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1. KEEN Description Example RENAME Command l old name Specify the existing name of the file including the extension test pdc l l new name Specify the new name of the file including the extension i98feb20 pdc l Example rename test pdc i98feb20 pdc SCHEDULE This command allows you to display the current logging schedule alter the schedule delete the schedule and turn scheduled data logging on or off All day and time specifications are given and interpreted in universal time coordinates UTC Only one schedule can be active at any time Schedule entries assign a one character code to each of seven days as shown in the following table Table 16 Weekday Abbreviations Sunday Monday Tuesday Wednesday Thursday Friday Saturday BEEN Abbreviation 23 11 w The scheduler operates perpetually i e if an event is scheduled to occur on a Monday this event is serviced every Monday that the system is in operation See Schedule Logging Operation Page 29 for more information on this topic If no day of week specifier is given the event occurs every day No file extensions are needed when specifying a file For user specified filenames the first character must be non numeric to avoid conflicts with auto generated names which always have a number as the first character See also File Name Convention Page 29 for more information on this topic There are multiple syntactical for
2. SITELOGB Message ID 1030 Message byte count 124 Format Data Bytes Format Units Offset 1 Sync 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer 8 2 SiteNumber 9 Char 12 3 SiteName 33 Char 21 4 Filler 2 Char 54 5 Attrib 4 Integer 56 6 AHeight 4 Float Meters 60 7 AMeasure 17 Char 64 8 Filler 3 Char 81 9 FirstGPSWeek 4 Unsigned Long GPS Week 84 10 Filler 4 Char 88 11 FirstGPSSec 8 Double GPS Seconds 92 12 LastGPSWeek 4 Unsigned Long GPS Week 100 13 Filler 4 Char 104 14 LastGPSSec 8 Double GPS Seconds 108 15 Flags 4 Integer 116 16 SiteLogP 4 Unsigned Long 120 82 DL TM User Manual Rev 3 Note Appendix F DL Logs STATUSA B The STATUS log is used to display system status information and is an extension of the LPSTATUSA B log The PDC State and GPSCard Status are represented as hexadecimal digits which are described in Table 21 PDC Status Word Encoding and Table 22 GPS Status Word Encoding Page 85 STATUSA Structure Field Fieldtype DataDescription Example 1 STATUSA Log header STATUSA 2 Source Battery used A 3 BattA Battery A voltage milliVolts 11750 4 BattB Battery B voltage milliVolts 10890 5 Cardin PC Card indicator 1 inserted 1 6 CardFree Unused bytes remaining on PC Card 1992
3. RF Input 1575 42 MHz 1227 60 MHz Power Output to LNA Dual RS 232C Serial 4 25 5 25 V DC 0 90 mA Note if the antenna draws current above this limit power to the antenna is disabled and the antenna self test status flag is set to zero Refer to the documentation for the RVSA log for more information INPUT OUTPUT DATA INTERFACE Bit rates 300 1200 4800 9600 19200 57600 115200 bps 9600 bps default Signals supported TX RX RTS CTS DTR DSR DCD Electrical format INPUT OUTPUT STROBES EIA RS232C Standard A programmable variable frequency output ranging from 0 5 MHz refer to VARF Output SC FREQUENCY OUT command with pulse width 1 ms This is a normally high active low pulse There may be as much as 50 ns jitter on this signal PPS Output A one pulse per second time synchronization output This is a normally high active low pulse 1 ms 50 ns where the falling edge is the reference Measure Output 4 pulses per second output normally high active low where the pulse width is 1 ms The falling edge is the receiver measurement strobe Mark Input An input mark negative pulse 55 ns time tags output log data to the time of the falling edge of the mark input pulse refer to LOG command syntax ONMARK Status Output Indicates a valid GPS position solution is available A high level indicates a valid solution or that the FIX POSITION command ha
4. NULL MODEM SERIAL CABLE Figure 12 EREECHEN 100 Null Modem Serial Cable Illustration skr S9 S6 13 ARON oon Reference Description Reference Description 1 Brown 8 Violet 2 Black 9 Grey 3 Red 10 White 4 Orange 11 Red marker at top of connector 5 Yellow 12 Male LEMO 10 pin plug 6 Green 13 DE9S female 7 Blue 14 10 conductor cable Table 13 Null Modem Cable Pin Assignment LEMO Pin No RS232C Signal RS232C Signal Wire Color Code COM COM Pin 1 DCD DCD Brown Pin 4 Pin 2 RXD RXD Black Pin 3 Pin 3 TXD TXD Red Pin 2 Pin 4 DTR GND Orange Pin 6 Pin 5 GND GND Yellow Pin 5 Pin 6 DSR DSR Green Pin 4 Pin 7 RTS RTS Blue Pin 8 Pin 8 CTS CTS Violet Pin 7 Pin 9 NULL BAT Grey Pin 9 Pin 10 White Not used Pin 1 jumpered to Pin 6 44 DL User Manual Rev 3 NorAtel Appendix D Port amp Cable Pinouts INPUT OUTPUT VO CONNECTOR The input output I O port on the DL uses a LEMO EEG 1K 308 CLN double keyed socket with the pins assigned as given in the following table Table 14 I O Connector Pin Assignment we Name Description I VARF Variable frequency output a user programmable variable frequency sequence of pulses 2 1PPS Pulse per second output a 1 ms pulse repeating at a 1 Hz rate that is used to synchronize the board with external devices 3 MSR Measure Output 4 MKI Mark input this sig
5. When prompted by the program turn on the DL Loader automatically establishes communications with the DL The time required to transfer the new program data depends on the bit rate which was selected earlier When the transfer is complete use the terminal emulator in Loader select Terminal or any other one to issue the VERSION command the response serves to verify your new program version number When using the terminal emulator in Loader a prompt does not initially appear you need to enter the command first which then produces a response after which a prompt appears Exit Loader select Quit This completes the procedure required for field updating a MiLLennium 34 DL User Manual Rev 3 Noite 4 Firmware Upgrades amp Updates UPGRADE OR UPDATE THE PDC CARD PDC Loader 1 1 Joj x File Browse PDC Loader 1 1 Write Flash Close Gort Com Setup View Stats Her m aw EJ Sg Ensure your PC and DL are properly connected see Setting Up At The Office Page 15 The serial data cable should go from any COM port on the PC to COM2 on the DL Have all power cables in place but do not turn on the DL just yet Power the DL using the AC adapter Do not use batteries as power interruptions during the process may damage the DL see the warning below Execute PDCLOAD exe in Windows A PDC Loader dialog will appear Click on the Browse button to bring up a file browser in order to locate the update upg
6. GPS time data flag temperature humidity pressure file offset to previous MET log SCHEDULE LOGGING OPERATION Logging can be either immediate or delayed according to a pre configured schedule which allows both repetitive events for example every day from 15 00 to 17 00 and custom events for example tomorrow from 10 00 to 11 00 and the day after from 17 00 to 18 00 If a session is predefined or a manual session is started a new file opens and the initial file closes You can schedule data logging on up to seven days in a one week period with up to 36 sessions per day The scheduler operates perpetually i e if an event is scheduled to occur on a Monday this event is serviced every Monday that the system is in operation Start and stop times must be provided with a resolution of 1 minute The minimum time interval per logging session is 5 minutes If you do not provide file names in advance a unique file name is automatically generated for each set of recorded logs Only one schedule can be active at any time If there is sufficient time between sessions the DL will go into sleep mode to conserve power You may not specify overlapping time intervals All scheduled entries rely on day of the week and UTC time references FILE NAME CONVENTION You can either provide a name for each data file in advance or allow DL to generate them automatically You can only provide a file name when you are scheduling a single data collection
7. loggroup test com1 and loggroup default com1 will result in the first loggroup session being cancelled and the second started LOGGROUP groupname keyword Command i Description LOGGROUP Command S O groupname group name The name of a group e g alpha which is to be logged keyword filename The name of the file without the PDC ending in which data will be recorded COM1 or COM2 The serial port to which data will be sent DL User Manual Rev 3 53 Appendix E DL Commands Note Examples loggroup alpha loggroup alpha test loggroup alpha com2 Syntax 2 This form of the command terminates manual logging allowing scheduled logging to resume If no argument is given all logging is disabled and scheduled operation resumes Note that to disable logging to a file you would enter loggroup disable file without mentioning a specific file name Similarly to disable logging to a serial port you would enter loggroup disable com1 or loggroup disable com2 If multiple log groups are active and subsequently some are disabled individually scheduled operation resumes when no active log groups remain To stop scheduled logging use the schedule abort command that disables logging for the remainder of a scheduled event The next schedule event will then start normally LOGGROUP DISABLE keyword Command Option Description LO
8. Only simple filenames with a maximum of 8 characters and an optional 3 character extension are supported Syntax WRITE hex filename data Examples write myfile dat Hello World write hex myfile dat 3B2F9DB3 DL User Manual Rev 3 63 Appendix F DL Logs Note APPENDIX F DL LOGS The DL firmware generates the following logs in addition to those of the MiLLennium GPSCard log set a CNN BATA B Battery system information DIRA B Summary of stored logs in memory GROUPA B An extension of the GRPA B log for a log file GRPA B DL logging configuration for a file HDRA B DL system set up information LPSTATUSA B DL system status information META B Meteorological information MSGA B Error messages PDCVERA B Display PDC serial version and model numbers PROJECTA B Project related parameters PSNA B System serial numbers SCHA B Schedule entry information SITELOGA B Information about an observation site STATUSA B An extension of the LPSTATUS log For a complete listing and description of the other logs that the DL is capable of generating please consult the MiLLennium GPSCard Command Descriptions Manual It also contains procedures and explanations related to data logging Before proceeding to describe these logs mention should be made of the DL data file format PDC PDC FILES In a PDC file the sequence of data exists in the foll
9. 114 666 0 start stop magvar 21 log coml posa ontime 15 log coml spha ontime 15 log coml nava ontime 15 log com2 gprmb ontime 15 5 log com2 gpvtg ontime 15 5 log com2 rcca ontime 60 2 Savethis with a convenient file name e g CAGPSIBOOTNAV I TXT and exit Notepad 3 Ensure that the HyperTerminal settings are correctly set up to agree with the DL communications protocol these settings can be saved e g C GPS OEMSETUP HT for use in future sessions You may wish to use SON XOFF handshaking to prevent loss of data 4 Select Transfer Send Text File to locate the file that is to be sent to the DL Once you double click on the file or select Open HyperTerminal sends the file to the DL The above example initializes the DL with origin and destination waypoint coordinates and sets the magnetic variation correction to 21 degrees The POSA SPHA and NAVA logs have been set to output from the DL COMI serial port at intervals of once every 15 seconds whereas the GPRMB and GPVTG NMEA logs have been set to be logged out of the DL COM serial port at intervals of 15 seconds and offset by five seconds The RCCA log has been set to output every 60 seconds from the DL COM2 serial port DL User Manual Rev 3 91 amp 20 Nov tel NovAtel Inc 1120 68 Avenue N E Calgary Alberta Canada T2E 8S5 GPS Hotline Canada amp U S A 1 800 NOVATEL Phone 1 403 295 4900 Fax 1 403 295 4901 E mail support novatel c
10. 42 MHz L1 amp 1227 60 MHz L2 Codes tracked C A amp P codes Channels 12 L1 L2 channel pairs or 12 L1 only depending on model Time to First Fix 100 s 95 probability 70 s typical cold start no initial time or almanac Re acquisition L1 3 s typical L2 10 s typical Computed Data Update Rate 5 solutions per second Measured Data Update Rate 10 data records per second Position Accuracy Stand alone 40 m CEP SA on GDOP 2 Differential Without choke ring GDOP 4 With choke ring GDOP 4 CEP 1 25 m CEP 0 75 m SEP 1 85 m SEP 1 00 m RT 2 differential 2 cm 1 ppm baseline CEP L1 L2 post processing differential 2 cm 1 ppm baseline CEP Position Latency 175 ms Pseudorange Code Measurement Accuracy C A code phase 10 cm RMS with C No gt 42 0 dB Hz P code phase 40 cm RMS with C No gt 36 0 dB Hz Velocity Accuracy 0 03 m s nominal differential 0 20 m s nominal single point Single Channel Carrier Phase Measurement Accuracy L1 carrier phase 3 mm RMS C No gt 42 0 dB Hz L2 carrier phase 5 mm RMS C No gt 36 0 dB Hz Differential Channel Carrier Phase Measurement Accuracy L1 carrier phase 0 75 mm RMS 1 s smoothed C No gt 42 0 dB Hz L2 carrier phase 4 0 mm RMS 1 s smoothed C No gt 36 0 dB Hz RT 20 The RT 20 system uses pseudorange and carrier phase double differencing to provide nom
11. B DL Specifications APPENDIX B DL SPECIFICATIONS vem Size 245 mm x 130 mm x 59 mm Description of Enclosure The enclosure is constructed of extruded anodized aluminum It is sealed by two end caps made of molded ABS plastic The entire unit is closed with five mounting screws An access cover on the front end cap allows the insertion and removal of PC Cards Seals are made of electrically conductive rubber Weight Operating Temperature 1 5 kg ENVIRONMENTAL 40 C to 55 C Storage Temperature 40 C to 85 C Resistance Characteristics Dust and water resistant Humidity Altitude 596 to 95 RH non condensing at 40 Sea level to 5 000 m may operate above 5 000 m in a controlled environment however is not certified as such The DL can acquire and track satellites while undergoing vibration levels as shown below It assumes that C No 45 dB Hz and that the DL is in high dynamics mode Assuming appropriate mounting the DL conforms to random vibration templates for RTCA DO 160C Section 8 6 2 Curve C template MIL STD 202F Test Condition I Letter A nominal template and ASAE EP455 Section 5 15 1 nominal template contact your dealer or NovAtel Customer Service for information on the effect of the mounting bracket 10Hz 10Hz Lann 1000Hz 80 dB decade 0 00125 0 02 0 02 ACCELERATION DYNAMICS Acceleration 6g maximum sustained tracking POWERREQUIREMEN
12. DL shuts off see the Power Management section of Appendix B These events are described in Table 4 Status Indicators Meaning Page 26 e See Appendix H Replacement Parts Page 87 if you need to consult the list of NovAtel and LEMO part numbers Using a Non NovAtel Power Cable If you decide to use a power cable that was not supplied by NovAtel or make your own there are a few things that you should keep in mind There will always be a drop in voltage between the power source and the power port that is due to cable loss Improper selection of wire gauge can lead to an unacceptable voltage drop at the DL A paired wire run represents a feed and return line therefore a 2 m wire pair represents a total wire path of 4 m For a DL operating from a 12 V DC battery system a power cable longer than 2 1 m 7 ft should not use a wire diameter smaller than that of 24 AWG USING THE REMOVABLE FLASH MEMORY CARD Data can be logged to a PC Card a flash memory module which you can access exchange and replace when needed The need for a companion handheld data logger is avoided when continuous user interaction is not required since DL is capable of logging data according to pre configured parameters without any user intervention In applications when continuous user interaction is required such as in GIS surveying a simple handheld controller can be used with DL as the controller does not require its own data logging memory The reduced handheld data
13. LF PSNB Message ID 1033 Message byte count 60 Format Field Data Bytes Format Units Offset 1 Sync 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer 8 2 PDCSN l16 Char 12 3 GPSSN 16 Char 28 4 DLSN 16 Char 44 DL User Manual Rev 3 79 Appendix F DL Logs Note SCHA B The SCHA B log is used to display entry information for scheduled logging Refer to File Name Convention Page 29 for information on file names See also Table 16 Weekday Abbreviations Page 57 for a description of weekday abbreviations SCHA Structure Field Field type Data Description Example 1 SCHA Log header SCHA 2 Index Schedule index 2 3 GroupName Log group name diff set 4 StartTime Time of week to start logging UTC dddddddhhmm mwrf1200 5 EndTime Time of week to stop logging UTC dddddddhhmm 1215 6 FileName Name of log file in which to store data 01225402 PDC 7 XX Checksum 55 8 CR ILF Sentence terminator CR LF Example SCHA 2 diff set mwrf1200 1215 01225402 PDC 55 CR LF SCHB Message ID 1028 Message byte count 64 Format Field Data Bytes Format Units Offset 1 Sync 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer 8 2 Index 4 Integer 12 3 GroupName 10 Char 16 4 StartTime 12 Char 26 5 EndTime 12 Char 38 6 Fil
14. Logging Green PC Card in memory capacity OK Green blink PC Card in logging to PC Card in progress and memory capacity OK Amber PC Card in memory capacity below 10 Amber blink Logging to PC Card in progress less than 1096 capacity remaining at current logging rate Amber slow blink Sleeping waiting for scheduled event blink once every 5 seconds Red PC Card in memory capacity full Red Blink PC Card in error encountered while trying to access the PC Card Dark Power off or PC Card not detected or initialized When the DL is connected to an AC DC converter the Power indicator may be ignored as long as the color is green if it turns red then you should investigate whether there is a problem with either the AC supply or the converter itself 26 DL User Manual Rev 3 Note 3 Using the DL 3 USING THE DL Before using the DL for the first time ensure that you have followed the installation instructions of Chapter 2 Set Up Page 15 A See CAUTION Page 9 for a list of items of which you should be aware as you use the DL SYSTEM BEHAVIOR SELF TEST When power is applied the DL performs the first phase of self test functions If no problems are detected it enters the power down mode Self test functions are continued when the unit awakes from the power down mode Self test failure of the power data collector module is indicated via front panel indicators and or MSGA logs Successful self test
15. Logs before typing any commands Commands are typed at the interfacing terminal s keyboard and sent after pressing the terminal s lt gt or Enter key TIP Most valid commands do produce a visible response on the screen the indication that they have been accepted is a return of the port prompt from the DL VERSION HELP and are the only commands that do provide a data response other than the port prompt Example An example of no echo response to an input command is the FIX HEIGHT command It can be entered as follows COM2 gt fix height 550 Return COM2 The above example illustrates command input to the DL COM2 serial port which sets the antenna height as fixed to 550 m above sea level and causes position solutions to be constrained as 2D with height fixed However your only confirmation that the command was actually accepted is the return of the COM2 gt prompt If a command is incorrectly entered the DL responds with Invalid Command Name or a more detailed error message followed by the port prompt DOS One way to initiate multiple commands and logging from the DL is to create DOS command files relating to specific functions This minimizes the time required to set up duplicate test situations Any convenient text editor can be used to create command text files Example For this example consider a situation where a PC s appropriately configured COMI serial port is connected to the DL s COMI s
16. MKPA B POSA B POSA B PRTKA B PSYA B RTKA B or SPHA B received with the number of Space Vehicles SV used in the position solution greater than zero between the SITE ADD and SITE LEAVE commands The accuracy of the field is 5 seconds e The LASTGPSWEEK and LASTGPSSEC fields of the SITELOGB log correspond to the time of the last position log received with the number of SVs used in the position solution greater than zero between the SITE ADD and SITE LEAVE commands The accuracy of the field is 5 seconds e f no position logs are received with the number of SVs used in the position solution greater than zero between the SITE ADD and SITE LEAVE commands e the FIRSTGPSWEEK FIRSTGPSSEC LASTGPSWEEK and LASTGPSSEC fields of the SITELOGB log are set to correspond to the times at which the SITE ADD and SITE LEAVE commands were issued respectively e the SITE ST INVALID bit 0x01 will be set in the flags field of the SITELOGB log e ifamanual SITE LEAVE is being performed rather than an automatic one a MSGA log with Code 3001 Error CMDFAIL SubCode 65 and SubCodeMsg site record marked invalid are issued to the COM port where the SITE LEAVE originated e f no position logs are received with the number of SVs used in the position solution greater than zero within 30 5 seconds after a SITE ADD but received before a SITE LEAVE command e the SITE ST STARTTRUNCATE bit 0x02 is set in the Flags field of the SITELOGB log e
17. RMA number you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return all original diskettes along with the defective product in the original packaging to avoid electrostatic and or shipping damage ANY ATTEMPT TO OPEN THE CASE WILL IMPAIR THE WATER RESISTANT QUALITIES OF THE ENCLOSURE AND VOID THE WARRANTY DL User Manual Rev 3 7 Customer Service Nolte CUSTOMER SERVICE For customer support contact your local NovAtel dealer first If the problem remains unresolved contact NovAtel directly by any of the following ways e toll free hotline 1 800 NOVATEL 8 00 AM 4 30 PM MST Canada and U S A only e telephone 1 403 295 4900 8 00 AM 4 30 PM MST e fax 1 403 295 4901 e e mail support novatel ca e web site http www novatel ca e regular mail NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 885 If you require customer service please provide the following information along with a detailed description of the problem when you call or write Serial No Model No Software Release No Date Purchased Purchased from User name Title Company Address City Prov State Zip Postal Code Country Phone Fax st E mail Interface Computer type Operating Shell Other interface used Please provide a complete description
18. Runs or acquire it directly from the Customer Service page of NovAtel s Web site DL User Manual Rev 3 21 2 Set Up Note NOTE The coaxial cable should be connected to the antenna and DL before power is supplied If the antenna cable becomes disconnected from the antenna or DL turn the DL off before reconnecting the cable this prevents the DL s antenna current limiting circuit from unnecessarily activating Coaxial cables should be handled with care They should not be routed over surfaces where they could be stepped on pinched or cut A cable that has been stretched has nicks in its outer jacket or has crimps resulting from being bent too tightly generally has higher losses than otherwise While there may be other coaxial cables on the market that might also serve the purpose please note that the performance specifications of the DL are guaranteed only when it is used with NovAtel supplied RF cables POWER PORT amp CABLE The DL requires an input supply voltage that can come from batteries a wall outlet adapter AC DC converter or an automotive power source The DL has an internal power module that does the following e filters and regulates the supply voltage e protects against over voltage over current and high temperature conditions e provides automatic reset circuit protection A WARNING Supplying the DL with an input voltage that is below 10 7 will cause the unit to suspend operation An input voltage
19. a COM port destination will ignore all log specifications for which the destination override is specified only as FILE e Ifthe destination override is specified as either COMI or COMO the log specification will only be used if no other session for which the default destination is COMI or COM2 respectively is in progress at the instant the group is executed This is only relevant if more than one LOGGROUP sessions are in progress at the same time e Previous logging to the default destination is stopped before the beginning of a logging session Previous logging to any useable destination subject to the above restrictions as specified in the optional destination override in the particular group is stopped In other words any previous logging on the channel is only stopped if the group is actually going to use the channel e At the end of the logging session logging is only stopped on the session default destination In other words log specifications with a port override that differs from the default port are not unlogged at the end of the logging session POS NOTES GROUP ADD groupname pos fix lat lon hgt stnid stnhlth GROUP ADD groupname pos ave maxtime maxhor maxver e Either FIX or AVE configurations can be specified in the group but not both e Specifying the POS option without any other following arguments cancels any previous POS requests e The AVE configuration must have all the options maxtime maxhor and maxver specified
20. allows you to plan your data collection trip configure your DL or handheld data logger post process your collected data and archive your information sets PC Card for data storage accuracy applications applications NovAtel Model C005 C015 or C030 5 15 or 30 m length coaxial antenna cable power cable to connect the DL to an automotive cigarette lighter adapter battery bracket to allow the DL to be mounted to a surface or tripod 25 pin straight serial cable for compatibility with certain data communications devices power cable to connect the DL to one battery 33 5 cm or 75 cm lengths power cable to connect the DL to two batteries Y cable NovAtel GPSAntenna Model 501 511 521 or 531 single frequency active antennas designed for high A choke ring is available for the 501 antenna model A031 and the 531 antenna model A032 NovAtel GPSAntenna Model 502 503 or 512 dual frequency active antennas designed for high accuracy A choke ring is available for the 502 antenna model A032 while the 503 antenna includes one Should you need to order an accessory or a replacement part NovAtel part numbers are shown in Appendix H 14 DL User Manual Rev 3 Note 2 Set Up 2 SET UP Setting up the DL is a straightforward process whether you are in the field collecting data or back at the office configuring the DL or transferring collected data to your PC for post processing A See CAUTION Pag
21. cm RMS accuracies fixed Reverse RTK x 4 Each model has the following standard features e rugged shock water and dust resistant enclosure e NovAtel s advanced MiLLennium L1 L2 GPS technology e capability to log data to a removable Type II or Type III PC Card ATA mass storage card PC Card eliminates the need to purchase additional data logger peripheral equipment when continuous user interaction is not required e capability to perform autonomous scheduled data collection with the ability to go into low power sleep mode between scheduled data collection sessions e smart power sensing from two independent batteries which permits automatic switchover two bi directional serial ports one of which has power which support data transfer rates of up to 115 200 bit second e obsolescence prevention due to field upgradeable firmware program software What makes one DL model different from another is software not hardware This unique feature means that the firmware can be updated anytime anywhere without any mechanical procedures whatsoever For example a DL model with L1 only capabilities can be upgraded to a model with L1 L2 RT 2 in only a few minutes in your office instead of in the days or weeks that would be required if the receiver had to be sent to a service depot All that is required to unlock the additional features is a special authorization code See Chapter 4 for further detail on this topic The DL feature
22. description see Table 19 MSGA Error Code CMDFAIL Definition Page 76 4 subCode Error sub code 0041 5 subCodeMsg Error sub code message SYNTAX ERROR 6 subCodeArg Error sub code argument DIR FILENAME 7 date Date of error event yyyymmada 19971105 8 time Time of error event UTC hhmm 1325 9 XX Checksum 66 10 CR LF Sentence terminator CR LF Example SMSGA 3001 CMDFAIL 0041 SYNTAX ERROR DIR FILENAME 19971105 1325 66 CR LF The error codes that appear in Fields 2 amp 3 above are described in Table 19 MSGA Error Code Definition Page 76 They are generated in response to system events DL User Manual Rev 3 75 eee Appendix F DL Logs Note Table 19 MSGA Error Code Definition Code Error System event 2001 BISTFAIL Built in Self Test failed 2002 PWRFAIL Power Failed 2003 BATTLOWA Low Voltage from battery A lt 10 7V 2004 BATTLOWB Low Voltage from battery B lt 10 7V 2005 SWBATT Battery switch performed 2006 TEMPWARN High temperature warning 2007 TEMPFAIL High temperature shutdown 2008 DISKLOW Low storage space remaining lt 10 of card capacity 2009 DISKFULL No storage space remaining 2010 DISKGONE PC Card removed 3001 CMDFAIL User command feedback 3003 DISKERR An error occurred while trying to access the PC Card 3007 BOOTOK System boot succ
23. ette ete tere ente reete ine qr edere eoe EES Pene eerie ipe esee reae eene edet 17 4 Stat s Indicators Meaning acie de eet Ope Seb tans ee NIRE C Sen gis pe ue IR be te E e 26 5 Auto Generated File Name Convention eene nennen nennen trennen tren tren nente se trennen reete enne enne ene 30 6 Storage Requirements per Data Record eee tese tti nere fee regret rta S Ene esie E ob Due e Ye eee debi 30 7 Memory Consumption Typical Case for RTK Survey 2 Second Rate 31 8 Memory Consumption Typical Case for Static Survey 15 Second Rate 31 9 Power Connector Pin Assignment tete repe e tiene rete ed ee erae 41 10 COM2 Serial Port Connector Pin Assignment nennen trennen trennen reet nest enne enne enne 42 11 COMI Serial Port Connector Pin Assignment eene treten teen tren trente entren erinnern 42 12 Straight Serial Cable Pin Assigninent soies ieee ent tte eere bie e tete Her ei 43 13 Null Modem Cable Pin Assignment nennen eene eene entree EE ASEE trente entren trennen enne enne 44 14 I O Connector Pin Aseigenmemt eren nee rennen trennen eene enne enne a Sae EEVEE EE EEEE E Er E eene ene 45 15 VO Cable Pin Assignment eere tte ERE ROO P ERE rec 46 l6 Weekday Abbreviations Rei eoe euni eee iue bereit ORE 57 Ei Group Status Word Encoding in unge tk retirees xe ette Utente teste ie Eee deste 67 18 Log Status Word Encoding rtt mte Smet AG PROP ere Ree gp ee HR ere etta 68 19 MSGA Error Code D
24. interference Each one has an environmentally sealed radome A choke ring s unique construction substantially reduces the multipath effect on the GPS signal The choke ring actually reduces the antenna gain at low elevation where the multipath is more prone to affect system accuracy By reducing measurement errors due to multipath the result is greater accuracy in your positioning calculations N WARNING While there may be other antennas on the market that might also serve the purpose please note that the performance specifications of the DL are guaranteed only when it is used with a NovAtel model 531 L1 or model 502 L1 L2 GPSAntenna 18 DL User Manual Rev 3 Note 2 Set Up CONNECT CABLES As shown in Figure 4 on the rear end cap there are four labeled ports I O COM2 PWR COMI and RF There is also an unlabelled power input port Figure 4 Close up of Ports on Rear End cap Each connector is keyed to ensure that the cable can be inserted in only one way to prevent damage to both the DL and the cables Furthermore the connectors that are used to mate the cables to the DL have a locking mechanism that requires careful insertion and removal Observe the following when handling the cables e To insert a cable make certain you are using the appropriate cable for the port the serial cable has a different connector 10 pin than the I O cable 8 pin e Line up the red dot on the connector shell with the red in
25. its enclosure e aGPS receiver MiLLennium GPSCard e an integrated power supply and data controller PDC card Each of these components has its own microprocessor and each microprocessor has its own firmware program software which is stored in non volatile memory What makes one DL model different from another is software not hardware This unique feature means that upgrading the firmware is equivalent to getting a DL with an entirely different set of features This can be done anytime anywhere without any mechanical procedures whatsoever New firmware can be transferred to the DL through a serial port immediately making the unit ready for operation at a higher level of performance This also prevents rapid obsolescence The first step in upgrading your receiver is to contact your dealer or NovAtel Customer Service as described in Customer Service Page 8 When you call be sure to have available your DL model numbers serial numbers and program revision levels You can obtain this information by generating HDRA and PSNA logs After establishing which new model revision level would best suit your needs and having discussed the terms and conditions your dealer or NovAtel Customer Service will issue to you the authorization code auth code which is required to unlock the desired new features The following sections will assist you in this procedure Go to the appropriate section depending on whether you are dealing with the GPS
26. logger or controller requirements simplify your system and reduce its total cost and power consumption The access door on the DL s front end cap provides a water and dust resistant seal around the PC Card The cover latch must be rotated a turn in order for the cover to seal properly When the cover is closed and latched the enclosure is sealed to provide protection against adverse environmental conditions A WARNING To minimize the possibility of damage always keep this cover closed and latched except when exchanging PC Cards Collected data can either be transmitted to a host computer over a serial port or stored on the PC Card If you choose to log data to the PC Card each logging session is stored in a single unique file These files can then be transferred to a host computer for data analysis or other types of post processing by one of two methods e transfer the data by means of serial communications e physically remove the PC Card from the DL and insert it into the host computer provided that it is also suitably equipped with a PC Card port You have the flexibility of choosing the PC Card with the storage capacity that is the most appropriate for your needs based on the selected logging rate This is discussed in greater detail in Data Storage Requirements Page 30 Figure 6 illustrates the procedure to unlock the cover In the photo on the left the latch is in the locked position In the photo on the right the latch
27. messages are generated to identify problems as they arise a description of the MSGA log is contained in Appendix F Page 75 A WARNING Ejecting the PC Card during a data recording session will cause data to be lost When no data is being recorded however it is not necessary to turn the DL off before inserting or extracting a PC Card SLEEP POWER DOWN AND THE POWER SWITCH DL incorporates a power switch on its front end cap Pushing this switch sends a signal to the microprocessor to turn on or off the GPS receiver and system peripherals The DL has two low power modes sleep mode and power down mode The modes do not differ in the amount of power consumed but rather in the way in which the modes are entered into and terminated An internal clock synchronized to GPS time allows the DL to go into sleep mode between scheduled data collection sessions This permits the DL to operate reliably while using power sparingly This is especially important when conducting scheduled data collection sessions over a period of several days while using a battery power source The DL s GPS receiver will wake up early enough so that satellite tracking is established prior to the scheduled logging session Note however that exceptional conditions may delay the acquisition of satellites beyond the start of the logging session For more information on the clock please see Real Time Clock Appendix B Page 37 Mode Howto achieve mode Outcome
28. n 1 XX Checksum 23 n CR LF Sentence terminator CR LF Example SGROUPA DIFFBASE 8ABC9 CGA95040020 502NK 2 050000 5 000000 5 01 4 1 51 116321 114 038336 1048 207 7ABCD8 Company Building 502 TRUE P20A ONTIME 10 00 01 RGEA ONTIME 2 01 REPA ONCHANGED 0 02 23 CR LF Table 17 Group Status Word Encoding Field Pit Mask Description GROUP ST FIX 0x01 GPS Position fixed 1 fixed 0 unfixed GROUP ST AVE 0x02 GPS Position averaged 1 averaged 0 not averaged GROUP ST KINEMATIC 0x04 Survey type 1 kinematic 0 static DL User Manual Rev 3 67 Appendix F DL Logs Table 18 Log Status Word Encoding Field Bit Mask Description LOG_ST_COM1 0x01 Log is being logged to COM port 1 LOG_ST_COM2 0x02 Log is being logged to COM port 2 LOG_ST_FILE 0x04 Log is being logged to log file on PDC card GROUPB Message ID 1037 Message byte count 180 X 36 Format Field Data Bytes Format Units Offset 1 Sync 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer Bytes 8 2 GroupName 10 Char 12 3 SessionName 9 Char 22 4 AntSN 17 Char 31 5 AntType 17 Char 48 6 Filler 3 Char 65 7 AHeight 4 Float Meters m 68 8 ECutoff 4 Float Degrees 72 9 SatLimit 4 Integer 76 10 GroupStatus 1 Unsigned char 80 11 StnHealth 1 Unsigned char 81 12 StnID 2 Unsigned shor
29. of any problems you may be experiencing or the nature of your inquiry attach additional sheets 1f needed 8 DL User Manual Rev 3 NovAtel Notices NOTICE FCC NOTICE The United States Federal Communications Commission in 47 CFR 15 has specified that the following notices be brought to the attention of users of this product This equipment has been tested and found to comply with the limits for a class A digital device pursuant to Part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own risk Changes or modifications not expressly approved by the party responsible for compliance could void the user s authority to operate the equipment IMPORTANT In order to maintain compliance with the limits of a Class A digital device it is required to use properly shielded interface cables such as Belden 49539 or equivalent when using the serial data ports and double shielded cables such as Belden 49945 or equivalent when using the I O str
30. of the power data collector module is indicated by a MSGA log with a BOOTOK message Self test status of the MiLLennium GPSCard can then be examined via the self status word in the RGEA B D and RVSA B data logs If the DL fails its self test please refer the problem to your dealer or NovAtel Customer Service AUTONOMOUS VERSUS HOST CONTROLLED OPERATION The DL enters the autonomous operation mode whenever it exits the power down mode see the table on Page 25 In the autonomous operation mode upon acquisition of time the DL will execute a group named POWERUP or if such a group does not exist stop any current manual logging and enable the scheduler Execution of the POWERUP group implicitly disables the scheduler If a host controlled mode is desired the host should enter the POWERUP DISABLE command This will ensure that autonomous operation mode behavior does not take effect upon acquisition of time DEFAULT SCHEDULE AND GROUP CONFIGURATION The default software configuration for the scheduling and group information includes only a group named DEFAULT You must manually add a POWERUP group if this function is desired Holding down the power switch for approximately 15 seconds restores the factory configuration All indicator lights flash yellow to indicate that the default configuration has been restored NOTE Only a group named POWERUP is automatically logged The DEFAULT group is provided for your convenience only SITE RECORDS I
31. session POS option The options are FIX Jet Jon bot stnid stnhlth for a fixed position or AVE maxtime maxhor maxver for position averaging See the POS notes following this table MODE option The options are STATIC or KINEMATIC Specifying KINEMATIC disables autogeneration of site records on opening a log file Specifying STATIC results in site records being autogenerated every time a log file is opened if it is not already at a site The current mode can be viewed in the GROUPA B log and is indicated by the GROUP ST KINEMATIC bit in the GroupStatus field STATIC SATLIMIT value You can specify the minimum number of satellites desired while logging any of the following logs RGEA B D MKPA B POSA B PRTKA B PXYA B RTKA B or SPHA B by entering this optional argument and a value Logging of these logs is suspended if less than the required number of satellites are being used in the position solution This value is different from the minsats field in the header log HDRA which describes the minimum number of satellites used in the positions solution for any of these logs actually recorded in a log file ASN value Enter the antenna serial number by specifying this optional argument and a value of up to 16 alphanumeric characters It is stored for information purposes only and is not used further ATYPE value Enter the antenna type by specifying this optional argument and a value of up to 16 alphanumeric ch
32. terminal emulator or any other communications software The procedure is as follows 1 Turn on the DL and establish communications over a serial port see Communications with the DL Page 28 2 Issue the VERSION command to verify the current firmware model number revision level and serial number 3 Issue the SAUTH command followed by the auth code and model type The syntax is as follows 32 DL User Manual Rev 3 PT o Note 4 Firmware Upgrades amp Updates Syntax AUTH auth code where AUTH is a special command that allows program model upgrades auth code is the upgrade authorization code expressed as hhhh hhhh hhhh hhhh hhhh model where the h characters are an ASCII hexadecimal code and the model would be ASCII text Example Sauth 17cb 29af 3d74 01ec fd34 millenrt2 Once the AUTH command has been executed the MiLLennium resets itself Issuing the VERSION command produces a response confirming the new upgrade model s type and version number UPDATING USING THE LOADER UTILITY Loader is required instead of the AUTH command when updating previously released firmware with a newer version of program and model firmware e g updating a MiLLennium Standard rev 4 50 to a higher revision level of the same model Loader is a DOS utility program designed to facilitate program and model updates Once Loader is installed and running it allows you to select a host PC serial port bit rate directory path and fi
33. user definable Magnetic variation correction Undulation table or user definable Position height amp velocity constraints pr Satellite lockout elevation cut off and health control 2l2 2l alial2iaial 2 m EE EEN EEN EE EN EECHELEN EN ER P 5 OPERATING MODES Whenever the DL is connected to a power source regardless of whether the DL is turned on or oft it detects whether there is a host computer connected to one of its serial ports For example this host computer could be a PC running NovAtel SoftSurv Utilities software or a data logger running suitable software If a host computer is found the DL enters Manual mode and waits for a command otherwise the DL enters Automatic mode and operates according to stored commands e Manual Operation Among other things a host computer can transmit scheduling and logging parameters receive collected data and turn the DL on or off In this mode the DL does not need to be tracking satellites or even have an antenna connected to it e Automatic Operation Once the DL receives configuration commands from a host computer it operates according to these parameters Up to a week s worth of data collection can be configured in advance DL User Manual Rev 3 13 1 Overview NovAtel ACCESSORIES AND OPTIONS The NovAtel DL can be used with the following accessories SoftSurv software a suite of programs that
34. which cannot be displayed with the GRPA log Finally a PROJECTA log is displayed if project information has been given using the PROJECT command An error message is displayed if the file does not exist Examples dir dir 31240201 pdc DUMP This command displays the contents of the named file Header information precedes the actual logged data Syntax DUMP filename Example dump 31240201 pdc DL User Manual Rev 3 49 Appendix E DL Commands Note GROUP This command is used to maintain a set of log specifiers that would normally be used together in a specific scenario e g for base station logging Up to ten groups can be defined The group name can be up to nine characters in length If a group named POWERUP is defined this group s log specification is executed when the DL determines what time it is after the DL is turned on In that case any other scheduled activity would be excluded There are four major syntactical forms as shown below Syntax 1 This command is used to display information about one or more existing groups GROUP option Command Option EIC AME S NNNM IcRouP gt GROUP Command option none Entered without arguments this command displays the current groups as a set of GRPA logs followed by MSGA with Code 3001 Error CMDFALL SubCode 1001 SubCodeMsg ENDGRPLIST group name If a valid group name e g alpha is given as an argument only that log group is displayed The di
35. years a leap year is skipped 4 days Days into 1995 22 is not finished 21 days Total days 5500 days Deduct 5 days January 1 through to January 5 1980 5495 GPS Week 5495 x 86400 seconds per day 474768000 seconds 604800 seconds per week 785 Seconds into week 22 day 11 5 hrs x 3600 seconds hr 41400 GPS time of week Week 785 41400 seconds E g 13 30 hours January 28 2005 after GPS week rollover August 22 1999 Days from August 22 1999 to January 28 2005 6 years x 365 days year 2190 days Add a day for each leap year 2 days Days into 2005 28 is not finished 27 days Total days 2219 days Deduct 21 days August 1 through to August 21 1999 2198 GPS Week 2198 x 86400 seconds per day 189907200 seconds 604800 seconds per week 314 Seconds into week 28 day 13 5 hrs x 3600 seconds hr 48600 GPS time of week Week 314 48600 seconds 86 DL User Manual Rev 3 Appendix G Conversions APPENDIX H REPLACEMENT PARTS The following is a list of the replacement parts available for the DL Should you require assistance or need to order additional components please contact your dealer or NovAtel Customer Service representative Part Description NovAtel Part Number I O strobes cable Figure 13 I O Cable Illustration 01016330 Straight serial data cable Figure 11 Straight Serial Cable Illustration 01016383 Optional 25 pin straight serial
36. 2C communications only 7 Inserta PC Card into the DL see Using the Removable Flash Memory Card Page 23 8 Connectthe output of a power source e g battery to the input power port of the DL see Power Port amp Cable Page 22 Once power is supplied the DL turns on automatically begins an initialization sequence and then enters low power mode See also System Behavior Page 27 9 Exit low power mode by pressing the power button or if connected via a terminal by hitting the Enter key If you are going to configure the unit via DL commands wait for a MSGA log with a BOOTOK message to appear first Otherwise the DL will begin logging according to the stored configuration 10 Monitor the status indicators see Status Indicators Page 26 The sections of this chapter give further details on these steps CHOOSE THE RIGHT ANTENNA The purpose of an antenna is to convert electromagnetic waves into electrical signals An active antenna is required It has a Low Noise Amplifier LNA that boosts the strength of received signals to help offset the cable losses The LNA can be energized directly by the DL or by another source NovAtel recommends the use of active antennas only The recommended antenna depends on which model of the DL you purchased Table 3 lists the allowable antenna types for each of the DL models Table 3 Allowable Antenna Types DL Model Allowable Antenna DL L1 L1 only or L1 L2 DL RT20S L1 on
37. 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer 8 2 FileName 13 Char 12 3 Filler 3 Char Bytes 25 4 File size 4 Unsigned long Bytes 28 5 Date 4 Unsigned long yyyymmad 32 6 DLSN 16 Char 36 7 GPSSN 16 Char 52 8 GPSModel 20 Char 68 9 GPSVersion 20 Char 88 10 PDCSN 16 Char 108 11 PDCModel 20 Char 124 12 PDC Version 20 Char 144 13 MinSats 4 Unsigned long 164 14 StartGPSWeek 4 Unsigned long GPS Week 168 15 StartGPSSec 8 Double GPS Seconds 172 16 EndGPSWeek 4 Unsigned long GPS Week 180 17 Filler 4 Char 184 18 EndGPSSec 8 Double GPS Seconds 188 19 SiteLogP 4 Unsigned long Bytes 196 20 MetLogP 4 Unsigned long Bytes 200 21 UTCOffset 4 Integer Seconds 204 22 Res1 4 Unsigned long Bytes 208 23 Res2 4 Unsigned long 212 24 Res3 4 Unsigned long 216 25 Res4 4 Unsigned long 220 26 Res5 4 Unsigned long 224 Affected only by RGEA B D MKPA B POSA B PRTKA B PXYA B RTKA B SPHA B logs 72 DL User Manual Rev 3 Note Appendix F DL Logs LPSTATUSA B The LPSTATUS log is used to display system status information The PDC State and GPSCard Status are represented as hexadecimal digits which are described in Table 21 PDC Status Word Encoding and Table 22 GPS Status Word Encoding see the STATUSA B log Page 83 The GROUP command does not support this log LPSTATUSA B is now obsolete in that it is still supported for backward compatibility but will disappear in the next major revision of softwa
38. 403 7 PDC Status Current PDC status see Table 21 PDC Status 3AF Word Encoding Page 84 8 GPS Status GPSCard status see Table 22 GPS Status Word 1 Encoding Page 85 9 FileName Name of current log file 01225402 PDC 10 Temperature Internal temperature C 60 11 Date Current date yyyymmdd 19981229 12 Time Current time hhmmss 093525 13 Reserved 1 Reserved for future use 14 Reserved 2 Reserved for future use 15 Reserved 3 Reserved for future use 16 Reserved 4 Reserved for future use 17 XX Checksum 55 18 CR LF Sentence terminator CR LF Example STATUS A 11750 10890 1 1992403 3AF 1 01225402 PDC 60 19981229 093525 55 CR LF DL User Manual Rev 3 83 Appendix F DL Logs Note Table 21 PDC Status Word Encoding ET PDC ST HW 0x001 Hardware status 1 OK PDC ST LINK 0x002 GPSCard link established 1 OK PDC_ST_BATT 0x004 Battery status 1 OK 0 warn fail PDC ST TEMP 0x008 Temp status 1 OK 0 warn fail PDC_ST_SLEEP 0x010 Sleep mode 1 enabled PDC_ST_LOGGING 0x020 Logging 1 active PDC_ST_ONSITE 0x040 Site state 1 onsite site add command received but not site leave PDC_ST_TIMESET 0x080 Time established 1 OK PDC_ST_CARDIN 0x100 PC Card presence 1 PC Card inserted PDC_ST_SCHEDON 0x200 Scheduled data collection status 1 enabled PDC_ST_NVMVALID 0x400 NVM valid 1 OK PDC ST COMBATON 0x800 BAT peripheral power output enabled P
39. 50 has been modified and a GROUPA B log Page 66 has been added to provide support for additional group data 10 DL User Manual Rev 3 NovAtel 1 Overview 1 OVERVIEW The NovAtel DL is a high performance GPS receiver In applications when continuous user interaction is required such as in GIS surveying a simple handheld controller that does not require its own data logging memory can be used with DL The reduced handheld data logger or controller requirements simplify your system and reduce its total cost and power consumption Depending on which model you purchase it is capable of receiving and tracking the L1 C A code L1 and L2 carrier phase and L2 P code or encrypted Y code of up to 12 GPS satellites The DL can be used for either single point or differential applications Patented Narrow Correlator tracking technology circuits combined with a powerful 32 bit microprocessor make possible multipath resistant processing at high data update rates Excellent acquisition and re acquisition times allow this receiver to operate in environments where very high dynamics and frequent interruption of signals can be expected It features a rugged reliable design for use in adverse environments The DL is engineered to provide years of reliable operation Figure 1 shows front left photo and rear right photo views of the DL Figure 1 NovAtel DL Front amp Rear OE 1 PC Card access door COM port indicator 2 Power sta
40. 700 1800 xx CR LF SCHA 2 diff set mwrf1200 1215 xx CR LF SCHA 3 my data 1400 1530 xx CR LF MSGA 3001 CMDFAIL 1002 ENDSCDLIST 19971105 1325 66 CR LF Syntax 2 This form of the command allows you to delete a specific schedule entry from non volatile memory The entry number identifier must be specified To find the entry number issue a schedule command to get a listing of all entries and their respective entry numbers Once this entry is removed the remaining schedule entries are renumbered EL entry REENEN SCHEDULE DEL Command entry Specify the schedule entry number that you wish removed This is not reversible Example schedule del 4 Syntax 3 This form of the command is used to create additional table entries in the non volatile memory The group identifier must be a valid log group The time specification gives the day and time of the week that logging is to take place on the days are abbreviated as indicated in Table 16 Weekday Abbreviations Page 57 The start and end times are specified in 24 hour notation If the end time is less than the start time the logging wraps over to the next day All day and time specifications are given and interpreted in universal time coordinates UTC Up to 7 days can be specified 58 DL User Manual Rev 3 NorAtel Appendix E DL Commands SCHEDULE ADD groupname scheduling filename Command
41. AR Syntax 5 This command is used to copy group information from group groupname from to group groupname to If groupname to already exists groupname from overwrites it GROUP COPY groupname from groupname to LOGGROUP This command provides a means of manually specifying immediate logging commands this command disables scheduled operation Logging can be directed to a specific file or to a specific serial port The filename is rejected if it conflicts with an existing filename One of the serial ports may be specified in lieu of a filename in which case the logs are transmitted from the specified port If no filename or serial port is specified a file is opened with an auto generated filename and data is logged to it If a serial port is designated as the destination no SoftSurv header or HDRA log is issued rather a GRPA log is issued to give the logging parameters If a filename is specified the extension PDC is automatically added A path cannot be specified that is the file is created in the default working directory There are two syntactical forms as shown below Syntax 1 The system allows you to select multiple log groups to be active simultaneously but not to the same port For example loggroup test testfile and loggroup default com1 will result in the test group being logged to a file named TESTFILE PDC and the default group being logged through the COMI serial port However the commands
42. DC ST COMSVON 0x1000 5V peripheral power output enabled PDC ST CARDOK 0x2000 No disk access errors 1 no errors 84 DL TM User Manual Rev 3 Appendix F DL Logs STATUSB Message ID 1035 Message byte count 84 Format Field Data Bytes Format Units Offset 1 Sync 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer 8 2 Source 1 Char 12 3 Filler 3 Char 13 4 BattA 4 Integer milliVolts 16 5 BattB 4 Integer milliVolts 20 6 Cardin 4 Boolean 24 7 CardFree 4 Unsigned long Bytes 28 8 PDCStatus 4 Unsigned long 32 9 GPSStatus 4 Unsigned long 36 10 FileName 13 Char 40 11 Filler 3 Char 53 12 Temperature 4 Integer Celsius 56 13 Date yyyymmdd 4 Unsigned long 60 14 Time hhmmss 4 Unsigned long 64 15 Res1 4 Integer 68 16 Res2 4 Integer 72 17 Res3 4 Unsigned long 76 18 Res4 4 Unsigned long 80 Table 22 GPS Status Word Encoding GPS ST ACTIVE 0x1 GPSCard active 1 active GPS ST POSITION 0x2 GPS Position status 1 OK GPS ST FIXED 0x4 GPS Position fixed 1 fixed 0 unfixed DL User Manual Rev 3 85 Appendix H Replacement Parts Note APPENDIX G CONVERSIONS Listed below are several commonly used equivalents between the SI Syst me Internationale units of weights and measures used in the metric system and those used in other systems Distance Vol
43. DL NovAtel DL User Manual Publication Number OM 20000035 Revision Level 3 June 9 2000 e MiLLennium Narrow Correlator NovAtel ProPak RT 2 RT 20 and SoftSurv are registered trademarks of NovAtel Inc e DL GPSAntenna and GPSCard are trademarks of NovAtel Inc e All other brand or product names are trademarks or registered trademarks of their respective holders Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a license agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication O Copyright 2000 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws Printed in Canada on recycled paper Recyclable Bes 2 DL User Manual Rev 3 PT ot N
44. GGROUP Command keyword FILE Enter this word to disable logging to a file Do not enter a specific file name fF COM1 or COM Enter one of these words to disable logging to a serial port Examples loggroup disable loggroup disable file loggroup disable comi METS This command is used to control the display and logging of meteorological conditions Upon receipt of a METS command a META log is inserted into the current log file If the command is issued without any of the optional fields the 10 most recent meteorological records are displayed most recent first as a sequence of META logs If there are fewer than 10 records a MSGA log containing a CMDFAIL message follows the META logs You can also use this command to specify the ambient meteorological conditions Enter up to 3 of the optional fields in any order provided that the syntax is observed Syntax ETS temp degrees 1 press hPa Ir humid percent EE MEET METS METS Command temp temperature meum Specify ambient temperature in degrees centigrade press pressure Specify ambient barometric pressure in hectopascals 1 hPa 1 mbar l humid humidity humidity Specify ambient relative humidity as a percentage Examples mets mets press 996 5 mets humid 89 temp 28 press 996 5 54 DL User Manual Rev 3 NorAtel Appendix E DL Commands PDC The PDC LOG PDC UNLOG and PDC UNLOGALL commands are us
45. N SCHEDULED AUTOMATIC LOGGING SESSIONS SITELOG logs described in Appendix F DL Logs Page 64 contain site record information MONITORING YOUR SYSTEM After the initialization you may find the following logs useful for observing the DL activities While using SoftSurv UTILITIES is the easiest way to set up these logs refer to the SoftSurv User Manual you can also use DOS or a Windows based communications program see Appendix J Command Prompt Interface Page 90 In the latter case see DL User Manual Rev 3 27 3 Using the DL Note Appendix F DL Logs Page 64 or refer to the MiLLennium Command Descriptions Manual for procedures and explanations related to data logging and for further information on each of these logs e DOPA reports the dilution of precision of the current satellite constellation e ETSA reports the GPS receiver s channel tracking status e LPSTATUS and MSGA report DL status messages For example the DL monitors the internal temperature of the receiver enclosure A warning message is issued once per minute when the internal temperature is in excess of a preset threshold If the internal temperature exceeds the design limit the DL shuts itself off and stays off until the internal temperature drops 10 degrees below the design limit e POSA reports the current computed position solutions e RCCA lists the default command settings After the DL has been operational for a while the RCCA log is us
46. Option Description Default SCHEDULE ADD Command l groupname group name The name of a group e g alpha which is being modified scheduling dddddddhhmm dhhmm The start and stop time between which logging is to occur For the start time enter the day of week up to seven specifiers can be selected then the hour of the day 2 digit number followed by the minute of the hour 2 digit number After the comma enter the stop time in the same way except that only one day specifier is allowed for the case where recording starts on one day and ends on a subsequent day If no day of week specifier is given the event occurs every day filename filename The name of the file without the PDC extension in which data will be recorded You can only provide a file name when you are scheduling a single data collection event if you are scheduling a series of events you have to accept the DL s auto generated names If you specify a single recurring event with a named file e g log data on Mondays between 1600 and 1700 and place the data in file TEST PDC the first Monday this would occur If you did nothing the following Monday a file name conflict would occur in that case the DL creates a file name whose first character is a tilde followed by a 7 digit random number and a PDC extension e g 9368412 PDC Examples schedule add alpha 1600 1700 i98feb20 e An entry is added to the alpha group causing lo
47. PING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NOVATEL IN ADDITION THE FOREGOING WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE OR EXPENSE ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in this device and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc You must obtain a RETURN MATERIAL AUTHORIZATION RMA number by contacting Customer Service in any of the ways described on the next page This number is needed before shipping any product to NovAtel or your Dealer L Once you have obtained an
48. SLEEP Command keyword Disable the low power mode and cause the DL to stay fully powered between scheduled events Examples sleep sleep off 62 DL TM User Manual Rev 3 NorAtel Appendix E DL Commands STATUS This command displays current system status information by issuing a LPSTATUS log Syntax STATUS VOUT This command turns On or Off the battery BAT peripheral power output on the COM2 port BAT is always turned On whenever a battery is first connected to the receiver and it is also turned On whenever the receiver is turned off with the power button See the section on Peripheral Power Supply Page 21 Syntax VOUT periph option Option Description VOUT Command l periph BAT l option On or Off Examples vout BAT on vout BAT off WRITE This command causes the data to be written to a specified filename on the PC Card The maximum length of data is 200 characters If hex is not specified then only printable ASCH characters can be used except for a sign which cannot be used If hex is specified the data is treated as a string of pairs of hexadecimal characters with each pair representing a byte to be written to the file the pairs must be linked together in the data string giving a maximum of 100 hex characters A new file is created if the specified filename does not exist If the specified filename already exists data is appended to the end of the file
49. Setup communications configuration and Terminal terminal emulator The choices on the main screen are shown in Figure 9 below DL User Manual Rev 3 33 4 Firmware Upgrades amp Updates Note Figure 9 LOADER Options Menu Program card setup Terminal Quit If you are running Loader for the first time be sure to access the Setup menu step 3 below before proceeding to Program Card step 4 below otherwise you can go directly from step 2 below to step 4 The procedure is as follows 1 2 3 9 Turn off the DL Start the Loader program From the main menu screen select Setup to configure the PC serial port over which communication is to occur default COMI and the data transfer rates for both programming default 115 200 bits per second and terminal emulation default 9600 bps To minimize the time required select the highest serial bit rate your PC can reliably support Loader verifies and saves your selections in a file named LOADER SET then returns to the main menu screen From the main screen select Program Card Select the disk drive e g A B C D in which the update file e g 442 BIN is located Select the path where the update program file is located eg C NGPSNLOADER the directory from which you started Loader is the default path Select the required update file e g 442 BIN At the prompt enter your update auth code e g 1702 32df 6ba0 9255 e5b9 millenrt2
50. Sleep The DL will go into sleep mode by itself The DL scheduler is still enabled and the DL will wake between scheduled events if a command is up from sleep mode prior to a scheduled event not received through either serial port for 5 minutes or a SLEEP command is issued unless a scheduled event is about to take place Power Down To enter the low power mode press the In the power down mode all schedule and logging events button until the three status indicators turn are disabled Note that while power consumption in red and begin to flash then release it power down mode is minimal the DL is not This is also the mode entered into after completely off If power conservation is very important applying the power then disconnect the battery from the DL when it is not in use In either the sleep mode or power down mode pressing the power button momentarily will wake up the DL Also the DL monitors its serial ports and becomes fully operational a short while after as serial port activity is detected for example if a key is pressed on a handheld data logger that is plugged into one of the DL s serial ports The time required to wake up is only a few seconds but it may require an additional few minutes to initialize the GPS receiver and allow it to establish an initial time and position During the sleeping and wake up time the serial ports will not process data You must wait until receiving the MSGA log with a BOO
51. TB log into the header of the log file prior to the start of the logging session The PROJECT command without any arguments causes the output of a PROJECTA log A project defined using the PROJECT command may span multiple logging sessions PROJECTA Structure Ficid Fieldtype DataDescription Example 1 PROJECTA Log header PROJECTA 2 Project Project description Demo city 3 Agency Agency description Company 4 Observer Observer description Mr Smith 5 XX Checksum 55 6 CR LF Sentence terminator CR LF Example SPROJECTA Demo city Company Mr Smith 55 CR LF PROJECTB Message ID 1036 Message byte count 111 Format Field Data Bytes Format Units Offset 1 Sync 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer 8 2 Project 33 Char 12 3 Agency 33 Char 45 4 Observer 33 Char 78 78 DL User Manual Rev 3 NorAtel Appendix F DL Logs PSNA B The PSNA B log is used to display system serial numbers PSNA Structure Field Field type Data Description Example 1 PSNA Log header PSNA 2 PDCSN PDC Serial number SNM98070012 3 GPSSN GPSCard Serial number SGL98050098 4 DLSN DL System Serial number CNN98080044 5 XX Checksum 55 6 CRIILF Sentence terminator CRIILF Example PSNA SNM98070012 SGL98050098 CNN98080044 55 CR
52. TOK message see Appendix G Conversions Page 86 and Appendix J Command Prompt Interface Page 90 before typing any commands The automatic power down feature is disabled when logging is in progress However if the power switch is pressed while the DL is logging data autonomously the DL saves any open data files and then goes into power down mode For related information see Autonomous Versus Host Controlled Operation Page 27 An additional function of the power switch is that it resets the DL if it is held depressed for at least 15 seconds This system reset clears stored logging parameters and reverts to a factory configuration when the power switch is released DL User Manual Rev 3 25 3h 2 Set Up Note STATUS INDICATORS As shown in Figure 8 the DL s front endcap has three multicolor lights to indicate the status of Power Position and Logging respectively from left to right For a labeled view see also Figure 1 Page 11 Figure 8 Status Indicators Table 4 shows what the colors of each indicator signify When the DL is connected to two batteries the Power indicator is pulsed in the appropriate color to distinguish between battery A and battery B One long blink corresponds to battery A and two short blinks in rapid succession correspond to battery B Only the status of the active battery is indicated Note that during initial power up of the DL or upon wake up from sleep mode the lights on t
53. TS gt Voltage 10 7 to 418 V DC Power 11 W typical while logging 0 25 W sleep mode PERIPHERAL POWER OUTPUT Voltage supplied voltage gt 2000 Hz 80 dB decade 2000 Hz 0 005 Frequency Magnitude g2 Hz Current lt 2 A internal fuse non user replaceable POWER MANAGEMENT O If the DL is connected to two batteries it begins using the one with the higher voltage across its terminals When this voltage drops to 10 7 V DC the Power indicator color changes from green to amber When the voltage drops below 10 0 V DC the battery is unusable the Power indicator color changes from amber to red and the DL switches to the second battery if available Once battery reserves are depleted the DL shuts itself off DL User Manual Rev 3 37 Appendix B DL Specifications REAL TIME CLOCK in order to re initialize itself Frequency A real time internal clock allows the DL to go into low power sleep mode between scheduled data collection sessions When the DL is turned on this clock is initialized using the GPS time reference and will indefinitely maintain an accuracy of 1 second and a resolution of 1 second When the DL is turned off the clock begins to drift To compensate for this drift the DL emerges from sleep mode in advance of the next scheduled data collection session PERFORMANCE Subject To GPS System Characteristics 1575
54. a Web site http www novatel ca Recyclable GES Printed in Canada on recycled paper OM 200000035 Revision 3 06 09 00
55. above 18 V DC may physically damage the unit The 4 pin power connector allows power to be supplied from two independent sources although only one is used at a time If two power sources are available the DL monitors their supply voltages independently and on power up chooses the one with the higher voltage If the current power source becomes unusable the DL then switches to the second one Gf available without any interruption in its logging activities Consider the case where the DL is connected to two 12 V DC batteries As described in Table 4 Page 26 as the voltage drops on the first battery the Power indicator color changes from green to amber then to red Warning messages are sent on the serial port indicating that battery power is becoming exhausted see the description of the LPSTATUSA log Page 73 and MSGA log Page 75 if you require further information Then the DL switches to the second battery Once both batteries are depleted the DL shuts itself off To maximize a battery s lifetime the DL does not use it once it is discharged As is also described in Table 4 Status Indicators Meaning Page 26 when the DL is connected to two batteries the Power indicator is pulsed in the appropriate color to distinguish between battery A and battery B One long blink corresponds to battery A and two short blinks in rapid succession correspond to battery B Only the status of the active battery is indicated The data logging mechanis
56. and set Command Description battery Control battery source del Remove stored logs from memory dir Display stored log summary information dump Transfer stored logs to host group Modify log group definitions loggroup Manual group logging control mets Enter meteorological information pdc Logs PDC parameters PDC factory reset powerup Default operation mode control project Project related parameters psn Retrieve system serial numbers pversion Retrieve PDC serial version and model numbers rename Rename a file stored in PC Card module schedule Modify the logging schedule site Site record interface sleep Enable low power mode status Return system status information vout Control peripheral power output write Write data to a specified file on the PC Card The arguments to each of these commands are described in the following sections For a complete listing and description of the other commands that the DL is capable of processing please consult the MiLLennium GPSCard Command Descriptions Manual NOTE At the command prompt type HELP or help to get online help about the various commands SYNTAX CONVENTIONS The following rules apply when entering commands at the command prompt from a keyboard 1 The commands are not case sensitive For example you could type either lt BATT Except where noted either a space or a comma can sepa
57. appendix includes drawings photographs and installation instructions for the optional mounting bracket This bracket can be used to attach the DL to a surface or tripod Figure 14 Mounting Bracket Reference Description Reference Description 1 Thread for flat screw 6 Holes to mount plate to enclosure 2 Rectangular nut using flat screw 3 Grub screw 7 Holes to mount assembly to a surface 4 Channel using self tapping screws 5 Quick mounting holes to 8 Bottom of DL enclosure mount assembly to surface 9 Front of mounting plate using wood screws The mounting kit includes the following materials four self tapping screws 1110 16 x LG two wood screws 10 x 34 LG four flat screws M3 x 8 90 countersink aluminum mounting plate see Figure 15 for exact dimensions First the mounting plate needs to be attached to the DL enclosure There are two channels running the length of the bottom of the DL enclosure In each of these channels there are two rectangular nuts held in place by grub screws 88 DL User Manual Rev 3 NorAtel Appendix I Optional Mounting Bracket These four nuts are factory positioned so that the mounting plate can be attached to the DL enclosure using the four flat screws Please ensure that the four flat screws are mounted from the countersunk side of the mounting plate Once the plate has been attached to the DL enclosure the entire assembly can then be mounted onto a surface us
58. aracters It is stored for information purposes only and is not used further AHEIGHT value Enter the nominal antenna height in meters by specifying this optional argument and a value It is stored for information purposes only and is not used further Note The GROUP command lists the group table information as a series of GRPA logs which do not include the extended group information information can be viewed by issuing a PDC LOG GROUPA command IP GH Extended group DL User Manual Rev 3 Appendix E DL Commands NovAtel Examples group add alpha group add alpha coml p20a ontime 5 group add alpha ecutoff 3 group add alpha satlimit 6 group add alpha asn 25674337 group add alpha atype 502NK group add alpha aheight 1 67 DESTINATION OVERRIDE GROUP ADD groupname logname trigger period com1 com2 file The following destination override information should be noted for the above command syntax e Jf the destination override COMI COM2 or FILE is not specified by the scheduler or by using the LOGGROUP command the logname specified is sent to the default destination The default destination override is a log file destination for a scheduled or POWERUP session and a user specified destination for a LOGGROUP session e If only the FILE destination override is specified then the log specification will only be used if the default destination is also FILE In other words a manual logging session with
59. cables are supplied to connect the DL to a PC or modem They are described as follows e null modem cable 10 pin LEMO plug to 9 pin D connector DE9S socket it is described further in Figure 12 amp Table Appendix D Page 44 This is used to connect the DL to a serial RS232C communication port on a terminal or PC e straight cable 10 pin LEMO plug to 9 pin D connector DE9P plug it is described further in Figure 11 amp Table Appendix D Page 43 This is used to connect the DL to a modem or radio transmitter to propagate differential corrections The 10 pin plug on each cable can be plugged into either the COMI or COM2 port on the DL For further information on the signals or connector pin outs for the serial ports or cables please see the Input Output Data Interface section of Appendix B Page 37 and Table Page 42 in Appendix D 20 DL User Manual Rev 3 Note 2 Set Up See Appendix H Replacement Parts Page 87 if you need to consult the list of NovAtel and LEMO part numbers PERIPHERAL POWER SUPPLY VIA COM2 PORT The receiver provides battery power output BAT through the COM2 port It is possible to turn the supply On or Off using the VOUT command see Page 63 The BAT output is the switched output of the input power supply so that 12V output requires 12V input NOTE When using peripheral output it is important to note that the BAT output has a 2 amp fuse This fuse is non user replaceable and if y
60. corded data or set up a data collection schedule The sections of this chapter give further details on Steps 2 amp 3 while Chapter 3 is devoted to Step 4 DL User Manual Rev 3 15 PAN 2 Set Up Note SETTING UP IN THE FIELD Figure 3 displays how you might typically use the DL in the field for example collecting data while receiving differential information over a radio modem from a base station In this situation the GPS antenna is connected to the RF port the radio modem is connected to the COMI port and power is supplied by means of two batteries that are connected to the Power port Figure 3 Typical DL Configuration Field For differential data collection in the field a typical configuration is described below This assumes that schedule and logging parameters have already been loaded to the DL see Chapter 3 and that a portable terminal is not being used If a portable terminal was being used then at Step 7 when power was supplied the DL would accept configuration commands from the terminal 1 Mount or place the DL on a secure stable structure that will not sway or topple For example attach the DL to a tripod leg using the optional mounting bracket see Figure 14 Mounting Bracket and Figure 15 Appendix I Although the unit has a moisture and dust resistant enclosure shelter it from adverse environmental conditions when possible Position the antenna at the desired locati
61. data cable 01016384 Null modem serial data cable Figure 12 Null Modem Serial Cable Illustration 01016329 Power cable assembly LEMO 4 pin plug to cigarette lighter plug Figure 10 Power Cables 01016622 Optional power cable LEMO 4 pin plug to LEMO 4 pin plug Figure 10 Power Cables Camel pack size 33 5 cm 01016665 DL base case size 75 0 cm 01016666 Optional power assembly autoranging AC DC converter battery charger to LEMO 4 pin socket and AC power cord Figure 10 Power Cables Optional Y cable Figure 10 Power Cables Optional battery assembly Figure 10 Power Cables 4 MB Sandisk PC Card SoftSurv User Manual MiLLennium GPSCard Command Description Manual Optional mounting bracket GPS ACDL 01016690 01016698 20023715 OM 20000023 OM 20000041 70015024 The following original manufacturers part numbers are provided for information only they are not available from NovAtel as separate parts Part Description LEMO Part Number 4 pin plug connectors on power cable Figure 10 Power Cables FGM 0B 304 CLLD52Z 8 pin plug connector on I O cable Figure 13 I O Cable Illustration FGJ 1K 308 CLLC45Z 10 pin plug connector on both serial data cables Figure 11 Straight Serial FGG 1K 310 CLAC55Z Cable Illustration amp Figure 12 Null Modem Serial Cable Illustration DL User Manual Rev 3 87 Appendix I Optional Mounting Bracket Note APPENDIX I OPTIONAL MOUNTING BRACKET This
62. dex mark on the receptacle on the DL e Insert the connector until it seats with a click it is now locked in place e To remove a cable grasp the connector by the knurled ring and pull see Figure 5 DO NOT PULL DIRECTLY ON THE CABLE Figure 5 Removing a Connector VO PORT amp CABLES DL incorporates an input output I O port which allows access to the Mark input Measure output VARF output 1PPS output and STATUS output signals These are specialized signals that are used when the DL is part of an interconnected DL User Manual Rev 3 19 2 Set Up Note system composed of devices that need to be synchronized with each other For example you could connect the DL to an aerial camera in such a way that the DL recorded its position whenever the shutter button was pressed This port is not typically used for stand alone applications The five signals are described further in Table 14 I O Connector Pin Assignment Page 45 as well as in the Input Output Strobes section of Appendix B The I O strobe lines can be accessed by inserting the 8 pin LEMO connector of the I O strobe port cable into the I O port Figure 13 Page 45 and Table 15 I O Cable Pin Assignment Page 46 contains wiring and pin out information on this cable The other end of the cable is provided without a connector so that you can provide an application specific one the jacket insulation is cut away slightly from the end but the insulation on each wir
63. ds the use of active antennas only For further information on the signals or connector type for the RF port please see the RF Input LNA Power Output section in APPENDIX B DL Specifications Page 37 RF Coaxial Cable The RF radio frequency coaxial cable that you require depends mostly on the distance between the antenna and the DL Electromagnetic signals are attenuated as they travel along a length of coaxial cable thus a long cable introduces more loss in signal strength than a short one of the same type Good quality cable introduces lower losses than low quality cable If the cable loss becomes too great excessive signal degradation occurs and the DL may be unable to meet its performance specifications An active antenna incorporates a low noise amplifier LNA that boosts the strength of received signals to help offset the cable losses The LNA can be energized directly by the DL NovAtel s GPSAntennas can compensate for up to 13 dB of cable loss see Choose the Right Antenna Page 17 NovAtel offers high quality coaxial cable in the following lengths 5 m Model C005 15 m Model C015 and 30 m Model C030 these come with a TNC male connector at each end These cables can be used with all GPSAntennas Should your application require the use of cable longer than 30 m before you proceed you may wish to contact your dealer or NovAtel Customer Service representative and request Application Note APN 003 Extended Length Antenna Cable
64. e 9 for a list of items you should be aware of as you set up and use the DL SETTING UP AT THE OFFICE Figure 2 displays how you might typically set up the DL at the office for example to load a schedule or to transfer collected data to a PC In this situation the PC is connected to the COMI port and energy is supplied by means of an AC DC converter that is connected to the Power port Figure 2 Typical DL Configuration Office ME 9 COM RF C066 N For office work a typical configuration would result from the following steps 1 Place the DL on a desk or other suitable work surface 2 Connect an RS232C communication terminal e g PC data logger to one of the serial ports of the DL The supplied null modem cables are intended for RS232C communications only See Serial Ports amp Cables Page 20 3 Connect the output of a power source e g AC DC converter to the input power port of the DL Once power is supplied the DL turns on automatically and begins an initialization sequence See Power Port amp Cable Page 22 4 Press the power button or if you are connected to the DL via a terminal hit the Enter key and wait for a MSGA log with a BOOTOK message to appear If you are you are using SoftSurv to communicate with the DL this initial communication is handled by the software 5 Communicate with the DL transfer data to the PC if you have inserted a PC Card containing previously re
65. e is intact This port incorporates filters to suppress electromagnetic interference See Appendix H Replacement Parts if you need to consult the list of NovAtel and LEMO part numbers SERIAL PORTS amp CABLES The two serial ports COM1 and COM2 are bi directional There is a multicolor indicator above each of these serial ports If it glows red data is being received on that port while if it glows green data is being transmitted on that port If it glows yellow data is being received and transmitted simultaneously on that port The features present for each serial port is listed following FEATURES COM1 COM2 300 1200 4800 9600 19200 38400 57600 and 115 200 BPS data rates y y RS 232C signal levels y y Electromagnetic interference suppression filters y y Hardware and Software flow control operation d y BAT voltage output x d For communication to occur the DL serial port configuration must match that of the external device s The DL s default port settings are RS232C 9600 BPS no parity 8 data bits 1 stop bit no handshaking and echo off Changing the default settings can be easily accomplished using SoftSurv UTILITIES software module or by means of the COMn command which is described in the MiLLennium GPSCard Command Descriptions Manual On either serial port only the RX TX and GND lines need to be used Handshaking is not required although it can optionally be used Two serial data
66. e logging sessions until the receipt of a PROJECT CLEAR command Syntax 1 Displays the current project as a PROJECTA log PROJECT option Gommand Option PROJECT Command option Entered without arguments this command displays the current project as a PROJECTA log Examples project Syntax 2 Cancels the current project This command does not delete project data from a file that is already open or from previously logged files PROJECT CLEAR ETT TT eg PROJECT CLEAR L Command sd Example project clear Syntax 3 Defines the current project parameters PROJECT ADD project agency observer Command Op PROJECT ADD Command project Project description agency Agency description observer Observer description Example Project add demo city company Mr Smith 56 DL User Manual Rev 3 NorAtel Appendix E DL Commands PSN This command displays serial number information by issuing a PSNA log Syntax PSN PVERSION This command displays PDC serial version and model numbers by issuing a PDCVERA log Syntax PVERSION RENAME This command changes the name of a file on a PC Card Wildcards are not permitted The file s name cannot incorporate a file path The name of an open log file cannot be changed Refer to File Name Convention Page 29 for information on naming files Syntax RENAME old name new name
67. eName 13 Char 50 7 Filler 1 Char 63 80 DL TM User Manual Rev 3 PT o Note Appendix F DL Logs SITELOGA B The SITELOGA B log is used to display information about an observation site SITELOGA Structure ECT Field type Data Description Exampe 1 SITELOGA Log header SITELOGA 2 SiteNumber Site Number 8 char 7ABCD8 3 SiteName Site Name 32 char NovAtel Building 4 Attrib Attribute code User defined 2 5 AHeight Antenna height 2 000000 6 AMeasure Ant height measure method user defined 16 char 502 TRUE 7 FirstGPSWeek Date of arrival 892 8 First GPSSec Time of arrival 500405 000000 9 LastGPSWeek Date of departure 893 10 LastGPSSec Time of departure 250450 000000 11 Flags Data logging flags see Table 20 Flag Word 1 Encoding Page 81 12 SiteLogP File offset from previous SITELOGB log 1536 13 XX Checksum 55 14 CR ILF Sentence terminator CR ILF Example SSITELOGA 7ABCD8 NovAtel Building 2 2 000000 502 TRUE 892 500405 000000 893 250450 000000 1 1536 55 CR LF Table 20 Flag Word Encoding Field BitMask Description SITE ST INVALID 0x01 0 Valid 1 Invalid SITE ST STARTTRUNCATE 0x02 0 Did truncate start time 1 Did not truncate start time SITE ST ENDTRUNCATE 0x04 0 Did truncate end time 1 Did not truncate end time DL User Manual Rev 3 81 Appendix F DL Logs Nolte
68. ed to control logging of PDC parameters to either a COM port or to a data file The behavior of PDC LOG PDC UNLOG and PDC UNLOGALL commands are consistent with the behavior of the Millennium GPSCard LOG UNLOG and UNLOGALL commands respectively with the following notes e The PDC LOG command is restricted to a maximum log rate of 1Hz and supports only the ONCE ONTIME and CONTINUOUSLY triggers A trigger specification of CONTINUOUSLY is equivalent to a trigger specification of ONTIME 1 e Only selected PDC logs are supported by the pdc command see datatype in Syntax 1 PDC log structure is described on Page 64 The PDC FRESET command Syntax 4 restores the factory configuration of the PDC parameters events If you wished to log data at 1 second after every minute you would set the period to 60 seconds and the offset to 1 second the default is O hold Will prevent a log form being removed when the PDC UNLOGALL command is issued Syntax 1 PDC LOG destination Batatype trigger period offset hold Syntax Description Example PDC LOG PDCLOG destination COM1 or COM2 or FILE COM1 datatype Enter one of the valid ASCII or Binary PDC logs see Page 64 STATUSA l trigger ONTIME period offset ONCE or CONTINUOUSLY ONTIME l period Used with the ONTIME trigger seconds 60 l offset Used with the ONTIME trigger seconds It provides the ability to offset the logging 1 Sy
69. efinition oos eet et ee tee e Ip e HERE ERE RE Ee e SEDES ceases ss REESE HR e eR UE ER 76 20 Blas Word Encoding itte ee e ee Saale ab bau see on done esten S 81 215 PDC Status Word Encoding sap ikke 84 22 GPS Status Word Encoding eise tese eite teet tree tiri tette reiten tribe beri ee VESSE eere tt eire ede eren VVTi VESE S3 85 DL User Manual Rev 3 5 PT ot Table of Contents NovAtel FIGURES 1 NovAtel DE Front amp Re t 5 ceterae rere Sect ipee reti Re reed re decere b tenia peces 11 2 Typical DE Configuration Office neenon ete perse RH ED ere oie er EET RERO P Pet nei GER Ee des 15 3 Typical DE Confipuration Aed eR seeren 16 4 Close up ok Ports on Rear End cap suede eo ette E d te iei e secte taedio ier eene p reg 19 5 REMOVING a Connector ict neng epe nere e RD dee e eir P E OO P e eR GER Eee 19 6 Opening the ons 24 Te Handling the PC Card ee tte eneste 24 8 Status Indicators 5 ERE RISE CAE 26 9 LOADER Options IE 34 UA At CN 36 Ten Power Cables 252 o sanere b EHE 41 12 Straight Serial Cable THlustration eite ret erected tee reete ine 43 13 Null Modem Serial Cable Ulustratnon eene nennen eene enne emet ne tenete ne trennen trennen 44 14 VO Cable Illustration ee teet NEESS ee Eee ein 45 15 Mountimg Bracket eterne ee ti eve nee ne e dte erect dee ede tiae nere ne pen ern eine 88 16 Mounting Bracket Drill Holes Dimensions esen
70. eful for indicating the status of all current command settings Displaying the RCCA log after a reset displays the saved configuration refer to the description of SAVECONFIG in the MiLLennium Command Descriptions Manual e RVSA reports the GPS receiver s status e SATA reports satellite specific data COMMUNICATIONS WITH THE DL Communication with the DL consists of issuing commands through the COMI or COM2 serial port from an external serial communications device This could be either a terminal or an IBM compatible PC that is directly connected to a DL serial port using a null modem cable For maximum ease use a user friendly graphical interface such as SoftSurv UTILITIES to configure and communicate with your DL However you can also issue commands manually the DL s command prompt interface is described in Appendix J Page 90 For specific information about any of the DL s commands and logs please consult Appendix E DL Commands Page 47 and Appendix F DL Logs Page 64 of this manual DATA LOGGING The most basic activity is logging raw data Each logging session one uninterrupted period of time is stored in a single unique file on a PC Card This file can subsequently be transferred to a PC for post processing using NovAtel s SoftSurv package DL records raw data in the form of logs which are written to the data file on a periodic basis NovAtel s SoftSurv post processor automatically interprets these logs and the data that th
71. erial port and where a remote terminal is connected to the DL s COM2 serial port If you wish to monitor the DL s activity the following command file could be used to do this 90 DL User Manual Rev 3 NorAtel Appendix J Command Prompt Interface 1 Open a text editor on the PC and type in the following command sequences log com2 sata ontime 15 log com2 etsa ontime 15 log com2 rvsa ontime 60 5 log com2 posa ontime 15 log com2 dopa ontime 15 2 Save this with a convenient file name e g C GPS BOOT1 TXT and exit the text editor 3 Use the DOS copy command to direct the contents of the BOOTI TXT file to the PC s COMI serial port C GPS gt copy bootl txt coml 1 files s copied C NGPS 4 The DL is now initialized with the contents of the BOOT1 TXT command file and logging is directed from the DL s COM2 serial port to the remote terminal WINDOWS s any text editor or communications program can be used for these purposes the use of Windows 95 is described only as an illustration The following example shows how Windows 95 accessory programs Notepad and HyperTerminal can be used to create a hypothetical waypoint navigation file on a PC and send it to the DL It is assumed that the PC s COMI serial port is connected to the DL s COMI serial port and that a remote terminal is connected to the DL s COM2 serial port Example 1 Open Notepad and type in the following command text setnav 51 111 114 039 51 555
72. es in view Table 8 Memory Consumption Typical Case for Static Survey 15 Second Rate L1 only L1 amp L2 Single point Single point or Differential Single point Single point or Differential Observations Observations amp Positions Observations Observations amp Positions kBytes hour kBytes hour kBytes hour kBytes hour The following relationship based on Table 5 yields an estimate of the data storage requirements for a typical data recording session intended for post processing e Minimum file size in kilobytes kilobytes per hour x number of hours Example from Table 8 You wish to record differential observations and positions once every 15 seconds for 8 hours with 9 satellites visible during L1 L2 operation The file size will be no less than 119 kBytes hour x 8 hours 952 kBytes 0 9 MBytes At this rate a 20 MByte PC Card could hold approximately 177 hours of data ERRORS The data logging mechanism is designed to be robust and to endure power interruptions and similar disruptive events with minimum loss of data In these situations less than 5 minutes of data prior to the disruptive event are lost To the extent possible error messages see the description on MSGA log on page 75 attempt to describe the problem DL User Manual Rev 3 31 4 Firmware Upgrades amp Updates Note 4 FIRMWARE UPGRADES amp UPDATES The DL includes two distinct processors in
73. essful 3008 PWRLOW Entering low power mode 3010 LOGNAME Specified filename already exists 3025 DISKIN PC Card detected and configured 3026 DISKCAPOK Storage space OK gt 10 of card capacity MSGB Message ID 1024 Message byte count 96 Format Data Bytes Format Units Offset 1 Sync 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer 8 2 Code 4 Integer 12 3 Error 10 Char 16 4 Filler 2 Char 26 5 SubCode 4 Integer 28 6 SubCodeMsg 32 Char 32 7 SubCodeArg 24 Char 64 8 Date 4 Unsigned long 88 9 Time 4 Unsigned long 92 76 DL User Manual Rev 3 Note Appendix F DL Logs PDCVERA B This log is used to display PDC serial version and model numbers PDCVERA Structure Field Feld type Data Description Exampe 1 PDCVERA Log header PDCVERA 2 PDCVersion PDC Version Number 0 28 3 PDCDateTime PDC S W Compile Date Time May 3 1998 12 16 52 4 PDCModel PDC Model PDCSTD 5 PDCSN PDC Serial Number CNM7053000 6 XX Checksum 4A 7 CR LF Sentence terminator CR LF Example SPDCVERA 0 28 May 3 1998 12 16 52 PDCSTD CNM7053000 4A CR LF PDCVERB Message ID 1034 Message byte count 89 Format Offset Message byte count PDCVersion DL User Manual Rev 3 77 Appendix F DL Logs Nolte PROJECTA B The PROJECT command see Page 56 defines project related parameters and causes the insertion of a PROJEC
74. event If you are scheduling a series of events you have to accept the DL s auto generated names An acceptable file name consists of a base of up to eight characters followed by a PDC extension The first character of the name that you specify cannot be numeric this prevents conflicts with auto generated names which always start with a number Auto generated filenames consist of an eight character base followed by a PDC extension The eight characters are derived as shown in Table 5 on the following page DL User Manual Rev 3 29 3 Using the DL Note Table 5 Auto Generated File Name Convention HHHHS S PDC Comments HHHH last 4 digits of the DL s serial number UTC day of the year 001 366 Session ID assigned in sequence 0 9 A Z based on the presence of files previously logged on a particular day For example a DL might have a serial number such as CGN95450087 A date such as January 25 has an UTC day of year representation of 025 The 15 schedule of the day would have an entry index of E Thus this file would have a name such as 0087025E PDC Should a conflict occur between an auto generated file name or a file name specified in a scheduled entry the DL will resolve the conflict by creating a file name whose first character is a tilde followed by a 7 digit random number and a PDC extension e g 9368412 PDC DATA STORAGE REQUIREMENTS Based on default sett
75. ey contain If you wanted to analyze the data in these logs yourself the details of the logs are documented in Appendix F DL Logs Page 64 of this manual The best way to configure the DL for data logging or to manipulate log files e g transfer or manage files is using NovAtel s SoftSurv UTILITIES This software running on a PC offers a user friendly interface to your DL and allows you to carry out typical activities without having to learn to use the MiLLennium s native language commands and logs A file header is included with each logged data file This header is designed to expedite post processing when using NovAtel s SoftSurv post processor package The data file s header consists of a GRPA log and a HDRA log described in detail on Pages 69 and 71 respectively which includes the following antenna height antenna serial number receiver serial numbers model numbers elevation cutoff minimum number of satellites start and end time 28 DL User Manual Rev 3 Note 3 Using the DL e log types and rates Site record logs support kinematic surveying The site record log SITELOGA described in detail on Page 81 records this information at each occupation site number site name attribute code antenna height antenna height measurement method code site start GPS time site end GPS time data logging flag The meteorological log META described in detail on Page 74 records this information at each occupation
76. gging to occur every day between the times 1600 to 1700 The data is directed to the I98FEB20 PDC file although the data could have also been directed to a file with an auto generated name schedule add alpha m1600 1700 i98feb20 e An entry is added to the alpha group causing logging to occur on Mondays between the times 1600 to 1700 The data is directed to the I98FEB20 PDC file although the data could have also been directed to a file with an auto generated name schedule add alpha m1600 w1700 e An entry is added to the alpha group causing logging to occur between 1600 on Mondays and 1700 on Wednesdays The data is directed to a file with an auto generated name although a named file is allowable in this case schedule add alpha mwf1600 1700 e An entry is added to the alpha group causing logging to occur on Mondays Wednesdays and Fridays between the times 1600 to 1700 The data is directed to files with auto generated names a named file is not allowable in this case DL User Manual Rev 3 59 Appendix E DL Commands Note SITE This command is used to control the display and logging of site logs and to control site information It causes data fields to be recorded in the SITELOGA message Use of the LEAVE option causes the site data to be recorded in the form of a SITELOGB log e The FIRSTGPSWEEK and FIRSTGPSSEC fields of the SITELOGB log correspond to the time of the first position log RGEA B
77. he DL indicate self test conditions and therefore the following table does not apply at that time Table 4 Status Indicators Meaning Indicator Color Status Desorption Power Green Input voltage is good The light blinks in a single blink pattern e g 3 2 if Battery A is good and in a double blink pattern e g 3333 3 GO Battery B is good Amber blink The light blinks in a single blink pattern e g GI Battery A is low battery voltage is less than 10 7 Volts Amber double The light blinks in a double blink pattern e g 3 Go 11 if Battery B is low battery voltage is less blink than 10 7 Volts Amber Switching batteries Red There are no good batteries available Operation is disabled Amber fast blink High temperature warning Red fast blink High temperature shutdown Amber slow blink High temperature shutdown Temperature returning to normal blinks once every five seconds Red slow blink High temperature shutdown Waiting for temperature to return to normal blinks once every five seconds Dark No power or DL in sleep mode Position Green Valid position solution fine time reference set Green blink Valid position solution fine time reference not set Amber Position fixed fine time reference set Amber blink Position fixed fine time reference not set Red Insufficient satellites for position Dark No power or DL in sleep mode
78. if a manual SITE LEAVE is being performed rather than an automatic one a MSGA log with Code 3001 Error CMDFAIL SubCode 62 and SubCodeMsg site start time truncated are issued to the COM port where the SITE LEAVE originated e Jf no position logs are received with the number of SVs used in the position solution greater than zero within 30 5 seconds before a SITE LEAVE but received at some time after a SITE ADD command e the SITE ST ENDTRUNCATE bit 0x04 is set in the Flags field of the SITELOGB log e if a manual SITE LEAVE is being performed rather than an automatic one a MSGA log with Code 3001 Error CMDFAIL SubCode 63 and SubCodeMsg site leave time truncated are issued to the COM port where the SITE LEAVE originated e If both of the above conditions apply i e if no position logs are received with the number of SVs used in the position solution greater than zero within 30 5 seconds after a SITE ADD but received before a SITE LEAVE command and if no position logs are received with the number of SVs used in the position solution greater than zero within 30 4 5 seconds before a SITE LEAVE but received at some time after a SITE ADD command e both the SITE ST STARTTRUNCATE and SITE ST ENDTRUNCATE bits are set in the Flags field of the SITELOGB log e if a manual site leave is being performed rather than an automatic one a MSGA log with Code 3001 Error CMDFAIL SubCode 64 and SubCodeMsg site s
79. inal 20 cm accuracy CEP after 5 minutes of continuous lock in static mode on a 100 m baseline After an additional period of continuous tracking from 10 to 20 minutes the system reaches steady state and position accuracies in the order of 3 to 4 cm are typical The time to steady state is about 3 times longer in kinematic mode These double difference accuracies are based on PDOP 2 and continuous tracking of at least 5 satellites 6 preferred at elevations of at least 11 5 All accuracy values refer to horizontal RMS error and are based on low latency positions The level of position accuracy at any time will be reflected in the standard deviations output with the position 38 DL User Manual Rev 3 Appendix B DL Specifications PERFORMANCE Subject To GPS System Characteristics RT 2 Pseudorange amp carrier phase double differencing fixed 2 cm RMS accuracies with RTK carrier phase positioning Conditions 10 km baseline length 2 6 satellites at an elevation gt 12 after 2 minutes convergence with choke ring ground plane at base station Time Accuracy relative 250 ns SA on does not include delays due to cable on RF section Height Limit Up to 18 288 m 60 000 feet in accordance with export licensing Velocity Limit Connector on DL RF INPUT LNA POWER OUTPUT Standard 50 TNC female type Up to 515 m s 1000 Nmi hr in accordance with export licensing
80. inator CR LF Example BATA A 10950 11685 55 CR LF BATB Message ID 1032 Message byte count 24 Format Data Bytes Format Units Offset 1 Sync 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer 8 2 Source 1 Char 12 3 Filler 3 Char 13 4 BattA 4 Integer milliVolts 16 5 BattB 4 Integer milliVolts 20 DL User Manual Rev 3 65 Appendix F DL Logs Note DIRA B The DIRA B log is used to present a summary of stored logs in the DL memory module DIRA Structure Field Field type Data Description Example 1 DIRA Log header DIRA 2 FileName Name of stored log file 8 3 format 31240201 PDC 3 FileSize Size of stored log file in bytes 412514 4 Date Date file was last updated yyyymm d 19971022 5 XX Checksum 43 6 CR LF Sentence terminator CR LF Example SDIRA 31240201 PDC 412514 19971022 43 CR LF DIRB Message ID 1027 Message byte count 36 Format Field Data Bytes Format Units Offset 1 Sync 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer 8 2 FileName 13 Char 12 3 Filler 3 Char 25 4 FileSize 4 Unsigned long Bytes 28 5 Date 4 Unsigned long 32 GROUPA B The GROUPA B log captures the GPSCard logging configuration used to generate a particular log file containing Grou
81. ing either the four self tapping screws through the screw mount holes or the two wood screws through the quick mount holes A WARNING The mounting kit is not designed for use in high dynamics or high vibration environments Contact your dealer or NovAtel Customer Service if your application requires the DL to be mounted in these types of environments Figure 15 Mounting Bracket Drill Holes Dimensions Reference Description 1 Radius 6 0 2 places 2 4 x 3 1 diameter 6 0 x 90 degrees countersink far side 3 4 x 5 diameter through NOTE All dimensions in Figure 15 are in millimeters DL User Manual Rev 3 89 Appendix J Command Prompt Interface Note APPENDIX J COMMAND PROMPT INTERFACE Although the recommended way of configuring the DL is through the UTILITIES module of SoftSurv it is possible to communicate directly with the DL via its command prompt using a PC that is typically connected to COMI on the DL You can access the command prompt from a DOS or Windows based terminal emulation program or you can send batch files directly to a serial port on the DL When the DL turns on no activity information is transmitted from the serial ports except for the port prompt A terminal connected to the DL would display one of these two messages on its monitor Com1 gt if connected to COMI port or Com2 gt if connected to COM2 port You must wait until receiving the MSGA log with a BOOTOK message see Appendix F DL
82. ings using RGED logs for observations and PRTKB logs for positions Table 6 displays the amount of data storage required for a single data record for scenarios of 6 9 or 12 satellites in view Table 6 Storage Requirements per Data Record 144 268 264 388 204 328 384 508 264 388 504 628 The number in a specific cell in this table represents the memory consumption in bytes per recorded GPS point for a given number of visible satellites and a given recording mode The following relationship based on Table 6 yields an estimate of the data storage requirements for a data recording session e Minimum file size in bytes bytes per record x records per hour x number of hours This is an approximation the actual file size will be a few kilobytes larger due to file headers and other information e g satellite ephemeris and almanac data Also feature tagging increases the file size by an amount that depends on the number of features tagged and the number of attributes for each feature Example from Table 6 You wish to record single point observations once every 2 seconds for 8 hours with 9 satellites visible during L1 L2 operation The file size will be no less than 384 bytes record x 1800 records hour x 8 hours 5 529 600 bytes 5529 6 kBytes 5 3 MBytes At this rate a 20 MByte PC Card could hold approximately 30 hours of data Based on the values in Table 6 one ca
83. ion code to each site up to 999 sites can be defined with the first one being numbered 1 Specific site information can be entered or updated using the SITE UPDATE command Attempting to perform a SITE ADD when a SITE LEAVE command for a previously added site has not been issued is an error If no SITE ADD command is issued prior to a logging session scheduled POWERUP or manual a SITE ADD command is performed automatically at the beginning of the logging session with the parameters name and attribute set to the log filename and 0 respectively SITE ADD name attribute aheight ameasure Command Description Default SITEADD Tonnen name Enter a descriptive name up to 32 alphanumeric characters no spaces to define the site where data collection occurs attribute Enter an integer code an integer up to 4 digits long of your choosing that describes this type of site aheight Optional Enter the antenna s height in meters ameasure Optional Enter a code up to 16 alphanumeric characters no spaces that describes how the antenna s height was determined DL User Manual Rev 3 61 Appendix E DL Commands Note Examples site add hilltop 4 site add SW_corner_of_fence 143 1 402 tape_measure Syntax 3 Specific site information can be entered or updated using this command You can enter 1 to 4 of the optional fields in any order provided tha
84. is a LEMO HGM 0B 304 CLAP with the pins assigned as shown in the following table The two possible independent power sources are designated A and B Table 9 Power Connector Pin Assignment Battery A Battery B I Negative Supply A Input 3 Positive Supply B Input E 2 Positive Supply A Input 4 Negative Supply B Input POWER CABLES Figure 10 Power Cables Pw Reference Description Reference Description 1 Brown GND 9 Optional power cable 33 5 cm or 75 cm 2 Orange 10 7 to 18 V DC 10 Automotive cigarette lighter adapter 3 Red 410 7 to 18 V DC with 3 amp slow blow fuse 4 Black GND 11 A Auto ranging AC DC converter battery charger 5 4 conductor cable 12 AC socket 6 Red marker at top of connector 13 AC plug 7 Female LEMO plug 14 Battery 8 Male LEMO socket 15 Optional Y cable DL User Manual Rev 3 41 Appendix D Port amp Cable Pinouts DATA COMMUNICATIONS SERIAL PORT CONNECTORS The two serial ports COMI and COM2 on the DL use LEMO EEG IK 310 CLN sockets with the pins assigned as given in Table 10 COM2 Serial Port Connector Pin Assignment and Table 11 COMI Serial Port Connector Pin Assignment Table 10 COM2 Serial Port Connector Pin Assignment BINE 7 1 Data Data Carrier Detect input Detect input 2 RXD Receive Data input 3 TXD Transmit Data output 4 GND Battery return 5 GND Sig
85. is being rotated counter clockwise into the unlocked position To lock the cover rotate the latch clockwise If it resists turning do not force it rather open and close the cover then try again DL User Manual Rev 3 23 2 Set Up Note Figure 6 Opening the Cover Figure 7 illustrates the procedure to remove the PC Card In the photo on the left below the cover has been unlocked and opened and the PC Card is visible Note the arrow pointing to the eject button to the left of the card in this view You must push this button to partially eject the card then grasp the card as illustrated in the photo on the right below and pull it all the way out To insert the card ensure that it is correctly aligned before gently sliding it into the slot When the card slides all the way in and locks in place the eject button will extend If you attempt to insert the card incorrectly it will not go all the way in and the eject button will not extend In this case do not force the card Remove it orient it properly and then insert it After the card is locked in place close the cover again Figure 7 Handling the PC Card 24 DL User Manual Rev 3 Note 2 Set Up The data logging mechanism is designed to be robust and to endure power interruptions and similar disruptive events with minimum loss of data In these situations less than 5 minutes of data prior to the disruptive event are lost When possible error
86. le name of the new program firmware to be transferred to the MiLLennium Acquire Firmware Files You must first acquire the latest firmware revision which comes as a file with a name such as OEMXYZ EXE where XYZ is the firmware revision level This file is available from NovAtel s FTP site ftp novatel ca or via e mail support novatel ca Alternately the file can be mailed to you on floppy disk At least 1 MB of space should be available on the PC s hard drive For convenience you may wish to copy this file to a GPS sub directory e g C GPS LOADER The file is available in a compressed format with password protection you will receive the required password After copying the file to your computer it must be decompressed The syntax for decompression is as follows Syntax filename s password where filename is the name of the compressed file but not including the EXE extension S is the password command switch password is the password required allowing decompression Example oem442 s12345678 The self extracting archive then generates the following files e LOADER EXE Loader utility program e LOADER TXT Instructions on how to use the Loader utility e XYZ BIN Firmware version update file where XYZ program version level e g 442 BIN Run Loader The Loader utility can operate from any DOS directory or drive on your PC The program is comprised of three parts Program Card authorization procedure
87. ly or L1 L2 DL L2 L1 L2 DL RT2 Lise GPS satellites transmit at two frequencies 1227 60 MHz L2 and 1575 42 MHz L1 NovAtel offers a variety of antenna models for GPS only operation All use low profile microstrip technology and include band pass filtering and an LNA All active GPSAntennas can compensate for up to 13 dB of cable loss Higher cable loss can be used but you should then expect an increased degradation in signal strength The following are L1 only GPSAntennas e Model 501 for use in surveying and other kinematic positioning applications model A031 choke ring available e Model 511 for use in airborne marine ground vehicle or backpack applications e Model 521 for use in ground vehicle backpack or handheld applications e Model 531 for use in surveying and other kinematic positioning applications water proof model A032 choke ring available The following are L1 L2 GPSAntennas e Model 502 for use in surveying and other kinematic positioning applications model A032 choke ring available DL User Manual Rev 3 17 2 Set Up Note e Model 503 for use with high performance position reference stations features a built in choke ring ground plane to minimize the effects of multipath interference e Model 512 for installation on aircraft features aerodynamic styling Each of these models offers exceptional phase center stability as well as a significant measure of immunity against multipath
88. m is designed to be robust and to endure power interruptions and similar disruptive events with minimum loss of data In these situations less than 5 minutes of data prior to the disruptive event are lost To the extent possible error messages attempt to describe the problem If you require further information on this topic see the description of MSGA log Page 75 As shown in Figure 10 Power Cables Appendix D Page 41 there may be up to four power cables used with the DL These cables allow you to energize the DL by either an AC source or a DC source 4 pin LEMO plug connector to cigarette lighter plug complete with a 3 amp slow blow fuse 4 pin LEMO plug connector to autoranging AC DC converter battery charger and AC power cord optional power cable connecting the DL to a battery 33 5 cm or 75 cm lengths optional Y cable to power the DL from two batteries 22 DL User Manual Rev 3 Note 2 Set Up For further information on the following topics see the following sections of this manual e For a listing of the required input supply voltages and the typical power consumption in logging and sleep modes see the Power Requirements section of Appendix B Page 37 e For pin out information on the 4 pin power connector see Table 9 Power Connector Pin Assignment Page 41 e For a listing of the voltage levels at which the Power indicator changes color or at which the DL switches from one source to another or at which the
89. ms as shown following DL User Manual Rev 3 57 Appendix E DL Commands Note Syntax 1 SCHED keyword keyword EE SCHEDULE Command 494 keyword ABORT Terminate a scheduled logging operation prior to its normal completion The DLthen a scheduled logging operation prior to its normal completion The DL then resumes normal operation at the completion of the aborted event For manual logging see the LOGGROUP command Page 53 This command stores the current data file thus all data is saved up to the time when the command is issued CLEAR Delete the entire schedule table from non volatile memory Not reversible DISABLE Temporarily suspend scheduled operation If scheduled logging is taking place when this command is issued the logging operation is suspended until system control is returned to the DL by means of the SCHEDULE ENABLE command or by restarting the DL ENABLE Restore system and logging control to the DL This command causes the DL to start logging as required by the stored schedule events Examples schedul schedul schedule clear schedule disable schedule enable abort 00070 Invoked without optional arguments this command displays the current logging schedule The output format is a set of SCHA logs followed by MSGA log with Code 3001 Error CMDFAIL SubCode 1002 SubCodeMsg ENDSCDLIST Example Coml gt schedule SCHA 1 rt 1098 1
90. n META Structure Field Field type Data Description Example 1 META Log header META 2 GPSWeek GPS week 512 3 GPSSec GPS seconds 220400 000000 4 Flag Valid fields binary 000 111 7 5 Temp Temperature degrees Celsius 23 000000 6 Press Pressure hPa 1013 250000 7 Humid Relative humidity 55 200000 8 MetLogP Pointer to Previous Mets Log 1536 9 XX Checksum 55 10 CR ILF Sentence terminator CR ILF Example META 512 220400 000000 7 23 000000 1013 250000 55 200000 1536 55 CR LF METB Message ID 1031 Message byte count 52 Format Field Data Bytes Format Units Offset 1 Sync 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer 8 2 GPSWeek 4 Unsigned Long Week 12 3 Filler 4 Char 16 4 GPSSec 8 Double Seconds 20 5 Flag 4 Unsigned Long 28 6 Temp 4 Float Celsius 32 7 Press 4 Float hPa 36 8 Humid 4 Float Percent 40 9 MetLogP 4 Unsigned Long Bytes 44 10 Filler 4 Char 48 74 DL User Manual Rev 3 Note Appendix F DL Logs MSGA B This log displays messages in response to system events or user commands MSGA Structure Field Field type Data Description Example 1 MSGA Log header MSGA 2 code Error code see Table 19 MSGA Error Code Definition 3001 Page 76 3 error Error
91. n calculate how much data is generated in one hour if the RGED and PRTKB logs are collected every two seconds This is the typical data logging rate for real time kinematic RTK survey applications The cells of Table 7 reflect the memory consumption in kilobytes per hour for scenarios of 6 9 or 12 satellites in view 30 DL User Manual Rev 3 Note 3 Using the DL Table 7 Memory Consumption Typical Case for RTK Survey 2 Second Rate 682 253 471 359 577 675 893 464 682 886 1104 The following relationship based on Table 7 yields an estimate of the data storage requirements for a typical RTK data recording session e Minimum file size in kilobytes kilobytes per hour x number of hours Example from Table 7 You wish to record single point observations once every 2 seconds for 8 hours with 9 satellites visible during L1 L2 operation The file size will be no less than 675 kBytes hour x 8 hours 5400 kBytes 5 4 MBytes At this rate a 20 MByte PC Card could hold approximately 30 hours of data Based on the values in Table 6 one can calculate how much data is generated in one hour if the RGED and PRTKB logs are collected every 15 seconds This is the typical data logging rate for static survey post processing applications The cells of Table 8 reflect the memory consumption in kilobytes per hour for scenarios of 6 9 or 12 satellit
92. nal ground 6 E No Connection 7 RTS Ready to Send output 8 CTS Clear to Send input 9 BAT Battery io NC N C Table 11 COM1 Serial Port Connector Pin Assignment Pin Name Description 1 DCD Data Carrier Detect input 2 RXD Receive Data input 3 TXD Transmit Data output 4 DTR Data Terminal ready 5 GND Signal ground 6 DSR Data Set ready 7 RTS Ready to Send output 8 CTS Clear to Send input 9 NULL NULL 10 N C N C 42 DL User Manual Rev 3 Appendix D Port amp Cable Pinouts STRAIGHT SERIAL CABLE Figure 11 Straight Serial Cable Illustration P1 P5 ERE VEN P6 P9 13 Reference Description Brown Black Red Orange Yellow Green Blue zl OO P ob 14 Reference Description Violet Grey White Red marker at top of connector Male LEMO 10 pin plug DE9P male 10 conductor cable Table 12 Straight Serial Cable Pin Assignment LEMO Pin No RS232C Signal RS232C Signal Wire Color Code DE 9P Pin No COM1 COM2 Pin 1 DCD DCD Brown Pin 1 Pin 2 RXD RXD Black Pin 2 Pin 3 TXD TXD Red Pin 3 Pin 4 DTR GND Orange Pin 4 Pin 5 GND GND Yellow Pin 5 Pin 6 DSR DSR Green Pin 6 Pin 7 RTS RTS Blue Pin 7 Pin 8 CTS CTS Violet Pin 8 Pin 9 NULL BAT Grey Pin 9 Pin 10 White Not used DL User Manual Rev 3 43 Appendix D Port amp Cable Pinouts
93. nal provides a time tag to the signal processors which respond to a falling edge of the signal provided from an external device It can be enabled by the user to provide a precise time and data output event 5 STATUS Status output an output that changes logic states when a valid GPS position is obtained by the GPSCard 6 GND Signal ground 7 GND Signal ground 8 GND Signal ground VO CABLE Figure 13 I O Cable Illustration Reference Description Reference Description 1 Brown 7 Blue 2 Black 8 White 3 Red 9 8 conductor cable 4 Orange 10 Female LEMO 8 pin plug 5 Yellow 11 Red marker at top of connector 6 Green DL User Manual Rev 3 45 Appendix D Port amp Cable Pinouts LEMO Pin Number Table 15 I O Cable Pin Assignment Pin Description Wire Color Code Pin 1 VARF variable frequency Brown Pin2 1 PPS one pulse per second Black Pin 3 MSR measure output Red Pin 4 MKI mark input Orange Pin5 STATUS valid solutions available Yellow Pin 6 GND Green Pin 7 GND Blue Pin 8 GND White Y CABLE Reference Description 1 Brown ve 2 Orange ve 3 Red ve 4 Black ve 5 Female LEMO Plug 2 3 46 DL User Manual Rev 3 Appendix E DL Commands APPENDIX E DL COMMANDS The DL firmware implements the following commands in addition to the MiLLennium GPSCard comm
94. nd log available to you You would only need to become familiar with this manual if you wished to interact with the DL from the command prompt interface or in any other way chose not to use SoftSurv Throughout this document metric SI Syst me Internationale units are used Appendix G is included to assist you with conversions to imperial units Wherever software commands are listed or described certain conventions are followed These are explained in the section titled Syntax Conventions Page 47 WHAT S NEW IN THIS EDITION 1 Peripheral equipment power can now be provided through the receiver s COM2 port The output voltage is the same as the connected active battery with up to 2A of current available This new definition of COM is fully compatible with COMI NovAtel cabling and other NovAtel ProPak receivers Refer to the new VOUT command Page 63 and pinout description Page 42 GPS receiver firmware has been enhanced to provide superior stand alone base station operation The DIR command Page 49 has been modified to display previously supplied additional group information There is a new WRITE command Page 63 that allows data to be written to a specified data file on the PC Card There is a new description of the PDC LOG command Page 55 as well as a new PDC log STATUSA B Page 83 A PROJECT command Page 56 and a PROJECTA B log Page 78 has been added for project related parameters VER oou SRI 9 The GROUP command Page
95. ntax 2 This command permits you to remove a specific log request from the system If destination is not specified it is defaulted to the port that the command was received on This feature eliminates the need for you to know which port you are communicating on if you want logs to come back to the same destination you sent commands to PDC UNLOG destination datatype Range Value Description Command destination COM1 COM2 FILE COMn port or log file from which PDC log originated datatype Any valid PDC log The name of the log to be disabled Example pdc unlog coml statusa Syntax 3 If destination is specified COMI COM2 or FILE this command disables all logs on the specified destination only All other ports are unaffected If destination is not specified this command disables all logs on all ports PDC UNLOGALL destination Example pdc unlogall DL User Manual Rev 3 55 Appendix E DL Commands Note Syntax 4 This command restores the factory configuration of the PDC parameters and causes the receiver to enter power down mode PDC FRESET PROJECT The PROJECT command defines project related parameters and causes the insertion of a PROJECTB log see Page 78 into the header of the log file prior to the start of the logging session The PROJECT command without any arguments causes the output of a PROJECTA log A project defined using the PROJECT command spans multipl
96. obe port CE NOTICE WARNING This is a Class A product In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures CAUTION 1 This device incorporates circuitry to absorb most static discharges However severe static shock may cause inaccurate operation of the unit Use anti static precautions where possible 2 This device is a precision instrument Although it is designed for rugged operating conditions it performs best when handled with care 3 When the cover for the PC Card ATA mass storage card PC Card is closed and latched the enclosure is sealed to provide protection against adverse environmental conditions To minimize the possibility of damage always keep this cover closed and latched except when exchanging PC Cards Any attempt to remove this cover or the end caps impairs the water resistant qualities of the enclosure and void the warranty Do not eject the PC Card while the DL is logging data as you may lose part of or your entire data file 5 The DL can accept an input supply voltage in the range 10 7 to 18 V DC This may not be the same range as other NovAtel products with which you are familiar Operating the DL below 10 7 V DC causes the unit to suspend operation An input voltage above 18 V DC may physically damage the unit 6 The DL is not compatible with the ProPak series of power supplies and power cables 7 Drawing more
97. on e g on a tripod over a survey marker The recommended antenna depends on which model of the DL you purchased see Choose the Right Antenna Page 17 For maximum positioning precision and accuracy as well as to minimize the risk of damage ensure that the antenna is securely mounted on a stable structure that will not sway or topple Where possible select a location with a clear view of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction The location should also be one that minimizes the effect of multipath interference For a discussion on multipath please refer to the appendix on Multipath Elimination Technology in the MiLLennium GPSCard Command Descriptions Manual Route and connect RF coaxial cable between the antenna and DL see RF Port amp Cables Page 21 16 DL User Manual Rev 3 Note 2 Set Up 4 The receiver provides battery power output BAT through COM It is possible to turn the supply On or Off using the VOUT command see Page 63 The BAT output is the switched output of the input power supply so that 12V output requires 12V input 5 RF Port amp Cables see RF Port amp Cable Page 21 6 Connect an RS232C communication device to one of the serial ports of the DL see Serial Ports amp Cables Page 20 For example this might be a radio modem for receiving differential GPS messages from a base station The supplied null modem cables are intended for RS23
98. on the PC Card The space occupied by the referenced file s is made available for future logging sessions This operation is irreversible Syntax DEL option DEL Command option filename This command removes the named file entry from the list of stored log files If the specified file is currently open for logging access will be denied ALL This command removes all file entries from the log storage memory Even in the case where a file named all exists this command still removes all file entries This command will fail if a log file is open Examples del 31240201 pdc del all 48 DL User Manual Rev 3 NorAtel Appendix E DL Commands DIR This command either displays a list of stored files on the PC Card or the file header information for the specified log file It also displays additional group information when it has been supplied as part of a group definition Syntax DIR option Option Description DIR Command option none If no filename is specified this command displays a list of stored files using the DIRA log The final entry returned by this command displays the logging memory available as the size of a file named FREEMEM filename When invoked with a filename argument this command displays the file header information for the specified log file using a HDRA log followed by a GRPA log or a GROUPA log if the group contains information
99. ou blow the fuse by trying to draw power greater than 2 amps you will have to return the receiver to the factory for repair Power Control Operation After initial connection of the power supply to the receiver the BAT output is turned on When the power switch is used to turn the receiver Off the BAT output is turned on before going to sleep This ensures that power is available to a potential host system for turning the receiver On again by starting communication with the receiver If the power input to the receiver falls below the minimum operating level both batteries in the case of a dual battery system the BAT output is turned Off before the receiver goes to sleep In this case both COM activity or the power button will wake the receiver up and BAT remains Off If the battery input from at least one battery recovers then BAT is turned On again and the unit wakes up as a result of COM activity or by pressing the power button RF PORT amp CABLES The radio frequency RF port is bi directional in that it accepts RF signals from the antenna and it supplies DC power to the low noise amplifier LNA of an active antenna It has a TNC female connector The purpose of an antenna is to convert electromagnetic waves into electrical signals An active antenna is required It has a LNA that boosts the strength of received signals to help offset the cable losses The LNA can be energized directly by the DL or by another source NovAtel recommen
100. ovAtel Table of Contents WARRANTY POLICY 7 CUSTOMER SERVICE 8 NOTICE 9 BOC NOt ankes E E e 9 CE Noll eee ee 9 CAUTION UE 9 FOREWORD 10 Whats Nev an this Edition eco DR ot ue EE it ene se ro oo e gt 10 1 OVERVIEW 11 Models amp Features season ro tec crie tone He En etie e ete eee Onde eee cusuhcus cbivbate knee Me Pete Oe Ee eS UN 12 Operating Modes eene eg eS REED PERPE ENEE SEENEN EEN Een 13 Accessories and Options EE 14 2 SET UP 15 Setting Up at the Office ense eRep sath esI UC NER CUR DRE RH 15 setting Dpaun the Field asus EEE E ERREICHEN EU 16 Choose the Right Antenna zai nte et bone eee aan 17 Connect Cables uiti reto D PUDE eso PET dice RM ger ue PEL Mee Aes FO Port amp Cables noo EE eoe eon dr He Rea ene ate oe n eerte Serial Ports amp Cables Peripheral Power Supply via COM2 Pont 21 RE Port IO 21 Power Poit amp Cable 52 5 ance eo He e ER b e RERO e HR AT OO ee RR 22 Using the Removable Flash Memory Can 23 Sleep Power Down and the Power Switch 25 Status tfe EE ME 26 3 USING THE DL 27 System Behavior iis kesh sere ieu iiec ee ei RA a Sie ERE Sel MITT de Autonomous Versus Host Controlled Operation Default Schedule and Group Configuration essent enne ener Site Records in Scheduled Automatic Logging Sessions Monitoring Your Sy Sten cereo a UR kara Communications with the DL ette Eer Datta DG
101. owing format SoftSurv Header HDRB GRPB or GROUPB if extended group features used PROJECTB if defined GPS Logs SITELOGB 1 GPS Logs GPS Logs SITELOGB n GPS Logs EOF Site records meteorological logs MET may occur at arbitrary locations throughout the file The records are linked to allow easy extraction The SoftSurv Header information block consists of 128 bytes 64 DL User Manual Rev 3 aes Note Appendix F DL Logs Item Type Size Description Range Offset Description char 60 File Description Z can be included to indicate that 0 the description is less than 60 characters EOF byte 1 CA TYPE will not pass this point artificial end of file Z 60 Signature char 7 NOVATEL 61 FileCode byte 1 Indicates the type of file 68 Version byte 1 Version number 0 69 Revision byte 1 Revision number 0 to 99 70 Reserved byte 57 Reserved for future use 71 The HDRB and GRPB logs are binary versions of the HDRA and GRPA logs described in the following sections BATA B The BATA B log is used to display information about the battery system BATA Structure Field Field type Data Description Example 1 BATA Log header BATA 2 Source Which battery is selected A 3 BattA Battery A voltage in mV 10950 4 BattB Battery B voltage in mV 11685 6 XX Checksum 55 7 CR LF Sentence term
102. p Status and Log Status information important site information and differential corrections base station parameters 66 DL User Manual Rev 3 Note Appendix F DL Logs GROUPA Structure Field Field type Data Description Example 1 GROUPA Log header GROUPA 2 GroupName Log group DIFFBASE 3 SessionName Session Name 8ABC9 4 AntSN Antenna serial number CGA95040020 5 AntType Antenna type 502NK 6 AHeight Antenna height m 2 050000 7 ECutoff Elevation cutoff degrees 5 000000 8 SatLimit Satellite observations limit 5 9 GroupStatus Group status flag hexadecimal see Table 01 10 StnHealth Station health 4 11 StnID Station ID 1 12 Lat Time Latitude degrees or Time s 51 116321 13 Long Horz Longitude degrees or Horizontal m 114 038336 14 Height Vert Height m or Vertical m 1048 207 15 SiteNumber Site number 7ABCD8 16 SiteName Site name Company Building 17 Ameasure Antenna height measurement method 502 TRUE 18 Res1 Reserved for future use 19 Res2 Reserved for future use 20 Res3 Reserved for future use 21 LogID Log identifier P20A 22 LogTrigger Trigger event for log ONTIME 23 LogRate Repetition period for log 10 00 24 LogStatus Log status flag hexidecimal see Table 18 Log Status Word 01 Encoding Page 68 25 Res4 Reserved for future use 26 n 2 Additional log specifications A
103. rade file to be downloaded to the DL s PDC card Once the appropriate file has been selected check your COM setup by clicking on the Com Setup button Choose the COM port and then the highest baud rate that your PC and DL can handle Click OK Turn on the DL As soon as the Power indicator light on the front of the DL becomes red click once on the Write Flash button in the PDC Loader dialog on your PC A progress bar will appear in the PDC Loader dialog shown above The display box in this dialog will show a list of what is happening as it happens If you wish to see more information click on the View Stats button When Loader is finished the last line will tell you whether or not the download was successful Please contact your local NovAtel dealer or NovAtel Customer Service see CUSTOMER SERVICE Page 8 for more information on how to upgrade or update the PDC card in your DL A WARNING Do not turn off power to the DL or PC until this process is completed If you do turn off power before Loader is finished the DL may have to be returned to NovAtel for repair DL User Manual Rev 3 35 Appendix A DL Drawings NorAtel APPENDIX A DL DRAWINGS Figure 10 Views 117 45 SECTION A A ee 130 0 252 2 ee E All dimensions are expressed as millimeters 36 DL User Manual Rev 3 Appendix
104. rate commands and their could type either group del alpha p20a or group del alpha p2 ERY A 0r battery a required entries For example you 0a 3 Atthe end of a command a carriage return is required For example press Enter or Return 4 Most command entries do not provide a response to the entered command There are exceptions to this statement for example the VERSION and HELP commands Otherwise successful entry of a command is verified by receipt of the serial port prompt i e COMI or COM2 gt Optional parameters are indicated by square brackets 6 Courier font is used to illustrate program output or user input d DL User Manual Rev 3 47 Appendix E DL Commands Note BATTERY This command allows you to select the power source for the system and display battery status For example you can override the DL s method of selecting the active battery when two batteries are connected To do this the desired battery identifier A or B must be specified in the command Also see Table 9 Power Connector Pin Assignment Page 41 Syntax BATTERY option Command Option Description BATTERY Command option none If no battery is specified the status of the currently selected battery is displayed via a BATA log Select power source A Select power source B Examples battery battery b DEL This command removes one or more files from the list of stored files
105. re due to having been superseded by a superior log STATUSA B LPSTATUSA Structure Field Field type Data Description Example 1 LPSTATUSA Log header LPSTATUS 2 Source Battery used A 3 BattA Battery A voltage milliVolts 11750 4 BattB Battery B voltage milliVolts 10890 5 Cardin PC Card indicator 1 inserted 1 6 CardFree Unused bytes remaining on PC Card 1992403 7 PDC Status Current PDC status see Table 21 PDC Status Word Encoding Page 3AF 84 8 GPS Status GPSCard status see Table 22 GPS Status Word Encoding Page 85 1 9 FileName Name of current log file 01929383 PDC 10 XX Checksum 55 11 CR ILF Sentence terminator CR ILF Example SLPSTATUS A 11750 10890 1 1992403 3AF 1 01929383 PDC 55 CR LF LPSTATUSB Message ID 1029 Message byte count 56 Format Field Data Bytes Format Units Offset 1 Sync 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer 8 2 Source 1 Char 12 3 Filler 3 Char 13 4 BattA 4 Integer milliVolts 16 5 BattB 4 Integer milliVolts 20 6 Cardin 4 Boolean 24 7 CardFree 4 Unsigned long Bytes 28 8 PDCStatus 4 Unsigned long 32 9 GPSStatus 4 Unsigned long 36 10 FileName 13 Char 40 11 Filler 3 Char 53 DL User Manual Rev 3 73 Appendix F DL Logs META B The META B log is used to display meteorological informatio
106. receiver or the PDC card UPGRADE OR UPDATE THE MILLENNIUM GPSCARD There are two procedures to choose from depending on the type of upgrade update you require 1 If you are upgrading to a higher performance model at the same firmware revision level e g upgrading from a MiLLennium Standard rev 4 50 to a MiLLennium RT 2 rev 4 50 you can use the AUTH special command 2 If you are updating to a higher firmware revision level of the same model e g updating a MiLLennium Standard rev 4 50 to a higher revision level of the same model you need to transfer new program firmware to the MiLLennium using the Loader utility program As the Loader and update programs are generally provided in a compressed file format you will also be given a file decompression password The Loader and update files can be found on NovAtel s FTP site or can be sent to you on floppy disk or by e mail These procedures are described more completely in this chapter UPGRADING USING THE AUTH COMMAND The AUTH command is a special input command which authorizes the enabling or unlocking of the various model features Use this command when upgrading to a higher performance MiLLennium model available within the same revision level as your current model e g upgrading from a MiLLennium Standard rev 4 50 to a MiLLennium RT 2 rev 4 50 This command only functions in conjunction with a valid auth code The upgrade can be performed directly from Loader s built in
107. run cp E Schedule Logging Operation i55 1 etre ee t pe ete re lee xor eei ed Ree eee 4 FRMWARE UPGRADES amp UPDATES File Name Convention Upgrade or Update the MiLLennium GPSCard esses eene nennen enne tenen nennen enne nene 32 Upgrading Using the AUTH Commande 32 Upd ting Using the Loaders Utility spasere RM eee dere 33 Upgr de or Update the PDC ageet deser EES 35 DL User Manual Rev 3 3 Table of Contents Nolte APPENDICES APPENDIX A DL DRAWINGS APPENDIX B DL SPECIFICATIONS APPENDIX C PC CARD SPECIFICATIONS APPENDIX D PORT amp CABLE PINOUTS APPENDIX E DL COMMANDS APPENDIX F DL LOGS PDCG Ele 354 e ER IEG neo e CRDI eb BATA B edu oshuRD HP en BIDEN L GROUPAYIB okse asken GRPA B uses kN See DE METAB rets De RENN EE e ener teen tee IN Ken nieto nr E OPER leide PROJECTAJB m dire dre e reete eds PSNA B ee tepore eb pee etre Hen etie SCIIAIB EE SITELOGNADJB timete pec tete ee Ka MN BE DL User Manual Rev 3 NovAtel Table of Contents APPENDIX G CONVERSIONS 86 APPENDIX H REPLACEMENT PARTS 87 APPENDIX I OPTIONAL MOUNTING BRACKET 88 APPENDIX J COMMAND PROMPT INTERFACE 90 TABLES 1 Postioning Modes of Operation i lie eet ee o i ti ee ee ie bd E E OP o eto bet RERO eet 12 2 Feature Summary D Model seggt ette ate AREE PARU IER UE eto 13 3 Allowable Antenna Types
108. s been set The electrical specifications of the strobe signals are as follows Output Voltage Standard TTL levels Sink Current 64 mA Source Current 15 mA Input Voltage Standard TTL levels Current lt 5 mA DL User Manual Rev 3 39 Appendix C PC Card Specifications Note APPENDIX C PC CARD SPECIFICATIONS PC CARD SOCKET The socket on the DL accommodates one Type II or Type III PC Card The socket specification conforms to the PC Card Standard release 2 1 except that 12 V operation and programming is not supported Only 3 3 V and 5 V operation and programming are supported PC CARD The memory card socket is compatible with a Type II PC Card ATA mass storage card and has been tested with 4 MB 20 MB 40 MB and 85 MB PC Cards Please contact your local NovAtel dealer or the NovAtel Customer Service Department see CUSTOMER SERVICE on Page 8 for a list of supported PC Cards You can also obtain memory cards directly from NovAtel please see Appendix H Replacement Parts on Page 87 An industrial temperature grade PC Card is recommended for operation within the full DL operating temperature range More information is also available from your local NovAtel dealer or the NovAtel Customer Service Department 40 DL User Manual Rev 3 NorAtel Appendix D Port amp Cable Pinouts APPENDIX D PORT amp CABLE PINOUTS POWER POWER CONNECTOR The power connector on the DL
109. s integrated memory PC Card for data logging eliminating your need to purchase additional expensive peripheral equipment In addition each model has unique features These are summarized in Table 2 on the following page 12 DL User Manual Rev 3 1 Overview Table 2 Feature Summary DL Models L1 Channels C A code amp L2 Channels P code 12 amp 0 Pseudorange measurements Y Full wavelength L2 carrier measurements EI 12 amp 0 lonospheric corrections in position calculations d A 2 5 bit sampling d Y Patented Narrow Correlator tracking technology d y 5 Input Output strobe signals mark input position amp time 1PPS timing output measure output programmable variable frequency output solution status output Fast re acquisition Peripheral power supply output COM2 2 2l2 21X A A Output Data Log Formats pr Dm NovAtel proprietary ASCII and binary Y NMEA Standard Y RINEX Standard y RTCM Standard Types 1 2 3 9 16 59N Y RTCA Standard Types 1 7 Y Data Logging Rates per second 1 pit EE Computed Data Position speed direction amp clock offset 10 10 5 Measured Data Observations Pseudorange amp carrier phase 20 Receiver Control Clock drift correction Ability to save receiver configuration settings amp almanac Reset hardware or software activated Serial port control Datum table or
110. serial number CNN98160050 6 GPSSN Receiver serial number CGN97120038 7 GPSModel Receiver firmware model MILLENSTD 8 GPSVersion Receiver firmware boot version 4 437 2 03 9 PDCSN PDC serial number CNM97510010 10 PDCModel PDC firmware model DLSTD 11 PDCVersion PDC firmware boot version 1 053 1 01 12 MinSats Minimum satellites in log 6 13 Start GPSWeek GPS Week of first log 912 14 Start GPSSec GPS Time of first log s 602500 000000 15 End GPSWeek GPS Week of last log 913 16 End GPSSec GPS Time of last log s 102345 000000 17 SiteLogP File offset to last Site Record 200312 18 MetLogP File offset to last Met Record 184300 19 UTCOffset UTC offset 12 20 Res1 Reserved for future use 21 Res2 Reserved for future use 22 Res3 Reserved for future use 23 Res4 Reserved for future use 24 Res5 Reserved for future use 25 XX Checksum 22 26 CR ILF Sentence terminator CR ILF Affected only by RGEA B D MKPA B POSA B PRTKA B PXYA B RTKA B SPHA B logs Example SHDRA 31240201 PDC 412514 19971022 CNN98160050 CGN97120038 MILLENSTD 4 437 2 03 CNM97510010 DLSTD 1 053 1 01 6 912 602500 000000 913 102345 000000 200312 184300 12 22 CR I LF DL User Manual Rev 3 71 Appendix F DL Logs Nolte HDRB Message ID 1025 Message byte count 228 Format Data Bytes Format Units Offset 1 Sync
111. splay is as described above Examples group group alpha NOTE Use the PDC log GROUPA B which contains extended group information that the GRPA B log does not Syntax 2 These commands are used to create and configure groups Groups that are added are automatically saved to non volatile memory If ten groups already exist an error message is returned 50 DL User Manual Rev 3 NorAtel Appendix E DL Commands Command Option Description GROUP App Command The name of a group e g alpha which is either being created or modified arguments amp logname trigger data period destination override Add or change a log directive within a group by means of these fields which are interpreted exactly as stated in the MiLLennium GPSCard Command Descriptions Manual except for destination override which may be a specified file as well as COM1 or COM2 see the Destination Override section following this table Commas must be used here spaces are not acceptable If the log trigger does not require a rate such as ONCE or ONCHANGED then zero 0 must be used as the rate Offset log times are not supported A group can support a maximum of ten log directives ECUTOFF value The parameter ECUTOFF elevation cut off in degrees is entered by specifying the appropriate optional argument and a value This value is sent to the GPS receiver at the start of the group s logging
112. t 82 13 Lat Time 8 Double Degrees or s 84 14 Long Horz 8 Double Degrees or m 92 15 Height Vert 8 Double m or m 100 16 SiteNumber 9 Char 108 17 SiteName 33 Char 117 18 Ameasure 17 Char 150 19 Res1 1 Char 167 20 Res2 4 Integer 168 21 Res3 8 Double 172 22 Log Specification X 36 Structure LogID 9 Char 180 180 X 36 LogTrigger 17 Char 189 189 X 36 Filler 2 Char 206 206 X 36 LogRate 4 Float Seconds 208 208 X 36 LogStatus 1 Unsigned char 212 212 X 36 Res4 3 Char 213 213 X 36 68 DL User Manual Rev 3 NorAtel Appendix F DL Logs GRPA B The GRPA log captures the GPSCard logging configuration used to generate a particular file The group name may have up to and including nine characters If the log trigger does not require a rate such as ONCE or ONCHANGED then zero 0 must be specified as the rate GHPA Structure Ficld Fieldtype Data Description Example 1 GRPA Log header GRPA 2 GroupName Log group DIFFBASE 3 SessionName Session Name 8ABC9 4 AntSN Antenna serial number CGA95040020 5 AntType Antenna type 502NK 6 AHeight Antenna height in metres 2 050000 7 ECutoff Elevation cutoff degrees 5 000000 8 SatLimit Satellite observations limit 5 9 LogID Log identifier P20A 10 LogTrigger Trigger event for log ONTIME 11 LogRa
113. t enne enn rente tenete ne trennen nennen 89 6 DL User Manual Rev 3 Note Warranty Policy WARRANTY POLICY NovAtel Inc warrants that its Global Positioning System GPS products are free from defects in materials and workmanship subject to the conditions set forth below for the following periods of time DL Series One 1 Year GPSAntenna Series One 1 Year Cables and Accessories Ninety 90 Days Software Support One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is limited solely to product repair at an authorized NovAtel location only Determination of repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose THE FOREGOING WARRANTIES DO NOT EXTEND TO I NONCONFORMITIES DEFECTS OR ERRORS IN THE PRODUCTS DUE TO ACCIDENT ABUSE MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAILURE TO FOLLOW PRESCRIBED INSTALLATION OPERATING AND MAINTENANCE PROCEDURES II DEFECTS ERRORS OR NONCONFORMITIES IN THE PRODUCTS DUE TO MODIFICATIONS ALTERATIONS ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE WITH NOVATEL S SPECIFICATIONS OR AUTHORIZED BY NOVATEL III NORMAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON V SHIP
114. t the syntax is observed If no value is specified after the sign of a field its value is cleared that is a default value is assigned to it SITE UPDATE number site number name site name SITE UPDATE ameasure mcode attrib attribute Option Description Default Command number Enter a site number up to 8 alphanumeric characters no spaces to identify a set of collected data name Enter a descriptive name up to 32 alphanumeric characters no spaces to define the site where data collection occurs aheight Enter the antenna s height in meters ameasure Enter a code up to 16 alphanumeric characters no spaces that describes how the antenna s height was determined attrib Enter an integer code an integer up to 4 digits long of your choosing that describes this type of site Examples Site update name bridg site update aheight 1 52 name NE corner of pier attrib 2 site update ameasure 502 TRUE number 7ABCD8 aheight 1 203 name statue SLEEP This command allows you to enable or disable the power saving mode SLEEP entered with no arguments causes the DL to disable manual logging if active then enter low power mode and wait for scheduled events If a logging event is scheduled to start within a short amount of time the DL will not enter low power mode Syntax SLEEP keyword 0 Description TT
115. tart and leave times truncated are issued to the COM port where the site leave originated 60 DL User Manual Rev 3 NorAtel Appendix E DL Commands If no SITE LEAVE or SITE CANCEL command is issued prior to a the completion of a logging session schedule POWERUP or manual a SITE LEAVE command is performed automatically once the logging session is complete There are multiple syntactical forms as shown below Syntax 1 Gl keyword SITI Description SITE keyword Command This command causes the 10 most recent site records to be displayed most recent first as a sequence of SITELOGA messages If there are fewer than 10 logs a MSGA log containing a CMDFAIL message will follow the SITELOGA logs There is no limit on the number of SITELOGA logs entered into a single log file This command causes the current time to be entered in the site record as the departure time and the site data to be written to the log file Attempting to perform a SITE ADD when a SITE LEAVE command for a previously added site has not been issued is an error CANCEL This serves to undo the SITE ADD command for the current site deleting it This operation is not reversible Examples site site leave site cancel Syntax 2 This command creates a new site in the system with a time stamp corresponding to the current time This command is used to announce arrival at a site DL assigns an identificat
116. te Repetition period for log 10 00 12 n 2 Additional log specifications st n 1 XX Checksum 23 n CR LF Sentence terminator CR LF Example SGRPA DIFFBASE 8ABC9 CGA95040020 502NK 2 050000 5 000000 5 P20A ONTIME 10 00 RGEA ONTIME 2 REPA ONCHANGED 0 23 CR LF DL User Manual Rev 3 69 PT Appendix F DL Logs Note GRPB Message ID 1026 Message byte count 80 X 32 Format Field Data Bytes Format Units Offset 1 Sync 3 Char 0 header Checksum 1 Char 3 Message ID 4 Integer 4 Message byte count 4 Integer 8 2 GroupName 10 Char 12 3 SessionName 9 Char 22 4 AntSN 17 Char 31 5 AntType 17 Char 48 6 Filler 3 Char 65 7 AHeight 4 Float Meters 68 8 ECutoff 4 Float Degrees 72 9 SatLimit 4 Integer 76 10 LogSpec X 32 Structure LogID 9 Char 80 80 X 32 LogTrigger 17 Char 89 89 X 32 Filler 2 Char 106 106 X 32 LogRate 4 Float Seconds 108 108 X 32 70 DL User Manual Rev 3 Appendix F DL Logs HDRA B The HDRA B log is used to capture system set up information in a log file HDRA Structure EET NN NE gg HDRA Log header HDRA 2 FileName Name of stored log file 8 3 format 31240201 PDC 3 FileSize Size of stored log file in bytes 412514 4 Date Date file was last updated yyyymmdda 19971022 5 DL SN DL
117. than the specified maximum current 2 amps from COM2 will cause an internal fuse to interrupt the current Restoring normal operation will require returning the unit to NovAtel DL User Manual Rev 3 9 Foreword NovAtel FOREWORD Congratulations on your purchase of the DL a GPS receiver with exceptional flexibility NovAtel is an industry leader in state of the art GPS receiver design We believe that our DL will meet your high expectations and are working hard to ensure that future products and enhancements will maintain that level of satisfaction Scope This manual provides sufficient information to allow you to set up and effectively use the DL For any customer service problems or inquiries please contact your dealer If additional help is needed contact Customer Service by any of the means outlined on Page 8 The following may provide you with additional valuable reference information e SoftSurv User Manual a description of the SoftSurv suite of GPS surveying programs and utilities SoftSurv and DL are complementary products designed to work together SoftSurv software provides a user friendly graphical interface to the DL allowing you to focus on your work without needing to learn about the MiLLennium s commands and logs SoftSurv contains all that you would typically need to interact with and configure the DL e MiLLennium GPSCard Command Descriptions Manual a comprehensive description of every GPSCard command a
118. tus indicator I O port 3 Door latch 10 COM2 PWR serial power port 4 Position status indicator 11 COM serial port 5 Logging status indicator 12 Power port 6 Power switch 13 Antenna connector 7 COM port indicator Once you connect the DL to an antenna and power supply it begins operating as a fully functional GPS receiver see Chapter 2 Set Up for more information on this topic The DL is then ready for the most demanding applications such as survey flight inspection hydrographic survey and dredging photogrammetry agricultural applications GIS and differential reference station applications A See CAUTION Page 9 for a list of items of which you should be aware as you set up and use the DL DL User Manual Rev 3 11 1 Overview NovAtel MODELS amp FEATURES Table I lists the four available DL models available each capable of multiple positioning modes of operation Table 1 Positioning Modes of Operation Positioning Modes of Operation Ort a L1 DL ar DL L1 DL RT208 o DL RT2 Single point HE G V Waypoint navigation y V Pseudorange differential corrections TX amp RX y V Trimble CMR differential corrections TX versions lt 3 amp RX Y V version 3 RTK pseudorange amp carrier phase double differencing lt 20 x Y cm RMS accuracies floating RTK pseudorange amp carrier phase double differencing lt 2 x Y
119. ume 1 metro m 100 centimeters cm 1000 millimeters mm 1 liter 1 1000 cubic centimeters cc 1 kilometer km 1000 metros m 1 gallon Imperial 4 546 litters 1 international foot 0 3048 metro 1 gallon US 3 785 litters 1 US survey foot 0 3048006096 metro 1 statute mile 1609 3 metros 1 nautical mile 1852 metros Weight 1 kilogram kg 1000 grams 1 pound 0 4536 kilogram kg Temperature degrees Celsius 5 9 x degrees Fahrenheit 32 degrees Fahrenheit 9 5 x degrees Celsius 32 Decimal Hexadecimal amp Binary Equivalents lo 1 l2 Je Ja l5 le 7 la e lio Ip dde Jas i4 160 lo Ji q2 s J4 5s Je 7 e s a B c b JE JE 0000 0001 0010 0011 0100 0101 0110 0111 1000 1001 1010 1011 1100 1101 1110 1111 GPS Time of Week e g 511 306 seconds to Calendar Day 1 511 306 seconds 86 400 seconds day 2 5 917893519 days 2 0 917893519 days x 24 hours day 22 02944444 hours 3 0 02944444 hours x 60 minutes hour 1 76666667 minutes 4 0 76666667 minutes x 60 seconds minute 46 seconds 5 So 511 306 seconds Day 5 Thursday 22 hours 1 minute 46 seconds into Friday Calendar Date E g 11 30 hours January 22 1995 before GPS week rollover August 22 1999 Days from January 6 1980 to January 22 1995 15 years x 365 days year 5475 days Add a day for each leap year a year that is divisible by 4 but not by 100 every 100
120. where hor and ver denote horizontal and vertical If you do not wish to enter maxver or maxver and maxhor then 0 zero should be entered in these fields instead It is not possible to enter a non zero maxver parameter without entering a valid maxhor parameter e GPS receiver requests are cancelled for position averaging and fixing position on the completion of a logging session that includes the POS configuration In case of multiple simultaneous manual logging sessions that include the POS configuration the parameters from the session that is the last to start is in effect for all the sessions This configuration persists until the last session that includes the POS configuration is stopped Syntax 3 This function deletes group information from the non volatile memory It is possible to remove an entire log group or only an individual log from a group 52 DL User Manual Rev 3 NorAtel Appendix E DL Commands GROUP DEL groupname log name a Command Option Description GROUP peL Command 0 groupname group name The name of a group e g alpha which is either being deleted or modified log name log name An individual log currently an element of the named group which is to be removed from this group Examples group del alpha group del alpha p20a Syntax 4 This command is used to delete all group information from the non volatile memory GROUP CLE

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