Filter
Top Products
D Logs summary
140 MiLLennium Command Descriptions Manual
FRMA/B Framed Raw Navigation Data
This message contains the raw framed navigation data. An individual message is sent for each PRN being tracked.
The message is updated with each new frame, therefore it is best to log the data with the ‘onnew’ trigger activated.
FRMA
Structure:
FRMB
Format: Message ID = 54 Message byte count = variable
$FRMA week seconds prn cstatus # of bits framed raw data
*xx [CR][LF]
Field # Field type Data Description Example
1 $FRMA Log header $FRMA
2 week GPS week number 845
3 seconds GPS seconds into the week 238623.412
4 prn PRN of satellite from which data originated 120
5 cstatus Channel Tracking Status (see Table D-7) 80811F14
6 # of bits Number of bits transmitted in the message. 250 for
WAAS, 300 for GPS and 85 for GLONASS.
250
7 framed raw data One field of raw framed navigation data. 9AFE5354656C2053796E636
8726F6E69636974792020202
020202020B0029E40*3F
8 *xx Checksum *42
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 bytes 8
2 Week number 4 integer weeks 12
3 Seconds of week 8 double seconds 16
4 PRN number 4 integer 1-999 24
5 Channel Tracking Status (see Table D-7) 4 integer n/a 28
6 Number of Bits 4 integer 250 for WAAS
300 for GPS
85 for GLONASS
32
7 Data Sub-frame variable char N/A 36