File:

"Outside World Interface" (OWI) Document in Project

documentation:
Leica AG, Heerbrugg Interface Control Document Current Valid Version
(Firmware 4.0)
Project GPS System 500
Dot:
GPS400.DOT

TUH-3421 Version for Sensor Firmware 4.0 14 October 2002

Content
1 Background ................................................................................................................... 4
2 Message Formats to “Outside World”............................................................................ 4
3 Messages (NMEA + extensions)...................................................................................... 6
3.1 Message Steering.......................................................................................................... 8
3.1.1 Request Message Output .................................................................................. 8
3.1.2 Acknowledge Message Input (ACK).................................................................. 10
3.1.3 Control (CTL) .................................................................................................. 11
3.1.4 Configuration (CFG)......................................................................................... 13
3.2 Data Processing: ......................................................................................................... 15
3.2.1 Carrier Phase Ambiguity Status (AMB)............................................................. 15
3.2.2 Antenna Height (AHT)...................................................................................... 16
3.2.3 Antenna type, offsets and phase centre offsets (ANT)......................................... 17
3.2.4 Current Dynamics, Static or Kinematic (DYN).................................................... 18
3.3 Sensor:....................................................................................................................... 19
3.3.1 Battery Status (BAT) ....................................................................................... 19
3.3.2 Current Configuration Set (*.cnf file) (CNF)......................................................... 20
3.3.3 Device Configuration ( DCF ) ............................................................................ 21
3.3.4 Device Control ( DCT )..................................................................................... 26
3.3.5 Device Port Manager (DPM)............................................................................. 29
3.3.6 Memory Status (MEM) .................................................................................... 32
3.3.7 Port Configuration for Data Communications (PRT)............................................. 33
3.3.8 Turns Sensor On/Off (PWR)............................................................................. 35
3.3.9 Reset Control Mode (RCM) .............................................................................. 36
3.3.10 Remote Primary Port (RPP)............................................................................. 37
3.3.11 Save Current Configuration (SCC) .................................................................... 38
3.3.12 Start Firmware Download (SFD) ....................................................................... 39
3.4 Satellite: ..................................................................................................................... 40
3.4.1 Satellite Cut-off Elevation (CUT) ........................................................................ 40
3.4.2 Satellite Position (Elevation, Azimuth) (SVP)..................................................... 41
3.5 NMEA: ....................................................................................................................... 42
3.5.1 Global Positioning System Fix Data (GGA)....................................................... 43
3.5.2 Geographic Position - Latitude/Longitude (GLL) ................................................. 44
3.5.3 GNSS Fix Data (GNS)..................................................................................... 45
3.5.4 Course Over Ground and Ground Speed (VTG) .................................................. 46
3.5.5 Time & Date (ZDA).......................................................................................... 48
3.5.6 GPS DOP and Active Satellites (GSA).............................................................. 49
3.5.7 GPS Satellites in View (GSV).......................................................................... 50
3.5.8 Leica Local Position and GDOP (LLK) .............................................................. 51
3.5.9 Leica Local Position and Quality (LLQ) ............................................................. 52
3.5.10 Leica Geographic Position with GDOP (GGK).................................................... 53

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3.5.11 Leica Geographic Position with CQ (GGQ) ........................................................ 54

3.6 Position / Data: ........................................................................................................... 55
3.6.1 1 Step transformation parameters (1SP)............................................................ 55
3.6.2 Average (AVG)................................................................................................ 56
3.6.3 Configure Measurement Data (CMD)................................................................. 58
3.6.4 Datum used for Coordinates, and Transformation parameters (DTP)..................... 61
3.6.5 Log Raw Observations / Positions (LOG)........................................................... 62
3.6.6 Next available position (allows for latency) (NXT) ................................................ 64
3.6.7 Observations and Quality (OBS)....................................................................... 66
3.6.8 Observation Processing Configuration (OPC) ..................................................... 69
3.6.9 Position and Quality (POS).............................................................................. 70
3.6.10 Post Processing Reference (PPR).................................................................... 73
3.6.11 Projection type for Coordinates (PRJ)................................................................ 75
3.6.12 Position update rate (PUR) .............................................................................. 78
3.6.13 Ring Buffer Control (RBC) ................................................................................ 79
3.6.14 Ring Buffer Configuration (RBF) ........................................................................ 81
3.6.15 Real-Time Data Status (RTD) ........................................................................... 83
3.6.16 Real-Time format configuration (RTK)................................................................ 84
3.6.17 Leica proprietary Real-Time: Reference Station Position (RTP)............................ 89
3.6.18 Time, Position and Velocity (TPV).................................................................... 90
3.6.19 Velocity and Direction (VEL) ............................................................................ 93
3.7 Point Occupation: ........................................................................................................ 94
3.7.1 Occupy Known Point (OCC)............................................................................. 94
3.7.2 Point Occupation Begin (POB)......................................................................... 96
3.7.3 Point Occupation End (POE) ........................................................................... 97
3.7.4 Point Occupation Quit (POQ)........................................................................... 98
3.7.5 Time Tag Point (TTP)....................................................................................... 99
3.8 Utilities: .....................................................................................................................100
3.8.1 Delete file(s) (DEL).........................................................................................100
3.8.2 Directory of Memory (DIR)...............................................................................101
3.8.3 Geo Database (GDB) .....................................................................................105
3.8.4 Download file from Sensor (DLF)......................................................................111
3.8.5 Format Memory Device (FMT) .........................................................................113
3.8.6 System Information (INF) ................................................................................114
3.8.7 Time, Date and Initial Position (INI) ..................................................................117
3.8.8 Job Management (JOB)..................................................................................118
3.8.9 Enter Security Code (SEC) .............................................................................120
3.8.10 Message Interruption (STP).............................................................................121
3.8.11 Transfer file(s) between Sensor Internal and Sensor PC-Card (TRF) ....................122
3.8.12 User defined message from list of pre-defined variables (USR)............................123
3.8.13 Event Input (EVT) ...........................................................................................127
3.8.14 Event Input Response 1 or 2 (EI1, EI2).............................................................128
3.8.15 Pulse Per Second (PPS) output ......................................................................129
3.8.16 High priority time (HPT) ..................................................................................130
3.8.17 Ring Buffer Download (RBD)............................................................................131
3.8.18 Upload file to Sensor (ULF) .............................................................................133
3.8.19 Delete System Object (DSO) ..........................................................................134
3.9 External Devices.........................................................................................................135
3.9.1 Send message to external ASCII Device (SAD).................................................135

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3.9.2 Notify from external ASCII Device (NAD)...........................................................136

4 Conclusion..................................................................................................................137

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1 Background
This report defines in detail the format of the Messages which will be used to link our sensor with the Outside
World. The Messages defined here will be used for Applications which are developed to be executed on an
external device i.e. Husky, PenPad.

2 Message Formats to “Outside World”

It has been accepted that we require both an ASCII and a Binary format for these message to the Outside
World.
"Outside World"
Husky PenPad

Sensor

ASCII
NMEA is an already established ASCII format which provides many useful GPS messages. Unfortunately not
all messages, deemed necessary are supported with NMEA.

One idea for our ASCII format is to use the already defined NMEA standard but add some additional messages
to include all messages which are thought necessary. These “extensions” to the NMEA standard would allow a
fully featured ASCII message format, which follows an already established and accepted standard.

Normal NMEA message:

$GPGLL,3723.454333,N,12202.269667,W,151933,A*3E<CR><LF>

For our NMEA extensions we use the following abbreviation:

$PLEI : Proprietary (P) Leica (LEI).

Binary
It is essential that a binary format be supported to allow the large amounts of data to be transferred from the
sensor to the external device. The binary Observation data (compact) record as defined by TUH for 12 Satellites
L1/L2 data is 215 bytes. The ASCII equivalent however requires many more bytes to include the same
information. The binary interface is supported via the “Leica Binary 2 (LB2) Interface”. Details of LB2 can be
found in the Leica Binary 2 Interface Control Document for the GPS Subsystem.

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ASCII Message Flow

The flow of messages between the sensor and external device is as follows:

• Information is extracted from the sensor using the general Query command $PLEIQ,???,....
e.g. To Query Positions to the currently used port at a rate of every 1 second in Geodetic
coordinates the following message would be sent to the sensor:
$PLEIQ,POS,0,4,0*39<CR><LF>

In Response to this message the sensor would send a positive acknowledgement that
message had been received without any problems:
$PLEIR,ACK,POS,0*5B<CR><LF>

Followed by Position messages:

$PLEIR,POS,101259.00,250497,.......*hh<CR><LF>

• Internal sensor settings are configured by sending the appropriate Set command $PLEIS,???,... to the
sensor.
e.g. To Set an antenna height at 1.995 metres the following message must be sent to the sensor:
$PLEIS,AHT,0,1.995,0*34<CR><LF>

In addition, current sensor settings can be determined by sending a Query command

$PLEIQ,???,.... For example to query the currently set antenna height message to
the currently used port, the following command would be sent :
$PLEIQ,AHT,0,200,0*2E<CR><LF>
If this request was made after the previous example of setting the antenna height, the
response would of course be:
$PLEIR,AHT,0,1.995,0*35<CR><LF>

• To ensure that the user knows that the message was received by the sensor, an acknowledgement will be
given for all Input Messages excluding Messages which have been requested to be “Output immediately”
(Output rate = ‘200’). The acknowledgement message includes a flag which will help the user isolate the
problem if one exists.
e.g. To acknowledge the previous example of setting the antenna height, the following
message would be sent by the sensor to the user:
$PLEIR,ACK,AHT,0*4A<CR><LF>

The ‘0’ in the above message indicates that the antenna height message was received
without any problems, other flags are also possible.

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3 Messages (NMEA + extensions)

The following table shows the notation used to describe the content of each of the messages.

Notation Description Comments

A Status Validity flag:
‘A’ = Yes, Data valid ‘V’ = No, Data invalid
‘Y’ = Yes, Data valid ‘N’ = No, Data invalid
llll.ll Latitude 2 fixed digits for degrees; 2 fixed digits for minutes; and a
variable number of digits for decimal-fraction of minutes
e.g. 5106.7198674 = 51°06.7198674’
yyyyy.yy Longitude 3 fixed digits for degrees; 2 fixed digits for minutes; and a
variable number of digits for decimal-fraction of minutes
e.g. 11402.3587526 = 114°02.3587526’
e.g. 02914.9456371 = 29°14.9456371’
hhmmss.ss Time 2 fixed digits for hours; 2 fixed digits for minutes; 2 fixed
digits for seconds and a variable number of digits for decimal
fraction of seconds
e.g. 220152.50 = 22hours 01mins 52.50secs
ddmmyy Date 2 fixed digits for day; 2 fixed digits for month and 2 fixed
digits for year
e.g. 250497 = 25th April 1997
x 1 byte integer 0 to 255 also
-127 to 128 indicated with (±)
xx 2 byte integer 0 to 65,535 also
-32,768 to 32,767 indicated with (±)
xxxx 4 byte integer 0 to 4,294,967,295 also
-2,147,483,648 to 2,147,483,647 indicated with (±)
xx.xx 4 byte real ±3.4E±38
xxxx.xxxx 8 byte real ±1.7E±308
a 1 character ‘a’ to ‘Z’
hh 2 hex chars 2 hexadecimal characters ‘0’ to ‘F’
e.g. 1D = 29
hhh 3 hex chars 3 hexadecimal characters ‘0’ to ‘F’
e.g. 2FA = 762
hhhh 4 hex chars 4 hexadecimal characters ‘0’ to ‘F’
e.g. 779F = 30623
hhhhhh 6 hex chars 6 hexadecimal characters ‘0’ to ‘F’
e.g. 5F5839 = 6248505
c--c String of chars Variable length string of valid characters 1
Notes:
1
Invalid characters: <CR> <LF> $ * , ! \ ^ ~

Message: Prefix

Each ASCII message begins with a prefix which will be either:

$GP???, for the NMEA messages or
$PLEI?,??? for the Leica extension messages

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Message: Checksum

Every message should include a checksum after the content of each message to increase data integrity. Like
NMEA the checksum is computed using a 8-bit exclusive OR (XOR) [no start and stop bits] of all characters in
the sentence, including “,”, between but not including the “$” and the “*” delimiters.

The hexadecimal value of the most significant and least significant 4 bits of the result are converted to two
ASCII characters (0-9, A-F) for transmission. The most significant character is transmitted first.

The checksum field is the last field in a sentence and follows the checksum delimeter character “*”.

A detailed description of each Message now follows:

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3.1 Message Steering

3.1.1 Request Message Output

Description: This message provides the infrastructure to schedule all other messages. Messages may be
requested for immediate Output or scheduled for Output periodically. If scheduled periodically,
the system will output the message until it receives a message discontinuing its output.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Request Message ???, Message Identifier1
Output x, Port 2
x Output rate3
. Get flag
. Get flag
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
Message identifier is the unique identifier that each message is assigned.
• The Leica proprietary messages will be a three character identifier. e.g. ‘POS’ for Position and
Quality, ‘SVH’ for Satellite Health information etc.
• NMEA messages all have a five character identifier. e.g. ‘GPGGA’ for Global Positioning
System Fix Data, ‘GPZDA’ for Time and Date etc. However only the last three characters are sent as
the Message Identifier i.e. ‘GGA’, ‘ZDA’ etc.

2
‘0’ = Current Port
‘1’ = Port 1 ‘3’ = Port 3
‘2’ = Port 2 ‘4’ = Terminal Port

3
Output rate control:
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

‘201’ = Output when new data is available

Comments:
• For some messages the suggested “Output rates” is limited to a reduced number of options. e.g. The 1
Step transformation parameters message ‘1SP’ only suggests one “Output rate”: ‘200’ = Output
immediately.

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• In addition to the “Output rate” control further steering parameter are sometimes required. These parameters
(Get flag) provide the sensor with extra information about how the message should be output e.g. should the
coordinates be output in Geodetic or Grid format.

• Not all messages can be Output / Input via all Ports. For example NMEA messages can only be scheduled
to be Output to Port 1, Port 2, Port 3 or the Remote Port, and Real-Time data can be only Output / Input via
Port 1, Port 2 and Port 3. The default port for remote control is the terminal port. Usually different devices
are not allowed to use the same port (port cross check), but NMEA and the remote control can use the
same device at the same port, but it is also possible to send out NMEA to a different port than the remote
messages come in.

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3.1.2 Acknowledge Message Input (ACK)

Description: This message is returned by the system each time it receives an input message with the
exception of input messages requesting immediate output of data. When immediate output of
data is requested, the data response will Acknowledge the receipt of the request.

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Acknowledge ACK, Acknowledgement Identifier
Message Input ???, Message Identifier1
x Accept/Reject flag2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
Message identifier is the unique identifier that each message is assigned.
• The Leica proprietary messages will be a three character identifier. e.g. ‘POS’ for Position and
Quality, ‘SVH’ for Satellite Health/Tracking Control etc.
• NMEA messages all have a five character identifier. e.g. ‘GPGGA’ for Global Positioning
System Fix Data, ‘GPZDA’ for Time and Date etc. However only the last three characters are sent as
the Message Identifier i.e. ‘GGA’, ‘ZDA’ etc.

2
‘0’ = Message Accepted
‘1’ = Bad Checksum
‘2’ = Illegal Value
‘3’ = Unrecognised ID
‘4’ = Data not yet available
‘5’ = Invalid operation

Comments:
• An acknowledgement will be given for all Input Messages excluding Messages which have been requested
to be “Output immediately” (Output rate = ‘200’)

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3.1.3 Control (CTL)

Description: This message allows to control sensor functions or attached devices.
For configuration of devices please use message CFG

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Control CTL, Message Identifier
x, Port 1
x, Output rate2
xxxx Control Type3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
bit 0 = 1, for Logging System Events to File
bit 1 = 1, for Meteo Sensor device
bit 2 = 1, for Tilt Sensor device
bit 3 = 1, reserved
bit 4 = 1, reserved
bit 5 = 1, external ascii device
bit 6 = 1, height smoothing

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Control CTL, Message Identifier
Xxxx, Control Type1
The following block is only present if ControlType indicates ‘Logging System Events to File’
x, Logging2
x Device3
The following block is only present if ControlType indicates “Meteo Sensor” A
X, Use Device4
X, Use at Port 5
X Device Type6
The following block is only present if ControlType indicates “Tilt Sensor” B
X, Use Device4
X, Use at Port 5
X Device Type7
The following block is only present if ControlType indicates “External Ascii Device”
X, Use Device4
X, Use at Port 5
The following block is only present if ControlType indicates “Height Smoothing”
X 1 = Filter, 0 = No Filter∗

*hh Checksum

A Required input data string from Meteo device is NMEA: $PASHS:

Example: $PASHS, XDR, P,1.000123,B,SN123,C,22.12,C,SN124,H,32.11,P,SN123<CR><LF>

B Required input data string from Tilt device is NMEA: $YXXDR

Example: $YXXDR, A,-00.932,D,N,A,-00.215,D,E,C,029.849,C,T-N1212*5D<CR><LF>

∗ Filter modification only allowed, when not survey or stakeout

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<CR> Carriage Return

<LF> Line Feed

Notes:
1
Control Type
bit 0 = 1, for Logging System Events to File bit 4 = 1, reserved
bit 1 = 1, for Meteo Sensor bit 5 = 1, external ascii device
bit 2 = 1, for Tilt Sensor bit 6 = 1, height smoothing
bit 3 = 1, reserved

2
Event Logging
‘0’ = Logging System Events to File Off
‘1’ = Logging System Events to File On

3
Device for event logging. Input: Is ommitted if Logging is set to ‘Logging System Events to File Off’
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card
‘255’ = not defined

4
Use Device
‘0’ = Off
‘1’ = On

5
Use at Port. Is ommitted if Use Device is set to ‘Off’
‘1’ = Port 1
‘2’ = Port 2
‘3’ = Port 3
Note: To configure the ports use Message PRT.

6
Device Type for Meteo. Is ommitted if Use Device is set to ‘Off’
‘0’ = Met3
‘1’ = Met3A

7
Device Type for Tilt. Is ommitted if Use Device is set to ‘Off’
‘0’ = MD-900T

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3.1.4 Configuration (CFG)

Description: This message allows to set configuration of sensor functions or attached devices.
For control of devices please use message CTL.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Configuration CFG, Message Identifier
x, Port 1
x, Output rate2
xxxx Config Type3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
Port
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3,‘4’ = Terminal Port)

2
Output rate
‘200’ = Output immediately

3
Config Type
bit 0 = 1, reserved bit
bit 1 = 1, for Meteo Sensor
bit 2 = 1, for Tilt Sensor
bit 3 = 1, for Obervation Storage C
bit 4 = 1, for Track Mode
bit 5 = 1, External Ascii Device

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Configuration CFG, Message Identifier
Xxxx, Config Type1
The following block is only present if ConfigType indicates “Meteo Sensor”
X, Input rate2
X Log to File3
The following block is only present if ConfigType indicates “Tilt Sensor”
X, Input rate2
X Log to File3
The following block is only present if ConfigType indicates “Observation Storage”
X Kind of observation storage4
The following block is only present if ConfigType indicates “Track Mode”
X Kind of Track Mode5
The following block is only present if ConfigType indicates “External Ascii Device”
X Message End from the Device 6
The following data is only present if Message End from the Device indicates “None”
X Data rate ( timeout at com port )7
*hh Checksum
<CR> Carriage Return

C This affects only the sensor internal raw data logging (MDB) – not the output of message ID 0C (output of raw
measurements)

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<LF> Line Feed

Notes:

1
Config Type
bit 0 = 1, reserved bit
bit 1 = 1, for Meteo Sensor
bit 2 = 1, for Tilt Sensor
bit 3 = 1, for Obervation Storage
bit 4 = 1, for Track Mode
bit 5 = 1, External Ascii Device

2
Input Rate
‘0’ = Input Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

3
Log to file
‘0’ = No
‘1’ = Yes

4
Kind of Observation Storage
‘0’ = extended (full) .. doppler values included
‘1’ = normal (compacted) .. without doppler
Comments:
• It is only possible to have one logging session active at one time.
• If one Session is active, the kind of logging can not be changed

5
Kind of Track Mode
‘0’ = max. Accuracy
‘1’ = max. Coverage (MaxTrack)

6
Message End from Device
‘0’ = <CR>
‘1’ = < LF>
‘2’ = <CR><LF>
‘3’ = None

7
Data rate (timeout at com port)
‘0’ = Input Off ‘9’ = 6 sec
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec
‘4’ = 1 sec ‘13’ = 20 sec
‘5’ = 2 sec ‘14’ = 30 sec
‘6’ = 3 sec ‘15’ = 1 min
‘7’ = 4 sec
‘8’ = 5 sec

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3.2 Data Processing:

3.2.1 Carrier Phase Ambiguity Status (AMB)

Description: This message enables the status of each Carrier Phase Ambiguity to be determined.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Carrier Phase AMB, Message Identifier
Ambiguity Status x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘0’ = Output Off

‘200’ = Output immediately

‘201’ = Output when new data is available

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Carrier Phase AMB, Message Identifier
Ambiguity Status hhmmss.ss, UTC time
ddmmyy, UTC date
x, Number of ambiguities to follow: 0-24
x, Channel Number: 1-24
x, Satellite PRN: 01-32
x, Frequency1
x, Ambiguity fixed2
. .
. .
x, Channel Number: 1-24
x, Satellite PRN: 01-32
x, Frequency1
x Ambiguity fixed2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = L1 C/A-code
‘1’ = L1 P-code
‘2’ = L2 P-code

2
‘0’ = No
‘1’ = Yes
‘2’ = No attempt

Comments:
• Only the Channels which have a satellite assigned will be included in the message.

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3.2.2 Antenna Height (AHT)

Description: This message allows the Antenna Heights to be set.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Antenna Height AHT, Message Identifier
x, Port 1
x, Output rate2
x Location: ‘0’ = Attatched ‘1’ = Remote
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Antenna Height AHT, Message Identifier
x, Location: ‘0’ = Attatched ‘1’ = Remote
xx.xx, Antenna Height, metres
x Antenna measurement type1
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Vertical
‘1’ = Slope

Comments:
• The Antenna Location has the following meaning: an “Attached” Antenna is the Antenna used by the Sensor
which is being communicated with, and the “Remote” Antenna is the Antenna being used by the Reference
Sensor, from which data is coming via the data-link.
• If the Antenna measurement type = “Slope” then the antenna height used will be corrected in the following
way: True Ant Hgt = ((User Entered Ant Hgt)² - (Horz Offset)²)½ + Vert Offset
• If the Antenna measurement type = “Vertical” then the antenna height used will be corrected in the following
way: True Ant Hgt = User Entered Ant Hgt + Vert Offset
• If the Antenna Offsets are not known, then 0.0 will be used. i.e. The Antenna measurement types “Slope”
and “Vertical” will be the same.

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3.2.3 Antenna type, offsets and phase centre offsets (ANT)

Description: This message allows the Name, Serial number, Vertical and Horizontal Offsets and Phase
Centre Offsets for the Antenna(s) being used to be set.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Antenna type, offsets ANT, Message Identifier
and phase centre x, Port 1
offsets x, Output rate2
x Location: ‘0’ = Attatched ‘1’ = Remote
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured
(‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Antenna type, offsets ANT, Message Identifier
and phase centre x, Location: ‘0’ = Attached ‘1’ = Remote
offsets c--c, Antenna Name, (max. 30 characters)1
c--c, Antenna Serial #, (max. 10 characters)
xx.xx, Vertical Offset, metres
xx.xx, Horizontal Offset, metres
xx.xx, L1 Vertical Phase Centre Offset, metres
xx.xx, L2 Vertical Phase Centre Offset, metres
xx.xx, L1 East Phase Centre Offset, metres
xx.xx, L1 North Phase Centre Offset, metres
xx.xx, L2 East Phase Centre Offset, metres
xx.xx L2 North Phase Centre Offset, metres
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
Default Antennas:
AT201 AT202/302
AT202/302 GP AT303
AT501 Pole AT501 Tripod
AT502 Pillar AT502 Pole
AT502 Tripod AT503 Pillar
AT503 Tripod AT504 Pillar
AT504 Tripod RT Combined
SR299/399 Internal

Comments:
• The Antenna Location has the following meaning: an “Attached” Antenna is the Antenna used by the Sensor
which is being communicated with, and the “Remote” Antenna is the Antenna being used by the Reference
Sensor, from which data is coming via the data-link.
• If the user is setting a default antenna – for this case the SW ignores all antenna offset values
• A query of the remote antenna returns the antenna information from the current RTK configuration, not the
broadcasted antenna information from the reference

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3.2.4 Current Dynamics, Static or Kinematic (DYN)

Description: This message asks the Dynamics of the system which can be Static to Kinematic. During
times when the Dynamics is set to Static, the antenna of course should not be moved.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Current Dynamics, DYN, Message Identifier
Static or Kinematic x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Current Dynamics, DYN, Message Identifier
Static or Kinematic x Current Dynamics1
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘1’ = Static
‘2’ = Kinematic (“No Filtering”)

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3.3 Sensor:

3.3.1 Battery Status (BAT)

Description: This message provide Battery Status information.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Battery Status BAT, Message Identifier
x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Battery Status BAT, Message Identifier
x, Temperature, degrees Celsius (±)
x, Battery A voltage (±)1
x, Battery B voltage (±)1
x, External voltage (±)1
x, Sensor Internal memory voltage (±)1
x, Sensor PC-Card voltage (±)1
x Sensor System voltage (±)1
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘-1’ = Battery Not connected/available or Error
‘0’ = Empty
‘1’ = 10% available
‘2’ = 20% available
‘3’ = 30% available
‘4’ = 40% available
‘5’ = 50% available
‘6’ = 60% available
‘7’ = 70% available
‘8’ = 80% available
‘9’ = 90% available
‘10’ = Full
‘11’ = Voltage to High

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3.3.2 Current Configuration Set (*.cnf file) (CNF)

Description: This message allows the currently used Configuration Set (*.cnf) to be determined.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Current Configuration CNF, Message Identifier
Set (*.cnf file) x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Current Configuration CNF, Message Identifier
Set (*.cnf file) c--c, Configuration Set Name (filename prefix), (max. 8 characters)
c--c Configuration Set Description, (max. 30 characters, output only)1
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
1
Available only if sent from Sensor, not available for SET message

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3.3.3 Device Configuration ( DCF )

Description: This message allows to configure and create new & restore devices.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Device Configuration DCF, Message Identifier,
x, Port 1,
x, Output rate2,
c—c Device Name (max. 30 characters )
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Comments:
• The character "*" is not allowed, instead of that character “*” use the character “|” (-> ASCII:124).

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Device Configuration DCF, Message Identifier,
x, Message Mode1,
If Message Mode = ‘0’ (New) or ‘1’ (Edit) the following block is present
c—c, Device Name, (max. 30 characters ),
x, Device Type2
x, Baud Rate3
x, Parity: ‘0’ = None ‘1’ = Even ‘2’ = Odd
x, # Data bits: ‘7’ or ‘8’
x, # Stop bits: ‘1’ or ‘2’
x, Flow Control4
If Flow Control = ‘5’ (Tx Delay) the following block is present
xx, Lead time delay, milliseconds
xx Tail time delay, milliseconds
. Extended device information ( see following page)
If Message Mode = ‘2’ (Delete) the following block is present
c—c Device Name, (max. 30 characters )
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
1
Message Mode:
‘0’ = New
‘1’ = Edit
‘2’ = Delete
‘3’ = Restore default devices

2
Device Type:
‘0’ = RS232 ‘6’ = SAPOS-Box
‘1’ = Radio ‘7’ = Range Finder: Disto, Vector, LaserAce, Criterion
‘2’ = GSM ‘8’ = Meteo Device
‘3’ = Modem ‘9’ = Tilt Device
‘4’ = RTB Module (CSI) ‘10’= GSI/User Device
‘5’ = RTS Module (Racal) ‘11’= SMARTgate

3
Baud Rate:
‘0’ = reserved ‘4’ = 2400 ‘8’ = 38400
‘1’ = 300 ‘5’ = 4800 ‘9’ = 57600
‘2’ = 600 ‘6’ = 9600 ‘10’ = 115200
‘3’ = 1200 ‘7’ = 19200

4
Hardware Flow Control is only available for Port 1 and Port 3

‘0’ = None ‘3’ = reserved

‘1’ = reserved ‘4’ = Tx Control (waiting for CTS)
‘2’ = RTS/CTS ‘5’ = Tx Delay

• Read the comments after the Extended device information!

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If Device Type = ‘1’ (Radio) the following Block is used

x Radio Type1
If Device Type = ‘2’ (GSM) the following Block is used
x, GSM Type2,
c—c, PIN Code (max. 8 characters),
c—c PUK Code (max. 8 characters)
2
If GSM Type = ‘0’ (User defined ) the following Block is used
c—c, AT Command Init1 (max. 66 characters ),
c—c, AT Command Init2 (max. 44 characters ),
c—c, AT Command Dial (max. 22 characters ),
c—c, AT Command Hang-up (max. 22 characters ),
c—c, AT Command Escape (max. 22 characters )
If Device Type = ‘3’ (Modem) the following Block is used
x, Modem Type3,
If Modem Type3 = ‘0’ (User defined ) the following Block is used
c—c, AT Command Init1 (max. 66 characters ),
c—c, AT Command Init2 (max. 44 characters ),
c—c, AT Command Dial (max. 22 characters ),
c—c, AT Command Hang-up (max. 22 characters ),
c—c AT Command Escape (max. 22 characters )
If Device Type = ‘4’ (RTB Module (CSI)) the following Block is used
x, ‘0’ = Automatic, ‘1’ = User defined Frequency
If ‘1’ = User defined Frequency the following Block is used
xx.xx, Frequency (283.5 – 325.0 kHz, Steps 0.5 kHz)
x, ‘0’ = Automatic, ‘1’ = User defined Bitrate
If ‘1’ = User defined Bitrate the following Block is used
xx Bitrate (50, 100 or 200)
If Device Type = ‘5’ (RTS Module (Racal)) the following Block is used
x, ‘0’ = Automatic, ‘1’ = User defined Station Id
If ‘1’ = User defined Station Id the following Block is used
xx, Station Id (0 - 999)
x, ‘0’ = Automatic, ‘1’ = User defined Channel
If ‘1’ = User defined Channel the following Block is used
x, Channel (1 – 16)
c—c, Name of 3D Transformation (max. 30 characters)
c—c, Ellipsoid Name, (max. 30 characters)
If Device Type = ‘6’ (SAPOS) the following Block is used
x, ‘0’ = No Network, ‘1’ = Network
If Device Type = ‘7’ (Range Finder) the following Block is used
x, Range Finder Type4 ,
xxxx.xxxx Offset
If Device Type = ‘8’ (Meteo) the following Block is used
x Meteo Type5
If Device Type = ‘9’ (Tilt) the following Block is used
x Tilt Type6
If Device Type = ‘10’ (GSI/User) the following Block is used
x GSI/User Type7

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If Device Type = ‘11’ (Smartgate) the following Block is used

x, ‘0’ = No Network, ‘1’ = Network,
x, Reference Select8
If Reference Select = ‘0’ Profile No. the following Block is used
xx Profile No. (0 – 99)
If Reference Select = ‘1’ Frequency the following Block is used
xx.xx Frequency [MHz]
If Reference Select = ‘2’ Phone No. the following Block is used
c—c Phone No. (max. 20 characters)
If Reference Select = ‘3’ Station No. the following Block is used
xx Station No. (0 – 1023)

Notes:
1
Radio Type:
‘0’ = Satelline 1AS / 2AS
‘1’ = Satelline 2ASx
‘2’ = Satelline 2ASxE
‘3’ = Pacific Crest RFM96W
‘4’ = Unknown radio
‘5’ = Dataradio T96S
‘6’ = Satelline 3AS / 3ASd
‘7’ = AT-RXM500
‘8’ = Pacific Crest PDL
‘9’ = Teledesign TS 4000

2
GSM Type:
‘0’ = User defined
‘1’ = reserved
‘2’ = Siemens M1
‘3’ = Siemens M20
‘4’ = Siemens S25/S35
‘5’ = Sagem MC850
‘6’ = Wavecom WMOD2
‘7’ = Bosch GSM 908/909
‘8’ = Siemens TC35

3
Modem Type:
‘0’ = User defined
‘1’ = reserved
‘2’ = 3COM U.S.Robotics 56K Faxmodem
‘3’ = Sprint PCS Motorola P8167

4
Range Finder Type:
‘0’ = Disto
‘1’ = Vector
‘2’ = LaserAce
‘3’ = Criterion 400
‘4’ = Criterion Comp.
‘5’ = Locator
‘6’ = Laser Atlanta

5
Meteo Type:
‘0’ = Met3
‘1’ = Met3A

6
Tilt Type:

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‘0’ = MD-900T

7
GSI/User Type:
‘0’ = Geodimeter
‘1’ = Rec500
‘2’ = TPS 300/700
‘3’ = Sokkia SDR33

8
Reference Select:
‘0’ = Profile
‘1’ = Frequency
‘2’ = Phone Number
‘3’ = Station

Comments:
• SET MSG: for default devices the Message Origins 1 ‘0’ = New and ‘1’ = Edit are not allowed.
• The character "*" is not allowed, instead of that character “*” use the character “|” (-> ASCII: 124).
• In a AT command string the character "," is not allowed, instead of that character use the character “’” (->
ASCII: 39).
• The character "*" as first device name character is reserved for default devices (*RS232).
• The following diagram shows the relationship of the time delays when the Flow Control parameter is set to
TX Delay and the delays have been set to: Lead time delay = 200 milliseconds and a Tail time delay = 100
milliseconds.

OUTPUT DATA

RTS
200 ms 100 ms

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3.3.4 Device Control ( DCT )

Description: This message allows to control devices.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Device Control DCT, Message Identifier
x, Port 1
x, Output rate2
x Used At Port 3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
Used At Port:
‘0’ = Device used at Current Port
‘1’ = Device used at Port 1
‘2’ = Device used at Port 2
‘3’ = Device used at Port 3
‘4’ = Device used at Terminal Port

Comments:
• The character "*" is not allowed, instead of that character “*” use the character “|” (-> ASCII:124).

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Device Control DCT, Message Identifier
x, Used at Port 1
c—c, Device Name (max. 30 characters )
x, Device Type2
The following block is only present if Device Type indicates ‘1’ = Radio
Xx Radio channel number
The following block is only present if Device Type indicates ‘2’ = GSM
C—c, Station Number (max. 20 characters ),
X, Protocol3
X, Use Coord : ‘0’ = No, ‘1’= Yes
The following block is only present if Use Coord indicates ‘1’ = Yes
x, Datum ID: ‘0’ = WGS84 ‘1’ = Local
x, Coordinate Type4
If Coordinate Type bit 0 = ‘1’ (Geodetic) the following block is present
llll.ll, Latitude (+: North -: South)
yyyyy.yy, Longitude (+: East -: West)
If Coordinate Type bit 1 = ‘1’ (Cartesian) or bit 2 = ‘1’ (Grid) the following block is
present
Xxxx.xxxx, CartesianX or Grid Northing, metres
Xxxx.xxxx, CartesianY or Grid Easting, metres
Xxxx.xxxx, CartesianZ or Height, metres
X, Net data rate5
X, Connection Element 6
X ‘0’ = Disconnect, ‘1’= Connect
The following block is only present if Device Type indicates ‘3’ = Modem
C—c, Station Number (max. 20 characters )
x ‘0’ = Disconnect, ‘1’= Connect
The following block is only present if Device Type indicates ‘4’ = RTB Module (CSI)
X ‘2’= Init device (with DCF settings)
The following block is only present if Device Type indicates ‘5’ = RTS Module (Racal)
X ‘2’= Init device (with DCF settings)
The following block is only present if Device Type indicates ‘11’ = Smartgate
X ‘0’ = Disconnect, ‘1’= Connect, ‘2’= Init device (with DCF settings)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
1
Used At Port:
‘0’ = Current Port
‘1’ = Port 1
‘2’ = Port 2
‘3’ = Port 3
‘4’ = Terminal Port

2
Device Type:
‘0’ = RS232 ‘6’ = SAPOS-Box
‘1’ = Radio ‘7’ = Range Finder: Disto, Vector, Laser, LaserAce, Criterion
‘2’ = GSM ‘8’ = Meteo Device
‘3’ = Modem ‘9’ = Tilt Device
‘4’ = RTB Module (CSI) ‘10’= GSI/User Device

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‘5’ = RTS Module (Racal) ‘11’= SMARTgate

3
Protocol:
‘0’ = Analog
‘1’ = ISDN V.110
‘2’ = ISDN V.120
4
Coordinate Type:
bit 0 = 1 for Geodetic (ϕ,λ,h)
bit 1 = 1 for Cartesian (X,Y,Z)
bit 2 = 1 for Grid (E,N,h) (only allowed for local datum)
bit 3 = 1 for ortho. H
bit 4 = 1 for ellips. H

note: Coordinates with a local datum are only possible, when the current active Coordinate System allows a
conversion to WGS84

5
Net data rate:
‘0’ = Autobauding (only with analogue and non-transparent )
‘1’ = 2400 ‘4’ = 14400 ‘7’ = 38400
‘2’ = 4800 ‘5’ = 19200 ‘8’ = 48000
‘3’ = 9600 ‘6’ = 28800 ‘9’ = 56000

6
Connection Element:
‘0’ = transparent
‘1’ = non-transparent ( RLP: Radio Link Protocol )

Comments:
• The set message requires the correct device to be assigned, prior to set control parameters. To assign a
device to a port and interface use the “DPM” (or LB2 binary “FA AB”) command.
• The character "*" is not allowed, instead of that character “*” use the character “|” (-> ASCII:124).

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3.3.5 Device Port Manager (DPM)

Description: This message provides the functionality to obtain and set interface, port and device
assignments.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Device Port Manager DPM, Message Identifier
x, Port 1
x, Output rate2
x, Interface3
x, Port filter4
x, First/Next indicator5
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
interface:
‘100’ = Hidden Point
‘101’ = Real-Time 1
‘102’ = Real-Time 2
‘103’ = NMEA Output
‘104’ = reserved
‘105’ = reserved
‘106’ = Remote Control
‘107’ = ASCII Input
‘108’ = Meteo
‘109’ = Tilt
‘110’ = GSI/User Output
‘111’ = ASCII Remote

‘200’ = all

4
port filter:
‘1’ = Device used at Port 1
‘2’ = Device used at Port 2
‘3’ = Device used at Port 3
‘4’ = Device used at Terminal Port
‘5’ = Devices used at all Ports (include ‘1’ – ‘4’)
‘6’ = all Devices used & not used

5
First/Next indicator:
‘0’ = First Information Block
‘1’ = Next Information Block
‘2’ = Resend current Information Block
‘3’ = Abort

Comments:
• The first request has to be sent with First/Next = 0, all subsequent requests with First/Next = 1. If an error
occurs, a request can be repeated with First/Next = 2.
• To obtain a complete list of all stored devices regardless of the interfaces type request “All Interfaces” with
“all devices used & not used”.
• To obtain a complete list of all stored devices for a specific interface type request “all devices used & not
used” for a specific interface type.

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Device Port Manager DPM, Message Identifier,
x, Interface1
x, Last Block2
x, Number of device(s) to follow
x, Used At Port 3
c—c, Device Name, (max. 30 characters )
x, Device Type4
.
.
.
x, Used At Port 3
c—c, Device Name, (max. 30 characters )
x Device Type4
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
Interface:
‘100’ = Hidden Point ‘106’ = Remote Control
‘101’ = Real-Time 1 ‘107’ = ASCII Input
‘102’ = Real-Time 2 ‘108’ = Meteo
‘103’ = NMEA Output ‘109’ = Tilt
‘104’ = reserved ‘110’ = GSI/User Output
‘105’ = reserved ‘111’ = ASCII Remote

2
Last Block:
‘0’ = More Device Information Blocks available
‘1’ = Last Device Information Block

3
Used At Port:
‘0’ = Device not used
‘1’ = Device used at Port 1
‘2’ = Device used at Port 2
‘3’ = Device used at Port 3
‘4’ = Device used at Terminal Port

4
Device Type:
‘0’ = RS232 ‘6’ = SAPOS-Box
‘1’ = Radio ‘7’ = Range Finder: Disto, Vector, LaserAce, Criterion
‘2’ = GSM ‘8’ = Meteo device
‘3’ = Modem ‘9’ = Tilt device
‘4’ = RTB Module (CSI) ‘10’= GSI/User device
‘5’ = RTS Module (Racal) ‘11’= Smartgate

Comments:
• The character "*" as first character is reserved for default devices
• Instead of that character “*” the character “|” (-> ASCII:124) is used to detect the message end.

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Messa ge Type Format Content

SET: $PLEIS, Header, message sent from Sensor
Device Port Manager DPM, Message Identifier,
x, Interface1
c—c, Device Name, (max. 30 characters )
x Assign to Port 2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
1
Interface:
‘100’ = Hidden Point
‘101’ = Real-Time 1
‘102’ = Real-Time 2
‘103’ = NMEA Output
‘104’ = Notify Event *
‘105’ = Notify PPS *
‘106’ = Remote Control *
‘107’ = ASCII Input
‘108’ = Meteo
‘109’ = Tilt
‘110’ = GSI/User Output
‘111’ = ASCII Remote

2
‘1’ = Device at Port 1
‘2’ = Device at Port 2
‘3’ = Device at Port 3

Comments:
• The character "*" is not allowed, instead of that character “*” use the character “|” (-> ASCII:124).
• This message assigns a device and port to be used with an interface.
• *
Current port settings will be overwritten by the port settings as configured with the specified device.

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3.3.6 Memory Status (MEM)

Description: This message provides Memory Status information.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Memory Status MEM, Message Identifier
x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Comments:
• Error Message will be given when Memory status is becoming critically low.

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Memory Status MEM, Message Identifier
xxxx, System Memory Used, kBytes 1
xxxx, System Memory Total, kBytes 1
xxxx, Internal Memory Used, kBytes 1
xxxx, Internal Memory Total, kBytes 1
xxxx, PC-Card Memory Used, kBytes 1
xxxx PC-Card Memory Total, kBytes 1
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
When no Memory is detected, Memory given will be 0 kBytes

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3.3.7 Port Configuration for Data Communications (PRT)

Description: This message allows each of the 4 serial Ports to be configured.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Port Configuration for PRT, Message Identifier
Data Communications x, Port for Message output 1
x, Output rate2
x Port which settings are requested3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘0’ = Current Port
‘1’ = Port 1 ‘3’ = Port 3
‘2’ = Port 2 ‘4’ = Terminal Port

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Port Configuration for PRT, Message Identifier
Data Communications x, Port 1
x, Baud Rate2
x, Parity: ‘0’ = None ‘1’ = Even ‘2’ = Odd
x, # Data bits: ‘7’ or ‘8’
x, # Stop bits: ‘1’ or ‘2’
x, Flow Control3
If Flow Control = ‘5’ (RTS Active High (with delays))
xx, Lead time delay, milliseconds
xx Tail time delay, milliseconds
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
‘1’ = Port 1 ‘3’ = Port 3
‘2’ = Port 2 ‘4’ = Terminal Port

2
‘0’ = reserved ‘4’ = 2400 ‘8’ = 38400
‘1’ = 300 ‘5’ = 4800 ‘9’ = 57600
‘2’ = 600 ‘6’ = 9600 ‘10’ = 115200
‘3’ = 1200 ‘7’ = 19200

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3
Hardware Flow Control is only available for Port 1 and Port 3

‘0’ = None ‘3’ = reserved

‘1’ = reserved ‘4’ = Tx Control (waiting for CTS)
‘2’ = RTS/CTS ‘5’ = Tx Delay

Comments:
• Upon giving power to the sensor for the first time or after using the Port reset of the message “Reset Survey
System Parameters” ‘DEF’, the sensor Ports will be configured to the following settings:
Baud 9600
Parity None
Data Bits 8
Stop Bits 1
Flow Control None

• At all other times the ports will be configured to the last used settings upon giving power to the sensor,
except for the Terminal Port which always defaults to 9600, None, 8, 1, None.

• If different settings are required the $PLEIS,PRT,... message should be used. If the Port configuration Set
message is for the Current Port, then the Acknowledgement for this Set message will be sent at the
previous port configuration, and all further messages will be sent at the new port configuration.

• The following diagram shows the relationship of the time delays when the Flow Control parameter is set to
Tx Delay and the delays have been set to: Lead time delay = 200 milliseconds and a Tail time delay = 100
milliseconds.

OUTPUT DATA

RTS

200 ms 100 ms

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3.3.8 Turns Sensor On/Off (PWR)

Description: This message allows the sensor to be Turned On and Off.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Turns Sensor On/Off PWR, Message Identifier
x, Port for Message output 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Turns Sensor On/Off PWR, Message Identifier
x On/Off Flag3: ‘0’ = Off ‘1’ = On ‘2’ = AutoOn
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3,
‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
0: Off
1: On (auto on after power fail shut down)
2: AutoOn (auto on after external power low or power fail shut down)

Note: “AutoOn” should only be used when power supply to the sensor is via external power input from
a mains power supply, e.g. 12V AC/DC converter Art.No. 722409, and NOT if an external battery is
used. When using “AutoOn” with external battery power this may cause damage to the battery due to
deep discharge, as the system will continually try to turn on and draw power from the battery.

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3.3.9 Reset Control Mode (RCM)

Description: This message allows to reset the control mode.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Reset Control Mode RCM, Message Identifier
x Mode1
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Reset to default settings and set Primary Port to Terminal Port
‘1’ = Reset to default settings but Primary Port remains the same port

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3.3.10 Remote Primary Port (RPP)

Description: This message allows to configure the remote primary port.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Remote Primary Port RPP, Message Identifier
x Remote Primary Port 1
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘1’ = Port 1
‘2’ = Port 2
‘3’ = Port 3
‘4’ = Terminal Port

Comments:
• The Acknowledgement for this set message will be sent at the previous primary port configuration.

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3.3.11 Save Current Configuration (SCC)

Description: This message provides a storage of the current configuration settings;

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Store Current SCC, Message Identifier
Configuration Xxxx, Message Origin: ‘0’ = Save ‘1’ = Save As
The following block is only present if Message Origin indicates ‘1’ = Save As
c—c, Configuration Set Name (filename prefix), (max. 8 characters)
c—c, Configuration Set Description, (max. 30 characters)
c—c Creator of configuration file(max. 30 characters)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
Message Origin: ‘0’ = Save, only possible, when actual configuration is user and not factory defined

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3.3.12 Start Firmware Download (SFD)

Description: This message supports to start a firmware download from PC-Card to system.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Start Firmw. SFD, Message Identifier
Download c--c Name of Firmware File(max 20 Characters)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Important Notes:
After a download, the sensor will start up with the last stored configuration. Make sure, that the temporary used
configuration before a download has no main differences between the stored configuration ( especially port
settings ) . It is recommended to sore the temporary configuration settings via SCC msg.
User defined devices could be deleted during a download. Use factory defined devices on all ports to avoid
unwanted behaviours before send this message.
To obtain firmware file information, you can use the following msg:
$PLEIQ,DIR,0,200,1,200,0,GPS\PROG\|fw*20

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3.4 Satellite:

3.4.1 Satellite Cut-off Elevation (CUT)

Description: This message allows the Cut-off Elevation for satellite tracking to be defined. Any satellite
below the Cut-off will not be tracked.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Satellite Cut-off CUT, Message Identifier
Elevation x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Satellite Cut-off CUT, Message Identifier
Elevation x Cut-off Elevation, degrees (0 to 89°)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

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3.4.2 Satellite Position (Elevation, Azimuth) (SVP)

Description: This message provides the Position of each of the Satellites above the Cut-off elevation.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Satellite Position SVP, Message Identifier
(Azimuth, Elevation) x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘0’ = Output Off ‘9’ = 6 sec
‘10’ = 10 sec
‘4’ = 1 sec ‘11’ = 12 sec
‘5’ = 2 sec ‘12’ = 15 sec
‘6’ = 3 sec ‘13’ = 20 sec
‘7’ = 4 sec ‘14’ = 30 sec
‘8’ = 5 sec ‘15’ = 1 min

‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Satellite Position SVP, Message Identifier
(Azimuth, Elevation) hhmmss.ss, UTC time
ddmmyy, UTC date
x, Number of Satellites to follow: 0-12
x, Satellite PRN: 01-32
xx, Azimuth, degrees True (0° to 359°)
x, Elevation, degrees (0° to 90°)
x, Satellite Availability flag1
. .
. .
. .
x, Satellite PRN: 01-32
xx, Azimuth, degrees True (0° to 359°)
x, Elevation, degrees (0° to 90°)
x Satellite Availability flag1
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘1’ = Visible
‘3’ = Tracked
‘7’ = Used

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3.5 NMEA:

NMEA Interface Standards are intended to serve the public interest by facilitating interconnection and
interchangeability of equipment, minimising misunderstanding and confusion between manufactures, and
assisting purchasers in selecting compatible equipment.

The port being used for NMEA should be configured to the following settings, which are defined in the NMEA
standards, prior to requesting any NMEA messages:
• Baud 4800
• Parity None
• Data Bits 8
• Stop Bits 1
• Flow Control None

It is not however essential that the above settings be used, other settings can be used, the $PLEIS,PRT,...
message is used to configure the ports.

For a copy of the complete NMEA interface document contact:

NMEA National Office

P.O. Box 3435
New Bern, NC 28564-3435
U.S.A

Telephone: (919) 638-2626

Fax: (919) 638-4885

Comments:
• Not all GPS related NMEA messages are supported by Leica GPS sensors.

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3.5.1 Global Positioning System Fix Data (GGA)

Description: This message provides current Position and status information.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Global Positioning GGA, Message Identifier
System Fix Data x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1

‘1’ = Port 1 ‘3’ = Port 3

‘2’ = Port 2 ‘4’ = Terminal Port (only if Remote Primary Port is on set to Terminal too)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

Message Type Format Content

RESPONSE: $GPGGA, Header, message sent from Sensor
Global Positioning hhmmss.ss, UTC time of position
System Fix Data llll.ll, Latitude
a, ‘N’/’S’
yyyyy.yy, Longitude
a, ‘E’/’W’
x, GPS Quality, ‘0’= not valid ‘1’= GPS ‘2’= DGPS ‘4’= HPN
x, Number of satellites in use, 00-12
xx.xx, HDOP
xxxx.xxxx, Antenna altitude above/below Mean-Sea-Level
M, Units of altitude metres (fixed text ‘M’)
xx.xx, Geoidal separation
M, Units of geoidal separation metres (fixed text ‘M’)
xx.xx, Age of Differential GPS data, Null when DGPS not used
xx Differential reference station ID 0000-1023
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

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3.5.2 Geographic Position - Latitude/Longitude (GLL)

Description: This message provides current Position information.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Geodetic Position – GLL, Message Identifier
Latitude/Longitude x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1

‘1’ = Port 1 ‘3’ = Port 3

‘2’ = Port 2 ‘4’ = Terminal Port (only if Remote Primary Port is on set to Terminal too)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

Message Type Format Content

RESPONSE: $GPGLL, Header, message sent from Sensor
Geodetic Position – Llll.ll, Latitude
Latitude/Longitude a, ‘N’/’S’
yyyyy.yy, Longitude
a, ‘E’/’W’
hhmmss.ss, UTC time of position
A, Status: ‘A’ = Data valid, ‘V’ = Data not valid
a Mode Indicator ( see notes)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
Positioning system Mode Indicator: A = Autonomous mode
D = Differential mode
E = Estimated ( dead reckoning) mode
M =Manual imput mode
S = Simulation mode
N = Data not Valid

The positioning system Mode Indicator field supplements the positioning system Status field,
the Status field shall be set to V = Invalid for all values of Indicator mode except for for A =
Autonomous and D = Differential. The positioning system Mode Indicator and the Status fields shall not
be null fields.

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3.5.3 GNSS Fix Data (GNS)

Description: This message provides current Position and status information and is applicable for GPS,
GLONASS, and a combined satellite navigation system (GNSS).

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
GNSS Fix Data GNS, Message Identifier
x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1

‘1’ = Port 1 ‘3’ = Port 3

‘2’ = Port 2 ‘4’ = Terminal Port (only if Remote Primary Port is on set to Terminal too)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

Message Type Format Content

RESPONSE: $GPGNS, Header, message sent from Sensor (GPS only)
RESPONSE: $GLGNS, Header, message sent from Sensor (GLONASS only)
RESPONSE: $GNGNS, Header, message sent from Sensor (Combined GPS/GLONASS)
GNSS Fix Data hhmmss.ss, UTC time of position
llll.ll, Latitude
a, ‘N’/’S’
yyyyy.yy, Longitude
a, ‘E’/’W’
c--c, Mode indicator1
x, Number of satellites in use, 00-99
xx.xx, HDOP of all satellites used in computation
xxxx.xxxx, Antenna altitude above/below Mean-Sea-Level, metres
xx.xx, Geoidal separation, metres
xx.xx, Age of Differential GPS data, Null when DGPS not used
xx Differential reference station ID 0000-1023
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘N’ No Fix ‘P’ Precise (i.e. no deliberate degradation such as SA)
‘A’ Autonomous ‘R’ Real-Time Kinematic
‘D’ Differential ‘F’ Float Real-Time Kinematic
If Combined: first character of Mode is GPS and second character is GLONASS.

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3.5.4 Course Over Ground and Ground Speed (VTG)

Description: This message provides the actual Course and Speed relative to the Ground.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Course Over Ground VTG, Message Identifier
and Ground Speed x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1

‘1’ = Port 1 ‘3’ = Port 3

‘2’ = Port 2 ‘4’ = Terminal Port (only if Remote Primary Port is on set to Terminal too)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

Comments:
• The $PLEIS,MAG,... should be used to set the magnetic declination if Magnetic directions are requested.

Message Type Format Content

RESPONSE: $GPVTG, Header, message sent from Sensor
Course Over Ground xx.xx, Course, degrees (0.0° to 359.9°)
and Ground Speed T, True (fixed text ‘T’)
xx.xx, Course, degrees (0.0° to 359.9°)
M, Magnetic (fixed text ‘M’)
xx.xx, Speed
N, Knots (fixed text ‘N’)
xx.xx, Speed Over Ground (SOG)
K, Km/hr (fixed text ‘K’)
a Mode Indicator ( see notes)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
Positioning system Mode Indicator: A = Autonomous mode
D = Differential mode
E = Estimated ( dead reckoning) mode
M =Manual imput mode
S = Simulation mode
N = Data not Valid

The positioning system Mode Indicator field supplements the positioning system Status field,
the Status field shall be set to V = Invalid for all values of Indicator mode except for for A =

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Autonomous and D = Differential. The positioning system Mode Indicator and the Status fields shall not
be null fields.

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3.5.5 Time & Date (ZDA)

Description: This message contains UTC Time and Date information.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Time & Date ZDA, Message Identifier
x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1

‘1’ = Port 1 ‘3’ = Port 3

‘2’ = Port 2 ‘4’ = Terminal Port (only if Remote Primary Port is on set to Terminal too)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

Message Type Format Content

RESPONSE: $GPZDA, Header, message sent from Sensor
Time & Date hhmmss.ss, UTC time
x, UTC Day, 01 to 31
x, UTC Month, 01 to 12
xx, UTC Year, 1997 - ....
x, Local zone description, hours (-13 to 13) (±)
x Local zone description, minutes (00 to 59)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Comments:
• This message is given high priority and is output as soon as it has been created, and hence Latency is
reduced to a minimum.

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3.5.6 GPS DOP and Active Satellites (GSA)

Description: This message provides DOP values from current Position and information about the used
satellites.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
GNSS Fix Data GSA, Message Identifier
x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1

‘1’ = Port 1 ‘3’ = Port 3

‘2’ = Port 2 ‘4’ = Terminal Port (only if Remote Primary Port is on set to Terminal too)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

Message Type Format Content

RESPONSE: $GPGSA, Header, message sent from Sensor (GPS only)
RESPONSE: $GLGSA, Header, message sent from Sensor (GLONASS only)
RESPONSE: $GNGSA, Header, message sent from Sensor (Combined GPS/GLONASS)
GNSS Fix Data a, Mode, ‘M’ = ManualD, ‘A’ = AutomaticE
x, Mode, ‘1’ = Fix not available, ‘2’ = 2D, ‘3’ = 3D
xx, PRN numbers of satellites used in solution (repeated 12 times)
x.x, PDOP
x.x, HDOP
x.x VDOP
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

D Manual, forced to operate in 2D or 3D mode

E Automatic, allowed to automatically switch 2D/3D

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3.5.7 GPS Satellites in View (GSV)

Description: This message provides the following information: Number of satellites in view, Satellite ID
numbers, elevation, azimuth and SNR values.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
GNSS Fix Data GSV, Message Identifier
x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1

‘1’ = Port 1 ‘3’ = Port 3

‘2’ = Port 2 ‘4’ = Terminal Port (only if Remote Primary Port is on set to Terminal too)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

Message Type Format Content

RESPONSE: $GPGSV, Header, message sent from Sensor (GPS only)
RESPONSE: $GLGSV Header, message sent from Sensor (GLONASS only)
RESPONSE: $GNGSV, Header, message sent from Sensor (Combined GPS/GLONASS)
GNSS Fix Data x, Total number of messages, 1 to 3
x, Message number, 1 to 3
xx, Total number of satellites in view
xx, Satellite PRN number
xx, Elevation, degrees, 00 to 90°
xxx, Azimuth, degrees True, 000 to 359°
xx, SNR (C/No) 00 – 99 dB, null when not tracking
…… 2nd – 4th SV
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

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3.5.8 Leica Local Position and GDOP (LLK)

Description: This message provides current local Position and GDOP information.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Global Positioning LLK, Message Identifier
System Fix Data x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1

‘1’ = Port 1 ‘3’ = Port 3

‘2’ = Port 2 ‘4’ = Terminal Port (only if Remote Primary Port is on set to Terminal too)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

Message Type Format Content

RESPONSE: $GPLLK, Header, message sent from Sensor
Global Positioning hhmmss.ss, UTC time of position
System Fix Data mmddyy, UTC date
xxxx.xxxx, Grid Easting, metres
M, Meter (fixed text ‘M’)
xxxx.xxxx, Grid Northing, metres
M, Meter (fixed text ‘M’)
x, GPS Quality, ‘0’= not valid ‘1’= GPS ‘2’= DGPS ‘3’= HPN
x, Number of Satellites used in Computation
xx.xx, GDOP
xxxx.xxxx, Height, metres
M Meter (fixed text ‘M’)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

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3.5.9 Leica Local Position and Quality (LLQ)

Description: This message provi des current local Position and quality information.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Global Positioning LLQ, Message Identifier
System Fix Data x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1

‘1’ = Port 1 ‘3’ = Port 3

‘2’ = Port 2 ‘4’ = Terminal Port (only if Remote Primary Port is on set to Terminal too)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

Message Type Format Content

RESPONSE: $GPLLQ, Header, message sent from Sensor
Global Positioning hhmmss.ss, UTC time of position
System Fix Data mmddyy, UTC date
xxxx.xxxx, Grid Easting, metres
M, Meter (fixed text ‘M’)
xxxx.xxxx, Grid Northing, metres
M, Meter (fixed text ‘M’)
x, GPS Quality, ‘0’= not valid ‘1’= GPS ‘2’= DGPS ‘3’= HPN
x, Number of Satellites used in Computation
xx.xx, Position Quality, meters
xxxx.xxxx, Height, metres
M Meter (fixed text ‘M’)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

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3.5.10 Leica Geographic Position with GDOP (GGK)

Description: This message provides current Geographic Position and GDOP information.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Global Positioning GGK Message Identifier
System Fix Data x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1

‘1’ = Port 1 ‘3’ = Port 3

‘2’ = Port 2 ‘4’ = Terminal Port (only if Remote Primary Port is on set to Terminal too)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

Message Type Format Content

RESPONSE: $GPGGK, Header, message sent from Sensor
Global Positioning Hhmmss.ss, UTC time of position
System Fix Data mmddyy, UTC date
llll.ll, Latitude (degreesminutes.decimal)
a, ‘N’/’S’
yyyyy.yy, Longitude (degreesminutes.decimal)
a, ‘E’/’W’
x, GPS Quality Indicator, ‘0’= not valid ‘1’= GPS ‘2’= DGPS ‘3’= HPN
x, Number of Satellites used in Computation
xx.xx, GDOP
xxxx.xxxx, Ellipsoidal Antenna Height (metres)
M Meter (fixed text ‘M’)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

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3.5.11 Leica Geographic Position with CQ (GGQ)

Description: This message provides current Geographic Position and CQ information.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Global Positioning GGQ Message Identifier
System Fix Data x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1

‘1’ = Port 1 ‘3’ = Port 3

‘2’ = Port 2 ‘4’ = Terminal Port (only if Remote Primary Port is on set to Terminal too)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

Message Type Format Content

RESPONSE: $GPGGQ, Header, message sent from Sensor
Global Positioning Hhmmss.ss, UTC time of position
System Fix Data mmddyy, UTC date
llll.ll, Latitude (degreesminutes.decimal)
a, ‘N’/’S’
yyyyy.yy, Longitude (degreesminutes.decimal)
a, ‘E’/’W’
x, GPS Quality Indicator, ‘0’= not valid ‘1’= GPS ‘2’= DGPS ‘3’= HPN
x, Number of Satellites used in Computation
xx.xx, CQ (3D-Coordinate quality)
xxxx.xxxx, Ellipsoidal Antenna Height (metres)
M Meter (fixed text ‘M’)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

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3.6 Position / Data:

3.6.1 1 Step transformation parameters (1SP)

Description: The 1 Step transformation parameters make it possible to convert the WGS84 coordinates into
local Grid coordinates. The parameters must first be determined remotely and then sent to the
sensor.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
1 Step transformation 1SP, Message Identifier
parameters x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
1 Step transformation 1SP, Message Identifier
parameters xxxx.xxxx, UTM False Origin East, metres
xxxx.xxxx, UTM False Origin North, metres
llll.ll, UTM Latitude Origin (+: North -: South)
yyyyy.yy, UTM Central Meridian (+: East -: West)
xxxx.xxxx, UTM Scale on Central Meridian
xxxx.xxxx, 2D Helmert transformation Rotation Origin X0, metres
xxxx.xxxx, 2D Helmert transformation Rotation Origin Y0, metres
xxxx.xxxx, 2D Helmert transformation Shift dX, metres
xxxx.xxxx, 2D Helmert transformation Shift dY, metres
xxxx.xxxx, 2D Helmert transformation Rotation, seconds of arc
xxxx.xxxx, 2D Helmert transformation Scale
xxxx.xxxx, Height transformation Origin X0, metres
xxxx.xxxx, Height transformation Origin Y0, metres
xxxx.xxxx, Height transformation parameter #1
xxxx.xxxx, Height transformation parameter #2
xxxx.xxxx Height transformation parameter #3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Comments:
• The default name of all Coordinate Systems set from the Outside World = “Remote1”.

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3.6.2 Average (AVG)

Description: This message allows to request information about the individual measurements available for a
point, and to build the average of selected measurements.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Average AVG, Message Identifier
x, Port 1
x, Output rate2
c—c Point ID (max. 16 characters)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Average AVG, Message Identifier
x, Number of Measurement(s) to follow
c—c, Point ID (max. 16 characters)
xx.xx, Averaging limit position
xx.xx, Averaging limit height
xxxx, GeoDB internal point number
hhmmss.ss, UTC time
ddmmyy, UTC date
x, Use ‘1’ = USED ‘0’ = NOT USED
xx.xx, CQ
x, Coordinate Source1
xx.xx, Deviation in position
xx.xx, Deviation in height
x, Out of limit ‘1’ = TRUE ‘0’ = FALSE
. .
. .
. .
. .
. .
xxxx, GeoDB internal point number
hhmmss.ss, UTC time
ddmmyy, UTC date
x, Use ‘1’ = USED ‘0’ = NOT USED
xx.xx, CQ
x, Coordinate Source1
xx.xx, Deviation in position
xx.xx, Deviation in height
x Out of limit ‘1’ = TRUE ‘0’ = FALSE
*hh Checksum
<CR> Carriage Return

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<LF> Line Feed

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Average AVG, Message Identifier
x, Message Origin: ‘0’ = Compute ‘1’ = Set Limit
If Message Origin = ‘0’ (Compute) the following Block is present
c—c, Point ID (max. 16 characters)
x, Number of Measurement(s) to follow
xxxx, GeoDB internal point number
x Use ‘1’ = USE ‘0’ = DO NOT USE
. .
. .
xxxx, GeoDB internal point number
x Use ‘1’ = USE ‘0’ = DO NOT USE
If Message Origin = ‘1’ (Set Limit) the following Block is present
xx.xx, Averaging limit position
xx.xx Averaging limit height
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:

1
‘61’ = Real-Time GPS phase position (ambiguities fixed)
‘65’ = Real-Time GPS code only position (Differential or Non-Differential)!!???

Comments:
The averaged point info with corresponding coordinate record can be requested via GDB Msg.

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3.6.3 Configure Measurement Data (CMD)

Description: Configuration for measurement data files.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Configure CMD, Message Identifier
Measurement Data x, Port 1
x, Output rate2
xx Configuration Type3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘0’ = Auto file creation settings

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Configure CMD, Message Identifier
Measurement Data xx, Configuration Type1
The following block is only present if Configuration Type indicates ‘0’ = Auto file creation settings
x, Controlled file creation , [‘1’ = ON ‘0’ = OFF]
x, Controlled file deletion, [‘1’ = ON ‘0’ = OFF]
The following block is only present if controlled file creation indicates [‘1’ = ON]
x, Time interval of automatic file creation (log file segments)2,
x, Split tracks3,
The following block is only present if controlled file deletion indicates [‘1’ = ON]
x, Time interval of automatic file deletion 4
x, File sequence names [‘1’ = ON; ‘0’ = OFF]A
x MDB file statistic creation [‘1’ = ON; ‘0’ = OFF]B
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
1
‘0’ = Auto file creation settings

2
‘1’ = 10 min
‘2’ = 30 min
‘3’ = 1 h
‘4’ = 2 h
‘5’ = 4 h
‘6’ = 6 h
‘7’ = 12 h
‘8’ = 24 h

3
‘0’ = new file only after point occupation (track) did end
‘1’ = create files sequence regardless of track end

4
‘1’ = 1 day
‘2’ = 2 days
‘3’ = 7 days
‘4’ = 1 month

Comments:
If the Observation Logging Rate whilst Static (Rate whilst Static in LOG message) is equal ‘0’, the parameters
Controlled file creation and Controlled file deletion are reset to ‘0’ = OFF.

A See additional notes on n ext page.

B Creates statistic file information for each MDB file sequence. This information can be requested using DIR / FA 03
extended file information for file types 54, 61.

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File sequence naming convention:

This function is applied for automatic MDB file naming, when file segmentation is set to log data in multiple file
segments. It should be enabled prior to LOG operation, in order to allow the system to apply this already with
the first files created on the system.

When “File sequence names” is set to [‘1’=ON], then the file naming will be changed from the standard file
naming (see notes to LOG / FA86 message) to the following new RINEX style naming convention.

ssssdddf.o##, where:
ssss characters entered by user or serial number of sensor (last 4 digits) if user
entered Null for the Data filename prefix
ddd day of year of the first record in file [GPS]
f file sequence number within a day according to the hour (0=A,..,23=X)
o file extension ‘O’: Observation file;
## File sequence, indicating the minute of first record in file (00,..,59)

Example:
A scenario of site "HBG_" (=filename prefix) with 10 minutes file length segmentation started on August
31st at 23:42 h GPS time (i.e. day of year = 243), logging for e.g.1 hour would create the following files:

- HBG_243X.O42
- HBG_243X.O50
- HBG_244A.O00
- HBG_244A.O10
- HBG_244A.O20
- HBG_244A.O30
- HBG_244A.O40

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3.6.4 Datum used for Coordinates, and Transformation parameters (DTP)

Description: This message provides the necessary information to enable the system to transform the
WGS84 coordinates to local Geodetic coordinates.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Datum used for DTP, Message Identifier
Coordinates, and x, Port 1
Transformation x Output rate2
parameters *hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Datum used for DTP, Message Identifier
Coordinates, and c--c, Ellipsoid Name, (max. 30 characters)
Transformation c--c, Datum Transformation Name, (max. 30 characters)
parameters x, Model1
xxxx.xxxx, Semi-major axis (a)
xxxx.xxxx, Flattening Coefficient (1/f) = a/(a-b)
xxxx.xxxx, Scale Factor
xxxx.xxxx, Delta X, metres
xxxx.xxxx, Delta Y, metres
xxxx.xxxx, Delta Z, metres
xxxx.xxxx, Rotation about the X axis, seconds of arc
xxxx.xxxx, Rotation about the Y axis, seconds of arc
xxxx.xxxx, Rotation about the Z axis, seconds of arc
If Model = ‘1’ (Molodensky-Badekas) the following block is present
xxxx.xxxx, Rotation Origin for the X axis, metres
xxxx.xxxx, Rotation Origin for the Y axis, metres
xxxx.xxxx Rotation Origin for the Z axis, metres
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Bursa-Wolf
‘1’ = Molodensky-Badekas

Comments:
• The default name of all Coordinate Systems set from the Outside World = “Remote”.
• The contents of this message is related to transformations from the WGS84 to the Local system. i.e.
WGS84 à Local. Rotations are performed in the following axis order: X à Y à Z.

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3.6.5 Log Raw Observations / Positions (LOG)

Description: This message allows the user to begin (and end) Logging of Observations and Positions.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Log Raw Observations LOG, Message Identifier
/ Positions x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Log Raw Observations LOG, Message Identifier
/ Positions x, Observation (and Ephemeris) Logging Rate whilst Static1
x, Observation (and Ephemeris) Logging Rate whilst Roving1,2
x, Position Logging Rate whilst Roving1
x, Device3
xxxx, Log File segments, seconds 4
c--c, Job name, (max. 30 characters)
c--c, Data filename prefix, (max. 4 characters)5
xx.xx, Antenna Height, metres
x Antenna measurement type6
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Logging Off ‘9’ = 6 sec
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec
‘4’ = 1 sec ‘13’ = 20 sec
‘5’ = 2 sec ‘14’ = 30 sec
‘6’ = 3 sec ‘15’ = 1 min
‘7’ = 4 sec
‘8’ = 5 sec

2
Observation Logging Rate whilst Roving is only possible if the Observation Logging whilst Static is
activated (Rate whilst Static is unequal ‘0’)

3
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card

4
If Log File segments is set as ‘0’ then all data is logged to One data file. The system does match the
file parameter to the next lower of the following supported Interval length:
10 min, 30 min, 1h, 2h, 4h, 6h, 12h, 24h
On a request of f.e. less then 10 min but more than 0, the system rounds up to 10 min.

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5
File naming convention: ssssdddf.o##
ssss characters entered by user or serial number of sensor (last 4 digits) if user
entered Null for the Data filename prefix
ddd day of year of the first record [UT]
f job sequence number within a day (0..9, A..Z)
o## file extension ‘o’: Observation file; ‘##’: File sequence (00..ZZ)

6
‘0’ = Vertical
‘1’ = Slope

Comments:
• If no data filename prefix is given, the last 4 digits of the sensor serial number will be used.
• Logging is ended by sending a message with ‘0’ as the logging rate for Observation (Static & Roving) and
Position (Static & Roving). If logging is not active, a message with ‘0’ as the logging rates will have no effect.
• It is only possible to have one logging session active at one time.
• Upon beginning logging, the system will automatically create the data logging file and add all of the
mandatory records to allow post-processing within the Leica Office Software.
• Ending and then Beginning logging with the same filename prefix, on the same UT day will ensure logging is
appended to the same file, unless some internal problem with the file integrity occurred in which the file
sequence number will be incremented, however this problem is unlikely to happen.
• The job sequence number is incremented when a non zero Log file segment has been given. i.e. a new file
would be created every 1 hour if the Log file segment was set as 3600.
• If the Antenna measurement type = “Slope” then the antenna height used will be corrected in the following
way: True Ant Hgt = ((User Entered Ant Hgt)² - (Horz Offset)²)½ + Vert Offset
• If the Antenna measurement type = “Vertical” then the antenna height used will be corrected in the following
way: True Ant Hgt = User Entered Ant Hgt + Vert Offset
• If the Antenna Offsets are not known, then 0.0 will be used. i.e. The Antenna measurement types “Slope”
and “Vertical” will be the same.
• The Query is only possible, when once a LOG set command has been send then the query return back
correct values and also changes by TR500 are then recognised. This is made, because you can start
logging with this msg. That means you can not query the configuration if you havn't set a log before via OWI.
• Antenna Height : It is not possible to set the moving Antenna Height via OWI. This is the same value as in
msg AHT.
• Logging: Stop logging first before you can set new Logging values
• You can only sent this msg when survey or stakeout is not running

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3.6.6 Next available position (allows for latency) (NXT)

Description: This message provides the Next available position. This position will be a position which is
computed after the time that the Next available position message was received by the system,
and has a quality better than the specified Quality. If no such position is available within the
Time-out, a negative acknowledgement will be given.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Next available position NXT, Message Identifier
(allows for latency) x, Port 1
x, Output rate2
x, Position format 3
xx.xx, Quality threshold, metres 4
xx Time-out, seconds 5
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘201’ = Output when new data is available

3
‘0’ = Geodetic
‘1’ = Grid

4
e.g. ‘0.05’: Next position whose Quality is better than 5cm.

5
e.g. ‘10’: Time-out after 10 seconds if no position of sufficient quality is available.

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Next available position NXT, Message Identifier
(allows for latency) hhmmss.ss, UTC time
ddmmyy, UTC date
xx, Latency, milliseconds 1
xx, Confidence Indicator2
x, Solution Type flag3
x, Position Format: ‘0’ = Geodetic ‘1’ = Grid
x, Datum ID: ‘0’ = WGS84 ‘1’ = Local
If Position Format = ‘0’ (Geodetic) the following block is present
llll.ll, Latitude (+: North -: South)
yyyyy.yy, Longitude (+: East -: West)
If Position Format = ‘1’ (Grid) the following block is present
xxxx.xxxx, Grid Northing, metres
xxxx.xxxx, Grid Easting, metres
xxxx.xxxx, Height, metres
xx.xx, Quality Latitude/Northing, metres
xx.xx, Quality Longitude/Easting, metres
xx.xx Quality Height, metres
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

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Notes:
1
Latency given is defined as the difference in time between the UTC of the measurements used in the
computation and the UTC of the first Message byte sent out the Sensor port

2
‘0’ = ...

3
‘0’ = Computed position not yet available
‘1’ = Differential code position
‘2’ = Differential phase position
‘3’ = Non-differential position

‘253’ = Differential code position based on prediction, not measurements

‘254’ = Differential phase position based on prediction, not measurements
‘255’ = Non-differential position based on prediction, not measurements

Comments:
• Positions are corrected by Antenna information set by $PLEIS,ANT,... and $PLEIS,AHT,... commands.
• If the position is derived only from a “Navigated” solution i.e. non-differential, then the Quality values will all
be set to ‘99.9’.

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3.6.7 Observations and Quality (OBS)

Description: This message provides the raw Observations and their associated Quality estimates.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Observations and OBS, Message Identifier
Quality x, Port 1
x, Output rate2
x Information Included flag3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

3
‘0’ = Do not include measurements
‘1’ = Include measurements

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Observations and OBS, Message Identifier
Quality hhmmss.ss, GPS time
ddmmyy, GPS date
x, Mode: ‘0’ = roving ‘1’ = static
x, Time recovery Synchronised: ‘0’ = No ‘1’ = Yes
x, Code Smoothing: ‘0’ = No ‘1’ = Yes
x, Phase Smoothing: ‘0’ = No ‘1’ = Yes
x, Track Mode1
x, Number of Channels to follow: 0-24
x, Channel Number: 1-24
x, Satellite PRN: 01-32
x, Channel Status: ‘0’= Searching ‘1’= Tracking2
x, Phase Type: ‘1’= L1 ‘2’= L2
x, Code Type: ‘0’= C/A-Code ‘1’= P-code
x, Wavelength Factor for phase: ‘0’ = Full ‘1’ = Half
x, A/S Active: ‘0’ = No ‘1’ = Yes
x, Loss of Lock: ‘0’ = No ‘1’ = Yes
x, Message Contents flag2
If Message Contents flag = ‘1’, ‘3’, ‘5’, ‘7’, ... ‘29’ or ‘31’ the following block is present
x, Quality, Costas Ratio: 50-99
If Message Contents flag = ‘2’,‘3’, ‘6’,‘7’, ‘10’,‘11’, ... or ‘30’,‘31’ the following block is present
x, Quality, SNR: 25-55 dB Hz
If Message Contents flag = ‘4’,...,‘7’, ‘12’,..,’15’, ‘20’,...,’23’ or ‘28’,...,’31’ the following block is present
Xxxx.xxxx, Carrier Phase, cycles
If Message Contents flag = ‘8’,...’15’ or '24',...,’31’ the following block is present
xxxx.xxxx, Code, metres
If Message Contents flag = ‘16’,...,’31’ the following block is present
xxxx.xxxx, Doppler, cycles
. .
. .
. .
x, Channel Number: 1-24
x, Satellite PRN: 01-32
x, Channel Status: ‘0’= Searching ‘1’= Tracking
x, Phase Type: ‘1’= L1 ‘2’= L2
x, Code Type: ‘0’= C/A-Code ‘1’= P-code
x, Wavelength Factor for phase: ‘0’ = Full ‘1’ = Half
x, A/S Active: ‘0’ = No ‘1’ = Yes
x, Loss of Lock: ‘0’ = No ‘1’ = Yes
x, Message Contents flag2
If Message Contents flag = ‘1’, ‘3’, ‘5’, ‘7’, ... ‘29’ or ‘31’ the following block is present
x, Quality, Costas Ratio: 50-99
If Message Contents flag = ‘2’,‘3’, ‘6’,‘7’, ‘10’,‘11’, ... or ‘30’,‘31’ the following block is present
x, Quality, SNR: 25-55 dB Hz
If Message Contents flag = ‘4’,...,‘7’, ‘12’,..,’15’, ‘20’,...,’23’ or ‘28’,...,’31’ the following block is present
xxxx.xxxx, Carrier Phase, cycles
If Message Contents flag = ‘8’,...’15’ or '24',...,’31’ the following block is present
xxxx.xxxx, Code, metres
If Message Contents flag = ‘16’,...,’31’ the following block is present
xxxx.xxxx, Doppler, cycles
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:

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1
‘0’ = Selective Coverage (Maximum Accuracy)
‘1’ = Medium Coverage
‘2’ = Maximum Coverage

2
‘0’ = Nothing available
‘1’ = Quality Costas available
‘2’ = Quality SNR available
‘4’ = Carrier Phase available
‘8’ = Code available
‘16’ = Doppler available

Any combination is valid.

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3.6.8 Observation Processing Configuration (OPC)

Description: This message allows to configure the observation processing.
This message affects only the output for message OBS (output of measurement data).

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Observation OPC, Message Identifier
Processing x, Port 1
Configuration x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Observation OPC, Message Identifier
Processing x, Message Contents Flag1
Configuration
If Message Contents Flag = ‘1’ or ‘3’ the following block is present
x, Processing2
If Message Contents Flag = ‘2’ or ‘3’ the following block is present
x Doppler Values 3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Nothing available
‘1’ = Processing block included
‘2’ = Doppler Values block included
‘3’ = Processing and Doppler block included

2
‘0’ = sampled
‘1’ = smoothed

3
‘0’ = not included
‘1’ = included

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3.6.9 Position and Quality (POS)

Description: This message provides the current Position and Quality in either Geodetic or Grid coordinates.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Position and Quality POS, Message Identifier
x, Port 1
x, Output rate2
x Position format 3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

3
‘0’ = Geodetic
‘1’ = Grid

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Position and Quality POS, Message Identifier
hhmmss.ss, UTC time
ddmmyy, UTC date
xx, Latency, milliseconds 1
x, Dynamics: ‘0’ = roving ‘1’ = static
xx, Confidence Indicator2
x, Solution Type flag3
x, External aiding flag4
x, Failure flag5
x, Position Format: ‘0’ = Geodetic ‘1’ = Grid
x, Datum ID: ‘0’ = WGS84 ‘1’ = Local
If Position Format = ‘0’ (Geodetic) the following block is present
llll.ll, Latitude (+: North -: South)
yyyyy.yy, Longitude (+: East -: West)
If Position Format = ‘1’ (Grid) the following block is present
xxxx.xxxx, Grid Northing, metres
xxxx.xxxx, Grid Easting, metres
xxxx.xxxx, Height, metres
xx.xx, Quality Latitude/Northing, metres
xx.xx, Quality Longitude/Easting, metres
xx.xx Quality Height, metres
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
Latency given is defined as the difference in time between the UTC of the measurements used in the
computation and the UTC of the first Message byte sent out the Sensor port

2
Upper Byte (0-255)
0 = No search conducted
1 = 0.0% (4 SV mode, no confidence)
2 = 50.0% (0.5)
3 = 60.0% (0.4)
4 = 70.0% (0.3)
5 = 80.0% (0.2)
6 = 90.0% (0.1)
7 = 99.0% (0.01)
8 = 99.9% (0.001)
9 = 99.99% (0.0001)
10 = 99.999% (0.00001)
11 = 99.9999% (0.000001)
12-255 = reserved
Lower Byte (0-255) :
0 = No search successfully completed
1 = 1 successful search completed
2 = 2 successful searchs completed
3 = 3 successful searchs completed
4 = 4 successful searchs completed
5 = 5 successful searchs completed
255 = 255 ... (highest value, no roll-over is performed)

3
‘0’ = Computed position not yet available
‘1’ = Differential code position
‘2’ = Differential phase position
‘3’ = Non-differential position

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‘253’ = Differential code position based on prediction, not measurements

‘254’ = Differential phase position based on prediction, not measurements
‘255’ = Non-differential position based on prediction, not measurements

4
‘0’ = None
‘1’ = Height fixed
‘2’ = Position fixed
‘3’ = Position and height fixed

5
‘0’ = Position OK
‘1’ = Position Bad: ...

Comments:
• Positions are corrected by Antenna information set by $PLEIS,ANT,... and $PLEIS,AHT,... commands.

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3.6.10 Post Processing Reference (PPR)

Description: This message allows setting of fixed reference station point ID and coordinates for being
logged into MDB, when static logging is activated. F

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Post Proc. Reference PPR, Message Identifier
x, Port 1
x, Output rate2
x Position Format 3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘0’ = Geodetic (ϕ,λ,h)
‘1’ = Cartesian (X,Y,Z)

F - Data provided in this message is used for temporary point records and point records written to MDB raw data file
unless POE/POQ/FA 8B/FA A8 message is used to end static logging.
- Data provided in this message will also be overwritten if real time reference data (RTK/FA 93) has been activated.

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Post Proc. Reference PPR, Message Identifier
x, ControlType1
The following block is only present if ControlType indicates ‘1’ = enable PP Reference
c—c, Name of the Point ID (max. 16 characters)
x, Coordinate Type2
x, Reference Station Position Quality3
If Coordinate Type indicates ‘0’ (Geodetic) the following block is present
llll.ll, WGS 84 Latitude of Reference Antenna (+: North -: South)
yyyyy.yy, WGS 84 Longitude of Reference Antenna (+: East -: West)
Xxxx.xxxx WGS 84 Ellips. Height, metres
If Coordinate Type indicates‘1’ (Cartesian) the following block is present
Xxxx.xxxx, WGS 84 CartesianX of Reference Antenna, metres
Xxxx.xxxx, WGS 84 CartesianY of Reference Antenna, metres
Xxxx.xxxx WGS 84 CartesianZ of Reference Antenna, metres
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
1
‘0’ = disable PP Reference
‘1’ = enable PP Reference

2
‘0’ = Geodetic (ϕ,λ,h)
‘1’ = Cartesian (X,Y,Z)

3
‘0’ = ± 100 m
‘1’ = ± 0.5 m
‘2’ = ± 0.01 m
‘3’ = Exact

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3.6.11 Projection type for Coordinates (PRJ)

Description: This message enables a Projection to be defined which allows Coordinates to be projected
from Geodetic coordinates to Grid coordinates.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Projection type for PRJ, Message Identifier
Coordinates x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Projection type for PRJ, Message Identifier
Coordinates c--c, Projection Name, (max. 30 characters)
x, Projection Type1
. Projection parameter, if needed (see following page(s))
. Projection parameter, if needed (see following page(s))
. Projection parameter, if needed (see following page(s))
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Mercator ‘10’ = New Zealand
‘1’ = Transverse Mercator ‘11’ = Malaysian
‘2’ = Universal Transverse Mercator (UTM) ‘12’ = Hungarian
‘3’ = Oblique Mercator ‘13’ = Dutch RD Stereographic
‘4’ = Lambert (1 Standard Parallel) ‘14’ = Finnish KKJ
‘5’ = Lambert (2 Standard Parallels) ‘15’ = Swiss95
‘6’ = Soldner-Cassini ‘16’ = Danish Bornholm
‘7’ = Polar Stereographic ‘17’ = Danish Jylland
‘8’ = RSO ‘18’ = Danish Sjelland
‘9’ = Swiss ‘19’ = Czech and Slovak
‘20’ = Romania Stereo 70

Comments:
• Swiss, Swiss95, New Zealand, Malaysian, Hungarian, Dutch RD Stereographic, Finnish KKJ and Danish
projections are “hard-wired” into the system and require no input parameters.

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If Projection Type = ‘0’ (Mercator) the following Block is used

xxxx.xxxx, False Origin East, metres
xxxx.xxxx, False Origin North, metres
yyyyy.yy, Central Meridian (+: East -: West)
If Projection Type = ‘1’ (Transverse Mercator) the following Block is used
xxxx.xxxx, False Origin East, metres
xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
xxxx.xxxx, Scale on Central Meridian
xxxx.xxxx, Zone width, degrees (0.0° to 12.0°)
If Projection Type = ‘2’ (Universal Transverse Mercator (UTM)) the following Block is used
x, Zone Number
x, Hemisphere: ‘0’ = North ‘1’ = South
If Projection Type = ‘3’ (Oblique Mercator) the following Block is used
xxxx.xxxx, False Origin East, metres
xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
xxxx.xxxx, Scale on Central Meridian
xxxx.xxxx, Orientation Angle, degrees (0.0° to 359.9°)
x, Orientation Angle Type: ‘0’ = Alpha (Azimuth) ‘1’ = Gamma (Skew)
If Projection Type = ‘4’ (Lambert (1 Standard Parallel)) the following Block is used
xxxx.xxxx, False Origin East, metres
xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
xxxx.xxxx, Scale on Central Meridian
xxxx.xxxx, Standard parallel 1, degrees (-90.0° to 90.0°) (+: North -: South)
If Projection Type = ‘5’ (Lambert (2 Standard Parallels)) the following Block is used
xxxx.xxxx, False Origin East, metres
xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
xxxx.xxxx, Standard parallel 1, degrees (-90.0° to 90.0°) (+: North -: South)
xxxx.xxxx, Standard parallel 2, degrees (-90.0° to 90.0°) (+: North -: South)
If Projection Type = ‘6’ (Soldner-Cassini) the following Block is used
xxxx.xxxx, False Origin East, metres
xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
If Projection Type = ‘7’ (Polar Stereographic) the following Block is used
xxxx.xxxx, False Origin East, metres
xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
xxxx.xxxx, Scale on Central Meridian

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If Projection Type = ‘8’ = (RSO) the following Block is used

xxxx.xxxx, False Origin East, metres
xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
xxxx.xxxx, Scale on Central Meridian
xxxx.xxxx, Orientation Angle, degrees (0.0° to 359.9°)
x, Orientation Angle Type: ‘0’ = Alpha (Azimuth) ‘1’ = Gamma (Skew)
x, Rectify Type: ‘0’ = Alpha (Azimuth) ‘1’ = Gamma (Skew)

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3.6.12 Position update rate (PUR)

Description: This message allows the user to set the position update rate of the sensor.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Position Update Rate PUR, Message Identifier
x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Position Update Rate PUR, Message Identifier
x Position update rate1
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘9’ = 6 sec
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec
‘4’ = 1 sec ‘13’ = 20 sec
‘5’ = 2 sec ‘14’ = 30 sec
‘6’ = 3 sec ‘15’ = 1 min
‘7’ = 4 sec
‘8’ = 5 sec

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3.6.13 Ring Buffer Control (RBC)

Description: This message allows to control the ring buffer.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Ring Buffer Control RBC, Message Identifier
x, Port 1
x, Output rate2
x Ring Buffer Number3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘0’..’9’ = Ring Buffer 0..9
‘255’ = All Ring Buffers

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Ring Buffer Control RBC, Message Identifier
x, Number of Ring Buffers to follow
x, Ring Buffer Number1
x, Contents Flag2
If Contents flag = ‘1’ the following block is present
x, Control3
.
.
.
x, Ring Buffer Number1
x, Contents Flag2
If Contents flag = ‘1’ the following block is present
x Control3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’..’9’ = Ring Buffer 0..9

2
‘0’ = No data available
‘1’ = Control available

3
‘0’ = Ring Buffer Logging Off
‘1’ = Ring Buffer Logging On

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Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Ring Buffer Control RBC, Message Identifier
x, Ring Buffer Number1
x Control2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’..’9’ = Ring Buffer 0..9

2
‘0’ = Ring Buffer Logging Off
‘1’ = Ring Buffer Logging On
‘100’ = Delete Ring Buffer (all related files are deleted)

Comments:
• Only one ring buffer can be active at one time.
• Files of active ring buffer can not be deleted.
• Ring buffer files are logged into a separate directory (\DATA\GPS\RINGBUF).

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3.6.14 Ring Buffer Configuration (RBF)

Description: This message allows to set the ring buffer configuration.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Ring Buffer RBF, Message Identifier
Configuration x, Port 1
x, Output rate2
x Ring Buffer Number3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘0’..’9’ = Ring Buffer 0..9

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Ring Buffer RBF, Message Identifier
Configuration x, Ring Buffer Number1
x, Message Content Flag2
If Message Content Flag = ‘1’ the following block is present
x, Device3
x, Logging Rate4
xxxx, Interval5
x Dynamics6
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’..’9’ = Ring Buffer 0..9

2
‘0’ = No data available
‘1’ = Ring Buffer Configuration Block available

3
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card

4
‘0’ = Logging Off ‘9’ = 6 sec
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec
‘4’ = 1 sec ‘13’ = 20 sec
‘5’ = 2 sec ‘14’ = 30 sec
‘6’ = 3 sec ‘15’ = 1 min
‘7’ = 4 sec
‘8’ = 5 sec

5
Minimum 600s (10 minutes)

6
‘1’ = Static

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‘2’ = Kinematic

Comments:
• A ring buffer can not be reconfigured if files are still existing. They have to be deleted first (see message
‘ring buffer control’).
• Interval is minimum garanteed time. It is mapped to the next higher internal level.

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3.6.15 Real-Time Data Status (RTD)

Description: This message allows status information to be obtained about the messages that are
sent/received over the data-link.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Real-Time Data RTD, Message Identifier
Status x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘0’ = Output Off

‘200’ = Output immediately

‘201’ = Output when new data is available

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Real-Time Data RTD, Message Identifier
Status x, Number of active ports
The following block is repeated for each port
x, Port Number
x, Message(s): ‘0’ = Sent ‘1’ = Received
xx, Age of Last Message Sent/Received, milliseconds
xx, Percentage of Messages Sent/Received1
x, Number of Messages to follow
x, Message2
hhmmss.ss, GPS time of Last Message Sent/Received
ddmmyy, GPS date of Last Message Sent/Received
xx Message Latency, milliseconds
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘10000’ = 100.00%, ‘9999’ = 99.99%, ‘9998’ = 99.98% etc.

2
‘0’ = Leica: Type 0 ‘10’ = RTCM Message Type 18
‘1’ = Leica: Type 1 ‘11’ = RTCM Message Type 19
‘2’ = Leica: Type 2 ‘12’ = RTCM Message Type 20
‘3’ = Leica: Type 7_0 ‘13’ = RTCM Message Type 21
‘4’ = Leica: Type 7_1 ‘14’ = RTCM Message Type 22
‘5’ = RTCM Message Type 1 ‘15’ = RTCM Message Type 59
‘6’ = RTCM Message Type 2 ‘16’ = Trimble CMR: Type 0
‘7’ = RTCM Message Type 3 ‘17’ = Trimble CMR: Type 1
‘8’ = RTCM Message Type 9 ‘18’ = Trimble CMR: Type 2
‘9’ = RTCM Message Type 16

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3.6.16 Real-Time format configuration (RTK)

Description: This message allows a sensor to be configured to either send or receive Real-Time data.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Real-Time format RTK, Message Identifier
configuration x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Real-Time format RTK, Message Identifier
configuration x, Message OriginG:
‘0’ = Send ‘1’ = Receive ‘2’ = Stop ‘3’ = Send TS
‘10’ = Send2 ‘12’ = Stop2 ‘13’ = Send2 TS
If Message Origin = ‘0’ (Send) or ‘1’ (Receive) or ‘10’ (Send2) the following block is present
x, Real-Time format 1
x, Port 2
x, Reference Station Id3
c--c, Reference Station Point Id4
x, Added to the End of Each Message5
x, Number of Data Bits per Byte6
x, RTCM Version7
If Message Origin = ‘3’ (Send TS) or ‘13’ (Send2 TS) the following block is present
x, Real-Time format 1
x, Port 2
x, Reference Station Id3
c--c, Reference Station Point Id4
x, Used Reference Stations 10
x, Time Slot 11
x, Added to the End of Each Message5
x, Number of Data Bits per Byte6
x, RTCM Version7
If Message Origin = ‘0’ (Send) or ‘3’ (Send TS) the following block is present
1111.11, WGS84 Latitude of Reference Antenna (+: North -: South)
yyyyy.yy, WGS84 Longitude of Reference Antenna (+: East -: West)
xxxx.xxxx, WGS84 Height of Reference Antenna, metres
x, Reference Station Position Quality8
If Message Origin = ‘1’ (Receive) the following block is present
x, Phase Flag9
If Message Origin = ‘0’ (Send) or ‘10’ (Send2) or ‘3’ (Send TS) or ‘13’ (Send2 TS)
see Blocks on following page
. Real-Time configuration parameter (see following page)
. Real-Time configuration parameter (see following page)
. Real-Time configuration parameter (see following page)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Leica Proprietary ‘6’ = RTCM Types 9&2 with Accucode
‘1’ = reserved ‘7’ = RTCM Types 18&19
‘2’ = reserved ‘8’ = RTCM Types 20&21
‘3’ = RTCM Types 1&2 ‘9’ = Trimble CMR
‘4’ = RTCM Types 1&2 with Accucode ‘10’ = RTCM 18&19 and 1&2
‘5’ = RTCM Types 9&2 ‘11’ = RTCM 20&21 and 1&2
‘12’ = Trimble CMR+
2
‘1’ = Port 1 ‘2’ = Port 2 ’3’ = Port 3

G Reference case:
Message Origin: 0 = Send, 2 = Stop .. first reference device is used
10 = Send2, 12 = Stop2 .. second reference device is used
3 = Send TS, 13 = Send2 TS .. first or second reference device with time slicing is used

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3
Normally set to ‘1’. If the Message Origin is set to ‘1’ = Receive, then the Reference Station Id
indicates which reference station data the sensor should accept. 0xFFFF accepts the first received
reference data. 0xFFFE accepts any reference station.
4
Leica Proprietary Format: maximum 16 characters. (Invalid characters: <CR> <LF> $ * , ! \^~
?)
Trimble CMR: maximum 8 characters (used as Short station ID in CMR Type 2 message).
5
‘0’ = Nothing
‘1’ = Carriage Return <CR>
6
‘0’ = Real-Time format other than RTCM being used
‘6’ = Normal RTCM (bits 1-6: message information; bit 7: marking; bit 8: spacing)
‘8’ = Old RTCM (only available for Receiving RTCM)
7
‘0’ = unknown ‘1’ = RTCM version 2.1 ‘2’ = RTCM version 2.2
8
‘0’ = ± 100 m ‘2’ = ± 0.01 m ‘1’ = ± 0.5 m ‘3’ = Exact
9
‘0’ = do not use phase measurements ‘1’ = use phase measurements

10
‘1’ = no time slice mode configured
‘2’ = time slicing with 2 references
‘3’ = time slicing with 3 references
‘4’ = time slicing with 4 references

11
time slice reference number 0 ... 3 (defines the time slot in which the reference data can be
transmitted)

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If Real-Time format = ‘0’ (Leica Proprietary) the following Block is used

x, Reserved
x, reserved
x, reserved
x, Output rate for Reference coordinates 1
x, Output rate for Additional Reference Information1
x, Observation/Prediction Output rate1
x reserved
If Real-Time format = ‘3’ (RTCM Types 1&2) the following Block is used
x, Output rate for Reference coordinates (RTCM Type 3)1
x, Observation Output rate (RTCM Type 1)1
x, Observation Output rate (RTCM Type 2)1
x Number of Repeat Transmissions for RTCM Type 22
If Real-Time format = ‘4’ (RTCM Types 1&2 with Accucode) the following Block is used
x, Output rate for Reference coordinates (RTCM Type 3)1
x, Observation Output rate (RTCM Type 1)1
x, Observation Output rate (RTCM Type 2)1
x, Number of Repeat Transmissions for RTCM Type 22
x Accucode Output rate1
If Real-Time format = ‘5’ (RTCM Types 9&2) the following Block is used
x, Output rate for Reference coordinates (RTCM Type 3)1
x, Observation Output rate (RTCM Type 9)1
x, Number of Satellites to Include in RTCM Type 93
x, Observation Output rate (RTCM Type 2)1
x Number of Repeat Transmissions for RTCM Type 22
If Real-Time format = ‘6’ (RTCM Types 9&2 with Accucode) the following Block is used
x, Output rate for Reference coordinates (RTCM Type 3)1
x, Observation Output rate (RTCM Type 9)1
x, Number of Satellites to Include in RTCM Type 93
x, Observation Output rate (RTCM Type 2)1
x, Number of Repeat Transmissions for RTCM Type 22
x Accucode Output rate1
If Real-Time format = ‘7’ (RTCM Types 18&19) the following Block is used
x, reserved
x, Output rate for Reference coordinates + Info (RTCM Type 3,22)1
x, reserved
x, Observation Output rate (RTCM Type 18,19)1
x reserved
If Real-Time format = ‘8’ (RTCM Types 20&21) the following Block is used
x, reserved
x, Output rate for Reference coordinates + Info (RTCM Type 3,22)1
x, reserved
x, Observation Output rate (RTCM Type 20,21)1
x reserved
If Real-Time format = ‘9’ (Trimble CMR) the following Block is used
x, reserved
x, Output rate for Reference coordinates (Msg Type 1)1
x, Output rate for Additional Reference Information (Msg Type 2)1
x Observation Output rate (Msg Type 0)1

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If Real-Time format = ‘10’ (RTCM Types 18&19 and 1&2) the following Block is used
x, reserved
x, Output rate for Reference coordinates + Info (RTCM Type 3,22)1
x, reserved
x, Observation Output rate (RTCM Type 18,19)1
x, reserved
x, Observation Output rate (RTCM Type 1)1
x, Observation Output rate (RTCM Type 2)1
x Number of Repeat Transmissions for RTCM Type 22
If Real-Time format = ‘11’ (RTCM Types 20&21 and 1&2) the following Block is used
x, reserved
x, Output rate for Reference coordinates + Info (RTCM Type 3,22)1
x, reserved
x, Observation Output rate (RTCM Type 20,21)1
x, reserved
x, Observation Output rate (RTCM Type 1)1
x, Observation Output rate (RTCM Type 2)1
x Number of Repeat Transmissions for RTCM Type 22
If Real-Time format = ‘12’ (Trimble CMR+) the following Block is used
x, Reserved
x Output rate for Observations, Reference coordinates and info (Msg
Type 0 and CMR+ pages)1

1
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

Although the full range of update rates are supported i.e. 0.1 seconds - 1 hour, the update rate
selected will be influenced by the radio-link being used.

2
RTCM Type 2 messages are only sent when there is a change of ephemeris and the number of
repeat transmissions is used to ensure that the system receiving the Type 2 message will have had
sufficient time to collect the new ephemeris to which the data applies.

3
‘0’ = All Satellites
‘1’ = 1 Satellite ‘7’ = 7 Satellites
‘2’ = 2 Satellites ‘8’ = 8 Satellites
‘3’ = 3 Satellites ‘9’ = 9 Satellites
‘4’ = 4 Satellites ‘10’ = 10 Satellites
‘5’ = 5 Satellites ‘11’ = 11 Satellites
‘6’ = 6 Satellites ‘12’ = 12 Satellites

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3.6.17 Leica proprietary Real-Time: Reference Station Position (RTP)

Description: This message provides status information of Proprietary Real-Time data that was either sent or
received.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Leica proprietary Real- RTP, Message Identifier
Time: Reference x, Port 1
Station Position x, Output rate2
x Position format 3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘0’ = Geodetic

‘1’ = Grid

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Leica proprietary RTP, Message Identifier
Reference Position x, Position type1
x, Position Format: ‘0’ = Geodetic ‘1’ = Grid
x, Datum ID: ‘0’ = WGS84 ‘1’ = Local
If Position Format = ‘0’ (Geodetic) the following block is present
llll.ll, Latitude (+: North -: South)
yyyyy.yy, Longitude (+: East -: West)
If Position Format = ‘1’ (Grid) the following block is present
xxxx.xxxx, Grid Northing, metres
xxxx.xxxx, Grid Easting, metres
xxxx.xxxx Height, metres
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Position of phase center

‘1’ = Position of marker

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Time, Position and Velocity (TPV)

Description: This message provides Time, Position and Velocity information.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Time, Position and TPV, Message Identifier
Velocity x, Port 1
x, Output rate2
x Position format 3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

3
‘0’ = Geodetic
‘1’ = Grid

I - Data provided in this message is used for temporary point records and point records written to MDB raw data file
unless POB/FA 8B message is used to end static logging.
- Data provided in this message will also be overwritten if real time reference data (RTK/FA 93) has been activated.

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Time, Position and TPV, Message Identifier
Velocity hhmmss.ss, UTC time
ddmmyy, UTC date
xx, Latency, milliseconds 1
x, Dynamics: ‘0’ = roving ‘1’ = static
xx, Confidence Indicator2
x, Solution Type flag3
x, External aiding flag4
x, Failure flag5
x, Position Format: ‘0’ = Geodetic ‘1’ = Grid
x, Datum ID: ‘0’ = WGS84 ‘1’ = Local
If Position Format = ‘0’ (Geodetic) the following block is present
llll.ll, Latitude (+: North -: South)
yyyyy.yy, Longitude (+: East -: West)
If Position Format = ‘1’ (Grid) the following block is present
xxxx.xxxx, Grid Northing, metres
xxxx.xxxx, Grid Easting, metres
xxxx.xxxx, Height, metres
xx.xx, Quality Latitude/Northing, metres
xx.xx, Quality Longitude/Easting, metres
xx.xx, Quality Height, metres
xx.xx, SOG, knots
xx.xx, COG, degrees True (0.0° to 359.9°)
xx.xx, HDOP
xx.xx, VDOP
xx.xx, TDOP
x, Number of Visible Satellites
x, Number of Tracked Satellites
x Number of Satellites used in Computation
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
Latency given is defined as the difference in time between the UTC of the measurements used in the
computation and the UTC of the first Message byte sent out the Sensor port

2
‘0’ = ...

3
‘0’ = Computed position not yet available
‘1’ = Differential code position
‘2’ = Differential phase position
‘3’ = Non-differential position

‘253’ = Differential code position based on prediction, not measurements

‘254’ = Differential phase position based on prediction, not measurements
‘255’ = Non-differential position based on prediction, not measurements

4
‘0’ = None
‘1’ = Height fixed
‘2’ = Position fixed

5
‘0’ = Position OK
‘1’ = Position Bad: ...

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Comments:
• Positions are corrected by Antenna information set by $PLEIS,ANT,... and $PLEIS,AHT,... commands.

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3.6.19 Velocity and Direction (VEL)

Description: This message provides Velocity, and Direction information.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Velocity and Direction VEL, Message Identifier
x, Port 1
x, Output rate2
x North reference: ‘0’ = True ‘1’ = Magnetic
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

Comments:
• The $PLEIS,MAG,... should be used to set the magnetic declination if Magnetic directions are requested.

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Velocity and Direction VEL, Message Identifier
hhmmss.ss, UTC time
ddmmyy, UTC date
xx.xx, Horizontal Velocity, metres/second
xx.xx, Quality Horizontal Velocity, metres/second
xx.xx, Direction, degrees (0.0° to 359.9°)
xx.xx, Quality Direction, seconds
x, Direction reference, ‘0’ = True ‘1’ = Magnetic
xx.xx, Vertical Velocity, metres/second
xx.xx Quality Vertical Velocity, metres/second
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

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3.7 Point Occupation:

3.7.1 Occupy Known Point (OCC)

Description: To aid in carrier phase ambiguity resolution a Known Point can be occupied. The coordinates
of a point must be known in the WGS84 reference system or Local Grid if either a 1 step
transformation or a datum transformation and projection are known by the system, and then it
is possible for the system to solve for the carrier phase ambiguities and hence provide more
accurate positioning.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Occupy Known Point OCC, Message Identifier
c--c, Point Identifier, (max. 16 characters)1
x, Position Format 2
If Position Format = ‘0’ (WGS84 Geodetic) the following block is present
llll.ll, WGS84 Latitude of Marker (+: North -: South)
yyyyy.yy, WGS84 Longitude of Marker (+: East -: West)
xxxx.xxxx, WGS84 Height of Marker, metres
If Position Format = ‘1’ (Local Grid) the following block is present
xxxx.xxxx, Grid Northing of Marker, metres
xxxx.xxxx, Grid Easting of Marker, metres
xxxx.xxxx, Height of Marker, metres
xx.xx, Known Point Coordinate Quality, metres
xx.xx, Antenna Height, metres
x, Antenna measurement type3
xx, Occupation Time, seconds 4
x Automatic End flag: ‘0’ = No ‘1’ = Yes 5
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
Invalid characters: <CR> <LF> $ * , ! \ ^ ~ ?

2
‘0’ = WGS84 Geodetic
‘1’ = Local Grid

3
‘0’ = Vertical
‘1’ = Slope

4
Specifies the time to stay at Point to perform initialisation

5
‘0’ = No Real-Time: after the Occupation time has elapsed, a positive or negative ‘OCC’
acknowledgement message will be sent to inform the user if the ambiguities were
successfully resolved or not.
post-processing: after the Occupation time has elapsed, a positive ‘OCC’
acknowledgement message will be sent to inform the user that the initialisation is
complete.

‘1’ = Yes Real-Time: once the ambiguities have been successfully resolved, a positive ‘OCC’
acknowledgement message will be sent to inform the user that the ambiguities were
successfully resolved. This could occur before the time specified in the Occupation
Time setting.
post-processing: no effect, same as for ‘0’ = No.

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Comments:
• If the Antenna measurement type = “Slope” then the antenna height used will be corrected in the following
way: True Ant Hgt = ((User Entered Ant Hgt)² - (Horz Offset)²)½ + Vert Offset
• If the Antenna measurement type = “Vertical” then the antenna height used will be corrected in the following
way: True Ant Hgt = User Entered Ant Hgt + Vert Offset
• If the Antenna Offsets are not known, then 0.0 will be used. i.e. The Antenna measurement types “Slope”
and “Vertical” will be the same.
• When data is being logged, Initialisation and Point records will be automatically written to the data file to
reflect performing a Known Point Initialisation. In addition, during the time whilst occupying the known point
data will be flagged as static, and after the acknowledgement the sensor will be roving.
• A negative ‘OCC’ acknowledgement could be caused by incorrect input parameters, i.e. Marker coordinates,
antenna height etc. or by a loss of radio link during the occupation.

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3.7.2 Point Occupation Begin (POB)

Description: Once the antenna is stationary over a Point which the coordinates are required, this message
informs the system that the mode is now stationary over a point of interest.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Point Occupation POB, Message Identifier
Begin *hh Checksum
<CR> Carriage Return
<LF> Line Feed

Comments:
• After the Point Occupation Begin message has been received by the system, the roving/static flag in the
observation data record will be set to static.

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3.7.3 Point Occupation End (POE)

Description: After a period of time, sufficient data is observed at a Point. At this time the occupation of the
point is complete. Once the occupation is complete this message is required to be sent to the
system before the antenna can be moved.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Point Occupation End POE, Message Identifier
c--c, Point Identifier, (max. 16 characters)1
xx.xx, Antenna Height, metres
x Antenna measurement type2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
Invalid characters: <CR> <LF> $ * , ! \ ^ ~ ?

2
‘0’ = Vertical
‘1’ = Slope

Comments:
• If the Antenna measurement type = “Slope” then the antenna height used will be corrected in the following
way: True Ant Hgt = ((User Entered Ant Hgt)² - (Horz Offset)²)½ + Vert Offset
• If the Antenna measurement type = “Vertical” then the antenna height used will be corrected in the following
way: True Ant Hgt = User Entered Ant Hgt + Vert Offset
• If the Antenna Offsets are not known, then 0.0 will be used. i.e. The Antenna measurement types “Slope”
and “Vertical” will be the same.
• After the Point Occupation End message has been received by the system, the roving/static flag in the
observation data record will be set to roving.
• After the Point Occupation End message has been received by the system, a Point record will also be
written in the data file. This Point record will then be used later by the post-processing software.
• Through the Acknowledgement message it is defined if the ambiguities are fixed or not - TBD

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3.7.4 Point Occupation Quit (POQ)

Description: This message is nearly the same as POE, in addition the user has the option to end the
occupation with / -out saving. As well it is possible to respond with the actual position.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Point Occupation Quit POQ, Message Identifier
xxxx, Message Content Flag1
The following block is only present if Message Content Flag indicates ‘write point record’
c--c, Point Identifier, (max. 16 characters)2
xx.xx, Antenna Height, metres
x Antenna measurement type3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
bit 0 = 1, for write point record into data file
bit 1 = 1, for respond NMEA GGA
bit 2 = 1, for respond NMEA LLK

2
Invalid characters: <CR> <LF> $ * , ! \ ^ ~ ?

3
‘0’ = Vertical
‘1’ = Slope

Comments:
• After the Point Occupation Quit message has been received by the system, the roving/static flag in the
observation data record will be set to roving.
• After the Point Occupation Quit message has been received by the system, a Point record will / not be
written in the data file.

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3.7.5 Time Tag Point (TTP)

Description: For many applications a single epoch of observations is enough to derive coordinates of
sufficient accuracy. A Time Tag can be used to coordinate a point. Using the Time Tag
technique, the user has two options, either an Instantaneous Time Tag i.e. an Interpolated
position between two observation epochs or a Next Epoch Time Tag i.e. the position of the
Time Tag is derived from the observations of the next epoch.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Time Tag Point TTP, Message Identifier
c--c, Point Identifier, (max. 16 characters)1
x, Time Tag Point Flag2
xx.xx, Tag Delay, seconds 3
xx.xx, Antenna Height, metres
x Antenna measurement type4
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
Invalid characters: <CR> <LF> $ * , ! \ ^ ~ ?

2
‘0’ = Instantaneous Tagged Point
‘1’ = Next Epoch Tagged Point

3
Delay used only for instantaneous tagging, not relevant for Next Epoch tagging

4
‘0’ = Vertical
‘1’ = Slope

Comments:
• If the Antenna measurement type = “Slope” then the antenna height used will be corrected in the following
way: True Ant Hgt = ((User Entered Ant Hgt)² - (Horz Offset)²)½ + Vert Offset
• If the Antenna measurement type = “Vertical” then the antenna height used will be corrected in the following
way: True Ant Hgt = User Entered Ant Hgt + Vert Offset
• If the Antenna Offsets are not known, then 0.0 will be used. i.e. The Antenna measurement types “Slope”
and “Vertical” will be the same.
• If using the Next Epoch tagging technique the user should be asked to remain stationary until the
acknowledgement message has been received.

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3.8 Utilities:

3.8.1 Delete file(s) (DEL)

Description: An important part of file management is the capability to Delete old files. This message
provides the functionality to Delete one or many files with one message.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Delete file(s) DEL, Message Identifier
x, Device1
x, File type2
ddmmyy, Deletion date specification3
c--c Filename, (max. 80 characters, may include sub-directory)4
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card
‘2’ = Sensor System Memory

2
‘100’ = Configuration Set (*.cnf) file
‘101’ = Antenna Information
‘102’ = Geoid Field file
‘103’ = Point Related Database
‘104’ = Observation Related Database
‘105’ = Additional Job files
‘106’ = Coordinate System
‘107’ = Codelist
‘108’ = IDEX file
‘109’ = GSI file
‘110’ = User ASCII file
‘111’ = Ring buffer files
‘112’ = System Event Log file
‘113’ = CSCS Field File
‘114’ = Beacon Station List
‘115’ = Modem/GSM Station List
‘116’ = CFC Log Mask File
‘117’ = CXT file for extended choice lists

‘200’ = Unknown

‘255’ = All file types

3
A date can be specified (i.e. optional parameter) which defines that only files created before this date
will be deleted. If this field is not required then it should be set to zero.

4
May include wildcards i.e. ‘*.*‘ or ‘*.o??’.
!!! But the wildcard "*" is not allowed, instead of that character “*” use the character “|” (-> ASCII:124)
i.e ‘|.|’ or ‘|.o??’
If the file type is known, then no sub-directory is needed.

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3.8.2 Directory of Memory (DIR)

Description: An important part of file management is the capability to obtain a Directory of files. This
message provides the functionality to obtain a Directory of one or many file types with one
message.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Directory of Memory DIR, Message Identifier
x, Port 1
x, Output rate2
x, Device3
x, File type4
x, First/Next indicator5
c—c Path6
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card
‘2’ = Sensor System Memory

4
‘100’ = Configuration Set (*.cnf) file
‘101’ = Antenna Information
‘102’ = Geoid Field file
‘103’ = Point Related Database
‘104’ = Observation Related Database ‘54’ = Observation related DB with extended info
‘105’ = Additional Job files
‘106’ = Coordinate System
‘107’ = Codelist
‘108’ = IDEX file
‘109’ = GSI file
‘110’ = User ASCII file
‘111’ = Ring buffer files ‘61’ = Ring buffer files with extented info
‘112’ = System Event Log file
‘113’ = CSCS Field File
‘114’ = Beacon Station List
‘115’ = Modem/GSM Station List
‘116’ = CFC Log Mask File
‘117’ = CXT file for extended choice lists

‘200’ = Unknown

5
‘0’ = First Directory Information Block
‘1’ = Next Directory Information Block
‘2’ = Resend current Directory Information Block
‘3’ = Abort

6
Only available/required if Filetype = 200 (Unknown), The wildcard "*" is not allowed, instead of that
character “*” use the character “|” (-> ASCII:124)
Sample to query first block of \LOG directory: $PLEIQ,DIR,0,200,1,200,0,LOG\*1B
Sample to query all *.dat files of the \DATA directory: $PLEIQ,DIR,0,200,1,200,0,DATA\|DAT*1B

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Comments:
• The first request has to be sent with First/Next = 0, all subsequent requests with First/Next = 1. If an error
occurs, a request can be repeated with First/Next = 2.
• Extended information for measurement data base files (MDB) - observation file type 54 and ring buffer type
61 – is only available for those files, which have been created with the corresponding configuration setting
activated, prior to file creation. See message CMD / FA xx, setting “MDB file statistic creation”.

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Directory of Memory DIR, Message Identifier
x, Last Block1
x, Number of File(s) to follow
x, File type2
c—c, Filename, (max. 80 characters, may include sub-directory)
xxxx, File size, Bytes
hhmmss.ss, File modification time
ddmmyy, File modification date
The following block is only present if File type indicates ‘54’ = Obs. Rel. Database
ext. info
X, Used , ‘1’ = ACTIVE ‘0’ = NOT USED
X, Logging rate3,
xxxx, Start GPS time of week,
xx, Start GPS week number,
xxxx, End GPS time of week,
xx End GPS week number
The following block is only present if File type indicates ‘61’ = Ring buffer files ext. info
x, Used , ‘1’ = ACTIVE ‘0’ = NOT USED
x, Logging rate3,
xxxx, Start GPS time of week,
xx, Start GPS week number,
xxxx, End GPS time of week,
xx End GPS week number
.
.
.
x, File type2
c—c, Filename, (max. 80 characters, may include sub-directory)
xxxx, File size, Bytes
hhmmss.ss, File modification time
ddmmyy File modification date
The following block is only present if File type indicates ‘54’ = Obs. Rel. Database
ext. info
x, Used , ‘1’ = ACTIVE ‘0’ = NOT USED
x, Logging rate3,
xxxx, Start GPS time of week,
xx, Start GPS week number,
xxxx, End GPS time of week,
xx End GPS week number
The following block is only present if File type indicates ‘61’ = Ring buffer files ext. info
x, Used , ‘1’ = ACTIVE ‘0’ = NOT USED
x, Logging rate3,
xxxx, Start GPS time of week,
xx, Start GPS week number,
xxxx, End GPS time of week,
xx End GPS week number
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
1
‘0’ = More Directory Information Blocks available

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‘1’ = Last Directory Information Block

2
‘100’ = Configuration Set (*.cnf) file
‘101’ = Antenna Information
‘102’ = Geoid Field file
‘103’ = Point Related Database
‘104’ = Observation Related Database ‘54’ = Observation Related Database ext. info
‘105’ = Additional Job files
‘106’ = Coordinate System
‘107’ = Codelist
‘108’ = IDEX file
‘109’ = GSI file
‘110’ = User ASCII file
‘111’ = Ring buffer files ‘61’ = Ring buffer files ext. info
‘112’ = System Event Log file
‘113’ = CSCS Field File
‘114’ = Beacon Station List
‘115’ = Modem/GSM Station List
‘116’ = CFC Log Mask File
‘117’ = CXT file for extended choice lists

‘200’ = Unknown

3
first logging rate, may be different later:
‘0’ = Logging Off ‘9’ = 6 sec
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec
‘4’ = 1 sec ‘13’ = 20 sec
‘5’ = 2 sec ‘14’ = 30 sec
‘6’ = 3 sec ‘15’ = 1 min
‘7’ = 4 sec
‘8’ = 5 sec

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3.8.3 Geo Database (GDB)

Description: This message provides the data base functionality for database objects with one message.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Geo Data Base GDB, Message Identifier
x, Port 1
x, Output rate2
x, Data type3
x, Data Name Key 4
The following block is only present if DataType indicates ‘100’ = Job
x, Device5
The following block is only present if DataType indicates ‘102’ = Transformation
x, Transformation Type6
The following block is only present if DataType indicates ‘107’ = Point info
x, Datum ID: ‘0’ = WGS84 ‘1’ = Local
x, Coordinate Type7
The following block is only present if Data Name Key indicates ‘1’ = requested data name
c—c, Data Name, (max. 30 characters)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘100’ = Job
‘101’ = Coordinate System
‘102’ = Transformation
‘103’ = Map Projection
‘104’ = Reference Ellipsoid
‘105’ = Geoid Model
‘106’ = CSCS Model
‘107’ = Point info with corresponding Coordinate Record (only from active job)

4
‘0’ = active job or Coordinate System (data types 100,101)
‘1’ = requested data name

5
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card
‘2’ = Sensor System Memory

6
‘0’ = 3D helmert transformation
‘1’ = 2D helmert transformation
‘2’ = 1D heigth transformation

7
‘0’ = for Geodetic (ϕ,λ,h)
‘1’ = for Grid (E,N,H)
‘2’ = for Cartesian (X,Y,Z)
Comments: data ‘101’ – ‘106’ are from Sensor System Memory

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Geo Data Base GDB, Message Identifier
x, Data type1
x, Message Origin: ‘0’ = New ‘1’ = Update ‘2’ = Delete ‘3’ = Set
Active 3
‘4’ = Query( only for RESPONSE )
The following block is only present if DataType indicates ‘100’ = Job
x, Device2
If Message Origin = ‘2’ (Delete)• or ‘3’ (Set Active 3) the following block is present
c—c, Data Name, (max. 30 characters)
If Message Origin = ‘0’ (New) or ‘1’ (Update) or ‘4’ (Query) see Blocks on following page
. Data configuration parameter (see following page)
. Data configuration parameter (see following page)
. Data configuration parameter (see following page)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘100’ = Job
‘101’ = Coordinate System
‘102’ = Transformation
‘103’ = Map Projection
‘104’ = Reference Ellipsoid
‘105’ = Geoid Model
‘106’ = CSCS Model
‘107’ = Point info with corresponding Coordinate Record

2
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card
‘2’ = Sensor System Memory

3
‘3’ = set active values (only for data types 100,101)

Comments: data ‘101’ – ‘106’ are from Sensor System Memory

• Only the Model will be deleted. The grid files are still on the system memory( GEOID and CSCS )

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If Data type = ‘100’ (Job) the following Block is used

c—c, Name or title of project (max. 30 characters)
c—c, Description (max. 60 characters)
c—c, Name of responsible person (max. 60 characters)
If Data type = ‘101’ (Coordinate System) the following Block is used
c—c, Name of Coordinate System (max. 30 characters)
x, Residuals1
x, Type of Coordinate System2
2
If Type of Coordinate System = ‘0’ (Classical) the following Block is used
c—c, Name of the transformation (max. 30 characters) 3
c—c, Name of the reference ellipsoid (max. 30 characters)
c—c, Name of the map projection (max. 30 characters)
c—c, Name of the geoid model (max. 30 characters) 3
c—c, Name of the CSCS model (max. 30 characters) 3
2
If Type of Coordinate System = ‘1’ (One Step) the following Block is used
Xxxx.xxxx, UTM False Origin East, metres
Xxxx.xxxx, UTM False Origin North, metres
llll.ll, UTM Latitude Origin (+: North -: South)
yyyyy.yy, UTM Central Meridian (+: East -: West)
xxxx.xxxx, UTM Scale on Central Meridian
c—c, Name of the geoid model (max. 30 characters) 3
2
If Type of Coordinate System = ‘2’ (Two Step) the following Block is used
c—c, Name of the pre transformation (max. 30 characters) 3
c—c, Name of the reference ellipsoid (max. 30 characters)
c—c, Name of the map projection (max. 30 characters)
c—c, Name of the geoid model (max. 30 characters) 3
If Data type = ‘102’ (Transformation) the following Block is used
c—c, Name of Transformation (max. 30 characters)
x, Type of Transformation 4
4
If Type of Transformation = ‘0’ (3D helmert transformation) the following Block is used
x, Model5
xxxx.xxxx, Scale Factor
xxxx.xxxx, Delta X, metres
xxxx.xxxx, Delta Y, metres
xxxx.xxxx, Delta Z, metres
xxxx.xxxx, Rotation about the X axis, seconds of arc
xxxx.xxxx, Rotation about the Y axis, seconds of arc
xxxx.xxxx, Rotation about the Z axis, seconds of arc
If Model = ‘1’ (Molodensky-Badekas) the following block is present
Xxxx.xxxx, Rotation Origin for the X axis, metres
Xxxx.xxxx, Rotation Origin for the Y axis, metres
Xxxx.xxxx, Rotation Origin for the Z axis, metres
4
If Type of Transformation = ‘1’ (2D helmert transformation) the following Block is used
Xxxx.xxxx, 2D Helmert transformation Scale
Xxxx.xxxx, 2D Helmert transformation Shift dX, metres
Xxxx.xxxx, 2D Helmert transformation Shift dY, metres
Xxxx.xxxx, 2D Helmert transformation Rotation, seconds of arc
Xxxx.xxxx, 2D Helmert transformation Rotation Origin X0, metres
Xxxx.xxxx, 2D Helmert transformation Rotation Origin Y0, metres

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If Type of Transformation 4 = ‘2’ (1D heigth transformation) the following Block is used
Xxxx.xxxx, Height transformation Origin X0, metres
Xxxx.xxxx, Height transformation Origin Y0, metres
Xxxx.xxxx, Height transformation parameter #a of equation
Xxxx.xxxx, Height transformation parameter #b of equation
Xxxx.xxxx Height transformation parameter #c of equation
If Data type = ‘103’ (Map Projection) the following Block is used
c—c, Projection Name, (max. 30 characters)
x, Projection Type6
If Projection Type = ‘0’ (Mercator) the following Block is used
Xxxx.xxxx, False Origin East, metres
Xxxx.xxxx, False Origin North, metres
Yyyyy.yy, Central Meridian (+: East -: West)
If Projection Type = ‘1’ (Transverse Mercator) the following Block is used
Xxxx.xxxx, False Origin East, metres
Xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
xxxx.xxxx, Scale on Central Meridian
xxxx.xxxx, Zone width, degrees (0.0° to 12.0°)
If Projection Type = ‘2’ (Universal Transverse Mercator (UTM)) the following Block is used
x, Zone Number
x, Hemisphere: ‘0’ = North ‘1’ = South
If Projection Type = ‘3’ (Oblique Mercator) the following Block is used
Xxxx.xxxx, False Origin East, metres
Xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
xxxx.xxxx, Scale on Central Meridian
xxxx.xxxx, Orientation Angle, degrees (0.0° to 359.9°)
x, Orientation Angle Type: ‘0’ = Alpha (Azimuth) ‘1’ = Gamma (Skew)
If Projection Type = ‘4’ (Lambert (1 Standard Parallel)) the following Block is used
Xxxx.xxxx, False Origin East, metres
Xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
xxxx.xxxx, Scale on Central Meridian
xxxx.xxxx, Standard parallel 1, degrees (-90.0° to 90.0°) (+: North -: South)
If Projection Type = ‘5’ (Lambert (2 Standard Parallels)) the following Block is used
Xxxx.xxxx, False Origin East, metres
Xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
xxxx.xxxx, Standard parallel 1, degrees (-90.0° to 90.0°) (+: North -: South)
xxxx.xxxx, Standard parallel 2, degrees (-90.0° to 90.0°) (+: North -: South)
If Projection Type = ‘6’ (Soldner-Cassini) the following Block is used
Xxxx.xxxx, False Origin East, metres
Xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)

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If Projection Type = ‘7’ (Polar Stereographic) the following Block is used

Xxxx.xxxx, False Origin East, metres
Xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
xxxx.xxxx, Scale on Central Meridian
If Projection Type = ‘8’ = (RSO) the following Block is used
Xxxx.xxxx, False Origin East, metres
Xxxx.xxxx, False Origin North, metres
llll.ll, Latitude Origin (+: North -: South)
yyyyy.yy, Central Meridian (+: East -: West)
xxxx.xxxx, Scale on Central Meridian
xxxx.xxxx, Orientation Angle, degrees (0.0° to 359.9°)
x, Orientation Angle Type: ‘0’ = Alpha (Azimuth) ‘1’ = Gamma (Skew)
x, Rectify Type: ‘0’ = Alpha (Azimuth) ‘1’ = Gamma (Skew)
If Data type = ‘104’ (Reference Ellipsoid) the following Block is used
c—c, Ellipsoid Name, (max. 30 characters)
xxxx.xxxx, Semi-major axis (a)
xxxx.xxxx, Flattening Coefficient (1/f) = a/(a-b)
If Data type = ‘105’ (Geoid Model) the following Block is used
c—c, Name of Geoid Model (max. 30 characters)
c—c, Name of Grid File (max. 10 characters)
If Data type = ‘106’ (CSCS Model) the following Block is used
c—c, Name of CSCS Model (max. 30 characters)
c—c, Name of CSCS Field File (max. 10 characters)
If Data type = ‘107’ (Point info with corresponding Coordinate Record) the following Block is used
c—c, Name of the Point ID (max. 16 characters)
If Message Origin = ‘4’ (Query) the following Block is present
hhmmss.ss, UTC time of last modification
ddmmyy, UTC date of last modification
x, Coordinate Class7
x, Coordinate Source8
xx.xx, mean error of unit weight (0.0 if Coordinate Class = CTRL)
xx.xx, a11 element of Qxx Matrix [unit*unit] (0.0 if Coord. Class = CTRL)
xx.xx, a12 element of Qxx Matrix [unit*unit] (0.0 if Coord. Class = CTRL)
xx.xx, a13 element of Qxx Matrix [unit*unit] (0.0 if Coord. Class = CTRL)
xx.xx, a22 element of Qxx Matrix [unit*unit] (0.0 if Coord. Class = CTRL)
xx.xx, a23 element of Qxx Matrix [unit*unit] (0.0 if Coord. Class = CTRL)
xx.xx, a33 element of Qxx Matrix [unit*unit] (0.0 if Coord. Class = CTRL)
x, Datum ID: ‘0’ = WGS84 ‘1’ = Local
x, Coordinate Type9
If Coordinate Type bit 0 = ‘1’ (Geodetic) the following block is present
llll.ll, Latitude (+: North -: South)
yyyyy.yy, Longitude (+: East -: West)
If Coordinate Type bit 1 = ‘1’ (Cartesian) or bit 2 = ‘1’ (Grid) the following block is present
Xxxx.xxxx, CartesianX or Grid Northing, metres
Xxxx.xxxx, CartesianY or Grid Easting, metres
Xxxx.xxxx, CartesianZ or Height, metres
If Coordinate Type bit 5 = ‘1’ (undulation) the following block is present
xx.xx, Undulation, metres

Notes:
1
‘0’ = no DOR (distribution of residuals)
‘1’ = DOR with 1/d if residuals exsits
‘2’ = DOR with 1/d^2 if residuals exsits

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‘3’ = DOR with 1/d^(3/2) if residuals exsits

‘4’ = multi quadratic DOR if residuals exsits

2
‘0’ = Classical
‘1’ = One Step
‘2’ = Two Step

3
‘ none’ = if no data

4
‘0’ = 3D helmert transformation
‘1’ = 2D helmert transformation
‘2’ = 1D height transformation

5
‘0’ = Bursa-Wolf
‘1’ = Molodensky-Badekas

6
‘0’ = Mercator ‘10’ = New Zealand
‘1’ = Transverse Mercator ‘11’ = Malaysian
‘2’ = Universal Transverse Mercator (UTM) ‘12’ = Hungarian
‘3’ = Oblique Mercator ‘13’ = Dutch RD Stereographic
‘4’ = Lambert (1 Standard Parallel) ‘14’ = Finnish KKJ
‘5’ = Lambert (2 Standard Parallels) ‘15’ = Swiss95
‘6’ = Soldner-Cassini ‘16’ = Danish Bornholm
‘7’ = Polar Stereographic ‘17’ = Danish Jylland
‘8’ = RSO ‘18’ = Danish Sjelland
‘9’ = Swiss ‘19’ = Czech and Slovak
‘20’ = Romania Stereo 70

7
‘1’ = CTRL - Point user entered
‘2’ = AVG - Point measured more than once and coordinates averaged
‘3’ = MEAS - Point measured once

8
‘61’ = Real-Time GPS phase position (ambiguities fixed)
‘65’ = Real-Time GPS code only
‘66’ = Post processed GPS phase float position(ambiguities not resolved)
‘70’ = calculated (WGS84) from other sets of coordinates
‘72’ = calculated (Grid) from other sets of coordinates
‘80’ = WGS84 coordinate entered by user
‘82’ = Grid coordinate entered by user

9
bit 0 = 1 for Geodetic (ϕ,λ,h)
bit 1 = 1 for Cartesian (X,Y,Z)
bit 2 = 1 for Grid (E,N,h) (only allowed for local datum)
bit 3 = 1 for ortho. H
bit 4 = 1 for ellips. h
bit 5 = 1 for undulation

Comments:
• The name of the 1D height and 2D helmert transformation is the same as the assigned Coordinate System
(used for One/Two Step)
• Swiss, Swiss95, New Zealand, Malaysian, Hungarian, Dutch RD Stereographic, Finnish KKJ and Danish
projections are “hard-wired” into the system and require no input parameters.
• The Grid File and the CSCS Field File must be on the sensor system, befor a model can be created / or
changed

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3.8.4 Download file from Sensor (DLF)

Description: Upon logging data, it is critical that this data can be Downloaded to enable further processing.
Also for system management it is also required to Download valuable system files, therefore
this message is provided.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Download file(s) from DLF, Message Identifier
Sensor x, Port 1
x, Output rate2
x, Device3
x, File type4
c--c, Filename, (max. 80 characters, may include sub-directory)5
xx, Size of Block, Bytes 6
xx Block #7
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3,‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card
‘2’ = Sensor System Memory

4
‘100’ = Configuration Set (*.cnf) file
‘101’ = Antenna Information
‘102’ = Geoid Field file
‘103’ = Point Related Database
‘104’ = Observation Related Database
‘105’ = Additional Job files
‘106’ = Coordinate System
‘107’ = Codelist
‘108’ = IDEX file
‘109’ = GSI file
‘110’ = User ASCII file
‘111’ = Ring buffer files
‘112’ = System Event Log file
‘113’ = CSCS Field file
‘114’ = Beacon Station List
‘115’ = Modem/GSM Station List
‘116’ = CFC Log Mask File
‘117’ = CXT file for extended choice lists

‘200’ = Unknown

‘255’ = All file types

5
If the file type is known, then no sub-directory is needed.

6
The maximum Block size is 1,800 Bytes.

7
Block # = 0 … Abort

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Download file(s) from DLF, Message Identifier
Sensor xx, Total # of Blocks
xx, Block #
x, File type1
c--c, Filename, (max. 80 characters, may include sub-directory)
xx, Block size, Bytes
x 1st Byte in block
. .
. .
x nth Byte in block, (where n = Block size)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘100’ = Configuration Set (*.cnf) file
‘101’ = Antenna Information
‘102’ = Geoid Field file
‘103’ = Point Related Database
‘104’ = Observation Related Database
‘105’ = Additional Job files
‘106’ = Coordinate System
‘107’ = Codelist
‘108’ = IDEX file
‘109’ = GSI file
‘110’ = User ASCII file
‘111’ = Ring buffer files
‘112’ = System Event Log file
‘113’ = CSCS Field file
‘114’ = Beacon Station List
‘115’ = Modem/GSM Station List
‘116’ = CFC Log Mask File
‘117’ = CXT file for extended choice lists

‘200’ = Unknown

Comments:
• If the ‘Current Port’ is not being used, the port to be used should be configured to the required settings with
$PLEIS,PRT,... prior to sending this command.

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3.8.5 Format Memory Device (FMT)

Description: A new Memory device is initiated to allow data storage using a Format command. In addition
the total contents of a Memory device can be erased by using a Format command. The
message is therefore provided to allow the Formatting of Memory devices.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Format Memory FMT, Message Identifier
Device x, Device1
c--c Label, (max. 11 characters)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card
‘2’ = Sensor System Memory

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3.8.6 System Information (INF)

Description: To ensure successful system management it is essential that sufficient information can be
obtained from the system. This message provides the tool to allow the essential information
about the system to be accessed.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
System Information INF, Message Identifier
x, Port 1
x, Output rate2
x, Device3
x Information requested4
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card
‘2’ = Sensor System Memory

4
‘0’ = Jobs ‘5’ = Firmware ‘10’ = Geoid Field File
‘1’ = Configuration Sets ‘6’ = System Firmware Text ‘11’ = CSCS Field File
‘2’ = Coordinate Systems ‘7’ = Applications
‘3’ = Antenna Information ‘8’ = Application Text
‘4’ = Codelists ‘9’ = Character Sets

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
System Information INF, Message Identifier
X, Sensor Type1
xxxx, Sensor Serial Number
x, Information to follow2
x, Number of Information records to follow
. Information records (see following page)
. Information records (see following page)
. Information records (see following page)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = SR510
‘1’ = SR520
‘2’ = SR530
‘3’ = SR540
‘4’ = GS50
‘5’ = RS500
‘6’ = MC500
‘7’ = GS50 PLUS

2
‘0’ = Jobs ‘5’ = Firmware ‘10’ = Geoid Field File
‘1’ = Configuration Sets ‘6’ = System Firmware Text ‘11’ = CSCS Field File
‘2’ = Coordinate Systems ‘7’ = Applications
‘3’ = Antenna Information ‘8’ = Application Text
‘4’ = Codelists ‘9’ = Character Sets

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If Information to follow = ‘0’ (i.e. Jobs) the following block is repeated

c--c, Job Name, (max. 30 characters)
c--c, Job filename prefix, (max. 8 characters)
hhmmss.ss, Job Creation time (UTC)
ddmmyy, Job Creation date (UTC)
If Information to follow = ‘1’ (i.e. Configuration Sets) the following block is repeated
c--c, Configuration Set Name (filename prefix), (max. 8 characters)
c--c, Configuration Set Description, (max. 30 characters)
If Information to follow = ‘2’ (i.e. Coordinate Systems) the following block is repeated
c--c, Coordinate System Name, (max. 30 characters)
c--c, Coordinate Systems filename prefix, (max. 8 characters)
If Information to follow = ‘3’ (i.e. Antenna Information) the following block is repeated
c--c, Antenna Name, (max. 30 characters)
c--c, Antenna Information filename prefix, (max. 8 characters)
If Information to follow = ‘4’ (i.e. Codelists) the following block is repeated
c--c, Codelist Name, (max. 30 characters)
c--c, Codelist filename prefix, (max. 8 characters)
If Information to follow = ‘5’ (i.e. Firmware) the following block is repeated
x, Firmware Component 1
xx, Component Release
xx, Component Version
If Information to follow = ‘6’ (i.e. System Firmware Text) the following block is repeated
c--c, System Firmware Text Language, (max. 20 characters)
xx, System Firmware Text Release
xx, System Firmware Text Version
If Information to follow = ‘7’ (i.e. Applications) the following block is repeated
c--c, Application Name, (max. 20 characters)
xx, Application Release
xx, Application Version
If Information to follow = ‘8’ (i.e. Application Text) the following block is repeated
c--c, Application Text Name, (max. 20 characters)
c--c, Application Text Language, (max. 20 characters)
xx, Application Text Release
xx, Application Text Version
If Information to follow = ‘9’ (i.e. Character Sets) the following block is repeated
c--c, Character Set Name, (max. 20 characters)
xx, Character Set Release
xx, Character Set Version
If Information to follow = ‘10’ (i.e. Geoid Field File) the following block is repeated
c--c, Geoid Model Description, (max. 30 characters)
c--c, Geoid Field File filename prefix, (max. 8 characters)
If Information to follow = ‘11’ (i.e. CSCS Field File) the following block is repeated
c--c, CSCS Description, (max. 30 characters)
c--c, CSCS Field File filename prefix, (max. 8 characters)
Notes:
1
‘0’ = System
‘1’ = Measurement Engine
‘2’ = Boot Loader
‘3’ = Keyboard Display Unit (KDU)

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3.8.7 Time, Date and Initial Position (INI)

Description: To provide the sensor information to aid in the rapid acquisition and tracking of satellites, this
message is included.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Time, Date and Initial INI, Message Identifier
Position x, Information available1
If Information available = ‘1’ or ‘3’ or ‘5’ or ‘7’ the following block is present
hhmmss.ss, UTC time
ddmmyy, UTC date
If Information available = ‘2’ or ‘3’ or ‘6’ or ‘7’ the following block is present
llll.ll, WGS84 Latitude (+: North -: South)
yyyyy.yy, WGS84 Longitude (+: East -: West)
xxxx.xxxx, WGS84 Height, metres
If Information available = ‘4’ or ‘5’ or ‘6’ or ‘7’ the following block is present
x Offset from GMT to Local Time [±½ hour]
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
1
‘0’ = None ‘4’ = Timezone only
‘1’ = Time Only ‘5’ = Timezone and Time
‘2’ = Position Only ‘6’ = Timezone and Position
‘3’ = Time and Position ‘7’ = Timezone and Time and Position

Comments:
• If the sensor is already tracking satellites then UTC date & time and position values will be ignored.
• Timezone can be set at any time.
• Timezone setting changes local time, which is also used by the sensor file system.

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3.8.8 Job Management (JOB)

Description: Allows for the Download/Upload of the Job related files.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Job Management JOB, Message Identifier
x, Port 1
x, Output rate2
x, Device3
c--c, Job Name, (max. 30 characters)
x, Include with Job4
xx, Size of Block, Bytes 5
x First/Next indicator6
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card

4
‘0’ = All Job related files
‘1’ = Only Point Related Database
‘2’ = Only Observation Related Database

5
The maximum Block size is 1,800 Bytes.

6
‘0’ = First Block of Job-File
‘1’ = Next Block of Job-File
‘2’ = Resend current Block
‘3’ = Abort

Comments:
• The first request has to be sent with First/Next = 0, all subsequent requests with First/Next = 1. If an error
occurs, a request can be repeated with First/Next = 2.

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Job Management JOB, Message Identifier
c--c, Job Name, (max. 30 characters)
x, Device1 (if sent from Outside World)
xx, Total # of Job related Files
xx, File #
xx, Total # of Blocks
xx, Block #2
x, File type3
c--c, File Name, (max. 80 characters, may include sub-directory)
xx, Block size, Bytes
x 1st Byte in block
. .
. .
x nth Byte in block, (where n = Block size)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘1’ = Sensor Internal (for set only)
‘2’ = Sensor PC-Card (for set only)

2
‘0’ = Abort

3
‘103’ = Point Related Database
‘104’ = Observation Related Database
‘105’ = Additional Job files

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3.8.9 Enter Security Code (SEC)

Description: This message enables functionality to be activated which was previously not available. The
Code is unique for each sensor and each operational feature.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Enter Security Code SEC, Message Identifier
xxxx, Article Number
c--c Code, (max. 19 characters)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

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3.8.10 Message Interruption (STP)

Description: This message allows control over the output of other messages. Output rates etc. can not be
altered, but the messages can either be Stopped or Paused, and then Resumed if they were
previously Paused. This message saves sending multiple messages to stop multiple message
outputs.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Message Interruption STP, Message Identifier
x, Port to Interrupt Messages 1
x Interrupt flag: ‘0’ = Stop ‘1’ = Pause ‘2’ = Resume
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
‘1’ = Port 1 ‘3’ = Port 3 ‘5’ = All Ports
‘2’ = Port 2 ‘4’ = Terminal Port

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3.8.11 Transfer file(s) between Sensor Internal and Sensor PC-Card (TRF)

Description: This message provides the functionality to be able to Transfer a file or files from one system
memory location to the other. The two memory devices are called Sensor Internal and Sensor
PC-Card. A typical use of this message would be if all data had been collected on Internal
memory and the data could be Transferred to a PC-Card memory module before it was loaded
on a computer to save the time consuming technique of data download to a computer using
serial communications.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Transfer file(s) TRF, Message Identifier
between Sensor x, File type1
Internal and Sensor x, Transfer from destination2
PC-Card c--c, Filename from, (max. 80 characters, may include sub-directory)3
x, Transfer to destination2
c--c Filename to, (max. 80 characters, may include sub-directory)3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘100’ = Configuration Set (*.cnf) file
‘101’ = Antenna Information
‘102’ = Geoid Field file
‘103’ = Point Related Database
‘104’ = Observation Related Database
‘105’ = Additional Job files
‘106’ = Coordinate System
‘107’ = Codelist
‘108’ = IDEX file
‘109’ = GSI file
‘110’ = User ASCII file
‘111’ = Ring buffer files
‘112’ = System Event Log file
‘113’ = CSCS Field file
‘114’ = Beacon Station List
‘115’ = Modem/GSM Station List
‘116’ = CFC Log Mask File
‘117’ = CXT file for extended choice lists

‘200’ = Unknown

‘255’ = All file types

2
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card

3
May include wildcards i.e. ‘*.*’ or ‘*.o??’.
!!! But the wildcard "*" is not allowed, instead of that character “*” use the character “|” (-> ASCII:124)
i.e. ‘|.|’ or ‘|.o??’.If the file type is known, then no sub-directory is needed.

Comments:
• $PLEIQ,DIR,... can be used to get filename(s) from Sensor before transferring.
• This message can also be used to rename files.

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3.8.12 User defined message from list of pre-defined variables (USR)

Description: This message is designed to give the Users maximum flexibility as they can design a
message to contain exactly the information required and to be formatted in the way they want.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
User defined message USR, Message Identifier
from list of pre-defined x, Port 1
variables x, Output rate2
x User defined message #
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
User defined message USR, Message Identifier
from list of x, User defined message # (1 … 10)
pre-defined variables x, Port 6
x, Output rate2
xx, Number of characters used in printf statement
c—c, User defined C printf statement, (max. 1,023 characters)1
xx.xx, Scale factor to allow conversion of linear units3
xx.xx, Scale factor to allow conversion of angular units4
xx.xx, Scale factor to allow conversion of velocity units5
x Include Header/Footer: ‘0’ = No ‘1’ = Yes
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
All characters which are allowed in a printf statement are allowed in this c--c string, i.e. this string
does not have the same restrictions as all other c--c strings.
Users can output the message in any format they wish, using any of the available variable.
e.g. of variables and sample string:

variables:
see table on following pages.

sample string c--c:

"%d:%d:%.4f,%.3f,%.3f,%.3f",UTC_hour,UTC_min,UTC_sec,POS_East,POS_North,POS_Height_Ellip

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2
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

3
Internal linear units are stored in metres, and this allows users to convert to Feet, chains etc.

4
Internal angular units are stored in radians, and this allows users to convert to degrees, Gons etc.

5
Internal velocity units are stored in m/s, and this allows users to convert to knots, mph, km/h etc.

6
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

Message Type Format Content

User defined message c--c User defined string, (max. 1,023 characters)1
from list of pre-defined <CR> Carriage Return
variables <LF> Line Feed
Notes:
1
e.g. (No Header/Footer):
10:0:0.0000,10000.000,10000.000,100.000<CR><LF>

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
User defined message Uxx1, Message Identifier
from list of pre-defined c--c User defined string, (max. 1,023 characters)2
variables *hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
xx … 01, 02, 03, 04, 05, 06, 07, 08, 08, 09, 10
The system can manage up to 10 user defined messages at the same time

2
e.g. (With Header/Footer):
$PLEIR,Uxx,10:0:0.0000,10000.000,10000.000,100.000*26<CR><LF>

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Variable Type Comments / Units (Range)

Time Information
UTC_hour UI*1 UTC Hour 0 - 24
UTC_min UI*1 UTC Minute 0 - 59
UTC_sec R*4 UTC Seconds 0.0 - 59.9
UTC_day UI*1 UTC Day 1 - 31
UTC_month UI*1 UTC Month 1 - 12
UTC_year UI*2 UTC Year 1900 - 2999
GPS_hour UI*1 GPS Hour 0 - 24
GPS_min UI*1 GPS Minute 0 - 59
GPS_sec R*4 GPS Seconds 0.0 - 59.9
GPS_day UI*1 GPS Day 1 - 31
GPS_month UI*1 GPS Month 1 - 12
GPS_year UI*2 GPS Year 1900 - 2999
GPS_week UI*2 GPS week number 0 - 53000
GPS_secweek R*8 milliseconds of GPS week 0.0 -
604800.0
Position Information
Pos_East R*8 Position East1 metres
Pos_North R*8 Position North 1 metres
Pos_Height_Orth R*8 Orthometric Height1 metres
Pos_Height_Ellip R*8 Ellipsoid Height1 metres
Pos_Geoid_Sep R*8 Geoid / Ellipsoid Separation1 metres
Pos_Lat_rad R*8 Position Latitude2 radians
± π/2
Pos_Lon_rad R*8 Position Longitude2 radians ± π
Pos_Height R*8 Position Height radians ± π
Pos_Lat_deg_Abs UI*1 Absolute Position Latitude (Degrees) 0 - 90
Pos_Lon_deg_Abs UI*1 Absolute Position Longitude (Degrees) 0 - 180
Pos_Lat_Hemi SZ*1 Position Latitude Hemisphere N or S
Pos_Lon_Hemi SZ*1 Position Longitude Hemisphere E or W
Pos_Lat_deg SI*1 Position Latitude (Degrees) ± 90
Pos_Lon_deg SI*2 Position Longitude (Degrees) ± 180
Pos_Lat_min UI*1 Position Latitude (Minutes) 0 - 59
Pos_Lon_min UI*1 Position Longitude (Minutes) 0 - 59
Pos_Lat_sec R*4 Position Latitude (Seconds) 0.0 - 59.9
Pos_Lon_sec R*4 Position Longitude (Seconds) 0.0 - 59.9
Pos_Lat_min_dec R*4 Position Latitude (decimal Minutes) 0.0 -
59.9
Pos_Lon_min_dec R*4 Position Longitude (decimal Minutes) 0.0 - 59.9
Pos_Cart_X R*8 Position Cartesian X1 metres
Pos_Cart_Y R*8 Position Cartesian Y1 metres
Pos_Cart_Z R*8 Position Cartesian Z1 metres
Pos_Latency UI*2 Position Latency milliseconds
Pos_Bline_dX R*8 Cartesian Baseline component dX1 meters
Pos_Bline_dY R*8 Cartesian Baseline component dY 1 meters
Pos_Bline_dZ R*8 Cartesian Baseline component dZ1 meters
Quality Information
Coord_Qual R*4 Three dimensional Coordinate Quality1 metres
Lat_North_Qual R*4 One dimensional Coordinate Quality1 metres
Lon_East_Qual R*4 One dimensional Coordinate Quality1 metres
Height_Qual R*4 One dimensional Coordinate Quality1 metres
Cart_X_Qual R*4 One dimensional Coordinate Quality1 metres
Cart_Y_Qual R*4 One dimensional Coordinate Quality1 metres
Cart_Z_Qual R*4 One dimensional Coordinate Quality1 metres
Q_Matr_FM0 R*4 Mean error of unit weight
Q_Matr_Q11 R*4 elements of Qxx Matrix 1 metres * metres
Q_Matr_Q12 R*4 elements of Qxx Matrix 1 metres * metres
Q_Matr_Q13 R*4 elements of Qxx Matrix 1 metres * metres
Q_Matr_Q22 R*4 elements of Qxx Matrix 1 metres * metres

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Q_Matr_Q23 R*4 elements of Qxx Matrix 1 metres * metres

Q_Matr_Q33 R*4 elements of Qxx Matrix 1 metres * metres
Q_Matr_XYZ _Q11 R*4 elements of Qxx Matrix for Cartesian 1 metres * metres
Q_Matr_XYZ _Q12 R*4 elements of Qxx Matrix for Cartesian 1 metres * metres
Q_Matr_XYZ _Q13 R*4 elements of Qxx Matrix for Cartesian 1 metres * metres
Q_Matr_XYZ _Q22 R*4 elements of Qxx Matrix for Cartesian 1 metres * metres
Q_Matr_XYZ _Q23 R*4 elements of Qxx Matrix for Cartesian 1 metres * metres
Q_Matr_XYZ _Q33 R*4 elements of Qxx Matrix for Cartesian 1 metres * metres
Satellite Information
GDOP R*4 Geometric Dilution Of Precision 0.0 - 99.9
PDOP R*4 Position Dilution Of Precision 0.0 - 99.9
HDOP R*4 Horizontal Dilution Of Precision 0.0 - 99.9
VDOP R*4 Vertical Dilution Of Precision 0.0 - 99.9
TDOP R*4 Time Dilution Of Precision 0.0 -
99.9
Sats_Vis UI*1 Number of Satellites Visible 0 - 12
Sats_Trk UI*1 Number of Satellites Tracked 0 - 12
Sats_Usd UI*1 Number of Satellites Used in Computation 0 - 12
Velocity Information
Speed R*4 Speed3 m/s
Course R*4 Course (True)2 radians 0 - 2π

Note:
1
Can be converted using the Scale factor for linear units.
2
Can be converted using the Scale factor for angular units.
3
Can be converted using the Scale factor for velocity units.

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3.8.13 Event Input (EVT)

Description: Set or verify event time boundaries and sequencing. The minimum processing interval for each
of the two events is 100 milliseconds. If an event trigger is valid (falls within time boundaries),
only one event and only the first event in each 100 millisecond interval will be triggered (for
each event input in use). Any multiple occurrences of duration greater than the guard time and
less than 1000 msec will increment the Event Pulse Count filed in the event data message.
Note: the polarity field in the configuration is applicable to both event inputs.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Event Input EVT, Message Identifier
x, Port 1
x, Output rate2
x Event input port 3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘0’ = Event Port 1
‘1’ = Event Port 2

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Event Input EVT, Message Identifier
x, Event input port 1
x, Activate Event input: ‘0’ = No ‘1’ = Yes
c--c, Event input description, (max. 80 characters)
x, Information to log2
xxxx, Internal bias, nanoseconds (±)3
xxxx, External bias, nanoseconds (±)
xxxx, Time Guard (0-3599999), millisec
x Polarity ‘0’ = negative edge ‘1’ = positive edge4
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Event Port 1
‘1’ = Event Port 2

2
‘0’ = None
‘1’ = Time only
‘2’ = Time and Position
‘3’ = Time, Position and Velocity
‘4’ = Time, Position and Velocity with Quality Indicators

3
To use factory default do not supply a value

4
applies to all event ports

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3.8.14 Event Input Response 1 or 2 (EI1, EI2)

Description: The EIx response message informs the user that an event was detected by the sensor, and the
time that the event was detected.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Notification that an EIx, Message Identifier (EI1 or EI2)
Event Input was x, Port 1
Received x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘201’ = Output when new data is available

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Notification that an EIx, Message Identifier (EI1 or EI2)
Event Input was xxxx, GPS time of week of Event (msec)
Received xxxx, GPS time of week, sub-msecs (nsec)
xx, GPS week of Event
xx, Event Count
xx Event Pulse Count 1
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

1
this is the count of all event pulses including those which violate boundary conditions specified in the
event control message EVT. This value is provided to allow determination of missed events.

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3.8.15 Pulse Per Second (PPS) output

Description: This message allows the beginning and ending of PPS output.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Pulse Per Second PPS, Message Identifier
(PPS) output x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
SET: $PLEIS, Header, message sent from Outside World
Pulse Per Second PPS, Message Identifier
output x, Port for PPS output 1
x, Output rate PPS Pulse2
x, Time Alignment: ‘1’ = GPS
xxxx, External bias, nanoseconds (±)3
x, PPS Mark Mode4
xxxx Time mark error limit, nanoseconds 5
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = PPS Port 1

2
‘0’ = Output Off ‘7’ = 4 sec
‘1’ = 0.1 sec ‘8’ = 5 sec
‘2’ = 0.2 sec ‘9’ = 6 sec
‘4’ = 1 sec ‘10’ = 10 sec
‘5’ = 2 sec ‘12’ = 15 sec
‘6’ = 3 sec ‘13’ = 20 sec

3
Currently not used

4
‘1’ = Output at specified rate regardless of estimated error
‘2’ = Output if estimated error is below limit

5
only valid if PPS Mark Mode = 2

If output rate PPS pulse is smaller then 1 sec the HPT is stopped

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3.8.16 High priority time (HPT)

Description: This message is the notification message of the PPS output

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Pulse Per Second HPT, Message Identifier
(PPS) High Priority x, Port 1
Time x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘201’ = Output when new data are available

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Pulse Per Second HPT, Message Identifier
(PPS) High Priority xxxx, GPS time of week of Next PPS Pulse (msec)
Time xx, GPS week number of Next PPS Pulse
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Comments:
• The High Priority Time message will be sent at least 0.5 seconds prior to the next PPS Pulse.
• The length of each PPS Pulse is 25 µsec.
• Only available if 'Output rate PPS Pulse' >= 1 sec.

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3.8.17 Ring Buffer Download (RBD)

Description: Allows the Download of the Ring Buffer related files.

Message Type Format Content

QUERY: $PLEIQ, Header, message sent from Outside World
Ring Buffer Download RBD, Message Identifier
x, Port 1
x, Output rate2
x, Device3
x, Ring Buffer Number4
xx, Size of Block, Bytes 5
x First/Next indicator6
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘200’ = Output immediately

3
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card

4
‘0’.. ‘9’ = Ring Buffer Number

5
The maximum Block size is 1,800 Bytes.

6
‘0’ = First Block
‘1’ = Next Block
‘2’ = Resend current Block
‘3’ = Abort

Comments:
• Device, Ring Buffer Number and Size of Block is used with First/Next = 0 only. It can not be changed during
download.
• The first request has to be sent with First/Next = 0, all subsequent requests with First/Next = 1. If an error
occurs, a request can be repeated with First/Next = 2.
• Ring buffer files are logged into a separate directory (\DATA\GPS\RINGBUF).

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Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Sensor
Ring Buffer Download RBD, Message Identifier
x, Ring Buffer Number1
xx, Total # of Ring Buffer related Files
xx, File #
xx, Total # of Blocks
xx, Block #
c--c, File Name, (max. 80 characters, may include sub-directory)
xx, Block size, Bytes
x 1st Byte in block
. .
. .
x nth Byte in block, (where n = Block size)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’.. ‘9’ = Ring Buffer Number

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3.8.18 Upload file to Sensor (ULF)

Description: To provide all of the tools necessary to allow full system management it is critical that files can
be Uploaded to the system. These Uploaded files can then be used to operate the system, or
to provide extra functionality. This message allows files to be Uploaded to the system.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Upload file to Sensor ULF, Message Identifier
x, Device1
xx, Total # of Blocks
xx, Block # 2
x, File type3
c--c, Filename, (max. 80 characters, may include sub-directory)4
xx, Block size, Bytes 5
x 1st Byte in block
. .
. .
x nth Byte in block, (where n = Block size)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘0’ = Sensor Internal
‘1’ = Sensor PC-Card
‘2’ = Sensor System Memory

2
if eq. 0 the ULF stops

3
‘100’ = Configuration Set (*.cnf) file
‘101’ = Antenna Information
‘102’ = Geoid Field file
‘103’ = Point Related Database
‘104’ = Observation Related Database
‘105’ = Additional Job files
‘106’ = Coordinate System
‘107’ = Codelist
‘108’ = IDEX file
‘109’ = GSI file
‘110’ = User ASCII file
‘111’ = Ring buffer files
‘112’ = System Event Log file
‘113’ = CSCS Field file
‘114’ = Beacon Station List
‘115’ = Modem/GSM Station List
‘116’ = CFC Log Mask File
‘117’ = CXT file for extended choice lists

‘200’ = Unknown

4
If the file type is known, then no sub-directory is needed.

5
The maximum Block size is 1,800 Bytes.

Comments:
• The acknowledgement message will inform the user that the sensor successfully received the message. If a
negative acknowledgement is received, the message must be re-sent.
• If all Blocks cannot be Uploaded, the Sensor will delete the incomplete file.

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3.8.19 Delete System Object (DSO)

Description: This message provides the functionality to Delete System Objects.

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
Delete System Object DSO, Message Identifier
x, Object Type1
c—c Object Name, (max. 20 characters)
*hh Checksum
<CR> Carriage Return
<LF> Line Feed
Notes:
1
‘1’ = Language
‘2’ = Character Set
‘3’ = …..

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3.9 External Devices

3.9.1 Send message to external ASCII Device (SAD)

Description: This message sends a string to an external ascii device. The string can be sent once or
periodicaly (stop with 0 = Output off).

Message Type Format Content

SET: $PLEIS, Header, message sent from Outside World
External ASCII Device SAD, Message Identifier,
x, Data rate1,
The following block is ommitted if Data rate is set to ‘Output Off’
x, Message End to the Device 2,
c—c ASCII Msg to the Device (max. 255 characters)3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
1
‘0’ = Output Off ‘9’ = 6 sec ‘18’ = 4 min
‘1’ = 0.1 sec (10 Hz) ‘10’ = 10 sec ‘19’ = 5 min
‘2’ = 0.2 sec (5 Hz) ‘11’ = 12 sec ‘20’ = 6 min
‘3’ = 0.5 sec (2 Hz) ‘12’ = 15 sec ‘21’ = 10 min
‘4’ = 1 sec ‘13’ = 20 sec ‘22’ = 12 min
‘5’ = 2 sec ‘14’ = 30 sec ‘23’ = 15 min
‘6’ = 3 sec ‘15’ = 1 min ‘24’ = 20 min
‘7’ = 4 sec ‘16’ = 2 min ‘25’ = 30 min
‘8’ = 5 sec ‘17’ = 3 min ‘26’ = 1 hour

‘200’ = Output immediately

2
Is ommitted if Input rate is set to ‘Output Off’
‘0’ = <CR>
‘1’ = < LF>
‘2’ = <CR><LF>
‘3’ = None

3
Is ommitted if Input rate is set to ‘Output Off’
Invalid characters: <CR> <LF>
The char “*” is not allowed, instead of the character “*” use the character “|”
(->ASCII:124) in the message and “*” is sent to the device.

Comments:
• It is necessary to configure and activate the external ascii device (CFG & CTL msg or terminal) once,
before receive this message.
• If a periodic output is active and an output immediately request is sent, the request will be send
immediately and the active periodic message will not be deleted (periodic output continues).

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3.9.2 Notify from external ASCII Device (NAD)

Description: This message notifies a string sent by an external device.

Message Type Format Content

QUERY $PLEIQ Header, message sent from Outside World
External ASCII Device NAD, Message Identifier,
x, Port 1
x Output rate2
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Message Type Format Content

RESPONSE: $PLEIR, Header, message sent from Outside World
External ASCII Device NAD, Message Identifier,
C—c ASCII Msg from the Device (max. 255 characters)3
*hh Checksum
<CR> Carriage Return
<LF> Line Feed

Notes:
1
‘0’ = Current Port
or Remote port as configured (‘1’ = Port 1, ‘2’ = Port 2, ‘3’ = Port 3, ‘4’ = Terminal Port)

2
‘0’ = Output Off
‘201’ = Output when new data is available

3
Invalid characters:
The char "*" is not allowed, instead of that character “*”the character “|”
(->ASCII:124) is used.

Comments:
It is necessary to configure and activate the external ascii device (CFG & CTL msg or terminal) once, before
receive this message.

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"Outside World Interface" (OWI) Interface Control Document

4 Conclusion
Upon completion of the review process of this document, the format of each of the messages can be distributed
to 3rd Party software houses. Upon this, development of the 3rd Party - Applications can begin, and hence the
success of system 500.

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