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Table of Contents
MiLLennium Command Descriptions Manual iii
TABLE OF CONTENTS
1Quick Start
1.1 Installation ..............................................................................................................................................................1
Graphical Interface .........................................................................................................................................1
1.2 Data Logging ..........................................................................................................................................................2
1.3 Differential Operation ............................................................................................................................................3
Establish a Data Link .....................................................................................................................................3
Initialization - Reference Station ...................................................................................................................4
1.4 RTK Mode ...........................................................................................................................................................5
Data Communications Link ...........................................................................................................................5
System Initialization ......................................................................................................................................6
Monitoring Your RTK Output Data ...............................................................................................................7
Options For Logging Differential Corrections ...............................................................................................7
Initialization - Rover Station ..........................................................................................................................9
2Command Descriptions
2.1 General ...................................................................................................................................................................10
2.2 Command Tables ....................................................................................................................................................11
All Commands: ..............................................................................................................................................16
3Special Data Input Commands
3.1 Almanac Data .........................................................................................................................................................17
$ALMA...........................................................................................................................................................18
$IONA.............................................................................................................................................................18
$UTCA............................................................................................................................................................19
3.2 Differential Corrections Data .................................................................................................................................19
$PVAA/B........................................................................................................................................................19
$REPA/B.........................................................................................................................................................19
$RTCA............................................................................................................................................................20
$RTCM...........................................................................................................................................................20
$TM1A/B........................................................................................................................................................21
4Data Logs
4.1 Output Logging ......................................................................................................................................................22
4.2 NovAtel Format Data Logs ....................................................................................................................................23
General ...........................................................................................................................................................23
ASCII Log Structure ......................................................................................................................................23
Binary Log Structure ......................................................................................................................................23
4.3 RTK ........................................................................................................................................................................24
4.4 NMEA Format Data Logs ......................................................................................................................................25
General ...........................................................................................................................................................25
4.5 GPS Time vs Local Receiver Time ........................................................................................................................26
4.6 Log Tables ..............................................................................................................................................................26
5Special Pass-Through Logs
5.1 Command Syntax ...................................................................................................................................................31
5.2 ASCII Log Structure ..............................................................................................................................................32
5.3 Binary Log Structure...............................................................................................................................................33
6Message Formats
6.1 RTCA-Format Messages ........................................................................................................................................34
RTCA Standard Logs .....................................................................................................................................35
6.2 RTCM-Format Messages .......................................................................................................................................36
RTCM Standard Commands and Logs ..........................................................................................................37
RTCM General Message Format ...................................................................................................................38
RTCM Standard Commands ..........................................................................................................................38
RTCM Standard Logs ....................................................................................................................................39
TABLE OF CONTENTS