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SEPTENTRIO PolaRx5TR Reference Manual

SEPTENTRIO PolaRx5TR Reference Manual

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PolaRx5TR Reference Guide

Applicable to version 5.5.0 of the Firmware

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Page 1 PolaRx5TR Reference Guide Applicable to version 5.5.0 of the Firmware...
Page 2 PolaRx5TR Reference Guide 2022-08-19 Applicable to version 5.5.0 of the Firmware © Copyright 2000-2022-08-19 Septentrio NV/SA. All rights reserved. Septentrio NV Greenhill Campus, Interleuvenlaan 15i 3001 Leuven, Belgium http://www.septentrio.com Phone: +32 16 300 800 Fax: +32 16 221 640 @Septentrio...
Page 3: Table Of Contents
LIST OF CONTENTS List of Contents Contents ................... Scope .
Page 4 LIST OF CONTENTS 1.13 Conﬁgure an IP Receive Port ............32 1.14 Manage Power Saving Mode .
Page 5 LIST OF CONTENTS 2.4.3 RTK Positioning ..............63 2.4.3.1 Integer Ambiguities (RTK-ﬁxed) .
Page 6 LIST OF CONTENTS 3.2.23 CloudIt Conﬁguration .............276 3.2.24 MSS/L-Band Conﬁguration .
Page 7: Contents
LIST OF CONTENTS C.1.8 TFM : Used RTCM Coordinate Transformation Messages....494 D List of CMR and RTCM Messages CMR Messages................495 RTCM v2.x Messages .
Page 8: Scope
SCOPE Scope This document contains reference information about the receiver ﬁrmware. Chapter 1 provides a set of step-by-step "how-to’s" to help you ﬁnd your way around the receiver’s commands and logs. Chapter 2 provides some background on the main algorithms running in the receiver and on the way to conﬁgure them.
Page 9: List Of Acronyms
LIST OF ACRONYMS List of Acronyms Abbreviation Description Automatic Gain Control Application Program Interface Antenna Reference Point ASCII American Standard Code for Information Interchange ASN.1 Abstract Syntax Notation One BeiDou BeiDou Navigation System Broadcast Group Delay Coarse Acquisition CGGTTS Common GPS GLONASS Time Transfer Standard Compact Measurement Record Course Over Ground Central Processing Unit...
Page 10 LIST OF ACRONYMS Geostationary Earth Orbiter GLONASS Global Orbiting Navigation Satellite System GNSS Global Navigation Satellite System Global Positioning System Galileo System Time Graphical User Interface HDOP Horizontal DOP HERL Horizontal External Reliability Level Hazardously Misleading Information HPCA HMI Probability Computation Algorithm Horizontal Protection Level Health Status Interface Control Document...
Page 11 Receiver Independent Exchange Format RTCA Radio Technical Commission for Aeronautics RTCM Radio Technical Commission for Maritime Services Real-Time Kinematic SBAS Space-Based Augmentation System Septentrio Binary Format Signal In Space SISA Signal in Space Accuracy SNMP Simple Network Management Protocol Space Vehicle SVID...
Page 12 LIST OF ACRONYMS TDOP Time DOP Time Of Week UDRE User Differential Range Error UERE User Equivalent Range Error Ultra High Frequency User Range Accuracy Universal Serial Bus Coordinated Universal Time VDOP Vertical DOP VERL Vertical External Reliability Level Vertical Protection Level Virtual Reference Station WAAS Wide Area Augmentation System...
Page 13: How To
1 How To... Chapter 1 How To... This chapter contains step-by-step instructions to help you with typical tasks. It will help you to familiarize yourself with the receiver commands without going into too much detail. For a comprehensive description of the command set, refer to chapter 3. You can also click on any command or SBF block name in this manual to be redirected to the full description of that command or SBF block.
Page 14: Connect To The Receiver
1 How To... 1.1 Connect to the Receiver 1.1.1 Via COM Ports A simple way to communicate with the receiver is to connect one of its COM-ports to a COM- port of your host computer. You can use the provided COM cable for this purpose. The default COM-port settings are: Parameter Value...
Page 15: Ethernet
The default is dynamic address allocation, using the DHCP protocol. The hostname , where consists of the last seven digits of the serial num- polarx5tr-xxxxxxx xxxxxxx ber of the receiver. Dynamic IP address allocation requires the availability of a DHCP server in your local network.
Page 16: Point-To-Point Link
The receiver can be controlled and conﬁgured using a web browser. The hostname or ﬁxed IP address is deﬁned as explained in section 1.1.3. For example, if your receiver’s hostname is , simply use the following polarx5tr-1234567 URL in your preferred web browser: http://polarx5tr-1234567 or, for a secure connection: https://polarx5tr-1234567 certiﬁcate (...
Page 17: Connection Descriptors
Note that a lightweight (text only) version of the web interface is available by appending to the URL, for example: /lite http://polarx5tr-1234567/lite 1.1.5 Connection Descriptors Receiver connections are identiﬁed by their connection descriptor (CD). The different con- nection descriptors are shown in the table below. The three rightmost columns indicate the direction (input or output or both), and whether the connection can accept user command input.
Page 18: Understand The Output Of The Receiver
: ASCII display generated by the receiver; • : event notiﬁcation (e.g. receiver is shutting down). Formatted information blocks (e.g. formal command description) SNMP’ binary command replies (Septentrio proprietary) $& Proprietary binary data (SBF) 1.2.1 Proprietary Binary Output (SBF) The binary messages conform to the SBF deﬁnition. The data are arranged in SBF blocks identiﬁed by block IDs.
Page 19: Rtcm And Cmr
1 How To... is that it is standardized. Many electronic devices and software packages support NMEA. The drawback of NMEA is a relatively low level of detail. NMEA output is conﬁgured with the command, and the NMEA version (3.01 setNMEAOutput or 4.10) is selected with the command.
Page 20: Define An Sbf Output Stream
1 How To... 1.3 Define an SBF Output Stream As an example, this section explains how to use the command line interface to conﬁgure the receiver to output the SBF block at 10 Hz, the SBF block at 1 Hz, MeasEpoch PVTCartesian and the...
Page 21: Define A Binex Output Stream
1 How To... 1.4 Define a BINEX Output Stream As an example, this section explains how to use the command line interface to conﬁgure the receiver to output BINEX observation records (record 0x7F-05) at a 1-second interval through the USB2 connection, together with the decoded navigation records at their “On-Change” rate.
Page 22: Save The Configuration In Non-Volatile Memory
1 How To... 1.5 Save the Configuration in Non-Volatile Memory The receiver conﬁguration includes all the user-selectable parameters, such as the elevation mask, the PVT mode, the COM port settings,... By default, the receiver starts up in its factory default conﬁguration. The factory defaults for each of the receiver parameters are underlined for each argument of each command in section 3.2 The current receiver conﬁguration can be checked with the...
Page 23: Configure The Receiver In Dgps/Rtk-Base Mode
1 How To... 1.6 Configure the Receiver in DGPS/RTK- Base Mode The receiver can generate and output DGPS and/or RTK corrections in the RTCM and CMR formats. The list of supported RTCM and CMR messages can be found in appendix D. 1.6.1 Static Base Station Mode To conﬁgure the receiver in static base station mode, the following has to be done: 1.
Page 24 1 How To... encoded in MSM. 6. The RTCM stream can be output through any output connection listed in section 1.1.5. For instance, to enable RTCM 3.x output through COM2, use: setDataInOut,COM2, ,RTCMv3 <CR> 7. When sending differential corrections over a serial port, do not forget to specify the baud rate.
Page 25: Configure The Receiver In Dgps/Rtk-Rover Mode
1 How To... 1.7 Configure the Receiver in DGPS/RTK- Rover Mode The receiver computes a DGPS and/or an RTK solution when it receives the relevant differ- ential correction messages on one of its connections. The list of supported differential cor- rection messages can be found in appendix D.
Page 26: Use The Secorx Services
1 How To... 1.8 Use the SECORX Services Your receiver is fully compatible with the SECORX services (see http://www.septentrio. ) offering high-accuracy positioning com/products/correction-services/secorx without the need for a local base station. In this section, we address the case where the primary positioning mode is RTK, and where the receiver uses the SECORX-D precise point positioning (PPP) service to continue outputting high-accuracy positions during RTK outages.
Page 27: Configure The Receiver In Ntrip Server Mode
1 How To... 1.9 Configure the Receiver in NTRIP Server Mode In the example below, we show how to conﬁgure the receiver to send RTCM 3.x corrections to an NTRIP caster using the following parameters: • NTRIP caster hostname: ntrip.example.com •...
Page 28: Configure The Receiver In Ntrip Client Mode
1 How To... 1.10 Configure the Receiver in NTRIP Client Mode In this section, we show how to conﬁgure the receiver to receive and use RTK corrections from an NTRIP caster. In the example below, the NTRIP caster and Mount Point details are as follows: •...
Page 29: Use The Built-In Ntrip Caster
1 How To... 1.11 Use the Built-In NTRIP Caster The receiver contains an NTRIP caster, which is able to broadcast local data streams originat- ing from the receiver itself, or streams from any remote NTRIP server. The hostname or IP address of the built-in caster is as deﬁned in section 1.1.3.
Page 30 1 How To... setNtripCasterMPFormat, MP1, RTCMv3 <CR> 3. Deﬁne the NTRIP client accounts. Up to ﬁve client accounts can be conﬁgured. For example, the command below enables an NTRIP client connecting as user “u1” and with password “p1” to receive data from the ﬁrst mount point: setNtripCasterUsers, User1, u1, p1, MP1 <CR>...
Page 31: Configure An Ip Server Port
(replace http://polarx5tr-xxxxxxx:28785 by the hostname of your particular receiver). You should see polarx5tr-xxxxxxx the NMEA GGA message coming every second. Note that up to eight clients can concurrently connect to the same IP server port.
Page 32: Configure An Ip Receive Port
1 How To... 1.13 Configure an IP Receive Port The receiver can be conﬁgured to automatically receive data (typically differential correc- tions) from an IP server. In this example, we show how to connect to an IP server having the hostname and using port 28786.
Page 33: Manage Power Saving Mode
1 How To... 1.14 Manage Power Saving Mode The receiver can put itself in low-power mode when its supply voltage drops below a user- conﬁgurable level. This can for example be used to prevent battery over-discharge when the receiver is powered from an external battery. Power saving is conﬁgured with the setPowerThresholds setStandbyMonitoring...
Page 34: Manage Log Sessions
1 How To... 1.15 Manage Log Sessions Logging is done in multiple logging sessions referred to as (see also section 1.1.5). Each LOGx log session corresponds to a given directory on the disk (internal or USB drive). For each session, the user can specify where to log ( : internal disk, or : USB drive), DSK1...
Page 35: Log Sbf Files
1 How To... 1.16 Log SBF Files Enabling SBF logging on one of the log sessions involves the following steps: 1. Deﬁne the SBF naming convention and ﬁle duration in the log session of interest. By default, the receiver logs SBF blocks into a ﬁle named " ".
Page 36: Log Rinex Files
1 How To... 1.17 Log RINEX Files The receiver can log RINEX observation, navigation and meteo ﬁles on its internal disk. RINEX v2.11, 3.04, 3.05 and 4.00 are supported. RINEX logging is conﬁgured independently for each log session. Internal RINEX logging is typically conﬁgured as follows: 1.
Page 37: Log Rtcm-Msm Files
1 How To... 1.18 Log RTCM-MSM Files The receiver can log RTCM-MSM messages (a subset of the RTCM v3 messages) on its internal disk. Internal RTCM-MSM logging is typically conﬁgured as follows: 1. The information needed to generate the RTCM-MSM ﬁle names is taken from the command.
Page 38: Log Binex Files
1 How To... 1.19 Log BINEX Files The receiver can log BINEX ﬁles on its internal disk. BINEX logging is conﬁgured independently for each log session. Internal BINEX logging is typically conﬁgured as follows: 1. The BINEX ﬁle naming convention is inspired from the RINEX 2.11 ﬁle naming con- vention.
Page 39: Log Nmea Files
1 How To... 1.20 Log NMEA Files Enabling NMEA logging on one of the log sessions involves the following steps: 1. Deﬁne the NMEA naming convention and ﬁle duration in the log session of interest. By default, the receiver logs NMEA into a ﬁle named " ".
Page 40: Estimate The Size Of The Log Files
1 How To... 1.21 Estimate the Size of the Log Files The table below compares the ﬁle size for different logging formats, with and without com- pression. It shows the disk space required to log all code and carrier phase measurements from all GNSS signals over one day at a 1-Hz rate.
Page 41: Log Cggtts Files
1 How To... 1.22 Log CGGTTS Files The receiver can generate and log CGGTTS-v2E ﬁles for the GPS, GLONASS, Galileo and Bei- Dou constellations. Internal CGGTTS logging is typically conﬁgured as follows: 1. Specify the antenna phase center position (not the ARP!) to be used for the CGGTTS ﬁle generation.
Page 42: Download Log Files From The Receiver
LOG1_TST/16134 disk (DSK1) to the current folder on your local computer, you could invoke rsync follows: rsync -r anonymous@polarx5tr-1234567:DSK1/SSN/LOG1_TST/16134 . when prompted for a password, just press the enter key as no password is required for...
Page 43 1 How To... anonymous accesses. If the same command is issued again at a later stage, will only transfer the rsync deltas with respect to the ﬁles already present on the local machine, signiﬁcantly reducing the number of bytes sent compared to retransmitting the entire ﬁles. User authentication can be done by entering a password, or using an ssh public key, as deﬁned with the command.
Page 44: Cloudit Workflow (Beta)
CloudIt is a beta feature. The instructions in this “How to“ section are subject to changes. 1.24.1 Introduction CloudIt offers an alternative to FTP log ﬁle submission from the PolaRx5TR receivers. CloudIt supports OAuth2 for authentication. The implementation is compliant with the speciﬁcation of “The OAuth 2.0 Authorization Framework“.
Page 45: Resource Server Setup
CloudIt server using the command. setCloudItConfig 1.24.3 Receiver Configuration of CloudIt When the CloudIt authentication and resource servers are up and running, the PolaRx5TR can be conﬁgured following the steps below: 1. Set the CloudIt server parameters using command. setCloudItConfig 2.
Page 46 1 How To... entered: setRINEXCloudIt, LOG2, Cloud1, mydata/rin/ <CR> Note that the folder structure on the remote server will be similar to the folder structure on the receiver. For example, if you have a ﬁle in the receiver under , the actual LOG2/19141 Path sent to the server in the HTTP upload request is: mydata/rin/LOG2/19141...
Page 47: Ftp Push Log Files
1 How To... 1.25 FTP Push Log files It is possible to conﬁgure the receiver to automatically send internally-logged ﬁles to a re- mote FTP server (FTP Push). This is done with the setSBFFTP setBINEXFTP setNMEAFTP commands depending on the ﬁle setRTCMMSMFTP setCGGTTSFTP setRINEXFTP...
Page 48: Communicate With External Equipment
1 How To... 1.26 Communicate with External Equipment The receiver can send periodical queries to external equipment (such as a meteo sensor) connected to one of its serial ports, and log the replies from that sensor. In the following example, we show how to retrieve meteo data every 10 seconds from a meteo sensor con- nected to the receiver’s COM2 port.
Page 49: Generate A "Pulse Per Second" Signal
1 How To... 1.27 Generate a "Pulse Per Second" Signal The receiver is able to generate an x-pulse-per-second (xPPS) signal aligned with a selected GNSS system time, with UTC or with the internal receiver time. command is used to set the xPPS parameters (rate, polarity, time setPPSParameters system, ...).
Page 50: Time Tag External Events
1 How To... 1.28 Time Tag External Events The receiver can time-tag electrical level transitions on its Event inputs with an accuracy of 20ns. By default, the receiver reacts on low-to-high transitions. You can use the command to react on falling edges instead: setEventParameters setEventParameters,EventA,High2Low <CR>...
Page 51: Monitor The Rf Spectrum
1 How To... 1.29 Monitor the RF Spectrum You can monitor the RF spectrum using the spectral analyzer in RxControl (go to the View > Spectral View menu) or in the web interface (go to the GNSS > Spectrum menu). This allows to detect the presence of interferences in the GNSS bands.
Page 52: Use Galileo Osnma
GNSS satellites, offering a powerful means to detect and counter spooﬁng attacks. In Septentrio receivers, OSNMA is used to discard untrusted satellites from the PVT compu- tation. Three operating modes are supported: off where OSNMA authentication is disabled,...
Page 53: Manage Users
1 How To... 1.31 Manage Users When connecting to the receiver, users can remain "anonymous", or can log in using command. What anonymous users can do depends on the connection type. login By default, anonymous users have full control of the receiver. This default conﬁgura- tion can be changed with the command.
Page 54: Upgrade The Receiver
Upgrading the receiver over a serial port can be very slow and it is recommended to upgrade using a faster connection whenever possible (USB, WiFi or Ethernet). Septentrio upgrade ﬁles have the extension “.suf”. There are several ways to upgrade the receiver: 1.
Page 55: Check The Capabilities Of Your Receiver
1 How To... 1.33 Check the Capabilities of your Receiver The capabilities of your receiver are deﬁned by the set of enabled features. The capabilities depend on the hardware, the current ﬁrmware version and the current set of permissions. Permissions are further explained in section 1.34. The command lists the capabilities.
Page 56: Check Or Change The Permission File
Each receiver is delivered with a permission ﬁle applicable to that receiver only. To enable new options, the user can order a new permission ﬁle to Septentrio, and install it on his/her receiver using the standard upgrade procedure (see section 1.32).
Page 57: Operation Details
2 Operation Details Chapter 2 Operation Details This chapter describes the key processes implemented in the receiver and explains how they can be conﬁgured. 2.1 Channel Allocation and Signal Selection The receiver automatically allocates satellites to tracking channels up to the limit of the num- ber of channels.
Page 58: Pilot Vs. Data Component
For all signals having a pilot and a data component, the table below indicates which com- ponent is tracked by Septentrio receivers. Note that your particular receiver model may not support all of these signals. Signal...
Page 59: Time Management
2 Operation Details 2.3 Time Management The receiver time is kept in two counters: the time-of-week counter in integer milliseconds (TOW) and the week number counter (WNc). TOW and WNc follow the GPS convention, i.e. WNc counts the number of complete weeks elapsed since January 6, 1980, and there are no leap seconds.
Page 60: Clock Steering
2 Operation Details −0.5 Up Time [hours] Figure 2-1: Example of the evolution of the receiver time offset with respect to the GNSS time in free-running mode. Note that the clock bias is computed with respect to a particular GNSS time system (GPS, Galileo, BeiDou, ...) as set with the command.
Page 61: Computation Of Position, Velocity, And Time (Pvt Solution)
2 Operation Details −0.5 Up Time [hours] Figure 2-2: Effect of clock steering on the clock bias (clock steering enabled at an up time of 1 hour). Clock steering accuracy is dependent on the satellite visibility, and it is recommended to only enable it under open-sky conditions.
Page 62: Sbas Positioning
2 Operation Details The accuracy of the PVT depends on: • The signal level. • The geometry of the satellite constellation expressed in the DOP values: these values indicate the ratio of positional errors to range errors and are computed on the basis of the error propagation theory.
Page 63: Rtk Positioning
2 Operation Details Note on the RTCM v2.x corrections: the receiver takes the parameter transmitted by the GPS satellites into account during the computation of the pseudorange corrections, as prescribed in v2.2 and v2.3 of the RTCM standard. The RTCM standard version 2.1 is ambigu- ous in this respect: it does neither prescribe nor discourage the use of .
Page 64: Ppp Seeding
2 Operation Details network of reference stations and broadcast in real time by geostationary satellites in the L band. 2.4.4.1 PPP Seeding PPP provides centimeter-level position accuracy, but suffers from a relatively long conver- gence time that can reach 15 to 20 minutes depending on the local multipath environment. The convergence time can be dramatically reduced by feeding the known position into the PPP engine.
Page 65: Datum Transformation
2 Operation Details 2.4.6 Datum Transformation By default the datum to which the coordinates refer depends on the positioning mode. For standalone, PPP and SBAS positioning for example, the coordinates refer to a global datum: WGS84 or ITRS. When using DGPS or RTK corrections from a DGPS/RTK provider, the coordi- nates usually refer to a regional datum (e.g.
Page 66: Antenna Effects
2 Operation Details 2.5 Antenna Effects To achieve the highest positioning precision, it is essential to take antenna effects into ac- count. Marker Figure 2-3: Antenna mount. The GNSS measurements (pseudoranges and carrier phases observables) refer to a theoret- ical point in space called the phase center (noted PC in Figure 2-3). The position of this point is dependent on the elevation of the satellite and on the frequency band.
Page 67: Antenna Effects In Base Mode
2 Operation Details ﬁle, the receiver cannot make the distinction between phase center and ARP, and the position accuracy is slightly degraded, especially in the height component. The point to be positioned is the "marker" (see Figure 2-3). The offset between the ARP and the marker is a function of the antenna monumentation.
Page 68: Use Of Osnma In Simulated Scenarios
2 Operation Details is available and successful. 3. The authentication status gets reﬂected in the satellite status window of RxControl, as shown below. Figure 2-4: Example OSNMA satellite status. The satellites marked with a green square are successfully authenticated. 2.6.1 Use of OSNMA in Simulated Scenarios By default, OSNMA authentication is conﬁgured to work with live Galileo signals.
Page 69: Receiver Autonomous Integrity Monitoring (Raim)
2 Operation Details sure to enable the OSNMA operation at the same time (using either the loose or strict argument). 2.7 Receiver Autonomous Integrity Monitor- ing (RAIM) The receiver features RAIM to ensure the integrity of the computed position solution, pro- vided that suﬃcient satellites are available.
Page 70: Integrity Algorithm
2 Operation Details The probability computations are based on the assumption that the residuals are distributed as a Normal distribution (central if there is no outlier, and non-central if there is one), as illustrated in Figure 2-5. Figure 2-5: Statistical test outcomes. Samples corresponding to the four test outcomes are represented in Figure 2-5: samples A and B are from the unbiased measurement distribution, while samples C and D are from a bi- ased measurement distribution corresponding to an outlier.
Page 71: Internal And External Reliability Levels
2 Operation Details The probability of false alarm of the overall model test is selectable by the user with the ModelReliability argument of the command. setRAIMLevels If the overall model test statistic is lower than the test threshold, the test is passed and the integrity is guarantueed under the statistical assumptions speciﬁed by the setRAIMLevels command.
Page 72 2 Operation Details where: • is the standard deviation of the range measurement of the th satellite; • is the standard deviation of the estimator for the (measured) range of the th satel- lite; • is the non-centrality parameter, which depends upon the probability of false alarm of the -test and the probability of missed detection.
Page 73: Command Line Reference
3 Command Line Reference Chapter 3 Command Line Reference...
Page 74: Command Line Interface Outline
3 Command Line Reference 3.1 Command Line Interface Outline The receiver outputs a prompt when it is ready to accept a user command. The prompt is of the form: CD> where is the connection descriptor of the current connection, e.g. COM1 (see sec- tion1.1.5).
Page 75: Command Replies
3 Command Line Reference The maximum length of any ASCII command line is 2000 characters. For commands requiring arguments, the comma "," must be used to separate the arguments from each other and from the command’s name. Any number of spaces can be inserted before and after the comma.
Page 76: Command Syntax Tables
3 Command Line Reference ASCII replies to - and -commands, including the terminating prompt, are atomic: they cannot be broken by other messages from the receivers. For the commands, the replies may consist of several atomic formatted blocks which can be inter- leaved with other output data.
Page 77 3 Command Line Reference Examples: (which is actually an alias for COM1, COM1+COM2, all COM1+COM2 • Distance is a number between with a default value of , and up to 2 decimal digits. An error is returned if more digits are provided. The "m" indicates that the value is expressed in meters.
Page 78 3 Command Line Reference • PRN is a range of values that can be combined together with the " " sign. The default value is an alias for is an alias for G01+G02+ ... +G32 SBAS S120+ ... an alias for .
Page 79: Command Definitions
3 Command Line Reference 3.2 Command Definitions 3.2.1 Receiver Administration lstAntennaInfo Antenna Overview Main [antenna name] Use this command with the argument Antenna set to to get a list of all antenna Overview names for which the receiver knows the phase center variation parameters (see section 2.5). Use this command with the argument Antenna set to one of the antenna names returned by to retrieve the complete phase center variation parameters lstAntennaInfo, Overview...
Page 80 3 Command Line Reference help lstCommandHelp Action (255) Overview Use this command to retrieve a short description of the ASCII command-line interface. When invoking this command with the argument, the receiver returns the list of Overview all supported - and -commands.
Page 81 3 Command Line Reference lstConfigFile File Current Boot RxDefault User1 User2 Use this command to list the contents of a conﬁguration ﬁle. A conﬁguration ﬁle contains the list of user commands needed to bring the receiver from factory default to a certain non- default conﬁguration.
Page 82 3 Command Line Reference eccf exeCopyConfigFile Source Target gccf getCopyConfigFile Current Current Boot Boot User1 User1 User2 User2 RxDefault RxControl: File > Copy Conﬁguration Use this command to manage the conﬁguration ﬁles. See the command lstConfigFile for a description of the different conﬁguration ﬁles. With this command, the user can copy conﬁgurations ﬁles into other conﬁguration ﬁles.
Page 83 3 Command Line Reference seth setEthernetMode Enable geth getEthernetMode RxControl: Communication > Network Settings > General Use this command to turn the Ethernet interface on or off. Before turning Ethernet off, make sure that the receiver will still be accessible through an- other interface (serial, USB,...).
Page 84 3 Command Line Reference efup exeFTPUpgrade Server (32) Path (64) Login (12) Password (24) gfup getFTPUpgrade anonymous RxControl: File > Upgrade Receiver using FTP Use this command to upgrade the receiver by fetching the upgrade ﬁle from an FTP server. The arguments specify the FTP server, the path to the upgrade ﬁle (.SUF format), and the login and password to use.
Page 85 3 Command Line Reference sgpf setGPIOFunctionality GPPin Mode Input Output ggpf getGPIOFunctionality GPPin none LevelLow + GP1 Output + GP2 LevelHigh RxControl: Navigation > Receiver Operation > GPIO Use these commands to deﬁne/inquire the functionality assigned to every GPIO pin. Currently, only the output pins ( ) can be controlled by this command, and the Mode and Input arguments can only take the values...
Page 86 3 Command Line Reference lstInternalFile File Permissions Identification Debug Error SisError DiffCorrError SetupError LBAS1Access LBAS1Subscr IPParameters RxMessages Use this command to retrieve the contents of one of the receiver internal ﬁles: File Description List of permitted options in your receiver. Permissions Information about the different components being part of the Identification...
Page 87 3 Command Line Reference setLEDMode GPLED getLEDMode DIFFCORLED LOGLED RxControl: Navigation > Receiver Operation > GPIO Use this command to deﬁne/inquire the blinking mode of the General Purpose LED(s). The different LED blinking modes are described in the Hardware Manual or in the User Man- ual of your receiver.
Page 88 3 Command Line Reference lstMIBDescription File (255) Overview SBFTable Use this command to retrieve the ASN.1-compliant syntax of the user command interface. The name of the command refers to the MIB (Management Information Base), which holds the whole receiver conﬁguration. There is a one-to-one relationship between the formal MIB description and the ASCII command-line interface for all - and -commands.
Page 89 3 Command Line Reference getReceiverCapabilities RxControl: Help > Receiver Interface > Permitted Capabilities Use this command to retrieve the so-called "capabilities" of your receiver. The ﬁrst returned value is the list of supported antenna(s), followed by the list of supported signals, the list of available communication ports and the list of enabled features.
Page 90 3 Command Line Reference Signals (Continued) Description BeiDou B2b signal. BDSB2b QZSS L1 C/A signal. QZSL1CA QZSS L2 C signal. QZSL2C QZSS L5 signal. QZSL5 QZSS L6 signal. QZSL6 QZSS L1C signal. QZSL1C QZSS L1S signal. QZSL1S QZSS L5S signal. QZSL5S QZSS L1 C/B signal.
Page 91 3 Command Line Reference Capabilities Description Positioning with SBAS corrections. SBAS Positioning with DGPS corrections. DGPSRover Generation of DGPS corrections. DGPSBase Positioning with RTK corrections. RTKRover Generation of RTK corrections. RTKBase Generation/decoding of RTCM v2.3 corrections. RTCMv23 Generation/decoding of RTCM v3.x corrections. RTCMv3x Generation/decoding of CMR v2.0 corrections.
Page 92 3 Command Line Reference getReceiverInterface Item + RxName SNMPLanguage + SNMPVersion RxControl: Help > Receiver Interface > Interface Version Use this command to retrieve the version of the receiver command-line interface. The reply to this command is a subset of the reply returned by the lstInternalFile, command.
Page 93 3 Command Line Reference exeRegisteredApplications Application (12) getRegisteredApplications Unknown + COM1 + COM2 + COM3 + COM4 + USB1 + USB2 + IP10 ... IP17 RxControl: Communication > Registration Use these commands to deﬁne/inquire the name of the application that is currently using a given connection descriptor (Cd - see 1.1.5 ).
Page 94 3 Command Line Reference erst exeResetReceiver Level EraseMemory grst getResetReceiver none Soft + Config Hard + PVTData Upgrade + SatData + BaseStations WiFiAccessPoints HTTPSCertificate + SISAuthData RxControl: File > Reset Receiver Use this command to reset the receiver and to erase some previously stored data. The ﬁrst argument speciﬁes which level of reset you want to execute: Level Description...
Page 95 3 Command Line Reference EraseMemory (Continued) Description The list of known WiFi access points is erased (see the WiFiAccessPoints command). exeAddWiFiAccessPoint Remove current HTTPS certiﬁcate. It will be replaced by a self- HTTPSCertificate signed certiﬁcate at boot. Remove stored OSNMA data (PKR - Public Keys, ﬂoating KROOT) SISAuthData Before resetting, the receiver broadcasts a "...
Page 96 3 Command Line Reference suia setUSBInternetAccess Enable guia getUSBInternetAccess RxControl: Communication > Network Settings > General Use this command to enable or disable outgoing network access over USB. If enabled, the receiver will attempt to obtain an IP address via DHCP over the USB connec- tion.
Page 97: Standby And Sleep Configuration
3 Command Line Reference 3.2.2 Standby and Sleep Configuration epwm exePowerMode Mode gpwm getPowerMode ScheduledSleep StandBy RxControl: File > Power Mode > Shut Down Use this command to set the receiver in sleep or standby mode, in which it consumes only a fraction of its normal operational power.
Page 98 3 Command Line Reference spth setPowerThresholds ExtPowerSupply gpth getPowerThresholds 0.0 . . . 30.0 V RxControl: File > Power Mode > Monitoring This command sets the supply voltage level at which the receiver enters power-saving mode. It is to be used in conjunction with the command.
Page 99 3 Command Line Reference setStandbyMonitoring StandbyPeriod getStandbyMonitoring 0 . . . 15724800 s RxControl: File > Power Mode > Monitoring This command is to be used in conjunction with the command. setPowerThresholds It speciﬁes the sleep duration when the supply voltage drops below the level set with setPowerThresholds When the supply voltage (e.g.
Page 100 3 Command Line Reference swui setWakeUpInterval WakeUpTime (30) AwakeDuration RepetitionPeriod gwui getWakeUpInterval 2000-01-01 00:00:00 0 . . . 604800 s 0 . . . 604800 s RxControl: File > Power Mode > Scheduling This command can be used to set up an automatic receiver awake/sleep pattern. It is possi- ble to order the receiver to wake up at a given time, for a certain period, and/or at regular intervals.
Page 101 3 Command Line Reference If you want to set up an automatic wake up every day at midnight for 1 hour, use: COM1> swui, , 3600, 86400 <CR> $R: swui, , 3600, 86400 WakeUpInterval, "2000-01-01 00:00:00", 3600, 86400 COM1> eccf, Current, Boot <CR> $R: eccf, Current, Boot CopyConfigFile, Current, Boot COM1>...
Page 102: User Management
3 Command Line Reference 3.2.3 User Management lstCurrentUser Use this command to check which user is currently logged in on this port, if any. See also the command. login Example COM1> lcu <CR> $R! lstCurrentUser Not logged in. COM1> login, admin, admin <CR> $R! LogIn User admin logged in.
Page 103 3 Command Line Reference sdal setDefaultAccessLevel FileTransfer gdal getDefaultAccessLevel none none none none none Viewer Viewer Viewer Viewer Viewer User User User User User RxControl: File > User Management This command deﬁnes what an anonymous user is authorized to do when connected to the receiver.
Page 104 3 Command Line Reference login LogIn UserName (16) Password (32) Use this command to authenticate yourself. When initially connecting to the receiver, a user is considered "anonymous". The level of control granted to anonymous users is deﬁned by the command setDefaultAccessLevel To perform actions not allowed to anonymous users, you need to authenticate yourself by entering a UserName and Password through the...
Page 105 3 Command Line Reference logout LogOut Use this command to return to anonymous access. It is the reverse of login Example The following sequence of commands logs in as user "admin" with password "admin", recon- ﬁgures SBF output, and logs out again: COM1>...
Page 106 3 Command Line Reference sual setUserAccessLevel UserID UserName (16) Password (32) UserLevel SSHKey (232) gual getUserAccessLevel UserID + User1 ... User8 Viewer User RxControl: File > User Management Use these commands to manage the user accounts and their access rights on the receiver. Up to eight user accounts can be deﬁned ( User1 User8...
Page 107: Tracking And Measurement Generation
3 Command Line Reference 3.2.4 Tracking and Measurement Generation setChannelAllocation Channel Satellite Search Doppler Window getChannelAllocation Channel auto auto -50000 . . . 0 . . . 16000 + Ch01 ... Ch80 . . . 50000 Hz . . . 100000 Hz G01 ...
Page 108 3 Command Line Reference COM1> gca, Ch05 <CR> $R: gca, Ch05 ChannelAllocation, Ch05, G01, auto, 0, 16000 COM1>...
Page 109 3 Command Line Reference setCN0Mask Signal Mask getCN0Mask Signal 0 . . . 10 . . . 60 dB- + GPSL1CA + Reserved1 + Reserved2 + GPSL2C + GPSL5 + GPSL1C + GLOL1CA + GLOL1P + GLOL2P + GLOL2CA + GLOL3 + GALL1BC + GALE6BC + GALE5a...
Page 110 3 Command Line Reference setMultipathMitigation Code Carrier getMultipathMitigation RxControl: Navigation > Receiver Operation > Tracking and Measurements > Multipath Use these commands to deﬁne/inquire whether multipath mitigation is enabled or not. The arguments Code and Carrier enable or disable the A-Posteriori Multipath Estimator (APME) for the code and carrier phase measurements respectively.
Page 111 3 Command Line Reference setSatelliteTracking Satellite getSatelliteTracking none + G01 ... G32 + R01 ... R30 + E01 ... E36 + S120 ... S158 + C01 ... C63 + J01 ... J07 + I01 ... I14 + GPS + GLONASS + GALILEO + SBAS + BEIDOU...
Page 112 3 Command Line Reference To remove SBAS PRN120 from the list of allowed satellites, use: COM1> sst, -S120 <CR> $R: sst, -S120 SatelliteTracking, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11 +G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26+G27 COM1>...
Page 113 3 Command Line Reference setSignalTracking Signal getSignalTracking + GPSL1CA + GPSL1PY + GPSL2PY + GPSL2C + GPSL5 + GPSL1C + GLOL1CA + GLOL1P + GLOL2P + GLOL2CA + GLOL3 + GALL1BC + GALE6BC + GALE5a + GALE5b + GALE5 + GEOL1 + GEOL5 + BDSB1I + BDSB2I...
Page 114 3 Command Line Reference To conﬁgure the receiver in a single-frequency L1 GPS+SBAS mode, use: COM1> snt, GPSL1CA+GEOL1 <CR> $R: snt, GPSL1CA+GEOL1 SignalTracking, GPSL1CA+GEOL1 COM1> COM1> gnt <CR> $R: gnt SignalTracking, GPSL1CA+GEOL1 COM1>...
Page 115 3 Command Line Reference setSmoothingInterval Signal Interval Alignment getSmoothingInterval Signal 0 . . . 1000 s 0 . . . 1000 s + GPSL1CA + GPSL2PY + GPSL2C + GPSL5 + GPSL1C + GLOL1CA + GLOL1P + GLOL2P + GLOL2CA + GLOL3 + GALL1BC + GALE6BC...
Page 116 3 Command Line Reference COM1> ssi, GPSL1CA, 300 <CR> $R: ssi, GPSL1CA, 300 SmoothingInterval, GPSL1CA, 300, 0 COM1> COM1> gsi, GPSL1CA <CR> $R: gsi, GPSL1CA SmoothingInterval, GPSL1CA, 300, 0 COM1>...
Page 117 3 Command Line Reference stlp setTrackingLoopParameters Signal DLLBandwidth PLLBandwidth MaxTpDLL MaxTpPLL Adaptive gtlp getTrackingLoopParameters Signal 0.01 . . . 0.25 1 . . . 15 . . . 100 1 . . . 100 . . . 500 1 . . . 10 . . . 200 + GPSL1CA .
Page 118 3 Command Line Reference result in the impossibility for the receiver to track a speciﬁc signal, or may signiﬁcantly in- crease the processor load. It is recommended that the product of TpPLL (in milliseconds) and PLLBandwidth (in Hz) be kept between 100 and 200. Note that decreasing the pre-detection times increases the load on the processor.
Page 119: Frontend And Interference Mitigation
3 Command Line Reference 3.2.5 Frontend and Interference Mitigation setAGCMode Band Mode Gain getAGCMode Band auto 0 . . . 35 . . . 70 dB + L1 + L2L5 frozen + E6 manual RxControl: Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings Use these commands to deﬁne/inquire the operation mode of the Automatic Gain Control (AGC) in the receiver frontend.
Page 120 3 Command Line Reference sbbs setBBSamplingMode Mode gbbs getBBSamplingMode BeforeIM AfterIM RxControl: Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings Use this command to conﬁgure the baseband samples (ADC samples) logged in the SBF block. BBSamples The following sampling modes are deﬁned: Mode...
Page 121 3 Command Line Reference setNotchFiltering Notch Mode CenterFreq Bandwidth getNotchFiltering Notch + Notch1 auto 1100.000 30 . . . 1600 kHz . . . 2550.000 + Notch2 + Notch3 manual RxControl: Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings Use these commands to set the position of the notch ﬁlter(s) in the receiver’s frontend.
Page 122 3 Command Line Reference swbi setWBIMitigation Mode gwbi getWBIMitigation RxControl: Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings Use this command to enable or disable the mitigation of wideband interferences, including swept-frequency or pulsed interferences. When enabled (argument Mode set to ), the in- terference mitigation is done automatically and can be monitored with the RFStatus...
Page 123: Navigation Filter
3 Command Line Reference 3.2.6 Navigation Filter setAntennaOffset Antenna DeltaE DeltaN DeltaU Type (20) SerialNr (20) SetupID getAntennaOffset Antenna -1000.0000 -1000.0000 -1000.0000 0 . . . 255 + Main Unknown Unknown . . . 0.0000 . . . 0.0000 . . . 0.0000 .
Page 124 3 Command Line Reference sdca setDiffCorrMaxAge DGPSCorr RTKCorr PPPCorr Iono gdca getDiffCorrMaxAge . . . 400.0 . . . 20.0 . . . 360.0 . . . 600.0 . . . 3600.0 s . . . 3600.0 s . . . 3600.0 s .
Page 125 3 Command Line Reference sdcu setDiffCorrUsage Mode MaxAge BaseSelection BaseID gdcu getDiffCorrUsage LowLatency 0.1 . . . 3600.0 s auto 0 . . . 4095 manual RxControl: Navigation > Positioning Mode > PPP and Differential Corrections Use these commands to deﬁne/inquire the usage of incoming differential corrections in DGPS or RTK rover mode.
Page 126 3 Command Line Reference setElevationMask Engine Mask getElevationMask Engine + Tracking -90 . . . 0 . . . 90 deg + PVT RxControl: Navigation > Receiver Operation > Masks Use these commands to set or get the elevation mask in degrees. There are two masks deﬁned: a tracking mask and a PVT mask.
Page 127 3 Command Line Reference setGeoidUndulation Mode Undulation getGeoidUndulation auto -250.000 . . . 0.000 manual . . . 250.000 RxControl: Navigation > Receiver Operation > Position > Earth Models Use these commands to deﬁne/inquire the geoid undulation at the receiver position. The geoid undulation speciﬁes the local difference between the geoid and the WGS84 ellipsoid.
Page 128 3 Command Line Reference setHealthMask Engine Mask getHealthMask Engine + Tracking + PVT RxControl: Navigation > Receiver Operation > Masks Use these commands to deﬁne/inquire whether measurements (pseudoranges, carrier phases...) should be produced for unhealthy satellite signals (i.e. signals for which the un- healthy ﬂag is set in the satellite navigation message), and whether these measurements should be included in the PVT solution.
Page 129 3 Command Line Reference setIonosphereModel Model getIonosphereModel auto Klobuchar SBAS MultiFreq KlobucharBeiDou RxControl: Navigation > Receiver Operation > Position > Atmosphere Use these commands to deﬁne/inquire the type of model used to correct ionospheric errors in the PVT computation. The following models are available: Model Description With this selection, the receiver will, based on the available in-...
Page 130 3 Command Line Reference COM1> gim <CR> $R: gim IonosphereModel, off COM1>...
Page 131 3 Command Line Reference scls setL6CLASSource Satellite Message gcls getL6CLASSource auto none J01 ... J07 RxControl: Navigation > Positioning Mode > QZSS CLAS Conﬁguration This command sets the QZSS satellite from which the L6 signal will be tracked and CLAS corrections will be decoded.
Page 132 3 Command Line Reference setMagneticVariance Mode Variation getMagneticVariance auto -180.0 . . . 0.0 . . . 180.0 deg manual RxControl: Navigation > Receiver Operation > Position > Earth Models Use these commands to deﬁne the magnetic variation (a.k.a. magnetic declination) at the current position.
Page 133 3 Command Line Reference snrc setNetworkRTKConfig NetworkType gnrc getNetworkRTKConfig auto RxControl: Navigation > Positioning Mode > PPP and Differential Corrections Use these commands to deﬁne/inquire the type of the RTK network providing the differential corrections. In most cases, it is recommended to leave the Type argument to to let the receiver auto autodetect the network type.
Page 134 3 Command Line Reference spas setPPPAutoSeed Mode gpas getPPPAutoSeed none + DGPS + RTKFixed RxControl: Navigation > Positioning Mode > PPP and Differential Corrections Use this command to specify which position mode is allowed to be used as a seed for the PPP engine.
Page 135 3 Command Line Reference epss exePPPSetSeedGeod Latitude Longitude Altitude Datum gpss getPPPSetSeedGeod -90.000000000 -180.000000000 -1000.0000 WGS84 . . . 0.000000000 . . . 0.000000000 . . . 0.0000 ETRS89 . . . 90.000000000 . . . 180.000000000 . . . 30000.0000 m NAD83 NAD83_PA NAD83_MA...
Page 136 3 Command Line Reference In the event that the command is issued when the receiver is already in PPP mode, the PPP ﬁlter is reset and re-seeded. Example COM1> epss, 4.5, 3.568, 0.1, WGS84<CR> $R: epss, 4.5, 3.568, 0.1, WGS84 PPPSetSeedGeod, 4.500000000, 3.568000000, 0.1000, WGS84 COM1>...
Page 137 3 Command Line Reference setPVTMode Mode RoverMode RefPos getPVTMode auto Static + StandAlone Rover + SBAS Geodetic1 + DGPS Cartesian1 + RTKFloat + RTKFixed + PPP + RTK RxControl: Navigation > Positioning Mode > PVT Mode Use these commands to deﬁne/inquire the main PVT mode of the receiver. The argument Mode speciﬁes the general positioning mode.
Page 138 3 Command Line Reference setRAIMLevels Mode Reliability getRAIMLevels -12 . . . -4 . . . -1 -12 . . . -4 . . . -1 -12 . . . -3 . . . -1 RxControl: Navigation > Receiver Operation > Position > Integrity Use these commands to deﬁne/inquire the parameters of the Receiver Autonomous Integrity Monitoring (RAIM) algorithm in rover PVT mode.
Page 139 3 Command Line Reference setReceiverDynamics Level Motion getReceiverDynamics Static High Quasistatic Moderate Pedestrian Automotive EarthquakeMon Unlimited RxControl: Navigation > Receiver Operation > Position > Motion Use these commands to set the type of dynamics the GNSS antenna is subjected to. The Level argument sets the balance between noise and dynamics in the GNSS measure- ments and the PVT solution.
Page 140 3 Command Line Reference ernf exeResetNavFilter Level grnf getResetNavFilter + PVT + AmbRTK RxControl: Navigation > Receiver Initialization > Reset Navigation Filter Use this command to reset the different navigation ﬁlters in the receiver. The user can reset each navigation ﬁlter independently or together with the value The following values for Level are deﬁned: Level Description...
Page 141 3 Command Line Reference setSatelliteUsage Satellite getSatelliteUsage none + G01 ... G32 + R01 ... R24 + R25 + R26 + R27 + R28 + R29 + R30 + E01 ... E36 + S120 ... S158 + C01 ... C63 + J01 ...
Page 142 3 Command Line Reference ssbc setSBASCorrections Satellite SISMode NavMode DO229Version gsbc getSBASCorrections auto Test EnRoute auto EGNOS Operational PrecApp DO229C WAAS MixedSystems MSAS GAGAN SDCM S120 ... S158 RxControl: Navigation > Positioning Mode > SBAS Corrections Use these commands to deﬁne/inquire the details on the usage of SBAS data in the PVT computation.
Page 143 3 Command Line Reference Example To force the receiver to use corrections from PRN 122 and ignore message MT00: COM1> ssbc, S122, Test <CR> $R: ssbc, S122, Test SBASCorrections, S122, Test, MixedSystems, auto COM1>...
Page 144 3 Command Line Reference sssc setSBASService Service gssc getSBASService DO229 DFMC RxControl: Navigation > Positioning Mode > SBAS Corrections Use this command to deﬁne/inquire the SBAS service to be used in the PVT computation. is selected, the SBAS corrections provided on the L1 signal are used (only for GPS DO229 satellites).
Page 145 3 Command Line Reference setSignalUsage NavData getSignalUsage + GPSL1CA + GPSL1CA + GPSL1PY + GPSL1PY + GPSL2PY + GPSL2PY + GPSL2C + GPSL2C + GPSL5 + GPSL5 + GPSL1C + GPSL1C + GLOL1CA + GLOL1CA + GLOL1P + GLOL1P + GLOL2P + GLOL2P + GLOL2CA + GLOL2CA...
Page 146 3 Command Line Reference sspc setStaticPosCartesian Position Datum gspc getStaticPosCartesian Position -8000000.0000 -8000000.0000 -8000000.0000 + Cartesian1 WGS84 . . . 0.0000 . . . 0.0000 . . . 0.0000 ETRS89 . . . 8000000.0000 . . . 8000000.0000 . . . 8000000.0000 NAD83 NAD83_PA NAD83_MA...
Page 147 3 Command Line Reference PVTMode, Static, StandAlone+SBAS+DGPS+RTKFloat+RTKFixed, Cartesian1 COM1>...
Page 148 3 Command Line Reference sspg setStaticPosGeodetic Position Latitude Longitude Altitude Datum gspg getStaticPosGeodetic Position -90.000000000 -180.000000000 -1000.0000 + Geodetic1 WGS84 . . . 0.000000000 . . . 0.000000000 . . . 0.0000 ETRS89 . . . 90.000000000 . . . 180.000000000 .
Page 149 3 Command Line Reference setTroposphereModel ZenithModel MappingModel getTroposphereModel Niell Saastamoinen MOPS MOPS RxControl: Navigation > Receiver Operation > Position > Atmosphere Use these commands to deﬁne/inquire the type of model used to correct tropospheric errors in the PVT computation. The ZenithModel parameter indicates which model the receiver uses to compute the dry and wet delays for radio signals at 90 degree elevation.
Page 150 3 Command Line Reference COM1> stm, MOPS, MOPS <CR> $R: stm, MOPS, MOPS TroposhereModel, MOPS, MOPS COM1> COM1> gtm <CR> $R: gtm TroposhereModel, MOPS, MOPS COM1>...
Page 151 3 Command Line Reference setTroposphereParameters Temperature Pressure Humidity getTroposphereParameters -100.0 . . . 15.0 800.00 0 . . . 50 . . . 100 % . . . 100.0 degC . . . 1013.25 . . . 1500.00 hPa RxControl: Navigation > Receiver Operation > Position > Atmosphere Use these commands to deﬁne/inquire the climate parameters to be used when the zenith troposphere is estimated using the Saastamoinen model (see the setTroposphereModel...
Page 152: Authentication
3 Command Line Reference 3.2.7 Authentication lopk lstGalOSNMAPublicKeys Use this command to retrieve the list of applicable OSNMA public keys. The list contains user-deﬁned public keys, as introduced with setGalOSNMAPublicKeys command, possibly updated with new keys provided through the Galileo OSNMA protocol (over the air).
Page 153 3 Command Line Reference sopk setGalOSNMAPublicKeys Key (233) gopk getGalOSNMAPublicKeys + Key0 ... Key15 RxControl: Navigation > Advanced User Settings > Galileo OSNMA > Public Keys Public keys for live OSNMA operation are hardcoded in the receiver, as they are not expected to change frequently.
Page 154 3 Command Line Reference setGalOSNMAUsage Mode MTRoot (65) getGalOSNMAUsage loose strict RxControl: Navigation > Advanced User Settings > Galileo OSNMA > Settings Use this command to conﬁgure the OSNMA processing of the receiver. By default, the Mode argument is set to and the authentication function is switched off.
Page 155: Datum Definition
3 Command Line Reference 3.2.8 Datum Definition setGeodeticDatum TargetDatum getGeodeticDatum WGS84 ETRS89 NAD83 NAD83_PA NAD83_MA GDA94 GDA2020 Default User1 User2 RxControl: Navigation > Receiver Operation > Position > Datum Use this command to deﬁne the datum to which you want the coordinates to refer. TargetDatum Description Equivalent to...
Page 156 3 Command Line Reference In the current ﬁrmware version, the value for the TargetDatum argument has no effect, WGS84 but it is kept for backwards compatibility reasons. Setting TargetDatum to is equivalent WGS84 to setting it to Default Example COM1> sgd, ETRS89 <CR>...
Page 157 3 Command Line Reference setUserDatum Datum getUserDatum Datum + User1 -2000000.00 -2000000.00 -2000000.00 -100.0000 -100.0000 -100.0000 -100.00000 . . . 0.00 . . . 0.00 . . . 0.00 . . . 0.0000 . . . 0.0000 . . . 0.0000 .
Page 158 3 Command Line Reference sudv setUserDatumVel Datum TxVel TyVel TzVel RxVel RyVel RzVel DVel RefYear gudv getUserDatumVel Datum + User1 -2000.00 . . . 0.00 -2000.00 . . . 0.00 -2000.00 . . . 0.00 -10.0000 -10.0000 -10.0000 -1.00000 1900.00 .
Page 159 3 Command Line Reference setUserEllipsoid Datum Invf getUserEllipsoid Datum + User1 6300000.000 290.000000000 . . . 6378137.000 . . . 298.257223563 + User2 . . . 6400000.000 . . . 305.000000000 RxControl: Navigation > Receiver Operation > Position > Datum Use these commands to deﬁne the ellipsoid associated with the datum.
Page 160: Timing And Time Management
3 Command Line Reference 3.2.9 Timing and Time Management scst setClockSyncThreshold Threshold StartupSync gcst getClockSyncThreshold ClockSteering usec500 msec1 msec2 msec3 msec4 msec5 RxControl: Navigation > Receiver Operation > Timing Use these commands to deﬁne/inquire the maximum allowed offset between the receiver internal clock and the system time deﬁned by the command.
Page 161 3 Command Line Reference setEventParameters Event Polarity Delay getEventParameters Event + EventA Low2High -500.000000 . . . 0.000000 + EventB High2Low . . . 500.000000 RxControl: Navigation > Receiver Operation > Timing Use these commands to deﬁne/inquire the polarity of the electrical transition on which the receiver will react on its input(s).
Page 162 3 Command Line Reference setNtpClient Mode Server (40) getNtpClient default RxControl: Navigation > Receiver Operation > Timing Use this command to conﬁgure the retrieval of the time from an external NTP time server. Getting the time from an external source can help the receiver to perform some sanity checks on the signal received from the GNSS satellites.
Page 163 3 Command Line Reference sntp setNTPServer Enable gntp getNTPServer RxControl: Navigation > Receiver Operation > Timing Use this command to enable or disable the built-in NTP (Network Time Protocol) server. When enabled, the NTP server accepts UDP timestamp requests on port number 123. Example COM1>...
Page 164 3 Command Line Reference spps setPPSParameters Interval Polarity Delay TimeScale MaxSyncAge PulseWidth gpps getPPSParameters Low2High -1000000.00 0 . . . 60 . . . 3600 s 0.001 . . . 5.000 . . . 0.00 . . . 1000.000 ms msec10 High2Low Galileo...
Page 165 3 Command Line Reference srom setREFOUTMode Enable Disciplined FreqOffset grom getREFOUTMode -1.000 . . . 0.000 . . . 1.000 ppm RxControl: Navigation > Advanced User Settings > Receiver Clock Use this command to conﬁgure the 10-MHz REF OUT frequency reference output of the re- ceiver.
Page 166 3 Command Line Reference setTimingSystem System getTimingSystem Galileo BeiDou auto RxControl: Navigation > Receiver Operation > Timing Use these commands to deﬁne/inquire the reference time system for the computation of the receiver clock bias. As part of the PVT computation, the receiver determines the offset between its own time (receiver time) and the time of the GNSS system speciﬁed with the System argument.
Page 167: Time Transfer Configuration
3 Command Line Reference 3.2.10 Time Transfer Configuration scdy setCABDLY CABDLY gcdy getCABDLY -1000.000 . . . 0.000 . . . 1000.000 RxControl: Logging > Internal CGGTTS Logging > CGGTTS Parameters This command sets the electrical delay in the cable from the antenna to the receiver. This delay is commonly referred to as X in the time-transfer literature.
Page 168 3 Command Line Reference scpo setCGGTTSPosition SatSystem Mode gcpo getCGGTTSPosition SatSystem manual -8000000.0000 -8000000.0000 -8000000.0000 + GPS . . . 0.0000 . . . 0.0000 . . . 0.0000 + GLONASS . . . 8000000.0000 . . . 8000000.0000 . . . 8000000.0000 + GALILEO + BEIDOU RxControl: Logging >...
Page 169 3 Command Line Reference scgt setCGGTTSTrackParameters ElMask TrackSchedule gcgt getCGGTTSTrackParameters -90 . . . 10 . . . 90 BIPM Contiguous RxControl: Logging > Internal CGGTTS Logging > CGGTTS Parameters This command conﬁgures some parameters of the CGGTTS computation. The ElMask argument speciﬁes the elevation mask to be used when computing the CGGTTS data.
Page 170 3 Command Line Reference sidy setINTDLY Frequency INTDLY gidy getINTDLY Frequency -1000.000 + GPSL1 . . . 0.000 + GPSL2 . . . 1000.000 + GLOL1 + GLOL2 + GALE1 + GALE5a + BDSB1I + BDSB2I RxControl: Logging > Internal CGGTTS Logging > CGGTTS Parameters This command sets the electrical delays (INTDLY) applicable to the receiver and antenna.
Page 171 3 Command Line Reference spim setPPSINMonitor Mode gpim getPPSINMonitor RxControl: Navigation > Receiver Operation > Timing By default, the receiver uses the PPS IN signal only at startup for initial synchronization. Dur- ing operation, PPS IN is ignored and the receiver time is kept in sync by counting the cycles of the 10-MHz REF IN reference.
Page 172 3 Command Line Reference spin setPPSINParameters XOCompensation gpin getPPSINParameters auto RxControl: Navigation > Receiver Operation > Timing Use this command to enable or disable automatic compensation of the delay between the PPS IN pulse at the PPS IN connector and the receiver internal time reference. This delay is commonly referred to as X in the literature.
Page 173 3 Command Line Reference srdy setREFDLY REFDLY grdy getREFDLY -1000.000 . . . 0.000 . . . 1000.000 ns RxControl: Logging > Internal CGGTTS Logging > CGGTTS Parameters This command sets the electrical delay between the laboratory clock and the receiver internal time reference.
Page 174 3 Command Line Reference stmp setTimeLabParameters LabName (40) LabID (2) RxID (2) CalID (30) CalRevDate (30) TimeRef (30) Comment (80) gtmp getTimeLabParameters RxControl: Logging > Internal CGGTTS Logging > CGGTTS Parameters Use this command to specify the value of various ﬁelds of the CGGTTS ﬁle header and ﬁle name.
Page 175: Station Settings
3 Command Line Reference 3.2.11 Station Settings setMarkerParameters MarkerName (60) MarkerNumber (20)MarkerType (20) StationCode (10) MonumentIdx ReceiverIdx CountryCode (3) getMarkerParameters 0 . . . 9 0 . . . 9 SEPT Unknown Unknown RxControl: Navigation > Receiver Setup > Station Settings Use these commands to deﬁne/inquire the marker and station parameters.
Page 176 3 Command Line Reference setObserverComment Comment (120) getObserverComment Unknown RxControl: Navigation > Receiver Setup > Station Settings Use these commands to deﬁne/inquire the content of the SBF block. Comment Examples COM1> soc, "Data taken with choke ring antenna"<CR> $R: soc, "Data taken with choke ring antenna" ObserverComment, "Data taken with choke ring antenna"...
Page 177 3 Command Line Reference setObserverParameters Observer (20) Agency (40) getObserverParameters Unknown Unknown RxControl: Navigation > Receiver Setup > Station Settings Use these commands to deﬁne/inquire the observer name or ID, and his/her agency. These parameters are copied in the SBF block and in the header of RINEX obser- ReceiverSetup vation ﬁles.
Page 178: General Input/Output
3 Command Line Reference 3.2.12 General Input/Output setCOMSettings Rate DataBits Parity StopBits FlowControl getCOMSettings none + COM1 baud1200 bits8 bit1 RTS|CTS + COM2 baud2400 + COM3 baud4800 + COM4 baud9600 baud19200 baud38400 baud57600 baud115200 baud230400 RxControl: Communication > COM Port Settings Use these commands to deﬁne/inquire the communication settings of the receiver’s COM ports.
Page 179 (e.g. your own web application) to access receiver data via HTTP requests. Please contact Septentrio support for additional information on the receiver’s JavaScript libraries.
Page 180 3 Command Line Reference sdcm setDaisyChainMode Mode gdcm getDaisyChainMode + DC1 + DC2 ASCII RxControl: Communication > Input/Output Selection Use this command to deﬁne how data is transferred in a daisy chain conﬁgured with the command. setDataInOut By default (Mode is ), incoming bytes are transferred in small chunks from the input to the output connector.
Page 181 3 Command Line Reference sdio setDataInOut Input Output Show gdio getDataInOut none none + COM1 (off) + RTCMv2 + COM2 (on) RTCMv2 + RTCMv3 + COM3 (waiting) RTCMv3 + CMRv2 + COM4 CMRv2 + SBF + USB1 + NMEA + USB2 + ASCIIDisplay + IP10 ...
Page 182 3 Command Line Reference When opening an connection, the Input and Output modes are always reset to their IPxx default value. represent two internal pipes that can be used to create a daisy-chain. Set the Input argument to to connect the input of pipe i to the speciﬁed connection. Set the Output argument to to connect the output of pipe i to the speciﬁed connection.
Page 183 3 Command Line Reference sdds setDynamicDNS Provider UserName (40) Password (40) Hostname (40) Bind gdds getDynamicDNS auto dyndns.org Ethernet no-ip.com WiFi RxControl: Communication > Network Settings > DynDNS This command conﬁgures the built-in dynamic DNS client (DynDNS or DDNS). Before using DynDNS, you will need to create an account and deﬁne a hostname for your receiver at one of the supported DynDNS providers.
Page 184 3 Command Line Reference eecm exeEchoMessage Message (242) EndOfLine gecm getEchoMessage none A:Unknown COM1 + CR COM2 + LF COM3 COM4 USB1 USB2 IP10 ... IP17 IPS1 IPS2 IPS3 IPS4 IPS5 IPR1 IPR2 IPR3 RxControl: Communication > Output Settings > Echo Message Use this command to send a message to one of the connections of the receiver.
Page 185 3 Command Line Reference setHttpsSettings Protocol getHttpsSettings + HTTP + HTTPS RxControl: Communication > Network Settings > Security This command can be used to enable or disable HTTP and/or HTTPS access to the receiver. By default, both HTTP and HTTPS are enabled. Secure HTTP access requires the user to provide a certiﬁcate to the receiver.
Page 186 3 Command Line Reference sipf setIPFiltering Mode AddrList (200) gipf getIPFiltering RxControl: Communication > Network Settings > Security Use this command to conﬁgure the IP ﬁltering functionality. When IP ﬁltering is enabled, only the speciﬁed IP addresses are allowed to connect to the receiver. By default, IP ﬁltering is off (the Mode argument is ) and the receiver accepts connections from any IP address.
Page 187 3 Command Line Reference sipk setIPKeepAlive Enable IdleTime Interval MaxCount gipk getIPKeepAlive 15 . . . 18000 s 1 . . . 3600 s 1 . . . 15 . . . 3600 RxControl: Communication > Network Settings > General Use these commands to conﬁgure the TCP/IP KeepAlive mechanism.
Page 188 3 Command Line Reference sipp setIPPortSettings Command FTPControl gipp getIPPortSettings . . . 28784 1 . . . 21 . . . 65535 . . . 65535 RxControl: Communication > Network Settings > General Use these commands to deﬁne/inquire the port numbers where the receiver listens for in- coming TCP/IP connections.
Page 189 3 Command Line Reference sirs setIPReceiveSettings Port Mode TCPAddress (40) girs getIPReceiveSettings + IPR1 0 . . . 65535 0.0.0.0 TCP2Way + IPR2 + IPR3 RxControl: Communication > Network Settings > General This command conﬁgures the "IP receive" ports (IPR). When Mode is set to , the receiver connects to the speciﬁed port of a server of which TCP2Way...
Page 190 3 Command Line Reference siss setIPServerSettings Port Mode UDPAddress (200) giss getIPServerSettings 0 . . . 65535 255.255.255.255 + IPS1 + IPS2 + IPS3 TCP2Way + IPS4 + IPS5 RxControl: Communication > Network Settings > General By default (Mode set to ), this command deﬁnes the TCP/IP port where the receiver’s IP Servers (IPS) listen for incoming TCP/IP connections.
Page 191 3 Command Line Reference sips setIPSettings Mode IP (16) Netmask (16) Gateway (16) Domain (63) DNS1 (16) DNS2 (16) gips getIPSettings 0.0.0.0 255.255.255.0 0.0.0.0 0.0.0.0 0.0.0.0 0 . . . 1500 DHCP Static RxControl: Communication > Network Settings > General Use these commands to deﬁne the IP (Internet Protocol) settings of the receiver’s Ethernet port.
Page 192 3 Command Line Reference setPeriodicEcho Message (201) Interval getPeriodicEcho A:Unknown + COM1 + COM2 once + COM3 msec100 + COM4 msec200 msec500 sec1 sec2 sec5 sec10 sec15 sec30 sec60 min2 min5 min10 min15 min30 min60 RxControl: Communication > Output Settings > Periodic Echo message Use this command to periodically send a message to one of the connections of the receiver.
Page 193 3 Command Line Reference PeriodicEcho, COM2, "H:48 65 6C 6C 6F 21 0D 0A", sec60 COM1> To let the receiver output the string "Hello!<CR><LF>" to COM2 at each reset, use the follow- ing command sequence: COM1> spe, COM2, "A:Hello!%%CR%%LF", once <CR> $R: spe, COM2, "A:Hello!%%CR%%LF", once PeriodicEcho, COM2, "A:Hello!%%CR%%LF", once COM1>...
Page 194 To avoid confusion with Precise Point Positioning, this feature is referred to as P2PP in Septentrio receivers. This command conﬁgures the P2PP server. In the current version, the receiver implements a single P2PP server, and the ﬁrst argument...
Page 195 3 Command Line Reference spfw setPortFirewall Interface OpenPorts PortList (100) gpfw getPortFirewall Interface none + Ethernet default + WiFi PortList RxControl: Communication > Network Settings > Security Use this command to conﬁgure the receiver ﬁrewall, i.e. to specify the list of IP ports which are open to receive data.
Page 196: Ntrip Settings
3 Command Line Reference 3.2.13 NTRIP Settings snmp setNtripCasterMountPoints MountPointID Enable MPName (32) ExtServer UserName (20) Password (40) ClientAuth gnmp getNtripCasterMountPoints MountPointID none + MP1 basic + MP2 + MP3 RxControl: Communication > NTRIP Settings > NTRIP Caster settings This command deﬁnes the general characteristics of the mount points available on the built- in NTRIP caster.
Page 197 3 Command Line Reference smpf setNtripCasterMPFormat MountPointID Format ManualFt (30) FtDetails (100) gmpf getNtripCasterMPFormat MountPointID + MP1 RTCMv2 + MP2 RTCMv3 + MP3 NMEA BINEX manual RxControl: Communication > NTRIP Settings > NTRIP Caster settings Use this command to deﬁne the format of the streams available on the caster mount points. The Format argument deﬁnes the stream format, as will be reported in the ﬁeld <format>...
Page 198 3 Command Line Reference sncs setNtripCasterSettings Mode Port Identiﬁer (100) TlsPort gncs getNtripCasterSettings . . . 2101 . . . 2102 default . . . 65535 . . . 65535 RxControl: Communication > NTRIP Settings > NTRIP Caster settings Use this command to enable and conﬁgure the built-in NTRIP caster. The Port argument speciﬁes on which IP port the caster can be accessed in "unsecure"...
Page 199 3 Command Line Reference sncu setNtripCasterUsers UserID UserName (20) Password (40) MountPoints MaxClients gncu getNtripCasterUsers UserID none + User1 1 . . . 10 + MP1 + User2 + MP2 + User3 + MP3 + User4 + User5 RxControl: Communication > NTRIP Settings > NTRIP Caster settings This command deﬁnes the user accounts (user name and password) that clients can use to connect to the built-in NTRIP caster.
Page 200 3 Command Line Reference snts setNtripSettings Mode Caster (40) Port UserName (20) Password (40) MountPoint (32) Version SendGGA gnts getNtripSettings + NTR1 . . . 2101 auto . . . 65535 + NTR2 Server + NTR3 Client sec1 sec5 sec10 sec60 RxControl: Communication >...
Page 201 3 Command Line Reference lnst lstNTRIPSourceTable Caster (40) Port . . . 2101 . . . 65535 Use this command to retrieve the source table from the speciﬁed NTRIP caster. Caster is the hostname or IP address of the NTRIP caster to connect to, and Port is the IP port number.
Page 202 3 Command Line Reference sntt setNtripTlsSettings Enable Fingerprint (96) gntt getNtripTlsSettings + NTR1 + NTR2 + NTR3 RxControl: Communication > NTRIP Settings > NTRIP Server/Client settings Use this command to enable or disable TLS on the NTRIP connection referenced by the Cd argument.
Page 203: Wifi Settings
3 Command Line Reference 3.2.14 WiFi Settings eawa exeAddWiFiAccessPoint SSID (32) Key (40) gawa getAddWiFiAccessPoint RxControl: Communication > WiFi Settings > Client Add Network Use this command to add a WiFi access point to the list of known access points, or to modify the password of a known access point.
Page 204 3 Command Line Reference emwa exeManageWiFiAccessPoint SSID (32) Action gmwa getManageWiFiAccessPoint Promote Remove RxControl: Communication > WiFi Settings > Client Manage Network Use this command to remove a WiFi access point from the list of known access points, or to promote it as preferred access point.
Page 205 3 Command Line Reference swfa setWiFiAccessPoint SSID (32) EncryptionType Key (40) Channel SSIDActual (32) gwfa getWiFiAccessPoint none password 1 . . . 6 . . . 11 model-sn default WPA2 RxControl: Communication > WiFi Settings > Access Point Use this command to conﬁgure the WiFi access point. The SSID is the name of your receiver in the WiFi network.
Page 206 3 Command Line Reference lstWiFiAccessPoints Type + Known + Reachable Use this command to list the known and/or the reachable WiFi access points. The following information is provided for each access points (AP): the SSID, the signal level in dBm (only if AP is in reach), the security type, the current status ( Connected Known ), and, for known APs, the access point priority (P1 for highest priority).
Page 207 3 Command Line Reference swfm setWiFiMode Enable Mode gwfm getWiFiMode AccessPoint Client RxControl: Communication > WiFi Settings > General Use this command to turn WiFi on and off, and to specify in which WiFi mode the receiver should operate (client or access point). Example COM1>...
Page 208: Nmea Configuration
3 Command Line Reference 3.2.15 NMEA Configuration enoc exeNMEAOnce Messages gnoc getNMEAOnce COM1 + ALM + DTM COM2 + GBS COM3 COM4 + GGA USB1 + GLL USB2 + GNS IP10 ... IP17 + GRS NTR1 + GSA NTR2 + GST NTR3 + GSV IPS1...
Page 209 3 Command Line Reference setNMEAOutput Stream Messages Interval getNMEAOutput Stream none none + Stream1 Stream10 COM1 + ALM OnChange COM2 + DTM msec10 COM3 + GBS msec20 COM4 + GGA msec40 USB1 + GLL msec50 USB2 + GNS msec100 IP10 ... IP17 + GRS msec200 NTR1...
Page 210 3 Command Line Reference NMEAOutput, Stream1, COM1, GGA, sec1 NMEAOutput, Stream2, COM1, RMC, msec100 NMEAOutput, Stream3, none, none, off NMEAOutput, Stream4, none, none, off NMEAOutput, Stream5, none, none, off NMEAOutput, Stream6, none, none, off NMEAOutput, Stream7, none, none, off NMEAOutput, Stream8, none, none, off NMEAOutput, Stream9, none, none, off NMEAOutput, Stream10, none, none, off COM1>...
Page 211 3 Command Line Reference setNMEAPrecision NrExtraDigits Compatibility LocalDatum MinStdDev getNMEAPrecision 0 . . . 3 Nominal 0.000 . . . 0.001 . . . 1.000 m Mode1 only Mode2 RxControl: Communication > Output Settings > NMEA Output > Customize Use these commands to deﬁne/inquire the number of extra digits in the latitude, longitude and altitude reported in NMEA sentences and to tune certain sentences to be compatible with third-party applications that are not fully compliant with the NMEA 0183 standard.
Page 212 3 Command Line Reference snti setNMEATalkerID TalkerID gnti getNMEATalkerID auto RxControl: Communication > Output Settings > NMEA Output > Customize Use these commands to deﬁne/inquire the "Device Talker" for NMEA sentences. The device talker allows users to identify the type of equipment from which the NMEA sentence was issued.
Page 213 3 Command Line Reference setNMEAVersion Version getNMEAVersion RxControl: Communication > Output Settings > NMEA Output > Customize Use this command to set the NMEA version the receiver should comply with. is selected, the NMEA sentences are formatted according to the 3.01 version of the standard.
Page 214: Sbf Configuration
3 Command Line Reference 3.2.16 SBF Configuration smrf setMeas3MaxRefInterval MaxIntrvl gmrf getMeas3MaxRefInterval OnlyRef msec500 sec1 sec5 sec10 sec30 sec60 RxControl: Communication > Output Settings > SBF Output > Customize Use this command to deﬁne at which interval to encode reference epochs (i.e. full measure- ments) into the SBF block.
Page 215 3 Command Line Reference ssgp setSBFGroups Group Messages gsgp getSBFGroups Group none + Group1 [SBF List] + Group2 + Measurements + Group3 + Meas3 + Group4 + RawNavBits + GPS + GLO + GAL + GEO + BDS + QZS + NavIC + PVTCart + PVTGeod...
Page 216 3 Command Line Reference esoc exeSBFOnce Messages gsoc getSBFOnce COM1 [SBF List] COM2 + Measurements COM3 + Meas3 COM4 + GPS USB1 + GLO USB2 + GAL IP10 ... IP17 + GEO NTR1 + BDS NTR2 + QZS NTR3 + NavIC IPS1 + PVTCart IPS2...
Page 217 3 Command Line Reference Messages (Continued) Description +QZSNav +QZSAlm +NavICLNav NavIC +PVTCartesian +PosCovCartesian +VelCovCartesian +BaseVec- PVTCart torCart +PVTGeodetic +PosCovGeodetic +VelCovGeodetic +BaseVector- PVTGeod Geod +PosLocal +DOP +PVTSatCartesian +PVTResiduals +RAIMStatistics +GEO- PVTExtra Corrections +PVTSupport +PVTSupportA +EndOfPVT +ReceiverTime Time +SatVisibility +ChannelStatus +ReceiverStatus +InputLink +Out- Status putLink +IPStatus...
Page 218 3 Command Line Reference COM1> esoc, COM1, MeasEpoch <CR> $R: esoc, COM1, MeasEpoch SBFOnce, COM1, MeasEpoch COM1>...
Page 219 3 Command Line Reference setSBFOutput Stream Messages Interval getSBFOutput Stream none none + Stream1 Stream16 COM1 [SBF List] OnChange + Res1 COM2 + Measurements msec10 + Res2 COM3 + Meas3 msec20 + Res3 COM4 + RawNavBits msec40 + Res4 USB1 + GPS msec50 USB2...
Page 220 3 Command Line Reference Messages (Continued) Description +GEOMT00 +GEOPRNMask +GEOFastCorr +GEOIntegrity +GE- OFastCorrDegr +GEONav +GEODegrFactors +GEONetworkTime +GEOAlm +GEOIGPMask +GEOLongTermCorr +GEOIonoDelay +GEOServiceLevel +GEOClockEphCovMatrix +BDSAlm +BDSNav +BDSCNav2 +BDSIon +BDSUtc +QZSNav +QZSAlm +NavICLNav NavIC +PVTCartesian +PosCovCartesian +VelCovCartesian +BaseVec- PVTCart torCart +PVTGeodetic +PosCovGeodetic +VelCovGeodetic +BaseVector- PVTGeod Geod +PosLocal +DOP +PVTSatCartesian +PVTResiduals +RAIMStatistics +GEO-...
Page 221 3 Command Line Reference Messages (Continued) Description +MeasEpoch +MeasExtra +EndOfMeas +GPSRawCA +GP- Support SRawL2C +GPSRawL5 +GPSRawL1C +GLORawCA +GALRawFNAV +GALRawINAV +GALRawCNAV +GEORawL1 +GEORawL5 +BD- SRaw +BDSRawB1C +BDSRawB2a +BDSRawB2b +NAVICRaw +QZSRawL1CA +QZSRawL2C +QZSRawL5 +QZSRawL6 +QZS- RawL1C +QZSRawL1S +QZSRawL5S +GPSNav +GPSAlm +GPSIon +GPSUtc +GLONav +GLOAlm +GLOTime +GALNav +GALAlm +GALIon +GALUtc +GALGstGps +GALAuthStatus +GEONav +GEOAlm +BDSAlm +BDSNav +BDSIon +BDSUtc +QZSNav +QZSAlm +PVTGeodetic +PosCovGeodetic +BaseVectorGeod...
Page 222: Binex Configuration
3 Command Line Reference 3.2.17 BINEX Configuration sbfm setBINEXFormatting ObsSignals ExtraObsTypes gbfm getBINEXFormatting none + GPSL1CA + Doppler + GPSL1PY + GPSL2PY + GPSL2C + GPSL5 + GPSL1C + GLOL1CA + GLOL1P + GLOL2P + GLOL2CA + GLOL3 + GALL1BC + GALE6BC + GALE5a + GALE5b...
Page 223 3 Command Line Reference Example COM1> sbfm, GPSL1CA+GPSL2PY, Doppler<CR> $R: sbfm, GPSL1CA+GPSL2PY, Doppler BINEXFormatting, GPSL1CA+GPSL2PY, Doppler COM1>...
Page 224 3 Command Line Reference ebio exeBINEXOnce Messages gbio getBINEXOnce + Rec00 COM1 COM2 + Rec0101 COM3 + Rec0102 COM4 + Rec0103 USB1 + Rec0105 USB2 + Rec0106 IP10 ... IP17 + Rec0107 NTR1 + Rec0114 NTR2 + Rec05Geod + Rec7D00 NTR3 + Rec7F05 IPS1...
Page 225 3 Command Line Reference setBINEXOutput Stream Messages Interval getBINEXOutput Stream none none + Stream1 Stream16 COM1 + Rec00 OnChange COM2 + Rec0101 msec100 COM3 + Rec0102 msec200 COM4 + Rec0103 msec500 USB1 + Rec0105 sec1 USB2 + Rec0106 sec2 IP10 ... IP17 + Rec0107 sec5 NTR1...
Page 226: Rtcm V2.X Settings
3 Command Line Reference 3.2.18 RTCM v2.x Settings sr2c setRTCMv2Compatibility PRCType GLOToD RTKVersion gr2c getRTCMv2Compatibility Standard v2.1 v2.2orLater GroupDelay RxControl: Communication > Input Settings > Differential Corrections > RTCMv2 Use these commands to deﬁne/inquire the compatibility of the RTCM 2.x input correction stream.
Page 227 3 Command Line Reference sr2h setRTCMv2EphemerisHoldoff TimeGPS TimeGLO gr2h getRTCMv2EphemerisHoldoff 0 . . . 300 s 0 . . . 300 s RxControl: Communication > Output Settings > Differential Corrections > RTCMv2 This command speciﬁes the delay in applying new navigation data sets when generating DGPS correction messages such as MT1.
Page 228 3 Command Line Reference sr2f setRTCMv2Formatting ReferenceID GLOToD gr2f getRTCMv2Formatting 0 . . . 1023 RxControl: Communication > Output Settings > Differential Corrections > RTCMv2 Use these commands to deﬁne/inquire the reference station ID assigned to the receiver when operating in base station mode. The reference station ID is transmitted in the ﬁrst word of each outgoing RTCM v2.x message.
Page 229 3 Command Line Reference sr2i setRTCMv2Interval Message ZCount gr2i getRTCMv2Interval Message 1 . . . 2 . . . 1000 + RTCM1 + RTCM3 + RTCM9 + RTCM16 + RTCM17 + RTCM22 + RTCM23|24 + RTCM31 + RTCM32 RxControl: Communication > Output Settings > Differential Corrections > RTCMv2 Use these commands to deﬁne/inquire at which interval the RTCM v2.x messages speciﬁed in the Message argument should be generated.
Page 230 3 Command Line Reference sr2b setRTCMv2IntervalObs Message Interval gr2b getRTCMv2IntervalObs Message 1 . . . 600 s + RTCM18|19 + RTCM20|21 RxControl: Communication > Output Settings > Differential Corrections > RTCMv2 Use these commands to deﬁne/inquire at which interval the RTCM v2.x messages speciﬁed in the Message argument should be generated.
Page 231 3 Command Line Reference sr2m setRTCMv2Message16 Message (90) gr2m getRTCMv2Message16 Unknown RxControl: Communication > Output Settings > Differential Corrections > RTCMv2 Use these commands to deﬁne/inquire the string that will be transmitted in the RTCM v2.x message 16. The argument Message can contain up to 90 characters. Note that this command only deﬁnes the content of message 16.
Page 232 3 Command Line Reference sr2o setRTCMv2Output Messages gr2o getRTCMv2Output none + COM1 + RTCM1 + COM2 + RTCM3 + COM3 + RTCM9 + COM4 + RTCM16 + USB1 + RTCM18|19 + USB2 + RTCM20|21 + IP10 ... IP17 + RTCM22 + NTR1 + RTCM23|24 + NTR2...
Page 233 3 Command Line Reference sr2u setRTCMv2Usage MsgUsage gr2u getRTCMv2Usage none + RTCM1 + RTCM3 + RTCM9 + RTCM15 + RTCM18|19 + RTCM20|21 + RTCM22 + RTCM23|24 + RTCM31 + RTCM32 + RTCM34 + RTCM17 + RTCM59 RxControl: Communication > Input Settings > Differential Corrections > RTCMv2 Use this command to restrict the list of incoming RTCM v2.x messages that the receiver is allowed to use in its differential PVT computation.
Page 234: Rtcm V3.X Settings
3 Command Line Reference 3.2.19 RTCM v3.x Settings sr3t setRTCMv3CRSTransfo Mode TargetName (32) gr3t getRTCMv3CRSTransfo auto manual RxControl: Communication > Input Settings > Differential Corrections > RTCMv3 Use this command to specify how to apply the coordinate reference system (CRS) transfor- mation parameters contained in RTCM v3.x message types 1021 to 1023.
Page 235 3 Command Line Reference sr3d setRTCMv3Delay Delay gr3d getRTCMv3Delay 0.0 . . . 600.0 s RxControl: Communication > Output Settings > Differential Corrections > RTCMv3 Use this command to instruct the receiver to generate and output RTCM v3.x messages with a certain delay.
Page 236 3 Command Line Reference sr3f setRTCMv3Formatting ReferenceID MSMSignals GLOL2 RxType (32) gr3f getRTCMv3Formatting 0 . . . 4095 + GPSL1CA L2CA default + GPSL1PY + GPSL2PY + GPSL2C + GPSL5 + GPSL1C + GLOL1CA + GLOL1P + GLOL2P + GLOL2CA + GLOL3 + GALL1BC + GALE6BC...
Page 237 3 Command Line Reference COM1>...
Page 238 3 Command Line Reference sr3i setRTCMv3Interval Message Interval gr3i getRTCMv3Interval Message . . . 1.0 + RTCM1001|2 . . . 600.0 s + RTCM1003|4 + RTCM1005|6 + RTCM1007|8 + RTCM1009|10 + RTCM1011|12 + RTCM1013 + RTCM1019 + RTCM1020 + RTCM1029 + RTCM1033 + RTCM1041 + RTCM1042...
Page 239 3 Command Line Reference sr3m setRTCMv3Message1029 Message (120) gr3m getRTCMv3Message1029 Unknown RxControl: Communication > Output Settings > Differential Corrections > RTCMv3 Use these commands to deﬁne/inquire the string that will be transmitted in the RTCM v3.x message 1029. The argument Message can contain up to 120 characters. Note that this command only deﬁnes the content of message 1029.
Page 240 3 Command Line Reference sr3o setRTCMv3Output Messages gr3o getRTCMv3Output none + COM1 + RTCM1001 + COM2 + RTCM1002 + COM3 + RTCM1003 + COM4 + RTCM1004 + USB1 + RTCM1005 + USB2 + RTCM1006 + IP10 ... IP17 + RTCM1007 + NTR1 + RTCM1008 + NTR2...
Page 241 3 Command Line Reference To enable RTCM v3.x messages 1001, 1002, 1005 and 1006 on COM2, use the following se- quence: COM1> sr3o, COM2, RTCM1001+RTCM1002+RTCM1005+RTCM1006 <CR> $R: sr3o, COM2, RTCM1001+RTCM1002+RTCM1005+RTCM1006 RTCMv3Output, COM2, RTCM1001+RTCM1002+RTCM1005+RTCM1006 COM1> sdio, COM2, , RTCMv3 <CR> $R: sdio, COM2, , RTCMv3 DataInOut, COM2, auto, RTCMv3 COM1>...
Page 242 3 Command Line Reference sr3u setRTCMv3Usage MsgUsage gr3u getRTCMv3Usage none + RTCM1001 RTCM1013 + RTCM1015 + RTCM1016 + RTCM1017 + RTCM1019 RTCM1027 + RTCM1029 + RTCM1033 + RTCM1037 + RTCM1038 + RTCM1039 + RTCM1041 + RTCM1042 + RTCM1044 + RTCM1045 + RTCM1046 + RTCM1071 RTCM1077...
Page 243: Cmr V2.0 Settings
3 Command Line Reference 3.2.20 CMR v2.0 Settings sc2f setCMRv2Formatting ReferenceID gc2f getCMRv2Formatting 0 . . . 31 RxControl: Communication > Output Settings > Differential Corrections > CMRv2 Use these commands to deﬁne/inquire the reference station ID assigned to the receiver when operating in base station mode.
Page 244 3 Command Line Reference sc2i setCMRv2Interval Message Interval gc2i getCMRv2Interval Message . . . 1.0 + CMR0 . . . 600.0 s + CMR1 + CMR2 + CMR3 RxControl: Communication > Output Settings > Differential Corrections > CMRv2 Use these commands to deﬁne/inquire at which interval CMR v2.0 messages should be gen- erated.
Page 245 3 Command Line Reference sc2m setCMRv2Message2 ShortID (8) LongID (50) COGO (16) gc2m getCMRv2Message2 Unknown Unknown Unknown RxControl: Communication > Output Settings > Differential Corrections > CMRv2 Use these commands to deﬁne/inquire the strings that will be transmitted in the CMR v2.0 message 2.
Page 246 3 Command Line Reference sc2o setCMRv2Output Messages gc2o getCMRv2Output none + COM1 + CMR0 + COM2 + CMR1 + COM3 + CMR2 + COM4 + CMR3 + USB1 + USB2 + IP10 ... IP17 + NTR1 + NTR2 + NTR3 + IPS1 + IPS2 + IPS3...
Page 247 3 Command Line Reference sc2u setCMRv2Usage MsgUsage gc2u getCMRv2Usage none + CMR0 + CMR1 + CMR2 + CMR3 + CMR0p + CMR0w RxControl: Communication > Input Settings > Differential Corrections > CMRv2 Use this command to restrict the list of incoming CMR v2.0 messages that the receiver is allowed to use in its differential PVT computation.
Page 248: Internal Disk Logging
3 Command Line Reference 3.2.21 Internal Disk Logging sblp setBINEXLoggingParameters Duration Compression gblp getBINEXLoggingParameters + LOG1 min15 LOG8 hour1 hour6 hour24 RxControl: Logging > Internal Logging Settings > BINEX Logging and Upload Use these commands to deﬁne the BINEX logging parameters. The ﬁrst argument deﬁnes the ﬁle duration: the receiver automatically starts a new ﬁle every 15 minutes, every hour, every 6 hours or every 24 hours according to the Duration argument.
Page 249 3 Command Line Reference scgl setCGGTTSLogging FileTypes gcgl getCGGTTSLogging none + LOG1 + GPS + LOG2 ... LOG8 + GLONASS + GALILEO + BEIDOU RxControl: Logging > Internal CGGTTS Logging > CGGTTS File Logging Use this command to enable/disable logging of CGGTTS ﬁles in one or more logging sessions. The receiver can generate CGGTTS ﬁles for the GPS, GLONASS, Galileo and BeiDou constel- lations.
Page 250 3 Command Line Reference lstDiskEvent Disk SessionName (60) DSK1 DSK2 Use this command to retrieve information about the disk identiﬁed by the Disk argument. is the internal disk and is the external disk (USB drive). The reply to this command DSK1 DSK2 lists the events that have occurred for a given log session in the context of the "preserve on...
Page 251 3 Command Line Reference <Event type="Command" etime="1588343730" before="1440" after= "1440" /> </Planned> </Disk> </DiskEvent> COM1>...
Page 252 3 Command Line Reference sdfa setDiskFullAction Disk Action gdfa getDiskFullAction Disk + DSK1 DeleteOldest + DSK2 StopLogging RxControl: Logging > Internal Logging Settings > Global Logging Options Use these commands to deﬁne/inquire what the receiver should do when the disk identiﬁed by Disk is full.
Page 253 3 Command Line Reference lstDiskInfo Disk Directory (60) DSK1 DSK2 Use this command to retrieve information about the disk identiﬁed by the Disk argument. is the internal disk and is the external disk (USB drive). The reply to this command DSK1 DSK2 contains the disk size and free space in bytes and the list of all recorded ﬁles and directories.
Page 254 3 Command Line Reference setFileNaming NamingType FileName (20) Compression getFileNaming FileName + LOG1 ... LOG8 Incremental IGS15M IGS1H IGS6H IGS24H RxControl: Logging > Internal Logging Settings > SBF Logging and Upload Use these commands to deﬁne/inquire the ﬁle naming convention for the internal SBF ﬁles, and to enable compression.
Page 255 3 Command Line Reference sfno setGlobalFileNamingOptions BusyTag SessionTag gfno getGlobalFileNamingOptions RxControl: Logging > Internal Logging Settings > Global Logging Options By default, ﬁles names follow the convention described with the logging com- mands setFileNaming setBINEXLoggingParameters setNMEALogging setRTCMMSMLogging setRINEXLogging By setting the BusyTag argument to , a "...
Page 256 3 Command Line Reference setLogSession State Disk Name (30) AutoDelete Priority Type getLogSession Unused Never + LOG1 ... LOG8 DSK1 Continuous Disabled DSK2 After1Day Medium Scheduled Enabled After2Days High PreserveOnEvent After3Days After4Days After7Days After14Days After21Days After30Days After60Days After90Days After180Days After1Year After2Years RxControl: Logging >...
Page 257 3 Command Line Reference Type (Continued) Description Logging is continuous, but auto-deletion will not delete ﬁles PreserveOnEvent ﬂagged as "to be preserved". The criterium to set the "to be pre- served" ﬂag must be deﬁned with the setPreserveOnEvent command. Only ﬁles logged in one of the IGS naming modes can be preserved.
Page 258 3 Command Line Reference slss setLogSessionSchedule StartTime (30) Duration RepetitionIntrvl glss getLogSessionSchedule 2000-01-01 00:00:00 0 . . . 2678400 s 0 . . . 2678400 s + LOG1 ... LOG8 RxControl: Logging > Internal Logging Settings > Log Sessions This command deﬁnes the logging schedule for log sessions conﬁgured in mode Scheduled with the...
Page 259 3 Command Line Reference exeManageDisk Disk Action getManageDisk Unmount DSK1 DSK2 Mount Format RxControl: Logging > Disk(s) > Disk Management Use this command to manage the disk identiﬁed by the Disk argument. is the internal DSK1 disk and is the external disk (USB drive). DSK2 Specify the action to format the disk (all data will be lost).
Page 260 3 Command Line Reference snlp setNMEALogging NamingType FileName (20) Compression gnlp getNMEALogging FileName + LOG1 ... LOG8 Incremental IGS15M IGS1H IGS6H IGS24H RxControl: Logging > Internal Logging Settings > NMEA Logging and Upload Use these commands to deﬁne/inquire the NMEA logging parameters. If NamingType is , the ﬁle name is given by the third argument FileName, followed FileName...
Page 261 3 Command Line Reference exePreserveLogging EventTime (30) getPreserveLogging 2000-01-01 00:00:00 RxControl: Logging > Preserve Log Files This command prevents the automatic deletion of a speciﬁed event’s logs, pointed by Event- Time. Preserved ﬁles will not be deleted by the auto-delete functionality and they will also be the last to be deleted when the receiver attempts to free-up disk space when the disk is full.
Page 262 3 Command Line Reference spoe setPreserveOnEvent Event TimeBefore TimeAfter gpoe getPreserveOnEvent none 0 . . . 15 . . . 1440 0 . . . 15 . . . 1440 + LOG1 ... LOG8 + EventA + EventB + Command RxControl: Logging >...
Page 263 3 Command Line Reference lstRecordedFile Disk FileName (60) DSK1 DSK2 Use this command to retrieve the contents of one of the log ﬁles on the disk identiﬁed with the Disk argument. is the internal disk and is the external disk (USB drive). DSK1 DSK2 The reply to this command consists in a succession of blocks starting with the "$...
Page 264 3 Command Line Reference exeRemoveFile Disk FileName (200) getRemoveFile none DSK1 DSK2 RxControl: Logging > Remove Internal File Use this command to remove one ﬁle or an entire directory from the disk identiﬁed by the Disk argument. is the internal disk and is the external disk (USB drive).
Page 265 3 Command Line Reference srxl setRINEXLogging FileDuration ObsInterval SignalTypes ExtraObsTypes RINEXVersion MixedNav FileTypes Archiving grxl getRINEXLogging none none none none sec1 v211 + LOG1 ... LOG8 + Obs hour1 + GPSL1CA + Dx + Hatanaka sec2 v304ShortName + Nav hour6 + GPSL1PY + Sx + GroupInTar...
Page 266 3 Command Line Reference By default, all types of RINEX ﬁles will be logged (observation, navigation and meteo) if the relevant data is available. This can be changed with the FileTypes argument. The Archiving argument deﬁnes the type of post-processing (archiving and/or compression) to apply at the end of each FileDuration interval.
Page 267 3 Command Line Reference smsl setRTCMMSMLogging FileDuration Compression Messages ObsInterval gmsl getRTCMMSMLogging none none msec100 + LOG1 ... LOG8 hour1 + RTCM1006 msec200 hour6 + RTCM1008 msec500 hour24 + RTCM1013 sec1 minute15 + RTCM1019 sec2 + RTCM1020 sec5 + RTCM1033 sec10 + RTCM1041 sec15...
Page 268 3 Command Line Reference sages (ephemerides) and enables all station-related messages, as summarized in Station the table below. Messages Description +RTCM1074 +RTCM1084 +RTCM1094 +RTCM1104 +RTCM1114 MSM4 +RTCM1124 +RTCM1134 +RTCM1075 +RTCM1085 +RTCM1095 +RTCM1105 +RTCM1115 MSM5 +RTCM1125 +RTCM1135 +RTCM1076 +RTCM1086 +RTCM1096 +RTCM1106 +RTCM1116 MSM6 +RTCM1126 +RTCM1136 +RTCM1077 +RTCM1087 +RTCM1097 +RTCM1107 +RTCM1117...
Page 269: Ftp Push Of Log Files
3 Command Line Reference 3.2.22 FTP Push of Log Files sbfp setBINEXFTP Enable Server (40) Path (64) User (20) Password (40) FTPPort RetryIntrvl gbfp getBINEXFTP anonymous 1 . . . 21 . . . 65535 + LOG1 ... LOG8 min15 min30 hour1 hour6...
Page 270 3 Command Line Reference scfp setCGGTTSFTP Enable Server (40) Path (64) User (20) Password (40) FTPPort RetryIntrvl gcfp getCGGTTSFTP anonymous 1 . . . 21 . . . 65535 + LOG1 ... LOG8 min15 min30 hour1 hour6 day1 RxControl: Logging > Internal CGGTTS Logging > CGGTTS FTP Push Options Use this command to specify where to FTP CGGTTS ﬁles logged in the log session identiﬁed by the Cd argument (CGGTTS FTP push).
Page 271 3 Command Line Reference efpt exeFTPPushTest Server (40) Path (64) User (20) Password (40) FTPPort gfpt getFTPPushTest anonymous 1 . . . 21 . . . 65535 RxControl: Logging > Test FTP Push to Server Use this command to test write access to a FTP server. The arguments specify the FTP server hostname or IP address, the path to the remote di- rectory where write access will be tested, and the login and password to use.
Page 272 3 Command Line Reference snfp setNMEAFTP Enable Server (40) Path (64) User (20) Password (40) FTPPort RetryIntrvl gnfp getNMEAFTP anonymous 1 . . . 21 . . . 65535 + LOG1 ... LOG8 min15 min30 hour1 hour6 day1 RxControl: Logging > Internal Logging Settings > NMEA Logging and Upload Use this command to specify where to FTP NMEA ﬁles logged in the log session identiﬁed by the Cd argument (NMEA FTP push).
Page 273 3 Command Line Reference srfp setRINEXFTP Enable Server (40) Path (64) User (20) Password (40) FTPPort RetryIntrvl grfp getRINEXFTP anonymous 1 . . . 21 . . . 65535 + LOG1 ... LOG8 min15 min30 hour1 hour6 day1 RxControl: Logging > Internal RINEX Logging > RINEX FTP Push Options Use this command to specify where to FTP RINEX ﬁles logged in the log session identiﬁed by the Cd argument (RINEX FTP push).
Page 274 3 Command Line Reference smfp setRTCMMSMFTP Enable Server (40) Path (64) User (20) Password (40) FTPPort RetryIntrvl gmfp getRTCMMSMFTP anonymous 1 . . . 21 . . . 65535 off + LOG1 ... LOG8 min15 min30 hour1 hour6 day1 RxControl: Logging > Internal Logging Settings > RTCM-MSM Logging and Upload Use this command to specify where to FTP RTCM-MSM ﬁles logged in the log session identi- ﬁed by the Cd argument.
Page 275 3 Command Line Reference ssfp setSBFFTP Enable Server (40) Path (64) User (20) Password (40) FTPPort RetryIntrvl gsfp getSBFFTP anonymous 1 . . . 21 . . . 65535 + LOG1 ... LOG8 min15 min30 hour1 hour6 day1 RxControl: Logging > Internal Logging Settings > SBF Logging and Upload Use this command to specify where to FTP SBF ﬁles logged in the log session identiﬁed by the Cd argument (SBF FTP push).
Page 276: Cloudit Configuration
3 Command Line Reference 3.2.23 CloudIt Configuration lstAuthorizationLinkCloudIt Server + Cloud1 + Cloud2 Cloud8 CloudIt is a beta feature and the command description below is subject to change. Use this command to get the authorization link of a speciﬁc CloudIt server deﬁned by the Server argument.
Page 277 3 Command Line Reference sbci setBINEXCloudIt Server Path (64) Retry gbci getBINEXCloudIt + LOG1 ... LOG8 Cloud1 ... Cloud8 min15 min30 hour1 hour6 day1 RxControl: Logging > Internal Logging Settings > BINEX Logging and Upload CloudIt is a beta feature and the command description below is subject to change. Use this command to specify where to upload BINEX ﬁles logged in the log session identiﬁed by the Cd argument (BINEX CloudIt).
Page 278 3 Command Line Reference scic setCloudItConfig Server Name (32) ClientID (128) ClientSecret (128) AuthURL (255) TokenURL (255) Endpoint (255) Scope (64) RedirectURI (255) gcic getCloudItConfig Server + Cloud1 Cloud8 RxControl: Logging > CloudIt > CloudIt Servers CloudIt is a beta feature and the command description below is subject to change. As described in the section 1.24, CloudIt uses the OAuth2 protocol to authorize a user to upload logged ﬁles to a resource server.
Page 279 3 Command Line Reference COM1>...
Page 280 3 Command Line Reference edci exeDisconnectCloudIt Server gdci getDisconnectCloudIt Cloud1 ... Cloud8 RxControl: Logging > CloudIt > Disconnect from CloudIt Server CloudIt is a beta feature and the command description below is subject to change. Use this command to disconnect the receiver from the resource server deﬁned by the Server argument.
Page 281 3 Command Line Reference erac exeAuthorizeCloudIt Server AuthCode (1024) Cloud1 Cloud2 ... Cloud8 CloudIt is a beta feature and the command description below is subject to change. Use this command to authorize the receiver to access the resource server by setting the authorization code Authcode to the speciﬁed server deﬁned by the Server argument.
Page 282 3 Command Line Reference snci setNMEACloudIt Server Path (64) Retry gnci getNMEACloudIt + LOG1 ... LOG8 Cloud1 ... Cloud8 min15 min30 hour1 hour6 day1 RxControl: Logging > Internal Logging Settings > NMEA Logging and Upload CloudIt is a beta feature and the command description below is subject to change. Use this command to specify where to upload NMEA ﬁles logged in the log session identiﬁed by the Cd argument (NMEA CloudIt).
Page 283 3 Command Line Reference srci setRINEXCloudIt Server Path (64) Retry grci getRINEXCloudIt + LOG1 ... LOG8 Cloud1 ... Cloud8 min15 min30 hour1 hour6 day1 RxControl: Logging > Internal RINEX Logging > RINEX CloudIt Options CloudIt is a beta feature and the command description below is subject to change. Use this command to specify where to upload RINEX ﬁles logged in the log session identiﬁed by the Cd argument (RINEX CloudIt).
Page 284 3 Command Line Reference srmi setRTCMMSMCloudIt Server Path (64) Retry grmi getRTCMMSMCloudIt + LOG1 ... LOG8 Cloud1 ... Cloud8 min15 min30 hour1 hour6 day1 RxControl: Logging > Internal Logging Settings > RTCM-MSM Logging and Upload CloudIt is a beta feature and the command description below is subject to change. Use this command to specify where to upload RTCM-MSM ﬁles logged in the log session iden- tiﬁed by the Cd argument (RTCM-MSM CloudIt).
Page 285 3 Command Line Reference ssci setSBFCloudIt Server Path (64) Retry gsci getSBFCloudIt + LOG1 ... LOG8 Cloud1 ... Cloud8 min15 min30 hour1 hour6 day1 RxControl: Logging > Internal Logging Settings > SBF Logging and Upload CloudIt is a beta feature and the command description below is subject to change. Use this command to specify where to upload SBF ﬁles logged in the log session identiﬁed by the Cd argument (SBF CloudIt).
Page 286: Mss/L-Band Configuration
3 Command Line Reference 3.2.24 MSS/L-Band Configuration llbb lstLBandBeams Use this command to retrieve the list of user-deﬁned and auto-deﬁned L-Band beams. The list contains user-deﬁned beams ( ,...) deﬁned with the User1 User2 setLBandBeams command and service-speciﬁc beams which are automatically updated by the L-Band service provider.
Page 287 3 Command Line Reference slbb setLBandBeams Beam Frequency Rate Name (8) Region (8) Usage glbb getLBandBeams Beam + User1 1525000000 baud600 Unknown Unknown Disabled . . . 1559000000 + User2 baud1200 Enabled baud2400 baud4800 RxControl: L-band > Generic L-Band Settings > Satellite Beam Conﬁguration This command can be used to deﬁne/inquire the parameters of user-deﬁned L-Band beams.
Page 288 3 Command Line Reference slcs setLBandCustomServiceID ServiceID (4) ScramblingVector (4) NDAUsage glcs getLBandCustomServiceID 0000 0000 RxControl: L-band > Generic L-Band Settings > Satellite Beam Conﬁguration This command can be used to deﬁne the Service ID, scrambling vector and Null-Data- Algorithm (NDA) usage of the L-Band service provider. The ServiceID and ScramblingVector are 4-digit hexadecimal numbers.
Page 289 3 Command Line Reference slnd setLBandNTRIPDelivery glnd getLBandNTRIPDelivery none NTR1 NTR2 NTR3 DC1|SID08 DC2|SID08 RxControl: L-band > Generic L-Band Settings > NTRIP Delivery Use this command to enable reception of L-Band corrections over the NTRIP connection iden- tiﬁed with the Cd argument. The selected NTRIP connection ( ) must be conﬁgured in client mode with the NTRi...
Page 290 3 Command Line Reference slsm setLBandSelectMode Mode Service Beam1 Beam2 glsm getLBandSelectMode auto User1 User1 LBAS1 Inmarsat User2 User2 manual LBAS1|1 LBAS1|1 LBAS1|2 LBAS1|2 LBAS1|3 LBAS1|3 LBAS1|4 LBAS1|4 LBAS1|5 LBAS1|5 LBAS1|6 LBAS1|6 LBAS1|7 LBAS1|7 LBAS1|8 LBAS1|8 LBAS1|9 LBAS1|9 LBAS1|10 LBAS1|10 LBAS1|11 LBAS1|11 LBAS1|12...
Page 291 3 Command Line Reference llrs lstLBAS1RefStations Use this LBAS1-speciﬁc command to inquire the list of the reference stations of which correc- tions are available in the LBAS1 L-Band beam currently locked to. Usage of the corrections from a given reference station can be granted or not, as indicated in the list. Example COM1>...
Page 292 3 Command Line Reference slrs setLBAS1RefStations Stream StationID (255) glrs getLBAS1RefStations Stream + RTCMV RxControl: L-band > LBAS1-Speciﬁc Settings > Reference Stations This LBAS1-speciﬁc command deﬁnes the set of reference stations from which differential corrections have to be demodulated from the L-Band beam and included in the decoded correction stream.
Page 293: Cosmos Configuration
Besides the conﬁguration in this command, Cosmos certiﬁcate and key ﬁles must be up- loaded to the receiver. These ﬁles must also be obtained from Septentrio and can be up- loaded using the web interface (using the "Admin > About > Cosmos" page).
Page 294: Sbf Reference
4 SBF Reference Chapter 4 SBF Reference...
Page 295: Sbf Outline
4 SBF Reference 4.1 SBF Outline SBF is the binary output format of Septentrio receivers. In this format, the data are arranged in binary blocks referred to as SBF blocks. Each SBF block consists of a sequence of numeric or alphanumeric ﬁelds of different types and sizes.
Page 296: Sbf Block Time Stamp (Tow And Wnc)
4 SBF Reference The list of SBF blocks available on your receiver can be found in Appendix A. 4.1.3 SBF Block Time Stamp (TOW and WNc) Each SBF header is directly followed by a time stamp, which consists of two ﬁelds: Parameter Type Units &...
Page 297: Padding Bytes
4 SBF Reference size of the sub-blocks is mentioned explicitly in the block description, SBF blocks that contain sub-blocks also contain a ﬁeld, which indicates the size of the sub-blocks in bytes. SBLength 4.1.5 Padding Bytes Padding bytes are foreseen at the end of most SBF blocks and sub-blocks, so that their total size is equal to respectively.
Page 298: Satellite Id And Glonass Frequency Number
4 SBF Reference The default output rate is speciﬁed for each block in chapter 4.2. To instruct the receiver to output a given block at its default rate, the " " rate has to be speciﬁed in the OnChange command. setSBFOutput Some blocks can only be output at their default rate (e.g.
Page 299: Signal Type
4 SBF Reference 4.1.10 Signal Type Some sub-blocks contain a signal type ﬁeld, which identiﬁes the type of signal and modulation the sub-blocks applies to. The signal numbering is deﬁned as follows: Signal Signal Type Constellation Carrier frequency (MHz) RINEX number obs code L1CA...
Page 300: Decoding Of Sbf Blocks
4 SBF Reference 4.1.12 Decoding of SBF Blocks In order to decode an SBF block, one has to identify the block boundaries in the data stream coming from the receiver. This involves searching for the initial "$@" characters that mark the beginning of each SBF block.
Page 301: Sbf Block Definitions
4 SBF Reference 4.2 SBF Block Definitions 4.2.1 Measurement Blocks GNSS observables are available in the following SBF blocks: • the legacy block, possibly complemented by MeasEpoch MeasExtra • the block, possibly complemented by Meas3Ranges Meas3Doppler Meas3CN0HiRes block contains pseudorange, carrier phase, C/N0 and Doppler observables. MeasEpoch block contains pseudoranges, carrier phases and C/N0, while Doppler Meas3Ranges...
Page 302 4 SBF Reference Number: 4027 MeasEpoch interval: internal measurement rate (receiver-type depen- "OnChange" dent) This block contains all the GNSS measurements (observables) taken at the time given by the ﬁelds. For each tracked signal, the following measurement set is available: •...
Page 303 4 SBF Reference Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Number of MeasEpochChannelType1 sub-blocks in this MeasEpoch block. 1 byte Length of a MeasEpochChannelType1 sub-block, excluding the nested SB1Length MeasEpochChannelType2 sub-blocks...
Page 304 4 SBF Reference sub-block deﬁnition: MeasEpochChannelType1 Parameter Type Units Do-Not-Use Description Receiver channel on which this satellite is currently tracked RxChannel (see 4.1.11). Bit ﬁeld indicating the signal type and antenna ID: Type Bits 0-4: SigIdxLo : if not 31, this is the signal number (see 4.1.10), otherwise the signal number can be found in ObsInfo ﬁeld below.
Page 305 4 SBF Reference Bit ﬁeld: ObsInfo Bit 0: if set, the pseudorange measurement is smoothed Bit 1: Reserved Bit 2: this bit is set when the carrier phase (L) has a half-cycle ambiguity Bits 3-7: The interpretation of these bits depends on the value SigIdxLo from the Type ﬁeld.
Page 306 4 SBF Reference 0.001 m LSB of the code offset with respect to pseudorange in the CodeOffsetLSB MeasEpochChannelType1 sub-block. To compute the pseudor- ange, use: [m] = PR type2 type1 CodeOffsetMSB *65536+ CodeOffsetLSB )*0.001 0.001 cycles 0 LSB of the carrier phase relative to the pseudorange. The full CarrierLSB carrier phase can be computed by: L[cycles]= PR...
Page 307 4 SBF Reference Number: 4000 MeasExtra interval: internal measurement rate (receiver-type depen- "OnChange" dent) This block contains extra information associated with the measurements contained in the block, such as the internal corrections parameters applied during the measure- MeasEpoch ment pre-processing, and the noise variances. Parameter Type Units Do-Not-Use...
Page 308 4 SBF Reference sub-block deﬁnition: MeasExtraChannelSub Parameter Type Units Do-Not-Use Description Receiver channel on which this satellite is currently tracked (see RxChannel 4.1.11). Bit ﬁeld indicating the signal type and antenna ID: Type Bits 0-4: SigIdxLo : if not 31, this is the signal number (see 4.1.10), otherwise the signal number can be found in Misc ﬁeld below.
Page 309 The format of this block and of the other Meas3 blocks is complex and is not pro- vided here. Details can be obtained from Septentrio Support. The RxTools instal- lation contains the complete source code of a decoder in C language, together with , a small application showing how to use it.
Page 310 4 SBF Reference Number: 4110 Meas3CN0HiRes interval: internal measurement rate (receiver-type "OnChange" dependent) block is an extension of the block containing the frac- Meas3CN0HiRes Meas3Ranges tional part of the C/N0 values. The resolution of the C/N0 value in the Meas3Ranges block is 1dB-Hz.
Page 311 4 SBF Reference Number: 4111 Meas3Doppler interval: internal measurement rate (receiver-type de- "OnChange" pendent) block is an extension of the block containing the range- Meas3Doppler Meas3Ranges rate (Doppler) values. Applications requiring range-rate or Doppler observables must log the block together with the block.
Page 312 4112 Meas3PP interval: internal measurement rate (receiver-type dependent) "OnChange" block is an extension of the block containing various Septentrio- Meas3PP Meas3Ranges proprietary ﬂags and values needed for accurate post-processing or re-processing of the PVT from the measurements in the SBF block. This block must be logged together...
Page 313 4 SBF Reference Number: 4113 Meas3MP interval: internal measurement rate (receiver-type dependent) "OnChange" block is an extension of the block containing the multipath Meas3MP Meas3Ranges correction applied by the receiver. It can be used for research purposes to undo the receiver multipath mitigation and revert to unmitigated data.
Page 314 4 SBF Reference Number: 5922 EndOfMeas interval: internal measurement rate (receiver-type depen- "OnChange" dent) This block marks the end of the transmission of all measurement-related blocks belonging to a given epoch. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295...
Page 315: Navigation
4 SBF Reference 4.2.2 Navigation Page Blocks Number: 4017 GPSRawCA interval: 6s "OnChange" This block contains the 300 bits of a GPS C/A subframe. It is generated each time a new subframe is received, i.e. every 6 seconds. Parameter Type Units Do-Not-Use Description Sync1...
Page 316 4 SBF Reference Number: 4018 GPSRawL2C interval: 12s "OnChange" This block contains the 300 bits of a GPS L2C CNAV subframe (the so-called data stream). Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535 Satellite ID, see 4.1.9...
Page 317 4 SBF Reference Number: 4019 GPSRawL5 interval: 6s "OnChange" This block contains the 300 bits of a GPS L5 CNAV subframe (the so-called data stream). Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535 Satellite ID, see 4.1.9...
Page 318 4 SBF Reference Number: 4221 GPSRawL1C interval: 18s "OnChange" This block contains the 1800 symbols of a GPS L1C navigation frame (itself containing three subframes). The symbols are deinterleaved. The receiver attempts to correct bit errors using the LDPC parity bits, but unrecoverable errors are still possible at low C/N0. It is therefore always needed to check the CRC status before using the navigation bits.
Page 319 4 SBF Reference Number: 4026 GLORawCA interval: 2s "OnChange" This block contains the 85 bits of a GLONASS L1CA or L2CA navigation string. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535 Satellite ID, see 4.1.9...
Page 320 4 SBF Reference Number: 4022 GALRawFNAV interval: 10s "OnChange" This block contains the 244 bits of a Galileo F/NAV navigation page, after deinterleaving and Viterbi decoding. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535...
Page 321 4 SBF Reference Number: 4023 GALRawINAV interval: 2s "OnChange" This block contains the 234 bits of a Galileo I/NAV navigation page, after deinterleaving and Viterbi decoding. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535...
Page 322 4 SBF Reference Number: 4024 GALRawCNAV interval: 1s "OnChange" This block contains the 492 bits of a Galileo C/NAV navigation page, after deinterleaving and Viterbi decoding. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535...
Page 323 4 SBF Reference Number: 4020 GEORawL1 interval: 1s "OnChange" This block contains the 250 bits of a SBAS L1 navigation frame, after Viterbi decoding. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535 Satellite ID, see 4.1.9...
Page 324 4 SBF Reference Number: 4021 GEORawL5 interval: 1s "OnChange" This block contains the 250 bits of a SBAS L5 navigation frame, after Viterbi decoding. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535 Satellite ID, see 4.1.9...
Page 325 4 SBF Reference Number: 4047 BDSRaw interval: 6 seconds (non GEOs), 0.6 s (GEOs) "OnChange" This block contains the 300 bits of a BeiDou navigation page, as received from the B1I, B2I or B3I signal. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1...
Page 326 4 SBF Reference Number: 4218 BDSRawB1C interval: 18s "OnChange" This block contains the 1800 symbols of a BeiDou B-CNAV1 navigation frame (itself contain- ing three subframes), as received from the B1C signal. The symbols are deinterleaved. The receiver attempts to correct bit errors using the LDPC parity bits, but unrecoverable errors are still possible at low C/N0.
Page 327 4 SBF Reference Number: 4219 BDSRawB2a interval: 3s "OnChange" This block contains the 576 symbols of a BeiDou B-CNAV2 navigation frame, as received from the B2a signal. The receiver attempts to correct bit errors using the LDPC parity bits, but unrecover- able errors are still possible at low C/N0.
Page 328 4 SBF Reference Number: 4242 BDSRawB2b interval: 1s "OnChange" This block contains the raw symbols of a BeiDou B-CNAV3 or PPP-B2b_I navigation frame, as received from the B2b signal. The receiver attempts to correct bit errors using the LDPC parity bits, but unrecover- able errors are still possible at low C/N0.
Page 329 4 SBF Reference Number: 4066 QZSRawL1CA interval: 6s "OnChange" This block contains the 300 bits of a QZSS L1C/A or L1C/B subframe. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535 Satellite ID, see 4.1.9 SVID...
Page 330 4 SBF Reference Number: 4067 QZSRawL2C interval: 12s "OnChange" This block contains the 300 bits of a QZSS L2C CNAV subframe. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535 Satellite ID, see 4.1.9 SVID...
Page 331 4 SBF Reference Number: 4068 QZSRawL5 interval: 6s "OnChange" This block contains the 300 bits of a QZSS L5 CNAV subframe. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535 Satellite ID, see 4.1.9 SVID...
Page 332 4 SBF Reference Number: 4069 QZSRawL6 interval: 1s "OnChange" This block contains the 2000 bits of a QZSS L6 message. The receiver attempts to correct bit errors using the Reed-Solomon parity symbols. The block contains the corrected bits and there is no need to have a Reed-Solomon decoder at the user side.
Page 333 4 SBF Reference Number: 4227 QZSRawL1C interval: 18s "OnChange" This block contains the 1800 symbols of a QZSS L1C navigation frame (itself containing three subframes). The symbols are deinterleaved. The receiver attempts to correct bit errors using the LDPC parity bits, but unrecoverable errors are still possible at low C/N0. It is therefore always needed to check the CRC status before using the navigation bits.
Page 334 4 SBF Reference Number: 4228 QZSRawL1S interval: 1s "OnChange" This block contains the 250 bits of a QZSS L1S navigation message, after Viterbi decod- ing. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535 Satellite ID, see 4.1.9...
Page 335 4 SBF Reference Number: 4246 QZSRawL5S interval: 1s "OnChange" This block contains the 250 bits of a QZSS L5S navigation message, after Viterbi decod- ing. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535 Satellite ID, see 4.1.9...
Page 336 4 SBF Reference Number: 4093 NAVICRaw interval: 12s "OnChange" This block contains the 292 bits of a NavIC/IRNSS subframe. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535 Satellite ID, see 4.1.9 SVID...
Page 337: Gps Decoded Message Blocks
4 SBF Reference 4.2.3 GPS Decoded Message Blocks Number: 5891 GPSNav interval: block generated each time a new navigation data set is "OnChange" received from a GPS satellite block contains the decoded navigation data for one GPS satellite. These data GPSNav are conveyed in subframes 1 to 3 of the satellite navigation message.
Page 338 4 SBF Reference 1 semi-circle Inclination angle at reference time Amplitude of the cosine harmonic correction term to the orbit C_rc radius 1 semi-circle Argument of perigee omega 1 semi-circle / s Rate of right ascension OMEGADOT 1 semi-circle / s Rate of inclination angle IDOT 1 week...
Page 339 4 SBF Reference Number: 5892 GPSAlm interval: block generated each time a new almanac data set is re- "OnChange" ceived from a GPS satellite block contains the decoded almanac data for one GPS satellite. These data are GPSAlm conveyed in subframes 4 and 5 of the satellite navigation message. Refer to GPS ICD for further details.
Page 340 4 SBF Reference Number: 5893 GPSIon interval: block generated each time subframe 4, page 18, is re- "OnChange" ceived from a GPS satellite block contains the decoded ionosphere data (the Klobuchar coeﬃcients). These GPSIon data are conveyed in subframes 4, page 18 of the satellite navigation message. Refer to GPS ICD for further details.
Page 341 4 SBF Reference Number: 5894 GPSUtc interval: block generated each time subframe 4, page 18, is re- "OnChange" ceived from a GPS satellite block contains the decoded UTC data. These data are conveyed in subframes 4, GPSUtc page 18 of the satellite navigation message. Refer to GPS ICD for further details. Parameter Type Units Do-Not-Use...
Page 342 4 SBF Reference Number: 4042 GPSCNav interval: block generated at each change of ephemeris, clock or "OnChange" group delay parameters block contains the decoded CNAV navigation data for one GPS satellite. The GPSCNav ephemeris and health parameters are extracted from message types (MT) 10 and 11. The clock correction and group delay correction parameters are extracted from MT30.
Page 343 4 SBF Reference Amplitude of the sine harmonic correction term to the orbit ra- C_rs dius ( , 24 bits from MT11) rs n Amplitude of the cosine harmonic correction term to the orbit C_rc radius ( , 24 bits from MT11) rc n 1 rad Amplitude of the sine harmonic correction term to the argu-...
Page 344: Glonass Decoded Message Blocks
4 SBF Reference 4.2.4 GLONASS Decoded Message Blocks Number: 4004 GLONav interval: block generated each time a new navigation data set is "OnChange" received from a GLONASS satellite block contains the decoded ephemeris data for one GLONASS satellite. GLONav Parameter Type Units Do-Not-Use Description...
Page 345 4 SBF Reference Number: 4005 GLOAlm interval: block generated each time a new almanac data set is re- "OnChange" ceived from a GLONASS satellite block contains the decoded navigation data for one GLONASS satellite. GLOAlm Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1...
Page 346 4 SBF Reference Number: 4036 GLOTime interval: block generated at the end of each GLONASS super- "OnChange" frame, i.e. every 2.5 minutes. block contains the decoded non-immediate data related to the difference be- GLOTime tween GLONASS and GPS, UTC and UT1 time scales. Parameter Type Units Do-Not-Use...
Page 347: Galileo Decoded Message Blocks
4 SBF Reference 4.2.5 Galileo Decoded Message Blocks Number: 4002 GALNav interval: output each time a new navigation data batch is decoded. "OnChange" block contains the following decoded navigation data for one Galileo satellite: GalNav • orbital elements and clock corrections •...
Page 348 4 SBF Reference Square root of the semi-major axis SQRT_A 1 semi-circle Mean anomaly at reference time Eccentricity 1 semi-circle Inclination angle at reference time 1 semi-circle Argument of perigee omega 1 semi-circle Longitude of ascending node of orbit plane at weekly epoch OMEGA_0 1 semi-circle / s Rate of right ascension...
Page 349 4 SBF Reference 2-bit C/NAV encryption status: CNAVenc Bit 0: Bit set if E6B is unencrypted Bit 1: Bit set if E6C is unencrypted Bits 2-7: Reserved u1[..] Padding bytes, see 4.1.5 Padding...
Page 350 4 SBF Reference Number: 4003 GALAlm interval: output each time a new almanac set is received for a "OnChange" satellite. block contains the decoded almanac data for one Galileo satellite. GalAlm Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s...
Page 351 4 SBF Reference Number: 4030 GALIon interval: output each time the ionospheric parameters are re- "OnChange" ceived from a Galileo satellite. block contains the decoded ionosphere model parameters of the Galileo sys- GalIon tem. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte...
Page 352 4 SBF Reference Number: 4031 GALUtc interval: output each time the UTC offset parameters are received "OnChange" from a Galileo satellite. block contains the decoded UTC parameter information. GalUtc Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295...
Page 353 4 SBF Reference Number: 4032 GALGstGps interval: output each time valid GST-GPS offset parameters "OnChange" are received from a Galileo satellite. This block contains the decoded GPS to Galileo System Time offset parameters. This block is only output if these parameters are valid in the navigation page (i.e. if they are not set to "all ones").
Page 354 4 SBF Reference Number: 4034 GALSARRLM interval: generated each time a SAR RLM message is de- "OnChange" coded. This block contains a decoded Galileo search-and-rescue (SAR) return link message (RLM). Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295...
Page 355: Beidou Decoded Message Blocks
4 SBF Reference 4.2.6 BeiDou Decoded Message Blocks Number: 4081 BDSNav interval: block generated each time a new navigation data set is "OnChange" received from a BeiDou satellite block contains the decoded navigation data for one BeiDou satellite, as received BDSNav from the D1 or D2 nav message.
Page 356 4 SBF Reference Amplitude of the cosine harmonic correction term to the orbit C_rc radius 1 semi-circle Argument of perigee omega 1 semi-circle / s Rate of right ascension OMEGADOT 1 semi-circle / s Rate of inclination angle IDOT 1 week BeiDou week number associated with t_oc, modulo 8192.
Page 357 4 SBF Reference Number: 4252 BDSCNav2 interval: block generated when a new data set is received "OnChange" block contains the B-CNAV2 navigation data decoded from the B2a signal of BDSCNav2 a BeiDou satellite. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length...
Page 358 4 SBF Reference Bit ﬁeld: SISAI_oc12 Bits 0-2: SISAI_oc2: Satellite clock drift accuracy index Bits 3-5: SISAI_oc1: Satellite clock bias accuracy index Bits 6-7: Reserved Satellite orbit along-track and cross-track accuracy index SISAI_oe Signal in space monitoring accuracy index SISMAI Health and integrity ﬂags from the last message type used in HealthIF this SBF block:...
Page 359 4 SBF Reference Number: 4119 BDSAlm interval: block generated each time a new almanac data set is re- "OnChange" ceived from a BeiDou satellite block contains the decoded almanac data for one BeiDou satellite. BDSAlm Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1...
Page 360 4 SBF Reference Number: 4120 BDSIon interval: output each time the ionospheric parameters are re- "OnChange" ceived from a BeiDou satellite block contains the BeiDou ionosphere data (the Klobuchar coeﬃcients), as re- BDSIon ceived from the D1 or D2 nav message. Parameter Type Units Do-Not-Use...
Page 361 4 SBF Reference Number: 4121 BDSUtc interval: output each time the UTC offset parameters are received "OnChange" from a BeiDou satellite block contains the BeiDou UTC data, as received from the D1 or D2 nav message. BDSUtc Note that BDT (BeiDou time) started on January 1st, 2006 (GPS week 1356). Therefore the delta time between BDT and UTC due to leap seconds is 14 less than the value in GPSUtc Parameter...
Page 362: Qzss Decoded Message Blocks
4 SBF Reference 4.2.7 QZSS Decoded Message Blocks Number: 4095 QZSNav interval: block generated each time a new navigation data set is "OnChange" received from a QZSS satellite block contains the decoded navigation data for one QZSS satellite. The data is QZSNav decoded from the navigation message transmitted by the L1C/A or L1C/B signal.
Page 363 4 SBF Reference 1 rad Amplitude of the sine harmonic correction term to the angle of C_is inclination 1 semi-circle Inclination angle at reference time Amplitude of the cosine harmonic correction term to the orbit C_rc radius 1 semi-circle Argument of perigee omega 1 semi-circle / s Rate of right ascension...
Page 364 4 SBF Reference Number: 4116 QZSAlm interval: block generated each time a new almanac data set is re- "OnChange" ceived from a QZSS satellite block contains the decoded almanac data for one QZSS satellite. These data are QZSAlm conveyed in subframes 4 and 5 of the satellite navigation message. Refer to QZSS ICD for further details.
Page 365: Navic/Irnss Decoded Message Blocks
4 SBF Reference 4.2.8 NavIC/IRNSS Decoded Message Blocks Number: 4254 NavICLNav interval: block generated each time a new navigation data set "OnChange" is received from a NavIC satellite block contains the decoded LNAV navigation data for one NavIC/IRNSS satel- NavICLNav lite.
Page 366 4 SBF Reference Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 SIS time stamp, see 4.1.3 1 week 65535 PRN number of the satellite in the NavIC/IRNSS constellation (1 PRNidx for I01, 2 for I02, etc...). Warning: this is the index within the constellation and not the global PRN number deﬁned in 4.1.9.
Page 367: Sbas L1 Decoded Message Blocks
4 SBF Reference 4.2.9 SBAS L1 Decoded Message Blocks Number: 5925 GEOMT00 interval: block generated each time an empty MT00 is received "OnChange" from an SBAS satellite on the L1 signal This block is sent to indicate that an empty SBAS message type 0 has been received. Depending on the SBAS operational mode, message type 0 can contain the contents of message type 2.
Page 368 4 SBF Reference Number: 5926 GEOPRNMask interval: block generated each time MT01 is received from "OnChange" an SBAS satellite This block contains the decoded PRN mask transmitted in SBAS message type 1. Refer to section A.4.4.2 of the DO 229 standard for further details. Parameter Type Units...
Page 369 4 SBF Reference Number: 5927 GEOFastCorr interval: block generated each time MT02, MT03, MT04, "OnChange" MT05, MT24 and possibly MT00 is received from an SBAS satellite This block contains the decoded fast corrections transmitted in the SBAS message types 2, 3, 4, 5, 24 and possibly 0 if the type 0 message contains the type 2 contents.
Page 370 4 SBF Reference Number: 5928 GEOIntegrity interval: block generated each time MT06 is received "OnChange" from an SBAS satellite This block contains the decoded integrity information transmitted in SBAS message type 6. Refer to section A.4.4.4 of the DO-229 standard for further details. Parameter Type Units Do-Not-Use...
Page 371 4 SBF Reference Number: 5929 GEOFastCorrDegr interval: block generated each time MT07 is re- "OnChange" ceived from an SBAS satellite This block contains the decoded fast correction degradation factors transmitted in SBAS mes- sage type 7. Refer to section A.4.4.5 of the DO-229 standard for further details. Parameter Type Units Do-Not-Use...
Page 372 4 SBF Reference Number: 5896 GEONav interval: block generated each time MT09 is received from an SBAS "OnChange" satellite This block contains the decoded navigation data transmitted in SBAS message type 9. Refer to section A.4.4.11 of the DO-229 standard for further details. Parameter Type Units Do-Not-Use...
Page 373 4 SBF Reference Number: 5930 GEODegrFactors interval: block generated each time MT10 is re- "OnChange" ceived from an SBAS satellite This block contains the decoded degradation factors transmitted in SBAS message type 10. Refer to section A.4.5 of the DO-229 standard for further details. Parameter Type Units Do-Not-Use...
Page 374 4 SBF Reference Number: 5918 GEONetworkTime interval: block generated each time MT12 is re- "OnChange" ceived from an SBAS satellite This block contains the decoded network time offset parameters transmitted in SBAS mes- sage type 12. Refer to section A.4.4.15 of the DO-229 standard for further details. Parameter Type Units Do-Not-Use...
Page 375 4 SBF Reference Number: 5897 GEOAlm interval: block generated each time MT17 is received from an SBAS "OnChange" satellite This block contains the decoded almanac data for one SBAS satellite, as transmitted in SBAS message type 17. A different block is generated for each of the up to three almanac GEOAlm data sets in MT17.
Page 376 4 SBF Reference Number: 5931 GEOIGPMask interval: block generated each time MT18 is received from "OnChange" an SBAS satellite This block contains the decoded ionospheric grid point mask transmitted in SBAS message type 18. Refer to section A.4.4.9 of the DO-229 standard for further details. Parameter Type Units...
Page 377 4 SBF Reference Number: 5932 GEOLongTermCorr interval: block generated each time MT24 or MT25 "OnChange" is received from an SBAS satellite This block contains the decoded long term corrections transmitted in SBAS message types 24 and 25. Refer to section A.4.4.7 and A.4.4.8 of the DO-229 standard for further details. Parameter Type Units Do-Not-Use...
Page 378 4 SBF Reference Number: 5933 GEOIonoDelay interval: block generated each time MT26 is received "OnChange" from an SBAS satellite This block contains the decoded ionospheric delays transmitted in SBAS message type 26. Refer to section A.4.4.10 of the DO-229 standard for further details. Parameter Type Units Do-Not-Use...
Page 379 4 SBF Reference Number: 5917 GEOServiceLevel interval: block generated each time MT27 is re- "OnChange" ceived from an SBAS satellite This block contains a decoded service level message for a geostationary SBAS satellite as sent in message type 27. Refer to section A.4.4.13 of the DO-229 standard for further details. Parameter Type Units Do-Not-Use...
Page 380 4 SBF Reference Number: 5934 GEOClockEphCovMatrix interval: block generated each time MT28 "OnChange" is received from an SBAS satel- lite This block contains the decoded clock-ephemeris covariance Cholesky factor matrix trans- mitted in SBAS message type 28. Refer to section A.4.4.16 of the DO-229 standard for further details.
Page 381: Gnss Position, Velocity And Time Blocks
4 SBF Reference 4.2.10 GNSS Position, Velocity and Time Blocks Number: 4006 PVTCartesian interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the GNSS-based position, velocity and time (PVT) solution at the time speciﬁed in the ﬁelds. The time of applicability is speciﬁed in the receiver time frame.
Page 382 4 SBF Reference Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Bit ﬁeld indicating the GNSS PVT mode, as follows: Mode Bits 0-3: type of PVT solution: No GNSS PVT available (the Error ﬁeld indicates the...
Page 383 4 SBF Reference Time system of which the offset is provided in this sub-block: TimeSystem GPS time Galileo time GLONASS time BeiDou time QZSS time This ﬁeld deﬁnes in which datum the coordinates are expressed: Datum WGS84/ITRS Datum equal to that used by the DGNSS/RTK base station ETRS89 (ETRF2000 realization) NAD83(2011), North American Datum (2011) NAD83(PA11), North American Datum, Paciﬁc plate (2011)
Page 384 4 SBF Reference Bit ﬁeld containing PPP-related information: PPPInfo Bits 0-11: Age of the last seed, in seconds. The age is clipped to 4091s. This ﬁeld must be ignored when the seed type is 0 (see bits 13-15 below). Bit 12: Reserved Rev 1 Bits 13-15: Type of last seed:...
Page 385 4 SBF Reference Number: 4007 PVTGeodetic interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the GNSS-based position, velocity and time (PVT) solution at the time speciﬁed in the ﬁelds. The time of applicability is speciﬁed in the receiver time frame.
Page 386 4 SBF Reference Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Bit ﬁeld indicating the GNSS PVT mode, as follows: Mode Bits 0-3: type of PVT solution: No GNSS PVT available (the Error ﬁeld indicates the...
Page 387 4 SBF Reference Time system of which the offset is provided in this sub-block: TimeSystem GPS time Galileo time GLONASS time BeiDou time QZSS time This ﬁeld deﬁnes in which datum the coordinates are expressed: Datum WGS84/ITRS Datum equal to that used by the DGNSS/RTK base station ETRS89 (ETRF2000 realization) NAD83(2011), North American Datum (2011) NAD83(PA11), North American Datum, Paciﬁc plate (2011)
Page 388 4 SBF Reference Bit ﬁeld containing PPP-related information: PPPInfo Bits 0-11: Age of the last seed, in seconds. The age is clipped to 4091s. This ﬁeld must be ignored when the seed type is 0 (see bits 13-15 below). Bit 12: Reserved Rev 1 Bits 13-15: Type of last seed:...
Page 389 4 SBF Reference Number: 5905 PosCovCartesian interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the elements of the symmetric variance-covariance matrix of the position expressed relative to the Cartesian axes of the coordinate system datum requested by the user: This variance-covariance matrix contains an indication of the accuracy of the estimated parameters (see diagonal elements) and the correlation between these estimates (see...
Page 390 4 SBF Reference PVT error code. The following values are deﬁned: Error No Error Not enough measurements Not enough ephemerides available DOP too large (larger than 15) Sum of squared residuals too large No convergence Not enough measurements after outlier rejection Position output prohibited due to export laws Not enough differential corrections available Base station coordinates unavailable...
Page 391 4 SBF Reference Number: 5906 PosCovGeodetic interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the elements of the symmetric variance-covariance matrix of the position expressed in the geodetic coordinates in the datum requested by the user: Please refer to the block description for a general explanation of the PosCovCartesian contents.
Page 392 4 SBF Reference Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Bit ﬁeld indicating the GNSS PVT mode, as follows: Mode Bits 0-3: type of PVT solution: No GNSS PVT available (the Error ﬁeld indicates the cause of the absence of the PVT solution)
Page 393 4 SBF Reference Number: 5907 VelCovCartesian interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the elements of the symmetric variance-covariance matrix of the velocity expressed in the Cartesian coordinates of the coordinate system datum requested by the user: Please refer to the block description for a general explanation of the...
Page 394 4 SBF Reference 2 · 10 Variance of the x-velocity estimate Cov_VxVx 2 · 10 Variance of the y-velocity estimate Cov_VyVy 2 · 10 Variance of the z-velocity estimate Cov_VzVz 2 · 10 Variance of the clock drift estimate Cov_DtDt 2 ·...
Page 395 4 SBF Reference Number: 5908 VelCovGeodetic interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the elements of the symmetric variance-covariance matrix of the velocity expressed in the geodetic coordinates in the datum requested by the user: Please refer to the block description for a general explanation of the PosCovCartesian contents.
Page 396 4 SBF Reference 2 · 10 Variance of the north-velocity estimate Cov_VnVn 2 · 10 Variance of the east-velocity estimate Cov_VeVe 2 · 10 Variance of the up-velocity estimate Cov_VuVu 2 · 10 Variance of the clock drift estimate Cov_DtDt 2 ·...
Page 397 4 SBF Reference Number: 4001 interval: default PVT output rate (see 4.1.8) "OnChange" This block contains both Dilution of Precision (DOP) values and SBAS protection levels. The DOP values result from a trace of the unit position variance-covariance matrices: Position Dilution of Precision: PDOP = Time Dilution of Precision: TDOP =...
Page 398 4 SBF Reference Number: 4044 PosCart interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the absolute and relative (relative to the nearest base station) position at the time speciﬁed in the ﬁelds. The time of applicability is speciﬁed in the receiver time frame.
Page 399 4 SBF Reference Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Bit ﬁeld indicating the GNSS PVT mode, as follows: Mode Bits 0-3: type of PVT solution: No GNSS PVT available (the Error ﬁeld indicates the cause of the absence of the PVT solution)
Page 400 4 SBF Reference Bit ﬁeld containing miscellaneous ﬂags: Misc Bit 0: In DGNSS or RTK mode, set if the baseline points to the base station ARP. Unset if it points to the antenna phase center, or if unknown. Bit 1: Set if the phase center offset is compensated for at the rover, unset if not or unknown.
Page 401 4 SBF Reference Bit ﬁeld indicating the type of GNSS signals having been used in the PVT SignalInfo computations. If a bit i is set, the signal type having index i has been used. The signal numbers are listed in section 4.1.10. Bit 0 (GPS-C/A) is the LSB of SignalInfo .
Page 402 4 SBF Reference Number: 4052 PosLocal interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the position at the time speciﬁed in the ﬁelds. The time of applicability is speciﬁed in the receiver time frame. The position (Lat, Lon, Alt) relates to the local datum identiﬁed with the ﬁeld.
Page 403 4 SBF Reference Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Bit ﬁeld indicating the GNSS PVT mode, as follows: Mode Bits 0-3: type of PVT solution: No GNSS PVT available (the Error ﬁeld indicates the cause of the absence of the PVT solution)
Page 404 4 SBF Reference Number: 4094 PosProjected interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the projected coordinates at the time speciﬁed in the ﬁelds. The time of applicability is speciﬁed in the receiver time frame. The coordinates (Northing, Easting, Alt) relate to the local datum identiﬁed with the ﬁeld.
Page 405 4 SBF Reference Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Bit ﬁeld indicating the GNSS PVT mode, as follows: Mode Bits 0-3: type of PVT solution: No GNSS PVT available (the Error ﬁeld indicates the cause of the absence of the PVT solution)
Page 406 4 SBF Reference Number: 4008 PVTSatCartesian interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the position and velocity of all the satellites used in the PVT solution, together with slant ionospheric and tropospheric delays. Coordinates are referred to the time of signal transmission computed by the receiver and are corrected for the Sagnac effect.
Page 407 4 SBF Reference sub-block deﬁnition: SatPos Parameter Type Units Do-Not-Use Description Satellite ID, see 4.1.9 SVID For GLONASS FDMA signals, this is the frequency number, with an FreqNr offset of 8. It ranges from 1 (corresponding to an actual frequency number of -7) to 21 (corresponding to an actual frequency number of 13).
Page 408 4 SBF Reference Number: 4009 PVTResiduals interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the residuals of all measurements used in PVT solution computed at the epoch speciﬁed in the ﬁelds. The PVT solution itself can be found in the blocks.
Page 409 4 SBF Reference Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Number of satellite/signal pairs for which residual blocks are provided in this SBF block, i.e. number of SatSignalInfo sub-blocks.
Page 410 4 SBF Reference sub-block deﬁnition: SatSignalInfo Parameter Type Units Do-Not-Use Description Satellite ID, see 4.1.9 SVID For GLONASS FDMA signals, this is the frequency number, with an off- FreqNr set of 8. It ranges from 1 (corresponding to an actual frequency num- ber of -7) to 21 (corresponding to an actual frequency number of 13).
Page 411 4 SBF Reference sub-block deﬁnition: ResidualInfoCode Parameter Type Units Do-Not-Use Description 2 · 10 Code Residual with respect to PVT solution reported in Residual PVTCartesian and/or PVTGeodetic block. Absolute value of the w -test statistic based on probability of false alarm 0.001 65535 set by user 0.1 m 65535...
Page 412 4 SBF Reference Number: 4011 RAIMStatistics interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the integrity statistics that are computed by the receiver RAIM algorithm. The output of the RAIM algorithm contains integrity information, which can be used in user applications.
Page 413 4 SBF Reference Number: 5935 GEOCorrections interval: default PVT output rate (see 4.1.8) "OnChange" This block contains the SBAS corrections that the receiver has applied to the pseudoranges used in the PVT computation computed at the epoch speciﬁed in the ﬁelds.
Page 414 4 SBF Reference 2 · 10 Variance of fast and long-term corrections (used for XPL computation) VarFLT 2 · 10 Variance of ionospheric delay corrections (used for XPL computation) VarUIRE 2 · 10 Variance of unmodeled receiver errors, such as tracking noise and multi- VarAir path (used for XPL computation) 2 ·...
Page 415 4 SBF Reference Number: 4043 BaseVectorCart interval: default PVT output rate (see 4.1.8) "OnChange" block contains the relative position and orientation of one or more BaseVectorCart base stations, as seen from the rover (i.e. this receiver). The relative position is expressed in the Cartesian X, Y, Z directions.
Page 416 4 SBF Reference sub-block deﬁnition: VectorInfoCart Parameter Type Units Do-Not-Use Description Number of satellites for which corrections are available from the nrSV base station identiﬁed by the ReferenceID ﬁeld. PVT error code. The following values are deﬁned: Error No Error Not enough measurements Not enough ephemerides available DOP too large (larger than 15)
Page 417 4 SBF Reference Bit ﬁeld indicating the GNSS signals for which differential SignalInfo corrections are available from the base station identiﬁed by ReferenceID . If bit i is set, corrections for the signal type hav- ing index i are available. The signal numbers are listed in section 4.1.10.
Page 418 4 SBF Reference Number: 4028 BaseVectorGeod interval: default PVT output rate (see 4.1.8) "OnChange" block contains the relative position and orientation of one or more BaseVectorGeod base stations, as seen from the rover (i.e. this receiver). The relative position is expressed in the East-North-Up directions.
Page 419 4 SBF Reference Bit ﬁeld indicating the GNSS PVT mode, as follows: Mode Bits 0-3: type of PVT solution: No GNSS PVT available (the Error ﬁeld indicates the cause of the absence of the PVT solution) Stand-Alone PVT Differential PVT Fixed location RTK with ﬁxed ambiguities RTK with ﬂoat ambiguities...
Page 420 4 SBF Reference Number: 4076 PVTSupport interval: default PVT output rate (see 4.1.8) "OnChange" This block contains various internal parameters that can be used for maintenance and sup- port. The detailed deﬁnition of this block is not available in this document.
Page 421 4 SBF Reference Number: 4079 PVTSupportA interval: default PVT output rate (see 4.1.8) "OnChange" This block contains various internal parameters that can be used for maintenance and sup- port. The detailed deﬁnition of this block is not available in this document.
Page 422 4 SBF Reference Number: 5921 EndOfPVT interval: default PVT output rate (see 4.1.8) "OnChange" This block marks the end of transmission of all PVT related blocks belonging to the same epoch. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295...
Page 423: Receiver Time Blocks
4 SBF Reference 4.2.11 Receiver Time Blocks Number: 5914 ReceiverTime interval: 1s "OnChange" block provides the current time with a 1-second resolution in the ReceiverTime receiver time scale and UTC. The level of synchronization of the receiver time with the satellite system time is pro- vided in the ﬁeld.
Page 424 4 SBF Reference Number: 5911 xPPSOffset interval: PPS rate "OnChange" block contains the offset between the true xPPS pulse and the actual xPPSOffset pulse output by the receiver. It is output right after each xPPS pulse. On receivers with more than one independent PPS outputs, this block always refers to the ﬁrst PPS output.
Page 425: External Event Blocks
4 SBF Reference 4.2.12 External Event Blocks These blocks report the state of the receiver applicable at the instant of a level tran- sition on one of its “Event” pins. The receiver time is reported in the ExtEvent block, and the receiver position is reported in the and the ExtEventPVTCartesian blocks.
Page 426 4 SBF Reference Number: 5924 ExtEvent interval: each time an event is detected "OnChange" block contains the time tag of a voltage transition on one of the "Event" input ExtEvent pins. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295...
Page 427 4 SBF Reference Number: 4037 ExtEventPVTCartesian interval: each time an external event is "OnChange" detected This block contains the position, velocity and time (PVT) solution applicable at the time of an external event, in a Cartesian coordinate system. This block has the same structure and description as the block, ex- PVTCartesian cept that the...
Page 428 4 SBF Reference 2 · 10 Y coordinate in coordinate frame speciﬁed by Datum 2 · 10 Z coordinate in coordinate frame speciﬁed by Datum 2 · 10 Geoid undulation. See the setGeoidUndulation command. Undulation 1 m / s 2 · 10 Not applicable 1 m / s 2 ·...
Page 429 4 SBF Reference Bit ﬁeld indicating integrity related information: AlertFlag Bits 0-1: RAIM integrity ﬂag: RAIM not active (integrity not monitored) RAIM integrity test successful RAIM integrity test failed Reserved Bit 2: set if integrity has failed as per Galileo HPCA (HMI Probability Computation Algorithm) Bit 3: set if Galileo ionospheric storm ﬂag is active...
Page 430 4 SBF Reference Number: 4038 ExtEventPVTGeodetic interval: each time an external event is de- "OnChange" tected This block contains the position, velocity and time (PVT) solution applicable at the time of an external event, in an ellipsoidal coordinate system. This block has the same structure and description as the block, except PVTGeodetic that the...
Page 431 4 SBF Reference 1 rad 2 · 10 Longitude, from + , positive East of Greenwich Longitude 2 · 10 Ellipsoidal height (with respect to the ellipsoid speciﬁed by Datum ) Height 2 · 10 Geoid undulation. See the setGeoidUndulation command. Undulation 1 m / s 2 ·...
Page 432 4 SBF Reference Bit ﬁeld indicating integrity related information: AlertFlag Bits 0-1: RAIM integrity ﬂag: RAIM not active (integrity not monitored) RAIM integrity test successful RAIM integrity test failed Reserved Bit 2: set if integrity has failed as per Galileo HPCA (HMI Probability Computation Algorithm) Bit 3: set if Galileo ionospheric storm ﬂag is active...
Page 433 4 SBF Reference Number: 4217 ExtEventBaseVectGeod interval: each time an external event is "OnChange" detected This block contains the relative position and orientation of one or more base stations at the time of an external event. The relative position is expressed in the East-North-Up directions. This block has the same structure and description as the block, ex- BaseVectorGeod...
Page 434 4 SBF Reference sub-block deﬁnition: ExtEventVectorInfoGeod Parameter Type Units Do-Not-Use Description Number of satellites for which corrections are available from the NrSV base station identiﬁed by the ReferenceID ﬁeld. PVT error code. The following values are deﬁned: Error No Error Not enough measurements Not enough ephemerides available DOP too large (larger than 15)
Page 435 4 SBF Reference Bit ﬁeld indicating the GNSS signals for which differential SignalInfo corrections are available from the base station identiﬁed by ReferenceID . If bit i is set, corrections for the signal type hav- ing index i are available. The signal numbers are listed in section 4.1.10.
Page 436: Differential Correction Blocks
4 SBF Reference 4.2.13 Differential Correction Blocks Number: 5919 DiffCorrIn interval: each time a RTCM or CMR message is received "OnChange" block contains incoming RTCM or CMR messages. The length of the block DiffCorrIn depends on the message type and contents. Parameter Type Units Do-Not-Use...
Page 437 4 SBF Reference u1[N] N depends on the RTCM 3 message type. RTCM3Message If the Mode ﬁeld is 3 then this ﬁeld is available: u1[N] N depends on the RTCMV message type. RTCMVMessage u1[..] Padding bytes, see 4.1.5 Padding...
Page 438 4 SBF Reference Number: 5949 BaseStation interval: block generated each time a differential correc- "OnChange" tion message related to the base station coordi- nates is received block contains the ECEF coordinates of the base station the receiver BaseStation is currently connected to. This block helps users accessing the base station coordinates via SBF instead of having to decode the speciﬁc differential correction message (see the SBF block above).
Page 439 4 SBF Reference Number: 4049 RTCMDatum interval: block generated each time a set of transformation "OnChange" parameters is received This block reports the source and target datum names as transmitted in RTCM 3.x message types 1021 or 1022. It also reports the corresponding height and quality indicators. If a service provider only sends out message types 1021 or 1022, this block is trans- mitted immediately after reception of MT1021 or MT1022.
Page 440: L-Band Demodulator Blocks
4 SBF Reference 4.2.14 L-Band Demodulator Blocks Number: 4201 LBandTrackerStatus interval: 1s "OnChange" block provides general information on the tracking status of the LBandTrackerStatus L-band signals. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535...
Page 441 4 SBF Reference Number: 4202 LBAS1DecoderStatus interval: Block generated each time a status "OnChange" update is received from the LBAS1 decoder block provides general information on the LBAS1 L-band de- LBAS1DecoderStatus coder. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s...
Page 442 4 SBF Reference 1 day Subscription end date, day. From 1 to 31. SubscrEndDay Rev 1 1 hour Subscription end date, hour (UTC). From 0 to 23. SubscrEndHour c1[20] Product activation code, right padded with zeros. 1 m / s Speed Gating : Velocity Limit.
Page 443 4 SBF Reference Number: 4203 LBAS1Messages interval: Block generated each time an over-the-air "OnChange" message is received by the LBAS1 decoder block contains the over-the-air message decoded from LBAS1. LBAS1Messages Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295...
Page 444 4 SBF Reference Number: 4204 LBandBeams interval: Block generated each time beam status data is de- "OnChange" coded This block contains the name, longitude and beam frequency of the L-band geostationary satellites known by the receiver. Parameter Type Units Do-Not-Use Description Sync1 Sync2...
Page 445: Status Blocks
4 SBF Reference 4.2.15 Status Blocks Number: 4013 ChannelStatus interval: default PVT output rate (see 4.1.8) "OnChange" This block describes the current satellite allocation and tracking status of the active receiver channels. Active channels are channels to which a satellite has been allocated. This block uses a two-level sub-block structure analogous to that of the block.
Page 446 4 SBF Reference Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Number of channels for which status are provided in this SBF block, i.e. number of ChannelSatInfo sub-blocks.
Page 447 4 SBF Reference sub-block deﬁnition: ChannelStateInfo Parameter Type Units Description Antenna number (0 for main antenna) Antenna Reserved for future use, to be ignored by decoding software Reserved Sequence of 2-bit tracking status ﬁelds, each of them taking one of the following values: TrackingStatus 0: idle or not applicable 1: Search...
Page 448 4 SBF Reference Number: 4014 ReceiverStatus interval: 1s "OnChange" block provides general information on the status of the re- ReceiverStatus ceiver. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Load on the receiver’s CPU.
Page 449 DSK2 ) is mounted. Bit 16: PPS_IN_CAL: this bit is set when PPS IN delay calibration is on- going. Only applicable to PolaRx5TR receivers. Bit 17: DIFFCORR_IN: this bit is set for one second each time differ- ential corrections are decoded. If the input rate is larger than 1 Hz, set continuously.
Page 450 4 SBF Reference Bit ﬁeld indicating whether an error occurred previously. If this ﬁeld is RxError not equal to zero, at least one error has been detected. Bit 0: Reserved Bit 1: Reserved Bit 2: Reserved Bit 3: SOFTWARE: set upon detection of a software warning or error. This bit is reset by the command "...
Page 451 4 SBF Reference 1 dB AGC gain, in dB. Gain The Do-Not-Use value is used to indicate that the frontend PLL is not locked. Normalized variance of the IF samples. The nominal value for this vari- SampleVar ance is 100. Current percentage of samples being blanked by the pulse blanking unit.
Page 452 4 SBF Reference Number: 4012 SatVisibility interval: 1s "OnChange" This block contains the azimuth and elevation of all the satellites above the horizon for which the ephemeris or almanac is available. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295...
Page 453 4 SBF Reference Number: 4090 InputLink interval: 1s "OnChange" block reports statistics of the number of bytes and messages received and InputLink accepted on each active connection descriptor. Per connection descriptor, the receiver maintains two byte counters ( NrBytesReceived message counters NrBytesAccepted NrMsgReceived...
Page 454 4 SBF Reference sub-block deﬁnition: InputStatsSub Parameter Type Units Do-Not-Use Description Identiﬁer of the connection to which this information applies: Value of Connection type Example 0-31 COMx, with x =CD 1: COM1 32-47 USBx, with x =CD-32 33: USB1 48-63 OTGx, with x =CD-48 49: OTG1...
Page 455 4 SBF Reference (10) 1 byte 4294967295 Total number of bytes in messages that passed the check for this NrBytesAccepted type of input (CRC, parity check, ...). The ratio of NrBytesAccepted to NrBytesReceived gives an indication of the quality of the communication link. 1 message Total number of messages of type Type received.
Page 456 4 SBF Reference Number: 4091 OutputLink interval: 1s "OnChange" block reports statistics of the number of bytes sent on each active OutputLink connection descriptor. Per connection descriptor, the receiver maintains two byte counters NrBytesProduced , which are reported in the sub-block. They provide an indication of the NrBytesSent amount of data output and data lost on a given connection.
Page 457 4 SBF Reference sub-block deﬁnition: OutputStatsSub Parameter Type Units Description Identiﬁer of the connection to which this information applies: Value of Connection type Example 0-31 COMx, with x =CD 1: COM1 32-47 USBx, with x =CD-32 33: USB1 48-63 OTGx, with x =CD-48 49: OTG1 64-95...
Page 458 4 SBF Reference sub-block deﬁnition: OutputTypeSub Parameter Type Units Description Type of data: Type none DaisyChain (includes "echo" messages) AsciiDisplay (see setDataInOut command) RINEX CGGTTS BINEX NMEA RTCMv2 RTCMv3 CMRv2 RTCMV (a proprietary variant of RTCMv2) 118: raw LBAND data from Beam1 119: raw LBAND data from Beam2 120: raw LBAND data from Beam3 121: raw LBAND data from Beam4...
Page 459 4 SBF Reference Number: 4053 NTRIPClientStatus interval: 1s "OnChange" This block reports the current status of the NTRIP client connections. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Number of NTRIP client connections for which status is provided in this block, i.e.
Page 460 4 SBF Reference Number: 4122 NTRIPServerStatus interval: 1s "OnChange" This block reports the current status of the NTRIP server connections. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Number of NTRIP server connections for which status is provided in this block, i.e.
Page 461 4 SBF Reference Number: 4058 IPStatus interval: output each time one or more IP parameters change "OnChange" This block contains information on the receiver’s Ethernet interface (hostname, IP address, gateway, netmask and MAC address). Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte...
Page 462 4 SBF Reference Number: 4054 WiFiAPStatus interval: 1s "OnChange" This block contains the IP address of the receiver when conﬁgured in WiFi access point. It also contains the list of all connected clients. The current WiFi mode is reported in the argument.
Page 463 4 SBF Reference Number: 4096 WiFiClientStatus interval: 1s "OnChange" This block contains WiFi status information of the receiver when conﬁgured in WiFi client mode. When the receiver is not conﬁgured in WiFi client mode, many ﬁelds are not applica- ble and are set to their Do-Not-Use value. Parameter Type Units Do-Not-Use...
Page 464 4 SBF Reference Number: 4105 DynDNSStatus interval: 1s "OnChange" This block contains dynamic DNS (DynDNS) status information. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 DynDNS status: Status DynDNS disabled...
Page 465 4 SBF Reference Number: 4101 PowerStatus interval: 1s "OnChange" This block contains information on the power supply (source and voltage). Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Bit ﬁeld: PowerInfo...
Page 466 4 SBF Reference Number: 4082 QualityInd interval: 1s "OnChange" block contains quality indicators for the main functions of the receiver. QualityInd Each quality indicator is a value from 0 to 10, 0 corresponding to poor quality and 10 to very high quality.
Page 467 4 SBF Reference Number: 4059 DiskStatus interval: 1s "OnChange" This block reports the size and usage of the disks mounted on the receiver. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Number of...
Page 468 4 SBF Reference Number: 4102 LogStatus interval: 1s "OnChange" This block reports the status of the different log sessions, including the status of the FTP push and CloudIt. There is one sub-block per active log session. Each of these sub-blocks LogSession contains a number of sub-blocks that report the status of the uploads...
Page 469 4 SBF Reference sub-block deﬁnition: FileUploadStatus Parameter Type Units Description File upload type: Type This sub-block contains information on SBF FTP push This sub-block contains information on RINEX FTP push This sub-block contains information on BINEX FTP push This sub-block contains information on NMEA FTP push This sub-block contains information on RTCMv3 FTP push This sub-block contains information on CGGTTS FTP push This sub-block contains information on SBF CloudIt...
Page 470 4 SBF Reference Number: 4092 RFStatus interval: 1s "OnChange" block reports on the quality of the radio-frequency (RF) signal received by RFStatus the antenna(s). The sub-blocks provide a list of the frequency bands where interfer- RFBand ences have been detected and/or mitigated, and the ﬁeld contains warnings that the Flags receiver’s output may be affected by non-authentic RF signals.
Page 471 4 SBF Reference Number: 4238 P2PPStatus interval: 1s "OnChange" This block reports the status of the active P2PP (Point-to-Point Protocol) sessions. See the command for details. setPointToPoint Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3...
Page 472 4 SBF Reference Number: 4243 CosmosStatus interval: 1s "OnChange" block provides information on the status of the Cosmos receiver ser- CosmosStatus vice. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 The status of Cosmos receiver service: Status...
Page 473 4 SBF Reference Number: 4245 GALAuthStatus interval: 1s "OnChange" block contains the current status of the Galileo OSNMA authentica- GALAuthStatus tion. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Bit ﬁeld: OSNMAStatus...
Page 474: Miscellaneous Blocks
4 SBF Reference 4.2.16 Miscellaneous Blocks Number: 5902 ReceiverSetup interval: Block generated each time a user-command "OnChange" is entered to change one or more val- ues in the block (e.g. when entering the command) setMarkerParameters block contains parameters related to the receiver and its installation. ReceiverSetup When generating RINEX ﬁles, this block deﬁnes the RINEX ﬁle name and the contents of the header.
Page 475 4 SBF Reference Receiver index (set with setMarkerParameters ). This index is used ReceiverIdx to identify the receiver when there are multiple receivers at the same Rev 4 monument. c1[3] ISO 3-character country code (set with the CountryCode setMarkerParameters command). c1[21] Reserved.
Page 476 4 SBF Reference Number: 4084 RxComponents interval: 10s "OnChange" This block contains information on various hardware and software components of the re- ceiver. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295 Receiver time stamp, see 4.1.3 1 week 65535 Number of components for which information is provided in this block.
Page 477 4 SBF Reference Number: 4103 RxMessage interval: block generated each time a message needs to be "OnChange" sent The receiver generates ASCII messages to help users follow the progress of processes such as ﬁle logging or FTP push (activity log). These messages are output in the block, RxMessage and they can also be retrieved from the command line using the...
Page 478 4 SBF Reference Number: 4015 Commands interval: each time a user command is entered "OnChange" Every time the user sends a command, a block is output on all ports for which this Commands block is enabled. The SBF block is inserted in the SBF stream at the very moment Commands when the command starts to take effect.
Page 479 4 SBF Reference Number: 5936 Comment interval: block generated each time a comment is entered with "OnChange" setObserverComment block contains a comment string as entered with the Comment setObserverComment command. Parameter Type Units Do-Not-Use Description Sync1 Sync2 Block Header, see 4.1.1 1 byte Length 0.001 s 4294967295...
Page 480 4 SBF Reference Number: 4040 BBSamples interval: block generated each time new baseband samples "OnChange" are ready (typically at 2Hz) block contains a series of successive complex baseband samples. These BBSamples samples can be used for signal monitoring and for spectral analysis of the GNSS bands sup- ported by the receiver.
Page 481 4 SBF Reference Number: 4075 ASCIIIn interval: block generated each time an ASCII string is received "OnChange" block contains a string that has been received on one of the receiver’s ASCIIIn connection ports. More speciﬁcally, this block is output each time an end-of-line character is received on a communication port conﬁgured to receive input (with the ASCIIIn...
Page 482: Advanced Blocks
4 SBF Reference 4.2.17 Advanced Blocks Number: 6000 SystemInfo interval: 1s "OnChange" This block contains various system parameters that can be used for maintenance and sup- port. The detailed deﬁnition of this block is not available in this document.
Page 483: Sbf Change Log
4 SBF Reference 4.3 SBF Change Log Date Change Description Oct 01, 2021 Added the block containing the raw QZSS L5S navigation bits QZSRawL5S Apr 10, 2020 Added the block for the NTRIP server connection NTRIPServerStatus status Feb 11, 2020 Added the block containing the raw BeiDou B2b navigation BDSRawB2b symbols...
Page 484 CHAPTER 4. SBF REFERENCE Feb 8, 2013 Fixed typo: ﬁeld changed to type and units of sec- t_oG GALGstGps onds Jan 8, 2013 Added ﬁelds to the HAccuracy VAccuracy Misc PVTCartesian blocks PVTGeodetic Dec 19, 2012 Added PRNs 139 and 140 to the list of SBAS satellites Oct 25, 2012 Added blocks RTCMDatum...
Page 485: A List Of Sbf Blocks
APPENDIX A. LIST OF SBF BLOCKS Appendix A List of SBF Blocks The following table provides the list of the SBF block names and numbers available on Po- laRx5TR and a short description of the associated contents. The block number is contained in bits 0 to 12 of the block ﬁeld (see section 4.1.1).
Page 486 APPENDIX A. LIST OF SBF BLOCKS Block name Block Content description Flex esoc Time Rate Stamp 5892 Almanac data for a GPS satellite GPSAlm 5893 Ionosphere data from the GPS subframe 5 GPSIon 5894 GPS-UTC data from GPS subframe 5 GPSUtc 4042 CNAV Ephemeris data for one satellite.
Page 487 APPENDIX A. LIST OF SBF BLOCKS Block name Block Content description Flex esoc Time Rate Stamp ExtEventBaseVectGeod 4217 ENU relative position with respect to base(s) at the instant of an event Differential Correction Blocks 5919 Incoming RTCM or CMR message DiffCorrIn 5949 Base station coordinates BaseStation...
Page 488: B List Of Binex Records
APPENDIX B. LIST OF BINEX RECORDS Appendix B List of BINEX Records The following table provides a list of BINEX records supported by your receiver. The ﬁrst column is the record identiﬁer to be used in the and the setBINEXOutput exeBINEXOnce commands.
Page 489: C List Of Nmea Sentences
Heading, True Leica Local Position and GDOP Leica Local Position and Quality PUMRD PUMRD Septentrio proprietary Septentrio proprietary, not documented here Rover-Base Direction Septentrio proprietary, see section C.1.1 Rover-Base Position Septentrio proprietary, see section C.1.2 Rover-Base Velocity Septentrio proprietary, see section C.1.3 Recommended Minimum Speciﬁc GNSS...
Page 490: Proprietary Nmea Sentences
Message NMEA For- Short Description Comment Identiﬁer matter Used Coordinate Transformation Mes- Septentrio proprietary, see section C.1.8 sages TXTbase Text Transmission Text from a base station in RTCM message type 1029. The text identiﬁer is set to 1, and the text message is in the form “...
Page 491: Rbp : Rover-Base Position
APPENDIX C. LIST OF NMEA SENTENCES C.1.2 RBP : Rover-Base Position Field Description $PSSN,RBP, Start of sentence hhmmss.ss, UTC of RBP (HoursMinutesSeconds.DecimalSeconds) xxxxxx, Date: ddmmyy x.x, North (True) baseline component (positive when base is north of rover), meters x.x, East baseline component (positive when base is east of rover), meters x.x, Up baseline component (positive when base is higher than rover), meters Number of satellites used for baseline computation...
Page 492: Snc : Ntrip Client Status
APPENDIX C. LIST OF NMEA SENTENCES Field Description $PSSN,SDI, Start of sentence message revision xxxxxxxxx, time of week, milliseconds xxxx, week number Reserved a succession of sub-messages, see deﬁnition below <SDISub> SDISub Checksum delimiter and checksum ﬁeld <CR><LF> End of sentence deﬁnition: SDISub Field...
Page 493: Spw : Power Status
APPENDIX C. LIST OF NMEA SENTENCES C.1.6 SPW : Power Status This proprietary sentence is the NMEA equivalent of the SBF block. PowerStatus Field Description $PSSN,SPW, Start of sentence message revision xxxxxxxxx, time of week, milliseconds xxxx, week number x.x, .
Page 494: Tfm : Used Rtcm Coordinate Transformation Messages
APPENDIX C. LIST OF NMEA SENTENCES C.1.8 TFM : Used RTCM Coordinate Transforma- tion Messages This proprietary sentence indicates which RTCM coordinate transformation messages have been received and used in the position computation. Field Description $PSSN,TFM, Start of sentence hhmmss.ss, UTC time (HoursMinutesSeconds.DecimalSeconds) Height indicator, a copy of the Height Indicator ﬁeld in RTCM message 1021 or 1022.
Page 495: D List Of Cmr And Rtcm Messages
APPENDIX D. LIST OF CMR AND RTCM MESSAGES Appendix D List of CMR and RTCM Messages This appendix provides a list of all the CMR and RTCM (v2.x and v3.x) messages supported by the receiver. Appendix D.1 CMR Messages Message Iden- Short Description tiﬁer CMR0...
Page 496 APPENDIX D. LIST OF CMR AND RTCM MESSAGES Message Iden- Short Description tiﬁer RTCM1001 L1-Only GPS RTK Observables RTCM1002 Extended L1-Only GPS RTK Observables RTCM1003 L1&L2 GPS RTK Observables RTCM1004 Extended L1&L2 GPS RTK Observables RTCM1005 Stationary RTK Reference Station ARP RTCM1006 Stationary RTK Reference Station ARP with Antenna Height RTCM1007...
Page 497 APPENDIX D. LIST OF CMR AND RTCM MESSAGES Message Iden- Short Description tiﬁer RTCM1102 SBAS MSM2, Compact PhaseRanges RTCM1103 SBAS MSM3, Compact Pseudoranges and PhaseRanges RTCM1104 SBAS MSM4, Full Pseudoranges and PhaseRanges plus CNR RTCM1105 SBAS MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR RTCM1106 SBAS MSM6, Full Pseudoranges and PhaseRanges plus CNR (high resolution) RTCM1107...
Page 498: Index Of Commands
INDEX OF COMMANDS Index of Commands AddWiFiAccessPoint exeAddWiFiAccessPoint, getAddWiFiAccessPoint eawa, gawa, 203 AGCMode setAGCMode, getAGCMode sam, gam, 119 AntennaInfo lstAntennaInfo lai, 79 AntennaOffset setAntennaOffset, getAntennaOffset sao, gao, 123 AuthorizationLinkCloudIt lstAuthorizationLinkCloudIt lal, 276 BBSamplingMode setBBSamplingMode, getBBSamplingMode sbbs, gbbs, 120 BINEXCloudIt setBINEXCloudIt, getBINEXCloudIt sbci, gbci, 277 BINEXFormatting setBINEXFormatting, getBINEXFormatting...
Page 499 INDEX OF COMMANDS setCABDLY, getCABDLY scdy, gcdy, 167 CGGTTSFTP setCGGTTSFTP, getCGGTTSFTP scfp, gcfp, 270 CGGTTSLogging setCGGTTSLogging, getCGGTTSLogging scgl, gcgl, 249 CGGTTSPosition setCGGTTSPosition, getCGGTTSPosition scpo, gcpo, 168 CGGTTSTrackParameters setCGGTTSTrackParameters, getCGGTTSTrackParameters scgt, gcgt, 169 ChannelAllocation setChannelAllocation, getChannelAllocation sca, gca, 107 ClockSyncThreshold setClockSyncThreshold, getClockSyncThreshold scst, gcst, 160 CloudItConﬁg setCloudItConﬁg, getCloudItConﬁg...
Page 500 INDEX OF COMMANDS eccf, gccf, 82 CosmosConﬁg setCosmosConﬁg, getCosmosConﬁg scoc, gcoc, 293 CrossDomainWebAccess setCrossDomainWebAccess, getCrossDomainWebAccess scda, gcda, 179 CurrentUser lstCurrentUser lcu, 102 DaisyChainMode setDaisyChainMode, getDaisyChainMode sdcm, gdcm, 180 DataInOut setDataInOut, getDataInOut sdio, gdio, 181 DefaultAccessLevel setDefaultAccessLevel, getDefaultAccessLevel sdal, gdal, 103 DiffCorrMaxAge setDiffCorrMaxAge, getDiffCorrMaxAge sdca, gdca, 124...
Page 501 INDEX OF COMMANDS seth, geth, 83 EventParameters setEventParameters, getEventParameters sep, gep, 161 exeAuthorizeCloudIt exeAuthorizeCloudIt erac, 281 FileNaming setFileNaming, getFileNaming sfn, gfn, 254 FTPPushTest exeFTPPushTest, getFTPPushTest efpt, gfpt, 271 FTPUpgrade exeFTPUpgrade, getFTPUpgrade efup, gfup, 84 GalOSNMAPublicKeys lstGalOSNMAPublicKeys lopk, 152 setGalOSNMAPublicKeys, getGalOSNMAPublicKeys sopk, gopk, 153 GalOSNMAUsage setGalOSNMAUsage, getGalOSNMAUsage...
Page 502 INDEX OF COMMANDS InternalFile lstInternalFile lif, 86 IonosphereModel setIonosphereModel, getIonosphereModel sim, gim, 129 IPFiltering setIPFiltering, getIPFiltering sipf, gipf, 186 IPKeepAlive setIPKeepAlive, getIPKeepAlive sipk, gipk, 187 IPPortSettings setIPPortSettings, getIPPortSettings sipp, gipp, 188 IPReceiveSettings setIPReceiveSettings, getIPReceiveSettings sirs, girs, 189 IPServerSettings setIPServerSettings, getIPServerSettings siss, giss, 190 IPSettings setIPSettings, getIPSettings...
Page 503 INDEX OF COMMANDS LogIn login, 104 LogOut LogOut logout, 105 LogSession setLogSession, getLogSession sls, gls, 256 LogSessionSchedule setLogSessionSchedule, getLogSessionSchedule slss, glss, 258 MagneticVariance setMagneticVariance, getMagneticVariance smv, gmv, 132 ManageDisk exeManageDisk, getManageDisk emd, gmd, 259 ManageWiFiAccessPoint exeManageWiFiAccessPoint, getManageWiFiAccessPoint emwa, gmwa, 204 MarkerParameters setMarkerParameters, getMarkerParameters smp, gmp, 175...
Page 504 INDEX OF COMMANDS setNMEAOutput, getNMEAOutput sno, gno, 209 NMEAPrecision setNMEAPrecision, getNMEAPrecision snp, gnp, 211 NMEATalkerID setNMEATalkerID, getNMEATalkerID snti, gnti, 212 NMEAVersion setNMEAVersion, getNMEAVersion snv, gnv, 213 NotchFiltering setNotchFiltering, getNotchFiltering snf, gnf, 121 NtpClient setNtpClient, getNtpClient snc, gnc, 162 NTPServer setNTPServer, getNTPServer sntp, gntp, 163 NtripCasterMountPoints setNtripCasterMountPoints, getNtripCasterMountPoints...
Page 505 INDEX OF COMMANDS setPeriodicEcho, getPeriodicEcho spe, gpe, 192 PointToPoint setPointToPoint, getPointToPoint sp2p, gp2p, 194 PortFirewall setPortFirewall, getPortFirewall spfw, gpfw, 195 PowerMode exePowerMode, getPowerMode epwm, gpwm, 97 PowerThresholds setPowerThresholds, getPowerThresholds spth, gpth, 98 PPPAutoSeed setPPPAutoSeed, getPPPAutoSeed spas, gpas, 134 PPPSetSeedGeod exePPPSetSeedGeod, getPPPSetSeedGeod epss, gpss, 135 PPSINMonitor setPPSINMonitor, getPPSINMonitor...
Page 506 INDEX OF COMMANDS RecordedFile lstRecordedFile lrf, 263 REFDLY setREFDLY, getREFDLY srdy, grdy, 173 REFOUTMode setREFOUTMode, getREFOUTMode srom, grom, 165 RegisteredApplications exeRegisteredApplications, getRegisteredApplications era, gra, 93 RemoveFile exeRemoveFile, getRemoveFile erf, grf, 264 ResetNavFilter exeResetNavFilter, getResetNavFilter ernf, grnf, 140 ResetReceiver exeResetReceiver, getResetReceiver erst, grst, 94 RINEXCloudIt setRINEXCloudIt, getRINEXCloudIt...
Page 507 INDEX OF COMMANDS setRTCMv2IntervalObs, getRTCMv2IntervalObs sr2b, gr2b, 230 RTCMv2Message16 setRTCMv2Message16, getRTCMv2Message16 sr2m, gr2m, 231 RTCMv2Output setRTCMv2Output, getRTCMv2Output sr2o, gr2o, 232 RTCMv2Usage setRTCMv2Usage, getRTCMv2Usage sr2u, gr2u, 233 RTCMv3CRSTransfo setRTCMv3CRSTransfo, getRTCMv3CRSTransfo sr3t, gr3t, 234 RTCMv3Delay setRTCMv3Delay, getRTCMv3Delay sr3d, gr3d, 235 RTCMv3Formatting setRTCMv3Formatting, getRTCMv3Formatting sr3f, gr3f, 236 RTCMv3Interval setRTCMv3Interval, getRTCMv3Interval...
Page 508 INDEX OF COMMANDS SBFGroups setSBFGroups, getSBFGroups ssgp, gsgp, 215 SBFOnce exeSBFOnce, getSBFOnce esoc, gsoc, 216 SBFOutput setSBFOutput, getSBFOutput sso, gso, 219 SignalTracking setSignalTracking, getSignalTracking snt, gnt, 113 SignalUsage setSignalUsage, getSignalUsage snu, gnu, 145 SmoothingInterval setSmoothingInterval, getSmoothingInterval ssi, gsi, 115 StandbyMonitoring setStandbyMonitoring, getStandbyMonitoring ssm, gsm, 99 StaticPosCartesian...
Page 509 INDEX OF COMMANDS UserDatum setUserDatum, getUserDatum sud, gud, 157 UserDatumVel setUserDatumVel, getUserDatumVel sudv, gudv, 158 UserEllipsoid setUserEllipsoid, getUserEllipsoid sue, gue, 159 WakeUpInterval setWakeUpInterval, getWakeUpInterval swui, gwui, 100 WBIMitigation setWBIMitigation, getWBIMitigation swbi, gwbi, 122 WiFiAccessPoint setWiFiAccessPoint, getWiFiAccessPoint swfa, gwfa, 205 WiFiAccessPoints lstWiFiAccessPoints lwa, 206 WiFiMode...
Page 510: Index Of Sbf Blocks
INDEX OF SBF BLOCKS Index of SBF Blocks ASCIIIn, 481 BaseStation, 438 BaseVectorCart, 415 BaseVectorGeod, 418 BBSamples, 480 BDSAlm, 359 BDSCNav2, 357 BDSIon, 360 BDSNav, 355 BDSRaw, 325 BDSRawB1C, 326 BDSRawB2a, 327 BDSRawB2b, 328 BDSUtc, 361 ChannelStatus, 445 Commands, 478 Comment, 479 CosmosStatus, 472 DiffCorrIn, 436...
Page 511 INDEX OF SBF BLOCKS GALUtc, 352 GEOAlm, 375 GEOClockEphCovMatrix, 380 GEOCorrections, 413 GEODegrFactors, 373 GEOFastCorr, 369 GEOFastCorrDegr, 371 GEOIGPMask, 376 GEOIntegrity, 370 GEOIonoDelay, 378 GEOLongTermCorr, 377 GEOMT00, 367 GEONav, 372 GEONetworkTime, 374 GEOPRNMask, 368 GEORawL1, 323 GEORawL5, 324 GEOServiceLevel, 379 GLOAlm, 345 GLONav, 344 GLORawCA, 319...
Page 512 INDEX OF SBF BLOCKS OutputLink, 456 P2PPStatus, 471 PosCart, 398 PosCovCartesian, 389 PosCovGeodetic, 391 PosLocal, 402 PosProjected, 404 PowerStatus, 465 PVTCartesian, 381 PVTGeodetic, 385 PVTResiduals, 408 PVTSatCartesian, 406 PVTSupport, 420 PVTSupportA, 421 QualityInd, 466 QZSAlm, 364 QZSNav, 362 QZSRawL1C, 333 QZSRawL1CA, 329 QZSRawL1S, 334 QZSRawL2C, 330...

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