Novatel GPS Receiver DL L1 User Manual

DLTM  
User Manual  
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Table of Contents  
TABLE OF CONTENTS  
WARRANTY POLICY  
CUSTOMER SERVICE  
NOTICE  
7
8
9
FCC Notice.................................................................................................................................................................9  
CE Notice...................................................................................................................................................................9  
CAUTION! ................................................................................................................................................................9  
FOREWORD  
10  
What’s New in this Edition ......................................................................................................................................10  
1 - OVERVIEW  
11  
Models & Features ...................................................................................................................................................12  
Operating Modes......................................................................................................................................................13  
Accessories and Options...........................................................................................................................................14  
2 - SET UP  
15  
Setting Up at the Office............................................................................................................................................15  
Setting Up in the Field..............................................................................................................................................16  
Choose the Right Antenna........................................................................................................................................17  
Connect Cables.........................................................................................................................................................19  
I/O Port & Cables ............................................................................................................................................................19  
Serial Ports & Cables.......................................................................................................................................................20  
Peripheral Power Supply via COM2 Port ........................................................................................................................21  
RF Port & Cables.............................................................................................................................................................21  
Power Port & Cable .........................................................................................................................................................22  
Using the Removable Flash Memory Card...............................................................................................................23  
Sleep, Power Down and the Power Switch...............................................................................................................25  
Status Indicators .......................................................................................................................................................26  
3 - USING THE DL  
27  
System Behavior ......................................................................................................................................................27  
Self-Test...........................................................................................................................................................................27  
Autonomous Versus Host Controlled Operation..............................................................................................................27  
Default Schedule and Group Configuration .....................................................................................................................27  
Site Records in Scheduled (Automatic) Logging Sessions...............................................................................................27  
Monitoring Your System .................................................................................................................................................27  
Communications with the DL...................................................................................................................................28  
Data Logging............................................................................................................................................................28  
Schedule Logging Operation............................................................................................................................................29  
File Name Convention .....................................................................................................................................................29  
Data Storage Requirements..............................................................................................................................................30  
Errors ...............................................................................................................................................................................31  
4 - FIRMWARE UPGRADES & UPDATES  
32  
Upgrade or Update the MiLLennium GPSCard .......................................................................................................32  
Upgrading Using the $AUTH Command.........................................................................................................................32  
Updating Using the LoaderUtility ...............................................................................................................................33  
Upgrade or Update the PDC Card............................................................................................................................35  
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Table of Contents  
APPENDICES  
APPENDIX A - DL DRAWINGS  
36  
37  
40  
41  
47  
APPENDIX B - DL SPECIFICATIONS  
APPENDIX C - PC CARD SPECIFICATIONS  
APPENDIX D - PORT & CABLE PINOUTS  
APPENDIX E - DL COMMANDS  
Battery......................................................................................................................................................................48  
Del............................................................................................................................................................................48  
Dir ............................................................................................................................................................................49  
Dump........................................................................................................................................................................49  
Group........................................................................................................................................................................50  
Loggroup ..................................................................................................................................................................53  
Mets..........................................................................................................................................................................54  
PDC..........................................................................................................................................................................55  
Project ......................................................................................................................................................................56  
PSN ..........................................................................................................................................................................57  
Pversion....................................................................................................................................................................57  
Rename.....................................................................................................................................................................57  
Schedule ...................................................................................................................................................................57  
Site............................................................................................................................................................................60  
Sleep.........................................................................................................................................................................62  
Status........................................................................................................................................................................63  
Vout..........................................................................................................................................................................63  
Write.........................................................................................................................................................................63  
APPENDIX F - DL LOGS  
64  
PDC Files .................................................................................................................................................................64  
BATA/B ...................................................................................................................................................................65  
DIRA/B ....................................................................................................................................................................66  
GROUPA/B..............................................................................................................................................................66  
GRPA/B ...................................................................................................................................................................69  
HDRA/B...................................................................................................................................................................71  
LPSTATUSA/B........................................................................................................................................................73  
META/B...................................................................................................................................................................74  
MSGA/B...................................................................................................................................................................75  
PDCVERA/B............................................................................................................................................................77  
PROJECTA/B ..........................................................................................................................................................78  
PSNA/B....................................................................................................................................................................79  
SCHA/B ...................................................................................................................................................................80  
SITELOGA/B...........................................................................................................................................................81  
STATUSA/B ............................................................................................................................................................83  
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Table of Contents  
APPENDIX G - CONVERSIONS  
86  
87  
88  
90  
APPENDIX H - REPLACEMENT PARTS  
APPENDIX I - OPTIONAL MOUNTING BRACKET  
APPENDIX J - COMMAND PROMPT INTERFACE  
TABLES  
1: Positioning Modes of Operation.....................................................................................................................................12  
2: Feature Summary - DL Models......................................................................................................................................13  
3: Allowable Antenna Types..............................................................................................................................................17  
4: Status Indicators - Meaning ...........................................................................................................................................26  
5: Auto-Generated File Name Convention.........................................................................................................................30  
6: Storage Requirements per Data Record .........................................................................................................................30  
7: Memory Consumption Typical Case for RTK Survey (2 Second Rate)......................................................................31  
8: Memory Consumption Typical Case for Static Survey (15 Second Rate)...................................................................31  
9: Power Connector Pin Assignment..................................................................................................................................41  
10: COM2 Serial Port - Connector Pin Assignment...........................................................................................................42  
11: COM1 Serial Port - Connector Pin Assignment...........................................................................................................42  
12: Straight Serial Cable - Pin Assignment........................................................................................................................43  
13: Null-Modem Cable - Pin Assignment..........................................................................................................................44  
14: I/O Connector Pin Assignment.....................................................................................................................................45  
15: I/O Cable Pin Assignment.........................................................................................................................................46  
16: Weekday Abbreviations...............................................................................................................................................57  
17: Group Status Word Encoding.......................................................................................................................................67  
18: Log Status Word Encoding ..........................................................................................................................................68  
19: MSGA Error Code Definition......................................................................................................................................76  
20: Flag Word Encoding ....................................................................................................................................................81  
21: PDC Status Word Encoding.........................................................................................................................................84  
22: GPS Status Word Encoding .........................................................................................................................................85  
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Table of Contents  
FIGURES  
1: NovAtel DL Front & Rear ..........................................................................................................................................11  
2: Typical DL Configuration Office................................................................................................................................15  
3: Typical DL Configuration Field..................................................................................................................................16  
4: Close-up of Ports on Rear End-cap ................................................................................................................................19  
5: Removing a Connector...................................................................................................................................................19  
6: Opening the Cover .........................................................................................................................................................24  
7: Handling the PC Card ....................................................................................................................................................24  
8: Status Indicators.............................................................................................................................................................26  
9: LOADER Options..........................................................................................................................................................34  
10: Views  
...................................................................................................................................................................36  
11: Power Cables................................................................................................................................................................41  
12: Straight Serial Cable - Illustration................................................................................................................................43  
13: Null-Modem Serial Cable - Illustration........................................................................................................................44  
14: I/O Cable - Illustration .................................................................................................................................................45  
15: Mounting Bracket.........................................................................................................................................................88  
16: Mounting Bracket Drill Holes Dimensions ...............................................................................................................89  
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Warranty Policy  
WARRANTY POLICY  
NovAtel Inc. warrants that its Global Positioning System (GPS) products are free from defects in materials and  
workmanship, subject to the conditions set forth below, for the following periods of time:  
DL Series  
One (1) Year  
One (1) Year  
Ninety (90) Days  
One (1) Year  
GPSAntenna Series  
Cables and Accessories  
Software Support  
Date of sale shall mean the date of the invoice to the original customer for the product. NovAtels responsibility  
respecting this warranty is limited solely to product repair at an authorized NovAtel location only. Determination of  
repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose.  
THE FOREGOING WARRANTIES DO NOT EXTEND TO (I) NONCONFORMITIES, DEFECTS OR ERRORS IN  
THE PRODUCTS DUE TO ACCIDENT, ABUSE, MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN  
OTHER THAN  
A
NORMAL AND CUSTOMARY MANNER, ENVIRONMENTAL CONDITIONS NOT  
CONFORMING TO NOVATEL’S SPECIFICATIONS, OR FAILURE TO FOLLOW PRESCRIBED INSTALLATION,  
OPERATING AND MAINTENANCE PROCEDURES, (II) DEFECTS, ERRORS OR NONCONFORMITIES IN THE  
PRODUCTS DUE TO MODIFICATIONS, ALTERATIONS, ADDITIONS OR CHANGES NOT MADE IN  
ACCORDANCE WITH NOVATEL’S SPECIFICATIONS OR AUTHORIZED BY NOVATEL, (III) NORMAL WEAR  
AND TEAR, (IV) DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON, (V) SHIPPING  
DAMAGE; OR (VI) SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN  
CONSENT FROM NOVATEL.  
IN ADDITION, THE FOREGOING WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY  
NOVATEL AS BETA SITE TEST SAMPLES, EXPERIMENTAL, DEVELOPMENTAL, PREPRODUCTION,  
SAMPLE, INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE  
ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED.  
THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES, EXPRESS OR  
IMPLIED, WRITTEN OR ORAL, INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR  
FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED.  
NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS, DAMAGE OR EXPENSE ARISING DIRECTLY OR  
INDIRECTLY OUT OF THE PURCHASE, INSTALLATION, OPERATION, USE OR LICENSING OR PRODUCTS  
OR SERVICES. IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL OR  
CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE.  
There are no user-serviceable parts in this device, and no maintenance is required. When the status code indicates that a  
unit is faulty, replace with another unit and return the faulty unit to NovAtel Inc.  
You must obtain a RETURN MATERIAL AUTHORIZATION (RMA) number by contacting Customer Service  
in any of the ways described on the next page. This number is needed before shipping any product to NovAtel or  
your Dealer.  
Once you have obtained an RMA number, you will be advised of proper shipping procedures to return any defective  
product. When returning any product to NovAtel, please return all original diskettes along with the defective product in  
the original packaging to avoid electrostatic and/or shipping damage.  
ANY ATTEMPT TO OPEN THE CASE WILL IMPAIR THE WATER-RESISTANT QUALITIES OF THE  
ENCLOSURE, AND VOID THE WARRANTY.  
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Customer Service  
CUSTOMER SERVICE  
For customer support contact your local NovAtel dealer first. If the problem remains unresolved, contact NovAtel  
directly by any of the following ways:  
toll-free hotline: 1 800 NOVATEL (8:00 AM - 4:30 PM MST, Canada and U.S.A. only)  
telephone: 1 403 295 4900 (8:00 AM - 4:30 PM MST)  
fax: 1 403 295 4901  
regular mail: NovAtel Inc.  
Customer Service Dept.  
1120 - 68 Avenue NE  
Calgary, Alberta  
Canada  
T2E 8S5  
If you require customer service, please provide the following information along with a detailed description of the problem  
when you call or write:  
Serial No._______________________________________ Model No. _________________________________________  
Software Release No. _____________________________  
Date Purchased:__________________________________  
Purchased from: ____________________________________________________________________________________  
User name: _____________________________________ Title:______________________________________________  
Company: _________________________________________________________________________________________  
Address:___________________________________________________________________________________________  
City:___________________________________________ Prov/State: _________________________________________  
Zip/Postal Code: _________________________________ Country: ___________________________________________  
Phone #:________________________________________ Fax #: _____________________________________________  
E-mail:_________________________________________  
Interface: Computer type: _______________________________________ Operating Shell: ______________________  
Other interface used:_________________________________________________________________________________  
Please provide a complete description of any problems you may be experiencing, or the nature of your inquiry (attach  
additional sheets if needed):  
__________________________________________________________________________________________________  
__________________________________________________________________________________________________  
__________________________________________________________________________________________________  
__________________________________________________________________________________________________  
__________________________________________________________________________________________________  
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Notices  
NOTICE  
FCC NOTICE  
The United States Federal Communications Commission (in 47 CFR 15) has specified that the following notices be  
brought to the attention of users of this product.  
This equipment has been tested and found to comply with the limits for a class A digital device, pursuant to Part 15 of  
the FCC rules. These limits are designed to provide reasonable protection against harmful interference when the  
equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency  
energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio  
communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case  
the user will be required to correct the interference at his own risk.”  
Changes or modifications not expressly approved by the party responsible for compliance could void the users authority  
to operate the equipment.”  
IMPORTANT: In order to maintain compliance with the limits of a Class A digital device, it is required to use properly  
shielded interface cables (such as Belden #9539 or equivalent) when using the serial data ports, and double-shielded  
cables (such as Belden #9945 or equivalent) when using the I/O strobe port.  
CE NOTICE  
WARNING: This is a Class A product. In a domestic environment this product may cause radio interference in which  
case the user may be required to take adequate measures.  
CAUTION!  
1. This device incorporates circuitry to absorb most static discharges. However, severe static shock may cause  
inaccurate operation of the unit. Use anti-static precautions where possible.  
2. This device is a precision instrument. Although it is designed for rugged operating conditions, it performs best when  
handled with care.  
3. When the cover for the PC Card ATA mass storage card (PC Card) is closed and latched, the enclosure is sealed to  
provide protection against adverse environmental conditions. To minimize the possibility of damage, always keep  
this cover closed and latched except when exchanging PC Cards. Any attempt to remove this cover or the end-  
caps impairs the water-resistant qualities of the enclosure, and void the warranty.  
4. Do not eject the PC Card while the DL is logging data, as you may lose part of or your entire data file.  
5. The DL can accept an input supply voltage in the range +10.7 to +18 V DC. This may not be the same range as other  
NovAtel products with which you are familiar. Operating the DL below 10.7 V DC causes the unit to suspend  
operation. An input voltage above +18 V DC may physically damage the unit.  
6. The DL is not compatible with the ProPak series of power supplies and power cables.  
7. Drawing more than the specified maximum current (2 amps) from COM2 will cause an internal fuse to interrupt the  
current. Restoring normal operation will require returning the unit to NovAtel.  
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Foreword  
FOREWORD  
Congratulations on your purchase of the DL, a GPS receiver with exceptional flexibility.  
NovAtel is an industry leader in state-of-the-art GPS receiver design. We believe that our DL will meet your high  
expectations, and are working hard to ensure that future products and enhancements will maintain that level of  
satisfaction.  
Scope  
This manual provides sufficient information to allow you to set up and effectively use the DL. For any customer-service  
problems or inquiries, please contact your dealer. If additional help is needed, contact Customer Service by any of the  
means outlined on Page 8.  
The following may provide you with additional valuable reference information:  
SoftSurv User Manual - a description of the SoftSurv suite of GPS surveying programs and utilities. SoftSurv and DL  
are complementary products designed to work together. SoftSurv software provides a user-friendly graphical interface  
to the DL, allowing you to focus on your work without needing to learn about the MiLLenniums commands and logs.  
SoftSurv contains all that you would typically need to interact with and configure the DL.  
MiLLennium GPSCard Command Descriptions Manual - a comprehensive description of every GPSCard command  
and log available to you. You would only need to become familiar with this manual if you wished to interact with the  
DL from the command-prompt interface, or in any other way chose not to use SoftSurv.  
Throughout this document, metric SI (Système Internationale) units are used. Appendix G is included to assist you with  
conversions to imperial units.  
Wherever software commands are listed or described, certain conventions are followed. These are explained in the  
section titled Syntax Conventions, Page 47.  
WHAT’S NEW IN THIS EDITION  
1. Peripheral equipment power can now be provided through the receivers COM2 port. The output voltage is the same  
as the connected active battery, with up to 2A of current available. This new definition of COM2 is fully compatible  
with COM1, NovAtel cabling and other NovAtel ProPak receivers. Refer to the new VOUT command, Page 63 and  
pinout description, Page 42.  
2. GPS receiver firmware has been enhanced to provide superior stand-alone base station operation.  
3. The DIR command, Page 49, has been modified to display previously supplied additional group information.  
4. There is a new WRITE command, Page 63, that allows data to be written to a specified data file on the PC Card.  
5. There is a new description of the PDC LOG command, Page 55, as well as a new PDC log, STATUSA/B, Page 83.  
6. A PROJECT command, Page 56, and a PROJECTA/B log, Page 78, has been added for project-related parameters.  
7. The GROUP command, Page 50, has been modified and a GROUPA/B log, Page 66, has been added to provide  
support for additional group data.  
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1 Overview  
1 - OVERVIEW  
The NovAtel DL is a high-performance GPS receiver. In applications when continuous user interaction is required, such  
as in GIS surveying, a simple handheld controller, that does not require its own data logging memory, can be used with  
DL. The reduced handheld data logger or controller requirements simplify your system and reduce its total cost and  
power consumption. Depending on which model you purchase, it is capable of receiving and tracking the L1 C/A-code,  
L1 and L2 carrier phase, and L2 P-code (or encrypted Y-code) of up to 12 GPS satellites. The DL can be used for either  
single-point or differential applications. Patented Narrow Correlator tracking technology circuits combined with a  
powerful 32-bit microprocessor make possible multipath-resistant processing at high data update rates. Excellent  
acquisition and re-acquisition times allow this receiver to operate in environments where very high dynamics and  
frequent interruption of signals can be expected. It features a rugged, reliable design for use in adverse environments.  
The DL is engineered to provide years of reliable operation.  
Figure 1 shows front (left photo) and rear (right photo) views of the DL.  
Figure 1: NovAtel DL – Front & Rear  
#
Description  
#
Description  
1
2
3
4
5
6
7
PC Card access door  
Power status indicator  
Door latch  
8
9
COM1 port indicator  
I/O port  
10 COM2/PWR serial/power port  
11 COM1 serial port  
12 Power port  
Position status indicator  
Logging status indicator  
Power switch  
13 Antenna connector  
COM2 port indicator  
Once you connect the DL to an antenna and power supply, it begins operating as a fully functional GPS receiver (see  
Chapter 2, Set Up, for more information on this topic). The DL is then ready for the most demanding applications such  
as survey, flight inspection, hydrographic survey and dredging, photogrammetry, agricultural applications, GIS and  
differential reference station applications.  
See CAUTION!, Page 9, for a list of items of which you should be aware as you set up and use the DL.  
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1 Overview  
MODELS & FEATURES  
Table 1 lists the four available DL models available, each capable of multiple positioning modes of operation:  
Table 1: Positioning Modes of Operation  
Positioning Modes of Operation  
DL Model  
DL-RT20S  
DL-L1  
DL-L2  
DL-RT2  
Single point  
Waypoint navigation  
Pseudorange differential corrections (TX & RX)  
Trimble CMR differential corrections (TX versions 3 & RX  
version 3)  
RTK pseudorange & carrier-phase double differencing: < 20  
cm RMS accuracies (floating)  
×
×
×
×
×
×
RTK pseudorange & carrier-phase double differencing: < 2  
cm RMS accuracies (fixed)  
×
Reverse-RTK  
Each model has the following standard features:  
rugged shock, water, and dust-resistant enclosure  
NovAtels advanced MiLLennium L1/L2 GPS technology  
capability to log data to a removable Type II or Type III PC Card ATA mass storage card (PC Card) eliminates  
the need to purchase additional data logger peripheral equipment when continuous user interaction is not required  
capability to perform autonomous scheduled data collection, with the ability to go into low-power sleepmode  
between scheduled data-collection sessions  
smart power sensing from two independent batteries, which permits automatic switchover  
two bi-directional serial ports, one of which has power, which support data transfer rates of up to 115,200  
bit/second  
obsolescence prevention due to field-upgradeable firmware (program software). What makes one DL model  
different from another is software, not hardware. This unique feature means that the firmware can be updated  
anytime, anywhere, without any mechanical procedures whatsoever. For example, a DL model with L1-only  
capabilities can be upgraded to a model with L1/L2 RT-2 in only a few minutes in your office; instead of in the  
days or weeks that would be required if the receiver had to be sent to a service depot. All that is required to  
unlock the additional features is a special authorization code. See Chapter 4 for further detail on this topic.  
The DL features integrated memory (PC Card) for data logging, eliminating your need to purchase additional expensive  
peripheral equipment  
In addition, each model has unique features. These are summarized in Table 2 on the following page:  
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1 Overview  
Table 2: Feature Summary - DL Models  
General  
DL-L1  
12 & 0  
DL-RT20S  
DL-L2  
12 & 12  
DL-RT2  
12 & 12  
L1 Channels (C/A code) & L2 Channels (P code)  
Pseudorange measurements  
12 & 0  
Full-wavelength L2 carrier measurements  
×
×
Ionospheric corrections in position calculations  
2.5-bit sampling  
Patented Narrow Correlator tracking technology  
5 Input / Output strobe signals: mark input (position & time), 1PPS  
timing output, measure output, programmable variable-frequency  
output, solution status output  
Fast re-acquisition  
Peripheral power supply output COM2  
Output Data Log Formats  
DL-L1  
DL-RT20S  
DL-L2  
DL-RT2  
NovAtel-proprietary ASCII and binary  
NMEA Standard  
RINEX Standard  
RTCM Standard: Types 1,2,3,9,16,59N  
RTCA Standard: Types 1,7  
Data Logging Rates (per second)  
Computed Data: Position, speed, direction, & clock offset  
Measured Data (Observations): Pseudorange & carrier phase  
Receiver Control  
DL-L1  
10  
20  
DL-L1  
DL-RT20S  
DL-L2  
5
DL-RT2  
10 / 5  
5
20  
10  
DL-L2  
10  
DL-RT20S  
DL-RT2  
Clock drift correction  
Ability to save receiver configuration settings, & almanac  
Reset (hardware or software activated)  
Serial port control  
Datum (table or user-definable)  
Magnetic variation correction  
Undulation (table or user-definable)  
Position, height & velocity constraints  
Satellite lockout, elevation cut-off and health control  
OPERATING MODES  
Whenever the DL is connected to a power source (regardless of whether the DL is turned onor off), it detects  
whether there is a host computer connected to one of its serial ports. For example, this host computer could be a PC  
running NovAtel SoftSurv Utilities software, or a data logger running suitable software. If a host computer is found, the  
DL enters Manual mode and waits for a command; otherwise, the DL enters Automatic mode and operates according to  
stored commands.  
Manual Operation: Among other things, a host computer can transmit scheduling and logging parameters,  
receive collected data, and turn the DL on or off. In this mode, the DL does not need to be tracking satellites, or  
even have an antenna connected to it.  
Automatic Operation: Once the DL receives configuration commands from a host computer, it operates  
according to these parameters. Up to a weeks worth of data collection can be configured in advance.  
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1 Overview  
ACCESSORIES AND OPTIONS  
The NovAtel DL can be used with the following accessories:  
SoftSurv software a suite of programs that allows you to plan your data collection trip, configure your DL or  
handheld data logger, post-process your collected data, and archive your information sets  
PC Card for data storage  
NovAtel GPSAntenna Model 501, 511, 521, or 531 single frequency, active antennas designed for high-  
accuracy applications  
A choke ring is available for the 501 antenna (model A031) and the 531 antenna (model A032)  
NovAtel GPSAntenna Model 502, 503, or 512 - dual frequency, active antennas designed for high-accuracy  
applications  
A choke ring is available for the 502 antenna (model A032) while the 503 antenna includes one  
NovAtel Model C005, C015, or C030 (5, 15 or 30 m length) coaxial antenna cable  
power cable to connect the DL to an automotive cigarette-lighter adapter  
battery  
bracket to allow the DL to be mounted to a surface or tripod  
25-pin straight serial cable for compatibility with certain data communications devices  
power cable to connect the DL to one battery (33.5 cm or 75 cm lengths)  
power cable to connect the DL to two batteries (Y-cable)  
Should you need to order an accessory or a replacement part, NovAtel part numbers are shown in Appendix H.  
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2 Set Up  
2 - SET UP  
Setting up the DL is a straightforward process, whether you are in the field (collecting data) or back at the office  
(configuring the DL, or transferring collected data to your PC for post-processing).  
See CAUTION!, Page 9, for a list of items you should be aware of as you set up and use the DL.  
SETTING UP AT THE OFFICE  
Figure 2 displays how you might typically set up the DL at the office for example, to load a schedule, or to transfer  
collected data to a PC. In this situation, the PC is connected to the COM1 port, and energy is supplied by means of an  
AC/DC converter that is connected to the Power port.  
Figure 2: Typical DL Configuration Office  
For office work, a typical configuration would result from the following steps:  
1. Place the DL on a desk or other suitable work surface.  
2. Connect an RS232C communication terminal (e.g. PC, data logger) to one of the serial ports of the DL. The supplied  
null-modem cables are intended for RS232C communications only. See Serial Ports & Cables, Page 20.  
3. Connect the output of a power source (e.g. AC/DC converter) to the input power port of the DL. Once power is  
supplied, the DL turns on automatically and begins an initialization sequence. See Power Port & Cable, Page 22.  
4. Press the power button or, if you are connected to the DL via a terminal, hit the <Enter> key and wait for a MSGA  
log with a BOOTOK message to appear. If you are you are using SoftSurv to communicate with the DL, this initial  
communication is handled by the software.  
5. Communicate with the DL, transfer data to the PC (if you have inserted a PC Card containing previously recorded  
data), or set up a data-collection schedule.  
The sections of this chapter give further details on Steps #2 & #3, while Chapter 3 is devoted to Step #4.  
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SETTING UP IN THE FIELD  
Figure 3 displays how you might typically use the DL in the field for example, collecting data while receiving  
differential information over a radio modem from a base station. In this situation, the GPS antenna is connected to the RF  
port, the radio modem is connected to the COM1 port, and power is supplied by means of two batteries that are connected  
to the Power port.  
Figure 3: Typical DL Configuration Field  
For differential data collection in the field, a typical configuration is described below. This assumes that schedule and  
logging parameters have already been loaded to the DL (see Chapter 3), and that a portable terminal is not being used. If  
a portable terminal was being used, then at Step #7, when power was supplied, the DL would accept configuration  
commands from the terminal.  
1. Mount or place the DL on a secure, stable structure that will not sway or topple. For example, attach the DL to a  
tripod leg using the optional mounting bracket (see Figure 14: Mounting Bracket and Figure 15, Appendix I).  
Although the unit has a moisture and dust-resistant enclosure, shelter it from adverse environmental conditions when  
possible.  
2. Position the antenna at the desired location e.g. on a tripod over a survey marker. The recommended antenna  
depends on which model of the DL you purchased (see Choose the Right Antenna, Page 17). For maximum  
positioning precision and accuracy, as well as to minimize the risk of damage, ensure that the antenna is securely  
mounted on a stable structure that will not sway or topple. Where possible, select a location with a clear view of the  
sky to the horizon so that each satellite above the horizon can be tracked without obstruction. The location should  
also be one that minimizes the effect of multipath interference. For a discussion on multipath, please refer to the  
appendix on Multipath Elimination Technology in the MiLLennium GPSCard Command Descriptions Manual.  
3. Route and connect RF coaxial cable between the antenna and DL (see RF Port & Cables, Page 21).  
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4. The receiver provides battery power output (BAT) through COM2. It is possible to turn the supply On or Off using  
the VOUT command, see Page 63. The BAT output is the switched output of the input power supply so that 12V  
output requires 12V input.  
5. RF Port & Cables (see RF Port &Cable, Page 21).  
6. Connect an RS232C communication device to one of the serial ports of the DL (see Serial Ports & Cables, Page 20).  
For example, this might be a radio modem, for receiving differential GPS messages from a base station. The  
supplied null-modem cables are intended for RS232C communications only.  
7. Insert a PC Card into the DL (see Using the Removable Flash Memory Card, Page 23).  
8. Connect the output of a power source (e.g. battery) to the input power port of the DL (see Power Port & Cable, Page  
22). Once power is supplied, the DL turns on automatically, begins an initialization sequence, and then enters low-  
power mode. See also System Behavior, Page 27.  
9. Exit low power mode by pressing the power button, or if connected via a terminal, by hitting the <Enter> key. If you  
are going to configure the unit via DL commands, wait for a MSGA log with a BOOTOK message to appear first.  
Otherwise, the DL will begin logging according to the stored configuration.  
10. Monitor the status indicators (see Status Indicators, Page 26).  
The sections of this chapter give further details on these steps.  
CHOOSE THE RIGHT ANTENNA  
The purpose of an antenna is to convert electromagnetic waves into electrical signals. An active antenna is required. It  
has a Low Noise Amplifier (LNA) that boosts the strength of received signals to help offset the cable losses. The LNA  
can be energized directly by the DL, or by another source. NovAtel recommends the use of active antennas only.  
The recommended antenna depends on which model of the DL you purchased. Table 3 lists the allowable antenna types  
for each of the DL models.  
Table 3: Allowable Antenna Types  
DL Model  
Allowable Antenna  
L1-only or L1/L2  
DL-L1  
DL-RT20S  
DL-L2  
L1-only or L1/L2  
L1/L2  
DL-RT2  
L1/L2  
GPS satellites transmit at two frequencies, 1227.60 MHz (L2) and 1575.42 MHz (L1). NovAtel offers a variety of  
antenna models for GPS-only operation. All use low-profile microstrip technology and include band-pass filtering and an  
LNA.  
All active GPSAntennas can compensate for up to 13 dB of cable loss. Higher cable loss can be used but you should then  
expect an increased degradation in signal strength.  
The following are L1-only GPSAntennas:  
Model 501 - for use in surveying and other kinematic positioning applications; model A031 choke ring available  
Model 511 - for use in airborne, marine, ground vehicle or backpack applications  
Model 521 - for use in ground vehicle, backpack, or handheld applications  
Model 531 - for use in surveying and other kinematic positioning applications; water proof; model A032 choke ring  
available  
The following are L1/L2 GPSAntennas:  
Model 502 - for use in surveying and other kinematic positioning applications; model A032 choke ring available  
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Model 503 - for use with high-performance position-reference stations (features a built-in choke-ring ground plane  
to minimize the effects of multipath interference)  
Model 512 - for installation on aircraft (features aerodynamic styling)  
Each of these models offers exceptional phase-center stability as well as a significant measure of immunity against  
multipath interference. Each one has an environmentally sealed radome.  
A choke rings unique construction substantially reduces the multipath effect on the GPS signal. The choke ring actually  
reduces the antenna gain at low elevation, where the multipath is more prone to affect system accuracy. By reducing  
measurement errors due to multipath, the result is greater accuracy in your positioning calculations.  
WARNING: While there may be other antennas on the market that might also serve the purpose, please note that  
the performance specifications of the DL are guaranteed only when it is used with a NovAtel model 531 (L1) or model  
502 (L1/L2) GPSAntenna.  
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CONNECT CABLES  
As shown in Figure 4, on the rear end-cap there are four labeled ports I/O, COM2/PWR, COM1, and RF. There is also  
an unlabelled power input port.  
Figure 4: Close-up of Ports on Rear End-cap  
Each connector is keyed to ensure that the cable can be inserted in only one way, to prevent damage to both the DL and  
the cables. Furthermore, the connectors that are used to mate the cables to the DL have a locking mechanism that  
requires careful insertion and removal. Observe the following when handling the cables.  
To insert a cable, make certain you are using the appropriate cable for the port the serial cable has a different  
connector (10 pin) than the I/O cable (8 pin).  
Line up the red dot on the connector shell with the red index mark on the receptacle on the DL.  
Insert the connector until it seats with a click; it is now locked in place.  
To remove a cable, grasp the connector by the knurled ring and pull (see Figure 5). DO NOT PULL DIRECTLY  
ON THE CABLE.  
Figure 5: Removing a Connector  
I/O PORT & CABLES  
DL incorporates an input/output (I/O) port, which allows access to the Mark input, Measure output, VARF output, 1PPS  
output, and STATUS output signals. These are specialized signals that are used when the DL is part of an interconnected  
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2 Set Up  
system composed of devices that need to be synchronized with each other. For example, you could connect the DL to an  
aerial camera in such a way that the DL recorded its position whenever the shutter button was pressed. This port is not  
typically used for stand-alone applications. The five signals are described further in Table 14: I/O Connector Pin  
Assignment, Page 45, as well as in the Input / Output Strobes section of Appendix B.  
The I/O strobe lines can be accessed by inserting the 8-pin LEMO connector of the I/O strobe port cable into the I/O port.  
Figure 13, Page 45, and Table 15: I/O Cable – Pin Assignment, Page 46 contains wiring and pin-out information on this  
cable. The other end of the cable is provided without a connector so that you can provide an application-specific one; the  
jacket insulation is cut away slightly from the end but the insulation on each wire is intact.  
This port incorporates filters to suppress electromagnetic interference.  
See Appendix H - Replacement Parts if you need to consult the list of NovAtel and LEMO part numbers.  
SERIAL PORTS & CABLES  
The two serial ports (COM1 and COM2) are bi-directional. There is a multicolor indicator above each of these serial  
ports. If it glows red, data is being received on that port, while if it glows green, data is being transmitted on that port. If  
it glows yellow, data is being received and transmitted simultaneously on that port. The features present for each serial  
port is listed following:  
FEATURES  
300, 1200, 4800, 9600, 19200, 38400, 57600 and 115,200 BPS data rates  
RS-232C signal levels  
COM1  
COM2  
Electromagnetic interference suppression filters  
Hardware and Software flow control operation  
BAT voltage output  
×
For communication to occur, the DL serial port configuration must match that of the external devices. The DLs default  
port settings are [RS232C, 9600 BPS, no parity, 8 data bits, 1 stop bit, no handshaking, and echo off]. Changing the  
default settings can be easily accomplished using SoftSurv UTILITIES software module, or by means of the COMn  
command (which is described in the MiLLennium GPSCard Command Descriptions Manual).  
On either serial port, only the RX, TX, and GND lines need to be used. Handshaking is not required, although it can  
optionally be used.  
Two serial data cables are supplied to connect the DL to a PC or modem. They are described as follows:  
null-modem cable: 10-pin LEMO plug to 9-pin D-connector (DE9S socket); it is described further in Figure 12 &  
Table , Appendix D, Page 44. This is used to connect the DL to a serial (RS232C) communication port on a  
terminal or PC.  
straight cable: 10-pin LEMO plug to 9-pin D-connector (DE9P plug); it is described further in Figure 11 & Table  
, Appendix D, Page 43. This is used to connect the DL to a modem or radio transmitter to propagate differential  
corrections.  
The 10-pin plug on each cable can be plugged into either the COM1 or COM2 port on the DL.  
For further information on the signals or connector pin-outs for the serial ports or cables, please see the Input / Output  
Data Interface section of Appendix B, Page 37, and Table , Page 42, in Appendix D.  
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2 Set Up  
See Appendix H - Replacement Parts, Page 87, if you need to consult the list of NovAtel and LEMO part numbers.  
PERIPHERAL POWER SUPPLY VIA COM2 PORT  
The receiver provides battery power output (BAT) through the COM2 port. It is possible to turn the supply On or Off  
using the VOUT command, see Page 63. The BAT output is the switched output of the input power supply so that 12V  
output requires 12V input.  
NOTE: When using peripheral output, it is important to note that the BAT output has a 2-amp fuse. This fuse is non-  
user replaceable, and if you blow the fuse by trying to draw power greater than 2-amps, you will have to return the  
receiver to the factory for repair.  
Power Control Operation  
After initial connection of the power supply to the receiver, the BAT output is turned on.  
When the power switch is used to turn the receiver Off, the BAT output is turned on before going to sleep. This ensures  
that power is available to a potential host system for turning the receiver On again by starting communication with the  
receiver.  
If the power input to the receiver falls below the minimum operating level (both batteries, in the case of a dual battery  
system), the BAT output is turned Off before the receiver goes to sleep. In this case, both COM activity or the power  
button will wake the receiver up and BAT remains Off. If the battery input from at least one battery recovers then BAT  
is turned On again and the unit wakes up as a result of COM activity or by pressing the power button.  
RF PORT & CABLES  
The radio frequency (RF) port is bi-directional in that it accepts RF signals from the antenna, and it supplies DC power to  
the low-noise amplifier (LNA) of an active antenna. It has a TNC female connector.  
The purpose of an antenna is to convert electromagnetic waves into electrical signals. An active antenna is required. It  
has a LNA that boosts the strength of received signals to help offset the cable losses. The LNA can be energized directly  
by the DL, or by another source. NovAtel recommends the use of active antennas only.  
For further information on the signals or connector type for the RF port, please see the RF Input / LNA Power Output  
section in APPENDIX B - DL Specifications, Page 37.  
RF Coaxial Cable  
The RF (radio frequency) coaxial cable that you require depends mostly on the distance between the antenna and the DL.  
Electromagnetic signals are attenuated as they travel along a length of coaxial cable; thus, a long cable introduces more  
loss in signal strength than a short one of the same type. Good-quality cable introduces lower losses than low-quality  
cable. If the cable loss becomes too great, excessive signal degradation occurs and the DL may be unable to meet its  
performance specifications.  
An active antenna incorporates a low-noise amplifier (LNA) that boosts the strength of received signals to help offset the  
cable losses. The LNA can be energized directly by the DL. NovAtels GPSAntennas can compensate for up to 13 dB of  
cable loss (see Choose the Right Antenna, Page 17).  
NovAtel offers high-quality coaxial cable in the following lengths: 5 m (Model C005), 15 m (Model C015) and 30 m  
(Model C030); these come with a TNC male connector at each end. These cables can be used with all GPSAntennas.  
Should your application require the use of cable longer than 30 m, before you proceed you may wish to contact your  
dealer or NovAtel Customer Service representative and request Application Note APN-003, Extended-Length Antenna  
Cable Runs, or acquire it directly from the Customer Service page of NovAtels Web site.  
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2 Set Up  
NOTE: The coaxial cable should be connected to the antenna and DL before power is supplied. If the antenna cable  
becomes disconnected from the antenna or DL, turn the DL off before reconnecting the cable; this prevents the DLs  
antenna current-limiting circuit from unnecessarily activating.  
Coaxial cables should be handled with care. They should not be routed over surfaces where they could be stepped on,  
pinched, or cut. A cable that has been stretched, has nicks in its outer jacket, or has crimps resulting from being bent too  
tightly, generally has higher losses than otherwise.  
While there may be other coaxial cables on the market that might also serve the purpose, please note that the performance  
specifications of the DL are guaranteed only when it is used with NovAtel-supplied RF cables.  
POWER PORT & CABLE  
The DL requires an input supply voltage that can come from batteries, a wall outlet adapter (AC/DC converter), or an  
automotive power source. The DL has an internal power module that does the following:  
filters and regulates the supply voltage  
protects against over-voltage, over-current, and high-temperature conditions  
provides automatic reset circuit protection  
WARNING: Supplying the DL with an input voltage that is below +10.7 will cause the unit to suspend operation.  
An input voltage above +18 V DC may physically damage the unit.  
The 4-pin power connector allows power to be supplied from two independent sources, although only one is used at a  
time. If two power sources are available, the DL monitors their supply voltages independently, and on power-up, chooses  
the one with the higher voltage. If the current power source becomes unusable, the DL then switches to the second one  
(if available) without any interruption in its logging activities.  
Consider the case where the DL is connected to two 12 V DC batteries. As described in Table 4, Page 26, as the voltage  
drops on the first battery, the Power indicator color changes from green to amber, then to red. Warning messages are sent  
on the serial port indicating that battery power is becoming exhausted (see the description of the LPSTATUSA log, Page  
73 and MSGA log, Page 75 if you require further information). Then, the DL switches to the second battery. Once both  
batteries are depleted, the DL shuts itself off. To maximize a batterys lifetime, the DL does not use it once it is  
discharged.  
As is also described in Table 4: Status Indicators - Meaning, Page 26, when the DL is connected to two batteries, the  
Power indicator is pulsed (in the appropriate color) to distinguish between battery A and battery B. One long blink”  
corresponds to battery A, and two short blinks in rapid succession correspond to battery B. Only the status of the active  
battery is indicated.  
The data logging mechanism is designed to be robust and to endure power interruptions (and similar disruptive events)  
with minimum loss of data. In these situations, less than 5 minutes of data (prior to the disruptive event) are lost. To the  
extent possible, error messages attempt to describe the problem. If you require further information on this topic, see the  
description of MSGA log, Page 75.  
As shown in Figure 10: Power Cables, Appendix D, Page 41 there may be up to four power cables used with the DL.  
These cables allow you to energize the DL by either an AC source or a DC source:  
4-pin LEMO plug connector to cigarette-lighter plug, complete with a 3-amp slow-blow fuse  
4-pin LEMO plug connector to autoranging AC/DC converter/battery charger, and AC power cord  
optional power cable connecting the DL to a battery (33.5 cm or 75 cm lengths)  
optional Y-cable to power the DL from two batteries  
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For further information on the following topics, see the following sections of this manual:  
For a listing of the required input supply voltages, and the typical power consumption in logging and sleep”  
modes, see the Power Requirements section of Appendix B, Page 37.  
For pin-out information on the 4-pin power connector, see Table 9: Power Connector Pin Assignment, Page 41.  
For a listing of the voltage levels at which the Power indicator changes color, or at which the DL switches from  
one source to another, or at which the DL shuts off, see the Power Management section of Appendix B. These  
events are described in Table 4: Status Indicators - Meaning, Page 26.  
See Appendix H - Replacement Parts, Page 87, if you need to consult the list of NovAtel and LEMO part  
numbers.  
Using a Non-NovAtel Power Cable  
If you decide to use a power cable that was not supplied by NovAtel, or make your own, there are a few things that you  
should keep in mind. There will always be a drop in voltage between the power source and the power port that is due to  
cable loss. Improper selection of wire gauge can lead to an unacceptable voltage drop at the DL. A paired wire run  
represents a feed and return line; therefore, a 2-m wire pair represents a total wire path of 4 m. For a DL operating from a  
12 V DC battery system, a power cable longer than 2.1 m (7 ft) should not use a wire diameter smaller than that of 24  
AWG.  
USING THE REMOVABLE FLASH MEMORY CARD  
Data can be logged to a PC Card, a flash-memory module which you can access, exchange and replace when needed.  
The need for a companion handheld data logger is avoided when continuous user interaction is not required, since DL is  
capable of logging data according to pre-configured parameters without any user intervention. In applications when  
continuous user interaction is required, such as in GIS surveying, a simple handheld controller can be used with DL, as  
the controller does not require its own data logging memory. The reduced handheld data logger or controller  
requirements simplify your system and reduce its total cost and power consumption.  
The access door on the DLs front end cap provides a water and dust-resistant seal around the PC Card. The cover latch  
must be rotated a ¼-turn in order for the cover to seal properly. When the cover is closed and latched, the enclosure is  
sealed to provide protection against adverse environmental conditions.  
WARNING: To minimize the possibility of damage, always keep this cover closed and latched except when  
exchanging PC Cards.  
Collected data can either be transmitted to a host computer over a serial port, or stored on the PC Card. If you choose to  
log data to the PC Card, each logging session is stored in a single, unique file. These files can then be transferred to a  
host computer, for data analysis or other types of post-processing, by one of two methods:  
transfer the data by means of serial communications  
physically remove the PC Card from the DL and insert it into the host computer, provided that it is also suitably  
equipped with a PC Card port  
You have the flexibility of choosing the PC Card with the storage capacity that is the most appropriate for your needs,  
based on the selected logging rate. This is discussed in greater detail in Data Storage Requirements, Page 30.  
Figure 6 illustrates the procedure to unlock the cover. In the photo on the left, the latch is in the lockedposition. In the  
photo on the right, the latch is being rotated counter-clockwise into the unlockedposition. To lock the cover, rotate the  
latch clockwise. If it resists turning, do not force it; rather, open and close the cover, then try again.  
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Figure 6: Opening the Cover  
Figure 7 illustrates the procedure to remove the PC Card. In the photo on the left, below, the cover has been unlocked  
and opened, and the PC Card is visible. Note the arrow pointing to the eject button to the left of the card in this view.  
You must push this button to partially eject the card; then grasp the card as illustrated in the photo on the right, below,  
and pull it all the way out. To insert the card, ensure that it is correctly aligned before gently sliding it into the slot.  
When the card slides all the way in and locks in place, the eject button will extend. If you attempt to insert the card  
incorrectly, it will not go all the way in, and the eject button will not extend. In this case, do not force the card! Remove  
it, orient it properly, and then insert it. After the card is locked in place, close the cover again.  
Figure 7: Handling the PC Card  
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The data logging mechanism is designed to be robust and to endure power interruptions (and similar disruptive events)  
with minimum loss of data. In these situations, less than 5 minutes of data (prior to the disruptive event) are lost. When  
possible, error messages are generated to identify problems as they arise; a description of the MSGA log is contained in  
Appendix F, Page 75.  
WARNING: Ejecting the PC Card during a data-recording session will cause data to be lost. When no data is  
being recorded, however, it is not necessary to turn the DL off before inserting or extracting a PC Card.  
SLEEP, POWER DOWN AND THE POWER SWITCH  
DL incorporates a power switch on its front end-cap. Pushing this switch sends a signal to the microprocessor to turn on  
or off the GPS receiver and system peripherals.  
The DL has two low-power modes: sleep mode and power-down mode. The modes do not differ in the amount of power  
consumed, but rather in the way in which the modes are entered into and terminated.  
An internal clock, synchronized to GPS time, allows the DL to go into sleep modebetween scheduled data-collection  
sessions. This permits the DL to operate reliably while using power sparingly. This is especially important when  
conducting scheduled data-collection sessions over a period of several days, while using a battery power source. The  
DLs GPS receiver will wakeup early enough so that satellite tracking is established prior to the scheduled logging  
session. Note, however, that exceptional conditions may delay the acquisition of satellites beyond the start of the logging  
session. For more information on the clock, please see Real-Time Clock, Appendix B, Page 37.  
Mode  
Sleep  
How to achieve mode  
Outcome  
The DL will go into sleep mode by itself  
between scheduled events, if a command is  
not received through either serial port for 5  
minutes or a SLEEP command is issued,  
unless a scheduled event is about to take  
place.  
The DL scheduler is still enabled and the DL will wake  
up from sleep mode prior to a scheduled event.  
Power-Down  
To enter the low-power mode, press the  
button until the three status indicators turn  
red and begin to flash, then release it.  
In the power down mode all schedule and logging events  
are disabled. Note that while power consumption in  
power-down mode is minimal the DL is not  
completely off. If power conservation is very important,  
then disconnect the battery from the DL when it is not in  
use.  
This is also the mode entered into after  
applying the power.  
In either the sleep mode or power-down mode, pressing the power button momentarily will wakeup the DL. Also, the  
DL monitors its serial ports, and becomes fully operational a short while after as serial port activity is detected for  
example, if a key is pressed on a handheld data logger that is plugged into one of the DLs serial ports. The time required  
to wake up is only a few seconds, but it may require an additional few minutes to initialize the GPS receiver and allow it  
to establish an initial time and position. During the sleeping and wake-up time, the serial ports will not process data. You  
must wait until receiving the MSGA log with a BOOTOK message (see Appendix G - Conversions, Page 86, and  
Appendix J - Command Prompt Interface, Page 90) before typing any commands.  
The automatic power-down feature is disabled when logging is in progress. However, if the power switch is pressed  
while the DL is logging data autonomously, the DL saves any open data files and then goes into power-down mode. For  
related information see Autonomous Versus Host Controlled Operation, Page 27.  
An additional function of the power switch is that it resets the DL if it is held depressed for at least 15 seconds. This  
system resetclears stored logging parameters and reverts to a factory configuration when the power switch is released.  
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STATUS INDICATORS  
As shown in Figure 8, the DLs front endcap has three multicolor lights to indicate the status of Power, Position, and  
Logging, respectively, from left to right. For a labeled view, see also Figure 1, Page 11.  
Figure 8: Status Indicators  
Table 4 shows what the colors of each indicator signify. When the DL is connected to two batteries, the Power indicator  
is pulsed (in the appropriate color) to distinguish between battery A and battery B. One long blinkcorresponds to  
battery A, and two short blinks in rapid succession correspond to battery B. Only the status of the active battery is  
indicated.  
Note that during initial power up of the DL or upon wake up from sleep mode, the lights on the DL indicate self-test  
conditions and therefore the following table does not apply at that time.  
Table 4: Status Indicators - Meaning  
Indicator  
Color  
Green  
Status Description  
Power  
Input voltage is good. The light blinks in a single-blink pattern (e.g.  
) if Battery A is good, and in  
a double-blink pattern (e.g.  
) if Battery B is good.  
Amber blink  
The light blinks in a single-blink pattern (e.g.  
10.7 Volts.  
) if Battery A is low – battery voltage is less than  
) if Battery B is low – battery voltage is less  
Amber double  
blink  
The light blinks in a double-blink pattern (e.g.  
than 10.7 Volts.  
Amber  
Switching batteries.  
Red  
There are no good batteries available. Operation is disabled.  
High temperature warning.  
Amber fast blink  
Red fast blink  
High temperature shutdown.  
Amber slow blink High temperature shutdown. Temperature returning to normal (blinks once every five seconds).  
Red slow blink  
Dark  
High temperature shutdown. Waiting for temperature to return to normal (blinks once every five seconds).  
No power, or DL in sleep mode.  
Position  
Green  
Valid position solution; fine time reference set.  
Green blink  
Amber  
Valid position solution; fine time reference not set.  
Position fixed; fine time reference set.  
Amber blink  
Red  
Position fixed; fine time reference not set.  
Insufficient satellites for position.  
Dark  
No power, or DL in sleep mode.  
Logging  
Green  
PC Card in, memory capacity OK.  
Green blink  
Amber  
PC Card in, logging to PC Card in progress and memory capacity OK.  
PC Card in; memory capacity below 10%.  
Amber blink  
Logging to PC Card in progress, less than 10% capacity remaining at current logging rate.  
Amber slow blink Sleeping: waiting for scheduled event (blink once every 5 seconds).  
Red  
PC Card in; memory capacity full.  
Red Blink  
Dark  
PC Card in; error encountered while trying to access the PC Card.  
Power off or PC Card not detected, or initialized.  
When the DL is connected to an AC/DC converter, the Power indicator may be ignored as long as the color is green; if it  
turns red, then you should investigate whether there is a problem with either the AC supply or the converter itself.  
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3 Using the DL  
3 - USING THE DL  
Before using the DL for the first time, ensure that you have followed the installation instructions of Chapter 2 - Set Up,  
Page 15.  
See CAUTION!, Page 9, for a list of items of which you should be aware as you use the DL.  
SYSTEM BEHAVIOR  
SELF-TEST  
When power is applied, the DL performs the first phase of self-test functions. If no problems are detected, it enters the  
power-down mode. Self-test functions are continued when the unit awakes from the power-down mode. Self-test failure  
of the power data collector module is indicated via front panel indicators and/or MSGA logs. Successful self-test of the  
power data collector module is indicated by a MSGA log with a BOOTOK message. Self-test status of the MiLLennium  
GPSCard can then be examined via the self-status word in the RGEA/B/D and RVSA/B data logs.  
If the DL fails its self-test, please refer the problem to your dealer or NovAtel Customer Service.  
AUTONOMOUS VERSUS HOST CONTROLLED OPERATION  
The DL enters the autonomous operation mode whenever it exits the power-down mode (see the table on Page 25). In  
the autonomous operation mode, upon acquisition of time the DL will execute a group named POWERUP, or if such a  
group does not exist, stop any current manual logging and enable the scheduler. Execution of the POWERUP group  
implicitly disables the scheduler.  
If a host-controlled mode is desired, the host should enter the POWERUP DISABLE command. This will ensure that  
autonomous operation mode behavior does not take effect upon acquisition of time.  
DEFAULT SCHEDULE AND GROUP CONFIGURATION  
The default software configuration for the scheduling and group information includes only a group named "DEFAULT".  
You must manually add a POWERUP group if this function is desired. Holding down the power switch for  
approximately 15 seconds restores the factory configuration. All indicator lights flash yellow to indicate that the default  
configuration has been restored.  
NOTE: Only a group named POWERUP is automatically logged. The "DEFAULT" group is provided for your  
convenience only.  
SITE RECORDS IN SCHEDULED (AUTOMATIC) LOGGING SESSIONS  
SITELOG logs, described in Appendix F - DL Logs, Page 64, contain site record information.  
MONITORING YOUR SYSTEM  
After the initialization, you may find the following logs useful for observing the DL activities. While using SoftSurv  
UTILITIES is the easiest way to set up these logs (refer to the SoftSurv User Manual), you can also use DOS or a  
Windows-based communications program (see Appendix J - Command Prompt Interface, Page 90). In the latter case, see  
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Appendix F - DL Logs, Page 64 or refer to the MiLLennium Command Descriptions Manual for procedures and  
explanations related to data logging and for further information on each of these logs.  
DOPA - reports the dilution of precision of the current satellite constellation  
ETSA - reports the GPS receivers channel tracking status  
LPSTATUS and MSGA report DL status messages. For example, the DL monitors the internal temperature of the  
receiver enclosure. A warning message is issued once per minute when the internal temperature is in excess of a  
preset threshold. If the internal temperature exceeds the design limit, the DL shuts itself off and stays off until the  
internal temperature drops 10 degrees below the design limit.  
POSA - reports the current computed position solutions  
RCCA - lists the default command settings. After the DL has been operational for a while, the RCCA log is useful  
for indicating the status of all current command settings. Displaying the RCCA log after a reset displays the saved  
configuration; refer to the description of SAVECONFIG in the MiLLennium Command Descriptions Manual.  
RVSA - reports the GPS receivers status  
SATA - reports satellite-specific data  
COMMUNICATIONS WITH THE DL  
Communication with the DL consists of issuing commands through the COM1 or COM2 serial port from an external  
serial communications device. This could be either a terminal or an IBM-compatible PC that is directly connected to a  
DL serial port using a null-modem cable.  
For maximum ease, use a user-friendly graphical interface such as SoftSurv UTILITIES to configure and communicate  
with your DL. However, you can also issue commands manually; the DLs command prompt interface is described in  
Appendix J, Page 90. For specific information about any of the DLs commands and logs, please consult Appendix E -  
DL Commands, Page 47, and Appendix F - DL Logs, Page 64 of this manual.  
DATA LOGGING  
The most basic activity is logging raw data. Each logging session (one uninterrupted period of time) is stored in a single,  
unique file on a PC Card. This file can subsequently be transferred to a PC for post-processing using NovAtels SoftSurv  
package.  
DL records raw data in the form of logs, which are written to the data file on a periodic basis. NovAtels SoftSurv post-  
processor automatically interprets these logs and the data that they contain. If you wanted to analyze the data in these  
logs yourself, the details of the logs are documented in Appendix F - DL Logs, Page 64 of this manual.  
The best way to configure the DL for data logging, or to manipulate log files (e.g. transfer or manage files), is using  
NovAtels SoftSurv UTILITIES. This software, running on a PC, offers a user-friendly interface to your DL, and allows  
you to carry out typical activities without having to learn to use the MiLLenniums native-language commands and logs.  
A file header is included with each logged data file. This header is designed to expedite post-processing when using  
NovAtels SoftSurv post-processor package. The data files header consists of a GRPA log and a HDRA log (described  
in detail on Pages 69 and 71 respectively) which includes the following:  
antenna height  
antenna serial number  
receiver serial numbers  
model numbers  
elevation cutoff  
minimum number of satellites  
start and end time  
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log types and rates  
Site record logs support kinematic surveying. The site record log (SITELOGA, described in detail on Page 81) records  
this information at each occupation:  
site number, site name, attribute code  
antenna height  
antenna height measurement method code  
site start GPS time  
site end GPS time  
data logging flag  
The meteorological log (META, described in detail on Page 74) records this information at each occupation:  
GPS time  
data flag  
temperature  
humidity  
pressure  
file offset to previous MET log  
SCHEDULE LOGGING OPERATION  
Logging can be either immediate or delayed according to a pre-configured schedule which allows both repetitive events  
(for example, every day from 15:00 to 17:00) and custom events (for example, tomorrow from 10:00 to 11:00, and the  
day after from 17:00 to 18:00). If a session is predefined or a manual session is started, a new file opens and the initial  
file closes.  
You can schedule data logging on up to seven days in a one-week period, with up to 36 sessions per day. The scheduler  
operates perpetually; i.e. if an event is scheduled to occur on a Monday, this event is serviced every Monday that the  
system is in operation. Start and stop times must be provided with a resolution of 1 minute. The minimum time interval  
per logging session is 5 minutes. If you do not provide file names in advance, a unique file name is automatically  
generated for each set of recorded logs. Only one schedule can be active at any time. If there is sufficient time between  
sessions, the DL will go into sleepmode to conserve power.  
You may not specify overlapping time intervals. All scheduled entries rely on day of the week and UTC time references.  
FILE NAME CONVENTION  
You can either provide a name for each data file in advance, or allow DL to generate them automatically.  
You can only provide a file name when you are scheduling a single data collection event. If you are scheduling a series  
of events, you have to accept the DLs auto-generated names. An acceptable file name consists of a base of up to eight  
characters, followed by a .PDC extension. The first character of the name that you specify cannot be numeric; this  
prevents conflicts with auto-generated names, which always start with a number.  
Auto-generated filenames consist of an eight-character base followed by a .PDC extension. The eight characters are  
derived as shown in Table 5 on the following page:  
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3 Using the DL  
Table 5: Auto-Generated File Name Convention  
####$$$%.PDC  
Comments  
last 4 digits of the DLs serial number  
UTC day of the year (001 366)  
####  
$$$  
%
Session ID assigned in sequence (0 .. 9, A .. Z) based on the  
presence of files previously logged on a particular day.  
For example, a DL might have a serial number such as CGN95450087. A date such as January 25 has an UTC day-of-  
year representation of 025. The 15th schedule of the day would have an entry index of E. Thus, this file would have a  
name such as 0087025E.PDC.  
Should a conflict occur between an auto-generated file name or a file name specified in a scheduled entry, the DL will  
resolve the conflict by creating a file name whose first character is a tilde (~), followed by a 7-digit random number,  
and a .PDC extension (e.g. ~9368412.PDC).  
DATA STORAGE REQUIREMENTS  
Based on default settings (using RGED logs for observations, and PRTKB logs for positions), Table 6 displays the  
amount of data storage required for a single data record for scenarios of 6, 9, or 12 satellites in view.  
Table 6: Storage Requirements per Data Record  
L1-only  
L1 & L2  
Single-point Single-point or Differential  
Observations Observations & Positions  
Single-point  
Single-point or Differential  
Observations  
(Bytes)  
Observations & Positions  
(Bytes)  
(Bytes)  
(Bytes)  
6 SV  
9 SV  
144  
268  
264  
384  
504  
388  
508  
628  
204  
328  
12 SV  
264  
388  
The number in a specific cell in this table represents the memory consumption (in bytes) per recorded GPS point, for a  
given number of visible satellites and a given recording mode. The following relationship, based on Table 6, yields an  
estimate of the data storage requirements for a data-recording session:  
Minimum file size (in bytes) (bytes per record) x (records per hour) x (number of hours)  
This is an approximation - the actual file size will be a few kilobytes larger, due to file headers and other information  
(e.g. satellite ephemeris and almanac data). Also, feature tagging increases the file size by an amount that depends on the  
number of features tagged, and the number of attributes for each feature.  
Example from Table 6:  
You wish to record single-point observations, once every 2 seconds, for 8 hours, with 9 satellites visible, during L1/L2  
operation. The file size will be no less than (384 bytes/record) x (1800 records/hour) x (8 hours) = 5,529,600 bytes =  
5529.6 kBytes 5.3 MBytes. At this rate, a 20 MByte PC Card could hold approximately 30 hours of data.  
Based on the values in Table 6, one can calculate how much data is generated in one hour if the RGED and PRTKB logs  
are collected every two seconds. This is the typical data-logging rate for real-time kinematic (RTK) survey applications.  
The cells of Table 7 reflect the memory consumption, in kilobytes per hour, for scenarios of 6, 9, or 12 satellites in view.  
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Table 7: Memory Consumption Typical Case for RTK Survey (2 Second Rate)  
L1-only  
L1 & L2  
Single-point Single-point or Differential  
Observations Observations & Positions  
Single-point  
Single-point or Differential  
Observations  
(kBytes/hour)  
Observations & Positions  
(kBytes/hour)  
(kBytes/hour)  
(kBytes/hour)  
6 SV  
9 SV  
253  
359  
464  
471  
577  
682  
464  
675  
886  
682  
893  
12 SV  
1104  
The following relationship, based on Table 7, yields an estimate of the data storage requirements for a typical RTK data-  
recording session:  
Minimum file size (in kilobytes) (kilobytes per hour) x (number of hours)  
Example from Table 7:  
You wish to record single-point observations, once every 2 seconds, for 8 hours, with 9 satellites visible, during L1/L2  
operation. The file size will be no less than (675 kBytes/hour) x (8 hours) = 5400 kBytes = 5.4 MBytes. At this rate, a 20  
MByte PC Card could hold approximately 30 hours of data.  
Based on the values in Table 6, one can calculate how much data is generated in one hour if the RGED and PRTKB logs  
are collected every 15 seconds. This is the typical data-logging rate for static survey (post-processing) applications. The  
cells of Table 8 reflect the memory consumption, in kilobytes per hour, for scenarios of 6, 9, or 12 satellites in view.  
Table 8: Memory Consumption Typical Case for Static Survey (15 Second Rate)  
L1-only  
L1 & L2  
Single-point Single-point or Differential  
Observations Observations & Positions  
Single-point  
Single-point or Differential  
Observations  
(kBytes/hour)  
Observations & Positions  
(kBytes/hour)  
(kBytes/hour)  
(kBytes/hour)  
6 SV  
9 SV  
34  
48  
62  
63  
77  
91  
62  
90  
91  
119  
147  
12 SV  
118  
The following relationship, based on Table 8, yields an estimate of the data storage requirements for a typical data-  
recording session intended for post-processing:  
Minimum file size (in kilobytes) (kilobytes per hour) x (number of hours)  
Example from Table 8:  
You wish to record differential observations and positions, once every 15 seconds, for 8 hours, with 9 satellites visible,  
during L1/L2 operation. The file size will be no less than (119 kBytes/hour) x (8 hours) = 952 kBytes 0.9 MBytes. At  
this rate, a 20 MByte PC Card could hold approximately 177 hours of data.  
ERRORS  
The data logging mechanism is designed to be robust and to endure power interruptions (and similar disruptive events)  
with minimum loss of data. In these situations, less than 5 minutes of data (prior to the disruptive event) are lost. To the  
extent possible, error messages (see the description on MSGA log on page 75) attempt to describe the problem.  
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4 - Firmware Upgrades & Updates  
4 - FIRMWARE UPGRADES & UPDATES  
The DL includes two distinct processors in its enclosure:  
a GPS receiver (MiLLennium GPSCard)  
an integrated power supply and data controller (PDC card)  
Each of these components has its own microprocessor, and each microprocessor has its own firmware (program  
software), which is stored in non-volatile memory. What makes one DL model different from another is software, not  
hardware. This unique feature means that upgrading the firmware is equivalent to getting a DL with an entirely different  
set of features! This can be done anytime, anywhere, without any mechanical procedures whatsoever. New firmware can  
be transferred to the DL through a serial port, immediately making the unit ready for operation at a higher level of  
performance. This also prevents rapid obsolescence.  
The first step in upgrading your receiver is to contact your dealer or NovAtel Customer Service as described in Customer  
Service, Page 8. When you call, be sure to have available your DL model numbers, serial numbers, and program revision  
levels. You can obtain this information by generating HDRA and PSNA logs.  
After establishing which new model/revision level would best suit your needs, and having discussed the terms and  
conditions, your dealer or NovAtel Customer Service will issue to you the authorization code (auth-code) which is  
required to unlock the desired new features.  
The following sections will assist you in this procedure. Go to the appropriate section, depending on whether you are  
dealing with the GPS receiver or the PDC card.  
UPGRADE OR UPDATE THE MILLENNIUM GPSCARD  
There are two procedures to choose from, depending on the type of upgrade/update you require:  
1. If you are upgrading to a higher performance model at the same firmware revision level (e.g. upgrading from a  
MiLLennium Standard rev. 4.50, to a MiLLennium RT-2 rev. 4.50), you can use the $AUTH special command.  
2. If you are updating to a higher firmware revision level of the same model (e.g. updating a MiLLennium Standard  
rev. 4.50 to a higher revision level of the same model), you need to transfer new program firmware to the  
MiLLennium using the Loader utility program. As the Loader and update programs are generally provided in a  
compressed file format, you will also be given a file decompression password. The Loader and update files can be  
found on NovAtels FTP site, or can be sent to you on floppy disk or by e-mail.  
These procedures are described more completely in this chapter.  
UPGRADING USING THE $AUTH COMMAND  
The $AUTH command is a special input command which authorizes the enabling or unlocking of the various model  
features. Use this command when upgrading to a higher performance MiLLennium model available within the same  
revision level as your current model (e.g., upgrading from a MiLLennium Standard rev. 4.50, to a MiLLennium RT-2  
rev. 4.50). This command only functions in conjunction with a valid auth-code.  
The upgrade can be performed directly from Loaders built-in terminal emulator, or any other communications software.  
The procedure is as follows:  
1) Turn on the DL and establish communications over a serial port (see Communications with the DL, Page 28)  
2) Issue the VERSION command to verify the current firmware model number, revision level, and serial number.  
3) Issue the $AUTH command, followed by the auth-code and model type. The syntax is as follows:  
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4 - Firmware Upgrades & Updates  
Syntax:  
$AUTH auth-code  
where  
$AUTH  
is a special command that allows program model upgrades  
auth-code  
is the upgrade authorization code, expressed as hhhh,hhhh,hhhh,hhhh,hhhh,model# where the  
h characters are an ASCII hexadecimal code, and the model# would be ASCII text  
Example:  
$auth 17cb,29af,3d74,01ec,fd34,millenrt2  
Once the $AUTH command has been executed, the MiLLennium resets itself. Issuing the VERSION command produces  
a response confirming the new upgrade models type and version number.  
UPDATING USING THE LOADERUTILITY  
Loader is required (instead of the $AUTH command) when updating previously released firmware with a newer version  
of program and model firmware (e.g., updating a MiLLennium Standard rev. 4.50 to a higher revision level of the same  
model). Loader is a DOS utility program designed to facilitate program and model updates. Once Loader is installed and  
running, it allows you to select a host PC serial port, bit rate, directory path, and file name of the new program firmware  
to be transferred to the MiLLennium.  
Acquire Firmware Files  
You must first acquire the latest firmware revision, which comes as a file with a name such as OEMXYZ.EXE (where  
XYZ is the firmware revision level). This file is available from NovAtels FTP site (ftp.novatel.ca), or via e-mail  
([email protected]). Alternately, the file can be mailed to you on floppy disk.  
At least 1 MB of space should be available on the PCs hard drive. For convenience, you may wish to copy this file to a  
GPS sub-directory (e.g., C:\GPS\LOADER).  
The file is available in a compressed format with password protection; you will receive the required password. After  
copying the file to your computer, it must be decompressed. The syntax for decompression is as follows:  
Syntax:  
filename -s[password]  
where  
filename  
-s  
is the name of the compressed file (but not including the .EXE extension)  
is the password command switch  
password  
is the password required allowing decompression  
Example:  
oem442 -s12345678  
The self-extracting archive then generates the following files:  
LOADER.EXE  
LOADER.TXT  
XYZ.BIN  
Loader utility program  
Instructions on how to use the Loader utility  
Firmware version update file, where XYZ = program version level (e.g. 442.BIN)  
Run Loader”  
The Loader utility can operate from any DOS directory or drive on your PC. The program is comprised of three parts:  
Program Card (authorization procedure), Setup (communications configuration) and Terminal (terminal emulator). The  
choices on the main screen are shown in Figure 9 below:  
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Figure 9: LOADER Options  
If you are running Loader for the first time, be sure to access the Setup menu (step 3 below) before proceeding to  
Program Card (step 4 below); otherwise, you can go directly from step 2 below to step 4. The procedure is as follows:  
1. Turn off the DL.  
2. Start the Loader program.  
3. From the main menu screen, select Setup to configure the PC serial port over which communication is to occur  
(default: COM1), and the data transfer rates for both programming (default: 115 200 bits per second) and terminal  
emulation (default: 9600 bps). To minimize the time required, select the highest serial bit rate your PC can reliably  
support. Loader verifies and saves your selections in a file named LOADER.SET, then returns to the main menu  
screen.  
4. From the main screen, select Program Card.  
5. Select the disk drive (e.g., A, B, C, D) in which the update file (e.g. 442.BIN) is located. Select the path where the  
update program file is located (e.g., C:\GPS\LOADER); the directory from which you started Loader is the default  
path. Select the required update file (e.g. 442.BIN).  
6. At the prompt, enter your update auth-code (e.g. 17b2,32df,6ba0,92b5,e5b9,millenrt2).  
7. When prompted by the program, turn on the DL. Loader automatically establishes communications with the DL.  
The time required to transfer the new program data depends on the bit rate which was selected earlier.  
8. When the transfer is complete, use the terminal emulator in Loader (select Terminal), or any other one, to issue  
the VERSION command; the response serves to verify your new program version number. When using the terminal  
emulator in Loader, a prompt does not initially appear; you need to enter the command first, which then produces a  
response, after which a prompt appears.  
9. Exit Loader (select Quit).  
This completes the procedure required for field-updating a MiLLennium.  
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4 - Firmware Upgrades & Updates  
UPGRADE OR UPDATE THE PDC CARD  
Ensure your PC and DL are properly connected, see Setting Up At The Office, Page 15. The serial data cable should go  
from any COM port on the PC to COM2 on the DL. Have all power cables in place but do not turn on the DL just yet.  
Power the DL using the AC adapter. Do not use batteries, as power interruptions during the process may damage the DL,  
see the warning below.  
Execute PDCLOAD.exe in Windows. A PDC Loader dialog will appear. Click on the Browse button to bring up a file  
browser in order to locate the update/upgrade file to be downloaded to the DLs PDC card.  
Once the appropriate file has been selected, check your COM setup by clicking on the Com Setup button. Choose the  
COM port and then the highest baud rate that your PC and DL can handle. Click OK.  
Turn on the DL. As soon as the Power indicator light on the front of the DL becomes red, click once on the Write Flash  
button in the PDC Loader dialog on your PC.  
A progress bar will appear in the PDC Loader dialog, shown above. The display box in this dialog will show a list of  
what is happening as it happens. If you wish to see more information, click on the View Stats button. When Loader is  
finished the last line will tell you whether or not the download was successful.  
Please contact your local NovAtel dealer or NovAtel Customer Service, see CUSTOMER SERVICE, Page 8, for more  
information on how to upgrade or update the PDC card in your DL.  
WARNING: Do not turn off power to the DL or PC until this process is completed. If you do turn off power  
before Loader is finished, the DL may have to be returned to NovAtel for repair.  
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Appendix A DL Drawings  
APPENDIX A - DL DRAWINGS  
Figure 10: Views  
117.45  
SECTION  
A-A  
82.1  
130.0  
252.2  
A
All dimensions are expressed as millimeters.  
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Appendix B DL Specifications  
APPENDIX B - DL SPECIFICATIONS  
PHYSICAL  
Size  
245 mm x 130 mm x 59 mm  
Description of Enclosure  
The enclosure is constructed of extruded anodized aluminum. It is sealed by two  
end-caps, made of molded ABS plastic. The entire unit is closed with five  
mounting screws. An access cover on the front end-cap allows the insertion and  
removal of PC Cards. Seals are made of electrically conductive rubber.  
Weight  
1.5 kg  
ENVIRONMENTAL  
-40° C to +55° C  
Operating Temperature  
Storage Temperature  
Resistance Characteristics  
Humidity  
-40°C to +85°C  
Dust and water resistant  
5% to 95% RH (non-condensing) at +40°C  
Altitude  
Sea level to 5,000 m [may operate above 5,000 m in a controlled environment,  
however is not certified as such.]  
VIBRATION (Random Profile)  
The DL can acquire and track satellites while undergoing vibration levels as shown below. It assumes that C/No > 45  
dB-Hz and that the DL is in high-dynamics mode. Assuming appropriate mounting, the DL conforms to random  
vibration templates for RTCA/DO-160C, Section 8.6.2 (Curve C template), MIL-STD-202F, Test Condition I (Letter A  
nominal template), and ASAE EP455, Section 5.15.1 nominal template; contact your dealer or NovAtel Customer  
Service for information on the effect of the mounting bracket.  
Frequency  
< 10 Hz  
10 Hz  
40 Hz  
0.02  
1000 Hz  
0.02  
2000 Hz  
0.005  
> 2000 Hz  
Magnitude (g2/Hz) + 80 dB/decade  
0.00125  
- 80 dB/decade  
ACCELERATION (DYNAMICS)  
Acceleration  
6g maximum (sustained tracking)  
POWER REQUIREMENTS  
Voltage  
Power  
+10.7 to +18 V DC  
11 W (typical while logging), 0.25 W (sleep mode)  
PERIPHERAL POWER OUTPUT  
supplied voltage  
Voltage  
Current  
2 A (internal fuse), non-user replaceable  
POWER MANAGEMENT  
If the DL is connected to two batteries, it begins using the one with the higher voltage across its terminals. When this  
voltage drops to 10.7 V DC, the Power indicator color changes from green to amber. When the voltage drops below  
10.0 V DC, the battery is unusable; the Power indicator color changes from amber to red, and the DL switches to the  
second battery (if available). Once battery reserves are depleted, the DL shuts itself off.  
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Appendix B DL Specifications  
REAL-TIME CLOCK  
A real-time internal clock allows the DL to go into low-power sleep modebetween scheduled data-collection  
sessions. When the DL is turned on, this clock is initialized using the GPS time reference, and will indefinitely maintain  
an accuracy of +1 second and a resolution of 1 second. When the DL is turned off, the clock begins to drift. To  
compensate for this drift, the DL emerges from sleep mode in advance of the next scheduled data-collection session  
in order to re-initialize itself.  
PERFORMANCE (Subject To GPS System Characteristics)  
1575.42 MHz (L1) & 1227.60 MHz (L2)  
Frequency  
Codes tracked  
Channels  
C/A & P codes  
12 L1/L2 channel pairs, or 12 L1-only (depending on model)  
100 s (95% probability)  
Time to First Fix  
70 s typical (cold start: no initial time or almanac)  
Re-acquisition  
L1: 3 s typical  
L2: 10 s typical  
Computed Data Update Rate  
Measured Data Update Rate  
Position Accuracy  
5 solutions per second  
10 data records per second  
Stand-alone:  
40 m CEP (SA on, GDOP < 2)  
Differential:  
Without choke ring, GDOP < 4  
CEP < 1.25 m  
With choke ring, GDOP < 4  
CEP < 0.75 m  
SEP < 1.85 m  
SEP < 1.00 m  
RT-2 differential:  
2 cm ± 1 ppm baseline CEP  
L1/L2 post-processing differential:  
2 cm ± 1 ppm baseline CEP  
Position Latency  
175 ms  
Pseudorange Code  
Measurement Accuracy  
C/A code phase = 10 cm RMS with C/N > 42.0 dB-Hz  
o
P code phase = 40 cm RMS with C/N > 36.0 dB-Hz  
o
Velocity Accuracy  
0.03 m/s nominal (differential);  
0.20 m/s nominal (single point)  
Single Channel Carrier Phase  
Measurement Accuracy  
L1 carrier phase = 3 mm RMS, C/N > 42.0 dB-Hz  
o
L2 carrier phase = 5 mm RMS, C/N > 36.0 dB-Hz  
o
Differential Channel Carrier  
Phase Measurement Accuracy  
L1 carrier phase = 0.75 mm RMS, 1 s smoothed, C/N > 42.0 dB-Hz  
o
L2 carrier phase = 4.0 mm RMS, 1 s smoothed, C/N > 36.0 dB-Hz  
o
The RT-20 system uses pseudorange and carrier-phase double differencing to  
provide nominal 20-cm accuracy (CEP) after 5 minutes of continuous lock (in  
static mode, on a 100 m baseline). After an additional period of continuous  
tracking (from 10 to 20 minutes), the system reaches steady state and position  
accuracies in the order of 3 to 4 cm are typical. The time to steady state is about  
3 times longer in kinematic mode. These double-difference accuracies are based  
on PDOP < 2 and continuous tracking of at least 5 satellites (6 preferred) at  
elevations of at least 11.5°. All accuracy values refer to horizontal RMS error,  
and are based on low-latency positions. The level of position accuracy at any  
time will be reflected in the standard deviations output with the position.  
RT-20  
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Appendix B DL Specifications  
PERFORMANCE (Subject To GPS System Characteristics)  
RT-2  
Pseudorange & carrier-phase double differencing (fixed < 2 cm RMS accuracies  
with RTK carrier-phase positioning). Conditions: <10 km baseline length; 6  
satellites at an elevation > 12°; after 2 minutes convergence; with choke-ring  
ground plane at base station.  
Time Accuracy (relative)  
Height Limit  
250 ns (SA on) does not include delays due to cable on RF section  
Up to 18,288 m (60,000 feet), in accordance with export licensing  
Up to 515 m/s (1000 Nmi/hr), in accordance with export licensing  
Velocity Limit  
RF INPUT / LNA POWER OUTPUT  
Standard 50 TNC female type  
Connector on DL  
RF Input  
1575.42 MHz, 1227.60 MHz  
4.25 - 5.25 V DC @ 0 - 90 mA. Note: if the antenna draws current above this  
limit, power to the antenna is disabled and the antenna self-test status flag is set  
to zero. Refer to the documentation for the RVSA log for more information.  
Power Output to LNA  
INPUT/OUTPUT DATA INTERFACE  
Bit rates: 300, 1200, 4800, 9600, 19200, 57600, 115200 bps (9600 bps default)  
Dual RS-232C Serial  
Signals supported  
Electrical format  
TX, RX, RTS, CTS, DTR, DSR, DCD  
EIA RS232C Standard  
INPUT/OUTPUT STROBES  
A programmable variable frequency output ranging from 0 - 5 MHz (refer to  
FREQUENCY_OUT command), with pulse width = 1 ms. This is a normally high,  
active low pulse. There may be as much as 50 ns jitter on this signal.  
A one-pulse-per-second time synchronization output. This is a normally high,  
active low pulse (1 ms ± 50 ns) where the falling edge is the reference.  
4 pulses-per-second output, normally high, active low where the pulse width is 1  
ms. The falling edge is the receiver measurement strobe.  
VARF Output  
PPS Output  
Measure Output  
An input mark (negative pulse > 55 ns), time tags output log data to the time of  
the falling edge of the mark input pulse (refer to LOG command syntax –  
ONMARK).  
Mark Input  
Indicates a valid GPS position solution is available. A high level indicates a valid  
solution or that the FIX POSITION command has been set.  
Status Output  
The electrical specifications of the strobe signals are as follows:  
Output  
Voltage:  
Standard TTL levels  
64 mA  
Sink Current:  
Source Current:  
Voltage:  
15 mA  
Input  
Standard TTL levels  
5 mA  
Current:  
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Appendix C PC Card Specifications  
APPENDIX C - PC CARD SPECIFICATIONS  
PC CARD SOCKET  
The socket on the DL accommodates one Type II or Type III PC Card. The socket specification conforms to the PC Card  
Standard release 2.1+, except that 12 V operation and programming is not supported. Only 3.3 V and 5 V operation and  
programming are supported.  
PC CARD  
The memory card socket is compatible with a Type II PC Card ATA mass storage card, and has been tested with 4 MB,  
20 MB, 40 MB and 85 MB PC Cards. Please contact your local NovAtel dealer, or the NovAtel Customer Service  
Department (see  
CUSTOMER SERVICE on Page 8), for a list of supported PC Cards. You can also obtain memory cards directly from  
NovAtel, please see Appendix H - Replacement Parts on Page 87.  
An industrial temperature grade PC Card is recommended for operation within the full DL operating temperature range.  
More information is also available from your local NovAtel dealer, or the NovAtel Customer Service Department.  
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Appendix D Port & Cable Pinouts  
APPENDIX D - PORT & CABLE PINOUTS  
POWER  
POWER CONNECTOR  
The power connector on the DL is a LEMO HGM.0B.304.CLAP, with the pins assigned as shown in the following table.  
The two possible independent power sources are designated A and B:  
Table 9: Power Connector Pin Assignment  
Battery A  
Battery B  
Pin  
1
Description  
Pin  
Description  
Negative Supply A Input  
Positive Supply A Input  
3
Positive Supply B Input  
Negative Supply B Input  
2
4
POWER CABLES  
Figure 10: Power Cables  
6
7
4 (-)  
1 (-)  
7
7
10  
3 (+)  
2 (+)  
1
2
3
4
-
+
+
-
11  
5
12  
13  
9
7
8
15  
14  
7
8
14  
Reference  
Description  
Reference Description  
1
2
3
4
5
6
7
8
Brown (GND)  
9
10  
Optional power cable (33.5 cm or 75 cm)  
Automotive cigarette-lighter adapter  
with 3-amp slow-blow fuse  
Auto-ranging AC/DC converter/battery charger  
AC socket  
AC plug  
Battery  
Orange (+10.7 to +18 V DC)  
Red (+10.7 to +18 V DC)  
Black (GND)  
4 conductor cable  
Red marker at top of connector  
Female LEMO plug  
11  
12  
13  
14  
15  
Male LEMO socket  
Optional Y cable  
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Appendix D Port & Cable Pinouts  
DATA COMMUNICATIONS  
SERIAL PORT CONNECTORS  
The two serial ports (COM1 and COM2) on the DL use LEMO EEG.IK.310.CLN sockets, with the pins assigned as  
given in Table 10: COM2 Serial Port - Connector Pin Assignment and Table 11: COM1 Serial Port - Connector Pin  
Assignment:  
Table 10: COM2 Serial Port - Connector Pin Assignment  
Pin  
Name  
DCD  
Description  
Data Carrier Detect input  
1
2
3
4
5
6
7
8
9
RXD  
TXD  
GND  
GND  
-
Receive Data input  
Transmit Data output  
Battery return  
Signal ground  
No Connection  
Ready to Send output  
Clear to Send input  
Battery  
RTS  
CTS  
BAT  
N/C  
10  
N/C  
Table 11: COM1 Serial Port - Connector Pin Assignment  
Pin Name Description  
DCD Data Carrier Detect input  
1
2
RXD  
TXD  
DTR  
GND  
DSR  
RTS  
CTS  
NULL  
N/C  
Receive Data input  
Transmit Data output  
Data Terminal ready  
Signal ground  
3
4
5
6
Data Set ready  
Ready to Send output  
Clear to Send input  
NULL  
7
8
9
10  
N/C  
42  
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Appendix D Port & Cable Pinouts  
STRAIGHT SERIAL CABLE  
Figure 11: Straight Serial Cable - Illustration  
Reference  
Description  
Brown  
Black  
Reference Description  
1
2
3
4
5
6
7
8
9
Violet  
Grey  
Red  
10 White  
Orange  
Yellow  
Green  
Blue  
11 Red marker at top of connector  
12 Male LEMO 10-pin plug  
13 DE9P (male)  
14 10-conductor cable  
Table 12: Straight Serial Cable - Pin Assignment  
LEMO Pin No.  
RS232C Signal  
RS232C Signal  
COM2  
Wire Color Code  
DE9P Pin No.  
COM1  
DCD  
RXD  
TXD  
Pin 1  
Pin 2  
Pin 3  
Pin 4  
Pin 5  
Pin 6  
Pin 7  
Pin 8  
Pin 9  
Pin 10  
DCD  
RXD  
TXD  
GND  
GND  
DSR  
RTS  
CTS  
BAT  
Brown  
Black  
Pin 1  
Pin 2  
Pin 3  
Pin 4  
Pin 5  
Pin 6  
Pin 7  
Pin 8  
Pin 9  
Red  
DTR  
GND  
DSR  
RTS  
Orange  
Yellow  
Green  
Blue  
CTS  
Violet  
NULL  
Grey  
White (Not used)  
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Appendix D Port & Cable Pinouts  
NULL-MODEM SERIAL CABLE  
Figure 12: Null-Modem Serial Cable - Illustration  
Reference  
Description  
Brown  
Black  
Reference Description  
1
2
3
4
5
6
7
8
9
Violet  
Grey  
Red  
10 White  
Orange  
Yellow  
Green  
Blue  
11 Red marker at top of connector  
12 Male LEMO 10 pin plug  
13 DE9S (female)  
14 10-conductor cable  
Table 13: Null-Modem Cable - Pin Assignment  
LEMO Pin No. RS232C Signal  
COM1  
RS232C Signal  
COM2  
Wire Color Code  
DE9S Pin No.  
Pin 1  
Pin 2  
Pin 3  
Pin 4  
Pin 5  
Pin 6  
Pin 7  
Pin 8  
Pin 9  
Pin 10  
DCD  
RXD  
TXD  
DCD  
RXD  
TXD  
GND  
GND  
DSR  
RTS  
CTS  
BAT  
Brown  
Black  
Pin 4  
Pin 3  
Red  
Pin 2  
DTR  
GND  
DSR  
RTS  
Orange  
Yellow  
Pin 6  
Pin 5  
Green  
Pin 4  
Blue  
Pin 8  
Pin 7  
CTS  
Violet  
NULL  
Grey  
Pin 9  
White (Not used)  
Pin 1 jumpered to Pin 6  
44  
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Appendix D Port & Cable Pinouts  
INPUT / OUTPUT  
I/O CONNECTOR  
The input/output (I/O) port on the DL uses a LEMO EEG.1K.308.CLN double-keyed socket, with the pins assigned as  
given in the following table:  
Table 14: I/O Connector Pin Assignment  
Pin  
Name  
VARF  
Description  
1
Variable frequency output: a user-programmable, variable-frequency sequence of pulses  
2
1PPS  
Pulse per second output: a 1 ms pulse repeating at a 1 Hz rate that is used to synchronize  
the board with external devices.  
3
4
MSR  
MKI  
Measure Output  
Mark input: this signal provides a time tag to the signal processors, which respond to a  
falling edge of the signal provided from an external device. It can be enabled by the user  
to provide a precise time and data output event.  
5
STATUS  
Status output: an output that changes logic states when a valid GPS position is obtained  
by the GPSCard  
6
7
8
GND  
GND  
GND  
Signal ground  
Signal ground  
Signal ground  
I/O CABLE  
Figure 13: I/O Cable - Illustration  
Reference  
Description  
Reference  
Description  
1
2
3
4
5
6
Brown  
Black  
Red  
Orange  
Yellow  
Green  
7
8
9
10  
11  
Blue  
White  
8 conductor cable  
Female LEMO 8-pin plug  
Red marker at top of connector  
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Appendix D Port & Cable Pinouts  
Table 15: I/O Cable Pin Assignment  
LEMO Pin  
Number  
Pin Description  
Wire Color Code  
Pin 1  
Pin 2  
Pin 3  
Pin 4  
Pin 5  
Pin 6  
Pin 7  
Pin 8  
VARF, variable frequency  
1 PPS, one pulse per second  
MSR, measure output  
MKI, mark input  
Brown  
Black  
Red  
Orange  
Yellow  
Green  
Blue  
STATUS , valid solutions available  
GND  
GND  
GND  
White  
Y CABLE  
5
5
5
Reference  
Description  
1
2
3
4
5
Brown  
Orange  
Red  
Black  
Female LEMO Plug  
(-ve)  
(+ve)  
(+ve)  
(-ve)  
1
2
3
4
1
2
3
4
1
2
3
4
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Appendix E DL Commands  
APPENDIX E - DL COMMANDS  
The DL firmware implements the following commands in addition to the MiLLennium GPSCard command set.  
Command Description  
battery Control battery source  
del  
Remove stored logs from memory  
Display stored log summary information  
Transfer stored logs to host  
dir  
dump  
group  
loggroup  
mets  
Modify log group definitions  
Manual group logging control  
Enter meteorological information  
Logs PDC parameters, PDC factory reset  
Default operation mode control  
Project-related parameters  
pdc  
powerup  
project  
psn  
Retrieve system serial numbers  
Retrieve PDC serial, version and model numbers  
Rename a file stored in PC Card module  
Modify the logging schedule  
pversion  
rename  
schedule  
site  
Site record interface  
sleep  
status  
vout  
Enable low-power mode  
Return system status information  
Control peripheral power output  
Write data to a specified file on the PC Card  
write  
The arguments to each of these commands are described in the following sections.  
For a complete listing and description of the other commands that the DL is capable of processing, please consult the  
MiLLennium GPSCard Command Descriptions Manual.  
NOTE: At the command prompt, type <HELP> or <help> to get online help about the various commands.  
SYNTAX CONVENTIONS  
The following rules apply when entering commands, at the command prompt, from a keyboard.  
1. The commands are not case sensitive. For example, you could type either <BATTERY A> or <battery a>.  
2. Except where noted, either a space or a comma can separate commands and their required entries. For example, you  
could type either <group del alpha p20a> or <group,del,alpha,p20a>.  
3. At the end of a command, a carriage return is required. For example, press <Enter> or <Return>.  
4. Most command entries do not provide a response to the entered command. There are exceptions to this statement,  
for example the VERSION and HELP commands. Otherwise, successful entry of a command is verified by receipt  
of the serial port prompt (i.e. COM1> or COM2>).  
5. Optional parameters are indicated by square brackets.  
6. Courier fontis used to illustrate program output or user input.  
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Appendix E DL Commands  
BATTERY  
This command allows you to select the power source for the system and display battery status. For example, you can  
override the DLs method of selecting the active battery, when two batteries are connected. To do this the desired battery  
identifier (A or B) must be specified in the command. Also see Table 9: Power Connector Pin Assignment, Page 41.  
Syntax:  
[option]  
BATTERY  
Command  
BATTERY  
Option  
Description  
-
Command  
option  
(none)  
If no battery is specified, the status of the currently selected  
battery is displayed via a BATA log.  
a
b
Select power source A.  
Select power source B.  
Examples:  
battery  
battery b  
DEL  
This command removes one or more files from the list of stored files on the PC Card. The space occupied by the  
referenced file(s) is made available for future logging sessions. This operation is irreversible.  
Syntax:  
option  
Option  
DEL  
Command  
DEL  
Description  
-
Command  
option  
filename  
This command removes the named file entry from the list of stored log  
files. If the specified file is currently open for logging, access will be  
denied.  
ALL  
This command removes all file entries from the log storage memory. Even  
in the case where a file named allexists, this command still removes all  
file entries. This command will fail if a log file is open.  
Examples:  
del 31240201.pdc  
del all  
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Appendix E DL Commands  
DIR  
This command either displays a list of stored files on the PC Card, or the file header information for the specified log file.  
It also displays additional group information when it has been supplied as part of a group definition.  
Syntax:  
[option]  
DIR  
Command  
DIR  
Option  
Description  
-
Command  
option  
(none)  
If no filename is specified, this command displays a list of stored files  
using the DIRA log. The final entry returned by this command displays  
the logging memory available as the size of a file named FREEMEM.  
filename  
When invoked with a filename argument, this command displays the  
file header information for the specified log file using a HDRA log  
followed by a GRPA log or a GROUPA log if the group contains  
information which cannot be displayed with the GRPA log. Finally a  
PROJECTA log is displayed if project information has been given using  
the PROJECT command. An error message is displayed if the file  
does not exist.  
Examples:  
dir  
dir 31240201.pdc  
DUMP  
This command displays the contents of the named file. Header information precedes the actual logged data.  
Syntax:  
DUMP filename  
Example:  
dump 31240201.pdc  
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Appendix E DL Commands  
GROUP  
This command is used to maintain a set of log specifiers that would normally be used together in a specific scenario, e.g.  
for base-station logging. Up to ten groups can be defined. The group name can be up to nine characters in length. If a  
group named POWERUPis defined, this groups log specification is executed when the DL determines what time it is,  
after the DL is turned on. In that case, any other scheduled activity would be excluded.  
There are four major syntactical forms, as shown below.  
Syntax 1:  
This command is used to display information about one or more existing groups.  
[option]  
Option  
GROUP  
Command  
GROUP  
option  
Description  
-
Command  
(none)  
Entered without arguments, this command displays the current groups as  
a set of GRPA logs, followed by MSGA with Code=3001, Error=CMDFAIL,  
SubCode=1001, SubCodeMsg=ENDGRPLIST.  
group name  
If a valid group name (e.g. alpha) is given as an argument, only that log  
group is displayed. The display is as described above.  
Examples:  
group  
group alpha  
NOTE: Use the PDC log, GROUPA/B, which contains extended group information that the GRPA/B log does not.  
Syntax 2:  
These commands are used to create and configure groups. Groups that are added are automatically saved to non-volatile  
memory. If ten groups already exist, an error message is returned.  
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Appendix E DL Commands  
groupname [arguments & data]  
GROUP ADD  
Command  
Option  
Description  
Default  
GROUP ADD  
groupname  
-
Command  
group name  
The name of a group (e.g. alpha) which is either being created or  
modified  
arguments & logname,trigger,  
Add or change a log directive within a group by means of these  
fields, which are interpreted exactly as stated in the MiLLennium  
GPSCard Command Descriptions Manual except for destination  
override which may be a specified file as well as COM1 or COM2,  
see the Destination Override section following this table. Commas  
must be used; here, spaces are not acceptable. If the log trigger  
does not require a rate (such as ONCE or ONCHANGED), then  
zero (0) must be used as the rate. Offset log times are not  
data  
period,  
destination override  
supported. A group can support a maximum of ten log directives.  
ECUTOFF,value  
POS, option  
The parameter ECUTOFF (elevation cut-off, in degrees) is entered  
by specifying the appropriate optional argument and a value. This  
value is sent to the GPS receiver at the start of the groups logging  
session.  
The options are:  
FIX lat,lon,hgt [,stnid[,stnhlth]] for a fixed position  
or  
AVE maxtime,maxhor,maxver for position averaging  
See the POS notes following this table.  
The options are STATIC or KINEMATIC  
MODE, option  
STATIC  
Specifying KINEMATIC disables autogeneration of site records on  
opening a log file. Specifying STATIC results in site records being  
autogenerated every time a log file is opened (if it is not already at  
a site). The current mode can be viewed in the GROUPA/B log and  
is indicated by the GROUP_ST_KINEMATIC bit in the GroupStatus  
field.  
SATLIMIT,value  
You can specify the minimum number of satellites desired while  
logging any of the following logs: RGEA/B/D, MKPA/B, POSA/B,  
PRTKA/B, PXYA/B, RTKA/B or SPHA/B, by entering this optional  
argument and a value. Logging of these logs is suspended if less  
than the required number of satellites are being used in the position  
solution. This value is different from the minsatsfield in the  
header log (HDRA), which describes the minimum number of  
satellites used in the positions solution for any of these logs  
actually recorded in a log file.  
ASN,value  
Enter the antenna serial number by specifying this optional  
argument and a value of up to 16 alphanumeric characters. It is  
stored for information purposes only and is not used further.  
ATYPE,value  
AHEIGHT,value  
Enter the antenna type by specifying this optional argument and a  
value of up to 16 alphanumeric characters. It is stored for  
information purposes only and is not used further.  
Enter the nominal antenna height (in meters) by specifying this  
optional argument and a value. It is stored for information  
purposes only and is not used further.  
Note: The GROUP command lists the group table information as a series of GRPA logs, which do not include the extended group information. Extended group  
information can be viewed by issuing a PDC LOG GROUPA command.  
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Appendix E DL Commands  
Examples:  
group add alpha  
group add alpha com1,p20a,ontime,5  
group add alpha ecutoff,3  
group add alpha satlimit,6  
group add alpha asn,25674337  
group add alpha atype,502NK  
group add alpha aheight,1.67  
DESTINATION OVERRIDE  
GROUP ADD groupname logname,trigger,period,[com1][,com2][,file]  
The following destination override information should be noted for the above command syntax:  
If the destination override (COM1, COM2 or FILE) is not specified by the scheduler or by using the  
LOGGROUP command, the logname specified is sent to the default destination. The default destination  
override is a log file destination for a scheduled or POWERUP session and a user-specified destination for  
a LOGGROUP session.  
If only the FILE destination override is specified, then the log specification will only be used if the default  
destination is also FILE. In other words, a manual logging session with a COM-port destination will  
ignore all log specifications for which the destination override is specified only as FILE.  
If the destination override is specified as either COM1 or COM2, the log specification will only be used if  
no other session for which the default destination is COM1 or COM2, respectively, is in progress at the  
instant the group is executed. This is only relevant if more than one LOGGROUP sessions are in progress  
at the same time.  
Previous logging to the default destination is stopped before the beginning of a logging session. Previous  
logging to any useable destination, subject to the above restrictions, as specified in the optional destination  
override in the particular group, is stopped. In other words, any previous logging on the channel is only  
stopped if the group is actually going to use the channel.  
At the end of the logging session, logging is only stopped on the session default destination. In other  
words, log specifications with a port override that differs from the default port are not unlogged at the end  
of the logging session.  
POS NOTES  
GROUP ADD groupname pos fix lat,lon,hgt[,stnid[,stnhlth]]  
GROUP ADD groupname pos ave maxtime,maxhor,maxver  
Either FIX or AVE configurations can be specified in the group but not both.  
Specifying the POS option without any other following arguments cancels any previous POS requests.  
The AVE configuration must have all the options maxtime, maxhor, and maxver specified where hor and  
ver denote horizontal and vertical. If you do not wish to enter maxver or maxver and maxhor, then 0  
(zero) should be entered in these fields instead. It is not possible to enter a non-zero maxver parameter  
without entering a valid maxhor parameter.  
GPS receiver requests are cancelled for position averaging and fixing position on the completion of a  
logging session that includes the POS configuration. In case of multiple simultaneous manual logging  
sessions that include the POS configuration, the parameters from the session that is the last to start is in  
effect for all the sessions. This configuration persists until the last session that includes the POS  
configuration is stopped.  
Syntax 3:  
This function deletes group information from the non-volatile memory. It is possible to remove an entire log group, or  
only an individual log from a group.  
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Appendix E DL Commands  
groupname [log name]  
Description  
GROUP DEL  
Command  
Option  
GROUP DEL  
groupname  
-
Command  
group name  
The name of a group (e.g. alpha) which is either being deleted  
or modified  
log name  
log name  
An individual log, currently an element of the named group,  
which is to be removed from this group  
Examples:  
group del alpha  
group del alpha p20a  
Syntax 4:  
This command is used to delete all group information from the non-volatile memory.  
GROUP CLEAR  
Syntax 5:  
This command is used to copy group information from group groupname_from to group groupname_to. If groupname_to  
already exists, groupname_from overwrites it.  
GROUP COPY groupname_from groupname_to  
LOGGROUP  
This command provides a means of manually specifying immediate logging commands; this command disables scheduled  
operation. Logging can be directed to a specific file, or to a specific serial port. The filename is rejected if it conflicts  
with an existing filename. One of the serial ports may be specified in lieu of a filename, in which case the logs are  
transmitted from the specified port. If no filename or serial port is specified, a file is opened with an auto-generated  
filename and data is logged to it. If a serial port is designated as the destination, no SoftSurv header or HDRA log is  
issued; rather, a GRPA log is issued to give the logging parameters.  
If a filename is specified, the extension .PDC is automatically added. A path cannot be specified; that is, the file is  
created in the default working directory.  
There are two syntactical forms, as shown below:  
Syntax 1:  
The system allows you to select multiple log groups to be active simultaneously, but not to the same port. For example,  
loggroup test testfileand loggroup default com1will result in the testgroup being logged to a file named  
TESTFILE.PDC, and the defaultgroup being logged through the COM1 serial port. However, the commands  
loggroup test com1and loggroup default com1will result in the first loggroup session being cancelled and the second  
started.  
groupname [keyword]  
LOGGROUP  
Option  
Command  
LOGGROUP  
groupname  
keyword  
Description  
-
group name  
filename  
Command  
The name of a group (e.g. alpha) which is to be logged.  
The name of the file (without the .PDC ending) in which data  
will be recorded.  
COM1 or COM2 The serial port to which data will be sent.  
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Appendix E DL Commands  
Examples:  
loggroup alpha  
loggroup alpha test  
loggroup alpha com2  
Syntax 2:  
This form of the command terminates manual logging, allowing scheduled logging to resume. If no argument is given,  
all logging is disabled, and scheduled operation resumes. Note that to disable logging to a file, you would enter  
loggroup disable filewithout mentioning a specific file name. Similarly, to disable logging to a serial port, you would  
enter loggroup disable com1or loggroup disable com2.  
If multiple log groups are active, and subsequently some are disabled individually, scheduled operation resumes when no  
active log groups remain.  
To stop scheduled logging, use the "schedule abort" command that disables logging for the remainder of a scheduled  
event. The next schedule event will then start normally.  
[keyword]  
LOGGROUP DISABLE  
Command  
LOGGROUP  
keyword  
Option  
Description  
-
Command  
FILE  
Enter this word to disable logging to a file. Do not enter a  
specific file name.  
COM1 or COM2 Enter one of these words to disable logging to a serial port.  
Examples:  
loggroup disable  
loggroup disable file  
loggroup disable com1  
METS  
This command is used to control the display and logging of meteorological conditions. Upon receipt of a METS  
command, a META log is inserted into the current log file.  
If the command is issued without any of the optional fields, the 10 most recent meteorological records are displayed  
(most recent first) as a sequence of META logs. If there are fewer than 10 records, a MSGA log containing a CMDFAIL  
message follows the META logs.  
You can also use this command to specify the ambient meteorological conditions. Enter up to 3 of the optional fields in  
any order, provided that the syntax is observed.  
Syntax:  
[temp=degrees] [press=hPa] [humid=percent]  
Option Description  
METS  
Command  
METS  
Default  
-
Command  
temp=  
temperature  
pressure  
Specify ambient temperature, in degrees centigrade  
press=  
Specify ambient barometric pressure, in hectopascals (1 hPa = 1 mbar)  
Specify ambient relative humidity, as a percentage  
humid=  
humidity  
Examples:  
mets  
mets press=996.5  
mets humid=89 temp=28 press=996.5  
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Appendix E DL Commands  
PDC  
The PDC LOG, PDC UNLOG and PDC UNLOGALL commands are used to control logging of PDC parameters to  
either a COM port or to a data file. The behavior of PDC LOG, PDC UNLOG and PDC UNLOGALL commands are  
consistent with the behavior of the Millennium GPSCard LOG, UNLOG and UNLOGALL commands, respectively, with  
the following notes:  
The PDC LOG command is restricted to a maximum log rate of 1Hz, and supports only the ONCE,  
ONTIME and CONTINUOUSLY triggers. A trigger specification of CONTINUOUSLY is equivalent to  
a trigger specification of ONTIME, 1.  
Only selected PDC logs are supported by the pdc command (see datatype in Syntax 1). PDC log structure  
is described on Page 64.  
The PDC FRESET command (Syntax 4) restores the factory configuration of the PDC parameters.  
Syntax 1:  
PDC LOG [destination] datatype [trigger] [period] [offset] {hold}  
Syntax  
PDC LOG  
Description  
Example  
PDC LOG  
COM1  
destination  
datatype  
trigger  
COM1 or COM2 or FILE  
Enter one of the valid ASCII or Binary PDC logs, see Page 64.  
ONTIME [period] [offset], ONCE or CONTINUOUSLY  
Used with the ONTIME trigger (seconds).  
STATUSA  
ONTIME  
60  
period  
offset  
Used with the ONTIME trigger (seconds). It provides the ability to offset the logging  
events. If you wished to log data at 1 second after every minute you would set the  
period to 60 seconds and the offset to 1 second (the default is 0).  
1
hold  
Will prevent a log form being removed when the PDC UNLOGALL command is  
issued.  
Syntax 2:  
This command permits you to remove a specific log request from the system.  
If [destination] is not specified, it is defaulted to the port that the command was received on. This feature eliminates the  
need for you to know which port you are communicating on if you want logs to come back to the same destination you  
sent commands to.  
PDC UNLOG [destination] datatype  
Syntax  
UNLOG  
Range Value  
Description  
-
Command  
destination  
datatype  
COM1, COM2, FILE COMn port or log file from which PDC log originated  
Any valid PDC log The name of the log to be disabled  
Example:  
pdc unlog com1 statusa  
Syntax 3:  
If [destination] is specified (COM1, COM2 or FILE) this command disables all logs on the specified destination only.  
All other ports are unaffected. If [destination] is not specified, this command disables all logs on all ports.  
PDC UNLOGALL [destination]  
Example:  
pdc unlogall  
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Appendix E DL Commands  
Syntax 4:  
This command restores the factory configuration of the PDC parameters and causes the receiver to enter power-down  
mode.  
PDC FRESET  
PROJECT  
The PROJECT command defines project-related parameters and causes the insertion of a PROJECTB log, see Page 78,  
into the header of the log file prior to the start of the logging session. The PROJECT command without any arguments  
causes the output of a PROJECTA log. A project defined using the PROJECT command spans multiple logging sessions,  
until the receipt of a PROJECT CLEAR command.  
Syntax 1:  
Displays the current project as a PROJECTA log.  
[option]  
PROJECT  
Command  
PROJECT  
Option  
Description  
-
Command  
option  
(none)  
Entered without arguments, this command displays the current  
project as a PROJECTA log.  
Examples:  
project  
Syntax 2:  
Cancels the current project. This command does not delete project data from a file that is already open or from  
previously logged files.  
PROJECT CLEAR  
Command  
Option  
Description  
PROJECT CLEAR  
-
Command  
Example:  
project clear  
Syntax 3:  
Defines the current project parameters.  
[project] [agency] [observer]  
PROJECT ADD  
Command  
Option  
Description  
PROJECT ADD  
project  
-
Command  
Project description  
Agency description  
Observer description  
agency  
observer  
Example:  
Project add demo_city company Mr_Smith  
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Appendix E DL Commands  
PSN  
This command displays serial number information by issuing a PSNA log.  
Syntax:  
PSN  
PVERSION  
This command displays PDC serial, version and model numbers by issuing a PDCVERA log.  
Syntax:  
PVERSION  
RENAME  
This command changes the name of a file on a PC Card. Wildcards are not permitted. The files name cannot incorporate  
a file path. The name of an open log file cannot be changed. Refer to File Name Convention, Page 29, for information  
on naming files.  
Syntax:  
old name new name  
RENAME  
Command  
RENAME  
old name  
Option  
Description  
Example  
-
Command  
Specify the existing name of the file, including the extension  
Specify the new name of the file, including the extension  
test.pdc  
i98feb20.pdc  
new name  
Example:  
rename test.pdc i98feb20.pdc  
SCHEDULE  
This command allows you to display the current logging schedule, alter the schedule, delete the schedule, and turn  
scheduled data logging on or off. All day and time specifications are given and interpreted in universal time coordinates  
(UTC). Only one schedule can be active at any time. Schedule entries assign a one-character code to each of seven days,  
as shown in the following table:  
Table 16: Weekday Abbreviations  
Weekday  
Sunday  
d
Monday  
m
Tuesday  
t
Wednesday  
w
Thursday  
r
Friday  
f
Saturday  
s
Abbreviation  
The scheduler operates perpetually; i.e. if an event is scheduled to occur on a Monday, this event is serviced every  
Monday that the system is in operation. See Schedule Logging Operation, Page 29, for more information on this topic. If  
no day-of-week specifier is given, the event occurs every day.  
No file extensions are needed when specifying a file. For user-specified filenames, the first character must be non-  
numeric to avoid conflicts with auto-generated names, which always have a number as the first character. See also File  
Name Convention, Page 29, for more information on this topic.  
There are multiple syntactical forms, as shown following.  
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Appendix E DL Commands  
Syntax 1:  
[keyword]  
Command  
SCHEDULE  
Option  
-
Command  
SCHEDULE  
keyword  
Description  
ABORT  
Terminate a scheduled logging operation prior to its normal completion. The DL then  
resumes normal operation at the completion of the aborted event. For manual logging, see  
the LOGGROUP command, Page 53. This command stores the current data file; thus, all  
data is saved up to the time when the command is issued.  
CLEAR  
Delete the entire schedule table from non-volatile memory. Not reversible.  
DISABLE Temporarily suspend scheduled operation. If scheduled logging is taking place when this  
command is issued, the logging operation is suspended until system control is returned to the  
DL by means of the SCHEDULE ENABLE command, or by restarting the DL.  
ENABLE  
Restore system and logging control to the DL. This command causes the DL to start logging  
as required by the stored schedule events.  
Examples:  
schedule  
schedule abort  
schedule clear  
schedule disable  
schedule enable  
Invoked without optional arguments, this command displays the current logging schedule. The output format is a set of  
SCHA logs, followed by MSGA log with Code=3001, Error=CMDFAIL, SubCode=1002, SubCodeMsg=ENDSCDLIST  
Example:  
Com1> schedule  
SCHA,1,rt_logs,1700,1800*xx[CR][LF]  
SCHA,2,diff_set,mwrf1200,1215*xx[CR][LF]  
SCHA,3,my_data,1400,1530*xx[CR][LF]  
MSGA,3001,CMDFAIL,1002,ENDSCDLIST,,19971105,1325,*66[CR][LF]  
Syntax 2:  
This form of the command allows you to delete a specific schedule entry from non-volatile memory. The entry number  
identifier must be specified. To find the entry number, issue a schedulecommand to get a listing of all entries and their  
respective entry numbers. Once this entry is removed, the remaining schedule entries are renumbered.  
entry  
SCHEDULE DEL  
Command  
Option  
Description  
Default  
SCHEDULE DEL  
entry  
-
Command  
Specify the schedule entry number that you wish removed.  
This is not reversible.  
Example:  
schedule del 4  
Syntax 3:  
This form of the command is used to create additional table entries in the non-volatile memory. The group identifier must  
be a valid log group. The time specification gives the day and time of the week that logging is to take place on; the days  
are abbreviated as indicated in Table 16: Weekday Abbreviations, Page 57.  
The start and end times are specified in 24-hour notation. If the end time is less than the start time, the logging wraps  
over to the next day. All day and time specifications are given and interpreted in universal time coordinates (UTC). Up  
to 7 days can be specified.  
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Appendix E DL Commands  
groupname scheduling [filename]  
SCHEDULE ADD  
Command Option  
Description  
Default  
SCHEDULE ADD  
groupname  
-
Command  
group name  
The name of a group (e.g. alpha) which is being  
modified  
scheduling  
dddddddhhmm,dhhmm  
The start and stop time between which logging is to  
occur. For the start time, enter the day of week (up to  
seven specifiers can be selected), then the hour of the  
day (2-digit number), followed by the minute of the hour  
(2-digit number). After the comma, enter the stop time  
in the same way, except that only one day specifier is  
allowed, for the case where recording starts on one day  
and ends on a subsequent day. If no day-of-week  
specifier is given, the event occurs every day.  
filename  
filename  
The name of the file (without the .PDC extension) in  
which data will be recorded. You can only provide a file  
name when you are scheduling a single data collection  
event; if you are scheduling a series of events, you have  
to accept the DLs auto-generated names. If you specify  
a single recurring event with a named file (e.g. log data  
on Mondays between 1600 and 1700, and place the  
data in file TEST.PDC), the first Monday this would  
occur. If you did nothing, the following Monday a file-  
name conflict would occur; in that case, the DL creates  
a file name whose first character is a tilde (~), followed  
by a 7-digit random number, and a .PDC extension (e.g.  
~9368412.PDC).  
Examples:  
schedule add alpha 1600,1700 i98feb20  
An entry is added to the alphagroup, causing logging to occur every day between the times 1600 to 1700. The  
data is directed to the I98FEB20.PDC file, although the data could have also been directed to a file with an auto-  
generated name.  
schedule add alpha m1600,1700 i98feb20  
An entry is added to the alphagroup, causing logging to occur on Mondays between the times 1600 to 1700.  
The data is directed to the I98FEB20.PDC file, although the data could have also been directed to a file with an  
auto-generated name.  
schedule add alpha m1600,w1700  
An entry is added to the alphagroup, causing logging to occur between 1600 on Mondays and 1700 on  
Wednesdays. The data is directed to a file with an auto-generated name, although a named file is allowable in this  
case.  
schedule add alpha mwf1600,1700  
An entry is added to the alphagroup, causing logging to occur on Mondays, Wednesdays, and Fridays, between  
the times 1600 to 1700. The data is directed to files with auto-generated names; a named file is not allowable in  
this case  
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Appendix E DL Commands  
SITE  
This command is used to control the display and logging of site logs, and to control site information. It causes data fields  
to be recorded in the SITELOGA message.  
Use of the LEAVE option causes the site data to be recorded in the form of a SITELOGB log.  
The FIRSTGPSWEEK and FIRSTGPSSEC fields of the SITELOGB log correspond to the time of the  
first position log (RGEA/B, MKPA/B, POSA/B, POSA/B, PRTKA/B, PSYA/B, RTKA/B or SPHA/B)  
received, with the number of Space Vehicles (SV) used in the position solution greater than zero, between  
the SITE ADD and SITE LEAVE commands. The accuracy of the field is 5 seconds.  
The LASTGPSWEEK and LASTGPSSEC fields of the SITELOGB log correspond to the time of the last  
position log received, with the number of SVs used in the position solution greater than zero, between the  
SITE ADD and SITE LEAVE commands. The accuracy of the field is 5 seconds.  
If no position logs are received, with the number of SVs used in the position solution greater than zero,  
between the SITE ADD and SITE LEAVE commands:  
the FIRSTGPSWEEK, FIRSTGPSSEC, LASTGPSWEEK and LASTGPSSEC fields of  
the SITELOGB log are set to correspond to the times at which the SITE ADD and  
SITE LEAVE commands were issued, respectively,  
the SITE_ST_INVALID bit (0x01) will be set in the flags field of the SITELOGB log  
if a manual SITE LEAVE is being performed (rather than an automatic one), a MSGA  
log with Code = 3001, Error = CMDFAIL, SubCode = 65 and SubCodeMsg = "site  
record marked invalid" are issued to the COM port where the SITE LEAVE  
originated.  
If no position logs are received with the number of SVs used in the position solution greater than zero,  
within 30 (+5) seconds after a SITE ADD, but received before a SITE LEAVE command:  
the SITE_ST_STARTTRUNCATE bit (0x02) is set in the Flags field of the  
SITELOGB log  
if a manual SITE LEAVE is being performed (rather than an automatic one), a MSGA  
log with Code = 3001, Error = CMDFAIL, SubCode = 62 and SubCodeMsg = "site  
start time truncated" are issued to the COM port where the SITE LEAVE originated.  
If no position logs are received with the number of SVs used in the position solution greater than zero,  
within 30 (+5) seconds before a SITE LEAVE but received at some time after a SITE ADD command:  
the SITE_ST_ENDTRUNCATE bit (0x04) is set in the Flags field of the SITELOGB  
log  
if a manual SITE LEAVE is being performed (rather than an automatic one), a MSGA  
log with Code = 3001, Error = CMDFAIL, SubCode = 63 and SubCodeMsg = "site  
leave time truncated" are issued to the COM port where the SITE LEAVE originated.  
If both of the above conditions apply, (i.e. if no position logs are received with the number of SVs used in  
the position solution greater than zero, within 30 (+5) seconds after a SITE ADD but received before a  
SITE LEAVE command and if no position logs are received with the number of SVs used in the position  
solution greater than zero, within 30 (+5) seconds before a SITE LEAVE but received at some time after  
a SITE ADD command):  
both, the SITE_ST_STARTTRUNCATE and SITE_ST_ENDTRUNCATE bits are set  
in the Flags field of the SITELOGB log  
if a manual site leave is being performed (rather than an automatic one), a MSGA log  
with Code = 3001, Error = CMDFAIL, SubCode = 64 and SubCodeMsg = "site start  
and leave times truncated" are issued to the COM port where the site leave originated  
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Appendix E DL Commands  
If no SITE LEAVE or SITE CANCEL command is issued prior to a the completion of a logging session (schedule,  
POWERUP or manual), a SITE LEAVE command is performed automatically once the logging session is complete.  
There are multiple syntactical forms, as shown below:  
Syntax 1:  
[keyword]  
Option  
SITE  
Command  
SITE  
Description  
-
Command  
keyword  
(none)  
This command causes the 10 most recent site records to be displayed (most recent first) as a  
sequence of SITELOGA messages. If there are fewer than 10 logs, a MSGA log containing a  
CMDFAIL message will follow the SITELOGA logs. There is no limit on the number of  
SITELOGA logs entered into a single log file.  
LEAVE  
This command causes the current time to be entered in the site record as the departure time,  
and the site data to be written to the log file. Attempting to perform a SITE ADD when a SITE  
LEAVE command for a previously added site has not been issued, is an error.  
CANCEL This serves to undo the SITE ADD command for the current site, deleting it. This operation is  
not reversible.  
Examples:  
site  
site leave  
site cancel  
Syntax 2:  
This command creates a new site in the system, with a time stamp corresponding to the current time. This command is  
used to announce arrival at a site. DL assigns an identification code to each site; up to 999 sites can be defined, with the  
first one being numbered 1. Specific site information can be entered or updated using the SITE UPDATE command.  
Attempting to perform a SITE ADD when a SITE LEAVE command for a previously-added site has not been issued, is  
an error.  
If no SITE ADD command is issued prior to a logging session (scheduled, POWERUP or manual), a SITE ADD  
command is performed automatically at the beginning of the logging session with the parameters nameand attribute”  
set to the log filename and 0, respectively.  
name attribute [aheight[ameasure]]  
SITE ADD  
Command  
SITE ADD  
name  
Option  
Description  
Default  
-
Command  
Enter a descriptive name (up to 32 alphanumeric characters, no spaces)  
to define the site where data collection occurs.  
attribute  
Enter an integer code (an integer up to 4 digits long, of your choosing)  
that describes this type of site.  
aheight  
(Optional) Enter the antennas height, in meters.  
ameasure  
(Optional) Enter a code (up to 16 alphanumeric characters, no spaces)  
that describes how the antennas height was determined.  
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Appendix E DL Commands  
Examples:  
site add hilltop 4  
site add SW_corner_of_fence 143 1.402 tape_measure  
Syntax 3:  
Specific site information can be entered or updated using this command. You can enter 1 to 4 of the optional fields in any  
order, provided that the syntax is observed. If no value is specified after the =sign of a field, its value is cleared, that is,  
a default value is assigned to it.  
[number=site number] [name=site name]  
[ameasure=mcode] [attrib=attribute]  
SITE UPDATE  
Command  
Option  
Description  
Default  
SITE UPDATE  
number=  
-
Command  
Enter a site number (up to 8 alphanumeric characters, no spaces) to  
identify a set of collected data.  
name=  
Enter a descriptive name (up to 32 alphanumeric characters, no spaces)  
to define the site where data collection occurs.  
aheight=  
Enter the antennas height, in meters.  
ameasure=  
Enter a code (up to 16 alphanumeric characters, no spaces) that  
describes how the antennas height was determined.  
attrib=  
Enter an integer code (an integer up to 4 digits long, of your choosing)  
that describes this type of site.  
Examples:  
site update name=bridge  
site update aheight=1.52 name=NE_corner_of_pier attrib=2  
site update ameasure=502-TRUE number=7ABCD8 aheight=1.203 name=statue  
SLEEP  
This command allows you to enable or disable the power-saving mode. SLEEP, entered with no arguments, causes the  
DL to disable manual logging (if active), then enter low-power mode and wait for scheduled events. If a logging event is  
scheduled to start within a short amount of time, the DL will not enter low-power mode.  
Syntax:  
[keyword]  
SLEEP  
Option  
Command  
SLEEP  
Description  
-
Command  
keyword  
OFF  
Disable the low-power mode and cause the DL to stay fully powered between  
scheduled events.  
Examples:  
sleep  
sleep off  
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Appendix E DL Commands  
STATUS  
This command displays current system status information by issuing a LPSTATUS log.  
Syntax:  
STATUS  
VOUT  
This command turns On or Off the battery (BAT) peripheral power output on the COM2 port. BAT is always turned On  
whenever a battery is first connected to the receiver, and it is also turned On whenever the receiver is turned off with the  
power button. See the section on Peripheral Power Supply, Page 21.  
Syntax:  
VOUT  
periph option  
Command  
Option  
-
Description  
VOUT  
Command  
BAT  
periph  
option  
On or Off  
Examples:  
vout BAT on  
vout BAT off  
WRITE  
This command causes the data to be written to a specified filename on the PC Card. The maximum length of data is 200  
characters.  
If hex is not specified then only printable ASCII characters can be used, except for a $ sign which cannot be used.  
If hex is specified, the data is treated as a string of pairs of hexadecimal characters, with each pair representing a byte to  
be written to the file (the pairs must be linked together in the data string, giving a maximum of 100 hex characters.  
A new file is created if the specified filename does not exist. If the specified filename already exists, data is appended to  
the end of the file. Only simple filenames with a maximum of 8 characters and an optional 3-character extension are  
supported.  
Syntax:  
WRITE  
[hex] filename “data”  
Examples:  
write myfile.dat “Hello World”  
write hex myfile.dat “3B2F9DB3”  
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Appendix F DL Logs  
APPENDIX F - DL LOGS  
The DL firmware generates the following logs in addition to those of the MiLLennium GPSCard log set:  
Log  
BATA/B  
Description  
Battery system information  
DIRA/B  
Summary of stored logs in memory  
An extension of the GRPA/B log for a log file  
DL logging configuration for a file  
DL system set-up information  
DL system status information  
Meteorological information  
GROUPA/B  
GRPA/B  
HDRA/B  
LPSTATUSA/B  
META/B  
MSGA/B  
Error messages  
PDCVERA/B  
PROJECTA/B  
PSNA/B  
Display PDC serial, version and model numbers  
Project related parameters  
System serial numbers  
SCHA/B  
Schedule entry information  
SITELOGA/B  
STATUSA/B  
Information about an observation site  
An extension of the LPSTATUS log  
For a complete listing and description of the other logs that the DL is capable of generating, please consult the  
MiLLennium GPSCard Command Descriptions Manual. It also contains procedures and explanations related to data  
logging.  
Before proceeding to describe these logs, mention should be made of the DL data file format (*.PDC).  
PDC FILES  
In a PDC file, the sequence of data exists in the following format:  
SoftSurv Header  
HDRB  
GRPB (or GROUPB if  
extended group features used  
PROJECTB (if defined)  
GPS Logs  
SITELOGB #1  
GPS Logs  
:
.
GPS Logs  
SITELOGB #n  
GPS Logs  
EOF  
Site records meteorological logs (MET) may occur at arbitrary locations throughout the file. The records are linked to  
allow easy extraction. The SoftSurv Header information block consists of 128 bytes:  
64  
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Appendix F DL Logs  
Item  
Type  
char  
Size  
Description  
Range  
Offset  
Description  
60  
File Description. ^Z can be included to indicate that  
the description is less than 60 characters.  
0
EOF  
byte  
char  
byte  
byte  
byte  
byte  
1
7
C:\ TYPE will not pass this point (artificial end of file)  
NOVATEL”  
^Z  
60  
61  
68  
69  
70  
71  
Signature  
FileCode  
Version  
Revision  
Reserved  
1
Indicates the type of file.  
Version number  
1
0+  
1
Revision number  
0 to 99  
57  
Reserved for future use  
The HDRB and GRPB logs are binary versions of the HDRA and GRPA logs described in the following sections.  
BATA/B  
The BATA/B log is used to display information about the battery system.  
BATA  
Structure:  
Field #  
Field type  
$BATA  
Data Description  
Log header  
Example  
$BATA  
1
2
3
4
6
7
Source  
BattA  
BattB  
*xx  
Which battery is selected  
Battery A voltage (in mV)  
Battery B voltage (in mV)  
Checksum  
A
10950  
11685  
*55  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$BATA,A,10950,11685*55[CR][LF]  
BATB  
Message ID = 1032; Message byte count = 24  
Format:  
Field #  
Data  
Bytes  
Format  
Units  
Offset  
1
Sync  
3
Char  
Char  
0
(header)  
Checksum  
Message ID  
Message byte count  
Source  
1
4
4
1
3
4
4
3
Integer  
Integer  
Char  
4
8
2
3
4
5
12  
13  
16  
20  
Filler  
Char  
BattA  
Integer  
Integer  
milliVolts  
milliVolts  
BattB  
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Appendix F DL Logs  
DIRA/B  
The DIRA/B log is used to present a summary of stored logs in the DL memory module.  
DIRA  
Structure:  
Field #  
Field type  
$DIRA  
Data Description  
Example  
$DIRA  
1
2
3
4
5
6
Log header  
FileName  
FileSize  
Date  
Name of stored log file (8.3 format)  
Size of stored log file in bytes  
Date file was last updated (yyyymmdd)  
Checksum  
31240201.PDC  
412514  
19971022  
*43  
*xx  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$DIRA,31240201.PDC,412514,19971022*43[CR][LF]  
DIRB  
Message ID = 1027; Message byte count = 36  
Format:  
Field #  
Data  
Bytes  
Format  
Units  
Offset  
1
Sync  
3
Char  
Char  
0
(header)  
Checksum  
Message ID  
Message byte count  
FileName  
Filler  
1
3
4
Integer  
4
4
Integer  
8
2
3
4
5
13  
3
Char  
12  
25  
28  
32  
Char  
FileSize  
4
Unsigned long  
Unsigned long  
Bytes  
Date  
4
GROUPA/B  
The GROUPA/B log captures the GPSCard logging configuration used to generate a particular log file, containing Group  
Status and Log Status information, important site information, and differential corrections base station parameters.  
66  
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Appendix F DL Logs  
GROUPA  
Structure:  
Field #  
1
Field type  
$GROUPA  
GroupName  
Data Description  
Example  
$GROUPA  
DIFFBASE  
8ABC9  
Log header  
Log group  
2
3
SessionName Session Name  
4
AntSN  
Antenna serial number  
CGA95040020  
502NK  
5
AntType  
AHeight  
ECutoff  
Antenna type  
6
Antenna height (m)  
Elevation cutoff (degrees)  
2.050000  
5.000000  
5
7
8
SatLimit  
GroupStatus  
StnHealth  
StnID  
Satellite observations limit  
Group status flag (hexadecimal), see Table .  
Station health  
9
01  
10  
11  
12  
13  
14  
15  
16  
17  
18  
19  
20  
21  
22  
23  
24  
4
Station ID  
1
Lat_Time  
Long_Horz  
Height_Vert  
SiteNumber  
SiteName  
Ameasure  
Res1  
Latitude (degrees) or Time (s)  
Longitude (degrees) or Horizontal (m)  
Height (m) or Vertical (m)  
Site number  
51.116321  
-114.038336  
1048.207  
7ABCD8  
Company Building  
502-TRUE  
Site name  
Antenna height measurement method  
Reserved for future use  
Reserved for future use  
Reserved for future use  
Log identifier  
Res2  
Res3  
LogID  
P20A  
ONTIME  
10.00  
01  
LogTrigger  
LogRate  
LogStatus  
Trigger event for log  
Repetition period for log  
Log status flag (hexidecimal), see Table 18: Log Status Word  
Encoding, Page 68.  
25  
Res4  
Reserved for future use  
Additional log specifications  
Checksum  
26 n-2  
n-1  
n
*xx  
*23  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$GROUPA,DIFFBASE,8ABC9,CGA95040020,502NK,2.050000,5.000000,5,01,4,1,  
51.116321,-114.038336,1048.207,7ABCD8,Company Building,502-TRUE,,,,  
P20A,ONTIME,10.00,01,,RGEA,ONTIME,2,01,,REPA,ONCHANGED,0,02,*23[CR][LF]  
Table 17: Group Status Word Encoding  
Field  
Bit Mask  
0x01  
Description  
GROUP_ST_FIX  
GPS Position fixed, 1 = fixed, 0 = unfixed  
GPS Position averaged, 1 = averaged, 0 = not averaged  
Survey type, 1 = kinematic, 0 = static  
GROUP_ST_AVE  
GROUP_ST_KINEMATIC  
0x02  
0x04  
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Appendix F DL Logs  
Table 18: Log Status Word Encoding  
Field  
Bit Mask  
0x01  
Description  
LOG_ST_COM1  
LOG_ST_COM2  
LOG_ST_FILE  
Log is being logged to COM port 1.  
Log is being logged to COM port 2.  
Log is being logged to log file on PDC card.  
0x02  
0x04  
GROUPB  
Message ID = 1037; Message byte count = 180+X*36  
Format:  
Field #  
Data  
Bytes  
Format  
Units  
Offset  
1
Sync  
3
Char  
Char  
0
(header)  
Checksum  
Message ID  
Message byte count  
GroupName  
SessionName  
AntSN  
1
3
4
Integer  
Integer  
Char  
4
4
Bytes  
8
2
10  
9
12  
22  
31  
48  
65  
68  
72  
76  
80  
81  
82  
84  
3
Char  
4
17  
17  
3
Char  
5
AntType  
Char  
6
Filler  
Char  
7
AHeight  
4
Float  
Meters (m)  
Degrees  
8
ECutoff  
4
Float  
9
SatLimit  
4
Integer  
Unsigned char  
Unsigned char  
Unsigned short  
Double  
Double  
Double  
Char  
10  
11  
12  
13  
14  
15  
16  
17  
18  
19  
20  
21  
22  
GroupStatus  
StnHealth  
StnID  
1
1
2
Lat_Time  
Long_Horz  
Height_Vert  
SiteNumber  
SiteName  
Ameasure  
Res1  
8
Degrees or (s)  
8
Degrees or (m) 92  
(m) or (m) 100  
8
9
108  
117  
150  
167  
168  
172  
33  
17  
1
Char  
Char  
Char  
Res2  
4
Integer  
Double  
Structure  
Char  
Res3  
8
Log Specification  
LogID  
X*36  
9
180,180+X*36…  
189,189+X*36…  
206,206+X*36…  
208,208+X*36…  
212,212+X*36…  
213,213+X*36…  
LogTrigger  
Filler  
17  
2
Char  
Char  
LogRate  
4
Float  
Seconds  
LogStatus  
Res4  
1
Unsigned char  
Char  
3
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Appendix F DL Logs  
GRPA/B  
The GRPA log captures the GPSCard logging configuration used to generate a particular file.  
The group name may have up to and including nine characters. If the log trigger does not require a rate, (such as ONCE’  
or ONCHANGED), then zero (0) must be specified as the rate.  
GRPA  
Structure:  
Field #  
Field type  
$GRPA  
Data Description  
Log header  
Log group  
Example  
$GRPA  
1
2
3
4
5
6
7
8
9
GroupName  
DIFFBASE  
8ABC9  
CGA95040020  
502NK  
2.050000  
5.000000  
5
SessionName Session Name  
AntSN  
AntType  
AHeight  
ECutoff  
SatLimit  
LogID  
Antenna serial number  
Antenna type  
Antenna height (in metres)  
Elevation cutoff (degrees)  
Satellite observations limit  
Log identifier  
P20A  
10  
LogTrigger  
LogRate  
Trigger event for log  
Repetition period for log  
Additional log specifications  
Checksum  
ONTIME  
10.00  
11  
12 n-2  
n-1  
n
*xx  
*23  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$GRPA,DIFFBASE,8ABC9,CGA95040020,502NK,2.050000,5.000000,5,P20A,ONTIME,  
10.00,RGEA,ONTIME,2,REPA,ONCHANGED,0,*23[CR][LF]  
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Appendix F DL Logs  
GRPB  
Message ID = 1026; Message byte count = 80+X*32  
Format:  
Field #  
Data  
Bytes  
Format  
Units  
Offset  
1
Sync  
3
Char  
Char  
0
(header)  
Checksum  
Message ID  
Message byte count  
GroupName  
SessionName  
AntSN  
1
3
4
Integer  
Integer  
Char  
4
4
8
2
10  
9
12  
22  
31  
48  
65  
68  
72  
76  
3
Char  
4
17  
17  
3
Char  
5
AntType  
Char  
6
Filler  
Char  
7
AHeight  
4
Float  
Meters  
8
ECutoff  
4
Float  
Degrees  
9
SatLimit  
4
Integer  
Structure  
Char  
10  
LogSpec  
LogID  
X*32  
9
80,80+X*32…  
89,89+X*32…  
106,106+X*32…  
108,108+X*32…  
LogTrigger  
Filler  
17  
2
Char  
Char  
LogRate  
4
Float  
Seconds  
70  
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Appendix F DL Logs  
HDRA/B  
The HDRA/B log is used to capture system set-up information in a log file.  
HDRA  
Structure:  
Field #  
1
Field type  
$HDRA  
Data Description  
Log header  
Example  
$HDRA  
2
FileName  
FileSize  
Name of stored log file (8.3 format)  
Size of stored log file in bytes  
Date file was last updated (yyyymmdd)  
DL serial number  
31240201.PDC  
412514  
3
4
Date  
19971022  
CNN98160050  
CGN97120038  
MILLENSTD  
4.437/2.03  
CNM97510010  
DLSTD  
5
DL SN  
6
GPSSN  
Receiver serial number  
Receiver firmware model  
Receiver firmware/boot version  
PDC serial number  
7
GPSModel  
GPSVersion  
PDCSN  
8
9
10  
11  
12  
13  
14  
15  
16  
17  
18  
19  
20  
21  
22  
23  
24  
25  
26  
PDCModel  
PDCVersion  
MinSats  
PDC firmware model  
PDC firmware/boot version  
Minimum satellites in log  
GPS Week of first log  
1.053/1.01  
6
912  
Start GPSWeek  
Start GPSSec  
End GPSWeek  
End GPSSec  
SiteLogP  
MetLogP  
UTCOffset  
Res1  
GPS Time of first log (s)  
GPS Week of last log  
602500.000000  
913  
GPS Time of last log (s)  
File offset to last Site Record  
File offset to last Met Record  
UTC offset  
102345.000000  
200312  
184300  
-12  
Reserved for future use  
Reserved for future use  
Reserved for future use  
Reserved for future use  
Reserved for future use  
Checksum  
Res2  
Res3  
Res4  
Res5  
*xx  
*22  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Affected only by RGEA/B/D, MKPA/B, POSA/B, PRTKA/B, PXYA/B, RTKA/B, SPHA/B logs.  
Example:  
$HDRA,31240201.PDC,412514,19971022,CNN98160050,CGN97120038,MILLENSTD,  
4.437/2.03,CNM97510010,DLSTD,1.053/1.01,6,912,602500.000000,913,  
102345.000000,200312,184300,-12,,,,,*22[CR][LF]  
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Appendix F DL Logs  
HDRB  
Message ID = 1025; Message byte count = 228  
Format:  
Field #  
Data  
Bytes  
Format  
Units  
Offset  
1
Sync  
3
Char  
Char  
0
(header)  
Checksum  
1
4
4
3
4
8
Message ID  
Integer  
Integer  
Message byte count  
2
FileName  
Filler  
13  
3
Char  
12  
3
Char  
Bytes  
25  
4
File size  
Date  
4
Unsigned long  
Unsigned long  
Char  
Bytes  
28  
5
4
yyyymmdd  
32  
6
DLSN  
16  
16  
20  
20  
16  
20  
20  
4
36  
7
GPSSN  
Char  
52  
8
GPSModel  
GPSVersion  
PDCSN  
Char  
68  
9
Char  
88  
10  
11  
12  
13  
14  
15  
16  
17  
18  
19  
20  
21  
22  
23  
24  
25  
26  
Char  
108  
124  
144  
164  
168  
172  
180  
184  
188  
196  
200  
204  
208  
212  
216  
220  
224  
PDCModel  
PDCVersion  
MinSats  
StartGPSWeek  
StartGPSSec  
EndGPSWeek  
Filler  
Char  
Char  
Unsigned long  
Unsigned long  
Double  
4
GPS Week  
GPS Seconds  
GPS Week  
8
4
Unsigned long  
Char  
4
8
Double  
GPS Seconds  
Bytes  
EndGPSSec  
SiteLogP  
MetLogP  
UTCOffset  
Res1  
4
Unsigned long  
Unsigned long  
Integer  
4
Bytes  
4
Seconds  
Bytes  
4
Unsigned long  
Unsigned long  
Unsigned long  
Unsigned long  
Unsigned long  
Res2  
4
Res3  
4
Res4  
4
Res5  
4
Affected only by RGEA/B/D, MKPA/B, POSA/B, PRTKA/B, PXYA/B, RTKA/B, SPHA/B logs.  
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Appendix F DL Logs  
LPSTATUSA/B  
The LPSTATUS log is used to display system status information. The PDC State and GPSCard Status are represented as  
hexadecimal digits, which are described in Table 21: PDC Status Word Encoding and Table 22: GPS Status Word  
Encoding (see the STATUSA/B log, Page 83). The GROUP command does not support this log. LPSTATUSA/B is now  
obsolete in that it is still supported for backward compatibility but will disappear in the next major revision of software  
due to having been superseded by a superior log (STATUSA/B).  
LPSTATUSA  
Structure:  
Field #  
Field type  
$LPSTATUSA  
Source  
Data Description  
Example  
$LPSTATUS  
A
1
Log header  
2
3
4
5
6
7
Battery used  
BattA  
Battery A voltage (milliVolts)  
Battery B voltage (milliVolts)  
PC Card indicator (1=inserted)  
Unused bytes remaining on PC Card  
11750  
10890  
1
BattB  
CardIn  
CardFree  
PDC Status  
1992403  
3AF  
Current PDC status (see Table 21: PDC Status Word Encoding, Page  
84)  
8
GPS Status  
FileName  
*xx  
GPSCard status (see Table 22: GPS Status Word Encoding, Page 85)  
1
9
Name of current log file  
Checksum  
01929383.PDC  
*55  
10  
11  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$LPSTATUS,A,11750,10890,1,1992403,3AF,1,01929383.PDC*55[CR][LF]  
LPSTATUSB  
Message ID = 1029; Message byte count = 56  
Format:  
Field #  
Data  
Bytes  
Format  
Units  
Offset  
1
Sync  
3
Char  
Char  
0
(header)  
Checksum  
Message ID  
Message byte count  
Source  
1
4
4
1
3
4
4
4
4
4
4
13  
3
3
Integer  
4
Integer  
8
2
Char  
12  
13  
16  
20  
24  
28  
32  
36  
40  
53  
3
Filler  
Char  
4
BattA  
Integer  
milliVolts  
5
BattB  
Integer  
milliVolts  
6
CardIn  
Boolean  
Unsigned long  
Unsigned long  
Unsigned long  
Char  
7
CardFree  
PDCStatus  
GPSStatus  
FileName  
Filler  
Bytes  
8
9
10  
11  
Char  
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Appendix F DL Logs  
META/B  
The META/B log is used to display meteorological information.  
META  
Structure:  
Field #  
Field type  
$META  
Data Description  
Log header  
Example  
$META  
1
2
GPSWeek  
GPSSec  
Flag  
GPS week  
512  
3
GPS seconds  
220400.000000  
7
4
Valid fields (binary 000 111)  
Temperature (degrees Celsius)  
Pressure (hPa)  
5
Temp  
23.000000  
1013.250000  
55.200000  
1536  
6
Press  
7
Humid  
MetLogP  
*xx  
Relative humidity (%)  
Pointer to Previous Mets Log  
Checksum  
8
9
*55  
10  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$META,512,220400.000000,7,23.000000,1013.250000,55.200000,1536*55,[CR][LF]  
METB  
Message ID = 1031; Message byte count = 52  
Format:  
Field #  
Data  
Bytes  
Format  
Units  
Offset  
1
Sync  
3
Char  
Char  
0
(header)  
Checksum  
Message ID  
Message byte count  
GPSWeek  
Filler  
1
4
4
4
4
8
4
4
4
4
4
4
3
Integer  
4
Integer  
8
2
Unsigned Long  
Char  
Week  
12  
16  
20  
28  
32  
36  
40  
44  
48  
3
4
GPSSec  
Flag  
Double  
Seconds  
5
Unsigned Long  
Float  
6
Temp  
Celsius  
hPa  
7
Press  
Float  
8
Humid  
Float  
Percent  
Bytes  
9
MetLogP  
Filler  
Unsigned Long  
Char  
10  
74  
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Appendix F DL Logs  
MSGA/B  
This log displays messages in response to system events or user commands.  
MSGA  
Structure:  
Field #  
Field type  
$MSGA  
Data Description  
Example  
1
Log header  
$MSGA  
2
code  
Error code (see Table 19: MSGA Error Code Definition,  
3001  
Page 76)  
3
error  
Error description (see Table 19: MSGA Error Code  
CMDFAIL  
Definition, Page 76)  
4
subCode  
subCodeMsg  
subCodeArg  
date  
Error sub code  
0041  
5
Error sub code message  
Error sub code argument  
Date of error event (yyyymmdd)  
Time of error event, UTC (hhmm)  
Checksum  
SYNTAX ERROR  
DIR [FILENAME]  
19971105  
1325  
6
7
8
time  
9
*xx  
*66  
10  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$MSGA,3001,CMDFAIL,0041,SYNTAX ERROR,DIR [FILENAME],19971105,1325,  
*66[CR][LF]  
The error codes that appear in Fields 2 & 3 above are described in Table 19: MSGA Error Code Definition, Page 76.  
They are generated in response to system events:  
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Appendix F DL Logs  
Table 19: MSGA Error Code Definition  
Error System event  
Built-in Self Test failed  
Code  
2001  
2002  
2003  
2004  
2005  
2006  
2007  
2008  
2009  
2010  
3001  
3003  
3007  
3008  
3010  
3025  
3026  
BISTFAIL  
PWRFAIL  
BATTLOWA  
BATTLOWB  
SWBATT  
Power Failed  
Low Voltage from battery A (< 10.7V)  
Low Voltage from battery B (< 10.7V)  
Battery switch performed  
TEMPWARN  
TEMPFAIL  
DISKLOW  
DISKFULL  
DISKGONE  
CMDFAIL  
DISKERR  
BOOTOK  
High temperature warning  
High temperature shutdown  
Low storage space remaining (< 10% of card capacity)  
No storage space remaining  
PC Card removed  
User-command feedback  
An error occurred while trying to access the PC Card  
System boot successful  
PWRLOW  
LOGNAME  
DISKIN  
Entering low-power mode  
Specified filename already exists  
PC Card detected and configured  
Storage space OK (> 10% of card capacity)  
DISKCAPOK  
MSGB  
Message ID = 1024, Message byte count = 96  
Format:  
Field #  
Data  
Bytes  
Format  
Units  
Offset  
1
Sync  
3
Char  
Char  
0
(header)  
Checksum  
Message ID  
Message byte count  
Code  
1
3
4
Integer  
Integer  
Integer  
Char  
4
4
8
2
3
4
5
6
7
8
9
4
12  
16  
26  
28  
32  
64  
88  
92  
Error  
10  
2
Filler  
Char  
SubCode  
SubCodeMsg  
SubCodeArg  
Date  
4
Integer  
Char  
32  
24  
4
Char  
Unsigned long  
Unsigned long  
Time  
4
76  
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Appendix F DL Logs  
PDCVERA/B  
This log is used to display PDC serial, version and model numbers.  
PDCVERA  
Structure:  
Field #  
Field type  
$PDCVERA  
PDCVersion  
PDCDateTime  
PDCModel  
PDCSN  
Data Description  
Log header  
Example  
$PDCVERA  
1
2
3
4
5
6
7
PDC Version Number  
PDC S/W Compile Date/Time  
PDC Model  
0.28  
May 3 1998 12:16:52  
PDCSTD  
PDC Serial Number  
Checksum  
CNM7053000  
*4A  
*xx  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$PDCVERA,0.28,May 3 1998 12:16:52,PDCSTD,CNM7053000*4A[CR][LF]  
PDCVERB  
Message ID = 1034; Message byte count = 89  
Format:  
Field #  
Data  
Bytes  
Format  
Char  
Units  
Offset  
1
Sync  
3
0
(header)  
Checksum  
1
Char  
3
Message ID  
Message byte count  
PDCVersion  
PDCDateTime  
PDCModel  
4
Integer  
Integer  
Char  
4
4
8
2
3
4
5
20  
21  
20  
16  
12  
32  
53  
73  
Char  
Char  
PDCSN  
Char  
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Appendix F DL Logs  
PROJECTA/B  
The PROJECT command, see Page 56, defines project-related parameters and causes the insertion of a PROJECTB log  
into the header of the log file prior to the start of the logging session. The PROJECT command without any arguments  
causes the output of a PROJECTA log. A project defined using the PROJECT command may span multiple logging  
sessions.  
PROJECTA  
Structure:  
Field #  
Field type  
$PROJECTA  
Project  
Data Description  
Log header  
Example  
$PROJECTA  
1
2
3
4
5
6
Project description  
Agency description  
Observer description  
Checksum  
Demo_city  
Company  
Mr_Smith  
*55  
Agency  
Observer  
*xx  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$PROJECTA,Demo_city,Company,Mr_Smith*55[CR][LF]  
PROJECTB  
Message ID = 1036; Message byte count = 111  
Format:  
Field #  
Data  
Bytes  
Format  
Char  
Units  
Offset  
1
Sync  
3
0
(header)  
Checksum  
Message ID  
Message byte count  
Project  
1
Char  
3
4
Integer  
Integer  
Char  
4
4
8
2
3
4
33  
33  
33  
12  
45  
78  
Agency  
Char  
Observer  
Char  
78  
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Appendix F DL Logs  
PSNA/B  
The PSNA/B log is used to display system serial numbers.  
PSNA  
Structure:  
Field #  
Field type  
$PSNA  
Data Description  
Log header  
Example  
$PSNA  
1
2
3
4
5
6
PDCSN  
GPSSN  
DLSN  
PDC Serial number  
GPSCard Serial number  
DL System Serial number  
Checksum  
SNM98070012  
SGL98050098  
CNN98080044  
*55  
*xx  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$PSNA,SNM98070012,SGL98050098,CNN98080044*55[CR][LF]  
PSNB  
Message ID = 1033; Message byte count = 60  
Format:  
Field #  
Data  
Bytes  
Format  
Char  
Units  
Offset  
1
Sync  
3
0
(header)  
Checksum  
Message ID  
Message byte count  
PDCSN  
1
Char  
3
4
Integer  
Integer  
Char  
4
4
8
2
3
4
16  
16  
16  
12  
28  
44  
GPSSN  
Char  
DLSN  
Char  
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Appendix F DL Logs  
SCHA/B  
The SCHA/B log is used to display entry information for scheduled logging. Refer to File Name Convention, Page 29,  
for information on file names. See also Table 16: Weekday Abbreviations, Page 57, for a description of weekday  
abbreviations.  
SCHA  
Structure:  
Field #  
Field type  
$SCHA  
Data Description  
Example  
$SCHA  
1
Log header  
2
3
4
5
6
7
8
Index  
Schedule index  
Log group name  
2
GroupName  
StartTime  
EndTime  
FileName  
*xx  
diff_set  
mwrf1200  
1215  
Time of week to start logging, UTC (dddddddhhmm)  
Time of week to stop logging, UTC (dddddddhhmm)  
Name of log file in which to store data  
Checksum  
01225402.PDC  
*55  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$SCHA,2,diff_set,mwrf1200,1215,01225402.PDC*55[CR][LF]  
SCHB  
Message ID = 1028; Message byte count = 64  
Format:  
Field #  
Data  
Bytes  
Format  
Units  
Offset  
1
Sync  
3
Char  
Char  
0
(header)  
Checksum  
Message ID  
Message byte count  
Index  
1
3
4
Integer  
Integer  
Integer  
Char  
4
4
8
2
3
4
5
6
7
4
12  
16  
26  
38  
50  
63  
GroupName  
StartTime  
EndTime  
10  
12  
12  
13  
1
Char  
Char  
FileName  
Filler  
Char  
Char  
80  
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Appendix F DL Logs  
SITELOGA/B  
The SITELOGA/B log is used to display information about an observation site.  
SITELOGA  
Structure:  
Field #  
Field type  
$SITELOGA  
SiteNumber  
SiteName  
Attrib  
Data Description  
Example  
$SITELOGA  
7ABCD8  
1
Log header  
2
Site Number (8 char)  
3
Site Name (32 char)  
NovAtel Building  
4
Attribute code (User defined)  
Antenna height  
2
5
AHeight  
2.000000  
502-TRUE  
892  
6
AMeasure  
Ant height measure method (user defined, 16 char)  
7
FirstGPSWeek Date of arrival  
FirstGPSSec Time of arrival  
LastGPSWeek Date of departure  
8
500405.000000  
893  
9
10  
11  
LastGPSSec  
Flags  
Time of departure  
250450.000000  
1
Data logging flags, see Table 20: Flag Word  
Encoding, Page 81  
12  
13  
14  
SiteLogP  
*xx  
File offset from previous SITELOGB log  
Checksum  
1536  
*55  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$SITELOGA,7ABCD8,NovAtel Building,2,2.000000,502-TRUE,892,500405.000000,  
893,250450.000000,1,1536,*55[CR][LF]  
Table 20: Flag Word Encoding  
Field  
SITE_ST_INVALID  
Bit Mask  
Description  
0x01  
0 = Valid, 1 = Invalid  
SITE_ST_STARTTRUNCATE 0x02  
SITE_ST_ENDTRUNCATE 0x04  
0 = Did truncate start time, 1 = Did not truncate start time  
0 = Did truncate end time, 1 = Did not truncate end time  
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Appendix F DL Logs  
SITELOGB  
Message ID = 1030; Message byte count = 124  
Format:  
Field #  
1
Data  
Bytes  
Format  
Units  
Offset  
0
Sync  
3
1
Char  
Char  
(header)  
Checksum  
Message ID  
Message byte count  
SiteNumber  
SiteName  
Filler  
3
4
Integer  
Integer  
Char  
4
4
8
2
3
9
12  
33  
2
Char  
21  
4
Char  
54  
5
Attrib  
4
Integer  
Float  
56  
6
AHeight  
4
Meters  
60  
7
AMeasure  
Filler  
17  
3
Char  
64  
8
Char  
81  
9
FirstGPSWeek  
Filler  
4
Unsigned Long  
Char  
GPS Week  
84  
10  
11  
12  
13  
14  
15  
16  
4
88  
FirstGPSSec  
LastGPSWeek  
Filler  
8
Double  
Unsigned Long  
Char  
GPS Seconds  
GPS Week  
92  
4
100  
104  
108  
116  
120  
4
LastGPSSec  
Flags  
8
Double  
Integer  
Unsigned Long  
GPS Seconds  
4
SiteLogP  
4
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Appendix F DL Logs  
STATUSA/B  
The STATUS log is used to display system status information and is an extension of the LPSTATUSA/B log. The PDC  
State and GPSCard Status are represented as hexadecimal digits, which are described in Table 21: PDC Status Word  
Encoding and Table 22: GPS Status Word Encoding, Page 85.  
STATUSA  
Structure:  
Field #  
Field type  
$STATUSA  
Source  
Data Description  
Example  
$STATUSA  
A
1
2
3
4
5
6
7
Log header  
Battery used  
BattA  
Battery A voltage (milliVolts)  
Battery B voltage (milliVolts)  
PC Card indicator (1=inserted)  
Unused bytes remaining on PC Card  
11750  
10890  
1
BattB  
CardIn  
CardFree  
PDC Status  
1992403  
3AF  
Current PDC status (see Table 21: PDC Status  
Word Encoding, Page 84)  
8
GPS Status  
GPSCard status (see Table 22: GPS Status Word  
1
Encoding, Page 85)  
9
FileName  
Temperature  
Date  
Name of current log file  
Internal temperature (°C)  
Current date (yyyymmdd)  
Current time (hhmmss)  
Reserved for future use  
Reserved for future use  
Reserved for future use  
Reserved for future use  
Checksum  
01225402.PDC  
60  
10  
11  
12  
13  
14  
15  
16  
17  
18  
19981229  
093525  
Time  
Reserved 1  
Reserved 2  
Reserved 3  
Reserved 4  
*xx  
*55  
[CR][LF]  
Sentence terminator  
[CR][LF]  
Example:  
$STATUS,A,11750,10890,1,1992403,3AF,1,01225402.PDC,60,19981229,093525,,,,*55  
[CR][LF]  
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Appendix F DL Logs  
Table 21: PDC Status Word Encoding  
Bit Mask Description  
Field  
PDC_ST_HW  
0x001  
0x002  
0x004  
0x008  
0x010  
0x020  
0x040  
0x080  
0x100  
0x200  
0x400  
0x800  
0x1000  
0x2000  
Hardware status, 1 = OK  
PDC_ST_LINK  
GPSCard link established, 1 = OK  
Battery status, 1 = OK, 0 = warn/fail  
Temp status, 1 = OK, 0 = warn/fail  
Sleep mode, 1 = enabled  
PDC_ST_BATT  
PDC_ST_TEMP  
PDC_ST_SLEEP  
PDC_ST_LOGGING  
PDC_ST_ONSITE  
PDC_ST_TIMESET  
PDC_ST_CARDIN  
PDC_ST_SCHEDON  
PDC_ST_NVMVALID  
PDC_ST_COMBATON  
PDC_ST_COM5VON  
PDC_ST_CARDOK  
Logging, 1 = active  
Site state, 1 = onsite (site addcommand received but not site leave)  
Time established, 1 = OK  
PC Card presence, 1 = PC Card inserted  
Scheduled data collection status, 1 = enabled  
NVM valid, 1=OK  
BAT peripheral power output enabled  
5V peripheral power output enabled  
No disk-access errors, 1 = no errors  
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Appendix F DL Logs  
STATUSB  
Message ID = 1035; Message byte count = 84  
Format:  
Field #  
1
Data  
Bytes  
Format  
Units  
Offset  
0
Sync  
3
1
4
4
1
3
4
4
4
4
4
4
13  
3
4
4
4
4
4
4
4
Char  
Char  
(header)  
Checksum  
Message ID  
Message byte count  
Source  
3
Integer  
4
Integer  
8
2
3
Char  
12  
13  
16  
20  
24  
28  
32  
36  
40  
53  
56  
60  
64  
68  
72  
76  
80  
Filler  
Char  
4
BattA  
Integer  
milliVolts  
5
BattB  
Integer  
milliVolts  
6
CardIn  
Boolean  
7
CardFree  
PDCStatus  
GPSStatus  
FileName  
Filler  
Unsigned long  
Unsigned long  
Unsigned long  
Char  
Bytes  
8
9
10  
11  
12  
13  
14  
15  
16  
17  
18  
Char  
Temperature  
Date (yyyymmdd)  
Time (hhmmss)  
Res1  
Integer  
Celsius  
Unsigned long  
Unsigned long  
Integer  
Res2  
Integer  
Res3  
Unsigned long  
Unsigned long  
Res4  
Table 22: GPS Status Word Encoding  
Bit Mask Description  
0x1  
Field  
GPS_ST_ACTIVE  
GPS_ST_POSITION  
GPS_ST_FIXED  
GPSCard active, 1 = active  
GPS Position status, 1 = OK  
0x2  
0x4  
GPS Position fixed, 1 = fixed, 0 = unfixed  
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Appendix H Replacement Parts  
APPENDIX G - CONVERSIONS  
Listed below are several commonly used equivalents between the SI (Système Internationale) units of weights and  
measures used in the metric system, and those used in other systems.  
Distance  
Volume  
1 metro (m) = 100 centimeters (cm) = 1000 millimeters (mm)  
1 kilometer (km) = 1000 metros (m)  
1 international foot = 0.3048 metro  
1 US survey foot = 0.3048006096 metro  
1 statute mile = 1609.3 metros  
1 liter (l) = 1000 cubic centimeters (cc)  
1 gallon (Imperial) = 4.546 litters  
1 gallon (US) = 3.785 litters  
Weight  
1 kilogram (kg) = 1000 grams  
1 pound = 0.4536 kilogram (kg)  
1 nautical mile = 1852 metros  
Temperature  
degrees Celsius = (5/9) x [(degrees Fahrenheit) - 32]  
degrees Fahrenheit = [(9/5) x (degrees Celsius)] + 32  
Decimal, Hexadecimal & Binary Equivalents  
0
1
2
3
4
5
6
7
8
9
10  
11  
12  
13  
14  
15  
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0000  
0001  
0010  
0011  
0100  
0101  
0110  
0111  
1000  
1001  
1010  
1011  
1100  
1101  
1110  
1111  
GPS Time of Week (e.g. 511 306 seconds) to Calendar Day  
1. (511 306 seconds) / (86 400 seconds / day) = 5.917893519 days  
2. (0.917893519 days) x (24 hours / day) = 22.02944444 hours  
3. (0.02944444 hours) x (60 minutes / hour) = 1.76666667 minutes  
4. (0.76666667 minutes) x (60 seconds / minute) = 46 seconds  
5. So, 511 306 seconds = Day 5 (Thursday) + 22 hours, 1 minute, 46 seconds into Friday.  
Calendar Date  
E.g. 11:30 hours, January 22, 1995 (before GPS week rollover August 22, 1999)  
Days from January 6, 1980 to January 22, 1995 = 15 years x 365 days / year = 5475 days  
Add a day for each leap year (a year that is divisible by 4 but not by 100; every 100 years a leap year is skipped) = 4 days  
Days into 1995 (22nd is not finished) = 21 days  
Total days = 5500 days  
Deduct 5 days: January 1st through to January 5th, 1980 = 5495  
GPS Week: 5495 x 86400 seconds per day = 474768000 seconds/604800 seconds per week = 785  
Seconds into week: 22nd day: 11.5 hrs x 3600 seconds/hr = 41400  
GPS time of week: Week 785, 41400 seconds  
E.g. 13:30 hours, January 28, 2005 (after GPS week rollover August 22, 1999)  
Days from August 22, 1999 to January 28, 2005 = 6 years x 365 days / year = 2190 days  
Add a day for each leap year = 2 days  
Days into 2005 (28th is not finished) = 27 days  
Total days = 2219 days  
Deduct 21 days: August 1st through to August 21st, 1999 = 2198  
GPS Week: 2198 x 86400 seconds per day = 189907200 seconds/604800 seconds per week = 314  
Seconds into week: 28th day: 13.5 hrs x 3600 seconds/hr = 48600  
GPS time of week: Week 314, 48600 seconds  
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Appendix G - Conversions  
APPENDIX H - REPLACEMENT PARTS  
The following is a list of the replacement parts available for the DL. Should you require assistance or need to order  
additional components, please contact your dealer or NovAtel Customer Service representative.  
Part Description  
NovAtel Part  
Number  
I/O strobes cable (Figure 13: I/O Cable - Illustration)  
01016330  
Straight serial data cable (Figure 11: Straight Serial Cable - Illustration)  
Optional 25-pin straight serial data cable  
01016383  
01016384  
01016329  
01016622  
Null-modem serial data cable (Figure 12: Null-Modem Serial Cable - Illustration)  
Power cable assembly: LEMO 4-pin plug to cigarette-lighter plug (Figure 10: Power Cables)  
Optional power cable : LEMO 4-pin plug to LEMO 4-pin plug (Figure 10: Power Cables)  
Camel pack size: 33.5 cm  
DL base case size: 75.0 cm  
01016665  
01016666  
Optional power assembly: autoranging AC/DC converter/battery charger to LEMO 4-pin  
GPS-ACDL  
socket and AC power cord (Figure 10: Power Cables)  
Optional Y-cable (Figure 10: Power Cables)  
Optional battery assembly (Figure 10: Power Cables)  
4 MB Sandisk PC Card  
01016690  
01016698  
20023715  
SoftSurv User Manual  
OM-20000023  
OM-20000041  
70015024  
MiLLennium GPSCard Command Description Manual  
Optional mounting bracket  
The following original manufacturerspart numbers are provided for information only; they are not available from  
NovAtel as separate parts.  
Part Description  
LEMO Part Number  
FGM.0B.304.CLLD52Z  
FGJ.1K.308.CLLC45Z  
FGG.1K.310.CLAC55Z  
4-pin plug connectors on power cable (Figure 10: Power Cables)  
8-pin plug connector on I/O cable (Figure 13: I/O Cable - Illustration)  
10-pin plug connector on both serial data cables (Figure 11: Straight Serial  
Cable - Illustration & Figure 12: Null-Modem Serial Cable - Illustration)  
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Appendix I Optional Mounting Bracket  
APPENDIX I - OPTIONAL MOUNTING BRACKET  
This appendix includes drawings, photographs, and installation instructions for the optional mounting bracket. This  
bracket can be used to attach the DL to a surface or tripod.  
Figure 14: Mounting Bracket  
1
2
3
5
6
7
4
9
8
Reference  
Description  
Reference  
Description  
1
2
3
4
5
Thread for flat screw  
Rectangular nut  
Grub screw  
6
Holes to mount plate to enclosure  
using flat screw  
Holes to mount assembly to a surface  
using self-tapping screws  
Bottom of DL enclosure  
7
Channel  
Quick mounting holes to  
mount assembly to surface  
using wood screws  
8
9
Front of mounting plate  
The mounting kit includes the following materials:  
four self-tapping screws (#10-16 x ½LG)  
two wood screws (#10 x ¾LG)  
four flat screws (M3 x 8, 90° countersink)  
aluminum mounting plate (see Figure 15 for exact dimensions)  
First, the mounting plate needs to be attached to the DL enclosure. There are two channels running the length of the  
bottom of the DL enclosure. In each of these channels there are two rectangular nuts, held in place by grub screws.  
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Appendix I Optional Mounting Bracket  
These four nuts are factory-positioned so that the mounting plate can be attached to the DL enclosure using the four flat  
screws. Please ensure that the four flat screws are mounted from the countersunk side of the mounting plate.  
Once the plate has been attached to the DL enclosure, the entire assembly can then be mounted onto a surface using either  
the four self-tapping screws through the screw-mount holes, or the two wood screws through the quick-mount holes.  
WARNING: The mounting kit is not designed for use in high-dynamics or high-vibration environments. Contact  
your dealer or NovAtel Customer Service if your application requires the DL to be mounted in these types of  
environments.  
Figure 15: Mounting Bracket Drill Holes Dimensions  
Reference  
Description  
1
2
3
Radius 6.0, 2 places  
4 x 3.1 diameter, 6.0 x 90 degrees countersink, far side  
4 x 5 diameter through  
NOTE: All dimensions in Figure 15 are in millimeters.  
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Appendix J Command Prompt Interface  
APPENDIX J - COMMAND PROMPT INTERFACE  
Although the recommended way of configuring the DL is through the UTILITIES module of SoftSurv, it is possible to  
communicate directly with the DL via its command prompt, using a PC that is typically connected to COM1 on the DL.  
You can access the command prompt from a DOS or Windows-based terminal emulation program, or you can send batch  
files directly to a serial port on the DL.  
When the DL turns on, no activity information is transmitted from the serial ports except for the port prompt. A terminal  
connected to the DL would display one of these two messages on its monitor:  
Com1> if connected to COM1 port,  
or  
Com2> if connected to COM2 port  
You must wait until receiving the MSGA log with a BOOTOK message (see Appendix F - DL Logs) before typing any  
commands.  
Commands are typed at the interfacing terminals keyboard, and sent after pressing the terminals <> or <Enter> key.  
TIP:  
Most valid commands do produce a visible response on the screen; the indication that they have been accepted  
is a return of the port prompt from the DL. VERSION, HELP and ? are the only commands that do provide a data  
response other than the port prompt.  
Example:  
An example of no echo response to an input command is the FIX HEIGHT command. It can be entered as follows:  
COM2>fix height 550 [Return]  
COM2>  
The above example illustrates command input to the DL COM2 serial port which sets the antenna height as fixed to 550  
m above sea level and causes position solutions to be constrained as 2D with height fixed. However, your only  
confirmation that the command was actually accepted is the return of the COM2> prompt.  
If a command is incorrectly entered, the DL responds with Invalid Command Name(or a more detailed error message)  
followed by the port prompt.  
DOS  
One way to initiate multiple commands and logging from the DL is to create DOS command files relating to specific  
functions. This minimizes the time required to set up duplicate test situations. Any convenient text editor can be used to  
create command text files.  
Example:  
For this example, consider a situation where a PCs appropriately configured COM1 serial port is connected to the DLs  
COM1 serial port, and where a remote terminal is connected to the DLs COM2 serial port. If you wish to monitor the  
DLs activity, the following command file could be used to do this.  
90  
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Appendix J Command Prompt Interface  
1. Open a text editor on the PC and type in the following command sequences:  
log com2 sata ontime 15  
log com2 etsa ontime 15  
log com2 rvsa ontime 60 5  
log com2 posa ontime 15  
log com2 dopa ontime 15  
2. Save this with a convenient file name (e.g. C:\GPS\BOOT1.TXT) and exit the text editor.  
3. Use the DOS copy command to direct the contents of the BOOT1.TXT file to the PCs COM1 serial port:  
C:\GPS>copy boot1.txt com1  
1 files(s) copied  
C:\GPS>  
4. The DL is now initialized with the contents of the BOOT1.TXT command file, and logging is directed from the  
DLs COM2 serial port to the remote terminal.  
WINDOWS  
As any text editor or communications program can be used for these purposes, the use of Windows 95 is described only  
as an illustration. The following example shows how Windows 95 accessory programs Notepad and HyperTerminal can  
be used to create a hypothetical waypoint navigation file on a PC, and send it to the DL. It is assumed that the PCs  
COM1 serial port is connected to the DLs COM1 serial port, and that a remote terminal is connected to the DLs COM2  
serial port.  
Example:  
1. Open Notepad and type in the following command text:  
setnav 51.111 -114.039 51.555 -114.666 0 start stop  
magvar -21  
log com1 posa ontime 15  
log com1 spha ontime 15  
log com1 nava ontime 15  
log com2 gprmb ontime 15 5  
log com2 gpvtg ontime 15 5  
log com2 rcca ontime 60  
2. Save this with a convenient file name (e.g. C:\GPS\BOOTNAV1.TXT) and exit Notepad.  
3. Ensure that the HyperTerminal settings are correctly set up to agree with the DL communications protocol; these  
settings can be saved (e.g. C:\GPS\OEMSETUP.HT) for use in future sessions. You may wish to use XON / XOFF  
handshaking to prevent loss of data.  
4. Select Transfer | Send Text File to locate the file that is to be sent to the DL. Once you double-click on the file or  
select Open, HyperTerminal sends the file to the DL.  
The above example initializes the DL with origin and destination waypoint coordinates and sets the magnetic variation  
correction to -21 degrees. The POSA, SPHA, and NAVA logs have been set to output from the DL COM1 serial port at  
intervals of once every 15 seconds, whereas the GPRMB and GPVTG NMEA logs have been set to be logged out of the  
DL COM2 serial port at intervals of 15 seconds and offset by five seconds. The RCCA log has been set to output every  
60 seconds from the DL COM2 serial port.  
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1120- 68 Avenue N.E.  
Recyclable  
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GPS Hotline (Canada & U.S.A.): 1 800 NOVATEL  
Phone: 1 403 295 4900  
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Fax: 1 403 295 4901  
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