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4 Message Formats
60 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2
Log example:
$XOBS, 96 04 10 17 25 19.5000000 2*00
$XOBS, 4 1*2F
$XOBS, *** KINEMATIC DATA FOLLOWS *** COMMENT*50
XNAV NAVIGATION DATA RECORD
This log type contains broadcast navigation message records for each satellite being used. Each set of records
consists of:
• orbit data for the satellites tracked
• satellite clock parameters
• satellite health condition
• expected accuracy of pseudorange measurements
• parameters of single-frequency ionospheric delay model
• correction terms relating GPS time to UTC
Command example:
COM1> log com2 xnav onchanged
Log example:
$XNAV,22 96 04 10 18 00 0.0 .2988767810166D-03 .2842170943040D-11 .0000000000000D+00*77
$XNAV,.1570000000000D+03 .5162500000000D+02 .4851987819054D-08 -.307153354042D+01*10
$XNAV,.2656131982803D-05.8917320519686D-02.9054318070412D-05 .5153725172043D+04*01
$XNAV, .3240000000000D+06 -.149011611938D-06 .1649994199967D+01 .1117587089539D-07*1E
$XNAV,.9465553285374D+00 .1992812500000D+03 .4627841719040D-01 -.806355016494D-08*17
$XNAV,-.175721605224D-09 .1000000000000D+01 .8480000000000D+03 .0000000000000D+00*18
$XNAV,.7000000000000D+01 .0000000000000D+00 .1396983861923D-08 .4130000000000D+03*08
$XNAV,.3170760000000D+06*5E
XNHD NAVIGATION HEADER
This log consists of a RINEX-format header for broadcast navigation message files. It can be generated at any
point, using a command such as
COM1> log com2 xnhd
or it will be generated automatically when logging is complete, using a command such as
COM1> unlogall
Log example:
$XNHD, 2 NAVIGATION DATA RINEX VERSION / TYPE*3B
$XNHD, NovAtel GPSCard NATIVE 96-04-10 16:13 PGM / RUN BY / DATE*05
$XNHD,Field trial of new receiver COMMENT*29
$XNHD,.10245D-07 .14901D-07 -.5960D-07 -.1192D-06 ION ALPHA*05
$XNHD,.88064D+05 .32768D+05 -.1966D+06 -.1966D+06 ION BETA*46
$XNHD, .9313225746155D-09 -.799360577730D-14 503808 848 DELTA-UTC: A0,A1,T,W*3C
$XNHD, 11 LEAP SECONDS*4D
$XNHD, END OF HEADER*6F
XOBS OBSERVATION DATA RECORD
This log contains observation records, which include the following information:
• Times of observations
• Carrier-phase measurements
• Pseudorange (code) measurements
• Doppler measurements
A set of observation records is generated at the end of every time interval specified.