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D Logs summary
MiLLennium Command Descriptions Manual 191
Example:
$RTKOA,929,237639.00,1,8,8,8,8,0,4,1,0.000006136,0.000003797,
-0.000006287,0.000003797,0.000013211,-0.000007043,-0.000006287,
-0.000007043,0.000018575,3.2209,-3.0537,
-1.2024,0.0183,0.0138,0.0124,0,0.0000,1,7,
21,6,-0.001199,23,6,0.005461,31,6,0.009608,9,6,0.001963,
15,6,0.000208,29,6,-0.005643,25,6,-0.004366*60[CR][LF]
RTKOB
Format: Message ID = 62
Message byte count = 196 + (#res)*16
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 GPS week number 4 integer weeks 12
3 GPS time into the week 8 double s 16
4 RTK status (see Table D-10) 4 integer 24
5 Total number of matched satellites
available to both receivers.
4 integer 28
6 Number of matched satellites above RTK
mask angle
4 integer 32
7 Number of matched satellites above RTK
mask angle with both L1 and L2 available
4 integer 36
8 Number of matched satellites in solution 4 integer 40
9 Dynamics mode (0=static, 1=kinematic) 4 integer 44
10 Searcher status (see Table D-9). 4 integer 48
11 Number of possible lane combinations
remaining
4 integer 52
12-20 Position covariance matrix 72 double
m
2
56
21-23 Baseline in ECEF x,y,z from float filter 24 double m 128
24-26 Standard deviations of x,y,z from float filter 24 double m 152
27 Reserved for future use 4 integer 176
28 Reserved for future use 8 double 180
29 Reference PRN 4 integer 188
30 Number of residual sets to follow 4 integer 192
31 PRN number 4 integer 196
32 Ambiguity type (see Table D-8) 4 integer
33 Residual 8 double m
34 Next PRN offset = 196 + (#res)*16