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1. Message ID 785 Log Type Synch Field Field type Data Description Format Pgh Melia YP P Bytes Offset 1 header Log header H 0 2 RTCMV3 Message number Ushort 2 H 3 sean ations Base station ID Ushort 2 H 2 4 ERTO GPS epoch time ms Ulong 4 H 4 5 DATA1001 GNSS message flag Uchar 1 H 8 6 log on P age Number of GPS satellite signals processed 0 31 Uchar 1 H 9 7 273 for details Smoothing indicator Uchar 1 H 10 8 Smoothing interval see Table 74 on Page 274 Uchar 1 H 11 9 prns Number of PRNs with information to follow Ulong 4 H 12 10 prni Satellite PRN number Uchar 1 H 16 11 code ind GPS L1 code indicator Uchar 1 H 17 0 C A code 1 P Y code direct 12 psr GPS L1 pseudorange m Ulong 4 H 18 13 phase pseudo GPS L1 phaserange pseudorange Long 4 H 22 Range 262 1435 to 262 1435 m 14 locktime ind GPS L1 lock time indicator see Table 75 on Page 274 Uchar 1 H 26 15 amb GPS L1 PSR modulus ambiguity m The integer Uchar 1 H 27 number of full pseudorange modulus divisions 299 792 458 m of the raw L1 pseudorange measurement 16 CNR GPS L1 carrier to noise ratio dBHz The reference Uchar 43 H 28 station s estimate of the satellite s signal A value of 0 indicates that the CNR measurement is not computed 17 Next PRN offset H 16 prns x 16 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variab
2. OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 319 Chapter 3 DataLogs Recommended Input log WAAS4 onchanged ASCII Example WAAS4A COM1 0 58 0 SATTIME 1093 163399 000 00000020 b4b0 209 122 0 3 2047 3 1 2047 2047 2047 3 1 5 3 3 2047 2 14 3 3 14 14 14 6 3 4 5 4 14 3 2e0894b1 320 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 100 WAAS5 Fast Correction Slots 39 50 SBAS Chapter 3 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 SBASCONTROL command for details Message ID 303 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 iodf Issue of fast corrections data Ulong 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 8 5 pre39 pre i Long 4 H 12 6 prc40 f Long 4 H 16 7 Peon eens a 8 pre42 Long 4 H 24 9 prce43 Long 4 H 28 10 pre44 Long 4 H 32 11 pre45 Long 4 H 36 12 prc46 Long 4 H 40 13 prc47 Long 4 H 44 14 prec48 Long 4 H 48 15 prc49 Long 4 H 52 16 pre50 Long 4 H 56 17 prc51 Invalid do not use Lon
3. Message ID 317 Log Type Polled TOC Field type Data Description Format Binary Binary YP P 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 15 COM Enum 4 H 4 Serial Port Identifiers on Page 60 4 baud Communication baud rate Ulong 4 H 8 5 parity See Table 16 Parity on Page 60 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 17 Handshaking on Page 60 Enum 4 H 24 9 echo When echo is on the port is transmitting 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 28 Serial Port Interface Modes on Page 88 12 tx type The status of the transmit interface mode Enum 4 H 40 Table 28 Serial Port Interface Modes on Page 88 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 1263 238521 473 00000000 85aa 1522 3 COM1 9600 N 8 1 CTS OFF ON NOVATEL NOVATEL ON COM2 9600 N 8 1 N OFF ON RTCA NONE ON COM3 9600
4. 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 mode See Table 27 below Seeding mode Enum 4 H 3 lat 90 to 90 Latitude degrees Double 8 H 4 4 lon 360 to 360 Longitude degrees Double 8 H 12 5 hgt 1000 to 20000000 Height above mean sea level m Double 8 H 20 6 lato Latitude standard deviation m Float 4 H 28 7 lono Longitude standard deviation m Float 4 H 32 8 hgto Height standard deviation m Float 4 H 36 9 datum See Table 20 Datum Datum ID Enum 4 H 40 Transformation default WGS84 Parameters on Page 65 10 undulation see the UNDULATION Undulation type Enum 4 H 44 command s option field default TABLE values on Page 127 Table 27 Seeding Mode Binary Value ASCII Mode Name Description 0 RESET Clear current seed and restart HP 1 SET Specify a position and inject it into HP as seed 2 STORE Store current HP position in NVM for use as a future seed 3 RESTORE Inject NVM stored position into HP as seed a No further parameters are needed in the syntax ASCII Examples 1 To store the current HP position so that it can be used as the seed in the future HPSEED STORE 2 To use the stored HP position as the seed HPSEED RESTORE 3 To use a known position in the native datum of OmniSTAR HP as the seed HPSEED SET 51 11633810554 114 03839550586 1048 23
5. 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 RANGE L1 version of the RANGE log Synch RAWALM Raw almanac Asynch RAWEPHEM Raw ephemeris Asynch RAWGPSSUBFRAME Raw subframe data Asynch RAWGPSWORD Raw navigation word Asynch RAWWAASFRAME Raw SBAS frame data Asynch SATVIS Satellite visibility Synch SATXYZ SV position in ECEF Cartesian coordinates Synch TRACKSTAT Satellite tracking status Synch WAASO Remove PRN from the solution Asynch WAASI 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 WAASS5 Fast correction slots 39 50 Asynch WAAS6 Integrity message Asynch Continued on Page 142 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 141 Chapter 3 DataLogs WAAS7 Fast correction degradation Asynch WAAS9 GEO navigation message Asynch WAAS10 Degradation factor Asynch WAAS 12 SBAS network time and UTC Asynch WAAS17 GEO almanac message Asynch WAAS18 IGP mask Asynch WAAS24 Mixed fast slow corrections Asynch WAAS25 Long term slow satellite corrections Asynch WAAS26 Ionospheric delay correct
6. 699 WAAS35 CDGPS fast correction slots 39 50 700 WAAS45 CDGPS slow corrections 717 CMRPLUS CMR output message 726 BESTUTM Best available UTM data 784 RTCMDATA1001 L1 Only GPS RTK Observables 785 RTCMDATA1002 Extended L1 Only GPS RTK Observables 786 RTCMDATA1003 L1 L2 GPS RTK Observables 787 RTCMDATA1004 Extended L1 L2 GPS RTK Observables 788 RTCMDATA1005 RTK Base Station ARP 789 RTCMDATA1006 RTK Base Station ARP with Antenna Height CMR Format Logs 103 CMROBS Base station satellite observation information 105 CMRREF Base station position information 310 CMRDESC Base station description information 717 CMRPLUS CMR output message RTCA Format Logs 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 131 RTCMI16T Typel6T Special Text Message RTCM18 108 RTCM1819 Type18 and Type 19 Raw Measurements RTCM19 109 275 RTCM9 Type 9 Partial Differential GPS Corrections 307 RTCM15 Type 15 Ionospheric Corrections RTCM20 120 RTCM2021 Type 20 and Type 21 Measurement Corrections RTCM21 119 Continued on Page 152 OEM4 Family Firmware Vers
7. ele le lel ele MI RIL WIN TR oO 264 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 70 RTCMDATA2021 Measurement Corrections RTK See the chapter on Message Formats in Volume 1 of this manual set for information on RTCM standard logs Message ID 400 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 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 see REFSTATION on Ulong 4 H 20 Page 246 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 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 72 Ulong 4 H 56 RTCM2021 Data Quality Indicator on Page 268 17 continuity Cu
8. Field Field ASCII Binary Description Binary Binary Binary Type Value Value p 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 switch DISABLE 0 Do not transmit corrections Enum 4 H without a fixed position default ENABLE 1 Transmit corrections without a fixed position ASCII Example 98 MOVINGBASESTATION ENABLE OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 35 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 296 and RXSTATUSEVENT Page 301 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 1 of this manual set 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 th
9. Message ID 305 Log Type Asynch Field Field type Data Description Format Binary Binary 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 7 al 1 Ulong 4 H 20 8 al 2 Ulong 4 H 24 9 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 H 44 14 al 8 Ulong 4 H 48 15 al 9 Ulong 4 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 4 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 al 20 Ulong 4 H 96 27 al 21 Ulong 4 H 100 28 al 22 Ulong 4 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 Continued on Page 326 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 325 Chapter 3 DataLogs 33 al 27 Ulong 4 H 124 34 al 28 Ulong 4 H 128 35 al 29 Ulong 4 H 1
10. Data Logs Chapter 3 Table 66 Range Record Format RANGECMP only Data Bit s first to last Length bits Scale Factor Units Channel Tracking 0 31 32 see Table 62 Channel Status Tracking Status on Page 233 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 Nof 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 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 Lock time rolls over after 2 097 151 seconds 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 Family Firmware Version 2 300 Command and Log R
11. ASCII Binary Description AUTO 0 Automatically determine dynamics mode STATIC 1 Static mode DYNAMIC 2 Dynamic mode OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 109 Chapter 2 Commands 2 6 44 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 receiver defaults to the AUTO setting Abbreviated ASCII Syntax Message ID 91 RTKELEVMASK type angle Field ASCII Binary Type Value Value 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 Binary Binary Binary Field Format Bytes Offset Description 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 5 110 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 45 RTKSOLUTION RTK This command instructs the receiver as to what type of carrier phase ambiguity fixed float o
12. 8 Smoothing interval see Table 74 on Page 274 This is Uchar 1 H 11 the integration period over which reference station pseudorange code phase measurements are averaged using carrier phase information Divergence free smoothing may be continuous over the entire period that the satellite is visible 9 prns Number of PRNs with information to follow Ulong 4 H 12 10 prni Satellite PRN number Uchar 1 H 16 11 code ind GPS L1 code indicator Uchar 1 H 17 0 C A code 1 P Y code direct 12 psr GPS L1 pseudorange m Ulong 4 H 18 13 phase pseudo GPS L1 phaserange pseudorange Long 4 H 22 Range 262 1435 to 262 1435 m 14 locktime ind GPS L1 lock time indicator see Table 75 on Page 274 Uchar 24a H 26 15 Next PRN offset H 16 prns x 12 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional byte of padding is added to maintain 4 byte alignment OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 273 Chapter 3 DataLogs Table 74 Carrier Smoothing Interval of Code Phase Indicator Smoothing Interval ASCII Binary 0 000 No smoothing 1 001 lt 30s 2 010 30 60 s 3 O11 1 2 min 4 100 2 4 min 5 101 4 8 min 6 110 gt 8 min 7 111 Unlimited smoothing interval Table 75 Lock Time In
13. 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 gll Continued on Page 333 332 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 29 ddy Delta delta y ECEF Long 4 H 108 7 il 30 ddz Delta delta z ECEF Long 4 H 112 gil 31 dal Delta af 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 WAAS 24 onchanged ASCII Example WAAS24A COM1 0 66 0 SATTIME 1263 313608 000 00000100 0a33 1522 122 0 2047 1 2047 14 0 5 14 12 14 10 13 1 2 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 cb977 29 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 333 Chapter 3 DataLogs 3 4 109 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 Message ID 298 Log Type Asynch Field Field type Data Description Format Binary Binary Scalin yP p Bytes Offset g 1 heade
14. lock flag Locked System Spacing locked J flag flag Auto imary Grouped GPS PAC Locked ff Known matic Channel 0 LI Phase Lock 8117 3 0 0 0 0 Frequency Grouping Satellite Correlator Code ff Parity Phase Channel Number racking State a For a complete list of hexadecimal and binary equivalents please refer to the appendix on Unit Conversion in the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html Table 64 Tracking State State Description State Description 0 L1 Idle 7 L1 Frequency lock loop 1 L1 Sky search 8 L2 Idle 2 L1 Wide frequency band pull in 9 L2 P code alignment 3 L1 Narrow frequency band pull in 10 L2 Search 4 L1 Phase lock loop 11 L2 Phase lock loop 5 L1 Reacquisition 19 L2 Steering 6 L1 Steering Table 65 Correlator Spacing State Description 0 Reserved 1 Standard correlator spacing 1 chip 2 Narrow Correlator spacing lt 1 chip 3 Reserved Pulse Aperture Correlator PAC OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 235 Chapter 3 DataLogs 3 4 48 RANGECMP Compressed Version of the RANGE Log Message ID 140 Log Type Synch Field anti Binary Binary Field Type Data Description Format Bytes Offset header Log header H 0 2 obs Number of satellite Long 4 H observations with information
15. 3 iodp Issue of PRN mask data Ulong 4 H 4 4 prce33 pre i Long 4 H 8 5 pre34 Long 4 H 12 Oe i ei 7 pre36 Long 4 H 20 8 pre37 Long 4 H 24 9 prce38 Long 4 H 28 10 pre39 Long 4 H 32 11 prc40 Long 4 H 36 12 pre41 Long 4 H 40 13 pre42 Long 4 H 44 14 prce43 Long 4 H 48 15 udrei33 udre i Ulong 4 H 52 See Table 91 16 udrei34 o Ulong 4 H 56 Evaluation of o a ee e Gig a aa a 18 udrei36 Ulong 4 H 64 Page 339 19 udrei37 Ulong 4 H 68 20 udrei38 Ulong 4 H 72 21 udrei39 Ulong 4 H 76 22 udrei40 Ulong 4 H 80 23 udrei4 1 Ulong 4 H 84 24 udrei42 Ulong 4 H 88 25 udrei43 Ulong 4 H 92 26 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 96 27 CR LF Sentence terminator ASCII only Recommended Input log WAAS35 onchanged ASCII Example This message is not being broadcast by CDGPS at the time of publication 342 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 116 WAAS45 CDGPS Slow Corrections CDGPS Each WAAS45 message contains a 2 bit IODP indicating the associated 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 CDGPS satellite PRN 209 of the first bit of the message block Message ID 700 Log Type Asynch Field Field type Data Description Format B
16. 317 3 4 99 WAAS4 Fast Correction Slots 26 38 SBAS 0 c cccceeeeseeeeeeeeeeeeeees 319 3 4 100 WAAS5 Fast Correction Slots 39 50 SBAS esenee 321 3 4 101 WAAS6 Integrity Message SBAS c cccseeceeeeeeeeeeeeeeeeeessaeeetennees 323 3 4 102 WAAS7 Fast Correction Degradation SBAS 325 3 4 103 WAAS9 GEO Navigation Message SBAS 327 3 4 104 WAAS10 Degradation Factor SBAS cccccccccsseecesesesteeeeeeesaes 328 3 4 105 WAAS12 SBAS Network Time and UTO SBAS 329 3 4 106 WAAS17 GEO Almanac Message SBAS 330 3 4 107 WAAS18 IGP Mask SBAS ccccccccccessteceeeeseeeeeeeceseeeeesenaeeeeeesaaas 331 3 4 108 WAAS24 Mixed Fast Slow Corrections SBAS ceescceeeeeeeeees 332 3 4 109 WAAS25 Long Term Slow Satellite Corrections SBAS 00 334 3 4 110 WAAS26 lonospheric Delay Corrections SBAS 336 3 4 111 WAAS27 SBAS Service Message SBAS 337 3 4 112 WAAS32 CDGPS Fast Correction Slots 0 10 CDGPS aaae 338 3 4 113 WAAS33 CDGPS Fast Correction Slots 11 21 CDGPS 000 340 3 4 114 WAAS34 CDGPS Fast Correction Slots 22 32 CDGPS 0 341 3 4 115 WAAS35 CDGPS Fast Correction Slots 33 43 CDGPS 0 0 342 3 4 116 WAAS45 CDGPS Slow Corrections CDGPS 0 c eee 343 3 4 117 WAASCORR SBAS Range Corrections Used SBAG 0 344 4 Responses 345 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 7 Figures 1 IPPS v6 ni al 10l Were a a errr errr err a a eaaa een ear ee 42 2 Puls
17. ASCII string If separators are surrounded by quotation marks then the string is still one field and the separator will be ignored for example xxx xxx is one field Double quotation marks within a string are not allowed If the receiver detects an error parsing an input message it will return an error response message Please see Chapter 4 Responses on Page 345 for a list of response messages from the receiver OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Messages Chapter 1 Message Structure header data field data field data field xxxxxxxx CR LF The ASCII message header is formatted as follows Table 3 ASCII Message Header Structure nti Ignored Field FieldName Field Type Description on Input 1 Sync Char Sync character The ASCII message is always preceded by N a single symbol 2 Message Char This is the ASCII name of the log see a list of all the logs N in Table 42 Logs By Function Table on Page 137 3 Port Char This is the name of the port from which the log was Y 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 number that N counts dow
18. Chapter 2 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 UNLOGALL on Page 130 e Clear the transmit and receive buffers on the current port e Return the current port to its default settings see Page 40 for details e Set the interface mode to NovAtel for both input and output see the INTERFACEMODE command on Page 87 See also Section 2 5 Factory Defaults on Page 40 for a description of the factory defaults and the COMCONFIG log on Page 181 lt The COMCONTROL command see Page 61 may conflict with handshaking of the selected COM port If handshaking is enabled then unexpected results may occur Abbreviated ASCII Syntax Message ID 4 COM port bps parity databits stopbits handshake echo break ASCII Value Binary Value Description Binary 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 See Table 15 COM Port to configure En
19. MiLLennium Log Comparable OEM4 Family Log ALM ALMANAC and IONUTC BSL RTKDATA CDS PORTSTATS CLK CLOCKMODEL CLM CLOCKMODEL CMR CMR COM1 PASSCOM1 COM2 PASSCOM2 DOP PSRDOP ETS TRACKSTAT 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 3 4 Log Reference OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 153 Chapter 3 DataLogs 3 4 1 ALMANAC Decoded Almanac This log contains the decoded almanac parameters from Subframe four and five as received from the satellite with the parity information removed and appropriate scaling applied Multiple messages are transmitted one for each SV almanac collected For more information on Almanac data refer to the GPS SPS Signal Specification See the appendix on Standards and References in the GPS Reference Manual
20. OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 253 Chapter 3 DataLogs 3 4 63 RTCM Standard Logs DGPS 254 RTCM1 DIFFERENTIAL GPS CORRECTIONS Message ID 107 RTCM3 BASE STATION PARAMETERS RTK Message ID 117 RTCM9 PARTIAL DIFFERENTIAL GPS CORRECTIONS OEM4 G 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 124 Message ID 131 RTCM1819 RAW MEASUREMENTS RTK Message ID RTCM18 108 RTCM19 109 RTCM2021 MEASUREMENT CORRECTIONS RTK Message ID RTCM20 120 RTCM21 119 RTCM22 EXTENDED BASE STATION RTK Message ID 118 RTCM59 TYPE 59N 0 NOVATEL PROPRIETARY RT20 DIFFERENTIAL RTK Message ID 116 The Radio Technical Commission 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 receiver The receiver can easily be integrated into positioning systems around the globe because it is capable of utilizing RTCM formats lt The RTCM messages can be logged with an A or B suffix for an ASCII or Binary output with a NovAtel header followed by Hex or Binary raw data respecti
21. c ccccceeeeeeeeeeeeeeeeeeeeeeseaeeneeees 168 3 4 8 CLOCKMODEL Current Clock Model Status cccccceseeeeeteeeeeneees 169 3 4 9 CLOCKSTEERING Clock Steering Status 00 ccccecceeeeeeseeeeseeeeeeneees 171 3 4 10 CMR Standard Logs RTK eccececcecceneeeeeeeeeeeeeeeeeeeeesaeeeeeneeesiaaeeesenees 173 3 4 11 CMRDATADESC Base Station Description RTK 0 cceeeenees 174 3 4 12 CMRDATAOBS Base Station Satellite Observations RTK 176 3 4 13 CMRDATAREF Base Station Position RTK cccceeeeseeeeeeeeeeteteees 178 3 4 14 CMRPLUS CMR Output Message RITK 0 cc ccccceeeeeeeeeeeceeeeeneees 180 3 4 15 COMCONFIG Current COM Port Configuration s s 181 3 4 16 GPALM Almanac Data NMEA 00 0 ccccccceeeceeeeeeeeeeeeaeeeeeeeeestaeesennees 182 3 4 17 GPGGA_ GPS Fix Data and Undulation NMEA csseeeeeeeeeeees 184 3 4 18 GPGGALONG Fix Data Extra Precision and Undulation NMEA 186 3 4 19 GPGGARTK Global Position System Fix Data NMEA 188 3 4 20 GPGLL Geographic Position NMEA ccccccceeceeeceeeeeeeeeeestaeeeeeees 190 3 4 21 GPGRS GPS Range Residuals for Each Satellite NMEA 191 3 4 22 GPGSA GPS DOP and Active Satellites NMEA s c 192 3 4 23 GPGST Pseudorange Measurement Noise Statistics NMEA 193 3 4 24 GPGSV_ GPS Satellites in View NMEA sses 194 3 4 25 GPRMB Navigation Information NMEA 195 3 4 26 GPRMC GPS Specific Information NMEA seeen 196 3 4 27 GPS
22. with velocity greater than 110 km h 30 m s This is also the most suitable dynamic for a jittery vehicle at any speed See also Note 2 above 1 LAND Receiver is in a stable land vehicle with velocity less than 110 km h 30 m s 2 FOOT Receiver is being carried by a person with velocity less than 11 km h 3 m s Example DYNAMICS FOOT 72 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 19 ECUTOFF This command sets the elevation cut off angle for tracked satellites The receiver 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 Value Value Description 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 bina
23. 0 minimum raw measurement see Footnote b on Page 91 period 6 offset Any positive double value Offset for period ONTIME trigger in Double smaller than the period 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 92 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 26 for additional examples OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 31 MAGVAR The receiver computes directions referenced to True North Use this command magnetic variation correction if you intend to navigate in agreement with magnetic compass bearings The correction value entered here will cause the bearing field of the NAVIGATE log to report bearing in degrees Magnetic The receiver will compute the magnetic variation correction if yo
24. 0 Optional field to specify the Enum 4 H 8 POSITIVE 1 polarity of the pulse to be generated on the PPS output See Figure 4 for more information If no value is supplied the default NEGATIVE is used 3 rate 0 05 0 1 0 2 0 25 0 5 Optional field to specify the Double 8 H 12 1 0 2 0 3 0 20 0 period of the pulse in seconds If no value is supplied the default value of 1 0 is used 4 Reserved set to 0 ULong 4 H 20 ASCII Example PPSCONTROL ENABLE POSITIVE 0 5 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 39 PSRDIFFSOURCE DGPS This command lets you identify from which base station to accept differential corrections This is useful when the receiver is receiving corrections from multiple base stations See also the RTKSOURCE command on Page 112 I 1 When a valid PPRDIFFSOURCE command is received the current correction is removed immediately rather than waiting for the time specified in DGPSTIMEOUT see Page 69 2 To use L Band differential corrections an L Band receiver and a subscription to the OmniSTAR or use of the free CDGPS service are required Contact NovAtel for details 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 set Abbreviated ASCII Syntax Message ID 493 PSRDIFFSOURCE type ID Field ASCII Binary Type Value Value
25. 5 17119305e 03 1 0 0 FALSE e47590e8 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 155 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 100 Refer also to the Height Relationships and Pseudorange Algorithms sections of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html Data Logs lt 1 All quantities are referenced to the geoid average height above sea level regardless of the use of the DATUM or USERDATUM commands except for the height parameter field 6 The relation between the geoid and the WGS84 ellipsoid is the geoidal undulation and can be obtained from the PSRPOS log 2 Asynchronous logs should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result Message ID 172 Log Type Asynch Field Field type Data Description Format ary Binary 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 lato Estimated average standard deviat
26. OEM4 Family USER MANUAL VOLUME 2 Command and Log Reference OM 20000047 Rev 16 Proprietary Notice OEM4 Family of Receivers Command and Log Reference Manual Publication Number OM 20000047 Revision Level 16 Revision Date 2005 06 22 This manual reflects firmware version 2 300 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 PowerPak 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 2000 2005 NovAtel Inc All rights reserved Unpublished rights reserve
27. OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 55 Chapter 2 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 55 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 EXTERNALCLOCK command see Page 74 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 that the clock steering control process will conflict with the manual FREQUENCYOUT command see Page 81 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 171 lt The values entered using the CLOCKCALIBRATE command will be saved to non volatile memory NVM To restore the values to their defaults the FRESET CLKCALIBRATION command must be used See Section 2 6 24 o
28. The OEM4 family of receivers automatically save almanacs in their non volatile memory NVM therefore creating an almanac boot file is not necessary Message ID 73 Log Type Asynch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 messages The number of satellite PRN almanac messages Long 4 H to follow Set to zero until almanac data is available 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 defined for a conic Double 8 H 20 section where e 0 is a circle e 1 is an ellipse O lt e lt 1 is a parabola and e gt 1 is a hyperbola 7 D Rate of right ascension radians second Double 8 H 28 8 Mo Right ascension radians Double 8 H 36 9 o Argument of perigee radians measurement Double 8 H 44 along the orbital path from the ascending node to the point where the SV is closest to the Earth in the direction of the SV s motion 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
29. pos type2 quality indicator qual2 749 UTMZONE Set UTM parameters utmzone command parameter Continued on Page 38 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 37 Chapter 2 Commands Message ID Command Description Syntax 761 FIXPOSDATUM Set the position through a position datum lat lon height specified datum 763 MOVINGBASE Set ability to use a moving movingbasestation switch STATION base station position 780 HPSTATICINIT Set static initialization of hpstaticinit switch OmniSTAR HP 782 HPSEED Specify the seed position hpseed mode lat lon hgt lats lons hgts for OmniSTAR HP datum undulation 783 USEREXPDATUM Set custom expanded datum userexpdatum semimajor flattening dx dy dz rx ry rz scale xvel yvel zvel xrvel yrvel zrvel scalev refdate When the receiver 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 Ensure that all windows other than the Console window are closed in GPSolution before using the SAVECONFIG command lt FRESET STANDARD causes all previously stored user configurations saved to non volatile memory to be erased including Saved Config Saved Almanac Saved Ephemeris and L Band related data excluding subscription information 38 OEM4 Family Firmware Version 2 300 Com
30. 0x00 0x00 0x00 unsigned long cre CalculateBlockCRC32 60 buffer cout lt lt hex lt lt cre lt lt endl Please note that this hex needs to be reversed due to Big Endian order where the most significant value in the sequence is stored first at the lowest storage address For example the two bytes required for the hex number 4F52 is stored as 524F OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 25 Chapter 2 Commands 2 1 Command Formats The receiver will accept commands in 3 formats as described in Chapter 1 e Abbreviated ASCII e ASCII e 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 COM2 0 66 0 UNKNOWN 0 15 917 004c0000 5255 32858 COM1 BESTPOSB ONTIME 1 000000 0 000000 NOHOLD F95592DD CR Binary Example AA44121C 01000240 20000000 1D1D0000 29160000 00004C00 55525A80 20000000 2A000000 02000000 00000000 0000F03F 00000000 00000000 00000000 2304B3F1 2 2 Command Settings Their are several ways to determine the current command settings of the receiver 1 Request an RXCONFIG log see Page 293 This will provide a listing of all commands and their parameter settings This log provides the mos
31. 1 EXTERNAL The receiver is currently steering an external oscillator using the external VARF signal Table 51 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 receiver 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 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 56 With the CLOCKCALIBRATE command you can force the receiver to calibrate the slope and center pu
32. 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 77 Ambiguity Type on Page 286 Enum 4 H 112 34 res Residual m Float 4 H 116 Continued on Page 285 284 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Bod Field type Chapter 3 Binary Binary Data Description Format Bytes Offset 35 Next SV offset H 108 obs x 12 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 T ODS variable CR LF Sentence terminator ASCII only Recommended Input log rtkdataa onchanged lt Asynchronous logs should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result ASCII Example RTKDATAA COM1 0 67 5 FINESTEERING 1263 249934 000 00000000 013 1522 SOL_COMPUTED NARROW_INT 00000003 10 8 8
33. 29 0 23199473 208 0 070 121914103 478085 0 010 2442 504 44 2 3391 260 08109c04 10 0 21572439 996 0 039 113363992 231497 0 005 2279 199 49 4 12078 570 18109c24 16 0 23650098 774 0 100 124282114 716141 0 014 1978 891 41 1 1961 990 18109c44 30 0 23631470 601 0 108 124184149 366874 0 015 3634 508 40 5 14807 520 08109d24 7103bb9 238 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 50 RAWALM Raw Almanac Data 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 refer to the Standards and References section of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html The OEM4 family of receivers automatically saves almanacs in their non volatile memory NVM therefore creating an almanac boot file is not necessary Message ID 74 Log Type Asynch Field Field type Data Description Format Binary Binary 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 svid SV ID satellite vehicle ID UShort 2 H 12 6 data Subframe page data Hex 30 H 14 Joas Next subframe offset H 12 subframe x 32 variable xxxx 32 bit CRC
34. 48 SATVIS Satellite visibility 72 PORTSTATS COM or USB port statistics 73 ALMANAC Current almanac information 74 RAWALM Raw almanac 83 TRACKSTAT Satellite tracking status 93 RXSTATUS Self test status 94 RXSTATUSEVENT Status event indicator 96 MATCHEDPOS RTK Computed Position Time Matched 99 BESTVEL Velocity data 100 PSRVEL Pseudorange velocity information 101 TIME Receiver time information 128 RXCONFIG Receiver configuration status 140 RANGECMP Compressed version of the RANGE log 141 RTKPOS RTK low latency position data 161 NAVIGATE Navigation waypoint status 172 AVEPOS Position averaging 174 PSRDOP DOP of SVs currently tracking 175 REFSTATION Base station position and health 181 MARKPOS Position at time of mark input event 195 RXHWLEVELS Receiver hardware levels 206 VALIDMODELS Model and expiry date information for receiver Continued on Page 149 148 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 NovAtel Format Logs Message ID Datatype Description 215 RTKDATA RTK specific information 216 RTKVEL RTK velocity 231 MARKTIME Time of mark input event 233 234 235 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 informatio
35. ASCII and Binary only Hex 4 H 12 eee variable CR LF Sentence terminator ASCII only a A value between 1 and 32 for the SV ID indicates the PRN of the satellite Any other values indicate the page ID See section 20 3 3 5 1 1 Data ID and SV ID of ICD GPS 200C for more details To obtain copies of ICD GPS 200 see ARINC in the Standards References appendix in the GPS Reference Manual Recommended Input log rawalma onchanged ASCII Example RAWALMA COM1 0 74 0 SATTIME 1263 246828 000 00000000 cclb 1522 1263 405504 000 42 3 8b03bc501bb7432d0263 706fd4000al 0cfd24d4a7168fe9ac857b0c0037 27 8b03bc501db05b94486303eafd3 00al0db0d04430a707b230b 53060154 4 8b03bc501e344436a3630ba6 d3700a10C815375d7 d337635ael 6f3ffa8 28 8b03bc5020335c46d9630b17 d5600a10d25 d86359e222df5e9e403000c 5 8b03bc5020b5452a5e63fbfb6fd3e00al0el4fa38bf21db2e2c1c3a030002 25 8b03bc505731595c836300F5 d3a00al0ccacflf3cbheb5b46 9210080008 2 8b03bc5057b742c15c63f9b1 fd3effal0c93f9I360cbaefbe2e0c93d8ffdf 26 8b03bc5059b25a7c8863190bFd6900al10cd8a8 3edcl16cb9b9b7 6b532fF84 6181a963 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 239 Chapter 3 DataLogs 3 4 51 RAWEPHEM Raw Ephemeris 240 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 contai
36. 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 type See Table 31 ID Type All types may revert to Enum 4 H SBAS if enabled or SINGLE position types See also Table 47 Position or Velocity Type on Page 159 3 ID Char 5 or ANY ID string Char 5 ga H 4 Field Description 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 SBAS SBASCONTROL ENABLE AUTO 2 Enable OmniSTAR VBS and HP or XP RTKSOURCE OMNISTAR PSRDIFFSOURCE OMNISTAR 3 Enable RTK and PSRDIFF from RTCM with a fall back to SBAS RTKSOURCE RTCM ANY PSRDIFFSOURCE RTCM ANY SBASCONTROL ENABLE AUTO OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 103 Chapter 2 Binary ASCII RTCM 24 Commands Table 31 DGPS Type Description RTCM ID 0 lt RTCM ID lt 1023 or ANY RTCA f RTCA ID A four character string containing only alpha a z or numeric characters 0 9 or ANY CMR b4 CMR ID 0 lt CMR ID lt 31 or ANY OMNISTAR t In the PSRDIFFSOURCE command OMNISTAR enables OmniSTAR VBS and disables other DGPS types OmniSTAR VBS produces RTCM type corrections In the RTKSOURCE command OMNISTAR
37. CR LF Sentence terminator ASCH only Recommended Input log psrxyza ontime 1 ASCII Example PSRXYZA COM1 0 68 5 FINESTEERING 1263 245891 000 00000000 c0a5 1522 SOL_COMPUTED PSRDIFF 1634532 4104 3664608 9516 4942482 7843 0 8875 1 5396 1 3041 SOL_COMPUTED PSRDIFF 0 0272 0 0359 0 0249 0 1061 0 1840 0 1559 AAAA 0 250 1 000 0 000 9 9 0 0 0 0 0 0 e96723e6 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 231 Chapter 3 DataLogs 3 4 47 RANGE Satellite Range Information 232 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 tra
38. 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 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 177 Chapter 3 DataLogs 3 4 13 CIMRDATAREF Base Station Position RTK Refer to the chapter on Message Formats in Volume 1 of this manual set for information on CMR standard logs See Figure 8 Page 167 for a definition of the ECEF coordinates Message ID 391 Log Type Synch Field Field type Data Description Format Aua nary 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 Ulo
39. OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Messages Chapter 1 Table 6 Binary Message Sequence Direction Sequence Data LOG Command Header AA44121C 01000240 20000000 1D1D0000 29160000 00004C00 55525A80 ae LOG P t 20000000 2A000000 02000000 00000000 0000F03F 00000000 E DERAS 00000000 00000000 Checksum 2304B3F1 LOG Response Header AA44121C 01008220 06000000 FFB4EE04 605A0513 00004C00 From P FFFF5A80 Receiver Log Response Data 01000000 4F4B Checksum DA8688EC AA44121C 2A000220 48000000 ASB4EE04 888F2013 00000000 BESTPOSB Header A64CF205 From 00000000 10000000 2A 11CF8F E68E4940 ED818CFE 73825CCO Receiver BESTPOSB Data OOFOA903 A19A9040 732B82C1 3D000000 6F7DF33F BACFC33F 9DE58940 00000000 00000000 00000000 07070000 00000000 Checksum 0C0458B7 1 3 GPS Time Status All reported receiver times are subject to a qualifying time status This status gives you an indication of how well a time is known see Table 7 Table 7 GPS Time Status GPS Time Status GPS Time Status ipti Decimal ASCII Description 20 UNKNOWN Time validity is unknown 60 APPROXIMATE Time is set approximately 80 COARSEADJUSTING Time is approaching coarse precision 100 COARSE This time is valid to coarse precision 120 COARSESTEERING Time is coarse set and is being steered 130 FREEWHEELING Position is lost and the range bias cannot be calculated 140 FINEADJUSTING
40. Reference date of parameters 18 refdate 0 0 year Example 2005 00 Jan 1 2005 Double 8 H 128 2005 19 Mar 11 2005 ASCII Example USEREXPDATUM 6378137 000 298 25722356280 0 000000000 0 000000000 0 000000000 0 00000000 0 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 0000 00000 0 000000000 0 000000000 0 000000000 0 000000000 132 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 66 UTMZONE This command sets the UTM persistence zone number or meridian Please refer to http earth info nga mil GandG grids grids 1 htm for more information and a world map of UTM zone numbers Abbreviated ASCII Syntax Message ID 749 UTMZONE command parameter Field ASCII Binary Binary Binary Binary Field Format Bytes Offset 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 command See Table 40 below Enum 4 H 3 parameter Enum 4 H 4 lt 1 The latitude limits of the UTM System are 80 S to 84 N so if your position is outside this range the BESTUTM log outputs a northing easting and height of 0 0 along with a zone letter of and a zone number of 0 so that it is obvious that the data in the log is dummy data 2 Ifthe latitude band is X then the Zone number should not
41. Table 18 Tx and DTR Availability Tx and DTR on Tx and DTR not on OEM4 G2L COM1 and COM2 OEM4 G2 COM1 COM3 and AUX COM2 OEM4 obsolete COM1 and COM3 COM2 ASCII Example 1 COM COM1 9600 N 8 1 N to disable handshaking COMCONTROL COM1 RTS FORCELOW COMCONTROL COM2 DTR TOGGLEPPS ASCII Example 2 COMCONTROL COM1 RTS TOGGLEPPS COMCONTROL COM2 RTS TOGGLEPPS COMCONTROL COM3 RTS TOGGLEPPS lt 1 The RTS line is available on all OEM4 family COM ports 2 The PULSEPPSLOW control type cannot be issued for a TX signal 62 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 12 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 ASCII Binary Binary Binary pescripuon Format Bytes Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII
42. Time Matched MATCHEDXYZ 242 RTK Time Matched cartesian coordinate position data NAVIGATE 161 Navigation waypoint status OMNIHPPOS 495 OmniSTAR HP position data LBANDINFO 730 L Band configuration information LBANDSTAT 731 L Band status information PASSCOM1 PASSCOM2 233 234 Pass through logs PASSCOM3 PASSXCOM1 235 405 PASSXCOM2 PASSAUX 406 690 PASSUSB1 PASSUSB2 607 608 PASSUSB3 609 PORTSTATS 72 COM or USB 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 Continued on Page 144 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 143 Chapter 3 DataLogs NovAtel Format Logs DEVEL AN oI Message ID Description RANGE 43 Satellite range information RANGECMP 140 Compressed version of the RANGE log RANGEGPSL1 631 L1 version of the RANGE log RAWALM 74 Raw almanac RAWEPHEM 41 Raw ephemeris RAWGPSSUBFRAME 25 Raw subframe data RAWGPSWORD 407 Raw navigation word RAWLBANDFRAME 732 Raw L Band frame data RAWLBANDPACKET 733 Raw L Band data packet RAWWAASFRAME 287 Raw SBAS frame data REFSTATION 175 Base station position and health RTCADATAI1 392 Type 1 Differential GPS Corrections RTCADATAEPHEM 393 Type 7 Ephemeris and Time
43. WAAS4 are fast corrections for slots 26 38 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the SBASCONTROL command for details Chapter 3 Message ID 302 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 iodf Issue of fast corrections data Ulong 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 8 5 prc26 pre i Long 4 H 12 6 prc27 f Long 4 H 16 7 Tees Begin te one a 8 prc29 Long 4 H 24 9 prc30 Long 4 H 28 10 pre31 Long 4 H 32 11 pre32 Long 4 H 36 12 prce33 Long 4 H 40 13 pre34 Long 4 H 44 14 pre35 Long 4 H 48 15 prc36 Long 4 H 52 16 prce37 Long 4 H 56 17 prc38 Long 4 H 60 18 udrei26 udre i Ulong 4 H 64 See Table 90 19 udrei27 r ME Ulong 4 H 68 po usa Pe difteria range emor indientor yong 4 WaT 21 udrei29 Ulong 4 H 76 22 udrei30 Ulong 4 H 80 23 udrei3 1 Ulong 4 H 84 24 udrei32 Ulong 4 H 88 25 udrei33 Ulong 4 H 92 26 udrei34 Ulong 4 H 96 27 udrei35 Ulong 4 H 100 28 udrei36 Ulong 4 H 104 29 udrei37 Ulong 4 H 108 30 udrei38 Ulong 4 H 112 31 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 116 32 CR LF Sentence terminator ASCII only
44. 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 offset will shift the receiver clock with respect to the time of arrival of the MK1I event If this offset is zero the slave will align its 1PPS to that of the signal received in its MK1I 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 Typically this offset is Long H 8 a Only the MK1I input can be used to synchronize the 1PPS signal Synchronization cannot be done using the MK2I input offered on some receivers b It is presumed that the TIMESYNC log see Page 306 was issued by a Master GPS receiver within 1000 ms but not less than 800 ms of the last 1PPS event see Figure 1 1PPS Alignment on Page 42 Refer also to the Transfer Time Between Receivers section in Volume 1 of this manual set ASCII Example ADJUSTI1PPS MARK CONTINUOUS 240 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 45 Chapter 2 Commands 2 6 2 ANTENNAPOWER This command enables or disables the supply of elec
45. 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 numters of satellites used in solution null for XK KK ai 18 03 13 25 16 unused fields total of 12 fields 24 12 20 GPS 1 to 32 SBAS 33 to 64 add 87 for PRN number 16 pdop Position dilution of precision X X 1 5 17 hdop Horizontal dilution of precision X X 0 9 18 vdop Vertical dilution of precision X X 1 2 19 EXX Checksum hh 3F 20 CR LF Sentence terminator CR LF Recommended Input log gpgsa ontime 1 Example SGPGSA M 3 04 10 25 24 05 13 17 30 2 0 1 6 1 7 3B 192 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 23 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 reflects the accuracy of the solution type used in the BESTPOS see Page 158 and GPGGA see Page 184 logs except for the RMS field The RMS field since it specifically relates to pseudorange inputs does not represent carrier phase based positions Instead it reflects the accuracy of the pseudorange position which is given in the PSRPOS log see Page 227 This log will output null data in all fields until a valid almanac is obtained Message ID 222 Log Type Synch Field Structure Field Des
46. geoid and the WGS84 ellipsoid m 8 datum id Datum ID number see Chapter 2 Table Enum 4 H 36 20 Datum Transformation Parameters on Page 65 9 lat o Latitude standard deviation Float 4 H 40 10 lono 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 Continued on Page 214 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 213 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 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 above the RTK Uchar 1 H 67 mask 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 matchedposa onchanged ASCII Example MATCHEDPOSA COM1 0 79 5 FINESTEERING 1263 241396 000 00000000 b743 1522 SOL_COMPUTED NARROW_INT 51 11633809849 114 03839553770 1048 2376 16 2711 WGS84 0 0065 0 0063 0 0117 AAAA 0 000 0 000 9 8 8 8 0 0 0 0 93bd6cd0 214 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Dat
47. gt 8 amp OxOOFFFFFFL ulTemp2 CRC32Value int ulCRC ucBuffert amp Oxff ulCRC ulTemp1 ulTemp2 return ulCRC The NMEA checksum is an XOR of all the bytes including delimiters such as but excluding the and in the message output It is therefore an 8 bit and not a 32 bit checksum for NMEA logs At the time of writing a log may not yet be available Every effort is made to ensure that examples are correct however a checksum may be created for promptness in publication In this case it will appear as 9999 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Messages Chapter 1 Example BESTPOSA and BESTPOSB from an OEM4 family receiver ASCII BESTPOSA COM2 0 77 5 FINESTEERING 1285 160578 000 00000020 5941 1164 SOL_COMPUTED SINGLE 51 11640941570 114 0383095 1024 1062 6963 16 2712 WGS84 1 6890 1 2564 2 7826 0 000 0 000 10 10 0 0 0 0 0 0 2212A3C3 BINARY OxAA 0x44 0x12 Ox1C 0x2A 0x 00 0x02 0x42 0x48 0x00 0x00 0x00 0x96 OxB4 0x05 0x05 0x90 0x32 Ox8E 0x09 0x20 0x00 0x00 0x00 0x41 0x59 Ox8C 0x04 0x00 0x00 0x00 0x00 0x10 0x00 0x00 0x00 0x03 Ox9A Ox8A Ox8A OxE6 Ox8E 0x49 0x40 OxEB 0xD8 OxE7 0xB2 0x73 0x82 Ox5C OxCO 0x00 OxBO OxDD OxA2 0x37 0x 9B 0x90 0x40 0x80 0x2B 0x82 0xC1 0x3D 0x00 0x00 0x00 Ox9D OxDA Ox3F OxF7 0x58 OxA1 Ox3F Ox3F OxF4 0x32 0x89 0x40 0x00 0x00 0x00 0x00 0
48. pulse mark input 210 212 Q quality 184 186 188 193 quotation marks 14 117 124 R RANGE 232 range bias 170 compressed 236 logs 232 measurements 55 reject codes 307 residual 191 satellite information 89 range bias 22 RANGECMP 236 RANGEGPSLI1 238 raw almanac 182 RAWALM 238 RAWEPHEM 240 RAWGPSSUBFRAME 241 RAWGPSWORD 242 RAWLBANDFRAME 243 RAWLBANDPACKET 244 RAWOMNIFRAME 243 RAWOMNIPACKEHT 244 RAWWAASFRAME 245 reacquisition 47 49 235 receive characters 224 interface 27 30 87 receiver status 90 296 299 reference station see base station references and standards 154 239 REFSTATION 246 reinstate satellites 128 remote station see rover station RESET 105 reset average positions after 100 complete 108 hardware 28 83 105 residual 191 284 307 resolution 106 108 response 20 87 345 restore 99 RF delay 58 right ascension 154 RMS see root mean square root mean square RMS 193 rover station commands 30 RTCA 68 70 87 88 104 247 248 RTCADATAI 249 RTCADATAEPHEM 250 RTCADATAOBS 251 RTCADATAREF 253 RTCM 68 88 104 247 254 271 RTCMDATAI 256 RTCMDATA1001 273 RTCMDATA1002 276 RTCMDATA1003 278 RTCMDATA1004 280 RTCMDATA1005 282 RTCMDATA1006 283 RTCMDATAIS5 259 RTCMDATA16 260 RTCMDATAI1819 261 RTCMDATA2021 265 RTCMDATAS 257 RTCMDATASS 270 RTCMDATAY 258 RTCMV3 71 88 104 247 272 274 276 283 RTK baseli
49. residuals were recomputed after the GGA position was computed preferred mode 4 15 res Range residuals for satellites used in the XXX Xe 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 Recommended Input log gpgrs ontime 1 Example GPGRS 182215 00 1 0 0 0 0 0 2 0 0 0 0 0 2 0 0 0 1 42 lt 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 2 There is no residual information available from the OmniSTAR HP service so the GPGRS contains the pseudorange position values when using it For the OmniSTAR VBS or CDGPS service residual information is available OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 191 Chapter 3 DataLogs 3 4 22 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 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
50. sat x 40 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 12 sat x 40 variable CR LF Sentence terminator ASCII only a Satellite health values may be found in ICD GPS 200 To obtain copies of ICD GPS 200 refer to ARINC in the Standards and References section of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html Recommended Input log satvisa ontime 60 ASCII Example SATVISA COM1 0 58 0 FINESTEERING 1263 251958 000 00000000 0947 1522 TRUE TRUE 30 21 0 0 81 8 309 6 595 377 595 395 18 0 0 53 8 218 7 2250 626 2250 644 26 0 0 42 97 90 6 922 191 po223 169 29 0 0 39 1 69 2 643 078 643 060 6 0 255 33 4 164 3 3184 244 3184 227 20 0 0 80 6 258 8 454 007 454 024 b6185711 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 303 Chapter 3 3 4 89 SATXYZ SV Position in ECEF Cartesian Coordinates 304 Data Logs 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 pseudoranges Only those satellites that are healthy are reported here See also Figure 8 on Page 167 Messag
51. separation Field ASCII Binary Binary Binary Binary riele Type Value Value Description Format Bytes Offset 1 header This field contains the command name or H 0 the message header depending on whether the command is abbreviated ASCH ASCII or binary respectively 2 option TABLE 0 Use the internal undulation table default Enum 4 H same as OSU89B USER 1 Use the user specified undulation value OSU89B 2 Use the OSU89B undulation table EGM96 3 Use th geoidal height model EGM96 table 3 separation 1000 0 m The undulation value required for the Float 4 H 4 USER option ASCII Example 1 UNDULATION TABLE ASCII Example 2 UNDULATION USER 5 599999905 Please refer to the GPS Overview section of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html for a description of the relationships in Figure 7 below TOPOGRAPHY a GEOID PEPON mean sea level SPHEROID ellipsoid N Geoidal height undulation Figure 7 Illustration of Undulation OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 127 Chapter 2 Commands 2 6 60 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
52. 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 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log rtemdata59a ontime 10 ASCII Example RTCMDATAS 9A COM1 0 71 5 FINESTEERING 1117 323592 000 00140000 3d 8 337 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 Family Firmware Version 2 300 Command and Log Reference Rev 16 271 Chapter 3 DataLogs 3 4 73 RTCMV3 RTCMV3 Standard Logs RTK 272 RTCM1001 L1 ONLY GPS RTK OBSERVABLES Message ID 772 RTCM1002 EXTENDED L1 ONLY GPS
53. to follow 3 lst range Compressed range log in Hex 24 H 4 record format of Table 66 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 69 5 FINESTEERING 1263 246632 000 00000000 9691 1522 13 049c100824af09c0352b150b024a52b8501d889c01030000 0b9c3001cb8b0720602b150bf54bc8d3731def9be1010000 249c1018f946f76fce95440af5ea55c1200a72daa5030000 2b9c3011fa33f9cfe895440ae5e58bbe200a73da05030000 449c10180bec0760af354b0bb9ded2946110e0e9a0020000 4b9c30114a2c06e0cb354b0b28411fb8a310e0e9c0010000 649c1008b2bb09b01b55670abbd182aa201512ec81030000 6b9c3001949507b02955670a89fbc2ac311512ecal020000 849c1008bbd0 32 0245e20b12ad98b161184d3dca020000 8b9c30016681f65f4145e20b8074cdeab418df3c6a010000 a49c1008e0a50da02b9e3f0b0b0b709c811a4adea0020000 ab9c300180a20a30619e3f0bF5030ebe931laafdde0010000 c49c1018b3ac0el105b2bab0b7418cad571129 96a0020000 cb9c30114b6 0b20902bab0b16170187b63122 96e0010000 e 49c1008209af76fFc63510aaabcecbh820118e3287030000 69c3001 c574 95f1b64510a8740feb721118e32c7020000 49d10081fdaf11f 10083d0bb95e239e811e912fa7020000 b9Id3001bFFLIF4d 41083d0b4f 6e6lbfb31e912fa7010000 a5748b01 oO N N 236 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16
54. 0 ccccceccccecseescceeeseeeseeeeseseeseeeeseseeaaees 289 3 4 83 RTKXYZ RTK Cartesian Position and Velocity RTK ossee 291 3 4 84 RXCONFIG Receiver Configuration ecccccececeeeeeeeeeeeeeeeeeeeeeeeaeeeees 293 3 4 85 RXHWLEVELS Receiver Hardware Levels c c cseseseeeeeeeeeeeeeees 295 3 4 86 RXSTATUS Receiver Status cccccccccccccccesseseseeseeeeseeeseseeeeeeeeeeeeeenees 296 3 4 87 RXSTATUSEVENT Status Event Indicator ccccccscceseeceeeeeeeeeeeees 301 3 4 88 SATVIS Satellite Visibility cc eccccecscereeeeeseseeeeeeesseseaeeesseeeeaeees 303 3 4 89 SATXYZ SV Position in ECEF Cartesian Coordinates 000008 304 3 4 90 TIME Time Datta ceecccccceeeesseceeeceesseseceeaneeseceeecauaeseeeeeeseaneeeeeneas 305 3 4 91 TIMESYNC Synchronize Time Between GPS Receivers 0066 306 3 4 92 TRACKSTAT Tracking Status ccececceeeceeeeeeeeee secs eeeeeeeeseaeeeeeeeeeees 307 3 4 93 VALIDMODELS Valid Model Information ccccccssssssseseseeseeeeeeeeeeeees 309 3 4 94 VERSION Version Information ccccccccccccceseeseseeeeeeeeeeceeeeseeeeeeeeeeeess 310 3 4 95 WAASO Remove PRN from Solution SBAS oaeee 313 6 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Table of Contents 3 4 96 WAAS1 PRN Mask Assignments SBAS 0 cccccceceeeeeeseeeseteeeeeeeees 314 3 4 97 WAAS2 Fast Correction Slots 0 12 SBAS a e 315 3 4 98 WAAS3 Fast Corrections Slots 13 25 SBAS
55. 0 lt 0 1m 1 lt 0 25m 2 lt 0 5m 3 lt 1 0m 4 lt 2 0m 5 lt 3 5 m 6 lt 5m 7 gt 5 Table 73 RTCM2021 Multipath Indicator Code Multipath Error 0 lt 0 1m 1 lt 0 25m 2 lt 0 5m 3 lt 10m 4 lt 2 5m 5 lt 5m 6 gt 5m 7 Undetermined multipath 268 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 71 RTCMDATA22 Extended Base Station RTK See the chapter on Message Formats in Volume 1 of this manual set for information on RTCM standard logs Message ID 401 Log Type Synch Field Field type Data Description Format Binary lt 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 see REFSTATION on Ulong 4 H 20 Page 246 8 L1 ECEF X L1 ECEF AX correction 1 256 cm Long 4 H 24 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 Ulong 4 H 44 14 L2 ECEF X L1 ECEF AX correction 1 256
56. 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 48 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 4 ASSIGNALL lt 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 receiver channels with manual instructions This command 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 Value Value Binary 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 system See Table 13 System that SV channel is tracking Enum 4 H 3 state See Table 12 Channel Set the SV channel state Enum 4 H 4 State on Page 47 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 st
57. 1 P 2 P codeless 24 0x01000000 a aia N6 25 0x02000000 26 0x04000000 Forward Error Correction 0 Not FEC 1 FEC 27 0x08000000 Primary L1 channel 0 Not primary 1 Primary 28 0x10000000 Carrier phase measurement 0 Half Cycle Not Added N7 1 Half Cycle Added 29 Reserved 30 0x40000000 PRN lock flag 0 PRN Not Locked Out 1 PRN Locked Out 31 0x80000000 Channel assignment 0 Automatic 1 Forced a Grouped Channel has an associated channel L1 L2 pairs b This bit will be zero until the parity is known and the parity known flag bit 11 is set to 1 A PRN can be locked out using the LOCKOUT command see also Page 89 C OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 233 Chapter 3 DataLogs Message ID 43 Log Type Synch Field Field Data Description Format Binary piety type Bytes Offset 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 1
58. 1 0 6 0 7 70480075 1 0 26 0 1 205262773 1 0 23 0 1 46251638 1 0 28 0 1 167164502 1 0 31 0 1 77539005 10529073519 0 0 4523 0 0 6 200000 11 1 0 3 2 3 1114597101 1 0 15 2 3 999274497 1 0 18 2 3 1022282623 1 0 21 2 3 1151773907 1 0 17 2 3 1015290815 1 0 6 2 3 1207662688 1 0 26 2 3 1085620069 1 0 23 2 3 1029707897 1 0 28 2 3 1240811844 1 0 31 2 3 1242647691 1 0 22 4 3 1241415667 820e5a7b N oO Table 69 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 SYVIIN Icn anA INNI eo pele i a N p ios A a wm OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 263 Chapter 3 DataLogs Table 70 RTCM1819 Smoothing Interval Code Smoowinet ae 0 Otol 1 1 to 5 2 5 to 15 3 Undefined smoothing interval Table 71 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 lt 5 460 m lt 8 145 m lt 12 151 m lt 18 127 m gt 18 127 m Undetermined multipath OlOWINIDI NIHR IWIN o
59. 104 WAAS10 Degradation Factor SBAS The fast corrections long term corrections and ionospheric corrections are all provided in the WAAS10 message Message ID 292 Log Type Asynch Field Field type Data Description Format Binary Binary scatin yP p Bytes Offset g header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 Diss Estimated noise and round off error Ulong 4 H 4 0 002 parameter 4 Cltc_ Isb Maximum round off due to the lest Ulong 4 H 8 0 002 significant bit lsb of the orbital clock 5 Citc_vl Velocity error bound Ulong 4 H 12 0 00005 6 ltc_vl Update interval for v 1 long term Ulong 4 H 16 7 Cltc_vO Bound on update delta Ulong 4 H 20 0 002 8 itte_v1 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 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 Cn Degradation parameter Ulong 4 H 40 0 5 13 Ciono_step Bound on ionospheric grid delay Ulong 4 H 44 0 001 difference 14 Tiong Minimum ionospheric update Ulong 4 H 48 interval 15 Ciono_ramp Rate of ionospheric corrections Ulong 4 H 52 0 000005 E change 16 TSSudre 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
60. 14 14 0 0 0 0 1 0 3401 1 0 693 7091 335 Chapter 3 3 4 110 WAAS26 lonospheric Delay Corrections SBAS Data Logs WAAS26 provides vertical delays relative to an L1 signal and their accuracy at geographically defined IGPs identified by the BAND NUMBER and IGP number Each message contains a band number and a block ID which indicates the location of the IGPs in the respective band mask Message ID 299 Log Type Asynch 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 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 igPyde 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 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 ASCII Example 336 log WAAS26 onchanged WAAS26A COM1 0 68 0 SATTIME 1263 313875 000 00000100 ec70 1522 122 1 3 15 13 11 29 13 25 13 25 12 22 11 19 11 17 11 16 11 13 12 13 13 32 13 30 13 26 12 23 11 21 1
61. 24 6 expday Expiry day Ulong 4 H 28 Tess 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 a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment Recommended Input log validmodelsa once ASCII Example VALIDMODELSA COM1 0 70 5 FINESTEERING 1263 311382 950 00000000 342 1522 3 INSRT2W 0 0 0 RT2 0 0 0 RT2WA 0 0 0 b6be57bf OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 309 Chapter 3 DataLogs 3 4 94 VERSION Version Information 310 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 89 VERSION Log Field Formats on Page 312 for details on the format of key fields See also the VALIDMODELS log on Page 309 Message ID 37 Log Type Polled Field Field type Data Description Format Binary Binaiy Bytes Offset 1 header Log header H 0 2 comp Number of components cards and so on Long 4 H 3 type Component type se
62. 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log portstatsa once ASCII example PORTSTATSA COM1 0 73 5 FINESTEERING 1263 242178 588 00000000 a872 1522 6 COM1 2329 83352 2325 0 11521 4 0 0 0 COM2 576474 557 576474 0 74851 0 0 0 0 COM3 0 0 0 0 7 0 0 0 0 USB1 0 0 0 0 0 0 0 0 0 USB2 0 0 0 0 0 0 0 0 0 USB3 0 0 0 0 0 0 0 0 0 b7333ec1 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 225 Chapter 3 DataLogs 3 4 43 PSRDOP Pseudorange DOP 226 The dilution of precision data is calculated using the geometry of only those satellites that are currently being tracked and used in the position solution by the receiver This log is updated once every 60 seconds or whenever a change in the satellite constellation occurs Therefore the total number of data fields output by the log is variable and depends on the number of SVs that are being tracked Twelve is the maximum number of SV PRNs contained in the list lt 1 Ifa satellite is locked out using the LOCKOUT command it will still be shown in the PRN list but it will be significantly de weighted in the DOP calculation 2 The vertical dilution of precision can be calculated by vdop y pdop hdop Message ID 174 Log Type Asynch Field Field Data Description Format Binary Binary type Bytes Offset header Log header H 0 2 gdop Geometric dilution of precision F
63. 8 0 0 0 0 HANDOFF_COMPLETE 1 2 9794e 05 3 4515e 05 3 6738e 05 3 4515e 05 1 0044e 04 8 0896e 05 3 6738e 05 3 2072 3 04 7 7 NARROW_I 0 NARROW_I 21 NARROW_I 6 NARROW_I 26 NARROW_I 8 NARROW_I 5 NARROW_I 8 0896e 05 2 4138 04 97 1 2114 0 0184 0 0332 0 0378 29 T 0 000034189 T 0 002642911 T 0 000157104 T 0 002812332 T 0 000783464 T 0 003042223 T 0 001087773 a985c950 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 285 Chapter 3 DataLogs Table 76 Searcher Type Searcher Type binary 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 77 Ambiguity Type na 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 78 RTK Information Bit Mask Description Bit 0 Bit 1 0 0x00000001 RT
64. 97869820000 12 0000 147 0000 192 0000 0 0000 0 0000 0 0000 0 000000000 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 131 Chapter 2 Commands 2 6 65 USEREXPDATUM Like the USERDATUM command this command allows you to enter customized ellipsoidal datum parameters However USEREXPDATUM literally means user expanded datum allowing you to enter additional datum information such as velocity offsets and time constraints The 7 expanded parameters are rates of change of the initial 7 parameters These rates of change affect the initial 7 parameters over time relative to the Reference Date provided by the user This command is used in conjunction with the datum command see Page 63 If you use this command without specifying any parameters the command defaults to WGS84 If you enter a USERDATUM command see Page 131 the USEREXPDATUM command is then issued internally with the USERDATUM command values It is the USEREXPDATUM command that appears in the RXCONFIG log If the USEREXPDATUM or the USERDATUM command are used their newest values overwrite the internal USEREXPDATUM values Abbreviated ASCII Syntax Message ID 783 USEREXPDATUM semimajor flattening dx dy dz rx ry rz scale xvel yvel zvel xrvel yrvel zrvel scalev refdate ASCII Value Binary Value Binary Format Binary Offset Description This field contains the
65. Chapter 3 NMEA Format Logs GPGGALONG 521 GPS Fix Data Extra Precision and Undulation GPGGARTK 259 GPS Fix Data with Extra Precision GPGLL 219 Geographic Position latitude longitude GPGRS 220 GPS Range Residuals for Each Satellite GPGSA 221 GPS DOP and Active Satellites GPGST 222 Pseudorange Measurement Noise Statistics GPGSV 223 GPS Satellites in View 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 Family Firmware Version 2 300 Command and Log Reference Rev 16 147 Chapter 3 DataLogs Table 44 OEM4 Family Logs in Order of their Message IDs NovAtel Format Logs Message ID Datatype Description 5 LOGLIST A list of system logs 7 GPSEPHEM GPS ephemeris data 8 IONUTC Ionospheric and UTC model information 16 CLOCKMODEL Current clock model matrices 25 RAWGPSSUBFRAME Raw subframe data 26 CLOCKSTEERING Clock steering status 37 VERSION Receiver hardware and software version numbers 41 RAWEPHEM Raw ephemeris 42 BESTPOS Best position data 43 RANGE Satellite range information 47 PSRPOS Pseudorange position information
66. Commands Chapter 2 2 6 47 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 ASCII Binary Binary Binary 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 number 4 12 The number of SVs to use in the ULong 4 H solution default 12 ASCII Example RTKSVENTRIES 7 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 113 Chapter 2 Commands 2 6 48 SAVECONFIG 114 This command saves the user s present configuration in non volatile memory The configuration includes the current log settings FIX settings port configurations and so on Its output is in the RXCONFIG log see Page 293 See also the FRESET command Page 83 Abbreviated ASCII Syntax Message ID 19 SAVECONFIG WARNING If you are using this command in GPSolution ensure that you have all windows other than the Console window closed Otherwise log commands used for the various windows will be saved as well This will result in unnecessary data being logged OEM4 Family Firmware Versio
67. Description Log header Format Data Logs Binary Binary Bytes H Offset 0 sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H pos type Position type see Table 47 Position or Velocity Type on Page 159 Enum 4 H 4 vel type Velocity type see Table 47 Position or Velocity Type on Page 159 Enum H 8 nav type Navigation data type see Table 61 Navigation Data Type on Page 217 Enum H 12 distance Straight line horizontal distance from current position to the destination waypoint in meters see Figure on Page 217 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 magnetic 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 xt
68. Ea aa 21 Commands By Function Table cccccececeeeeeeeeeeeeeeeceaeeeeseeeeseaeeeesaaeeseeaeeesaeeeeeaees 27 OEM4 Family Commands in Alphabetical Order cccccceceeeeeeeeeeeeeeeeeeeeesaeeteenees 31 OEM4 Family Commands in Order of their Message IDS n s 35 OEM4 Family Command Comparison c cccecccceseceeceeeeeeeeeeeeeeeeeseaeeseeeeeeseaeeseneees 39 Channel States ia tat ahah hada tat ae eee bet 47 Channel SYSte nines faints veatvert cites A A AE 50 L Band ModE retia ei ra naa T mteatdvebnerevtell e T ER 52 COM Serial Port Identifiers cccccececeeeeeseeeeeeeeeeeeaeeeeceeeseaaeeeeeeeeesaaeeeeneeeessaeeseeaeees 60 PANTY fannie tat et eee a iat a at ae ein i tact 60 Handshake AE hates SACs EE ETE ariceeedey dace tetsu as ER Aa A det Scions 60 Ex and DIRA YAY iarsna naars E aE E E AE EEE AE AE 62 Reference Ellipsoid Constants c ccccceeeeeeeeeececeeeeeeeeceeaeeeseaeeeseaeeeeeaeeseeeeessaeeenaes 65 Datum Transformation Parameters sssssssssseeesssrnesessnnenernnnnesnnnnnesnnnnnnennnnnnannnnnnennnna 65 User Dynamit Sisera EA E E A E EE 72 GlOCK Ty 0 E EA E E ereeiretay 76 Pre Defined Values for Oscillators ccccceeeeeeeeeeeceteeeeeeeeeeeaeeeeeeeeeeeaeeeeneeeeesaeeeeeaes 76 FIX Parameter anna a ie ete eles venice nae en ae eee Gas 78 BENE 5c o et ene Aiea es Aes A eel ene eee esa ech E Sai cated Saran ahd E eects 78 FRESET Targen aaea aaa taaa aa ae aa aeaa a a aaae aaae aA Eaa
69. 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 184 See also Table 53 Position Precision of NMEA Logs on Page 190 This log will output null data in all fields until a valid almanac is obtained Data Logs 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 WI 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 WwW 7 GPS qual GPS Quality indicator x 1 0 fix not available or invalid l GPS fix 2E 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 OEM4 family receivers 13 null This field not available on OEM4 family receivers s 14 age Age of Differential GPS data in seconds XX 15
70. 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 see Ulong 4 H 20 REFSTATION on Page 246 8 freq Frequency indicator where Ulong 4 H 24 0 L1 2 L2 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 69 Ulong 4 H 56 RTCM1819 Data Quality Indicator on Page 263 17 continuity Cumulative loss of continuity Ulong 4 H 60 indicator with a loss of lock counter 18 phase Carrier phase 1 256 cycles Long 4 H 64 19 Next RTCM18 observation offset H 40 obs x 28 Continued on Page 262 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 261 Chapter 3 DataLogs 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 sub
71. H 124 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 udrei3 1 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 udrei4 1 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 udrei51 Invalid do not use Ulong 4 H 224 59 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 228 60 CR LF Sentence terminator ASCII only Recommended Input log WAAS6 onchanged ASCII Example WAAS6A COM1 0 57 5 SATTIME 1093 273317 000 00000020 526a 209 122 3 3 3 3 9 14 14 2 3 10 2 14 14 3 14 14 5 14 14 7 14 14 14 14 14 14 3 3 14 14 14 14 3 15 11 11 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 925a2a9b 324 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 102 WAAS7 Fast Correction Degradation SBAS Chapter 3 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
72. It should be subtracted from the time to give improved results 20 diff_age Differential age in seconds 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 Continued on Page 166 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 165 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 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 bestxyza ontime 1 ASCII Example BESTXYZA COM1 0 78 5 FINESTEERING 1263 238168 000 00000000 798 1522 SOL_COMPUTED NARROW_INT 1634532 4439 3664608 9024 4942482 7154 0 0086 0 0090 0 0191 SOL_COMPUTED NARROW_INT 0 0017 0 0044 0 0045 0 0172 0 0180 0 0381 AAAA 0 250 2 000 0 000 9 7 7 7 0 0 0 0 b712e9d0 166 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Definitions Origin Earth s center of mass Z Axis Parallel to the direction of the Conventional Terrestrial Pole CTP for polar motion as d
73. P sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H 3 pos type Position type see Table 47 Position or Velocity Type on Enum 4 H 4 Page 159 4 P X Position X coordinate m Double 8 H 8 5 P Y Position Y coordinate m Double 8 H 16 6 P Z Position Z coordinate m Double 8 H 24 7 P X Standard deviation of P X m Float 4 H 32 8 P Y Standard deviation of P Y m Float 4 H 36 9 P Zo Standard deviation of P Z m Float 4 H 40 10 V sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H 44 11 vel type Velocity type see Table 47 on Page 159 Enum 4 H 48 12 V X Velocity vector along X axis m Double 8 H 52 13 V Y Velocity vector along Y axis m Double 8 H 60 Continued on Page 292 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 291 Chapter 3 DataLogs Field Field type Data Description Format Binary Binary Bytes Offset 14 V Z Velocity vector along Z axis m Double 8 H 68 15 V X Standard deviation of V X m Float 4 H 76 16 V 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 in seconds Float 4 H 96 21 sol_ag
74. Parameters 396 RTCMDATA1 Type 1 Differential GPS Corrections 397 RTCMDATA15 Type 15 Ionospheric Corrections 398 RTCMDATA16 Type 16 Special Message 399 RTCMDATA1819 Type18 and Type 19 Raw Measurements 400 RTCMDATA2021 Type 20 and Type 21 Measurement Corrections 401 RTCMDATA22 Type 22 Extended Base Station 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 405 406 PASSXCOM1 Pass through logs PASSXCOM2 407 RAWGPSWORD Raw navigation word 732 RAWLBANDFRAME Raw L Band frame data 733 RAWLBANDPACKET Raw L Band data packet 492 TIMES YNC Synchronize time between receivers 495 OMNIHPPOS OmniSTAR HP position data 730 LBANDINFO L Band configuration information 731 LBANDSTAT L Band status information 607 608 609 PASSUSB1 PASSUSB2 Pass through logs for receivers that support USB PASSUSB3 615 MARK2POS Time of mark input event 616 MARK2TIME Position at time of mark input event 631 RANGEGPSL1 L1 version of the RANGE log 686 BSLNXYZ RTK XYZ baseline 690 PASSAUX Pass through log for AUX port 696 WAAS32 CDGBPS fast correction slots 0 10 697 WAAS33 CDGPS fast correction slots 11 21 698 WAAS34 CDGPS fast correction slots 22 32 Continued on Page 151 150 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3
75. 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 receiver reference oscillator as compared to the GPS satellite reference All logs report GPS time not corrected for local receiver clock error To derive the closest GPS time subtract the clock offset from the GPS time reported The clock offset can be calculated by dividing the value of the range bias given in field 6 of the CLOCKMODEL log by the speed of light c The following symbols are used throughout this section B range bias m BR range bias rate m s SAB Gauss Markov process representing range bias error due to satellite clock dither m The standard clock model now used is as follows clock parameters array B BR SAB covariance matrix 2 oO Oo 0O OO B B BR B SAB oO oO 8 oO oO BR B BR BR SAB 2 om oC g o o SAB B SAB BR SAB Table 49 Clock Model Status stats Glock Status Description Binary ASCIl 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 Family Firmware Version 2 300 Command and Log Reference Rev 16 169 Chapter 3 DataLogs Message ID 16 Log Type Synch e aan B
76. a Da ar E eaa N eaaa aa raa aaa asa aa 299 AUXIN AY A Sta Se a vat oes sate a chaste aa aa aa aa E ashen 300 Auxiliaryi2 StatUS ne i r e raae aea aar aaraa a ana a aa aa a ie 300 Auxiliary S Stat S ornes maa naaa a A E E E AEE OE EAEE 300 EFU o AE EEE EE ei aad E TA EAT 302 Event MVP cuo ae A Aa E E AEA E a AAA 302 Range Reject Code ix ctis teccechsteeueuneebiearectcantivesteevtesivevt eaea aaa iaaa iaa aaa 308 Component Type Saarien aa ar aaa aaa AEE aa bogus aE aa aE E a Laa NIES 311 VERSION Log Field Formats iuie anaiena ernea eaaa aaie a peenar aia aeaa Naana 312 Evaluation of UDRE beses aE EEEE A E AEE E EEA 316 Eval ati n of CDGPS UDRE reopirin ui anaa aaa tea a ae aaia AEE ae 339 Responso MESSAGES reoi ensia onan ear RE RINAT EE 345 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Foreword 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 OEM4 family of receivers are capable of accepting or generating Sufficient detail is provided so that you should understand the purpose syntax and structure of each command or log and be able to effectively communicate with the receiver thus enabling you to effectively use and write custom int
77. 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 While you are standing still your velocity may jump several centimetres per second Once you start moving your velocity will become less noisy The latency of the instantaneous doppler velocity is always 0 15 seconds You will know that you have an instantaneous doppler velocity solution when you see DOPPLER_VELOCITY in field 3 vel type below BESTVEL uses an instantaneous doppler velocity that has low latency and is not delta position dependent If you change your velocity quickly you can see this in the DOPPLER_VELOCITY solution A valid solution with a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity Message ID 99 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 48 Solution Status on Enum 4 H Page 160 3 vel type Velocity type see Table 47 Position or Velocity Enum 4 H 4 Type on Page 159 4 latency A measure of the latency in the velocity time tag in Float 4 H 8 seconds It should be subtracted f
78. and Log Reference Rev 16 69 Chapter 2 Commands 2 6 16 DGPSTIMEOUT DGPS 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 68 to set the ephemeris changeover delay for base stations Abbreviated ASCII Syntax Message ID 127 DGPSTIMEOUT delay 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 Binary Binary Binary Format Bytes Offset Description Field ASCII Example rover DGPSTIMEOUT 60 lt 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 70 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 17 DGPSTXID DGPS This command sets the station ID value for the receiver when it is transmitting corrections This allows for the easy identification of which base station was the source of the data Abbreviated
79. are overrun See the auxiliary status word for the specific port for which the buffer is overrun b For obsolete Euro4 products the values for this bit are 0 PLL Not Locked and 1 PLL Locked OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 299 Chapter 3 DataLogs Table 82 Auxiliary 1 Status Nibble Bit Description 0 0x00000001 COM connection status Connected Not connected NO 1 0x00000002 COM2 connection status Connected Not connected 2 0x00000004 COM3 connection status Connected Not connected 3 0x00000008 Position averaging Off On 4 0x00000010 Reserved Ni 5 0x00000020 6 0x00000040 7 0x00000080 USB connection status Connected Not connected 8 0x00000100 USB1 buffer overrun flag No overrun Overrun N2 9 0x00000200 USB2 buffer overrun flag No overrun Overrun 10 0x00000400 USB3 buffer overrun flag No overrun Overrun 11 0x00000800 Reserved Table 83 Auxiliary 2 Status Nibble Description NO 0 0x0000001 Reserved Table 84 Auxiliary 3 Status Nibble Description NO 0 0x0000001 Reserved 300 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 87 RXSTATUSEVENT Status Event Indicator This log is used to output event messages as indicated in the RXSTATUS log An event message is automatically generated for all receiver errors which are indicated in the receiver error word In
80. byte alignment 280 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log rtemdata1004a ontime 7 ASCII Example RTCMDATA1004A COM1 0 83 5 FINESTEERING 1317 238497 000 00180040 5500 1855 0 0 238497000 0 7 0 0 7 21 0 3492634 1536 98 0 202 0 169 1904 96 175 2 0 10314064 3500 99 0 195 0 192 1385 96 165 16 0 9713480 7187 65 0 164 0 80 6159 65 148 29 0 11686252 1601 95 0 163 0 24 932 94 164 6 0 10511647 3261 99 0 206 0 115 3375 96 188 10 0 1964375 2688 99 0 200 0 120 2779 96 178 30 0 9085068 4078 98 0 190 0 50 2990 96 167 91c8c6d OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 281 Chapter 3 DataLogs 3 4 78 RTCIMDATA1005 Base Station Antenna Reference Point ARP RTK This log is available at the base station Refer to the chapter on Message Formats in Volume I of this manual set for information on RTCMV3 logs Message ID 788 Log Type Synch Field Field type Data Description Format Binary Binary yp p Bytes Offset 1 header Log header H 0 2 msg Message number Ushort 2 H 3 ID Base station ID Ushort 2 H 2 4 Reserved Uchar 1 H 4 5 GPSind GPS indicator Uchar 1 H 5 0 No GBPS service supported 1 GPS service supported 6 GLOind GLONASS indicator Uchar 1 H 6 0 No GLONASS service supported 1 GLONASS service supported 7 GALind Gali
81. can transmit and receive The receive type tells the receiver what type of data to accept on the specified port The transmit type tells the receiver what kind of data it can generate For example you would set the receive type on a port to RTCA in order to accept RTCA differential corrections It is also possible to disable or enable the generation or transmission of command responses for a particular port Disabling of responses is important for applications where data is required in a specific form and the introduction of extra bytes may cause problems for example RTCA RTCM RTCMV3 or CMR Disabling a port prompt is also useful when the port is connected to a modem or other device that 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 PASSCOM PASSXCOM PASSAUX and PASSUSB See Page 222 for details on these logs and the Operation chapter in Volume 1 of this manual set for information on pass through logging See also the COMCONFIG log on Page 181 Abbreviated ASCII Syntax Message ID 3 INTERFACEMODE port rxtype txtype responses Field Field ASCII Binary Descr
82. 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 rtcmdata22a 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 b86ebf12 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 269 Chapter 3 DataLogs 3 4 72 RTCMDATA59 Type 59N 0 NovAtel RT20 Differential RTK 270 See the chapter on Message Formats in Volume 1 of this manual set for information on RTCM standard logs Message ID 403 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 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 see REFSTATION Ulong 4 H 20 on Page 246 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 H 32
83. density model used to describe the frequency noise characteristics of oscillators ee pth ene GOR aT oth frhof 74 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands 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 Usage Before using an optional external oscillator several clock model parameters must be set There are Chapter 2 default settings for a voltage controlled temperature compensated crystal oscillator WCTCXO ovenized crystal oscillator OCXO Rubidium and Cesium standard which are given in Table 23 on Page 76 Or the user may choose to supply customized settings Abbreviated ASCII Syntax Message ID 230 EXTERNALCLOCK clocktype freq hO h h 211 A Field ASCII Binary Pare Binary Binary Binary REg 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 ASCH or binary respectively 2 clocktype See Table 22 on Clock type Enum 4 H Page 76 3 freq SMHz 0 Optional frequency If a value is not Enum 4 H 4 10MHz 1 specified the default is 5 MHz 4 ho 1 0e 31 to 1 0e 18 Optional timing standards These Double H 8 5 h 1 1 0 e 31 to 1 0 e 18 fields are only valid when th
84. description not available XX 3 7 null Local zone minutes description not available XX gt gt 8 XX Checksum hh 6F 9 CR LF Sentence terminator CR LF 1 Localtime zones are not supported by the OEM4 family receiver Fields 6 and 7 will always be null Recommended Input log gpzda ontime 1 Example GPZDA 184330 00 23 03 2004 6F OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 201 Chapter 3 3 4 30 IONUTC lonospheric and UTC Data The Ionospheric Model parameters ION and the Universal Time Coordinated parameters UTC are Data Logs provided Message ID 8 Log Type Asynch Field Field type Data Description Format Binary Binary 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 Ist 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 AO UTC constant term of polynomial Double 8 H 72 13 Al UTC Ist order term of polynomial Double 8 H 80 14 wn Isf Future week number Ul
85. 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 WAASECUTOFF Set SBAS satellite elevation cut off WAYPOINT NAVIGATION Commands Descriptions MAGVAR Set magnetic variation correction SETNAV Set waypoints DIFFERENTIAL BASE STATION Commands Descriptions DGPSEPHEMDELAY DGPS ephemeris delay DGPSTXID DGPS transmit ID FIX Constrain receiver height or position Continued on Page 30 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 29 Chapter 2 Commands Commands DIFFERENTIAL BASE STATION Descriptions INTERFACEMODE Set interface type Transmit Tx for a port LOG Select required differential output log MOVINGBASESTATION Set ability to use a moving base station position POSAVE Set up position averaging FIXPOSDATUM Fix position through a datum 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 Commands DIFFERENTIAL ROVER STATION Descriptions ASSIGNLBAND Set L Band satellite communication parameters DGPSTIMEOUT Set maximum age of differential data accepted INTERFACEMODE Set interface type Receive Rx for a COM p
86. from OEM4 G2L based products Message ID 195 Log Type Polled F ae Binar Binar Field Field type Data Description Format Bytes a 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 4 H 32 11 Ina volt LNA voltage V at GPSCard 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 ASCII Example RXHWLEVELSA COM1 0 64 0 FINESTEERING 1263 250724 830 00000000 863c 1522 46 000 0 123 1 296 14 562 4 994 4 975 0 000 0 001 0 012 4 910 9462eebd Table 79 Receiver Hardware Parameters Core Internal Temperature Antenna Supply RF LNA GPAI LNA Current Voltage Voltage Voltage Voltage Voltage Min 40 0 0 90 4 5 4 55 4 55 0 0 Max 100 gt 100 1 18 18 5 25 5 25 2 5 30 Typical 40 40 1 00 12 5 5 0 5 a The shown voltage levels are for hardware revision 3 01 or higher OEM4 G2 cards If the card s revision level is 3 00 or lower th
87. implementation of this feature RTK Features available only with receivers equipped with the RT 20 or RT 2 option DGPS Feature used when operating in differential mode NMEA National Marine Electronics Association format see Message Formats in Volume 1 of this manual set SBAS SBAS messages can be generated if you have an SBAS capable receiver model and are tracking an SBAS satellite For more information refer to the SBAS Overview in Volume 1 of this manual set Other simple conventions are OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 11 Foreword 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 Section 1 1 3 Binary on Page 16 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 40 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 63 Channel T
88. 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 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 43 RTKDYNAMICS RTK This command provides the ability to specify how the receiver looks at the data There are three modes STATIC DYNAMIC and AUTO The STATIC mode forces the RTK software to treat the rover station as though it were stationary regardless of the output of the motion detector lt 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 receiver defaults to the DYNAMIC setting Abbreviated ASCII Syntax Message ID 183 RTKDYNAMICS mode Field ASCII 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 2 mode See Table 34 Set the dynamics mode Enum 4 H Field Type Value Description ASCII Example RTKDYNAMICS DYNAMIC Table 34 Dynamics Mode
89. is accessible on pin 2 of the DB9F connector ProPak LBplus The 1PPS output signal is accessible on pin 1 of the COM1 SwitchCraft connector FlexPak G2L The 1PPS output signal is accessible on pin 10 of the COM1 Deutsch connector Alternatively the 1PPS signal can be set up to be output on the RTS signal of COM1 COM2 or COM3 or the DTR signal of COM2 using the COMCONTROL command see Page 61 The accuracy of the 1PPS is less using this method but may be more convenient in some circumstances lt COM3 is not available on some enclosure configurations nor the OEM4 G2L card The DTR signal is not available on the ProPak G2 enclosure To find out the time of the last PPS output signal use the TIMEA B output message see Page 305 which can be output serially on any available COM port for example LOG COMI TIMEA ONTIME 1 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 43 Chapter 2 Commands Abbreviated ASCII Syntax Message ID 429 ADJUSTIPPS mode period offset 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 ASCH ASCII or binary respectively Field 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
90. of inclination relative to 0 3 1 radians Double 8 H 92 16 SV config Satellite configuration Ulong 4 H 100 17 health prn SV health from Page 25 of subframe 4 or 5 Ulong 4 H 104 6 bits 18 health alm SV health from almanac 8 bits 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 154 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log almanaca onchanged ASCII Example ALMANACA COM1 0 74 5 SATTIME 1263 236634 000 00000000 06de 1522 28 1 1263 405504 0 5 355835e 03 7 61174563e 09 2 1391179e 00 1 6730555e 00 2 3245471e 00 3 36647034e 04 0 00000000 1 45865455e 04 2 6558955e 07 3 58388246e 02 1 0 0 TRUE 2 1263 405504 0 2 360344e 02 8 06890753e 09 1 66624169e 01 1 6950735e 00 1 1302154e 00 2 98500061e 04 7 27595761e 12 1 45862594e 04 2 6559302e 07 9 67726161e 03 1 63 255 FALSE 17 1263 405504 0 1 641607e 02 8 06890753e 09 2 1420401e 00 2 8048764e 00 2 9039840e 00 2 48908997e 04 1 81898940e 11 1 45865164e 04 2 6558990e 07 2 69225612e 02 1 0 0 TRUE 31 1263 405504 0 1 216650e 02 7 97747515e 09 9 27414599e 01 9 76235710e 01 3 0757944e 00 5 34057617e 05 2 91038305e 11 1 45855131e 04 2 6560208e 07
91. off angle 73 fix position 79 loops 232 satellite 29 141 226 status 307 undesirable 89 TRACKSTAT 307 transformation parameters 64 transmit 59 224 interface 27 30 87 trigger error 296 event messages 125 log 90 136 208 209 213 215 option 92 true north 93 94 163 193 218 228 289 types 13 U UNASSIGN 126 UNASSIGNALL 126 UNDULATION 127 undulation best position 158 161 220 command 106 127 height 106 illustration 127 position 156 210 213 227 287 type 85 JNLOCKOUT 128 JNLOCKOUTALL 128 JNLOG 129 JNLOGALL 130 JSERDATUM 131 JSEREXPDATUM 132 JTMZONE 133 Ce a eae CG A4 validity base station 247 291 clock model 169 receiver model 309 310 time tag 230 291 356 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 VALIDMODELS 309 VBS OmniSTAR 52 104 159 203 205 VCTCXO see oscillator VDOP see dilution of precision velocity average 230 291 best 163 165 closing 195 latency 230 291 292 limit 160 logs 139 offsets 132 pseudorange 140 RTK 289 status 230 xyz coordinates 132 165 230 291 VERSION 310 version 2 53 137 310 virtual address 15 visibility satellite 141 303 voltage 295 Volume Built In Status Tests 296 Message Formats 173 248 255 272 prerequisites 11 Technical Specifications 210 212 301 W WAASO 313 WAASI 314 WAAS1O 328 WAAS12 329 WAAS17 330 WAASI8 331 WAA
92. 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 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 Message ID 100 Log Type Synch nee Wee Data Description Format ae poat 1 header Log header H 0 2 sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H 3 vel type Velocity type see Table 47 Position or Velocity Type on Page Enum 4 H 4 159 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 in seconds 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 decreasi
93. pertaining to the HP process see Table 58 on Hex 2 H 40 Page 207 13 bytes hp Number of bytes fed to the HP process Ulong 4 H 44 14 hp status Status from the HP process see Table 59 on Page 207 Hex 2 H 48 15 Reserved Ulong 4 H 50 16 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 54 17 CR LF Sentence terminator ASCII only Recommended Input log Ibandstata ontime 1 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 205 Chapter 3 DataLogs ASCII Example LBANDSTATA COM1 0 73 5 FINESTEERING 1314 494510 000 00000000 c797 1846 1551488896 43 19 62 3 0 00 0082 0000 7235 11 0 0000 0001 7762 04000000 0 93f7d2af Table 56 L Band Signal Tracking Status Nibble Bit Mask Description Range Value 0 0x0001 Tracking State 0 Searching for data alee w i Too cer ee 2 0x0004 3 0x0008 Reserved 4 0x0010 NI 5 0x0020 6 0x0040 Bit Timing Lock 0 Not Locked 1 Locked 7 0x0080 Phase Lock 0 Not Locked 1 Locked 8 0x0100 DC Offset Unlocked 0 Good 1 Warning N2 9 0x0200 AGC Unlocked 0 Good 1 Warning 10 0x0400 11 0x0800 12 0x1000 Reserved 13 0x2000 N3 14 0x4000 15 0x8000 Error 0 Good 1 Error Table 57 OmniSTAR VBS Status Word Nibble Description 0 0x0001 Subscription Expired False True NO 1 0x0002 Out of Region False True 2 0x0004 Wet Error F
94. 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 lt 1 The resolution of the clock synchronization is 50 ns 2 To adjust the 1PPS output when the receiver s internal clock is being used and the CLOCKADJUST command is enabled use the CLOCKOFFSET command on Page 58 3 Ifthe 1PPS rate is adjusted the new rate does not start until the next second begins Figure I shows the IPPS alignment between a Fine and a Cold Clock receiver See also the TIMES YNC log on Page 306 and the Transfer Time Between Receivers section in Volume 1 of this manual set TIMESYNC log The next transmit time TIMESYNC dependant logi ion baud rate iaoee Pin FS Connected tol RS232 COM Input On Warm Clock Receiver 1PPS on Fine Receiver Connected to MK11 on Warm Clock Receiver TOAS 1PPS IN 1 ms Figure 1 1PPS Alignment 42 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 1PPS Output The 1PPS is obtained from different receivers in different ways If you are using a Bare Card The 1PPS output strobe is on pin 7 of the OEM4 G2 or on pin 4 of the OEM4 G2L ProPak G2plus A DB9F connector on the back of the enclosure provides external access to or DL 4plus various I O strobes to the internal OEM4 G2 card This includes the 1PPS output signal which
95. system state prn Doppler a PRN window ASSIGNLBAND 729 Set L Band satellite assignlband 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 CLOCKOFFSET 596 Adjust for antenna RF cable clockoffset offset delay in PPS output COMCONTROL 431 Control the hardware control comcontrol port signal 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 L1time L2time DATUM 160 Choose a DATUM name type datum datum Continued on Page 32 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 31 Chapter 2 Commands Command Message ID Description Syntax 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 Con
96. the rover by logging RTCMI6T This command will limit the input message length to a maximum of 90 ASCII characters If the message string contains any delimiters that is spaces commas tabs and so on the entire string must be contained in double quotation marks Abbreviated ASCII Syntax Message ID 131 SETRTCM16 text 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 text Max 90 character The text string String Vari Variable string max 90 able Field Description a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment Input Example SETRTCM16 Base station will shut down in 1 hour 124 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 56 STATUSCONFIG This command is used to configure the various status mask fields in the RXSTATUSEVENT log see Page 301 These masks allow you to modify whether various status fields 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 receiver
97. to a previously model model AUTHed model MOVINGBASE 763 Set ability to use a moving movingbasestation switch STATION base station position NVMRESTORE 197 Restore NVM data after a nvmrestore failure in NVM POSAVE 173 Implement position averaging posave state maxtime maxhstd for base station maxvstd POSTIMEOUT 612 Sets the position time out postimeout sec FIXPOSDATUM 761 Fix position through a datum position datum lat lon height PPSCONTROL 613 Control the PPS output ppscontrol switch polarity rate 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 set the 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 494 Set the RTK correction source 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 SBASCONTROL 652 Set SBAS test mode and PRN sbascontrol keyword prn testmode SEND 177 Send an ASCII message to send port data any of the communications ports SENDHEX 178 Se
98. to enable it to send differential corrections Abbreviated ASCII Syntax Message ID 173 POSAVE state maxtime maxhstd maxvstd Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 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 be averaged Only becomes optional if State OFF 4 maxhstd 0 100m Desired horizontal standard Float 4 H 8 deviation default 0 5 maxvstd 0 100m Desired vertical standard Float 4 H 12 deviation default 0 ASCII Example 1 POSAVE 24 1 2 ASCII Example 2 POSAVE OFF lt If this command is used its command default state is ON and as such you only need to specify the state if you wish to disable position averaging OFF In Example 1 above POSAVE 24 1 2 is the same as POSAVE ON 24 12 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 37 POSTIMEOUT This commands allows you to set the time out value for the position calculation in seconds In position logs for example BESTPOS or PSRPOS when the position time out expires the Position Type field is set to NONE Other fiel
99. 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 receiver This is done by setting clearing the appropriate bits in the event set clear masks The set mask tells the receiver to generate an event message when the bit becomes set Likewise the clear mask causes messages to be generated when a bit is cleared If you wish to disable all these messages without changing the bits simply UNLOG the RXSTATUSEVENT logs on the appropriate ports Refer also to the Built in Status Tests chapter in Volume 1 of this manual set Abbreviated ASCII Syntax Message ID 95 STATUSCONFIG type word mask Field ASCII Binary Binary Binary Binary Fieid 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 37 Type of mask to replace Enum 4 H 3 wo
100. type Data Description Format Binary Binary 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 band number that identifies Ulong 4 H 8 which of the 11 IGP bands the data belongs to 5 iodi Issue of ionospheric data Ulong 4 H 12 6 igp mask IGP mask Uchar 26 2ga H 16 spare bit One spare bit Ulong 4 H 44 XXXX 32 bit CRC ASCII and Binary Hex 4 H 48 only 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 Recommended Input log WAAS18 onchanged ASCII Example WAAS18A COM1 0 68 5 SATTIME 1263 313394 000 00000100 2c0 1522 122 4 0 2 00000000000000000000000000000000000386000183c0000380 0 8ebf0415 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 331 Chapter 3 DataLogs 3 4 108 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 d
101. with an Insufficient Resources error 2 Maximum flexibility for logging data is provided to the user by these logs The user is cautioned however to recognize that each log requested requires additional CPU time and memory buffer space Too many logs may result in lost data and degraded CPU performance Receiver overload can be monitored using the idle time field and buffer overload bits of the Receiver Status in any log header 3 Polled log types do not allow fractional offsets and can t do ontime rates faster than 1 Hz 4 Use the ONNEW trigger with the MARKTIME or MARKPOS logs 5 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 6 If you do use the ONTIME trigger with asynchronous logs the time stamp in the log does not necessarily represent the time the data was generated but rather the time when the log is being transmitted Abbreviated ASCII Syntax Message ID 1 LOG port message trigger period offset hold Table 29 LOG Command Binary Format Field Binary Binary Hescriplion 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 15 COM Serial Port Output port Enum 4 H Identifiers on Page 60 Continued on Page 91 90 OEM4 Family Fi
102. 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 quantity defined for a conic section Double 8 H 64 where e 0 is a circle e 1 is an ellipse 0 lt e lt 1 is a parabola and e gt 1 is a hyperbola 14 o Argument of perigee radians measurement along the orbital Double 8 H 72 path from the ascending node to the point where the SV is closest to the Earth in the direction of the SV s motion 15 cuc Argument of latitude amplitude of cosine radians Double 8 H 80 16 cus Argument of latitude amplitude of sine radians Double 8 H 88 17 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 Ip Inclination angle at reference 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 D Rate of right ascension radians second Double 8 H 152 25 iodc Issue of data clock U
103. 0 0 0000 0 0000 24 65 0 0000 0 0000 24 0 0 0000 0 0000 7 172 0 0000 0 0000 7 0 0 0000 0 0000 9 99 0 0000 0 0000 9 0 0 0000 0 0000 14 115 0 0000 0 0000 14 0 0 0000 0 0000 5 188 0 0000 0 0000 5 0 0 0000 0 0000 122 0 0 0000 0 0000 134 0 0 0000 0 0000 ee39 730 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 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 for ASCII and binary formats Table 92 outlines the various responses Table 92 Response Messages ASCII Message Binary Message ID Meaning OK 1 Command was received correctly REQUESTED LOG DOES NOT 2 The log requested does not exist EXIST NOT ENOUGH RESOURCES 3 The request has exceeded a limit for example the IN SYSTEM maximum number of logs are being generated DATA PACKET DOESN T 4 Data packet is not verified VERIFY COMMAND FAILED ON 5 Command did not succeed in accomplishing RECEIVER requested task INVALID MESSAGE ID 6 The input message ID is not valid INVALID MESSAGE FIELD 7 Field x of the input message is not correct X INVALID CHECKSUM 8 The checksum of t
104. 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 198 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Chapter 3 Recommended Input log gpsephema onchanged ASCII Example GPSEPHEMA COM1 14 81 0 ERROR 0 0 000 00000000 9145 1522 6 423540 0 63 64 64 1262 1262 424800 0 2 655894033e 07 5 534516249e 09 1 429148032e 00 6 2850565882e 03 2 026795978e 00 2 393499017e 06 4 608184099e 06 2 74125000e 02 4 30625000e 01 1 285225153e 07 1 117587090e 07 9 3598975235e 01 4 150172871e 10 1 081912914e 00 8 60571561le 09 64 424800 0 4 656612873e 09 2 94484e 06 1 13687e 12 0 00000 TRUE 1 458711083e 04 4 00000000e 00 09a3a5e2 GPSEPHEMA COM1 0 81 0 SATTIME 1263 239730 000 00000000 9145 1522 3 239730 0 0 160 160 1263 1263 244800 0 2 656060392e 07 3 876590047e 09 1 087692891e 00 2 1466212347e 03 6 7361097243e 01 1 648440957e 06 9 942799807e 06 98843750e 02 3 36250000e 01 1 005828381e 07 1 862645149e 09 9 8247586002e 01 3 671581508e 10 2 155392355e 00 7 69817780e 09 60 244800 0 1 117587090e 08 3 03681e 05 3 41061le 13 0 00000 TRUE 1 458557464e 04 4 00000000e 00 2a0020bb OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 199 Chapter 3 DataLogs 3
105. 0 C No Carrier to noise density ratio Float 4 H 36 C No 10 log1Q 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 62 Channel Tracking Status on Page ULong 4 H 44 status 233 and the example in Table 63 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 78 5 FINESTEERING 1263 245980 000 00000000 5103 1522 18 29 0 23564951 224 0 101 123834693 971736 0 019 2717 438 41 0 2648 260 08109c04 29 0 23564956 856 0 214 96494599 645066 0 020 2117 480 34 6 2643 480 01309c0b 16 0 23957481 388 0 112 125897418 664850 0 014 2361 750 40 2 1218 990 18109c44 16 0 23957485 426 0 248 98101902 534034 0 022 1840 320 33 2 1219 000 11309c4b 234 30 0 23126046 425 0 085 121528145 931062 0 010 3505 320 42 6 14064 520 08109424 30 0 23126051 798 0 01309d2b 529dccac 230 94697247 029530 0 015 2731 426 33 9 14064 540 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Table 63 Channel Tracking Example
106. 0 Command and Log Reference Rev 16 159 Chapter 3 Data Logs Table 48 Solution Status Solution Status i ba 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 th V_H_LIMIT Height or velocity limits exceeded in accordance with COCOM export licensing restrictions VARIANCE Variance exceeds limits 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 14 17 INS solution status values 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid b 19 INVALID_FIX The fixed position entered using the FIX POSITION command is not valid 20 UNAUTHORIZED Position type is unauthorized HP on a receiver not authorized for it a Output only when using an inertial navigation system such as NovAtel s SPAN products Please visit our website refer to your SPAN User Manual or contact NovAtel for more information b PENDING implies there are not enough satel
107. 000 HOLD COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD USB1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD USB2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD USB3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM1 BESTPOSA ONTIME 10 000000 0 000000 NOHOLD COM1 LOGLISTA ONCE 0 000000 0 000000 NOHOLD 4a4d995d OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 209 Chapter 3 DataLogs 3 4 34 MARKPOS MARK2POS Position at Time of Mark Input Event This log contains the estimated position of the antenna when a pulse is detected at a mark input MARKPOS is a result of a pulse on the MKI1I input and MARK2POS is generated when a pulse occurs on a MK2I input Refer to the Technical Specifications appendix in Volume 1 of this manual set for mark input pulse specifications and the location of the mark input pins The position at the mark input pulse is extrapolated using the last valid position and velocities The latched time of mark impulse is in GPS weeks and seconds into the week The resolution of the latched time is 49 ns See also the notes on MARKPOS in the MARKTIME log on Page 212 Message ID 181 MARKPOS and 615 MARK2POS Log Type Asynch ae Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 48 Solution Status on Page
108. 000 to 1560000 L Band service beam frequency of Ulong 4 H 4 satellite kHz See also Beam Frequencies on Page 52 4 baud 300 600 1200 2400 Data rate for communication with L Ulong 4 H 8 or 4800 Band satellite OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 51 Chapter 2 Commands ASCII Example 1 assignlband cdgps 1547547 4800 ASCII Example 2 assignlband omnistar 1551489 1200 Table 14 L Band Mode Binary ASCII Description 0 USER When you select USER enter any frequency and baud rate 1 OMNISTAR When you select OmniSTAR enter a dedicated frequency and baud rate 2 CDGPS When you select CDGPS enter a dedicated frequency and baud rate Beam Frequencies You can switch between Omnistar VBS and CDGPS by using the following commands Use CDGPS ASSIGNLBAND CDGPS lt freq gt 4800 PSRDIFFSOURCE CDGPS Use OmniStar VBS ASSIGNLBAND OMNISTAR lt freq gt 1200 PSRDIFFSOURCE OMNISTAR Where lt freq gt is determined for CDGPS or OmniStar as follows 1 CDGPS beam frequency chart East 1547646 e East Central 1557897 e West Central 1557571 e West 1547547 2 The OmniStar beam frequency chart can be found at http www omnistar com setup_osrc html 52 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 6 AUTH This command is used to add or remove authorization codes from the receiver Author
109. 0217 TRUE 0 21 3 3 4442245 600000001 6 000000000 1 595999956 5 991000175 TRUE 0 4 3 3 4900679 200000000 8 000000000 12 512000084 39 953998566 TRUE 0 6c07 c73 G oO DW ea 252 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 62 RTCADATAREF Base Station Parameters RTK See the chapter on Message Formats in Volume 1 of this manual set for information on RTCA standard logs 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 Base station Y coordinate position mm Double 8 H 12 6 Z pos Base station Z coordinate position mm Double 8 H 20 7 Reserved Uchar qb 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 79 5 FINESTEERING 1263 327635 325 80180000 44de 1516 78 0 1634531 171086837 3664611 077192585 4942481 496500084 0 la2da9af
110. 04 29 0 11309c0b 22281107 946 777 750 39 767 680 380 0 000 OBSL2 0 000 10 0 18109c24 25113156 662 3666 781 40 094 675 630 0 002 GOOD 0 504 10 0 11309c2b 25113163 682 2857 230 25 752 671 380 0 000 OBSL2 0 000 22 0 18109004 23489276 752 3328 996 41 835 661 624 0 068 GOOD 0 579 22 0 11309d0b 23489280 666 2594 023 34 577 657 780 0 000 OBSL2 0 000 122 0 00023064 40619875 840 4 707 37 977 679 836 0 000 NOEPHEMERIS 0 000 134 0 0c023584 0 000 4 906 31 739 0 252 0 000 NA 0 000 7 ebc657 Table 87 Range Reject Code Reject Code Reject Code Description binary ASCII p 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 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 s
111. 04 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 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 90 on Page 316 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 udrei5 Ulong 4 H 40 13 udrei6 Ulong 4 H 44 14 udrei7 Ulong 4 H 48 15 udrei8 Ulong 4 H 52 16 udrei9 Ulong 4 H 56 17 udrei10 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 udreil7 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 Continued on Page 324 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 323 Chapter 3 DataLogs 32 udrei25 Ulong 4 H 120 33 udrei26 Ulong 4
112. 1 2 0 b214a093 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 111 WAAS27 SBAS Service Message SBAS Chapter 3 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 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 Delta user differential range error Ulong 4 H 20 inside 8 dudre outside Delta user differential range error Ulong 4 H 24 outside De 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 t
113. 1 Satellite information may require the transmission of multiple messages The first field specifies the total number of messages minimum value 1 The second field identifies the order of this message message number minimum value 1 2 A variable number of PRN Elevation Azimuth SNR sets are allowed up to a maximum of four sets per message Null fields are not required for unused sets when less than four sets are transmitted Message ID 223 Log Type Synch Field Structure Field Description Symbol Example 1 GPGSV Log header GPGSV 2 msgs Total number of messages 1 9 x 3 3 msg Message number 1 9 x 1 4 sats Total number of satellites in view XX 09 5 prn Satellite PRN number XX 03 GPS 1 to 32 SBAS 33 to 64 add 87 for PRN number elev Elevation degrees 90 maximum XX 51 azimuth Azimuth degrees True 000 to 359 XXX 140 8 SNR SNR C N 00 99 dB null when not tracking XX 42 Next satellite PRN number elev azimuth SNR Last satellite PRN number elev azimuth SNR variable xx Checksum hh 72 variable CR LF Sentence terminator CR LF Recommended Input log gpgsv ontime 1 Example SGPGSV 3 1 10 17 76 200 50 24 60 063 50 30 58 266 50 05 45 189 48 7B SGPGSV 3 2 10 06 41 287 10 39 143 47 04 20 058 42 25 13 314 39 7D SGPGSV 3 3 10 13 07 050 41 01 04 014 7D 194 OEM4 Family Firmware Version 2 300 Command and Log Reference
114. 1 The CLOCKADJUST command should only be used by advanced users of GPS 2 Ifthe CLOCKADJUST command is ENABLED and the receiver is configured to use an external reference frequency set in the EXTERNALCLOCK command see Page 74 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 8 amp 1 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 this offset may be determined from the TIME log see Page 304 6 A discussion on GPS time may be found in Section 1 3 GPS Time Status on Page 21 Abbreviated ASCII Syntax Message ID 15 CLOCKADJUST switch 5 Field ASCII Binary sot Binary Binary Binary REG 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 switch DISABLE 0 Disallow adjustment of Enum 4 H internal clock ENABLE 1 Allow adjustment of internal clock ASCII Example CLOCKADJUST DISABLE
115. 1 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 WAAS3 WAAS4 WAAS5 WAAS7 WAAS 24 and WAAS25 messages WAAS32 WAAS33 WAAS34 WAAS35 and WAAS45 for CDGPS This transition would probably only occur when a new satellite is launched or when a satellite fails and is taken out of service permanently A degraded satellite may be flagged as a don t use satellite temporarily Message ID 291 Log Type Asynch Field Field type Data Description Format Binary Binary YP P 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 66 5 SATTIME 1263 311546 000 00000000 5955 1522 122 ffeff e0000000000000000000000400400000000000000000000 1 a025175b 314 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 97 WAAS2 Fast Correction Slots 0 12 SBAS Chapter 3 WAAS2 are fast corrections for slots 0 12 in the mask of WAAS1 This me
116. 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 rtcmdata3a 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 f621 163 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 257 Chapter 3 DataLogs 3 4 66 RTCMDATAY Partial Differential GPS Corrections DGPS 258 See the chapter on Message Formats in Volume 1 of this manual set for information on RTCM standard logs This log is the same as the RTCMDATAI log but there will only be corrections for a maximum of 3 satellites Message ID 404 Log Type Synch Field Field type Data Description Format Binary 1S nary 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 see Ulong 4 H 20 REFSTATION on Page 246 8 prn N
117. 10000000 m 7 easting Easting m where the origin is 500000 m west of the central Double 8 H 24 meridian of each longitudinal zone that is a false easting of 500000 m 8 hgt Height above mean sea level Double 8 H 32 9 undulation Undulation the relationship between the geoid and the Float 4 H 40 ellipsoid m of the chosen datum 10 datum id Datum ID number see Chapter 2 Table 20 Datum Enum 4 H 44 Transformation Parameters on Page 65 11 No Northing standard deviation Float 4 H 48 12 Eo Easting standard deviation Float 4 H 52 13 hgt o Height standard deviation Float 4 H 56 14 stn id Base station ID Char 4 4 H 60 15 diff_age Differential age in seconds Float 4 H 64 16 sol_age Solution age in seconds Float 4 H 68 17 obs Number of satellites tracked Uchar 1 H 72 18 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 73 19 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 74 20 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 75 21 Reserved Uchar 1 H 76 22 Uchar 1 H 77 23 Uchar 1 H 78 24 Uchar 1 H 79 25 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 80 26 CR LF Sentence terminator ASCII only OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 161 Chapter 3 DataLogs lt The latitude limits of the UTM System are 80 S to 84 N If your position is outside this range the BESTUTM log outputs a northing easting and height of 0 0 al
118. 11 NONE t Disables all the DGPS and OMNISTAR types 12 Reserved 13 RTCMV3 RTCM Version 3 0 ID 0 lt RTCMV3 ID lt 4095 or ANY aoop 104 Disables L Band Virtual Base Stations VBS Available only with the RTKSOURCE command see Page 112 ID parameter is ignored All PSRDIFFSOURCE entries fall back to SBAS even NONE for backwards compatibility OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 40 RESET This command performs a hardware reset Following a RESET command the receiver will initiate a cold start boot up Therefore the receiver configuration will revert either to the factory default if no user configuration was saved or the last SAVECONFIG settings See also the FRESET and SAVECONFIG commands on Pages 83 and 1 4 respectively The optional delay field is used to set the number of seconds the receiver is to wait before resetting Abbreviated ASCII Syntax Message ID 18 RESET delay 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 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 105 C
119. 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 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 329 Chapter 3 3 4 106 WAAS17 GEO Almanac Message SBAS Almanacs for all GEOs will be broadcast periodically to alert you of their existence location the general service provided status and health Data Logs lt Unused almanacs will have a PRN number of 0 and should be ignored see Example below Message ID 294 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 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 43 H 12 7 x ECEF x coordinate Long 4 H 16 8 y ECEF y coordinate Long 4 H 20 9 Z ECEF z coordinate Long 4 H 24 10 x vel X rate of cha
120. 1522 0 82da710b 704424bb RXCONFIGA COM1 46 72 0 F INESTEERING 1263 234665 199 00000000 702 1522 INTERFACEMODEA COM1 46 72 0 F INESTEERING 1263 234665 199 00000000 702 1522 COM1 NOVATEL NOVATEL ON 5bb97afd 3df198bb RXCONFIGA COM1 45 72 0 FINESTEERING 1263 234720 892 00000000 702 1522 INTERFACEMODEA COM1 45 72 0 FINESTEERING 1263 234720 892 00000000 702 1522 COM2 RTCA NONE ON c 538e02 378cf 10 RXCONFIGA COM1 1 72 0 UNKNOWN 0 2 708 00000000 702 1522 WAASECUTOFFA COM1 1 72 0 UNKNOWN 0 2 708 00000000 702 1522 5 000000000 7af1559 e50ccace RXCONFIGA COM1 0 72 0 FINESTEERING 1263 240449 214 00000000 702 1522 LOGA COM1 0 72 0 F INESTEERING 1263 240449 214 00000000 702 1522 COM1 BESTPOSA ONTIME 10 000000 0 000000 NOHOLD 2bbec7e9 8daf0216 1 The embedded CRCs are flipped to make the embedded messages recognizable to the receiver For example consider the first embedded message above 7d34bfdl 01111101001101001011111111010001 10001011111111010010110010111110 8bfd2cbe Its CRC is really 8bfd2cbe 294 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 85 RXHWLEVELS Receiver Hardware Levels This log contains the receiver environmental and voltage parameters Table 79 provides some of the minimum maximum and typical parameters of OEM4 G2 based products lt This log outputs null fields
121. 1522 STATUS 8 SET COM1 Transmit Buffer Overrun c05ad726 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 301 Chapter 3 DataLogs Table 85 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 86 Event Type Event binary Event ASCII Description 0 CLEAR Bit was cleared 1 SET Bit was set 302 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 88 SATVIS Satellite Visibility Satellite visibility log with additional satellite information Message ID 48 Log Type Synch Field Field type Data Description Format Binary Binary 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 information to Ulong 4 H 8 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 receiver Double 8 H 44 12 Next satellite offset H 12
122. 16 aux3stat Auxiliary 3 status word see Table 84 ULong 4 H 56 Auxiliary 3 Status on Page 300 17 aux3stat pri Auxiliary 3 status priority mask which can ULong 4 H 60 be set using the STATUSCONFIG command see Page 125 18 aux3stat set Auxiliary 3 status event set mask which can ULong 4 H 64 be set using the STATUSCONFIG command 19 aux3stat clear Auxiliary 3 status event clear mask which ULong 4 H 68 can be set using the STATUSCONFIG command 20 Next status code offset H 8 stats x 16 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 ee x 64 variable CR LF Sentence terminator ASCH only Recommended Input log rxstatusa onchanged ASCII Example RXSTATUSA COM1 0 67 5 FINESTEERING 1263 250821 428 00000000 643c 1522 00000000 4 00000000 00000000 00000000 00000000 00000084 00000008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 a98d7a51 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 297 Chapter 3 DataLogs Table 80 Receiver Error Nibble Bit WET Description NO 0 0x00000001 Dynamic Random Access Memory DRAM status OK Error 1 0x00000002 Invalid firmware OK Error 2 0x00000004 ROM status OK Error 3 Reserved N1 4 0x00000010 Electronic Serial Number ESN access statu
123. 160 Enum 4 H 3 pos type Position type see Table 47 Position or Velocity Type on Enum 4 H 4 Page 159 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid and the Float 4 H 32 WGS 8 4 ellipsoid m 8 datum id Datum ID number see Chapter 2 Table 20 Datum Enum 4 H 36 Transformation Parameters on Page 65 9 lat o Latitude standard deviation Float 4 H 40 10 lon o 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 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 210 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log markposa onnew lt Use the ONNEW trigger with the MARKTIME or MARKPOS logs Example MARKPOSA COM1 0 63 0 COARSE 1027 322788 595 00000000 6221 0 SOL_COMPUTED WID
124. 2 Ll psr GPS L1 pseudorange m Ulong 4 H 18 13 L1 phase GPS L1 phaserange pseudorange Long 4 H 22 pseudo Range 262 1435 to 262 1435 m 14 Lllcktm ind GPS L1 lock time indicator see Table 75 on Page 274 Uchar 1 H 26 15 Liamb GPS L1 PSR modulus ambiguity m The integer Uchar 1 H 27 number of full pseudorange modulus divisions 299 792 458 m of the raw L1 pseudorange 16 LICNR GPS L1 carrier to noise ratio dBHz The reference Uchar 1 H 28 station s estimate of the satellite s signal A value of 0 indicates that the CNR measurement is not computed 17 L2code ind GPS L2 code indicator Uchar 1 H 29 0 C A or L2C code l P Y code direct 2 P Y code cross correlated 3 Correlated P Y 18 L1L2psrdiff GPS L2 L1 pseudorange difference m Short 42 H 30 19 L2phase GPS L2 phaserange L1 pseudorange Long 4 H 34 Llpseudo Range 262 1435 m to 262 1435 m 20 L2lcktm ind GPS L2 lock time indicator see Table 75 on Page 274 Uchar 1 H 38 21 L2CNR GPS L2 carrier to noise ratio dBHz The reference Uchar 1 H 39 station s estimate of the satellite s signal A value of 0 indicates that the CNR measurement is not computed 22 Next PRN offset H 16 prns x 24 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4
125. 2 prn Source PRN of message Ulong 4 H 3 iodf Issue of fast corrections data Ulong 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 8 5 prc13 pre i Long 4 H 12 6 prc14 7 Long 4 H 16 pais termi caine ee Trg Tg a 8 prcl6 Long 4 H 24 9 prcl7 Long 4 H 28 10 prcl8 Long 4 H 32 11 prcl9 Long 4 H 36 12 pre20 Long 4 H 40 13 prce21 Long 4 H 44 14 prc22 Long 4 H 48 15 pre23 Long 4 H 52 16 prc24 Long 4 H 56 17 pre25 Long 4 H 60 18 udreil3 udre i Ulong 4 H 64 See Table 90 19 udreil4 r PEN Ulong 4 H 68 po uss Pan irntal range emor idientor yong 4 Had 21 udreil6 Ulong 4 H 76 22 udreil7 Ulong 4 H 80 23 udreil8 Ulong 4 H 84 24 udreil9 Ulong 4 H 88 25 udrei20 Ulong 4 H 92 26 udrei21 Ulong 4 H 96 27 udrei22 Ulong 4 H 100 28 udrei23 Ulong 4 H 104 29 udrei24 Ulong 4 H 108 30 udrei25 Ulong 4 H 112 31 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 116 32 CR LF Sentence terminator ASCII only OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 317 Chapter 3 DataLogs Recommended Input log WAAS3 onchanged ASCII Example WAAS3A COM1 0 71 0 SATTIME 1263 312551 000 00000000 bf 5 1522 122 0 1 2047 2047 2047 2047 2047 1 2047 2047 2047 13 2047 0 2047 14 14 14 14 14 6 14 14 14 8 14 12 14 92ea5ba9 318 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 99 WAAS4 Fast Correction Slots 26 38 SBAS
126. 21521a10da5353d8524 8b03bc5074ac0033a6f 9ba41fffb27Ad70d2e1768c68 9c5d1 ffac78140e77 bd8345b6 RAWEPHEMA COM1 0 76 5 SATTIME 1263 247140 000 00000000 97b7 1522 18 1263 252000 8b03bc5073a63bd1013dc075bb505194c87c4ecaea2b3d8 600ffe7fd426a 8b03bc50742a2bf3ee2f4d9018e31laf59c02532bdal3clal0d3e4d3d867F 8b03bc5074acffe47 168dlcffe4274ab4e018c488137253ffa91T2Zbf1c1 12437bb6 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 52 RAWGPSSUBFRAME Raw Subframe Data This log contains the raw GPS subframe data A raw GPS subframe is 300 bits in total This includes the parity bits which are interspersed with the raw data ten times in six bit chunks for a total of 60 parity bits Note that in Field 5 the data field below we have stripped out these 60 parity bits and only the raw subframe data remains for a total of 240 bits There are two bytes added onto the end of this 30 byte packed binary array to pad out the entire data structure to 32 bytes in order to maintain 4 byte alignment Message ID 25 Log Type Asynch Field Field type Data Description Format Binary Binary 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 30 328 H 12 6 chan Signal channel number that the Ulong 4 H 44 frame was decoded on 7 XXXX 32 bit CRC ASCII an
127. 27 3 4 45 PSRVEL Pseudorange VelOCItY cccceeeceeeseeeceeeeeeeeaeeseeeeeeteneeeeeaees 228 3 4 46 PSRXYZ_ Pseudorange Cartesian Position and Velocity 008 230 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 5 Table of Contents 3 4 47 RANGE Satellite Range Information 0 ccccceceeceeeeeeeeeeeeeteteeeeeneeees 232 3 4 48 RANGECMP Compressed Version of the RANGE Log 236 3 4 49 RANGEGPSL1_ L1 Version of the RANGE Log 238 3 4 50 RAWALM Raw Almanac Data cccccccceceesseeseeeeeseenseeceeseaneaseeeeeneas 239 3 4 51 RAWEPHEM Raw Ephemetis ccecceeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeteneaeeess 240 3 4 52 RAWGPSSUBFRAME Raw Subframe Datta ccccccccccceccesssesseneees 241 3 4 53 RAWGPSWORD Raw Navigation Word cccsccceeseeeeeteeeeeeeeeees 242 3 4 54 RAWLBANDFRAME Raw L Band Frame Data c cccceeseseeeeees 243 3 4 55 RAWLBANDPACKET Raw L Band Data Packet 244 3 4 56 RAWWAASFRAME_ Raw SBAS Frame Data SBAG c0000 245 3 4 57 REFSTATION Base Station Position and Health RTK 000 246 3 4 58 RTCA Standard Logs DGPS ccccceeeseececeeeeeeneeeeecaeeeeeeeeeseeeeteneeeee 248 3 4 59 RTCADATA1 Differential GPS Corrections DGPS ee 249 3 4 60 RTCADATAEPHEM Ephemeris and Time Information DGPS amp RTK250 3 4 61 RTCADATAOBS Base Station Observations RTK ccccceee 251 3 4 62 RTCADATAREF Base St
128. 315 Chapter 3 DataLogs Recommended Input log WAAS2 onchanged ASCII Example WAAS2A COM1 0 67 0 SATTIME 1263 312292 000 00000000 e194 1522 122 1 1 2047 2047 2047 0 1 2047 0 0 4 2047 2 2047 6 14 14 14 6 8 15 5 6 6 14 6 14 12 304 9b44 Table 90 Evaluation of UDREI UDREI UDRE meters o 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 75 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 o7yprg broadcast in WAAS2 WAAS3 WAAS4 WAASS WAAS6 and WAAS24 applies at a time prior to or at the time of applicability of the associated corrections 316 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 98 WAAS3 Fast Corrections Slots 13 25 SBAS Chapter 3 WAAS3 are fast corrections for slots 13 25 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the SBASCONTROL command for details Message ID 301 Log Type Asynch E Binar Binar Field Field type Data Description Format Byles sari Scaling 1 header Log header H 0
129. 32 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 terminator ASCII only Recommended Input log WAAS7 onchanged ASCII Example WAAS7A COM1 0 68 0 SATTIME 1263 312741 000 00000000 12e3 1522 122 1 1 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 30ef462c 326 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 103 WAAS9 GEO Navigation Message SBAS WAASS 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 an
130. 32 bit CRC ASCII and Binary Long 4 H h a only The embedded CRC is inverted so that the receiver 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 ie Next Log header offset of log headers to follow x H h a 4 7 CR LF Sentence terminator ASCII only OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 293 Chapter 3 DataLogs Recommended Input log rxconfiga once ASCII Example RXCONFIGA COM1 70 72 0 UNKNOWN 0 1 656 00000000 702 1522 ADJUSTIPPSA COM1 70 72 0 UNKNOWN 0 1 656 00000000 702 1522 OFF ONCE 0 ad21fe17 7d34bfdl RXCONFIGA COM1 69 72 0 UNKNOWN 0 1 704 00000000 702 1522 ANTENNAPOWERA COM1 69 72 0 UNKNOWN 0 1 704 00000000 702 1522 ON 5 918e9a 8ala5Scaf RXCONFIGA COM1 68 72 0 UNKNOWN 0 1 714 00000000 702 1522 APPLICATIONA COM1 68 72 0 UNKNOWN 0 1 714 00000000 702 1522 STOP 0 1 10000 ba861cde 3f28385b RXCONFIGA COM1 67 72 0 UNKNOWN 0 1 722 00000000 702 1522 CLOCKADJUSTA COM1 67 72 0 UNKNOWN 0 1 722 00000000 702 1522 ENABLE 8b8b2el1b 1d4ec53e RXCONFIGA COM1 66 72 0 UNKNOWN 0 1 726 00000000 702 1522 CLOCKOFF SETA COM1 66 72 0 UNKNOWN 0 1 726 00000000 702
131. 4 28 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 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 93 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 7A 11 CR LF Sentence terminator CR LF Recommended Input log gpvtg ontime 1 Example GPVTG 235 083 T 235 083 M 0 003 N 0 006 K 4B 200 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 29 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 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 4 month Month 01 to 12 XX 07 5 year Year XXXX 1992 6 null Local zone
132. 43 0 0086 0 0090 0 0191 4 To use a known position from a datum other than the native OmniSTAR HP datum as the seed HPSEED SET 51 11633810554 114 03839550586 1048 2343 0 0086 0 0090 0 0191 CANADA EGM96 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 85 Chapter 2 Commands 2 6 27 HPSTATICINIT This command enables or disables static initialization of OmniSTAR HP If the OmniSTAR HP process knows that the receiver is stationary it can converge more quickly Abbreviated ASCII Syntax Message ID 780 HPSTATICINIT switch Field ASCII Binary NE 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 ASCII ASCII or binary respectively 2 switch DISABLE 0 The receiver is not stationary Enum 4 H ENABLE 1 The receiver is stationary ASCII Example HPSTATICINIT ENABLE lt If the HP filter perceives receiver motion it may abort static initialization See the Static Initialization Mode bit in the HP Status field of the LBANDSTAT log details starting on Page 205 to confirm that static initialization is in progress 86 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 28 INTERFACEMODE DGPS This command allows the user to specify what type of data a particular port on the receiver
133. 5244839 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 66c318fb OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 221 Chapter 3 DataLogs 3 4 41 PASSCOM PASSXCOM PASSAUX PASSUSB_ Redirect Data 222 The pass through logging feature enables the receiver to redirect any ASCII or binary data that is input at a specified port to any specified receiver port Data can be passed through a disabled port see the INTERFACEMODE command on Page 87 and be output from an alternative port using the pass through logs It also allows the receiver to perform bi directional communications with other devices such as a modem terminal or another receiver There are several pass through logs PASSCOM1 PASSCOM2 PASSCOM3 PASSXCOM1 PASSXCOM2 and PASSAUX allow for redirection of data that is arriving at COM1 COM2 COM3 virtual COM1 virtual COM2 or AUX respectively The AUX port is available on OEM4 G2 based receivers hardware Rev 3 and higher and DL 4 products PASSUSB1 PASSUSB2 PASSUSB3 are only available on receivers that support USB and can be used to redirect data from USB1 USB2 or USB3 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 o
134. 56 48 DB_OMNISTARDSP OmniDSP 0 1 000810 2002 Apr 11 10 56 46 IBOARD OMNISTAR 07 20040 6 01 102 1 000810 704309 74762c4E Table 88 Component Types Binary ASCII Description 0 UNKNOWN Unknown component 1 GPSCARD OEM4 family component 2 CONTROLLER Data collector 3 ENCLOSURE OEM card enclosure 4 IBOARD OmniSTAR CAN interface board 5 6 Reserved 7 IMUCARD IMU card 981073920 DB_HEIGHTMODEL Height track model data 0x3A7A0000 981073921 DB_USERAPP User application firmware 0x3A7A0001 981073922 DB_OMNISTARDSP OmniSTAR DSP firmware 0x3A7A0002 981073924 DB_OMNISTARXILINX OmniSTAR FPGA firmware 0x3A7A0004 981073925 DB_USERAPPAUTO Auto starting user application firmware 0x3A7A0005 a Please refer to the Acronyms section in the GPS Reference Manual available from our website at http www novatel com Downloads docupdates html OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 311 Chapter 3 DataLogs Table 89 VERSION Log Field Formats Field Type Field Format ASCII Description hw version P RS CCC P hardware platform for example OEM4 R hardware revision for example 3 00 S processor revision for example A CCC COM port configuration for example 22T sw version boot version VV RRR Xxxx VV major revision number RRR minor revision number X Special S Beta B Internal Developm
135. 6 52 68 65 b8 a2 0b 00 21 80 64 8a 72 59 b7 79 b9 49 fd 5 3c 48 1c 2 77 1 b2 9e 58 0a 81 05 LE 00 7b 00 le 68 9 a3 12 56 58 2a 32 df d9 ea 03 Sb 16 6 17 2 33 63 5 c4 9 02 97 75 64 06 52 al b2 3a 4b 69 e7 eb 0f 97 d3 e6 bf de af 37 c6 10 13 9b dc c9 e3 22 80 78 3 78 90 a5 9 03 5 af 1f 7a 75 ef 77 8e de ac 00 32 2e 79 fb 3f 65 3 4 28 77 b4 6d 2 6 31 24 b2 40 76 37 27 b c 95 33 15 01 76 d5 1 c4 75 16 e6 C6 ab 2 fe 34 49 c3 55 85 61 49 e6 a4 4e 8b 2a 60 57 8a e5 77 02 fc 9c 7a d4 40 4c 1d 11 3c 9b 8e c3 73 d3 3c 0d ff 18 7a 21 05 cb 12 6 dd c3 df 69 62 5 70 3791693b OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 243 Chapter 3 DataLogs 3 4 55 RAWLBANDPACKET Raw L Band Data Packet This log contains the raw L Band packet data The RAWLBANDPACKET log is only output for OmniSTAR tracking If you are tracking CDGPS only the RAWLBANDFRAME log is output lt 1 In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume 1 of this manual set 2 The RAWOMNIPACKET log is still available to OmniSTAR users but will be made obsolete in a future firmware releas
136. 6 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 174 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log cmrdatadesca ontime 10 5 ASCII Example CMRDATADESCA COM1 0 76 5 FINESTEERING 1117 162906 461 00100020 b467 399 2 0 147 39 3 0 2 FALSE FALSE 0 TRUE 0 180000 1 0 33 32 32 32 32 99 114 101 102 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 8 85 78 75 78 79 87 78 0 482add29 where the bolded 33 in the example above represents the total length of the records that follow Short ID 32 32 32 32 99 114 101 102 8 bytes COGO Code 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 16 bytes ID Length 8 1 byte Long ID 85 78 75 78 79 87 78 0 8 bytes OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 175 Chapter 3 DataLogs 3 4 12 CMRDATAOBS Base Station Satellite Observations RTK See the chapter on Message Formats in Volume 1 of this manual set for information on CMR standard logs Message ID 390 Log Type Synch Field Field type Data Description Format B nary Binary YP P Bytes Offset 1 header Log header H 0 2 CMR header Synch character for the message Ulong 4 H 3 Message st
137. 6 may be one of 8 values 0 to 7 Values 0 through 5 indicate the scale factor that multiply satellite UDRE one sigma differential error values Below are values 0 to 5 and their corresponding UDRE scale factors 0 1 Health OK 1 0 75 2 0 5 3 0 3 4 0 2 5 0 1 The base station health field only applies to RTCM base stations A value of 6 means that the base station transmission is not monitored and a value of 7 means that the base station is not working Message ID 175 Log Type Asynch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 status Status of the base station information ULong 4 H see Table 67 below 3 x ECEF X value Double 8 H 4 4 y ECEF Y value Double 8 H 12 5 Z ECEF Z value Double 8 H 20 6 health Base station health see the 2nd Ulong 4 H 28 paragraph above 7 stn type Base station type see Table 68 Base Enum 4 H 32 Station Type 0n Page 247 8 stn ID Base station ID Char 5 g2 H 36 9 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 10 CR LF Sentence terminator ASCH 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 65 0 FINESTEERING 1263 327030 000 00000100 4e46 1522 00000000 1634529 233 3664611 942 4942481 496 0 RTCA AAAA e4c61a4b 246 OEM4 Famil
138. 6 Double 8 H 12 5 ad They are required when the type is not UNKNOWN Double 8 H 20 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 33 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 Family Firmware Version 2 300 Command and Log Reference Rev 16 107 Chapter 2 Commands 2 6 42 RTKCOMMAND RTK 108 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 lt See the descriptions for the above commands in the following pages Abbreviated ASCII Syntax Message ID 97 RTKCOMMAND action 7 Field ASCII Binary Du Binary Binary Binary mele 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
139. 7 49 instantaneous 234 238 jump 55 range record 237 satellite visibility 303 tracking status 307 velocity computation 230 drift 55 DYNAMICS 72 dynamics 28 109 E earth centered earth fixed ECEF 106 107 165 246 eccentricity 154 197 ECEF see earth centered earth fixed ECUTOFF 73 135 elevation 194 cut off 73 135 226 error 308 highest 113 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 349 Index mask 110 RTK 30 satellite visibility 303 set 28 tracking status 307 ellipsoid customized 131 height 106 107 navigation 122 parameters 64 65 132 surface 122 undulation 28 environmental parameters 295 ephemeris decoded 141 delay 68 health 308 log 141 raw data 141 240 time status 21 22 errors averaged position 100 clock 55 74 169 extrapolation 213 215 flag 296 framing 224 in fixed coordinates 79 multipath 232 non volatile memory 99 parity 224 range reject codes 308 response messages 345 status 125 text description 301 tracking 232 trigger 296 event message 125 296 301 text description 301 trigger 296 type 301 expiry date 309 external oscillator 74 EXTERNALCLOCK 74 extrapolation error 213 215 F factory default datum 64 ephemeris delay 68 modify 114 reset 28 38 105 settings 40 59 field types 13 filter control 28 error 308 pseudorange 307 RTK 28 108 solution logs 137 filter updat
140. 78388 0 297 00 0 00336700336700 South American 1969 SA 6378160 0 298 25 0 00335289186924 World Geodetic System 1972 WD 6378135 0 298 26 0 00335277945417 World Geodetic System 1984 WE 6378137 0 298 257223563 0 00335281066475 Table 20 Datum Transformation Parameters Datum ID 2 NAME DX DY DZ DATUM DESCRIPTION ELLIPSOID 1 ADIND 162 12 206 This datum has been updated see ID 65 b Clarke 1880 2 ARC50 143 90 294 ARC 1950 SW amp SE Africa Clarke 1880 3 ARC60 160 8 300 This datum has been updated see ID 66 Clarke 1880 4 AGD66 133 48 148 Australian Geodetic Datum 1966 Australian National 5 AGD84 134 48 149 Australian Geodetic Datum 1984 Australian National 6 BUKIT 384 664 48 Bukit Rimpah Indonesia Bessel 1841 7 ASTRO 104 129 239 Camp Area Astro Antarctica International 1924 8 CHATM 175 38 113 Chatham 1971 New Zealand International 1924 9 CARTH 263 6 431 Carthage Tunisia Clarke 1880 10 CAPE 136 108 292 CAPE South Africa Clarke 1880 11 DJAKA 377 681 50 Djakarta Indonesia Bessel 1841 12 EGYPT 130 110 13 Old Egyptian Helmert 1906 13 ED50 87 98 121 European 1950 International 1924 14 ED79 86 98 119 European 1979 International 1924 15 GUNSG 403 684 41 G Segara Kalimantan Indonesia Bessel 1841 16 GE049 84 22 209 Geodetic Datum 1949 New Zealand International 1924 17 GRB36 375 111 431 Do not use Use ID 76 instead Airy 1830 18 GUAM 100 248 259 Guam 1963 Guam Island Clarke 1866 19 HAWAII 89 279 1
141. 83 Seeding Modea aaa bias aaa a Aa aaa a Aa AAAA Tao AE EA AETA aaa aSa 85 Serial Port Interface Modes 0 cccccccceeecececeeeeeeeaeseeeeeeceaaeeeseneeeceaeeeseaaeeeeaeeseaaeeesenes 88 LOG Command Binary Format cccccccceceeeeeeeececeeeeeeeeeeseaeeeeeaeeeseaaeeseeeeeessaeeseeeeesaas 90 LOG Command ASCII F rmate enia a eyed aaae t ys ei AREAK AU ERATE 92 DOPS TYPE Msa aE e E a E AEEA aa EA 104 Baseline Parameters asor eron aia a E N e a av SSSA ice 106 Baseline Typos aue oara a A a a E A E 107 Dynamics MOda eirinn eE nE TE E SE E EA a tis 109 Type of Carrier Phase AMDIQUItY 0 ccccecceeeeeeeeeeeeeeceaeeeeeeeeeseaaeeeeeaeeeseaeeeeaeeeeeas 111 SCA A o e A A A A A T 116 Mask Type aa e E E TAE TE EREE AE aE AE 125 UNLOG Command ASCII Format isaer niie eranan aaraa Tahnaa 129 UNLOG Command Binary Format cccccceeeeeeeeeceeeeeeeeeeeeaeeeeeeeesaaeeeeeeeeessaeeeseneees 129 UTM Zo e C mmandS area tet iret ded nal didi ee ithe he 133 LOGATYPO THQQSMS ee a A EAE Oa 24d cen AE teal fateeaeiad aacredpanbane 136 Logs By Funcion TapE sasra apaa A EA A 137 OEM4 Family Logs in Alphabetical Order cccccececeeeeeeeeeeeeeeeeeeaeeeeeeeeessaeeseenees 143 OEM4 Family Logs in Order of their Message IDS ccceesceeeeteeeeeeeeeeeteeeeeeees 148 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Tables MiLLennium OEMS Log Comparison ccceceeeeeeseeeeeceeeeeeeesaeeeseaeeeseeee
142. 83 Do not use Use ID 77 or ID 81 instead Clarke 1866 20 KAUAI 45 290 172 Do not use Use ID 78 or ID 82 instead Clarke 1866 21 MAUI 65 290 190 Do not use Use ID 79 or ID 83 instead Clarke 1866 22 OAHU 56 284 181 Do not use Use ID 80 or ID 84 instead Clarke 1866 23 HERAT 333 222 114 Herat North Afghanistan International 1924 24 HJORS 73 46 86 Hjorsey 1955 Iceland International 1924 Continued on Page 66 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 65 Chapter 2 Commands 25 HONGK 156 271 189 Hong Kong 1963 International 1924 26 HUTZU 634 549 201 This datum has been updated see ID 68 b International 1924 27 INDIA 289 734 257 Do not use Use ID 69 or ID 70 instead Everest EA 28 TRE65 506 122 611 Do not use Use ID 71 instead Modified Airy 29 KERTA 11 851 5 Kertau 1948 West Malaysia and Singapore Everest EE 30 KANDA 97 787 86 Kandawala Sri Lanka Everest EA 31 LIBER 90 40 88 Liberia 1964 Clarke 1880 32 LUZON 133 77 51 Do not use Use ID 72 instead Clarke 1866 33 MINDA 133 70 72 This datum has been updated see ID 73 b Clarke 1866 34 MERCH 31 146 47 Merchich Morocco Clarke 1880 35 NAHR 231 196 482 This datum has been updated see ID 74 b Clarke 1880 36 NAD83 0 0 0 N America
143. 86286 6 lon dir Longitude direction E East W West a W 7 GPS qual GES Quality indicator x 1 fix not available or invalid l GPS fix 2 Differential GPS fix 4 RTK fixed ambiguity solution RTK floating ambiguity solution 9 WAAS 8 sats Number of satellites in use 00 12 May be different to the xx 10 number in view 9 hdop Horizontal dilution of precision X X 1 0 10 alt Antenna altitude above below mean sea level geoid X X 1062 376 11 units Units of antenna altitude M meters M M 12 undulation Undulation the relationship between the geoid and the X X 16 271 WGS84 ellipsoid 13 u units Units of undulation M meters M M 14 age Age of Differential GPS data in seconds 1 XX 15 stn ID Differential base station ID 0000 1023 XXXX y 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 186 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log gpggalong ontime 1 Example SGPGGA 202126 00 5106 9847029 N 11402 2986286 W 1 10 1 0 1062 376 M 16 27 M 57 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 187 Chapter 3 3 4 19 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
144. 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 that is L xtrack error R xtrack error 3 Fields 5 6 7 8 9 and 10 are tagged from the SETNAV command see Page 120 4 If range to destination exceeds 999 9 NM display 999 9 Recommended Input log gprmb ontime 1 Example SGPRMB A 0 07 R BASE CDNW 5103 9420000 N 11401 3380000 W 3 1 168 7 0 0 V 39 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 195 Chapter 3 DataLogs 3 4 26 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 53 Position Precision of NMEA Logs on Page 190 This log will output null data in all fields until a valid almanac is obtained Message ID 225 Log Type Synch Field Structure Field Description Symbol Example GPRMC Log header GPRMC 2 utc UTC of position hhmmss ss 140437 00 3 pos status Position status A data valid A A V data invalid 4 lat Latitude DDmm mm Wi 5106 9850961 5 lat dir Latitude direction N North S South a N 6 lon Longitude DDDmm mm yyyyy yy 11402 2998978 7 lon dir Lon
145. 916 Fiji Islands Clarke 1880 59 WAK60 101 52 39 This datum has been updated see ID 67 b Hough 1960 60 WGS72 0 0 4 5 World Geodetic System 72 WGS72 61 WGS84 0 0 0 World Geodetic System 84 WGS84 62 ZANDE 265 120 358 Zanderidj Surinam International 1924 63 USER 0 0 0 User Defined Datum Defaults User 64 CSRS 0 9833 1 9082 0 4878 Canadian Spatial Ref System epoch 2005 0 GRS 80 65 ADIM 166 15 204 Adindan Ethiopia Mali Senegal amp Sudan b Clarke 1880 66 ARSM 160 6 302 ARC 1960 Kenya Tanzania b Clarke 1880 67 ENW 102 52 38 Wake Eniwetok Marshall Islands b Hough 1960 68 HTN 637 549 203 Hu Tzu Shan Taiwan International 1924 Continued on Page 67 66 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 69 INDB 282 726 254 Indian Bangladesh Everest EA 70 INDI 295 736 257 Indian India Nepal Everest EA 71 IRL 506 122 611 Ireland 1965 Modified Airy 72 LUZA 133 771 51 Luzon Philippines excluding Mindanoa Is 1 Clarke 1866 73 LUZB 133 79 72 Mindanoa Island Clarke 1866 74 NAHC 243 192 477 Nahrwan Saudi Arabia gt Clarke 1880 75 NASP 3 142 183 N American Caribbean Clarke 1866 76 OGBM 375 Ul 431 Great Britain 1936 Ordinance Survey Airy 1830 77 OHAA 89 279 183 Hawaiian Hawaii Clarke 1866 78 OHAB 45 290 172 Hawaiian Kauai Clarke 1866 79 OHAC 65 290 190 Hawa
146. 92 dynamics 109 interface 87 operating 192 RTK 106 158 static 109 MODEL 97 model AUTH command 97 authorization 27 53 54 card 97 clock 169 170 212 expiry date 137 309 ionospheric 202 log 137 lost 99 switch 97 version 309 310 modem 222 month 305 312 motion detector 109 mean 154 198 MOVINGBASESTATION 98 MSB 14 multipath 232 N NAVIGATE 217 navigation commands 29 data 192 196 information 195 log 217 magnetic compass 93 path 122 Status 195 218 waypoint 122 139 word 242 NMBA 137 139 141 188 190 193 node 182 noise oscillators 74 statistics 193 thermal 232 time of 170 non printable characters 27 119 non volatile memory NVM 38 reset 83 restore 99 save almanacs 154 239 save current configuration 114 note antenna motion 109 authorization code 53 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 channel assignment 47 49 clock adjustment 55 differential corrections 68 70 elevation cut off angle 73 ephemeris delay 68 factory default 99 logging 90 navigation 217 range residual 191 reset 38 83 RTK 106 108 satellite 226 status 296 301 WGS84 156 NovAtel Inc 2 NVMRESTORE 85 98 O offset clock 73 74 141 212 226 305 Doppler 47 track 122 218 OMNIHPPOS 220 OMNIINFO 203 OMNISTAT 205 one pulse per second 1PPS 31 55 81 305 operating mode 192 optionality 12 origin 122 oscillato
147. 92 solution 158 161 220 227 287 at mark input 210 ECEF coordinates 165 231 292 OmniSTAR HP 220 UTM coordinates 161 ALMANAC 154 almanac complete 303 data 182 log 140 141 154 lost 99 raw data 239 reset 83 stored 83 time status 21 along track 217 218 ambiguity half cycle 232 resolution speed 106 type 111 284 anomaly 154 308 antenna active 46 altitude 73 135 184 186 188 baseline 106 delay 58 motion 48 49 109 230 phase center 79 position 210 power 125 receiver status 296 speed 218 ANTENNAPOWER 46 anti spoofing AS 154 AS see anti spoofing ascii message 14 27 overview 14 printable data 117 redirect 222 response 20 send 117 text message 124 ASSIGN 47 assign all channels 49 cancel 126 channel 29 47 cut off angle 73 135 ASSIGNALL 49 ASSIGNLBAND 51 ASSIGNOMNYI 51 asterisk 14 asynchronous logs 136 atmospheric delays 232 refraction 73 135 AUTH 53 authorization 27 53 54 AVEPOS 156 averaging position 30 100 156 azimuth 194 303 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 347 Index B bandwidth 113 base station commands 29 logs 140 moving 98 baseline command 106 107 float solution 284 length 110 RTK 28 140 141 static 30 baud rate see bps bearing 93 94 195 217 218 BESTPOS 158 BESTUTM 161 BESTVEL 161 BESTXYZ 165 bias 55 140 bi directional commun
148. ALIBRATE AUTO OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 57 Chapter 2 Commands 2 6 9 CLOCKOFFSET This command can be used to remove a delay in the PPS output The PPS signal is delayed from the actual measurement time due to two major factors e A delay in the signal path from the antenna to the receiver e An intrinsic delay through the RF and digital sections of the receiver The second delay is automatically accounted for by the receiver using a nominal value determined for each receiver type However since the delay from the antenna to the receiver cannot be determined by the receiver an adjustment cannot automatically be made The CLOCKOFFSET command can be used to adjust for this delay For example for a cable with a delay of 10 ns the offset can be set to 10 to remove the delay from the PPS output Abbreviated ASCII Syntax Message ID 569 CLOCKOFFSET 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 see Message Types on Page 13 2 offset 200 to 200 Specifies the offset in nanoseconds Long 4 H Binary Binary Binary Field Format Bytes Offset Description ASCII Example CLOCKOFFSET 15 58 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands 2 6 10 COM
149. ASCII Syntax Message ID 138 UNLOCKOUT 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 ASCH ASCII or binary respectively 2 prn 1 37 A single satellite PRN number to Ulong 4 H be reinstated Input Example unlockout 8 2 6 61 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 128 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands 2 6 62 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 as this command Abbreviated ASCII Syntax UNLOG port datatype Message ID 36 Table 38 UNLOG Command ASCII Format Chapter 2 Field ASCII Binary ee Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field c
150. ASCII Syntax Message ID 144 DGPSTXID type ID Field Type ASCII Binary Value Value Binary Binary Binary Description Format Bytes Offset 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 type See Table 31 ID Type Enum 4 H DGPS Type on Page 104 3 ID String max 5 or ID string String Vari Variable ANY ANY type defaults RTCM 0 max 5 able RTCMV3 0 RTCA AAAA CMR 0 The following range values are in affect 0 lt CMRID lt 31 0 lt RTCM ID lt 1023 0 lt RTCMV3 ID lt 4095 RTCA any four character string containing only alpha a z or numerical characters 0 9 a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment ASCII Examples DGPSTXID RTCM 2 using an RTCM type and ID DGPSTXID CMR 30 using a CMR type and ID DGPSTXID CMR ANY using the default CMR ID DGPSTXID RTCA D36 using an RTCA type and ID DGPSTXID RTCMV3 2050 using an RTCMV3 type and ID OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 71 Chapter 2 Commands 2 6 18 DYNAMICS This command adjusts the receiver dynamics to that of your environment It is used to optimally tune receiver parameters The DYNAMICS command adjusts the Tracking State transition time out value of the receiver see Table 64 Trackin
151. ASCII or binary respectively 2 Litime 2 2000 L1 carrier smoothing time Ulong 4 H constant in seconds 3 L2time 5 2000 L2 carrier smoothing time Ulong 4 H 4 constant in seconds Default 100 Abbreviated ASCII Example CSMOOTH 500 Db 1 The CSMOOTH command should only be used by advanced GPS users The shorter the carrier smoothing the more noise there will be If you are at all unsure please call NovAtel Customer Service Department see the Customer Service section at the start of Volume 1 of this manual set 2 It may not be suitable for every GPS application When using CSMOOTH in differential mode the same setting should be used at both the base and rover station if both the base and rover stations are using the same type of receiver both OEM3 or both OEM4 family However if the base and rover stations use different types of receivers OEM3 and OEM4 family it is recommended that the CSMOOTH command default value is used at each receiver OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 63 Chapter 2 Commands 2 6 13 DATUM 64 This command permits you to select the geodetic datum for operation of the receiver If not set the factory default value is WGS84 See the USERDATUM command for user definable datums The datum you select causes all position solutions to be based on that datum The NAD83 CSRS datum is available to CDGPS users The receiver automatically
152. ATE 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 T slope The current 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 168 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 ASCH only OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 171 Chapter 3 DataLogs Recommended Input log clocksteering onchanged ASCII Example CLOCKSTEERINGA COM1 0 75 0 FINESTEERING 1263 238338 036 00000000 0f61 1522 INTERNAL SECOND_ORDER 4400 1930 765625000 0 029999999 2 000000000 0 129 0 026 e107692f Table 50 Clock Source Binary ASCII Description 0 INTERNAL The receiver is currently steering its internal VCTCXO using an internal VARF signal
153. BAND This command allows you to use manual instructions to ensure that the receiver searches for a specified L Band satellite at a specified frequency with a specified baud rate lt 1 In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details Contact information may be found on the back of this manual set or you can refer to the Customer Service section in Volume I of this manual set 2 The NAD83 CSRS datum is available to CDGPS users The receiver automatically transforms the CDGPS computed coordinates into WGS84 the default datum of the receiver Alternatively select any datum including CSRS for a specified coordinate system output See also Table 20 Datum Transformation Parameters on Page 65 3 The ASSIGNOMNI command is still available to OmniSTAR users but will be made obsolete in a future firmware release Please use the ASSIGNLBAND command instead Abbreviated ASCII Syntax Message ID 729 ASSIGNLBAND mode freq baud 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 see Message Types on Page 13 2 mode See Table 14 Set the mode and enter specific Enum 4 H frequency and baud rate values 3 freq 1525
154. CII 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 COM1 9 68 0 SATTIME 1 263 248186 000 00000000 58e4 1522 22 122 62 c6faaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaas80 22 d05952cf RAWWAASFRAMEA COM1 8 68 0 SATTIME 1 22 122 26 53684c37644d1lde8cec57625b1 22 2c51a40e RAWWAASFRAMEA COM1 7 67 5 SATTIME 1 263 248187 000 00000000 58e4 1522 0587203761cd2468e 463629b125c000 263 248188 000 00000000 58e4 1522 22 122 2 9a085ffdfffff5fffff5ffdaffc015ffc009ffdffdfffbbbbbfab97bb80 22 eb6205de RAWWAASFRAMEA COM1 0 65 5 SATTIME 1263 248257 000 00000000 58e4 1522 22 122 63 9a c000000000000000000000000000000000000000000000000000000 22 62f9ab75 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 245 Chapter 3 DataLogs 3 4 57 REFSTATION Base Station Position and Health RTK This log contains the ECEF Cartesian position of the base station as received through the RTCM RTCMV3 RTCA or CMR message It also features a time tag the health status of the base station and the station ID This information is set at the base station using the FIX POSITION command and the DGPSTXID command See Figure 8 Page 167 for a definition of the ECEF coordinates The base station health Field
155. CLOCK DISABLE FIX NONE FIXPOSDATUM NONE FREQUENCYOUT DISABLE HPSEED RESE HPSTATICINIT DISABLE INTERFACEMODE COM1 NOVATEL NOVATEL ON INTERFACEMODE COM2 NOVATEL NOVATEL ON INTERFACEMODE COM3 NOVATEL NOVATEL ON INTERFACEMODE USB1 NOVATEL NOVATEL ON INTERFACEMODE USB2 NOVATEL NOVATEL ON INTERFACEMODE USB3 NOVATEL NOVATEL ON LOG COM1 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM2 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM3 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG USB1 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG USB2 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG USB3 RXSTATUSEVENTA ONNEW 0 0 HOLD MAGVAR CORRECTION 0 0 MARKCONTROL MARK1 ENABLE NEGATIVE 0 0 40 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 AARKCONTROL MARK2 ENABLE NEGATIVE 0 0 MOVINGBASESTATION DISABLI POSAVE OFF POSTIMEOUT 600 PPSCONTROL ENABLE NEGATIVE 1 0 0 PSRDIFFSOURCE AUTO ANY RTKCOMMAND USE_DEFAULTS RTKSOLUTION AUTO RIKBASELINE UNKNOWN 0 0 0 O RTKDYNAMICS DYNAMIC RTKELEVMASK AUTO 0 RIKSVENTRIES 12 TKSOURCE AUTO ANY BASCONTROL DISABLE AUTO 0 NONE ETNAV 90 0 0 0 90 0 0 0 0 0 from to ATUSCONFIG PRIORITY STATUS 0 USCONFIG PRIORITY AUX1 0x00000008 USCONFIG PRIORITY AUX2 0 USCONFIG SET STATUS 0x00000000 USCONFIG SET AUX1 0 USCONFIG SET AUX2 0 USCONFIG CLEAR STATUS 0x00000000 USCONFIG EAR AUX1 0 USCONFIG EAR AUX2 0 UNDULATION TABLE 0 USERDATUM 6378137 0 298 2572235628 0 0 0 0 0 0 0 0 0 0 0 0 0 0 USER
156. Compatibility 0 ccccccecceeeseeeeeeeeeeseeeeeeeaeeeeeaeeeseneeeseeees 39 2 o Faclo DOTAUILS nmn ce eee tin eh encode a Geni Seal cabeoe eet sleet elated 40 2 6 Command Reference cccccccccescceceeeeeeeeeeeeeeeeeeeaaeeceeeeeeeaaaeseceeesaaeseeeeeeesaeeeeneees 42 Z6 PADJUSTAIPP S A a aa a icles a a a a aa hia iets ae Da iaa 42 2 6 2 ANTENNAPOWER 02 00 46 ved Aen heel a ee 46 2 6 3 ASSIGN eiia ie dd Oh ae a anes hans 47 2 04 ASSIGNA LL i arana aa a a Aa ca bettagsl Rensuepes naa eseem 49 2 6 5 ASSIGNLBAND reiii piteni aaia 1 aa aar aie e na tea daiat gda tae 51 2G G AUTH a aina ane a a aa a a Alas 53 2 6 1 CLOGKADJUS T mirna a aae aa a eta la ted a ae 55 26 8 CLOGKGALIBRAT Eirenis aaa a a a ai i 56 2 6 9 GLOCKOFESE T aaki rapa h rapae raa dahineatacanaieccadyas Aaa ENEAN Aa SNE Nra 58 26 10 COM E ET T E E EA E A 59 2 6 IS GOMCON TROD seared iseni iatorria ada eaa deneswdhcdaeneda dock edeevdvtenes tesa 61 2 612 CSMOOTH aa a araro aia nach a naaa a a AEA ae Aaa a AAEE EAEE chante 63 26 19 DATUM ainiti errie hini ie AEE ate ana E eae 64 2 6 14 DGPSEPHEMDELAY DGPS 00 cece ecceeeeeeeeeeeeeeeeeeeeeeaeeeeeeeeeteaeeeteeeeeees 68 2 06 15 DGP SAMI D esses rasta seh as geteneatanaasns cones ecu suad bareces Ra S 69 2 6 16 DGPSTIMEOUT DGPS 2 0 eeceeeeeeceeneeeeee eee eaeeeeeeeeeeeaaeeseeeeeetaeeeeeneees 70 2 67 DGPS TXID DGPS tases areata aligead vee tide 71 2 6 18 DYNAMICS minsen nea pence ea can oan ea ea Se dee 72 2 619 ECUTORE ni
157. DE 87 interrupt 224 ionospheric log 202 IONUTC 202 L lane combinations 284 latched time 210 latency best position 158 data link 213 215 position 138 291 velocity 139 165 230 231 291 292 latitude longitude approximate 120 fix data 184 186 188 GPS specific 196 position 85 158 190 210 213 220 227 287 RTK baseline 107 set navigation waypoints 122 sign 106 L Band 103 203 205 LBANDINFO 203 LBANDSTAT 205 link data 118 indicators 224 LNA see low noise amplifier local horizon 73 135 lock command 89 out 226 308 reinstate 128 time 307 LOCKOUT 89 LOG 90 log list 208 triggers 136 types 136 LOGLIST 208 low noise amplifier LNA 27 46 295 LSB 14 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 351 Index M magnetic variation 29 93 94 196 218 MAGVAR 93 mark in event 137 input pulse 210 212 MARKCONTROL 95 MARKPOS 210 MARKTIME 212 mask angle 28 110 166 215 priority 125 296 297 RTK 30 matched update 284 MATCHEDPOS 213 matrix 169 mean sea level fix 78 184 186 188 position 85 158 161 210 213 220 227 287 RTK baseline 106 107 memory buffer space 90 non volatile 38 83 114 154 239 meridian UTM 133 message almanac 154 ascii 14 base station 246 formats 13 16 24 ID 208 209 length 124 navigation 122 responses 20 send 117 time stamp 23 trigger 91 92 mode 2 D 192 3 D 1
158. E 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 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log rtemdata2021a ontime 10 ASCII Example RTCMDATA2021A COM1 0 72 0 FINESTEERING 1117 161400 000 00100020 fc4d 399 0 0 5000 0 0 6 2 0 0 10 1 0 3 0 1 43 324 1 0 15 0 1 96 812 1 0 18 0 1 1 514 1 0 21 0 1 153 997 1 0 6 0 7 88 779 1 0 26 0 1 35 39 1 0 23 0 1 167 229 1 0 28 0 1 22 1738 1 0 31 0 1 125 5194 1 0 22 0 4 27 102 0 5000 0 0 6 0 0 10 L 0 3 0 0 3 43 661 9 1 0 15 0 0 3 96 479 11 1 0 18 0 0 3 1 152 8 1 0 21 0 0 3 153 933 9 1 0 6 0 0 3 88 2151 12 1 0 26 0 0 3 35 630 8 L 0 23 0 0 3 167 259 10 1 0 28 0 0 3 22 1503 7 1 0 31 0 0 3 125 1905 9 1 0 22 0 0 3 27 2281 14 3963d96 A a O NS i ee a SS a a a S a S aa O OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 267 Chapter 3 DataLogs Table 72 RTCM2021 Data Quality Indicator Code Pseudorange Error
159. E732 13 long asc node 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 3 18 CR LF Sentence terminator CR LF a Variable length integer 4 digits maximum from 2 most significant binary bits of Subframe 1 Word 3 reference Table 20 1 ICD GPS 200 Rev B and 8 least significant bits from subframe 5 page 25 word 3 reference Table 20 I ICD GPS 200 b Reference paragraph 20 3 3 5 1 3 Table 20 VII and Table 20 VIII ICD GPS 200 Rev B c Reference Table 20 VI ICD GPS 200 Rev B for scaling factors and units d A quantity defined for a conic section where e 0 is a circle e 1 is an ellipse 0 lt e lt 1 is a parabola and e gt 1 is a hyperbola e A measurement along the orbital path from the ascending node to the point where the SV is closest to the Earth in the direction of the SV s motion 1 To obtain copies of ICD GPS 200 refer to ARINC in the Standards and References section of the GPS Reference Manual available on our website Refer also to NMEA contact information there 182 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log gpalm onchanged Example SGPALM 24 01 25 0000 f 0000 00 0243 0000 f fffL ffffff ffffff 000000 000 000 52 OEM4 Family Firmware Version 2 300 Command and
160. ELANE 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 99999999 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 211 Chapter 3 3 4 35 MARKTIME MARK2TIME_ Time of Mark Input Event Data Logs This log contains the time of the leading edge of the detected mark input pulse MARKTIME gives the time when a pulse occurs on the MKII input and MARK2POS is generated when a pulse occurs on a MK2I input Refer to the Technical Specifications appendix in Volume 1 of this manual set for mark input pulse specifications and the location of the mark input pins The resolution of this measurement is 49ns Message ID Log Type Field Field type header 231 MARKTIME and 616 MARK2TIME Asynch Data Description Log header Format Binary Bytes H Binary Offset 0 2 week GPS week number Long 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 4 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 s Double H 20 6 utc offset This field represents the offset of GPS time
161. EM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 32 MARKCONTROL This command provides a means of controlling the processing of the mark 1 MK1J and mark 2 MK2I inputs for the OEM4 G2 and OEM4 G2L Using this command the mark inputs can be enabled or disabled the polarity can be changed and a time offset and guard against extraneous pulses can be added Abbreviated ASCII Syntax Message ID 614 MARKCONTROL signal switch polarity timebias timeguard 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 Field Description 2 signal MARK1 1 Specifies which mark input Enum 4 H MARK2 2 the command should be applied to Set to MARK1 for the MK1I input and MARK2 for MK21 Both mark inputs have 10K pull up resistors to 3 3 V and are falling edge triggered 3 switch DISABLE 0 Disables or enables Enum 4 H 4 ENABLE 1 processing of the mark input signal for the input specified If DISABLE is selected the mark input signal will be ignored The factory default is ENABLE 4 polarity NEGATIVE 0 Optional field to specify the Enum 4 H 8 POSITIVE 1 polarity of the pulse to be received on the mark input See Figure 4 for more information If no value is specified the default NEGATI
162. EPHEM Decoded GPS Ephemerides cccceeeeeeeeeeeeeeeeenees 197 3 4 28 GPVTG Track Made Good And Ground Speed NMEA 08 200 3 4 29 GPZDA UTC Time and Date NMEA cccceceeeeeeeeeeeeeeeeseteeeeneees 201 3 4 30 IONUTC lonospheric and UTC Datta ccceeceeceeeeeceeeeeeeeeeeeaeeeeneees 202 3 4 31 LBANDINFO L Band Configuration Information csceeeeeeeteeees 203 3 4 32 LBANDSTAT L Band Status Information 00 cccccceeeeeeeeeeeseeeeeeeees 205 3 4 33 LOGLIST List of System LOGS cceceeeeeeeeeeeeeeeeeeeeeaaeeeeeeeestaeeeeeeees 208 3 4 34 MARKPOS MARK2POS Position at Time of Mark Input Event 210 3 4 35 MARKTIME MARK2TIME Time of Mark Input Event 0 0 ee 212 3 4 36 MATCHEDPOS Matched RTK Position RTK esseere 213 3 4 37 MATCHEDXYZ_ Matched RTK Cartesian Position RTK essees 215 3 4 38 NAVIGATE User Navigation Data 0 cccccecceeeceeeeeeeeeeeeeeeeeeeeaeeeeenees 217 3 4 39 NMEA Standard LOgS ccccccseeeeeeeeeeeeceeeeeeeeeseaeeseneeeeeeaaeseeeeeeeteaeeseeaees 219 3 4 40 OMNIHPPOS OmniSTAR HP Position isean 220 3 4 41 PASSCOM PASSXCOM PASSAUX PASSUSB Redirect Datia 222 3 4 42 PORTSTATS Port Statistics 0 cccceccseceeeeeeeeeeeceeeeeeeeeeseseeeeeeeeeeaees 224 3 4 43 PSRDOP Pseudorange DOP cccceeceeeeeeeeeeeeeceeeeeeeaaeeeeneeesiaaeeeennees 226 3 4 44 PSRPOS Pseudorange POSitiOn ccccccececeeeeeeeeeeeeeeeeeeeeessaeeeeneees 2
163. EXPDATUM 6378137 0 298 25722356280 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 UTMZONE AUTO 0 WAASECUTOFF 5 000000000 Ea Zo ANNANNNNNNMN WN D PP PPP PP AaAAAUNNWNN OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 41 Chapter 2 Commands 2 6 Command Reference When you use a command without specifying its optional parameters it may have a different command default than the factory default See Section 2 5 starting on Page 40 for the factory default settings and the individual commands in the sections that follow for their command defaults 2 6 1 ADJUST1PPS This command is used to adjust the receiver clock or as part of the procedure to transfer time between receivers The number of pulses per second PPS is always set to 1 Hz with this command It is typically used when the receiver is not adjusting its own clock and is using an external reference frequency To disable the automatic adjustment of the clock refer to the CLOCKADJUST command on Page 55 To configure the receiver to use an external reference oscillator see the EXTERNALCLOCK command on Page 74 The ADJUST1PPS command can be used to a Manually shift the phase of the clock b Adjust the phase of the clock
164. FINESTEERING 1263 241448 000 00000000 98b 1522 SOL_COMPUTED NARROW_INT 1634532 4437 3664608 9032 4942482 7181 0 0070 0 0062 0 0117 AAAA 9 8 8 8 0 0 0 0 e215b592 216 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 38 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 120 See Figure below for an illustration of navigation parameters lt The SETNAV command must be enabled before valid data will be reported from this log Reference Description TO lat lon X Track perpendicular reference point Current GPS position A Track perpendicular reference point X Track cross track A Track along track Distance and bearing from 3 to 1 Figure 9 Navigation Parameters NORWOOD Table 61 Navigation Data Type Navigation Data Type Binary ASCII Description 0 GOOD Navigation is good 1 NOVELOCITY Navigation has no velocity 2 BADNAV Navigation calculation failed for an unknown reason 3 FROM_TO_SAME From is too close to To for computation 4 TOO_CLOSE_TO_TO Position is too close to To for computation 5 ANTIPODAL_WAYPTS Waypoints are antipodal on surface Message ID 161 Log Type Synch OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 217 Chapter 3 Field 1 Field Type header Data
165. FIX POSITION command 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT AUTO command 3 Reserved 4 5 6 7 8 DOPPLER VELOCITY Velocity computed using instantaneous Doppler 9 15 Reserved 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPAGATED Propagated by a Kalman filter without new observations 20 OMNISTAR OmniSTAR VBS position L1 sub meter 21 31 Reserved 32 L1_FLOAT Floating L1 ambiguity solution 33 IONOFREE_ FLOAT Floating ionospheric free ambiguity solution 34 NARROW_FLOAT Floating narrow lane ambiguity solution 48 L1_INT Integer L1 ambiguity solution 49 WIDE_INT Integer wide lane ambiguity solution 50 NARROW_INT Integer narrow lane ambiguity solution 51 RTK_DIRECT_INS RTK status where the RTK filter is directly initialized from the INS filter 52 56 INS calculated position types 64 OMNISTAR_HP OmniSTAR HP position L1 L2 decimeter 65 Reserved 66 CDGPS Position solution using CDGPS correction a In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details b Output only by the BESTPOS and BESTVEL logs when using an inertial navigation system such as NovAtel s SPAN products Please visit our website refer to your SPAN User Manual or contact NovAtel for more information OEM4 Family Firmware Version 2 30
166. 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 71 5 SATTIME 1263 313009 000 00000000 c 305 1522 122 54 38 76 256 152 100 311 83 256 6 0 300 292 0 1 0000000000000000000000 ca464 d2 328 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 105 WAAS12 SBAS Network Time and UTC SBAS WAAS12 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 standard from which the offset is determined The UTC parameters will correlate UTC time with the SBAS network time rather than with GPS time Message ID 293 Log Type Asynch Field Field type Data Description Format Binary Binary 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 gt 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
167. ID 686 Log Type Synch Field Field type Data Description Format piney 7 Binary Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H 3 pos type Position type see Table 47 Position or Velocity Type on Enum 4 H 4 Page 159 4 P X Position X coordinate m Double 8 H 8 5 P Y Position Y coordinate m Double 8 H 16 6 P Z Position Z coordinate m Double 8 H 24 7 P X Standard deviation of P X m Float 4 H 32 8 P Y Standard deviation of P Y m Float 4 H 36 9 P Z Standard deviation of P Z m Float 4 H 40 10 stn ID Base station identification Char 4 4 H 44 11 obs Number of observations tracked Uchar 1 H 48 12 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 49 13 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 50 14 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 51 15 Reserved Uchar 1 H 52 16 Uchar 1 H 53 17 Uchar 1 H 54 18 Uchar 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 bsInxyza onchanged ASCII Example BSLNXYZA COM1 0 61 5 FINESTEERING 1264 508130 000 00000100 d12a 1522 SOL_COMPUTED NARROW_INT 3 2120 3 0391 1 2169 0 0043 0 0065 0 0101 AAAA 11 11 11 11 0 0 0 0 a572d89e 168 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 8 CLOCKMODEL Current Clock Model Status
168. IGNALL system Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Type Value Value Description 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 13 System that the SV channel is Enum 4 H Channel System on tracking Page 50 Input Example unassignall GPSL1 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 59 UNDULATION This command permits you to either enter a specific geoidal undulation value or use the internal table of geoidal undulations In the option field the EGM96 table provides ellipsoid heights at a 0 25 by 0 25 spacing while the OSU89B is implemented at a 2 by 3 spacing In areas of rapidly changing elevation you could be operating somewhere within the 2 by 3 grid with an erroneous height EGM96 provides a more accurate model of the ellipsoid which results in a denser grid of heights It is more accurate because the accuracy of the grid points themselves has also improved from OSU89B to EGM96 For example the new grid would be useful where there are underwater canyons steep drop offs or mountains The undulation value reported in the BESTPOS log on Page 158 is in reference to the ellipsoid of the chosen datum Abbreviated ASCII Syntax Message ID 214 UNDULATION option
169. 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 Differential GPS Corrections RTCMDATA15 397 Type 15 Ionospheric Corrections RTCMDATA16 398 Type 16 Special Message RTCMDATA1819 399 Type18 and Type 19 Raw Measurements RTCMDATA2021 400 Type 20 and Type 21 Measurement Corrections RTCMDATA22 401 Type 22 Extended Base Station Parameters RTCMDATAS9 403 Type 59N 0 NovAtel Proprietary RT20 Differential RTCMDATA1001 784 L1 Only GPS RTK Observables RTCMDATA1002 785 Extended L1 Only GPS RTK Observables RTCMDATA1003 786 L1 L2 GPS RTK Observables RTCMDATA1004 787 Extended L1 L2 GPS RTK Observables RTCMDATA1005 788 RTK Base Station ARP RTCMDATA1006 789 RTK Base Station ARP with Antenna Height 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 Continued on Page 145 144 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 NovAtel Format Logs Datatype Message ID Description RXHWLEVELS Receiver hardware levels RXSTATUS 93 Self test status RXSTATUSEVENT 94 Status event indicator SATVIS 48 Satellite visi
170. Input log gpgll ontime 1 Example GPGLL 5106 9802869 N 11402 3037325 W 182147 00 A 1C Table 53 Position Precision of NMEA Logs NMEA Log Latitude of Longitude of Altitude of decimal places decimal places decimal places GPGGA 4 4 2 GPGGALONG 7 7 3 GPGGARTK 7 7 3 GPGLL T 7 N A GPRMC F 7 N A 190 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 21 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 receiver computes range residuals in mode 1 An integrity process using GPGRS would also require GPGGA for position fix data GPGSA for DOP figures and GPGSV for PRN numbers for comparative purposes This log will output null data in all fields until a valid almanac is obtained 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 OEM4 family receiver Mode 1
171. K dynamics Static Dynamic 1 0x00000002 RTK dynamics mode Auto Forced 2 0x00000004 Severe differential ionosphere detected No Yes 3 31 OxFFFFFF8 Reserved 286 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 81 RTKPOS RTK Low Latency Position Data RTK Chapter 3 This log contains the low latency RTK position computed by the receiver along with two status flags In addition it reports other status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections This log is recommended for kinematic operation Better accuracy can be obtained in static operation with the MATCHEDPOS log With the system operating in an RTK mode this log 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 60 seconds after reception of the last base station observation The degradation in accuracy due to differential age is reflected in the standard deviation fields and is summarized in the GPS Overview section of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html See also the DGPSTIMEOUT command on Page 70 Message ID 141 Log Type Synch is Field type Data De
172. L command to direct the GPS receiver to use a specific correction type the GPS receiver begins to search for and track the relevant GEO PRNs for that correction type only You can force the GPS receiver to track a specific PRN using the ASSIGN command You can force the GPS receiver to use the corrections from a specific SBAS PRN using the SBASCONTROL command Disable stops the corrections from being used Abbreviated ASCII Syntax Message ID 652 SBASCONTROL keyword system prn testmode 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 keyword ENABLE 0 Receiver will use the SBAS Enum 4 H corrections it receives DISABLE 1 Receiver will not use the SBAS corrections it receives 3 system See Table 36 on Page 116 Choose the SBAS the receiver will use Continued on Page 116 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 115 Chapter 2 Commands 3 prn 0 Receiver will use any PRN ULong 4 H 4 default 120 138 Receiver will use SBAS corrections only from this PRN 4 testmode NONE 0 Receiver will interpret Type Enum 4 H 8 0 messages as they are intended as do not use default ZEROTOTWO 1 Receiver will interpret Type 0 mes
173. LONASS indicator Uchar 1 H 6 0 No GLONASS service supported 1 GLONASS service supported 7 GALind Galileo indicator Uchar 1 H 7 0 No Galileo service supported 1 Galileo service supported 8 Reserved Uchar 1 H 8 ECEF X Base station ECEF X coordinate 1 10000 m Double 8 H 9 10 Reserved Uchar 1 H 17 11 ECEF Y Base station ECEF Y coordinate 1 10000 m Double 8 H 18 12 Reserved Uchar 2a H 26 13 ECEF Z Base station ECEF Z coordinate 1 10000 m Double 8 H 28 14 anthgt Antenna height Ushort 4b H 36 15 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40 16 CR LF Sentence terminator ASCII only a Inthe binary log case an additional byte of padding is added to maintain 4 byte alignment b Inthe binary log case 2 additional bytes of padding are added to maintain 4 byte alignment Recommended Input log rtemdata1006a ontime 3 ASCII Example RTCMDATA1006A COM1 0 80 5 FINESTEERING 1317 239459 744 00180040 7583 1855 70 0 0 1 0 0 0 16349783637 0 36646792121 0 49422987955 0 5a466fb5 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 283 Chapter 3 DataLogs 3 4 80 RTKDATA RTK Solution Parameters RTK This is the RTK output log and it contains miscellaneous information regarding the RTK solution It is based on the matched update Note that the length of the log messages will vary depending on the number of common satellites on both rover and base stations in the solut
174. Log Reference Rev 16 183 Chapter 3 DataLogs 3 4 17 GPGGA_ GPS Fix Data and Undulation NMEA Time position and fix related data of the GPS receiver For greater precision but with the loss of the undulation fields use the GPGGARTK log see Page 186 See also Table 53 Position Precision of NMEA Logs on Page 190 This log will output null data in all fields until a valid almanac is obtained 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 202134 00 seconds 3 lat Latitude DDmm mm W111 5106 9847 4 lat dir Latitude direction N North S South a N 5 lon Longitude DDDmm mm yyyyy yy 11402 2986 6 lon dir Longitude direction E East W West a WwW 7 GPS qual GES Quality indicator x 1 fix not available or invalid l GPS fix 25 Differential GPS fix 4 RTK fixed ambiguity solution Ose RTK floating ambiguity solution 9 WAAS 8 sats Number of satellites in use 00 12 May be different to the xx 10 number in view 9 hdop Horizontal dilution of precision X X 1 0 10 alt Antenna altitude above below mean sea level geoid X X 1062 22 11 a units Units of antenna altitude M meters M M 12 undulation Undulation the relationship between the geoid and the X X 16 271 WGS84 ellipsoid 13 u units Units of undulation M meters M M 14 age Age of Diffe
175. Long 4 H 8 5 pre23 f Long 4 H 12 e e a E E 7 prc25 Long 4 H 20 8 prc26 Long 4 H 24 9 prc27 Long 4 H 28 10 pre28 Long 4 H 32 11 prc29 Long 4 H 36 12 prc30 Long 4 H 40 13 pre31 Long 4 H 44 14 pre32 Long 4 H 48 15 udrei22 udre i Ulong 4 H 52 See Table 91 16 udrei23 o Ulong 4 H 56 Evaluation of a TT a e a a OR a 18 udrei25 Ulong 4 H 64 Page 339 19 udrei26 Ulong 4 H 68 20 udrei27 Ulong 4 H 72 21 udrei28 Ulong 4 H 76 22 udrei29 Ulong 4 H 80 23 udrei30 Ulong 4 H 84 24 udrei31 Ulong 4 H 88 25 udrei32 Ulong 4 H 92 26 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 96 27 CR LF Sentence terminator ASCII only Recommended Input log WAAS34 onchanged ASCII Example WAAS34A COM2 0 73 0 FINE 1295 226542 000 00000040 1be8 34461 209 0 5879 0 0 0 0 2687 0 10922 10922 10922 10922 0 14 14 14 14 0 14 15 15 15 15 3aeb74be OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 341 Chapter 3 DataLogs 3 4 115 WAAS35 CDGPS Fast Correction Slots 33 43 CDGPS WAAS35 are fast corrections for slots 33 43 in the mask of WAAS1 for CDGPS see Page 314 Message ID 699 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
176. 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 H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 5 on Port to clear Enum 4 H Page 18 decimal default ALLPORTS values greater than 16 may be used 3 held FALSE 0 Does not remove logs with the Enum 4 H 4 HOLD parameter default TRUE 1 Removes previously held logs even those with the HOLD parameter Input Example unlogall com2_15 130 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 64 USERDATUM This command permits entry of customized ellipsoidal datum parameters This command is used in conjunction with the DATUM command see Page 64 If used the command default setting for USERDATUM is WGS84 When the USERDATUM command is entered the USEREXPDATUM command see Page 132 is then issued internally with the USERDATUM command values It is the USEREXPDATUM command that appears in the RXCONFIG log If the USEREXPDATUM or the USERDATUM command are used their newest values overwrite the internal USEREXPDATUM values The transformation for the WGS84 to Local used in the OEM4 family is the Bursa Wolf transformation or reverse Helmert transformation In the Helmert transformation the ro
177. N 8 1 N OFF ON NOVATEL NOVATEL ON 39b122de OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 181 Chapter 3 DataLogs 3 4 16 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 receiver reboot no records are 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 receiver boot up If an almanac was stored in NVM the stored values are reported in the GPALM log once time is set on the receiver Message ID 217 Log Type Asynch Field Structure Field Description Symbol Example 1 GPALM Log header GPALM 2 msg Total number of messages logged Set to zero until X X 17 almanac data is available 3 msg Current message number X X 17 4 PRN Satellite PRN number XX 28 GPS to 32 SBAS 33 to 64 add 87 for PRN number 5 GPS wk GPS reference week number X X 653 6 SV hlth SV health bits 17 24 of each almanac page b hh 00 7 ecc e eccentricity 9 hhhh 3EAF 8 alm ref time toa almanac reference time hh 87 9 incl angle sigma j inclination angle hhhh OD68 10 omegadot OMEGADOT rate of right ascension hhhh FD30 11 rt axis A 2 root of semi major axis hhhhhh A10CAB 12 omega omega argument of perigee hhhhhh 6E
178. NNEW Enum 4 H 14 1 ONCHANGED 2 ONTIME 3 ONNEXT 4 ONCE 5 ONMARK 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 Tis 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 208 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Table 60 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 Detailed 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 ONMARK 6 period Log period for ONTIME Double 7 offset Offset for period ONTIME trigger Double 8 hold NOHOLD Enum HOLD Jir Next port variable xxxx 32 bit CRC Hex variable CR LF Sentence terminator Recommended Input log loglista once ASCII Example Chapter 3 LOGLISTA COM1 0 79 5 FINESTEERING 1263 241051 827 00000000 c00c 1522 8 COM1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000
179. O log is still available to OmniSTAR users but will be made obsolete in a future firmware release Please use the LBANDINFO log instead Message ID 730 Log Type Asynch os Field Type Data Description Format D pv 1 header Log header H 0 2 freq Selected frequency for L Band service kHz Ulong 4 H 3 baud Communication baud rate from L Band satellite Ulong 4 H 4 4 ID L Band signal service ID Ushort 2 H 8 5 Reserved Ushort 2 H 10 6 OSN L Band serial number Ulong 4 H 12 7 vbs sub L Band VBS subscription type see Table 55 on Page 204 Enum 4 H 16 8 vbs exp week GPS week number of L Band VBS expiration date Ulong 4 H 20 9 vbs exp secs Number of seconds into the GPS week of L Band VBS Ulong 4 H 24 expiration date 10 hp sub OmniSTAR HP subscription type see Table 55 on Page Enum 4 H 28 204 11 hp exp week GPS week number of OmniSTAR HP expiration date Ulong H 32 12 hp exp secs Number of seconds into the GPS week of OmniSTAR HP Ulong 4 H 36 expiration date 13 hp sub mode HP subscription mode if the subscription is valid Ulong 4 H 40 0 HP 1 Reserved 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 running time remaining in the subscription If the su
180. OL 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 or position FIXPOSDATUM Set the position through a specified datum GGAQUALITY Customize the GPGGA GPS quality indicator HPSEED Specify the seed position for OmniSTAR HP HPSTATICINIT Set static initialization of OmniSTAR HP POSTIMEOUT Sets the position time out value 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 SBASCONTROL Set SBAS test mode and PRN UNDULATION Set ellipsoid geoid separation Continued on Page 29 28 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 POSITION PARAMETERS AND SOLUTION FILTERING CONTROL Commands Descriptions USERDATUM Set user customized datum USEREXPDATUM Set custom expanded datum UTMZONE Set UTM parameters 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
181. P X m Float 4 H 32 8 P Yo Standard deviation of P Y m Float 4 H 36 9 P Zo Standard deviation of P Z m Float 4 H 40 10 V sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H 44 11 vel type Velocity type see Table 47 Position or Velocity Type on Enum 4 H 48 Page 159 12 V X Velocity vector along X axis m Double 8 H 52 13 V Y Velocity vector along Y axis m Double 8 H 60 14 V Z Velocity vector along Z axis m Double H 68 Continued on Page 231 230 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 15 V X 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 in seconds 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
182. POSA COM1 0 70 0 FINESTEERING 1263 245720 000 00000000 2174 1522 SOL_COMPUTED PSRDIFF 51 11634011613 114 03839917897 1047 3624 16 2711 WGS84 0 9056 0 6452 1 8299 AAAA 10 000 0 000 9 9 0 0 0 0 0 0 59c99a48 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 227 Chapter 3 DataLogs 3 4 45 PSRVEL Pseudorange Velocity In the PSRVEL log the actual speed and direction of the receiver antenna over ground is provided The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value See also the table footnote for velocity logs on Page 139 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 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
183. RTK OBSERVABLES Message ID 774 RTCM1003 L1 AND L2 GPS RTK OBSERVABLES MESSAGE ID 776 RTCM1004 EXTENDED L1AND L2 GPS RTK OBSERVABLES Message ID 770 RTCM1005 STATIONARY RTK BASE STATION ANTENNA REFERENCE POINT ARP Message ID 765 RTCM1006 STATIONARY RTK BASE STATION ARP WITH ANTENNA HEIGHT Message ID 768 RTCM SC 104 Version 3 0 is a more efficient alternative to the documents entitled RTCM Recommended Standards for Differential Navstar GPS Service Version 2 x Version 3 0 consists primarily of messages designed to support real time kinematic RTK operations The reason for this emphasis is that RTK operation involves broadcasting a lot of information and thus benefits the most from a more efficient data format The RTCM SC 104 standards have been adopted by NovAtel for implementation into the receiver The receiver can easily be integrated into positioning systems around the globe because it is capable of utilizing RTCM Version 3 0 formats Refer to the chapter on Message Formats in Volume I of this manual set for more information on RTCMV3 standard logs lt 1 At the base station choose to send either an RTCM1005 or RTCM1006 message to the rover station Then select one of the observable messages RTCM1001 RTCM1002 RTCM1003 or RTCM1004 to send from the base 2 The RTCM messages can be logged with an A or B suffix for an ASCII or Binary output with a NovAtel header followed by Hex or Binary raw data respe
184. Reference Rev 16 173 Chapter 3 DataLogs 3 4 11 CMRDATADESC Base Station Description RTK See the chapter on Message Formats in Volume 1 of this manual set for information on CMR standard logs Message ID 389 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 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 9
185. Rev 16 343 Chapter 3 Data Logs 3 4 117 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 Ionospheric and tropospheric corrections are not included and should be applied separately Message ID 313 Log Type Synch Field Field type Data Description Format Binary Binary yp p Bytes Offset 1 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 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 6 corr stdv Standard deviation of pseudorange Float 4 H 16 correction m Tar 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 344 WAASCORRA COM1 0 60 0 FINESTEERING 1263 313990 000 00000100 3b3b 1522 18 28 188 0 0000 0 0000 28 0 0 0000 0 0000 20 142 0 0000 0 0000 20 0 0 0000 0 0000 4 43 0 0000 0 0000 4
186. Rev 16 Data Logs Chapter 3 3 4 25 GPRMB_ Navigation Information NMEA Navigation data from present position to a destination waypoint The destination is set active by the receiver 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 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 Cre END 7 dest lat Destination waypoint latitude DDmm mm 3 MM 5106 7074000 8 lat dir Latitude direction N North S South 3 a N 9 dest lon Destination waypoint longitude DDDmm mm 3 yyyyy yy 11402 349 10 lon dir Longitude direction E East W West 3 a E 11 tange Range to destination nautical miles 4 ae 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
187. S2 315 338 WAAS24 332 343 WAAS25 334 WAAS26 336 WAAS27 337 WAAS3 317 340 WAAS322 338 WAAS33 340 WAAS34 341 WAAS35 342 WAAS4 319 341 WAAS45 343 WAASS 321 342 Index WAAS6 323 WAAS7 325 WAASSY 327 WAASCORR 344 WAASCORRECTION 133 WAASECUTOFF 135 warning 53 warranty 11 waypoint destination 195 218 navigation 29 122 139 217 track offset 122 week decoding 23 future 202 GPS 197 218 reference 240 weighting pseudorange filter 307 WGS84 64 79 122 131 165 word 99 125 182 240 296 301 X xyz coordinates 137 139 165 230 246 Y year 305 312 Z zone number UTM 133 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 357 Nolte Recyclable Printed in Canada on recycled paper OM 20000047 Rev 16 2005 06 22
188. SIGN command 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 505 WAASECUTOFF angle ASCII Binary ts Binary Binary Binary Description Value Value seriptio Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCI ASCII or binary respectively 2 angle 90 0 degrees Elevation cut off angle relative to Float 4 H horizon ASCII Example WAASECUTOFF 10 0 lt This command does not affect the tracking of GPS satellites Similarly the ECUTOFF command does not affect SBAS satellites OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 135 Chapter 3 Data Logs 3 1 Log Types Refer to the LOG command see Page 90 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 is generated at irregular intervals If asynchronous logs were collected on a regular schedule they would not output the most current data as soon as it was available The data in po
189. 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 number of times that tracking Ulong 4 H 116 has not been continuous 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 ontime 2 ASCII Example CMRDATAOBSA COM1 0 74 0 FINESTEERING 1117 162981 000 00100020 b222 399 2 0 147 93 3 0 0 10 21000 3 0 10 3 FALSE TRUE TRUE 8684073 505 10 1 TRUE TRUE TRUE TRUE TRUE 0 368 512 11 1 15 FALSE TRUE TRUE 11936394 129 11 1 TRUE TRUE TRUE TRUE TRUE 0 270 78 12 1 18 FALSE TRUE TRUE 5334926 186 11 1 TRUE TRUE TRUE TRUE TRUE 0 164 164 12 1 21 FALSE TRUE TRUE 10590427 770 10 1 TRUE TRUE TRUE TRUE TRUE 0 366 850 11 1 17 FALSE TRUE TRUE 3262859 32 11 1 TRUE TRUE TRUE TRUE TRUE 0 325 216 12 1 26 FALSE TRUE TRUE 211264 1213 10 1 TRUE TRUE TRUE TRUE TRUE 0 390 1069 10 1 23 FALSE TRUE TRUE 8098 209 11 1 TRUE TRUE TRUE TRUE TRUE 0 265 236 12 1 28 FALSE TRUE TRUE 5090047 160 6 1 TRUE TRUE TRUE TRUE TRUE 0 535 227 9 1 31
190. Time Set False True 8 0x00000100 Velocity Error False True N2 9 0x00000200 No Reference Stations False True 10 0x00000400 No Mapping Message False True 11 Reserved N3 N5 12 23 24 25 N6 26 0x04000000 Static Initialization Mode False True 27 Reserved N7 28 30 31 0x80000000 Updating Data False True a Contact OmniSTAR for subscription support All other status values will be updated by collecting the OmniSTAR data for 20 35 minutes OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 207 Chapter 3 DataLogs 3 4 33 LOGLIST List of System Logs Outputs a list of log entries in the system The following table is of the binary output while Table 60 on Page 209 shows the ASCII output See also the RXCONFIG log on Page 293 for a list of current command settings Message ID 5 Log Type Polled Field Field type Data Description Format pinary Binary yP p 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 5 Detailed Serial Port Enum 4 H 4 Identifiers on 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 20 0 Original Message 1 Response Message 6 reserved Char 3a H 11 trigger 0 O
191. 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 23 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 21 Chapter 1 Messages 22 There are several distinct states that the receiver will go through e UNKNOWN e COARSE e FREEWHEELING e FINE e 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 121 or on receipt of an RTCAEPHEM message see Page 197 the time status will be APPROXIMATE After the first ephemeris is decoded the receiver time is set to a resolution of 10 milliseconds This state is qualified by the COARSE or COARSESTEERING time status flag depending on the state of the CLOCKADJUST switch 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 receiv
192. UST DISABLE command There are three steps involved in using an external oscillator 1 Follow the procedure outlined in Volume J of this manual set to connect an external oscillator to your OEM4 G2L or OEM4 G2 2 Using the EXTERNALCLOCK command select a standard oscillator and its operating frequency 3 Using the CLOCKADJUST command disable the clocksteering process if external clocksteering is not used Theory An unsteered oscillator can be approximated by a three state clock model with two states representing the range bias and range bias rate and a third state assumed to be a Gauss Markov GM process representing the range bias error generated from satellite clock dither The third state is included because the Kalman filter assumes an unmodeled white input error The significant correlated errors produced by satellite clock dither are obviously not white and the Markov process is an attempt to handle this kind of short term variation The internal units of the new clock model s three states offset drift and GM state are 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_ 4 and h_ elements of the power law spectral
193. VE is used 3 timebias Any valid long value Optional value to specify an Long 4 H 12 offset in nanoseconds to be applied to the time the mark input pulse occurs If no value is supplied the default value of 0 is used 4 timeguard Any valid ulong value Optional field to specify a ULong 4 H 16 larger than the receiver s time period in minimum raw milliseconds during which measurement period subsequent pulses after an initial pulse are ignored If no value is supplied the default value of 0 is used OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 95 Chapter 2 Commands a See Appendix A in Volume 1 for the maximum raw measurement rate to determine the minimum period If the value entered is lower than the minimum measurement period the value will be ignored and the minimum period will be used ASCII Example MARKCONTROL MARK1 ENABLE NEGATIVE 50 100 3 3 V NEGATIVE Polarity GC e 0 0 V gt 51 ns tee teeesescecoee 3 3 V POSITIVE Polarity 0 0 V Figure 4 TTL Pulse Polarity 96 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 33 MODEL This command is used to switch the receiver between models previously added with the AUTH command When this command is issued the receiver will save this model as the active model The active model will now be used on every subsequent startup Th
194. YNC Synchronize time between receivers Synch DIFFERENTIAL BASE STATION Descriptions ALMANAC Current almanac information Asynch RANGE Satellite range information Synch LBANDINFO L Band configuration information Synch LBANDSTAT L Band status information Synch RAWLBANDFRAME Raw L Band frame data Asynch RAWLBANDPACKET Raw L Band data packet Asynch 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 Continued on Page 141 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs POST PROCESSING DATA Descriptions Chapter 3 GPSEPHEM Decoded GPS ephemeris information Asynch IONUTC Ionospheric and UTC model information Asynch RAWEPHEM Raw ephemeris Asynch RANGE Satellite range information Synch RANGEGPSL1 L1 version of the RANGE log Synch RTKDATA RTK related data such as baselines and satellite counts Asynch TIME Receiver clock offset information Synch SATELLITE TRACKING AND CHANNEL CONTROL Descriptions
195. a 128 PR oN UINE OIE AEEA E E E E E E 129 2 6 63 UNLOGALLE isinin a ei aan E 130 2 6 64 USERDA TOM ea oiiire maan cas aaa aa e a area a AE DRERI 131 26 69 USEREXPDATUM oiicccicccccussisccecescesstecgeceedetegeneeadeeceensec eecevandevieenebensectene 132 26 66 WTMZONE vrenc g5c chee dence testes seg ie aeacs ccesash eke aaaea hatin secu th access 133 2 6 67 WAASCORRECTION SBAS 1 00 eeceeccceeeeeceecene cere etree tees eaeeeeeeeeeeneaeen 134 2 6 68 WAASECUTOEP niisiis 135 3 Data Logs 136 Sidi LOG TY POS rei ex a die sadiees ox ecevedvegestaibedetses a 136 4 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Table of Contents 3 2 LOGS By FUNCOM ece rsa ieee eee agitate tee Gets 136 3 3 MiLLennium GPSCard Compatibility 2 2 00 cccceceeeeeeeeeeceeeeeeeeeeseaeeeeeneeeeesaaeenenes 153 Sr4 LOG RETEFENCE simana EE EERE EREA NEE 153 3 4 1 ALMANAC Decoded Almanac ssssseesseessseessissriresrnssrnsssrnnntnnssennsnnnne 154 3 4 2 AVEPOS Position Averaging eeeseeesseeseeesresriessrrssrrsssrrssrnssrnnssnnnns 156 3 4 3 BESTPOS Best Position 0 eeeccee cence cence cece eeeeeeeeecaeeeeeaaeeeeeeeetaeeeteneees 158 3 4 4 BESTUTM Best Available UTM Data c ccceeceeeeeeeeeeeeeeeeeeesteeeteneees 161 3 4 5 BESTVEL Best Available Velocity Data cececeeeeeeeeeeeeeeeetteeeteenees 163 3 4 6 BESTXYZ Best Available Cartesian Position and Velocity 165 3 4 7 BSLNXYZ RTK XYZ Baseline RIK 00
196. a Logs Chapter 3 3 4 37 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 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 See Figure 8 Page 167 for a definition of the ECEF coordinates This log provides the best accuracy in static operation For lower latency in kinematic operation see the BESTX YZ or RTKXYZ logs on Pages 165 and 291 respectively The data in the logs will change only when a base observation RTCM RTCMV3 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 Message ID 242 Log Type Asynch meld Field type Data D
197. a specified Doppler frequency within a specified Doppler window The instruction remains in effect for the specified SV channel and PRN even if the assigned satellite subsequently sets If the satellite Doppler offset of the assigned SV channel exceeds that specified by the window parameter of the ASSIGN command the satellite may never be acquired or re acquired If a PRN has been assigned to a channel and the channel is currently tracking that satellite when the channel is set to AUTO tracking the channel will immediately idle and return to automatic mode To cancel the effects of ASSIGN you must issue one of the following e The ASSIGN command with the state set to AUTO The UNASSIGN command The UNASSIGNALL command These will return SV channel control to the automatic search engine immediately lt 1 Assigning a SV channel will set the forced assignment bit in the channel tracking status field which is reported in the RANGE and TRACKSTAT logs 2 Assigning a PRN to a SV channel does not remove the PRN from the search space of the automatic searcher only the SV channel is removed that is the searcher may search and lock onto this PRN on another channel The automatic searcher only searches for PRNs 1 to 32 for GPS channels and PRNs 120 to 138 for SBAS channels Table 12 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 T
198. a z ECEF Long 4 H 88 0 125 Continued on Page 335 334 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 25 al Delta af clock offset Long H 92 z3 26 mask2 Second index into PRN mask Type 1 Ulong H 96 Dummy value when velocity code 1 27 iode2 Second issue of ephemeris data Ulong H 100 Dummy value when velocity code 1 28 ddx Delta delta x ECEF when velocity Long H 104 gil code 1 Delta x dx when velocity code 0 29 ddy Delta delta y ECEF when velocity Long H 108 gH code 1 Delta y dy when velocity code 0 30 ddz Delta delta z ECEF when velocity Long H 112 gil code 1 Delta z dz when velocity code 0 31 af Delta af clock offset when velocity Long H 116 P code 1 Delta af clock offset when velocity code 0 32 to Applicable time of day Ulong H 120 16 Dummy value when velocity code 0 33 iodp Issue of PRN mask data Ulong H 124 34 corr spare Spare value when velocity code 0 Ulong H 128 Dummy value when velocity code 1 35 XXXX 32 bit CRC ASCII and Binary only Hex H 132 36 CR LF Sentence terminator ASCII only H 136 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Recommended Input log WAAS25 onchanged ASCII Example WAAS25A COM1 0 57 0 SATTIME 1263 313767 000 00000100 b8f 1522 122 1 5 188 13 9 14 16 0 0 1 0 2 2 3401 1 0 1 19 142 15 35
199. addition event messages can be generated when other conditions which are indicated in the receiver status and auxiliary status words are met Whether or not an event message is generated under these conditions is specified using the STATUSCONFIG command which is detailed in Section 2 6 56 STATUSCONFIG on Page 125 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 lt See also the chapter on Built In Status Tests in Volume 1 of this manual set Message ID 94 Log Type Asynch Field Field type Data Description Format Binary Binary Bytes Offset header Log header H 0 2 word The status word that generated the event Enum 4 H message see Table 85 on Page 302 3 bit position Location of the bit in the status word see Ulong 4 H 4 Table 81 Receiver Status on Page 299 4 event Event type see Table 86 on Page 302 Enum 4 H 8 3 description This is a text description of the event or error Char 32 32 H 12 5 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 6 CR LF Sentence terminator ASCII only Recommended Input log rxstatuseventa onchanged ASCII Example 1 RXSTATUSEVENTA COM1 0 46 5 FINESTEERING 1263 251784 510 00000000 b967 1522 STATUS 19 SET No Valid Position Calculated ca0dbffb ASCII Example 2 RXSTATUSEVENTA COM1 0 0 0 FINESTEERING 1263 329182 498 00480100 b967
200. alse True 3 0x0008 Link Error False True 4 0x0010 No Remote Sites False True Ni 5 0x0020 No Almanac False True 6 0x0040 No Position False True 7 0x0080 No Time False True 8 0x0100 ND 9 0x0200 10 0x0400 11 0x0800 Reserved 12 0x1000 13 0x2000 N3 14 0x4000 15 0x8000 Updating Data False True a Contact OmniSTAR for subscription support All other status values will be updated by collecting OmniSTAR data for 20 35 minutes 206 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Nibble Table 58 OmniSTAR HP Additional Status Word Bit Mask Description Bit 0 Chapter 3 0 0x0001 Solution not fully converged False True NO 1 0x0002 2 0x0004 Reserved 3 0x0008 4 0x0010 HP not authorized Authorized Unauthorized NI 5 0x0020 6 0x0040 7 0x0080 8 0x0100 N2 9 0x0200 e 10 0x0400 eserved 11 0x0800 12 0x1000 13 0x2000 N3 14 0x4000 15 0x8000 Table 59 OmniSTAR HP Status Word Nibble Bit WET 4 Description Bit 0 0 0x00000001 Subscription Expired False True NO 1 0x00000002 Out of Region False True 2 0x00000004 Wet Error False True 3 0x00000008 Link Error False True 4 0x00000010 No Measurements False True NI 5 0x00000020 No Ephemeris False True 6 0x00000040 No Initial Position False True 7 0x00000080 No
201. ard Logs See the chapter on Message Formats in Volume I of this manual set for more detail on the structure of NMEA logs The details for the following NMEA logs are listed alphabetically in this chapter GPALM GPGGA ALMANAC DATA GLOBAL POSITION SYSTEM FIX DATA AND UNDULATION GPGGALONG GPS FIX DATA EXTRA PRECISION AND UNDULATION GPGGARTK GPS FIX DATA GPGLL GPGRS GPGSA GPGST GPGSV GPRMB GPRMC GPVTG GPZDA GEOGRAPHIC POSITION GPS RANGE RESIDUALS FOR EACH SATELLITE GPS DOP AN ACTIVE SATELLITES PSEUDORANGE MEASUREMENT NOISE STATISTICS GPS SATELLITES IN VIEW NAVIGATION INFORMATION GPS SPECIFIC INFORMATION TRACK MADE GOOD AND GROUND SPEED UTC TIME AND DATE OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 219 Chapter 3 DataLogs 3 4 40 OMNIHPPOS OmniSTAR HP Position Outputs L Band High Performance HP position information lt In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume 1 of this manual set Message ID 495 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 sol status Solution statu
202. arse time can be acquired This can be used in conjunction with an approximate position see the SETAPPROXPOS command on Page 20 to improve time to first fix For more information please refer to the TTFF and Satellite Acquisition section of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html 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 303 Abbreviated ASCII Syntax Message ID 102 SETAPPROXTIME week sec 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 week 0 9999 GPS week number Ulong 4 H 3 sec 0 604801 Number of seconds into Double 8 H 4 GPS week Input Example setapproxtime 1105 425384 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 121 Chapter 2 2 6 54 SETNAV This command permits entry of one set of navigation waypoints see Figure 6 on Page 123 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 navigatio
203. ary 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 rtcadataephema ontime 10 7 ASCII Example RTCADATAEPHEMA COM1 0 81 0 FINESTEERING 1263 327430 092 80180000 d869 1516 78 2 239 327430 10 0 8b03bc6a93243bd10100b709bcca5lacf2ae025dfbb350dc00000505 6ce08b03bcb6a93a9b3f4ea2c7d26848989F 6F 7031c85F30F 05a10d6 5950dc7 F8b03bc6a942e0 0087db1d930003627f55fc01lflc0af06413ffa8F3b3ed52 807652fc 250 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 61 RTCADATAOBS Base Station Observations RTK See the chapter on Message Formats in Volume 1 of this manual set for information on RTCA standard logs Chapter 3 Message ID 394 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 min psr Minimum pseudorange Double 8 H 4 5 sec Seconds into the GPS week Float 4 H 12 6 Reserved Long 4 H 16 7 prn Number of PRNs with information to Ulong 4 H 20 follow 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 ps
204. ata 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 Message ID 297 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 prcO pre i Long 4 H 4 2 pe Fast tions 2048 to 2047 fi ue 5 pre2 ihe pean loetG 0 5 Long 4 Here ou 6 prce3 Long 4 H 16 7 pre4 Long 4 H 20 8 pres Long 4 H 24 9 udreiO udre 1 Ulong 4 H 28 See Table 90 10 udreil Sa Ulong 4 H 32 on Page 316 11 udrei2 E A E long 4 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 dz1 Delta z ECEF Long 4 H 88 0 125 25 da Delta af clock offset Long 4 H 92 SF 26 mask2 Second index into PRN mask Type 1
205. ate 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 for example 500 for 500 Hz default 4500 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 49 Chapter 2 50 Commands Table 13 Channel System Binary ASCII Description 0 GPSL1 GPS L1 dedicated SV channels only 1 GPSL1L2 GPS L1 and L2 dedicated SV channels only 2 NONE No dedicated SV channels 3 ALL All channels default 4 WAASL1 SBAS SV channels only 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 ina 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 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 5 ASSIGNL
206. atellite 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 100 BAD_INTEGRITY The integrity of the pseudorange is bad 308 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 93 VALIDMODELS Valid Model Information This log gives a list of valid authorized models available and expiry date information See the VERSION log on Page 310 for currently active models Use the MODEL command see Page 97 to change the currently active model See the AUTH command on Page 53 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 day fields as 0 0 and 0 respectively Message ID 206 Log Type Polled Field Field type Data Description Format Binary Binary Bytes Offset header Log header H 0 2 mod Number of models with information Ulong 4 H to follow 3 model Model name String Vari Variable max 16 able 4 expyear Expiry year Ulong 4 H 20 5 expmonth Expiry month Ulong 4 H
207. ation Parameters RTK ccccccccceeeeeneeee 253 3 4 63 RTCM Standard Logs DGPS ccccceceeceeeeteeeeeeeeeeeceeeeeeeeeeseaeeeeeeeees 254 3 4 64 RTCMDATA1 Differential GPS Corrections DGPS eeee 256 3 4 65 RTCMDATA3 Base Station Parameters RTK ccccccccccscceeeeeseenees 257 3 4 66 RTCMDATAY Partial Differential GPS Corrections DGPS 258 3 4 67 RTCMDATA15 lonospheric Corrections DGPS 259 3 4 68 RTCMDATA16 Special Message DGPS amp RTK 260 3 4 69 RTCMDATA1819 Raw Measurements RITK cc ccccccscescceseeeeeenees 261 3 4 70 RTCMDATA2021 Measurement Corrections RTK cccceceeeeeee 265 3 4 71 RTCMDATA22 Extended Base Station RITK cccccccceccceeeeseereees 269 3 4 72 RTCMDATA59 Type 59N 0 NovAtel RT20 Differential RTK 270 3 4 73 RTCMV3 RTCMV3 Standard Logs RIK cccecceeeseeeeeeeeeeeeneeeees 272 3 4 74 RTCMDATA1001 L1 Only GPS RTK Observables RTK 068 273 3 4 75 RTCMDATA1002 Extended L1 Only GPS RTK Observables RTK 276 3 4 76 RTCMDATA1003 L1 L2 GPS RTK Observables RTK 000000 278 3 4 77 RTCMDATA1004 Expanded L1 L2 GPS RTK Observables RTK 280 3 4 78 RTCMDATA1005_ Base Station Antenna Reference Point ARP RTK282 3 4 79 RTCMDATA1006_ Base Station ARP with Antenna Height RTK 283 3 4 80 RTKDATA RTK Solution Parameters RTK eeens 284 3 4 81 RTKPOS RTK Low Latency Position Data RTK 287 3 4 82 RTKVEL RTK Velocity RIK
208. ation and is summarized in the GPS Overview section of the GPS Reference Manual available on our website at http Awww novatel com Downloads docupdates html 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 60 seconds The RTKPOS log contains the Low Latency RTK position when valid and an invalid status when a low latency RTK solution could not be computed The BESTPOS log contains the low latency RTK position when it is valid and superior to the pseudorange based position Otherwise it will contain the pseudorange based position Continued on Page 139 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs WAYPOINT NAVIGATION Descriptions Chapter 3 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 a The RTK velocity is computed from the latest local observations and extrapolated base station observations This supplies a valid RTK velocity with the lowes
209. atus 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 Ulong 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 number of times that tracking Ulong 4 H 76 has not been continuous 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 Continued on Page 177 176 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 24 L2 c valid Is L2 code valid Enum 4 H 88 0 FALSE 1 TRUE 25 L2 p valid Is L2 phase valid Enum 4 H 92 0 FALSE 1
210. be set to 32 34 or 36 These zones were incorporated into other zone numbers and do not exist Table 40 UTM Zone Commands Binary ASCIl Description 0 AUTO UTM zone default that automatically sets the central meridian and does not switch zones until it overlaps by the set persistence This a spherical approximation to the earth unless you are at the equator default 0 m 1 CURRENT Same as UTMZONE AUTO with infinite persistence of the current zone The parameter field is not used 2 SET Sets the central meridian based on the specified UTM zone A zone includes its western boundary but not its eastern boundary Meridian For example zone 12 includes 108 W 114 W where 108 lt longitude lt 114 3 MERIDIAN Sets the central meridian as specified in the parameter field In BESTUTM the zone number is output as 61 to indicate the manual setting zones are set by pre defined central meridians not user set ones ASCII Example 1 UTMZONE SET 10 ASCII Example 2 UTMZONE CURRENT OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 133 Chapter 2 Commands 2 6 67 WAASCORRECTION SBAS This command is obsolete and has been superseded by the SBASCONTROL command see Page 115 As such it is supported in this and previous revisions of the firmware but may not be in future revisions Abbreviated ASCII Syntax Message ID 312 WAASCORRECTION keyword prn mode Field Field ASCII Binar
211. bility 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 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 WAASS5 303 Fast correction slots 39 50 WAAS6 304 Integrity message WAAS7 305 Fast correction degradation WAAS9 306 GEO navigation message WAAS10 292 Degradation factor WAAS 12 293 SBAS network time and UTC WAAS17 294 GEO almanac message WAAS18 295 IGP mask WAAS24 297 Mixed fast slow corrections WAAS25 298 Long term slow satellite corrections WAAS26 299 Ionospheric delay corrections WAAS27 300 SBAS service message WAAS32 696 CDGPS fast correction slots 0 10 WAAS33 697 CDGPS fast correction slots 11 21 WAAS34 698 CDGPS fast correction slots 22 32 WAAS35 699 CDGPS fast correction slots 39 50 WAAS45 700 CDGPS slow corrections WAASCORR 313 SBAS range corrections used Continued on Page 146 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 145 Chapter 3 DEVE LAN oI Data Logs NovAtel Format Logs Message ID Description CMR Format Logs CMRDESC 310 Base station description information CMROBS 103 Base s
212. breviated 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 16 The following table describes the field types 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 2147483647 ULong 4 The same as Long except that it is not signed Values are in the range from 0 to 4294967295 Double 8 The double type contains 64 bits 1 for sign 11 for the exponent and 52 for the mantissa Its range is 1 7E308 with at least 15 digits
213. bscription type is COUNTDOWNOVERRUN the expiration week and expiration seconds into GPS week will count the amount of the overrun time OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 203 Chapter 3 DataLogs Table 55 L Band Subscription Type Binary ASCII Description 0 EXPIRED The L Band subscription has expired or does not exist 1 FIXEDTIME The L Band subscription will expire at a fixed date and time 2 COUNTDOWN The L Band 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 16 UNKNOWN Unknown subscription Recommended Input log lbandinfoa ontime 1 ASCII Example 1 OmniSTAR HP LBANDINFOA COM2 0 81 5 FINESTEERING 1295 152639 184 00000240 c51d 34461 1547547 4800 c685 0 762640 EXPIRED 0 0 FIXEDTIME 1199 259199 0 8cc5e573 Abbreviated ASCII Example 2 CDGPS LBANDINFO COM1 0 45 5 FINESTEERING 1297 498512 389 00000000 c5ld 34486 1547547 4800 0 0 762640 UNKNOWN 0 0 UNKNOWN 0 0 0 204 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 32 LBANDSTAT L Band Status Information This log outputs status information for a standard L Band or OmniSTAR HP High Performance service lt 1 In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR o
214. c 1855 0 0 239386000 0 9 0 0 9 21 0 10569576 8901 127 0 176 7752 127 2 0 8831714 3717 127 0 163 7068 127 16 0 4 29 0 26 0 6 0 94 189573 1118 127 0 108 1273 127 1181151 10116 127 0 61 11354 127 12256552 15107 109 0 24 18232 109 42835 1961 127 0 116 2536 127 18 0 7145333 3326 54 0 17 304 54 10 0 1125215 13933 127 0 148 12353 127 30 0 8737848 20418 127 0 48 19592 127 2286a5ab OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Chapter 3 279 Chapter 3 DataLogs 3 4 77 RTCMDATA1004 Expanded L1 L2 GPS RTK Observables RTK This log is available at the base station Refer also to Message Formats in Volume 1 of this manual set Message ID 787 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 RTCMV3 Message number Ushort 2 H 3 observations Base station ID Ushort 2 H 2 4 ae GPS epoch time ms Ulong 4 H 4 5 DATA1001 GNSS message flag Uchar 1 H 8 6 log on Page Number of GPS satellite signals processed 0 31 Uchar 1 H 9 7 273 for details Smoothing indicator Uchar 1 H 10 8 Smoothing interval see Table 74 on Page 274 Uchar 1 H 11 9 prns Number of PRNs with information to follow Ulong 4 H 12 10 prn Satellite PRN number Uchar 1 H 16 11 Licode ind GPS L1 code indicator Uchar 1 H 17 0 C A code 1 P Y code 1
215. cifications Warning 2 0x00000004 Voltage supply status OK Warning 3 0x00000008 Antenna power status Powered Not powered See ANTENNAPOWER on Page 46 4 0x00000010 Reserved Ni 5 0x00000020 Antenna open flag OK Open 6 0x00000040 Antenna shorted flag OK Shorted 7 0x00000080 CPU overload flag No overload Overload 8 0x00000100 COM1 buffer overrun flag No overrun Overrun N2 9 0x00000200 COM2 buffer overrun flag No overrun Overrun 10 0x00000400 COM3 buffer overrun flag No overrun Overrun 11 0x00000800 USB buffer overrun flag No overrun Overrun 12 0x00001000 Reserved 13 0x00002000 N3 14 0x00004000 15 0x00008000 RF1 AGC status OK Bad 16 0x00010000 Reserved Ni 17 0x00020000 RF2 AGC status OK Bad 18 0x00040000 Almanac flag Valid Invalid 19 0x00080000 Position solution flag Valid Invalid 20 0x00100000 Position fixed flag see FIX on Not fixed Fixed Page 77 NS f 21 0x00200000 Clock steering status Enabled Disabled 22 0x00400000 Clock model flag Valid Invalid 23 0x00800000 OEM4 G2L OEM4 G2 external Disabled Enabled oscillator flag b 24 0x01000000 Software resource OK Warning 25 0x02000000 Reserved N6 26 0x04000000 27 0x08000000 28 0x 10000000 29 0x20000000 AUX3 status event flag No event Event N7 30 0x40000000 AUX2 status event flag No event Event 31 0x80000000 AUX1 status event flag No event Event a This flag indicates if any of the three USB ports USB1 USB2 or USB3
216. cked for a given PRN two entries with the same PRN will appear in the range logs As shown in Table 62 Channel Tracking Status on Page 233 these entries can be differentiated by bit 20 which is set if there are multiple observables for a given PRN and bits 21 22 which denotes whether the observation is for L1 or L2 This is to aid in parsing the data OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Table 62 Channel Tracking Status Nibble Bit Mask Description BEUC CAUTE 0 0x00000001 Tracking state 0 11 see Table 64 Tracking State on Page no 0x00000002 239 2 0x00000004 3 0x00000008 4 0x00000010 NI 5 0x00000020 SV channel number 0 n 0 first n last 6 0x00000040 n depends on the receiver 7 0x00000080 8 0x00000100 N2 9 0x00000200 10 0x00000400 Phase lock flag 0 Not locked 1 Locked 11 0x00000800 Parity known flag 0 Not known 1 Known 12 0x00001000 Code locked flag 0 Not locked 1 Locked N3 13 0x00002000 Correlator spacing 0 7 see Table 65 Correlator Spacing on 14 0x00004000 Rese ae 15 0x00008000 16 0x00010000 Satellite system 0 GPS 1 3 7 Reserved n4 17 0x00020000 ETWAS 18 0x00040000 19 0x00080000 Reserved 20 0x00100000 Grouping 0 Not grouped 1 Grouped N5 21 0x00200000 Frequency 0 L1 1 12 2 3 Reserved 22 0x00400000 23 0x00800000 Code type 0 C A
217. command name or the message header depending on whether l header 7 A the command is abbreviated ASCH ASCII H 0 or binary respectively nAi 6300000 0 A f 2 semimajor 6499000 0 m Datum Semi major Axis a in meters Double 8 H 3 flattening 290 0 305 0 Reciprocal Flattening 1 f a a b Double 8 H 8 4 dx 2000 0 m Datum offsets from WGS84 These will be Double 8 H 16 5 dy 2000 0 m the translation values between the user Double 8 H 24 6 dz 2000 0 m datum and WGS84 internal reference Double 8 H 32 T TX 10 0 radians Datum rotation angle about X Y and Z Double 8 H 40 8 ry 10 0 radians These values will be the rotation from Double 8 H 48 WGS84 to your datum A positive sign for 9 rz 10 0 radians clockwise rotation and a negative sign for Double 8 H 56 counter clockwise rotation Scale value is the difference in ppm i scale 10 0 ppm between the user datum and WGS84 Double 8 Hros 11 xvel 2000 0 m yr Velocity vector along X axis Double 8 H 72 12 yvel 2000 0 m yr Velocity vector along Y axis Double 8 H 80 13 zvel 2000 0 m yr Velocity vector along Z axis Double 8 H 88 14 xrvel 10 0 radians yr Change in the rotation about X over time Double 8 H 96 15 yrvel 10 0 radians yr Change in the rotation about Y over time Double 8 H 104 16 zrvel 10 0 radians yr Change in the rotation about Z over time Double 8 H 112 17 scalev 10 0 ppm yr Change in scale from WGS84 over time Double 8 H 120
218. 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 rtcmdatala 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 Ope p11 4 E 0 21 874 43 153 0 6 1368 43 88 0 26 398 43 35 0 0 23 123 43 167 0 0 28 1302 39 22 0 0 22 1515 48 27 b60b 22f 0 0 0 0 256 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 65 RTCMDATA3 Base Station Parameters RTK See the chapter on Message Formats in Volume 1 of this manual set for information on RTCM standard logs Message ID 402 Log Type Synch Field Field type Data Description Format Blnary 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 see REFSTATION on Page Ulong 4 H 20 246 8 ECEF X Base station ECEF X coordinate 1
219. cription 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 ASCH ASCII or binary respectively 2 port COMI 1 RS232 port to control Valid ports Enum 4 H COM2 2 are COM1 COM2 COM3 and AUX The AUX port is only COM 3 available on OEM4 G2 based AUX 16 hardware Rev 3 and higher and DL 4 products 3 signal RTS 0 COM signal to control The Enum 4 H 4 DTR 1 controllable COM signals are RTS TX gt DTR and TX See also Table 18 Tx and DTR Availability on Page 62 4 control DEFAULT 0 Disables this command and returns Enum 4 H 8 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 PULSEPPSLOW 5 Pulses the line low at a 1PPS event and to high 1 ms after it Not for TX PULSEPPSHIGH 6 Pulses the line high for 1 ms at the time of a 1PPS event OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 61 Chapter 2 Commands
220. cription 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 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 orient Orientation of semi major axis of error ellipse degrees from X X 15 2525 true north lat std Standard deviation of latitude error meters X X 2 51 8 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 Recommended Input log gpgst ontime 1 Example SGPGST 182310 00 1 18 0 01 0 01 125 6569 0 01 0 01 0 02 6E OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 193 Chapter 3 DataLogs 3 4 24 GPGSV_ GPS Satellites in View NMEA Number of SVs in view PRN numbers elevation azimuth and SNR value Four satellites maximum per message When required additional satellite data sent in 2 or more messages a maximum of 9 The total number of messages being transmitted and the current message being transmitted are indicated in the first two fields This log outputs null data in all fields until a valid almanac is obtained lt
221. ctively Example Input interfacemode com2 none RTCMV3 fix position 51 1136 114 0435 1059 4 log com2 rtcm1005 ontime 3 log com2 rtcm1002 ontime 10 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 74 RTCMDATA1001 L1 Only GPS RTK Observables RTK This log is available at the base station Refer to the chapter on Message Formats in Volume 1 of this manual set for information on RTCMV3 logs Message ID 784 Log Type Synch C ea l MAY of Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 RTCMV3 Message number Ushort 2 H 3 observations Base station ID Ushort 2 H 2 4 header GPS epoch time in milliseconds from the beginning of Ulong 4 H 4 the GPS week which begins at midnight GMT on Saturday night Sunday morning measured in GPS time as opposed to UTC 5 GNSS message flag Uchar 1 H 8 0 No further GNSS observables referenced to the same epoch time The receiver begins to process data immediately after decoding the message 1 The next message contains observables from another GNSS source referenced to the same epoch time 6 Number of GPS satellite signals processed the number Uchar 1 H 9 of satellites in the message and not necessarily equal to the number of satellites visible to the base station 7 Smoothing indicator Uchar 1 H 10 0 Divergence free smoothing not used 1 Divergence free smoothing used
222. d COM PORT NOT SUPPORTED 25 The COM or USB port is not supported MESSAGE IS INCORRECT 26 The message is invalid INVALID PRN 27 The PRN is invalid PRN NOT LOCKED OUT 28 The PRN is not locked out PRN LOCKOUT LIST IS FULL 29 PRN lockout list is full PRN ALREADY LOCKED OUT 30 The PRN is already locked out MESSAGE TIMED OUT 31 Message timed out UNKNOWN COM PORT 33 Unknown COM or USB port requested REQUESTED HEX STRING NOT 34 Hex string not formatted correctly FORMATTED CORRECTLY INVALID BAUD RATE 35 The baud rate is invalid MESSAGE IS INVALID FOR 36 This message is invalid for this model of receiver THIS MODEL COMMAND ONLY VALID IF 40 Command is only valid if NVM is in fail mode IN NVM FAIL MODE INVALID OFFSET 41 The offset is invalid MAXIMUM NUMBER OF 78 Maximum number of user messages has been USER MESSAGES REACHED reached GPS PRECISE TIME IS 84 GPS precise time is already known ALREADY KNOWN 346 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 1PPS see one pulse per second 2 D 78 192 3 D 78 192 226 A abbreviated ascii 13 16 accumulated Doppler range ADR 232 accuracy corrections 77 degradation 158 input position 106 limits 100 position 77 107 RTK solution 138 time 22 acquisition 47 77 126 235 ADJUSTIPPS 42 ADR see accumulated Doppler range age differential RTK 138 139 287 289 velocity 163 165 228 231 292 xyz coordinates 165 231 2
223. d 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 SSUBFRAMEA COM1 54 72 0 SATTIME 1263 236412 000 00000000 690 1522 16 9 3 8b03bc4cf5ae0031d1304bb9f 992 6bdc7b 244729e91722ffa6e348061b 16 17 7348d RAWGPSSUBFRAMEA COM1 4 72 0 SATTIME 1263 247440 000 00000000 690 1522 8 30 1 8b03bc508ca73bd00135c075bb505194c87c4ecaee5a3d860000676ce806 8 dcefcd53 RAWGPSSUBFRAMEA COM1 3 72 0 SATTIME 1263 247446 000 00000000 690 1522 8 30 2 8b03bc508d2 95afbe2339abee3 9617 Fc7103cOf 19150dal0d8d723d867c 8 5b14e101 RAWGPSSUBFRAMEA COM1 0 72 0 SATTIME 1263 247434 000 00000000 690 1522 8 30 5 8b03bc508c3440aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa 8 c654525a OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 241 Chapter 3 DataLogs 3 4 53 RAWGPSWORD Raw Navigation Word 242 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 rece
224. d time drift are with respect to SBAS Network Time Their combined effect is added to the estimate of the satellite s transmit time Message ID 306 Log Type Asynch Field Field type Data Description Format Binary Binary 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 ECEF x coordinate Double 8 H 16 7 y ECEF y coordinate Double 8 H 24 8 Z ECEF z coordinate Double 8 H 32 9 xvel X rate of change Double 8 H 40 10 yvel Y rate of change Double 8 H 48 11 zvel Z rate of change Double 8 H 56 12 xaccel X rate of rate change Double 8 H 64 13 yaccel Y rate of rate change Double 8 H 72 14 zaccel Z rate of rate change Double 8 H 80 15 afo Time offset Double 8 H 88 16 af 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 WAAS9A COM1 0 66 5 SATTIME 1263 312921 000 00000000 b580 1522 134 63 53568 7 42150577 2800 1435825 6000 3206 0000 0 668750000 1 490625000 1 3800000 0 0000500 0 0000875 0 000000000 1 084990799e 07 2 000888344e 11 b88e3009 327 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Chapter 3 DataLogs 3 4
225. d under International copyright laws Printed in Canada on recycled paper Recyclable oO 2 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Table of Contents Proprietary Notice 2 Foreword 11 SCOPE adi a a a a a e aa a ea as 11 User Manual Updates aeriana ed eei eaa E EEEE Er EANAN E EEN 11 Preregl snos aa arrr std ah eine ARER E OEI AENA AE AAEE ARAR A deeded ees VARAR 11 Conventions iiSi e eee ee a a ee 11 What s New in Firmware Version 2 300 Since Version 2 210 ccssceeeseeeeeseeeeeees 12 1 Messages 13 Tl Message Types aoire nei ida a eh i eee deri E 13 TWA ASC ces aaee a Hath adeeeasatg a abt aie eat tania ee 14 1 1 2 Abbreviated ASGIl ariaa ih dvi eae i aa aaa 16 WEN Bin a sic E E HAL De need ee as aed lt eel 0D een at 16 1 2 Responses iinei Dede een d dain eet dined een 20 AS GPS Time Stats sess cesasecededes fesaehe iabeaePuadsennsdvaediagechvesdsise ve ananeteadtiedasidchaeedebesyeaneaests 21 1 4 Message Time Stamp ccccceeeeeceseneeeeeeeeeceaaeseeaeeeceaaeseseneeeseaeeeeeaaeesneeeeseaeeesaes 23 1 5 Decoding of the GPS Week Number cceeeeeeeeeeeceeeeeeeeeeeeaeeeeeeeeesaeeeseaeeeeaas 23 1 6 32 Bit CRG wins wars ill e i a a a a daia tae 24 2 Commands 26 2 Command Formats are eie a a A ie a aire et 26 2 2 Command SettinS a a e eaa a a a a a aaa Aaaa aaa LA Aakaas 26 2 3 Commands by FUNGON irises anetnaniaptaan apt uaa paayan lan aaa aea akaa 27 2 4 MiLLennium GPSCard
226. d values in these logs are set to zero as if the position had never been previously generated Also the position is no longer used in conjunction with the almanac to determine what satellites are visible Abbreviated ASCII Syntax Message ID 612 POSTIMEOUT sec Field ASCII Binary Description 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 sec 0 86400 Time out in seconds Ulong 4 H Default 600 ASCII Example POSTIMEOUT 1200 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 101 Chapter 2 Commands 2 6 38 PPSCONTROL 102 This command provides a method for controlling the polarity and rate of the PPS output on the OEM4 G2 and OEM4 G2L receivers The PPS output can also be disabled using this command Abbreviated ASCII Syntax Message ID 613 PPSCONTROL switch polarity rate 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 switch DISABLE 0 Disables or enables output Enum 4 H 4 ENABLE 1 of the PPS pulse The factory default value is ENABLE 4 polarity NEGATIVE
227. decimal pairs Carriage return and line feed characters for example 0x0D 0x0A will not be appended to the sent data and so must be explicitly added to the data if needed Abbreviated ASCII Syntax Message ID 178 SENDHEX port length data Field ASCII Binary Binary Binary Binary med 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 15 COM Serial Port Output port Enum 4 H Identifiers on Page 60 3 length 0 700 Number of hex pairs ULong 4 H 4 message limited to a 700 maximum string Data String Vari Variable 1400 pair hex by command max 700 able interpreter buffer e even number of ASCII characters from set of 0 9 A F e no spaces are allowed between pairs of characters a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment Input Example sendhex COM1 6 143Ab5910D0A OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 119 Chapter 2 Commands 2 6 52 SETAPPROXPOS This command sets an approximate latitude longitude and height in the receiver Estimating these parameters when used in conjunction with an approximate time see the SETAPPROXTIME command on Page 121 can improve satellite acquisition times and time to first fix For more informati
228. dicator Indicator i Minimum Lock Time s Range of Indicated Lock Times 0 23 i 0 lt lock time lt 24 24 47 i 2 24 24 lt lock time lt 72 48 71 i 4 120 72 lt lock time lt 168 72 95 i 8 408 168 lt lock time lt 360 96 119 i 16 1176 360 lt lock time lt 744 120 126 i 32 3096 744 lt lock time lt 937 127 lock time 937 a Determining Loss of Lock In normal operation a cycle slip is evident when the Minimum Lock Time s has decreased in value For long time gaps between messages such as from a radio outage extra steps should be taken on the rover to safeguard against missed cycle slips 274 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log rtcmdata1001a ontime 10 3 ASCII Example RTCMDATA1001A COM1 0 82 0 FINESTEERING 1317 239228 000 00180040 c279 1855 0 0 239228000 0 8 0 0 8 21 0 14513926 8707 127 2 0 3705361 5040 127 16 0 7573721 3555 124 29 0 5573605 11078 127 26 0 2996771 17399 99 6 0 9341652 329 127 10 0 13274623 2408 127 30 0 3355111 18860 127 ec698c2a OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 275 Chapter 3 DataLogs 3 4 75 RTCMDATA1002 Extended L1 Only GPS RTK Observables RTK This log is available at the base station Refer to the chapter on Message Formats in Volume 1 of this manual set for information on RTCMV3 logs
229. e RTKPOSA COM1 0 61 0 FINESTEERING 1263 250192 000 00000000 7e24 1522 SOL_COMPUTED NARROW_INT 51 11633811000 114 03839554959 1048 2207 16 2711 WGS84 0 0125 0 0057 0 0111 AAAA 2 000 0 000 11 8 8 8 0 0 0 0 c427e517 288 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 82 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 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 139 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 60 seconds after reception of the last base station observation The degradation in accuracy due to differential age is reflected in the standard deviation fields and is summarized in the GPS Overview section of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html See also the DGPSTIMEOUT comma
230. e 230 291 fine time 22 FIX 77 fix command 77 data 184 186 188 position 190 save settings 114 solution 28 30 108 FIXPOSDATUM 80 flags antenna 46 error 296 parity 232 Status 227 296 flattening 132 float solution 28 30 108 formats 14 16 24 framing errors 224 FREQUENCYOUT 81 FRESET 83 84 G geodetic datum see datum geoid 28 78 127 156 184 186 188 GPGGA 186 GPGGALONG 186 GPGGARTK 184 GPGLL 190 GPGRS 191 GPGSA 192 GPGST 193 GPGSV 194 350 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 GPRMB 195 GPRMC 196 GPS overview 22 GPS week decoding 23 GPS Reference Manual 154 235 GPSEPHEM 197 GPVTG 200 GPZDA 201 great circle line 122 218 H hardware parameters 295 reset 28 105 version 137 310 HDOP see dilution of precision header ascii 14 15 20 binary 13 20 convention 12 log 232 health almanac 182 base station 140 246 satellite 154 303 308 status 197 height approximate 120 baseline 107 calculation 78 ellipsoidal 107 fix 28 77 78 limit 160 mean sea level 106 107 position 85 156 158 210 213 220 227 287 hexadecimal 12 14 17 119 125 hold 90 92 208 209 horizon cut off angle 73 135 HPSEED 85 HPSTATICINIT 86 I identifier ascii messages 14 serial port 18 87 181 224 inclination angle 154 Index initialization 106 interface 27 30 87 INTERFACEMO
231. e Please use the RAWLBANDPACKET log instead Message ID 733 Log Type Asynch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 data Raw L Band 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 rawlbandpacketa onnew ASCII Example RAWLBANDPACKETA COM2 0 77 0 FINESTEERING 1295 238642 610 01000040 c5b1 34461 79 07 de 3a 9 df 30 7b 0d cb 7e5205a8 244 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 56 RAWWAASFRAME Raw SBAS Frame Data SBAS Chapter 3 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 Message ID 287 Log Type Asynch Field Field type Data Description Format Binary 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 WAASnmsg 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 AS
232. e 03 1 63166399e 01 2 266191182 e 03 1 66873202e 01 0 268 1 297410447e 02 FALSE 566e2ac5 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 9 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 accurately match GPS time If for some reason this is not desired this behavior can be disabled using the CLOCKADJUST command see Page 55 Chapter 3 lt If the CLOCKADJUST command is ENABLED and the receiver is configured to use an external reference frequency set in the EXTERNALCLOCK command see Page 74 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 81 Message ID 26 Log Type Asynch Field Field type Data Description Format Binary Binary yP p Bytes Offset 1 header Log header H 0 2 source Clock source see Table 50 Clock Source on Page 172 Enum 4 H 3 steeringstate Steering state see Table 51 Steering State on Page 172 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 CLOCKCALIBR
233. e ID 270 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 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 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 59 0 FINESTEERING 1263 252053 000 00000000 6 3c 1522 0 0 10 29 11508502 0384 13745489 5563 19839768 7384 70379 265 5 540440855 3 723844559 0 000000000 0 000000000 10 19903841 6238 3879528 2619 17251402 5656 12392 949 10 511089723 13 548267507 0 000000000 0 000000000 3 13242007 0491 10808251 4523 20184122 7616 28761 582 8 445311721 8 586959159 0 000000000 0 000000000 9bc99d1e OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 90 TIME Time Data This log provides
234. e MODEL command causes an automatic reset Use the VALIDMODELS log to output a list of available models for your receiver The VALIDMODELS log is described on Page 309 Use the VERSION log to output the active model see Page 310 Abbreviated ASCII Syntax Message ID 22 MODEL model 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 model Max 16 character Model name String Vari Variable null terminated max 16 able string including the null a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment Input Example MODEL RT2W lt If you switch to an expired model the receiver will reset and enter into an error state You will need to switch to a valid model to continue OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 97 Chapter 2 Commands 2 6 34 MOVINGBASESTATION This command enables or disables a receiver from transmitting corrections without having a fixed position It is useful for moving base stations The moving base function allows you to obtain a cm level xyz baseline estimate when the base station and possibly the rover are moving It is very similar to normal RTK that is one base station and potentially more
235. e 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 ASCH only 292 Recommended Input log rtkxyza ontime 1 ASCII Example RTKXYZA COM1 0 65 5 FINESTEERING 1263 250320 000 00000000 9cb9 1522 SOL_COMPUTED NARROW_INT 1634532 4437 3664608 8994 4942482 7015 0 0060 0 0118 0 0117 SOL_COMPUTED NARROW_INT 0 0026 0 0005 0 0050 0 0121 0 0236 0 0234 AAAA 0 250 2 000 0 000 11 8 8 8 0 0 0 0 5d19a735 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 84 RXCONFIG Receiver Configuration This log is used to output a list of all current command settings When requested an RXCONFIG log is output for each setting See also the LOGLIST log on Page 208 for a list of currently active logs Message ID 128 Log Type Polled Field Field ae Binary Binary type Data Description Format Bytes Offset 1 header Log header H 0 2 e header Embedded header h H 3 e msg Embedded message Varied a H h 4 e XXXX Embedded inverted
236. e Table 88 Component Enum 4 H 4 Types on Page 311 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 ASCII only Recommended Input log versiona once ASCII Example VERSIONA COM1 0 70 5 FINESTEERING 1263 311409 177 00000000 3681 1522 1 GPSCA RD RT2WA SVA03130089 OEM4g2 2 00 X2T 2 200A1 2 000 2004 Feb 10 09 53 05 420715a2 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 lt 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 of 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
237. e USER Double H 16 clocktype is selected 6 h 1 0 e 31 to 1 0e 18 Double 8 H 24 ASCII Example EXTERNALCLOCK DISABLE or OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 or EXTERNALCLOCK USER 10MHZ 1 0167e 23 6 EXTERNALCLOCK TCXO 5MHZ 87621e 25 8 1762e 26 75 Chapter 2 Table 22 Clock Type Commands 76 ASCII Binary Description DISABLE 0 Turns the external clock input off reverts back to the on board VCTCXO TCXO 1 Sets the pre defined values for a VCTCXO OCXO 2 Sets the pre defined values for an OCXO RUBIDIUM 3 Sets the pre defined values for a rubidium oscillator CESIUM 4 Sets the pre defined values for a cesium oscillator USER gt Defines custom process noise elements Table 23 Pre Defined Values for Oscillators Clock Type ho h1 h2 VCTCXO 1 0 e 21 1 0 e 20 1 0 e 20 OCXO 2 51 e 26 2 51 e 23 2 51 e 22 Rubidium 1 0 e 23 1 0 e 22 1 3 e 26 Cesium 2 0 e 20 7 0 e 23 4 0 e 29 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 21 FIX This command fixes various parameters of the receiver such as height or position For various applications fixing these values can assist in improving acquisition times and accuracy of position or corrections For example fixing the position and height is a requirement for differential base stations as it provides a truth position to base the differential co
238. e Width and 1PPS Coherency c cccceeeceeeeeeceeeeeeeeeaeeeeeeeeesaaeeeceeeesecaeeeseeeeeaas 82 3 Illustration of Magnetic Variation amp Correction ceccceceeeeceeeeeeeeeeeeeeneeeeeteeeeeeeeeeaes 94 4 EEL Pulse Polarity Teorian aa teats hi E a A ete ea eed egy 96 5 Using the SEND Command c cccceceeeeeeeeeeeeeeeeeeaeeseceeeeeeaaeeseeeeeeesaaeeeeeeeeessaaeeeeaes 118 6 Illustration of SETNAV Parameters ccccceccceceeeeeeeeeeeeeeaeeeeeeeeecaaeeeeneeeesiaeeeeeneees 123 7 Hlustration Of UNGUIATION sieri miii nn AE E 127 8 The WGS84 ECEF Coordinate System c ccccccceeeeeeececeeeeeeeeeecaeeeseeeeseeeeeeeaeeees 167 9 Navigation Faramello oora a a aA 217 8 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Tables OONDOOaARWND PETINE S ised a A TEE A A ce ceeeh ih jeteeyay Sanieetedh la tieaa sub iaceadeeebtticns 13 Byte Arrangements osre tas shisenes dabeceeds uc EEE cavtieghstinasdecv T Ea aS 14 ASCII Message Header Structure c ccccececceeeeeeceeeeeeeeeeeeeaeeseeeeeesaaeesseeeeesnaaeeeeaees 15 Binary Message Header Structure cccccececeeeeeeeeeeceeeeeeeeeeceeeeesaaeseeeeeessaeeesenees 17 Detailed Serial Port Identifiers 2 2 00 c ccceceeceeeeeeeeeceeeeeeaeeeceeeeeeaaeeseceeeeeeaaeeseeeeeeenaaeeees 18 Binary Message SCQUENCE c ceceeeeeeeeneeeeceaeeeceneeceaaeeeeenaeeseaeeeseaaeeseeeeeesaaeeteaeees 21 GPSiTiMe Status ia feenaceoevens a a a a a A E AE
239. e aa ETa EEE ATEA E E E 102 2 6 39 PSRDIFFSOURCE DGPS ained paiinitin 103 2 0 40 RESET cctshecs aaa e aaae th as fess checnndys eaa naaa ae a aaea eant 105 2 6 41 RTKBASELINE RTK miin in a aa a 106 2 6 42 RTKCOMMAND RTK eaan i a ti a i aaa 108 2 6 43 RTKDYNAMICS RTK ssssessssssisssrrssrrrssirrsnrsrrissrinssrisssrnessrnsssrn nent 109 2 6 44 RTKELEVMASK RIK Q 00 cceeeceeeeeee cence eeeeeeeeeaeeseceeeeeaaeeeeeeeeseaeeeeeneees 110 2 6 45 RIKSOLUTION RIK avs icin rain aaa a taia 111 2 6 46 RIKSOURCE RIK riihi ar a a e aT tA a ioe dnd Mens 112 2 6 47 RTKSVENTRIES RTKirnisniiunai niania 113 2048 SAVECONE G ea aa a a ia aa eaae aA aa a aa aeaa 114 2 6 49 SBASCONTROL SBAS woe eeceeecene cess eeae seas eeaeesaaeeeaeeseeeeeaeeneaeee 115 2 68 50 SEND aaaea aot anioe a p aaea T aeaea aa a Taea 117 2 0 5 SENDHE X sence pttteiveicetecteene aeaa ri a e aa S a aE aaa Ra a aana e EEEN 119 2 60 52 SETAPPROXPOS vrse irrien tani iei ee a i a 120 26 539 SETAPPROXTIME sirieias aa a aeran a a a aa 121 20 54 SETNAV meman a a a A A E E E EE 122 2 6 55 SETRTCM16 DGPS amp RTK usseesssrisrrerrrsrsrissrrrrrnsrissrrrrrsrensrrerns 124 2 6 56 S TATUSCGONFIG aanrada a t aa a a a A 125 26 57 UNASSIGN kisiasa ne a a ete a e aN 126 2 6 58 UNASSIGNALL iniiae na an a E eai 126 2 6 59 UNDU A T O N aa a a a aa e oaa a a Laa aa aaka Tiai 127 2 06 60 UNCOGKOU T erpiar de ccechvsuied2bie hebevaz caus adden ead oE E E a 128 2 0 61 UNLOCK OUPAL G toetree entara a a a ea ani
240. e complete reference station information in 14 seconds Refer to the chapter on Message Formats in Volume 1 of this manual set for information on CMR standard logs Message ID 717 Log Type Asynch Field Field type Data Description Format onary k 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 stnID Station ID Ulong 4 H 28 10 page Current page index Ulong 4 H 32 11 pages Maximum number of page indexes Ulong 4 H 36 12 data Data for this page Uchar 7 ga H 40 13 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 104 14 CR LF Sentence terminator ASCII only a Inthe binary log case an additional byte of padding is added to maintain 4 byte alignment Recommended Input log cmrplusa ontime 1 ASCII Example CMRPLUSA COM1 0 83 0 FINESTEERING 1317 318534 915 00180040 30aa 1855 2 0 148 10 0 4 14 1b 00 00 00 00 62 61 64e0c9ea 180 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 15 COMCONFIG Current COM Port Configuration This log will output the current COM port configuration for each port on your receiver
241. e header depending on whether the command is abbreviated ASCH ASCII or binary respectively 2 prn 1 37 A single satellite PRN number to Ulong 4 H be locked out Description Value Value Input Example LOCKOUT 8 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 89 Chapter 2 Commands 2 6 30 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 three USB ports The ONTIME trigger option requires the addition of the period parameter See Chapter 3 Data Logs on Page 136 for further information and a complete list of data log structures Table 29 shows the binary command format while Table 30 shows the ASCII command format The optional parameter hold will prevent a log from being removed when the UNLOGALL command with its defaults is issued To remove a log which was invoked using the hold parameter requires the specific use of the UNLOG command see Page 129 To remove all logs that have the hold parameter use the UNLOGALL command with the held field set to 1 see Page 130 The port parameter is optional If port is not specified port is defaulted to the port that the command was received on DJ 1 The OEM4 family of receivers can handle 30 logs at a time If you attempt to log more than 30 logs at a time the receiver will respond
242. e port only accepts generates binary messages If an ASCII command is entered when the mode is set to binary only the command is ignored Only properly formatted binary messages are responded to and the response is a binary message a An output interfacemode of RTCMNOCR is identical to RTCM but with the CR LF appended An input interfacemode of RTCMNOCR is identical to RTCM and functions with or without the CR LF b CDGPS has three options for output of differential corrections NMEA RTCM and GPS C If you have a ProPak LB receiver you do not need to use the INTERFACEMODE command with CDGPS as the argument The CDGPS argument is for use with obsolete external non NovAtel CDGPS receivers These receivers use GPS C NavCanada s proprietary format differential corrections from the CDGPS service 88 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 29 LOCKOUT This command will prevent the receiver from using a satellite by de weighting its range in the solution computations Note that the LOCKOUT command does not prevent the receiver from tracking an undesirable satellite This command must be repeated for each satellite to be locked out See also the UNLOCKOUT and UNLOCKOUTALL commands Abbreviated ASCII Syntax Message ID 137 LOCKOUT prn ASCII Binary Binary Binary Binary Format Bytes Offset 1 header This field contains the command H 0 name or the messag
243. ected 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 Abbreviated ASCII Syntax Message ID 142 DGPSEPHEMDELAY delay Field 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 Field Description Type Value Value 2 delay 0 to 600 s Minimum time delay before new ULong 4 H ephemeris is used ASCII Example reference DGPSEPHEMDELAY 120 lt 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 68 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 15 DGPSRXID This command is now obsolete and has been replaced by the PSRDIFFSOURCE and RTKSOURCE commands Please see Pages 103 and 112 respectively for more information on these commands OEM4 Family Firmware Version 2 300 Command
244. eeeeeeee 153 Position Averaging Status cccccccceseeceeeceeeeee scene eeeeeaeeeeeeeeeeaeesecaeeeseaeesseeeeeeeeeeees 157 Position or Velocity Ty Pe s ui a ep gdels beeeees tees seceevtaceevteestanse ewes EENES ne 159 SOMMOM StAtUs tee esse E ATA E E ies caus becaduns E E 160 Glock Model Status 2 i346 scans Giana ed a a aan aa Wie ae eee 169 CIOCK SOUCE se ARE cack seas asuct bat eet E A tae ceadey ie ce redteca tastes ies E 172 SISSHING State Ee E E A A ee ieee stated leeches 172 POSITION ACCULACY ics oa aeaoe A EA EA EE gishaaeds ARTA A A 179 Position Precision of NMEA LOGS coaie esaa N an a SN NAN Er A 190 URA Valan oy E aAA aAA E EEA EAA AS 198 L Band Subscription TY Pe sssrinin eaer ieaeteaxbedehttevtveeetisatet ats ivengislavteeteatens 204 L Band Signal Tracking Status ccecccesesceeeeeeeeeeeeeeceeeeeseaeeseeeeeesaeeseeeeeessaaeeneneees 206 OmniSTAR VBS Status Word 0 c cccceccceeeeceeeeeeeeeeaeeeeeeeeeesaaeseceeeeesaaeseeeeeesenaeeseenes 206 OmniSTAR HP Additional Status Word cc ccccceeeceeeeeeeeeceeeeeeeeeeeaeeseceeeessaaeeeeenees 207 OmniS TAR HP Status Words ssc cteesdeetelasteecstearsiedeeiieeedes eaa aenar lae eraa aaka 207 LOGLIST ASCII Formatii rinman aanas a oa aei eaa aaea aA a ARa aana N 209 Navigator Data Ty penis srein s ar ena es ETA A Ea ANAE aaa ASAE 217 Channel Tracking Status ccccceeseeeeeceeeeeeeeececeeeeeeeeeseaeeeseaaeeseeeeeesaaeseeneeeeseaeenenees 233 Channel Tracking Example e
245. eference Rev 16 237 Chapter 3 DataLogs 3 4 49 RANGEGPSL1 L1 Version of the RANGE Log This log is identical to the RANGE log see Page 232 except that it only includes L1 GPS observations Message ID 631 Log Type Synch Field Field Data Description Format Binary Binary type Bytes Offset 1 header Log header H 0 2 obs Number of L1 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 No Carrier to noise density ratio Float 4 H 36 C No 10 log1Q 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 62 Channel Tracking Status on Page ULong 4 H 44 status 233 13 43 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 ASCH only Recommended Input log rangea ontime 30 ASCII Example RANGEGPSL1A COM1 0 70 5 FINESTEERING 1263 246723 000 00000000 5862 1522 9
246. efined by the Bureau International de l Heure BIH on the basis of the coordinates adopted for the BIH stations X Axis Intersection of the WGS 84 Reference Meridian Plane and the plane of the CTP s Equator the Reference Meridian being parallel to the Zero Meridian defined by the BIH on the basis of the coordinates adopted for the BIH stations Y Axis Completes a right handed earth centered earth fixed ECEF orthogonal coordinate system measured in the plane of the CTP Equator 90 East of the X Axis BIH Defined CTP 1984 0 WGS 84 A d o Earth s Center of Mass BIH Defined Zero Meridian 1984 0 ae leo X WGS 84 Y WGS 84 Analogous to the BIH Defined Conventional Terrestrial System CTS or BTS 1984 0 Figure 8 The WGS84 ECEF Coordinate System OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 167 Chapter 3 DataLogs 3 4 7 BSLNXYZ RTK XYZ Baseline RTK This log contains the receiver s RTK baseline in ECEF coordinates The position status field indicates whether or not the corresponding data is valid See Figure 8 Page 167 for a definition of the ECEF coordinates The BSLNXYZ log comes from time matched base and rover observations like the MATCHEDX YZ log on Page 215 lt Please also see the Notes and description for the MATCHEDPOS log on Page 2 3 Message
247. ell the receiver to automatically assign PRN codes to channels Abbreviated ASCII Syntax Message ID 27 ASSIGN channel state prn Doppler window OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 47 Chapter 2 Commands ASCII Binary Binary Description Value Format 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 see Message Types on Page 13 2 channel 0 to 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 12 Channel Set the SV channel state Enum 4 H 4 State on Page 47 4 prn 1 to 32 120 to 138 Optional satellite PRN code from 1 Long 4 H 8 32 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
248. ems 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 3 TR 8350 2 Department of Defense World Geodetic System 1984 National Imagery and Mapping Agency Technical Report Third Addition Amendment 1 January 3 2000 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 Table 19 Reference Ellipsoid Constants ELLIPSOID p ere 8 a meters 1 f f Airy 1830 AW 6377563 396 299 3249646 0 00334085064038 Modified Airy AM 6377340 189 299 3249646 0 00334085064038 Australian National AN 6378160 0 298 25 0 00335289186924 Bessel 1841 BR 6377397 155 299 1528128 0 00334277318217 Clarke 1866 CC 6378206 4 294 9786982 0 00339007530409 Clarke 1880 CD 6378249 145 293 465 0 00340756137870 Everest India 1830 EA 6377276 345 300 8017 0 00332444929666 Everest Brunei amp E Malaysia EB 6377298 556 300 8017 0 00332444929666 Everest W Malaysia amp Singapore EE 6377304 063 300 8017 0 00332444929666 Geodetic Reference System 1980 RF 6378137 0 298 257222101 0 00335281068118 Helmert 1906 HE 6378200 0 298 30 0 00335232986926 Hough 1960 HO 6378270 0 297 00 0 00336700336700 International 1924 IN 63
249. en 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 lt The factory default for the COM ports is 9600 n 8 1 After entering the NVMRESTORE command and resetting the receiver the communications link may have to be re established at a different baud rate from the previous connection Abbreviated ASCII Syntax Message ID 197 NVMRESTORE OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 99 Chapter 2 Commands 2 6 36 POSAVE 100 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 will 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 you initiate differential logging then issue the POSAVE command followed by the SAVECONFIG command the receiver will average positions after every power on or reset and will then invoke the FIX POSITION command
250. en the voltage range is between 1 24 and 1 38 V DC b The board temperature is about 15 C higher than the ambient temperature Bit 1 in Table 87 Receiver Status on Page 299 turns on as a warning when the board temperature is above 100 C and a hazardous temperature error message is generated at 110 C OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 295 Chapter 3 DataLogs 3 4 86 RXSTATUS Receiver Status 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 receiver to idle all channels turn off the antenna and disable the RF hardware the same as if a bit in the Receiver Error word is set Setting a bit in an Auxiliary Status priority mask will cause that condition to set the bit in the Receiver Status word corresponding to that Auxiliary Status Receiver Errors automat
251. enables OmniSTAR HP if allowed and disables other RTK types OmniSTAR HP has its own filter which computes corrections in RTK float mode or within about 10 cm accuracy CDGPS 4 In the PSRDIFFSOURCE command CDGPS enables CDGPS and disables other DGPS types CDGPS produces SBAS type corrections Do not set DGPS in the RTKSOURCE command as it can not provide carrier phase positioning and will disallow all other sources of RTK information SBAS 4 In the PSRDIFFSOURCE command when enabled SBAS such as WAAS EGNOS and MSAS forces the use of SBAS as the pseudorange differential source SBAS is able to simultaneously track two SBAS satellites and incorporate the SBAS corrections into the position to generate differential quality position solutions An SBAS capable receiver permits anyone within the area of coverage to take advantage of its benefits Do not set SBAS in the RTKSOURCE command as it can not provide carrier phase positioning and will disallow all other sources of RTK information 10 AUTO 4 In the PPRDIFFSOURCE command AUTO means the first received RTCM or RTCA message has preference over an L Band message In the RTKSOURCE command AUTO means that both the NovAtel RTK filter and the OmniSTAR HP filter if authorized are enabled The NovAtel RTK filter selects the first received RTCM RTCA RTCMV3 or CMR message The BESTPOS log selects the best solution between NovAtel RTK and OmniSTAR HP
252. ence Rev 16 commands 27 filtering 137 receiver 27 137 conventions 11 coordinated universal time UTC log 137 141 201 of position 184 186 188 193 offset 212 305 status 305 corrected mean motion 154 corrections accuracy 77 bias 79 magnetic 94 magnitude of 93 RTCA 88 RTK 113 corrupt data 99 CPU 90 295 CRC see cyclic redundancy check cross track 195 217 218 CSMOOTH 63 customer service 11 cut off angle 73 110 135 226 308 cyclic redundancy check CRC 14 16 17 24 D data link 118 DATUM 63 datum 79 commands 28 63 68 79 current 122 customized 131 expanded 132 fix position 80 ID 158 161 210 213 220 227 287 transformation parameters 65 default command tables 12 factory 28 40 64 68 105 delay antenna 58 destination 122 218 de weighting 89 110 226 DGPS command 68 70 71 87 193 DGPSEPHEMDELAY 68 DGPSTIMEOUT 70 Index DGPSTXID 71 differential corrections accept 87 age 70 138 139 158 161 163 165 220 227 228 231 287 289 292 fix position 77 79 none available 308 outages 158 227 287 289 positioning 68 send 100 118 stations 78 103 112 140 308 transmit RTCA 68 dilution of precision DOP 138 141 184 186 188 192 226 direction bearing 218 of motion 230 over ground 228 referenced to True North 93 distance exceeded 160 straight line 218 track offset 122 dither 169 Doppler assign 4
253. ent D A XXX number comp date YYYY MM DD YYYY year MM month DD day 1 31 comp time HH MM SS HH hour MM minutes SS seconds a One character for each of the COM ports 1 2 and 3 Characters are 2 for RS 232 4 for RS 422 T for LV TTL and X for user selectable valid for COM1 of the OEM4 G2 only Therefore the example is for a receiver that uses RS 232 for COM 1 and COM 2 and LV TTL for COM 3 312 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 95 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 SBASCONTROL command on how the WAASO message relates to the SBAS testing modes Message ID 290 Log Type Asynch Field Field type Data Description Format Binary Binary 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 WAASOA COM1 0 68 5 SATTIME 1093 161299 000 00040020 7d6a 209 122 e9a5ab08 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 313 Chapter 3 DataLogs 3 4 96 WAAS1 PRN Mask Assignments SBAS The PRN mask is given in WAAS
254. ential corrections Message ID 47 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset header Log header H 0 2 sol status Solution status see Table 48 Solution Status on Enum 4 H Page 160 3 pos type Position type see Table 47 Position or Velocity Enum 4 H 4 Type on Page 159 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid Float 4 H 32 and the WGS84 ellipsoid m 8 datum id Datum ID number see Table 20 Datum Enum 4 H 36 Transformation Parameters on Page 65 9 lat o Latitude standard deviation Float 4 H 40 10 lon o 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 PSR
255. epeated in Table 44 on Page 148 with the logs in the order of their message IDs OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 136 Data Logs Table 42 Logs By Function Table GENERAL RECEIVER CONTROL AND STATUS Descriptions Chapter 3 COMCONFIG Current COM port configuration Polled LOGLIST List of system logs Polled PASSCOM1 Pass through log also PASSCOM2 PASSCOM3 Asynch PASSXCOM1 PASSXCOM2 PASSUSB2 and PASSUSB3 PASSAUX PASSUSB1 PORTSTATS COM and if applicable USB port statistics Polled RXCONFIG Receiver configuration status Polled RXHWLEVELS Receiver hardware levels Polled RXSTATUS Self test status Asynch RXSTATUSEVENT Status event indicator Asynch VALIDMODELS Model and expiry date information for receiver Asynch VERSION Receiver hardware and software version numbers Polled POSITION PARAMETERS AND SOLUTION FILTERING CONTROL Logs Descriptions Type AVEPOS Position averaging log Asynch BESTPOS Best position data Synch BESTUTM Best available UTM data Synch BESTXYZ Cartesian coordinates position data Synch BSLNXYZ RTK XYZ baseline 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 p
256. er time will again be adjusted this time to an accuracy of 1 microsecond This state is qualified by the FINE time status flag The final logical time status flag depends on whether CLOCKADJUST is enabled or not see Page 55 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 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Messages Chapter 1 1 4 Message Time Stamps All NovAtel format messages generated by the OEM4 family receivers have a GPS time stamp in their header GPS time is referenced to UTC with zero point defined as midnight on the night of January 5 1980 The time stamp consists of the number of weeks since that zero point and the number of seconds since the last week number change 0 to 604 799 GPS time differs from UTC time since leap seconds are occasionally inserted into UTC but GPS time is continuous In addition a small error less than microsecond can exist in synchronization between UTC and GPS time The TIME log reports both GPS and UTC time and the offset between
257. erfacing 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 refer to the SBAS Overview in Volume 1 of this manual set 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 set for technical information on these topics Furthermore should you encounter any functional operational or interfacing difficulties with the receiver consult Volume 1 of this manual set for NovAtel warranty and customer support information User Manual Updates The most up to date version of this manual set and addendums can be downloaded from the Documentation Updates section of www novatel com Prerequisites As this reference manual is focused on the OEM4 family commands and logging protocol it is necessary to ensure that the receiver has been properly installed and powered up according to the instructions outlined in the companion OEM4 Family User Manual Volume 1 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
258. escription Format a Binary Bytes Offset 1 header Log header H 0 2 P sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H 3 pos type Position type see Table 47 Position or Velocity Type on Page 159 Enum 4 H 4 4 P X Position X coordinate m Double 8 H 8 5 P Y Position Y coordinate m Double 8 H 16 6 P Z Position Z coordinate m Double 8 H 24 7 P X Standard deviation of P X m Float 4 H 32 8 P Y Standard deviation of P Y m Float 4 H 36 9 P Z Standard deviation of P Z m Float 4 H 40 18 stn ID Base station ID Char 4 4 H 44 22 obs Number of observations tracked Uchar 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 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 215 Chapter 3 DataLogs Recommended Input log matchedxyza onchanged lt Asynchronous logs such as MATCHEDXYZ should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result ASCII Example MATCHEDXYZA COM1 0 74 5
259. et 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 377 SETAPPROXPOS Set an approximate position setapproxpos lat lon height 429 ADJUST1PPS 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 control comcontrol port signal control lines of the RS232 ports 729 ASSIGNLBAND Set L Band satellite assignlband 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 505 WAASECUTOFF Set SBAS satellite elevation waasecutoff angle cut off 596 CLOCKOFFSET Adjust for antenna RF cable clockoffset offset delay 612 POSTIMEOUT Sets the position time out postimeout sec 613 PPSCONTROL Control the PPS output ppscontrol switch polarity rate 614 MARKCONTROL Control the processing of the markcontrol signal switch polarity mark inputs timebias timeguard 652 SBASCONTROL Set SBAS test mode and PRN sbascontrol keyword prn testmode 691 GGAQUALITY Customize the GPGGA GPS entries pos typel qual1
260. frame 1 of the ephemeris Sequence number Ulong 4 Length of frame Ulong 4 Base station health see Ulong 4 REFSTATION on Page 246 variable freq Frequency indicator where Ulong 4 variable 0 L1 2 L2 1 is reserved for future use smooth Smoothing interval see Table 70 Ulong 4 RTCM1819 Smoothing Interval on Page 264 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 69 Ulong 4 RTCM1819 Data Quality Indicator on Page 263 multipath Multipath indicator see Table 71 Ulong 4 RTCM1819 Multipath Indicator on Page 264 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 Sentence terminator ASCII only 262 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log rtemdata1819a ontime 2 ASCII Example RTCMDATA1819A COM1 1 73 5 FINESTEERING 1117 161114 000 00100020 b077 399 0 0 4523 0 0 6 2 0 200000 11 1 0 3 0 1 324771431 1 0 15 0 1 64534978 1 0 18 0 1 198055064 1 0 21 0 1 426607534 1 0 17 0 1 101227879
261. 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 49 Clock Model Status on Page 169 Enum H 36 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40 CR LF Sentence terminator ASCII only a 0 indicates that UTC time is unknown because there is no almanac available in order to acquire the UTC offset Recommended Input log marktimea onnew Example MARKTIME COM1 0 63 0 COARSE 1027 322788 595 00000000 6221 0 653 338214 773382376 0 000504070 0 000000013 8 000000000 0 99999999 lt 1 Use the ONNEW trigger with this or the MARKPOS logs 2 Only the MARKPOS logs the MARKTIME logs and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data 212 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 36 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 ro
262. g 4 H 20 8 prel5 Long 4 H 24 9 prcl6 Long 4 H 28 10 prcl7 Long 4 H 32 11 prc18 Long 4 H 36 12 prc19 Long 4 H 40 13 prc20 Long 4 H 44 14 pre21 Long 4 H 48 15 udreil 1 udre i Ulong 4 H 52 See Table 91 16 udreil2 o Ulong 4 H 56 Evaluation of E E a eels lat 18 udreil4 Ulong 4 H 64 Page 339 19 udreil5 Ulong 4 H 68 20 udreil6 Ulong 4 H 72 21 udreil7 Ulong 4 H 76 22 udreil8 Ulong 4 H 80 23 udreil9 Ulong 4 H 84 24 udrei20 Ulong 4 H 88 25 udrei21 Ulong 4 H 92 26 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 96 27 CR LF Sentence terminator ASCII only Recommended Input log WAAS33 onchanged ASCII Example WAAS33A COM2 0 47 5 FINE 1295 158666 000 01000240 b23e 34461 209 0 0 3343 0 0 0 533 0 0 0 0 0 14 0 14 14 14 0 14 14 14 14 14 6a890 5f 340 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 114 WAAS34 CDGPS Fast Correction Slots 22 32 CDGPS Chapter 3 WAAS34 are fast corrections for slots 22 32 in the mask of WAAS1 for CDGPS see Page 314 Message ID 698 Log Type Asynch Field Field type Data Description Format Binary i Binary Scaling Bytes Offset 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 iodp Issue of PRN mask data Ulong 4 H 4 4 pre22 pre i
263. g 4 H 60 18 udrei39 udre i Ulong 4 H 64 See Table 90 19 udrei40 r KES Ulong 4 H 68 E Pirate ge oe Tiong 4 He 21 udrei42 Ulong 4 H 76 22 udrei43 Ulong 4 H 80 23 udrei44 Ulong 4 H 84 24 udrei45 Ulong 4 H 88 25 udrei46 Ulong 4 H 92 26 udrei47 Ulong 4 H 96 27 udrei48 Ulong 4 H 100 28 udrei49 Ulong 4 H 104 29 udrei50 Ulong 4 H 108 30 udrei51 Invalid do not use Ulong 4 H 112 31 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 116 32 CR LF Sentence terminator ASCII only OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 321 Chapter 3 DataLogs Recommended Input log WAASS onchanged ASCII Example WAAS5A COM1 0 72 5 SATTIME 1093 161480 000 00040020 3144 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 2b 0109b 322 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 101 WAAS6 Integrity Message SBAS Chapter 3 WAAS6 is the integrity information message Each message includes an IODF for each fast corrections message The en information for each block of satellites applies to the fast corrections with the corresponding IODF Message ID 3
264. g State on Page 235 When the receiver loses the position solution see Table 48 Solution Status on Page 160 it attempts to steer the tracking loops for fast reacquisition 5 s time out by default The DYNAMICS command allows you to adjust this time out value effectively increasing the steering time The three states 0 1 and 2 set the time out to 5 10 or 20 seconds respectively Db 1 The DYNAMICS command should only be used by advanced users of GPS The default of AIR should not be changed except under very specific conditions 2 The DYNAMICS command affects satellite reacquisition The constraint of the DYNAMICS filter with FOOT is very tight and is appropriate for a user on foot A sudden tilted or up and down movement for example while a tractor is moving slowly along a track may trip the RTK filter to reset and cause the position to jump AIR should be used in this case Abbreviated ASCII Syntax Message ID 258 DYNAMICS dynamics 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 Description 2 dynamics See Table 21 Receiver dynamics based on Enum 4 H the user s Table 21 User Dynamics Binary ASCII Description 0 AIR Receiver is in an aircraft or a land vehicle for example a high speed train
265. gitude direction E East W West a W 8 speed Kn Speed over ground knots X X 0 046 9 track true Track made good degrees True X X 336 8 10 date Date dd mm yy XXXXXX 060504 5 aie Magnetic variation degrees jc 169 12 var dir Magnetic variation direction E W a E 13 XX Checksum hh 71 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 93 for more information Recommended Input log gprmc ontime 1 Example SGPRMC 140437 00 A 5106 9850961 N 11402 2998978 W 0 046 336 8 060504 16 0 E 71 196 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 27 GPSEPHEM Decoded GPS Ephemerides A single set of GPS ephemeris parameters Chapter 3 Message ID 7 Log Type Asynch Field pe Data Description Format Byte part 1 header Log header H 0 2 PRN Satellite PRN number Ulong 4 H 3 tow Time stamp of subframe 0 seconds Double 8 H 4 4 health Health status a 6 bit health code as defined in ICD GPS 2002 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
266. gnment Recommended Input log rtcadatala ontime 10 3 ASCII Example RTCADATAIA COM1 0 79 0 FINESTEERING 1263 327253 000 80180000 606b 1516 853 000000000 0 9 0 7 174726857 179 0 002809814 1 000000000 25 35 917011053 168 0 006853780 1 000000000 4 24 536462551 39 0 020870491 1 000000000 24 4 684821825 67 0 006354673 1 000000000 21 45 783389787 214 0 001092934 1 000000000 3 20 450797536 187 0 003220624 1 000000000 5 23 566730594 190 0 009295567 1 000000000 7 3 136731088 11 0 001613715 1 000000000 30 12 609691187 114 0 005359172 1 000000000 1 b05021 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 249 Chapter 3 DataLogs 3 4 60 RTCADATAEPHEM Ephemeris and Time Information DGPS amp RTK See the chapter on Message Formats in Volume 1 of this manual set for information on RTCA standard logs Message ID 393 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 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 90 924 H 20 9 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 112 10 CR LF Sentence terminator ASCII only In the bin
267. hapter 2 Commands 2 6 41 RTKBASELINE RTK lt 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 2o 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 above 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
268. he input message is not correct This only applies to ASCII and binary format messages MESSAGE MISSING FIELD 9 A field is missing from the input message ARRAY SIZE FOR FIELD X 10 Field x contains more array elements than allowed EXCEEDS MAX PARAMETER X IS OUT OF 11 Field x of the input message is outside the RANGE acceptable limits TRIGGER X NOT VALID FOR 14 Trigger type x is not valid for this type of log THIS LOG AUTHCODE TABLE FULL 15 Too many authcodes are stored in the receiver The RELOAD SOFTWARE receiver firmware must be reloaded INVALID DATE FORMAT 16 This error is related to the inputting of authcodes It indicates that the date attached to the code is not valid INVALID AUTHCODE 17 The authcode entered is not valid ENTERED NO MATCHING MODEL TO 18 The model requested for removal does not exist REMOVE NOT VALID AUTH CODE FOR 19 The model attached to the authcode is not valid THAT MODEL CHANNEL IS INVALID 20 The selected log cannot be output at the specified rate Continued on Page 346 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 345 Chapter 4 Responses REQUESTED RATE IS 21 The requested rate is invalid INVALID WORD HAS NO MASK FOR 22 The word has no mask for this type of log THIS TYPE CHANNELS LOCKED DUE TO 23 Channels are locked due to error ERROR INJECTED TIME INVALID 24 Injected time is invali
269. 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 5 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 Vari Variable terminated receiver max 16 able 9 date Numeric Null Expiry date entered as String Vari Variable terminated yymmdd in decimal max 7 able 54 a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment Input Examples AUTH ADD 1234 5678 9ABC DEFO 1234 OEM4L1L2 990131 AUTH 1234 5678 9ABC DEFO 1234 OEM4L11L2 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 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 lt
270. ically generate event messages These event messages are output in RXSTATUSEVENT logs It is also possible to have status conditions trigger event messages to be generated by the receiver This is done by setting clearing the appropriate bits in the event set clear masks The set mask tells the receiver to generate an event message when the bit becomes set Likewise the clear mask causes messages to be generated when a bit is cleared See the STATUSCONFIG command on Page 125 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 amp 1 is also in Field 8 of the header See the ASCI Example and Table 81 on Page 299 for clarification lt Refer also to the chapter on Built In Status Tests in Volume 1 of this manual set Message ID 93 Log Type Asynch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 error Receiver error see Table 80 Receiver Error ULong 4 H on Page 298 A 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 81 Receiver ULong 4 H 8 Status on Page 299 5 rxstat pri Receiver status priority mask which can be ULong 4 H 12 set using the STATUSCONFIG command see Page 125 6 rxstat
271. ication 222 binary overview 16 raw ephemeris 240 redirect 222 response 20 bit rate see bps bps 59 99 224 break 59 224 broadcast almanac 182 BSLNXYZ 168 buffer 90 286 byte 14 17 C C NO see carrier to noise density ratio carrier phase 55 173 230 232 234 238 251 carrier to noise density ratio C NO 194 205 234 237 238 307 CDGPS 51 203 206 243 244 338 343 assign 51 NMEA 191 prn mask 314 channel assign 47 48 control 29 141 range measurements 232 raw subframe data 241 245 tracking status 233 237 307 unassign 126 checksum 14 16 clock adjustment 55 232 aging parameter 154 bias 55 commands 31 dither 74 169 drift 55 error 48 49 55 169 internal 22 model 169 170 offset 73 141 212 226 305 parameters 74 receiver 305 set 232 status 140 169 212 steer 55 validity 169 CLOCKADJUST 55 CLOCKCALIBRATE 56 CLOCKMODEL 168 CLOCKOFFSET 58 CLOCKSTEERING 171 CMR 88 104 173 247 CMRDATADESC 174 CMRDATAOBS 176 CMRDATAREF 178 180 CMRPLUS 180 COM 59 COM port 90 92 117 181 224 300 COMCONHFIG 176 COMCONTROL 61 communication commands 27 configuration non volatile memory 83 port 27 59 181 receiver 105 137 293 296 reset 38 105 save 114 status masks 125 constellation 170 226 constraints 232 control automatic 126 channel 29 OEM4 Family Firmware Version 2 300 Command and Log Refer
272. ies 0 20 The number of position types that Ulong 4 H 4 are being re mapped 20 max 3 pos See Table 47 Position The 1st position type that is being Enum 4 H 8 typel or Velocity Type on re mapped Page 159 4 quall See Page 184 The number that will appear in the Ulong 4 H 12 GPGGA log for the 1st position type 5 pos See Table 47 on Page The 2nd position type that is being Enum 4 H 16 type2 159 re mapped if applicable 6 qual2 See Page 184 The number that will appear in the Ulong 4 H 20 GPGGA log for the 2nd solution type if applicable Next solution type and quality indicator set if applicable Variable Input Example 1 GGAQUALITY 1 WAAS 2 Makes the WAAS solution type show 2 as the quality indicator Input Example 2 GGAQUALITY 2 WAAS 2 NARROW FLOAT 3 Makes the WAAS solution type show 2 and the NARROW_FLOAT solution type show 3 as their quality indicators Input Example 3 GGAQUALITY 0 Sets all the quality indicators back to the default 84 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands 2 6 26 HPSEED This OmniSTAR HP command allows you to specify the seed position for OmniSTAR HP Abbreviated ASCII Syntax Message ID 782 HPSEED mode lat lon hgt lato lonc hgto datum undulation Fiela Field Type ASCII Value Binary Value Description Binary Format Chapter 2 Binary Offset
273. ifications appendix in Volume 1 of this manual set for more details on the MK1I pin ONMARK only applies to MK1I Events on MK2l if available do not trigger logs when ONMARK is used b See Appendix A in Volume 1 for the maximum raw measurement rate to calculate the minimum period If the value entered is lower than the minimum measurement period the value will be ignored and the minimum period will be used OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 91 Chapter 2 Commands Table 30 LOG Command ASCII Format 3 Field ASCII ig 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 15 COM Serial Port Output port Enum Identifiers on Page 60 default THISPORT 3 message Any valid message name with Message name of log to output Char an optional 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 pulse is detected on the mark 1 input MK1I see Footnote a on Page 91 5 period Any positive double value Log period for ONTIME trigger in seconds Double larger than the receiver s default
274. igh Performance HP differential corrections This is useful when the receiver is receiving corrections from multiple base stations See also the PSRDIFFSOURCE command on Page 103 lt To use OmniSTAR HP differential corrections a NovAtel receiver with L Band capability and a subscription to the OmniSTAR service are required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume 1 of this manual set Abbreviated ASCII Syntax Message ID 494 RTKSOURCE type ID Field ASCII Binary pas Binary Binary Binary ieg Description Format Bytes Offset Type VEUT 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 31 ID Type Enum 4 H DGPS Type on Page 104 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 SBASCONTROL ENABLE AUTO 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 SBASCONTROL ENABLE AUTO OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16
275. iian Maui Clarke 1866 80 OHAD 58 283 182 Hawaiian Oahu Clarke 1866 81 OHIA 229 222 348 Hawaiian Hawaii International 1924 82 OHIB 185 233 337 Hawaiian Kauai International 1924 83 OHIC 205 233 355 Hawaiian Maui International 1924 84 OHID 198 226 347 Hawaiian Oahu International 1924 85 TIL 679 669 48 Timbalai Brunei and East Malaysia 1948 Everest EB 86 TOYM 148 507 685 Tokyo Japan Korea and Okinawa Bessel 1841 The default user datum is WGS84 See also the USERDATUM and USEREXPDATUM commands starting on Page 131 The following logs report the datum used according to the GPSCard Datum ID column BESTPOS BESTUTM MATCHEDPOS and PSRPOS The updated datum have the new x y and z translation values updated to the latest numbers The old datum values can still be used for backwards compatibility Use the corrected datum only with the higher ID as the old datum is incorrect The original LUZON values are the same as for LUZA but the original has an error in the code OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 67 Chapter 2 Commands 2 6 14 DGPSEPHEMDELAY DGPS The DGPSEPHEMDELAY command is used to set the ephemeris delay when operating as a base station The ephemeris delay sets a time value by which the base station will continue to use the old ephemeris data A delay of 120 to 300 seconds will typically ensure that the rover stations have coll
276. inary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 clock status Clock model status as computed from current Enum 4 H measurement data see Table 49 Clock Model Status on Page 169 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 Clock correction parameters a 1x3 array of Double 8 H 16 7 length 3 listed left to right 8 H 24 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 170 Recommended Input log clockmodela ontime 1 ASCII Example CLOCKMODELA COM1 0 76 0 FINESTEERING 1263 238229 000 00000000 98 9 1522 VALID 0 238229 000 238229 000 6 538673273e 01 5 881929109e 03 9 186744290e 01 1 63780257e 01 4 435591244e 03 1 63166399e 01 4 435591244e 03 9 830870462e 03 2 266191182
277. inary Scaling Offset 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 mask1 Index into PRN mask Type 1 Ulong 4 H 4 4 iodel Issue of ephemeris data Ulong 4 H 8 5 dx1 Delta x ECEF Long 4 H 12 0 125 6 dyl Delta y ECEF Long 4 H 16 0 125 7 dz1 Delta z ECEF Long 4 H 20 0 125 8 ddx Delta delta x ECEF Long 4 H 24 g 9 ddy Delta delta y ECEF Long 4 H 28 gll 10 ddz Delta delta z ECEF Long 4 H 32 21 11 da 1 Delta af clock offset Long 4 H 36 23 12 tol Applicable time of day Ulong 4 H 40 16 13 mask2 Second index into PRN mask Type 1 Ulong 4 H 44 14 iode2 Second issue of ephemeris data Ulong 4 H 48 15 dx1 Delta x ECEF Long 4 H 52 0 125 16 dyl Delta y ECEF Long 4 H 56 0 125 17 dz1 Delta z ECEF Long 4 H 60 0 125 18 ddx Delta delta x ECEF Long 4 H 64 7 il 19 ddy Delta delta y ECEF Long 4 H 68 ll 20 ddz Delta delta z ECEF Long 4 H 72 gll 21 dal2 Delta af clock offset Long 4 H 76 91 22 to2 Applicable time of day Ulong 4 H 80 16 23 iodp Issue of PRN mask data Ulong 4 H 84 24 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 88 25 CR LF Sentence terminator ASCII only Recommended Input log WAAS45 onchanged ASCII Example WAAS45A COM2 0 73 0 FINE 1295 228498 000 00000040 c730 34461 209 23 32 197 116 206 1 6 3 5546 3488 25 148 262 312 867 4 3 0 2513 3488 0 02d6e0d5 OEM4 Family Firmware Version 2 300 Command and Log Reference
278. ing 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 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 16 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 By
279. ion a quantity represented by sv in the field numbers See also the BESTPOS log the best available position computed by one receiver and the MATCHEDPOS log positions that have been computed from time matched base and rover observations on Pages 158 and 210 respectively See Figure 8 Page 167 for a definition of the ECEF coordinates Message ID 215 Log Type Asynch Fag Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H 3 pos type Position type see Table 47 Position or Velocity Type on Page Enum 4 H 4 159 4 rtk info RTK information see Table 78 RTK Information on Page 286 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 76 Searcher Type on Page 286 Enum 4 H 20 14 lane Number of possible lane combinations Ulong 4 H 24 15 23 C The C Cxy Cx7 Cyx Cyy Gy7 C x C y and C components in Float 36 H 28 meters of the ECEF position covariance matrix 3x3
280. ion 2 300 Command and Log Reference Rev 16 151 Chapter 3 DataLogs RTCMV3 Format Logs 765 RTCM1005 RTK Base Station ARP 768 RTCM1006 RTK Base Station ARP with Antenna Height 770 RTCM1004 Extended L1 L2 GPS RTK Observables 772 RTCM1001 L1 Only GPS RTK Observables 774 RTCM1002 Extended L1 Only GPS RTK Observables 716 RTCM1003 L1 L2 GPS RTK Observables 217 GPALM Almanac Data 218 GPGGA GPS Fix Data and Undulation 219 GPGLL Geographic Position latitude longitude 220 GPGRS GPS Range Residuals for Each Satellite 221 GPGSA GPS DOP and Active Satellites 222 GPGST Pseudorange Measurement Noise Statistics 223 GPGSV GPS Satellites in View 224 GPRMB Generic Navigation Information 225 GPRMC GPS Specific Information 226 GPVTG Track Made Good and Ground Speed 227 GPZDA UTC Time and Date 259 GPGGARTK GPS Fix Data with Extra Precision 521 GPGGALONG GPS Fix Data Extra Precision and Undulation a CMR RTCA RTCM and RTCMV3 logs may be logged with an A or B extension to give an ASCII or Binary output with a NovAtel header followed by Hex or Binary data respectively 152 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 3 MiLLennium GPSCard Compatibility Table 45 MiLLennium OEM3 Log Comparison on Page 153 shows the MiLLennium logs that are comparable to current OEM4 family logs Table 45 MiLLennium OEM3 Log Comparison
281. ion 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 ofheight Float 4 H 32 solution element in meters 8 posave Position averaging status see Table 46 Enum 4 H 36 9 ave time Elapsed time of averaging s Ulong 4 H 40 10 samples Number of samples in the average Ulong 4 H 44 11 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 48 12 CR LF Sentence terminator ASCII only Recommended Input ASCII Example AVEPOSA COM1 0 72 5 FINESTEERING 1263 326212 000 80100000 e3b4 1516 156 51 11638470693 114 03823265099 1062 648179488 2 0197 1 1808 2 9307 log aveposa onchanged INPROGRESS 600 2 4c9f53da OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Table 46 Position Averaging Status Binary ASCII Description 0 OFF Receiver is not averaging 1 INPROGRESS Averaging is in progress 2 COMPLETE Averaging is complete OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Chapter 3 157 Chapter 3 DataLogs 3 4 3 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 anomal
282. ions Asynch WAAS27 SBAS service message Asynch WAAS32 CDGPS fast correction slots 0 10 Asynch WAAS33 CDGPS fast correction slots 11 21 Asynch WAAS34 CDGPS fast correction slots 22 32 Asynch WAAS35 CDGPS fast correction slots 39 50 Asynch WAAS45 CDGPS slow corrections Asynch WAASCORR SBAS range corrections used Synch 142 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Table 43 OEM4 Family Logs in Alphabetical Order DEVE LAN o NovAtel Format Logs Message ID Description ALMANAC Current almanac information AVEPOS 172 Position averaging BESTPOS 42 Best position data BESTUTM 726 Best available UTM data BESTVEL 99 Velocity data BESTXYZ 241 Cartesian coordinate position data BSLNXYZ 686 RTK XYZ baseline CLOCKMODEL 16 Current clock model matrices CLOCKSTEERING 26 Clock steering status CMRDATADESC 389 Base station description information CMRDATAOBS 390 Base station satellite observation information CMRDATAREF 391 Base station position information CMRPLUS 717 CMR output message COMCONFIG 317 Current COM port configuration GPSEPHEM 7 GPS ephemeris data IONUTC Ionospheric and UTC model information LOGLIST 5 A list of system logs MARKPOS MARK2POS 181 615 Position at time of mark input event MARKTIME MARK2TIME 231 616 Time of mark input event MATCHEDPOS 96 RTK Computed Position
283. iption Binary Binary Binary Type Value Value p 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 See Table 15 COM Serial port identifier Enum 4 H Serial Port Identifiers on default THISPORT Page 60 3 rxtype See Table 28 Serial Port Receive interface mode Enum 4 H 4 txtype mee ace Modes on Page 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 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 87 Chapter 2 Commands Table 28 Serial Port Interface Modes Binary Value ASCII Mode Name Description 0 NONE The port accepts generates nothing 1 NOVATEL The port accepts generates NovAtel commands and logs 2 RTCM The port accepts generates RTCM corrections 3 RTCA The port accepts generates RTCA corrections 4 CMR The port accepts generates CMR corrections 5 Reserved 6 7 IMU This port supports communication with a NovAtel supported IMU contact Customer Service or refer to your SPAN Technology User Manual for more information 8 RTCMNOCR RTCM with no CR LF appended 9 CDGPS The port accepts GPS C data y 10 13 Reserved 14 RTCMV3 The port accepts generates RTCM Version 3 0 corrections 15 NOVATELBINARY Th
284. is manual set 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 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 59 RTCADATA1 Differential GPS Corrections DGPS See the chapter on Message Formats in Volume 1 of this manual set for information on RTCA standard logs Message ID 392 Log Type Synch Field Field type Data Description Format Binary Binary 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 4a H 8 4 prn Number of satellite corrections with Ulong 4 H 12 information to follow 5 prn PRN number of satellite Ulong 4 H 16 6 range Pseudorange correction m Double 8 H 20 7 IODE Issue of ephemeris data Uchar 4a H 28 8 range rate Pseudorange rate correction m s Double 8 H 32 9 UDRE User differential range error Float 4 H 40 10 Next prn offset H 16 prns x 28 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte ali
285. ived 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 Message ID 407 Log Type Asynch Field Field type Data Description Format Binary Binary 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 3 CR LF Sentence terminator ASCH only Recommended Input log rawgpsworda onnew ASCII Example RAWGPSWORDA COM1 0 72 0 FINESTEERING 1263 247930 270 00000000 9b16 1522 21 7edc5796 3103d12f RAWGPSWORDA COM1 0 72 0 FINESTEERING 1263 247930 875 00000000 9b16 1522 26 7cb4b5f0 5b4c3a6c RAWGPSWORDA COM1 0 72 0 FINESTEERING 1263 247930 873 00000000 9b16 1522 17 832c812b e0602fc9 RAWGPSWORDA COM1 0 70 0 FINESTEERING 1263 247936 883 00000000 9b16 1522 15 c01768e3 1430a655 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 54 RAWLBANDFRAME Raw L Band Frame Data This log contains the raw L Band frame data if you are tracking CDGPS The RAWLBANDPACKET is output for OmniSTAR tracking lt 1 Inaddition to a NovAtel receiver with L Band capability use of the free CDGPS service is required Contact NovAtel for details Contact information may be found on the back of this
286. ization 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 receiver This simplifies the use of multiple software models on the same receiver If there is more than one valid model in the receiver the receiver 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 Dx Authorization codes are firmware version specific If the receiver firmware is updated it is necessary to acquire new authorization codes for the required models If you wish to update the firmware in the receiver please contact NovAtel Customer Service WARNING Removing an authorization code will cause the receiver to permanently lose this information Abbreviated ASCII Syntax Message ID 49 AUTH state part part2 part3 part4 part5 model model date OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 53 Chapter 2 Commands Field ASCII Binary a fas Binary Binary Binary Fiel Description eld Type Value Value escriptio Format Bytes Offset 1 header This field contains the H 0 command name or the message
287. l yrvel zrvel scalev refdate UTMZONE 749 Set UTM parameters utmzone command parameter WAASECUTOFF 505 Set SBAS satellite elevation waasecutoff angle cut off 34 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 Table 10 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 ports responses 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 receiver 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 ASSIGNed channel 30 UNASSIGNALL Unassign all previously unassignall system ASSIGNed cha
288. ld type when used by IBM PC computers All data sent to or from the OEM4 family receiver however is read least significant bit LSB first opposite to what is shown in Table 2 Data is then stored in the receiver LSB first For example in char type data the LSB is bit 0 and the most significant bit MSB is bit 7 See Table 63 Channel Tracking Example on Page 235 for a more detailed example 1 1 1 14 ASCII messages are readable by both the user and a computer The structures of all ASCII messages ASCII follow the general conventions as noted here 1 2 3 The lead code identifier for each record is Each log or command is of variable length depending on amount of data and formats 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 Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters for example 1234ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the identifier and the asterisk preceding the four checksum digits See 32 Bit CRC on Page 24 for the algorithm used to generate the CRC An ASCII string is one field and is surrounded by double quotation marks for example
289. le CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 276 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log rtemdata1002a ontime 7 ASCII Example RTCMDATA1002A COM1 0 79 0 FINESTEERING 1317 239318 000 00180040 adb2 1855 0 0 239318000 0 9 0 0 9 21 0 12261319 9236 127 0 202 2 0 6623657 4517 127 0 171 16 0 5632627 1876 127 0 179 29 0 3064427 10154 127 0 177 26 0 14721908 21776 105 0 164 6 0 9384778 1113 127 0 205 18 0 9594701 1176 27 0 184 10 0 14876991 8629 127 0 202 30 0 6417059 20243 127 0 195 e7d3c54d OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 277 Chapter 3 DataLogs 3 4 76 RTCMDATA1003 L1 L2 GPS RTK Observables RTK This log is available at the base station Refer to the chapter on Message Formats in Volume 1 of this manual set for information on RTCMV3 logs Message ID 786 Log Type Synch Field Field type Data Description Format Pinary Binary yP P Bytes Offset 1 header Log header H 0 2 RTCMV3 Message number Ushort 2 H 3 sean ations Base station ID Ushort 2 H 2 4 ERTO GPS epoch time ms Ulong 4 H 4 5 DATA1001 GNSS message flag Uchar 1 H 8 6 log on P age Number of GPS satellite signals proce
290. leo indicator Uchar 1 H 7 0 No Galileo service supported 1 Galileo service supported 8 Reserved Uchar 1 H 8 ECEF X Base station ECEF X coordinate 1 10000 m Double 8 H 9 10 Reserved Uchar 1 H 17 11 ECEF Y Base station ECEF Y coordinate 1 10000 m Double 8 H 18 12 Reserved Uchar 2a H 26 13 ECEF Z Base station ECEF Z coordinate 1 10000 m Double 8 H 28 14 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 36 15 CR LF Sentence terminator ASCII only a Inthe binary log case an additional byte of padding is added to maintain 4 byte alignment Recommended Input log rtemdatal005a ontime 3 ASCII Example RTCMDATA1005A COM1 0 84 5 FINESTEERING 1317 238322 885 00180040 0961 1855 0 0 0 1 0 0 0 16349783637 0 36646792121 0 49422987955 7dbd6160 282 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 79 RTCMDATA1006 Base Station ARP with Antenna Height RTK This log is available at the base station Refer to the chapter on Message Formats in Volume I of this manual set for information on RTCMV3 logs Message ID 789 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 msg Message number Ushort 2 H 3 ID Base station ID Ushort 2 H 2 4 Reserved Uchar 1 H 4 5 GPSind GPS indicator Uchar 1 H 5 0 No GPS service supported 1 GPS service supported 6 GLOind G
291. lites being tracked to verify if the FIX 160 POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 4 BESTUTM Best Available UTM Data Chapter 3 This log contains the best available position computed by the receiver in UTM coordinates See also the UTMZONE command on Pages 133 and the BESTPOS log on Page 158 Message ID 726 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H 3 pos type Position type see Table 47 Position or Velocity Type on Enum 4 H 4 Page 159 4 z Longitudinal zone number Ulong 4 H 8 5 zletter Latitudinal zone letter Ulong 4 H 12 6 northing Northing m where the origin is defined as the equator inthe Double 8 H 16 northern hemisphere and as a point 10000000 metres south of the equator in the southern hemisphere that is a false northing of
292. lled 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 See Section 1 4 Message Time Stamps on Page 23 for information on how the message time stamp is set for each type of log The following table outlines the log types and the valid triggers to use Table 41 Log Type Triggers Type Recommended Trigger Illegal Trigger Synch ONTIME ONNEW ONCHANGED Asynch ONCHANGED Polled ONTIME ONNEW ONCHANGED a Polled log types do not allow fractional offsets and cannot do ontime rates faster than 1Hz DJ 1 The OEM4 family of receivers can handle 30 logs at a time If you attempt to log more than 30 logs at a time the receiver will respond with an Insufficient Resources error 2 The following logs do not support the ONNEXT trigger GPSEPHEM RAWEPHEM RAWGPSSUBFRAME RAWWAASFRAME RXSTATUSEVENT and WAAS9 3 Asynchronous logs such as MATCHEDPOS should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result 4 Use the ONNEW trigger with the MARKTIME or MARKPOS logs 3 2 Logs By Function Table 42 lists the logs by function while Table 43 OEM4 Family Logs in Alphabetical Order on Page 143 is an alphabetical listing of logs r
293. llite 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 posave state maxtime maxhstd for base station maxvstd 177 SEND Send an ASCII message to any send port data 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 183 RTKDYNAMICS Set the RTK dynamics mode rtkdynamics mode Continued on Page 37 36 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 Message ID Command Description Syntax 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 EXTERNALCLOCK S
294. loat 4 H assumes 3 D position and receiver clock offset all 4 parameters are unknown 3 pdop Position dilution 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 73 0 FINESTEERING 1263 245640 500 00000000 768f 1522 1 9216 1 7574 0 8475 1 1500 0 7774 5 0 9 29 10 16 21 24 26 18 17 30 7 6215 3 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 44 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 differ
295. long 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 ary Clock aging parameter s s Double 8 H 188 Continued on Page 198 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 197 Chapter 3 Data Logs Field anti Binary Binary Field type Data Description Format Bytes Offset 30 apy 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 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 correspondence between the original URA index and the value output is shown in Table 54 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 refer to ARINC in the Standards and References section of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html Table 54 URA Variance Index Value m A Standard Deviations m Variance A m2
296. lse 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 172 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 10 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 CMRPLUS CMR OUTPUT INFORMATION Message ID 717 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 lt 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 set 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 OEM4 Family Firmware Version 2 300 Command and Log
297. mand and Log Reference Rev 16 Commands Chapter 2 2 4 MiLLennium GPSCard Compatibility Table 11 OEM4 Family Command Comparison MiLLennium Command Comparable OEM4 Family Command ACCEPT ANTENNAPOWER ASSIGN CLOCKADJUST COMn COMn_DTR COMn_RTS CONFIG CRESET CSMOOTH DATUM DGPSTIMEOUT DIFF_PROTOCOL DYNAMICS ECUTOFF EXTERNALCLOCK FIX HEIGHT FIX POSITION FREQUENCY_OUT FRESET HELP or IONOMODEL LOCKOUT LOG MAGVAR MESSAGES POSAVE RESET RESETHEALTH RESETHEALTHALL RINEX RTCM16T RTCMRULE RTKMODE SAVEALMA SAVECOMFIG SEND SENDHEX SETDGPSID SETHEALTH SETL1OFFSET SETNAV SETTIMESYNG UNASSIGN UNASSIGNALL UNDULATION UNFIX UNLOCKOUT UNLOCKOUTALL UNLOG UNLOGALL USERDATUM VERSION WAASCORRECTION INTERFACEMODE ANTENNAPOWER ASSIGN CLOCKADJUST COM COMCONTROL COMCONTROL Not currently supported FRESET CSMOOTH DATUM DGPSTIMEOUT and D PSEPHEMDELAY Not currently supported DYNAMICS ECUTOFF EXTERNALCLOCK FIX HEIGHT FIX POSITION FREQUENCYOUT FRESET Not currently supported Not currently supported LOCKOUT LOG MAGVAR INTERFACEMODE POSAVE RESET Not currently supported Not currently supported Not currently supported SETRTCM16 Not currently supported RTKBASELINE RTKCOMMAND RTKDYNAMICS RTKELEVMASK RTKSOLUTION and RTKSVENTRIES See the FRESET command on Page 83 SAVECONFIG SEND SENDHEX DGPSTXID PSRDIFFSOURCE and RTKSOURCE Not currently supported Not curre
298. manual or you can refer to the Customer Service section in Volume 1 of this manual set 2 The RAWOMNIFRAME log is still available to OmniSTAR users but will be made obsolete in a future firmware release Please use the RAWLBANDPACKET log instead see Page 244 Message ID 732 Log Type Asynch Field Field type Data Description rmat Binary Binary Bytes Offset 1 header Log header H 0 2 frame Frame number Ushort 2 H 2 3 channelcode Channel code word see Ushort 2 H 4 4 data Raw L Band frame data Uchar 1200 1200 H 6 5 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 1206 6 CR LF Sentence terminator ASCII only Recommended Input log rawlbandframea onnew ASCII Example RAWLBANDFRAMEA COM2 0 73 5 FINESTEERING 1295 152802 068 00000040 4 80 34461 9 lale 600 f6 00 62 35 c8 cd 34 e7 6a al 37 44 8f a8 24 71 90 00 5f 94 2d 94 3c 74 9c f 0 12 a3 4c a7 30 aa b6 2e 27 dd dc 24 ba d3 76 8d 76 d9 e7 83 1a c8 7 81 D0 62 16 69 88 23 70 28 06 c0 fc 9 90 2c 72 1 24 6b c4 Sb ec 03 70 d3 3 fe ef 37 3d 17 37 1b cf be af d1 02 15 96 d1 6 58 56 ac bd a3 11 12 d0 3d LL 27 Say 81 287 06 02 52 70 b3y 22 0c 0c 62 240 08 69 6c 52 10 dt 1d bb 08 db ca a9 5e 77 66 96 c2 a0 63 3b 98 34 bc d5 47 64 e0 00 37 10 4a 7 c1 b6 83 8f 0 6 94 21 f b4 27 15 b0 60 40 02 b4 af 9c 9d c2 d4 ea 95 68 86 OF 0a 9d 2d 3
299. 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 MK1I 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 MKII port adjusted by the offset field in ns and sets the receiver Time of Week TOW and week number to that embedded in a received TIMESYNC log see Page 306 It also sets the receiver Time Status to that embedded in the TIMESYNC log which must have arrived between 800 and 1000 ms prior to the MK1I event presumably the 1PPS from the 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 TIMES YNC log in any of the 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 MK1I event in this mode Continued on Page 45 44 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 3 period ONCE 0 The time is synchronized only once default The ADJUSTI1PPS command must be re issued if another synchronization is required CONTINUOUS 1 The time is continuously monitored and the receiver
300. mulative 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 Continued on Page 266 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 265 Chapter 3 266 Data Logs 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 see REFSTATION on Ulong 4 Page 246 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 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 72 Ulong 4 RTCM2021 Data Quality Indicator on Page 268 multipath Multipath indicator see Table 73 Ulong 4 RTCM2021 Multipath Indicator on Page 268 IOD
301. n 244 RTKXYZ RTK cartesian coordinate position data 270 SATXYZ 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 WAAS 12 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 WAASS5 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 Continued on Page 150 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 149 Chapter 3 Data Logs NovAtel Format Logs Message ID Datatype Description 392 RTCADATAI Type 1 Differential GPS Corrections 393 RTCADATAEPHEM Type 7 Ephemeris and Time Information 394 RTCADATAOBS Type 7 Base Station Observations 395 RTCADATAREF Type 7 Base Station
302. n 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 This datum has been updated see ID 75 b Clarke 1866 41 MEXICO 12 130 190 N American Mexico Clarke 1866 42 CAMER 0 125 194 N American Central America Clarke 1866 43 MINNA 92 93 122 Nigeria Minna Clarke 1880 44 OMAN 346 1 224 Oman Clarke 1880 45 PUERTO 11 72 101 Puerto Rica and Virgin Islands Clarke 1866 46 QORNO 164 138 189 Qornoq South Greenland International 1924 47 ROME 255 65 9 Rome 1940 Sardinia Island International 1924 48 CHUA 134 229 29 South American Chua Astro Paraguay International 1924 49 SAM56 288 175 376 South American Provisional 1956 International 1924 50 SAM69 57 1 41 South American 1969 S American 1969 51 CAMPO 148 136 90 S American Campo Inchauspe Argentina International 1924 52 SACOR 206 172 6 South American Corrego Alegre Brazil International 1924 53 YACAR 155 171 37 South American Yacare Uruguay International 1924 54 TANAN 189 242 91 Tananarive Observatory 1925 Madagascar International 1924 55 TIMBA 689 691 46 This datum has been updated see ID 85 b Everest EB 56 TOKYO 128 481 664 This datum has been updated see ID 86 b Bessel 1841 57 TRIST 632 438 609 Tristan Astro 1968 Tristan du Cunha International 1924 58 VITI 51 391 36 Viti Levu 1
303. n 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 49 SBASCONTROL SBAS Field 1 This command allows you to dictate how the receiver handles Satellite Based Augmentation System SBAS corrections and replaces the now obsolete WAASCORRECTION command The receiver automatically switches to Pseudorange Differential RTCM or RTCA or RTK if the appropriate corrections are received regardless of the current setting To enable the position solution corrections you must issue the SBASCONTROL ENABLE command The GPS receiver does not attempt to track any GEO satellites until you use the SBASCONTROL command to tell it to use either WAAS EGNOS or MSAS corrections When in AUTO mode if the receiver is outside the defined satellite system s corrections grid it reverts to ANY mode and chooses a system based on other criteria Once tracking satellites from one system in ANY or AUTO mode it does not track satellites from other systems This is because systems such as WAAS EGNOS and MSAS do not share broadcast information and have know way of knowing each other are there The testmode parameter in the example is to get around the test mode of these systems EGNOS at one time used the IGNOREZERO test mode At the time of printing ZEROTOTWO is the correct setting for all SBAS including EGNOS running in test mode On a simulator you may want to leave this parameter off or specify NONE explicitly When you use the SBASCONTRO
304. n 2 300 Command and Log Reference Rev 16 19 Chapter 1 Messages 1 2 Responses 20 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 87 The response will be in the exact format that you entered the message that is binary input binary response Abbreviated Response Just the leading lt followed by the response string for example 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 for example 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 for example 0x82 see Field 6 in Table 4 Binary Message Header Structure on Page 17 e ENUM response ID see Table 92 Response Messages on Page 345 e String containing the ASCII response to match the ENUM response ID above for example 0x4F04B OK Table 6 Binary Message Sequence on Page 21 is an example of the sequence for requesting and then receiving BESTPOSB The example is in hex format When you enter a hex command you may need to add a x or Ox before each hex pair depending on your code for example OxAA0x440x 120x1C0x010x000x02 and so on
305. n Page 83 for more details Abbreviated ASCII Syntax Message ID 430 CLOCKCALIBRATE mode period width slope bandwidth Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 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 mode SET 0 Sets the period pulsewidth slope Enum 4 H and bandwidth values into NVM for the currently selected steered oscillator INTERNAL or EXTERNAL AUTO 1 Forces the receiver to do a clock steering calibration to measure the slope change in clock drift rate with a 1 bit change in pulse width and required pulsewidth to zero the clock drift rate After the calibration these values along with the period and bandwidth are entered into NVM and will then be used from this point forward on the selected oscillator OFF 2 Terminates a calibration process currently underway Continued on Page 57 56 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 3 period 0 to 262144 Signal period in 25 ns steps Frequency Output 40 000 000 Period default 0 Ulong H 4 4 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 o
306. n calculations and progress by observing the NAVIGATE log messages Commands 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 6 on Page 123 for clarification Abbreviated ASCII Syntax Message ID 162 SETNA V fromlat fromlon tolat tolon track offset from point to point ASCII Binary Description Binary Binary Value Value 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 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 4 tolat 90 degrees Destination latitude in u
307. n 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 processor is idle Y between successive logs with the same Message ID 6 GPS Time Enum This value indicates the quality of the GPS time see Table Y Status 7 GPS Time Status on Page 21 Week Ulong GPS week number Y 8 Seconds GPSec Seconds from the beginning of the GPS week accurate to Y the millisecond level 9 Receiver Ulong This is an eight digit hexadecimal number representing the Y Status status of various hardware and software components of the receiver between successive logs with the same Message ID see Table 81 Receiver Status on Page 299 10 Reserved Ulong Reserved for internal use Y 11 Receiver Ulong This is a value 0 65535 that represents the receiver Y s w Version software build number 12 Char This character indicates the end of the header N Example Log RAWEPHEMA COM1 0 81 5 SATTIME 1262 488670 000 00000000 9767 1522 14 1262 489600 8b03b89 13253b90002ba3db7949b427b21dbe7aeae6778800fffefd9748 8b0 3b89f112ace609952Ff1d85e6 79C087000cba2 6308b6a10cad2977887d 8b03b89f11lac0000acd77 614 927cc00c026b4c6904cdaffabc3e610b0 bccbb2db CR LF OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 15 Chapter 1 Messages 1 1 2 Abbreviated ASCII This message format is designed to make the enter
308. nd 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 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 289 Chapter 3 DataLogs Recommended Input log rtkvela ontime 1 ASCII Example RTKVELA COM1 0 69 5 FINESTEERING 1263 250259 000 00000000 71e2 1522 SOL_COMPUTED NARROW_INT 0 250 1 000 0 0050 84 774070 0 0101 0 0 bfa52ee6 290 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 83 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 8 Page 167 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
309. nd non printable characters sendhex port length data in hexadecimal pairs SETAPPROXPOS 377 Set an approximate position setapproxpos lat lon height Continued on Page 34 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 33 Chapter 2 Commands Command Message ID Description Syntax 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 from logging unlogall port control USERDATUM 78 Set user customized datum userdatum semimajor flattening dx dy dz rx ry rz scale USEREXPDATUM 783 Set custom expanded datum userexpdatum semimajor flattening dx dy dz rx ry rz scale xvel yvel zvel xrve
310. nd on Page 70 The velocity is computed from consecutive RTK low latency updates As such it is an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the RTKVEL time tag The velocity latency to be subtracted from the time tag 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 velocity latency should be applied to the record time tag Message ID 216 Log Type Synch eo a Data Description Format Bile porte 1 header Log header H 0 2 sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H 3 vel type Velocity type see Table 47 Position or Velocity Type on Page 159 Enum 4 H 4 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 in seconds 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 grou
311. nds which are listed alphabetically Table 8 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 Tx for a port LOG Request a log MARKCONTROL Control processing of the mark inputs PPSCONTROL Control the PPS output SEND Send ASCII message to a port SENDHEX Send non printable characters to a port 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 Continued on Page 28 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 27 Chapter 2 Commands GENERAL RECEIVER CONTROL Commands Descriptions RESET Perform a hardware reset FRESET Reset receiver to factory default MODEL Switch receiver to a previously AUTHed model NVMRESTORE Restore NVM data after a failure in NVM SAVECONFIG Save current configuration STATUSCONFIG Configure various status mask fields in RXSTATUSEVENT log POSITION PARAMETERS AND SOLUTION FILTERING CONTR
312. ne 28 30 106 141 commands 30 conventions 11 corrections 113 data 140 284 filter 108 low latency position 138 287 mode 158 291 observations 110 position 138 158 213 215 287 processing 111 satellite counts 141 354 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 solution 111 284 velocity 289 RTKBASELINE 106 RTKCOMMAND 108 RTKDATA 269 RTKDYNAMICS 109 RTKELEVMASK 110 RTKPOS 287 RTKSOLUTION 111 RTKSOURCE 112 RTKSVENTRIES 113 RTKVEL 289 RTKXYZ 291 RXCONFIG 293 RXHWLEVELS 295 RXSTATUS 296 RXSTATUSEVENT 301 S satellites acquisition 47 active 192 almanac 154 available 78 clock dither 74 commands 29 common 284 count 140 141 elevation cut off 73 135 errors 308 geometry 226 GLONASS slot 234 238 303 307 in view 194 lock 89 226 number of 226 236 PRN 234 238 range 191 raw 239 242 reinstate 128 RTK 30 110 113 284 tracking 141 232 307 unassign 126 unlock 128 visibility 141 303 SATVIS 303 SATXYZ 304 SAVECONHIG 114 Index SBAS 245 313 337 344 channels 47 50 control 115 differential 103 prn 48 49 system type 116 SBASCONTROL 115 scaling almanac 154 factor 237 scope 11 searcher status 286 self test 90 SEND 117 send 117 119 SENDHEX 119 serial port 87 88 181 224 SETAPPROXPOS 120 SETAPPROXTIME 121 SETNAV 120 software version 137 solution status 210 speed cur
313. nen ea slot nation Gael a ents 73 2 6 20 EXTERNALCLOCK aa aaa aa aa aa aeaa Taan aaa EAA nanais 74 PAWAN a Da E EREA T TE E E N E E 77 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Table of Contents 2 16 22 FIXPOSDA TUM cas esetenes excuses sas edoe dates aa a pyascedeuiecd sk T AA KEIER 80 26 29 FREQUENGY OUT iiss cctiiet enote apd a aena eit as eee eel 81 2 16 24 FRESE Tavis tintin teen feel at abt ae oes hs Basae aia bebe ea 83 2 6 25 GGAQUALIT Yonica eian aa E nasi 84 2 60 20 HPSEED in mri a a a aaa aaa aAa AA aa 85 202 FIPS TATIGIND coh a a a ea a aaa a a a vi En A iSS 86 2 6 28 INTERFACEMODE DGPS sssssesssiseisirerririrrrissrrsrrnerissrnrinsrrnsrnereses 87 2 0 29 LOCKOU Weessscsecctssecceurtanaceststsgetescenatssvccsuazed yaechbanteguceetssh suedevetanuserteenecaceetis 89 2 6 30 LOG PEEN TEE EA Sel caver ti ea hecbed EN 90 2 6 31 MAGVA R i iesi aa eels i PM etal eee 93 26 32 MARKCONT ROU tin sccrssscdisaeccascccats anactenegess seucecasten iaa e A LEIE AAE 95 2 6 33 MODE Lens seatieticcd utes steven tie bts a a aa aa cok neat aeteeeeate endl 97 2 6 34 MOVINGBASESTATION ec eecceeeseeeeeeceeeceeeeaeeceaeesaeeseeeeseeeseaeessaeeeaeeeaaes 98 2 6 35 NVMRESTORE svt raaa tte atest attend eta Ah tee titers 99 2 6 36 POSAVES iielosustaiiiiahedinaiie buen hae aeih alate Mantel 100 20 37 POSTIMBOUT acces chcctiaicscese eap passes dhed ea ea Taaha ia ara RAE A ARAR T 101 26 39 PPSCONTRO O a aaa tein sceet ety a A aa
314. ng Frequency Output 40 000 000 Period default 0 4 H 8 ASCII Example FREQUENCYOUT ENABLE 2 4 This example will generate a 50 duty cycle 10 MHz square wave OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 81 Chapter 2 Commands lt Figure 2 below shows how the chosen pulse width will be frequency locked but not necessarily phase locked VARF 200 Hz VARF 1000 Hz 1PPS 1Hz I I 20s Figure 2 Pulse Width and 1PPS Coherency 82 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 24 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 almanac and L Band related data excluding the subscription information can be cleared by using the STANDARD target The model can only be cleared by using the MODEL target The receiver is forced to hardware reset 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 26 What data is to be reset by the Enum 4 H receiver Field Description In
315. ng 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 52 Ulong 4 H 96 Position Accuracy on Page 179 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 178 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log cmrdatarefa ontime 10 ASCII Example CMRDATAREFA COM1 0 70 0 FINESTEERING 1269 147115 000 00100000 5db6 1516 2 0 147 25 3 0 1 FALSE FALSE 0 TRUE 0 234000 1 0 1634529233 1026337146759033 0 3664611941 5660152435302734 0 2054717277 0 15 0 c21a9c26 Table 52 Position Accuracy cove fasion unknown 5 km 1 km 500 m 100 m 50 m 10m 5m lm 50 cm 10cm OlOIAINDI N HR WwlwNBNl Re o em 5 cm ji N lcm em W 5 mm P 1 mm e Nn Exact OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 179 Chapter 3 DataLogs 3 4 14 CMRPLUS CMR Output Message RTK The CMRPLUS message distributes the reference station information over 14 updates For example if you log CMRPLUS ontime 1 the receiver outputs th
316. ng 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 228 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log psrvela ontime 1 ASCII Example PSRVELA COM1 0 67 0 FINESTEERING 1263 245820 000 00000000 658b 1522 SOL_COMPUTED PSRDIFF 0 250 10 000 0 0369 351 259474 0 0109 0 0 ea9b653f OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 229 Chapter 3 Data Logs 3 4 46 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 8 Page 167 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 Do
317. nge 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 tO 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 In the 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 68 5 SATTIME 1263 312890 000 00000000 896c 1522 122 3 0 134 0 42151200 1435200 0 0 0 0 0 122 0 24788400 34091200 26000 0 0 0 0 0 0 0 0 0 0 0 0 53568 82d6f8cb 330 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 107 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 Message ID 295 Log Type Asynch Field Field
318. nits 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 Vari Variable able 8 to point 6 characters max ASCII station name String max 6 Vari Variable able a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment 122 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 ASCII Example SETNAV 51 1516 114 16263 51 16263 114 1516 125 23 FROM TO TO lat lon FROM lat lon Figure 6 Illustration of SETNAV Parameters OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 123 Chapter 2 Commands 2 6 55 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 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 RXKCONFIG 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
319. nnels 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 or fix type param1 param2 param3 position 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 Continued on Page 36 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 35 Chapter 2 Commands 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 set the 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 Prevent the receiver from lockout prn using a sate
320. ns 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 Message ID 41 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 ref week Ephemeris reference week number Ulong 4 H 4 4 ref secs Ephemeris reference time seconds Ulong 4 H 8 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 only 9 CR LF Sentence terminator ASCII only Recommended Input log rawephema onchanged ASCII Example RAWEPHEMA COM1 14 76 5 SATTIME 1262 423540 000 00000000 97b7 1522 6 1262 424800 8b03b889dfa53b90fc34bd9822236338ad0a49f6f64067b600fff6ff9d30 8b03b889ddaa4005623c88c5c5720005050337cb8109aaa10c4b2067b646 8b03b889de2e00452c14c2d3003c2622ba2d2244ad6bc049ffale1401229 d219ae03 RAWEPHEMA COM1 13 76 5 SATTIME 1263 247140 000 00000000 97b7 1522 29 1263 251984 8b03bc5073a63bd00035c075bb505194c87c4ecaf2143d8500000e1ec565 8b03bc50742a14035d2b9f65c9e412032604434 5
321. nt bits or 8 least significant bits in the case of the almanac data of the full week number When the receiver processes the satellite data the week number is decoded in the context of the current era and therefore is computed as the full week number starting from week 0 or January 6 1980 Therefore in all log headers and decoded week number fields the full week number is given Only in raw data such as the data field of the RAWALM log or the subframe field of the RAWEPHEM log will the week number remain as the 10 or 8 least significant bits OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 23 Chapter 1 1 6 32 Bit CRC 24 Messages The ASCII and Binary OEM4 family message formats all contain a 32 bit CRC for data verification This allows the user to ensure that the data received or transmitted is valid with a high level of certainty This CRC can be generated using the following C algorithm define CRC32_POLYNOMIAL O0xEDB88320L 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 ulTemp1 unsigned long ulTemp2 unsigned long ulCRC 0 while ulCount 0 ulTemp1 ulCRC gt
322. ntly supported SETNAV ADJUST1PPS UNASSIGN UNASSIGNALL UNDULATION FIX NONE UNLOCKOUT UNLOCKOUTALL UNLOG UNLOGALL USERDATUM See the VERSION log on Page 309 SBASCONTROL OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 39 Chapter 2 Commands 2 5 Factory Defaults When the receiver is first powered up or after a FRESET command see Page 8 all commands revert to their factory default settings When you use a command without specifying its optional parameters it may have a different command default than the factory default The SAVECONFIG command see Page 114 can be used to save these defaults Use the RKCONFIG log see Page 293 to reference many command and log settings The factory defaults are ANTENNAPOWER ON ASSIGNLBAND USER 1551489 1200 CLOCKADJUST ENABLE CLOCKOFFSET 0 COM COM1 9600 N 8 1 N OFF ON COM COM2 9600 N 8 1 N OFF ON COM COM3 9600 N 8 1 N OFF ON COMCONTROL COM1 RTS DEFAUL COMCONTROL COM2 RTS DEFAUL COMCONTROL COM3 RTS DEFAUL CSMOOTH 100 100 DATUM WGS84 DGPSEPHEMDELAY 120 DGPSTIMEOUT 300 DGPSTXID AUTO ANY DYNAMICS AIR ECUTOFF 5 0 EXTERNAL
323. 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 binary or an ASCII format output For binary the output is in milliseconds and is a long type For ASCII the output is in seconds and is a float type Hex n Hex is a packed fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs String n String is a variable length array of bytes that is null terminated in the binary case and additional bytes of padding are added to maintain 4 byte alignment The maximum byte length for each String field is shown in their row in the log or command tables OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 13 Chapter 1 Table 2 Byte Arrangements 7 0 char address n 15 7 0 short C n 1 address n 31 23 15 7 0 long two s compliment n 3 n 2 n 1 address n 63 62 52 51 0 double n 7 n 6 n 5 n 4 n 3 n 2 n 1 address n 31 30 23 22 0 float n 3 n 2 n 1 address n Messages Table 2 shows the arrangement of bytes within each fie
324. of the ephemeris 5 Sequence number Ulong 4 H 12 Length of frame Ulong 4 H 16 7 Base station health see REFSTATION Ulong 4 H 20 on Page 246 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 Ionospheric rate 0 05 cm min Long 4 H 44 14 Next PRN offset H 28 prns x 20 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only Recommended Input log rtcmdata15a ontime 10 ASCII Example RTCMDATA15A COM1 0 74 5 FINESTEERING 1117 160783 000 00100020 9601 399 15 0 3971 7799968 5163500 6 10 0 0 3 1631 445 0 0 15 1423 222 0 0 18 1275 334 0 0 21 1763 334 0 0 17 1454 556 0 0 6 2063 0 0 0 26 1579 222 0 0 23 1423 111 0 0 28 1874 445 0 0 22 2146 445 19ed193 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 259 Chapter 3 DataLogs 3 4 68 RTCMDATA16 Special Message DGPS amp RTK See the chapter on Message Formats in Volume 1 of this manual set for information on RTCM standard logs Message ID 398 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offse
325. 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 62 Channel Tracking ULong 4 H 20 Status on Page 233 9 psr Pseudorange m if this field is zero but the channel tracking Double 8 H 24 status in the previous field indicates that the card is phase locked and code locked the pseudorange has not been calculated yet 10 Doppler Doppler frequency Hz Float 4 H 32 11 C No Carrier to noise density ratio dB Hz Float 4 H 36 12 locktime Number of seconds of continuous tracking no cycle slips Float 4 H 40 13 psr res Pseudorange residual from pseudorange filter m Float 4 H 44 14 reject Range reject code from pseudorange filter see Table 87 Enum 4 H 48 Range Reject Code on Page 308 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 a OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 307 Chapter 3 DataLogs Recommended Input log trackstata ontime 1 ASCII Example TRACKSTATA COM1 0 59 0 FINESTEERING 1263 252508 000 00000000 457c 1522 SOL_COMPUTED NARROW_INT 5 0 24 29 0 18109c04 22281104 238 998 109 47 044 683 730 0 015 GOOD 0 8
326. on please refer to the TTF F and Satellite Acquisition section of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html 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 303 Abbreviated ASCII Syntax Message ID 377 SETAPPROXPOS lat lon height 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 Lat 90 degrees Approximate latitude Double 8 H 3 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 0 120 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 53 SETAPPROXTIME This command sets an approximate time in the receiver The receiver will use this time as a system time until a GPS co
327. on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 15 Output port Enum 4 H COM Serial Port Identifiers on Page 60 3 message Max 100 character ASCII data to send String Vari Variable string max 100 able a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 117 Chapter 2 Commands Scenario Assume that you are operating receivers as base and rover stations It could also be assumed that the base station is unattended but operational and you wish to control it from the rover station From the rover station you could establish the data link and command the base station receiver to send differential corrections gt RTCAOBS data log __my e COMI log com 1 tcaobs onime 5 COM 1 COM 2 COM 2 interfacemode com1 rtca none send com1 log com1 rtcaobs ontime 5 as Ny L_ Serial Cables _f s Host PC Rover Base station is commanding Rover station to send RTCAOBS log Host PC Base Operational with position fixed Figure 5 Using the SEND Command 118 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 51 SENDHEX This command is like the SEND command except that it is used to send non printable characters expressed as hexa
328. ong 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 76 0 FINESTEERING 1263 240240 111 00000000 ec21 1522 2 142041921615601e 08 7 450580596923827e 09 1 192092895507812e 07 0 000000000000000e 000 1 228800000000000e 05 0 000000000000000e 000 2 621440000000000e 05 1 966080000000000e 05 1263 405504 1 3969838619232178e 08 3 641531521e 14 1246 5 13 13 0 559e0e85 202 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 31 LBANDINFO L Band Configuration Information This log outputs configuration information for an L Band service In the case of using the free CDGPS service no subscription is required and therefore the subscription fields will report an UNKNOWN subscription status See also the examples on the next page MX 1 In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume 1 of this manual set Chapter 3 2 The OMNIINF
329. ong with a zone letter of and a zone number of 0 so that it is obvious that the data in the log is unusable Recommended Input log bestutma ontime 1 ASCII Example BESTUTMA COM1 0 78 0 FINESTEERING 1317 400258 000 00000000 ef8c 1855 SOL_COMPUTED NARROW_INT 11 U 5666613 8767 706904 8008 1059 3900 16 2613 WGS84 0 0122 0 0109 0 0129 AAAA 2 000 0 000 8 6 6 6 0 0 0 0 73db7bac 162 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 5 BESTVEL Best Available Velocity 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 139 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
330. ontains the command name H 0 or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 5 on Page Port to which log is being sent Enum 4 H 18 decimal values default THISPORT greater than 16 may be used 3 message Message N A Message Name of log to be disabled ULong 4 H 4 Name Table 39 UNLOG Command Binary Format Field Binary sa Field Binary Binary REA Name Value Description 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 on Page 18 decimal Port to which log is being Enum 4 H values greater than 16 may be used sent default THISPORT 3 message Any valid message ID Message ID of log to output UShort 2 H 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 on Page 20 0 Original Message 1 Response Message 5 Reserved Char 1 H 7 Input Example unlog coml bestposa unlog bestposa OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 129 Chapter 2 Commands 2 6 63 UNLOGALL If port is specified this command disables all logs on the specified port only All other ports are unaffected If port is not specified this command defaults to the ALLPORTS setting Abbreviated ASCII Syntax
331. ormation Parameters on Page 65 9 lat o Latitude standard deviation Float 4 H 40 10 lon o 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 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 ASCH only 158 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log bestposa ontime 1 See Section 2 1 Command Formats on Page 26 for more examples of log requests ASCII Example BESTPOSA COM1 0 77 0 FINESTEERING 1263 238037 000 00000000 4ca6 1522 SOL_COMPUTED NARROW_INT 51 11633810554 114 03839550586 1048 2343 16 2711 WGS84 0 0087 0 0085 0 0145 AAAA 1 000 0 000 8 7 7 7 0 0 0 0 212063e0 Table 47 Position or Velocity Type Type binary Type ASCII Description 0 NONE No solution 1 FIXEDPOS Position has been fixed by the
332. ort 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 Continued on Page 31 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 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 CLOCKOFFSET Adjust for antenna RF cable delay in PPS output EXTERNALCLOCK Set the parameters for an external clock SETAPPROXTIME Set an approximate time Table 9 OEM4 Family Commands in Alphabetical Order Command Message ID Description Syntax ADJUST1PPS 429 Adjust the receiver clock adjustl pps 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 Assign all satellite channels to assignall
333. osition Asynch MATCHEDXYZ Cartesian coordinates computed position data Asynch MARKPOS Position at time of mark input event Asynch MARK2POS MARKTIME Time of mark input event Asynch MARK2TIME OMNIHPPOS OmniSTAR HP position data Synch Continued on Page 138 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 137 Chapter 3 138 Data Logs POSITION PARAMETERS AND SOLUTION FILTERING CONTROL Logs Descriptions Type 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 measurements This provides the highest accuracy solution possible at the expense of some latency which is affected primarily by the speed of the differential data link The MATCHEDPOS log contains the matched RTK solution and can be generated for each processed set of base station observations The RTKDATA log provides additional information about the matched RTK solution The Low Latency RTK position is computed from the latest local observations and extrapolated base station observations This supplies a valid RTK position with the lowest latency possible at the expense of some accuracy The degradation in accuracy is reflected in the standard devi
334. our 0 23 Uchar 1 H 34 10 utc min UTC minute 0 59 Uchar 1 H 35 11 utc millisec UTC millisecond 0 60999 b 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 a If UTC time is unknown the values for month and day will be 0 b Maximum of 60999 when leap second is applied Recommended Input log timea ontime 1 ASCII Example TIMEA COM1 0 63 0 FINESTEERING 1263 252384 000 00000000 9924 1522 VALID 5 405211352e 09 0 000000103 13 00000000175 2004 3 23 22 6 11000 VALID 33e45c7b OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 305 Chapter 3 DataLogs 3 4 91 TIMESYNC Synchronize Time Between GPS Receivers 306 The TIMES YNC log is used in conjunction with the ADJUSTIPPS command see Page 42 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 PPS event See Figure 1 IPPS Alignment on Page 42 for an illustration Refer also to the Transfer Time Between Receivers section in Volume 1 of this manual set Message ID 492 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 week GPS week number Ulong 4 H 3 mseconds Number of milliseconds in
335. ous behavior brought about by outages in differential corrections A differential age of 0 indicates that no differential correction was used With the system operating in an RTK mode this log will reflect the latest low latency solution for up to 60 seconds after reception of the last base station observations After this 60 second period the position reverts to the best solution available 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 69 See also the table footnote for position logs on Page 138 as well as the MATCHEDPOS PSRPOS and RTKPOS logs on Pages 213 227 and 287 respectively Message ID 42 Log Type Synch Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H 3 pos type Position type see Table 47 Position or Velocity Type on Enum 4 H 4 Page 159 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid and the Float 4 H 32 ellipsoid m of the chosen datum 8 datum id Datum ID number see Chapter 2 Table 20 Datum Enum 4 H 36 Transf
336. ppler 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 the filter by requesting the BESTX YZ 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 Message ID 243 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 48 Solution Status on Page 160 Enum 4 H 3 pos type Position type see Table 47 Position or Velocity Type on Enum 4 H 4 Page 159 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 Xo Standard deviation of
337. put Example FRESET COMMAND lt FRESET STANDARD which is also the default causes any commands ephemeris GPS almanac and SBAS almanac data COMMAND GPSALMANAC GPSEPHEM and SBASALMANAC in Table 26 previously saved to NVM to be erased Table 26 FRESET Target Binary ASCII Description 0 STANDARD Resets commands ephemeris and almanac default Also resets all L Band related data except for the subscription information 1 COMMAND Resets the stored commands saved configuration 2 GPSALMANAC Resets the stored almanac 3 GPSEPHEM Resets stored ephemeris 5 MODEL Resets the currently selected model 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST_POSITION Resets the position using the last stored position OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 83 Chapter 2 Commands 2 6 25 GGAQUALITY This command allows you to customize the NMEA GPGGA GPS quality indicator See also the GPGGA log on Page 184 Abbreviated ASCII Syntax Message ID 20 GGAQUALITY entries pos type qual1 pos type2 qual2 ASCII Binary Binary Binary 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 Description Value Value 2 entr
338. r 55 74 169 output pulse 81 overload 90 P parity 154 224 232 240 PASSAUX 222 PASSCOM x 222 pass through logs 222 PASSUSBx 222 PDOP see dilution of precision perigee 154 period 90 92 208 209 perpendicular distance 122 218 persistence UTM 133 phase lock loop PLL 235 298 PLL see phase lock loop Index polled logs 136 ports ascii header 15 COM 18 59 60 90 92 117 300 communication 16 configuration 27 59 181 number of interrupts 224 output 90 92 208 209 pass through 222 receiver status 296 save configurations 114 serial 88 224 specify serial 87 statistics 137 status 224 301 unlog 130 PORTSTATS 224 position 3 D 226 accuracy 77 106 at time of mark 210 averaging 30 100 156 base station 140 246 best 158 161 165 284 commands 28 current 217 218 datum 64 fix 28 79 logs 137 139 pseudorange 140 227 solution 73 226 time matched 213 215 time out 101 type 210 xyz coordinates 165 168 215 230 291 POSTIMEOUT 101 power 46 308 PPSCONTROL 102 prerequisites 11 processing 15 17 141 232 pseudorange corrections 78 error estimate 232 jump 55 232 measurement 193 234 237 238 noise statistics 193 position 139 140 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 353 Index solutions 78 158 tracking status 307 velocity 140 228 PSRDIFFSOURCE 103 PSRPOS 227 PSRVEL 228 PSRXYZ 230
339. r 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 Inthe binary log case an additional 1 byte of padding is added to maintain 4 byte alignment OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 251 Chapter 3 DataLogs Recommended Input log rtcadataobsa ontime 2 ASCII Example RTCADATAOBSA COM1 0 79 0 F INESTEERING 1263 327528 000 80180000 9025 1516 78 1 2 041825800000000e 07 528 000000000 0 9 17 3 3 0 600000000 2 750000000 3 914000034 12 729000092 TRUE 0 10 3 3 545967 000000000 3 000000000 11 930000305 39 618000031 T 30 3 3 397982 600000000 3 500000000 1 567999959 4 127999783 TRUE 24 3 3 1612129 200000000 3 750000000 2 221999884 9 527999878 TR 5 3 3 2635047 200000000 5 750000000 13 055999756 42 936000824 TRUE 25 3 3 4391931 000000000 5 500000000 2 125999928 7 359000206 TRUE 0 13 3 3 4186734 000000000 5 750000000 2 332000017 7 49700
340. r Log header H 0 2 prn Source PRN of message Ulong 4 H 3 vel Velocity code flag 0 or 1 Ulong 4 H 4 4 mask1 Index into PRN mask Type 1 Ulong 4 H 8 5 iodel Issue of ephemeris data Ulong 4 H 12 6 dx1 Delta x ECEF Long 4 H 16 0 125 7 dyl Delta y ECEF Long 4 H 20 0 125 8 dz1 Delta z ECEF Long 4 H 24 0 125 9 ae Delta a clock offset Long 4 H 28 gee 10 mask2 Second index into PRN mask Type 1 Ulong 4 H 32 Dummy value when velocity code 1 11 iode2 Second issue of ephemeris data Ulong 4 H 36 Dummy value when velocity code 1 12 ddx Delta delta x ECEF when velocity Long 4 H 40 gl code 1 Delta x dx when velocity code 0 13 ddy Delta delta y ECEF when velocity Long 4 H 44 gil code 1 Delta y dy when velocity code 0 14 ddz Delta delta z ECEF when velocity Long 4 H 48 ll code 1 Delta z dz when velocity code 0 15 all Delta af clock offset when velocity Long 4 H 52 32 code 1 Delta af clock offset when velocity code 0 16 to Applicable time of day Ulong 4 H 56 16 Dummy value when velocity code 0 17 iodp Issue of PRN mask data Ulong 4 H 60 18 corr spare Spare value when velocity code 0 Ulong 4 H 64 Dummy value when velocity code 1 19 vel Velocity code flag 0 or 1 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 dz1 Delt
341. r both pseudorange and differential corrections this command must be properly initialized before the receiver can operate as a GPS base station Once initialized the receiver 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 receiver differential corrections data log formats RTCM RTCMV3 RTCA or CMR See the OEM4 Family User Manual Volume 1 for information on using the receiver for differential applications The values entered into the FIX POSITION command should reflect the precise position of the base station antenna phase centre Any errors in the FIX POSITION coordinates will directly bias the corrections calculated by the base receiver The receiver performs all internal computations based on WGS84 and the datum command is defaulted as such The datum in which you choose to operate by changing the DATUM command 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 PENDING 18 There is not enough measurements available to verify the FIX POSITION entry INVALID_FIX 19 The errors in the FIX POSITION entry are too large OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 79 Chap
342. r 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 35 Carrier phase ambiguities type Enum 4 H ASCII Example RTKSOLUTION L1_FLOAT Table 35 Type of Carrier Phase Ambiguity ASCII Binary Description AUTO 0 Fixed integer ambiguities for RT 2 L1_FLOAT for RT 20 L1_FLOAT 1 LI 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 Family Firmware Version 2 300 Command and Log Reference Rev 16 111 Chapter 2 Commands 2 6 46 RTKSOURCE RTK 112 This command lets you identify from which base station to accept RTK RTCM RTCMV3 RTCA CMR and OmniSTAR H
343. r use of the free CDGPS service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in Volume I of this manual set 2 The OMNISTAT log is still available to OmniSTAR users but will be made obsolete in a future firmware release Please use the LBANDSTAT log instead 3 Changes to the status fields of the LBANDSTAT log also apply to the obsolete OMNISTAT log Message ID 731 Log Type Asynch peg Field Type Data Description Format BV 4 SH 1 header Log header H 0 2 freq Measured frequency of L Band signal Hz Ulong 4 H 3 C No Carrier to noise density ratio Float 4 H 4 C N 10 log10 S N0 dB Hz 4 locktime Number of seconds of continuous tracking no cycle slipping Float 4 H 8 5 Reserved Float 4 H 12 6 tracking Tracking status of L Band signal see Table 56 on Page 206 Hex 2 H 16 7 VBS status Status word for OmniSTAR VBS see Table 57 on Page 206 Hex 2 H 20 8 bytes Number of bytes fed to the standard process Ulong 4 H 24 9 good dgps Number of standard updates Ulong 4 H 28 10 bad data Number of missing standard updates Ulong 4 H 32 11 Reserved the hp status 1 field is obsolete and has been replaced by Hex 2 H 36 the longer OmniSTAR HP Status field The shorter legacy status here is maintained for backward compatibility 12 hp status 2 Additional status
344. rack 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 field 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 218 Recommended Input log navigatea ontime 1 ASCII Example NAVIGATEA COM1 0 75 0 FINESTEERING 1263 241580 000 00000000 aece 1522 SOL_COMPUTED NARROW_INT SOL_COMPUTED NOVELOCITY 5745 2403 168 674455 5745 2403 125 2312 9999 0 000 4bef7c5d OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 39 NMEA Stand
345. racking Example on Page 235 Conversions and their binary or decimal results are always read from right to left For a complete list of hexadecimal binary and decimal equivalents please refer to the Unit Conversion section of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html 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 OEM4 G2 and OEM4 G2L 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 G2L or OEM4 G2 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 DO 229B Appendix A Wide Area Augmentation System Signal Specification for detail on the SBAS logs What s New in Firmware Version 2 300 Since Version 2 210 12 1 RTCM Version 3 0 logs are added RTCM1001 RTCM1002 RTCM1003 RTCM1004 RTCM1005 and RTCM1006 Each has its own data message see the RTCMDATA 100x messages and the RTCMV3 logs starting on Page 272 The CMRPLUS log is new see Page 180 The Serial Port Interface Modes on Page 88 and DGPS Type on Page 104 tables are
346. rd 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 37 Mask Types ASCII Binary Description PRIORITY 0 Replace the Priority mask SET 1 Replace the Set mask CLEAR 2 Replace the Clear mask OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 125 Chapter 2 Commands 2 6 57 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 Type Value Value Binary Binary Binary Format Bytes Offset Description 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 channel 0 11 Reset SV channel to automatic search ULong 4 H and acquisition mode state See Table 12 Channel Set the SV channel state currently Enum 4 H 4 State on Page 47 ignored Input Example unassign 11 2 6 58 UNASSIGNALL 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 UNASS
347. re7 Ulong 4 H 80 23 udre8 Ulong 4 H 84 24 udre9 Ulong 4 H 88 25 udre10 Ulong 4 H 92 26 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 96 27 CR LF Sentence terminator ASCII only 338 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log WAAS32 onchanged ASCII Example WAAS32A COM2 0 70 5 FINE 1295 153284 000 00000240 18e9 34461 209 0 0 8097 0 0 0 0 947 0 2128 0 2570 14 0 14 14 14 14 0 14 0 14 0 58778ae5 Table 91 Evaluation of CDGPS UDREI UDREI UDRE meters 0 0 01 1 0 02 2 0 03 3 0 05 4 0 10 5 0 15 6 0 20 7 0 25 8 0 30 9 0 35 10 0 40 11 0 45 12 0 50 13 0 60 14 Not Monitored 15 Do Not Use OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 339 Chapter 3 DataLogs 3 4 113 WAAS33 CDGPS Fast Correction Slots 11 21 CDGPS WAAS33 are fast corrections for slots 11 21 in the mask for CDGPS Message ID 697 Log Type Asynch gt Puen Binar Binar f Field Field type Data Description Format Bytes otiso Scaling 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 iodp Issue of PRN mask data Ulong 4 H 4 4 prell pre i Long 4 H 8 5 prc12 Long 4 H 12 ge lie a a a 7 prcl4 Lon
348. rent 218 data 138 196 over ground 163 196 200 228 289 SPS see standard positioning service standard positioning service SPS 154 239 standards and references 154 239 static mode 86 109 215 station ID 71 246 stationary HP receiver 86 status arrival 195 base station health 246 channel tracking 233 234 237 238 307 clock model 212 COM ports 224 commands 27 data 190 event 301 flag 227 296 indicators 158 163 165 230 291 mask 125 receiver 15 90 137 296 299 self test 137 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 355 Index solution 210 time 15 velocity 165 289 word 301 STATUSCONHIG 125 steer clock 55 time 21 22 subframe 141 154 239 240 synchronous logs 136 T TIME 304 time almanac reference 239 anomaly 154 clock adjustments 55 coarse fine 21 CPU 90 data 305 delay 68 dilution of precision 226 ephemeris delay 68 fine 22 GPS 169 305 improve acquisition 77 interval 91 92 230 latched 210 limit 100 logs 140 305 matched position 140 215 of ephemeris 240 of mark in event 212 of position fix 190 precision 21 stamp 23 215 status 15 21 22 steering 21 55 tag 230 246 291 timeout 70 UTC 184 186 188 201 305 validity 21 TIMESYNC 306 track made good 196 200 over ground 163 228 289 tracking assign 47 automatic 126 channel 232 307 continuous 205 234 238 307 cut
349. rential GPS data in seconds 1 XX 15 stn ID Differential base station ID 0000 1023 XXXX 5 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 184 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log gpgga ontime 1 Example SGPGGA 202134 00 5106 9847 N 11402 2986 W 1 10 1 0 1062 22 M 16 27 M 61 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 185 Chapter 3 Data Logs 3 4 18 GPGGALONG Fix Data Extra Precision and Undulation NMEA Time position undulation and fix related data of the GPS receiver This is output as a GPGGA log but the GPGGALONG log differs from the normal GPGGA log by its extra precision See also Table 53 Position Precision of NMEA Logs on Page 190 This log will output null data in all fields until a valid almanac is obtained Message ID 521 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 202126 00 seconds 3 lat Latitude DDmm mm M 5106 9847029 4 lat dir Latitude direction N North S South a N 5 lon Longitude DDDmm mm yyyyy yy 11402 29
350. riangle Ulong 4 H 48 1 square variable Next reg entry H 32 reg x 20 variable to 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 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 337 Chapter 3 DataLogs 3 4 112 WAAS32 CDGPS Fast Correction Slots 0 10 CDGPS WAAS32 are fast corrections for slots 0 10 in the mask of WAAS1 for CDGPS see Page 314 Message ID 696 Log Type Asynch Field Field type Data Description Format Binary a Binary Scaling Bytes Offset 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 iodp Issue of PRN mask data Ulong 4 H 4 4 preO pre i Long 4 H 8 z m Fast tions 2048 to 2047 fi ze i a 6 pre2 ie E E 0 10 Long 4 aea E 7 pre3 Long 4 H 20 8 pre4 Long 4 H 24 9 pres Long 4 H 28 10 prc6 Long 4 H 32 11 prce7 Long 4 H 36 12 prc8 Long 4 H 40 13 pred Long 4 H 44 14 prc10 Long 4 H 48 15 udreO udre i Ulong 4 H 52 See Table 91 16 udrel o Ulong 4 H 56 Evaluation of RS SE a a 18 udre3 Ulong 4 H 64 Page 339 19 udre4 Ulong 4 H 68 20 udre5 Ulong 4 H 72 21 udre6 Ulong 4 H 76 22 ud
351. rity of both the transmit and receiving ends Characters may be dropped when the CPU is overloaded Message ID 72 Log Type Polled Field Field type Data Description Format ener Binan yP p Bytes Offset header Log header H 0 port Number of ports with information to follow Long 4 H 3 port Serial port identifier see Table 15 COM Serial Enum 4 H 4 Port Identifiers on Page 60 4 rx chars Total number of characters received through this Ulong 4 H 8 port 5 tx chars Total number of characters transmitted through Ulong 4 H 12 this port 6 acc rx chars Total number of accepted characters received Ulong 4 H 16 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 9 breaks Number of breaks Ulong 4 H 28 This field does not apply for a USB port and will always be set to 0 for USB 10 par err Number of parity errors Ulong 4 H 32 This field does not apply for a USB port and will always be set to 0 for USB 11 fram err Number of framing errors Ulong 4 H 36 This field does not apply for a USB port and will always be set to 0 for USB 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 OEM4 Family Firmware Version 2
352. rmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 3 message Any valid message ID Message ID of log to output UShort H 4 message Bits 0 4 Reserved Message type of log Char H 6 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit7 Response Bit see Section 1 2 on Page 20 0 Original Message 1 Response Message 5 Reserved Char H 7 trigger 0 ONNEW Does not output current Enum H 8 message but outputs when the message is updated not necessarily changed 1 ONCHANGED Outputs the current message and then continue to output when the message is changed 2 ONTIME Output on a time interval 3 ONNEXT Output only the next message 4 ONCE Output only the current message 5 ONMARK Output when a pulse is detected on the mark 1 input MK1I 7 period Any positive double value larger Log period for ONTIME Double H 12 than the receiver s minimum raw trigger in seconds gt measurement period 8 offset Any positive double value smaller Offset for period ONTIME Double H 20 than the period 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 by Enum H 28 the UNLOGALL command 1 HOLD Prevent log from being removed by the default UNLOGALL command a Refer to the Technical Spec
353. rom the time to give improved results 5 age Differential age in seconds Float 4 H 12 6 hor spd Horizontal speed over ground in meters per second Double 8 H 16 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 ASCH only OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 163 Chapter 3 DataLogs Recommended Input log bestvela ontime 1 ASCII Example BESTVELA COM1 0 70 0 FINESTEERING 1263 238111 000 00000000 827b 1522 SOL_COMPUTED NARROW_INT 0 250 1 000 0 0026 82 138071 0 0077 0 0 0e7a2d7e 164 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 6 BESTXYZ Chapter 3 Best Available Cartesian Position and Velocity This log contains the receiver s best available position and velocity in ECEF coordinates The position and velocity status fields indicate whether or not the corresponding data is valid See Figure 8 Page 167 for a definition of the ECEF coordinates See also the BESTPOS and BESTVEL logs on Pages 158 and 161 respectively lt These q
354. rrections from If you enter a FIXPOSDATUM command see Page 80 the FIX command is then issued internally with the FIXPOSDATUM command values translated to WGS84 It is the FIX command that appears in the RXCONFIG log If the FIX or the FXXPOSDATUM command are used their newest values overwrite the internal FIX values lt 1 NovAtel strongly recommends that the FIX POSITION entered be good to within a few meters This level of accuracy can be obtained from a receiver using single point positioning once 5 or 6 satellites are being tracked 2 Any setting other than FIX POSITION will disable output of differential corrections unless the MOVINGBASESTATION command is set to ENABLE see also Page 98 Error checking is done on the entered fixed position If less than 3 measurements are available the solution status indicates PENDING While the status is PENDING the fixed position value is not used internally for example for updating the clock model or controlling the satellite signal search Once 3 or more measurements are available the error checking is performed If the error check passes the solution status changes to SOL_COMPUTED and the fixed position is used internally At the first level of error when the fixed position is off by approximately 25 50 meters the output position log indicates INTEGRITY_WARNING in the solution status field but the fixed position value is still used by the internal computations If the error reaches the
355. rrent COM port virtual port 31 XCOM1 1a0 416 Virtual COM1 port virtual port 0 XCOM1_1 lal 417 Virtual COM1 port virtual port 1 XCOM1_31 1bf 447 Virtual COM1 port virtual port 31 XCOM2 2a0 672 Virtual COM2 port virtual port 0 Continued on Page 19 18 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Messages Chapter 1 ASCII Port Hex Port Decimal Port ae Name Value Value 2 Description XCOM2_1 2al 673 Virtual COM2 port virtual port 1 XCOM2_31 2bf 703 Virtual COM2 port virtual port 31 USB1 5a0 1440 USB port 1 virtual port 0 USB1_1 Sal 1441 USB port 1 virtual port 1 USB1_31 5bf 1471 USB port 1 virtual port 31 USB2 6a0 1696 USB port 2 virtual port 0 USB2_31 6bf 1727 USB port 2 virtual port 31 USB3 7a0 1952 USB port 3 virtual port 0 USB3_31 Tot 1983 USB port 3 virtual port 31 AUX 8a0 2208 AUX port virtual port 0 AUX_31 8bf 2239 AUX port virtual port 31 p a Decimal port values 0 through 16 are only available to the UNLOGALL command see Page 130 and cannot be used in the UNLOG command Page 129 or in the binary message header see Table 4 on Page 17 b The AUX port is only available on OEM4 G2 based hardware Rev 3 and higher and DL 4 products I COM1_ALL COM2_ALL COM3_ALL THISPORT_ALL ALL_PORTS USB1_ALL USB2_ALL USB3_ALL and AUX_ALL are only valid for the UNLOGALL command OEM4 Family Firmware Versio
356. ry respectively 2 angle 90 0 degrees Elevation cut off angle relative to Float 4 H horizon ASCII Example ECUTOFF 10 0 Db 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 110 3 This command does not affect the tracking of SBAS satellites OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 73 Chapter 2 Commands 2 6 20 EXTERNALCLOCK Overview The EXTERNALCLOCK command allows the OEM4 G2L or OEM4 G72 to operate with an optional external oscillator You are able to optimally adjust the clock model parameters of these receivers for various types of external clocks lt 1 This command will affect the interpretation of the CLOCKMODEL log 2 If the EXTERNALCLOCK command is enabled and set for an external clock TCXO OCXO RUBIDIUM CESIUM or USER and the CLOCKADJUST command see Page 55 is ENABLED then the clock steering process will take over the VARF output pins and may conflict with a previously entered FREQUENCYOUT command see Page amp 1 If clocksteering is not used with the external oscillator the clocksteering process must be disabled by using the CLOCKADJ
357. s see Table 48 Solution Status on Page 160 Enum 4 H 3 pos type Position type see Table 47 Position or Velocity Type on Enum 4 H 4 Page 159 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid and the Float 4 H 32 WGS84 ellipsoid m 8 datum id Datum ID number see Chapter 2 Table 20 Datum Enum 4 H 36 Transformation Parameters on Page 65 9 lat o Latitude standard deviation Float 4 H 40 10 lon o 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 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 ASCH only 220 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 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 1163
358. s 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 Temperature status as compared against acceptable OK Error limits 10 0x00000400 MINOS4 status OK Error 11 0x00000800 PLL RFI 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 Software resource limit OK Error 17 0x00020000 Reserved 18 0x00040000 19 0x00080000 N5 20 0x00100000 Remote loading has begun No Yes 21 0x00200000 Export restriction OK Error 22 0x00400000 Reserved 23 0x00800000 N6 24 0x01000000 25 0x02000000 26 0x04000000 7 0x08000000 N7 28 0x 10000000 29 0x20000000 30 0x40000000 31 0x80000000 Component hardware failure OK Error a RAM failure on an OEM4 G2 G2L may also be indicated by a flashing red LED 298 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Table 81 Receiver Status Chapter 3 Nibble Bit Mask Description 0 0x00000001 Error flag see Table 80 Receiver No error Error Error on Page 298 NO 1 0x00000002 Temperature status Within spe
359. sages as Type 2 messages IGNOREZERO 2 Receiver will ignore the usual interpretation of Type 0 messages as do not use and continue Table 36 System Types ASCII Binary Description NONE 0 Don t use any SBAS satellites AUTO 1 Automatically determine satellite system to use default ANY 2 Use any and all SBAS satellites found WAAS 3 Use only WAAS satellites EGNOS 4 Use only EGNOS satellites MSAS 5 Use only MSAS satellites Abbreviated ASCII Example 1 SBASCONTROL ENABLE WAAS 0 ZEROTOTWO 116 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 50 SEND This command is used to send ASCII printable data from any of the COM or USB ports to a specified communications port This is a one time command therefore the data message must be preceded by the SEND command and followed by lt CR gt each time you wish to send data If the data string contains delimiters that is spaces commas tabs and so on the entire string must be contained within double quotation marks Carriage return and line feed characters for example 0x0D 0x0A are appended to the sent ASCII data Abbreviated ASCII Syntax Message ID 177 SEND port data Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Description Type Value Value 1 header This field contains the command H 0 name or the message header depending
360. scillator 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 5 slope This value should correspond to how much the clock drift will change with a 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 171 This process should be repeated until the measured slope value remains constant less than a 5 change Float H 12 6 bandwidth This is 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 ASCII Example CLOCKC
361. scription Format Binary Binary Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H 3 pos type Position type see Table 47 Position or Velocity Type on Enum 4 H 4 Page 159 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid and the Float 4 H 32 WGS84 ellipsoid m 8 datum id Datum ID number see Chapter 2 Table 20 Datum Enum 4 H 36 Transformation Parameters on Page 65 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 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 Uchar 1 H 68 20 Uchar 1 H 69 Reserved 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 Family Firmware Version 2 300 Command and Log Reference Rev 16 287 Chapter 3 DataLogs Recommended Input log rtkposa ontime 1 ASCII Exampl
362. second level a few kilometers the receiver does not use the fixed position at all and indicates INVALID_FIX in the solution status Note that a fixed position obtained from the POSAVE function is treated the same way in the error checking as one entered manually Abbreviated ASCII Syntax Message ID 44 FIX type param1 param2 param3 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 ASCH ASCII or binary respectively 2 type See Table 25 on Fix type Enum 4 H Page 78 3 param1 See Table 24 Parameter 1 Double 8 H 4 4 param2 Parameter 2 Double 8 H 12 5 param3 Parameter 3 Double 8 H 20 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 77 Chapter 2 Commands ASCII Example FIX HEIGHT 4 567 Table 24 FIX Parameters ASCII Type Name Parameter 1 Parameter 2 Parameter 3 AUTO Not used Not used Not used HEIGHT Ellipsoidal MSL height Not used Not used 1000 to 20000000 m NONE Not used Not used Not used POSITION Lat 90 to 90 deg Lon 360 to 360 deg Mean sea level MSL height 1000 to 20000000 m a Fora discussion on height refer to the GPS Overview chapter of the GPS Reference Manual available on our website at http www novatel com Downloads doc
363. set Receiver status event set mask which can be ULong 4 H 16 set using the STATUSCONFIG command see Page 125 Continued on Page 297 296 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 7 rxstat clear Receiver status event clear mask which can ULong 4 H 20 be set using the STATUSCONFIG command see Page 125 8 aux stat Auxiliary 1 status word see Table 82 ULong 4 H 24 Auxiliary I Status on Page 300 9 aux stat pri Auxiliary 1 status priority mask which can ULong 4 H 28 be set using the STATUSCONFIG command see Page 125 10 aux stat set Auxiliary 1 status event set mask which can ULong 4 H 32 be set using the STATUSCONFIG command see Page 125 11 auxIstat clear Auxiliary 1 status event clear mask which ULong 4 H 36 can be set using the STATUSCONFIG command see Page 125 12 aux2stat Auxiliary 2 status word see Table 83 ULong 4 H 40 Auxiliary 2 Status on Page 300 13 aux2stat pri Auxiliary 2 status priority mask which can ULong 4 H 44 be set using the STATUSCONFIG command see Page 125 14 aux2stat set Auxiliary 2 status event set mask which can ULong 4 H 48 be set using the STATUSCONFIG command 15 aux2stat clear Auxiliary 2 status event clear mask which ULong 4 H 52 can be set using the STATUSCONFIG command
364. 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 To find out the time of the last PPS output signal use the TIME log onnew Chapter 3 Typically you will intercept the 1PPS output signal using hardware with an accuracy of about 50 ns and then wait a few milliseconds to receive the TIMEA B output message over the serial port to find out what was the exact time of the last 1PPS output Message ID 101 Log Type Synch Field Field type Data Description Format Binary Binary yP p Bytes Offset 1 header Log header H 0 2 clock status Clock model status not including current Enum 4 H measurement data see Table 49 on Page 169 3 offset Receiver clock offset in seconds from GPS time A Double 8 H 4 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 8 H 12 5 utc offset The offset of GPS time from UTC time computed Double 8 H 20 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 7 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 h
365. siisa oana aeina aeaa aaa aaaea atana 235 TRACKING Stale iisa sc e225 son a a a A aAA aN a aa a a a 235 Correlator Spa CNA e ate ian n aaa eee hese ar aE aaa iaaa aaen 235 Range Record Format RANGECMP only ssessssesssssssssrrrssrnsssrsssrrsrninsrnnssrnsssrrsssns 237 B se Station Status obiisse aar raa aae ar aa ara Aaa raa a araa beh aaaea tees 247 Base Station Type neyo aa a aea a aa Aea a a Aa a AN 247 RTCM1819 Data Quality INdiCAtOr eee eeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeeeeeaeeseeeeeeeeaeetees 263 RTCM1819 Smoothing Interval cccceeceeeeeeeeeeeeeeeeeee cease eeeeeeesaeeeseeeeseeeeeeeeeeee 264 RTCM1819 Multipath Indicator c cccecccceceeceeeeeeeeeeeeeeeeceeeeseseeseeeeeeeaaeeseeeeeeenaeeeeaes 264 RTCM2021 Data Quality INGICAtOL cece ceeeceeeeeeeeeeeeeeceeeeeeaeeeeeaeeeeeaaeeseeeeeeeeaeeeees 268 RTCM2021 Multipath Indicator ccecccceceeeeceeeeeeeeeeeeeeeeeeeeaeeseceeeeeaeeseieeeeeeaeeenaes 268 Carrier Smoothing Interval of Code Phase ccscceeceeeceeeseeeeeeeeeeeeaeeseeeeeeeeneeeeeaees 274 Lock Time IMGICATOR mue urto ir a E r E ae E E ih eeveteetdad 274 Searcher pE a a a a ea a a aa AE a AE 286 Ambiguity Type oot wads Sdn EAE KEA ENA A ENE 286 PIR Informatio mises esate ces hes EE E EAA A A 286 Receiver Hardware Parameters ccccccccceeecccceeeeeeeeceeeeeneececeeenseeeeceeeneeseeeeenneneaes 295 Recevar EMO eane r hiss bectertata E A E A R 298 Receiver Statusit es Sty aaa aa aE a aaa
366. solution will be computed for up to 60 seconds after reception of the last base station observation The degradation in accuracy due to differential age is reflected in the standard deviation fields and is summarized in the GPS Overview section of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html See also the DGPSTIMEOUT command on Page 70 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 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 165 and 215 respectively Message ID 244 Log Type Synch Field Field type Data Description Format cary Binary Bytes Offset 1 header Log header H 0 2
367. ssage may or may not come when SBAS is in testing mode see the SBASCONTROL command for details Message ID 296 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 iodf Issue of fast corrections data Ulong 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 8 5 preO pre i Long 4 H 12 Fast tions 2048 to 2047 fi ane es 7 prod fae Minti 0 1 Long 4 H 20 8 pre3 Long 4 H 24 9 pre4 Long 4 H 28 10 pres Long 4 H 32 11 prc6 Long 4 H 36 12 pre7 Long 4 H 40 13 prc8 Long 4 H 44 14 pred Long 4 H 48 15 prc10 Long 4 H 52 16 prell Long 4 H 56 17 pre12 Long 4 H 60 18 udreO udre i Ulong 4 H 64 See Table 90 19 udrel i 1 Ulong 4 H 68 20 tea ties EE E a aD 21 udre3 Ulong 4 H 76 22 udre4 Ulong 4 H 80 23 udre5 Ulong 4 H 84 24 udre6 Ulong 4 H 88 25 udre7 Ulong 4 H 92 26 udre8 Ulong 4 H 96 27 udre9 Ulong 4 H 100 28 udre10 Ulong 4 H 104 29 udre11 Ulong 4 H 108 30 udre12 Ulong 4 H 112 31 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 116 32 CR LF Sentence terminator ASCII only OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16
368. ssed 0 31 Uchar 1 H 9 7 273 for details Smoothing indicator Uchar 1 H 10 8 Smoothing interval see Table 74 on Page 274 Uchar 1 H 11 9 prns Number of PRNs with information to follow Ulong 4 H 12 10 prni Satellite PRN number Uchar 1 H 16 11 Licode ind GPS L1 code indicator Uchar 1 H 17 0 C A code 1 P Y code direct 12 Llpsr GPS L1 pseudorange m Ulong 4 H 18 13 L1 phase GPS L1 phaserange pseudorange Long 4 H 22 pseudo Range 262 1435 to 262 1435 m 14 Lllocktime GPS L1 lock time indicator see Table 75 on Page 274 Uchar 1 H 26 ind 15 L2code ind GPS L2 code indicator Uchar 1 H 27 0 C A or L2C code l P Y code direct 2 P Y code cross correlated 3 Correlated P Y 16 L1L2psrdiff GPS L2 L1 pseudorange difference m Short 2 H 28 17 L2phase GPS L2 phaserange L1 pseudorange Long 4 H 30 Ll pseudo Range 262 1435 m to 262 1435 m 18 LIL2 GPS L2 lock time indicator see Table 75 on Page 274 Uchar 24a H 34 locktime ind 19 Next PRN offset H 16 prns x 20 variable XxXxX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCH only a Inthe binary log case an additional byte of padding is added to maintain 4 byte alignment 278 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Recommended Input log rtemdata1003a ontime 7 ASCII Example RTCMDATA1003A COM1 0 79 0 FINESTEERING 1317 239386 000 00180040 a38
369. stn ID Differential base station ID 0000 1023 XXXX Ps 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 188 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Recommended Input log gpggartk ontime 1 Example GPGGA 182053 00 5106 9802878 N 11402 3037361 W 4 07 1 1 1048 237 M 02 AAAA 18 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 189 Chapter 3 DataLogs 3 4 20 GPGLL Geographic Position NMEA Latitude and longitude of present vessel position time of position fix and status Table 53 compares the position precision of selected NMEA logs This log will output null data in all fields until a valid almanac is obtained Message ID 219 Log Type Synch Field Structure Field Description Symbol Example 1 GPGLL Log header GPGLL 2 lat Latitude DDmm mm Mtl 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 utc UTC time of position hours minutes seconds hhmm ss 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 Recommended
370. strain to fixed height or fix type param1 param2 param3 position FIXPOSDATUM 761 Set the position through a position datum lat lon height specified datum FREQUENCYOUT 232 Sets the output pulse train frequencyout switch pulsewidth available on VARF period FRESET 20 Clear almanac model or user freset target configuration data which is stored in NVM and followed by a receiver reset GGAQUALITY 691 Customize the GPGGA GPS ggaquality entries pos type1 qual1 quality indicator pos type2 qual2 HPSEED 782 Specify the seed position hpseed mode lat lon hgt lats lons hgts for OmniSTAR HP datum undulation HPSTATICINIT 780 Set static initialization of hpstaticinit switch OmniSTAR HP INTERFACEMODE 3 Set interface type Receive interfacemode port rxtype txtype Rx Transmit Tx for ports responses LOCKOUT 137 Prevent the receiver 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 MARKCONTROL 614 Control the processing of the markcontrol signal switch polarity mark inputs timebias timeguard Continued on Page 33 32 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 Command Message ID Description Syntax MODEL 22 Switch
371. t 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 see Ulong 4 H 20 REFSTATION on Page 246 8 chars Number of characters to follow Ulong 4 H 24 character Character Char 4a 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 rtcmdatal6a once ASCII Example RTCMDATA16A COM1 0 66 0 FINESTEERING 1117 161024 000 00100020 e639 399 161024000 0 4373 2243048 6958196 6 21 Base station will shut down in 1 hour b6202f15 260 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 69 RTCMDATA1819 Raw Measurements RTK See the chapter on Message Formats in Volume 1 of this manual set for information on RTCM standard logs Chapter 3 Message ID 399 Log Type Synch Field Field type Data Description Format Binary y Binaly Bytes Offset 1 header Log header H 0 2 RTCM header RTCM message type Ulong 4
372. t 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 208 will show all active logs in the receiver beginning with the LOG command The COMCONFIG log see Page 176 will show both the COM and INTERFACEMODE commands parameter settings for all serial ports 3 Request a log of the specific command of interest 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 4 This is very useful for most commands but for commands that are repeated with different parameters for example COM LOG and INTERFACEMODEB this will only show the most recent set of parameters used To see all sets of parameters try method 1 or 2 above OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 26 Commands Chapter 2 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 2 3 Commands by Function Table 8 lists the commands by function while Table 9 on Page 31 is an alphabetical listing of commands repeated in Table 10 on Page 35 with the commands in the order of their message IDs Please see 2 6 Command Reference on Page 42 for a more detailed description of individual comma
373. t is selected is the echo field Placeholder must be inserted for all other fields to use the echo field in this case c The AUX port is only available on OEM4 G2 based hardware Rev 3 and higher and DL 4 products Table 16 Parity Binary ASCII Description 0 N No parity default 1 E Even parity 2 O Odd parity Table 17 Handshaking Binary ASCII Description 0 N No handshaking default 1 XON XON XOFF software handshaking 2 CTS CTS RTS hardware handshaking 60 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands 2 6 11 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 by using the RTS or DTR lines The accuracy of controlling the COM control signals is better than 900 us The other modes are typically used to control custom peripheral devices Also it is possible to communicate with all three serial ports simultaneously using this command Chapter 2 lt If handshaking is disabled any of these modes can be used without affecting regular RS232 communications through the selected COM port However if handshaking is enabled it may conflict with handshaking of the selected COM port causing unexpected results Abbreviated ASCII Syntax COMCONTROL port signal control Field ASCII Binary Message ID 431 Des
374. t latency possible at the expense of some accuracy The degradation in accuracy is reflected in the standard deviation and is summarized in the GPS Overview section of the GPS Reference Manual available on our website at www novatel com 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 60 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 standard deviation fields in the BESTPOS and RTKPOS logs are compared The BESTVEL log contains the low latency RTK velocity when it is valid and as long as the RTK standard deviations are better Otherwise it contains the pseudorange based position In the PSRVEL log the actual speed and direction of the receiver antenna over ground is provided The receiver does not determine the direction a vessel craft or vehicle is pointed heading but rather the direction of motion of the GPS antenna relative to ground Continued on Page 140 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 139 Chapter 3 140 CLOCK INFORMATION STATUS AND TIME Descriptions Data Logs CLOCKMODEL Range bias information Synch CLOCKSTEERING Clock steering status Asynch GPZDA NMEA UTC time and date Synch TIME Receiver time information Synch TIMES
375. t output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result ASCII Example 1 LOG COM1 PASSCOM2A ONNEW PASSCOM2A COM1 0 59 5 COARSESTEERING 1323 144532 877 004c0000 2b46 1874 22 t his is an example of 58de7722 PASSCOM2A COM1 0 59 5 COARSESTEERING 1323 144534 930 00440000 2b46 1874 7 pa sscom dc595769 PASSCOM2A COM1 0 60 0 COARSESTEERING 1323 144540 127 00440000 2b46 1874 32 2 a data input on the com2 port x0d x0a 92de38aa In Example 1 the input string on COM2 was this is an example of passcom2a data input on the com2 port CR LF ASCII Example 2 PASSCOM2A COM1 0 62 5 FINESTEERING 1263 242040 838 00000000 2b46 1522 9 xle xfb xd6 xfe x17 x02 x17 xe2 bef61205 In the example note that is a printable character OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 223 Chapter 3 DataLogs 3 4 42 PORTSTATS Port Statistics 224 This log conveys various status parameters of the receiver s COM ports and if supported USB ports The receiver maintains a running count of a variety of status indicators of the data link This log outputs a report of those indicators Parity and framing errors will occur for COM ports if poor transmission lines are encountered or if there is an incompatibility in the data protocol If errors occur you may need to confirm the bit rate number of data bits number of stop bits and pa
376. t pulse train available on the variable frequency VARF pin The output waveform will be coherent with the 1PPS output see the note and Figure 2 on Page 82 lt If the CLOCKADJUST command is ENABLED see Page 55 and the receiver is configured to use an external reference frequency set in the EXTERNALCLOCK command see Page 74 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 FREQUENCYOUT switch pulsewidth period Field ASCII Binary Binary Format 1 header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field Description Type Value Value Binary Binary Bytes Offset 2 switch DISABLE 0 Disable will cause the output Enum to be fixed low default ENABLE 1 Enables customized frequency output 3 pulse 0 to 262144 Number of 25 ns steps for Ulong width which the output will be high Duty cycle pulsewidth period Must be less than or equal to the period default 0 If pulsewidth is the same as the period the output will be a high DC signal If pulsewidth is 1 2 the period then the output will be a square wave 4 H 4 4 period 0 to 262144 Signal period in 25 ns steps Ulo
377. t receiver time is used The recommended values for the three time fields are 0 0 0 9 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 17 Chapter 1 Messages Table 5 Detailed Serial Port Identifiers ASCII Port Hex Port Decimal Port aan Name Value Value Description NO_PORTS 0 0 No ports specified COM1_ALL 1 1 All virtual ports for COM port 1 COM2_ALL 2 2 All virtual ports for COM port 2 COM3_ALL 3 3 All virtual ports for COM port 3 THISPORT_ALL 6 6 All virtual ports for the current port ALL_PORTS 8 8 All virtual ports for all ports XCOM1_ALL 9 9 All virtual COM1 ports XCOM2_ALL 10 10 All virtual COM2 ports USB1_ALL d 13 All virtual ports for USB port 1 USB2_ALL e 14 All virtual ports for USB port 2 USB3_ALL f 15 All virtual ports for USB port 3 AUX_ALL 10 16 All virtual ports for the AUX port p COM1 20 32 COM port 1 virtual port 0 COM1_1 21 33 COM port 1 virtual port 1 COM1_31 3f 63 COM port 1 virtual port 31 COM2 40 64 COM port 2 virtual port 0 COM2_31 5f 95 COM port 2 virtual port 31 COM3 60 96 COM port 3 virtual port 0 COM3_31 7f 127 COM port 3 virtual port 31 USB 80 128 USB port virtual port 0 USB_31 9f 159 USB port virtual port 31 SPECIAL a0 160 Unknown port virtual port 0 SPECIAL _31 bf 191 Unknown port virtual port 31 THISPORT c0 192 Current COM port virtual port 0 THISPORT_31 df 223 Cu
378. tation of a point is counterclockwise around the axes In the Bursa Wolf transformation the rotation of a point is clockwise Therefore the reverse Helmert transformation is the same as the Bursa Wolf Abbreviated ASCII Syntax Message ID 78 USERDATUM semimajor flattening dx dy dz rx ry rz scale 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 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 H424 between the user datum and WGS84 6 dz 2000 0 internal reference Double 8 H 32 7 IX 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 7 rotation from WGS84 to your datum 9 rz 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
379. tation satellite observation information CMRREF 105 Base station position information CMRPLUS 717 CMR output message 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 RTCMI15 307 Type 15 Ionospheric Corrections RTCM16 129 Typel6 Special Message RTCMI6T 131 Typel6T Special Text Message RTCM1819 RTCM18 108 Type18 and Type 19 Raw Measurements RTCM19 109 RTCM2021 RTCM20 120 Type 20 and Type 21 Measurement Corrections RTCM21 119 RTCM22 118 Type 22 Extended Base Station Parameters RTCM59 116 Type 59N 0 NovAtel Proprietary RT20 Differential RTCMV3 Format Logs GPALM RTCM1001 772 L1 Only GPS RTK Observables RTCM1002 7714 Extended L1 Only GPS RTK Observables RTCM1003 776 L1 L2 GPS RTK Observables RTCM1004 770 Extended L1 L2 GPS RTK Observables RTCM1005 765 RTK Base Station ARP RTCM1006 768 RTK Base Station ARP with Antenna Height NMEA Fo 217 rmat Logs Almanac Data GPGGA 218 GPS Fix Data and Undulation Continued on Page 147 146 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs
380. te 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 24 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 17 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Messages Chapter 1 Table 4 Binary Message Header Structure Binary Ignored Field Name Description Offset on Input 1 Sync Char Hexadecimal 0xAA 1 0 N 2 Sync Char Hexadecimal 0x44 1 1 N 3 Sync Char Hexadecimal 0x12 1 2 N 4 Header Lgth Uchar Length of the header 1 3 N 5 Message ID Ushort This is the Message ID number of the log see the 2 4 N log descriptions in Table 44 OEM4 Family Logs in Order of their Message IDs on Page 148 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 Page 20 0 Original Message 1 Response Message 7 Port Address Uchar See Table 5 on Page 18 decimal values greater 1 7 N than 16 may be used 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 0 where N is the n
381. ter 2 Commands 2 6 22 FIXPOSDATUM This command sets the position by referencing the position parameters through a specified datum The position is transformed into the same datum as that in the receiver s current setting The FIX command see Page 77 is then issued internally with the FIXPOSDATUM command values It is the FIX command that appears in the RXKCONFIG log If the FIX or the FXXPOSDATUM command are used their newest values overwrite the internal FIX values Abbreviated ASCII Syntax Message ID 761 FIXPOSDATUM datum lat lon height Field ASCII Binary 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 datum See Table 20 on Page 65 Datum ID Enum 4 H 3 lat 90 to 90 Latitude degrees Double 8 H 4 4 lon 360 to 360 Longitude degrees Double 8 H 12 5 height 1000 to 20000000 Mean sea level MSL height m Double 8 H 20 a Fora discussion on height refer to the GPS Overview chapter of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html ASCII Example FIXPOSDATUM USER 51 11633810554 114 03839550586 1048 2343 80 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands 2 6 23 FREQUENCYOUT Chapter 2 This command sets the outpu
382. than one rover depending on the data link Communication with each receiver is done in the usual way refer to the Transmitting and Receiving Corrections section of the Operation chapter in Volume 1 of this manual set The BSLNX YZ log is an asynchronous matched log that can be logged with the onchanged trigger to provide an accurate baseline between the base and rover At the rover it is recommended that you only use the PSRPOS log for position when in moving base station mode PSRPOS provides an accurate baseline It will also have normal accuracy with good standard deviations Position logs for example BESTPOS will have error levels of 10 s to 100 s of meters and should be considered invalid Also the standard deviation in these logs will not correctly reflect the error level Other rover position logs where accuracy and standard deviations are affected by the moving base station mode are BESTX YX BSLNX YZ GPGST MARKPOS MARK2POS MATCHEDPOS MATCHEDXYZ RTKPOS and RTKX YZ The MOVINGBASESTATION command must be used to allow the base to transmit messages without a fixed position Db 1 Use the PSRPOS position log at the rover It provides the best accuracy and standard deviations when the MOVINGBASESTATION mode is enabled 2 The MOVINGBASESTATION mode is functional if any of the following RTK modes are in use RTCAOBS CMROBS RTCREF or CMRREF Abbreviated ASCII Syntax Message ID 763 MOVINGBASESTATION switch
383. 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 32 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 Abbreviated ASCII Syntax Message ID 182 RTKBASELINE type par1 par2 par3 2sigma 106 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 Field ASCII Binary ae Binary Binary Binary Tieg 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 See Table 33 Set baseline type Enum 4 H 3 parl The baseline parameters are dependant on the type see Double 8 H 4 4 par2 Table 32 Baseline Parameters on Page 10
384. the two The data in synchronous logs for example RANGE BESTPOS TIME are based on a periodic measurement of satellite pseudoranges The time stamp on these logs is the receiver estimate of GPS time at the time of the measurement When setting time in external equipment a small synchronous log with a high baud rate will be accurate to a fraction of a second A synchronous log with trigger ONTIME 1 can be used in conjunction with the 1PPS signal to provide relative accuracy better than 250 ns Other log types asynchronous and polled are triggered by an external event and the time in the header may not be synchronized to the current GPS time Logs that contain satellite broadcast data for example ALMANAC GPSEPHEM have the transmit time of their last subframe in the header In the header of differential time matched logs for example MATCHEDPOS is the time of the matched reference and local observation that they are based on Logs triggered by a mark event for example MARKEDPOS MARKTIME have the estimated GPS time of the mark event in their header In the header of polled logs for example LOGLIST PORTSTATS VERSION is the approximate GPS time when their data was generated However when asynchronous logs are triggered ONTIME the time stamp will represent the time the log was generated not the time given in the data 1 5 Decoding of the GPS Week Number The GPS week number provided in the raw satellite data is the 10 least significa
385. to the GPS week Ulong 4 H 4 4 time status GPS Time Status see Table 7 GPS Time Status on Enum 4 H 8 Page 21 5 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 12 6 CR LF Sentence terminator ASCII only Recommended Input log timesync ontime 1 ASCII Example TIMESYNCA COM1 0 56 0 FINESTEERING 1263 252431 000 00000000 bd3 1522 1263 252431000 FINESTEERING 2b63eba8 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs 3 4 92 TRACKSTAT Tracking Status Chapter 3 These logs provide channel tracking status information for each of the receiver parallel channels If both the L1 and L2 signals are being tracked for a given PRN two entries with the same PRN will appear in the tracking status logs As shown in 62 Channel Tracking Status on Page 233 these entries can be differentiated by bit 20 which is set if there are multiple observables for a given PRN and bits 21 22 which denote whether the observation is for L1 or L2 This is to aid in parsing the data Message ID 83 Log Type Synch Field Field Type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 sol status Solution status see Table 48 Solution Status on Page 160 Enum 4 H 3 pos type Position type see Table 47 Position or Velocity Type on Enum 4 H 4 Page 159 4 cutoff Tracking elevation cut
386. transforms the CDGPS computed coordinates into WGS84 the default datum of the receiver Alternatively select any datum including CSRS for a specified coordinate system output The transformation for the WGS84 to Local used in the OEM4 family is the Bursa Wolf transformation or reverse Helmert transformation In the Helmert transformation the rotation of a point is counterclockwise around the axes In the Bursa Wolf transformation the rotation of a point is clockwise Therefore the reverse Helmert transformation is the same as the Bursa Wolf See Table 20 on Page 65 for a complete listing of all available predefined datums Abbreviated ASCII Syntax Message ID 160 DATUM datum ASCII Binary Binary Binary Binary 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 Description 2 datum See Table 20 User defined datum with Enum 4 H Datum parameters specified by the Transformation USERDATUM command Parameters on Page 65 ASCII Example DATUM CSRS Table 19 on Page 65 contain the internal ellipsoid parameters and transformation parameters used in the receiver 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 Syst
387. trical power from the internal see Volume 1 of this manual set for information on supplying power to the antenna power source of the receiver to the low noise amplifier LNA of an active antenna There are several bits in the Receiver Status see Table 81 Receiver Status on Page 299 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 Abbreviated ASCII Syntax Message ID 98 ANTENNAPOWER flag Field ASCII Binary aug Binary Binary Binary meid 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 46 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands Chapter 2 2 6 3 ASSIGN lt The ASSIGN command should only be used by advanced users of GPS 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
388. u use the auto option See Figure 3 Illustration of Magnetic Variation amp Correction on Page 94 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 180 MAGVAR type correction std dev 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 Description 2 type AUTO 0 Use IGRF corrections Enum 4 H CORRECTION 1 Use the correction supplied 3 correction 180 0 degrees Magnitude of correction Float 4 H 4 Required field if type Correction 4 std_dev 180 0 degrees Standard deviation of Float 4 H 8 correction default 0 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 93 Chapter 2 Commands ASCII Example 1 MAGVAR AUTO ASCII Example 2 MAGVAR CORRECTION 15 0 a Figure 3 Illustration of Magnetic Variation amp Correction Reference Description a True Bearing b Local Magnetic Variation c Local Magnetic Variation Correction inverse of magnetic variation a c Magnetic Bearing d Heading 50 True 60 Magnetic e True North f Local Magnetic North 94 O
389. uantities are always referenced to the WGS84 ellipsoid regardless of the use of the DATUM or USERDATUM commands 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 48 Solution Status on Page Enum 4 H 160 3 pos type Position type see Table 47 Position or Velocity Type Enum 4 H 4 on Page 159 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 48 Solution Status on Page Enum 4 H 44 160 11 vel type Velocity type see Table 47 Position or Velocity Type Enum 4 H 48 on Page 159 12 V X Velocity vector along X axis m s Double 8 H 52 13 V Y Velocity vector along Y axis m s Double 8 H 60 14 V Z Velocity vector along Z axis m s Double 8 H 68 15 V X Standard deviation of V X m s Float 4 H 76 16 V 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
390. um 4 H Serial Port Identifiers on default THISPORT Page 60 3 bps baud 300 600 900 1200 Communication baud rate bps ULong 4 H 4 2400 4800 9600 19200 Bauds of 460800 and 921600 are 38400 57600 115200 or also available on COM1 of 230400 OEM4 G2 based products 4 parity See Table 16 on Page 60 Parity Enum 4 H 8 5 databits Tor8 Number of data bits default 8 ULong 4 H 12 6 stopbits 1 or2 Number of stop bits default 1 ULong 4 H 16 7 handshake See Table 17 on Page 60 Handshaking Enum 4 H 20 8 echo OFF 0 No echo default Enum 4 H 24 ON 1 Transmit any input characters as they are received 9 break OFF 0 Disable break detection Enum 4 H 28 ON 1 Enable break detection default OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 59 Chapter 2 Commands ASCII Example COM COM1 57600 N 8 1 N O0FF ON Table 15 COM Serial Port Identifiers Binary ASCII Description 1 COMI COM port 1 2 COM2 COM port 2 3 COM3 COM port 3 6 THISPORT The current COM port 8 ALL All COM ports 9 XCOM Virtual COM1 port 10 XCOM2 Virtual COM2 port 13 USB1 USB port 1 14 USB2 USB port 2 15 USB3 gt USB port 3 16 AUX AUX port a The XCOM1 and XCOM2 identifiers are not available with the COM command but may be used with other commands For example INTERFACEMODE on Page 87 and LOG on Page 90 b The only other field that applies when a USB por
391. umber 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 ASCH only Recommended Input log rtcmdata9a ontime 10 ASCII Example RTCMDATAQA COM1 0 74 0 FINESTEERING 1117 160710 000 00100020 8265 399 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 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 3 4 67 RTCMDATA15 lonospheric Corrections DGPS See the chapter on Message Formats in Volume 1 of this manual set for information on RTCM standard logs 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
392. umber of related logs and 0 means it is the last one of the set Most logs only come out one at a time in which case this number is 0 10 Idle Time Uchar The time that the processor is idle in the last 1 12 Y second between successive logs with the same Message ID Take the time 0 200 and divide by two to give the percentage of time 0 100 11 Time Status Enum Indicates the quality of the GPS time see Table 7 1 13 N GPS Time Status on Page 21 12 Week Ushort GPS week number 2 14 N 13 Milliseconds GPSec Milliseconds from the beginning of the GPS week 4 16 Nd 14 Receiver Ulong 32 bits representing the status of various hardware 4 20 Y Status and software components of the receiver between successive logs with the same Message ID see Table 81 Receiver Status on Page 299 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 a The 8 bit size means that you will only see OxA0 to OxBF when the top bits are dropped from a port value greater than 8 bits For example ASCII port USB1 will be seen as Ox5A in the binary output b Recommended value is THISPORT binary 192 This ENUM is not 4 bytes long but as indicated in the table is only 1 byte d These time fields are ignored if Field 11 Time Status is invalid In this case the curren
393. updated for them 2 The datum table is revised where many datum values are either updated or corrected Please see Table 20 starting on Page 65 The FIXPOSDATUM and USEREXPDATUM commands see Pages 80 and 132 respectively are also added 3 The EGM96 ellipsoid model is added see the UNDULATION command on Page 127 4 Universal Transverse Mercator UTM coordinate messages are added See the UTMZONE command on Page 133 and the BESTUTM log on Page 161 5 There are two new commands for OmniSTAR HP users See the HPSEED and the HPSTATICINIT commands on Page 85 and 86 respectively 6 MOVINGBASESTATION Page 98 and POSTIMEOUT Page 101 commands are also new 7 The new WAASECUTOFF command Page 135 is added for SBAS users 8 The Serial Port Interface Modes on Page 88 is also updated for a binary only mode NOVATELBINARY OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 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 OEM4 family receivers can be used All NovAtel commands and logs can be entered transmitted output or received in any of the three formats The receiver also supports RTCA RTCMV3 RTCM CMR and NMEA format messaging see the chapter on Message Formats in Volume 1 of this manual set When entering an ASCII or ab
394. updates html Table 25 Fix Types ASCII Binary Description Name Value P NONE 0 Unfix Clears any previous FIX commands AUTO 1 Configures the receiver to fix the height at the last calculated value if the number of satellites available is insufficient for a 3 D solution This provides a 2 D solution Height calculation will resume when the number of satellites available allows a 3 D solution HEIGHT 2 Configures the receiver in 2 D mode with its height constrained to a given value 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 158 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 Continued on Page 79 78 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands ASCII Name Binary EUTG Chapter 2 Description POSITION 3 Configures the receiver with its position fixed This command is used when it is necessary to generate differential corrections Fo
395. ut occurs 100 ms 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 code when a time out occurs 100 ms If a binary value is encountered in an ASCII output then the byte is output as a hexadecimal byte preceded by a back slash and an x For example 0x0a is output as xOa 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 Volume J of this manual set PASSCOM1 Message ID 233 PASSCOM2 Message ID 234 PASSCOMS Message ID 235 PASSXCOM1 Message ID 405 PASSXCOM2 Message ID 406 PASSUSB1 Message ID 607 PASSUSB2 Message ID 608 PASSUSB3 Message ID 609 PASSAUX Message ID 690 Log Type Asynch OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Field Field type Data Description Format ve 2 pied 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 Next byte offset H 4 bytes x 80 variable xxxx 32 bit CRC ASCII and Hex 4 H 8 bytes x 80 Binary only variable CR LF Sentence terminator ASCII only Recommended Input log passcomla onchanged lt Asynchronous logs should only be logged ONCHANGED Otherwise the most current data is no
396. vely OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 See the chapter on Message Formats in Volume 1 of this manual set 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 Family Firmware Version 2 300 Command and Log Reference Rev 16 255 Chapter 3 DataLogs 3 4 64 RTCMDATA1 Differential GPS Corrections DGPS See the chapter on Message Formats in Volume 1 of this manual set for information on RTCM logs Message ID 396 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 Base station 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 see Ulong 4 H 20 REFSTATION on Page 246 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 11 pm Satellite PRN number Ulong 4 H 36 12 psr corr Scaled pseudorange correction Long 4 H 40 meters 13 rate
397. ver 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 in kinematic operation see the RTKPOS or BESTPOS logs The data in the logs will change only when a base observation RTCM RTCMV3 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 lt Asynchronous logs such as MATCHEDPOS should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result Message ID 96 Log Type Asynch Field Field type Data Description Format Binary Binary Bytes Offset header Log header H 0 2 sol status Solution status see Table 48 Solution Enum 4 H Status on Page 160 3 pos type Position type see Table 47 Position or Enum 4 H 4 Velocity Type on Page 159 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the Float 4 H 32
398. x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x0A Ox0A 0x00 0x00 0x00 0x00 0x00 0x00 Ox880xF50x420x8D Below is a demonstration of how to generate the CRC from both ASCII and BINARY messages using the function described above lt When you pass the data into the code below exclude the checksum shown in bold italics above ASCII include lt iostream h gt include lt string h gt void main char i BESTPOSA COM2 0 77 5 FINESTEERING 1285 160578 000 00000020 5941 1164 SOL_COMPUTED SINGLE 51 11640941570 114 0383095 1024 1062 6963 16 2712 WGS84 1 6890 1 2564 2 7826 0 000 0 000 10 10 0 0 0 0 0 0 unsigned long iLen strlen i unsigned long CRC CalculateBlockCRC32 iLen unsigned char i cout lt lt hex lt lt CRC lt lt endl BINARY include lt iostream h gt include lt string h gt int main unsigned char buffer OxAA 0x44 0x12 0x1C 0x2A 0x 00 0x02 0x42 0x48 0x00 0x00 0x00 0x96 OxB4 0x05 0x05 0x90 0x32 Ox8E 0x09 0x20 0x00 0x00 0x00 0x41 0x59 Ox8C 0x04 0x00 0x00 0x00 0x00 0x10 0x00 0x00 0x00 0x03 Ox9A Ox8A 0x8A OxE6 Ox8E 0x49 0x40 OxEB 0xD8 0xE7 0xB2 0x73 0x82 0x5C 0xCO 0x00 0xBO OxDD OxA2 0x37 0x 9B 0x90 0x40 0x80 0x2B 0x82 0xC1 0x3D 0x00 0x00 0x00 0x9D OxDA 0x3F OxF7 0x58 OxA1 Ox3F 0x3F OxF4 0x32 0x89 0x40 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Ox0A Ox0A 0x00 0x00 0x00
399. y 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 keyword ENABLE 0 Receiver will use the SBAS Enum 4 H corrections it receives DISABLE 1 Receiver will not use the SBAS corrections it receives 3 prn 0 Receiver will use any PRN ULong 4 H 4 default 120 138 Receiver will use SBAS corrections only from this PRN 4 mode NONE 0 Receiver will interpret Type Enum 4 H 8 0 messages as they are intended as do not use default WAASTESTMODE 1 Receiver will interpret Type 0 messages as Type 2 messages EGNOSTESTMODE 2 Receiver will ignore the usual interpretation of Type 0 messages as do not use and continue Description Abbreviated ASCII Example 1 WAASCORRECTION ENABLE 0 WAASTESTMODE Abbreviated ASCII Example 2 WAASCORRECTION ENABLE 120 EGNOSTESTMODE 134 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 Commands 2 6 68 WAASECUTOFF Chapter 2 This command sets the elevation cut off angle for SBAS satellites The receiver will not start automatically searching for an SBAS satellite until it rises above the cut off angle Tracked SBAS satellites that fall below the WAASECUTOFF angle will no longer be tracked unless they are manually assigned see the AS
400. y Firmware Version 2 300 Command and Log Reference Rev 16 Data Logs Chapter 3 Table 67 Base Station Status Description Bit 0 Bit 1 0 0x00000001 Validity of the base station Valid Invalid Table 68 Base Station Type Base Siation 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 4 RTCMV3 Base station is RTCMV3 OEM4 Family Firmware Version 2 300 Command and Log Reference Rev 16 247 Chapter 3 DataLogs 3 4 58 RTCA Standard Logs DGPS 248 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 D precision instrument approaches The RTCA Standard is in a 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 lt 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 th

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