OEM6 to OEM7 – Logs

The following sections describe the log changes between OEM6 and OEM7.

Deleted Logs

The following table lists the OEM6 logs that have been deleted or replaced in OEM7.

Deleted and Replaced Logs in OEM7

OEM6

OEM7

BESTLEVERARM

Replaced. Use the new INSCONFIG log

BESTLEVERARM2

Replaced. Use the new INSCONFIG log

CMR Data logs

Deleted the logs CMRDESC, CMRGLOOBS, CMROBS, CMRPLUS, CMRREF

GALEPHEMERIS

Replaced with the GALFNAVEPHEMERIS log for Galileo FNAV ephemeris information and GALINAVEPHEMERIS log for Galileo INAV ephemeris information

GPGGARTK

Deleted

Refer to the NMEAFORMAT command for information about accessing the information that was provided by this log.

HEADING

Replaced. Use the existing HEADING2 log

IMUTOANTOFFSETS

Replaced. Use the new INSCONFIG log

INSCOV

Replaced. Use the new INSSTDEV log

INSCOVS

Replaced. Use the new INSSTDEVS log

INSUPDATE

Replaced. Use the new INSUPDATESTATUS log

LBANDINFO

Replaced.

Use the existing TERRASTARINFO log or VERIPOSINFO log to log subscription information

Use the existing TERRASTARSTATUS log or VERIPOSSTATUS log to log decoder and subscription status information

LBANDSTAT

OMNIHPPOS

OMNIHPSATS

OMNIVIS

PSRTIME

Deleted

RAWLBANDFRAME

Deleted

RAWLBANDPACKET

Deleted

SATVIS

Replaced. Use the existing SATVIS2 log

RTCA Data Logs

Deleted the logs: RTCA1, RTCAEPHEM, RTCAOBS, RTCAOBS2, RTCAOBS3, RTCAREF, RTCAREFEXT

RTCM Data Logs

Deleted the logs: RTCM1, RTCM3, RTCM9, RTCM15, RTCM16, RTCM16T, RTCM1819, RTCM2021, RTCM22, RTCM23, RTCM24, RTCM31, RTCM32, RTCM36, RTCM36T, RTCM59, RTCM59GLO, RTCMOMNI1

WAAS0, WAAS1, WAAS2, etc.

Replaced. Use the existing SBAS0 log, SBAS1 log, SBAS2 log, etc.

Revised Logs

Revised logs are listed in the table below.

Revised Logs in OEM7

OEM6

OEM7

AUTHCODES

Added auth code types for Reserved and High Speed Signatures:
4 = RESERVED
5 = HIGH_SPEED

CHANCONFIGLIST

The following signal types have been added to Table: CHANCONFIGLIST Signal Type

Value

Name

Description

32

BEIDOUB1B3

BeiDou B1, B3

33

BEIDOUB3

BeiDou B3

34

BEIDOUB1B2B3

BeiDou B1, B2 and B3

35

GALE1E5AE5BALTBOCE6

Galileo E1, E5A, E5B, AltBOC, E6

36

GPSL1L2PL2CL5L1C

GPS L1CA, L2P, L2C, L5, L1C

37

QZSSL1CAL2CL5L1C

QZSS L1CA, L2C, L5, L1C

38

QZSSL1CAL2CL5L1CL6

QZSS L1CA, L2C, L5, L1C, L6

39

GLOL1L3

GLONASS L1CA, L3

40

GLOL3

GLONASS L3

41

GLOL1L2PL2CL3

GLONASS L1CA, L2P, L2CA, L3

42

GPSL1L2PL2CL1C

GPS L1CA, L2P, L2C, L1C

43

QZSSL1CAL2CL1C

QZSS L1CA, L2C, L1C

GPHDT

The GPHDT log can only be logged using the ONCHANGED trigger. Other triggers, such as ONTIME are not accepted.

HWMONITOR

A new status, Peripheral Core Voltage, was added for OEM7 receivers. Also, the status options supported by OEM7 receivers are indicated.

INSATTX,
INSPOSX,
INSPVAX,
INSUPDATESTATUS,
INSVELX,
RELINSPVA,
SYNCRELINSPVA

Additional status information has been added to the Extended Solution Status word. The Extended Solution Status word is available in these logs.

See the INSATTX log for a description of the new status values available.

GIMBALLEDPVA,
IMURATEPVA,
IMURATEPVAS,
INSATT, INSATTS,
INSATTX, INSPOS, INSPOSS, INSPOSX,
INSPVA, INSPVAS,
INSPVAX, INSSPD,
INSSPDS, INSVEL,
INSVELS, INSVELX, MARKxPVA,
RELINSPVA, SYNCRELINSPVA

The following statuses have been added to the Inertial Solution Status table.

Binary

ASCII

Description

10

WAITING_
AZIMUTH

The INS filer has orientation, initial biases, initial position and valid roll/pitch estimated. Will not proceed until initial azimuth is entered.

11

INITIALIZING_
BIASES

The INS filter is estimating initial biases during the first 10 seconds of stationary data.

12

MOTION_
DETECT

The INS filter has not completely aligned, but has detected motion.

LBANDTRACKSTAT

This log now reports the L-Band tracking and Viterbi status for more than one beam.

RANGECMP

GLONASS frequency number added to the Range Record Format table. The changes are shown below:

Data

Bits first to last

Length (bits)

Scale Factor

Units

C/No

165-169

5

(20+n)

dB‑Hz

GLONASS Frequency Number

170-175

n+7

1

 

Reserved

176-191

16

    

RANGE, RANGECMP, RANGECMP2

OEM7 tracks additional GNSS signals:

GPS L1C, GLONASS L3, QZSS L1C and QZSS L6

RANGE, RANGECMP, RANGECMP2, RANGECMP4, RANGEGPSL1, SATVIS2, TRACKSTAT

The OEM7 tracks SBAS PRNs 120-158 and 183-192.
The OEM7 tracks QZSS PRNs 193-202.

The OEM6 tracks SBAS PRNs 120-138 and 183-187.
The OEM6 tracks QZSS PRNs 193-197.

RXSTATUS

New OEM7 error and status states have been added to the Receiver Error, Receiver Status, Auxiliary 1 Status and Auxiliary 2 Status words.

See the RXSTATUS log

The receiver family from which the RXSTATUS log was generated must be known to properly interpret the information provided by the Error and Status words. To determine the receiver family, use the Version Bits (25 and 26) of the Receiver Status word.
If bit 25 is 1 and bit 26 is 0, the RXSTATUS log is from an OEM7 receiver.
If bit 25 is 0 and bit 26 is 0, the RXSTATUS log is from an OEM6 or earlier receiver.

TRACKSTAT

The OEM7 has channel state 23 for BOC sidepeak check.

VARIABLELEVERARM

The computed lever arm offset is now reported in the IMU Body frame, rather than the SPAN computation frame.

New Logs

The table below lists the logs added in OEM7.

New Logs in OEM7

OEM7

Description

GALCNAVRAWPAGE

Provides Galileo raw C-NAV page data from Galileo E6 signals.

See the GALCNAVRAWPAGE log

INSCALSTATUS

Provides the status and estimated values for the currently running offset calibration.

See the INSCALSTATUS log

INSCONFIG

Provides the current configuration of the SPAN system.

See the INSCONFIG log

INSSTDEV

Provides the INS PVA standard deviations.

See the INSSTDEV log

INSSTDEVS

Provides the INS PVA standard deviations and has a short header.

See the INSSTDEVS log

INSUPDATESTATUS

Provides the most recent INS update information

See the INSUPDATESTATUS log

ITBANDPASSBANK

Provides the allowable bandpass filter configurations

See the ITBANDPASSBANK log

ITDETECTSTATUS

Provides a list of detected interference

See the ITDETECTSTATUS log

ITFILTTABLE

Provides the filter configuration for each frequency

See the ITFILTTABLE log

ITPROGFILTBANK

Provides the allowable filter configurations

See the ITPROGFILTBANK log

ITPSDFINAL

Provides the processed power spectral density information

See the ITPSDFINAL log

J1939STATUS

Provides the status of the J1939 node

See the J1939STATUS log

MODELFEATURES

Clearly states the features available for the current loaded model

See the MODELFEATURES log

RANGECMP4

Highly compressed version of the RANGE log

See the RANGECMP4 log

RAWSBASFRAME2

Provides the raw SBAS frame data and the transmitted frequency.

See the RAWSBASFRAME2 log

RTKASSISTSTATUS

Provides information on the state of RTK ASSIST

See the RTKASSISTSTATUS log

SAFEMODESTATUS

Provides the Safe Mode status

See the SAFEMODESTATUS log