Novatel OEM6® User guide

OEM6

®

Family

Firmware Reference Manual

OM-20000129 Rev 11 March 2017

OEM6 Firmware Reference Manual Rev 11 2

OEM6 Family of Receivers - Firmware Reference Manual

Publication Number: OM-20000129

Revision Level: 11

Revision Date: March 2017

This manual reflects firmware version 6.720 / OEM060720RN0000

Proprietary Notice

Information in this document is subject to change without notice and does not represent a commitment on the

part of NovAtel Inc. The information contained within this manual is believed to be true and correct at the time

of publication.

OEM6, ALIGN and NovAtel are registered trademarks of NovAtel Inc.

OEM615, OEM617, OEM617D, OEM628, OEM638, FlexPak6, FlexPak6D, NovAtel CORRECT and GLIDE

are trademarks of NovAtel Inc.

All other brand names are trademarks of their respective holders.

laws.

OEM6 Firmware Reference Manual Rev 11 3

Table of Contents

Customer Support............................................................................................................. 16

NovAtel Knowledge Base ...........................................................................................................................16

Before Contacting Customer Support.........................................................................................................16

Contact Information ....................................................................................................................................16

Foreword............................................................................................................................ 17

Related Documents and Information .......................................................................................................... 17

Conventions................................................................................................................................................17

Logs and Commands Defaults and Structure.............................................................................................18

Prerequisites...............................................................................................................................................18

1 Messages .......................................................................................................................19

1.1 Message Types ..................................................................................................................................19

1.1.1 ASCII .......................................................................................................................................20

1.1.2 Abbreviated ASCII...................................................................................................................22

1.1.3 Binary ......................................................................................................................................22

1.2 Responses .........................................................................................................................................29

1.2.1 Abbreviated Response ............................................................................................................29

1.2.2 ASCII Response......................................................................................................................29

1.2.3 Binary Response .....................................................................................................................29

1.3 GLONASS Slot and Frequency Numbers ..........................................................................................31

1.4 GPS Reference Time Status ..............................................................................................................32

1.5 Message Time Stamps.......................................................................................................................33

1.6 Decoding of the GPS Reference Week Number ................................................................................33

1.7 32-Bit CRC .........................................................................................................................................34

2 Commands..................................................................................................................... 36

2.1 Command Formats.............................................................................................................................36

2.2 Command Settings.............................................................................................................................36

2.3 Factory Defaults .................................................................................................................................37

2.4 Command Reference .........................................................................................................................37

2.4.1 ADJUST1PPS .........................................................................................................................58

2.4.2 AIRPLANEMODE ....................................................................................................................63

2.4.3 ALIGNAUTOMATION..............................................................................................................64

2.4.4 ANTENNAPOWER..................................................................................................................65

2.4.5 APPLICATION......................................................................................................................... 66

2.4.6 ASSIGN................................................................................................................................... 67

2.4.7 ASSIGNALL.............................................................................................................................70

2.4.8 ASSIGNLBAND.......................................................................................................................72

2.4.9 ASSIGNLBAND2.....................................................................................................................74

2.4.10 ASSIGNLBANDBEAM...........................................................................................................75

2.4.11 AUTH.....................................................................................................................................77

2.4.12 AUTOSURVEY......................................................................................................................79

2.4.13 BASEANTENNAMODEL .......................................................................................................81

2.4.14 BASEANTENNAPCO ............................................................................................................83

2.4.15 BASEANTENNAPCV ............................................................................................................85

2.4.16 BASEANTENNATYPE ..........................................................................................................

86

2.4.17 BDSECUTOFF ......................................................................................................................95

2.4.18 BESTVELTYPE.....................................................................................................................96

2.4.19 BLUETOOTHCONFIG...........................................................................................................97

2.4.20 BLUETOOTHDISCOVERABILITY ........................................................................................98

2.4.21 CELLULARCONFIG ..............................................................................................................99

OEM6 Firmware Reference Manual Rev 11 4

2.4.22 CLOCKADJUST ..................................................................................................................101

2.4.23 CLOCKCALIBRATE ............................................................................................................102

2.4.24 CLOCKOFFSET ..................................................................................................................104

2.4.25 CNOUPDATE ......................................................................................................................105

2.4.26 COM ....................................................................................................................................106

2.4.27 COMCONFIG ......................................................................................................................108

2.4.28 COMCONTROL...................................................................................................................109

2.4.29 COMVOUT ..........................................................................................................................111

2.4.30 DATADECODESIGNAL ......................................................................................................112

2.4.31 DATUM................................................................................................................................115

2.4.32 DGPSEPHEMDELAY..........................................................................................................120

2.4.33 DGPSTXID ..........................................................................................................................121

2.4.34 DHCPCONFIG ....................................................................................................................122

2.4.35 DIFFCODEBIASCONTROL ................................................................................................123

2.4.36 DLLTIMECONST.................................................................................................................124

2.4.37 DNSCONFIG .......................................................................................................................127

2.4.38 DOSCMD.............................................................................................................................128

2.4.39 DUALANTENNAALIGN .......................................................................................................130

2.4.40 DUALANTENNAPOWER ....................................................................................................131

2.4.41 DYNAMICS..........................................................................................................................132

2.4.42 ECHO ..................................................................................................................................134

2.4.43 ECUTOFF............................................................................................................................136

2.4.44 ELEVATIONCUTOFF..........................................................................................................138

2.4.45 ETHCONFIG .......................................................................................................................140

2.4.46 EVENTINCONTROL ...........................................................................................................141

2.4.47 EVENTOUTCONTROL .......................................................................................................143

2.4.48 EXTERNALCLOCK .............................................................................................................145

2.4.49 FIX .......................................................................................................................................148

2.4.50 FIXPOSDATUM...................................................................................................................151

2.4.51 FORCEGLOL2CODE ..........................................................................................................152

2.4.52 FORCEGPSL2CODE ..........................................................................................................153

2.4.53 FREQUENCYOUT ..............................................................................................................155

2.4.54 FRESET ..............................................................................................................................157

2.4.55 GALECUTOFF ....................................................................................................................159

2.4.56 GENERATEALIGNCORRECTIONS ...................................................................................160

2.4.57 GENERATEDIFFCORRECTIONS ......................................................................................161

2.4.58 GENERATERTKCORRECTIONS .......................................................................................162

2.4.59 GGAQUALITY .....................................................................................................................164

2.4.60 GLIDEINITIALIZATIONPERIOD..........................................................................................166

2.4.61 GLOECUTOFF ....................................................................................................................167

2.4.62 HDTOUTTHRESHOLD .......................................................................................................168

2.4.63 HEADINGOFFSET ..............................................................................................................169

2.4.64 HPSEED...................................................................................................................

...........170

2.4.65 HPSTATICINIT ....................................................................................................................173

2.4.66 ICOMCONFIG .....................................................................................................................174

2.4.67 INTERFACEMODE .............................................................................................................176

2.4.68 IOCONFIG...........................................................................................................................180

2.4.69 IONOCONDITION ...............................................................................................................182

2.4.70 IPCONFIG ...........................................................................................................................183

2.4.71 IPSERVICE .........................................................................................................................184

2.4.72 LEDCONFIG........................................................................................................................185

2.4.73 LOCALIZEDCORRECTIONDATUM....................................................................................190

2.4.74 LOCKOUT ...........................................................................................................................191

2.4.75 LOCKOUTSYSTEM ............................................................................................................192

2.4.76 LOG .....................................................................................................................................193

OEM6 Firmware Reference Manual Rev 11 5

2.4.77 LOGFILE .............................................................................................................................198

2.4.78 LOGIN .................................................................................................................................200

2.4.79 LOGOUT .............................................................................................................................201

2.4.80 MAGVAR .............................................................................................................................202

2.4.81 MARKCONTROL.................................................................................................................204

2.4.82 MODEL................................................................................................................................206

2.4.83 MOVINGBASESTATION.....................................................................................................207

2.4.84 NMEATALKER ....................................................................................................................209

2.4.85 NMEAVERSION ..................................................................................................................211

2.4.86 NTRIPCONFIG....................................................................................................................212

2.4.87 NTRIPSOURCETABLE .......................................................................................................214

2.4.88 NVMRESTORE ...................................................................................................................215

2.4.89 OMNIUSEGLONASS ..........................................................................................................216

2.4.90 PDPFILTER.........................................................................................................................217

2.4.91 PDPMODE ..........................................................................................................................218

2.4.92 PDPVELOCITYOUT............................................................................................................219

2.4.93 POSAVE..............................................................................................................................220

2.4.94 POSTIMEOUT.....................................................................................................................221

2.4.95 PPPCONVERGEDCRITERIA .............................................................................................222

2.4.96 PPPDYNAMICS ..................................................................................................................223

2.4.97 PPPSEED............................................................................................................................224

2.4.98 PPPSOURCE......................................................................................................................226

2.4.99 PPPTIMEOUT .....................................................................................................................227

2.4.100 PPSCONTROL..................................................................................................................228

2.4.101 PPSCONTROL2.............................................................................................................

...230

2.4.102 PROFILE ...........................................................................................................................232

2.4.103 PSRDIFFSOURCE............................................................................................................234

2.4.104 PSRDIFFSOURCETIMEOUT............................................................................................237

2.4.105 PSRDIFFTIMEOUT ...........................................................................................................238

2.4.106 QZSSECUTOFF................................................................................................................239

2.4.107 RAIMMODE.......................................................................................................................240

2.4.108 REFERENCESTATIONTIMEOUT.....................................................................................242

2.4.109 RESET...............................................................................................................................243

2.4.110 RTKANTENNA ..................................................................................................................244

2.4.111 RTKASSIST.......................................................................................................................246

2.4.112 RTKASSISTTIMEOUT ......................................................................................................247

2.4.113 RTKCOMMAND ................................................................................................................248

2.4.114 RTKDYNAMICS ................................................................................................................249

2.4.115 RTKELEVMASK ................................................................................................................250

2.4.116 RTKINTEGERCRITERIA...................................................................................................251

2.4.117 RTKMATCHEDTIMEOUT .................................................................................................252

2.4.118 RTKNETWORK .................................................................................................................253

2.4.119 RTKQUALITYLEVEL.........................................................................................................255

2.4.120 RTKSOURCE ....................................................................................................................256

2.4.121 RTKSOURCETIMEOUT....................................................................................................258

2.4.122 RTKSVENTRIES ...............................................................................................................259

2.4.123 RTKTIMEOUT ...................................................................................................................260

2.4.124 SAVECONFIG ...................................................................................................................261

2.4.125 SAVEETHERNETDATA ....................................................................................................262

2.4.126 SBASCONTROL ...............................................................................................................263

2.4.127 SBASECUTOFF................................................................................................................265

2.4.128 SBASTIMEOUT.................................................................................................................266

2.4.129 SELECTCHANCONFIG ....................................................................................................267

2.4.130 SEND.................................................................................................................................269

2.4.131 SENDHEX .........................................................................................................................271

OEM6 Firmware Reference Manual Rev 11 6

2.4.132 SERIALCONFIG................................................................................................................272

2.4.133 SERIALPROTOCOL..........................................................................................................275

2.4.134 SETADMINPASSWORD ...................................................................................................276

2.4.135 SETAPPROXPOS.............................................................................................................277

2.4.136 SETAPPROXTIME ............................................................................................................278

2.4.137 SETBASERECEIVERTYPE ..............................................................................................279

2.4.138 SETBESTPOSCRITERIA..................................................................................................280

2.4.139 SETCANNAME..................................................................................................................281

2.4.140 SETDIFFCODEBIASES ....................................................................................................282

2.4.141 SETFILECOPYMODE .......................................................................................................283

2.4.142 SETIONOTYPE .................................................................................................................284

2.4.143 SETNAV ............................................................................................................................285

2.4.144 SETPREFERREDNETIF ...................................................................................................287

2.4.145 SETROVERID ...................................................................................................................289

2.4.146 SETRTCM16 .....................................................................................................................290

2.4.147 SETRTCM36 .....................................................................................................................291

2.4.148 SETRTCMRXVERSION ....................................................................................................293

2.4.149 SETRTCMTXVERSION ....................................................................................................294

2.4.150 SETTIMEBASE .................................................................................................................295

2.4.151 SETTROPOMODEL..........................................................................................................297

2.4.152 SETUTCLEAPSECONDS .................................................................................................298

2.4.153 SOFTLOADCOMMIT.........................................................................................................299

2.4.154 SOFTLOADDATA..............................................................................................................300

2.4.155 SOFTLOADFILE................................................................................................................301

2.4.156 SOFTLOADRESET ...........................................................................................................302

2.4.157 SOFTLOADSETUP ...........................................................................................................303

2.4.158 SOFTLOADSREC .............................................................................................................305

2.4.159 SOFTPOWER ...................................................................................................................306

2.4.160 STATUSCONFIG ..............................................................................................................307

2.4.161 STEADYLINE ....................................................................................................................309

2.4.162 STEADYLINEDIFFERENTIALTIMEOUT ..........................................................................311

2.4.163 THISANTENNAPCO .........................................................................................................312

2.4.164 THISANTENNAPCV..........................................................................................................313

2.4.165 THISANTENNATYPE........................................................................................................314

2.4.166 TRACKSV..........................................................................................................................315

2.4.167 TUNNELESCAPE..............................................................................................................317

2.4.168 UALCONTROL..................................................................................................................319

2.4.169 UNASSIGN........................................................................................................................321

2.4.170 UNASSIGNALL .................................................................................................................322

2.4.171 UNDULATION ...................................................................................................................323

2.4.172 UNLOCKOUT....................................................................................................................325

2.4.173 UNLOCKOUTALL..............................................................................................................326

2.4.174 UNLOCKOUTSYSTEM .....................................................................................................327

2.4.175 UNLOG..............................................................................................................................328

2.4.176 UNLOGALL .......................................................................................................................330

2.4.177 USERDATUM....................................................................................................................331

2.4.178 USEREXPDATUM.............................................................................................................333

2.4.179 UTMZONE.........................................................................................................................335

2.4.180 WIFIAPCONFIG ................................................................................................................337

2.4.181 WIFICLICONFIG ...............................................................................................................340

2.4.182 WIFICLICONTROL............................................................................................................342

2.4.183 WIFICONFIG .....................................................................................................................344

3 Data Logs..................................................................................................................... 346

3.1 Log Types ........................................................................................................................................346

OEM6 Firmware Reference Manual Rev 11 7

3.1.1 Log Type Examples...............................................................................................................347

3.2 Log Reference..................................................................................................................................348

3.2.1 ALIGNBSLNENU...................................................................................................................374

3.2.2 ALIGNBSLNXYZ ...................................................................................................................376

3.2.3 ALIGNDOP ............................................................................................................................378

3.2.4 ALMANAC .............................................................................................................................379

3.2.5 APPLICATIONSTATUS.........................................................................................................381

3.2.6 AUTHCODES ........................................................................................................................382

3.2.7 AVEPOS................................................................................................................................384

3.2.8 BDSALMANAC......................................................................................................................386

3.2.9 BDSCLOCK...........................................................................................................................388

3.2.10 BDSEPHEMERIS ................................................................................................................389

3.2.11 BDSIONO ............................................................................................................................391

3.2.12 BDSRAWNAVSUBFRAME .................................................................................................392

3.2.13 BESTPOS............................................................................................................................393

3.2.14 BESTSATS..........................................................................................................................399

3.2.15 BESTUTM ...........................................................................................................................402

3.2.16 BESTVEL ............................................................................................................................404

3.2.17 BESTXYZ ............................................................................................................................406

3.2.18 BLUETOOTHSTATUS ........................................................................................................40

9

3.2.19 BSLNXYZ ............................................................................................................................411

3.2.20 CELLULARINFO .................................................................................................................413

3.2.21 CELLULARSTATUS............................................................................................................414

3.2.22 CHANCONFIGLIST.............................................................................................................416

3.2.23 CLOCKMODEL ...................................................................................................................419

3.2.24 CLOCKSTEERING..............................................................................................................421

3.2.25 CMR Standard Logs ............................................................................................................423

3.2.26 COMCONFIG ......................................................................................................................426

3.2.27 DIRENT ...............................................................................................................................427

3.2.28 ETHSTATUS .......................................................................................................................428

3.2.29 GALALMANAC ....................................................................................................................429

3.2.30 GALCLOCK .........................................................................................................................431

3.2.31 GALEPHEMERIS ................................................................................................................432

3.2.32 GALFNAVEPHEMERIS.......................................................................................................435

3.2.33 GALFNAVRAWPAGE .........................................................................................................437

3.2.34 GALINAVEPHEMERIS........................................................................................................438

3.2.35 GALINAVRAWWORD .........................................................................................................440

3.2.36 GALIONO ............................................................................................................................441

3.2.37 GLMLA ................................................................................................................................442

3.2.38 GLOALMANAC....................................................................................................................444

3.2.39 GLOCLOCK.........................................................................................................................446

3.2.40 GLOEPHEMERIS................................................................................................................448

3.2.41 GLORAWALM .....................................................................................................................451

3.2.42 GLORAWEPHEM................................................................................................................453

3.2.43 GLORAWFRAME ................................................................................................................454

3.2.44 GLORAWSTRING ...............................................................................................................456

3.2.45 GPALM ................................................................................................................................457

3.2.46 GPGGA ...............................................................................................................................459

3.2.47 GPGGALONG .....................................................................................................................462

3.2.48 GPGGARTK ........................................................................................................................464

3.2.49 GPGLL.................................................................................................................................466

3.2.50 GPGRS................................................................................................................................468

3.2.51 GPGSA................................................................................................................................470

3.2.52 GPGST ................................................................................................................................472

3.2.53 GPGSV................................................................................................................................474

OEM6 Firmware Reference Manual Rev 11 8

3.2.54 GPHDT ................................................................................................................................476

3.2.55 GPRMB ...............................................................................................................................477

3.2.56 GPRMC ...............................................................................................................................479

3.2.57 GPSEPHEM ........................................................................................................................481

3.2.58 GPVTG ................................................................................................................................484

3.2.59 GPZDA ................................................................................................................................485

3.2.60 HEADING ............................................................................................................................486

3.2.61 HEADING2 ..........................................................................................................................488

3.2.62 HEADINGRATE...................................................................................................................490

3.2.63 HEADINGSATS...................................................................................................................492

3.2.64 HWMONITOR......................................................................................................................494

3.2.65 IONUTC...............................................................................................................................497

3.2.66 IPSTATS..............................................................................................................................499

3.2.67 IPSTATUS ...........................................................................................................................500

3.2.68 LBANDBEAMTABLE ...........................................................................................................502

3.2.69 LBANDINFO ........................................................................................................................503

3.2.70 LBANDSTAT .......................................................................................................................505

3.2.71 LBANDTRACKSTAT ...........................................................................................................509

3.2.72 LOGFILESTATUS ...............................................................................................................511

3.2.73 LOGLIST .............................................................................................................................512

3.2.74 MARK1COUNT, MARK2COUNT, MARK3COUNT and MARK4COUNT............................514

3.2.75 MARKPOS, MARK2POS, MARK3POS and MARK4POS...................................................515

3.2.76 MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME...............................................518

3.2.77 MASTERPOS......................................................................................................................520

3.2.78 MATCHEDPOS ...................................................................................................................522

3.2.79 MATCHEDSATS .................................................................................................................524

3.2.80 MATCHEDXYZ....................................................................................................................525

3.2.81 MODELFEATURES.............................................................................................................527

3.2.82 NAVIGATE ..........................................................................................................................530

3.2.83 NMEA Standard Logs..........................................................................................................533

3.2.84 NOVATELXOBS..................................................................................................................535

3.2.85 NOVATELXREF ..................................................................................................................536

3.2.86 OMNIHPPOS.......................................................................................................................537

3.2.87 OMNIHPSATS.....................................................................................................................539

3.2.88 OMNIVIS .............................................................................................................................540

3.2.89 PASSCOM, PASSXCOM, PASSAUX, PASSUSB, PASSETH1, PASSICOM, PASSNCOM542

3.2.90 PASSTHROUGH.................................................................................................................546

3.2.91 PDPPOS...................................................................................................................

...........547

3.2.92 PDPSATS............................................................................................................................549

3.2.93 PDPVEL ..............................................................................................................................550

3.2.94 PDPXYZ ..............................................................................................................................551

3.2.95 PORTSTATS .......................................................................................................................553

3.2.96 PPPPOS..............................................................................................................................555

3.2.97 PPPSATS............................................................................................................................557

3.2.98 PROFILEINFO.....................................................................................................................559

3.2.99 PSRDOP .............................................................................................................................561

3.2.100 PSRDOP2 .........................................................................................................................563

3.2.101 PSRPOS............................................................................................................................564

3.2.102 PSRSATS..........................................................................................................................566

3.2.103 PSRTIME...........................................................................................................................568

3.2.104 PSRVEL ............................................................................................................................569

3.2.105 PSRXYZ ............................................................................................................................571

3.2.106 QZSSALMANAC ...............................................................................................................573

3.2.107 QZSSEPHEMERIS............................................................................................................575

3.2.108 QZSSIONUTC ...................................................................................................................577

OEM6 Firmware Reference Manual Rev 11 9

3.2.109 QZSSRAWALMANAC .......................................................................................................579

3.2.110 QZSSRAWCNAVMESSAGE.............................................................................................580

3.2.111 QZSSRAWEPHEM............................................................................................................581

3.2.112 QZSSRAWSUBFRAME ....................................................................................................582

3.2.113 RAIMSTATUS ...................................................................................................................583

3.2.114 RANGE..............................................................................................................................585

3.2.115 RANGECMP......................................................................................................................591

3.2.116 RANGECMP2....................................................................................................................594

3.2.117 RANGEGPSL1 ..................................................................................................................600

3.2.118 RAWALM...........................................................................................................................602

3.2.119 RAWCNAVFRAME............................................................................................................604

3.2.120 RAWEPHEM .....................................................................................................................605

3.2.121 RAWGPSSUBFRAME.......................................................................................................607

3.2.122 RAWGPSWORD ...............................................................................................................608

3.2.123 RAWLBANDFRAME..........................................................................................................609

3.2.124 RAWLBANDPACKET........................................................................................................611

3.2.125 RAWSBASFRAME ............................................................................................................612

3.2.126 REFSTATION....................................................................................................................613

3.2.127 REFSTATIONINFO ...........................................................................................................615

3.2.128 ROVERPOS ......................................................................................................................616

3.2.129 RTCA Standard Logs ........................................................................................................618

3.2.130 RTCM Standard Logs........................................................................................................620

3.2.131 RTCMV3 Standard Logs ...................................................................................................623

3.2.132 RTKASSISTSTATUS ........................................................................................................629

3.2.133 RTKDOP............................................................................................................................630

3.2.134 RTKDOP2..........................................................................................................................631

3.2.135 RTKPOS............................................................................................................................632

3.2.136 RTKSATS ..........................................................................................................................634

3.2.137 RTKVEL.............................................................................................................................636

3.2.138 RTKXYZ ............................................................................................................................638

3.2.139 RXCONFIG........................................................................................................................640

3.2.140 RXSTATUS .......................................................................................................................642

3.2.141 RXSTATUSEVENT ...........................................................................................................650

3.2.142 SATVIS..............................................................................................................................652

3.2.143 SATVIS2............................................................................................................................654

3.2.144 SATXYZ2...........................................................................................................................657

3.2.145 SBAS0...............................................................................................................................659

3.2.146 SBAS1...................................................................................................................

............660

3.2.147 SBAS2...............................................................................................................................661

3.2.148 SBAS3...............................................................................................................................664

3.2.149 SBAS4...............................................................................................................................666

3.2.150 SBAS5...............................................................................................................................668

3.2.151 SBAS6...............................................................................................................................670

3.2.152 SBAS7...............................................................................................................................673

3.2.153 SBAS9...............................................................................................................................676

3.2.154 SBAS10.............................................................................................................................678

3.2.155 SBAS12.............................................................................................................................680

3.2.156 SBAS17.............................................................................................................................681

3.2.157 SBAS18.............................................................................................................................683

3.2.158 SBAS24..................................................................................................................

...........684

3.2.159 SBAS25.............................................................................................................................686

3.2.160 SBAS26.............................................................................................................................688

3.2.161 SBAS27.............................................................................................................................689

3.2.162 SBAS32.............................................................................................................................690

3.2.163 SBAS33.............................................................................................................................692

OEM6 Firmware Reference Manual Rev 11 10

3.2.164 SBAS34.............................................................................................................................694

3.2.165 SBAS35.............................................................................................................................696

3.2.166 SBAS45.............................................................................................................................698

3.2.167 SBASALMANAC................................................................................................................700

3.2.168 SBASCORR ......................................................................................................................702

3.2.169 SOFTLOADSTATUS .........................................................................................................704

3.2.170 SOURCETABLE................................................................................................................707

3.2.171 TERRASTARINFO ............................................................................................................709

3.2.172 TERRASTARSTATUS.......................................................................................................711

3.2.173 TIME ..................................................................................................................................713

3.2.174 TIMESYNC........................................................................................................................715

3.2.175 TRACKSTAT .....................................................................................................................716

3.2.176 VALIDMODELS .................................................................................................................718

3.2.177 VERIPOSINFO ..................................................................................................................719

3.2.178 VERIPOSSTATUS ............................................................................................................720

3.2.179 VERSION ..........................................................................................................................721

3.2.180 WIFIAPSTATUS................................................................................................................724

3.2.181 WIFICLISCANRESULTS...................................................................................................726

3.2.182 WIFICLISTATUS ...............................................................................................................729

4 Responses ................................................................................................................... 733

OEM6 Firmware Reference Manual Rev 11 11

Figures

Figure 1: Byte Arrangements ..........................................................................................................................20

Figure 2: 1PPS Alignment...............................................................................................................................58

Figure 3: ADJUST1PPS Connections.............................................................................................................60

Figure 4: Pulse Width and 1PPS Coherency ................................................................................................155

Figure 5: Illustration of Magnetic Variation and Correction ...........................................................................202

Figure 6: TTL Pulse Polarity .........................................................................................................................204

Figure 7: Moving Base Station ‘Daisy Chain’ Effect......................................................................................208

Figure 8: Using the SEND Command ...........................................................................................................269

Figure 9: Illustration of SETNAV Parameters ...............................................................................................285

Figure 10: Illustration of Undulation ..............................................................................................................323

Figure 11: Navigation Parameters ................................................................................................................530

Figure 12: Pass Through Log Data...............................................................................................................544

OEM6 Firmware Reference Manual Rev 11 12

Tables

Table 1: Field Types ........................................................................................................................................19

Table 2: ASCII Message Header Structure......................................................................................................21

Table 3: Binary Message Header Structure.....................................................................................................23

Table 4: Detailed Port Identifier .......................................................................................................................24

Table 5: Available Port Types ..........................................................................................................................29

Table 6: Binary Message Response Structure ................................................................................................30

Table 7: Binary Message Sequence ................................................................................................................31

Table 8: GPS Reference Time Status .............................................................................................................32

Table 9: OEM6 Commands Sorted by Function ..............................................................................................37

Table 10: OEM6 Commands in Alphabetical Order .........................................................................................44

Table 11: OEM6 Commands in Numerical Order ............................................................................................51

Table 12: Channel State .................................................................................................................................. 67

Table 13: Channel System...............................................................................................................................71

Table 14: L-Band Mode ...................................................................................................................................73

Table 15: L-Band Assignment Option ..............................................................................................................76

Table 16: Frequency Type ...............................................................................................................................84

Table 17: Antenna Type...................................................................................................................................86

Table 18: Radome Type ..................................................................................................................................93

Table 19: Velocity Types.................................................................................................................................. 96

Table 20: Supported BLUETOOTHCONFIG Parameters................................................................................97

Table 21: CELLULARCONFIG Parameters...................................................................................................100

Table 22: Tx, DTR and RTS Availability ........................................................................................................110

Table 23: GNSS Signal Default and Configurability.......................................................................................112

Table 24: Signal Type (DATADECODESIGNAL)...........................................................................................113

Table 25: Reference Ellipsoid Constants.......................................................................................................116

Table 26: Datum Transformation Parameters................................................................................................116

Table 27: Signal Type ....................................................................................................................................126

Table 28: DOS Command Enum ...................................................................................................................129

Table 29: User Dynamics...............................................................................................................................132

Table 30: Communications Port Identifiers ....................................................................................................135

Table 31: Clock Type .....................................................................................................................................147

Table 32: Pre-Defined Values for Oscillators .................................................................................................147

Table 33: FIX Parameters..............................................................................................................................149

Table 34: Fix Types .......................................................................................................................................150

Table 35: GLONASS L2 Code Type ..............................................................................................................152

Table 36: Signals Tracked – Channel Configuration and L2type Option .......................................................152

Table 37: GPS L2 Code Type........................................................................................................................153

Table 38: Signals Tracked – Channel Configuration and L2type Option .......................................................154

Table 39: VARF Input Ranges .......................................................................................................................156

Table 40: FRESET Target .............................................................................................................................158

Table 41: Seeding Mode................................................................................................................................172

Table 42: Serial Port Interface Modes ...........................................................................................................178

Table 43: PMUX Pin Description ..................................................................................................................181

Table 44: LED ID ...........................................................................................................................................187

Table 45: GNSS1/GNSS2 LED Patterns .......................................................................................................188

Table 46: SATTRACK1/SATRACK2 LED default values...............................................................................188

Table 47: DATALOG LED default values.......................................................................................................188

Table 48: GNSS1/GNSS2 LED default values ..............................................................................................189

Table 49: NMEA Talkers................................................................................................................................210

Table 50: Profile Option .................................................................................................................................233

Table 51: DGPS Type....................................................................................................................................235

OEM6 Firmware Reference Manual Rev 11 13

Table 52: RAIM Mode Types .........................................................................................................................241

Table 53: Dynamics Mode .............................................................................................................................249

Table 54: Network RTK Mode........................................................................................................................254

Table 55: RTK Quality Mode..........................................................................................................................255

Table 56: System Types ................................................................................................................................264

Table 57: SBAS Time Out Mode....................................................................................................................266

Table 58: COM Port Identifiers ......................................................................................................................274

Table 59: Parity..............................................................................................................................................274

Table 60: Handshaking ..................................................................................................................................274

Table 61: Ports Supporting RS-422 ...............................................................................................................275

Table 62: Selection Type ...............................................................................................................................280

Table 63: Ionospheric Correction Models ......................................................................................................284

Table 64: Russian Alphabet Characters (Ch) in Decimal (Dec) and Hexadecimal (Hex) ..............................292

Table 65: System Used for Timing.................................................................................................................296

Table 66: Available Set Up Commands .........................................................................................................304

Table 67: STEADYLINE Mode.......................................................................................................................310

Table 68: TrackSV Command Condition .......................................................................................................316

Table 69: User Accuracy Level Supplemental Position Types and NMEA Equivalents.................................319

Table 70: UTM Zone Commands...................................................................................................................336

Table 71: WIFIAPCONFIG Parameters and Values ......................................................................................338

Table 72: Legal Combination of Authentication, Encryption, Protocol ...........................................................339

Table 73: WIFIAPCONFIG Default Parameters for AP 1...............................................................................339

Table 74: WIFICLICONFIG Parameters ........................................................................................................341

Table 75: WIFICLICONTROL Parameters.....................................................................................................343

Table 76: WIFICONFIG Parameters ..............................................................................................................345

Table 77: Log Type Triggers..........................................................................................................................346

Table 78: OEM6 Logs Sorted by Function.....................................................................................................348

Table 79: OEM6 Logs in Alphabetical Order .................................................................................................355

Table 80: OEM6 Logs by Message ID ...........................................................................................................364

Table 81: Position Averaging Status..............................................................................................................385

Table 82: Data Source ...................................................................................................................................392

Table 83: Solution Status...............................................................................................................................395

Table 84: Position or Velocity Type ...............................................................................................................396

Table 85: BESTPOS Galileo and BeiDou Signal-Used Mask........................................................................397

Table 86: BESTPOS GPS and GLONASS Signal-Used Mask......................................................................397

Table 87: Extended Solution Status...............................................................................................................397

Table 88: Supplemental Position Types and NMEA Equivalents...................................................................398

Table 89: Observation Statuses.....................................................................................................................400

Table 90: BESTSATS GPS Signal Mask ..............................................................................................

.........401

Table 91: BESTSATS GLONASS Signal Mask .............................................................................................401

Table 92: BESTSATS Galileo Signal Mask ...................................................................................................401

Table 93: BESTSATS BeiDou Signal Mask...................................................................................................401

Table 94: The WGS84 ECEF Coordinate System .........................................................................................408

Table 95: Bluetooth Status.............................................................................................................................410

Table 96: Modem Status................................................................................................................................415

Table 97: Network Status...............................................................................................................................415

Table 98: CHANCONFIGLIST Signal Type ...................................................................................................417

Table 99: Clock Model Status ........................................................................................................................420

Table 100: Clock Source................................................................................................................................422

Table 101: Steering State ..............................................................................................................................422

Table 102: Kp UTC Leap Second Descriptions .............................................................................................447

Table 103: GLONASS Ephemeris Flags Coding ...........................................................................................450

Table 104: GPS Quality Indicators.................................................................................................................460

Table 105: Position Precision of NMEA Logs ................................................................................................467

Table 106: NMEA Positioning System Mode Indicator ..................................................................................478

OEM6 Firmware Reference Manual Rev 11 14

Table 107: URA Variance ..............................................................................................................................483

Table 108: Solution Source............................................................................................................................487

Table 109: Satellite System ...........................................................................................................................493

Table 110: HWMONITOR Status Table.........................................................................................................495

Table 111: L-Band Subscription Type............................................................................................................504

Table 112: HP Subscription Mode .................................................................................................................504

Table 113: L-Band Signal Tracking Status ....................................................................................................506

Table 114: OmniSTAR HP/XP/G2 Additional Status Word............................................................................507

Table 115: OmniSTAR HP/XP/G2 Status Word ............................................................................................507

Table 116: OmniSTAR VBS Status Word......................................................................................................508

Table 117: Feature Status Enum ...................................................................................................................528

Table 118: Feature Enum ..............................................................................................................................529

Table 119: Navigation Data Type ..................................................................................................................532

Table 120: Position Type ...............................................................................................................................556

Table 121: Status Word .................................................................................................................................560

Table 122: Integrity Status .............................................................................................................................584

Table 123: Protection Level Status ................................................................................................................584

Table 124: Channel Tracking Example..........................................................................................................588

Table 125: Channel Tracking Status..............................................................................................................588

Table 126: Tracking State..............................................................................................................................590

Table 127: Correlator Type ............................................................................................................................590

Table 128: Range Record Format (RANGECMP only)..................................................................................592

Table 129: Satellite Block of the Range Record Format (RANGECMP2 only) ..............................................595

Table 130: Signal Block of the Range Record Format (RANGECMP2 only) .................................................596

Table 131: Std Dev PSR Scaling ...................................................................................................................597

Table 132: Std Dev ADR Scaling...................................................................................................................597

Table 133: L1/E1/B1 Scaling .........................................................................................................................598

Table 134: Signal Type (only in RANGECMP2).............................................................................................599

Table 135: Base Station Status .....................................................................................................................614

Table 136: Station Type.................................................................................................................................614

Table 137: MSM type descriptions.................................................................................................................628

Table 138: Supported MSM messages..........................................................................................................628

Table 139: Receiver Error..............................................................................................................................644

Table 140: Receiver Status............................................................................................................................645

Table 141: Auxiliary 1 Status .........................................................................................................................646

Table 142: Auxiliary 2 Status .........................................................................................................................647

Table 143: Auxiliary 3 Status .........................................................................................................................648

Table 144: Status Word .................................................................................................................................651

Table 145: Event Type...................................................................................................................................651

Table 146: Evaluation of UDREI ....................................................................................................................663

Table 147: Evaluation of UDREI ....................................................................................................................691

Table 148: SBAS Subsystem Types..............................................................................................................701

Table 149: SoftLoad Status Type ..................................................................................................................704

Table 150: TerraStar Subscription Permissions Field....................................................................................710

Table 151: TerraStar Subscription Type ........................................................................................................710

Table 152: TerraStar Region Restriction .......................................................................................................710

Table 153: TerraStar Decoder Data Synchronization State...........................................................................711

Table 154: TerraStar Local Area Status ........................................................................................................712

Table 155: TerraStar Geogating Status .........................................................................................................712

Table 156: Veripos Operating Mode ..............................................................................................................719

Table 157: Veripos Subscription Details Mask ..............................................................................................719

Table 158: Veripos Decoder Data Synchronization State..............................................................................720

Table 159: Component Types........................................................................................................................722

Table 160: VERSION Log Field Formats.......................................................................................................723

Table 161: Wi-Fi AP States............................................................................................................................725

OEM6 Firmware Reference Manual Rev 11 15

Table 162: Wi-Fi BSS Types..........................................................................................................................727

Table 163: Non-HT Rates ..............................................................................................................................727

Table 164: Wi-Fi Client State .........................................................................................................................730

Table 165: Wi-Fi Network ID ..........................................................................................................................731

Table 166: Wi-Fi Client Error .........................................................................................................................732

Table 167: Response Messages ...................................................................................................................733

OEM6 Firmware Reference Manual Rev 11 16

Customer Support

NovAtel Knowledge Base

If you have a technical issue, visit the NovAtel Support page at www.novatel.com/support.Through the

Support page, you can contact Customer Support, find papers and tutorials or download current manuals and

the latest firmware.

Before Contacting Customer Support

Before you contact NovAtel Customer Support about a software problem, perform the following steps:

1. Log the following data to a file on your computer for 15 minutes:

RXSTATUSB once

RAWEPHEMB onchanged

RANGEB ontime 1

BESTPOSB ontime 1

RXCONFIGA once

VERSIONA once

2. Send the data file to NovAtel Customer Support: supp[email protected]

3. You can also issue a FRESET command to the receiver to clear any unknown settings.

If you are having a hardware problem, send a list of the troubleshooting steps taken and the results.

Contact Information

Log a support request with NovAtel Customer Support using one of the following methods:

Log a Case and Search Knowledge:

Website: www.novatel.com/support

Log a Case, Search Knowledge and View Your Case History: (login access required)

Web Portal: https://novatelsupport.force.com/community/login

E-mail:

[email protected]

Telephone:

U.S. and Canada: 1-800-NOVATEL (1-800-668-2835)

International: +1-403-295-4900

The FRESET command will erase all user settings. You should know your configuration (by

requesting the RXCONFIGA log) and be able to reconfigure the receiver before you send the

FRESET command.

OEM6 Firmware Reference Manual Rev 11 17

Foreword

Thank you for purchasing your NovAtel product. Your receiver includes companion documents to this manual

with information on the hardware operation. Afterwards, this document will be your primary reference guide

for commands and logs.

This manual describes each command and log the OEM6 family of receivers are capable of accepting or

generating. Sufficient detail is provided so you can understand the purpose, syntax and structure of each

command or log. You will also be able to communicate with the receiver, enabling you to effectively use and

write custom interfacing software for specific applications.

Related Documents and Information

OEM6 products include the following:

• Satellite Based Augmentation System (SBAS) signal functionality

• Support for all current and upcoming GNSS constellations

• L-Band capability including TerraStar licensed based corrections

• National Marine Electronics Association (NMEA) standards, a protocol used by GNSS receivers to

transmit data

• Differential Global Positioning System (DGPS)

• Real-Time Kinematic (RTK)

For more information on these components, please refer the Support page on our website at

www.novatel.com/support

. For introductory information on GNSS technology, refer to our An Introduction to

GNSS book found at www.novatel.com/an-introduction-to-gnss/

This manual does not address any of the receiver hardware attributes or installation information. Consult the

OEM6 Family Installation and Operation Manual

(OM-20000128) for information about these topics.

Furthermore, should you encounter any functional, operational or interfacing difficulties with the receiver,

refer to the NovAtel web site for warranty and support information.

Conventions

The following conventions are used in this manual:

Denotes information to supplement or clarify the accompanying text.

Caution that a certain action, operation or configuration may result in incorrect or improper use

of the product.

Warning that a certain action, operation or configuration may result in regulatory

noncompliance, safety issues or equipment damage.

Foreword

OEM6 Firmware Reference Manual Rev 11 18

Logs and Commands Defaults and Structure

• The factory defaults for commands are shown in Section 2.3, Factory Defaults on page 37. Each

factory default is also shown after the syntax but before the example of each command description.

• The letter H in the Binary Byte or Binary Offset columns of the commands and logs tables represents

the header length for that command or log, see Section 1.1.3, Binary on page 22.

• The number following 0x is a hexadecimal number.

• Default values shown in command tables indicate the assumed values when optional parameters

have been omitted. Default values do not imply the factory default settings, see Section 2.3, Factory

Defaults on page 37 for a list of factory default settings.

• Parameters surrounded by [ and ] are optional in a command or are required for only some instances

of the command depending on the values of other parameters.

• Text displayed between < and > indicates the entry of a keystroke in the case of the command or an

automatic entry in the case of carriage return <CR> and line feed <LF> in data output.

• In tables where no values are given they are assumed to be reserved for future use.

• Status words in ASCII logs are output as hexadecimal numbers and must be converted to binary

format (and in some cases then also to decimal) to parse the fields because they are not fixed in 4-

bits boundary. For an example of this type of conversion, see the RANGE log, Table 125, Channel

Tracking Status on page 588.

• Conversions and their binary or decimal results are always read from right to left. For a complete list

of hexadecimal, binary and decimal equivalents, refer to the Unit Conversion

information available on

our website at www.novatel.com/support/search/

.

• ASCII log examples may be split over several lines for readability. In reality, only a single [CR][LF]

pair is transmitted at the end of an ASCII log.

You can download the most up-to-date version of this manual along with any addendums from the Support

section of the NovAtel website.

Prerequisites

As this reference manual is focused on the OEM6 family commands and logging protocol, it is necessary to

ensure the receiver has been properly installed and powered up according to the instructions outlined in the

companion OEM6 Family Installation and Operation User Manual

(OM-20000128) for OEM6 cards and the

FlexPak6 enclosures and/or the ProPak6 User Manual

(OM-20000148) before proceeding.

OEM6 Firmware Reference Manual Rev 11 19

Chapter 1 Messages

1.1 Message Types

The receiver handles incoming and outgoing NovAtel data in three different message formats: Abbreviated

ASCII, ASCII and binary. This allows for a great deal of versatility in the way the OEM6 family of receivers

can be used. All NovAtel commands and logs can be entered, transmitted, output or received in any of the

three formats. The receiver also supports RTCA, RTCMV3, RTCM, CMR, CMRPLUS and NMEA format

messaging. For more 11information about message logs, refer to the contents of Chapters 2 and 3.

When entering an ASCII or abbreviated ASCII command to request an output log, the message type is

indicated by the character appended to the end of the message name. ‘A’ indicates the message is ASCII

and ‘B’ indicates binary. No character means the message is Abbreviated ASCII. When issuing binary

commands, the output message type is dependent on the bit format in the message’s binary header (refer to

Section 1.1.3, Binary on page 22).

Table 1, Field Types on page 19 below, describes the field types used in the description of messages.

Table 1: Field Types

Type

Binary

Size

(bytes)

Description

Char 1

The char type is an 8-bit integer in the range -128 to +127. This integer value may be the

ASCII code corresponding to the specified character. In ASCII or Abbreviated ASCII this

comes out as an actual character

UChar 1

The uchar type is an 8-bit unsigned integer. Values are in the range from +0 to +255. In

ASCII or Abbreviated ASCII this comes out as a number

Short 2 The short type is 16-bit integer in the range -32768 to +32767

UShort 2 The same as short except it is not signed. Values are in the range from +0 to +65535

Long 4 The long type is 32-bit integer in the range -2147483648 to +2147483647

ULong 4 The same as long except it is not signed. Values are in the range from +0 to +4294967295

Double 8

The double type contains 64-bits: 1 for sign, 11 for the exponent and 52 for the mantissa.

Its range is ±1.7E308 with at least 15 digits of precision. This is IEEE 754

Float 4

The float type contains 32-bits: 1 for the sign, 8 for the exponent and 23 for the mantissa.

Its range is ±3.4E38 with at least 7 digits of precision. This is IEEE 754

Enum 4

A 4-byte enumerated type beginning at zero (an unsigned long). In binary, the enumerated

value is output. In ASCII or Abbreviated ASCII, the enumeration label is spelled out

GPSec 4

This type has two separate formats dependent on whether you requested a binary or an

ASCII format output. For binary, the output is in milliseconds and is a long type. For ASCII,

the output is in seconds and is a float type

Hex n

Hex is a packed, fixed length (n) array of bytes in binary but in ASCII or Abbreviated ASCII

is converted into 2 character hexadecimal pairs

String n

String is a variable length array of bytes that is null-terminated in the binary case and

additional bytes of padding are added to maintain 4-byte alignment. The maximum byte

length for each String field is shown in the row in the log or command tables

Messages Chapter 1

OEM6 Firmware Reference Manual Rev 11 20

Figure 1: Byte Arrangements

1.1.1 ASCII

ASCII messages are readable by both the user and a computer. The structures of all ASCII messages follow

the general conventions as noted here:

1. The lead code identifier for each record is '#'.

2. Each log or command is of variable length depending on amount of data and formats.

3. All data fields are delimited by a comma ',' with two exceptions:

• The first exception is the last header field which is followed by a ‘;’ to denote the start of the data

message.

• The second exception is the last data field, which is followed by a * to indicate end of message data.

4. Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination

using the carriage return and line feed characters.

For example:

*1234ABCD[CR][LF]. This value is a 32-bit CRC of all bytes in the log, excluding the '#' identifier and the

asterisk preceding the eight CRC digits.

See Section 1.7, 32-Bit CRC on page 34 for the algorithm used to generate the CRC.

5. The receiver only accepts the following ASCII characters.

- characters between space (ASCII value 32) and '~' (ASCII value 126) inclusive,

- vertical tab (ASCII value 9), line feed (ASCII value 10), horizontal tab (ASCII value 11) and

carriage return (ASCII value 13)

Other values are discarded and can lead to unexpected results.

Figure 1, Byte Arrangements on page 20 shows the arrangement of bytes, within each field

type, when used by IBM PC computers. All data sent to or from the OEM6 family of receivers,

however, is read least significant bit (LSB) first, opposite to what is shown in Figure 1, Byte

Arrangements on page 20. Data is then stored in the receiver LSB first. For example, in char

type data, the LSB is bit 0 and the most significant bit (MSB) is bit 7. See Table 125, Channel

Tracking Status on page 588 for a more detailed example.

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