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6 MiLLennium GPSCard SW Version 4.52 Command Descriptions Manual Rev 2
GPGGA Global Position System Fix Data................................................................................ 162
GPGLL Geographic Position .................................................................................................... 163
GPGRS GPS Range Residuals for Each Satellite ..................................................................... 164
GPGSA GPS DOP and Active Satellites .................................................................................. 165
GPGST Pseudorange Measurement Noise Statistics ................................................................ 166
GPGSV GPS Satellites in View................................................................................................ 167
GPRMB Navigation Information.............................................................................................. 168
GPRMC GPS Specific Information .......................................................................................... 169
GPVTG Track Made Good And Ground Speed........................................................................ 170
GPZDA UTC Time and Date.................................................................................................... 171
GPZTG UTC & Time to Destination Waypoint ....................................................................... 172
MKPA/B Mark Position............................................................................................................ 173
MKTA/B Time of Mark Input................................................................................................... 174
NAVA/B Waypoint Navigation Data........................................................................................ 175
PAVA/B Position Averaging Status.......................................................................................... 178
POSA/B Computed Position ..................................................................................................... 180
PRTKA/B Computed Position RTK ...................................................................................... 181
PVAA/B XYZ Position, Velocity and Acceleration................................................................. 183
PXYA/B Computed Cartesian Coordinate Position.................................................................. 185
RALA/B Raw Almanac............................................................................................................. 188
RASA/B RAW ALMANAC SET............................................................................................. 189
RBTA/B Satellite Broadcast Data: Raw Bits............................................................................ 191
RCCA Receiver Configuration ................................................................................................. 192
RCSA/B Receiver Status...........................................................................................................193
REPA/B Raw Ephemeris........................................................................................................... 194
RGEA/B/D Channel Range Measurements .............................................................................. 195
RINEX Receiver-Independent Exchange Format..................................................................... 204
RPSA/B Reference Station Position and Health....................................................................... 205
RTCA Standard Logs................................................................................................................... 206
RTCM Standard Logs .................................................................................................................. 206
RTKA/B Computed Position - Time Matched RTK.............................................................. 207
RTKOA/B RTK Solution Parameters RTK ........................................................................... 209
RVSA/B Receiver Status...........................................................................................................212
SATA/B Satellite Specific Data................................................................................................ 214
SBTA/B Satellite Broadcast Data: Raw Symbols..................................................................... 216
SPHA/B Speed and Direction Over Ground............................................................................. 217
SVDA/B SV Position in ECEF XYZ Coordinates with Corrections........................................ 218
TM1A/B Time of 1PPS............................................................................................................. 220
VERA/B Receiver Hardware and Software Version Numbers................................................. 221
VLHA/B Velocity, Latency, and Direction Over Ground ........................................................ 222
WALA/B WAAS Almanac WAAS ....................................................................................... 224
WEPA/B WAAS Ephemeris WAAS ..................................................................................... 226
WRCA/B Wide Band Range Correction (Grouped Format)..................................................... 228
WUTCA/B UTC Time Parameters WAAS............................................................................ 229
E Comparison Of RT-2 And RT-20 231
E.1 RT-2 & RT-20 Performance............................................................................................................... 231
RT-2 Performance........................................................................................................................ 232
RT-20 Performance...................................................................................................................... 234
E.2 Performance Considerations............................................................................................................... 237
Performance Degradation............................................................................................................. 237
F Standards and References 239
G Geodetic Datums 240
H Some Common Unit Conversions 242