User Manual

Version V3.2-20201027

Log & Command Reference

For Tersus BX GNSS OEM Boards
©2020 Tersus GNSS Inc. All rights reserved.

Sales & Technical Support:

[email protected] & [email protected]
More details, please visit www.tersus-gnss.com
 Table of Content
Table of Content.......................................................................................................................1
List of Tables............................................................................................................................ 5
1. General Description..................................................................................................8
1.1 General Sentence Format............................................................................... 8

1.2 Talker Sentences.............................................................................................. 8

1.3 ASCII Header for logs...................................................................................... 9

1.4 Binary Header for logs................................................................................... 10

1.5 Command Response..................................................................................... 11

1.6 Message ID for logs....................................................................................... 12

2. Commands.............................................................................................................. 14
2.1 Overview of Command System....................................................................14

2.2 Command Reference..................................................................................... 14

2.2.1 ANTENNAMODE............................................................................................14

2.2.2 ASSIGNALL.....................................................................................................15

2.2.3 COM..................................................................................................................16

2.2.4 DGPSTXID.......................................................................................................16

2.2.5 DOWNLOADFILE........................................................................................... 17

2.2.6 ECUTOFF........................................................................................................ 17

2.2.7 FIX.....................................................................................................................18

2.2.8 FRESET........................................................................................................... 19

2.2.9 GARBAGEFILE...............................................................................................20

2.2.10 GRADUALTRANSITION........................................................................20

2.2.11 INTERFACEMODE.................................................................................21

2.2.12 LOG........................................................................................................... 22

2.2.13 LOGFILE.................................................................................................. 24

2.2.14 MARKCONTROL.................................................................................... 26

2.2.15 NMEATALKER........................................................................................ 26

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 2.2.16 PPSCONTROL........................................................................................27

2.2.17 POSAVE...................................................................................................27

2.2.18 POSOFFSET........................................................................................... 28

2.2.19 PSRDIFFTIMEOUT................................................................................ 29

2.2.20 READFILELIST....................................................................................... 29

2.2.21 RESET...................................................................................................... 29

2.2.22 RTKCOMMAND...................................................................................... 30

2.2.23 RTKSOURCE.......................................................................................... 30

2.2.24 RTKTIMEOUT......................................................................................... 31

2.2.25 SAVECONFIG......................................................................................... 31

2.2.26 SERIALCONFIG......................................................................................31

2.2.27 SHOWCONFIG....................................................................................... 32

2.2.28 STOPDOWNLOAD................................................................................. 32

2.2.29 STORETYPE........................................................................................... 32

2.2.30 THISANTENNAPCO.............................................................................. 33

2.2.31 THISANTENNASET............................................................................... 34

2.2.32 THISANTENNATYPE.............................................................................34

2.2.33 UNDULATION......................................................................................... 35

2.2.34 UNLINKFILE............................................................................................ 35

2.2.35 UNLOG..................................................................................................... 36

2.2.36 UNLOGALL.............................................................................................. 36
3. Logs…………………………………...................................................................... 37
3.1 Log reference.................................................................................................. 37

3.1.1 AUTHLIST........................................................................................................37

3.1.2 BASEANTENNA............................................................................................. 37

3.1.3 BDSEPHEMERIS........................................................................................... 38

3.1.4 BDSIONO.........................................................................................................40

3.1.5 BESTPOS........................................................................................................ 41

3.1.6 BESTVEL......................................................................................................... 44

3.1.7 BESTXYZ.........................................................................................................45

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3.1.8 BSLNXYZ.........................................................................................................46

3.1.9 CMROBS......................................................................................................... 47

3.1.10 CMRREF.................................................................................................. 48

3.1.11 CMRDESC............................................................................................... 48

3.1.12 CMRPLUS................................................................................................48

3.1.13 GPGGA.....................................................................................................49

3.1.14 GPGLL...................................................................................................... 50

3.1.15 GPGRS (not support currently).............................................................51

3.1.16 GPGSA..................................................................................................... 52

3.1.17 GPGST..................................................................................................... 53

3.1.18 GPGSV..................................................................................................... 54

3.1.19 GPHDT..................................................................................................... 55

3.1.20 GPNTR..................................................................................................... 55

3.1.21 GPRMC.................................................................................................... 56

3.1.22 GPVTG..................................................................................................... 57

3.1.23 GPZDA......................................................................................................58

3.1.24 GPSEPHEM.............................................................................................58

3.1.25 GLOEPHEMERIS................................................................................... 60

3.1.26 HEADING................................................................................................. 62

3.1.27 IONUTC.................................................................................................... 63

3.1.28 LOGLIST.................................................................................................. 64

3.1.29 MARKCOUNT..........................................................................................65

3.1.30 MARKPOS (not support currently)....................................................... 66

3.1.31 MARKTIME.............................................................................................. 66

3.1.32 PASSCOMid/PASSUSB........................................................................ 67

3.1.33 PSRDOP.................................................................................................. 68

3.1.34 PSRXYZ................................................................................................... 69

3.1.35 RANGE..................................................................................................... 71

3.1.36 RANGECMP............................................................................................ 75

3.1.37 REFSTATION.......................................................................................... 77

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 3.1.38 RTCM messages.................................................................................... 78

3.1.39 SATVIS..................................................................................................... 80

3.1.40 THISANTENNA....................................................................................... 82

3.1.41 TIME..........................................................................................................83

3.1.42 TRACKSTAT............................................................................................84

3.1.43 VERSION................................................................................................. 86
4. RTK Configuration Example................................................................................. 87
5. Terminology.............................................................................................................88

4 /89
List of Tables
Table 1 ASCII header for logs............................................................................9
Table 2 Binary header for logs........................................................................ 10
Table 3 GPS Reference Time Status............................................................. 10
Table 4 Command Response Meaning..........................................................11
Table 5 Logs in Alphabetical Order................................................................ 12
Table 6 ANTENNAMODE................................................................................15
Table 7 ASSIGNALL.........................................................................................15
Table 8 ID for receiving mode......................................................................... 16
Table 9 Configuring serial port baud rate...................................................... 16
Table 10 Sets DGPS station ID.......................................................................16
Table 11 ID for corrections...............................................................................17
Table 12 DOWNLOADFILE............................................................................. 17
Table 13 ECUTOFF.......................................................................................... 17
Table 14 Fix the coordinate of the base station............................................18
Table 15 Reset to factory mode and freset options..................................... 19
Table 16 Value definition.................................................................................. 20
Table 17 GARBAGEFILE.................................................................................20
Table 18 Gradualtransition...............................................................................21
Table 19 Configuring port mode......................................................................21
Table 20 Serial port mode................................................................................21
Table 21 Output logging configuration........................................................... 22
Table 22 LOGFILE............................................................................................ 25
Table 23 MARKCONTROL.............................................................................. 26
Table 24 Change the NMEA talker ID............................................................ 26
Table 25 PPSCONTROL..................................................................................27
Table 26 Implements base station position averaging................................ 28
Table 27 POSOFFSET.....................................................................................28
Table 28 PSRDIFFTIMEOUT.......................................................................... 29
Table 29 READFILELIST................................................................................. 29
Table 30 RESET................................................................................................30
Table 31 Sets the RTK correction source......................................................30
Table 32 Sets the RTK correction source......................................................30
Table 33 RTKTIMEOUT................................................................................... 31
Table 34 Save current configuration.............................................................. 31
Table 35 Configuring serial port settings....................................................... 31
Table 36 Parity...................................................................................................32
Table 37 SHOWCONFIG................................................................................. 32
Table 38 STOPDWOWNLOAD.......................................................................32
Table 39 STORETYPE.....................................................................................33
Table 40 THISANTENNAPCO........................................................................ 33
Table 41 THISANTENNASET......................................................................... 34

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Table 42 THISANTENNATYPE.......................................................................34
Table 43 Antenna Type.....................................................................................34
Table 44 Undulation.......................................................................................... 35
Table 45 UNLINKFILE...................................................................................... 35
Table 46 Cancel a particular output................................................................36
Table 47 UNLOGALL........................................................................................36
Table 48 AUTHLIST.......................................................................................... 37
Table 49 BASEANTENNA............................................................................... 37
Table 50 BDSEPHEMERIS............................................................................. 38
Table 51 BDSIONO...........................................................................................40
Table 52 BESTPOS.......................................................................................... 41
Table 53 Solution Status.................................................................................. 42
Table 54 Position or Velocity Type..................................................................43
Table 55 BESTPOS GPS and GLONASS Signal-Used Mask...................43
Table 56 BESTPOS Galileo and BDS Signal-Used Mask.......................... 43
Table 57 BESTVEL........................................................................................... 44
Table 58 BESTXYZ...........................................................................................45
Table 59 BSLNXYZ...........................................................................................46
Table 60 CMROBS............................................................................................48
Table 61 CMRREF............................................................................................ 48
Table 62 CMRDESC.........................................................................................48
Table 63 CMRPLUS..........................................................................................48
Table 64 GPGGA.............................................................................................. 49
Table 65 GPGLL................................................................................................50
Table 66 NMEA Positioning System Mode Indicator................................... 51
Table 67 GPGRS...............................................................................................51
Table 68 GPGSA...............................................................................................52
Table 69 GPGST............................................................................................... 53
Table 70 GPGSV...............................................................................................54
Table 71 GPHDT............................................................................................... 55
Table 72 GPNTR............................................................................................... 56
Table 73 GPRMC.............................................................................................. 56
Table 74 GPVTG............................................................................................... 57
Table 75 GPZDA............................................................................................... 58
Table 76 GPSEPHEM...................................................................................... 59
Table 77 GLOEPHEMERIS............................................................................. 60
Table 78 HEADING.......................................................................................... 62
Table 79 IONUTC..............................................................................................64
Table 80 Check logged message types.........................................................65
Table 81 MARKCOUNT................................................................................... 66
Table 82 MARKPOS......................................................................................... 66
Table 83 MARKTIME........................................................................................ 67
Table 84 PASSCOMx.......................................................................................67
Table 85 PSRDOP............................................................................................ 68

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Table 86 PSRXYZ.............................................................................................70
Table 87 RANGE...............................................................................................71
Table 88 Channel Tracking status.................................................................. 73
Table 89 Tracking State....................................................................................75
Table 90 Correlator Type..................................................................................75
Table 91 RANGECMP...................................................................................... 75
Table 92 Range Record Format......................................................................76
Table 93 REFSTATION.................................................................................... 78
Table 94 Station Type.......................................................................................78
Table 95 Collection of supported RTCM2 message.................................... 79
Table 96 Collection of supported RTCM3.2 message types...................... 79
Table 97 SATVIS............................................................................................... 81
Table 98 THISANTENNA.................................................................................82
Table 99 TIME....................................................................................................83
Table 100 Clock Model Status........................................................................ 84
Table 101 TRACKSTAT....................................................................................84
Table 102 Display version information...........................................................86
Table 103 List of terminology.......................................................................... 88

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 1. General Description
This log and command reference manual is for Tersus BX306, BX306Z, BX316,
BX316R, BX316D and David GNSS RTK boards.

This document is the primary reference guide of commands and logs for
customers.

1.1 General Sentence Format

All data is transmitted in the form of sentences. Only printable ASCII

characters are allowed, plus CR (carriage return) and LF (line feed). Each
sentence starts with a "$" sign and ends with CR>LF>.

Unless otherwise specified, all the loggings output support three formats:
ASCII, abbreviation ASCII and binary formats.

Only input commands with ASCII formats (manually or with programming) are
supported.

All the NMEA output loggings support ASCII format only.

1.2 Talker Sentences

The general format for a talker sentence is given below.

$ttsss, d1, d2 ...*xxCR>LF>
Each sentence begins with a '$' and ends with a carriage return/line feed
sequence and cannot be longer than 80 characters of visible text (plus the line
terminators). The data fields in a single line are separated by commas. If data
for a field is not available, the field is omitted, but the delimiting commas are
still there, with no space between them.
The data may vary in the amount of precision contained in the message. For
example time might be indicated to decimal parts of a second or location may
be shown with 3 or even 4 digits after the decimal point. Programs that read
the data should only use the commas to determine the field boundaries and
not depend on column positions.

8 /89
 1.3 ASCII Header for logs

ASCII messages are readable by both the user and a computer. The structure
of ASCII messages is as follows.
header; data field…, data field…, data field… *xxxxxxxx [CR][LF]

The following table gives the detailed description about the ASCII header for all
loggings.

Table 1 ASCII header for logs

Field Ignored
Field Field Name Description
Type on Input
Sync character. The ASCII message is always
1 Sync Char N
preceded by a single ‘#’ symbol
2 Message Char The ASCII name of the log or command N
The name of the port from which the log was
generated. The string is made up of the port
name followed by an _x where x is a number from
3 Port Char Y
1 to 31 denoting the virtual address of the port. If
no virtual address is indicated, it is assumed to
be address 0
Used for multiple related logs. It is a number that
counts down from N-1 to 0, where 0 means it is
4 Sequence # Long N
the last one of the set. Most logs only come out
one at a time in which case this number is 0
The minimum percentage of time the processor is
5 % Idle Time Float Y
idle, calculated once per second
6 Time Status Enum See Table 3 GPS Reference Time Status Y
7 Week Ulong GPS reference week number Y
Seconds from the beginning of the GPS
8 Seconds GPSec Y
reference week; accurate to the millisecond level
Receiver
9 Ulong Reserved to 0x00 Y
Status
10 Reserved Ulong Reserved for internal use Y
Receiver
11 Ulong Reserved to 0xbe0xa2 Y
S/W Version
12 ; Char The character indicates the end of the header N

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 1.4 Binary Header for logs

The following table gives the detailed description about the binary header for
all loggings.

Table 2 Binary header for logs

Field Field Binary
Field Description
Name Type Bytes
1 Sync Char Hexadecimal 0xAA 1
2 Sync Char Hexadecimal 0x44 1
3 Sync Char Hexadecimal 0x12 1
Header
4 Uchar Length of the header 1
Length
This is the Message ID number of the log, see
5 Message ID Ushort 2
section 1.6
Message
6 Char Reserved to 0x02 1
Type
COM1:32 COM2:33
7 Port Address Uchar 1
USB:1440 FILE:8002
Message The length in bytes of the body of the message,
8 Ushort 2
Length not including the header nor the CRC
9 Sequence Ushort Reserved to 0x00 2
10 Idle Time Uchar Reserved to 0x00 1
11 Time Status Enum See Table 3 GPS Reference Time Status 1
12 Week Ushort GPS reference week number 2
Milliseconds from the beginning of the GPS
13 ms GPSec 4
reference week
Receiver
14 Ulong Reserved to 0x00 4
Status
15 Reserved Ushort Reserved for internal use 2
Receiver
16 Ushort Reserved to 0xbe0xa2 2
S/W Version

Table 3 GPS Reference Time Status

GPS Reference GPS Reference
Time Status Time Status Description
(Decimal) (ASCII)
20 UNKNOWN Time validity is unknown
60 APPROXIMATE Time is set approximately
80 COARSEADJUSTING Time is approaching coarse precision
100 COARSE This time is valid to coarse precision
120 COARSESTEERING Time is coarse set and is being steered

10 /89
 Position is lost and the range bias cannot be
130 FREEWHEELING
calculated
140 FINEADJUSTING Time is adjusting to fine precision
160 FINE Time has fine precision
FINEBACKUPSTEERI Time is fine set and is being steered by the
170
NG backup system
180 FINESTEERING Time is fine set and is being steered
Time from satellite. Only used in logs
200 SATTIME containing satellite data such as ephemeris
and almanac.

1.5 Command Response

The receiver is capable of outputting several ASCII format responses for

various conditions. Most responses are error messages to indicate when
something is not correct.

Table 4 Command Response Meaning

Response Meaning
OK Command was received correctly
Invalid Message. Field = XXX Field XXX of the input message is not correct
The checksum of the input message is not
Invalid Checksum
correct.
Message missing field A field is missing from the input message
Trigger XXX not valid for this log Trigger type XXX is not valid for this type of log
Field XXX of the input message is outside the
Parameter XXX is out of range
acceptable limits
Field XXX contains more array elements than
Array size for field XXX exceeds max
allowed
Invalid Param An invalid value is input for field XXX
Message is incorrect The input message is incorrect
Invalid baud rate The baud rate is invalid
The card is Group, please add the No. The parameters in the input license are not
after group correct.
Invalid Authcode entered The authcode entered is not valid
Need factory public key! A factory public key is needed.
Trial lic have been used. A trial license is expired.
Update denied (Trial Lic used time over
A trial license is denied
than purchased keys)
Update denied (New Lic key Expired time
A license is expired.
is less than old Lic key).

11 /89
 Failed to mount! No SD card is installed.
Failed to unmount! Fail to unmount when switch to SD/EMMC chip
Only one process is allowed when downloading
Another download process must exit!
files from SD card / EMMC chip
Requested file does not exist! No such file existed on the SD/EMMC chip
Some operation needs to stop during
Need stop download file!
downloading.
Need close logfile! No space on SD/EMMC for data collection
No change! Switching fails between SD and EMMC chip.
This input command is not supported by current
Firmware not support it!
firmware.
Action Failed (Reason:XXX)! Some Action failed.

1.6 Message ID for logs

Each log has a sole message ID, which is included in the output binary header.

Table 5 Logs in Alphabetical Order

LOG Description Message ID
BASEANTENNA Outputs base antenna height and PCO 1422
BDSEPHEMERIS A single set of BDS ephemeris parameters 1696
The ionosphere parameters transmitted by BeiDou
BDSIONO 1590
satellites.
BESTPOS Best position data 42
BESTVEL Velocity data 99
BESTXYZ Cartesian coordinate position data 241
BSLNXYZ RTK XYZ baseline 686
GPSEPHEM GPS ephemeris data 7
GLOEPHEMERIS GLONASS ephemeris data 723
HEADING Heading information with the ALIGN feature 971
IONUTC Ionospheric and UTC model information 8
MARKCOUNT log contains the tick count for the event1
MARTCOUNT 1093/1094
(MARK1COUNT) and event2 (MARK2COUNT) inputs.
MARKTIME Time of mark1 input event 231
PASSCOM1 Pass-through log 233
PASSCOM2 Pass-through log 234
PASSUSB Pass-through log 607
PSRDOP DOP of SVs currently tracking 174
PSRXYZ Pseudorange position and velocity. 243
RANGE Satellite range information 43
RANGECMP Compressed version of the RANGE log 140

12 /89
REFSTATION The ECEF Cartesian position of the base station 175
SATVIS Satellite visibility 1043
THISANTENNA Antenna type, ID and height 1421
TIME Receiver time information 101
TRACKSTAT Satellite tracking status 83
VERSION Receiver hardware and software version numbers 37

13 /89
 2. Commands

2.1 Overview of Command System

Tersus GNSS systems allow users to modify its configuration with command
systems. Here are some general remarks on this command system:
 All commands are not case-sensitive.
 All loggings related command must specify the port related. If the port is
not specified, the command is applied to current port.
 If the commands are executed successfully, the board returns OK.
Otherwise, it returns an error message.
 The configuration of some commands, listed in the following table, can be
shown with command ‘log command’, for example, you can input
log ecutoff
to show the ecutoff configuration.

dgpstxid
ecutoff
fix
interfacemode
logfile
posave
rtktimeout
rtksource
serialconfig
undulation

2.2 Command Reference

2.2.1 ANTENNAMODE

This command is used to configure which signals will be tracked by the primary
and secondary antennas, respectively. It is valid only for the receivers
supporting dual antennas, including BX316, BX316R and BX316D.

The command will not work immediately after it is inputted. Follow the following
14 /89
steps to make it works:
 Input ANTENNAMODE command to choose the mode.
 Input SAVECONFIG
 Power cycle the board or input RESET commands.

Table 6 ANTENNAMODE
Name Value
Command ANTENNAMODE option
ANTENNAMODE DUALGPSBDS
Example
ANTENNAMODE 2
Function Specify which signals will be tracked by two antennas.
SINGLE Primary antenna tracks GPS L1/L2, GLONASS L1/L2, BDS
0
(default) B1/B2
Option Primary antenna tracks GPS L1/L2, GLONASS L1/L2;
1 DUALGPSGLO secondary antenna tracks GPS L1, GLONASS L2
(BX316D secondary antenna tracks GPS L1, GLONASS L1).
Primary antenna tracks GPS L1/L2, BDS B1/B2;
2 DUALGPSBDS secondary antenna tracks GPS L1, BDS B2
(BX316D secondary antenna tracks GPS L1, BDS B1).

2.2.2 ASSIGNALL

This command is used to override the automatic satellite/channel assignment

and reacquisition processes. Generally, it is used to remove one or two
systems from solution.

Table 7 ASSIGNALL
Name Value
Command ASSIGNALL system state
Example 1 ASSIGNALL GLONASS idle
Example 2 ASSIGNALL GLONASS auto
system GPS/ GLONASS/ BDS
Parameter
IDLE: Set the system channel to not track any satellites
description state
AUTO: Set the system channel active (default)

After changing the assignment of satellite system, type SHOWCONFIG

command (refer section 2.2.27) to display the current satellite system that
board receives. For example, it displays ‘assignall 0’ which means the board is

15 /89
receiving signals from GPS+GLONASS+BDS, other receiving mode is shown
in the table below.
Table 8 ID for receiving mode
Value Satellite System
0 (Default) GPS+GLONASS+BDS
1 GPS
2 GLONASS
3 GPS+GLONASS
4 BDS
5 GPS+BDS
6 GLONASS+BDS
7 GPS+GLONASS+BDS

2.2.3 COM

This command is used to change the baud rate of the serial port to adapt its
host device requirement.

Table 9 Configuring serial port baud rate

Name Value
Command COM [port] bps
Example COM COM1 115200
Parameter PORT COM1/COM2
description Bps/ baud 9600/19200/38400/57600/115200/230400/460800/921600

2.2.4 DGPSTXID

This command is used to set the DGPS station ID value for the receiver when
it is transmitting corrections.
Table 10 Sets DGPS station ID
Name Value
Command DGPSTXID type ID
Example 1 DGPSTXID rtcm 2
Example 2 DGPSTXID rtcmv3 any
Parameter mode See Table 11 ID for corrections
description Base station ID See Table 11 ID for corrections

16 /89
 Table 11 ID for corrections
Type Valid values
auto any
cmr 0---31 or any
rtcm 0---1023 or any
rtcmv3 0---4095 or any

2.2.5 DOWNLOADFILE

This command is used to download the file on the SD card or the EMMC chip
to the computer. After the file is downloaded successfully, the file will be saved
in the output directory of the Tersus GNSS Center software.

Table 12 DOWNLOADFILE
Name Value
Command DOWNLOADFILE filename [offset] [speed]
Example DOWNLOADFILE 00002933.DAT 0 32000
Download the file from the offset byte
offset (0 if not specified).
0: download the file from the first byte.
Parameter
Download speed, unit is byte/second (About 8KB if not specified).
description
The recommendation：
speed
1) Configure the communicate port to 460800
2) Speed is set to 32000, that is, 32KB/S.

See commands STORETYPE, LOGFILE, READFILELIST, GARBAGEFILE,

STOPDOWNLOAD and UNLINKFILE for more.

2.2.6 ECUTOFF

This command is used to set the elevation cut-off angle (unit is degree) for
RTK used satellites.

Table 13 ECUTOFF
Name Value
Command ECUTOFF angle
Example ECUTOFF 15.0

17 /89
Parameter
angle Elevation cut-off angle, default is 5.0.
description

2.2.7 FIX

This command is used to fix position to the input values.

FIX POSITION should only be used for base station receivers. A station
coordinate command is used to manage whether fix the station coordinate. For
RTK, the coordinates should be fixed as known value when it serves as the
base station. If the position is unknown, please refer to POSAVE command in
page 27.

1) FIX POSITION
This command is to fix the coordinate of a base station.

Table 14 Fix the coordinate of the base station

Name Value
Command Fix position Lat Long Height
Example Fix position 31.24523012 121.58922341 40.35
Lat Latitude in degree (-90.0~90.0)
Parameter
Long Longitude in degree (-180.0~180.0)
description
Height Mean sea level in meter.

Note:
1. The base coordinates are expressed in DEGREE and METER, the
coordinates with the right units are necessary.
2. The height parameter is mean sea level which is different from ellipsoid
height.
3. The detailed usage of FIX POSITION command refers to chapter 4 RTK
Configuration Example.

2) LOG FIX
This log is to inquire the fix status of a base station.
Input ‘log fix’ in the text console window, the response is as blow:
POSITION X Y Z [VALID / INVALID / UNKNOWN][dX][dY][dZ]
in which, X Y Z are the fixed coordinates of a base entered by the user, dx dy
dz are the differences between the current location coordinates and fixed

18 /89
coordinates entered by the user. When the difference between the current
location coordinates in the three directions of X Y Z and the fixed coordinates
entered by the user is greater than 30m in one direction, it is considered invalid.
When there is no antenna connected, the OEM board cannot be positioned. In
this case it cannot determine whether the difference is greater than 30m,
therefore it is considered unknown.

In below example, the difference is less than 30m and it responses valid.

3) FIX NONE
This command is for canceling fixed coordinate. When switching the role of the
board from base station to rover station, removing the fixed coordinate is
necessary. In this case, use this command to remove the fixed coordinate.

2.2.8 FRESET

This command is used to clear all the data or part of the data which is stored in
flash memory. Such data includes the almanac, ephemeris, and any user
specific configurations. Options are used to choose which data will be reset.

Options are used for sophisticated customers; a general user can neglect all
the options and just input FRESET to erase all the data or FRESET NOERASE
to reboot the board.

Table 15 Reset to factory mode and freset options

Name Value
Command FRESET option
freset bitmask11;
Example reset the ephemeris, almanac and last position. All the data
and configurations of the receiver will be erased.
NOERASE No data is deleted, only reset the board.
EPHEM Only ephemeris is reset.
ALMANAC Only almanac is reset.
option UTC Only the UTC time is reset.
LAST_POSITION Only the last position is reset.
CONFIG Only the receiver’s configure is reset.
FORMATEMMC Format the internal EMMC chip. All the files on the EMMC
19 /89
 chip will be erased.
bitmaskX can be used to reset two or more items above. X is
bitmaskX
the sum of the options’ value, which is defined in Table 16.

Table 16 Value definition

EPHEM 1
ALMANAC 2
UTC 4
LAST_POSITION 8
CONFIG 16

2.2.9 GARBAGEFILE

When the internal EMMC chip or the external SD card is used for data
collection, this command can be used to delete all the files saved some days
ago when the free space reaches a threshold.

Table 17 GARBAGEFILE
Name Value
Command garbagefile expiredday triggerquota
Example garbagefile 2 1000
expiredday An integer (unit is day), data collected before that time will be deleted.
When the free size (unit is MB) of the SD card or the EMMC chip is
triggerquota
reached, some data will be deleted. Max is 10240, which is 10GB.

The example above means if the free space of the card reaches to 1000MB,
then all the files saved two days ago will be deleted.

Please note, when the EMMC chip is used for data collection, up to 4GB
storage is available to the users.

See commands STORETYPE, LOGFILE, DOWNLOAD, READFILELIST,

STOPDOWNLOAD and UNLINKFILE for more.

2.2.10 GRADUALTRANSITION

The GRADUALTRANSITION function helps mitigate the discontinuities that

often occur when a GNSS receiver changes positioning modes, or is in a
position type with low precision.

20 /89
Smooth transitions are very important for UAV and agricultural steering
applications where sudden jumps may be problematic.

Table 18 Gradualtransition
Name Value
Command gradualtransition mode time
gradualtransition no_transition
Example
gradualtransition owing_better 100
DISABLE gradualtransition is disable (default)
The relative offset will be maintained, so there
NO_TRANSITION will be no discontinuity in the solution when the
position type changes.
Transition at a user-configurable rate with the
Mode TRANSITION
Parameter time parameter.
description TRANSITION when changing from less
accurate position type to more accurate type.
OWING_BETTER
NO_TRANSITION when changing from more
accurate position type to a less accurate type.
Only for TRANSITION and OWING_BETTER modes, valid range 1 -
TIME
1000, unit is second. The recommended value is 50.

2.2.11 INTERFACEMODE

This command is used to configure the read and write mode of the port. The
default is ‘interfacemode auto auto on’, the OEM board identifies commands
and corrections format automatically. It is recommended not changing the
default configuration.

Table 19 Configuring port mode

Name Value
Command Interfacemode port rxtype txtype response
Example Interfacemode COM1 auto auto on
PORT the serial port number of the board,COM1 and COM2
RXTYPE Receive interface mode (see Table 20)
Parameter
Transmit interface mode (see Table 20, currently not in
description TXTYPE
effect)
RESP whether response commands

Table 20 Serial port mode

21 /89
Mode Description
Auto Identify commands and corrections format automatically
RTCMV3 The port accepts/generates RTCM Version3.X corrections and commands
RTCMV2 The port accepts/generates RTCM Version2.X corrections and commands
CMR The port accepts/generates CMR/CMR+ corrections and commands

2.2.12 LOG

This command is to request logs from the receiver.

If the log is synchronous, the trigger is ONTIME; if it is asynchronous, the

trigger is ONCHANGED. The unit of period is second.

The optional parameter [hold] prevents a log from being removed when the
UNLOGALL command, with its defaults, is issued. To remove a log which was
invoked using the [hold] parameter requires the specific use of the UNLOG
command. To remove all logs that have the [hold] parameter, use the
UNLOGALL command with the held field set to TRUE.

The [port] parameter is optional. If [port] is not specified, [port] is defaulted to

the port that the command was received on.

Table 21 Output logging configuration

Name Value
Command LOG [port] message [trigger [period]] [hold]
LOG COM1 BESTPOSB ONTIME 1 HOLD
The above example shows BESTPOS logging to com port 1 at 1 second
Example 1
intervals. The [hold] parameter is set so that logging is not disrupted by the
UNLOGALL command.
Example 2 LOG COM2 VERSION ONCE NOHOLD

Binary format
Binary Binary
ID Field Binary Value Description Type
Bytes Offset
LOG
See Table 2 Binary This filed contains the
1 (binary) - H 0
header for logs message header
header
2 port COM1, COM2, USB Output port Enum 4 H

22 /89
 or FILE
Message ID of log to
3 message Valid message ID Ushort 2 H+4
output
Bits 0-4 = Reserved
Bits 5-6 = Format
00 = Binary
01 = ASCII
message 10 = Abbreviated ASCII,
4 Message type of log Char 1 H+6
type NMEA
11 = Reserved
Bit 7 = Response Bit
0 = Original Message
1 = Response Message
5 Reserved Char 1 H+7
Does not output current
message but outputs
0 = ONNEW when the message is
updated (not necessarily
changed)
Outputs the current
message and then
1 = ONCHANGED continues to output
when the message is
6 trigger changed Enum 4 H+8
2 = ONTIME Output on a time interval
Output the current
message. If no message
4 = ONCE is currently present, the
next message is output
when available
Output when a pulse is
5 = ONMARK detected on the mark 1
input
Valid values for the
high rate logging are
0.05, 0.1, and 0.2. Log period (for ONTIME
7 period Double 8 H+12
For logging slower trigger) in seconds
than 1 Hz any integer
value is accepted.
Allow log to be removed
0 = NOHOLD by the
8 hold UNLOGALL command Enum 4 H+28
Prevent log from being
1 = HOLD
removed by the default
23 /89
 UNLOGALL command

ASCII format
ID Field ASCII Value Description Format
This field contains the command
LOG name or the message header
1 (ASCII) - depending on whether the command -
header is abbreviated ASCII or ASCII
respectively
COM1, COM2, USB or
2 port Output port (default = THISPORT) Enum
FILE
Any valid message name,
3 message Message name of log to output Char [ ]
with an optional A or B suffix
Output when the message is
ONNEW
updated (not necessarily changed)
Output immediately and thereafter
ONCHANGED
when the message is changed
ONTIME Output on a time interval
4 trigger Output only the current message Enum
(default). If no message is currently
ONCE
is present, the next message is
output when available.
Output when a pulse is detected on
ONMARK
the mark 1 input
Valid values for the high
rate logging are 0.05, 0.1,
Log period (for ONTIME trigger) in
5 period and 0.2. For logging slower Double
seconds
than 1 Hz any integer value
is accepted.
To be removed by the UNLOGALL
NOHOLD
command (default)
6 hold Enum
Prevent log from being removed by
HOLD
the default UNLOGALL command

2.2.13 LOGFILE

This command is used to open and close a log file, saved on the external SD
card or the internal EMMC chip.
24 /89
Table 22 LOGFILE
Name Value
Command LOGFILE [switch]
Example LOGFILE CLOSE
OPEN [filename] Creates a file for saving loggings, file name is optional.
CLOSE Stop the file saving.
Switch AUTO The file saving starts automatically after the board is power on.
MANUAL The file saving will not start after the board is power on. ‘logfile
(default) open’ must be input to start file saving.

 If you want to save the loggings automatically after the board is power on, please follow:
Select where to save data with command STORETYPE.
Input all the loggings to be saved, for example, input
log file gpgga ontime 1
log file passcom1b onnew
log file rangeb ontime 1
Input ‘logfile auto’
Input ‘saveconfig’
Then the file saving starts.
Input ‘logfile manual’ to stop the automatic file saving mode.
Note: The file currently being recorded will be closed after power off, or can be manually
closed by using ‘logfile close’.

The last step is recommended although it is not mandatory. If power is off

during the file saving, the data collected in the last second may not be saved.

 If you want to save the loggings manually after the board is power on, please follow:
Select where to save data with command STORETYPE.
Input all the loggings to be saved, for example, input
log file gpgga ontime 1
log file passusbb onnew
log file rangeb ontime 1
Input ‘saveconfig’
Input ‘logfile open’ when you want to start file saving.
Input ‘logfile close’ when file saving is completed.

If no file name is input, a name related to the board running time will be given.

See commands STORETYPE, DOWNLOAD, READFILELIST,

GARBAGEFILE, STOPDOWNLOAD and UNLINKFILE for more.

25 /89
 2.2.14 MARKCONTROL

This command is used to control the mark inputs. Using this command, the
event mark inputs can be enabled or disabled, polarity can be positive or
negative, and a time offset and guard against extraneous pulses are optional.

Table 23 MARKCONTROL
Name Value
Command MARKCONTROL signal [switch[polarity[timebias [timeguard]]]]
Example MARKCONTROL MARK1 ENABLE POSITIVE 500 100
signal MARK1 This command is applied to Mark1.
Enables processing of the mark input signal
ENABLE
(default).
switch
The mark input signal is ignored if DISABLE is
DISABLE
selected.
Parameter NEGATIVE The polarity of the pulse is negative (default).
description polarity
POSITIVE The polarity of the pulse is positive.
An offset in ns, to be applied to the time the mark pulse is input.
timebias
The range is -50000000 to 50000000.
A time period in ms, during which no response to the input pulses.
timeguard
The range is 80 to 800.

2.2.15 NMEATALKER

This command is for NMEA talker configuration.

Table 24 Change the NMEA talker ID

Name Value
Command nmeatalker id
Example nmeatalker GP
All NMEA loggings will have a 'GP' talker solution, even when
GLONASS/BDS satellites are used in solution.
If there are GPS, GLONASS and BDS satellites in the solution,
the talker ID will be GN.
Parameter GP
id If there are only BDS satellites in the solution, the talker ID of
description
this message is BD.
If there are only GLONASS satellites in the solution, the talker
ID of this message is GL.
AUTO default
26 /89
 2.2.16 PPSCONTROL

This command is used to control the polarity, period and pulse width of the
PPS output signal, the unit of period is millisecond, the unit of pulse width is
microsecond.

Table 25 PPSCONTROL
Name Value
Command PPSCONTROL [switch [polarity [period [pulse width]]]]
Example PPSCONTROL enable negative 1000 2000
Enable Enable the PPS (default)
switch
Disable Disable the PPS
NEGATIVE Set the polarity to negative level (default)
polarity
Parameter POSITIVE Set the polarity to positive level
description Specify the period of the pulse, in millisecond, can be 50, 100,
period
125, 200, 250, 500, 1000, default=1000.
Optional field to specify the pulse width of the PPS signal, unit
pulse width
is microseconds, default=1000.

2.2.17 POSAVE

This command implements position averaging for base stations. Position

averaging continues for a specified number of hours or until the estimated
averaged position error is within specified accuracy limits.

Averaging stops when the time limit, the horizontal standard deviation limit or
the vertical standard deviation limit is achieved. When averaging is complete,
the FIX POSITION command is automatically invoked.

If initiating differential logging, then issue the POSAVE command followed by

the SAVECONFIG command, the receiver averages positions after every
power on or reset. It then invokes the FIX POSITION command to enable it to
output differential corrections. POSAVE OFF can be input to erase the saved
POSAVE command.
The unit of parameter ‘maxtime’ is hour, and is meter for ‘maxhstd’ (desired

27 /89
horizontal standard deviation 0-100m) and ‘maxvstd’ (desired vertical standard
deviation 0-100m). The minimal value of ‘maxtime’ is 0.01, that is, 36 seconds.

Table 26 Implements base station position averaging

Name Value
Command POSAVE state [maxtime [maxhstd [maxvstd]]] avemode
POSAVE ON 0.2 1 2
Example
POSAVE ON 0.2 0.05 0.05 RTK
ON Implements position averaging for base stations.
state
OFF Disable position averaging.
amount of time that positions are to be averaged, unit
maxtime 0.01-100
is hour (default=0.0)
Parameter maxhstd 0 - 100 m Desired horizontal standard deviation (default = 0.0)

description maxvstd 0 - 100 m Desired vertical standard deviation (default = 0.0)

- Use single result to get averaging position (default)
Use RTK result to get averaging position according to
avemode
RTK the fixed solution in the specified period if OEM board
receives differential corrections.

Type below command:

LOG POSAVE
to check whether the current status of POSAVE is ON or OFF.

2.2.18 POSOFFSET

This command is to add an offset value to the computed solution, hence the
customer can output a position with an offset to the antenna.

Table 27 POSOFFSET
Name Value
Command POSOFFSET option [value1 value2 value3]
Example POSOFFSET XYZ 1 1 2
XYZ The position offset (unit, meter) is in the XYZ direction.
The position offset (unit, meter) is in the ENU
Parameter Option ENU
direction.
description
NONE No position offset is added.
Value1/2/3 Specify the values per field option

28 /89
 2.2.19 PSRDIFFTIMEOUT

This command is used to set the maximum age of pseudorange differential

correction data to use when operating as a rover station. Pseudorange
differential correction data whose age is more than this value will not be used
by the rover. The default delay is 180 seconds.

Table 28 PSRDIFFTIMEOUT
Name Value
Command PSRDIFFTIMEOUT delay
Example PSRDIFFTIMEOUT 100
Parameter description delay The maximum age value of pseudorange differential data

2.2.20 READFILELIST

This command is used to show the files on the root directory of the SD card or
the EMMC chip. The names and size of all the files will be output. The
command can be input to show the status of the file whether logfile is in open
or close status.

Table 29 READFILELIST
Name Value
Command READFILELIST
Example READFILELIST

The output of the command is:

File_Number Name YYYY/MM/DD HH:MM size, the following is an example:

001 00002933.DAT 2018/01/29 03:43 1482351

002 00002940.DAT 2018/01/29 03:58 1973469
003 00002950.DAT 2018/01/29 04:03 2526363

See commands STORETYPE, LOGFILE, DOWNLOAD, STOPDOWNLOAD,

GARBAGEFILE and UNLINKFILE for more.

2.2.21 RESET

This command is used to perform a software reset. No data saved in the flash
29 /89
memory, such as almanac and ephemeris data, or the configuration, will be
erased.

Table 30 RESET
Name Value
Command RESET
Example RESET

2.2.22 RTKCOMMAND

This command is used to reset the RTK filter or clear any set RTK parameters.
The RESET command causes the RTK algorithm to undergo a complete reset.

Table 31 Sets the RTK correction source

Name Value
Command RTKCOMMAND action [value]
RTKCOMMAND reset
Example
RTKCOMMAND minsatn x
Reset Reset RTK filter
use_defaults Reset to defaults
X
Parameter The value of x is 0 or >=4 (when x=0, it restores
action
description to the default configuration, the minimum fixed
minsatn
satellite number is 4)
It is considered to be fixed when the number of
fixed satellites is greater than or equal to X.

2.2.23 RTKSOURCE

This command is used to set the RTK correction source, identify from which base
station to accept RTK (RTCM, RTCMV3, and CMR) differential corrections.

Table 32 Sets the RTK correction source

Name Value
Command RTKSOURCE type [id]
Example RTKSOURCE RTCMV3 6

30 /89
Parameter type See Table 11 ID for corrections
description id See Table 11 ID for corrections or ANY

2.2.24 RTKTIMEOUT

This command is used to set the maximum age of RTK data to use when
operating as a rover station.

Table 33 RTKTIMEOUT
Name Value
Command RTKTIMEOUT delay
Example RTKTIMEOUT 60
Parameter description delay Maximum RTK data age (5 to 60). (unit second)

2.2.25 SAVECONFIG

This command is used to save current configurations to the flash memory. The
saved configurations are still valid even if the board is rebooted.

Table 34 Save current configuration

Name Value
Command saveconfig
Example saveconfig

2.2.26 SERIALCONFIG

This command is to configure serial port settings.

Table 35 Configuring serial port settings

Name Value
Command SERIALCONFIG [port]baud[parity[databits[stopbits]]]
Example serialconfig com1 9600 n 8 1
Port COM1/COM2
Parameter
Bps/ baud 9600/19200/38400/57600/115200/230400/460800/921600
description
parity See Table 34 Parity

31 /89
 databits 7 or 8 (default = 8)
stopbits 1 or 2 (default = 1)

Table 36 Parity
Binary ASCII Description
0 N No parity (default)
1 E Even parity
2 O Odd parity

2.2.27 SHOWCONFIG

This command is used to show all the configurations of the receiver.

Table 37 SHOWCONFIG
Name Value
Command SHOWCONFIG
Example SHOWCONFIG
To show all the configurations of the receiver, including ports config,
Function
loglist and commands input, and etc.

2.2.28 STOPDOWNLOAD

With this command, users can stop downloading files from EMMC or SD card.

Table 38 STOPDWOWNLOAD
Name Value
Command STOPDOWNLOAD
Example stopdownload

See commands STORETYPE, LOGFILE, DOWNLOAD, READFILELIST,

GARBAGEFILE and UNLINKFILE for more.

2.2.29 STORETYPE

With this command, customers can use on-board EMMC chip for data
collection, which bring convenience for data collection.
32 /89
For BX316 and BX316R, data can be saved on the internal EMMC, as well as
on the external SD card. The default configuration is the SD card. For other
receivers, command STORETYPE must be input before data collection on
EMMC chip.

Note: Use ‘logfile close’ before switching store type.

Table 39 STORETYPE
Name Value
Command STORETYPE OPTION
Example Storetype eMMC
Parameter EMMC Save data to the internal EMMC chip
OPTION
description SD Save data to the external SD card.

If the switch is successful, the receiver will response ‘OK’, otherwise, it will
response ‘No change’.

See commands LOGFILE, DOWNLOAD, READFILELIST, STOPDOWNLOAD,

GARBAGEFILE and UNLINKFILE for more.

2.2.30 THISANTENNAPCO

Use the THISANTENNAPCO command to set the Phase Center Offsets (PCO)
for the given frequency of this receiver. The Offsets are defined as East, North
and Up from the Antenna Reference Point to the Frequency Phase Center in
millimeter. Currently only GPSL1 is supported for this command.

Table 40 THISANTENNAPCO
Name Value
THISANTENNAPCO GPSL1 [EAST OFFSET] [NORTH OFFSET]
Command [UP OFFSET]
or THISANTENNAPCO NONE
Example THISANTENNAPCO GPSL1 1.99 0.61 65.64
East offset NGS standard Phase Center East Offset in millimeters.
Parameter
North offset NGS standard Phase Center North Offset in millimeters.
description
Up offset NGS standard Phase Center Up Offset in millimeters.

33 /89
 2.2.31 THISANTENNASET

This command is used to configure the height information of the antenna,

which can be transmitted with RTCM1006 and CMRREF. This command is
valid only for a base station.

Table 41 THISANTENNASET
Name Value
Command THISANTENNASET height X
Example thisantennaset height 2.31
Parameter description X Valid value is 0 to 10, unit is meter.

2.2.32 THISANTENNATYPE

This command is used to set the antenna type of this receiver. The antenna
and random types are the IGS names for the antenna. If no user-defined
antenna types are input, the antenna type broadcasted by Tersus receivers will
be advnullantenna. This information will be broadcasted with RTCM1007,
RTCM1008, RTCM1033 and CMRDES.

To set the antenna type, you have to go to IGS website

(https://www.ngs.noaa.gov/ANTCAL/index.xhtml) to get the type and random
names of the antenna.

Table 42 THISANTENNATYPE
Name Value
THISANTENNATYPE ANTENNATYPE [randomtype] [setupid]
Command
[serialno]
Example thisantennatype trsax3702 none 0 015005171500000158
antennatype Specify the antenna type, see Table 43 Antenna Type.
randomtype The antenna type in IGS website.
Parameter
The antenna random type in IGS website.
description setupid
0: model for IGS.
serialno Default is the serial number of the antenna.

Table 43 Antenna Type

Value Name
0 NONE
1 USER

34 /89
2 TRSAX3702
3 TRSAX3703
4 TRSAX3705

2.2.33 UNDULATION

This command allows users to enter a specific geoidal undulation value. Four
options are provided in the option field: the EGM96 table provides ellipsoid
heights at a 1 by 1 spacing; the OSU89B table provides ellipsoid height at a
2 by 3 spacing; GSIGEO2011 is the geoidal model for Japan; users can use
the specific undulation value. The default is EGM96.

The relation between ellipsoid height and mean sea-level (MSL) height is:

h=H+N

N = geoid/ellipsoid separation or geoid undulation

H = mean sea-level height or geoid height (height above the geoid)
h = ellipsoidal height (height above ellipsoid)

Table 44 Undulation
Name Value
Command UNDULATION option [separation]
Example UNDULATION USER -1.006
ASCII Binary Description
EGM96 3 Default
OSU89B 2 Use the OSU89B undulation table
Parameter option
The model can be found in
description GSIGEO2011 4
http://www.gsi.go.jp/buturisokuchi/geoid.html

USER 1 Use the user specified undulation value

separation It is required when USER option is selected.

2.2.34 UNLINKFILE

This command is used to delete files on the EMMC chip or the SD card.

Table 45 UNLINKFILE
Name Value

35 /89
Command UNLINKFILE filename
Example unlinkfile 00002933.DAT

See commands STORETYPE, LOGFILE, DOWNLOAD, READFILELIST,

STOPDOWNLOAD and GARBAGEFILE for more.

2.2.35 UNLOG

This command is used to stop specified output, which is cancelling particular

output.

Table 46 Cancel a particular output

Name Value
Command Unlog port message
Example Unlog COM1 GPGGA
Parameter port COM1 / COM2 / USB / FILE
description message NMEA message / rtcm message / observation message

2.2.36 UNLOGALL

This command is used to stop all output from specified port.

Table 47 UNLOGALL
Name Value
Command unlogall [port] [held]
Example unlogall
port COM1 / COM2 / USB / FILE
Does not remove logs with the HOLD parameter
Parameter FALSE
(default).
description held
Remove previously held logs, even those with
TRUE
the HOLD parameter.

36 /89
 3. Logs

3.1 Log reference

3.1.1 AUTHLIST

This log contains the serial number of the board and the expired date of the
current authcode. A new authcode must be input if the current authcode is
expired, otherwise, the board cannot work.

This output of AUTHLIST can support ASCII or abbr. ASCII, binary format is
not supported.

Table 48 AUTHLIST
Name Value
Message ID 1348
Input log authlist
AUTHLIST COM1 0 0.0 UNKNOWN -1 0.000 00000000 0 20161214
s/n:008001171500000043
type:factory key:
313B7946A9159C6CD562984BCCF7ECC9D07648632E42900CD0F1
Example
F5CBC7F96262E38DBBDC9FBF835142A47DDB37ACAD9514F723B
8C4CAC16AE61CF7D59A4E2178 status:valid level:4
expiredday:20180130 group:0 groupnum:0 expiredtime:0(day) from
0(second)
Function Serial number and the current authcode.

ID Field Description Format

1 authlist header Log header
2 S/N Serial number of the board Char[]
3 Current authcode status Current authcode and its status. Char[]

3.1.2 BASEANTENNA

This log outputs the base antenna height and Phase Center Offsets (PCO)
parameters.

Table 49 BASEANTENNA
37 /89
Name Value
Message ID 1422
Input log baseantenna ontime 10
<BASEANTENNA COM1 0 0.0 FINESTEERING 2067 460085.000
Example 00000000 823 20161214
<NONE 1.303000 0.000000 0.000000 0.000000
Function Output base antenna height and PCO parameters.

Binary
ID Field Description Type Offset
Bytes
baseantenna
1 Log header H 0
header
2 Type Base antenna type Unsigned int 4 H
3 Height Base antenna height unit: m Float 4 H+4
4 PCO_N Base antenna PCO_N unit: mm Float 4 H+8
5 PCO_E Base antenna PCO_E unit: mm Float 4 H+12
6 PCO_U Base antenna PCO_U unit: mm Float 4 H+16
7 xxxx 32-bit CRC (ASCII and Binary only) - - -
8 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.3 BDSEPHEMERIS

This log contains a single set of BDS ephemeris parameters with appropriate
scaling applied. Multiple messages are transmitted, one for each SV
ephemeris collected.

Table 50 BDSEPHEMERIS
Name Value
Message ID 1696
Input log bdsephemeris onchanged
BDSEPHEMERIS COM1 0 0.0 FINESTEERING 1943 445511.000
00000000 407 20161214 171 587 1.00 0 7.80e-09 2.30e-09 6 442800
2.07488891e-04 -8.79385453e-12 -9.48676901e-20 7
442800,5282.596361 2.1449478809e-03 -2.358018891
Example
3.9215919215e-09 2.9904806491e+00 -2.33 90842837e+00
-7.0638656669e-09 9.8075003362e-01 2.7715440174e-10
2.2682361305e-06 3.2796524465e-06 3.0654687500e+02
4.7078125000e+01 -4.2840838432e-08 -5.6810677052e-08

38 /89
Function Decoded BDS ephemeris.

Binary
ID Field Description Type Offset
Bytes
BDSEPHEMERI
1 Log header H 0
S header
2 satellite ID ID/ranging code, start from 161 Ulong 4 H
3 Week Week number Ulong 4 H+4
User range accuracy (metres). This is
4 URA the evaluated URAI/URA lookup-table Double 8 H+8
value
Autonomous satellite health flag. 0
5 health 1 means broadcasting satellite is good Ulong 4 H+16
and 1 means not.
Equipment group delay differential for
6 tgd1 Double 8 H+20
the B1 signal (seconds)
Equipment group delay differential for
7 tgd2 Double 8 H+28
the B2 signal (seconds)
8 AODC Age of data, clock Ulong 4 H+36
9 toc Reference time of clock parameters Ulong 4 H+40
Constant term of clock correction
10 a0 Double 8 H+44
polynomial (seconds)
Linear term of clock correction
11 a1 Double 8 H+52
polynomial (seconds/ seconds)
Quadratic term of clock correction
12 a2 Double 8 H+60
polynomial (seconds/ seconds^2)
13 AODE Age of data, ephemeris Ulong 4 H+64
Reference time of ephemeris
14 toe Ulong 4 H+68
parameters
Square root of semi-major axis
15 RootA Double 8 H+76
(sqrt(metres))
16 ecc Eccentricity (sqrt(metres)) Double 8 H+84
17 ω Argument of perigee Double 8 H+92
Mean motion difference from computed
18 ΔN Double 8 H+100
value (radians/ second)
Mean anomaly at reference time
19 M0 Double 8 H+108
(radians)
Longitude of ascending node of orbital
20 Ω0 of plane computed according to Double 8 H+116
reference time (radians)
Rate of right ascension
21 Ω dot Double 8 H+124
(radians/second)
22 I0 Inclination angle at reference time Double 8 H+132

39 /89
 (radians)
Rate of inclination angle
23 IDOT Double 8 H+140
(radians/second)
Amplitude of cosine harmonic
24 cuc correction term to the argument of Double 8 H+148
latitude (radians)
Amplitude of sine harmonic correction
25 cus term to the argument of latitude Double 8 H+156
(radians)
Amplitude of cosine harmonic
26 crc correction term to the orbit radius Double 8 H+164
(metres)
Amplitude of sine harmonic correction
27 crs Double 8 H+172
term to the orbit radius (metres)
Amplitude of cosine harmonic
28 cic correction term to the angle of Double 8 H+180
inclination (radians)
Amplitude of sine harmonic correction
29 cis Double 8 H+188
term to the angle of inclination (radians)
30 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+196
31 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.4 BDSIONO

This log contains the ionosphere parameters transmitted by BeiDou satellites.

Table 51 BDSIONO
Name Value
Message ID 1590
Input log bdsionoa onchanged
#BDSIONOA,COM2,0,0.0,FINESTEERING,2024,356755.000,000000
00,1025,20161214;161,
Example 8.381903171539307e-09,1.490116119384766e-07,-1.370906829833
984e-06,2.741813659667969e-06,1.064960000000000e+05,-3.11296
0000000000e+05,7.864320000000000e+05,-6.553600000000000e+0
Function ionosphere parameter transmitted by Beidou satellites

Binary
ID Field Description Type Offset
Bytes
BDSIONO
1 Log header H 0
header
40 /89
2 ID Transmitting satellite ID Ulong 4 H
Klobuchar cosine curve amplitude constant
3 a0 Double 8 H+4
term (seconds)
Klobuchar cosine curve amplitude first-order
4 a1 Double 8 H+12
term (seconds/π)
Klobuchar cosine curve amplitude
5 a2 Double 8 H+20
second-order term (seconds/π2)
Klobuchar cosine curve amplitude
6 a3 Double 8 H+28
third-order term (seconds/π3)
Klobuchar cosine curve period constant term
7 b0 Double 8 H+36
(seconds)
Klobuchar cosine curve period first-order
8 b1 Double 8 H+44
term (seconds/π)
Klobuchar cosine curve period second-order
9 b2 Double 8 H+52
term (seconds/π2)
Klobuchar cosine curve period third-order
10 b3 Double 8 H+60
term (seconds/π3)
11 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+68
12 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.5 BESTPOS

This log contains the best position solution computed by the receiver. It also
reports several status indicators, including differential age. A differential age of
0 indicates that no differential correction was used.

Table 52 BESTPOS
Name Value
Message ID 42
Input log bestpos ontime 1
BESTPOS COM1 0 0.0 FINESTEERING 1985 111380.000 00000000
122 20161214
Example SOL_COMPUTED SINGLE 31.19041832433 121.59320409832
29.2071 11.5177 WGS84 1.0093 1.0814 1.1129 "0000" 0.000 0.000 24
24 0 24 0 00 30 33
Function Best position

Binary
ID Field Description Type Offset
Bytes
1 BESTPOS Log header H 0

41 /89
 header
Solution status, see Table 53 Solution
2 sol stat Enum 4 H
Status
Position type, see Table 54 Position or
3 pos type Enum 4 H+4
Velocity Type
4 lat Latitude (degrees) Double 8 H+8
5 lon Longitude (degrees) Double 8 H+16
6 hgt Height above mean sea level (meters) Double 8 H+24
Undulation - the relationship between the
7 undulation geoid and the ellipsoid (m) of the chosen Float 4 H+32
datum
8 datum id# Datum ID number Enum 4 H+36
9 lat σ Latitude standard deviation (m) Float 4 H+40
10 lon σ Longitude standard deviation (m) Float 4 H+44
11 hgt σ Height standard deviation (m) Float 4 H+48
12 Stn id Base station ID Char[4] 4 H+52
13 diff_age Differential age in seconds Float 4 H+56
14 sol_age Solution age in seconds Float 4 H+60
15 #SVs Number of satellites tracked Uchar 1 H+64
16 #solnSVs Number of satellites used in solution Uchar 1 H+65
Number of satellites with L1/E1/B1 signals
17 #solnL1SVs Uchar 1 H+66
used in solution
#solnMultiS Number of satellites with multi-frequency
18 Uchar 1 H+67
Vs signals used in solution
19 Reserved Hex 1 H+68
20 ext sol stat Extended solution status Hex 1 H+69
Galileo and Galileo and BDS signals used mask (see
21 BDS sig Table 56 BESTPOS Galileo and BDS Hex 1 H+70
mask Signal-Used Mask)
GPS and GPS and GLONASS signals used mask
22 GLONASS (see Table 55 BESTPOS GPS and Hex 1 H+71
sig mask GLONASS Signal-Used Mask)
23 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+72
24 [CR][LF] Sentence terminator (ASCII only) - - -

Table 53 Solution Status

Binary ASCII Description
0 SOL_COMPUTED Solution computed
1 INSUFFICIENT_OBS Insufficient observations
2 NO_CONVERGENCE No convergence
3 SINGULARITY Singularity at parameters matrix
4 COV_TRACE Covariance trace exceeds maximum (trace > 1000 m)
5 TEST_DIST Test distance exceeded (maximum of 3 rejections if

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 distance >10 km)
6 COLD_START Not yet converged from cold start
Height or velocity limits exceeded (in accordance with
7 V_H_LIMIT
export licensing restrictions)
8 VARIANCE Variance exceeds limits
9 RESIDUALS Residuals are too large
SOL_STATUS_
11 Insufficient common observations for RTK
INSUFFICIENT_OBS_RTK
13 INTEGRITY_WARNING Large residuals make position unreliable
When a FIX POSITION command is entered, the
18 PENDING receiver computes its own position and determines if
the fixed position is valid

Table 54 Position or Velocity Type

Binary ASCII Description
0 NONE No solution
1 FIXEDPOS Position has been fixed by the FIX POSITION command
Position has been fixed by the FIX HEIGHT/AUTO
2 FIXEDHEIGHT
command
8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler
16 SINGLE Single point position
17 PSRDIFF Pseudorange differential solution
18 WAAS Solution calculated using corrections from an WAAS
19 PROPAGATED Propagated by a Kalman filter without new observations
34 NARROW_FLOAT Floating narrow-lane ambiguity solution
48 L1_INT Integer L1 ambiguity solution
50 NARROW_INT Integer narrow-lane ambiguity solution

Table 55 BESTPOS GPS and GLONASS Signal-Used Mask

Bit Mask Description
0 0x01 GPS L1 used in Solution
1 0x02 GPS L2 used in Solution
2 0x04 GPS L5 used in Solution
3 0x08 Reserved
4 0x10 GLONASS L1 used in Solution
5 0x20 GLONASS L2 used in Solution
6-7 0x40-0x80 Reserved

Table 56 BESTPOS Galileo and BDS Signal-Used Mask

Bit Mask Description
0 0x01 Galileo E1 used in Solution
1-3 0x02 – 0x08 Reserved
4 0x10 BDS B1 used in Solution
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5 0x20 BDS B2 used in Solution
6-7 0x40 – 0x80 Reserved

3.1.6 BESTVEL

This log contains the best available velocity information computed by the
receiver. In addition, it reports a velocity status indicator, which is useful to
indicate whether or not the corresponding data is valid.

Table 57 BESTVEL
Name Value
Message ID 99
Input log bestvel ontime 1
BESTVEL COM1 0 0.0 FINESTEERING 1985 111487.000 00000000
Example 122 20161214
SOL_COMPUTED SINGLE 0.000 0.0000 0.0024 0.000000 -0.0038 0.0
Function Best available velocity data.

Binary
ID Field Description Type Offset
Bytes
BESTVEL
1 Log header H 0
header
Solution status, see Table 53 Solution
2 sol stat Enum 4 H
Status
Position type, see Table 54 Position or
3 pos type Enum 4 H+4
Velocity Type
A measure of the latency in the velocity time
4 latency tag in seconds. It should be subtracted from Float 4 H+8
the time to give improved results (s)
5 age Differential age in seconds Float 4 H+12
Horizontal speed over ground, in metres per
6 hor spd Double 8 H+16
second
Actual direction of motion over ground (track
7 trk gnd over ground) with respect to True North, in Double 8 H+24
degrees
Vertical speed, in metres per second, where
positive values indicate increasing altitude
8 vert spd Double 8 H+32
(up) and negative values indicate
decreasing altitude (down)

44 /89
9 Reserved Float 4 H+40
10 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+44
11 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.7 BESTXYZ

This log contains the receiver’s best available position and velocity in ECEF
coordinates. The position and velocity status fields indicate whether or not the
corresponding data is valid.

Table 58 BESTXYZ
Name Value
Message ID 241
Input log bestxyz ontime 1
BESTXYZ COM1 0 0.0 FINESTEERING 1985 111549.000 00000000 122
20161214
SOL_COMPUTED SINGLE -2860998.0551 4651722.7067 3283993.2404
Example
1.1682 1.4465 1.2355 SOL_COMPUTED DOPPLER_VELOCITY -0.0041
-0.0029 0.0008 0.0080 0.0100 0.0085 "0000" 0 0.000 0.000 25 25 0 25 0
00 30 33
Function Best available Cartesian position and velocity

Binary
ID Field Description Type Offset
Bytes
BESTXYZ
1 Log header H 0
header
Solution status, see Table 53 Solution
2 P-sol status Enum 4 H
Status
Position type, see Table 54 Position or
3 pos type Enum 4 H+4
Velocity Type
4 P-X Position X-coordinate (m) Double 8 H+8
5 P-Y Position Y-coordinate (m) Double 8 H+16
6 P-Z Position Z-coordinate (m) Double 8 H+24
7 P-X σ Standard deviation of P-X (m) Float 4 H+32
8 P-Y σ Standard deviation of P-Y (m) Float 4 H+36
9 P-Z σ Standard deviation of P-Z (m) Float 4 H+40
Solution status, see Table 53 Solution
10 V-sol status Enum 4 H+44
Status
11 Vel type Velocity type, see Table 54 Position or Enum 4 H+48
45 /89
 Velocity Type
12 V-X Velocity vector along X-axis (m/s) Double 8 H+52
13 V-Y Velocity vector along Y-axis (m/s) Double 8 H+60
14 V-Z Velocity vector along Z-axis (m/s) Double 8 H+68
15 V-X σ Standard deviation of V-X (m/s) Float 4 H+76
16 V-Y σ Standard deviation of V-Y (m/s) Float 4 H+80
17 V-Z σ Standard deviation of V-Z (m/s) Float 4 H+84
18 stn ID Base station identification Char[4] 4 H+88
A measure of the latency in the velocity time
19 V-latency tag in seconds. It should be subtracted from Float 4 H+92
the time to give improved results
20 diff_age Differential age in seconds Float 4 H+96
21 sol_age Solution age in seconds Float 4 H+100
22 #SVs Number of satellites tracked Uchar 1 H+104
23 #solnSVs Number of satellite vehicles used in solution Uchar 1 H+105
Number of GPS plus GLONASS plus BDS
24 #ggL1 Uchar 1 H+106
L1/B1 used in solution
#solnMultiS Number of satellites with L1/E1/B1 signals
25 Uchar 1 H+107
Vs used in solution
26 Reserved Char 1 H+108
27 ext sol stat Extended solution status Hex 1 H+109
Galileo and Galileo and BDS signals used mask (see
28 BDS sig Table 56 BESTPOS Galileo and BDS Hex 1 H+110
mask Signal-Used Mask)
GPS and GPS and GLONASS signals used mask
29 GLONASS (see Table 55 BESTPOS GPS and Hex 1 H+111
sig mask GLONASS Signal-Used Mask)
30 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+112
31 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.8 BSLNXYZ

This log outputs the RTK quality baseline in ECEF system, The XYZ baselines
are rotated relative to base position. This log is valid only when the receiver is
in RTK or DGPS position. If the receiver is in single position, there will be no
BSLNXYZ output.

Table 59 BSLNXYZ
Name Value
Message ID 686
Input log bslnxyz ontime 1

46 /89
 BSLNXYZ COM1 0 0.0 FINESTEERING 1985 112320.000 00000000 122
20161214
Example
SOL_COMPUTED NARROW_INT -0.2135 -0.6551 0.8910 0.0149 0.0203
0.0089 "0000" 25 22 22 22 0 00 30 33
Function Best available cartesian position related to the base position.

Binary
ID Field Description Type Offset
Bytes
BSLNXYZ
1 Log header H 0
header
Solution status, see Table 53 Solution
2 sol status Enum 4 H
Status
Position type, see Table 54 Position or
3 bsln type Enum 4 H+4
Velocity Type
4 B-X X-axis offset (m) Double 8 H+8
5 B-Y Y-axis offset (m) Double 8 H+16
6 B-Z Z-axis offset (m) Double 8 H+24
7 B-X σ Standard deviation of B-X (m) Float 4 H+32
8 B-Y σ Standard deviation of B-Y (m) Float 4 H+36
9 B-Z σ Standard deviation of B-Z (m) Float 4 H+40
10 stn ID Base station identification Char[4] 4 H+44
11 #SVs Number of satellites tracked Uchar 1 H+48
12 #solnSVs Number of satellite vehicles in solution Uchar 1 H+49
Number of GPS plus GLONASS plus BDS
13 #ggL1 Uchar 1 H+50
L1/B1 used in solution
#solnMultiS Number of satellites with L1/E1/B1 signals
14 Uchar 1 H+51
Vs used in solution
15 Reserved Uchar 1 H+52
16 ext sol stat Extended solution status Hex 1 H+53
Galileo and Galileo and BDS signals used mask (see
17 BDS sig Table 56 BESTPOS Galileo and BDS Hex 1 H+54
mask Signal-Used Mask)
GPS and GPS and GLONASS signals used mask
18 GLONASS (see Table 55 BESTPOS GPS and Hex 1 H+55
sig mask GLONASS Signal-Used Mask)
19 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+60
20 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.9 CMROBS

A proprietary RTK data transmission standard from Trimble Navigation Ltd.

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Table 60 CMROBS
Name Value
Message ID 103
Command LOG COM2 CMROBS ONTIME 1
Function BASE Station Satellite Observation Information

3.1.10 CMRREF

A proprietary RTK data transmission standard from Trimble Navigation Ltd.

Table 61 CMRREF
Name Value
Message ID 105
Command LOG COM2 CMRREF ONTIME 10
Function BASE Station Satellite Observation Information

3.1.11 CMRDESC

A proprietary RTK data transmission standard from Trimble Navigation Ltd.

Table 62 CMRDESC
Name Value
Message ID 310
Command LOG COM2 CMRDESC ONTIME 10
Function BASE Station Satellite Observation Information

Example input:
Fix position xx.xxxxxxxx xxx.xxxxxxxx xxx.xxx
Log cmrobs ontime 1
Log cmrref ontime 10
Log cmrdesc ontime 5

3.1.12 CMRPLUS

A proprietary RTK data transmission standard from Trimble Navigation Ltd.

Table 63 CMRPLUS
Name Value
48 /89
Message ID 717
Command LOG COM2 CMRPLUS ONTIME 1
BASE Station Satellite Observation Information and Base Station
Function
Position

Example input:
Fix position xx.xxxxxxxx xxx.xxxxxxxx xxx.xxx
Log cmrplus ontime 1

3.1.13 GPGGA

This log contains time, position and fix related data of the GNSS receiver. The
GPGGA log outputs these messages without waiting for a valid almanac.

The NMEA (National Marine Electronics Association) has defined standards

that specify how electronic equipment for marine users communicates. GNSS
receivers are part of this standard and the NMEA has defined the format for
several GNSS data logs ， or known as 'sentences'. Each NMEA sentence
begins with a '$' followed by the prefix 'GL' or ‘GN’ followed by a sequence of
letters that define the type of information contained in the sentence. Data
contained within the sentence is separated by commas and the sentence is
terminated with a two digit checksum followed by a carriage return/line feed.
Here is an example of a NMEA sentence describing time, position and fix
related data.

Please refer to command NMEATALKER for more about the NMEA talker.

Table 64 GPGGA
Name Value
Message ID 218
Input log gpgga ontime 1
$GPGGA,075255.00,3111.4240599,N,12135.5915584,E,4,10,0.
Example (GPS only)
6,28.774,M,11.518,M,1.0,0000*6A
Example (Combined $GNGGA,075318.00,3111.4240602,N,12135.5915558,E,4,24,0.
GPS/GLONASS/BDS) 6,28.767,M,11.518,M,1.0,0000*60

Field Structure Description Type Example

1 $GPGGA Log header

49 /89
 UTC time status of position
2 utc (hours/minutes/seconds/decimal hhmmss.ss 075318.00
seconds)
3 lat Latitude (DDmm.mm) llll.ll 3111.4240602
4 lat dir Latitude direction (N = North, S = South) a N
5 lon Longitude (DDDmm.mm) yyyyy.yy 12135.5915558
6 lon dir Longitude direction (E = East, W = West) a E
0: Fix not available or invalid
1: Single point
2: Pseudorange differential
7 quality x 4
4: RTK fixed ambiguity solution
5: RTK floating ambiguity solution
7: Manual input mode(fixed position)
Number of satellites in use. May be
8 sats xx 24
different to the number in view
9 hdop Horizontal dilution of precision x.x 0.6
Antenna altitude above/below mean sea
10 alt x.x 28.767
level
11 a-units Units of antenna altitude (M = metres) M M
Undulation - the relationship between the
12 undulation x.x 11.518
geoid and the WGS84 ellipsoid
13 u-units Units of undulation (M = metres) M M
14 age Age of correction data (in seconds) xx 1.0
15 stn ID Differential base station ID xxxx 0000
16 *xx Checksum *hh
17 [CR][LF] Sentence terminator -

3.1.14 GPGLL

This log contains latitude and longitude of present vessel position, time of
position fix and status.

Table 65 GPGLL
Name Value
Message ID 219
Input log gpgll ontime 1
Example (GPS only) $GPGLL,3111.4253764,N,12135.5908779,E,015133.00,A,A*7C
Example (Combined
$GNGLL,3111.4253694,N,12135.5908841,E,015128.00,A,A*7C
GPS/GLONASS/BDS)
Function Geographic position

50 /89
Field Structure Description Type Example
1 $GPGLL Log header
2 lat Latitude (DDmm.mm) llll.ll 3111.4253694
Latitude direction (N = North, S =
3 lat dir a N
South)
4 lon Longitude (DDDmm.mm) yyyyy.yy 12135.5908841
Longitude direction (E = East, W =
5 lon dir a E
West)
UTC time status of position
6 utc (hours/minutes/seconds/decimal hhmmss.ss 015128.00
seconds)
Data status: A = Data valid, V = Data
7 data status x A
invalid
Positioning system mode indicator,
8 mode ind see Table 66 NMEA Positioning xx A
System Mode Indicator.
9 *xx Checksum *hh
10 [CR][LF] Sentence terminator -

Table 66 NMEA Positioning System Mode Indicator

Mode Indicator
A Autonomous
D Differential
E Estimated (dead reckoning) mode
M Manual input
N Data not valid

3.1.15 GPGRS (not support currently)

This log reports the range residuals. The residuals are re-computed after the
position solution in the GPGGA message is computed.
Table 67 GPGRS
Name Value
Message ID 220
Input log gpgrs ontime 1
Example (GPS only) $GPGRS,033854.00,1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,,*47
Example (Combined $GPGRS,033950.00,1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,,*42
GPS / GLONASS / $GLGRS,033950.00,1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,,,,*13
BDS) $BDGRS,033950.00,1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,,*4B

51 /89
Field Structure Description Type Example
1 $GPGRS Log header
UTC time status of position
2 utc hhmmss.ss
(hours/minutes/seconds/decimal seconds)
Mode 0= residuals were used to calculate
the position given in the matching GGA line
(apriori) (not used by OEM6 receivers)
3 mode x
Mode 1= residuals were recomputed after
the GGA position was computed (preferred
mode)
Range residuals for satellites used in the
4 - 15 res navigation solution. Order matches order of x.x,x.x,…
PRN numbers in GPGSA
16 *xx Checksum *hh
17 [CR][LF] Sentence terminator -

3.1.16 GPGSA

This log contains GNSS receiver operating mode, satellites used for navigation
and DOP values. The GPGSA log outputs these messages without waiting for
a valid almanac.

Table 68 GPGSA
Name Value
Message ID 221
Input log gpgsa ontime 1
Example (GPS only) $GPGSA,A,3,10,12,14,25,26,29,31,32,,,,,1.0,0.8,0.6*31
$GNGSA,A,1,10,12,13,15,20,21,24,25,32,,,,1.2,0.6,1.0*2F
Example (Combined $GNGSA,A,1,74,70,86,73,75,65,88,87,71,72,,,1.2,0.6,1.0*29
GPS/GLONASS/BDS) $GNGSA,A,1,161,162,163,164,166,167,168,169,170,173,174,,1.2,
0.6,1.0*1F
Function GPS DOP and active satellites

Field Structure Description Type Example

1 $GPGSA Log header
A = Automatic 2D/3D
2 mode MA M A
M = Manual, forced to operate in 2D or 3D
3 mode 123 Mode: 1 = Fix not available; 2 = 2D; 3 = 3D x 3
4 - 15 prn PRN numbers of satellites used in solution x.x,x.x,… 10,12,14,2
52 /89
 (null for unused fields), total of 12 fields 5,26,29,31
GPS = 1 to 32 ,32,,,,,
GLO = 65 to 96 (64+GLONASS slot
number)
BDS = 161 to 197
16 pdop Position dilution of precision x.x 1.0
17 hdop Horizontal dilution of precision x.x 0.8
18 vdop Vertical dilution of precision x.x 0.6
19 *xx Checksum *hh
20 [CR][LF] Sentence terminator -

3.1.17 GPGST

This log contains pseudorange measurement noise statistics are translated in

the position domain in order to give statistical measures of the quality of the
position solution.

Table 69 GPGST
Name Value
Message ID 222
Input log gpgst ontime 1
Example (GPS only) $GPGST,083332.00,2.19,1.31,1.12,40.3633,1.20,1.23,1.32*47
Example (Combined
$GNGST,083448.00,2.11,0.01,0.01,29.5443,0.01,0.01,0.01*4C
GPS/GLONASS/BDS)
Function Pseudorange measurement noise statistics

Field Structure Description Type Example

1 $GPGST Log header
UTC time status of position hhmmss
2 utc 083448.00
(hours/minutes/seconds/ decimal seconds) .ss
RMS value of the standard deviation of the
range inputs to the navigation process. Range
3 rms x.x 2.11
inputs include pseudoranges and DGPS
corrections
Standard deviation of semi-major axis of error
4 smjr std x.x 0.01
ellipse (m)
Standard deviation of semi-minor axis of error
5 smnr std x.x 0.01
ellipse (m)
Orientation of semi-major axis of error ellipse
6 orient x.x 29.5443
(degrees from true north)

53 /89
7 lat std Standard deviation of latitude error (m) x.x 0.01
8 lon std Standard deviation of longitude error (m) x.x 0.01
9 alt std Standard deviation of altitude error (m) x.x 0.01
10 *xx Checksum *hh
11 [CR][LF] Sentence terminator -

3.1.18 GPGSV

This log contains the number of GPS SVs in view, PRN numbers, elevation,
azimuth and SNR value.

Table 70 GPGSV
Name Value
Message ID 223
Input log gpgsv ontime 1
$GPGSV,3,1,09,10,36,319,47,12,27,131,48,13,05,069,37,15,40,059,49*7A
$GPGSV,3,2,09,20,66,320,48,21,41,230,48,24,65,044,52,25,13,168,38*76
$GPGSV,3,3,09,32,17,279,43*4C
Example $GLGSV,3,1,10,74,69,117,55,70,02,109,27,86,01,211,41,73,36,039,52*61
(Combined $GLGSV,3,2,10,75,27,187,52,65,17,316,45,88,12,308,43,87,16,262,48*66
GPS $GLGSV,3,3,10,71,40,076,53,72,49,358,52*60
/GLONASS/ $BDGSV,3,1,11,161,47,148,46,162,36,237,42,163,51,200,47,164,34,124,44*
BDS) 62
$BDGSV,3,2,11,166,63,359,46,167,32,172,43,168,20,196,40,169,48,309,46*
6F
$BDGSV,3,3,11,170,14,191,39,173,34,225,45,174,32,106,46*68
Function Satellites in view

Field Structure Description Type Example

1 $GPGSV Log header
2 # msgs Total number of messages (1-9) x 3
3 msg # Message number (1-9) x 1
Total number of satellites in view. May be different
4 # sats xx 09
than the number of satellites in use
Satellite PRN number
GPS = 1 to 32
5 prn xx 10
GLO = 65 to 96 (64+ GLONASS slot number)
BDS = 161 to 197
6 elev Elevation, degrees, 90 maximum xx 36

54 /89
7 azimuth Azimuth, degrees True, 000 to 359 xxx 319
8 SNR SNR (C/No) 00-99 dB, null when not tracking xx 47
… … Next satellite PRN number, elev, azimuth, SNR,
… … ...
… … Last satellite PRN number, elev, azimuth, SNR,
variable *xx Checksum *hh *61
variable [CR][LF] Sentence terminator -

3.1.19 GPHDT

This log contains actual vessel heading in degrees (the angle from the
baseline vector between primary antenna and secondary antenna of the
dual-antenna receiver to the True North in a counterclockwise direction). See
also a description of the HEADING log on page 62.

This log is only supported by BX316 and BX316D boards. Please ensure dual
antennas mode is chosen before heading can be output, see command
ANTENNAMODE in page 14 for more details.

Table 71 GPHDT
Name Value
Message ID 1045
Input log gphdt ontime 1
Example $GNHDT,35.200,T*2B

Field Structure Description Type Example

1 $GPHDT Log header
2 heading Heading in degrees x.x 35.200
3 True Degrees True T T
4 *xx Checksum *hh *2B
5 [CR][LF] Sentence terminator -

3.1.20 GPNTR

This general-used NMEA message includes distance between reference

station and the rover station, distance in east, north and up direction. This log
is only valid when the receiver is working as a rover and its position type is
RTK or DGPS.

55 /89
Table 72 GPNTR
Name Value
Message ID 209
Input log gpntr ontime 1
Example $GPNTR,024404.00,1,17253.242,+5210.449,-16447.587,-49.685,0004*40

Field Structure Description Type Example

1 $GPNTR Log header
2 utc UTC of time hhmmss.ss 024404.00
0: Fix not available or invalid
1: Single point
3 pos status 2: Pseudorange differential x 4
4: RTK fixed ambiguity solution
5: RTK floating ambiguity solution
The distance between the rover and
4 distance dddd.ddd 17253.242
the base. (unit: meters)
distance in
5 Direction: +:North, -:South dddd.ddd +5210.449
north
distance in
6 Direction: +:East, -:West dddd.ddd -16447.587
east
distance in
7 vertical Direction: +:Up, -:Down dddd.ddd -49.685
direction
8 Station ID 0~1023, or ‘’(No ref-station) x 0004
9 *xx Checksum *hh *40
10 [CR][LF] Sentence terminator -

3.1.21 GPRMC

This log contains time, date, position, track made good and speed data
provided by the GPS navigation receiver.

Table 73 GPRMC
Name Value
Message ID 225
Input log gprmc ontime 1
$GPRMC,033255.00,A,3111.4246749,N,12135.5908896,E,0.065,
Example (GPS only)
0.0,070417,0.0,E,A*04
Example (Combined $GNRMC,030840.40,A,3111.42520653,N,12135.59053522,E,0.038,
GPS/GLONASS/BDS) 138.4,280317,0.0,E,A*22
56 /89
 Function GPS specific information

Field Structure Description Type Example

1 $GPRMC Log header
2 utc UTC of position hhmmss.ss 030840.40
Position status (A = data valid, V = data
3 pos status A A
invalid)
3111.42520
4 lat Latitude (DDmm.mm) Llll.ll
653
5 lat dir Latitude direction: (N = North, S = South) a N
12135.5905
6 lon Longitude (DDDmm.mm) yyyyy.yy
3522
7 lon dir Longitude direction: (E = East, W = West) a E
8 speed Kn Speed over ground, knots x.x 0.038
9 track true Track made good, degrees True x.x 138.4
10 date Date: dd/mm/yy xxxxxx 280317
11 mag var Magnetic variation, degrees x.x 0.0
12 var dir Magnetic variation direction E/W a E
Positioning system mode indicator, see Table
13 mode ind a A
66 NMEA Positioning System Mode Indicator.
14 *xx Checksum *hh *22
15 [CR][LF] Sentence terminator -

3.1.22 GPVTG

This log contains the track made good and speed relative to the ground.

Table 74 GPVTG
Name Value
Message ID 226
Input log gpvtg ontime 1
Example (GPS only) $GPVTG,47.251,T,47.251,M,0.124,N,0.230,K,A*3B
Example (Combined
$GNVTG,56.703,T,56.703,M,0.068,N,0.127,K,A*37
GPS/GLONASS/BDS)
Function Track made good and ground speed

Field Structure Description Type Example

1 $GPVTG Log header
2 track true Track made good, degrees True x.x 56.703
3 True Degrees True T T

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4 track mag Track made good, degrees Magnetic; x.x 56.703
5 M Magnetic track indicator M M
6 speed Kn Speed over ground, knots x.x 0.068
7 N Nautical speed indicator (N = Knots) N N
8 speed Km Speed, kilometres/hour x.x 0.127
9 K Speed indicator (K = km/hr) K K
Positioning system mode indicator, see Table 66
10 mode ind a A
NMEA Positioning System Mode Indicator.
11 *xx Checksum *hh *37
12 [CR][LF] Sentence terminator -

3.1.23 GPZDA

The GPSZDA log outputs the UTC date and time.

Table 75 GPZDA
Name Value
Message ID 227
Input log gpzda ontime 1
Example $GNZDA,053045.00,07,04,2017,,*78

Field Structure Description Type Example

1 $GPZDA Log header
2 utc UTC time status hhmmss.ss 053045.00
3 day Day, 01 to 31 xx 07
4 month Month, 01 to 12 xx 04
5 year Year xxxx 2017
6 null not available, always null xx
7 null not available, always null xx
8 *xx Checksum *hh *78
9 [CR][LF] Sentence terminator -

3.1.24 GPSEPHEM

This log contains a single set of GPS ephemeris parameters. This command is
used to log GPS broadcast ephemeris in ASCII format.

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Table 76 GPSEPHEM
Name Value
Message ID 7
Input log gpsephem onchanged
GPSEPHEM COM1 0 0.0 FINESTEERING 1943 445309.000 00000000
407 20161214 3 439200.0 0 30 30 1943 1943 446400.0 2.656135670e+07
4.344466679e-09 2.021661162e+00 5.580164725e-04 1.520378678e-01
-1.028180122e-06 1.158006489e-05 1.547500000e+02
Example
-1.865625000e+01 -3.352761269e-08 1.862645149e-09 9.600372875e-01
-4.928776732e-11 -4.734842780e-01 -7.874970881e-09 30 446400.0
1.862645149e-09 -1.05151e-04 1.13687e-12 0.00000e+00 TRUE
1.458500140e-04 1.0000000e+00

Binary
ID Field Description Type Offset
Bytes
GPSEPHE
1 Log header H 0
M header
2 PRN Satellite PRN number Ulong 4 H
3 tow Time stamp of subframe 1 (seconds) Double 8 H+4
Health status - a 6-bit health code as defined
4 health Ulong 4 H+12
in ICD-GPS-200
5 IODE1 Issue of ephemeris data 1 Ulong 4 H+16
6 IODE2 Issue of ephemeris data 2 Ulong 4 H+20
toe week number (computed from Z count
7 week Ulong 4 H+24
week)
Z count week number. This is the week
number from subframe 1 of the ephemeris.
8 z week Ulong 4 H+28
The ‘toe week’ (field #7) is derived from this
to account for rollover
9 toe Reference time for ephemeris, seconds Double 8 H+32
10 A Semi-major axis, metres Double 8 H+40
11 ΔN Mean motion difference, radians/second Double 8 H+48
12 M0 Mean anomaly of reference time, radians Double 8 H+56
Eccentricity, dimensionless - quantity
defined for a conic section where e= 0 is a
13 Ecc Double 8 H+64
circle, e = 1 is a parabola, 0e1 is an ellipse
and e>1 is a hyperbola
Argument of perigee, radians -
measurement along the orbital path from the
14 ω Double 8 H+72
ascending node to the point where the SV is
closest to the Earth, in the direction of the
59 /89
 SV's motion
Argument of latitude (amplitude of cosine,
15 cuc Double 8 H+80
radians)
Argument of latitude (amplitude of sine,
16 cus Double 8 H+88
radians)
17 crc Orbit radius (amplitude of cosine, metres) Double 8 H+96
18 crs Orbit radius (amplitude of sine, metres) Double 8 H+104
19 cic Inclination (amplitude of cosine, radians) Double 8 H+112
20 cis Inclination (amplitude of sine, radians) Double 8 H+120
21 I0 Inclination angle at reference time, radians Double 8 H+128
22 IDOT Rate of inclination angle, radians/second Double 8 H+136
23 Ω0 Right ascension, radians Double 8 H+144
24 Ω dot Rate of right ascension, radians/second Double 8 H+152
25 iodc Issue of data clock Ulong 4 H+160
26 toc SV clock correction term, seconds Double 8 H+164
27 tgd Estimated group delay difference, seconds Double 8 H+172
28 af0 Clock aging parameter, seconds (s) Double 8 H+180
29 af1 Clock aging parameter, (s/s) Double 8 H+188
30 af2 Clock aging parameter, (s/s/s) Double 8 H+196
31 AS Anti-spoofing on: 0 = FALSE 1 = TRUE Double 8 H+204
Corrected mean motion, radians/second
32 N Double 8 H+208
Note: This field is computed by the receiver.
User Range Accuracy variance, m2. The
ICD specifies that the URA index transmitted
33 URA in the ephemerides can be converted to a Double 8 H+216
nominal standard deviation value using an
algorithm listed there.
34 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+224
35 [CR][LF] Sentence terminator (ASCII only)

3.1.25 GLOEPHEMERIS

This log contains GLONASS ephemeris information.

Table 77 GLOEPHEMERIS
Name Value
Message ID 723
Input log gloephemeris onchanged
GLOEPHEMERIS COM1 0 0.0 FINESTEERING 1943 445444.000
Example
00000000 407 20161214 39 3 1 0 1943 445518000 10782 463 0 0 27 0

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 -1.3815634277343750e+07 1.9141996093750000e+07
-9.5697236328125000e+06 6.8848896026611328e+02
-1.1339406967163086e+03 -3.253355026245117 2e+03
9.3132257461547852e-07 3.7252902984619141e-06
0.0000000000000000e+00 -2.4393666535615921e-04
5.5879354476928711e-09 9.0949470177292824e-13 23400 1 0 0 13
Function Decoded GLONASS ephemeris

Binary
ID Field Description Type Offset
Bytes
GLOEPHEM
1 Log header H 0
ERIS header
Slot information offset - PRN identification
2 sloto (Slot + 37). This is also called SLOTO in Ushort 2 H
Connect
Frequency channel offset for satellite in the
3 freqo Ushort 2 H+2
range 0 to 20
Satellite type where
0 = GLO_SAT
4 sat type Uchar 1 H+4
1 = GLO_SAT_M (M type)
2 = GLO_SAT_K (K type)
5 Reserved 1 H+5
Reference week of ephemeris (GPS
6 e week Ushort 2 H+6
reference time)
Reference time of ephemeris (GPS
7 e time Ulong 4 H+8
reference time) in ms
Integer seconds between GPS and
GLONASS time. A positive value implies
8 t offset Ulong 4 H+12
GLONASS is ahead of GPS reference
time.
Calendar number of day within 4 year
9 Nt Ushort 2 H+16
interval starting at Jan 1 of a leap year
10 Reserved 1 H+18
11 Reserved 1 H+19
15 minute interval number corresponding
12 issue Ulong 4 H+20
to ephemeris reference time
Ephemeris health where
13 health 0-3 = GOOD Ulong 4 H+24
4-15 = BAD
X coordinate for satellite at reference time
14 pos x Double 8 H+28
(PZ-90.02), in metres
Y coordinate for satellite at reference time
15 pos y Double 8 H+36
(PZ-90.02), in metres
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 Z coordinate for satellite at reference time
16 pos z Double 8 H+44
(PZ-90.02), in metres
X coordinate for satellite velocity at
17 vel x Double 8 H+52
reference time (PZ-90.02), in metres/s
Y coordinate for satellite velocity at
18 vel y Double 8 H+60
reference time (PZ-90.02), in metres/s
Z coordinate for satellite velocity at
19 vel z Double 8 H+68
reference time (PZ-90.02), in metres/s
X coordinate for lunisolar acceleration at
20 LS acc x Double 8 H+76
reference time (PZ90.02), in metres/s/s
Y coordinate for lunisolar acceleration at
21 LS acc y Double 8 H+84
reference time (PZ-90.02), in metres/s/s
Z coordinate for lunisolar acceleration at
22 LS acc z Double 8 H+92
reference time (PZ-90.02), in metres/s/s
Correction to the nth satellite time t_n
23 tau_n Double 8 H+100
relative to GLONASS time t_c, in seconds
Time difference between navigation RF
signal transmitted in L2 sub-band and
24 delta_tau_n Double 8 H+108
navigation RF signal transmitted in L1
sub-band by nth satellite, in seconds
25 gamma Frequency correction, in seconds/second Double 8 H+116
Time of frame start (since start of
26 Tk Ulong 4 H+124
GLONASS day), in seconds
27 P Technological parameter Ulong 4 H+128
28 Ft User range Ulong 4 H+132
29 age Age of data, in days Ulong 4 H+136
30 Flags Information flags, Ulong 4 H+140
31 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+144
32 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.26 HEADING

This log contains the heading angle from the baseline vector between primary
antenna and secondary antenna of the dual-antenna receiver to the True North
in a counterclockwise direction. This log is only supported by BX316 and
BX316D boards. Please make sure dual-antenna mode is chosen before
heading can be output, see command ANTENNAMODE in page 14 for more
details.

Table 78 HEADING
Name Value
Message ID 971
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Input log heading ontime 1
HEADING,COM2,0,0.0,FINESTEERING,1966,206193.000,00000000,912,201
Example 61214;SOL_COMPUTED NARROW_INT 1.051362872 297.221923828
-6.983160973 0.0,0.015089260 0.010237807 "0000" 15 15 15 15 00 23 30 03

Binary
ID Field Description Type Offset
Bytes
HEADING
1 Log header H 0
header
2 sol stat Solution status, see Table 53 Solution Status Enum 4 H
Position type, see Table 54 Position or
3 pos type Enum 4 H+4
Velocity Type
4 length Baseline length (0 to 3000 m). Float 4 H+8
5 heading Heading in degrees (0 to 360.0 degrees) Float 4 H+12
6 pitch Pitch (  90 degrees) Float 4 H+16
7 Reserved Float 4 H+20
8 hdg std dev Heading standard deviation in degrees Float 4 H+24
9 ptch std dev Pitch standard deviation in degrees Float 4 H+28
10 stn ID Station ID string Char[4] 4 H+32
11 #SVs Number of satellites tracked Uchar 1 H+36
12 #solnSVs Number of satellites in solution Uchar 1 H+37
Number of satellites above the elevation
13 #obs Uchar 1 H+38
mask angle
Number of satellites above the mask angle
14 #multi Uchar 1 H+39
with L2
15 sol source Solution source Hex 1 H+40
16 ext sol stat Extended solution status Hex 1 H+41
Galileo and Galileo and BDS signals used mask (see
17 BDS sig Table 56 BESTPOS Galileo and BDS Hex 1 H+42
mask Signal-Used Mask)
GPS and GPS and GLONASS signals used mask (see
18 GLONASS Table 55 BESTPOS GPS and GLONASS Hex 1 H+43
sig mask Signal-Used Mask)
19 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+44
20 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.27 IONUTC

This log contains the Ionospheric Model (ION) parameters and the Universal
Time Coordinated (UTC) parameters.

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Table 79 IONUTC
Name Value
Message ID 8
Input log ionutc onchanged
IONUTC COM1 0 0.0 FINESTEERING 1943 445738.000 00000000 407 20161214
1.117587089538574e-08 1.490116119384766e-08 -5.960464477539062e-08

Example -5.960464477539062e-08 8.806400000000000e+04 1.638400000000000e+04

-1.966080000000000e+05 -1.310720000000000e+05 152 1 5
2.7939677238464355e-09 2.664535259e-15 137 7 18 18 0

Function Ionospheric and UTC data.

Binary
ID Field Description Type Offset
Bytes
IONUTC
1 Log header H 0
header
2 a0 Alpha parameter constant term Double 8 H
3 a1 Alpha parameter 1st order term Double 8 H+8
4 a2 Alpha parameter 2nd order term Double 8 H+16
5 a3 Alpha parameter 3rd order term Double 8 H+24
6 b0 Beta parameter constant term Double 8 H+32
7 b1 Beta parameter 1st order term Double 8 H+40
8 b2 Beta parameter 2nd order term Double 8 H+48
9 b3 Beta parameter 3rd order term Double 8 H+56
10 utc wn UTC reference week number Ulong 4 H+64
11 tot Reference time of UTC parameters Ulong 4 H+68
12 A0 UTC constant term of polynomial Double 8 H+72
13 A1 UTC 1st order term of polynomial Double 8 H+80
14 wn lsf Future week number Ulong 4 H+88
Day number (the range is 1 to 7 where
15 dn Ulong 4 H+92
Sunday = 1 and Saturday = 7)
16 deltat ls Delta time due to leap seconds Long 4 H+96
17 deltat lsf Future delta time due to leap seconds Long 4 H+100
18 Reserved 4 H+104
19 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+108
20 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.28 LOGLIST

This command lists all the output messages. The output of LOGLIST can

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support ASCII or abbr. ASCII, binary format is not supported.

Table 80 Check logged message types

Name Value
Message ID 5
Input Log loglist once
LOGLIST COM1 0 0.0 FINESTEERING 1943 452446.000 00000000 407
20161214
0003
Example
COM2 GPGGA ONTIME 1.000000 NOHOLD
COM2 GPGSV ONTIME 1.000000 NOHOLD
COM2 RANGEB ONTIME 1.000000 NOHOLD
Function Check output loggings.

Field Structure Description Format

1 $LOGLIST Log header
2 #logs Number of messages to follow, maximum = 64 Long
3 port Output port Enum
Message name of log with no suffix for
4 message Char[]
abbreviated ASCII, an A suffix for ASCII
ONNEW
ONCHANGED
ONTIME
5 trigger Enum
ONNEXT
ONCE
ONMARK
6 period Log period for ONTIME Double
7 offset Offset for period (ONTIME trigger) Double
NOHOLD
8 hold Enum
HOLD
9 Next port offset = H + 4 + (#logs x 32)
variable *xxxx 32-bit CRC (ASCII only) Hex
variable [CR][LF] Sentence terminator -

3.1.29 MARKCOUNT

MARKCOUNT log contains the tick count for the event1 (MARK1COUNT) and
event2 (MARK2COUNT) inputs.

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Table 81 MARKCOUNT
Name Value
1093 (MARK1COUNT)
Message ID
1094 (MARK2COUNT)
Input log mark1count onnew
<MARK1COUNT COM1 0 0.0 FINESTEERING 2024 355077.000
Example 00000000 1025 20161214
< 5203 23
Function Event mark tick count output

Binary
ID Field Description Type Offset
Bytes
MARK1COUNT,
1 MARK2COUNT Log header H 0
header
2 Period Delta time (milliseconds) Ulong 4 H
3 Count Tick count Ushort 2 H+4
4 xxxx 32-bit CRC (ASCII and Binary only) Hex 4 H+6
5 [CR][LF] Sentence terminator (ASCII only)

3.1.30 MARKPOS (not support currently)

MARKPOS log contains the estimated position of the antenna when a pulse is
detected at a mark input. MARK1POS/MARK2POS is generated when a pulse
occurs on an event1 input or an event2 input.
Table 82 MARKPOS
Name Value
181 (MARK1POS)
Message ID
615 (MARK2POS)
Input log markpos onnew
Example TBD
Function Event mark position output

3.1.31 MARKTIME

Marktime log contains the time of the leading edge of the detected mark input
pulse. MARKTIME/MARK2TIME is generated when a pulse occurs on an
event1 input or on an event2 input.

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Table 83 MARKTIME
Name Value
231 (MARKTIME)
Message ID
616 (MARK2TIME)
Input log marktime onnew
<MARKTIME COM1 0 0.0 FINESTEERING 2024 356393.000 00000000
Example 1025 20161214
< 2024 356393.979340 0 0.000000 0.000000 "VALID"
Function Event mark Time output

Binary
ID Field Description Type Offset
Bytes
MARKTIME
1 MARK2TIME Log header H 0
header
2 week GPS reference week number Long 4 H
Seconds into the week as measured from
3 seconds the receiver clock, coincident with the time Double 8 H+4
of electrical closure on the Mark Input port
4 offset Reserved Double 8 H+12
5 offset std Reserved Double 8 H+20
6 utc offset Reserved Double 8 H+28
Clock model status, see Table 100 Clock
7 status Enum 4 H+36
Model Status
8 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+40
9 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.32 PASSCOMid/PASSUSB

The pass-through logging enables the receiver to redirect any ASCII or binary
data, input at a specified port, to any specified receiver port. It allows the
receiver to perform bi-directional communications with other devices such as a
modem, terminal or another receiver.

This log can be used at the rover side to save the corrections from the base.

Table 84 PASSCOMx
Name Value
Message ID PASSCOM1 233

67 /89
 PASSCOM2 234
PASSCOMUSB 607
log passcom1 onnew
Input
log passusb onnew
PASSCOM1 COM2 0 0.0 FINESTEERING 1986 184820.000 00000000
130 20161214
173
\xd3\x00\xa7F@\x00,\x0f\xa9\xc0\x00\xe4\x00\x00\x00\x00\x00\x00\x02\x0
0\x00\x7f\xff\xfb\xdb\xfb\xdc+\xd3\xec3\xe4\x14\x1f\x8e\xa6\xe2\x1c\xa8\xf
Example
9mz\xa3\xaf\xc5\x84\x9a\xac0\xd7\xdc\x1b\xab\xe1\xe7\xb3\x9b\xe3\x9d\x
c6\xd2s\xe6\xe4\xf7\xfb\xc7\xeb\xf7\x12\x1d\xfe\xf9\xd0s4d\x9a\xc7\xfb\xe
7\x97\xd3Xf\x02akB}k\x8b\xf4\xaa\xc0v\x04\xc1\xc4\x91\xc0\x00\x00\x0a\x
f67\xceE?!V\xff\xb2\x17\xfdt\xa7\xcaO_/}\xf9\xadU\xe5\xdf\xef\x90\xf1\xfe;
z\xfe\x16}\xf8\x0f\xb7\xff\xff\xf8G\xff\xff\xff\xff\xff\xf8\x00\x00_\…
Function Pass the received data from a port

Binary
ID Field Description Type Offset
Bytes
PASSCOM
1 Log header H 0
header
2 #bytes Number of bytes to follow Ulong 4 H
3 data Message data Char[80] 80 H+4
32-bit CRC (ASCII and Binary H+4+(#byte
4 xxxx Ulong 4
only) s)
5 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.33 PSRDOP

The DOP (Dilution Of Precision) value is calculated using the geometry of only
those satellites currently being tracked and used in the position solution. This
log is updated once every 60 seconds.

Table 85 PSRDOP
Name Value
Message ID 174
Input log psrdop ontime 60
PSRDOP COM2 0 0.0 FINESTEERING 2024 303657.000 00000000
Example 1024 20161214
1.1655 1.1057 0.6674 0.7625 0.3686 5.0000 28 3 10 12 14 16 22 25 26

68 /89
 29 31 32 66 77 76 75 65 85 67 72 161 162 163 164 166 167 169 170 171
Function Pseudorange DOP

Binary
ID Field Description Type Offset
Bytes
PSRDO
1 Log header H 0
P
Geometric dilution of precision -
2 gdop assumes 3D position and receiver clock Float 4 H
offset (all 4 parameters) are unknown
Position dilution of precision - assumes
3 pdop 3D position is unknown and receiver Float 4 H+4
clock offset is known
4 hdop Horizontal dilution of precision. Float 4 H+8
Horizontal position and time dilution of
5 htdop Float 4 H+12
precision.
Time dilution of precision - assumes 3D
6 tdop position is known and only the receiver Float 4 H+16
clock offset is unknown
7 cutoff GPS elevation cut-off angle Float 4 H+20
8 #PRN Number of satellites PRNs to follow Long 4 H+24
PRN of SV PRN tracking, null field until
9 PRN Ulong 4 H+28
position solution available
10 Next PRN offset = H+28+(#prn x 4)
H+28+
variable xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 (#prn x
4)
variable [CR][LF] Sentence terminator (ASCII only) - - -

3.1.34 PSRXYZ

This log contains the receiver’s pseudorange position and velocity in ECEF
coordinates. The position and velocity status fields indicate whether or not the
corresponding data is valid.

The velocity status indicates varying degrees of velocity quality. To ensure

healthy velocity, the velocity sol status must also be checked. If the sol-status
is non-zero, the velocity is likely invalid. It should be noted that the receiver
does not determine the direction a vessel, craft or vehicle is pointed (heading)
but rather the direction of the motion of the GNSS antenna relative to the
ground.

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The latency of the instantaneous Doppler velocity is always 0.15 seconds. The
latency represents an estimate of the delay caused by the tracking loops under
acceleration of approximately 1G. For most users, the latency can be assumed
to be zero (instantaneous velocity).

Table 86 PSRXYZ
Name Value
Message ID 243
Input log psrxyz ontime 1
log psrxyz
<PSRXYZ COM1 0 0.0 FINESTEERING 1998 358131.000 00000000 426
20161214
Example
<SOL_COMPUTED SINGLE -2860997.9647 4651722.2910 3283992.5529
1.0115 1.3640 1.1226 SOL_COMPUTED SINGLE -0.0114 0.0193 0.0072
0.0076 0.0102 0.0083 "" 0.000 0.000 0.000 27 26 0 0 0 0 48 51
Function Pseudorange position and velocity.

Binary
ID Field Description Type Offset
Bytes
PSRXYZ
1 Log Header H 0
header
P-sol
2 Solution status, see Table 53 Solution Status Enum 4 H
status
Position type, see Table 54 Position or
3 pos type Enum 4 H+4
Velocity Type
4 P-X Position X-coordinate (m) Double 8 H+8
5 P-Y Position Y-coordinate (m) Double 8 H+16
6 P-Z Position Z-coordinate (m) Double 8 H+24
7 P-X  Standard deviation of P-X (m) Float 4 H+32
8 P-Y  Standard deviation of P-Y (m) Float 4 H+36
9 P-Z  Standard deviation of P-Z (m) Float 4 H+40
V-sol
10 Solution status, see Table 53 Solution Status Enum 4 H+44
status
Velocity type, see Table 54 Position or
11 vel type Enum 4 H+48
Velocity Type
12 V-X Velocity vector along X-axis (m/s) Double 8 H+52
13 V-Y Velocity vector along Y-axis (m/s) Double 8 H+60
14 V-Z Velocity vector along Z-axis (m/s) Double 8 H+68
15 V-X  Standard deviation of V-X (m/s) Float 4 H+76
16 V-Y  Standard deviation of V-Y (m/s) Float 4 H+80
17 V-Z  Standard deviation of V-Z (m/s) Float 4 H+84

70 /89
 Char[4
18 stn ID Base station ID 4 H+88
]
A measure of the latency in the velocity time
19 V-latency tag in seconds. It should be subtracted from Float 4 H+92
the time to give improved results
20 diff_age Differential age in seconds Float 4 H+96
21 sol_age Solution age in seconds Float 4 H+100
22 #SVs Number of satellites tracked Uchar 1 H+104
23 #solnSVs Number of satellite vehicles used in solution Uchar 1 H+105
24 Uchar 1 H+106
25 Reserved Uchar 1 H+107
26 Uchar 1 H+108
27 ext sol stat Extended solution status Hex 1 H+109
Galileo and Galileo and BDS signals used mask (see
28 BDS sig Table 56 BESTPOS Galileo and BDS Hex 1 H+110
mask Signal-Used Mask)
GPS and GPS and GLONASS signals used mask
29 GLONASS (see Table 55 BESTPOS GPS and Hex 1 H+111
sig mask GLONASS Signal-Used Mask)
30 xxxx 32-bit crc(ASCII and Binary only) Ulong 4 H+112
31 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.35 RANGE

The RANGE log contains the raw measurements for the currently tracked
satellites.
Table 87 RANGE
Name Value
Message ID 43
Input log range ontime 30
<RANGE COM2 0 0.0 FINESTEERING 2024 303911.000 00000000 1024 20161214

51

14 0 20707203.440 0.200 -108817083.714634 0.001 1225.620 48.02 315.000 08105c24

14 0 20707200.228 0.230 -84792521.870671 0.006 954.994 41.07 312.960 01305c24

3 0 25089866.639 0.420 -131848133.382192 0.002 2728.897 39.29 293.000 18105c44

Example
3 0 25089866.353 1.040 -102738807.923658 0.003 2126.382 37.71 293.000 02305c44

16 0 24456190.201 1.130 -128518151.219625 0.003 3856.135 34.08 310.000 18105c64

16 0 24456187.382 1.230 -100143996.521147 0.080 3004.305 18.03 2.000 11305c64

29 0 22990211.959 0.250 -120814377.490722 0.001 1745.164 44.48 314.000 08105c84

29 0 22990210.833 0.460 -94141066.181478 0.003 1360.009 41.04 314.000 02305c84

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32 0 20465359.808 0.120 -107546190.116127 0.001 -302.762 50.75 305.000 18105ca4

32 0 20465359.486 0.240 -83802225.291461 0.001 -235.859 48.61 305.000 02305ca4

22 0 24121108.814 0.260 -126757279.012694 0.003 1777.271 38.00 314.000 08105cc4

22 0 24121104.226 0.480 -98771882.857880 0.007 1384.817 29.59 314.000 01305cc4

25 0 22075440.467 0.200 -116007219.837851 0.001 -2793.002 45.59 312.000 08105ce4

25 0 22075440.503 0.380 -90395236.251358 0.002 -2176.357 44.27 312.800 02305ce4

26 0 21957606.361 0.190 -115387997.528224 0.001 2810.708 47.06 311.000 08105d04

26 0 21957607.166 0.330 -89912730.019941 0.002 2190.184 45.11 311.000 02305d04

10 0 23003265.495 0.280 -120882971.179500 0.002 -3441.319 43.14 323.996 08105d24

10 0 23003264.834 0.430 -94194522.346570 0.002 -2681.524 41.50 321.000 02305d24

31 0 21005491.396 0.120 -110384600.079048 0.001 467.494 51.44 316.000 18105d44

31 0 21005489.019 0.280 -86013961.163456 0.001 364.262 45.50 315.960 02305d44

40 12 23409859.635 0.290 -125314828.375159 0.001 4110.890 48.05 315.000 08115c04

40 12 23409860.891 0.770 -97467070.615725 0.002 3197.407 42.75 315.000 00315c04

58 11 23978799.721 0.430 -128315389.824759 0.001 1883.275 46.48 289.000 18115c44

58 11 23978800.069 1.170 -99800856.468269 0.004 1464.892 37.78 289.000 10315c44

50 5 22101318.615 0.310 -118019801.700207 0.002 2221.005 45.49 315.000 08115ca4

50 5 22101318.469 0.720 -91793176.245068 0.003 1727.470 43.06 315.000 00315ca4

49 6 19864366.845 0.210 -106111878.126011 0.001 -986.654 53.78 315.000 08115cc4

48 7 21804702.375 0.190 -116517716.065903 0.001 -2922.796 51.12 315.000 08115ce4

48 7 21804700.679 0.330 -90624879.558410 0.002 -2273.285 46.97 315.000 10315ce4

38 8 20485495.205 0.190 -109506715.934763 0.001 -3174.064 51.62 315.000 08115d04

38 8 20485496.581 0.390 -85171886.769226 0.002 -2468.632 44.64 315.000 00315d04

39 3 19555266.334 0.220 -104350639.564642 0.001 1549.866 56.08 315.000 18115d44

39 3 19555265.216 0.320 -81161602.112651 0.001 1205.501 50.41 313.000 00315d44

161 0 37267802.697 0.170 -194063225.095872 0.002 36.298 45.91 326.038 18145c04

161 0 37267790.457 0.190 -150061947.818652 0.002 28.139 49.00 326.038 00345c04

162 0 38166472.148 0.450 -198742832.006870 0.007 -29.657 41.60 326.038 18145c24

162 0 38166462.534 0.170 -153680527.014936 0.003 -22.932 46.64 326.038 00345c24

163 0 37043693.341 0.250 -192896230.398385 0.002 26.455 45.56 326.038 08145c44

163 0 37043685.014 0.160 -149159566.707166 0.003 20.467 47.80 326.038 10345c44

164 0 38209343.351 0.270 -198966073.738365 0.004 15.989 43.32 326.038 18145c64

164 0 38209334.184 0.290 -153853153.106594 0.004 12.359 45.33 326.038 00345c64

166 0 35740040.966 0.140 -186107768.287787 0.001 -45.565 46.76 326.038 18145ca4

166 0 35740032.371 0.120 -143910297.641445 0.001 -35.167 49.22 326.038 10345ca4

167 0 36321694.191 0.120 -189136591.017722 0.001 121.887 47.47 326.038 08145cc4

167 0 36321684.685 0.080 -146252372.425793 0.001 94.222 50.71 326.038 00345cc4

169 0 36120176.947 0.170 -188087236.973659 0.001 501.965 45.48 326.038 18145d04

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 169 0 36120170.782 0.100 -145440958.014472 0.001 388.101 50.25 326.038 10345d04

170 0 37542850.472 0.130 -195495470.464445 0.002 409.240 45.22 326.038 18145d24

170 0 37542844.289 0.180 -151169476.678971 0.001 316.570 47.30 326.038 00345d24

171 0 25898938.328 0.400 -134862568.555169 0.002 1027.639 38.74 301.000 18145d44

171 0 25898934.933 0.160 -104284271.056566 0.002 794.612 47.56 303.000 00345d44

Function Satellite range information.

Binary
ID Field Description Type Offset
Bytes
Range
1 Log Header H 0
Header
Number of observations with information to
2 #obs Ulong 4 H
follow
Satellite PRN number of range measurement
GPS: 1~32
3 PRN/slot GLONASS: 38~61 (slot, it’s different from Ushort 2 H+4
$GPGSV)
BDS:161~197
4 glofreq (GLONASS Frequency + 7) Ushort 2 H+6
5 psr Pseudorange measurement (m) Double 8 H+8
Pseudorange measurement standard
6 psrstd Float 4 H+16
deviation (m)
Carrier phase, in cycles (accumulated
7 adr Doppler Double 8 H+20
range)
Estimated carrier phase standard deviation
8 adrstd Float 4 H+28
(cycles)
9 dopp Instantaneous carrier Doppler frequency (Hz) Float 4 H+32
Carrier to noise density ratio C/No =
10 C/No Float 4 H+36
10[log10(S/N0)] (dB-Hz)
Seconds of continuous tracking(no cycle
11 locktime Float 4 H+40
slipping)
ch-tr-statu Tracking status(see Table 88 Channel
12 Float 4 H+44
s Tracking status)
13 Next PRN offset = H + 4 + (#obs x 44)
H+4+
14 xxxx 32-bit crc(ASCII and Binary only) Ulong 4 (#obs x
44)
15 [CR][LF] Sentence terminator (ASCII only) - - -

Table 88 Channel Tracking status

Nibble Bit Mask Description Value
N0 0 0x00000001 Tracking state See Table 89 Tracking State
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 1 0x00000002
2 0x00000004
3 0x00000008
4 0x00000010
5 0x00000020
N1 (n-1) (0 = first, n = last) n depends on the
6 0x00000040 SV channel
receiver
7 0x00000080 number
8 0x00000100
9 0x00000200
N2
10 0x00000400 Phase lock flag 0 = Not locked, 1 = Locked
11 0x00000800 Parity known flag 0 = Not known, 1 = Known
12 0x00001000 Code locked flag 0 = Not locked, 1 = Locked
13 0x00002000
N3
14 0x00004000 Correlator type See Table 90 Correlator Type
15 0x00008000
16 0x00010000 0 = GPS
17 0x00020000 Satellite system 1 = GLONASS
N4 18 0x00040000 4 = BEIDOU
0 = data is from primary antenna
19 0x00080000 Antenna indicator
1 = data is from secondary antenna
20 0x00100000 Grouping 0 = Not grouped, 1 = Grouped
21 0x00200000 GPS: GLONASS:
N5
22 0x00400000 0 = L1C/A 0 = L1 C/A
23 0x00800000 5 = L2P 1 = L2 C/A
24 0x01000000 9 = L2P codeless 5 = L2P
14 = L5 Q
Signal type 17 = L2C
BDS:
25 0x02000000 0 = B1 with D1 data
N6 1 = B2 with D1 data
4 = B1 with D2 data
5 = B2 with D2 data
26 0x04000000 Reserved
Primary L1
27 0x08000000 0 = Not primary, 1 = Primary
channel
Carrier phase 0 = Half Cycle Not Added
28 0x10000000
measurement 1 = Half Cycle Added
29 0x20000000 Reserved
N7 0 = PRN Not Locked Out
30 0x40000000 PRN lock flag
1 = PRN Locked Out
Channel 0 = Automatic
31 0x80000000
assignment 1 = Forced

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 Table 89 Tracking State
State Description
0 Idle
1 Sky Search
2 Wide frequency band pull-in
3 Narrow frequency band pull-in
4 Phase lock loop
6 Channel steering
7 Frequency lock loop
9 Channel alignment
10 Code search
11 Aided phase lock loop

Table 90 Correlator Type

State Description
0 N/A
1 Standard correlator: spacing = 1 chip
2 Narrow Correlator: spacing 1 chip
3 Reserved
4 Pulse Aperture Correlator (PAC)
5-6 Reserved

3.1.36 RANGECMP

This log contains the RANGE data in a compressed format.

Table 91 RANGECMP
Name Value
Message ID 140
Input log rangecmp ontime 10
RANGECMP COM2 0 88.000000 FINE 1981 98177.400000 00000000
52825548 18
45
241c10088f81f8efff09cd0a8be4b3e760051904a0030000
Example
8b1c30014e29fa7fee09cd0a4e1db4f87005330320030000
…
641d040846e2ff5f91f8201348fd858c80a55a0260020000
601cb402e0e7ffef83f820131c0ceae180a5060380020000
Function Compressed version of the RANGE log.

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 Binary
ID Field Description Type Offset
Bytes
RANGECMP
1 Log Header H 0
header
Number of satellite observations with
2 #obs Ulong 4 H
information to follow
1st range Compressed range log in format of Table
3 Hex 24 H+4
record 92 Range Record Format
4 Next rangecmp offset = H+4+(#obs x 24)
H+4+(#o
5 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4
bs x 24)
6 [CR][LF] Sentence terminator (ASCII only) - - -

Table 92 Range Record Format

Data Bits first to last Length(bits) Scale Factory Units
See Table 88 Channel
Channel Tracking Status 0-31 32 -
Tracking status
Doppler Frequency 32-59 28 1/256 hz
Pseudorange (PSR) 60-95 36 1/128 m
ADR 96-127 32 1/256 cycles
StdDev-PSR(1) 128-131 4 See (2) m
StdDev-ADR 132-135 4 (n+1)/512 cycles
PRN/Slot(3) 136-143 8 1 -
Lock Time(4) 144-164 21 1/32 s
C/No(5) 165-169 5 (20+n) dB-Hz
Reserved 170-191 22

1. ADR (Accumulated Doppler Range) is calculated as follows:

ADR_ROLLS = (RANGECMP_PSR / WAVELENGTH +
RANGECMP_ADR) / MAX_VALUE
Round to the closest integer
IF (ADR_ROLLS = 0) ADR_ROLLS = ADR_ROLLS - 0.5
ELSE ADR_ROLLS = ADR_ROLLS + 0.5
At this point integer rise ADR_ROLLS
CORRECTED_ADR = RANGECMP_ADR - (MAX_VALUE*ADR_ROLLS)
where ADR has units of cycles
WAVELENGTH = 0.1902936727984 for GPS L1
WAVELENGTH = 0.2442102134246 for GPS L2
MAX_VALUE = 8388608
Note: GLONASS satellites emit L1 and L2 carrier waves at a satellite-specific
frequency, refer to the GLONASS section of An Introduction to GNSS.

2. Code StdDev-PSR (m)

0 0.050
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 1 0.075
2 0.113
3 0.169
4 0.253
5 0.380
6 0.570
7 0.854
8 1.281
9 2.375
10 4.750
11 9.500
12 19.000
13 38.000
14 76.000
15 152.000

3. GPS: 1 to 32, GLONASS: 38 to 61 and BDS: 161-197.

4. The Lock Time field of the RANGECMP log is constrained to a maximum

value of 2,097,151 which represents a lock time of 65535.96875 s (2097151 ¸
32).

5. C/No is constrained to a value between 20-51 dB-Hz. Thus, if it is reported

that C/No = 20 dB-Hz, the actual value could be less. Likewise, if it is reported
that C/No = 51, the true value could be greater.

3.1.37 REFSTATION

This log contains the ECEF Cartesian position of the base station as received
through the RTCM, RTCMV3 or CMR messages. It also features a time tag,
the health status of the base station and the station ID. This information is set
at the base station using the FIX command and the DGPSTXID command.

The base station health, Field #6, may be one of 8 values (0 to 7). Values 0
through 5 indicate the scale factor that is multiplied with the satellite UDRE
one-sigma differential error values. Below are values 0 to 5 and their
corresponding UDRE scale factors:

0: 1 (Health OK) 0.75 2: 0.5 3: 0.3 4: 0.2 5: 0.1

The base station health field only applies to RTCM base stations. A value of 6
means the base station transmission is not monitored and a value of 7 means
that the base station is not working.

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Table 93 REFSTATION
Name Value
Message ID 175
Input log refstation ontime 30
<REFSTATION COM2 0 0.0 FINESTEERING 1997 444040.000 00000000
420 20161214
Example
< 00000000 -2860998.905 4651725.628 3283991.059 0 RTCMV3 "
0"
Function Position of the base station in RTCM format.

Binary
ID Field Description Type Offset
Bytes
REFSTATION
1 Log Header H 0
header
Status of the base station information
2 status 0x00000001 Invalid Ulong 4 H
0x00000000 Valid
3 x ECEF X value (m) Double 8 H+4
4 y ECEF Y value (m) Double 8 H+12
5 z ECEF Z value (m) Double 8 H+20
Base station health, see the 2 nd
6 health Ulong 4 H+28
paragraph in 3.1.37.
7 stn type Station type, see Table 94 Enum 4 H+32
8 stn ID Base station ID Char[5] 8 H+36
9 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+44
10 [CR][LF] Sentence terminator (ASCII only) - - -

Table 94 Station Type

Base Station type
Description
Binary ASCII
0 NONE Base station is not used
1 RTCM Base station is RTCM
3 CMR Base station is CMR
4 RTCMV3 Base station is RTCMV3

3.1.38 RTCM messages

RTCM 2.X and RTCM 3.X standard are supported, which is used to deliver the
base station information to user side. RTCM defines a set of message types to

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deliver different information. The detailed usage of RTCM messages refers to
chapter 4 RTK Configuration Example.

3.1.37.1 RTCM2 messages

Below is a list of RTCM version 2.x message types supported by Precis

products.

Table 95 Collection of supported RTCM2 message

Message
Flag Description
type
GPS Reference Station Parameter (X, Y, Z coordinates in ECEF
3 B/R
coordinate system )
18 B/R Uncorrected Carrier phase measurements
19 B/R Uncorrected pseudorange measurements
22 B Extended Base Station
Reference station Antenna Reference Point Parameter (X, Y, Z
24 R coordinates in ECEF coordinate system) with antenna height, which is
more precise than message type 3

3.1.37.2 RTCM3 messages

Below is a list of RTCM3 message types that supported by Precis products. B

in flag filed means the message is supported by a base, R means the message
is supported by a rover, R/B means the message is supported both by a base
and a rover.

Table 96 Collection of supported RTCM3.2 message types

Message
Flag Description
type
1001 B L1 only GPS RTK observables
1002 R/B Extended L1-only GPS RTK observables
1003 B L1&L2 GPS RTK observables
1004 R/B Extended L1&L2 GPS RTK observables
1005 R/B Stationary RTK Reference Station ARP
1006 R/B Stationary RTK Reference Station ARP with Antenna Height
1007 B Extended Antenna Descriptor and Setup
1008 B Extended Antenna Reference Station Description and serial number

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1009 B L1 only GLONASS RTK observables
1010 R/B Extended L1-only GLONASS RTK observables
1011 B L1&L2 GLONASS RTK observables
1012 R/B Extended L1&L2 GLONASS RTK observables
1013 B System Parameter Messages
1019 R GPS Ephemerides
1020 R GLONASS Ephemerides
1033 B Receiver and antenna descriptors
1042 R BDS Ephemerides
1071 B GPS MSM1, GPS Code Measurements
1072 B GPS MSM2, GPS Phase Measurements
1073 B GPS MSM3, GPS Code and Phase Measurements
1074 R/B GPS MSM4, GPS Code, Phase and CNR Measurements
1075 R/B GPS MSM5, GPS Code, Phase, CNR and Doppler Measurements
1076 R/B GPS MSM6, Extended GPS Code, Phase and CNR Measurements
GPS MSM7, Extended GPS Code, Phase, CNR and Doppler
1077 R/B
Measurements
1081 B GLONASS MSM1, GLONASS Code Measurements
1082 B GLONASS MSM2, GLONASS Phase Measurements
1083 B GLONASS MSM3, GLONASS Code and Phase Measurements
1084 R/B GLONASS MSM4, GLONASS Code, Phase and CNR Measurements
GLONASS MSM5, GLONASS Code, Phase, CNR and Doppler
1085 R/B
Measurements
GLONASS MSM6, Extended GLONASS Code, Phase and CNR
1086 R/B
Measurements
GLONASS MSM7, Extended GLONASS Code, Phase, CNR and Doppler
1087 R/B
Measurements
1121 B Beidou MSM1, BeiDou Code Measurements
1122 B Beidou MSM2, BeiDou Phase Measurements
1123 B Beidou MSM3, BeiDou Code and Phase Measurements
1124 R/B Beidou MSM4, BeiDou Code, Phase and CNR Measurements
1125 R/B Beidou MSM5, BeiDou Code, Phase, CNR and Doppler Measurements
1126 R/B Beidou MSM6, Extended BeiDou Code, Phase and CNR Measurements
Beidou MSM7, Extended BeiDou Code, Phase, CNR and Doppler
1127 R/B
Measurements
1230 R/B GLONASS bias information message

3.1.39 SATVIS

This log contains satellite visibility data for all available constellations with
additional satellite information.

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Table 97 SATVIS
Name Value
Message ID 1043
Input log satvis ontime 60
log satvis
SATVIS COM1 2 0.0 FINESTEERING 1943 446505.000 00000000 407
20161214
GPS TRUE TRUE 11
3 0 18.9 302.8 1007.386 1743.990
…
32 0 52.0 137.4 -2125.748 -1389.144
Example GLONASS TRUE TRUE 10
14-7 0 38.4 294.9 975.846 1724.878
…
4+6 0 40.7 312.3 2035.114 2784.146
BEIDOU TRUE TRUE 10
161 0 49.6 146.3 28.225 758.133
…
171 0 10.7 46.0 -1152.683 -422.776
Function Satellite visibility.

Binary
ID Field Description Type Offset
Bytes
SATVIS
1 Log header H 0
header
GNSS satellite system identifier.
Satellite 0 = GPS
2 Enum 4 H
System 1 = GLONASS
6 = BDS
Is satellite visibility valid?
3 sat vis 0 = FALSE Enum 4 H+4
1 = TRUE
Was complete GPS almanac used?
4 comp alm 0 = FALSE Enum 4 H+8
1 = TRUE
5 #sat Number of satellites with data to follow Ulong 4 H+12
Satellite PRN number of range measurement:
PRN/slot GPS: 1-32
6 Ushort 2 H+14
GLONASS: 1~24
BDS:161~197
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7 glofreq (GLONASS Frequency + 7) Short 2 H+16
8 health Satellite health Ulong 4 H+20
9 elev Elevation (degrees) Double 8 H+24
10 az Azimuth (degrees) Double 8 H+32
Theoretical Doppler of satellite – the expected
Doppler frequency based on a satellite’s
motion relative to the receiver. It is computed
11 true dop Double 8 H+40
using the satellite’s coordinates and velocity
along with the receiver’s coordinates and
velocity (Hz)
Apparent Doppler for this receiver – the same
12 app dop as Theoretical Doppler above but with clock Double 8 H+48
drift correction added (Hz)
13 Next satellite offset = H + 16 + (#sat x 40)
H+12+
14 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 (#sat x
40)
15 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.40 THISANTENNA

This log contains the information about the antenna, which is input with
commands THISANTENNASET and THISANTENNATYPE.

This logging can be used at the base side to broadcast RTCM messages. And
the binary logging information can be output in Tersus RINEX converter
software.

Table 98 THISANTENNA
Name Value
Message ID 1421
log thisantenna
Input
log thisantennab ontime 10
<THISANTENNA COM2 0 0.0 FINESTEERING 1997 445768.000
Example 00000000 420 20161214
< trsax3702 none 0 2.310000
Function Antenna information.

Binary
ID Field Description Type Offset
Bytes
82 /89
 THISANTENNA
1 Log header H 0
header
Antenna type and Antenna model type and Radome
2 Enum 4 H
Radome type type
3 Antenna setup id Setup identification Ulong 4 H+4
4 Antenna height Antenna ARP (m) Float 4 H+8
5 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+12
6 [CR][LF] Sentence terminator (ASCII only) - - -

3.1.41 TIME

This log provides several time related pieces of information including UTC time.

Table 99 TIME
Name Value
Message ID 101
Input log time ontime 1
TIME COM1 0 0.0 FINESTEERING 1943 446734.000 00000000 407
Example 20161214
VALID 0 0 0 2018 1 24 2 58 0 VALID
Function Receiver time information

Binary
ID Field Description Type Offset
Bytes
TIME
1 Log header H 0
header
Clock model status (not including current
2 clock status measurement data), see Table 100 Clock Enum 4 H
Model Status
Receiver clock offset, in seconds from GPS
reference time. A positive offset implies that
offset the receiver clock is ahead of GPS reference
3 Double 8 H+4
time. To derive GPS reference time, use the
following formula: GPS reference time =
receiver time - offset
4 offset std Receiver clock offset standard deviation (s) Double 8 H+12
The offset of GPS reference time from UTC
time, computed using almanac parameters.
utc offset
5 UTC time is GPS reference time plus the Double 8 H+20
current UTC offset plus the receiver clock
offset: UTC time = GPS reference time +
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 offset + UTC offset
6 utc year UTC year Ulong 4 H+28
7 utc month UTC month (0-12) Uchar 1 H+32
8 utc day UTC day (0-31) Uchar 1 H+33
9 utc hour UTC hour (0-23) Uchar 1 H+34
10 utc min UTC minute (0-59) Uchar 1 H+35
11 utc ms UTC millisecond (0-60999) Uchar 4 H+36
UTC status
utc status 0 = Invalid
12 Enum 4 H+40
1 = Valid
2 = Warning
13 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+44
14 [CR][LF] Sentence terminator (ASCII only) - - -

Table 100 Clock Model Status

Clock Status Clock Status
Description
(Binary) (ASCII)
0 VALID The clock model is valid
1 CONVERGING The clock model is near validity
2 ITERATING The clock model is iterating towards validity
3 INVALID The clock model is not valid

3.1.42 TRACKSTAT

The TRACKSTAT log contains an entry for each channel. If there are multiple
signal channels for one satellite (for example L1, L2 P(Y), L2C, and L5 for
GPS), there will be multiple entries for that satellite. The signal type can be
determined from the channel tracking status word.

Table 101 TRACKSTAT

Name Value
Message ID 83
Input log trackstat ontime 1
log TRACKSTAT
TRACKSTAT COM1 0 0.0 FINESTEERING 1943 447377.000 00000000 407
20161214

Example SOL_COMPUTED SINGLE 0.0 60

31 0 08105c00 20985668.535 360.714 51.56 3868.998 0.000 UNKNOW 0.000
31 0 01305c00 20985667.785 281.019 46.28 3868.998 0.000 UNKNOW 0.000
…

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 170 0 00345d20 37200720.664 529.217 46.07 3896.998 0.000 UNKNOW 0.000

Function Tracking status.

Binary
ID Field Description Type Offset
Bytes
TRACKSTA
1 Log header H 0
T header
Solution status, see Table 53 Solution
2 sol stat Enum 4 H
Status
Position type, see Table 54 Position or
3 pos type Enum 4 H+4
Velocity Type
4 cutoff GPS tracking elevation cut-off angle Float 4 H+8
Number of hardware channels with
5 # chans Ulong 4 H+12
information to follow
Satellite PRN number of range
measurement
GPS: 1 to 32,
PRN/slot
6 QZSS: 193-197, Short 2 H+16
Galileo: 1 to 36,
GLONASS: 38~61
BDS:161~197
7 glofreq (GLONASS Frequency + 7) Short 2 H+18
Channel tracking status (see Table 88
8 ch-tr-status Ulong 4 H+20
Channel Tracking status)
Pseudorange (m) - if this field is zero but the
channel tracking status in the previous field
9 psr indicates that the card is phase locked and Double 8 H+24
code locked, the pseudorange has not been
calculated yet
10 Doppler Doppler frequency (Hz) Float 4 H+32
11 C/No Carrier to noise density ratio (dB-Hz) Float 4 H+36
Number of seconds of continuous tracking
12 locktime Float 4 H+40
(no cycle slips)
Pseudorange residual from pseudorange
13 psr res Float 4 H+44
filter (m)
14 reject Range reject code from pseudorange filter. Enum 4 H+48
15 psr weight Pseudorange filter weighting Float 4 H+52
16 Next PRN offset = H+16+(#chans x 40)
H+16
17 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 (#chans
x 40)
18 [CR][LF] Sentence terminator (ASCII only) - - - - -

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 3.1.43 VERSION

This command is used to display the version information of the current board.

Table 102 Display version information

Name Value
Message ID 37
Input Log version
Function Version Information
VERSION COM1 0 0.0 UNKNOWN -1 0.000 00000000 0 20161214
Example BX306 G2SB2G2 008001181300000026 0020 20161123 3.0 Mar 16
2018 00:39:52

Binary
ID Field Description Type Offset
Bytes
VERSION
1 Log header H 0
header
2 # comp Number of components (cards, and so on) 4 H
product
3 OEM board name Char[8] 8 H+4
name
4 model Receiver’s model Char[12] 12 H+12
5 psn Product serial number Char[24] 24 H+24
6 sw version Firmware software version Char[8] 8 H+48
7 reserved 16 H+56
8 boot version Boot code version Char[16] 16 H+72
9 comp date Firmware compile date Char[12] 12 H+88
10 comp time Firmware compile time, Char[12] 12 H+100
11 xxxx 32-bit CRC (ASCII and Binary only) Ulong 4 H+104
12 [CR][LF] Sentence terminator (ASCII only) - - -

86 /89
 4. RTK Configuration Example
Example of RTK configuration (base mode):

FIX POSITION 31.000302123 114.289244543 26.130

ECUTOFF 15.0 (optional)
INTERFACEMODE COM2 AUTO AUTO ON (optional)
LOG COM2 RTCM1074 ONTIME 1
LOG COM2 RTCM1084 ONTIME 1
LOG COM2 RTCM1124 ONTIME 1
LOG COM2 RTCM1005 ONTIME 10
LOG COM2 RTCM1033 ONTIME 10
LOG COM2 RTCM1230 ONTIME 5
SAVECONFIG

Note: 1. Broadcast RTCM messages only after FIX POSITION command.

2. For the FIX POSITION command, if the input coordinates and actual
coordinates differ by more than 30m in one direction, it will stop broadcasting
RTCM messages although the RTCM logs are input.

Example of RTK configuration (rover mode):

FIX NONE
INTERFACEMODE COM2 AUTO AUTO ON
LOG COM1 GPGGA ONTIME 1
SAVECONFIG

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 5. Terminology
Table 103 List of terminology
Abbreviation Definition
ASCII American Standard Code for Information Interchange
CMR Compact Measurement Record
DC Direct Current
ESD Electro Static Discharge
ECEF Earth Center Earth Fixed
GLONASS GLObal NAvigation Satellite System
GNSS Global Navigation Satellite System
GPS Global Positioning System
IF Intermediate Frequency
IMU Inertial Measurement Unit
IO Input/Output
LED Light Emitting Diode
LNA Low Noise Amplifier
MPU Micro Processing Unit
NMEA National Marine Electronics Association
PC Personal Computer
PPS Pulse Per Second
RF Radio Frequency
RINEX Receiver Independent Exchange format
RMS Root Mean Squares
RTK Real-Time Kinematic
RTCM Radio Technical Commission for Maritime Services
SMA Sub-Miniature-A interface
TBD To Be Defined
TTFF Time to First Fix
TTL Transistor-Transistor Logic level
UART Universal Asynchronous Receiver/Transmitter
UAV Unmanned Aerial Vehicle
USB Universal Serial BUS
WGS84 World Geodetic System 1984

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Proprietary Notice
All Information in this document is subject to change without notice and does
not reflect the commitment on Tersus GNSS. No part of this manual may be
reproduced or transmitted by all means without authorization of Tersus GNSS.
The software described in this document must be used in terms of the
agreement. Any reverse software engineer or modification without permission
from Tersus GNSS is not allowed.

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