LD8

Operations Manual

AB-V-MA-00635_RevA11
06 February 2024
Contents
1 Introduction 4
1.1 General information 4
1.2 LD8 receiver 4
1.3 System requirements 4
1.4 Veripos Support 5
1.5 Activating Veripos correction services 5
1.6 Terms and abbreviations 6
1.7 Document conventions 8
1.8 LD8 Notices 9
1.9 Disclaimer 12
2 Hardware overview 13
2.1 Overview and description 13
2.2 LEDs 13
2.3 Interface panel connections 15
3 Ethernet and WebUI connection 16
3.1 Ethernet 16
3.2 WebUI connection 16
4 Configuration and operation 17
4.1 WebUI status 17
4.2 LD8 password 19
4.3 LD8 firmware 20
4.4 L-band configuration 21
4.5 Activation and deactivation of Veripos services 24
4.6 Calculation configuration 26
4.7 Ethernet configuration 28
4.8 Output configuration 30
4.9 Input configuration 35
4.10 Rolling log 36
4.11 Factory reset 37
5 Reference information 38
5.1 Commands list index 38
5.2 LD8 output sentences 40
6 Contact information 62
6.1 Veripos Support details 62

LD8 Operations Manual 2

 7 Appendix 63
7.1 L-band coverage map 63

LD8 Operations Manual 3

 1.1 General information

1 Introduction
1.1 General information
To assist with LD8 operation, it will help to have the following items available when consulting this
document:
l LD8 and associated equipment shipped to the site.
l A PC or Laptop meeting the system requirements specified below
l The Delivery note provided within the shipment from Veripos.
l LD8 Installation Manual
l Veripos document Antenna and Coaxial Cable Installation.
l LD8 FAQs and Quick Guides, available from https://help.veripos.com.

1.2 LD8 receiver

The LD8 is a high precision system, built into a lightweight, compact and environmentally protected
enclosure and designed to operate reliably in the most demanding of marine environments. Key system
features:
l Supports decimetre-level multi-constellation positioning with Veripos APEX and Ultra PPP
correction services
l Compatible with Veripos Quantum software
l EN60945 Marine Certified
l 555 channels, all constellations, multi-frequency tracking
l Simultaneously track up to three Veripos correction service satellites
l ALIGN® GNSS heading solution
l Supports RTK operations
l Multiple communication interfaces for easy installation
l WebUI configuration utility

1.3 System requirements

This release of LD8 requires a PC or laptop with Windows 7 or Windows 10 installed, capable of running
the latest version of Microsoft Edge, Mozilla Firefox or Google Chrome (see individual browser
requirements for more information) and an Ethernet port.

LD8 Operations Manual 4

 1.4 Veripos Support

1.4 Veripos Support

Veripos Support is a service provided as the first point of contact for all Veripos technical support and
fault reports. It is available 24 hours a day, 365 days per year. Full contact details are available in the
Contact information section.

For support cases, contact [email protected] or raise a ticket at https://help.veripos.com.

Either method will immediately notify Veripos Support, who will then assist.

Veripos Support will provide initial help and may, if necessary, escalate tickets to regional on-call
engineers to provide more in-depth technical support.

To aid support, upon first contact, please provide the following:

• Details of the issue or question

• Vessel name

• Company name

• Telephone number

• Unit user code

• Veripos hardware type

• Veripos software type

• Operating area

• Is this issue holding up operations?

• Any other relevant information

1.5 Activating Veripos correction services

Veripos correction signals are provided on a subscription basis by Veripos.

Activation of the LD8 is necessary for the system to decode corrections and output a corrected position.
Users may request activation of services from Veripos Support, who will send the activation signal to the
unit via an L-band satellite.

When not in use, some service agreements may allow for service deactivation.

NOTE
To use Veripos correction signals, a contract with Veripos must first be in place.
Veripos refers to this as a Service Access License (SAL).

To avoid delays, users should record the SAL number associated with the Veripos
equipment. Veripos Support is unable to activate any equipment unless an active
SAL exists.

LD8 Operations Manual 5

 1.6 Terms and abbreviations

1.6 Terms and abbreviations

AC Alternating Current
APEX Veripos high accuracy positioning solution
BEIDOU Chinese commissioned GNSS
dB Decibel
DHCP Dynamic Host Configuration Protocol
DOP Dilution of Precision
DP Dynamic Positioning
DQI Differential Quality Indicator
EU European Union
GALILEO European commissioned GNSS
GLONASS GLObal NAvigation Satellite System - Russian commissioned GNSS
GNSS Global Navigation Satellite System
GPS Global Positioning System - United States commissioned GNSS
HDOP Horizontal Dilution of Precision
Hz Hertz
ID Identification
IP Internet Protocol
IPv4 Internet Protocol version 4
LAN Local Area Network
L-band Signal transmitted to carry correction data to mobile users
LD8 Veripos receiver containing combined L-band and GNSS card
LED Light Emitting Diode
NMEA National Marine Electronics Association
PDOP Positional Dilution of Precision
PPP Precise Point Positioning
PPS Pulse Per Second
PRN Pseudo Random Noise
PSN Product Serial Number
PWR Power
RJ45 A physical network interface standard used in telecommunications
RTCM Radio Technical Commission for Maritime Services
RTK Real-Time Kinematic
SAL Service Access License
SBAS Satellite Based Augmentation System
SMA SubMiniature version A
Standard Veripos Single frequency DGNSS system
TCP Transmission Control Protocol

LD8 Operations Manual 6

 1.6 Terms and abbreviations

UAL User Accuracy Level

UI User Interface
Ultra Veripos high accuracy position solution
USB Universal Serial Bus
UTC Coordinated Universal Time
VDC Volts Direct Current
VDOP Vertical Dilution of Precision
VOSS Veripos Online Support System
WAAS Wide Area Augmentation System
WebUI Web User Interface
WEEE Waste Electrical and Electronic Equipment
Wi-Fi IEEE 802.11 (wireless) standard

LD8 Operations Manual 7

 1.7 Document conventions

1.7 Document conventions

1.7.1 Typographical conventions

Italic or bold text is used to emphasize certain information. Italic is also used in cross-references to other
parts of the document and to other documents.

Bold text is also used for indicators and touch screen “push-buttons” commands.

Blue text is used for hyperlinking to other sections within this document or to external documents or
websites.

Bold italic text is used when display screens are mentioned in text.

Monospace text is used for input/output strings to/from the device.

1.7.2 Special Notices

WARNING
A warning indicates the risk of bodily harm or serious damage to the
hardware.

CAUTION
A caution indicates the risk of damaging the hardware or adversely
impacting the operation of the system.

NOTE
A note contains important information to help you make better use of the system.

LD8 Operations Manual 8

 1.8 LD8 Notices

1.8 LD8 Notices

The following notices apply to the LD8:

1.8.1 Waste electrical and electronic equipment

The Waste Electrical and Electronic Equipment Directive (hereinafter referred to as the “WEEE
directive”) places an obligation on EU-based manufacturers, distributors, retailers and importers to take-
back electronics products at the end of their useful life. A sister directive, RoHS (Restriction of Hazardous
Substances) complements the WEEE directive by banning the presence of specific hazardous
substances in the products at the design phase. The WEEE directive covers all VERIPOS products
imported into the EU as of August 13, 2005. EU-based manufacturers, distributors, retailers and
importers are obliged to finance the costs of recovery from municipal collection points, reuse, and
recycling of specified percentages per the requirements contained in the WEEE Directive.

Instructions for disposal of WEEE by users in the European Union

Products which have the undernoted symbol located on either the product itself or its packaging indicates
that the product must not be disposed of with other waste. Instead, it is the user’s responsibility to
dispose of the product by handing it over to a designated collection point for the recycling of WEEE. The
symbol shown below is on the product or on its packaging, which indicates that this product must not be
disposed of with other waste. Instead, it is the user’s responsibility to dispose of their waste equipment by
handing it over to a designated collection point for the recycling of waste electrical and electronic
equipment.

The separate collection and recycling of your WEEE at the time of disposal will help to conserve natural
resources and ensure that it is recycled in a manner that protects human health and the environment. For
more information about recycling centres, please contact the local city office, the household waste
disposal service or the product supplier.

LD8 Operations Manual 9

 1.8 LD8 Notices

1.8.2 FCC

This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:
(1) this device may not cause harmful interference, and (2) this device must accept any interference
received, including interference that may cause undesired operation.

LD8 has been tested and found to comply with the radiated and conducted emission limits for a Class B
digital device. The Class B limits are designed to provide reasonable protection against harmful
interference in a residential installation.

The equipment listed generates, uses and can radiate radio frequency energy and, if not installed and
used in accordance with the instructions, may cause harmful interference to radio communications.
However, there is no guarantee that interference will not occur in a particular installation. If this
equipment does cause harmful interference to radio or television reception, which can be determined by
turning the equipment off and on, the user is encouraged to try to correct the interference by one or more
of the following measures:
l Re-orient or relocate the LD8
l Increase the separation between the equipment and the LD8
l Connect the equipment to an outlet on a circuit different from that to which the LD8 is connected
l Consult Veripos for help

CAUTION
To maintain compliance with the limits of a Class B digital device, you must
use shielded interface cables.

WARNING
The LD8 has been authorised for use in mobile applications. At least 20 cm
(8 inches) of separation between the LD8 and the User must be maintained
during normal operation.

WARNING
Changes or modifications to this equipment, not expressly approved by
Veripos could void the user’s authority to operate this equipment.

1.8.2.1 Wi-Fi

The LD8 contains a Wi-Fi radio with the following approval:

l FCC ID: UTU-01019715

LD8 Operations Manual 10

 1.8 LD8 Notices

1.8.3 European Union / United Kingdom (UK)

1.8.3.1 Radio Equipment Directive

Veripos declares that the LD8 including its Wi-Fi transceiver is in compliance with:
1. EU Directive 2014/53/EU
2. UK Regulations S.1. 2017/1206
The full text of either the UK or EU Declaration of Conformity may be obtained from Veripos upon
request.

1.8.3.2 ROHS

The LD8 is in conformity with Directive 2011/65/EU of the European Parliament and of the council of 8
June 2011 on the restriction of the use of certain hazardous substances in electrical and electronic
equipment.

LD8 Operations Manual 11

 1.9 Disclaimer

1.9 Disclaimer
Hexagon Autonomy & Positioning division proprietary data
This document and the information contained herein are the exclusive properties of Veripos Limited, and/or their affiliates within the
Hexagon Autonomy & Positioning division (“Hexagon”).

No part of this document may be reproduced, displayed, distributed, or used in any medium, in connection with any other materials,
or for any purpose without prior written permission from Hexagon. Applications for permission may be directed to
[email protected]. Unauthorized reproduction, display, distribution or use may result in civil as well as criminal sanctions
under the applicable laws. Hexagon aggressively protects and enforces its intellectual property rights to the fullest extent allowed
by law.

This document and the information contained herein are provided AS IS and without any representation or warranty of any kind.
Hexagon disclaims all warranties, express or implied, including but not limited to any warranties of merchantability, non-
infringement, and fitness for a particular purpose. Nothing herein constitutes a binding obligation on Hexagon.

The information contained herein is subject to change without notice.

© Copyright 2024 Hexagon AB and/or its subsidiaries and affiliates. All rights reserved. A list of entities within the Hexagon
Autonomy & Positioning division is available at https://hexagon.com/company/divisions/autonomy-and-positioning.

LD8 Operations Manual 12

 2.1 Overview and description

2 Hardware overview
This section describes the physical characteristics of the LD8, provides information on the different
possible LED statuses and details the interface panel inputs.

2.1 Overview and description

l The LD8 is a small, lightweight and low power system.
l Veripos provide a +9 to +36 VDC power supply with the LD8.
l The unit incorporates front panel LED indicators for status monitoring.
l Command-line driven terminal configuration can be carried out via a web-based interface.

2.2 LEDs
There are five LED indicators used to communicate the receiver status to the user:

LED Description

Used for transferring logged

1. TRANSFER
data

Indicates the position status of

2. GNSS
the receiver.

Indicates the status of logging

3. LOG
to the receiver internal memory

4. INS Not currently supported

5. PWR Indicates the power status

The following subsections detail the different possible LED states and their corresponding definitions:

2.2.1 PWR LED

State Description
Solid green Operational mode
Solid yellow In the process of booting
Solid red Error, or update of receiver component in progress

2.2.2 GNSS LED

State Description
Solid green PPP (APEX or Ultra) solution
Slow green blink RTK
Fast green blink DGNSS (Standard or SBAS) solution or uncorrected
Solid yellow No solution

LD8 Operations Manual 13

 2.2 LEDs

2.2.3 LOG LED

State Description
Off LD8 is connected to a computer as a mounted device
Green blink Logging to internal memory
Green solid Internal logging stopped
Green/yellow alternating blink Logging to internal memory with low memory available
Yellow solid Internal logging stopped with low memory available
Yellow fast blink Memory is busy
Internal memory full and system is utilising a rolling log, or memory has
Red solid
corrupted

LD8 Operations Manual 14

 2.3 Interface panel connections

2.3 Interface panel connections

This section details the antenna and data connectivity available from the LD8 interface panel.

2.3.1 Coaxial

The LD8 interface panel is fitted with two SMA antenna connectors labelled ANT 1 and ANT 2:

Interface panel of LD8 with two GNSS antenna connectors

l The L-band and GNSS position antenna should be connected to the ANT 1 connector.
l Where the LD8 will be used to compute a heading, a second GNSS antenna should be connected
to ANT 2 connector.

GNSS Heading Solution Direction

2.3.2 Data cables

The LD8 System is supplied with a multiport adapter that splits out into cabling for COM1, COM2, COM3
and 1 PPS signal from a 26-pin high-density connector:

LD8 Operations Manual 15

 3.1 Ethernet

3 Ethernet and WebUI connection

The LD8 supports Ethernet (10Base-T/100Base-TX) for configuration and interfacing to other vessel
systems. The Ethernet port supports IPv4 Internet layer and TCP/IP transport.

3.1 Ethernet
A PC or laptop with an Ethernet port and an up-to-date version of Microsoft Edge, Mozilla Firefox or
Google Chrome is required to configure the LD8 for operation. Microsoft Edge comes pre-loaded onto
Veripos PCs when issued with the unit.

The LD8 is shipped with a factory default IP address of 192.168.2.8. The connecting PC or laptop should
be configured to use the same IP subnet.

If the LD8 needs to be configured to join an existing TCP/IP network, the commands to assist
configuration can be found in section Ethernet configuration.

3.2 WebUI connection

Once network connectivity has been established to the LD8, open a browser and enter the default LD8 IP
of 192.168.2.8 into the address bar. This will load the LD8 WebUI:

LD8 Operations Manual 16

 4.1 WebUI status

4 Configuration and operation

The two ways in which the LD8 can be configured are by using Veripos Quantum software, or by using
the LD8 WebUI. Quantum must be used if being used for system monitoring. If Quantum is not available,
system configuration must be performed through the WebUI, which features a terminal application that
can be used for sending commands.

This section introduces the WebUI and details how to perform LD8 system configuration using both
terminal commands and, where available, the WebUI. For configuration with Quantum please refer to the
Quantum User Manual.

4.1 WebUI status

Once connected to the LD8 via Ethernet and the WebUI has been loaded, the user will be presented with
the LD8 WebUI Home > Status page. This page displays information relating to the status and
behaviour of the system. To gain access to any other pages or functionality it is necessary to use the
Login option, found in the top right-hand corner of the page. To login to the system locate the LD8 serial
number, which typically starts with 'NMPL' and can be found on the underside of the unit. When
prompted, use the LD8 serial number as the password and click Log In. Changing the password is
possible, as detailed in section LD8 password.

LD8 Operations Manual 17

 4.1 WebUI status

4.1.1 WebUI Status page items

At the top of the page is a summary bar containing key system information. Below this, the main body of
the LD8 WebUI Home > Status page is split into several boxes, with each box containing useful system
information:

Item Description
Information relating to the operating mode, calculated position type, latitude, longitude,
Positioning
height, heading (if available), 2d-SD and datum.
A polar plot, showing currently tracked GNSS satellites. Clicking on any satellite will
reveal elevation, azimuth and signal strength information for that satellite. Highlighted
Satellite View
below the plot are the numbers of satellites used in the solution, (green) unused
(orange), and unhealthy (red).
Information regarding available ports. Highlights which ports are configured for input
Ports (and/or) output, as well as which are available and in use (green), available but idle
(orange).
The system logging status. Includes present log file size, the name of the currently
Logging
logging item and which messages are being logged.
Device Present CPU and storage usage, system temperature, antenna voltage and current.
Interference Highlights detected interference.
Heading Heading and pitch information, and baseline length.

4.1.2 Sending commands via WebUI terminal

Once a user has logged into the LD8, the system can be configured by using terminal commands. The
WebUI provides a terminal window which can be used for sending commands and receiving status
information from the unit. The WebUI terminal can be accessed by clicking on Tools on the top bar then
Terminal.

Commands entered into the input bar can be sent to the unit by using the keyboard Return/Enter key.
They will appear in the terminal in green, with echoed responses from the LD8 appearing in black.

LD8 Operations Manual 18

 4.2 LD8 password

Sending commands will trigger one of three different responses from the LD8:

Status response

When requesting system status information, such as querying which L-band beam/s are presently being
tracked, the LD8 should respond with an ‘<OK’ echo, followed by the requested information.

Acknowledgement response

When successfully making a configuration change a single or multiple line response containing ‘<OK>’
can be expected.

Rejection of command

A rejected command will be flagged as such with ‘INVALID MESSAGE’ or ‘ERROR’ appearing somewhere
within the echoed response, or no response will be received. These responses indicate that a command
has not been understood, or that a command has not been successfully implemented.

4.1.3 Saving changes

Whilst configuring the LD8 via the WebUI terminal, any configuration changes made will not get
automatically saved. Although any configuration changes made may appear to immediately work,
without the use of a save command these changes will be lost in the event of a power cycle.
One command is used for saving network changes and another command is used for saving all other
changes. Once either of the below commands has been sent an acknowledgement response should be
received:

Command Description
SAVEETHERNETDATA Saves any Ethernet configurations
SAVECONFIG Saves all settings excluding Ethernet configurations

4.2 LD8 password

To login to the system users will need to locate the LD8 serial number, which typically starts with 'NMPL'
and can be found on the underside of the unit or in the Log File Name on the WebUI Status page. Before
proceeding with mounting or configuration of the LD8, users may wish to change the password from the
LD8 serial number default.

4.2.1 LD8 password configuration via terminal

The LD8 password can be changed via the terminal.

The LD8 password can be changed from one password (such as LD8 serial number) to a new one by
entering:

SETADMINPASSWORD OLDPASSWORD NEWPASSWORD

To change the LD8 password back to the LD8 serial number enter:

FRESET USER_ACCOUNTS

LD8 Operations Manual 19

 4.3 LD8 firmware

4.3 LD8 firmware

To verify the present firmware on the LD8, send the below command:

LOG VERSION

The following information will appear in the terminal program. The firmware version has been highlighted:

GPSCARD "FDDRYNTVEA" "DMMU205000412" "OEM7720-1.01"

"OM7CR0814RN0000 OEM7FPGA """OMV070001RN0000" "" DEFAULT_CONFIG ""
"""""EP7CD0814RN0001" "" "2022/Oct/13" "15:43:41 APPLICATION """"
"""EP7AR0814RN0000" "" "2022/Oct/13" "15:43:35" PACKAGE "" "" ""
"EP7PR0814RN0000" "" "2022/Oct/13" "15:43:38" DB_LUA_SCRIPTS
"SCRIPTS" "Block1""" "SaM_4.1.0.4" "" "2022/Oct/10" DB_WWWISO
"WWWISO" "O" "" "1.9.0" "" "2022/Aug/08" "16:44:47" ENCLOSURE
"PWRPAK7D-E1" "NMPM21030008J" "" ww WIFI "RS9113" "" """1.7.12" ""
"2022/Oct/13" "15:43:48" REGULATORY "US" "" "" "" "" "" ""

LD8 Operations Manual 20

 4.4 L-band configuration

4.4 L-band configuration

Tracking of an L-band beam is required to receive Veripos service correction and activation data. This
section will detail how to establish and confirm successful L-band tracking to make use of Veripos
services. Auto Beam is the recommended way to manage L-band beam choices. When in this
mode, the LD8 will track up to three beams simultaneously with tracking determined based on available
L-band satellites and elevation and data received from each L-band satellite used within the calculation.

Using Auto Beam can mitigate against the impact of a single beam failure or masking. Additionally, when
using Auto Beam and transiting across different geographic regions, the LD8 will automatically select
available L-band beams. Whilst in this mode no manual beam selection is required.

The receiver also allows for selection of a single L-band beam. If a single beam is selected, it will disable
the Auto Beam selection. Veripos have five beams available as detailed below and, in most regions,
more than one beam should be available. A global map with a beam overlay can be found in the
Appendix, however the below table can be used as a general guide:

Beam Name Coverage

98W North America, Gulf of Mexico, South America
AORW North America, Gulf of Mexico, South America, North Sea, West Africa
25E North Sea, Mediterranean Sea, Africa, Persian Gulf, Caspian Sea
Asia, Australasia, Indian Ocean, East Africa, Persian Gulf, Caspian Sea,
IOR
East Mediterranean
143.5 Asia, Australasia, Indian Ocean

Where possible, different Veripos receiver units on the same vessel should be set to different beams to
maximise redundancy.

4.4.1 Selecting beam via WebUI

To select Auto beam (or a single beam if required) navigate to Configuration > Positioning and click
Receive (Rover), followed by Next. On the next page expand the PPP section and select either Auto or
an available beam, followed by Apply:

LD8 Operations Manual 21

 4.4 L-band configuration

4.4.2 Selecting Auto beam via terminal

To enable the use of Auto beam enter the following:

ASSIGNLBANDBEAM AUTO

4.4.3 Selecting a single beam via terminal

The format for assigning a specific L-band beam (98W, AORW, 25E, IOR, 143.5) is as follows:

ASSIGNLBANDBEAM BEAMNAME

4.4.4 Entering a custom beam frequency via terminal

A custom L-band beam name and frequency (in Hz) can be manually entered, however this should be
used only under the instruction of Veripos Support. The format for assigning a user L-band beam is as
follows:

ASSIGNLBANDBEAM MANUAL BEAMNAME FREQUENCY 1200

4.4.5 Tracked L-band beam and signal strength status via terminal

The presently tracked L-band beam/s and signal strength/s can be found by entering:

LOG LBANDTRACKSTAT

The returned status will display information relating to any of the beams that are being actively tracked or
searched for. The tracked L-band beam names will be found in quotation marks at the start of each line,
i.e. “25E”. The value after the beam name relates to the L-band beam frequency followed by the baud
rate, which is typically 1200 bps. The signal strength will be found in the 8th field along for each beam
line. Signal strengths are output in dB and a value of 36.5dB or above is optimal.

When in Auto beam mode the terminal output will be similar to the below:

LBANDTRACKSTAT WCOM1_30 0 50.5 FINESTEERING 2062 457753.000

0a000020 29e3 15441
3
"IOR" 1545865000 1200 974c 00c2 0 -91.416 43.052 3.6091 15658.910
298176 2330
746 38166528 290966 0.0000
"25E" 1545825000 1200 974c 00c2 0 -223.267 43.704 3.8057 78985.820
1504384 5 5 192561152 515 0.0000
"AORW" 1545845000 1200 974c 00c2 0 -280.645 40.858 2.8379 78986.523
1504448 607 571 192569344 68081 0.0015

LD8 Operations Manual 22

 4.4 L-band configuration

4.4.6 HDR mode configuration via terminal

Enabling HDR mode can assist with L-band tracking when potential interference sources are present.
HDR Mode uses signal processing to dampen potential sources of RF distortion, at the cost of increased
CPU usage. It is recommended that if any L-band tracking issues are observed (intermittent, low or no
signal) this option is enabled.

HDR mode can be enabled by entering:

ITFRONTENDMODE LBAND HDR

HDR mode can be disabled by entering:

ITFRONTENDMODE LBAND CIC3

LD8 Operations Manual 23

 4.5 Activation and deactivation of Veripos services

4.5 Activation and deactivation of Veripos services

To activate or deactivate Veripos services, firstly ensure that the LD8 is switched on and tracking an
L-band beam with a healthy signal level (>36.5 dB). Tracking of a L-band beam is required as activation
and deactivation updates are sent via the beam.

Email Veripos Support ([email protected]) with the Unit ID, Vessel Name, SAL number
and services required.

NOTE
Veripos Support cannot enable services unless an active SAL exists. To avoid
delay, please make sure that the SAL number is known and available prior to
requesting services.

4.5.1 Checking unit activation status via terminal

To check the present activation status of an LD8 enter:

LOG VERIPOSSTATUSA

The unit activation status can be either ENABLE (or) DISABLE.

The unit L-band sync status can be either LOCKED (or) NO_SIGNAL. For activation of Veripos services
the unit is required to have a sync status of LOCKED. Refer to section L-band configuration for
assistance on selecting an L-band beam if required.

An example of a status message response, with activation status showing DISABLE and Sync status
LOCKED:

VERIPOSSTATUSA,WCOM1,0,67.0,FINESTEERING,2040,375008.267,02008020,0
719,14970; DISABLE,LOCKED*0d439ce3

4.5.2 Checking unit ID and activation service code via terminal

If in doubt as to the LD8 unit ID and/or the activation service code enter the following:

LOG VERIPOSINFO

The LD8 unit ID is required for Veripos to activate services and each activation/deactivation is unique to
each unit ID. The activation service code can be used to determine what services the unit is activated to
receive.

LD8 Operations Manual 24

 4.5 Activation and deactivation of Veripos services

In the below terminal output, the unit has been successfully activated and the unit ID has been
highlighted, followed by the service activation code:

VERIPOSINFO WCOM1 0 66.0 FINESTEERING 2039 314993.573 02008020 2bd7

14970
<123456 NCC_CONTROLLED 80000111 "2"

In the below terminal output the unit has not yet been activated. The unit ID has been highlighted and no
value yet exists for the service activation code:

VERIPOSINFO WCOM1 0 66.5 FINESTEERING 2040 378378.140 03008020 2bd7

14970 <123456 UNASSIGNED 00000000 ""

NOTE
While a unit may be enabled for single PPP services it may not be fully utilising the
service as further configuration may be required to choose which Veripos PPP
service to use (APEX or ULTRA).

LD8 Operations Manual 25

 4.6 Calculation configuration

4.6 Calculation configuration

There are several calculation configuration options which can be changed by the use of commands.
These configuration options can update the way in which Veripos service types are utilised.

4.6.1 PPP mode selection via terminal

The two PPP solutions that Veripos offer, Ultra and APEX, allow for decimetre accuracy positioning.
Each of these services have no range limitations and can be used in any location.

Some Veripos service codes include both the APEX and Ultra solutions. On systems with corrections
subscriptions that include both Ultra and Apex, it is recommended that users set the LD8 to prioritise
Apex, and automatically fall back to Ultra should Apex become unavailable:

PPPSOURCE AUTO

If only one PPP solution is enabled users may configure the LD8 to use the activated service. Users
should ensure that the solution selected matches the service requested from support. The format for
assigning a specific solution (APEX or ULTRA) is as follows:

PPPSOURCE APEX

NOTE
Changing the PPPSSOURCE will re-initialise the PPP calculation, which will take
time to settle before a PPP solution output becomes available.

4.6.2 SBAS configuration via WebUI

The LD8 is capable of tracking and using correction data from Satellite Based Augmentation Systems
(SBAS). If SBAS is enabled a SBAS DGNSS solution will be output in the event of Veripos solutions
failure.

To enable/disable SBAS navigate to Configuration > Positioning and click Receive (Rover), followed
by Next. On the next page expand tick the SBAS box to enable SBAS. then select region (Auto is
recommended). Click Apply to confirm any changes.

LD8 Operations Manual 26

 4.6 Calculation configuration

4.6.3 SBAS configuration via terminal

The LD8 SBAS mode can be enabled or disabled via the terminal.

The SBAS positioning mode can be enabled by entering:

SBASCONTROL ENABLE AUTO

The SBAS positioning mode can be disabled by entering:

SBASCONTROL DISABLE

4.6.4 Heading offset and output frequency via WebUI

The Heading can be turned on or off from the Heading switch. The heading offset and the heading
output rate can be configured within the WebUI by navigating to Configuration > Heading. The heading
offset value can be set between -180o and +180o. The output rate can be set between 1Hz and 20Hz
(this does not apply to the HDT output message). Click Apply to confirm any changes.

4.6.5 Heading offset and output frequency via terminal

A heading offset and the heading output rate can also be configured via terminal. The heading offset
value can be set between -180° and +180°. The heading offset can be added by entering:

HEADINGOFFSET HEADINGOFFSETINDEG

The output rate can be set between 1Hz and 20Hz (this does not apply to the HDT output message). The
last value of the LOG message is the output rate field (1 = 1Hz, 0.5 = 2Hz, 0.2 = 5Hz, 0.1 = 10Hz, 0.05 =
20 Hz). The output rate can be set by entering:

LOG COM1 GPHDTDUALANTENNA ONTIME 1

LD8 Operations Manual 27

 4.7 Ethernet configuration

4.7 Ethernet configuration

Network connectivity to the LD8 is essential for configuration and implementing changes. The following
sub-sections detail how to check and change the present IP address settings.

4.7.1 IP configuration via WebUI

IP addresses can be checked and configured by navigating to Settings > Networking. Within the
Ethernet Window, the DHCP setting can be toggled to Off or On. Toggling DHCP to Off will allow for
Static IP address details to be input. Note the Wi-Fi related features are unavailable at present.

NOTE
If no connectivity via Ethernet is available, commands can also be sent through the
Serial COM ports.

4.7.2 Checking IP and subnet status via terminal

To check the current IP settings of the LD8 enter the command below:

LOG IPSTATUSA ONCE

IP and subnet settings will be returned, proceeded by ETHA, within quotation marks as highlighted
below:

IPSTATUSA,WCOM1_
30,0,65.0,FINESTEERING,2043,203989.000,02008020,7fe2,14970;2,ETHA,
"192.168.1.123"
,"255.255.255.0","192.168.1.1",WIFI,"192.168.19.1,"255.255.255.0","
",1,"0.0.0.0"*d9d1437c

LD8 Operations Manual 28

 4.7 Ethernet configuration

4.7.3 Setting a static IP via terminal

The LD8 is preconfigured with a static IP of 192.168.2.8, however this IP address can be changed to a
different static IP address. The command to change to a static IP follows the structure of:

IPCONFIG [interface_name] [address_mode] [IP_address] [netmask]

[gateway]

An example for this:

IPCONFIG ETHA STATIC 192.168.2.8 255.255.255.0 192.168.2.1

When configured for a static IP address the LD8 does not have a DNS server configured and cannot
resolve host names. To configure a DNS server entry, use the DNSCONFIG command:

DNSCONFIG 1 DNSSERVERIP

4.7.4 Changing IP to DHCP via terminal

The LD8 can be assigned an IP address via DHCP. If changing to DHCP use the IPSTATUSA command
to determine the newly assigned IP address.

CAUTION
Changing the IP address mode to DHCP will require verification of any newly
assigned IP address, which must be performed through connection to one of the
three COM ports.

To automatically assign a dynamic IP to the LD8 use the below command:

IPCONFIG ETHA DHCP

To change the unit back to a static IP, follow the instructions in section ‘Setting a static IP via terminal’.

LD8 Operations Manual 29

 4.8 Output configuration

4.8 Output configuration

The LD8 is capable of outputting Veripos RTCM data and a selection of message formats via the
following:

l Serial outputs are available for reference within commands or selected in the WebUI by using
‘COM1’, ‘COM2’ and ‘COM3’.
l TCP/IP output can be established to one of five ports: 3001, 3002, 3003, 3004 and 3005. These
are available for reference within commands or selected in the WebUI by using ‘ICOM1’, ‘ICOM2’,
‘ICOM3’, ‘ICOM4’ and ‘ICOM5' respectively. Only one connection can be established to each port.
l USB outputs are available for reference within commands or selected in the WebUI by using
‘USB1’, ‘USB2’ and ‘USB3’. Only one connection can be established to each port.
The available LD8 message types and the associated command variable to use when referencing each
type within the WebUI or terminal are shown below:

Message Command variable

GGA GPGGA
GST GPGST
ZDA GPZDA
GSA GPGSA
GSV GPGSV
GLL GPGLL
VTG GPVTG
GRS GPGRS
RMC GPRMC
HDT GPHDTDUALANTENNA
TRINAV V3* VERIPOSTRINAVVERSION V3 1
TRINAV V4* VERIPOSTRINAVVERSION V4 1
VERIPOS UKOOA* VERIPOSUKOOASENTENCE
BESTPOS BESTPOS
*Selection of TRINAV or UKOOA is only possible using the terminal.

LD8 Operations Manual 30

 4.8 Output configuration

4.8.1 Configuring message outputs via WebUI

Navigate to Configuration > Ports, where configuration of COM 1-3, ICOM 1-5 and USB 1-3 ports is
available. Using command variables to specify message type, enter the appropriate command variable
next to the required COM, ICOM or USB port in the Messages field. Select the command variable once it
appears in the Messages field as shown below and then click Apply to confirm settings.

To remove any message outputs, click on the '⊗' appearing next to the Command variable and click
Apply.

4.8.2 Specifying baud rate via WebUI

To specify a baud rate for COM Ports 1, 2 or 3 navigate to Configuration > Ports click on the cog wheel
within the Port field:

A window will open that will allow for a baud rate of 2400, 4800, 9600, 19200, 38400, 57600,115200,
230400 or 460800 to be selected. The parity, Data bits and Stop Bits can also be selected. Once these
and the appropriate baud rate have been selected, click on Done followed by Apply.

LD8 Operations Manual 31

 4.8 Output configuration

4.8.3 Message output rate via WebUI

Once a NovAtel command variable has been specified a cog wheel will appear within the right hand
corner of the Messages field:

Clicking on the settings cog will open a Message Settings window where an output rate can be specified
in the Period field. LD8 receivers are capable of outputting messages at rates of 1Hz, 2Hz, 5Hz, 10Hz
and 20Hz. Enter the required rate in seconds as per table below and click Apply:

4.8.4 Enabling message outputs via terminal

To enable a message, a single command must be sent for each message on each port. Message types
can be output on COM 1-3, ICOM 1-3, or USB 1-3. This, along with the message command variable,
should be entered in the command line. The command to be used is given below with COM1 and
GPGGA used as an example:

LOG COM1 GPGGA ONTIME 1

LD8 receivers are capable of outputting messages at rates up to 20Hz. The last value as part of the LOG
message is the output rate field. See below table for the output rates and the command variables:

Output rate Command variable

1Hz 1
2Hz 0.5
5Hz 0.2
10Hz 0.1
20Hz 0.05

An example of the command for outputting GGA on COM 1 at 20Hz:

LOG COM1 GPGGA ONTIME 0.05

LD8 Operations Manual 32

 4.8 Output configuration

4.8.5 Disabling message outputs via terminal

To disable a message from being output, the command below should be issued to the unit. This consists
of the command required, the port and the message type:

UNLOG COM1 GPGGA

To stop all output messages on a single port, the command below can be issued stating the port:

UNLOGALL COM1

4.8.6 Setting GGA precision selection via terminal

It is possible to configure the number of decimal places used in the Latitude and Longitude fields output
in the GGA Message. The precision can be set to 5, 6, 7 or 8. When changing the precision value, the
same value should be applied to both the Longitude and Latitude. The command requires to state GGA_
LATITUDE or GGA_LONGITUDE, followed by a precision value detailed in the table below:

Precision Latitude command Longitude command

5 NMEAFORMAT GGA_LATITUDE 10.5 NMEAFORMAT GGA_LONGITUDE 11.5
6 NMEAFORMAT GGA_LATITUDE 11.6 NMEAFORMAT GGA_LONGITUDE 12.6
7 NMEAFORMAT GGA_LATITUDE 12.7 NMEAFORMAT GGA_LONGITUDE 13.7
8 NMEAFORMAT GGA_LATITUDE 13.8 NMEAFORMAT GGA_LONGITUDE 14.8

4.8.7 Setting PPP DQI via terminal

When using either Apex or Ultra PPP services the Differential Quality Indicator is a value reported within
GGA messages to indicate solution status. The LD8 allows for two configurable behaviours for this value.

DQI behavior Command variable

When the calculation is converged to a PPP
2
service the DQI will report the value 2.
When the calculation is converged to a PPP
5
service the DQI will report the value 5.

The below command example shows the behaviour of the DQI when converged for PPP to a value of 2.
The highlighted area below is where the variable of 2 or 5 should be set:

GGAQUALITY 4 OUT_OF_BOUNDS 2 WAAS 2 PPP 2 PSRDIFF 2

4.8.8 Setting baud rates via terminal

The LD8 allows for each Serial Port to be set at different baud rates. The following baud rates are
available to be set: 2400, 4800, 9600, 19200, 38400, 57600,115200, 230400 or 460800

To set the baud rate the SERIALCONFIG command should be used along with the port name for the
desired change. An example of the command is below, with the port and baud rate highlighted:

SERIALCONFIG COM1 9600 N 8 1 N OFF

LD8 Operations Manual 33

 4.8 Output configuration

4.8.9 Setting PPS via terminal

The LD8 allows for the PPS polarity to be configured and set to an increase in pulse from 0v (POSITIVE)
or a decrease in pulse to 0v (NEGATIVE). The pulse has a width of 2000 microseconds.

An example of the PPSCONTROL command is given below which shows the pulse being set to
POSITIVE:

PPSCONTROL ENABLE POSITIVE

PPS output can be disabled by sending the following:

PPSCONTROL DISABLE

4.8.10 Enabling RAIM Mode via terminal

Receiver autonomous integrity monitoring (RAIM) is a technology developed to assess the integrity of
GNSS signals used by a GNSS receiver. RAIM uses redundant signals and a statistical function to
determine if there are problems with the positioning solution; in simple terms, RAIM acts as an internal
self-check. RAIM is enabled by default.

High Ionospheric activity may cause problems with the RAIM algorithm; only in this scenario and with
consultation and guidance from Veripos Support should users disable RAIM. RAIM should be enabled
once conditions return to normal.

RAIM Mode can be enabled by sending the following:

RAIMMODE VERIPOS RAIM ON

RAIM Mode can be disabled by sending the following:

RAIMMODE VERIPOS RAIM OFF

4.8.11 Enabling Veripos RTCM output via terminal

RTCM can be output on any of the LD8 serial COM ports. Within the terminal window enter the
commands below where updating COM1 with the desired output COM port number.

UNLOGALL COM1
INTERFACEMODE COM1 NONE RTCM OFF
LOG COM1 VERIPOSRAWRTCMDATAB ONNEW

To change the baud rate of the serial port, send command below. COM should be the same COM port as
used in the initial step and the field 9600 replaced with the appropriate baud rate.

SERIALCONFIG COM1 9600 N 8 1 N ON

LD8 Operations Manual 34

 4.9 Input configuration

4.9 Input configuration

The LD8 is capable of utilising corrections from external sources of Veripos RTCM (RTCM v2, RTCM v3
or CMR) and RTK correction data. For RTK solutions the position will be output in the datum of the
correction source.

4.9.1 Inputting external Veripos RTCM via terminal

To input external corrections, you must issue two commands to the unit. These two commands will
configure the required baud rate of input and then set the port for decoding of Veripos RTCM data. These
commands are SERIALCONFIG and INTERFACEMODE.

The example commands below show configuration of COM1 for input of Veripos RTCM data, with a baud
rate of 115200:

SERIALCONFIG COM1 115200 N 8 1 N OFF

INTERFACEMODE COM1 VERIPOS_RTCM NOVATEL ON

NOTE
The LD8 is preconfigured to receive RTK corrections. Only port and interface mode
settings need to be applied.

LD8 Operations Manual 35

 4.10 Rolling log

4.10 Rolling log

4.10.1 Viewing rolling log via WebUI

The LD8 is preconfigured to utilise a rolling data log. This data can be used to conduct various types of
analysis or for troubleshooting purposes by Veripos. From this data, RINEX observation logs can be
generated, if required. If RINEX data are required, please contact Veripos Support.

The Logging Status, current logged file’s size and name in addition to the logged messaged are
presented on the Home > Status page of the WebUI:

LD8 Operations Manual 36

 4.11 Factory reset

4.10.2 Downloading logs

Hourly-separated logs can be found within Device > Export. Each log file will be displayed with a date,
time stamp and also the file size. As the rolling log builds up there may be multiple pages of stored logs.

To download logs, an FTP transfer utility such as FileZilla needs to be used. Launch FileZilla then
connect to the LD8 using its IP address as Host, “admin” for the Username and the LD8 serial number for
the password and press Quickconnect. This should establish a connection with the LD8 and will show the
logged files in the right bottom panel of the FileZilla. Drag the required files to the appropriate folder on
your PC which can be selected in the left bottom panel of FileZilla.

If requested to provide logs by Veripos Support, ensure that the logs cover the period that needs
analysing plus 3 hours prior to the event and 1 hour after.

4.11 Factory reset

A factory reset can be performed to revert the LD8 back to default factory settings. This should only be
carried out under the advice of Veripos Support.

4.11.1 Factory resetting via terminal

A factory reset should be performed by issuing the case sensitive command:

LUA START factoryreset.lua

LD8 Operations Manual 37

 5.1 Commands list index

5 Reference information
5.1 Commands list index
Commands used within this manual are listed below. Highlighted text should be changed as required.

Command Description
The format for assigning a
ASSIGNLBANDBEAM 25E
specific L-band beam
Setting for automatically
ASSIGNLBANDBEAM AUTO
tracking L-band beams
GGAQUALITY 4 OUT_OF_BOUNDS 2 WAAS 2 PPP 2 PSRDIFF 2 Set PPP DQI to 2 or 5
Change IP assignment to
IPCONFIG ETHA DHCP
DHCP
IPCONFIG ETHA STATIC 192.168.2.8 255.255.255.0
Set a Static IP
192.168.2.1
Enable message output on a
LOG COM1 GPGGA ONTIME 1
specified port
LOG IPSTATUSA ONCE Check current IP settings
Check tracked L-band beam/s
LOG LBANDTRACKSTAT
and signal strength/s
Check unit ID and activation
LOG VERIPOSINFO
service code
Check present activation
LOG VERIPOSSTATUSA
status of LD8
Configure number of Latitude
NMEAFORMAT GGA_LATITUDE 10.5 decimal places in GGA
message
Configure number of
NMEAFORMAT GGA_LONGITUDE 11.5 Longitude decimal places in
GGA message
Set PPS polarity to either
PPSCONTROL ENABLE POSITIVE
positive or negative
Select either Auto, Ultra or
PPPSOURCE AUTO
Apex solution
Saves all settings excluding
SAVECONFIG
Ethernet configurations
Saves any Ethernet
SAVEETHERNETDATA
configuration settings
Disable the SBAS fallback
SBASCONTROL DISABLE
solution
SBASCONTROL ENABLE AUTO Enable the SBAS fallback

LD8 Operations Manual 38

 5.1 Commands list index

Command Description
solution
Specify a baud rate for a
SERIALCONFIG COM1 9600 N 8 1 N OFF
specified port
SERIALCONFIG COM1 115200 N 8 1 N OFF Input external RTCM
INTERFACEMODE COM1 VERIPOS_RTCM NOVATEL ON specifying port and baud rate
Disable message output on a
UNLOG COM1 GPGGA
specified port
Stop all messages on a
UNLOGALL COM1
specified port

LD8 Operations Manual 39

 5.2 LD8 output sentences

5.2 LD8 output sentences

This section outlines the structure of the following message output types:
l GGA
l GST
l ZDA
l GSA
l VTG
l GSV
l GLL
l GRS
l RMC
l HDT
l TRINAV
l Veripos UKOOA
l BESTPOS

5.2.1 NMEA talker IDs

The NMEA talker identifier serves to define the nature of the data being transmitted. The talker is the first
two characters after the $ sign within the NMEA sentence. As the LD8 is capable of utilising more than
only the GPS constellation, the talker has a set value for each constellation. For sentences where the
data relates to multiple constellations the ID ‘GN’ will be found.

Not all NMEA sentences will have a variable talker ID (the GGA and ZDA will be fixed with GP) however
all other NMEA messages will have a variable talker.

Note that the talker ID is determined by the constellation/s in use and cannot be changed to another
value.

The table below shows the talker IDs and the represented constellation:

Talker ID Constellation
GP GPS
GL GLONASS
GA Galileo
BD BeiDou
GQ QZSS
GN Multiple Constellations

LD8 Operations Manual 40

 5.2 LD8 output sentences

5.2.2 GGA sentence

The NMEA GGA sentence contains time and position fix related data for a GPS system. It includes basic
quality information, which is limited to ‘Fix Quality’, ‘Number of Satellites in Use’, ‘HDOP’ and ‘Age of
Corrections’.

GGA sentence structure & example

$GPGGA, hhmmss.ss, ddmm.mmmmm, a, dddmm.mmmmm, b, q, xx, p.p, a.b, >M, c.d, M, x.x, nnnn *hh
$GPGGA, 123519.00, 4807.03787, N, 01131.00547, E, 1, 15, 0.9, 545.4, M, 46.9, M, 14.0, 0281 *47

GGA sentence defined

Field Content
GGA Global Positioning System Fix data
hhmmss.ss UTC of position
ddmm.mmmmm Latitude of position
a N or S, latitude hemisphere
dddmm.mmmmm Longitude of position
b E or W, longitude hemisphere
GPS Quality indicator (0 = invalid, 1 = GPS SPS, 2 = DGNSS fix, 4 = Fixed RTK, 5 =
q Float RTK / PPP, 6 = Dead Reckoning), 7 = Manual Input Mode, 8 = Simulation
Mode
xx Number of satellites in use
p.p HDOP (Horizontal dilution of precision)
a.b Antenna altitude above/below mean-sea-level
M Units of antenna altitude, meters
c.d The relationship between the geoid and the WGS84 ellipsoid
M Units of meters
x.x Age of differential GNSS data
nnnn Differential reference station ID, 0000 to 1023
*hh Checksum
[CR][LF] Sentence Terminator

NOTE
The number of decimal places in the GGA message Latitude and Longitude values
is configurable, see section Setting GGA precision selection via terminal for details.
If making changes from five decimal places the sentence will no longer conform
with NMEA v3.01.

LD8 Operations Manual 41

 5.2 LD8 output sentences

5.2.3 GST sentence

The NMEA GST sentence provides error statistics of the position fix. These statistics follow from the
position calculation process.

GST sentence structure & example

$GNGST, hhmmss.ss, a.aa, b.bb, c.cc, d.dddd, e.ee, f.ff, g.gg *hh
$GNGST, 024603.00, 1.47, 0.11, 0.07, 28.3688, 0.10, 0.08, 0.16 *58

GST sentence defined

Field Content
GST Estimated error in position solution
hhmmss.ss UTC time in hours, minutes, seconds of the GPS position
RMS value of the standard deviation of the range inputs to the navigation process. Range
a.aa
inputs include pseudo-ranges and differential DGNSS corrections
b.bb Standard deviation of semi-major axis of error ellipse (meters)
c.cc Standard deviation of semi-minor axis of error ellipse (meters)
d.dddd Orientation of semi-major axis of error ellipse (meters)
e.ee Standard deviation of latitude error (meters)
f.ff Standard deviation of longitude error (meters)
g.gg Standard deviation of altitude error (meters)
*hh Checksum
[CR][LF] Sentence terminator

LD8 Operations Manual 42

 5.2 LD8 output sentences

5.2.4 ZDA sentence

The NMEA ZDA sentence provides time and time zone information.

ZDA sentence structure & example

$GPZDA, hhmmss.ss, dd, mm, yyyy, null, null *hh

$GPZDA, 201530.00, 04, 07, 2019, , , *6E

ZDA sentence defined

Field Content
ZDA Time and Date data
hhmmss.ss UTC time in hours, minutes, seconds of the GPS position
dd Day, 01 to 31
mm Month, 01 to 12
yyyy Year
null Local zone hours (not available)
null Local zone minutes (not available)
*hh Checksum

LD8 Operations Manual 43

 5.2 LD8 output sentences

5.2.5 GSA sentence

The NMEA GSA sentence provides time and time zone information.

GSA sentence structure & example

$GNGSA, a, 1, cc, cc, cc, cc, cc, cc, cc, cc, cc, cc, cc, cc, d.d, e.e, f.f *hh
$GNGSA, a, b, 02, 12, 15, 20, 21, 24, 25, 29, 32, , , , 1.7, 0.9, 1.5 *58

GSA sentence defined

Field Content
GSA GNSS DOP and Active Satellites
Mode (M = Manual mode, forced to operate in 2D or 3D mode,
a
A = Automatic mode, allowed to automatically switch 2D/3D)
b Fix (1 = Not available, 2 = 2D, 3 = 3D)
PRN ID numbers of satellites used in solution a total of 12 fields

GPS = 1 to 32
cc
GLONASS = 65 to 96
As shown in the above example, if less than 12 satellites for one constellation are used null
values will be output in the string.
d.d PDOP
e.e HDOP
f.f VDOP
hh Checksum

LD8 Operations Manual 44

 5.2 LD8 output sentences

5.2.6 VTG sentence

The NMEA VTG sentence provides the actual course and speed relative to the ground.

VTG sentence structure & example

$GNVTG, ppp.ppp, T, qqq.qgg, M, rr.rrr, N, ss.sss, K, U, *hh

$GNVTG, 167.608, T, 167.608, M, 0.006, N, 0.012, K, D, *3D

VTG sentence defined

Field Content
VTG Course over ground and ground speed
ppp.ppp True course over ground
T Degrees True indicator
qqq.qgg Magnetic course over ground
M Degrees Magnetic
rr.rrr Speed over ground, knots
N Nautical speed indicatior (N = Knots)
ss.sss Speed over ground, kilometres/hour
K Speed indicator (K = km/hr)
Positioning mode indicator (A = Autonomous, D = Differential,
U
E = Estimated (Dead reckoning), M = Manual, N = Data not valid)
*hh Checksum

LD8 Operations Manual 45

 5.2 LD8 output sentences

5.2.7 GSV sentence

The NMEA GSV sentence provides information relating to the number of satellites (SV) in view, satellite
ID numbers, elevation, azimuth, and SNR value in one sentence.

GSV sentence structure & example

$GPGSV, a, b, cc, dd, ee, fff, gg, dd, ee, fff, gg, dd, ee, fff, gg, dd, ee, fff, gg, *hh,
$GPGSV, 4, 1, 13, 02, 10, 043, 41, 05, 05, 103, 38, 10, 04, 238, 42, 12, 13, 030, 44, *7E,
(Satellite 1) (Satellite 2) (Satellite 3) (Satellite 4)

GSV sentence defined

Field Content
GSV GNSS Satellites in view
a Total number of sentences (1-9)
b Sentence number (1-9)
cc Total number of satellites in view, within the talker ID constellation
Satellite ID number

dd GPS = 1 to 32

GLONASS = 65 to 96
ee Elevation, degrees (90° maximum)
fff Azimuth, degrees true, 000 to 359
gg SNR (C/No) 00-99 dB-Hz, null when not tracking
hh Checksum

NOTE
Fields dd, ee, fff and gg will be repeated a maximum of 4 times per sentence, where
all satellite info is already output null values will be output.

LD8 Operations Manual 46

 5.2 LD8 output sentences

5.2.8 GLL sentence

The NMEA GGL sentence provides Latitude and Longitude position data for the present position.

GLL sentence structure & example

$GNGLL, ddmm.mmmmmmm, a, dddmm.mmmmmmm, b, hhmmss.ss, S, I *hh

$GNGLL, 5708.7104685, N, 00217.1169613, W, 062859.00, A, D *72

GLL sentence defined

Field Content
GLL Geographic position - Latitude and Longitude
ddmm.mmmmmmm Latitude of position
a Latitude direction (N or S)
dddmm.mmmmmmm Longitude of position
b Longitude direction (E or W)
hhmmss.ss UTC time of position
S Status (A = data valid ; V = data not valid)
Positioning mode indicator (A = Autonomous, D = Differential,
I
E = Estimated (Dead reckoning), M = Manual, N = Data not valid)
*hh Checksum

LD8 Operations Manual 47

 5.2 LD8 output sentences

5.2.9 GRS sentence

The NMEA GRS sentence provides range residuals for each satellite.

GRS sentence structure & example

$GNGRS, hhmmss.ss, a, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, ,cc ,dd *67
$GNGRS, 142406.00, 1, -1.1, -0.1, 1.7, 1.2, -2.0, -1.3, 1.3, -0.4, -1.2, -0.2, , , 1, 1, *hh

GRS sentence defined

Field Content
GRS GNSS range residuals
hhmmss.ss UTC time of position
Mode (0 = Residuals were used to calculate the position given in the matching GGA or
a GNS sentence 1 = Residuals were recomputed after the GGA or GNS position was
computed)
Range residuals for satellites used in the navigation solution. Order matches order of
b.b
PRN numbers in GPGSA.
cc GNSS System ID (see tables below for further explanation).
dd Ranging Signal ID (see tables below for further explanation).
*hh Checksum

GNSS Constellation: GPS

GNSS System ID: 1 (GP)
Signal Channel: All Signals L1 C/A L1 P(Y) L2 P(Y) L2C-M L2C-L
Ranging Signal ID: 0 1 2 3 4 5

GNSS Constellation: GLONASS

GNSS System ID: 2 (GL)
Signal Channel: All Signals L1 C/A L1 P L2 C/A L2 P
Ranging Signal ID: 0 1 2 3 4

GNSS Constellation: Galileo

GNSS System ID: 3 (GA)
Signal Channel: All Signals E5a E5b E5a+b E6-A E6-BC
Ranging Signal ID: 0 1 2 3 4 5

GNSS Constellation: BeiDou

GNSS System ID: 4 (BD)
Signal Channel: All Signals B1I B1C B1A B2-a B2-b B3l B3Q B3A
Ranging Signal ID: 0 1 3 4 5 6 8 9 A

LD8 Operations Manual 48

 5.2 LD8 output sentences

GNSS Constellation: QZSS

GNSS System ID: 5 (GQ)
Signal Channel: All Signals L1 C/A L1C (D) L1C (P) L2C-M L2C-L
Ranging Signal ID: 0 1 2 3 5 6

LD8 Operations Manual 49

 5.2 LD8 output sentences

5.2.10 RMC sentence

The NMEA RMC sentence provides essential GPS PVT (position, velocity, time) data.

RMC sentence structure & example

$GNRMC, hhmmss.ss, a, ddmm.mmmmmmm, b, dddmm.mmmmmmm, c, dd.ddd, eee.e, ddmmyy f.f, g, h *hh

$GNRMC, 143909, A, 5107.0020216, N, 11402.3294835, W, 0.036, 348.3, 210307, 0.0, E, D *31

RMC sentence defined

Field Content
RMC Recommended Minimum Sentence C
hhmmss.ss UTC time of position
a Position status (A = Active V = Void)
ddmm.mmmmmmm Latitude of position
b Latitude direction (N or S)
dddmm.mmmmmmm Longitude of position
c Longitude direction (E or W)
dd.ddd Speed over the ground, knots
eee.e Course over ground, degrees True
ddmmyy Current date
fff.f Magnetic variation, degrees
Magnetic variation direction E/W

g Easterly variation (E) subtracts from True course.

Westerly variation (W) add to True course.

Mode indicator (A = Autonomous, D = Differential, E = Estimated (dead
h
reckoning), M = Manual input, N = Data not valid)
*hh Checksum

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 5.2 LD8 output sentences

5.2.11 HDT sentences (V3 & V4)

The NMEA HDT sentence provides heading information derived from the receiver.

HDT sentence structure & example

$GNHDT, dd.dddd, T hh
$GNHDT, 75.5664, T *36

HDT sentence defined

Field Content
HDT Heading (true) message
dd.dddd Heading in degrees
T Degrees True
*hh Checksum

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 5.2 LD8 output sentences

5.2.12 TRINAV sentences (V3 & V4)

TRINAV version 3 sentence example

[WGPOS,3,1,OEM7VERI,APEX5,OM7MR0702AN0006,1041,392609.00,0.0,57 12.08207N,002
11.53782W,114.421,0.7,1.2,,0.005948,0.000899,0.004640,0.030111,0.14,3,1,3,16,0,1,8,10,11,14,20,2
2,27,28,32,65,66,67,73,81,82,]

TRINAV version 3 sentence defined

Field Content Unit Notes

Start character A6 [-] $WGPOS
Format version I [-] = 3 for this version
Nav. point no. I [-] See comment 1
System name/version A [-] Name + version of DGPS system. See comment 2
GPS week number I [-] GPS week no. since April 6 2019
GPS time of fix F10.2 [s] Seconds into GPS week (GPS time).
Age of fix F4.1 [s] See comment 3
Latitude A13 [dm] dd mm.mmmmmN, space between D and M
Longitude A14 [dm] dd mm.mmmmmE, space between D and M
Height F7.3 [m] Antenna height above ellipsoid. See comment 4
HDOP F5.1 [-] Horizontal dilution of position
VDOP F5.1 [-] Vertical dilution of position
Unit variance F9.3 [m2] See comment 5
Variance latitude F10.6 [m2] See comment 5
Covariance lat/long F10.6 [m2] See comment 5
Variance longitude F10.6 [m2] See comment 5
Variance height F10.6 [m2] See comment 5
External reliability F7.2 [m] See comment 6
Fix status I [-] See comment 7
Computation type I [-] See comment 8
Correction type I [-] See comment 9
No. of satellites (n) I [-] No. of satellites used for this fix
No. of ref. stations (r) I [-] No. of ref. stations used for fix. See comment 10
PRN’s of sats. used I*n [-] Satellites used for this fix. Separated by commas
Ref. station idents I*n [-] Ref. stations used for this fix. Separated by commas
End character A1 [-] Close string
CRLF A2

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 5.2 LD8 output sentences

TRINAV version 3 definitions commentary

1. The "Nav point no." is a unique integer identifying the position. It should be manually entered into
the software according to requests from Positioning Engineers. Alternatively, this should start
from 1 and be incremented if several positions are output from the same system.
2. The system name should identify the system (or contractor) and software version (e.g. "SEADIFF
2.1" or "MFIX 1.2.3").
3. The "Age of fix" is the time of the first character of the data string being output to WesternGeco’s
positioning system minus the time of position.
4. WGS84 ellipsoid and datum must be used. The height must be antenna height above the WGS84
ellipsoid.
5. The variance and covariance terms are elements from the variance-covariance matrix of the
position fix computation (un-scaled).
6. The external reliability is the maximum positional effect of an undetectable error in an
observation. This quantity is related to the power of the test (the probability that the MDE would
be detected) and the significance level used.
1. The values recommended by UKOOA should be used (see UKOOA Guidelines for the use of
Differential GPS in offshore surveying, Issue no. 1, Sept. 1994) i.e. a significance level of test
1% and the power of the test 80%.
2. If values other than those given above are used, this must be explicitly stated by the
contractor.
7. TRINAV V3 fix status codes:

Status code Meaning

0 No or bad fix
1 Altitude aiding (Weighted height used in fix)
2 Altitude hold (2D fix)
3 3D fix
4 3D fix INS aided
5 INS only (dead reckoning)

8. TRINAV V3 computation type codes

Type code Meaning
0 No corrections
1 Single frequency DGNSS
2 Dual frequency DGNSS
3 PPP (satellite orbit and clock corrections)
4 PPP-AR (ambiguity resolution) using phase bias information.
5 Other

9. TRINAV V3 source codes:

Type code Meaning

L L-band only, always followed by 1 (i.e. L1)
M L-band multi-channel, followed by number of links tracked (e.g. M3)
I Internet source, always followed by 0 (i.e. I0)
O Other, always followed by 0 (i.e. O0)

10. "No. of ref. stations" gives the number of reference stations in use for this fix, not the number of
stations available. This field must be set to 0 if the fix is not differential.

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 5.2 LD8 output sentences

TRINAV version 4 sentence example

[WGPOS,4,1,OEM7VERI,APEX5,OM7MR0702AN0006,1041,396729.00,0.0,57 12.08195N,002
11.53806W,113.340,0.7,0.9,,0.285460,0.009316,0.156003,0.663714,1.33,3,2,G,R,1,0,0,0,1,M3,IOR,2
5E,AORW,18,2,G01,G03,G08,G10,G11,G14,G17,G18,G22,G28,G32,R02,R03,R09,R11,R17,R18,R19
,777,706,]

TRINAV version 4 sentence defined

Field Content Unit Notes

Start character A6 [-] $WGPOS
Format version I [-] = 4 for this version
Nav. point no. I [-] See comment 2
Application name and version, space separated e.g.
System A [-]
Quantum 3.0.0.0
Service level A [-] Highest enabled service permitted e.g. APEX Pro
Firmware version as reported by the GNSS card e.g.
Version A [-]
OEM060700SN0062
GPS week number I [-] GPS week no. since April 6 2019
GPS time of fix F10.2 [s] Seconds into GPS week (GPS Time).
This field indicates the age of the solution as reported by the
Age of fix F4.1 [s] GNSS card, based on the time between receiving
measurements and generating output.
Latitude A13 [dm] dd mm.mmmmmN, space between D and M
Longitude A14 [dm] ddd mm.mmmmmE, space between D and M
Height F7.3 [m] Antenna height above ellipsoid. See comment 3
HDOP F5.1 [-] Horizontal dilution of position
VDOP F5.1 [-] Vertical dilution of position
Unit variance F9.3 [m2] See comment 4
Variance latitude F10.6 [m2] See comment 4
Covariance lat/long F10.6 [m2] See comment 4
Variance longitude F10.6 [m2] See comment 4
Variance height F10.6 [m2] See comment 4
External reliability F7.2 [m] See comment 5
Fix status I [-] See comment 6
Constellations in fix (c) I [-] Number of constellations used in the computation
Identifiers of Constellation character based on RINEX format (G-GPS, R-
A*c [-]
constellations GLONASS, E-Galileo, C-BeiDou, J-QZSS)
Number of GNSS frequencies used in the computation (i.e.
GNSS frequency I [-]
single frequency, dual frequency, triple frequency)

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 5.2 LD8 output sentences

Field Content Unit Notes

Phases biases used or not to perform ambiguity resolution.
PPP-AR I [-]
Value of 1 indicates a PPP-AR solution, 0 it is not.
Use of external atmospheric corrections in computation
Atmospheric
I [-] Value of 1 shows it has atmospheric correction applied, 0 it
corrections
hasn’t.
GNSS External information used as an integrity check on GNSS
integrity/Authentication I [-] broadcast data. Value of 1 shows it has been used, 0 it
message hasn’t.
Correction type I [-] See comment 7
Correction source(s) A2 [-] See comment 8
Names of correction
A*s [-] Link names providing corrections. Separated by commas
links
No. of SV’s (n) I [-] No. of GNSS satellites used for this fix
No. of ref. stations used for fix. Set to 0 for non-differential
No. of ref. stations (r) I [-]
solutions
GNSS satellites used for this fix in RINEX format (G-GPS, R-
PRN’s of SV’s used A*n [-] GLONASS, E-Galileo, C-BeiDou, J-QZSS). Separated by
commas (e.g. G01,R03)
Reference stations used for this fix. Separated by commas.
Ref. station ID I*r [-]
Field(s) will not appear for non-differential solutions.
End character A1 [-] ] (Close string)
CRLF A2

TRINAV version 4 definitions commentary

1. CSV formatting is provided as a guide and it is possible and expected that greater resolution will
be output if required.
2. The "Nav point no." is a unique integer identifying the position. It should be manually entered into
the software according to requests from Positioning Engineers. Alternatively, this should start
from 1 and be incremented if several positions are output from the same system.
3. WGS84 ellipsoid and datum must be used. Must be antenna height above the WGS84 ellipsoid.
4. The variance and covariance terms are elements from the variance-covariance matrix of the
position fix computation (un-scaled).
1. Unit variance currently unavailable and will be a NULL field for the moment.
5. The external reliability is the maximum positional effect of an undetectable error in an
observation. This quantity is related to the power of the test (the probability that the MDE would
be detected) and the significance level used.
1. The values recommended by IMCA/OGP should be used (see IMCA/OGP Guidelines for
GNSS positioning in the oil & gas industry Report No. 373-19 or IMCA S015, June 2011) i.e.
a Significance level of test 1% and the Power of the test 80%.
2. If values other than those given above are used, this must be explicitly stated by the
contractor.

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 5.2 LD8 output sentences

3. Veripos statistics are implemented as per the IMCA/OGP ‘Guidelines for GNSS positioning in
the oil & gas industry’ Report No. 373-19 or IMCA S015, June 2011, unless otherwise
indicated.
6. TRINAV V4 fix status codes:

Status code Meaning

0 No or bad fix
1 Altitude aiding (weighted height used in fix)
2 Altitude hold (2D fix)
3 3D fix
4 3D fix INS aided
5 INS only (dead reckoning)

1. TRINAV V4 computation type codes:

Type code Meaning

0 No corrections
1 Single frequency DGNSS
2 Dual frequency DGNSS
3 PPP (satellite orbit and clock corrections)
4 PPP-AR (ambiguity resolution) using phase bias information.
5 Other

2. TRINAV V4 correction source codes:

Type code Meaning

L L-band only, always followed by 1 (i.e. L1)
M L-band multi-channel, followed by number of links tracked (e.g. M3)
I Internet source, always followed by 0 (i.e. I0)
O Other, always followed by 0 (i.e. O0)

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 5.2 LD8 output sentences

5.2.13 Veripos UKOOA sentence

The Veripos UKOOA sentence is compliant with OGP 373-19 and IMCA S015 (July 2011). For further
information relating to these standards please visit https://www.iogp.org and https://www.imca-int.com.

Veripos UKOOA sentence structure & example

[ 240 7300 VERI 1 2067 295238.0 +0.1 +8.0 057 12.08207N 002 11.53776W 63.997 +50.40 1.151
0.564 1.004 7 0.025 0.054 0.14 0.001 0.000 0.000 0.003 0.06 0.05 6.5 P 15{ 20 27 13 30 26 8 21
16 7 10 15 85 77 75 86} 1{ 481}]

Veripos UKOOA sentence defined

Field Content Notes

Field Content Notes
1 Start Character Open string
Length of
2…5 Number of characters
Message
6…10 Software Version
11…16 System Name
Shows the calculation used, as different calculations can be labelled:
17…18 Record Identifier
1, 2, 3 etc
GPS Week
19…23 Since Jan 6th 1980
Number
24…32 GPS Time of Fix Seconds into current GPS Week
Time (in seconds) of the first character of the data string being output,
33…37 Age of Record
minus the time of position.
38…43 Latency Latency in seconds
44…56 Latitude Latitude displayed with spaces, dd mm.mmmmm’
Latitude
57 Hemisphere N or S
Indicator
58…71 Longitude Longitude displayed with spaces, dddmm.mmmmm’
Longitude
72 Hemisphere E or W
Indicator
Altitude above Antenna height (in metres) above mean sea level (datum for height
73…79
MSL calculations)
Separation between mean sea level and the WGS84 reference
80…87 Geoid Separation
ellipsoid (in metres), based on a Geoid model as for example EGM96.
88…94 PDOP
95…101 HDOP
102…108 VDOP

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 5.2 LD8 output sentences

Field Content Notes

109…110 Fix Status Single Frequency
0 = None
4 = None or Bad
or Bad 0 = None or Bad Fixes
Fixes
Fixes
1=
Altitude 5 = Altitude
Aiding Aiding (weighted 1 = Altitude Aiding (weighted height)
(weighted height)
height)
2=
Altitude 6 = Altitude hold
2 = Altitude hold (2D Fix)
hold (2D (2D Fix)
Fix)
3 = 3D Fix 7 = 3D Fix 3 = 3D Fix
Smallest outlier (in metres) that is likely to be detected by the current
111…117 Internal Reliability
solution.
Maximum positional effect (in metres) of an undetectable error in an
observation. This quantity is related to the Power of the test
118…125 External Reliability
(probability that the MDE would be detected) and the Significance
level used.
The Variance and Covariance terms are elements from the variance-
126…130 Unit Variance covariance matrix of the position fix computation (un-scaled) in
metres².
131…137 Variance Latitude
Covariance
138…145
Lat/Long
Variance
146…152
Longitude
153…159 Variance Height
95% Error Ellipse Shows 95% confidence level of the semi-major axis of the error ellipse
160…165
Semi Major Axis in metres.
95% Error Ellipse Shows 95% confidence level of the semi-minor axis of the error ellipse
166…171
Semi Minor Axis in metres.
Orientation Of
172…177 Semi Major Axis of Orientation of the semi major axis (degrees from true North)
Error
A test applied to the Unit Variance. (P=Pass, F=Fail).
178…179 F Test
A “Fail” may result from large outliers in the measurements.
No of Satellites
180…182
used in the Fix (n)

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 5.2 LD8 output sentences

Field Content Notes

Satellite PRN
Numbers of
Variable PRN numbers are space separated
Satellites used in
Fix
Number of
Reference
Variable
Stations used for
this Fix (00 – 99)
Ids of the
Reference
Variable Station ID numbers are space separated
Stations used in
the Fix
End of Character Close string
Carriage Return
Line Feed

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 5.2 LD8 output sentences

5.2.14 BESTPOS sentence

The BESTPOS sentence contains time and position fix related data for a GPS system. It includes basic
quality information, which is limited to ‘Fix Quality’, ‘Number of Satellites in Use’, ‘HDOP’ and ‘Age of
Corrections’.

BESTPOS sentence structure & example

#BESTPOSA,USB1,0,58.5,FINESTEERING,2209,502061.000,02000020,cdba,16809;SOL_
COMPUTED,PPP,51.15043706870,-114.03067882331,1097.3462,-
17.0001,WGS84,0.0154,0.0139,0.0288,"TSTR",11.000,0.000,43,39,39,38,00,00,7f,37*52483ac5

BESTPOS sentence defined

Field Content
1. Log header BESTPOS header
2. sol stat Solution status
3. pos type Position type
4. lat Latitude (degrees)
5. lon Longitude (degrees)
6. hgt Height above mean sea level (metres)
Undulation - the relationship between the geoid and the ellipsoid (m) of the
7. undulation
chosen datum
Datum ID number
8. datum id# 61 = WGS84
63 = USER
9. lat σ Latitude standard deviation (m)
10. lon σ Longitude standard deviation (m)
11. hgt σ Height standard deviation (m)
12. stn id Base station ID
13. diff_age Differential age in seconds
14. sol_age Solution age in seconds
15. #SVs Number of satellites tracked
16. #solnSVs Number of satellites used in solution
17. #solnL1SVs Number of satellites with L1/E1/B1 signals used in solution
18. #solnMultiSVs Number of satellites with multi-frequency signals used in solution
19. Reserved
20.ext sol stat Extended solution status
21. Galileo and BeiDou sig
Galileo and BeiDou signals used mask
mask
22. GPS and GLONASS sig
GPS and GLONASS signals used mask
mask

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 5.2 LD8 output sentences

Field Content
23. xxxx 32-bit CRC (ASCII and Binary only)
24. [CR][LF] Sentence terminator (ASCII only)

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 6.1 Veripos Support details

6 Contact information
All initial contacts regarding technical or support issues should be initially addressed to Veripos Support.
Where appropriate Support will refer issues to the regional operations and engineering teams.

6.1 Veripos Support details

Veripos Support website https://veripos.com/support
Veripos Support telephone +44 1224 965900
Veripos Support e-mail [email protected]

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 7.1 L-band coverage map

7 Appendix
7.1 L-band coverage map

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