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D Logs Summary
MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 217
SPHA/B Speed and Direction Over Ground
This log provides the actual speed and direction of motion of the GPSCard antenna over ground, at the time of
measurement, and is updated up to 10 times per second. It should be noted that the GPSCard does not determine
the direction a vessel, craft, or vehicle is pointed (heading), but rather the direction of motion of the GPS antenna
relative to ground.
SPHA
Structure:
Example:
$SPHA,640,333111.00,0.438,325.034,2.141,0*02[CR][LF]
SPHB
Format: Message ID = 06 Message byte count = 52
$SPHA week seconds hor spd trk gnd
vert spd
sol status
*xx [CR][LF]
Field # Field type Data Description Example
1 $SPHA Log header $SPHA
2 week GPS week number 640
3 seconds GPS seconds into the week 333111.00
4 hor spd Horizontal speed over ground, in meters per second 0.438
5 trk gnd Actual direction of motion over ground (track over ground)
with respect to True North, in degrees
325.034
6 vert spd Vertical speed, in metres per second, where positive
values indicate increasing altitude (up) and negative
values indicate decreasing altitude (down)
2.141
7 sol status Solution status as listed in Table D-1 0
8 *xx Checksum *02
9 [CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1 Sync 3 char 0
(header) Checksum 1 char 3
Message ID 4 integer 4
Message byte count 4 integer 8
2 Week number 4 integer weeks 12
3 Seconds of week 8 double seconds 16
4 Horizontal speed 8 double metres per second 24
5 Track over ground (TOG) 8 double degrees 32
6 Vertical speed 8 double metres per second 40
7 Solution status 4 integer 48