contrib/ntp/html/mx4200data.html

   1 <html>
   2
   3     <head>
   4         <title>MX4200 Receiver Data Format</title>
   5         <link href="scripts/style.css" type="text/css" rel="stylesheet">
   6     </head>
   7
   8     <body>
   9         <h1>MX4200 Receiver Data Format</h1>
  10         <hr>
  11         <h2>Table of Contents</h2>
  12         <ul>
  13             <li><a href="#control">Control Port Sentences</a>
  14             <li><a href="#input">Control Port Input Sentences</a>
  15             <ul>
  16                 <li><a href="#input_000">$PMVXG,000</a> Initialization/Mode Control - Part A
  17                 <li><a href="#input_001">$PMVXG,001</a> Initialization/Mode Control - Part B
  18                 <li><a href="#input_007">$PMVXG,007</a> Control Port Configuration
  19                 <li><a href="#input_023">$PMVXG,023</a> Time Recovery Configuration
  20                 <li><a href="#input_gpq">$CDGPQ,YYY</a> Query From a Remote Device / Request to Output a Sentence
  21             </ul>
  22             <li><a href="#output">Control Port Output Sentences</a>
  23             <ul>
  24                 <li><a href="#output_000">$PMVXG,000</a> Receiver Status
  25                 <li><a href="#output_021">$PMVXG,021</a> Position, Height, Velocity
  26                 <li><a href="#output_022">$PMVXG,022</a> DOPs
  27                 <li><a href="#output_030">$PMVXG,030</a> Software Configuration
  28                 <li><a href="#output_101">$PMVXG,101</a> Control Sentence Accept/Reject
  29                 <li><a href="#output_523">$PMVXG,523</a> Time Recovery Configuration
  30                 <li><a href="#output_830">$PMVXG,830</a> Time Recovery Results
  31             </ul>
  32         </ul>
  33         <hr>
  34         <h2><a name="control">Control Port Sentences</a></h2>
  35         <p>The Control (CDU) Port is used to initialize, monitor, and control the receiver. The structure of the control port sentences is based on the <cite>NMEA-0183</cite> Standard for Interfacing Marine Electronics Navigation Devices (version 1.5). For more details, please refer to the <cite>NMEA-0183</cite> Specification available from the <a href="http://www.nmea.org/">National Marine Electronics Association</a>.</p>
  36         <p>Reserved characters are used to indicate the beginning and the end of records in the data stream, and to delimit data fields within a sentence. Only printable ASCII characters (Hex 20 through 7F) may be used in a sentence. <a href="#table_2">Table 2</a> lists the reserved characters and defines their usage. <a href="#table_1">Table 1</a> illustrates the general Magnavox proprietary NMEA sentence format.</p>
  37         <h4><a name="table_1">Table 1. Magnavox Proprietary NMEA Sentence Format</a></h4>
  38         <code>$PMVXG,XXX,...................*CK </code>
  39         <p></p>
  40         <table border>
  41             <tr>
  42                 <th>Character</th>
  43                 <th>Meaning</th>
  44             </tr>
  45             <tr>
  46                 <td><code>$</code></td>
  47                 <td>Sentence Start Character</td>
  48             </tr>
  49             <tr>
  50                 <td><code>P</code></td>
  51                 <td>Special ID (P = Proprietary)</td>
  52             </tr>
  53             <tr>
  54                 <td><code>MVX</code></td>
  55                 <td>Originator ID (MVX = Magnavox)</td>
  56             </tr>
  57             <tr>
  58                 <td><code>G</code></td>
  59                 <td>Interface ID (G = GPS)</td>
  60             </tr>
  61             <tr>
  62                 <td><code>XXX</code></td>
  63                 <td>Sentence Type</td>
  64             </tr>
  65             <tr>
  66                 <td><code>...</code></td>
  67                 <td>Data</td>
  68             </tr>
  69             <tr>
  70                 <td><code>*</code></td>
  71                 <td>Optional Checksum Field Delimiter</td>
  72             </tr>
  73             <tr>
  74                 <td><code>CK</code></td>
  75                 <td>Optional Checksum</td>
  76             </tr>
  77         </table>
  78         <h4><a name="table_2">Table 2. NMEA Sentence Reserved Characters</a></h4>
  79         <table border>
  80             <tr>
  81                 <th>Character</th>
  82                 <th>Hex Value</th>
  83                 <th>Usage</th>
  84             </tr>
  85             <tr>
  86                 <td><code>$</code></td>
  87                 <td>24</td>
  88                 <td>Start of Sentence Identifier</td>
  89             </tr>
  90             <tr>
  91                 <td><code>{cr}{lf}</code></td>
  92                 <td>0D 0A</td>
  93                 <td>End of Sentence Identifier</td>
  94             </tr>
  95             <tr>
  96                 <td><code>,</code></td>
  97                 <td>2C</td>
  98                 <td>Sentence Delimiter</td>
  99             </tr>
 100             <tr>
 101                 <td><code>*</code></td>
 102                 <td>2A</td>
 103                 <td>Optional Checksum Field Delimiter</td>
 104             </tr>
 105         </table>
 106         <p>Following the start character <code>$</code>, are five characters which constitute the block label of the sentence. For Magnavox proprietary sentences, this label is always <code>PMVXG</code>. The next field after the block label is the sentence type, consisting of three decimal digits.</p>
 107         <p>The data, delimited by commas, follows the sentence type. Note that the receiver uses a free-format parsing algorithm, so you need not send the exact number of characters shown in the examples. You will need to use the commas to determine how many bytes of data need to be retrieved.</p>
 108         <p>The notation <code>CK</code> shown in <a href="#table_1">Table 1</a> symbolically indicates the optional checksum in the examples. The checksum is computed by exclusive-ORing all of the bytes between the <code>$</code> and the <code>*</code> characters. The <code>$</code>, <code>*</code> and the checksum are not included in the checksum computation.</p>
 109         <p>Checksums are optional for Control Port input sentences, but are highly recommended to limit the effects of communication errors. Magnavox receivers always generate checksums for Control Port output sentences.</p>
 110         <p>ASCII data characters are transmitted in the following format:</p>
 111         <table border>
 112             <tr>
 113                 <td>Data Bits</td>
 114                 <td>8 (msb always 0)</td>
 115             </tr>
 116             <tr>
 117                 <td>Parity</td>
 118                 <td>None</td>
 119             </tr>
 120             <tr>
 121                 <td>Stop Bits</td>
 122                 <td>1</td>
 123             </tr>
 124         </table>
 125         <p>NULL fields are fields which do not contain any data. They would appear as two commas together in the sentence format, except for the final field. Some Magnavox proprietary sentences require that the format contain NULL fields. mandatory NULL fields are identified by an '*' next to the respective field.</p>
 126         <hr>
 127         <h2><a name="input">Control Port Input Sentences</a></h2>
 128         These are the subset of the MX4200 control port input sentences sent by the NTP driver to the GPS receiver.
 129         <hr>
 130         <h3><a name="input_000">$PMVXG,000</a></h3>
 131         <h4>Initialization/Mode Control - Part A</h4>
 132         Initializes the time, position and antenna height of the MX4200.
 133         <p></p>
 134         <table border>
 135             <tr>
 136                 <th>Field</th>
 137                 <th>Description</th>
 138                 <th>Units</th>
 139                 <th>Format</th>
 140                 <th>Default</th>
 141                 <th>Range</th>
 142             </tr>
 143             <tr>
 144                 <td>1</td>
 145                 <td>Day</td>
 146                 <td>&nbsp;</td>
 147                 <td>Int</td>
 148                 <td>&nbsp;</td>
 149                 <td>1-31</td>
 150             </tr>
 151             <tr>
 152                 <td>2</td>
 153                 <td>Month</td>
 154                 <td>&nbsp;</td>
 155                 <td>Int</td>
 156                 <td>&nbsp;</td>
 157                 <td>1-12</td>
 158             </tr>
 159             <tr>
 160                 <td>3</td>
 161                 <td>Year</td>
 162                 <td>&nbsp;</td>
 163                 <td>Int</td>
 164                 <td>&nbsp;</td>
 165                 <td>1991-9999</td>
 166             </tr>
 167             <tr>
 168                 <td>4</td>
 169                 <td>GMT Time</td>
 170                 <td>HHMMSS</td>
 171                 <td>Int</td>
 172                 <td>&nbsp;</td>
 173                 <td>000000-235959</td>
 174             </tr>
 175             <tr>
 176                 <td>5</td>
 177                 <td>WGS-84 Latitude</td>
 178                 <td>DDMM.MMMM</td>
 179                 <td>Float</td>
 180                 <td>0.0</td>
 181                 <td>0 - 8959.9999</td>
 182             </tr>
 183             <tr>
 184                 <td>6</td>
 185                 <td>North/South Indicator</td>
 186                 <td>&nbsp;</td>
 187                 <td>Char</td>
 188                 <td>N</td>
 189                 <td>N,S</td>
 190             </tr>
 191             <tr>
 192                 <td>7</td>
 193                 <td>WGS-84 Longitude</td>
 194                 <td>DDDMM.MMMM</td>
 195                 <td>Float</td>
 196                 <td>0.0</td>
 197                 <td>0 - 17959.9999</td>
 198             </tr>
 199             <tr>
 200                 <td>8</td>
 201                 <td>East/West Indicator</td>
 202                 <td>&nbsp;</td>
 203                 <td>Char</td>
 204                 <td>E</td>
 205                 <td>E,W</td>
 206             </tr>
 207             <tr>
 208                 <td>9</td>
 209                 <td>Altitude (height above Mean Sea Level) in meters (WGS-84)</td>
 210                 <td>Meters</td>
 211                 <td>Float</td>
 212                 <td>0.0</td>
 213                 <td>+/-99999.0</td>
 214             </tr>
 215             <tr>
 216                 <td>10</td>
 217                 <td>Not Used</td>
 218                 <td>&nbsp;</td>
 219                 <td>&nbsp;</td>
 220                 <td>&nbsp;</td>
 221                 <td>&nbsp;</td>
 222             </tr>
 223         </table>
 224         Example:<br>
 225         <code>$PMVXG,000,,,,,,,,,,*48</code><br>
 226         <code>$PMVXG,000,,,,,5128.4651,N,00020.0715,W,58.04,*4F</code>
 227         <hr>
 228         <h3><a name="input_001">$PMVXG,001</a></h3>
 229         <h4>Initialization/Mode Control - Part B</h4>
 230         Specifies various navigation parameters: Altitude aiding, acceleration DOP limits, and satellite elevation limits.
 231         <p></p>
 232         <table border>
 233             <tr>
 234                 <th>Field</th>
 235                 <th>Description</th>
 236                 <th>Units</th>
 237                 <th>Format</th>
 238                 <th>Default</th>
 239                 <th>Range</th>
 240             </tr>
 241             <tr>
 242                 <td>*1</td>
 243                 <td>Constrain Altitude</td>
 244                 <td>&nbsp;</td>
 245                 <td>Int</td>
 246                 <td>1</td>
 247                 <td>0=3D Only<br>
 248                     1=Auto<br>
 249                     2=2D Only</td>
 250             </tr>
 251             <tr>
 252                 <td>2</td>
 253                 <td>Not Used</td>
 254                 <td>&nbsp;</td>
 255                 <td>&nbsp;</td>
 256                 <td>&nbsp;</td>
 257                 <td>&nbsp;</td>
 258             </tr>
 259             <tr>
 260                 <td>*3</td>
 261                 <td>Horizontal Acceleration Factor</td>
 262                 <td>m/sec^2</td>
 263                 <td>Float</td>
 264                 <td>1.0</td>
 265                 <td>0.5-10.0</td>
 266             </tr>
 267             <tr>
 268                 <td>*4</td>
 269                 <td>Not Used</td>
 270                 <td>&nbsp;</td>
 271                 <td>&nbsp;</td>
 272                 <td>&nbsp;</td>
 273                 <td>&nbsp;</td>
 274             </tr>
 275             <tr>
 276                 <td>*5</td>
 277                 <td>VDOP Limit</td>
 278                 <td>&nbsp;</td>
 279                 <td>Int</td>
 280                 <td>10</td>
 281                 <td>1-9999</td>
 282             </tr>
 283             <tr>
 284                 <td>*6</td>
 285                 <td>HDOP Limit</td>
 286                 <td>&nbsp;</td>
 287                 <td>Int</td>
 288                 <td>10</td>
 289                 <td>1-9999</td>
 290             </tr>
 291             <tr>
 292                 <td>7</td>
 293                 <td>Elevation Limit</td>
 294                 <td>Deg</td>
 295                 <td>Int</td>
 296                 <td>5</td>
 297                 <td>0-90</td>
 298             </tr>
 299             <tr>
 300                 <td>8</td>
 301                 <td>Time Output Mode</td>
 302                 <td>&nbsp;</td>
 303                 <td>Char</td>
 304                 <td>U</td>
 305                 <td>U=UTC<br>
 306                     L=Local Time</td>
 307             </tr>
 308             <tr>
 309                 <td>9</td>
 310                 <td>Local Time Offset</td>
 311                 <td>HHMM</td>
 312                 <td>Int</td>
 313                 <td>0</td>
 314                 <td>+/- 0-2359</td>
 315             </tr>
 316         </table>
 317         Example:<br>
 318         <code>$PMVXG,001,3,,0.1,0.1,10,10,5,U,0*06</code>
 319         <hr>
 320         <h3><a name="input_007">$PMVXG,007</a></h3>
 321         <h4>Control Port Output Configuration</h4>
 322         This message enables or disables output of the specified sentence and defines the output rate. The user sends this message for each sentence that the receiver is to output.
 323         <p></p>
 324         <table border>
 325             <tr>
 326                 <th>Field</th>
 327                 <th>Description</th>
 328                 <th>Units</th>
 329                 <th>Format</th>
 330                 <th>Default</th>
 331                 <th>Range</th>
 332             </tr>
 333             <tr>
 334                 <td>1</td>
 335                 <td>Control Port Output Block Label</td>
 336                 <td>&nbsp;</td>
 337                 <td>Char</td>
 338                 <td>&nbsp;</td>
 339                 <td>&nbsp;</td>
 340             </tr>
 341             <tr>
 342                 <td>2</td>
 343                 <td>Clear Current Output List</td>
 344                 <td>&nbsp;</td>
 345                 <td>Int</td>
 346                 <td>&nbsp;</td>
 347                 <td>0=No<br>
 348                     1=Yes</td>
 349             </tr>
 350             <tr>
 351                 <td>3</td>
 352                 <td>Add/Delete Sentence from List</td>
 353                 <td>&nbsp;</td>
 354                 <td>Int</td>
 355                 <td>&nbsp;</td>
 356                 <td>1=Append<br>
 357                     2=Delete</td>
 358             </tr>
 359             <tr>
 360                 <td>4</td>
 361                 <td>Not Used</td>
 362                 <td>&nbsp;</td>
 363                 <td>&nbsp;</td>
 364                 <td>&nbsp;</td>
 365                 <td>&nbsp;</td>
 366             </tr>
 367             <tr>
 368                 <td>5</td>
 369                 <td>Sentence Output Rate</td>
 370                 <td>Sec</td>
 371                 <td>Int</td>
 372                 <td>&nbsp;</td>
 373                 <td>1-9999</td>
 374             </tr>
 375             <tr>
 376                 <td>6</td>
 377                 <td># digits of Precision for CGA and GLL sentences</td>
 378                 <td>&nbsp;</td>
 379                 <td>Int</td>
 380                 <td>2</td>
 381                 <td>2-4</td>
 382             </tr>
 383             <tr>
 384                 <td>7</td>
 385                 <td>Not Used</td>
 386                 <td>&nbsp;</td>
 387                 <td>&nbsp;</td>
 388                 <td>&nbsp;</td>
 389                 <td>&nbsp;</td>
 390             </tr>
 391             <tr>
 392                 <td>8</td>
 393                 <td>Not Used</td>
 394                 <td>&nbsp;</td>
 395                 <td>&nbsp;</td>
 396                 <td>&nbsp;</td>
 397                 <td>&nbsp;</td>
 398             </tr>
 399         </table>
 400         Example:<br>
 401         <code>$PMVXG,007,022,0,1,,1,,,*4F</code>
 402         <hr>
 403         <h3><a name="input_023">$PMVXG,023</a></h3>
 404         <h4>Time Recovery Configuration</h4>
 405         This message is used to enable/disable the time recovery feature of the receiver. The time synchronization for the 1PPS output is specified in addition to a user time bias and an error tolerance for a valid pulse. This record is accepted in units configured for time recovery. If the back panel contains a 1PPS outlet, the receiver is a time recovery unit.
 406         <p></p>
 407         <table border>
 408             <tr>
 409                 <th>Field</th>
 410                 <th>Description</th>
 411                 <th>Units</th>
 412                 <th>Format</th>
 413                 <th>Default</th>
 414                 <th>Range</th>
 415             </tr>
 416             <tr>
 417                 <td>*1</td>
 418                 <td>Time Recovery Mode</td>
 419                 <td>&nbsp;</td>
 420                 <td>Char</td>
 421                 <td>D</td>
 422                 <td>D=Dynamic<br>
 423                     S=Static<br>
 424                     K=Known Position<br>
 425                     N=No Time Recovery</td>
 426             </tr>
 427             <tr>
 428                 <td>2</td>
 429                 <td>Time Synchronization</td>
 430                 <td>&nbsp;</td>
 431                 <td>Char</td>
 432                 <td>G</td>
 433                 <td>U=UTC<br>
 434                     G=GPS</td>
 435             </tr>
 436             <tr>
 437                 <td>3</td>
 438                 <td>Time Mark Mode</td>
 439                 <td>&nbsp;</td>
 440                 <td>Char</td>
 441                 <td>A</td>
 442                 <td>A=Always<br>
 443                     V=Valid Pulses Only</td>
 444             </tr>
 445             <tr>
 446                 <td>4</td>
 447                 <td>Maximum Time Error</td>
 448                 <td>Nsec</td>
 449                 <td>Int</td>
 450                 <td>100</td>
 451                 <td>50-1000</td>
 452             </tr>
 453             <tr>
 454                 <td>5</td>
 455                 <td>User Time Bias</td>
 456                 <td>Nsec</td>
 457                 <td>Int</td>
 458                 <td>0</td>
 459                 <td>+/- 99999</td>
 460             </tr>
 461             <tr>
 462                 <td>6</td>
 463                 <td>ASCII Time Message Control</td>
 464                 <td>&nbsp;</td>
 465                 <td>Int</td>
 466                 <td>0</td>
 467                 <td>0=No Output<br>
 468                     1=830 to Control Port<br>
 469                     2=830 to Equipment Port</td>
 470             </tr>
 471             <tr>
 472                 <td>7</td>
 473                 <td>Known Pos PRN</td>
 474                 <td>&nbsp;</td>
 475                 <td>Int</td>
 476                 <td>0</td>
 477                 <td>1-32<br>
 478                     0=Track All Sats</td>
 479             </tr>
 480         </table>
 481         Example:<br>
 482         <code>$PMVXG,023,S,U,A,500,0,1,*16</code>
 483         <hr>
 484         <h3><a name="input_gpq">$CDGPQ,YYY</a></h3>
 485         <h4>Query From a Remote Device / Request to Output a Sentence</h4>
 486         Enables the controller to request a one-time transmission of a specific block label. To output messages at a periodic rate, refer to input sentence <a href="#input_007">$PMVXG,007</a>.
 487         <p></p>
 488         <table border>
 489             <tr>
 490                 <th>Field</th>
 491                 <th>Description</th>
 492                 <th>Units</th>
 493                 <th>Format</th>
 494                 <th>Default</th>
 495                 <th>Range</th>
 496             </tr>
 497             <tr>
 498                 <td>1:CD</td>
 499                 <td>ID of Remote Device</td>
 500                 <td>&nbsp;</td>
 501                 <td>Char</td>
 502                 <td>&nbsp;</td>
 503                 <td>(See <cite>NMEA-0183</cite>)</td>
 504             </tr>
 505             <tr>
 506                 <td>2:GP</td>
 507                 <td>GPS</td>
 508                 <td>&nbsp;</td>
 509                 <td>Char</td>
 510                 <td>&nbsp;</td>
 511                 <td>(See <cite>NMEA-0183</cite>)</td>
 512             </tr>
 513             <tr>
 514                 <td>3:Q</td>
 515                 <td>Query</td>
 516                 <td>&nbsp;</td>
 517                 <td>Char</td>
 518                 <td>&nbsp;</td>
 519                 <td>(See <cite>NMEA-0183</cite>)</td>
 520             </tr>
 521             <tr>
 522                 <td>4:YYY</td>
 523                 <td>Label of Desired Sentence</td>
 524                 <td>&nbsp;</td>
 525                 <td>Char</td>
 526                 <td>&nbsp;</td>
 527                 <td>Any Valid NMEA or Magnavox Sentence Type</td>
 528             </tr>
 529         </table>
 530         Example:<br>
 531         <code>$CDGPQ,030*5E</code>
 532         <hr>
 533         <h2><a name="output">Control Port Output Sentences</a></h2>
 534         These are the subset of the MX4200 control port output sentences recognized by the NTP driver.
 535         <hr>
 536         <h3><a name="output_000">$PMVXG,000</a></h3>
 537         <h4>Receiver Status</h4>
 538         Returns the current status of the receiver including the operating mode, number of satellites visible, and the number of satellites being tracked.
 539         <p></p>
 540         <table border>
 541             <tr>
 542                 <th>Field</th>
 543                 <th>Description</th>
 544                 <th>Units</th>
 545                 <th>Format</th>
 546                 <th>Range</th>
 547             </tr>
 548             <tr>
 549                 <td>1</td>
 550                 <td>Current Receiver Status</td>
 551                 <td>&nbsp;</td>
 552                 <td>Char</td>
 553                 <td>ACQ=Reacquisition<br>
 554                     ALT=Constellation Selection<br>
 555                     IAC=Initial Acquisition<br>
 556                     IDL=Idle, No Satellites<br>
 557                     NAV=Navigating<br>
 558                     STS=Search The Sky<br>
 559                     TRK=Tracking</td>
 560             </tr>
 561             <tr>
 562                 <td>2</td>
 563                 <td>Number of Satellites that should be Visible</td>
 564                 <td>&nbsp;</td>
 565                 <td>Int</td>
 566                 <td>0-12</td>
 567             </tr>
 568             <tr>
 569                 <td>3</td>
 570                 <td>Number of Satellites being Tracked</td>
 571                 <td>&nbsp;</td>
 572                 <td>Int</td>
 573                 <td>0-12</td>
 574             </tr>
 575             <tr>
 576                 <td>4</td>
 577                 <td>Time since Last Navigation</td>
 578                 <td>HHMM</td>
 579                 <td>Int</td>
 580                 <td>0-2359</td>
 581             </tr>
 582             <tr>
 583                 <td>5</td>
 584                 <td>Initialization Status</td>
 585                 <td>&nbsp;</td>
 586                 <td>Int</td>
 587                 <td>0=Waiting for Initialization<br>
 588                     1=Initialization Complete</td>
 589             </tr>
 590         </table>
 591         Example:<br>
 592         <code>$PMVXG,000,TRK,3,3,0122,1*19</code>
 593         <hr>
 594         <h3><a name="output_021">$PMVXG,021</a></h3>
 595         <h4>Position, Height, Velocity</h4>
 596         This sentence gives the receiver position, height, navigation mode and velocity north/east. <em>This sentence is intended for post analysis applications.</em>
 597         <p></p>
 598         <table border>
 599             <tr>
 600                 <th>Field</th>
 601                 <th>Description</th>
 602                 <th>Units</th>
 603                 <th>Format</th>
 604                 <th>Range</th>
 605             </tr>
 606             <tr>
 607                 <td>1</td>
 608                 <td>UTC Measurement Time</td>
 609                 <td>Seconds into the week</td>
 610                 <td>Float</td>
 611                 <td>0-604800.00</td>
 612             </tr>
 613             <tr>
 614                 <td>2</td>
 615                 <td>WGS-84 Latitude</td>
 616                 <td>DDMM.MMMM</td>
 617                 <td>Float</td>
 618                 <td>0-89.9999</td>
 619             </tr>
 620             <tr>
 621                 <td>3</td>
 622                 <td>North/South Indicator</td>
 623                 <td>&nbsp;</td>
 624                 <td>Char</td>
 625                 <td>N, S</td>
 626             </tr>
 627             <tr>
 628                 <td>4</td>
 629                 <td>WGS-84 Longitude</td>
 630                 <td>DDDMM.MMMM</td>
 631                 <td>Float</td>
 632                 <td>0-179.9999</td>
 633             </tr>
 634             <tr>
 635                 <td>5</td>
 636                 <td>East/West Indicator</td>
 637                 <td>&nbsp;</td>
 638                 <td>Char</td>
 639                 <td>E, W</td>
 640             </tr>
 641             <tr>
 642                 <td>6</td>
 643                 <td>Altitude (MSL)</td>
 644                 <td>Meters</td>
 645                 <td>Float</td>
 646                 <td>&nbsp;</td>
 647             </tr>
 648             <tr>
 649                 <td>7</td>
 650                 <td>Geoidal Height</td>
 651                 <td>Meters</td>
 652                 <td>Float</td>
 653                 <td>&nbsp;</td>
 654             </tr>
 655             <tr>
 656                 <td>8</td>
 657                 <td>Velocity East</td>
 658                 <td>M/Sec</td>
 659                 <td>Float</td>
 660                 <td>&nbsp;</td>
 661             </tr>
 662             <tr>
 663                 <td>9</td>
 664                 <td>Velocity North</td>
 665                 <td>M/Sec</td>
 666                 <td>Float</td>
 667                 <td>&nbsp;</td>
 668             </tr>
 669             <tr>
 670                 <td>10</td>
 671                 <td>Navigation Mode</td>
 672                 <td>&nbsp;</td>
 673                 <td>Int</td>
 674                 <td><em>Navigating</em><br>
 675                     1=Position From a Remote Device<br>
 676                     2=2D<br>
 677                     3=3D<br>
 678                     4=2D differential<br>
 679                     5=3D differential<br>
 680                     <em>Not Navigating</em><br>
 681                     51=Too Few Satellites<br>
 682                     52=DOPs too large<br>
 683                     53=Position STD too large<br>
 684                     54=Velocity STD too large<br>
 685                     55=Too many iterations for velocity<br>
 686                     56=Too many iterations for position<br>
 687                     57=3 Sat Startup failed</td>
 688             </tr>
 689         </table>
 690         Example:<br>
 691         <code>$PMVXG,021,142244.00,5128.4744,N,00020.0593,W,00054.4,0047.4,0000.1,-000.2,03*66</code>
 692         <hr>
 693         <h3><a name="output_022">$PMVXG,022</a></h3>
 694         <h4>DOPs</h4>
 695         This sentence reports the DOP (Dilution Of Precision) values actually used in the measurement processing corresponding to the satellites listed. The satellites are listed in receiver channel order. Fields 11-16 are output only on 12-channel receivers.
 696         <p></p>
 697         <table border>
 698             <tr>
 699                 <th>Field</th>
 700                 <th>Description</th>
 701                 <th>Units</th>
 702                 <th>Format</th>
 703                 <th>Range</th>
 704             </tr>
 705             <tr>
 706                 <td>1</td>
 707                 <td>UTC Measurement Time</td>
 708                 <td>Seconds into the week</td>
 709                 <td>Float</td>
 710                 <td>0-604800.00</td>
 711             </tr>
 712             <tr>
 713                 <td>2</td>
 714                 <td>East DOP (EDOP)</td>
 715                 <td>&nbsp;</td>
 716                 <td>Float</td>
 717                 <td>&nbsp;</td>
 718             </tr>
 719             <tr>
 720                 <td>3</td>
 721                 <td>North DOP (NDOP)</td>
 722                 <td>&nbsp;</td>
 723                 <td>Float</td>
 724                 <td>&nbsp;</td>
 725             </tr>
 726             <tr>
 727                 <td>4</td>
 728                 <td>Vertical DOP (VDOP)</td>
 729                 <td>&nbsp;</td>
 730                 <td>Float</td>
 731                 <td>&nbsp;</td>
 732             </tr>
 733             <tr>
 734                 <td>5</td>
 735                 <td>PRN on Channel #1</td>
 736                 <td>&nbsp;</td>
 737                 <td>Int</td>
 738                 <td>1-32</td>
 739             </tr>
 740             <tr>
 741                 <td>6</td>
 742                 <td>PRN on Channel #2</td>
 743                 <td>&nbsp;</td>
 744                 <td>Int</td>
 745                 <td>1-32</td>
 746             </tr>
 747             <tr>
 748                 <td>7</td>
 749                 <td>PRN on Channel #3</td>
 750                 <td>&nbsp;</td>
 751                 <td>Int</td>
 752                 <td>1-32</td>
 753             </tr>
 754             <tr>
 755                 <td>8</td>
 756                 <td>PRN on Channel #4</td>
 757                 <td>&nbsp;</td>
 758                 <td>Int</td>
 759                 <td>1-32</td>
 760             </tr>
 761             <tr>
 762                 <td>9</td>
 763                 <td>PRN on Channel #5</td>
 764                 <td>&nbsp;</td>
 765                 <td>Int</td>
 766                 <td>1-32</td>
 767             </tr>
 768             <tr>
 769                 <td>10</td>
 770                 <td>PRN on Channel #6</td>
 771                 <td>&nbsp;</td>
 772                 <td>Int</td>
 773                 <td>1-32</td>
 774             </tr>
 775             <tr>
 776                 <td>11</td>
 777                 <td>PRN on Channel #7</td>
 778                 <td>&nbsp;</td>
 779                 <td>Int</td>
 780                 <td>1-32</td>
 781             </tr>
 782             <tr>
 783                 <td>12</td>
 784                 <td>PRN on Channel #8</td>
 785                 <td>&nbsp;</td>
 786                 <td>Int</td>
 787                 <td>1-32</td>
 788             </tr>
 789             <tr>
 790                 <td>13</td>
 791                 <td>PRN on Channel #9</td>
 792                 <td>&nbsp;</td>
 793                 <td>Int</td>
 794                 <td>1-32</td>
 795             </tr>
 796             <tr>
 797                 <td>14</td>
 798                 <td>PRN on Channel #10</td>
 799                 <td>&nbsp;</td>
 800                 <td>Int</td>
 801                 <td>1-32</td>
 802             </tr>
 803             <tr>
 804                 <td>15</td>
 805                 <td>PRN on Channel #11</td>
 806                 <td>&nbsp;</td>
 807                 <td>Int</td>
 808                 <td>1-32</td>
 809             </tr>
 810             <tr>
 811                 <td>16</td>
 812                 <td>PRN on Channel #12</td>
 813                 <td>&nbsp;</td>
 814                 <td>Int</td>
 815                 <td>1-32</td>
 816             </tr>
 817         </table>
 818         Example:<br>
 819         <code>$PMVXG,022,142243.00,00.7,00.8,01.9,27,26,10,09,13,23*77</code>
 820         <hr>
 821         <h3><a name="output_030">$PMVXG,030</a></h3>
 822         <h4>Software Configuration</h4>
 823         This sentence contains the navigation processor and baseband firmware version numbers.
 824         <p></p>
 825         <table border>
 826             <tr>
 827                 <th>Field</th>
 828                 <th>Description</th>
 829                 <th>Units</th>
 830                 <th>Format</th>
 831                 <th>Range</th>
 832             </tr>
 833             <tr>
 834                 <td>1</td>
 835                 <td>Nav Processor Version Number</td>
 836                 <td>&nbsp;</td>
 837                 <td>Char</td>
 838                 <td>&nbsp;</td>
 839             </tr>
 840             <tr>
 841                 <td>2</td>
 842                 <td>Baseband Firmware Version Number</td>
 843                 <td>&nbsp;</td>
 844                 <td>Char</td>
 845                 <td>&nbsp;</td>
 846             </tr>
 847         </table>
 848         Example:<br>
 849         <code>$PMVXG,030,DA35,015</code>
 850         <hr>
 851         <h3><a name="output_101">$PMVXG,101</a></h3>
 852         <h4>Control Sentence Accept/Reject</h4>
 853         This sentence is returned (on the Control Port) for every <strong>$PMVXG</strong> and <strong>$XXGPQ</strong> sentence that is received.
 854         <p></p>
 855         <table border>
 856             <tr>
 857                 <th>Field</th>
 858                 <th>Description</th>
 859                 <th>Units</th>
 860                 <th>Format</th>
 861                 <th>Range</th>
 862             </tr>
 863             <tr>
 864                 <td>1</td>
 865                 <td>Sentence ID</td>
 866                 <td>&nbsp;</td>
 867                 <td>Char</td>
 868                 <td>&nbsp;</td>
 869             </tr>
 870             <tr>
 871                 <td>2</td>
 872                 <td>Accept/Reject Status</td>
 873                 <td>&nbsp;</td>
 874                 <td>Int</td>
 875                 <td>0=Sentence Accepted<br>
 876                     1=Bad Checksum<br>
 877                     2=Illegal Value<br>
 878                     3=Unrecognized ID<br>
 879                     4=Wrong # of fields<br>
 880                     5=Required Data Field Missing<br>
 881                     6=Requested Sentence Unavailable</td>
 882             </tr>
 883             <tr>
 884                 <td>3</td>
 885                 <td>Bad Field Index</td>
 886                 <td>&nbsp;</td>
 887                 <td>Int</td>
 888                 <td>&nbsp;</td>
 889             </tr>
 890             <tr>
 891                 <td>4</td>
 892                 <td>Requested Sentence ID (If field #1 = GPQ)</td>
 893                 <td>&nbsp;</td>
 894                 <td>Char</td>
 895                 <td>&nbsp;</td>
 896             </tr>
 897         </table>
 898         Example:<br>
 899         <code>$PMVXG,101,GPQ,0,,030*0D</code>
 900         <hr>
 901         <h3><a name="output_523">$PMVXG,523</a></h3>
 902         <h4>Time Recovery Configuration</h4>
 903         This sentence contains the configuration of the time recovery function of the receiver.
 904         <p></p>
 905         <table border>
 906             <tr>
 907                 <th>Field</th>
 908                 <th>Description</th>
 909                 <th>Units</th>
 910                 <th>Format</th>
 911                 <th>Range</th>
 912             </tr>
 913             <tr>
 914                 <td>1</td>
 915                 <td>Time Recovery Mode</td>
 916                 <td>&nbsp;</td>
 917                 <td>Char</td>
 918                 <td>D=Dynamic<br>
 919                     S=Static<br>
 920                     K=Known Position<br>
 921                     N=No Time Recovery</td>
 922             </tr>
 923             <tr>
 924                 <td>2</td>
 925                 <td>Time Synchronization</td>
 926                 <td>&nbsp;</td>
 927                 <td>Char</td>
 928                 <td>U=UTC Time<br>
 929                     G=GPS Time</td>
 930             </tr>
 931             <tr>
 932                 <td>3</td>
 933                 <td>Time Mark Mode</td>
 934                 <td>&nbsp;</td>
 935                 <td>Char</td>
 936                 <td>A=Always Output Time Pulse<br>
 937                     V=Only when Valid</td>
 938             </tr>
 939             <tr>
 940                 <td>4</td>
 941                 <td>Maximum Time Error for which a time mark will be considered valid</td>
 942                 <td>Nsec</td>
 943                 <td>Int</td>
 944                 <td>&nbsp;</td>
 945             </tr>
 946             <tr>
 947                 <td>5</td>
 948                 <td>User Time Bias</td>
 949                 <td>Nsec</td>
 950                 <td>Int</td>
 951                 <td>&nbsp;</td>
 952             </tr>
 953             <tr>
 954                 <td>6</td>
 955                 <td>Time Message Control</td>
 956                 <td>&nbsp;</td>
 957                 <td>Int</td>
 958                 <td>0=No Message<br>
 959                     1=830 to Control Port<br>
 960                     2=830 to Equipment Port</td>
 961             </tr>
 962             <tr>
 963                 <td>7</td>
 964                 <td>Not Used</td>
 965                 <td>&nbsp;</td>
 966                 <td>&nbsp;</td>
 967                 <td>&nbsp;</td>
 968             </tr>
 969         </table>
 970         Example:<br>
 971         <code>$PMVXG,523,S,U,A,0500,000000,1,0*23</code>
 972         <hr>
 973         <h3><a name="output_830">$PMVXG,830</a></h3>
 974         <h4>Time Recovery Results</h4>
 975         This sentence is output approximately 1 second preceding the 1PPS output. It indicates the exact time of the next pulse, whether or not the time mark will be valid (based on operator-specified error tolerance), the time to which the pulse is synchronized, the receiver operating mode, and the time error of the <strong>last</strong> 1PPS output. The leap second flag (Field #11) is not output by older receivers.
 976         <p></p>
 977         <table border>
 978             <tr>
 979                 <th>Field</th>
 980                 <th>Description</th>
 981                 <th>Units</th>
 982                 <th>Format</th>
 983                 <th>Range</th>
 984             </tr>
 985             <tr>
 986                 <td>1</td>
 987                 <td>Time Mark Valid</td>
 988                 <td>&nbsp;</td>
 989                 <td>Char</td>
 990                 <td>T=Valid<br>
 991                     F=Not Valid</td>
 992             </tr>
 993             <tr>
 994                 <td>2</td>
 995                 <td>Year</td>
 996                 <td>&nbsp;</td>
 997                 <td>Int</td>
 998                 <td>1993-</td>
 999             </tr>
1000             <tr>
1001                 <td>3</td>
1002                 <td>Month</td>
1003                 <td>&nbsp;</td>
1004                 <td>Int</td>
1005                 <td>1-12</td>
1006             </tr>
1007             <tr>
1008                 <td>4</td>
1009                 <td>Day</td>
1010                 <td>Nsec</td>
1011                 <td>Int</td>
1012                 <td>1-31</td>
1013             </tr>
1014             <tr>
1015                 <td>5</td>
1016                 <td>Time</td>
1017                 <td>HH:MM:SS</td>
1018                 <td>Int</td>
1019                 <td>00:00:00-23:59:59</td>
1020             </tr>
1021             <tr>
1022                 <td>6</td>
1023                 <td>Time Synchronization</td>
1024                 <td>&nbsp;</td>
1025                 <td>Char</td>
1026                 <td>U=UTC<br>
1027                     G=GPS</td>
1028             </tr>
1029             <tr>
1030                 <td>7</td>
1031                 <td>Operating Mode</td>
1032                 <td>&nbsp;</td>
1033                 <td>Char</td>
1034                 <td>D=Dynamic<br>
1035                     S=Static<br>
1036                     K=Known Position</td>
1037             </tr>
1038             <tr>
1039                 <td>8</td>
1040                 <td>Oscillator Offset - estimate of oscillator frequency error</td>
1041                 <td>PPB</td>
1042                 <td>Int</td>
1043                 <td>&nbsp;</td>
1044             </tr>
1045             <tr>
1046                 <td>9</td>
1047                 <td>Time Mark Error of last pulse</td>
1048                 <td>Nsec</td>
1049                 <td>Int</td>
1050                 <td>&nbsp;</td>
1051             </tr>
1052             <tr>
1053                 <td>10</td>
1054                 <td>User Time Bias</td>
1055                 <td>Nsec</td>
1056                 <td>Int</td>
1057                 <td>&nbsp;</td>
1058             </tr>
1059             <tr>
1060                 <td>11</td>
1061                 <td>Leap Second Flag - indicates that a leap second will occur. This value is usually zero except during the week prior to a leap second occurrence, when this value will be set to +/-1. A value of +1 indicates that GPS time will be 1 second further ahead of UTC time.</td>
1062                 <td>&nbsp;</td>
1063                 <td>Int</td>
1064                 <td>-1,0,1</td>
1065             </tr>
1066         </table>
1067         Example:<br>
1068         <code>$PMVXG,830,T,1998,10,12,15:30:46,U,S,000298,00003,000000,01*02</code>
1069         <hr>
1070         <script type="text/javascript" language="javascript" src="scripts/footer.txt"></script>
1071     </body>
1072
1073 </html>