INSSEEDSTATUS

Status of INS Seed

Platform: 

OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S

This log reports the current status of the INS Seed. See INS Seed / Fast INS Initialization for more information about an INS Seed.

The INS Seed functionality is supported on all INS profiles, however the INS Seed validation criteria varies depending on the INS profile. If the receiver uses the LAND, AGRICULTURE or RAIL profile, the position and azimuth are validated before the INS Seed is injected and a kinematic validation is performed. If the receiver does not use one of these profiles, only the position is validated. Hence, non-Agriculture type profile users should be aware that the INS Seed will be injected as long as the position is within the threshold when the validation option is enabled. See INS Profiles for more information about INS Profiles.

Message ID: 2129

Log Type: Asynch

Abbreviated ASCII Syntax:

log insseedstatusa onnew

Example:

#INSSEEDSTATUSA,USB1,0,65.5,FINESTEERING,2209,493827.000,02000020,0d1f,16809;IGNORED,ALLVALID,0.3286,0.0293,352.9208,-1632848.2546,-3662158.6358,4944901.2915,-17.0001,0,0,0,0*db3c246f

Field

Field Type

Description

Format

Binary Bytes

Binary Offset

1

Log header

INSSEEDSTATUS header

For information about log headers, see ASCII, Abbreviated ASCII or Binary.

-

H

0

2

Injection Status

Status of the INS Seed being injected into the solution. See Table: Injection Status

Enum

4

H

3

Validity Status

Flag to indicate if current seed data in NVM is valid. See Table: Validity Status

Bool

4

H+4

4

Pitch

IMU frame pitch angle (degrees)

Float

4

H+8

5

Roll

IMU frame roll angle (degrees)

Float

4

H+12

6

Azimuth

IMU frame azimuth angle (degrees)

Float

4

H+16

7

PositionX

ECEF-based x-coordinate

Double

8

H+20

8

PositionY

ECEF-based y-coordinate

Double

8

H+28

9

PositionZ

ECEF-based z-coordinate

Double

8

H+36

10

Undulation

Geoid undulation

Float

4

H+44

11

Reserved

Ulong

4

H+48

12

Reserved

Ulong

4

H+52

13

Reserved

Ulong

4

H+56

14

Reserved

Ulong

4

H+60

15

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+64

16

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-
Injection Status

Binary

ASCII

Description

0

NOT_INITIALIZED

INS Seed has not been injected into the solution

1

INVALID

Valid INS Seed was not found in non-volatile memory

2

FAILED

INS Seed has failed validation and has been discarded

3

PENDING

INS Seed is awaiting validation

4

INJECTED

INS Seed alignment data has successfully been injected (including error model data)

5

IGNORED

INS Seed exists, but has been ignored due to a user commanded filter reset/restart or configuration change

6

ERRORMODELINJECTED

INS Seed error model data has successfully been injected
Validity Status

Binary

ASCII

Description

0

INVALID

INS Seed in NVM is not valid

1

ALLVALID

INS Seed in NVM is valid

2

ERRORMODELVALID

INS Seed error model in NVM is valid (alignment data is not valid)