is non zero the velocity will likely be invalid It should be noted that the GPSCard 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 velocity is computed using Doppler values typically derived from differences in consecutive carrier phase measurements As such it is an average velocity based on the average change in pseudorange over the time interval and not an instantaneous velocity at the PSRVEL time tag The velocity latency to be subtracted from the time tag will normally be 1 2 the time between filter updates Under default operation the position filter is updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of
97. 0 to 262144 Signal period in 25 ns steps Frequency Output 40 000 000 Period default 0 Ulong H 4 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 47 Chapter 2 Commands pulsewidth The valid range for this parameter is 10 to 90 of the period Sets the initial pulse width that should provide a near zero drift rate from the selected oscillator being steered The valid range for this parameter is 10 to 90 of the period The default value is 2000 If this value is not known in the case of a new external oscillator then it should be set to 1 2 the period and the mode should be set to AUTO to force a calibration Ulong H 8 slope This value should correspond to how much the clock drift will change with a 1 bit change in the pulsewidth m s bit The default values for the slope used for the INTERNAL and EXTERNAL clocks is 2 0 and 0 01 respectively If this value is not known then its value should be set to 1 0 and the mode should be set to AUTO to force a calibration Once the calibration process is complete and using a slope value of 1 0 the receiver should be recalibrated using the measured slope and pulsewidth values Fields 6 and 4 of the CLOCKSTEERING log see Page 130 This process should be repeated until the measured slope value remains constant less than a 5 change Float H 12 bandwidth This is
98. 0000000 0 b03300f3 250 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 96 WAAS24 Mixed Fast Slow Corrections SBAS If there are 6 or fewer satellites in a block they may be placed in this mixed correction message The fast data set for each satellite consists of 16 bits a 12 bit fast correction and a 4 bit UDRE indicator Each message also contains a 2 bit IODP indicating the associated PRN mask The 12 bit fast correction PRC has a 0 125 meter resolution for a valid range of 256 to 255 875 m If the range is exceeded a don t use indication will be inserted into the UDREI field You should ignore extra data sets not represented in the PRN mask The time of applicability TO 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 Structure Message ID 297 Log Type Asynch Binary Field Field type Data Description Format Offset Scaling 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 prcO pre i Long 4 H 4 1 pr Fast tions 2048 to 2047 fi we sae 3 pre2 the denia ORA 0 5 Long 4 Hre E 6 pre3 Long 4 H 16 7 prc4 Long 4 H 20 8 pres Long 4 H 24 9 udrei0 udre 1 Ulong 4 H 28 See Table 79 10 ud
99. 000000e 20 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 63 Chapter 2 Commands Table 19 Clock Type ASCII Binary Description DISABLE 0 Turns the external clock input off reverts back to the on board VCTCXO TCXO 1 Sets the defaults for a VCTCXO OCXO 2 Sets the defaults for an OCXO RUBIDIUM 3 Sets the defaults for a rubidium oscillator CESIUM 4 Sets the defaults for a cesium oscillator USER 5 Defines custom process noise elements Table 20 Default Values of Process Noise Elements Timing Standard ho hj ho VCTCXO 1 0 e 21 1 0e 20 2 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 user min max 1 0 e 31 lt h lt 1 0 e 18 1 0e 31 lt h lt 1 0e18 1 0 e 31 lt h p lt 1 0 e 18 64 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 20 FIX This command fixes various parameters of the GPSCard such as height position and velocity For various applications fixing these values can assist in improving acquisition times and accuracy of position or corrections For example fixing the position and height is a requirement for differential base stations as it provides a truth position to base the differential corrections from Abbreviated ASCII Syntax Message ID 44 FIX type param1 param2 param3 ASCII Binary Binary B
100. 100020 b467 399 App lat 397 3 072 FALSE FALSE 0 TRUE 0 180000 1 0 33 32 32 32 32 99 114 101 102 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 8 85 78 75 78 79 87 78 0 482add29 where the bolded 33 in the example above represents the total length of the records that follow short ID 32 32 32 32 99 114 101 102 8 bytes COGO code 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 16 bytes ID length 8 1 byte long ID 85 78 75 78 79 87 78 0 8 bytes 134 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 10 CMRDATAOBS Base Station Satellite Observations RTK See the chapter on Message Formats in Volume 1 of this manual for information on CMR standard Chapter 3 logs Structure Message ID 390 Log Type Synch Field Field type Data Description Format Binary Binary yP p Bytes Offset 1 header Log header H 0 2 CMR header Synch character for the message Ulong 4 H 3 Message status Ulong 4 H 4 4 CMR message type Ulong 4 H 8 5 Message body length Ulong 4 H 12 6 Version Ulong 4 H 16 7 Station ID Ulong 4 H 20 8 Message Type Ulong 4 H 24 9 SV Number of SVs Ulong 4 H 28 10 epoch Epoch time milliseconds Ulong 4 H 32 11 clock bias Is clock bias valid Ulong 4 H 36 0 NOT VALID 3 VALID 12 clock offset Clock offset nanoseconds Long 4 H 40 13 obs Number of satellite observations with information U
101. 1093 494316 000 00000020 b2c6 209 11 000000000000000000000000000000000000000000 1 1 0 62 5 SATTIME 1093 494317 000 00000020 b2c6 209 11 Fe8020fb92efa0a43e0680100C036000201fef38C0 1 1 0 62 5 SATTIME 1093 494318 000 00000020 b2c6 209 11 FEAEFALECOL5EfEfE1fL ALECOO478C hbb979bb900 11 261e7 b0 b2 66 20 9 7 11 7a178380 b2c6 209 b2c6 209 b2c6 209 1 3fa9148a l 938 E7575 11 68e0845 1 a9fb31c3 1 c1934588 22 22 22 22 22 6 2072 22 0 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 52 REFSTATION Base Station Position and Health RTK This log contains the ECEF Cartesian position of the base station as received through the RTCM RTCA or CMR message It also features a time tag the health status of the base station and the station ID This information is set at the base station using the FIX POSITION command and the CMR RTCA RTCMTXSTATION command Structure Message ID 175 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 status Status of the base station information ULong 4 H see Table 58 below 3 X ECFF X value Double 8 H 4 4 y ECEF Y value Double 8 H 12 5 Z ECEF Z value Double 8 H 20 6 health Base station health Ulong 4 H 28 7 stn type Base station type see Table 59 on Enum 4 H 3
102. 180 MAGVAR type correction std dev Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Description type AUTO 0 Use IGRF corrections Enum 4 H CORRECTION 1 Use the correction supplied correction 180 0 degrees Magnitude of correction Float 4 H 4 Required field if type Correction std_dev 180 0 degrees Standard deviation of Float 4 H 8 correction default 0 74 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 ASCII Example 1 MAGVAR AUTO 0 000000000 0 000000000 ASCII Example 2 MAGVAR CORRECTION 15 000000000 0 000000000 Figure 2 Illustration of Magnetic Variation amp Correction a g Reference Description a True Bearing b Local Magnetic Variation Cc Local Magnetic Variation Correction inverse of magnetic variation a c Magnetic Bearing d Heading 50 True 60 Magnetic e True North f Local Magnetic North OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 75 Chapter 2 2 6 27 MODEL This command is used to switch the card between models previously added with the AUTH Commands command When this command is issued the GPSCard will save this model as the active model The active mode
103. 2 Page 189 8 stn ID Base station ID Char 5 ga H 36 9 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 10 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment Recommended Input log refstationa onchanged ASCII Example REFSTATIONA COM1 0 60 5 FINESTEERING 1037 507040 202 00000028 6c48 0 00000000 1634526 770 3664610 130 4942483 610 6 RTCM 10 43e693fe Table 58 Base Station Status Bit EC Description Bit 0 Bit 1 0 0x00000001 Validity of the base station Valid Invalid Table 59 Base Station Type Base Station Type Description Binary ASCII 0 NONE Base station is not used 1 RTCM Base station is RTCM 2 RTCA Base station is RTCA 3 CMR Base station is CMR OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 189 Chapter 3 Data Logs 3 4 53 RTCA Standard Logs DGPS RTCA1 DIFFERENTIAL GPS CORRECTIONS Message ID 10 RTCAEPHEM EPHEMERIS AND TIME INFORMATION Message ID 347 RTCAOBS BASE STATION OBSERVATIONS RTK Message ID 6 RTCAREF BASE STATION PARAMETERS RTK Message ID 11 The RTCA Radio Technical Commission for Aviation Services Standard is being designed to support Differential Global Navigation Satellite System DGNSS Special Category I SCAT I precision instrument approaches The RTCA Standard is in a
104. 228 improve acquisition 65 interval 72 73 175 latched 157 limit 78 logs 107 228 matched position 108 161 of ephemeris 183 of first fix 147 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 of mark in event 158 of position fix 143 precision 19 stamp 161 status 14 19 steering 19 46 tag 175 189 216 timeout 58 UTC 141 142 153 154 228 validity 19 TIMESYNC 229 track made good 149 152 over ground 125 174 215 tracking assign 39 automatic 98 channel 177 230 continuous 168 178 230 cut off angle 61 fix position 66 loops 177 satellite 24 109 status 179 230 SV 172 undesirable 70 TRACKSTAT 230 transformation parameters 53 transmit 49 171 interface 23 26 69 trigger error 220 event messages 97 log 71 104 155 156 159 161 option 73 true north 74 75 125 146 163 174 215 types 12 U UNASSIGN 98 UNASSIGNALL 98 UNDULATION 99 undulation best position 122 165 command 82 99 height 82 illustration 99 position 121 157 159 173 214 Index UNLOCKOUT 100 UNLOCKOUTALL 100 UNLOG 101 UNLOGALL 101 USERDATUM 102 Vv validity base station 189 216 clock model 128 receiver model 232 233 time tag 175 216 VALIDMODELS 232 VCTCXO see oscillators VDOP see dilution of precision velocity average 175 216 best 125 126 closing 148 fix 24 65 66 latency 175 216 217 limit 124 logs 107 pseudorange 108 RTK 215 status 175 Xyz cart
105. 3 25 26 49 50 71 73 91 224 communication 15 configuration 23 49 139 number of interrupts 171 output 72 73 155 156 pass through 170 receiver status 220 save configurations 90 serial 69 171 specify serial 69 statistics 105 status 171 225 unlog 101 PORTSTATS 171 POSAVE 78 position 3 D 172 accuracy 65 82 at time of mark 157 averaging 25 78 121 base station 108 189 best 122 126 212 commands 24 current 162 163 datum 53 fix 24 65 66 logs 106 107 pseudorange 108 173 solution 61 172 time matched 159 161 type 157 xyz cartesian coordinate system 126 161 175 216 power 38 231 prerequisites 10 processing 14 16 108 177 pseudorange corrections 66 error estimate 177 jump 46 177 measurement 146 178 181 noise statistics 146 position 107 108 solutions 66 122 tracking status 230 velocity 108 174 PSRDIFFSOURCE 79 PSRPOS 173 PSRVEL 174 PSRXYZ 175 pulse mark input 157 158 Q quality 141 142 146 quotation marks 13 91 96 R RANGE 177 range bias 128 129 compressed 180 logs 177 measurements 46 reject codes 230 231 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 residual 144 satellite information 70 range bias 19 20 RANGECMP 180 raw almanac 140 RAWALM 182 RAWEPHEM 183 RAWGPSSUBFRAME 184 RAWGPSWORD 185 RAWOMNIFRAME 186 RAWOMNIPACKET 187 RAWWAASFRAME 188 reacquisition 39 41 179 receive characters 171 interface 23 26 69 re
106. 3 WAAS4 WAAS5 WAAS7 WAAS24 and WAAS25 messages 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 Structure Message ID 291 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 mask PRN bit mask Uchar 27 284 H 4 4 iodp Issue of PRN mask data Ulong 4 H 32 5 XXXX 32 bit CRC ASCII and Binary Hex 4 H 36 only 6 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 1 byte of padding is added to maintain 4 byte alignment Recommended Input log WAAS1 onchanged ASCII Example WAAS1A COM1 0 70 5 SATTIME 1093 161388 000 00040020 7e3f 209 122 fffbfffe0000000000000000000000400400000000000000000000 3 e4275412 236 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 85 WAAS2 Fast Correction Slots 0 12 SBAS Chapter 3 WAAS2 are fast corrections for slots 0 12 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the WAASCORRECTION command for details Structure Message ID 296 Log Type Asynch Binary Binary
107. 4 96 WAAS24 Mixed Fast Slow Corrections SBAS ccccccseeeeeenees 251 3 4 97 WAAS25 Long Term Slow Satellite Corrections SBAS 04 253 3 4 98 WAAS26 lonospheric Delay Corrections SBAS cccccceeeeeees 255 3 4 99 WAAS27 SBAS Service Message SBAS eienenn 256 3 4 100 WAASCORR SBAS Range Corrections Used SBAS 0 08 257 4 Responses 258 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Tables OONDOAaARWD FiGIO A ET 12 Byte Arrangements etc lr 13 ASCII Message Header Structure oooooccccccccoccnccnnnnonnnonan conan nn cnn nn cnn n cnn nnnn nn nnnncnnn nn 14 Binary Message Header Structure oooocoocccccocccoocncnononanccnonnonannnnno nn nan nn nan nn nan nn nnnnnnnns 16 Serial Port IdentifiSS lt ticoncr lets deli teh eciehaty dela lt aana eero riera 17 GPS TIMES cana tr 19 Commands By Function Table oo eee cecceeeseceeeeeeeeeeeeaeeseaeeeeaeeseseeeeeaeeseeeenaeees 23 OEM4 Family Commands in Alphabetical Order 0 00 0 eee ceeseeeeeeeeeneeeeneeeeneees 27 OEM4 Family Commands in Order of their Message IDS uu ee eeeeeeeereeeeeees 30 OEM4 Family Command Comparison eeceeesceeeseeeeeeeeeneeeeeeeeeeneeeeeeeeeeeeeees 33 Channel ati hc a a EEE ae aae Sea eee 39 Channel Syste M eee aeaa aaora costed Eee AE aaao a a een E a ea Na i s 42 serial Port ldentifiorS is dia 50 Pai A Res adage Sareea 50 HandshakiM iii A IA 50 Reference Ellipsoid Constants oooooccconocic
108. 40 terminated yymmdd in decimal max 7 a Inthe binary log case an additional 1 byte of padding is added to maintain 4 byte alignment Input Examples AUTH ADD 1234 5678 9ABC DEFO 1234 OEM4L1L2 990131 AUTH 1234 5678 9ABC DEFO 1234 OEM4L1L2 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 45 Chapter 2 Commands 2 6 7 CLOCKADJUST All oscillators have some inherent drift By default the receiver attempts to steer the receiver s clock to accurately match GPS time If for some reason this is not desired this behavior can be disabled using the CLOCKADJUST command The TIME log can then be used to monitor clock drift 1 The CLOCKADJUST command should only be used by advanced users of GPS 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 62 for an external clock TCXO OCXO RUBIDIUM CESIUM or USER then the clock steering process will take over the VARF output pins and may conflict with a previously entered FREQUENCYOUT command see Page 67 3 When disabled the range measurement bias errors will continue to accumulate with clock drift 4 Pseudorange carrier phase and Doppler measurements may jump if the CLOCKADJUST mode is altered while the receiver is tracking 5 When disabled the time reported on all logs may be offset from GPS time The 1PPS output may also be offset The amount of t
109. 400 Command and Log Reference Manual Rev 8 201 Chapter 3 Data Logs 3 4 64 RTCMDATA1819 Raw Measurements RTK See the chapter on Message Formats in Volume 1 of this manual for information on RTCM standard logs Structure Message ID 399 Log Type Synch Field Field type Data Description Format Binary E nary yP P Bytes Offset 1 header Log header H 0 2 RTCM header RTCM message type Ulong 4 H 3 for RTCM18 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 freq Frequency indicator where Ulong 4 H 24 0 L1 2 E2 1 is reserved for future use 9 Reserved Ulong 4 H 28 10 GNSS time Global Navigation Satellite System Long 4 H 32 GNSS time of measurement microseconds 11 obs Number of observation with Long 4 H 36 information to follow 12 multi bit Multiple message indicator Ulong 4 H 40 13 code Is code P Code Ulong 4 H 44 0 FALSE 1 TRUE 14 sat type Satellite type Ulong 4 H 48 0 GPS 1 GLONASS 15 prn Satellite PRN number Ulong 4 H 52 16 quality Data quality indicator see Table 60 Ulong 4 H 56 RTCM1819 Data Quality Indicator on Page 204 17 continuity Cumulative loss of continuity Ulong 4 H 60 indicator with a loss of lock counter 18 phase Ca
110. 402 349 10 lon dir Longitude direction E East W West 3 7 E 11 range Range to destination nautical miles 4 XA 0 0127611 12 bearing Bearing to destination degrees True X X 153 093 13 vel Destination closing velocity knots X X 0 3591502 14 arr status Arrival status A perpendicular passed A V V destination not reached or passed 15 xx Checksum hh 13 16 CR LF Sentence terminator CR LF 1 If cross track error exceeds 9 99 NM display 9 99 Represents track error from intended course One nautical mile 1 852 meters 2 Direction to steer is based on the sign of the crosstrack error i e L xtrack error R xtrack error 3 Fields 5 6 7 8 9 and 10 are tagged from the SETNAV command see Page 93 If range to destination exceeds 999 9 NM display 999 9 Example SGPRMB A 0 00 L start end 5224 0000000 N 11500 0000000 W 85 0 335 4 0 0 V 13 Recommended Input log gprmb ontime 1 148 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 22 GPRMC GPS Specific Information NMEA Time date position track made good and speed data provided by the GPS navigation receiver RMC and RMB are the recommended minimum navigation data to be provided by a GPS receiver A comparison of the position precision between this log and other selected NMEA logs can be seen in Table 45 Position Precision of NMEA Logs on Page 143 This log will outpu
111. 4578294901a69fd4d00a10b37a18000b8528b0fdle3010003 24 8b0210860637584bbb901949fd6c00a10d18767dc3c032de5d856d01003e 63 8b02108608327f9999999999909990990999999999999080000000000fe9 51 8b02108608b473908400000000000000003 00003f 000fc0000000aaaaaa 10591407 182 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 46 RAWEPHEM Raw Ephemeris Chapter 3 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 will not be generated unless all 10 words from all 3 frames have passed parity Ephemeris data whose TOE Time Of Ephemeris is older than six hours will not be shown Structure Message ID 41 Log Type Asynch r A Binar Binar Field Field type Data Description Format Bytes Offact 1 header Log header H 0 2 prn Satellite PRN number Ulong 4 H 3 ref week Ephemeris reference week number Ulong 4 H 4 4 ref secs Ephemeris reference time Ulong 4 H 8 seconds 5 subframel Subframe 1 data Hex 30 H 12 6 subframe2 Subframe 2 data Hex 30 H 42 7 subframe3 Subframe 3 data Hex 30 H 72 8 XXXX 32 bit CRC ASCII and Binary Hex 4 H 102
112. 4b8fc3651ffab58781417 0 b0 c82c4 FRAWGPSSUBFRAME COM1 11 58 5 SATTIME 1047 228654 000 00000128 d5dc 0 18 24 5 8b005c4a6f36566a4d63faddfd2f00a10dde49d00c1628f842e7a0320029 18 6f03db2a 184 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 48 RAWGPSWORD Raw Navigation Word This message contains the framed raw navigation words Each log contains a new 30 bit navigation word in the least significant 30 bits plus the last 2 bits of the previous word in the most significant 2 bits The 30 bit navigation word contains 24 bits of data plus 6 bits of parity The GPS time stamp in the log header is the time that the first bit of the 30 bit navigation word was received Only navigation data that has passed parity checking will appear in this log One log will appear for each PRN being tracked every 0 6 seconds if logged ONNEW or ONCHANGED Structure Message ID 407 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 PRN Satellite PRN number Ulong 4 H 3 nav word Raw navigation word Ulong 4 H 4 4 XXXX 32 bit CRC ASCII and Binary Hex 4 H 8 only 5 CR LF Sentence terminator ASCII only Recommended Input log rawgpsworda onnew ASCII Example RAWGPSWORDA COM1 0 76 5 FINESTEERING 1117 334881 673 00000000 3eef 33158 26 64460e5b 25e8c10b OEM4 GPSCard Firmwar
113. 5 Serial Port Identifiers on Enum 4 H 4 Page 18 4 message Message ID of log Ushort 2 H 8 5 message Bits 0 4 Reserved Char 1 H 10 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit7 Response Bit see Section 1 2 Responses on Page 19 0 Original Message 1 Response Message 6 reserved Char 3a H 11 7 trigger 0 ONNEW Enum 4 H 14 1 ONCHANGED 2 ONTIME 3 ONNEXT 4 ONCE 8 period Log period for ONTIME Double H 18 9 offset Offset for period ONTIME trigger Double H 26 10 hold 0 NOHOLD Enum H 34 1 HOLD 11 Next log offset H 4 logs x 34 variable xxxx 32 bit CRC Hex 4 H 4 logs x 34 a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 155 Chapter 3 Data Logs Table 48 LOGLIST ASCII Format Field Field type Data Description Format 1 header Log header 2 port Number of messages to follow maximum 20 Long 3 port Output port see Table 5 Serial Port Enum Identifiers on Page 18 4 message Message name of log with no suffix for Char abbreviated ascii an A suffix for ascii and a B suffix for binary 5 trigger ONNEW Enum ONCHANGED ONTIME ONNEXT ONCE 6 period Log period for ONTIME Double 7 offset Offset for period ONTIME trigger Double 8 hold NOHOLD Enum HOLD 9 Next port variable xxxx 32 bit
114. 5 to 15 3 Undefined smoothing interval Table 62 RTCM1819 Multipath Indicator Code Multipath Error lt 0 100 m lt 0 149 m lt 0 223 m lt 0 332 m lt 0 495 m lt 0 739 m lt 1 102 m lt 1 644 m lt 2 453 m lt 3 660 m 10 lt 5 460 m lt 8 145 m 12 lt 12 151 m 13 lt 18 127 m 14 gt 18 127 m 15 Undetermined multipath vN o I A QA Ba jun aO e OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 205 Chapter 3 Data Logs 3 4 65 RTCMDATA2021 Measurement Corrections RTK See the chapter on Message Formats in Volume 1 of this manual for information on RTCM standard logs Structure Message ID 400 Log Type Synch Field Field type Data Description Format Binary Binary YP p Bytes Offset 1 header Log header H 0 2 RTCM header RTCM message type Ulong 4 H 3 for RTCM20 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count week Ulong 4 H 8 number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 freq Frequency indicator Ulong 4 H 24 0 L1 2 L2 9 Reserved Ulong 4 H 28 10 GNSS time Global Navigation Satellite System Long 4 H 32 GNSS time of measurement Us 11 obs Number of observation with information
115. 51 UNLOCKOUTALL This command allows all satellites which have been previously locked out LOCKOUT command to be reinstated in the solution computation Abbreviated ASCII Syntax Message ID 139 UNLOCKOUTALL Input Example unlockoutall 100 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 52 UNLOG This command permits you to remove a specific log request from the system The port parameter is optional If port is not specified it is defaulted to the port on which the command was received This feature eliminates the need for you to know which port you are communicating on if you want logs to be removed on the same port on which you are sending this command Abbreviated ASCII Syntax Message ID 36 UNLOG port datatype ASCII Binary Binary Binary Description Format Offset Value Value 1 header This field contains the command name or H 0 the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 5 Serial Port to which log is being sent Enum 4 H Port Identifiers on default THISPORT Page 18 3 datatype Message name Message name Message ID of log to be ULong 4 H 4 Message ID disabled Input Example unlog com1 bestposa unlog bestposa 2 6 53 UNLOGALL Tf port is specified this command disables all logs on the specified port only All other po
116. 528 841 3664567 840 4942460 135 25 3018 26 8277 37 8962 SOL_COMPUTED DOPPLER_VELOCITY 0 049 0 110 0 344 3 0241 3 2065 4 5295 0 250 0 000 0 000 7 7 0 0 0 0 0 0 2411d87d 176 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 443 RANGE Satellite Range Information RANGE contains the channel measurements for the currently tracked satellites When using this log please keep in mind the constraints noted along with the description It is important to ensure that the receiver clock has been set This can be monitored by the bits in the Receiver Status field of the log header Large jumps in pseudorange as well as accumulated Doppler range ADR will occur as the clock is being adjusted If the ADR measurement is being used in precise phase processing it is important not to use the ADR if the parity known flag in the ch tr status field is not set as there may exist a half 1 2 cycle ambiguity on the measurement The tracking error estimate of the pseudorange and carrier phase ADR is the thermal noise of the receiver tracking loops only It does not account for possible multipath errors or atmospheric delays If both the L1 and L2 signals are being tracked for a given PRN two entries with the same PRN will appear in the range logs As shown in Table 53 these entries can be differentiated by bit 20 which is set if there are multiple observables for a given PRN and bits 21 22 which den
117. 59N 0 NovAtel Proprietary RT20 Differential GPALM 217 Almanac Data GPGGA 218 GPS Fix Data and Undulation GPGGARTK 259 GPS Fix Data GPGLL 219 Geographic Position latitude longitude GPGRS 220 GPS Range Residuals for Each Satellite GPGSA 221 GPS DOP and Active Satellites GPGST 222 Pseudorange Measurement Noise Statistics GPGSV 223 GPS Satellites in View GPRMB 224 Generic Navigation Information GPRMC 225 GPS Specific Information GPVTG 226 Track Made Good and Ground Speed GPZDA 227 UTC Time and Date a CMR RTCA and RTCM logs may be logged with an A or B extension to give an ASCII or Binary output with a NovAtel header followed by Hex or Binary data respectively OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 113 Chapter 3 114 Message ID Data Logs Table 36 OEM4 Family Logs in Order of their Message IDs NovAtel Format Logs Datatype Description 5 LOGLIST A list of system logs 7 GPSEPHEM GPS ephemeris data 8 IONUTC Ionospheric and UTC model information 16 CLOCKMODEL Current clock model matrices 25 RAWGPSSUBFRAME Raw subframe data 26 CLOCKSTEERING Clock steering status 37 VERSION Receiver hardware and software version numbers 41 RAWEPHEM Raw ephemeris 42 BESTPOS Best position data 43 RANGE Satellite range information 47 PSRPOS Pseudorange position information 48 SATVIS Satelli
118. 8 13 Chapter 1 Messages Message Structure header data field data field data field FXxxxxxxx CR LF The ASCII message header is formatted as follows Table 3 ASCII Message Header Structure 3 E reer Ignored Field Field Name Field Type Description on Input 1 Sync Char Sync character The ASCII message is always N preceded by a single symbol 2 Message Char This is the ASCII name of the log see a list of all N the logs in Table 34 Logs By Function Table on Page 105 3 Port Char This is the name of the port from which the log Y was generated The string is made up of the port name followed by an _x where x is a number from 1 to 31 denoting the virtual address of the port If no virtual address is indicated it is assumed to be address 0 4 Sequence Long This is used for multiple related logs It is a N number that counts down from N 1 to 0 where 0 means it is the last one of the set Most logs only come out one at a time in which case this number is 0 5 Idle Time Float The minimum percentage of time that the Y processor is idle 6 GPS Time Enum This value indicates the quality of the GPS time Y Status see Table 6 GPS Time Status on Page 19 vi Week Ulong GPS week number Y 8 Seconds GPSec Seconds from the beginning of the GPS week Y accurate to the millisecond level 9 Receiver Ulong This is an eight digit hex
119. AS24A COM1 0 63 5 SATTIME 1093 162057 000 00000020 c0f9 209 122 1 2047 2047 0 11 220 1 14 14 3 11 11 3 2 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 cea865a5 252 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 97 WAAS25 Long Term Slow Satellite Corrections SBAS WAAS25 provides error estimates for slow varying satellite ephemeris and clock errors with respect to WGS 84 ECEF coordinates Structure Message ID 298 Log Type Asynch Chapter 3 Field type Data Description Bye de patie Scaling 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 lst Number first half with Ulong 4 H 4 information to follow 4 vel Velocity code flag Ulong 4 H 8 5 mask1 Index into PRN mask Type 1 Ulong 4 H 12 6 iodel Issue of ephemeris data Ulong 4 H 16 7 dx1 Delta x ECEF Long H 20 0 125 8 dyl Delta y ECEF Long 4 H 24 0 125 9 dzl Delta z ECEF Long 4 H 28 0 125 10 ald Delta af clock offset Long 4 H 32 x 11 mask2 Second index into PRN mask Ulong 4 H 36 Type 1 12 iode2 Second issue of ephemeris data Ulong 4 H 40 13 ddx Delta delta x ECEF Long 4 H 44 9 11 14 ddy Delta delta y ECEF Long 4 H 48 gil 15 ddz Delta delta z ECEF Long 4 H 52 gll 16 al Delta af clock offset Long 4 H 56 a 17 to Applicable time of day Ulong 4 H 60 16 18 iodp Issue of PRN ma
120. ASSIGNALL This command cancels all previously issued ASSIGN commands for all SV channels same as ASSIGNALL AUTO Tracking and control for each SV channel reverts to automatic mode See ASSIGN AUTO for more details Abbreviated ASCII Syntax Message ID 30 UNASSIGNALL system Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 system See Table 12 System that the SV channel is Enum 4 H Channel System on tracking Page 42 Input Example unassignall GPSL1 98 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 49 UNDULATION This command permits you to either enter a specific geoidal undulation value or use the internal table of geoidal undulations The separation values only refer to the separation between the WGS84 ellipsoid and the geoid regardless of the datum chosen see the BESTPOS log on Page 122 Abbreviated ASCII Syntax Message ID 214 UNDULATION option separation Field ASCII Binary Binary Binary Binary eee Type Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated A
121. AV SETTIMESYNG ADJUST1PPS UNASSIGN UNASSIGN UNASSIGNALL UNASSIGNALL UNDULATION UNDULATION UNFIX FIX NONE UNLOCKOUT UNLOCKOUT UNLOCKOUTALL UNLOCKOUTALL UNLOG UNLOG UNLOGALL UNLOGALL USERDATUM USERDATUM VERSION See the VERSION log on Page 232 WAASCORRECTION WAASCORRECTION OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 33 Chapter 2 Commands 2 5 Factory Defaults 34 When the receiver is first powered up or after a FRESET command see Page 67 all commands will revert to the factory default settings The SAVECONFIG command see Page 90 can be used to modify these defaults Use the RXCONFIG log see Page 215 to reference command and log settings The factory defaults are ANTENNAPOWER ON ASSIGNOMNI USER 1551489 1200 CLOCKADJUST ENABLE COM COM1 9600 N 8 1 N OFF ON COM COM2 9600 N 8 1 N OFF ON COM COM3 9600 N 8 1 N OFF ON COMCONTROL COM1 RTS DEFAULT COMCONTROL COM2 RTS DEFAULT COMCONTROL COM3 RTS DEFAULT CSMOOTH 100 5 DATUM WGS84 DGPSEPHEMDELAY 120 DGPSTIMEOUT 300 DGPSTXID AUTO ANY DYNAMICS AIR ECUTOFF 5 EXTERNALCLOCK DISABLE FIX NONE FREQUENCYOUT DISABLE NTERFACEMODE COM1 NOVATEL NOVATEL ON NTERFACEMODE COM2 NOVATEL NOVATEL ON NTERFACEMODE COM3 NOVATEL NOVATEL ON LOG COM1 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM2 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM3 RXSTATUSEVENTA ONNEW 0 0 HOLD MAGVAR CORRECTION 0 0 POSAVE OFF PSRDIFFSOURCE AUTO ANY TKCOMMAND USE_
122. Binary Binary Field Field type Data Description Format Bytes Offset 14 V Z Velocity vector along Z axis m Double 8 H 68 15 V X O Standard deviation of V X m Float 4 H 76 16 V Yo 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 identification Char 4 4 H 88 19 V latency A measure of the latency in the velocity time tag in Float 4 H 92 seconds It should be subtracted from the time to give improved results 20 diff_age Differential age Float 4 H 96 21 sol_age Solution age in seconds Float 4 H 100 22 obs Number of observations tracked Uchar 1 H 104 23 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 105 24 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 106 25 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 107 26 Reserved Char 1 H 108 27 Char 1 H 109 28 Char 1 H 110 29 Char 1 H 111 30 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 112 31 CR LF Sentence terminator ASCII only Recommended Input log rtkxyza ontime 1 ASCII Example RTKXYZA COM1 0 56 5 FINESTEERING 1058 410358 000 00000028 aec2 37 SOL_COMPUTED L1_INT 1634527 490 3664605 319 4942486 969 0 0121 0 0150 0 0265 SOL_COMPUTED L1_INT 0 006 0 007 0 005 0 0000 0 0000 0 0000 AAAA 0 250 2 000 0 000 9 6 6 6 0 0 0 0 320e2911 OEM4 GPSCard Fir
123. CKSTAT FRM RAWGPSSUBFRAME and RAWWAASFRAME FRW RAWGPSWORD GGB Not currently supported GP NMEA logs Same as MiLLennium MKP MARKPOS MKT MARKTIME NAV NAVIGATE PAV AVEPOS POS BESTPOS PRTK BESTPOS and RTKPOS PVA BESTXYZ MATCHEDXYZ PSRXYZ and RTKXYZ PXY BESTXYZ MATCHEDXYZ PSRXYZ and RTKXYZ RAL RAWALM RAS RAWALM RBT Not currently supported RCCA RXCONFIG COMCONFIG and LOGLIST RCS RXSTATUS and VERSION REP RAWEPHEM RGE RANGE and RANGECMP RPS REFSTATION RTCA RTCA RTK MATCHEDPOS RTKO RTKDATA RTCM RTCM RVS RXSTATUS SAT SATVIS SBT Not currently supported SPH PSRVEL SVD SATXYZ TM1 TIME VER VERSION VLH PSRVEL WAL Not currently supported WRC Not currently supported OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 Log Reference 3 4 1 ALMANAC Decoded Almanac This log contains the decoded almanac parameters from subframes four and five as received from the satellite with the parity information removed and appropriate scaling applied Multiple messages are transmitted one for each SV almanac collected For more information on Almanac data refer to the GPS SPS Signal Specification See the appendix on Standards and References in Volume 1 of this manual The OEM4 family of receives will automatically save almanacs in their non volatile memory NVM therefore creating an almanac boot file is not necessary Message ID 73 Log Type Asynch Struct
124. CRC Hex variable CR LF Sentence terminator Recommended Input log loglista once ASCII Example LOGLISTA COM1 0 59 5 FINESTEERING 1037 320631 415 00000028 b12b 0 6 COM1 RXSTATUSEVENTA ONCHANGED 0 000000 0 000000 HOLD COM2 RXSTATUSEVENTA ONCHANGED 0 000000 0 000000 HOLD COM3 RXSTATUSEVENTA ONCHANGED 0 000000 0 000000 HOLD COM1 AVEPOS ONCE 0 000000 0 000000 NOHOLD COM1 AVEPOSA ONCE 0 000000 0 000000 NOHOLD COM1 LOGLISTA ONCE 0 000000 0 000000 NOHOLD 0d6bb570 156 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 28 MARKPOS Position at Time of Markin Event Chapter 3 This log contains the estimated position of the antenna at detected mark impulse It uses the last valid position and velocities to extrapolate the position at time of mark Refer to the Technical Specifications appendix in Volume 1 of this manual for Mark Input pulse specifications The latched time of mark impulse is in GPS weeks and seconds into the week The resolution of the latched time is 49 ns See also the notes on MARKPOS in the MARKTIME log on Page 158 Structure Message ID 181 Log Type Asynch Field Field type Data Description Format Binary Binary Bytes Offset header Log header H 0 2 sol status Solution status see Table 40 Solution S
125. Chapter 3 Data Logs 3 4 17 GPGRS GPS Range Residuals for Each Satellite NMEA Range residuals can be computed in two ways and this log reports those residuals Under mode 0 residuals output in this log are used to update the position solution output in the GPGGA message Under mode 1 the residuals are re computed after the position solution in the GPGGA message is computed The GPSCard 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 This log will output null data in all fields until a valid almanac is obtained Structure Message ID 220 Log Type Synch Field Structure Field Description Symbol Example 1 GPGRS Log header GPGRS 2 utc UTC time of position hours minutes seconds hhmmss ss 192911 0 decimal seconds 3 mode Mode 0 residuals were used to calculate the x 1 position given in the matching GGA line apriori not used by GPSCard Mode 1 residuals were recomputed after the GGA position was computed preferred mode 4 15 res Range residuals for satellites used in the KXK sie 13 8 1 9 11 4 33 6 0 9 navigation solution Order matches order of PRN 6 9 12 6 0 3 0 6 22 3 numbers in GPGSA 16 XX Checksum hh 65 17 CR LF Sentence terminator CR LF Example SGPGRS 144637 00 1 1 9 1 1 0 2 0 1 0 4 0 3 0 3 0 7 45 Recomme
126. DEFAULTS TKSOLUTION AUTO TKBASELINE UNKNOWN 0 0 0 O TKDYNAMICS DYNAMIC KELEVMASK AUTO 0 KSVENTRIES 12 TKSOURCE AUTO ANY ETNAV 90 0 0 0 90 0 0 0 0 0 from to TATUSCONF CLEAR STATUS 0x00000000 TATUSCONF CLEAR AUX1 0 TATUSCONF CLEAR AUX2 0 UNDULATION TABLE 0 USERDATUM 6378137 0 298 2572235628 0 0 0 0 0 0 0 0 0 0 0 0 0 0 WAASCORRECTION DISABLE 0 NONE NNNNNNNNNND DD DADA DW DW J D TUSCONFIG PRIORITY STATUS 0 TATUSCONFIG PRIORITY AUX1 0x00000008 TATUSCONFIG PRIORITY AUX2 0 TATUSCONFIG SET STATUS 0x00000000 TATUSCONFIG SET AUX1 0 TATUSCONFIG SET AUX2 0 G G G OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 Command Reference 2 6 1 ADJUST1PPS This command is used to adjust the receiver clock This command is typically used when the receiver 1s not adjusting its own clock and is using an external reference frequency To disable the automatic adjustment of the clock refer to the CLOCKADJUST command on Page 46 To configure the receiver to use an external reference oscillator refer to the EXTERNALCLOCK command on Page 62 The ADJUSTIPPS command can be used to a Manually shift the phase of the clock b Adjust the phase of the clock so that the output 1PPS signal matches an external signal c Set the receiver clock close to that of another GPS receiver d Set the receiver clock exactly in phase of another GPS receiver The r
127. Data Logs 3 4 50 RAWOMNIPACKET Raw OmniSTAR Data Packet This log contains the raw OmniSTAR packet data Chapter 3 In addition to a NovAtel OEM4 card a NovAtel OmniSTAR L Band receiver and a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume 1 of this manual Structure Message ID 457 Log Type Asynch Data Description Format Binary Binary Field Field type Bytes Offset header Log header H 0 data Raw OmniSTAR data packet Uchar 128 128 H 3 XXXX 32 bit CRC ASCII and Binary Hex 4 H 128 only 4 CR LF Sentence terminator ASCII only Recommended Input log rawomnipacketa onnew ASCII Example RAWOMNIPACKETA COM1 0 62 0 F INESTEERING 1160 406879 140 00000000 b28 690 20 3b 7e 9e 77 49 3 77 75 47 4a 9 95 98 32 3d 52 2c 3e 6c 70 9088aad6 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 187 Chapter 3 3 4 51 RAWWAASFRAME Raw SBAS Frame Data SBAS Data Logs 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 will be reported Structure Message ID 287 Log Type Asynch
128. Data Logs ASCII Example RICADATAOBSA COM1 0 72 0 FINESTEERING 1117 159937 000 00100020 9c6d 399 78 1 2 010422200000000e 07 337 000000000 0 10 17 3 3 73257 000000000 2 750000000 0 284000009 0 507000029 TRUE 16 23 3 3 579946 200000000 3 000000000 0 606000006 1 641000032 TRUE 16 15 3 3 0 000000000 2 750000000 0 101999998 0 828000009 TRUE 16 18 3 3 658823 800000000 1 750000000 0 425999999 1 781999946 TRUE 16 26 3 3 1336423 400000000 3 500000000 0 284000009 0 465000004 TRUE 16 3 3 3 26 93282 400000000 4 000000000 1 764000058 6 228000164 TRUE 16 21 3 3 3574215 600000000 5 750000000 0 544000030 4 394999981 TRUE 16 6 3 3 3216619 400000000 6 000000000 2 592000008 8 819999695 TRUE 16 22 3 3 4119377 800000000 6 500000000 2 654000044 9 656999588 TRUE 16 28 3 3 4 987382 400000000 6 000000000 0 032000002 1 052999973 TRUE 16 1290a33c OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 57 RTCADATAREF Base Station Parameters RTK See the chapter on Message Formats in Volume 1 of this manual for information on RTCA standard logs Structure Message ID 395 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 des NovAtel designator Uchar 1 H 3 subtype RTCA message subtype Uchar 3a H 1 4 X pos Base station X coordinate position mm Double 8 H 4 5 Y pos B
129. ENABLE 34038b53 7a597498 RXCONFIGA COM1 21 61 0 UNKNOWN 0 7 180 00000028 898 0 CLOCKTYPEA COM1 21 6 1 0 UNKNOWN 0 7 180 00000028 898f 0 TCX0 0 0000000000000000 0 000000000 0 000 000000 c9788294 RXCONFIGA COM He alec 1 15 61 KNOWN 0 7 289 00000028 898 0 NONE 10000 000000 10000 000000 566 0 UNKNOWN 0 7 289 00000028 898f 0 F XA COM1 15 61 0 UN 10000 000000 d99c1c73 cd0edd08 RXCONFIGA COM CEMODEA COM1 14 OVATEL ON dec7 RXCONFIGA COM1 1 14 61 61 0 Oc Ls 0 FINESTEERING 1037 498794 357 00000028 898f 0 INTERFA FINESTEERING 1037 498794 357 00000028 898f 0 C0M2 RTCM N L 28 5debdc5Se 0 FINESTEERING 1037 498737 616 00000028 898f 0 LOGA COM 1 0 61 0 F INESTEERING 1037 498737 616 00000028 898f 0 COM1_4 GPSOL_POSB ONTIM E 1 000000 0 000000 HOLD eb2fe18b 23604814 1 The embedded CRCs are flipped to make the embedded messages recognizable to the receiver For example consider the first embedded message above 182ae681 00011000001010101110011010000001 11100111110101010001100101111110 e7d5197e Its CRC is really e7d5197e 218 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 73 RXHWLEVELS Receiver Hardware Levels This log contains the receiver environmental and voltage parameters Structure Message ID 195 Log Type Polled Fiel
130. EXTERNALCLOCK Set external clock parameters externalclock clocktype freq h0 h1 h2 232 FREQUENCYOUT Sets the output pulse train frequencyout switch pulsewidth available on VARF period 258 DYNAMICS Tune receiver parameters dynamics dynamics 269 CSMOOTH Set carrier smoothing csmooth L1time L2time 312 WAASCORRECTION Set SBAS test mode and PRN waascorrection keyword prn mode 377 SETAPPROXPOS Set an approximate position setapproxpos lat lon height 429 ADJUSTIPPS Adjust the receiver clock adjustlpps mode period offset 430 CLOCKCALIBRATE Adjust the control parameters clockcalibrate mode period width of the clock steering loop slope bandwidth 431 COMCONTROL Control the hardware comcontrol port signal control control lines of the RS232 ports 467 ASSIGNOMNI Set OmniSTAR satellite assignomni mode freq baud communication parameters 493 PSRDIFFSOURCE Set the pseudorange psrdiffsource type ID correction source 494 RTKSOURCE Set the RTK correction source rtksource type ID When the GPSCard is first powered up or after an FRESET command all commands will revert to the factory default settings The SAVECONFIG command can be used to modify the power on defaults Use the RXCONFIG log to determine command and log settings 32 FRESET STANDARD causes all previously stored user configurations saved to non volatile memory to be erased including Saved Config Saved Almanac and Saved Ephemeris
131. Fast correction degradation WAAS9 306 GEO navigation message WAAS10 292 Degradation factor WAAS12 293 SBAS network time and UTC WAAS17 294 GEO almanac message WAAS18 295 IGP mask WAAS24 297 Mixed fast slow corrections WAAS25 298 Long term slow satellite corrections WAAS26 299 Ionospheric delay corrections WAAS27 300 SBAS service message WAASCORR 313 SBAS range corrections used CMR Format Logs CMRDESC 310 Base station description information CMROBS 103 Base station satellite observation information CMRREF 105 Base station position information RTCA Format Logs RTCA1 10 Type 1 Differential GPS Corrections RTCAEPHEM 347 Type 7 Ephemeris and Time Information RTCAOBS 6 Type 7 Base Station Observations RTCAREF 11 Type 7 Base Station Parameters RTCM Format Logs RTCM1 107 Type 1 Differential GPS Corrections RTCM3 117 Type 3 Base Station Parameters RTCM9 275 Type 9 Partial Differential GPS Corrections RTCM15 307 Type 15 Ionospheric Corrections RTCM16 129 Typel6 Special Message OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Datatype Message ID Description RTCM Format Logs RTCM16T 131 Typel6T Special Text Message RTCM1819 260 Type18 and Type 19 Raw Measurements RTCM2021 374 Type 20 and Type 21 Measurement Corrections RTCM22 118 Type 22 Extended Base Station Parameters RTCM59 116 Type
132. Format Bytes Offset Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCH or binary respectively 2 angle 90 0 degrees Elevation cut off angle relative to Float 4 H horizon ASCII Example ECUTOFF 10 0 1 Care must be taken when using ECUTOFF because the signals from lower elevation satellites are travelling through more atmosphere and are therefore degraded Use of satellites below 5 degrees is not recommended 2 This command does not affect the RTK mode elevation cut off angle It only affects which satellites are tracked See the RTKELEVMASK command on Page 86 3 This command does not affect the tracking of SBAS satellites OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 61 Chapter 2 Commands 2 6 19 EXTERNALCLOCK 62 Overview The EXTERNALCLOCK command allows the Euro4 to operate with an optional external oscillator The user is able to optimally adjust the clock model parameters of the Euro4 for various types of external clocks 1 This command will affect the interpretation of the CLOCKMODEL log 2 Ifthe EXTERNALCLOCK command is enabled and set for an external clock TCXO OCXO RUBIDIUM CESIUM or USER and the CLOCKADJUST command see Page 46 is ENABLED then the clock steering process will take over the VARF output pins and may
133. GNed channel 30 UNASSIGNALL Unassign all previously unassignall system ASSIGNed channels 36 UNLOG Remove log from logging unlog port datatype control 38 UNLOGALL Remove all logs from logging unlogall port control 44 FIX Constrain to fixed height fix type param1 param2 param3 position or velocity 49 AUTH Add authorization code for auth state part1 part2 part3 part4 part5 new model model date 50 ECUTOFF Set satellite elevation cut off ecutoff angle 78 USERDATUM Set user customized datum userdatum semimajor flattening dx dy dz rx ry rz scale 91 RTKELEVMASK Set the RTK mask angle rtkelevmask type angle 30 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 Message ID Command Description Syntax 92 RTKSVENTRIES Set the number of satellites to rtksventries number use in corrections 95 STATUSCONFIG Configure various status mask statusconfig type word mask fields in RXSTATUSEVENT log 97 RTKCOMMAND Reset the RTK filter or setthe rtkcommand action filter to default settings 98 ANTENNAPOWER Control power to low noise antennapower flag amplifier of an active antenna 102 SETAPPROXTIME Set an approximate GPS time setapproxtime week sec 127 DGPSTIMEOUT Set maximum age of dgpstimeout delay differential data accepted 131 SETRTCM16 Enter an ASCII text message SETRTCM16 text to be sent out in the RTCM data stream 137 LOCKOUT Pr
134. GPS Feature used when operating in differential mode NMEA National Marine Electronics Association format see Message Formats in Volume 1 of this manual SBAS SBAS messages can be generated if you have an SBAS capable receiver model and are tracking an SBAS satellite For more information see the SBAS Overview appendix in Volume J of this manual OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 10 Foreword Other simple conventions are H 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 15 Ox The number following Ox is a hexadecimal number When default values are shown in command tables they indicate the assumed values when optional parameters have been omitted Default values do not imply the factory default settings see Chapter 2 Page 34 for a list of factory default settings Command descriptions use the bracket symbols to represent the optionality of parameters In tables where values are missing they should be assumed to be reserved for future use Status words are output as hexadecimal numbers and must be converted to binary format and in some cases then also to decimal For an example of this type of conversion please see the RANGE log Table 54 Channel Tracking Example on Page 178 Conversions and their binary or decimal results are always read from right to left For a complete list o
135. GPS ephemeris information Asynch IONUTC lonospheric and UTC model information Asynch RAWEPHEM Raw ephemeris Asynch RANGE Satellite range information Synch RTKDATA RTK related data such as baselines and satellite counts Asynch TIME Receiver clock offset information Synch 108 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 SATELLITE TRACKING AND CHANNEL CONTROL Descriptions ALMANAC Current decoded almanac data Asynch GPALM NMEA almanac data Synch GPGSA NMEA SV DOP information Synch GPGSV NMEA satellite in view information Synch GPSEPHEM Decoded GPS ephemeris information Asynch PSRDOP DOP of SVs currently tracking Asynch RANGE Satellite range information Synch RAWALM Raw almanac Asynch RAWEPHEM Raw ephemeris Asynch RAWGPSSUBFRAME Raw subframe data Asynch RAWGPSWORD Raw navigation word Asynch RAWWAASFRAME Raw SBAS frame data Asynch SATVIS Satellite visibility Synch SATXYZ SV position in ECEF Cartesian coordinates Synch TRACKSTAT Satellite tracking status Synch WAASO Remove PRN from the solution Asynch WAAS1 PRN mask assignments Asynch WAAS2 Fast correction slots 0 12 Asynch WAAS3 Fast correction slots 13 25 Asynch WAAS4 Fast correction slots 26 38 Asynch WAAS5 Fast correction slots 39 50 Asynch WAAS6 Integrity message Asynch WAAS7 Fast correction degradation Asynch WAA
136. H 44 14 al 8 Ulong 4 H 48 15 al 9 Ulong H 52 16 al 10 Ulong 4 H 56 17 al 11 Ulong 4 H 60 18 al 12 Ulong 4 H 64 19 al 13 Ulong 4 H 68 20 al 14 Ulong H 72 21 al 15 Ulong 4 H 76 22 al 16 Ulong 4 H 80 23 al 17 Ulong 4 H 84 24 al 18 Ulong 4 H 88 25 al 19 Ulong 4 H 92 26 alQ0 Ulong 4 H 96 27 al 21 Ulong 4 H 100 28 al 22 Ulong H 104 29 al 23 Ulong 4 H 108 30 al 24 Ulong 4 H 112 31 al 25 Ulong 4 H 116 32 al 26 Ulong 4 H 120 33 al 27 Ulong 4 H 124 34 al 28 Ulong 4 H 128 244 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Chapter 3 Data Logs 35 al 29 Ulong 4 H 132 36 al 30 Ulong 4 H 136 37 al 31 Ulong 4 H 140 38 al 32 Ulong 4 H 144 39 al 33 Ulong 4 H 148 40 al 34 Ulong 4 H 152 41 al 35 Ulong 4 H 156 42 al 36 Ulong 4 H 160 43 al 37 Ulong 4 H 164 44 al 38 Ulong 4 H 168 45 al 39 Ulong 4 H 172 46 al 40 Ulong 4 H 176 47 al 41 Ulong 4 H 180 48 al 42 Ulong 4 H 184 49 al 43 Ulong 4 H 188 50 al 44 Ulong 4 H 192 51 al 45 Ulong 4 H 196 52 al 46 Ulong 4 H 200 53 al 47 Ulong 4 H 204 54 al 48 Ulong 4 H 208 55 al 49 Ulong 4 H 212 56 al 50 Ulong 4 H 216 57 al 51 Invalid do not use Ulong 4 H 220 58 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 224 59 CR LF Sentence terminat
137. HH hour MM minutes SS seconds a One character for each of the COM ports 1 2 and 3 Characters are 2 for RS 232 4 for RS 422 available on Euro4 only and T for LV TTL 234 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 83 WAASO Remove PRN from Solution SBAS This message tells you when you are using SBAS messages not to use a specific PRN message for a period of time outlined in the SBAS signal specification See the WAASCORRECTION command on how the WAASO message relates to the SBAS testing modes Structure Message ID 290 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset header Log header H 0 2 prn Source PRN message also PRN Ulong 4 H not to use 3 XXXX 32 bit CRC ASCII and Binary Hex 4 H 4 only 4 CR LF Sentence terminator ASCII only Recommended Input log WAASO onchanged ASCII Example WAASO0A COM1 0 68 5 SATTIME 1093 161299 000 00040020 7d6a 209 122 e9a5ab08 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 235 Chapter 3 Data Logs 3 484 WAAS1 PRN Mask Assignments SBAS The PRN mask is given in WAAS1 The transition of the PRN mask to a new one which will be infrequent will be controlled with the 2 bit IODP which will sequence to a number between 0 and 3 The same IODP will appear in the applicable WAAS2 WAAS
138. IODE Issue of ephemeris data Uchar 42 H 28 8 range rate Pseudorange rate correction m s Double 8 H 32 9 UDRE User differential range error Float 4 H 40 10 Next prn offset H 16 prns x 28 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment Recommended Input log rtcadatala ontime 10 3 ASCII Example RTCADATAIA COM1 0 73 5 FINESTEERING 1117 159373 000 00100020 4794 399 973 000000000 0 11 3 11 635082719 4 3 0 005679527 1 000000000 15 4 791180559 96 0 008062044 1 000000000 Ley 2n 955923688 21 21 5573643105 17 0 6 20 26 6 23 1 764539172 l 0 006305533 1 000000000 153 0 012775200 1 000000000 18 0 018026272 1 000000000 653744978 88 0 011639515 1 000000000 605308463 39 0 007333527 1 000000000 911155288 167 0 006073328 1 000000000 28 31 304769386 22 gt 0 001623565 1 000000000 10 36 312368029 142 0 021844717 1 000000000 22 23 069976260 27 0 007292280 1 000000000 65fade5c OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 191 Chapter 3 Data Logs 3 4 55 RTCADATAEPHEM Ephemeris and Time Information DGPS amp RTK See the chapter on Message Formats in Volume 1 of this manual for information on RTCA standard
139. KTIME Time of Markin Event This log contains the time of the detected Mark Input pulse leading edge as detected at the Mark Input T O port The resolution of this measurement is 49ns Refer to the Technical Specifications appendix in Volume 1 of this manual for the Mark Input pulse specifications Structure Message ID 231 Log Type Asynch Field Field type header Data Description Log header Format Binary Bytes H Data Logs Binary Offset 0 week GPS week number Long 4 H 3 seconds Seconds into the week as measured from the receiver clock coincident with the time of electrical closure on the Mark Input port Double 8 H 4 4 offset Receiver clock offset in seconds A positive offset implies that the receiver clock is ahead of GPS Time To derive GPS time use the following formula GPS time receiver time offset Double H 12 5 offset std Standard deviation of receiver clock offset in seconds Double H 20 6 utc offset This field represents the offset of GPS time from UTC time computed using almanac parameters UTC time is GPS time plus the current UTC offset plus the receiver clock offset UTC time GPS time offset UTC offset Double H 28 7 status Clock model status see Table 41 Clock Model Status on Page 128 Enum H 36 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40 9 CR LF
140. L Band receiver and a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume 1 of this manual Structure Message ID 495 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 40 Solution Status on Page 124 Enum 4 H 3 pos type Position type see Table 39 Position or Velocity Type on Enum 4 H 4 Page 123 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation Float 4 H 32 8 datum id Datum ID number see Chapter 2 Table 17 Datum Enum 4 H 36 Transformation Parameters on Page 54 9 lat Latitude standard deviation Float 4 H 40 10 lon Longitude standard deviation Float 4 H 44 11 het o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff_age Differential age Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 66 18 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 67 19 Reserved Uchar 1 H 68 20 Uch
141. Manual Rev 8 145 Chapter 3 Data Logs 3 4 19 GPGST Pseudorange Measurement Noise Statistics NMEA Pseudorange measurement noise statistics are translated in the position domain in order to give statistical measures of the quality of the position solution This log will output null data in all fields until a valid almanac is obtained Structure Message ID 222 Log Type Synch Field Structure Field Description Symbol Example 1 GPGST Log header GPGST 2 utc UTC time of position hours minutes seconds decimal seconds hhmmss ss 173653 00 3 rms RMS value of the standard deviation of the range inputs to the x x 2 73 navigation process Range inputs include pseudoranges and DGPS corrections 4 smjr std Standard deviation of semi major axis of error ellipse meters x x 2 55 5 smnr std Standard deviation of semi minor axis of error ellipse meters x x 1 88 6 orient Orientation of semi major axis of error ellipse degrees from X X 1 5 2525 true north lat std Standard deviation of latitude error meters X X 2 51 lon std Standard deviation of longitude error meters X X 1 94 alt std Standard deviation of altitude error meters X X 4 30 10 xx Checksum hh 6E 11 CR LF Sentence terminator CR LF Example 146 SGPGST 173653 00 24 73 2 55 1 88 105 2525 2 51 1 94 4 30 6E Recommended Input log gpgst ontime 1 OEM4 GPSCard Firmware Version 1 400 Command and Log Refer
142. Message ID 391 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 CMR header Synch character for the message Ulong 4 H 3 Message status Ulong 4 H 4 4 CMR message type Ulong 4 H 8 5 Message body length Ulong 4 H 12 6 Version Ulong 4 H 16 7 Station ID Ulong 4 H 20 8 Message Type Ulong 4 H 24 9 battery Is the battery low Enum 4 H 28 0 FALSE 1 TRUE 10 memory Is memory low Enum 4 H 32 0 FALSE 1 TRUE 11 Reserved Ulong 4 H 36 12 L2 Is L2 enabled Enum 4 H 40 0 FALSE 1 TRUE 13 Reserved Ulong 4 H 44 14 epoch Epoch time milliseconds Ulong 4 H 48 15 motion Motion state Ulong 4 H 52 0 UNKNOWN 1 STATIC 2 KINEMATIC 16 Reserved Ulong 4 H 56 17 ECEF X Reference ECEF X position millimeters Double 8 H 60 18 ant hgt Antenna height millimeters Ulong 4 H 68 19 ECEF Y Reference ECEF Y position millimeters Double 8 H 72 20 e offset Easting offset millimeters Ulong 4 H 80 21 ECEF Z Reference ECEF Z position millimeters Double 8 H 84 22 n offset Northing offset millimeters Ulong 4 H 92 23 pos acc Position accuracy relative to WGS84 see Table 44 Ulong 4 H 96 Position Accuracy on Page 138 24 Reserved Ulong 4 H 100 25 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 104 26 CR LF Sentence terminator ASCII only OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 137 Chapter 3 Data Logs Recommended Input log cmrdatarefa
143. N keyword prn mode Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCH or binary respectively 2 keyword ENABLE 0 Card will use the SBAS Enum 4 H corrections it receives DISABLE 1 Card will not use the SBAS corrections it receives 3 prn 0 Card will use any PRN ULong 4 H 4 default 120 138 Card will use SBAS corrections only from this PRN 4 mode NONE 0 Card will interpret Type 0 Enum 4 H 8 messages as they are intended as do not use default WAASTESTMODE 1 Card will interpret Type 0 messages as Type 2 messages EGNOSTESTMODE 2 Card will ignore the usual interpretation of Type 0 messages as do not use and continue Field Description Abbreviated ASCII Example 1 WAASCORRECTION ENABLE 0 WAASTESTMODE Abbreviated ASCII Example 2 WAASCORRECTION ENABLE 120 EGNOSTESTMODE OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 103 Chapter 3 Data Logs 3 1 Log Types Refer to the LOG command see Page 71 for details on requesting logs The receiver is capable of generating many different logs These logs are divided into the following three types Synchronous asynchronous and polled The data for synchronous logs is generated on a regular schedule Asynchronous data i
144. Number of seconds into Double 8 H 4 GPS week Input Example setapproxtime 1105 425384 94 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 44 SETNAV This command permits entry of one set of navigation waypoints see Figure 4 on Page 95 The origin FROM and destination TO waypoint coordinates entered are considered on the ellipsoidal surface of the current datum default WGS84 Once SETNAV has been set you can monitor the navigation calculations and progress by observing the NAVIGATE log messages Track offset is the perpendicular distance from the great circle line drawn between the FROM lat lon and TO lat lon waypoints It establishes the desired navigation path or track that runs parallel to the great circle line which now becomes the offset track and is set by entering the track offset value in meters 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 4 on Page 95 for clarification Abbreviated ASCII Syntax Message ID 162 SETNAV fromlat fromlon tolat tolon track offset from point to point ASCII Binary Binary Binary Binary Value Value Format Bytes Offset 1 header This field contains the command H 0 name or the messag
145. OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 4 MiLLennium GPSCard Compatibility Table 10 shows the MiLLennium commands that are comparable to current OEM4 family commands Table 10 OEM4 Family Command Comparison MiLLennium Command Comparable OEM4 EURO4 Command ACCEPT INTERFACEMODE ANTENNAPOWER ANTENNAPOWER ASSIGN ASSIGN CLOCKADJUST CLOCKADJUST COMn COM COMn_DTR COMCONTROL COMn_RTS COMCONTROL CONFIG Not currently supported CRESET FRESET CSMOOTH CSMOOTH DATUM DATUM DGPSTIMEOUT DGPSTIMEOUT and DGPSEPHEMDELAY DIFF_PROTOCOL Nat currently supported DYNAMICS DYNAMICS ECUTOFF ECUTOFF EXTERNALCLOCK EXTERNALCLOCK FIX HEIGHT FIX HEIGHT FIX POSITION FIX POSITION FIX VELOCITY FIX VELOCITY FREQUENCY_OUT FREQUENCYOUT FRESET FRESET HELP or Nat currently supported IONOMODEL Not currently supported LOCKOUT LOCKOUT LOG LOG MAGVAR MAGVAR MESSAGES INTERFACEMODE POSAVE POSAVE RESET RESET RESETHEALTH Not currently supported RESETHEALTHALL Not currently supported RINEX Not currently supported RTCM16T SETRTCM16 RTCMRULE Not currently supported RTKMODE RTKBASELINE RTKCOMMAND RTKDYNAMICS RTKELEVMASK RTKSOLUTION and RTKSVENTRIES SAVEALMA See the FRESET command on Page 68 SAVECONFIG SAVECONFIG SEND SEND SENDHEX SENDHEX SETDGPSID DGPSTXID PSRDIFFSOURCE and RTKSOURCE SETHEALTH Not currently supported SETL1OFFSET Not currently supported SETNAV SETN
146. OM signal to control The Enum 4 H 4 DTR 1 controllable COM signals are RTS and DTR The DTR signal is only applicable to COM2 4 control DEFAULT 0 Disables this command and Enum 4 H 8 returns the COM signal to its default state FORCEHIGH 1 Immediately forces the signal high FORCELOW 2 Immediately forces the signal low TOGGLE 3 Immediately toggles the current sate of the signal TOGGLEPPS 4 Toggles the state of the selected signal within 900 us after each 1PPS event The state change of the signal will lag the 1PPS by an average value of 450 us The delay of each pulse will vary by a uniformly random amount less than 900 us ASCII Example COM COM1 9600N81N COMCONTROL COM RTS FORCELOW OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 51 Chapter 2 Commands 2 6 11 CSMOOTH This command sets the amount of carrier smoothing to be performed on the code measurements An input value of 100 corresponds to approximately 100 seconds of smoothing Upon issuing the command the locktime for all tracking satellites is reset to zero From this point each code smoothing filter is restarted The user must wait for at least the length of smoothing time for the new smoothing constant to take full effect The optimum setting for this command is dependent on your application Abbreviated ASCII Syntax Message ID 269 CSMOOTH Litime L2time Field ASCII Binary Binary Binary Binary Description Format Bytes Of
147. On startup the receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports You can remove this message by using the UNLOG command See also the chapter on Built In Status Tests in Volume 1 of this manual Structure Message ID 94 Log Type Asynch Binary Binary Field 4 Field type Data Description Format Bytes Offset 1 header Log header H 0 2 word The status word that generated the Enum 4 H event message see Table 74 below 3 bit position Location of the bit in the status word Ulong 4 H 4 see Table 70 Receiver Status on Page 223 event Event type see Table 75 below Enum 4 H 8 3 description This isa text description of the event Char 32 32 H 12 or error 5 XXXX 32 bit CRC ASCII and Binary Hex 4 H 44 only 6 CR LF Sentence terminator ASCII only Recommended Input log rxstatuseventa onchanged ASCII Example RXSTATUSEVENTA COM1 0 0 0 F INESTEERING 1037 508871 517 00240028 ff0c 0 STATUS 21 SET Clock Model Invalid beae5676 Table 74 Status Word Word binary Word ASCII Description 0 ERROR Receiver Error word 1 STATUS Receiver Status word 2 AUX1 Auxiliary 1 Status word 3 AUX2 Auxiliary 2 Status word 4 AUX3 Auxiliary 3 Status word Table 75 Event Type Event binary Event ASCII Description 0 CLEAR Bit was cleared 1 SET Bit was set OEM4 GPSCard Firmware Version 1 400 Com
148. RN SATELLITE TRACKING AND CHANNEL CONTROL Commands Descriptions ASSIGN Assign individual satellite channel ASSIGNALL Assign all satellite channels DYNAMICS Tune receiver parameters ECUTOFF Set satellite tracking elevation cut off SETAPPROXPOS Set an approximate position SETAPPROXTIME Set an approximate GPS time UNASSIGN Unassign a previously ASSIGNed channel UNASSIGNALL Unassign all previously ASSIGNed channels 24 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 WAYPOINT NAVIGATION Commands Descriptions MAGVAR Set magnetic variation correction SETNAV Set waypoints DIFFERENTIAL BASE STATION Commands Descriptions DGPSEPHEMDELA Y DGPS ephemeris delay DGPSTXID DGPS transmit ID FIX Constrain receiver height position or velocity INTERFACEMODE Set interface type Transmit Tx for a COMn port LOG Select required differential output log POSAVE Set up position averaging RTKELEVMASK Set the minimum elevation mask angle for satellites to include in RTK corrections RTKSVENTRIES Set the number of satellites to include in RTK corrections OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 25 Chapter 2 Commands DIFFERENTIAL ROVER STATION Commands Descriptions ASSIGNOMNI Set OmniSTAR satellite communication parameters DGPSTIMEOUT Set maxim
149. Reference Manual Rev 8 27 Chapter 2 Commands Command Message ID Description Syntax FRESET 20 Clear almanac model or user freset target configuration data which is stored in NVM and followed by a card reset INTERFACEMODE 3 Set interface type Receive interfacemode port rxtype txtype Rx Transmit Tx for COM responses ports LOCKOUT 137 Prevent the GPSCard from lockout prn using a satellite by specifying its PRN LOG 1 Request logs from receiver log port message trigger period offset hold MAGVAR 180 Set magnetic variation magvar type correction stddev correction MODEL 22 Switch to a previously model model AUTHed model NVMRESTORE 197 Restore NVM data after a nvmrestore failure in NVM POSAVE 173 Implement position averaging posave state for base station maxtime maxhstd maxvstd PSRDIFFSOURCE 493 Set the pseudorange psrdiffsource type ID correction source RESET 18 Perform a hardware reset reset delay RTKBASELINE 182 Initialize RTK with a static rtkbaseline type parl par2 par3 baseline 2sigma RTKCOMMAND 97 Reset the RTK filter or setthe rtkcommand action filter to default settings RTKDYNAMICS 183 Set the RTK dynamics mode rtkdynamics mode RTKELEVMASK 91 Set the RTK mask angle rtkelevmask type angle RTKSOLUTION 184 Set RTK carrier phase rtksolution type ambiguity type Float or Fixed or disable RTKSOURCE 493 Set the RTK correction so
150. S fix 4 RTK fixed ambiguity solution I RTK floating ambiguity solution 9 WAAS 8 sats Number of satellites in use 00 12 May be different to the xx 08 number in view 9 hdop Horizontal dilution of precision X X 0 9 10 alt Antenna altitude above below mean sea level geoid X X 1080 406 11 a units Units of antenna altitude M meters M M 12 undulation Undulation X X 16 271 13 u units Units of undulation M meters M M 14 age Age of Differential GPS data in seconds i XX 15 stn ID Differential base station ID 0000 1023 XXXX w 16 xx Checksum hh 48 17 CR LF Sentence terminator CR LF 1 The maximum age reported here is limited to 99 seconds 2 An indicator of 9 has been temporarily set for WAAS The NMEA standard for WAAS has not been decided yet Example OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 SGPGGA 144541 00 5106 9819 N 11402 2967 W 1 08 0 9 1067 30 M 16 27 M 65 Recommended Input log gpgga ontime 1 141 Chapter 3 Data Logs 3 4 15 GPGGARTK Global Position System Fix Data NMEA Time position and fix related data of the GPS receiver This is output as a GPGGA log but the GPGGARTK log differs from the normal GPGGA log by its extra precision In order for the position to be output with this extra precision the undulation fields are unavailable see the GPGGA log on Page 141 See also Table 45 Position Precision of NMEA Logs on Page 143 This log will output null data i
151. S9 GEO navigation message Asynch WAAS10 Degradation factor Asynch WAAS12 SBAS network time and UTC Asynch WAAS17 GEO almanac message Asynch WAAS18 IGP mask Asynch WAAS24 Mixed fast slow corrections Asynch WAAS25 Long term slow satellite corrections Asynch WAAS26 lonospheric delay corrections Asynch WAAS27 SBAS service message Asynch WAASCORR SBAS range corrections used Synch OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 109 Chapter 3 110 Table 35 Datatype Data Logs OEM4 Family Logs in Alphabetical Order NovAtel Format Logs NESST Description ALMANAC 73 Current almanac information AVEPOS 172 Position averaging BESTPOS 42 Best position data BESTVEL 99 Velocity data BESTXYZ 241 Cartesian coordinate position data CLOCKMODEL 16 Current clock model matrices CLOCKSTEERING 26 Clock steering status CMRDATADESC 389 Base station description information CMRDATAOBS 390 Base station satellite observation information CMRDATAREF 391 Base station position information COMCONFIG 317 Current COM port configuration GPSEPHEM 7 GPS ephemeris data IONUTC 8 Ionospheric and UTC model information LOGLIST 5 A list of system logs MARKPOS 181 Position at time of markin event MARKTIME 231 Time of markin event MATCHEDPOS 96 RTK Computed Position Time Matched MATCHEDXYZ 242 RTK Time Matched car
152. SBAS WAASS are fast corrections for slots 39 50 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the WAASCORRECTION command for details Structure Message ID 303 Log Type Asynch Binary Field Field type Data Description Format Offset Scaling 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 4 iodf Issue of fast corrections data Ulong 4 H 8 5 iodp Issue of PRN mask data Ulong 4 H 12 6 pre39 pre i Long 4 H 16 7 pre40 i Long 4 H 20 Pent gine T Le EE 9 pre42 Long 4 H 28 10 pre43 Long 4 H 32 11 prc44 Long 4 H 36 12 pre45 Long 4 H 40 13 prc46 Long 4 H 44 14 pre47 Long 4 H 48 15 prc48 Long 4 H 52 16 prc49 Long 4 H 56 17 preS0 Long 4 H 60 18 prc51 Invalid do not use Long 4 H 64 19 udrei39 udre i Ulong 4 H 68 See Table 79 20 udrei40 A Pe Ulong 4 H 72 21 wean Haglan on cso Tiong a He 22 udrei42 Ulong 4 H 80 23 udrei43 Ulong 4 H 84 24 udrei44 Ulong 4 H 88 25 udrei45 Ulong 4 H 92 26 udrei46 Ulong 4 H 96 21 udrei47 Ulong 4 H 100 28 udrei48 Ulong 4 H 104 29 udrei49 Ulong 4 H 108 30 udrei50 Ulong 4 H 112 31 udrei51 Invalid do not use Ulong 4 H 116 32 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 120 33 CR LF Sentence terminator A
153. SCII ASCII or binary respectively 2 option TABLE 0 Use the internal undulation table Enum 4 H value USER 1 Use the user specified undulation value 3 separation 1000 0 m The undulation value required Float 4 H 4 for the USER option ASCII Example 1 UNDULATION TABLE 0 000000000 ASCII Example 2 UNDULATION USER 5 599999905 Please see the GPS Overview appendix in Volume 1 of this manual for a description of the relationships in Figure 5 Illustration of Undulation Figure 5 Illustration of Undulation TOPOGRAPHY id GEOID mean sea level SPHEROID ellipsoid N Geoidal height undulation OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 99 Chapter 2 Commands 2 6 50 UNLOCKOUT This command allows a satellite which has been previously locked out LOCKOUT command to be reinstated in the solution computation If more than one satellite is to be reinstated this command must be reissued for each satellite reinstatement Abbreviated ASCII Syntax Message ID 138 UNLOCKOUT prn ASCII Binary Binary Binary Binary Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 prn 1 37 A single satellite PRN numberto Ulong 4 H be reinstated Description Value Value Input Example unlockout 8 2 6
154. SCII only Recommended Input log WAAS5 onchanged ASCII Example FWAAS5A COM1 0 72 5 SATTIME 1093 161480 000 00040020 31d4 209 122 1 3 7 2047 2047 2047 4 2047 2047 2047 9 2047 2047 3 2 11 14 14 14 4 14 14 14 5 14 14 4 2 2bf0100b OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 241 Chapter 3 Data Logs 3 489 WAAS6 Integrity Message SBAS WAAS6 is the integrity information message Each message includes an IODF for each fast corrections message The El information for each block of satellites applies to the fast corrections with the corresponding IODF Structure Message ID 304 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset Scaling 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 iodf2 Issue of fast corrections data Ulong 4 H 4 4 iodf3 Issue of fast corrections data Ulong 4 H 8 5 iodf4 Issue of fast corrections data Ulong 4 H 12 6 iodf5 Issue of fast corrections data Ulong 4 H 16 7 udrei0 udre 1 Ulong 4 H 20 See Table 79 on Page 238 User differential range error indicator for the prn in slot i i 0 50 8 udreil Ulong 4 H 24 9 udrei2 Ulong 4 H 28 10 udrei3 Ulong 4 H 32 11 udrei4 Ulong 4 H 36 12 ud
155. Sentence terminator ASCII only OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 203 Chapter 3 Data Logs Recommended Input log rtemdata1819a ontime 2 ASCII Example RICMDATA1819A COM1 1 73 5 FINESTEERING 1117 161114 000 00100020 b077 399 0 0 4523 0 0 6 2 0 200000 11 0 3 0 1 324771431 0 15 0 1 64534978 0 18 0 1 198055064 0 21 0 1 426607534 0 17 0 1 101227879 0 6 0 7 70480075 0 26 0 1 205262773 0 23 0 1 46251638 0 28 0 1 167164502 0 31 0 1 77539005 0 22 0 3 19 0 0 4523 0 0 6 2 0 200000 11 0 3 2 3 1114597101 0 15 2 3 999274497 0 18 2 3 1022282623 0 21 2 3 1151773907 0 17 2 3 1015290815 0 6 2 3 1207662688 0 26 2 3 1085620069 0 23 2 3 1029707897 0 28 2 3 1240811844 0 31 2 3 1242647691 0 22 4 3 1241415667 820e5a7b Table 60 RTCM1819 Data Quality Indicator Code Pseudorange Error lt 0 020 m lt 0 030 m lt 0 045 m lt 0 066 m lt 0 099 m lt 0 148 m lt 0 220 m lt 0 329 m lt 0 491 m lt 0 732 m lt 1 092 m lt 1 629 m lt 2 430 m lt 3 625 m lt 5 409 m gt 5 409 m N o ZI D A Bafuy nN O Rio N ww a A Nn 204 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Table 61 RTCM1819 Smoothing Interval Code td ee i 0 Otol 1 1to5 2
156. South American 1969 S American 1969 51 CAMPO 148 136 90 S American Campo Inchauspe Argentina International 1924 52 SACOR 206 172 6 South American Corrego Alegre Brazil International 1924 53 YACAR 155 171 37 South American Yacare Uruguay International 1924 54 TANAN 189 242 91 Tananarive Observatory 1925 Madagascar International 1924 55 TIMBA 689 691 46 Timbalai Brunei and East Malaysia 1948 Everest EB 56 TOKYO 128 481 664 Tokyo Japan Korea and Okinawa Bessel 1841 57 TRIST 632 438 609 Tristan Astro 1968 Tristan du Cunha International 1924 58 VITI 51 391 36 Viti Levu 1916 Fiji Islands Clarke 1880 59 WAK60 101 52 39 Wake Eniwetok Marshall Islands Hough 1960 60 WGS72 0 0 4 5 World Geodetic System 72 WGS72 61 WGS84 0 0 0 World Geodetic System 84 WGS84 62 ZANDE 265 120 358 Zanderidj Surinam International 1924 63 USER 0 0 0 User Defined Datum Defaults User Notes Default user datum is WGS84 Also see the USERDATUM command on Page 102 These GPSCard logs report Datum used according to the GPSCard Datum ID column BESTPOS PPOS and MATCHEDPOS OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 55 Chapter 2 Commands 2 6 13 DGPSEPHEMDELAY DGPS Abbreviated ASCII Syntax Message ID 142 DGPSEPHEMDELAY delay The DGPSEPHEMDELAY command is used to set the ephemeris delay when operating as a base station The ephemeris delay sets a time value by which the base station w
157. TEERING 1164 240223 642 00000000 4797 33477 1551489 1200 c685 0 704312 EXPIRED 0 0 NONE 0 0 0 e8bea6a3 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 167 Chapter 3 Data Logs 3 4 36 OMNISTAT OmniSTAR Status Information This log outputs status information for an OmniSTAR VBS virtual base station and HP high precision service In addition to a NovAtel OEM4 card a NovAtel OmniSTAR L Band receiver and a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume 1 of this manual Structure Message ID 510 Log Type Synch ee Field Type Data Description Format Bae e poh header Log header H 0 2 freq Measured frequency of OmniSTAR signal kHz Ulong 4 H 3 C No Carrier to noise density ratio Float H 4 C No 10 log19 S No dB Hz 4 locktime Number of seconds of continuous tracking no cycle Float 4 H 8 slipping 5 Reserved Float 4 H 12 6 tracking Tracking status of OmniSTAR signal Hex 2 H 16 7 status Status word from the VBS process Hex 2 H 20 8 bytes Number of bytes fed to the VBS process Ulong 4 H 24 9 good dgps Number of VBS updates Ulong 4 H 28 10 bad data Number of missing VBS updates Ulong 4 H 32 11 Reserved Ushort 2 H 36 12 Ushort 2 H 40 13 Ulong 4 H 44 14 Ul
158. TXYZ SV position in ECEF Cartesian coordinates 287 RAWWAASFRAME Raw SBAS frame data 290 WAASO Remove PRN from the solution 291 WAASI PRN mask assignments 292 WAAS10 Degradation factor 293 WAAS12 SBAS network time and UTC 294 WAAS17 GEO almanac message 295 WAAS18 IGP mask 296 WAAS2 Fast correction slots 0 12 297 WAAS24 Mixed fast slow corrections 298 WAAS25 Long term slow satellite corrections 299 WAAS26 Ionospheric delay corrections 300 WAAS27 SBAS service message 301 WAAS3 Fast correction slots 13 25 302 WAAS4 Fast correction slots 26 38 303 WAAS5 Fast correction slots 39 50 304 WAAS6 Integrity message 305 WAAS7 Fast correction degradation 306 WAAS9 GEO navigation message 313 WAASCORR SBAS range corrections used 317 COMCONFIG Current COM port configuration 389 CMRDATADESC Base station description information 390 CMRDATAOBS Base station satellite observation information 391 CMRDATAREF Base station position information 392 RTCADATA1 Type 1 Differential GPS Corrections 393 RTCADATAEPHEM Type 7 Ephemeris and Time Information OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 115 Chapter 3 Data Logs NovAtel Format Logs 116 Message ID Datatype Description 394 RTCADATAOBS Type 7 Base Station Observations 395 RTCADATAREF Type 7 Base Station Parameters 396 RTCMDATA1 Type 1 Differential GPS Corrections 397 RTCMDATA15 Typ
159. Tx for a COM port LOG Request a log SEND Send ASCII message to COM port SENDHEX Send non printable characters to a COM port SETRTCM16 Enter ASCII message to be sent in RTCM data stream UNLOG UNLOGALL Remove one or all logs from logging control GENERAL RECEIVER CONTROL Commands Descriptions AUTH Add authorization code for new model DYNAMICS Tune receiver parameters RESET Perform a hardware reset FRESET Reset receiver to factory default MODEL Switch receiver to a previously AUTHed model NVMRESTORE Restore NVM data after a failure in NVM SAVECONFIG Save current configuration OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 23 Chapter 2 Commands POSITION PARAMETERS AND SOLUTION FILTERING CONTROL Commands Descriptions CSMOOTH Set amount of carrier smoothing DATUM Choose a DATUM name type ECUTOFF Set satellite elevation cut off for solutions FIX Constrain receiver height position or velocity RTKBASELINE Initialize RTK with a static baseline RTKCOMMAND Reset the RTK filter or set the filter to default settings RTKDYNAMICS Setup the RTK dynamics mode RTKELEVMASK Set the minimum elevation mask angle for satellites to include in RTK corrections RTKSOLUTION Set RTK carrier phase ambiguity type Float or Fixed UNDULATION Set ellipsoid geoid separation USERDATUM Set user customized datum WAASCORRECTION Set SBAS test mode and P
160. VEPOS Position Averaging cccccccececeeeeeeeeeeceeeeeaeeseeeeeseaeeeenees 121 3 4 3 BESTPOS Best POSItION iindrre neriie iniiai iiias 122 3 4 4 BESTVEL Best Available Velocity Data ccccccceeeeeeeeessteeeteeees 125 3 4 5 BESTXYZ Best Available Cartesian Position and Velocity 126 3 4 6 CLOCKMODEL Current Clock Model Status 0 ceeeeeeseeeeerees 128 3 4 7 CLOCKSTEERING Clock Steering Status oooonicccnnncnninncccnnonnnncncccancnns 130 3 4 8 CMR Standard Logs RIK ccccceceeeeeeeeeeeceeeeeeeeeeeeeeeeeaaaeeeecaeeeseaaeeeenees 132 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 3 4 9 CMRDATADESC Base Station Description RTK 133 3 4 10 CMRDATAOBS Base Station Satellite Observations RTK 135 3 4 11 CMRDATAREF Base Station Position RTK ooonnincccnnnicinnnnccinccccons 137 3 4 12 COMCONFIG Current COM Port Configuration ooooinnnccnncccinnncccn 139 3 4 13 GPALM Almanac Data NMEA 0 ccccccccceeeceeeeeeeeeeeeeeeeteeeeeeeeees 140 3 4 14 GPGGA GPS Fix Data and Undulation NMEA 141 3 4 15 GPGGARTK Global Position System Fix Data NMEA 142 3 4 16 GPGLL Geographic Position NMEA ccccccseeeeeereeeeeeeeeeeneeees 143 3 4 17 GPGRS GPS Range Residuals for Each Satellite NMEA 144 3 4 18 GPGSA GPS DOP and Active Satellites NMEA n se 145 3 4 19 GPGST Pseudorange Measurement Noise Statistics NMEA 146 3 4 20
161. VIII ICD GPS 200 Rev B Reference Table 20 VI ICD GPS 200 Rev B for scaling factors and units Example GPALM 23 23 191 0000 00 3752 00 ffff ffff 000000 04cfbe 000011 000000 000 Recommended Input 000 6c log gpalm onchanged 140 1 To obtain copies of ICD GPS 200 see ARINC in the appendix on Standards and Refer ences in Volume 1 of this manual See also NMEA contact information here OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 14 GPGGA GPS Fix Data and Undulation NMEA Chapter 3 Time position and fix related data of the GPS receiver For greater precision but with the loss of the undulation fields use the GPGGARTK log see Page 142 See also Table 45 Position Precision of NMEA Logs on Page 143 This log will output null data in all fields until a valid almanac is obtained Structure Message ID 218 Log Type Synch Field Structure Field Description Symbol Example 1 GPGGA Log header GPGGA 2 utc UTC time of position hours minutes seconds decimal hhmmss ss 220147 50 seconds 3 lat Latitude DDmm mm 1111 11 5106 7194489 4 lat dir Latitude direction N North S South a N 5 lon Longitude DDDmm mm yyyyy yy 11402 3589020 6 lon dir Longitude direction E East W West a W 7 GPS qual GPS Quality indicator x 1 0 fix not available or invalid l GPS fix 2 Differential GP
162. adecimal number Y Status representing the status of various hardware and software components of the receiver see Table 70 Receiver Status on Page 223 10 Reserved Ulong Reserved for internal use Y 11 Receiver Ulong This is a value 0 65535 that represents the Y s w Version receiver software build number 12 Char This character indicates the end of the header N Example Log RAWEPHEMA COM1 0 70 0 SATTIME 1023 512190 000 00000000 2e9Ff 0 7 1023 518400 1023 512190 083 8b0ffca6bb24ffa70173931172f3b03c9c99c678fc 26 7e9000ffe14b88a0 8b0ffca6b92b26087a3187cbf13a9e079605828cd00ee8a10d735 217e907e 8b0ffca6bb ad0088 f0526ba5005a26e038131e06a8925200ffa76826fcd8 2dd cf8b5 CR LF 14 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Messages Chapter 1 1 1 2 Abbreviated ASCII This message format is designed to make the entering and viewing of commands and logs by the user as simple as possible The data is represented as simple ASCII characters separated by spaces or commas and arranged in an easy to understand fashion There is also no 32 bit CRC for error detection because it is meant for viewing by the user Example Command log coml loglist Resultant Log lt LOGLIST COM1 0 69 0 FINE 0 0 000 00240000 206d 0 lt 4 lt COM1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM1 LOGLIST
163. ains miscellaneous information regarding the RTK solution It is based on the matched update Note that the length of the log messages will vary depending on the number of common satellites on both rover and base stations in the solution a quantity represented by sv in the field numbers See also the BESTPOS log the best available position computed by one receiver and the Data Logs MATCHEDPOS log positions that have been computed from time matched base and rover observations on Pages 122 and 157 respectively Structure Message ID 215 Log Type Asynch Binary Binary dy Field type Data Description Format Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 40 Solution Status on Page 124 Enum 4 H 3 pos type Position type see Table 39 Position or Velocity Type on Page Enum 4 H 4 123 4 rtk info RTK information see Table 67 RTK Information on Page 213 Ulong 4 H 8 5 obs Number of observations tracked Uchar 1 H 12 6 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 13 7 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 14 8 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 15 9 Reserved Uchar 1 H 16 10 Uchar 1 H 17 11 Uchar 1 H 18 12 Uchar 1 H 19 13 search stat Searcher status see Table 65 on Page 213 Enum 4 H 20 14 lane Numb
164. ample FREQUENCY OUT ENABLE 2 4 This example will generate a 50 duty cycle 10 MHz square wave OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 67 Chapter 2 Commands 2 6 22 FRESET This command clears data which is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The commands ephemeris and almanac can be cleared by using the STANDARD target The model can only be cleared by using the MODEL target The receiver is forced to hardware reset Abbreviated ASCII Syntax Message ID 20 FRESET target Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 target See Table 23 What data is to be reset by Enum 4 H the receiver Field Description Input Example FRESET COMMAND FRESET STANDARD which is also the default causes all previously stored configurations that were saved to non volatile memory to be erased includes Saved Config Saved Ephemeris and Saved Almanac Table 23 FRESET Target Binary ASCII Description 0 STANDARD Resets commands ephemeris and almanac default 1 COMMAND Resets the stored commands saved configuration 2 GPSALMANAC Resets the stored almanac 3 GPSEPHEM Reset
165. any Enum 4 H 28 input characters as they are received 0 OFF 1 ON 10 breaks Breaks are turned on or off Enum 4 H 32 0 OFF 1 ON 11 rx type The status of the receive interface mode see Enum 4 H 36 Table 24 Serial Port Interface Modes on Page 69 12 tx type The status of the transmit interface mode Enum 4 H 40 Table 24 Serial Port Interface Modes on Page 69 13 response Responses are turned on or off Enum 4 H 44 0 OFF 1 ON 14 next port offset H 4 port x 44 15 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 port x 44 16 CR LF Sentence terminator ASCII only Recommended Input log comconfiga once ASCII example COMCONFIGA COM1 0 73 5 FINESTEERING 1114 156455 937 00400000 62b0 33147 3 COM1 57600 N 8 1 CTS OFF OFF NOVATEL NOVATEL ON COM2 9600 N 8 1 N OFF ON NOVATEL NOVATEL ON COM3 9600 N 8 1 N OFF ON NOVATEL NOVATEL ON dd807b98 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 139 Chapter 3 3 4 13 GPALM Almanac Data NMEA This log outputs raw almanac data for each satellite PRN contained in the broadcast message A separate record is logged for each PRN up to a maximum of 32 records Following a GPSCard reboot no records will be output until new broadcast message data is received from a satellite It takes a minimum of 12 5 minutes to collect a complete almanac following GPSCard boot up The almanac reported here has no relationship to the NovAtel
166. ar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Recommended Input log omnihpposa ontime 1 ASCII Example OMNIHPPOSA COM1 0 72 0 FINESTEERING 1161 321910 000 00000000 ad26 683 SOL_COMPUTED OMNISTAR_HP 51 11635244839 114 03819232612 1064 1015 16 2713 WGS84 0 1371 0 1390 0 2741 5 000 0 000 7 6 6 6 0 0 0 0 66c318f b 165 Chapter 3 Data Logs 3 4 35 OMNIINFO OmniSTAR Configuration Information This log outputs configuration information for an OmniSTAR VBS virtual base station and HP high precision service In addition to a NovAtel OEM4 card a NovAtel OmniSTAR L Band receiver and a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume 1 of this manual Structure Message ID 509 Log Type Sync ds Type Data Description Format ae e peral 1 header Log header H 0 2 freq Selected frequency for OmniSTAR service kHz Ulong 4 H 3 baud Communication baud rate from OmniSTAR satellite Ulong 4 H 4 4 ID OmniSTAR signal service ID Ushort 2 H 8 5 Reserved Ushort 2 H 10 6 OSN OmniSTAR serial number Ulong 4 H 12 7 s
167. arately Structure Message ID 313 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset header Log header H 0 2 sat Number of satellites with Ulong 4 H information to follow 3 prn Satellite PRN Ulong 4 H 4 iode Issue of ephemeris data for which Ulong 4 H 8 the corrections apply 5 psr corr SBAS pseudorange correction m Float 4 H 12 corr stdv Standard deviation of pseudorange Float 4 H 16 correction m Th Next sat entry H 4 sat x 16 variable xxxx 32 bit CRC ASCII and Binary Hex 4 H 4 only sat x 16 variable CR LF Sentence terminator ASCII only Recommended Input log waascorr ontime 1 ASCII Example WAASCORRA COM1 0 65 5 FINESTEERING 1093 164788 000 00000020 a7 1d 209 9 23 23 2 9357 1 7761 2 16 0 1643 1 7964 27 78 2 1286 1 2761 11 10 1 1836 1 7964 7 171 1 0310 3 0464 8 200 1 3313 1 2964 26 50 2 2381 3 7761 31 135 1 8975 1 4356 122 0 0 0000 0 0000 abcc3573 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 257 Chapter 4 Responses The receiver is capable of outputting several responses for various conditions Most of these responses are error messages to indicate when something is not correct The output format of the messages is dependant on the format of the input command If the command is input as abbreviated ASCII the output will be abbreviated ASCII Likewise
168. ary respectively 2 type See Table 27 ID Type All types may revertto Enum 4 H WAAS if enabled or SINGLE position types See also Table 39 Position or Velocity Type on Page 123 3 ID Char 5 or ANY ID string Char 5 ga H 4 a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment ASCII Examples 1 Select only SBAS RTKSOURCE NONE PSRDIFFSOURCE NONE WAASCORRECTION ENABLE 0 WAASTESTMODE 2 Enable OmniSTAR HP and VBS RTKSOURCE OMNISTAR PSRDIFFSOURCE OMNISTAR 3 Enable RTK and PSRDIFF from RTCM with a fall back to SBAS RTKSOURCE RTCM ANY PSRDIFFSOURCE RTCM ANY WAASCORRECTION ENABLE 0 WAASTESTMODE OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 79 Chapter 2 80 Binary ASCII RTCM Commands Table 27 DGPS Type Description RTCM ID 0 lt RTCM ID lt 1023 or ANY RTCA RTCA ID Any four character string containing only alpha a z or numerical characters 0 9 or ANY CMR gt CMR ID 0 lt CMR ID lt 31 or ANY OMNISTAR In the PSRDIFFSOURCE command OMNISTAR enables OmniSTAR VBS and disables other DGPS types OmniSTAR VBS produces RTCM type corrections In the RTKSOURCE command OMNISTAR enables OmniSTAR HP if allowed and disables other RTK types OmniSTAR HP has its own filter computes corrections in RTK float mode or within about 10 cm accuracy 10 AUTO
169. ase station Y coordinate position mm Double 8 H 12 6 Z pos Base station Z coordinate position mm Double 8 H 20 7 Reserved Uchar 4b H 28 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 32 9 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment b Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment Recommended Input log rtcadatarefa ontime 10 ASCII Example RTCADATAREFA COM1 0 74 5 FINESTEERING 1117 160107 740 00100020 564c 399 78 0 1634525 357607752 3664610 762499783 4942483 614689490 0 14d7f4ec OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 195 Chapter 3 Data Logs 3 4 58 RTCM Standard Logs DGPS 196 RTCM1 DIFFERENTIAL GPS CORRECTIONS Message ID 107 RTCM3 BASE STATION PARAMETERS RTK Message ID 117 RTCM9 PARTIAL DIFFERENTIAL GPS CORRECTIONS Euro4 with external oscillator only Message ID 275 RTCM15 IONOSPHERIC CORRECTIONS Message ID 307 RTCM16 SPECIAL MESSAGE Message ID 129 RTCM16T SPECIAL TEXT MESSAGE see also Page 96 Message ID 131 RTCM1819 RAW MEASUREMENTS RTK Message ID 260 RTCM2021 MEASUREMENT CORRECTIONS RTK Message ID 374 RTCM22 EXTENDED BASE STATION RTK Message ID 118 RTCM59 TYPE 59N 0 NOVATEL PROPRIETARY RT20 DIFFERENTIAL RTK Message ID 116 The Radio Technical Commission
170. asurements This provides the highest accuracy solution possible at the expense of some latency which is affected primarily by the speed of the differential data link The MATCHEDPOS log contains the matched RTK solution and can be generated for each processed set of base station observations The RTKDATA log provides additional information about the matched RTK solution The Low Latency RTK position is computed from the latest local observations and extrapolated base station observations This supplies a valid RTK position with the lowest latency possible at the expense of some accuracy The degradation in accuracy is reflected in the standard deviation and is summarized in the Differential Positioning section in the GPS Overview appendix in Volume 1 of this manual The amount of time that the base station observations are extrapolated is provided in the differential age field of the position log The Low Latency RTK system will extrapolate for 30 seconds The RTKPOS log contains the Low Latency RTK position when valid and an invalid status when a low latency RTK solution could not be computed The BESTPOS log contains the low latency RTK position when it is valid and superior to the pseudorange based position Otherwise it will contain the pseudorange based position 106 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs WAYPOINT NAVIGATION Chapter 3 Descriptions
171. atch 18 The model requested for removal does not exist No_Model 19 The model attached to the authcode is not valid Invalid_Channel 20 The selected log cannot be output at the specified rate Response_Invalid_Rate 21 The requested rate is invalid RxStatus_NoMask 22 Word y has no mask for this type of log Channel_Lockout 23 Channels are locked due to error Invalid_Inject_Time 24 Injected time is invalid Invalid_COM_Port 25 The COM port is not supported Invalid_Binary_Msg 26 The message is invalid Invalid_PRN 27 The PRN is invalid PRN_Not_Locked_Out 28 The PRN is not locked out OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 258 Responses Chapter 4 Table 80 Response Messages PRN_Lockout_List_Full 29 PRN lockout list is full PRN_Already_Locked_Out 30 The PRN is already locked out Response_Time_Out 31 Message timed out UnknownPort 33 Unknown COM port requested InvalidHexString 34 Hex string not formatted correctly Invalid_Baud_Rate 35 The baud rate is invalid Response_Parameter_Msg_Invalid 36 This message is invalid for this model of receiver NVM_Not_Failed 40 Command is only valid if NVM is in fail mode Response_Invalid_Offset 41 The offset is invalid NVM_Msgdef_Full 78 Maximum number of user messages has been reached Precise_Time_Known 84 GPS precise time is already known OEM4 GPSCard Firmware Version 1 400 Command an
172. c eee 195 3 4 58 RTCM Standard Logs DGPS 0 cceccccececeeeeeeeeeeeceeeeeeeseeeeeeseeeeeenees 196 3 4 59 RTCMDATA1 Differential GPS Corrections DGPS ee 197 3 4 60 RTCMDATA3 Base Station Parameters RTK ccceesseeeeeereees 198 3 4 61 RTCMDATAY Partial Differential GPS Corrections DGPS 199 3 4 62 RTCMDATA15 lonospheric Corrections DGPS 200 3 4 63 RTCMDATA16 Special Message DGPS amp RTK 201 3 4 64 RTCMDATA1819 Raw Measurements RIK cccceccsteeeeeente ees 202 3 4 65 RTCMDATA2021 Measurement Corrections RTK 00 206 3 4 66 RICMDATA22 Extended Base Station RIK cccecsseeeeeeseees 209 3 4 67 RTCMDATA59 Type 59N 0 NovAtel RT20 Differential RTK 210 3 4 68 RIKDATA RTK Solution Parameters RIK cccccsceeesesteeeeeeeseees 212 3 4 69 RTKPOS RTK Low Latency Position Data RTK 214 3 4 70 RTKVEL RTK Velocity RIK cccccccsssceeseesteeeeeeessaeeeesscnaeeeeeseaaes 215 3 4 71 RTKXYZ RTK Cartesian Position and Velocity RTK eseese 216 3 4 72 RXCONFIG Receiver Configuration ccccececceeeeeeeeeeeeeeseteeeeeeees 218 3 4 73 RXHWLEVELS Receiver Hardware Levels sccceessteeeeeeeseees 219 3 4 74 RXSTATUS Receiver StatUS ccooonocccncconcoccncconoonnncncnnnnnnnccnnnnnnnnnnnno nono 220 3 4 75 RXSTATUSEVENT Status Event Indicator ooooccininoccnnncnncccnnnonannnss 225 3 4 76 SATVIS Satellite Visibility oo nononnnnnnoconnnnnnccnnnnoocacnnonnnnrrnnonnnn
173. ceiver has reduced the clock drift to below 1 m s it enters a second order control loop and will attempt to reduce the receiver clock offset to zero This is the normal runtime state of the clock steering process 2 CALIBRATE HIGH This state corresponds to when the calibration process is measuring at the High pulse width setting 3 CALIBRATE LOW This state corresponds to when the calibration process is measuring at the K Low pulse width setting 4 CALIBRATE CENTER This state corresponds to the Center calibration process Once the center has been found the modulus pulse width center pulse width loop bandwidth and measured slope values are saved in NVM and are used from now on for the currently selected oscillator INTERNAL or EXTERNAL a These states will only be seen if you force the receiver to do a clock steering calibration using the CLOCKCALIBRATE command see Page 47 With the CLOCKCALIBRATE command you can force the receiver to calibrate the slope and center pulse width of the currently selected oscillator to steer The receiver will measure the drift rate at several High and Low pulse width settings b After the receiver has measured the High and Low pulse width setting the calibration process enters a Center calibration process where it attempts to find the pulse width required to zero the clock drift rate OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual
174. ceiver status 71 220 223 reference station see base station references and standards 119 182 REFSTATION 189 reinstate satellites 100 reject code 231 remote station see rover station RESET 81 reset average positions after 78 complete 84 hardware 23 68 81 residual 144 212 230 resolution 82 84 response 18 69 258 restore 77 right ascension 119 RMS see root mean square root mean square RMS 146 rover station commands 26 logs 108 RTCA 56 58 69 80 159 161 189 base station 189 logs 190 RTCADATAI 191 RTCADATAEPHEM 192 RTCADATAOBS 193 RTCADATAREF 195 RTCM 56 69 80 159 161 189 base station 189 logs 196 Index RTCMDATAI 197 RTCMDATAI5 200 RTCMDATAI16 201 RTCMDATA1819 202 RTCMDATA2021 206 RTCMDATA3 198 RTCMDATASO9 210 RTCMDATA9 199 RTK baseline 24 26 82 108 commands 26 conventions 10 corrections 89 data 108 212 filter 84 information 213 low latency position 106 214 mode 122 216 observations 86 position 106 122 159 161 214 processing 87 satellite counts 108 solution 87 212 velocity 215 RTKBASELINE 82 RTKCOMMAND 84 RTKDATA 209 RTKDYNAMICS 85 RTKELEVMASK 86 RTKPOS 214 RTKSOLUTION 87 RTKSOURCE 88 RTKSVENTRIES 89 RTKVEL 215 RTKXYZ 216 RXCONFIG 218 RXHWLEVELS 219 RXSTATUS 220 RXSTATUSEVENT 225 S satellites acquisition 39 active 145 almanac 119 140 available 66 clock dither 62 commands 24 OEM4 GPSCard Firmware Version 1 400 Command and Log Refer
175. cimal OxAA 1 0 N 2 Sync Char Hexadecimal 0x44 1 1 N 3 Sync Char Hexadecimal 0x12 1 2 N 4 Header Uchar Length of the header 1 3 N Length 5 Message ID Ushort This is the Message ID number of the log see the 2 4 N log descriptions in Table 36 OEM4 Family Logs in Order of their Message IDs on Page 114 for the Message ID values of individual logs 6 Message Char Bits 0 4 Reserved 1 6 N Type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit7 Response Bit see Section 1 2 Responses on Page 18 0 Original Message 1 Response Message 7 Port Address Char See Table 5 Serial Port Identifiers on Page 17 1 7 N lower 8 bits only 8 Message Ushort The length in bytes of the body of the message 2 8 N Length This does not include the header nor the CRC 9 Sequence Ushort This is used for multiple related logs Itis a number 2 10 N that counts down from N 1 to O where N is the number of related logs and O means it is the last one of the set Most logs only come out one ata time in which case this number is 0 10 Idle Time Char The percentage of time that the processor is idle in 1 12 Y the last second Take the time 0 200 and divide by two to give the percentage of time 0 100 11 Time Status Enum Indicates the quality of the GPS time see Table 6 1 b 13 NC GPS Time Status on Page 19 12 Week Ushort GPS week number 14 NC 13 Milliseconds GPSec Milliseconds from the
176. city type see Table 39 Position or Velocity Type on Enum 4 H 48 Page 123 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 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 175 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 14 V Z Velocity vector along Z axis m Double 8 H 68 15 V X O Standard deviation of V X m Float 4 H 76 16 V Yo 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 19 V latency A measure of the latency in the velocity time tag in Float 4 H 92 seconds It should be subtracted from the time to give improved results 20 diff_age Differential age Float 4 H 96 21 sol_age Solution age in seconds Float 4 H 100 22 obs Number of observations tracked Uchar 1 H 104 23 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 105 24 Reserved Char 1 H 106 25 Char 1 H 107 26 Char 1 H 108 27 Char 1 H 109 28 Char 1 H 110 29 Char 1 H 111 30 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 112 31 CR LF Sentence terminator ASCII only Recommended Input log psrxyza ontime 1 ASCII Example PSRXYZA COM1 0 68 5 F INESTEERING 1058 405020 000 00000028 ab38 37 SOL_COMPUTED SINGLE 1634
177. conflict with a previously entered FREQUENCYOUT command see Page 62 There are two steps involved in using an external oscillator 1 Follow the procedure outlined in your Euro4 installation operation manual Volume 1 of this manual for connecting an external oscillator to your Euro4 2 Using the EXTERNALCLOCK command select a standard oscillator and its operating frequency Theory An unsteered oscillator can be approximated by a three state clock model with two states representing the range bias and range bias rate and a third state assumed to be a Gauss Markov GM process representing the range bias error generated from satellite clock dither The third state is included because the Kalman filter assumes an unmodeled white input error The significant correlated errors produced by SA 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 meters meters per second and meters When scaled to time units for the output log these become seconds seconds per second and seconds respectively Note that the old units of the third clock state drift rate were meters per second per second The user has control over 3 process noise elements of the linear portion of the clock model These are the ho h and h elements of the power law spectral density model used to describe the freq
178. d Field type Data Description Format analy B nary Bytes Offset 1 header Log header H 0 2 temp Board temperature degrees celsius Float 4 H 3 ant current Approximate internal antenna current A Float 4 H 4 4 core volt CPU core voltage V Float 4 H 8 5 supply volt Receiver supply voltage V Float 4 H 12 6 rf volt 5V RF supply voltage V Float 4 H 16 7 int Ina volt Internal LNA voltage level V Float 4 H 20 8 GPAI General purpose analog input V Float 4 H 24 9 Reserved Float 4 H 28 10 Float H 32 11 Ina volt LNA voltage V at card output Float 4 H 36 12 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40 13 CR LF Sentence terminator ASCII only Recommended Input log rxhwlevelsa ontime 60 Table 68 Receiver Hardware Parameters Antenna Core Supply RF Internal LNA Temp LNA GPAI Current Voltage Voltage Voltage Voltage Voltage Min 40 0 1 42 OEM4 6 4 75 4 75 0 0 Euro4 4 9 Max 100 gt 100 1 58 OEM4 18 5 25 5 25 2 75 30 Euro4 5 2 A 40 40 1 5 OEM4 12 5 5 0 5 Typical Euro4 5 a The values in this table are the same for the OEM4 and Euro4 platform except for the supply voltage Check the RXHWLEVEL syntax table for the units of each field b The board temperature is about 15 C higher than the ambient temperature Bit 1 in Table 70 Receiver Status on Page 223 turns on as a warning when the board temperature is above 100 C and a hazardous temp
179. d 2 solution status and 3 position type See Figure 6 Page 127 for a definition of the ECEF coordinates This log provides the best accuracy in static operation For lower latency in kinematic operation see the RTKX YZ or BESTXYZ logs on Pages 126 and 216 respectively The data in the logs will change only when a base observation RTCM RTCA or CMR changes A good message trigger for this log is ONCHANGED Then only positions related to unique base station messages will be produced and the existence of this log will indicate a successful link to the base station The time stamp in the header is the time of the matched observations that the computed position is based on not the current time Structure Message ID 242 Log Type Asynch de Field type Data Description Format Bye de Pt 1 header Log header H 0 2 P sol status Solution status see Table 40 Solution Status on Page 124 Enum 4 H 3 pos type Position type see Table 39 Position or Velocity Type on Page 123 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 Yo Standard deviation of P Y m Float 4 H 36 9 P Z o Standard deviation of P Z m Float 4 H 40 18 stn ID Base station ID Char 4 4 H 44 22 obs Number of observations tracked Uchar
180. d Firmware Version 1 400 Command and Log Reference Manual Rev 8 260 B bandwidth 89 base station commands 25 logs 108 type 189 baseline command 82 83 float solution 212 length 86 RTK 24 108 static 26 baud rate see bps bearing 74 75 148 162 163 BESTPOS 122 BESTVEL 125 BESTXYZ 126 bias 46 107 bi directional communication 170 binary header 16 overview 15 raw ephemeris 183 redirect 170 response 18 bit rate see bps bps 49 77 171 break 49 171 broadcast almanac 140 buffer 71 213 byte 13 16 C C NO see carrier to noise density ratio carrier phase 46 132 175 177 178 193 carrier to noise density ratio C NO 147 168 178 181 230 caution 90 channel assign 39 40 control 24 109 range measurements 177 raw subframe data 184 188 tracking status 177 181 230 unassign 98 checksum 13 15 clock Index adjustment 46 177 aging parameter 119 bias 46 commands 26 dither 62 128 drift 46 error 40 41 46 128 internal 19 model 128 129 offset 61 108 128 158 172 228 parameters 62 receiver 228 set 177 status 107 128 158 steer 46 validity 128 CLOCKADJUST 46 CLOCKCALIBRATE 47 CLOCKMODEL 128 CLOCKSTEERING 130 CMR 69 80 159 161 189 base station 189 logs 132 CMRDATADESC 133 CMRDATAOBS 135 CMRDATAREF 137 cold start 140 COM 49 COM port 71 73 91 139 171 224 COMCONFIG 135 COMCONTROL 51 communication commands 23 component types 234 configuration non volatile mem
181. d Log Reference Manual Rev 8 259 Numerics 1PPS see one pulse per second 2 D 66 145 3 D 66 145 172 A abbreviated ascii 12 15 accumulated Doppler range ADR 177 accuracy corrections 65 degradation 122 input position 82 limits 78 position 65 83 RTK solution 106 time 19 acquisition 39 65 66 98 179 ADJUSTIPPS 35 ADR see accumulated Doppler range age differential position 122 157 165 173 214 RTK 106 107 214 215 velocity 125 126 174 176 217 xyz cartesian coordinate system 126 176 217 solution 122 126 157 165 173 176 214 217 ALMANAC 119 almanac complete 226 data 140 log 108 109 119 lost 77 raw data 182 reset 68 stored 68 time status 19 along track 162 163 ambiguity half cycle 177 resolution speed 82 type 87 212 213 anomaly 119 231 antenna active 38 altitude 61 141 142 baseline 82 motion 40 41 85 175 phase center 66 position 157 power 97 receiver status 220 speed 163 ANTENNAPOWER 38 anti spoofing AS 119 AS see anti spoofing ascii message 13 23 overview 13 printable data 91 redirect 170 response 18 send 91 text message 96 ASSIGN 39 assign all channels 41 cancel 98 channel 24 39 cut off angle 61 ASSIGNALL 41 ASSIGNOMNI 43 asterisk 13 asynchronous logs 104 atmospheric delays 177 refraction 61 AUTH 44 authorization 23 44 45 auxiliary status 224 AVEPOS 121 averaging position 25 78 121 azimuth 147 226 OEM4 GPSCar
182. datums See the USERDATUM command for user definable datums The datum you select will cause all position solutions to be based on that datum Message ID 160 Abbreviated ASCII Syntax DATUM datum ASCII Binary Toa Binary Binary Binary Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCII or binary respectively 2 datum See Table 17 User defined datum with Enum 4 H Datum parameters specified by the Transformation USERDATUM command Parameters on Page 54 ASCII Example DATUM WGS84 The following tables contain the internal ellipsoid parameters and transformation parameters used in the GPSCard The values contained in these tables were derived from the following DMA technical reports 1 TR 8350 2 Department of Defence World Geodetic System 1984 and Relationships with Local Geodetic Systems Revised March 1 1988 2 TR 8350 2B Supplement to Department of Defence World Geodetic System 1984 Technical Report Part II Parameters Formulas and Graphics for the Practical Application of WGS84 December 1 1987 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 53 Chapter 2 Commands Tab
183. de when a time out occurs If a binary value is encountered in an ASCII output then the byte is output as a hexadecimal byte preceded by a back slash and an x For example Oa is output as ix0a An actual V in the data is output as The output counts as one pass through byte although it is four characters For more information on pass through logging please see the Operation chapter in Volume 1 of this manual Structure PASSCOM1 Message ID 233 PASSCOM2 Message ID 234 PASSCOM3 Message ID 235 Log Type Asynch Field Field type Data Description Format ee 2 pita 1 header Log header H 0 2 bytes Number of bytes to follow Ulong 4 H 3 data Message data Char 80 80 H 4 4 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 8 bytes 5 CR LF Sentence terminator ASCH only Recommended Input log passcomla onnew ASCII Example PASSCOM3A COM1 0 69 5 FINESTEERING 1060 161079 486 00000000 386c 40 28 log com3 bestposa ontime 2 x0d x0a 8ad22436 PASSCOM3A COM1 0 68 5 FINESTEERING 1060 161083 617 00000000 386c 40 10 unlogall x0d x0a e061bbad 170 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 38 PORTSTATS COM Port Statistics This log conveys various status parameters of the receiver COM ports The GPSCard maintains a running count of a variety of status indicators of the data link This log outputs a report
184. ds generate errors or event messages when they are set or cleared 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 will cause the condition to trigger an error This will cause the GPSCard 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 will cause that condition to set the bit in the Receiver Status word corresponding to that Auxiliary Status 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 OEM4 This is done by setting clearing the appropriate bits in the event set clear masks The set mask tells the GPSCard to generate an event message when the bit becomes set Likewise the clear mask causes messages to be generated when a bit is cleared If you wish to disable all these messages without changing the bits simply UNLOG the RXSTATUSEVENT logs on the appropriate ports See also the Built in Status Tests chapter in Volume 1 of this manual Abbreviated ASCII Syntax Message ID 95 STATUSCONFIG type word mask F Field ASCII Binary DA Binary Binary Bi
185. e 8 0x0100 9 0x0200 N2 10 0x0400 Reserved 11 0x0800 12 0x 1000 13 0x2000 N3 14 0x4000 15 0x8000 Updating Data True False a Contact OmniSTAR for subscription support All other status values will be updated by collecting the OmniSTAR data for 20 35 minutes OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 169 Chapter 3 Data Logs 3 4 37 PASSCOM1 PASSCOM2 PASSCOM3 Redirect Data There are three pass through logs PASSCOM1 PASSCOM2 and PASSCOM3 The pass through logging feature enables the receiver to redirect any ascii or binary data that is input at a specified port COM1 COM2 or COM3 to any specified receiver port COM1 COM2 or COM3 Data can be passed through a disabled port see the INTERFACEMODE command on Page 69 and be output from an alternative port using the pass through logs PASSCOM1 PASSCOM2 and PASSCOM3 It also allows the receiver to perform bi directional communications with other devices such as a modem terminal or another receiver If the data being injected is ASCII then the data will be grouped together with the following rules e blocks of 80 characters e any block of characters ending in a lt CR gt e any block of characters ending in a lt LF gt e any block remaining in the receiver code when a time out occurs If the data being injected is binary then the data will be grouped as follows e blocks of 80 bytes e any block remaining in the receiver co
186. e Synch Field nti Binary Tela Field Type Data Description Format Bytes Offset header Log header H 0 2 obs Number of satellite Long 4 H observations with information to follow 3 lst range Compressed range log in Hex 24 H 4 record format of Table 57 4 Next rangecmp offset H 4 obs x 24 variable xxxx 32 bit CRC ASCII and Binary Hex 4 H 4 only obs x 24 variable CR LF Sentence terminator ASCII only Recommended Input log rangecmpa ontime 10 Example RANGECMPA COM1 0 49 0 FINESTEERING 1039 231811 800 00000028 21a2 0 20 08105c04006d 200a106c072 83a1400010b2527800000 01305c0b0055abf0al06cl5ef fbfb6dd00010b0c36000000 08105c2400d77c80b0ad3878fffbbb7a00160aec25c00000 01305c2b00a7e960b0ad3adbf 93772 00160ab734000000 08105c440093 680bbc380cc 9722a5000405e955800000 01305c4b00734bb0bbc38125 c741901004050db2400000 0810546400494600c20edd0dffefal473412002db4000000 0130546b00a9bdf0c20edd3cffbaa041a9120012b2800000 08105ca4ff0be080bbea553df f dd83a7000f0b1a6d400000 01305cabff 41c620bbea589bff 89b3 5000 0b05ab000000 08105ce4001cea809b36d1c6ff8e8404000e0b2024c00000 01305d6bffa39210b6bf5a79ffdc683c001e0b0732c00000 1ef96252 180 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Table 57 Range Record Format RANGECMP only Data
187. e Synch Binary Binary Field Field type Data Description Format Bytes Offset header Log header H 0 2 sol status Solution status see Table 40 Solution Status on Enum 4 H Page 124 3 vel type Velocity type see Table 39 Position or Velocity Enum 4 H 4 Type on Page 123 4 latency A measure of the latency in the velocity time tagin Float 4 H 8 seconds It should be subtracted from the time to give improved results 5 age Differential age Float 4 H 12 6 hor spd Horizontal speed over ground in meters per second Double 8 H 16 7 trk gnd Actual direction of motion over ground track over Double 8 H 24 ground with respect to True North in degrees 8 vert spd Vertical speed in meters per second where Double 8 H 32 positive values indicate increasing altitude up and negative values indicate decreasing altitude down 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 Recommended Input log bestvela ontime 1 ASCII Example BESTVELA COM1 0 62 5 FINESTEERING 1049 247755 000 00000128 f7e3 0 SOL_COMPUTED DOPPLER_VELOCITY 0 250 0 000 0 1744 333 002126 0 3070 6 0082 dfdc635c OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 125 Chapter 3 3 4 5 BESTXYZ Data Logs Best Available Cartesian Position and Velocity This log contains the receiver
188. e 15 lonospheric Corrections 398 RTCMDATA16 Type 16 Special Message 399 RTCMDATA 1819 Type18 and Type 19 Raw Measurements 400 RTCMDATA2021 Type 20 and Type 21 Measurement Corrections 401 RTCMDATA22 Type 22 Extended Base Station Parameters 402 RTCMDATA3 Type 3 Base Station Parameters 403 RTCMDATAS9 Type 59N 0 NovAtel Proprietary RT20 Differential 404 RTCMDATA9 Type 9 Partial Differential GPS Corrections 407 RAWGPSWORD Raw navigation word 441 RAWOMNIFRAME Raw OmniSTAR frame data 457 RAWOMNIPACKET Raw OmniSTAR data packet 492 TIMES YNC Synchronize time between receivers 495 OMNIHPPOS OmniSTAR HP position data 509 OMNIINFO OmniSTAR configuration information 510 OMNISTAT OmniSTAR status information CMR Format Logs 103 CMROBS Base station satellite observation information 105 CMRREF Base station position information 310 CMRDESC Base station description information 6 RTCAOBS Type 7 Base Station Observations 10 RTCA1 Type 1 Differential GPS Corrections 11 RTCAREF Type 7 Base Station Parameters 347 RTCAEPHEM Type 7 Ephemeris and Time Information RTCM Format Logs 107 RTCM1 Type 1 Differential GPS Corrections 116 RTCM59 Type 59N 0 NovAtel Proprietary RT20 Differential 117 RTCM3 Type 3 Base Station Parameters 118 RTCM22 Type 22 Extended Base Station Parameters 129 RTCM16 Typel6 Special Message OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs
189. e Version 1 400 Command and Log Reference Manual Rev 8 185 Chapter 3 Data Logs 3 4 49 RAWOMNIFRAME Raw OmniSTAR Frame Data This log contains the raw OmniSTAR frame data In addition to a NovAtel OEM4 card a NovAtel OmniSTAR L Band receiver and a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume 1 of this manual Structure Message ID 441 Log Type Asynch Binary Binary Field Field type Data Description Bytes Offset 1 header Log header H 0 data Raw OmniSTAR frame data Uchar 1200 1200 H 3 XXXX 32 bit CRC ASCII and Binary Hex 4 H 1200 only 4 CR LF Sentence terminator ASCII only Recommended Input log rawomniframea onnew ASCII Example 186 RAWOMNIFRAMEA COM1 0 63 5 FINESTEERING 1160 406775 132 00000000 e 96c 690 474 41 79 46 47 37 8e 25 25 69 30 2b 7d 97 94 9a 61 9c 9d 50 5a 6f 9e 8f 62 3 1 73 30 81 88 84 60 7c 7e 81 69 26 90 5e 6c 97 7 7b 88 86 26 51 35 8d 52 6e 5 3a 8e 8d 38 9f 5b 38 20 20 9b 9d 6c 2e 9b 23 97 6e 85 60 30 7e 23 8d 57 84 5e 95 6e 7 72 52 4e 81 6 30 98 49 6 50 43 6c 6C 5a 22 63 85 5d 74 9 34 9 7 39 73 86 47 87 9c 40 80 7c 0d 3 a0 7d 20 91 24 68 42 64 6a 20 44
190. e first ephemeris is decoded the receiver time is set to a resolution of 10 milliseconds This state is qualified by the COARSE or COARSESTEERING time status flag depending on the state of the CLOCKADJUST switch Once a position is known and range biases are being calculated the internal clock model will begin modelling the position range biases and the receiver clock offset Modelling will continue until the model is a good estimation of the actual receiver clock behavior At this time the receiver time will again be adjusted this time to an accuracy of 1 microsecond This state is qualified by the FINE time status flag OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 19 Chapter 1 Messages The final logical time status flag depends on whether CLOCKADJUST is enabled or not refer to the CLOCKADJUST command in Volume 2 of this manual 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 will be set to FINE STEERING and the receiver time will be continuously updated steered to minimize the receiver range bias If for some reason position is lost and the range bias cannot be calculated the time status will be degraded to FREEWHEELING 1 4 Message Time Stamps All NovAtel format messages generated by the OEM4 have a GPS time s
191. e header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 fromlat 90 degrees Origin latitude in units of Double 8 H degrees decimal degrees A negative sign for South latitude No sign for North latitude 3 fromlon 360 degrees Origin longitude in units of Double 8 H 8 degrees decimal degrees A negative sign for West longitude No sign for East longitude Description 4 tolat 90 degrees Destination latitude in units of Double 8 H 16 degrees decimal degrees 5 tolon 360 degrees Destination longitude in units of Double 8 H 24 degrees decimal degrees 6 track offset 1000 km Waypoint great circle line offset Double 8 H 32 in kilometers establishes offset track positive indicates right of great circle line negative indicates left of great circle line 7 from point 6 characters max ASCII station name String max 6 6 H 40 8 to point 6 characters max ASCII station name String max 6 6 H 46 ASCII Example SETNAV 51 1516 114 16263 51 16263 114 1516 125 23 FROM TO Figure 4 Illustration of SETNAV Parameters B ae f TO lat lon 7 Track sae offset ee FROM lat lon OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 95 Chapter 2 Commands 2 6 45 SETRTCM16 DGPS amp RTK The RTCM type 16 message allows ASCII text to be transferred from a GPS base station to rover GPS receivers The
192. ed by the offset field in ns and sets the receiver Time of Week TOW and week number to that embedded in a received TIMES YNC log see Page 229 It also sets the receiver Time Status to that embedded in the TIMESYNC log which must have arrived between 800 and 1000 ms prior to the MARKIN event presumably the 1PPS from the master or it will be rejected as an invalid message TIME 4 If the receiver clock is not at least COARSE adjusted this command enables the receiver to COARSE adjust its time upon receiving a valid TIMESYNC log in any of the COM ports The clock state embedded in the TIMES YNC log must be at least FINE or FINESTEERING before it will be considered The receiver does not use the MARKIN event in this mode 36 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 3 period ONCE 0 The time is synchronized only once default The ADJUSTIPPS command must be re issued if another synchronization is required CONTINUOUS 1 The time is continuously monitored and the receiver clock is corrected if an offset of more than 50 ns is detected Enum H 4 4 offset 2147483648 to 2147483647 Allows the operator to shift the slave clock in 50 ns increments In MANUAL mode this command will apply an immediate shift of this offset in ns to the receiver clock In MARK and MARKWITHTIME mode this o
193. ee Table 29 Set baseline type Enum 4 H 3 parl The baseline parameters are dependant on the type see Double 8 H 4 4 par2 re 28 ie St on a ROUN Double 8 H 12 5 par3 They are required when the type is not Double 8 H420 6 2Sigma Accuracy 2 sigma 3 Float 4 H 28 dimensional in meters default 0 3 m ASCII Example RTKBASELINE ECEF_BASELINE 7 54 3 28 2 02 0 25 Table 29 Baseline Type ASCII Binary Description UNKNOWN 0 Unknown baseline default LLM_POSITION 1 Set base to lat lon height with MSL height LLE_POSITION 2 Set base to lat lon height with Ellipsoidal height ECEF_BASELINE 3 Set base to ECEF OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 83 Chapter 2 Commands 2 6 33 RTKCOMMAND RTK 84 This command provides the ability to reset the RTK filter and clear any set RTK parameters The RESET parameter causes the RTK algorithm RT 20 or RT 2 whichever is active to undergo a complete reset forcing the system to restart the ambiguity resolution calculations The USE_DEFAULTS command executes the following commands RTKBASELINE UNKNOWN RTKDYNAMICS DYNAMIC RTKELEVMASK AUTO RTKSOLUTION FLOAT RT 20 RTKSOLUTION FIXED RT 2 RTKSVENTRIES 12 See the descriptions for the above commands in the following pages Abbreviated ASCII Syntax Message ID 97 RTKCOMMAND action Field ASCII Binary MA Binary Binary Binary mied Type Value Value De
194. eiver when it is transmitting corrections This allows for the easy identification of which base station was the source of the data Field ASCII Binary Binary Field Bytes Description Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 27 ID Type Enum 4 H DGPS Type on Page 80 3 ID String max 5 or ID string String ga H 4 ANY ANY type defaults RTCM 0 max 5 RTCA AAAA CMR 0 The following range values are in affect 0 lt CMR ID lt 31 0 lt RTCM ID lt 1023 RTCA any four character string containing only alpha a z or numerical characters 0 9 a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment ASCII Examples DGPSTXID RTCM 2 using a specific type and ID DGPSTXID CMR 30 using a specific type and ID DGPSTXID CMR ANY using the default CMR ID OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 59 Chapter 2 Commands 2 6 17 DYNAMICS 60 This command adjusts the receiver dynamics to that of your environment It is used to optimally tune receiver parameters Abbreviated ASCII Syntax Message ID 258 DYNAMICS dynamics Field ASCII Binary Binary Binary Binary Fiel Description elg Ty
195. el s GPSolution software as the log commands used for the various windows and the COM port configuration used by GPSolution will be saved as well This will result in unnecessary data being logged OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 40 SEND This command is used to send ASCII printable data from COM1 COM2 or COM3 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 lt CR gt each time you wish to send data If the data string contains delimiters i e spaces commas tabs etc the entire string must be contained within double quotation marks Carriage return and line feed characters e g hex OD 0A will be appended to the sent ASCII data Abbreviated ASCII Syntax Message ID 177 SEND port data Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field Description 2 port See Table 5 Serial Output port Enum 4 H Port Identifiers on Page 18 3 message Max 100 character ASCII data to send String 100 H 4 string max 100 Scenario Assume that you are operating GPSCards as base and rover stations It could also be assumed that the base
196. el state Enum 4 H 4 State on Page 39 4 prn 1 to 37 120 to 138 Optional satellite PRN code from 1 Long 4 H 8 37 for GPS channels and 120 138 for SBAS channels If not included in the command line the state parameter must be set to IDLE 5 Doppler 100 000 to 100 000 Current Doppler offset of the satellite Long 4 H 12 Hz Note Satellite motion receiver antenna motion and receiver clock frequency error must be included in the calculation of Doppler frequency default 0 6 window 0 to 10 000 Hz Error or uncertainty in the Doppler ULong 4 H 16 estimate above Note This is a value Example 500 for 500 Hz default 4 500 ASCII Example 1 ASSIGN 0 ACTIVE 29 0 2000 In example 1 the first SV channel is acquiring satellite PRN 29 in a range from 2000 Hz to 2000 Hz until the satellite signal has been detected ASCII Example 2 ASSIGN 11 28 250 0 SV channel 11 is acquiring satellite PRN 28 at an offset of 250 Hz only ASCII Example 3 ASSIGNA 11 IDLE SV channel 11 is idled and will not attempt to search for satellites 40 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 4 ASSIGNALL The ASSIGNALL command should only be used by advanced users of GPS This command allows you to override the automatic satellite channel assignment and reacquisition processes for all GPSCard channels with manual instructions This comma
197. elocity Data This log contains the best available velocity information computed by the receiver In addition it reports a velocity status indicator which is useful in indicating whether or not the corresponding data is valid The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value See also the table footnote for velocity logs on Page 107 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 BESTVEL time tag The velocity latency to be subtracted from the time tag will normally be 1 2 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 second The latency can be reduced by increasing the update rate of the positioning filter being used by requesting the BESTVEL or BESTPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 005 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 that the instantaneous Doppler measurement was used to calculate velocity Structure Message ID 99 Log Typ
198. elocity code Ulong 4 H 72 0 1st x 64 variable Next 2nd variable variable xxxx 32 bit CRC ASCII and Binary Hex 4 variable only variable CR LF Sentence terminator ASCII only Recommended Input log WAAS25 onchanged ASCII Example WAAS25A COM1 0 69 0 SATTIME 1093 162120 000 00000020 b2c2 209 122 1 14 182 66 146 48 12 0 0 2 2 6 2 4723 3 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 4dbed001 254 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 98 WAAS26 lonospheric Delay Corrections SBAS WAAS26 provides vertical delays relative to an L1 signal and their accuracy at geographically defined IGPs identified by the BAND NUMBER and IGP number Each message contains a band number and a block ID which indicates the location of the IGPs in the respective band mask Structure Message ID 299 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset Scaling 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 band num Band number Ulong 4 H 4 4 block id Block ID Ulong 4 H 8 5 pts Number of grid points with Ulong 4 H 12 information to follow 6 i8Pyde IGP vertical delay estimates Ulong 4 H 16 0 125 givei Grid ionospheric vertical error Ulong 4 H 20 indicator 8 Next pts entry H 16 pts x 8 variable iodi Issue of data ionosphere Ulong
199. els only 2 NONE No dedicated SV channels 3 ALL All channels default 4 WAASL1 SBAS SV channels only ASCII Example 1 ASSIGNALL GPSL1 ACTIVE 29 0 2000 In example 1 all GPS L1 dedicated SV channels are set to active and trying to acquire PRN 29 in a range from 2000 Hz to 2000 Hz until the satellite signal has been detected ASCII Example 2 ASSIGNALL GPSL1L2 28 250 0 All L1 and L2 dedicated SV channels are trying to acquire satellite PRN 28 at 250 Hz only ASCII Example 3 ASSIGNALL GPSL1 IDLE All L1 only dedicated SV channels are idled and are not attempting to search for satellites OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 5 ASSIGNOMNI This command allows you to use manual instructions to ensure that the receiver searches for a specified OmniSTAR satellite at a specified frequency with a specified baud rate In addition to a NovAtel OEM4 card a NovAtel OmniSTAR L Band receiver and a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume 1 of this manual Abbreviated ASCII Syntax Message ID 467 ASSIGNOMNI mode freq baud Field ASCII Binary Type Value Value Binary Binary Binary Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending o
200. ence Manual Rev 8 Commands Chapter2 2 6 36 RTKSOLUTION RTK This command instructs the receiver as to what type of carrier phase ambiguity fixed float or disable to use There are four settings AUTO L1_FLOAT L1L2_FLOAT and DISABLE AUTO tells the receiver to use the best ambiguity type available For RT 2 the receiver will fix the ambiguities to discrete values whenever it can safely and reliably do so L1_FLOAT and L1L2_FLOAT tell the receiver to only use floating point ambiguities L2 data is required for L1L2_FLOAT DISABLE tells the receiver to turn off RTK processing Abbreviated ASCII Syntax Message ID 184 RTKSOLUTION type Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field Description 2 type See Table 31 Carrier phase ambiguities type Enum 4 H ASCII Example RTKSOLUTION L1_FLOAT Table 31 Type of Carrier Phase Ambiguity ASCII Binary Description AUTO 0 Fixed integer ambiguities for RT 2 L1_FLOAT for RT 20 L1_FLOAT 1 L1 only floating point ambiguities L1L2_FLOAT 2 Dual frequency floating point ambiguities reverts to L1_FLOAT for RT 20 DISABLE 3 Disable RTK solutions OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 87
201. ence Manual Rev 8 Data Logs 3 4 20 GPGSV GPS Satellites in View NMEA Chapter 3 Number of SVs in view PRN numbers elevation azimuth and SNR value Four satellites maximum per message When required additional satellite data sent in second or third message Total number of messages being transmitted and the current message being transmitted are indicated in the first two fields This log will output null data in all fields until a valid almanac is obtained 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 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 Structure Message ID 223 Log Type Synch Field Structure Field Description Symbol Example 1 GPGSV Log header GPGSV 2 msg Total number of messages 1 to 3 X 3 3 msg Message number 1 to 3 x 1 4 sats Total number of satellites in view XX 09 5 prn Satellite PRN number XX 03 6 elev Elevation degrees 90 maximum XX 51 7 azimuth Azimuth degrees True 000 to 359 XXX 140 8 SNR SNR C No 00 99 dB null when not tracking XX 42 Next satellite PRN number elev azimut
202. ence Manual Rev 8 267 Index 268 common 212 count 108 elevation cut off 61 errors 231 geometry 172 GLONASS slot number 178 226 230 in view 147 lock 70 172 number of 172 180 PRN 178 range 144 raw 182 185 reinstate 100 RTK 25 86 89 212 tracking 109 177 230 unassign 98 unlock 100 visibility 109 226 SATVIS 226 SATXYZ 227 SAVECONFIG 90 SBAS 10 11 scaling almanac 119 factor 181 scope 10 searcher status 213 self test 71 SEND 91 send 91 92 SENDHEX 92 serial port 69 139 171 SETAPPROXPOS 93 SETAPPROXTIME 94 SETNAV 93 software version 105 solution status 124 157 speed current 163 data 106 149 over ground 125 149 152 174 215 SPS see standard positioning service standard positioning service SPS 119 182 standards and references 119 182 static mode 85 161 station ID 59 79 88 189 status arrival 148 auxiliary 224 base station health 189 channel tracking 177 178 181 230 clock model 158 COM ports 171 commands 23 data 143 event 225 flag 173 220 indicators 122 125 126 175 216 mask 97 navigation 162 receiver 14 71 105 220 223 self test 105 solution 124 157 time 14 19 velocity 126 215 word 225 STATUSCONFIG 97 steer clock 46 time 19 20 subframe 109 119 182 183 synchronous logs 104 T TIME 227 time almanac reference 182 anomaly 119 clock adjustments 46 coarse fine 19 CPU 71 data 228 delay 56 dilution of precision 172 ephemeris delay 56 fine 19 GPS 128
203. ended Input log portstatsa once ASCII example PORTSTATSA COM1 0 43 0 FINESTEERING 1039 420241 409 00000028 4aa8 0 3 COM1 603 1479967 588 0 420160 2 0 15 0 COM2 1588307 336698 1586999 115099 224314 1308 0 0 0 COM3 0 0 0 0 6 0 0 0 0 00c49 87 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 171 Chapter 3 Data Logs 3 4 39 PSRDOP Pseudorange DOP The dilution of precision data is calculated using the geometry of only those satellites that are currently being tracked and used in the position solution by the GPSCard This log is updated once every 60 seconds or whenever a change in the satellite constellation occurs Therefore the total number of data fields output by the log is variable and depends on the number of SVs that are being tracked Twelve is the maximum number of SV PRNs contained in the list 1 Ifasatellite is locked out using the LOCKOUT command it will still be shown in the PRN list but it will be significantly de weighted in the DOP calculation 2 The vertical dilution of precision can be calculated by vdop y pdop hdop Structure Message ID 174 Log Type Asynch X Field Tera Binary Binary Field type Data Description Format Bytes Offset header Log header H 0 2 gdop Geometric dilution of precision Float 4 H assumes 3 D position and receiver clock offset all 4 parameters are unknown 3 pdop Position dil
204. er 3 ei Binar Binar Field Field type Data Description Format Bytes leer 1 header Log header H 0 2 des NovAtel designator Uchar 1 H 3 subtype RTCA message subtype Uchar 3a H 1 4 min psr Minimum pseudorange Double 8 H 4 5 sec Seconds into the GPS week seconds Float 4 H 12 6 Reserved Long 4 H 16 T prn Number of PRNs with information to Ulong 4 H 20 follow 8 trans ID Transmitter ID Uchar 1 H 24 9 L1 lock L1 lock flag Uchar 1 H 25 10 L2 lock L2 lock flag Uchar gb H 26 11 L1 psr L1 pseudorange offset 2 10 m Double 8 H 28 12 L2 psr L2 pseudorange offset 1 4 m Double 8 H 36 13 L1 ADR L1 carrier phase offset accumulated Float 4 H 44 Doppler range 2 1000 m 14 L2 ADR L2 carrier phase offset accumulated Float 4 H 48 Doppler range 3 1000 m 15 L2 encrypt L2 not encrypted Enum 4 H 52 0 FALSE 1 TRUE 16 Reserved Long 4 H 56 17 Next PRN offset H 24 prns x 36 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment b In the binary log case an additional 1 byte of padding is added to maintain 4 byte alignment Recommended Input log rtcadataobsa ontime 2 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Chapter 3 194
205. er of possible lane combinations Ulong 4 H 24 15 23 C The Cxxo Cry O x2 yx O yy E yz O 7x Cy and C components in Float 36 H 28 meters of the ECEF position covariance matrix 3x3 24 Ax Float solution baseline in ECEF x Double 8 H 64 25 Ay Float solution baseline in ECEF y Double 8 H 72 26 Az Float solution baseline in ECEF z Double 8 H 80 27 xO Standard deviation of float solution baseline x m Float 4 H 88 28 yo Standard deviation of float solution baseline y m Float 4 H 92 29 ZO Standard deviation of float solution baseline z m Float 4 H 96 30 ref PRN Base PRN Ulong 4 H 100 31 SV Number of SVs to follow Long 4 H 104 32 PRN Satellite PRN number of range measurement Ulong 4 H 108 33 amb Ambiguity type see Table 66 on Page 213 Enum 4 H 112 34 res Residual m Float 4 H 116 35 Next SV offset H 108 obs x 12 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 alae variable CR LF Sentence terminator ASCII only 212 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Recommended Input log rtkdataa onchanged ASCII Example RTKDATAA COM1 0 49 0 FINESTEERING 1037 507891 000 00000028 d89c 0 SOL_COMPUTED L1_FLOAT 00000107 10 10 10 0 0 0 0 0 COMPLETE 1 0 000006136 0 000003797 0 000003287 0 0000003797 0 000013211 0 000007043 0 000006287 0 000007043 0 000018575 3 2209 3 0537 1 2024 0 0183 0 0138 0 0124 1 7 21 6
206. erature error message is generated at 110 C ASCII Example RXHWLEVELSA COM1 0 62 0 FINESTEERING 1114 237777 536 00000020 01a6 209 26 609 0 003 1 572 8 486 4 968 4 967 0 000 0 000 0 000 0 000 d8 899cb OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 219 Chapter 3 Data Logs 3 4 74 RXSTATUS Receiver Status Field Field type Data Description Format This log conveys various status parameters of the GPS receiver system These include the Receiver Status and Error words which contain several flags specifying status and error conditions If an error occurs shown in the Receiver Error word the receiver will idle all channels turn off the antenna and disable 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 will cause the condition to trigger an error This will cause the GPSCard 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 will cause that condition to set the bit in the Receiver Status word corresponding to that Auxiliary Status Receiver Errors automatically generate event messages
207. es used in the description of messages Table 1 Field Types Description Char 1 The char type is an 8 bit integer in the range 128 to 127 This integer value may be the ASCII code corresponding to the specified character In ASCII or Abbreviated ASCII this comes out as an actual character UChar 1 The uchar type is an 8 bit unsigned integer Values are in the range from 0 to 255 In ASCII or Abbreviated ASCII this comes out as a number Short 2 The short type is 16 bit integer in the range 32768 to 32767 UShort 2 The same as Short except that it is not signed Values are in the range from 0 to 65535 Long 4 The long type is 32 bit integer in the range 2147483648 to 42147483647 ULong 4 The same as Long except that it is not signed Values are in the range from 0 to 4294967295 Double 8 The double type contains 64 bits 1 for sign 11 for the exponent and 52 for the mantissa Its range is 1 7E308 with at least 15 digits of precision This is IEEE 754 Float 4 The float type contains 32 bits 1 for the sign 8 for the exponent and 23 for the mantissa Its range is 3 4E38 with at least 7 digits of precision This is IEEE 754 Enum 4 A 4 byte enumerated type beginning at zero an unsigned long In binary the enumerated value is output In ASCII or Abbreviated ASCII the enumeration label is spelled out GPSec 4 This type has two separate formats that depend on whether you have requested a
208. esian coordinate system 126 175 216 VERSION 233 version 2 44 105 233 234 virtual address 14 visibility satellite 109 226 voltage 219 Volume 1 operation 214 216 prerequisites 10 pseudorange algorithms 121 RTK 132 133 135 137 190 193 195 202 206 209 210 standards and references 119 182 status tests 220 technical specifications 157 158 225 unit conversion 178 W WAASO 235 WAASI 236 WAAS10 247 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 269 Index WAAS12 248 WAASI7 249 WAAS18 250 WAAS2 237 WAAS 24 251 WAAS 25 253 WAAS26 255 WAAS27 256 WAAS3 239 WAAS4 240 WAASS 241 WAAS6 242 WAAS7 244 WAAS9Y 246 WAASCORR 257 WAASCORRECTION 103 warning 44 warranty 10 waypoint destination 148 163 navigation 25 95 107 162 track offset 95 week future 154 GPS 150 163 reference 182 183 weighting pseudorange filter 230 WGS84 53 55 66 95 99 102 126 word 77 97 140 183 220 225 X xyz cartesian coordinate system 106 107 126 175 189 Y year 228 234 270 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 NovAtel Recyclable Printed in Canada on recycled paper OM 20000047 Rev 8 2002 05 02
209. esolution of the clock synchronization is 50 ns Figure 1 shows the IPPS alignment between a Master and a Slave receiver TIMESYNC COM output on Master connected to COM input on Slave 1PPS on Master connected to MARKIN on Slave RS232 ii A a i TTL Y Y K 800 to 1000 ms lt 1000 ms 1PPS IN Figure 1 1PPS Alignment See also the TIMESYNC log on Page 229 and the Transfer Time Between Receivers section in Volume 1 of this manual Abbreviated ASCII Syntax ADJUSTIPPS mode period offset Message ID 429 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 35 Chapter 2 Commands Field Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Description 2 mode OFF 0 Disables ADJUST1PPS Enum 4 H default MANUAL 1 Immediately shifts the receivers time by the offset field in ns The period field has no effect in this mode This command does not affect the clock state MARK 2 Shifts the receiver time to align its 1PPS with the signal received in the MARKIN port adjusted by the offset field in ns The effective shift range is 0 5 s MARKWITHTIME 3 Shifts the receiver time to align its 1PPS with the signal received in the MARKIN port adjust
210. event the GPSCard from lockout prn using a satellite by specifying its PRN 138 UNLOCKOUT Reinstate a satellite in the unlockout prn solution computation 139 UNLOCKOUTALL Reinstate all previously unlockoutall locked out satellites 142 DGPSEPHEMDELAY DGPS ephemeris delay dgpsephemdelay delay 144 DGPSTXID DGPS transmit ID dgpstxid type ID 160 DATUM Choose a DATUM name type datum datum 162 SETNAV Set start and destination setnav fromlat fromlon tolat tolon track waypoints offset from point to point 173 POSAVE Implement position averaging posavelstate for base station maxtime maxhstd maxvstd 177 SEND Send an ASCII message to send port data any of the communications ports 178 SENDHEX Send non printable characters sendhex port length data in hexadecimal pairs 180 MAGVAR Set magnetic variation magvar type correction stddev correction 182 RTKBASELINE Initialize RTK with a static rtkbaseline type parl par2 par3 baseline 2sigma OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 31 Chapter 2 Commands Message ID Command Description Syntax 183 RTKDYNAMICS Set the RTK dynamics mode rtkdynamics mode 184 RTKSOLUTION Set RTK carrier phase rtksolution type ambiguity type Float or Fixed or disable 197 NVMRESTORE Restore NVM data after a nvmrestore failure in NVM 214 UNDULATION Choose undulation undulation option separation 230
211. f a VERSION log from a ProPak LB receiver VERSIONA COM1 0 67 5 FINESTEERING 1163 485999 875 00000000 e249 710 4 GPSCARD RT2WLBA SPA02090052 OEM4 6 03 22T 1 400D86 1 005db 2002 Apr 24 15 17 29 DB_OMNISTARXILINX OmniXilinx 0 102 2002 Apr 11 10 56 48 DB_OMNISTARDSP OmniDSP 0 1 000S10 2002 Apr 11 10 56 46 IBOARD OMNISTAR 07 20040 6 01 102 1 000510 704309 74762c4 Table 77 Component Types Field Format Description 0 UNKNOWN Unknown component 1 GPSCARD OEM4 Family component 2 CONTROLLER Data collector 4 IBOARD OmniSTAR CAN interface board 981073920 DB_HEIGHTMODEL Height track model data 981073921 DB_USERAPP User application firmware 981073922 DB_OMNISTARDSP OmniSTAR DSP firmware 981073924 DB_OMNISTARXILINX OmniSTAR FPGA firmware a Please refer to the Acronyms appendix in Volume 1 of this manual Table 78 Version Log Field Formats Component Type Component Type inti binary ASCII Description hw version P RS CCC P hardware platform e g OEM4 R hardware revision e g 3 00 S processor revision e g A CCC COM port configuration e g 22T sw version boot version VV RRR Xxxx VV major revision number RRR minor revision number X Special S Beta B Internal Development D A XXX number comp date YYYY MM DD YYYY year MM month DD day 1 31 comp time HH MM SS
212. f hexadecimal binary and decimal equivalents please see the Unit Conversion appendix in Volume 1 of this manual ASCII log examples may be split over several lines for readability In reality only a single CR LF pair is transmitted at the end of an ASCII log The terms Euro4 and OEM4 will not be used in this manual unless a specific detail refers to it alone The term receiver will infer that the text is applicable to an OEM4 or EURO4 either stand alone or in an enclosure unless otherwise stated All of the relevant SBAS commands and logs start with WAAS except for RAWWAASFRAME Generally the PRN field of the WAASx logs is common and indicates the SBAS satellite that the message originated from Please refer to the RTCA document RTCA D0 229B Appendix A Wide Area Augmentation System Signal Specification for detail on the SBAS logs What s New in Firmware Version 1 400 Since Version 1 200 1 Commands and logs have been added for use with an OmniSTAR compatible OEM4 family receiver See ASSIGNOMNI on Page 43 OMNIHPPOS on Page 165 OMNIINFO on Page 166 OMNISTAT on Page 168 RAWOMNIFRAME on Page 186 and RAWOMNIPACKET on Page 187 2 The DGPSRXID command has been replaced by the PSRDIFFSOURCE command on Page 79 and the RTKSOURCE command on Page 88 3 Additional receiver clock and time synchronization commands and logs have been added See ADJUSTIPPS on Page 35 CLOCKCALIBRATE on Page 47 CLOCKSTEERING on Page 130 and TIMESYNC on
213. ffset will shift the receiver clock with respect to the time of arrival of the MARKIN event If this offset is zero the slave will align its 1PPS to that of the signal received in its MARKIN port For example if this value was set to 50 then the slave would set its 1PPS 50 ns ahead of the input signal and if this value was set to 100 then the slave would set its clock to 100 ns behind the input signal Long H 8 a Itis presumed that the TIMESYNC log see Page 229 was issued by a Master GPS receiver within 1000 ms but not less than 800 ms of the last 1PPS event see Figure 8 1PPS Alignment TIMESYNC Log on Page 229 Refer also to the Transfer Time Between Receivers section in Volume 1 of this manual ASCII Example ADJUSTIPPS MARK CONTINUOUS 240 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 37 Chapter 2 Commands 2 6 2 ANTENNAPOWER This command enables or disables the supply of electrical power from the internal see Volume 1 of this manual for information on supplying power to the antenna power source of the card to the low noise amplifier LNA of an active antenna There are several bits in the Receiver Status see Table 70 Receiver Status on Page 223 that pertain to the antenna These bits indicate whether the antenna is powered internally or externally and whether it is open circuited or short circuited On startup the ANTENNAPOWER is set to ON
214. for ASCII and binary formats Table outlines the various responses Table 80 Response Messages ASCII Message Binary Message ID Meaning Response_OK 1 Command was received correctly LogDoesNotExist 2 The log requested does not exist InsufficientResources 3 The request has exceeded a limit e g the maximum number of logs are being generated Response_Verify_Fail 4 Data packet is not verified Response_Fail 5 Command did not succeed in accomplishing requested task Invalid_Message_ID 6 The input message ID is not valid Invalid_Message_Format 1 Field x of the input message is not correct Invalid_Checksum 8 The checksum of the input message is not correct This only applies to ASCII and binary format messages Response_Missing_Required_Field 9 Field x is missing from the input message Response_Index_Out_Of_ Range 10 Field x contains more array elements than allowed Response_Parameter_Out_Of_ Range 11 Field x of the input message is outside the acceptable limits Invalid_Trigger 14 Input trigger ONTIME etc is not valid for this type of log Auth_Table_Full 15 Too many authcodes are stored in the receiver The receiver firmware must be reloaded Auth_Invalid_Date 16 This error is related to the inputting of authcodes It indicates that the date attached to the code is not valid Auth_Invalid Parameter 17 The authcode entered is not valid Auth_No_M
215. for Marine Services RTCM was established to facilitate the establishment of various radio navigation standards which includes recommended GPS differential standard formats The Standard recommended by the RTCM Special Committee 104 Differential GPS Service RTCM SC 104 Washington D C have been adopted by NovAtel for implementation into the GPSCard The GPSCard can easily be integrated into positioning systems around the globe because it is capable of utilizing RTCM formats The above messages can be logged with an A or B suffix for an ASCII or Binary output with a NovAtel header followed by Hex or Binary raw data respectively See the chapter on Message Formats in Volume 1 of this manual for more information on RTCM standard logs Example Input interfacemode com2 none RTCM fix position 51 1136 114 0435 1059 4 log com2 rtcm3 ontime 10 log com2 rtcm22 ontime 10 log com2 rtcm1819 ontime 2 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 59 RTCMDATA1 Differential GPS Corrections DGPS Chapter 3 See the chapter on Message Formats in Volume 1 of this manual for information on RTCM standard logs Structure Message ID 396 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 RTCM header RTCM message type Ulong 4 H 3 Base station
216. from logging unlogall port control USERDATUM 78 Set user customized datum userdatum semimajor flattening dx dy dz rx ry rz scale WAASCORRECTION 312 Set SBAS test mode and PRN waascorrection keyword prn mode OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 29 Chapter 2 Commands Table 9 OEM4 Family Commands in Order of their Message IDs Message ID Command Description Syntax 1 LOG Request logs from receiver log port message trigger period offset hold 3 INTERFACEMODE Set interface type Receive interfacemode port rxtype txtype Rx Transmit Tx for COM responses ports 4 COM COM port configuration com port bps parity databits stopbits control handshake echo break 15 CLOCKADJUST Enable clock adjustments clockadjust switch 18 RESET Perform a hardware reset reset delay 19 SAVECONFIG Save current configuration in saveconfig non volatile memory 20 FRESET Clear almanac model or user freset target configuration data which is stored in NVM and followed by a card reset 22 MODEL Switch to a previously model model AUTHed model 27 ASSIGN Assign individual satellite assign channel state prn Doppler channel to a PRN window 28 ASSIGNALL Assign all satellite channels to assignall system state prn Doppler a PRN window 29 UNASSIGN Unassign a previously unassign channel ASSI
217. fset Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Litime 2 2000 L1 carrier smoothing time Ulong 4 H constant in seconds 3 L2time 2 2000 L2 carrier smoothing time Ulong 4 H 4 constant in seconds Default 5 Abbreviated ASCII Example CSMOOTH 500 The csmooth command should only be used by advanced GPS users The shorter the carrier smoothing the more noise there will be If you are at all unsure please call NovAtel Customer Service Department see the Customer Service section at the start of Volume 1 of this manual It may not be suitable for every GPS application When using CSMOOTH in differential mode the same setting should be used at both the base and rover station if both the base and rover stations are using the same type of receiver OEM3 or OEM4 However if the base and rover stations use different types of receivers OEM3 and OEM4 it is recommended that the default CSMOOTH value is used at each receiver 52 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 12 DATUM This command permits you to select the geodetic datum for operation of the receiver If not set the factory default value is WGS84 See Table 17 below for a complete listing of all available predefined
218. h SNR Last satellite PRN number elev azimuth SNR variable xx Checksum hh 72 variable CR LF Sentence terminator CR LF Example SGPGSV 3 1 11 06 78 273 44 10 54 070 44 17 40 255 40 30 30 206 38 78 SGPGSV 3 2 11 24 21 071 37 13 20 058 37 22 13 323 39 05 07 182 35 73 SGPGSV 3 3 11 26 02 143 23 02 203 18 01 014 46 Recommended Input log gpgsv ontime 1 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 147 Chapter 3 Data Logs 3 4 21 GPRMB Navigation Information NMEA Navigation data from present position to a destination waypoint The destination is set active by the GPSCard SETNAV command If SETNAV has been set a command to log either GPRMB or GPRMC will cause both logs to output data This log will output null data in all fields until a valid almanac is obtained Structure Message ID 224 Log Type Synch Field Structure Field Description Symbol Example 1 GPRMB Log header GPRMB 2 data status Data status A data valid V navigation receiver A V warning 3 xtrack Cross track error X X 0 011 4 dir Direction to steer to get back on track L R 2 a L 5 origin ID Origin waypoint ID 3 c C START 6 dest ID Destination waypoint ID 3 S END 7 dest lat Destination waypoint latitude DDmm mm 2 1111 11 3106 7074000 8 lat dir Latitude direction N North S South 3 a N 9 dest lon Destination waypoint longitude DDDmm mm 3 yyyyy yy 11
219. he card thus enabling you to effectively use and write custom interfacing software for specific needs and applications The manual is organized into chapters which allow easy access to appropriate information about the receiver There is also Satellite Based Augmentation System SBAS signal functionality Please see the SBAS Overview appendix in Volume 1 of this manual and the Conventions section below for more information This manual does not address any of the receiver hardware attributes or installation information Please consult Volume 1 of this manual for technical information on these topics Furthermore should you encounter any functional operational or interfacing difficulties with the receiver consult Volume J of this manual for NovAtel warranty and customer support information Prerequisites As this reference manual is focused on the OEM4 family commands and logging protocol it is necessary to ensure that the card has been properly installed and powered up according to the instructions outlined in the companion OEM4 User Manual Volume before proceeding Conventions This manual covers the full performance capabilities of all OEM4 family of receivers Feature tagging symbols have been created to help clarify which commands and logs are only available with the RT 2 or RT 20 option or if there is only partial implementation of this feature RTK Features available only with GPSCards equipped with the RT 20 or RT 2 option D
220. he current COM port ALL 8 All COM ports Table 14 Parity Binary ASCII Description 0 N No parity default 1 E Even parity 2 O Odd parity Table 15 Handshaking Binary ASCII Description 0 N No handshaking default 1 XON XON XOFF software handshaking 2 CTS CTS RTS hardware handshaking 50 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 10 COMCONTROL This command is used to control the hardware control lines of the RS232 ports The TOGGLEPPS mode of this command is typically used to supply a timing signal to a host PC computer The accuracy of controlling the COM control signals is better than 900 us The other modes are typically used to control custom peripheral devices This command may conflict with handshaking of the selected COM port If handshaking is enabled then unexpected results may occur Abbreviated ASCII Syntax Message ID 431 COMCONTROL port signal control Field ASCII Binary ae Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCII or binary respectively 2 port COM1 1 RS232 port to control Valid ports Enum 4 H COM2 2 are COM1 COM2 and COM3 COM3 3 3 signal RTS 0 C
221. he values entered into the FIX POSITION command should reflect the precise position of the base station antenna phase centre Any errors in the FIX POSITION coordinates will directly bias the corrections calculated by the base receiver The GPSCard performs all internal computations based on WGS84 and the datum command is defaulted as such The datum in which you choose to operate by changing the DATUM command will be internally converted to and from WGS84 Therefore all differential corrections are based on WGS84 regardless of your operating datum The FIX POSITION command will override any previous FIX HEIGHT or FIX POSITION command settings VELOCITY 4 Configures the GPSCard with its velocity fixed It accepts ECEF XYZ velocity values in units of meters per second m s This information is only used by the tracking loops of the receiver to aid in reacquisition of satellites after loss of lock otherwise it is ignored It is not used in the position solution and velocity calculations This command is only useful for very high dynamics where expected velocity changes during the signal blockage of more than 100 meters per second can occur The FIX VELOCITY command will override any previous FIX HEIGHT or FIX POSITION command 66 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 21 FREQUENCYOUT This command sets the output pulse train available on the variable frequency VARF
222. header depending on whether the command is abbreviated ASCII ASCII or binary respectively Description Lat 90 degrees Approximate latitude Double 8 H Lon 360 degrees Approximate longitude Double 8 H 8 Height 1000 to 20000000 m Approximate geoidal height Double 8 H 16 Input Example setapproxpos 51 116 114 038 0 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 93 Chapter 2 Commands 2 6 43 SETAPPROXTIME This command sets an approximate time in the GPS card The card will use this time as a system time until a GPS coarse time can be acquired This can be used in conjunction with an approximate position see the SETAPPROXPOS command on Page 93 to improve time to first fix For more information please refer to the TT FF and Satellite Acquisition appendix in Volume 1 of this manual The time entered should be within 10 minutes of the actual GPS time If the week number entered does not match the broadcast week number the receiver will reset See also the SATVIS log on Page 226 Abbreviated ASCII Syntax Message ID 102 SETAPPROXTIME week sec ASCII Binary Binary Binary Binary Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Description 2 week 0 9999 GPS week number Ulong 4 H 3 sec 0 604801
223. his offset may be determined from the TIME log see Page 227 6 Adiscussion on GPS time may be found in Section 1 3 GPS Time Status on Page 20 Abbreviated ASCII Syntax Message ID 15 CLOCKADJUST switch Binary Binary Binary Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Disallow adjustment of Enum 4 H internal clock ENABLE 1 Allow adjustment of internal clock ASCII Example CLOCKADJUST DISABLE 46 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands 2 6 8 CLOCKCALIBRATE 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 CLOCKAJUST command see Page 46 to enable or disable this feature The receiver by default steers its INTERNAL VCTCXO but can be commanded to control an EXTERNAL reference oscillator Use the Chapter2 EXTERNALCLOCK command see Page 62 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 will attempt to steer the external reference oscillator through the use of the VARF signal Note tha
224. iation Float 4 H 40 10 lon Longitude standard deviation Float 4 H 44 11 hgt o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff _age Differential age Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 66 18 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 67 19 Reserved Uchar T H 68 20 Uchar I H 69 ZI Uchar T H 70 22 Uchar I H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only Recommended Input log rtkposa ontime 1 ASCII Example RTKPOSA COM1 0 49 0 FINESTEERING 1037 507891 000 00000028 d89c 0 SOL_COMPUTED L1_FLOAT 51 11638130574 114 03829239121 1048 2656 16 271239716 61 0 0472 0 0659 0 0430 0 1 0 60 000 10 10 10 0 0 0 0 0 481a9 30 214 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 70 RTKVEL RTK Velocity RTK This log contains the RTK velocity information computed by the receiver In addition it reports a velocity status indicator which is useful in indicating whether or not the corresponding data is valid and differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections The velocity
225. iel Description eld Name Value Feenpue Type Bytes Offset 1 header See Table 4 Binary Message This field contains the H 0 Header Structure on Page 17 message header 2 port See Table 5 Serial Port Identifiers Output port Enum 4 H on Page 18 3 message Any valid message ID Message ID of log to UShort 2 H 4 output 4 message Bits 0 4 Reserved Message type of log Char 1 H 6 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit7 Response Bit see Section 1 2 Responses on Page 19 0 Original Message 1 Response Message 5 reserved Char 1 H 7 trigger 0 ONNEW Output when the message Enum 4 H 8 is updated not necessarily changed 1 ONCHANGED Output when the message is changed 2 ONTIME Output on a time interval 3 ONNEXT Output only the next message 4 ONCE Output only the current message 5 ONMARK Output when a MARKIN electrical event is detected 7 period Log period for ONTIME Double 8 H 12 trigger in seconds 8 offset Offset for period Double 8 H 20 ONTIME trigger in seconds If you wished to log data at 1 second after every minute you would set the period to 60 and the offset to 1 9 hold 0 NOHOLD Allow log to be removed Enum 4 H 28 by the UNLOGALL command 1 HOLD Prevent log from being removed by the UNLOGALL command a This happens on the external MARKIN pin refer to the Technical Specifications appendix in Vol
226. ield will be 0 000 Double H 52 12 XXXX 32 bit CRC ASCII and Binary only Hex H 60 13 CR LF Sentence terminator ASCII only OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Recommended Input log navigatea ontime 1 ASCII Example NAVIGATEA COM1 0 61 5 FINESTEERING 1049 247860 000 00000128 74a8 0 SOL_COMPUTED SINGLE DOPPLER_VELOCITY FROM_TO_SAME 0 0000 0 000000 0 0000 0 00 00 0 0 000 eee963fF 163 Chapter 3 Data Logs 3 4 33 NMEA Standard Logs 164 See the chapter on Message Formats in Volume 1 of this manual for more detail on the structure of NMEA logs The details for the following NMEA logs are listed alphabetically in this chapter GPALM ALMANAC DATA GPGGARTK GLOBAL POSITION SYSTEM FIX DATA GPGGA GLOBAL POSITION SYSTEM FIX DATA AND UNDULATION GPGLL GEOGRAPHIC POSITION GPGRS GPS RANGE RESIDUALS FOR EACH SATELLITE GPGSA GPS DOP AN ACTIVE SATELLITES GPGST PSEUDORANGE MEASUREMENT NOISE STATISTICS GPGSV GPS SATELLITES IN VIEW GPRMB NAVIGATION INFORMATION GPRMC GPS SPECIFIC INFORMATION GPVTG TRACK MADE GOOD AND GROUND SPEED GPZDA UTC TIME AND DATE OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 34 OMNIHPPOS OMNISTAR HP Position Outputs OmniSTAR High Precision HP position information Chapter 3 In addition to a NovAtel OEM4 card a NovAtel OmniSTAR
227. ill continue to use the old ephemeris data A delay of 120 to 300 seconds will typically ensure that the rover stations have collected updated ephemeris After the delay period is passed the base station will begin using new ephemeris data The factory default of 120 seconds matches the RTCM standard Field ASCII Binary Type Value Value Binary Binary Binary Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCII or binary respectively 2 delay 0 to 600 s Minimum time delay before new ULong 4 H ephemeris is used Field Description ASCII Example reference DGPSEPHEMDELAY 120 The RTCA Standard stipulates that a base station shall wait five minutes after receiving a new ephemeris before transmitting differential corrections to rover stations that are using the RTCA standard This time interval ensures that the rover stations will have received the new ephemeris and will compute differential positioning based upon the same ephemeris Therefore for RTCA base stations the recommended ephemeris delay is 300 seconds 56 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 14 DGPSRXID This command is now obsolete and has been replaced by the PSRDIFFSOURCE and RTKSOURCE commands Please see Pages 79 and 88 respectively for more inf
228. ill stop 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 will automatically be invoked If the maximum time is set to 1 hour or larger positions will be averaged every 10 minutes and the standard deviations reported in the AVEPOS log should be correct if SA is on If the maximum time is set to less than 1 hour positions will be averaged once per minute and the standard deviations reported in the log will likely not be accurate therefore the optional horizontal and vertical standard deviation limits cannot be used If you initiate differential logging then issue the POSAVE command followed by the SAVECONFIG command the GPSCard will average positions after every power on or reset and will then invoke the FIX POSITION command to enable it to send differential corrections Abbreviated ASCII Syntax Message ID 173 POSAVE state maxtime maxhstd maxvstd Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCII or binary respectively 2 state ON 1 Enable or disable position Enum 4 H OFF 0 averaging default ON 3 maxtime 0 01 100 hours Maximum amount of time that Float 4 H 4 positions are to
229. inary Value Value Format Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Description 2 type See Table 22 on Fix type Enum 4 H Page 66 3 paraml See Table 21 Parameter 1 Double 8 H 4 4 param2 Parameter 2 Double 8 H 12 5 param3 Parameter 3 Double 8 H 20 ASCII Example FIX HEIGHT 4 567 Any setting other than FIX POSITION will disable output of differential corrections Table 21 FIX Parameters ASCII Type Name Parameter 1 Parameter 2 Parameter 3 AUTO Not used Not used Not used HEIGHT Height 1000 to Not used Not used 20000000 m NONE Not used Not used Not used POSITION Lat 90 to 90 deg Lon 360 to 360 deg Het 1000 to 20000000 m VELOCITY VX 999 9 to 999 9 m s VY 999 9 to 999 9 m s VZ 999 9 to 999 9 m s a For a discussion on Geoidal Height refer to Volume 1 Appendix C Height Relationships OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 65 Chapter 2 Commands Table 22 FIX Types Description NONE 0 Unfix Clears any previous FIX commands AUTO 1 Configures the GPSCard to fix the height at the last calculated value if the number of satellites available is insufficient for a 3 D solution This provides a 2 D solution Height calculation will resume
230. ing of the selected COM port If handshaking is enabled then unexpected results may occur Abbreviated ASCII Syntax COM port bps parity databits stopbits handshake echo break Message ID 4 ASCII Binary mere Binary Value Value POE SURNON Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 13 Serial Port Port to configure Enum H Identifiers on Page 50 default THISPORT 3 bps baud 300 600 900 1200 Communication baud rate bps ULong H 4 2400 9600 19200 38400 57600 115200 or 230400 4 parity See Table 14 Parity on Parity Enum H 8 Page 50 5 databits Tors Number of data bits default 8 ULong H 12 6 stopbits 1 or2 Number of stop bits default 1 ULong H 16 7 handshake See Table 15 Handshaking Enum H 20 Handshaking on Page 50 8 echo OFF 0 No echo default Enum H 24 ON 1 Transmit any input characters as they are received 9 break OFF 0 Disable break detection Enum H 28 ON 1 Enable break detection default OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 49 Chapter 2 Commands ASCII Example COM COM1 57600 N 8 1 N OFF ON Table 13 Serial Port Identifiers ASCII Binary Description COM1 1 COM port 1 COM2 2 COM port 2 COM3 3 COM port 3 THISPORT 6 T
231. ing the hold parameter requires the specific use of the UNLOG command The port parameter is optional If port is not specified port is defaulted to the port that the command was received on The OEM4 family of receivers can handle 20 logs at a time If you attempt to log more than 20 logs at a time the receiver will respond with an Insufficient Resources error Maximum flexibility for logging data is provided to the user by these logs The user is cautioned however to recognize that each log requested requires additional CPU time and memory buffer space Too many logs may result in lost data and degraded CPU performance Receiver overload can be monitored using the idle time field and buffer overload bits of the Receiver Status in any log header Using the onmark trigger with a MARKTIME or MARKPOS log is no different than using the onnew trigger Only the MARKPOS log the MARKTIME log and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs will output the most recently available data Abbreviated ASCII Syntax Message ID 1 LOG port message trigger period offset hold OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 71 Chapter 2 Commands Table 25 LOG Command Binary Format Field Binary near Field Binary Binary F
232. inoccnonccnonnnonnncnrncnnrn conan nc nnn nc nan nn nan nnrnnn cnn 54 Datum Transformation Parameters oooconccccnocccnocnnnoncnonncnnnnonancnnno nn nano nn nnn nn nnn na rannnnnns 54 User DYMAMICS a in 60 A A O 64 Default Values of Process Noise ElementS ooooccccconncccnnnocononcnononcnnnnnonancnnnncnannnnnns 64 EXP arameo ii iio 65 ENDS EY DOS cis fescue tds 66 FRESET TOO iii iia 68 Serial Port Interface ModeS oooonoccnnncononccconccnoncnonncnonnnnnnnnncnononnnno nn nnrnn rn ren rare nene 69 LOG Command Binary Format ooooccnoccccnccccnonnnnonnononononnnnnn conan nn cnn nn nana nn anar nn n nn rn nnnnns 72 LOG Command ASCII ForMat ooooconcccnocccnnncnnononcnnnnononcnnon nc non nnnnn nn nano nn aeaaeai adean 73 DGPS TY PO iba 80 Baseline Parame OTE e a aa a Te aE aaa iti n 82 Baseline TY PO iii E E lesencueldae eta descendent 83 Dynamics Mode tito ci i 85 Type of Carrier Phase Ambiguity ooooooocccnoccconcncnonnnoncnnnn conan cnnnn conan cnn nn cnn nn nnnnnnnnnnns 87 Mask TIPOS e dt i 97 Log Type Triggers anini seis it 104 Logs By Function Table ooooocconoccccocccononononnconnonann conan nnnnn conan nn cnn nn ran n nr nn nn nnnnrnnnnnnns 105 OEM4 Family Logs in Alphabetical Order oooonoccoccconocccnoonononcnonononann conan cc nan cn nnnnnn 110 OEM4 Family Logs in Order of their Message IDS 114 MiLLennium OEM3 Log Comparison cooooccoccccooccnannnononcnnnnnonannnono conan nnnnnnnnnnnnnnnnnnnnns 118 Position Averaging
233. ith a fall back to SBAS RTKSOURCE RTCM ANY PSRDIFFSOURCE RTCM ANY WAASCORRECTION ENABLE 0 WAASTESTMODE 88 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 38 RTKSVENTRIES RTK This command sets the number of satellites at the highest elevation that will be transmitted in the RTK corrections from a base station receiver This is useful when the amount of bandwidth available for transmitting corrections is limited Abbreviated ASCII Syntax Message ID 92 RTKSVENTRIES number Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 number 4 12 The number of SVs to use in the ULong 4 H solution default 12 Field Description ASCII Example RTKSVENTRIES 7 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 89 Chapter 2 Commands 2 6 39 SAVECONFIG 90 This command saves the user s present configuration in non volatile memory The configuration includes the current log settings FIX settings port configurations etc and is output in the RXCONFIG log see Page 214 See also the FRESET command Page 67 Abbreviated ASCII Syntax Message ID 19 SAVECONFIG Caution Be careful when using this command from NovAt
234. k correction parameters a 1x3 array of Double 8 H 16 7 length 3 listed left to right 8 H424 8 8 H 32 9 cov data Covariance of the straight line fit a 3x3 array of Double 8 H 40 10 length 9 listed left to right by rows 8 H 48 11 8 H 56 12 8 H 64 13 8 H 72 14 8 H 80 15 8 H 88 16 8 H 96 17 8 H 104 18 range bias Last instantaneous measurement of the range bias Double 8 H 112 meters 19 range bias rate Last instantaneous measurement of the range bias Double 8 H 120 rate m s 20 change Is there a change in the constellation Enum 4 H 128 0 FALSE 1 TRUE 21 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 132 22 CR LF Sentence terminator ASCII only Recommended Input log clockmodela ontime 1 ASCII Example CLOCKMODELA COM1 0 55 0 FINESTEERING 1048 497224 500 00000128 879e 0 VALID 0 497224 500 497224 500 6 59596736e 01 9 29232987e 02 3 40165918e 00 4 63006778e 02 1 19966616e 00 4 50054493e 02 1 19966616e 00 2 15673338e 01 7 90256149e 01 4 50054493e 02 7 90256149e 01 4 76057122e 02 2 902 1 03659974e 01 FALSE f33b4465 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 129 Chapter 3 Data Logs 3 4 7 CLOCKSTEERING Clock Steering Status The CLOCKSTEERING log is used to monitor the current state of the clock steering process All oscillators have some inherent drift By default the receiver attempts to steer the receiver s clock to accu
235. l GPS Corrections RTCMDATA 15 397 Type 15 lonospheric Corrections RTCMDATA 16 398 Type 16 Special Message RTCMDATA 1819 399 Typel8 and Type 19 Raw Measurements RTCMDATA2021 400 Type 20 and Type 21 Measurement Corrections RTCMDATA22 401 Type 22 Extended Base Station Parameters RTCMDATAS9 403 Type 59N 0 NovAtel Proprietary RT20 Differential RTKDATA 215 RTK specific information RTKPOS 141 RTK low latency position data RTKVEL 216 RTK velocity RTKXYZ 244 RTK cartesian coordinate position data RXCONFIG 128 Receiver configuration status RXHWLEVELS 195 Receiver hardware levels RXSTATUS 93 Self test status RXSTATUSEVENT 94 Status event indicator SATVIS 48 Satellite visibility SATXYZ 270 SV position in ECEF Cartesian coordinates TIME 101 Receiver time information TIMES YNC 492 Synchronize time between receivers TRACKSTAT 83 Satellite tracking status VALIDMODELS 206 Model and expiry date information for receiver VERSION 37 Receiver hardware and software version numbers OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 111 Chapter 3 112 NovAtel Format Logs Data Logs Datatype NESST Description WAASO 290 Remove PRN from the solution WAASI 291 PRN mask assignments WAAS2 296 Fast correction slots 0 12 WAAS3 301 Fast correction slots 13 25 WAAS4 302 Fast correction slots 26 38 WAAS5 303 Fast correction slots 39 50 WAAS6 304 Integrity message WAAS7 305
236. l Update interval for v 1 long term Ulong 4 H 16 7 Cltc_v0 Bound on update delta Ulong 4 H 20 0 002 8 Ite wi Minimum update interval v 0 Ulong 4 H 24 9 Cgeo_Isb Maximum round off due to the Isb of Ulong 4 H 28 0 0005 7 the orbital clock 10 Cgeo_v Velocity error bound Ulong 4 H 32 0 00005 11 igeo Update interval for GEO navigation Ulong 4 H 36 message 12 Cer Degradation parameter Ulong 4 H 40 0 5 13 Ciono_step Bound on ionospheric grid delay Ulong 4 H 44 0 001 difference 14 liono Minimum ionospheric update Ulong 4 H 48 interval 15 Ciono_ramp Rate of ionospheric corrections Ulong 4 H 52 0 000005 p change 16 ISS udre User differential range error flag Ulong 4 H 56 17 TSSiono Root sum square flag Ulong 4 H 60 18 spare bits Spare 88 bits possibly GLONASS Ulong 4 H 64 19 XXXX 32 bit CRC ASCII and Binary Hex 4 H 68 only 20 CR LF Sentence terminator ASCII only Recommended Input log WAAS10 onchanged ASCII Example WAAS10A COM1 0 61 0 SATTIME 1093 161669 000 00040020 e520 209 122 54 38 76 256 152 30 311 83 256 6 122 270 0 0 0 0000000000000000000000 aee479f8 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 247 Chapter 3 Data Logs 3 4 93 WAAS12 SBAS Network Time and UTC SBAS WAAS 12 consists of the 8 bit preamble a 6 bit message type identifier 12 followed by 104 information bits for the UTC parameters then followed by 3 bits to indicate the UTC time sta
237. l control to the automatic search engine field which is reported in the RANGE and TRACKSTAT logs Assigning a SV channel will set the forced assignment bit in the channel tracking status 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 i e The searcher may search and lock onto this PRN on another channel The automatic searcher only searches for PRNs 1 to 32 for GPS channels and PRNs 120 to 138 for SBAS channels Table 11 Channel State Binary ASCII Description 0 IDLE Set the SV channel to not track any satellites 1 ACTIVE Set the SV channel active default 2 AUTO Tell the receiver to automatically assign PRN codes to channels OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 39 Chapter 2 Commands Abbreviated ASCII Syntax Message ID 27 ASSIGN channel state prn Doppler window ASCII Binary Binary Binary Description Format Offset Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively see 1 1 Message Types on Page 12 2 channel Oto 11 Desired SV channel number from 0 to ULong 4 H 11 inclusive where channel 0 is the first SV channel and channel 11 is the last 3 state See Table 11 Channel Set the SV chann
238. l will now be used on every subsequent startup The MODEL command causes an automatic reset Use the VALIDMODELS log to output a list of available models for your card The VALIDMODELS log is described on Page 232 Use the VERSION log to output the active model see Page 233 Abbreviated ASCII Syntax Message ID 22 MODEL model ASCII Binary Poro Binary Binary Binary Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 model Max 16 character Model name String 16 H null terminated max 16 string including the null Input Example MODEL RT2W You will need to switch to a valid model to continue If you switch to an expired model the receiver will reset and enter into an error state 76 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 28 NVMRESTORE This command restores non volatile memory NVM data after a NVM Fail error This failure is indicated by bit 13 of the receiver error word being set see also RXSTATUS Page 220 and RXSTATUSEVENT Page 225 If corrupt NVM data is detected the receiver will remain in the error state and continue to flash an error code on the Status LED until the NVMRESTORE command is issued see the chapter on Built In Status Tests in Volume I
239. 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 0 005 seconds For integration purposes the velocity latency should be applied to the record time tag See also the BESTX YZ and MATCHEDXYZ logs on Pages 126 and 161 respectively Structure Message ID 244 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 P sol status Solution status see Table 40 Solution Status on Page Enum 4 H 124 3 pos type Position type see Table 39 Position or Velocity Type on Enum 4 H 4 Page 123 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 Yo Standard deviation of P Y m Float 4 H 36 9 P Z Standard deviation of P Z m Float 4 H 40 10 V sol status Solution status see Table 40 Solution Status on Page Enum 4 H 44 124 11 vel type Velocity type see Table 39 Position or Velocity Type on Enum 4 H 48 Page 123 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 60 216 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3
240. le 16 Reference Ellipsoid Constants ELLIPSOID ID CODE a meters 1 f f Airy 1830 AW 6377563 396 299 3249647 0 00334085064038 Modified Airy AM 6377340 189 299 3249647 0 00334085064038 Australian National AN 6378160 0 298 25 0 00335289 186924 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 amp E Malaysia EB 6377298 556 300 8017 0 00332444929666 Everest W Malaysia amp Singapore ED 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 South American 1969 SA 6378160 0 298 25 0 00335289 186924 World Geodetic System 1972 WD 6378135 0 298 26 0 00335277945417 World Geodetic System 1984 WE 6378137 0 298 257223563 0 0033528 1066475 Table 17 Datum Transformation Parameters te NAME DX DY DZ DATUM DESCRIPTION ELLIPSOID 1 ADIND 162 12 206 Adindan Ethiopia Mali Senegal amp Sudan Clarke 1880 2 ARC50 143 90 294 ARC 1950 SW amp SE Africa Clarke 1880 3 ARC60 160 8 300 ARC 1960 Kenya Tanzania Clarke 1880 4 AGD66 133 48 148 Australian Geodetic Datum 1966 Australian National 5 AGD84 134 48 149 Australian Geodetic Datum 1984 Australian Natio
241. long 4 H 44 to follow 14 prn Satellite PRN number Ulong 4 H 48 15 code flag Is code P Code Enum 4 H 52 0 FALSE 1 TRUE 16 L1 Is L1 phase valid Enum 4 H 56 0 FALSE 1 TRUE 17 L2 Is L2 present Enum 4 H 60 0 FALSE 1 TRUE 18 L1 psr L1 pseudorange 1 8 L1 cycles Ulong 4 H 64 19 L1 carrier L1 carrier code measurement 1 256 L1 cycles Long 4 H 68 20 L1 S No L1 signal to noise density ratio Ulong 4 H 72 21 L1 slip L1 cycle slip count Ulong 4 H 76 22 L2 code Is L2 code available Enum 4 H 80 0 FALSE 1 TRUE 23 Code type Is code X correlation Enum 4 H 84 0 FALSE 1 TRUE 24 L2 c valid Is L2 code valid Enum 4 H 88 0 FALSE 1 TRUE OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 135 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 25 L2 p valid Is L2 phase valid Enum 4 H 92 0 FALSE 1 TRUE 26 phase full Is phase full Enum 4 H 96 0 FALSE 1 TRUE 27 Reserved Ulong 4 H 100 28 L2 r offset L2 range offset 1 100 meters Long 4 H 104 29 L2 c offset L2 carrier offset 1 256 cycles Long 4 H 108 30 L2 S No L2 signal to noise density ratio Ulong 4 H 112 31 L2 slip L2 cycle slip count Ulong 4 H 116 32 Next PRN offset H 48 prns x 72 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only Recommended Input log cmrdataobsa
242. mand and Log Reference Manual Rev 8 225 Chapter 3 Data Logs 3 4 76 SATVIS Satellite Visibility Satellite visibility log with additional satellite information Structure Message ID 48 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 sat vis Is satellite visibility valid Enum 4 H 1 TRUE 0 FALSE 3 comp alm Was complete almanac used Enum 4 H 4 1 TRUE 0 FALSE 4 sat Number of satellites with Ulong 4 H 8 information to follow 5 PRN GPS satellite PRN number of range Short 2 H 12 measurement 6 Reserved Short 2 H 14 7 health Satellite health Ulong 4 H 16 8 elev Elevation degrees Double 8 H 20 9 az Azimuth degrees Double 8 H 28 10 true dop Theoretical Doppler of satellite Double 8 H 36 11 app dop Apparent Doppler for this GPSCard Double 8 H 44 12 Next satellite offset H 12 sat x 40 variable xxxx 32 bit CRC ASCII and Binary Hex 4 H 12 only sat x 40 variable CR LF Sentence terminator ASCII only a Satellite health values may be found in ICD GPS 200 To obtain copies of ICD GPS 200 see ARINC in the appendix on Standards and References in Volume 1 of this manual Recommended Input log satvisa ontime 60 ASCII Example 226 FSATVISA COM1 0 44 0 FINESTEERING 1039 490308 000 00000028 6002 0 TRUE TRUE 27 14 0 0 74 5 267 4 458 2
243. measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value See also the table footnote for velocity logs on Page 107 With the system operating in an RTK mode this log will reflect if the solution is a good RTK Low Latency solution from extrapolated base station measurements or invalid A valid RTK Low Latency solution will be computed for up to 30 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 Differential Positioning section in the GPS Overview appendix in Volume 1 of this manual 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 RTK VEL time tag The velocity latency to be subtracted from the time tag will normally be 1 2 the time between filter updates Under default operation the RTK low latency filter is updated at a rate of 2 Hz This translates into a velocity latency of 0 25 seconds The latency can be reduced by increasing the update rate of the RTK low latency filter by requesting the BESTVEL RTKVEL BESTPOS or RTKPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 005 seconds For integration purposes the
244. mmand and Log Reference Manual Rev 8 229 Chapter 3 3 4 80 TRACKSTAT Tracking Status These logs provide channel tracking status information for each of the GPSCard parallel channels Data Logs If both the L1 and L2 signals are being tracked for a given PRN two entries with the same PRN will appear in the tracking status logs As shown in Channel Tracking Status on Page 177 these entries can be differentiated by bit 20 which is set if there are multiple observables for a given PRN and bits 21 22 which denote whether the observation is for L1 or L2 This is to aid in parsing the data Structure Message ID 83 Log Type Synch da Field Type Data Description Format pe de era 1 header Log header H 0 2 sol status Solution status see Table 40 Solution Status on Page 124 Enum 4 H 3 pos type Position type see Table 39 Position or Velocity Type on Enum 4 H 4 Page 123 4 cutoff Tracking elevation cut off angle Float 4 H 8 5 chans Number of hardware channels with information to follow Long 4 H 12 6 PRN GPS satellite PRN number of range measurement Short 2 H 16 7 Reserved Short 2 H 18 8 ch tr status Channel tracking status see Table 53 Channel Tracking ULong 4 H 20 Status on Page 177 9 psr Pseudorange m 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
245. mware Version 1 400 Command and Log Reference Manual Rev 8 217 Chapter 3 3 4 72 RXCONFIG Receiver Configuration This log is used to output a list of all current command settings When requested an RXCONFIG log 1s output for each setting See also the LOGLIST log on Page 155 for a list of currently active logs Data Logs Structure Message ID 128 Log Type Polled de fen Data Description Format Eve se Be 1 header Log header H 0 2 e header Embedded header h H 3 e msg Embedded message Varied a H h 4 XXXX Embedded inverted 32 bit CRC ASCII and Binary Long 4 H h a only The embedded CRC is inverted so that the card will not recognize the embedded messages as messages to be output but will continue 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 Hex 4 H h a 4 Next Log header offset of log headers to follow x H h a 4 CR LF Sentence terminator ASCII only Recommended Input log rxconfiga once ASCII Example RXCONFIGA COM 3 61 0 UNKNOWN RXCONFIGA COM 1 23 61 1 22 61 0 7 14 0 UNKNOWN 0 7 144 00000028 898 0 ANTENNAPOWERA COM1 2 4 00000028 898 0 0N 182ae681 2ed9fe08 0 UNKNOWN 0 7 167 00000028 898 0 CLOCKADJUSTA COM1 22 61 0 UNKNOWN 0 7 167 00000028 898 0
246. n all fields until a valid almanac is obtained Structure Message ID 259 Log Type Synch Field Structure Field Description Symbol Example 1 GPGGA Log header GPGGA 2 utc UTC time of position hours minutes seconds decimal hhmmss ss 220147 50 seconds 3 lat Latitude DDmm mm 1111 11 5106 7194489 4 lat dir Latitude direction N North S South a N 5 lon Longitude DDDmm mm yyyyy yy 11402 3589020 6 lon dir Longitude direction E East W West a W 7 GPS qual GPS Quality indicator x 1 0 fix not available or invalid l GPS fix 2 Differential GPS fix 4 RTK fixed ambiguity solution 5 RTK floating ambiguity solution 9 WAAS 8 sats Number of satellites in use 00 12 May be different to the xx 08 number in view 9 hdop Horizontal dilution of precision X X 0 9 10 alt Antenna altitude above below mean sea level geoid X X 1080 406 11 units Units of antenna altitude M meters M M 12 null This field not available on GPSCards 5 13 null This field not available on GPSCards EN 14 age Age of Differential GPS data in seconds 1 XX 15 stn ID Differential base station ID 0000 1023 XXXX 4 16 xx Checksum hh 48 17 CR LF Sentence terminator CR LF 1 The maximum age reported here is limited to 99 seconds 2 An indicator of 9 has been temporarily set for WAAS The NMEA standard for WAAS has not been decided yet Example SGPGGA 220147 50 5106 7194489 N
247. n kinematic operation see the RTKPOS or BESTPOS logs The data in the logs will change only when a base observation RTCM RTCA or CMR changes A good message trigger for this log is ONCHANGED Then only positions related to unique base station messages will be produced and the existence of this log will indicate a successful link to the base station Structure Message ID 96 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset header Log header H 0 2 sol status Solution status see Table 40 Solution Enum 4 H Status on Page 124 3 pos type Position type see Table 39 Position or Enum 4 H 4 Velocity Type on Page 123 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation Float 4 H 32 8 datum id Datum ID number see Chapter 2 Table Enum 4 H 36 17 Datum Transformation Parameters on Page 54 9 lat Latitude standard deviation Float 4 H 40 10 lon Longitude standard deviation Float 4 H 44 11 hgt o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 Reserved Float 4 H 56 14 Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 FGPSLI Number of GPS L1 ranges used in Uchar 1 H 65 computation 17 L1 Number of GPS L1 ranges above the RTK Uchar 1 H 66 mask angle 18 L2 Number of GPS L2 ranges abo
248. n non 226 3 4 77 SATXYZ SV Position in ECEF Cartesian Coordinates 227 3 44 78 TIME Time Data intra tdt 228 3 4 79 TIMESYNC Synchronize Time Between GPS Receivers 229 3 4 80 TRACKSTAT Tracking Status cccceceeeeeceeeeceeeeeeeeeseeeeeeeeeeeenees 230 3 4 81 VALIDMODELS Valid Model Information ccccecsseceeesesteeeeeeeneaes 232 3 4 82 VERSION Version Information ccccccccceeeseseeeeeeesseeeeescseeeeessnaaes 233 3 4 83 WAASO Remove PRN from Solution SBAS cccceceesteeeeeenees 235 3 4 84 WAAS1 PRN Mask Assignments SBAS 236 3 4 85 WAAS2 Fast Correction Slots 0 12 SBAS ccccsccesesseeeeeeeneaes 237 3 4 86 WAAS3 Fast Corrections Slots 13 25 SBAS cccccceeeesseeeeeeenees 239 3 4 87 WAAS4 Fast Correction Slots 26 38 SBAS ccccceccsseeeeeeneees 240 3 4 88 WAAS5 Fast Correction Slots 39 50 SBAS ccccceesseeeeeenees 241 3 4 89 WAAS6 Integrity Message SBAS cccceceeeececeeeeeeeeeeeeeeeeeeetenees 242 3 4 90 WAAS7 Fast Correction Degradation SBAS cccceceeeeeenees 244 3 4 91 WAAS9 GEO Navigation Message SBAS neresen 246 3 4 92 WAAS10 Degradation Factor SBAS nnocccninnicocinncnoccnnnncccnnnnnnncnnnnnos 247 3 4 93 WAAS12 SBAS Network Time and UTC SBAS ceecsseeeeeeneees 248 3 4 94 WAAS17 GEO Almanac Message SBAS 249 3 4 95 WAAS18 IGP Mask SBAS 2 0 0 cccccccccessseceecesseeeessesteeesseeseeeeessnaaes 250 3
249. n status Polled RXHWLEVELS Receiver hardware levels Polled RXSTATUS Self test status Asynch RXSTATUSEVENT Status event indicator Asynch VALIDMODELS Model and expiry date information for receiver Asynch VERSION Receiver hardware and software version numbers Polled OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 105 Chapter 3 Data Logs POSITION PARAMETERS AND SOLUTION FILTERING CONTROL Logs Descriptions Type AVEPOS Position averaging log Asynch BESTPOS Best position data Synch BESTXYZ Cartesian coordinates position data Synch GPGGA NMEA fix and position data Synch GPGLL NMEA position data Synch GPGRS NMEA range residuals Synch GPGSA NMEA DOP information Synch GPGST NMEA measurement noise statistics Synch IONUTC Ionospheric and UTC model information Asynch MATCHEDPOS Computed position Asynch MATCHEDXYZ Cartesian coordinates computed position data Asynch MARKPOS Position at time of markin event Asynch MARKTIME Time of markin event Asynch OMNIHPPOS OmniSTAR HP position data Synch PSRDOP DOP of SVs currently tracking Asynch RTKPOS RTK low latency position Synch RTKXYZ RTK cartesian coordinate position Synch a The RTK system in the receiver provides two kinds of position solutions The Matched RTK position is computed with buffered observations so there is no error due to the extrapolation of base station me
250. n whether the command is abbreviated ASCII ASCII or binary respectively see 1 1 Message Types on Page 12 Field Description 2 mode USER 0 Set the mode to USER and enter Enum 4 H specific frequency and baud rate values 3 freq 1525000 to 1560000 OmniSTAR service frequency of Ulong 4 H 4 satellite kHz 4 baud 300 600 1200 2400 Data rate for communication with Ulong 4 H 8 or 4800 OmniSTAR satellite ASCII Example ASSIGNOMNI USER 1525000 4800 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 43 Chapter 2 Commands 2 6 6 AUTH 44 This command is used to add or remove authorization codes from the GPSCard Authorization codes are used to authorize models of software for a receiver The receiver is capable of keeping track of five authorization codes at one time The MODEL command can then be used to switch between authorized models The VALIDMODELS log will list the current available models in the GPSCard This simplifies the use of multiple software models on the same receiver If there is more than one valid model in the card the card will either use the model of the last auth code entered via the AUTH command or the model that was selected by the MODEL command whichever was done last Both the AUTH and MODEL commands cause a reset automatically Authorization codes are firmware version specific If the GPSCard firmware is updated itis necessary to
251. nal 6 BUKIT 384 664 48 Bukit Rimpah Indonesia Bessel 1841 7 ASTRO 104 129 239 Camp Area Astro Antarctica International 1924 8 CHATM 175 38 113 Chatum 1971 New Zealand International 1924 9 CARTH 263 6 431 Carthage Tunisia Clarke 1880 10 CAPE 136 108 292 CAPE South Africa Clarke 1880 11 DJAKA 377 681 50 Djakarta Indonesia Bessel 1841 12 EGYPT 130 110 13 Old Egyptian Helmert 1906 13 ED50 87 98 121 European 1950 International 1924 14 ED79 86 98 119 European 1979 International 1924 15 GUNSG 403 684 41 G Segara Kalimantan Indonesia Bessel 1841 16 GEO49 84 22 209 Geodetic Datum 1949 New Zealand International 1924 17 GRB36 375 111 431 Great Britain 1936 Ordinance Survey Airy 1830 18 GUAM 100 248 259 Guam 1963 Guam Island Clarke 1866 19 HAWAII 89 279 183 Hawaiian Hawaii Old International 1924 20 KAUAI 45 290 172 Hawaiian Kauai Old International 1924 21 MAUI 65 290 190 Hawaiian Maui Old International 1924 22 OAHU 56 284 181 Hawaiian Oahu Old International 1924 23 HERAT 333 222 114 Herat North Afghanistan International 1924 24 HJORS 73 46 86 Hjorsey 1955 Iceland International 1924 25 HONGK 156 271 189 Hong Kong 1963 International 1924 54 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Table 17 Datum Transformation Parameters Chapter2
252. nary ds Type Value Value Description Format Bytes Offset 1 header This field contains the command name H 0 or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 32 Type of mask to replace Enum 4 H 3 word STATUS 1 Receiver Status word Enum 4 H 4 AUX1 2 Auxiliary 1 Status word 4 mask 8 digit hexadecimal The hexadecimal bit mask Ulong 4 H 8 ASCII Example STATUSCONFIG SET STATUS 0028A51D Table 32 Mask Types ASCII Binary Description PRIORITY 0 Replace the Priority mask SET 1 Replace the Set mask CLEAR 2 Replace the Clear mask OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 97 Chapter 2 Commands 2 6 47 UNASSIGN This command cancels a previously issued ASSIGN command and the SV channel reverts to automatic control the same as ASSIGN AUTO Abbreviated ASCII Syntax Message ID 29 UNASSIGN channel Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCII or binary respectively 2 channel 0 11 Reset SV channel to automatic search ULong 4 H and acquisition mode 3 state See Table 11 Set the SV channel state Enum 4 H 4 Channel State on Page 39 Input Example unassign 11 2 6 48 UN
253. nccnnncnnnnnncnnnncc con nn nana ccrrn rra 85 2 06 39 RTKELEVMASK RIK Geinn na aaaea a ei AiAi 86 2 6 36 RTKSOLUTION RTK e ian anaana a aA EAE taS 87 2 6 37 ATKSOURCE RTK e ae aae aaa ia ie 88 2 6 38 RTKSVENTRIES RTKicnicincccinnnccnnncccccnoncnonnnccnoncnnn nan nn nan cc cnn rra 89 2 16 39 SAVECONEIG usina td 90 20 40 SEND ai sous at facet dates es uicatest za bs oriol oido octanos 91 2 6 41 SENDHEX tito da 92 2 6 42 SETAPPROXPOS a aaaea m eaa aoaaa aia cnn nan nnnn cnn ana nc arnes 93 26 43 SETAPPROXTIME conca lira 94 2 0 44 SETNA Vecina arena 95 2 6 45 SETRTCM16 DGPS amp RTKocccnnccnnnccccnnonncononcccnnccnnnncncnnnncnnnn rca 96 2 6 46 STATUSCONFIG cececcceceececeeeeceeaeeeseneeceeaeeeeseeeeseaaeseeaaeeseaeeeeaaeesinees 97 26 47 UNASSION cuidara 98 2 6 48 UNASSIGNALL eea aatre aran aaae Aa cc nnn acc a ne cnn rec 98 26 49 UNDULATION 5 00 a en 99 2 06 50 UNLOCKQU Tec car ca EN A 100 26 51 UNEOCKQOUTAL E cuina 100 2002 UNO atacada camita stc icon ana 101 265I UNEOGA lcd 101 2 06 04 USERDA TU Mad le Vasher state 102 2 6 55 WAASCORRECTION SBAS cocccincocccnncccccnoncnnnnncccnnnnnnnnnn cnn nnnnnnn nana 103 3 Data Logs 104 3 1 Log Typis nira nra a ads 104 3 2 Logs By FUNCl Nica lt aia 105 3 3 MiLLennium GPSCard Compatibility ooooonncccnnnidnn n ncncccnnnocannnccccnncrnnnnnnccnnn 118 E A ania artesian tov eatin eee ee a a eats 119 3 4 1 ALMANAC Decoded Almanac ccccecceeeeececeeeeeeseeeeeeaeeseeeeestaeeeeenes 119 3 4 2 A
254. nd works the same way as ASSIGN except that it affects all SV channels Abbreviated ASCII Syntax Message ID 28 ASSIGNALL system state prn Doppler window ASCII Binary Binary Binary Bytes Offset 1 header This field contains the command name H 0 or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Description Value Value system See Table 12 System that SV channel is tracking Enum 4 H 3 state See Table 11 Channel Set the SV channel state Enum 4 H 4 State on Page 39 4 prn 1 to 37 120 138 Optional satellite PRN code from 1 37 Long 4 H 8 for GPS channels and 120 138 for SBAS channels If not included in the command line the state parameter must be set to idle 5 Doppler 100 000 to 100 000 Hz Current Doppler offset of the satellite Long 4 H 12 Note Satellite motion receiver antenna motion and receiver clock frequency error must be included in the calculation of Doppler frequency default 0 6 window 0 to 10 000 Hz Error or uncertainty in the Doppler ULong 4 H 16 estimate above This is a value e g 500 for 500 Hz default 4500 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 41 Chapter 2 Commands 42 Table 12 Channel System Binary ASCII Description 0 GPSL1 GPS L1 dedicated SV channels only 1 GPSL1L2 GPS L1 and L2 dedicated SV chann
255. ndard from which the offset is determined The UTC parameters will correlate UTC time with the SBAS network time rather than with GPS time Structure Message ID 293 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 Ay Time offset Double 8 H 4 4 Ao Time drift Double 8 H 12 5 seconds Seconds into the week Ulong 4 H 20 6 week Week number Ushort 4 H 24 7 dt Delta time due to leap seconds Short 2 H 28 8 WN gf Week number leap second future Ushort 2 H 30 9 dn Day of the week Ushort 2 H 32 10 dtisf Delta time leap second future Short 2 H 34 11 utc id UTC type identifier Ushort 2 H 36 12 gpstow GPS time of the week Ulong 2 H 38 13 gpswn GPS de modulo week number Ulong 2 H 40 14 glo indicator Is GLONASS information present Enum 4 H 42 0 FALSE 1 TRUE 15 Reserved Char 10 122 H 46 16 XXXX 32 bit CRC ASCII and Binary Hex 4 H 58 only 17 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment Recommended Input log WAAS12 onchanged ASCII Example Not available at time of print 248 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 94 WAAS17 GEO Almanac Message SBAS Almanacs for all GEOs will be broadca
256. nded Input log gpgrs ontime 1 If the range residual exceeds 99 9 then the decimal part will be 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 144 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 18 GPGSA GPS DOP and Active Satellites NMEA GPS receiver operating mode satellites used for navigation and DOP values This log will output null data in all fields until a valid almanac is obtained Structure Message ID 221 Log Type Synch Field Structure Field Description Symbol Example GPGSA Log header GPGSA 2 mode MA A Automatic 2D 3D M M M Manual forced to operate in 2D or 3D 3 mode 123 Mode 1 Fix not available 2 2D 3 3D x 3 4 15 prn PRN numbers of satellites used in solution null for xx xx 18 03 13 25 16 unused fields total of 12 fields 24 12 20 16 pdop Position dilution of precision X X 1 5 17 hdop Horizontal position and time dilution of precision X X 0 9 18 vdop Vertical dilution of precision X X 1 2 19 xx Checksum hh 3F 20 CR LF Sentence terminator CR LF Example SGPGSA M 3 24 13 05 22 06 30 10 17 1 6 1 2 1 3 3b Recommended Input log gpgsa ontime 1 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference
257. ng 163 of motion 175 over ground 174 referenced to True North 74 distance exceeded 124 straight line 163 track offset 95 dither 128 Doppler assign 39 41 instantaneous 178 jump 46 range record 181 satellite visibility 226 tracking status 230 velocity computation 175 drift 46 DYNAMICS 60 dynamics 24 66 85 E earth centered earth fixed ECEF 82 83 126 189 eccentricity 119 150 ECEF see earth centered earth fixed ECUTOFF 61 elevation 147 cut off 61 172 error 231 highest 89 mask 86 RTK 26 satellite visibility 226 set 24 tracking status 230 ellipsoid OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 customized 102 height 82 83 navigation 95 parameters 53 54 surface 95 undulation 24 99 environmental parameters 219 ephemeris decoded 108 delay 56 health 231 log 109 raw data 108 183 time status 19 errors averaged position 78 clock 46 62 128 extrapolation 159 161 flag 220 framing 171 in fixed coordinates 66 multipath 177 non volatile memory 77 parity 171 range reject codes 231 response messages 258 status 97 text description 225 tracking 177 trigger 220 event message 97 220 225 text description 225 trigger 220 type 225 expiry date 232 external oscillator 62 EXTERNALCLOCK 62 extrapolation error 159 161 F factory default datum 53 ephemeris delay 56 modify 90 reset 23 32 81 settings 34 49 field types 12 Index filter control 24 error 231 pse
258. ng the STATUSCONFIG command see Page 97 7 rxstat clear Receiver status event clear mask which can ULong 4 H 20 be set using the STATUSCONFIG command see Page 97 8 aux stat Auxiliary 1 status word see Table 71 on ULong 4 H 24 Page 224 220 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Binary Binary Bytes Offset 9 aux stat pri Auxiliary 1 status priority mask which can ULong 4 H 28 be set using the STATUSCONFIG command see Page 97 Field Field type Data Description Format 10 aux Istat set Auxiliary 1 status event set mask which can ULong 4 H 32 be set using the STATUSCONFIG command see Page 97 11 auxl1stat clear Auxiliary 1 status event clear mask which ULong 4 H 36 can be set using the STATUSCONFIG command see Page 97 12 aux2stat Auxiliary 2 status word see Table 72 on ULong 4 H 40 Page 224 13 aux2stat pri Auxiliary 2 status priority mask which can ULong 4 H 44 be set using the STATUSCONFIG command see Page 97 14 aux2stat set Auxiliary 2 status event set mask which can ULong 4 H 48 be set using the STATUSCONFIG command see Page 97 15 aux2stat clear Auxiliary 2 status event clear mask which ULong 4 H 52 can be set using the STATUSCONFIG command see Page 97 16 aux3stat Auxiliary 3 status word see Table 73 on ULong 4 H 56 Page 224 17 aux3stat pri Auxiliary 3 status priority mask which can ULong 4 H 60
259. nt clock drift change in m s bit for a 1 LSB Float 4 H 20 pulse width This value is set using the CLOCKCALIBRATE command 8 offset The last valid receiver clock offset computed m It is Double 8 H 24 the same as Field 18 of the CLOCKMODEL log see Page 128 9 driftrate The last valid receiver clock drift rate received m s It Double 8 H 32 is the same as Field 19 of the CLOCKMODEL log 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40 11 CR LF Sentence terminator ASCII only 130 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Recommended Input log clocksteering onchanged ASCII Example CLOCKSTEERINGA COM1 0 65 0 FINESTEERING 1058 272851 000 80000000 3a72 32800 INTERNAL FIRST_ORDER 4400 2135 294 0 03 2 0 2 092 1 03659974e 01 a2f 7b21b Table 42 Clock Source Binary ASCII Description 0 INTERNAL The receiver is currently steering its internal VCTCXO using an internal VARF signal 1 EXTERNAL The receiver is currently steering an external oscillator using the external VARF signal Table 43 Steering State Binary ASCII Description 0 FIRST_ORDER Upon startup the clock steering task will adjust the VARF pulse width to reduce the receiver clock drift rate to below 1 ms using a 1st order control loop This is the normal startup state of the clock steering loop 1 SECOND_ORDER Once the re
260. o the VALIDMODELS log on Page 232 Structure Message ID 37 Log Type Polled Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 comp Number of components cards etc Long 4 H 3 type Component type see Table 77 on Page 234 Enum 4 H 4 4 model Model Char 16 16 H 8 5 psn Product serial number Char 16 16 H 24 6 hw version Hardware version Char 16 16 H 40 7 sw version Firmware software version Char 16 16 H 56 8 boot Boot code version Char 16 16 H 72 version 9 comp date Firmware compile date Char 12 12 H 88 10 comp time Firmware compile time Char 12 12 H 100 11 Next component offset H 4 comp x 108 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 4 comp x 108 variable CR LF Sentence terminator ASCH only Recommended Input log versiona once ASCII Example VERSIONA COM1 0 60 5 FINESTEERING 1039 493600 153 00000028 bc7a 0 5 1 GPSCARD OEMART2 CPAQOS 10032 OEM4 3 Q0A Z22T 1 00085 1 000 2000 Mar 17 14 48 55 d5452b63 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 233 Chapter 3 Data Logs The field types and formats remain constant for all components However unique applications products may contain differences in the contents of the fields and their meanings Below is an example o
261. ocity at the PSRVEL time tag The velocity latency to be subtracted from the time tag will normally be 1 2 the time between filter updates Under default operation the position filter is updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of the 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 0 005 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 that the instantaneous Doppler measurement was used to calculate velocity Structure Message ID 243 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset header Log header H 0 2 P sol status Solution status see Table 40 Solution Status on Page Enum 4 H 124 3 pos type Position type see Table 39 Position or Velocity Type on Enum 4 H 4 Page 123 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 Yo Standard deviation of P Y m Float 4 H 36 9 P Z Standard deviation of P Z m Float 4 H 40 10 V sol status Solution status see Table 40 Solution Status on Page Enum 4 H 44 124 11 vel type Velo
262. ogs 3 4 79 TIMESYNC Synchronize Time Between GPS Receivers Chapter 3 The TIMESYNC log is used in conjunction with the ADJUSTIPPS command see Page 35 to synchronize the time between GPS receivers The time data embedded in this log represents the time of the most recent 1PPS signal This log should be issued from a communications port within 200 ms of the last 1PPS event See Figure 8 below for an illustration Refer also to the Transfer Time Between Receivers section in Volume 1 of this manual Structure Message ID 492 Log Type Synch gt Aare Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 week GPS week number Ulong 4 H 3 mseconds Number of milliseconds into the GPS week Ulong 4 H 4 4 time status GPS Time Status see Table 6 GPS Time Status Enum 4 H 8 on Page 20 5 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 12 6 CR LF Sentence terminator ASCII only TIMESYNC cs LI LU on Master connected to RS232 a ne COM input on Slave a Y y ES 1PPS on 4 Master TTL Y Y connected _ to MARKIN on Slave lt 200 ms 1PPS IN Recommended Input log timesync ontime 1 ASCII Example Figure 8 1PPS Alignment TIMESYNC Log TIMESYNCA COM1 0 65 0 FINESTEERING 1058 272851 000 80000000 3a72 32800 1058 272851000 FINESTEERING a2f 7b21b OEM4 GPSCard Firmware Version 1 400 Co
263. oi erate 44 26 7 CLOCKADJU Tec doo ent 46 2 6 8 CLOCKCALIBRATE cooooccccococcnononccconcnnonononcnncnnnnonnnnnncncnnn narran nc narra nannncnnnns 47 216 9 COM a aaraa Reaeietebsares tte vidoe aaa ae aaar aa aa a A audibly ep tapds 49 2 6 10 COMCONTROL 00 prta airt eenaa a oa R a aa Eaa Ea RER 51 26A CSMOO TH uti adan 52 PA ADVA AB A EE EEE T E EA OT 53 2 6 13 DGPSEPHEMDELAY DOP Sasna a ar a aaa 56 26014 DOGPSRXID i a a AT EA 57 2 6 15 DGPSTIMEOUT DGPS erare a aaea are E Naaa Paa aa ON 58 2 6 16 DGPSTXID DGPS e a a e a aia naaie 59 26 17 DYNAM O S aa e a a eaaa ae a aaa a aa aaa aa eis 60 260 II EGUTOFE Sat a a Aa aE A OE E 61 2 6 19 EXTERNALGLOGK ostia tan tite da 62 A Oe 65 2 6 21 FREQUENGYOUD periit na astra a a iea aaaea ai 67 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 A O ateshn Gert aes Abt teh 68 2 6 23 INTERFACEMODE DOP Siinne aaa aiia 69 2 06 24 LOCKOU E T A T 70 2 625 EDE we E OE AA A ENE 71 20 20 MAGVAR S en aa dae Ta a a aa a A E cc aorehees sees 74 2627 MODE Da a aaae a A aa aaa deed ee abate 76 26028 NV MRE STOR Era ea a aaa aa aca colo AAE EE AE EO 77 2 06 29 POSA VE r ida ricas 78 2 6 30 PSRDIFFSOURCE DGPS oncccicccccnoncccncnnncnnnnncncnncnnnnna conc nn naar rca 79 26 31 RESET ducado de 81 2 6 32 RTKBASELINE RT Kersnik retna apaia aaa aa a cnn rca 82 2 6 33 RTKCOMMAND RTK cccecceceeeeeeeeeeeeeeaeeeeeeeeseaeeeeaaeeseeaeeesaaetenness 84 2 6 34 RTKDYNAMICS RTKocnnncicincinnnc
264. ong H 48 15 Ulong 4 H 52 16 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 56 17 CR LF Sentence terminator ASCII only 168 Recommended Input log omnistata ontime 1 ASCII Example OMNISTATA COM1 0 64 0 FINESTEERING 1164 240276 647 00000000 a578 33477 1551488896 41 99 149 7 0 00 0082 0000 18742 33 0 0 0 0 0 0 634d507a OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Nibble NO Chapter 3 Table 51 OmniSTAR Signal Tracking Status Bit Mask 0x0001 0x0002 Description Tracking State Range Value 0 Searching 1 Pull in 2 Tracking 0x0004 0x0008 N1 0x0010 0x0020 0x0040 Reserved 0x0080 Phase Locked 0 Not Locked 1 Locked N2 0x0100 OLOlIAIL DI N R Wl NTR o 0x0200 0x0400 ple mn 0x0800 N3 N 0x1000 W 0x2000 A 0x4000 Reserved he wm 0x8000 Error 0 Good Error Table 52 VBS Status Word Nibble Bit Description Bit 0 0 0x0001 Subscription Expired True False NO 1 0x0002 Out of Region True False 2 0x0004 Wet Error True False 3 0x0008 Link Error True False 4 0x0010 No Remote Sites True False Ni 5 0x0020 No Almanac True False 6 0x0040 No Position True False 7 0x0080 No Time True Fals
265. ontime 10 ASCII Example CMRDATAREFA COM1 0 71 5 FINESTEERING 1117 163185 826 00100020 39f 0 399 2 0 147 25 3 0 1 FALSE FALSE 0 TRUE 0 216000 1 0 1634525357 6077523231506348 0 3664610762 4997825622558594 0 166397990 0 15 0 b43b033c Table 44 Position Accuracy Code Accuracy unknown 5 km 1 km 500 m 100 m 50m 10m 5m lm 50 cm 10 cm No ZI D A Bafuyu n O nilo Rio 5 cm Rh N lcm ja ios 5 mm TR 1 mm ji wm Exact 138 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 12 COMCONFIG Current COM Port Configuration This log will output the current COM port configuration for each port on your receiver Structure Message ID 317 Log Type Polled Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 port Number of ports with information to follow_ Long 4 H 3 port Serial port identifier see Table 13 Serial Enum 4 H 4 Port Identifiers on Page 50 4 baud Communication baud rate Ulong 4 H 8 5 parity See Table 14 Parity on Page 50 Enum 4 H 12 6 databits Number of data bits Ulong 4 H 16 7 stopbits Number of stop bits Ulong 4 H 20 8 handshake See Table 15 Handshaking on Page 50 Enum 4 H 24 9 echo When echo is on the port is transmitting
266. ontime 2 ASCII Example CMRDATAOBSA COM1 0 74 0 FINESTEERING 1117 162981 000 00100020 b222 399 2 0 147 93 3 0 0 10 21000 3 0 10 3 FALSE TRUE TRUE 8684073 505 10 1 TRUE TRUE TRUE TRUE TRUE 0 368 512 11 1 15 FALSE TRUE TRUE 11936394 129 11 1 TRUE TRUE TRUE TRUE TRUE 0 270 78 12 1 18 FALSE TRUE TRUE 5334926 186 11 1 TRUE TRUE TRUE TRUE TRUE 0 164 164 12 1 21 FALSE TRUE TRUE 10590427 770 10 1 TRUE TRUE TRUE TRUE TRUE 0 366 850 11 1 17 FALSE TRUE TRUE 3262859 32 11 1 TRUE TRUE TRUE TRUE TRUE 0 325 216 12 1 26 FALSE TRUE TRUE 211264 1213 10 1 TRUE TRUE TRUE TRUE TRUE 0 390 1069 10 1 23 FALSE TRUE TRUE 8098 209 11 1 TRUE TRUE TRUE TRUE TRUE 0 265 236 12 1 FA FA H G G G o w w w 28 FALSE TRUE TRUE 5090047 160 6 1 TRUE TRUE TRUE TRUE TRUE 0 535 227 9 1 31 FALSE TRUE TRUE 1857322 1027 7 1 TRUE TRUE TRUE TRUE TRUE 0 513 1063 8 1 9 FALSE TRUE TRUE 51623 1245 6 1 TRUE TRUE TRUE TRUE TRUE 0 599 1244 9 1 9fe706b0 136 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 11 CMRDATAREF Base Station Position RTK See the chapter on Message Formats in Volume 1 of this manual for information on CMR standard Chapter 3 Structure
267. or ASCII only Recommended Input log WAAS7 onchanged ASCII Example WAAS7A COM1 0 62 0 SATTIME 1093 161555 000 00040020 1706 209 122 1 3 0 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 902e0aea OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 245 Chapter 3 Data Logs 3 4 91 WAAS9 GEO Navigation Message SBAS 246 WAASO9 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 Structure Message ID 306 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 iodn Issue of GEO navigation data Ulong 4 H 4 4 to Time of applicability Ulong 4 H 8 5 ura URA value Ulong 4 H 12 6 X ECFF x coordinate Double 8 H 16 7 y ECEF y coordinate Double 8 H 24 8 Z ECFF z coordinate Double 8 H 32 9 xvel X rate of change Double 8 H
268. ormation on these commands OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 57 Chapter 2 Commands 2 6 15 DGPSTIMEOUT DGPS Abbreviated ASCII Syntax Message ID 127 DGPSTIMEOUT delay This command is used to set the maximum age of pseudorange differential data that will be used when operating as a rover station Pseudorange differential data received that is older than the specified time will be ignored RTK differential data is fixed at 60 seconds and cannot be changed See DGPSEPHEMDELAY on Page 56 to set the ephemeris changeover delay for base stations Binary Binary Binary Format Bytes Offset Field ASCII Binary Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCII or binary respectively 2 delay 2 to 1000 s Maximum pseudorange ULong 4 H differential age Description Field ASCII Example rover DGPSTIMEOUT 60 The RTCA Standard for SCAT I stipulates that the maximum age of differential correction messages cannot be greater than 22 seconds Therefore for RTCA rover users the recommended DGPS delay setting is 22 58 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 16 DGPSTXID DGPS Abbreviated ASCII Syntax Message ID 144 DGPSTXID type ID This command sets the station ID value for the rec
269. ory 68 port 23 49 139 receiver 81 105 218 220 reset 32 81 save 90 status masks 97 constellation 129 172 constraints 177 control automatic 98 channel 24 commands 23 filtering 106 receiver 23 105 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 261 Index 262 conventions 10 coordinated universal time UTC log 106 108 153 154 of position 141 142 146 offset 158 228 parameters 154 status 228 corrected mean motion 119 corrections accuracy 65 bias 66 magnetic 75 magnitude of 74 RTCA 69 RTK 89 correlator spacing 179 corrupt data 77 CPU 71 219 CRC see cyclic redundancy check cross track 148 162 163 CSMOOTH 52 customer service 10 cut off angle 61 86 172 231 cyclic redundancy check CRC 13 15 16 21 D data link 91 DATUM 52 datum 66 commands 24 52 56 66 current 95 customized 102 ID 122 157 159 165 173 214 transformation parameters 54 undulation 99 default command tables 11 factory 23 34 53 56 81 destination 95 163 de weighting 70 86 172 DGPS command 56 58 59 69 146 DGPSEPHEMDELAY 56 DGPSTIMEOUT 58 DGPSTXID 59 differential corrections accept 69 age 58 106 107 122 125 126 165 173 174 176 214 215 217 fix position 65 66 none available 231 outages 122 173 214 215 positioning 56 send 78 91 stations 66 79 88 108 231 transmit RTCA 56 dilution of precision DOP 106 109 141 142 145 172 direction beari
270. otes whether the observation is for L1 or L2 This is to aid in parsing the data Table 53 Channel Tracking Status Nibble Bit Mask Description Range Value 0 0x00000001 Tracking state 0 11 see Table 55 Tracking State NO 1 0x00000002 geese 2 0x00000004 3 0x00000008 4 0x00000010 Nl 5 0x00000020 SV channel number 0 n 0 first n last 6 0x00000040 n depends on GPSCard T 0x00000080 8 0x00000100 N2 9 0x00000200 0 0x00000400 Phase lock flag 0 Not locked 1 Locked 1 0x00000800 Parity known flag 0 Not known 1 Known 2 0x00001000 Code locked flag 0 Not locked 1 Locked N3 3 0x00002000 Correlator spacing 0 7 see Table 56 Correlator 4 0x00004000 Spacing on Page 179 5 0x00008000 6 0x00010000 Satellite system 0 GPS 1 3 7 Reserved N 7 0x00020000 P WARS 8 0x00040000 9 0x00080000 Reserved 20 0x00100000 Grouping 0 Not grouped 1 Grouped N5 21 0x00200000 Frequency 0 L1 1 L2 2 3 Reserved 22 0x00400000 23 0x00800000 Code type 0 C A 1 P 2 P codeless 24 0x01000000 3 7 Reserved N6 25 0x02000000 26 0x04000000 Forward Error Correction FEC 0 Not FEC 1 FEC 27 0x08000000 Primary L1 channel 0 Not primary 1 Primary 28 30 Reserved S 31 0x80000000 Channel assignment 0 Automatic 1 Forced a Grouped Channel has an associated channel L1 L2 pairs OEM4 GPSCard Firmware Version 1
271. pe Value Value La Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 dynamics See Table 18 Receiver dynamics based Enum 4 H on the user s Table 18 User Dynamics Binary ASCII Description 0 AIR Receiver is in an aircraft 1 LAND Receiver is in a 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 Example DYNAMICS FOOT OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 18 ECUTOFF This command sets the elevation cut off angle for tracked satellites The GPSCard will not start automatically searching for a satellite until it rises above the cut off angle Tracked satellites that fall below the cut off angle will no longer be tracked unless they were manually assigned see the ASSIGN command In either case satellites below the ECUTOFF angle will be eliminated from the internal position and clock offset solution computations This command permits a negative cut off angle it could be used in these situations the antenna is at a high altitude and thus can look below the local horizon satellites are visible below the horizon due to atmospheric refraction Abbreviated ASCII Syntax Message ID 50 ECUTOFF angle ASCII Binary Binary Binary Binary Description
272. r in Volume 1 of this manual for information on pass through logging See also the COMCONFIG log on Page 139 Abbreviated ASCII Syntax Message ID 3 INTERFACEMODE port rxtype txtype responses Field ASCII Binary Type Value Value Binary Binary Binary Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field Description 2 port See Table 13 Serial Port Serial port identifier Enum 4 H Identifiers on Page 50 default THISPORT 3 rxtype See Table 24 below Receive interface mode Enum 4 H 4 txtype Transmit interface mode Enum 4 H 8 5 responses OFF 0 Turn response generation off Enum 4 H 12 ON 1 Turn response generation on default ASCII Example INTERFACEMODE COM1 RTCA NOVATEL ON Table 24 Serial Port Interface Modes ASCII Mode Name Binary Value Description NONE 0 The port accepts generates nothing NOVATEL 1 The port accepts generates NovAtel commands and logs RTCM 2 The port accepts generates RTCM corrections RTCA 3 The port accepts generates RTCA corrections CMR 4 The port accepts generates CMR corrections OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 69 Chapter 2 Commands 2 6 24 LOCKOUT This command will prevent the GPSCard from using a satellite by de weighting its
273. range in the solution computations Note that the LOCKOUT command does not prevent the GPSCard from tracking an undesirable satellite This command must be repeated for each satellite to be locked out See also the UNLOCKOUT and UNLOCKOUTALL commands Abbreviated ASCII Syntax Message ID 137 LOCKOUT prn ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 prn 1 37 A single satellite PRN numberto Ulong 4 H be locked out Input Example LOCKOUT 8 70 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 25 LOG Many different types of data can be logged using several different methods of triggering the log events Every log element can be directed to any combination of the three COM ports and virtual ports which are described in Volume 1 of this manual The ONTIME trigger option requires the addition of the period parameter See Chapter 3 Data Logs on Page 104 for further information and a complete list of data log structures Table 25 shows the binary command format while Table 26 shows the ASCII command format The optional parameter hold will prevent a log from being removed when the UNLOGALL command is issued To remove a log which was invoked us
274. rately match GPS time If for some reason this is not desired this behavior can be disabled using the CLOCKADJUST command see Page 46 If the CLOCKADJUST command is ENABLED and the receiver is configured to use an external reference frequency set in the EXTERNALCLOCK command see Page 62 for an external clock TCXO OCXO RUBIDIUM CESIUM or USER then the clock steering process will take over the VARF output pins and may conflict with a previously entered FREQUENCYOUT command see Page 67 Structure Message ID 26 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 source Clock source see Table 42 Clock Source on Page 131 Enum 4 H 3 steeringstate Steering state see Table 43 Steering State on Page 131 Enum 4 H 4 4 period Period of the FREQUENCYOUT signal used to control Ulong 4 H 8 the oscillator refer to the FREQUENCYOUT command This value is set using the CLOCKCALIBRATE command 5 pulsewidth Current pulse width of the FREQUENCYOUT signal Ulong 4 H 12 The starting point for this value is set using the CLOCKCALIBRATE command The clock steering loop will continuously adjust this value in an attempt to drive the receiver clock offset and drift terms to zero 6 bandwidth The current band width of the clock steering tracking Float 4 H 16 loop in Hz This value is set using the CLOCKCALIBRATE command 7 slope The curre
275. rei5 Ulong 4 H 40 13 udrei Ulong 4 H 44 14 udrei7 Ulong 4 H 48 15 udrei8 Ulong 4 H 52 16 udrei9 Ulong 4 H 56 17 udreil0 Ulong 4 H 60 18 udreil 1 Ulong 4 H 64 19 udrei12 Ulong 4 H 68 20 udreil3 Ulong 4 H 72 21 udreil4 Ulong 4 H 76 22 udreil5 Ulong 4 H 80 23 udreil6 Ulong 4 H 84 24 udrei17 Ulong 4 H 88 25 udreil8 Ulong 4 H 92 26 udreil9 Ulong 4 H 96 27 udrei20 Ulong 4 H 100 28 udrei21 Ulong 4 H 104 29 udrei22 Ulong 4 H 108 30 udrei23 Ulong 4 H 112 31 udrei24 Ulong 4 H 116 32 udrei25 Ulong 4 H 120 33 udrei26 Ulong 4 H 124 242 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 34 udrei27 Ulong 4 H 128 35 udrei28 Ulong 4 H 132 36 udrei29 Ulong 4 H 136 37 udrei30 Ulong 4 H 140 38 udrei31 Ulong 4 H 144 39 udrei32 Ulong 4 H 148 40 udrei33 Ulong 4 H 152 41 udrei34 Ulong 4 H 156 42 udrei35 Ulong 4 H 160 43 udrei36 Ulong 4 H 164 44 udrei37 Ulong 4 H 168 45 udrei38 Ulong 4 H 172 46 udrei39 Ulong 4 H 176 47 udrei40 Ulong 4 H 180 48 udrei41 Ulong 4 H 184 49 udrei42 Ulong 4 H 188 50 udrei43 Ulong 4 H 192 51 udrei44 Ulong 4 H 196 52 udrei45 Ulong 4 H 200 53 udrei46 Ulong 4 H 204 54 udrei47 Ulong 4 H 208 55 udrei48 Ulong 4 H 212 56 udrei49 Ulong 4 H 216 58 udrei50 Ulong 4 H 220 58 udrei5 1 Invalid
276. reil AS Ulong 4 H 32 on Page 238 1 udrei2 ieee fo Pots a4 H 36 12 udrei3 Ulong 4 H 40 13 udrei4 Ulong 4 H 44 14 udrei5 Ulong 4 H 48 15 iodp Issue of PRN mask data Ulong 4 H 52 16 block id Associated message type Ulong 4 H 56 17 iodf Issue of fast corrections data Ulong 4 H 60 18 spare Spare value Ulong 4 H 64 19 vel Velocity code flag Ulong 4 H 68 20 mask1 Index into PRN mask Type 1 Ulong 4 H 72 21 iodel Issue of ephemeris data Ulong 4 H 76 22 dx1 Delta x ECEF Long 4 H 80 0 125 23 dyl Delta y ECEF Long 4 H 84 0 125 24 dzl Delta z ECEF Long 4 H 88 0 125 25 daf Delta af clock offset Long 4 H 92 2a 26 mask2 Second index into PRN mask Type 1 Ulong 4 H 96 27 iode2 Second issue of ephemeris data Ulong 4 H 100 28 ddx Delta delta x ECEF Long 4 H 104 911 29 ddy Delta delta y ECEF Long 4 H 108 911 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 251 Chapter 3 Data Logs 30 ddz Delta delta z ECEF Long 4 H 112 gil 31 daf Delta al clock offset Long 4 H 116 239 32 to Applicable time of day Ulong 4 H 120 16 33 iodp Issue of PRN mask data Ulong 4 H 124 34 corr spare Spare value when velocity code 0 Ulong 4 H 128 35 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 132 36 CR LF Sentence terminator ASCII only H 136 Recommended Input log WAAS24 onchanged ASCII Example WA
277. reserved under International copyright laws Printed in Canada on recycled paper Recyclable 9 2 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Table of Contents Proprietary Notice 2 Foreword 10 CongratulationS liviana AA 10 O A 10 PO TO QUISITOS cocida E 10 CONVENTIONS cia rta A a dead 10 What s New in Firmware Version 1 400 Since Version 1 200 0ococcccccnoccconcccccnns 11 1 Messages 12 1 1 Message TYPOS iii italia 12 Wad PASC a dai a 13 1 1 2 Abbreviated ASCI oococonicccnnncicnncconnccnnnnonccnnnrnnn no cc crac cnn crac 15 TRS BNU taa ida 15 1 22 Responses atacan i ais 18 113 GPS Time Status esai aea a eerie sae eae eats 19 1 4 Message Time Stamps ccccccccceeeceeeeeeceaeeeeeeeeecaeeeseeeeseaeeeseaeeseeeeeeenaaeeeenes 20 1 5 S2 Bit CRG trate ida 21 2 Commands 22 2 1 Command Formals nin el dase ede Gasca deca stan id a adi 22 2 2 Command SeN gS a aa aaraa Aaa a Aa aa a aat Saaka aai keie 22 23 Commands by Func veian deeieertiies 23 2 4 MiLLennium GPSCard Compatibility ooooooononncccnnnidinnnconncccnnncccnanccnnrrcnnanncn 33 2 9 Factory Default E E EN ES ARN 34 2 6 Command Reference oococconoccccoccccnnoncnonnccnonononnnnnccnn nn nan cr rra rra 35 261 ADJUSTIP PS court iaa 35 2 6 2 ANTENNAPOWER oocooccccccooncnonoccconononnnnnononnnnnnnnnnnnnnnn naar nn nnnnnnrn anna nnannccnns 38 20 ASIN di 39 2 6 4 ASSIGNA Ll ado ia 41 2 06 50 ASSIGNOMN liston 43 PAN AUT otra t
278. rrier phase 1 256 cycles Long 4 H 64 19 Next RTCM18 observation offset H 40 obs x 28 202 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 variable RTCM header RTCM message type Ulong 4 variable for RTCM19 Base station ID Ulong 4 Modified Z count where the Z count Ulong 4 week number is the week number from subframe 1 of the ephemeris Sequence number Ulong 4 Length of frame Ulong 4 Base station health Ulong 4 variable freq Frequency indicator where Ulong 4 variable 0 L1 2 L2 1 is reserved for future use smooth Smoothing interval see Table 61 Ulong 4 RTCM1819 Smoothing Interval on Page 205 GNSS time GNSS time of measurement Us Long obs Number of observations with Ulong information to follow variable multi bit Multiple message indicator Ulong 4 variable code Is code P Code Ulong 4 0 FALSE 1 TRUE sat type Satellite type Ulong 4 0 GPS 1 GLONASS prn Satellite PRN number Ulong 4 quality Data quality indicator see Table 60 Ulong 4 RTCM1819 Data Quality Indicator on Page 204 multipath Multipath indicator see Table 62 Ulong 4 RTCM1819 Multipath Indicator on Page 205 range Pseudorange 2 100 m Ulong Ulong variable Next RTCM19 observation offset variable variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF
279. rted receiver times are subject to a qualifying time status This status gives you an indication of how well a time is known see Table 6 Table 6 GPS Time Status GPS Time Status GPS Time Status Description Decimal ASCIl 20 UNKNOWN Time validity is unknown 60 APPROXIMATE Time is set approximately 80 COARSEADJUSTING Time is approaching coarse precision 100 COARSE This time is valid to coarse precision 120 COARSESTEERING Time is coarse set and is being steered 130 FREEWHEELING Position is lost and the range bias cannot be calculated 140 FINEADJUSTING Time is adjusting to fine precision 160 FINE Time has fine precision 180 FINESTEERING Time is fine set and is being steered 200 SATTIME Time from satellite This is only used in logs containing satellite data such as ephemeris and almanac a See also Section 1 4 Message Time Stamps on Page 20 There are several distinct states that the card will go through e UNKNOWN COARSE e FREEWHEELING FINE FINESTEERING On start up and before any satellites are being tracked the receiver can not possibly know the current time As such the receiver time starts counting at GPS week 0 and second 0 0 The time status flag is set to UNKNOWN If time is input to the receiver using the SETAPPROXTIME command see Page 94 or on receipt of an RTCAEPHEM message see Page 150 the time status will be APPROXIMATE After th
280. rts are unaffected If port is not specified this command defaults to the ALLPORTS setting Abbreviated ASCII Syntax Message ID 38 UNLOGALL port Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 header This field contains the command name or H 0 the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 5 Serial Port Port to clear Enum 4 H Identifiers on Page 18 default ALLPORTS 3 Reserved binary value always 0 Enum 4 H 4 Input Example unlogall com2_15 lt This command does not disable logs that have the HOLD attribute see description for LOG command To disable logs with the HOLD attribute use the UNLOG command OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 101 Chapter 2 Commands 2 6 54 USERDATUM This command permits entry of customized ellipsoidal datum parameters This command is used in conjunction with the DATUM command The default setting is WGS84 Abbreviated ASCII Syntax Message ID 78 USERDATUM semimajor flattening dx dy dz rx ry rz scale Field ASCII Binary ae Binary Field type Value Value Description Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH
281. s 3 4 62 RTCMDATA15 lonospheric Corrections DGPS See the chapter on Message Formats in Volume 1 of this manual for information on RTCM standard logs Structure Message ID 397 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 prn Number of PRNs with information to Ulong 4 H 24 follow 9 Reserved Ulong 4 H 28 10 sat type Satellite type where Ulong 4 H 32 0 GPS 1 GLONASS 11 prn Satellite PRN number Ulong 4 H 36 12 ion delay Ionospheric delay cm Ulong 4 H 40 13 ion rate lonospheric rate 0 05 cm min Long 4 H 44 14 Next PRN offset H 28 prns x 20 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only Recommended Input log rtemdatal5a ontime 10 ASCII Example FRICMDATA15A COM1 0 74 5 FINESTEERING 1117 160783 000 00100020 9601 399 15 0 3971 7799968 5163500 6 10 0 0 3 1631 445 0 0 15 1423 222 0 0 18 1275 334 0 0 21 1763 334 0 0 17 1454 556 0 0 6 ee 0 0 0 579 222
282. s generated at irregular intervals If asynchronous logs were collected on a regular schedule they would not output the most current data as soon as it was available The data in polled logs is generated on demand An example would be RXCONFIG It would be polled because it changes only when commanded to do so Therefore it would not make sense to log this kind of data ONCHANGED or ONNEW The OEM4 family of receivers can handle 20 logs at a time If you attempt to log more than 20 logs at a time the receiver will respond with an Insufficient Resources error The following table outlines the log types and the valid triggers to use Table 33 Log Type Triggers Type Recommended Trigger Illegal Trigger Synch ONTIME ONNEW ONCHANGED Asynch ONCHANGED Polled ONTIME ONNEW ONCHANGED OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 104 Data Logs Chapter 3 3 2 Logs By Function Table 34 lists the logs by function while Table 35 on Page 110 is an alphabetical listing of logs repeated in Table 36 on Page 114 with the logs in the order of their message IDs Table 34 Logs By Function Table GENERAL RECEIVER CONTROL AND STATUS Descriptions COMCONFIG Current COM port configuration Polled LOGLIST List of system logs Polled PASSCOM1 Pass through log also PASSCOM2 and PASSCOM3 Asynch PORTSTATS COM port statistics Polled RXCONFIG Receiver configuratio
283. s stored ephemeris 5 MODEL Resets the currently selected model 68 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 23 INTERFACEMODE DGPS This command allows the user to specify what type of data a particular port on the GPSCard can transmit and receive The receive type tells the receiver what type of data to accept on the specified port The transmit type tells the receiver what kind of data it can generate For example you would set the receive type on a port to RTCA in order to accept RTCA differential corrections It is also possible to disable or enable the generation or transmission of command responses for a particular port Disabling of responses is important for applications where data is required in a specific form and the introduction of extra bytes may cause problems for example RTCA RTCM or CMR Disabling a port prompt is also useful when the port is connected to a modem or other device that will respond with data the receiver does not recognize When INTERFACEMODE port NONE NONE OFF is set the specified port will be disabled from interpreting any input or output data Therefore no commands or differential corrections will be decoded by the specified port Data can be passed through the disabled port and be output from an alternative port using the pass through logs PASSCOM1 PASSCOM2 and PASSCOM3 See Page 170 for details on the PASSCOM logs and the Operation chapte
284. scription Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type USE_DEFAULTS 0 Reset to defaults Enum 4 H RESET 1 Reset RTK algorithm ASCII Example RTKCOMMAND USE_DEFAULTS OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 2 6 34 RTKDYNAMICS RTK This command provides the ability to specify how the GPSCard looks at the data There are three modes STATIC DYNAMIC and AUTO The STATIC mode forces the RTK software to treat the rover station as though it were stationary regardless of the output of the motion detector For reliable performance the antenna should not move more than 1 2 cm when in static mode DYNAMIC forces the software to treat the receiver as though it were in motion If the receiver is undergoing very slow steady motion lt 2 5 cm sec for more than 5 seconds you should use DYNAMIC mode as opposed to AUTO to prevent inaccurate results and possible resets On startup the GPSCard defaults to the DYNAMIC setting Abbreviated ASCII Syntax Message ID 183 RTKDYNAMICS mode Field ASCII Binary Binary Binary noe Type Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively
285. sign all satellite channelsto assignall system state prn Doppler aPRN window ASSIGNOMNI 467 Set OmniSTAR satellite assignomni mode freq baud communication parameters AUTH 49 Add authorization code for auth state part1 part2 part3 part4 part5 new model model date CLOCKADJUST 15 Enable clock adjustments clockadjust switch CLOCKCALIBRATE 430 Adjust the control parameters clockcalibrate mode period width of the clock steering loop slope bandwidth COMCONTROL 431 Control the hardware comcontrol port signal control control lines of the RS232 ports COM 4 COM port configuration com port bps parity databits control stopbits handshake echo break CSMOOTH 269 Set carrier smoothing csmooth Ll time L2time DATUM 160 Choose a DATUM name type datum datum DGPSEPHEMDELAY 142 DGPS ephemeris delay dgpsephemdelay delay DGPSTIMEOUT 127 Set maximum age of dgpstimeout delay differential data accepted DGPSTXID 144 DGPS transmit ID dgpstxid type ID DYNAMICS 258 Tune receiver parameters dynamics dynamics ECUTOFF 50 Set satellite elevation cut off ecutoff angle EXTERNALCLOCK 230 Set external clock parameters externalclock clocktype freq h0 h1 h2 FIX 44 Constrain to fixed height fix type param1 param2 param3 position or velocity FREQUENCYOUT 232 Sets the output pulse train frequencyout switch pulsewidth available on VARF period OEM4 GPSCard Firmware Version 1 400 Command and Log
286. sk data Ulong 4 H 64 19 corr spare Spare value when velocity code Ulong 4 H 68 0 20 Next 1st H 8 1 st x 64 variable 2nd Number of second half with Ulong 4 H 8 information to follow 1st x 64 variable vel Velocity code flag Ulong 4 H 12 1st x 64 variable mask1 Index into PRN mask Type 1 Ulong 4 H 16 1st x 64 variable odel Issue of ephemeris data Ulong 4 H 20 1st x 64 variable dx1 Delta x ECEF Long 4 H 24 0 125 1st x 64 variable dyl Delta y ECEF Long 4 H 28 0 125 1st x 64 variable dzl Delta z ECEF Long 4 H 32 0 125 1st x 64 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Chapter 3 Data Logs variable f0 Delta a clock offset Long 4 H 36 gal 1st x 64 variable mask2 Second index into PRN mask Ulong 4 H 40 Type 1 1st x 64 variable iode2 Second issue of ephemeris data Ulong 4 H 44 1st x 64 variable ddx Delta delta x ECEF Long 4 H 48 9 11 1st x 64 variable ddy Delta delta y ECEF Long 4 H 52 9711 1st x 64 variable ddz Delta delta z ECEF Long 4 H 56 gll 1st x 64 variable fl Delta af clock offset Long 4 H 60 7 32 1st x 64 variable tg Applicable time of day Ulong 4 H 64 16 1st x 64 variable iodp Issue of PRN mask data Ulong 4 H 68 1st x 64 variable corr spare Spare value when v
287. st periodically to alert you of their existence location the general service provides status and health Structure Message ID 294 Log Type Asynch Chapter 3 Field Field type Data Description Format e e pita Scaling 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 ents Number of almanac entries with Ulong 4 H 4 information to follow 4 data id Data ID type Ushort 2 H 8 5 entry prn PRN for this entry Ushort 2 H 10 6 health Health bits Ushort ya H 12 1 x ECEF x coordinate Long 4 H 16 8 y ECEF y coordinate Long 4 H 20 9 Z ECFF z coordinate Long 4 H 24 10 x vel X rate of change Long 4 H 28 11 y vel Y rate of change Long 4 H 32 12 z vel Z rate of change Long 4 H 36 13 Next entry H 8 ents x 32 variable t0 Time of day in seconds 0 to 86336 Ulong 4 H 8 64 ents x 32 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 12 ents x 32 variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding is added to maintain 4 byte alignment Recommended Input log WAAS17 onchanged ASCII Example WAAS17A COM1 0 61 0 SATTIME 1093 161820 000 00040020 5 116 209 122 3 0 134 0 42127800 15 18400 52000 0 0 0 0 122 0 24793600 34096400 52000 0 0 0 0 0 0 0 0 0 0 0 0 c040d1f4 OEMA GPSCard Firmware Version 1 400 Command and Log
288. 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 GPSCard to send differential corrections Figure 3 Using the SEND Command RTCAOBS data log __ er comt log com 1 Mteaops onume 5 COM 1 a 7 2 COM 2 interfacemode com1 rtca none send com1 log com1 rtcaobs ontime 5 2 cm gl Host PC Rover Base station is commanding Rover station to send RTCAOBS log Host PC Base Operational with position fixed OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 91 Chapter 2 Commands 2 6 41 SENDHEX This command is like the SEND command except that it is used to send non printable characters expressed as hexadecimal pairs Carriage return and line feed characters e g hex 0D OA will not be appended to the sent data and so must be explicitly added to the data if needed Abbreviated ASCII Syntax Message ID 178 SENDHEX port length data Field ASCII Binary Be i Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 5 Serial Port Output port Enum 4 H Identifiers on Page 18 3 length 0 700 Number of hex pairs ULong 4 H 4 message
289. t COM port virtual port 0 THISPORT_31 223 Current COM port virtual port 31 valid for the UNLOGALL command see Page 101 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 COM1_ALL COM2_ALL COM3_ALL THISPORT_ALL and ALL_PORTS are only 17 Chapter 1 Messages 1 2 Responses 18 By default if you input a message you will get back a response If desired the INTERFACEMODE command can be used to disable response messages see Page 69 The response will be in the exact format that you entered the message i e binary input binary response Abbreviated Response Just the leading lt followed by the response string e g lt OK 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 e g BESTPOSR COM1 0 67 0 FINE 1028 422060 400 00000000 a3 1b 0 OK b867caad Binary Response Similar to an ASCII response except that it follows the binary protocols e Binary header with message type set to response value 0x80 see Field 6 in Table 4 Binary Message Header Structure on Page 16 e ENUM response ID see Table 80 Response Messages on Page 258 e Binary response string to match the ENUM response ID above OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Messages Chapter 1 1 3 GPS Time Status All repo
290. t null data in all fields until a valid almanac is obtained Structure Message ID 225 Log Type Synch Field Structure Field Description Symbol Example 1 GPRMC Log header GPRMC 2 utc UTC of position hhmmss ss 220216 50 3 pos status Position status A data valid A A V data invalid 4 lat Latitude DDmm mm 1111 11 5106 7187663 5 lat dir Latitude direction N North S South a N 6 lon Longitude DDDmm mm yyyyy yy 11402 3581636 7 lon dir Longitude direction E East W West a W 8 speed Kn Speed over ground knots X X 0 3886308 9 track true Track made good degrees True X X 130 632 10 date Date dd mm yy XXXXXX 150792 Il AEN Magnetic variation degrees ios 9 900 12 var dir Magnetic variation direction E W a E 13 xx Checksum hh 4B 14 CR LF Sentence terminator CR LF 1 Easterly variation E subtracts from True course Westerly variation W adds to True course 2 Note that this field is the actual magnetic variation East or West and is the inverse sign of the value entered into the MAGVAR command see Page 74 for more information Example SGPRMC 144756 00 A 5106 9821384 N 11402 2962485 W 0 023 309 6 040800 0 0 E 41 Recommended Input log gprmc ontime 1 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 149 Chapter 3 Data Logs 3 4 23 GPSEPHEM Decoded GPS Ephemerides A single set of GPS ephemeris parameters Structure
291. t order term Double 8 H 80 14 wn Isf Future week number Ulong 4 H 88 15 dn Day number Ulong 4 H 92 16 deltat Is Delta time due to leap seconds Long 4 H 96 17 deltat Isf Future delta time due to leap seconds Long 4 H 100 18 Reserved Ulong 4 H 104 19 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 108 20 CR LF Sentence terminator ASCII only Recommended Input log ionutca onchanged ASCII Example IONUTCA COM1 0 56 0 FINESTEERING 1048 496800 089 00000128 3d19 0 2 7939677238464355e 08 1 4901161193847654e 08 1 1920928955078123e 07 5 9604644775390616e 08 1 4131200000000000e 05 8 1920000000000000e 04 6 5536000000000000e 04 4 5875200000000000e 05 1049 61440 7 450580596923828e 09 0 000000000 990 5 13 13 0 3b80134b 154 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 27 LOGLIST List of System Logs Chapter 3 Outputs a list of log entries in the system Table 47 is a table of the binary output while Table 48 shows the ASCII output See also the RXCONFIG log on Page 218 for a list of current command settings Structure Message ID 5 Log Type Polled Table 47 LOGLIST Binary Format Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 logs Number of messages to follow maximum 20 Long 4 H 3 port Output port see Table
292. t the clock steering control process will conflict with the manual FREQUENCYOUT command see Page 67 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 To disable the clock steering process issue the CLOCKADJUST DISABLE command The current values used by the clock steering process are listed in the CLOCKSTEERING log see Page 130 Abbreviated ASCII Syntax CLOCKCALIBRATE mode period width slope bandwidth Field Field 1 Type header ASCII Value Binary Value Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCH or binary respectively Message ID 430 Binary Binary Binary Offset Format Bytes H 0 mode SET Sets the period pulsewidth slope and bandwidth values into NVM for the currently selected steered oscillator INTERNAL or EXTERNAL AUTO Forces the receiver to do a clock steering calibration to measure the slope change in clock drift rate with a 1 bit change in pulse width and required pulsewidth to zero the clock drift rate After the calibration these values along with the period and bandwidth are entered into NVM and will then be used from this point forward on the selected oscillator OFF Terminates a calibration process currently underway Enum period
293. ta This log contains the undecoded almanac subframes as received from the satellite For more information on Almanac data refer to the GPS SPS Signal Specification see the appendix on Standards and References in Volume 1 of this manual The OEM4 family of receivers will automatically save almanacs in their non volatile memory NVM therefore creating an almanac boot file would not be necessary Structure Message ID 74 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 ref week Almanac reference week number Ulong 4 H 3 ref secs Almanac reference time seconds Ulong 4 H 4 4 subframes Number of subframes to follow Ulong 4 H 8 5 prn Satellite PRN number UShort 2 H 12 6 data Subframe page data Hex 30 H 14 EN Next subframe offset H 12 subframe x 32 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 12 en variable CR LF Sentence terminator ASCII only Recommended Input log rawalma onchanged ASCII Example RAWALMA COM1 0 80 5 SATTIME 1156 411744 000 00000000 076b 614 1156 589824 000 42 1 8b021085ccb6412b 2901073 d4400a10d01caeScdbabbfc5 960a1c003c 25 8b021085ceb2594 3490Fdd0 d4 00a10c9d 1e5a3b369ea7d0e52030007 2 8b021085c 3742b6 790f9affd3500a0ffallbfe77afd32a2922bceaffd2 26 8b021085d1325a6e04901248 d4600a10c58ca3 290d1263a4af1f 4f 87 23 8b02108603b
294. tains the low latency RTK velocity when it is valid and superior to the pseudorange based position Otherwise it will contain the pseudorange based position In the PSRVEL log the actual speed and direction of the GPSCard antenna over ground is provided The GPSCard does not determine the direction a vessel craft or vehicle is pointed heading but rather the direction of motion of the GPS antenna relative to ground OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 107 Chapter 3 Data Logs DIFFERENTIAL BASE STATION Descriptions ALMANAC Current almanac information Asynch RANGE Satellite range information Synch OMNIINFO OmniSTAR configuration information Synch OMNISTAT OmniSTAR status information Synch RAWOMNIFRAME Raw OmniSTAR frame data Asynch RAWOMNIPACKET Raw OmniSTAR data packet Asynch DIFFERENTIAL ROVER STATION Descriptions BESTPOS Best position data Synch BESTVEL Velocity data Synch GPGGA NMEA position fix data Synch MATCHEDPOS Computed Position Time Matched Asynch OMNIHPPOS OmniSTAR HP position data Synch REFSTATION Base station position and health Asynch RTKDATA RTK related data such as baselines and satellite counts Asynch PSRPOS Pseudorange position Synch PSRVEL Pseudorange velocity Synch RTKPOS RTK low latency position Synch POST PROCESSING DATA Descriptions GPSEPHEM Decoded
295. tamp in their header GPS time is referenced to UTC with zero point defined as midnight on the night of January 5 1980 The time stamp consists of the number of weeks since that zero point and the number of seconds since the last week number change 0 to 603 799 GPS time differs from UTC time since leap seconds are occasionally inserted into UTC but GPS time is continuous In addition a small error less than 1 microsecond can exist in synchronization between UTC and GPS time The OEM4 TIME log reports both GPS and UTC time and the offset between the two The data in synchronous logs e g RANGE BESTPOS TIME are based on a periodic measurement of satellite pseudoranges The time stamp on these logs is the receiver estimate of GPS time at the time of the measurement When setting time in external equipment a small synchronous log with a high baud rate will be accurate to a fraction of a second A synchronous log with trigger ONTIME 1 can be used in conjunction with the 1PPS signal to provide relative accuracy better than 250 ns Other log types asynchronous and polled are triggered by an external event and the time in the header may not be synchronized to the current GPS time Logs that contain satellite broadcast data e g ALMANAC GPSEPHEM have the transmit time of their last subframe in the header In the header of differential time matched logs e g MATCHEDPOS is the time of the matched reference and local observation that they are based on
296. tatus on Enum 4 H Page 124 3 pos type Position type see Table 39 Position or Velocity Enum 4 H 4 Type on Page 123 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation Float 4 H 32 8 datum id Datum ID number see Chapter 2 Table 17 Enum 4 H 36 Datum Transformation Parameters on Page 54 9 lat o Latitude standard deviation Float 4 H 40 10 lon Longitude standard deviation Float 4 H 44 11 het o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff_age Differential age Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 FGPSLI Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask Uchar 1 H 66 angle 18 L2 Number of GPS L2 ranges above the RTK mask Uchar 1 H 67 angle 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only Recommended Input log markposa onmark Example MARKPOSA COM1 0 63 0 COARSE 1027 322788 595 00000000 6221 0 SOL_COMPUTED WIDELANE 51 11227014 114 03907552 1003 799 16 199 61 7 793 3 223 34 509 0 0 60 000 8 4 4 4 0 0 0 0 0 1 5603d9f8 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 157 Chapter 3 3 4 29 MAR
297. te visibility 72 PORTSTATS COM port statistics 73 ALMANAC Current almanac information 74 RAWALM Raw almanac 83 TRACKSTAT Satellite tracking status 93 RXSTATUS Self test status 94 RXSTATUSEVENT Status event indicator 96 MATCHEDPOS RTK Computed Position Time Matched 99 BESTVEL Velocity data 100 PSRVEL Pseudorange velocity information 101 TIME Receiver time information 128 RXCONFIG Receiver configuration status 140 RANGECMP Compressed version of the RANGE log 141 RTKPOS RTK low latency position data 161 NAVIGATE Navigation waypoint status 172 AVEPOS Position averaging 174 PSRDOP DOP of SVs currently tracking 175 REFSTATION Base station position and health 181 MARKPOS Position at time of markin event 195 RXHWLEVELS Receiver hardware levels 206 VALIDMODELS Model and expiry date information for receiver 215 RTKDATA RTK specific information OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 NovAtel Format Logs Message ID Datatype Description 216 RTKVEL RTK velocity 231 MARKTIME Time of markin event 233 PASSCOM1 PASSCOM2 Pass through logs PASSCOM3 241 BESTXYZ Cartesian coordinate position data 242 MATCHEDXYZ RTK Time Matched cartesian coordinate position data 243 PSRXYZ Pseudorange cartesian coordinate position information 244 RTKXYZ RTK cartesian coordinate position data 270 SA
298. temperature OK Error 10 0x00000400 MINOS4 status OK Error 11 0x00000800 PLL RFl hardware status L1 OK Error N3 12 0x00001000 PLL RF2 hardware status L2 OK Error 13 0x00002000 RFI hardware status L1 OK Error 14 0x00004000 RF2 hardware status L2 OK Error 15 0x00008000 NVM status OK Error N4 16 0x00010000 Reserved OK Error 17 0x00020000 OK Error 18 0x00040000 OK Error 19 0x00080000 OK Error 222 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Table 70 Receiver Status Nibble Bit ETL Description Bit 0 Bit 1 0 0x00000001 Error Occurred see Table 69 No Error Error Receiver Error on Page 222 NO 1 0x00000002 Temperature Within Specifications Warning 2 0x00000004 Voltage Supply Status Good Warning 3 0x00000008 Antenna Not Powered see Powered Not Powered ANTENNAPOWER on Page 38 4 0x00000010 LNA Status Failed OK Fail Ni 5 0x00000020 Antenna Open Good Open 6 0x00000040 Antenna Shorted Good Shorted 7 0x00000080 CPU Overload No Overload Overload 8 0x00000100 COM1 Buffer Overrun Good Overrun 9 0x00000200 COM2 Buffer Overrun Good Overrun Na 10 0x00000400 COM3 Buffer Overrun Good Overrun 11 0x00000800 Reserved 12 0x00001000 13 0x00002000 N3 14 0x00004000 RFI Jammed Good Jammed 15 0x00008000 RF1 AGC Bad Good Bad 16 0x00010000
299. tesian coordinate position data NAVIGATE 161 Navigation waypoint status OMNIHPPOS 495 OmniSTAR HP position data OMNIINFO 509 OmniSTAR configuration information OMNISTAT 510 OmniSTAR status information PASSCOM1 PASSCOM2 233 234 235 Pass through logs PASSCOM3 PORTSTATS 12 COM port statistics PSRDOP 174 DOP of SVs currently tracking PSRPOS 47 Pseudorange position information PSRVEL 100 Pseudorange velocity information PSRXYZ 243 Pseudorange cartesian coordinate position information RANGE 43 Satellite range information RANGECMP 140 Compressed version of the RANGE log RAWALM 74 Raw almanac RAWEPHEM 41 Raw ephemeris OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 NovAtel Format Logs Datatype NESST Description RAWGPSSUBFRAME 25 Raw subframe data RAWGPSWORD 407 Raw navigation word RAWOMNIFRAME 441 Raw OmniSTAR frame data RAWOMNIPACKET 457 Raw OmniSTAR data packet RAWWAASFRAME 287 Raw SBAS frame data REFSTATION 175 Base station position and health RTCADATA1 392 Type 1 Differential GPS Corrections RTCADATAEPHEM 393 Type 7 Ephemeris and Time Information RTCADATAOBS 394 Type 7 Base Station Observations RTCADATAREF 395 Type 7 Base Station Parameters RTCMDATA1 396 Type 1 Differential GPS Corrections RTCMDATA3 402 Type 3 Base Station Parameters RTCMDATA9 404 Type 9 Partial Differentia
300. the filter by requesting the BESTVEL PSRVEL BESTPOS or PSRPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce 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 that the instantaneous Doppler measurement was used to calculate velocity Structure Message ID 100 Log Type Synch Field Field ra Binary Binary Data Description Form type ala Descriptio ormat Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 40 Solution Status on Page 124 Enum 4 H 3 vel type Velocity type see Table 39 Position or Velocity Type on Page Enum 4 H 4 123 4 latency A measure of the latency in the velocity time tag in seconds It Float 4 H 8 should be subtracted from the time to give improved results 5 age Differential age Float 4 H 12 6 hor spd Horizontal speed over ground in meters per second Double 8 H 16 7 trk gnd Actual direction of motion over ground track over ground with Double 8 H 24 respect to True North in degrees 8 vert spd Vertical speed in meters per second where positive values Double 8 H 32 indicate increasing altitude up and negative values indicate decreasing altitude down 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
301. tic variation by MAGVAR command Double H 24 along track Horizontal track distance from the current position to the closest point on the waypoint arrival perpendicular expressed in meters This value is positive when approaching the waypoint and becomes negative on passing the waypoint Double H 32 xtrack The horizontal distance perpendicular track error from the vessel s present position to the closest point on the great circle line that joins the FROM and TO waypoints If a track offset has been entered in the SETNAV command xtrack will be the perpendicular error from the offset track Xtrack is expressed in meters Positive values indicate the current position is right of the Track while negative offset values indicate left Double H 40 10 eta week Estimated GPS week number at time of arrival at the TO waypoint along track arrival perpendicular based on current position and speed in units of GPS weeks If the receiving antenna is moving at a speed of less than 0 1 m sec in the direction of the destination the value in this field will be 9999 Ulong H 48 11 eta secs Estimated GPS seconds into week at time of arrival at destination waypoint along track arrival perpendicular based on current position and speed in units of GPS seconds into the week If the receiving antenna is moving at a speed of less than 0 1 m sec in the direction of the destination the value in this f
302. tion 122 data link 159 161 position 106 216 velocity 107 126 175 176 216 217 latitude longitude approximate 93 fix data 141 142 GPS specific 149 position 122 143 157 159 165 173 214 RTK baseline 83 set navigation waypoints 95 sign 82 link data 91 indicators 171 LNA see low noise amplifier local horizon 61 lock command 70 loss of 66 out 172 231 reinstate 100 time 230 LOCKOUT 70 LOG 71 log list 155 triggers 104 types 104 LOGLIST 155 low noise amplifier LNA 23 38 219 LSB 13 M magnetic variation 25 74 75 149 163 MAGVAR 74 mark in event 106 input pulse 157 158 MARKPOS 157 MARKTIME 158 mask angle 24 86 126 161 priority 97 220 221 RTK 25 26 matched update 212 MATCHEDPOS 159 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 matrix 128 mean sea level fix 66 141 142 position 122 157 159 165 173 214 RTK baseline 82 83 memory buffer space 71 non volatile 32 68 90 119 182 message almanac 119 ascii 13 base station 189 formats 12 15 21 ID 101 155 156 length 96 navigation 95 responses 18 send 91 trigger 72 73 MiLLennium commands 33 mode 2 D 145 3 D 145 dynamics 85 interface 69 operating 145 RTK 82 122 static 85 MODEL 76 model AUTH command 76 authorization 23 44 45 card 76 clock 128 129 158 expiry date 105 232 ionospheric 154 log 106 lost 77 switch 76 version 232 233 modem 170 month 228 234 motion detector 85
303. ubscrip OmnSTAR VBS subscription type see Table 50 on Page 167 Enum 4 H 16 8 exp week GPS week number of OmniSTAR VBS expiration date Ulong 4 H 20 9 exp secs Number of seconds into the GPS week of OmniSTAR VBS Ulong 4 H 24 expiration date 10 Reserved Enum 4 H 28 11 Ulong 4 H 32 12 Ulong 4 H 36 13 Ulong H 40 14 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 15 CR LF Sentence terminator ASCII only a If the subscription type is COUNTDOWN see Field 7 above the expiration week and expiration seconds into the GPS week will contain the amount of VBS running time remaining in the subscription If the subscription type is COUNTDOWNOVERRUN the expiration week and expiration seconds into GPS week will count the amount of the overrun time 166 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 Table 50 OmniSTAR Subscription Type Binary ASCII Description 0 EXPIRED The OmniSTAR VBS subscription has expired or does not exist 1 FIXEDTIME The OmniSTAR VBS subscription will expire at a fixed date and time 2 COUNTDOWN The OmniSTAR VBS subscription will expire after the specified amount of running time 3 COUNTDOWNOVERRUN The COUNTDOWN subscription has expired but has entered a brief grace period Resubscribe immediately Recommended Input log omniinfoa ontime 1 ASCII Example OMNIINFOA COM1 0 64 5 FINES
304. udorange 230 RTK 24 84 solution logs 106 filter update 175 216 fine time 19 FIX 65 fix command 65 66 data 141 142 first 147 position 143 save settings 90 types 66 fixed solution 24 26 84 flags antenna 38 error 220 parity 177 status 173 220 float solution 24 26 84 formats 13 15 21 framing errors 171 FREQUENCYOUT 67 FRESET 68 G geodetic datum see datum geoid 24 66 99 121 141 142 GPGGA 142 GPGGARTK 141 GPGLL 143 GPGRS 144 GPGSA 145 GPGST 146 GPGSV 147 GPRMB 148 GPRMC 149 GPS overview 19 GPSEPHEM 150 GPSolution software 90 GPVTG 152 GPZDA 153 great circle line 95 163 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 263 Index H hardware parameters 219 reset 23 81 version 105 233 HDOP see dilution of precision header ascii 13 14 18 binary 12 16 18 convention 11 log 177 health almanac 140 base station 108 189 satellite 226 231 status 150 SV 119 height approximate 93 baseline 83 calculation 66 ellipsoidal 83 fix 24 65 66 limit 124 mean sea level 82 83 position 121 122 157 159 165 173 214 hexadecimal 11 13 16 92 97 hold 71 73 155 156 horizon cut off angle 61 I identifier ascii messages 13 serial port 17 69 139 171 inclination angle 119 initialization 82 interface 23 25 26 69 INTERFACEMODE 69 interrupt 171 ionospheric log 154 IONUTC 154 L lane combinations 212 latched time 157 latency best posi
305. uency noise characteristics of oscillators hz h de ae A oth f h gt f where fis the sampling frequency and S f is the clock s power spectrum Typically only ho h and h affect the clock s Allan variance and the clock model s process noise elements OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 Usage Before using an optional external oscillator several clock model parameters must be set There are default settings for a voltage controlled temperature compensated crystal oscillator VCTCXO ovenized crystal oscillator OCXO Rubidium and Cesium standard or the user may choose to supply customized settings Abbreviated ASCII Syntax Message ID 230 EXTERNALCLOCK clocktype freq h0 h1 h2 Field ASCII Binary Binary Binary Binary Fiela Type Value Value Pesenpron Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 clocktype See Table 19 on Clock type Enum 4 H Page 64 3 freq S5MHz 0 Frequency Enum 4 H 4 10MHz 1 4 h0 See Table 20 on Timing standards Double 8 H 8 5 hl Page 64 Double 8 H 16 6 h2 Double 8 H 24 ASCII Example EXTERNALCLOCK DISABLE or EXTERNALCLOCK USER 10MHZ 1 0167e 23 6 8762 1e 25 8 1762e 26 or EXTERNALCLOCK TCXO 5MHZ 1 000000000e 21 1 000000000e 20 1 000
306. um age of differential data accepted INTERFACEMODE Set interface type Receive Rx for a COMn port PSRDIFFSOURCE Set the pseudorange correction source RTKDYNAMICS Set the RTK dynamics mode RTKBASELINE Initialize RTK with a static baseline RTKCOMMAND Issue RTK specific commands RTKELEVMASK Set elevation mask to use for RTK positioning RTKSOLUTION Set RTK carrier phase ambiguity type Float or Fixed or disable RTKSOURCE Set the RTK correction source SETAPPROXPOS Set an approximate position SETAPPROXTIME Set an approximate GPS time CLOCK INFORMATION STATUS AND TIME Commands Descriptions ADJUSTIPPS Adjust the receiver clock CLOCKADJUST Enable or disable adjustments to the internal clock and 1PPS output CLOCKCALIBRATE Adjust the control parameters of the clock steering loop EXTERNALCLOCK Set the parameters for an external clock EURO4 only SETAPPROXTIME Set an approximate time 26 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 Table 8 OEM4 Family Commands in Alphabetical Order Command Message ID Description Syntax ADJUSTIPPS 429 Adjust the receiver clock adjustlpps mode period offset ANTENNAPOWER 98 Control power to low noise antennapower flag amplifier of an active antenna ASSIGN 27 Assign individual satellite assign channel state prn Doppler channel to a PRN window ASSIGNALL 28 As
307. ume 1 of this manual for more details on pinouts 72 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter 2 Table 26 LOG Command ASCII Format f Field ASCII Pa Field Field Name Value Description Type 1 header This field contains the command name or the message header depending on whether the command is abbreviated ASCII or ASCII respectively 2 port See Table 5 Serial Port Output port Enum Identifiers on Page 18 default THISPORT 3 message Any valid message name Message name of log to output Char optionally with an A or B suffix 4 trigger ONNEW Output when the message is updated not Enum necessarily changed ONCHANGED Output when the message is changed ONTIME Output on a time interval ONNEXT Output only the next message ONCE Output only the current message default ONMARK Output when a MARKIN electrical event is detected 5 period Log period for ONTIME trigger in Double seconds default 0 6 offset Offset for period ONTIME trigger in Double seconds If you wished to log data at 1 second after every minute you would set the period to 60 and the offset to 1 default 0 7 hold NOHOLD Allow log to be removed by the Enum UNLOGALL command default HOLD Prevent log from being removed by the UNLOGALL command a This happens on the external MARKIN pin refer to the Technical Specifications appendix in Volume
308. urce rtksource type ID RTKSVENTRIES 92 Set the number of satellites to rtksventries number use in corrections SAVECONFIG 19 Save current configuration in saveconfig non volatile memory 28 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 Command Message ID Description Syntax SEND 177 Send an ASCII message to send port data any of the communications ports SENDHEX 178 Send non printable characters sendhex port length data in hexadecimal pairs SETAPPROXPOS 377 Set an approximate position setapproxpos lat lon height SETAPPROXTIME 102 Set an approximate GPS time setapproxtime week sec SETNAV 162 Set start and destination setnav fromlat fromlon tolat tolon track waypoints offset from point to point SETRTCM16 131 Enter an ASCII text message SETRTCM16 text to be sent out in the RTCM data stream STATUSCONFIG 95 Configure various status mask statusconfig type word mask fields in RXSTATUSEVENT log UNASSIGN 29 Unassign a previously unassign channel ASSIGNed channel UNASSIGNALL 30 Unassign all previously unassignall system ASSIGNed channels UNDULATION 214 Choose undulation undulation option separation UNLOCKOUT 138 Reinstate a satellite in the unlockout prn solution computation UNLOCKOUTALL 139 Reinstate all previously unlockoutall locked out satellites UNLOG 36 Remove log from logging unlog port datatype control UNLOGALL 38 Remove all logs
309. ure ET Binar Binar Field Field type Data Description Format Bytes peda 1 header Log header H 0 2 messages The number of satellite PRN almanac messages Long 4 H to follow 3 PRN Satellite PRN number for current message Ulong 4 H 4 dimensionless 4 week Almanac reference week GPS 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 ry Rate of right ascension radians second Double 8 H 28 8 o Right ascension radians Double 8 H 36 9 o Argument of perigee radians Double 8 H 44 10 Mo Mean anomaly of reference time radians Double 8 H 52 11 afo Clock aging parameter seconds Double 8 H 60 12 ary Clock aging parameter seconds second Double 8 H 68 13 N Corrected mean motion radians second Double 8 H 76 14 A Semi major axis meters Double 8 H 84 15 incl angle Angle of inclination relative to 0 3 TT radians Double 8 H 92 16 SV config Satellite configuration Ulong 4 H 100 17 health prn SV health from subframe 4 or 5 Ulong 4 H 104 18 health alm SV health from almanac Ulong 4 H 108 19 antispoof Anti spoofing on 0 FALSE Enum 4 H 112 1 TRUE 20 Next PRN offset H 4 messages x 112 21 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 112 x messages 22 CR LF Sentence terminator ASCII only OEM4 GPSCard Firm
310. ution of precision assumes Float 4 H 4 3 D position is unknown and receiver clock offset is known hdop Horizontal dilution of precision Float 4 H 8 5 htdop Horizontal position and time dilution of Float 4 H 12 precision 6 tdop Time dilution of precision assumes 3 Float 4 H 16 D position is known and only the receiver clock offset is unknown cutoff Elevation cut off angle Float 4 H 20 8 PRN Number of satellites PRNs to follow Long 4 H 24 PRN PRNof SV PRN tracking null field Ulong 4 H 28 until position solution available 10 Next PRN offset H 28 prn x 4 variable Xxxx 32 bit CRC ASCII and Binary only Hex 4 H 28 prn x 4 variable CR LF Sentence terminator ASCII only Recommended Input log psrdopa onchanged ASCII Example PSRDOPA COM1 0 54 0 COARSE 1037 322184 500 00000028 8244 0 1 4803 1 32986 0 8670 1 0717 0 0299 0 0 9 1 30 25 18 4 15 16 22 14 8etcleb 172 OEMA GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 40 PSRPOS Pseudorange Position This log contains the pseudorange 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 Structure Message ID 47 Log Type Synch Binary Binary
311. ve mean sea level MSL and if E the height will be ellipsoidal Note that when an MSL height is entered it will be converted to ellipsoidal height using the NovAtel internal undulation table or the last value entered with the UNDULATION command The other method is to use the relative ECEF vector The AX AY AZ values in meters represent the rover station s position minus the base position along each axis in meters The optional 20 defines the accuracy 2 sigma 3 dimensional of the input baseline in meters it must be 0 03 m or less to cause the RT 2 algorithms to do a forced initialization to fixed integer ambiguities If no value is entered a default value of 0 30 m is assumed this will not cause an initialization to occur Table 28 Baseline Parameters Type Parameter 1 Parameter 2 Parameter 3 Unknown N A N A N A LLM Lat Lon MSL Ht LLE Lat Lon Ellipsoidal Ht ECEF AX AY AZ OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Commands Chapter2 Abbreviated ASCII Syntax Message ID 182 RTKBASELINE type parl par2 par3 2sigma 3 Field ASCII Binary ooy Binary Binary Binary Fleig Type Value Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type S
312. ve the RTK Uchar 1 H 67 mask angle OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 159 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only Recommended Input log matchedposa onchanged ASCII Example MATCHEDPOSA COM1 0 39 0 FINESTEERING 1037 507654 000 00000028 abce 0 SOL_COMPUTED L1_FLOAT 51 11638133582 114 03829215909 1051 6231 16 271240054 61 0 0619 0 0870 0 0531 0 0 0 60 000 10 10 10 0 0 0 0 0 5a475478 160 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs 3 4 31 MATCHEDXYZ Matched RTK Cartesian Position RTK 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 Chapter 3 extrapolation error on these positions because they are based on buffered measurements they lag real time by some amount depending on the latency of the data link If the rover receiver has not been enabled to accept RTK differential data or is not actually receiving data leading to a valid solution this will be reflected by the code shown in fiel
313. ware Version 1 400 Command and Log Reference Manual Rev 8 119 Chapter 3 120 Data Logs Recommended Input log almanaca onchanged ASCII Example ALMANACA COM1 0 64 5 SATTIME 1048 508014 000 00000028 42f1 0 31 1 1049 61440 0 5 10788e 03 7 8974718e 09 4 5666114e 01 1 7361153e 00 9 1286238e 01 1 1730194e 04 0 00000000 1 4584974e 04 2 6560862e 07 14 832921e 02 4 0 0 FALSE 2 1049 61440 0 1 95422e 02 8 0917656e 09 1 5495060e 00 2 1449823e 00 2 5208892e 00 1 75476078e 04 3 6379788e 12 1 4585339e 04 2 6560419e 07 8 2930836e 03 1 0 0 FALSE 30 1049 61440 0 5 61333e 03 7 9889042e 09 1 5991652e 00 1 4759191e 00 2 7901058e 00 9 5367432e 06 0 00000000 1 4585534e 04 2 6560183e 07 1 9534287e 03 1 0 0 FALSE 31 1049 61440 0 9 47952e 03 8 0917656e 09 2 6421445e 00 8 0564663e 01 1 9109259e 01 3 7193298e 05 0 00000000 1 4585948e 04 2 6559680e 07 8 8922949 e 03 1 0 0 TRUE fc97918d OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Chapter 3 3 4 2 AVEPOS Position Averaging When position averaging is underway the various fields in the AVEPOS log contain the parameters being used in the position averaging process See the description of the POSAVE command on Page 78 See also the sections on Height Relationships and Pseudorange Algorithms in the GPS Overview appendix in Volume 1 of this manual All quantities are referenced to the geoid average height above sea
314. ype Data Description Format Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 40 Solution Status on Page 124 Enum 4 H 3 pos type Position type see Table 39 Position or Velocity Type on Enum 4 H 4 Page 123 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 J undulation Undulation Float 4 H 32 8 datum id Datum ID number see Chapter 2 Table 17 Datum Enum 4 H 36 Transformation Parameters on Page 54 9 lat o Latitude standard deviation Float 4 H 40 10 lon Longitude standard deviation Float 4 H 44 11 hgt o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff _age Differential age Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 66 18 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 67 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only 122 OEM4 GPSCard Firmware Version 1 400 Command and Log Reference Manual Rev 8 Data Logs Recommended Input log bestposa ontime 1 Chapter 3 See Section 2 1 Command Formats on Page 22 for more examples of log requests

OEM4_Commands_and_Logs_OM-20000047_Vol 2_Rev_8

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