RAWIMUSX

IMU Data Extended

Platform:

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

This is the short header version of the extended RAWIMUX log intended for use with post-processing. The extended version includes IMU information that is used by the NovAtel Inertial Explorer post‑processing software.

The change in velocity (acceleration) and angle (rotation rate) scale factors for each IMU type can be found in Table: Raw IMU Scale Factors. Multiply the appropriate scale factor by the count value for the velocity (field 7-9) and angle (field 10-12) increments.

To obtain acceleration in m/s/s or rotation rate in rad/s, multiply the velocity/rotation increments by the output rate of the IMU:

100 Hz for UIMU-HG1700-AG58, UIMU-HG1700-AG62, IMU-HG1900, OEM-HG1900, OEM-HG1930, OEM-IMU-HG4930, CPT7 and CPT7700
125 Hz for IMU-IGM-S1, OEM-IMU-STIM300, OEM-IMU-EG320N, PwrPak7-E1, PwrPak7D-E1 and SMART7-S
200 Hz for IMU-ISA-100C, IMU-FSAS, IMU-LN200, IMU-LN200C, IMU-µIMU-IC, OEM-IMU-µIMU-IC, IMU-KVH1750, IMU-P1750, IMU-IGM-A1, OEM-IMU-ADIS-16488, OEM-IMU-EG370N, OEM-IMU-EG320N_200Hz, PwrPak7-E2 and PwrPak7D-E2
400 Hz for OEM-IMU-HG4930_400Hz, CPT7_400Hz, CPT7700_400Hz and OEM-IMU-µIMU-IC-UART

The units of acceleration and rotation rate will depend on the IMU Scale Factors.

This log is output in the IMU Body frame.

Logging Restriction Important Notice

Logging excessive amounts of high rate data can overload the system. When configuring the output for SPAN, NovAtel recommends that only one high rate (>50Hz) message be configured for output at a time. It is possible to log more than one message at high rates, but doing so could have negative impacts on the system. Also, if logging 100/125/200/400Hz data, always use the binary format and, if possible, the short header binary format (available on most INS logs).

For optimal performance, log only one high rate output at a time. These logs could be:

Raw data for post processing
RAWIMUXSB ONNEW
- RAWIMU logs are not valid with the ONTIME trigger. The raw IMU observations contained in these logs are sequential changes in velocity and rotation. As such, you can only use them for navigation if they are logged at their full rate.
Real time INS solution
IMURATEPVA ONNEW or IMURATEPVAS ONNEW

Other possible INS solution logs available at high rates are: INSPVASB, INSPOSSB, INSVELSB, INSATTSB

Message ID: 1462

Log Type: Asynch

Recommended Input:

log rawimusxb onnew

ASCII example:

%RAWIMUSXA,2209,491674.014;04,41,2209,491674.013699,ea59fe00,329308016,-2706935,4508389,196192,417138,-1000837*038422a7

Field	Field Type	Description	Format	Binary Bytes	Binary Offset
1	Log header	RAWIMUSX header For information about short log headers, see Description of ASCII and Binary Logs with Short Headers.	-	H	0
2	IMU Info	IMU Info Bits Bit 0: If set, an IMU error was detected. Check the IMU Status field for details. Bit 1: If set, the IMU data is encrypted and should not be used. Bits 2 to 7: Reserved	Hex Uchar	1	H
3	IMU Type	IMU Type identifier. See Table: IMU Type.	Uchar	1	H+1
4	GNSS Week	GNSS Week	Ushort	2	H+2
5	GNSS Week Seconds	Seconds from week start	Double	8	H+4
6	IMU Status	The status of the IMU. This field is given in a fixed length (n) array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs. For the raw IMU status, see one of the following tables: Table: IMU-FSAS IMU Status Table: HG1700 IMU Status Table: IMU-LN200 IMU Status Table: IMU-ISA-100C IMU Status Table: IMU-CPT IMU Status Table: IMU-KVH1750 and IMU-P1750 IMU Status Table: HG1900 and HG1930 IMU Status Table: OEM-IMU-HG4930 AN01 IMU Status Table: OEM-IMU-HG4930 AN04 IMU Status Table: OEM-IMU-ADIS-16488 IMU Status Table: OEM-IMU-STIM300 IMU Status Table: IMU-µIMU-IC IMU Status Table: OEM-IMU-EG320N IMU Status Table: OEM-IMU-EG370N IMU Status	Hex Ulong	4	H+12
7	Z Accel	Change in velocity count along Z-axis.	Long	4	H+16
8	-(Y Accel)	- (Change in velocity count along y-axis.) A negative value implies the output is along the positive y-axis marked on the IMU. A positive value implies the change is in the direction opposite to that of the y-axis marked on the IMU.	Long	4	H+20
9	X Accel	Change in velocity count along x axis.	Long	4	H+24
10	Z Gyro	Change in angle count around z axis. Right-handed	Long	4	H+28
11	-(Y Gyro)	- (Change in angle count around y axis.) Right-handed A negative value implies a positive right-handed rotation about the y-axis marked on the IMU. A positive value implies a negative right-handed rotation about the y-axis marked on the IMU.	Long	4	H+32
12	X Gyro	Change in angle count around x axis. Right-handed	Long	4	H+36
13	XXXX	32-bit CRC (ASCII, Binary, and Short Binary only)	Hex	4	H+40
14	[CR][LF]	Sentence terminator (ASCII only)	-	-	-

IMU-FSAS IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	Reserved
	1	0x00000002
	2	0x00000004
	3	0x00000008
N1	4	0x00000010	Gyro warm-up	0 = Passed, 1 = Failed
	5	0x00000020	Gyro self-test active	0 = Passed, 1 = Failed
	6	0x00000040	Gyro status bit set	0 = Passed, 1 = Failed
	7	0x00000080	Gyro time-out command interface	0 = Passed, 1 = Failed
N2	8	0x00000100	Power-up built-in test (PBIT)	0 = Passed, 1 = Failed
	9	0x00000200	Reserved
	10	0x00000400	Interrupt	0 = Passed, 1 = Failed
	11	0x00000800	Reserved
N3	12	0x00001000	Warm-up	0 = Passed, 1 = Failed
	13	0x00002000	Reserved
	14	0x00004000	Reserved
	15	0x00008000	Initiated built-in test (IBIT)	0 = Passed, 1 = Failed
N4	16	0x00010000	Reserved
	17	0x00020000	Reserved
	18	0x00040000	Accelerometer	0 = Passed, 1 = Failed
	19	0x00080000	Accelerometer time-out	0 = Passed, 1 = Failed
N5	20	0x00100000	Reserved
	21	0x00200000	Gyro initiated BIT	0 = Passed, 1 = Failed
	22	0x00400000	Gyro self-test	0 = Passed, 1 = Failed
	23	0x00800000	Gyro time-out	0 = Passed, 1 = Failed
N6	24	0x01000000	Analog-to-Digital (AD)	0 = Passed, 1 = Failed
	25	0x02000000	Test mode	0 = Passed, 1 = Failed
	26	0x04000000	Software	0 = Passed, 1 = Failed
	27	0x08000000	RAM/ROM	0 = Passed, 1 = Failed
N7	28	0x10000000	Reserved
	29	0x20000000	Operational	0 = Passed, 1 = Failed
	30	0x40000000	Interface	0 = Passed, 1 = Failed
	31	0x80000000	Interface time-out	0 = Passed, 1 = Failed

HG1700 IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	Reserved
	1	0x00000002	Reserved
	2	0x00000004	Reserved
	3	0x00000008	Reserved
N1	4	0x00000010	IMU Status	0 = Passed, 1 = Failed
	5	0x00000020	IMU Status	0 = Passed, 1 = Failed
	6	0x00000040	IMU Status	0 = Passed, 1 = Failed
	7	0x00000080	IMU Status	0 = Passed, 1 = Failed
N2	8	0x00000100	Reserved
	9	0x00000200	Reserved
	10	0x00000400	Reserved
	11	0x00000800	Reserved
N3	12	0x00001000	Reserved
	13	0x00002000	Reserved
	14	0x00004000	Reserved
	15	0x00008000	Reserved
N4	16	0x00010000	Reserved
	17	0x00020000	Reserved
	18	0x00040000	Reserved
	19	0x00080000	Reserved
N5	20	0x00100000	Reserved
	21	0x00200000	Reserved
	22	0x00400000	Reserved
	23	0x00800000	Reserved
N6	24	0x01000000	Reserved
	25	0x02000000	Reserved
	26	0x04000000	Reserved
	27	0x08000000	IMU Status	0 = Passed, 1= Failed
N7	28	0x10000000	IMU Status	0 = Passed, 1 = Failed
	29	0x20000000	IMU Status	0 = Passed, 1 = Failed
	30	0x40000000	IMU Status	0 = Passed, 1 = Failed
	31	0x80000000	IMU Status	0 = Passed, 1 = Failed

The values in Table: HG1700 IMU Status also apply to the UIMU-HG1700-AG58 and UIMU-HG1700-AG62.

IMU-LN200 IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	IMU Status	0 = Passed, 1 = Failed
	1	0x00000002	IMU Status	0 = Passed, 1 = Failed
	2	0x00000004	IMU Status	0 = Passed, 1 = Failed
	3	0x00000008	IMU Status	0 = Passed, 1 = Failed
N1	4	0x00000010	IMU Status	0 = Passed, 1 = Failed
	5	0x00000020	IMU Status	0 = Passed, 1 = Failed
	6	0x00000040	IMU Status	0 = Passed, 1 = Failed
	7	0x00000080	IMU Status	0 = Passed, 1 = Failed
N2	8	0x00000100	IMU Status	0 = Passed, 1 = Failed
	9	0x00000200	IMU Status	0 = Passed, 1 = Failed
	10	0x00000400	IMU Status	0 = Passed, 1 = Failed
	11	0x00000800	IMU Status	0 = Passed, 1 = Failed
N3	12	0x00001000	IMU Status	0 = Passed, 1 = Failed
	13	0x00002000	IMU Status	0 = Passed, 1 = Failed
	14	0x00004000	IMU Status	0 = Passed, 1 = Failed
	15	0x00008000	Reserved
N4	16	0x00010000	Reserved
	17	0x00020000	Reserved
	18	0x00040000	Reserved
	19	0x00080000	Reserved
N5	20	0x00100000	Reserved
	21	0x00200000	Reserved
	22	0x00400000	Reserved
	23	0x00800000	Reserved
N6	24	0x01000000	IMU Status	0 = Passed, 1 = Failed
	25	0x02000000	IMU Status	0 = Passed, 1 = Failed
	26	0x04000000	IMU Status	0 = Passed, 1 = Failed
	27	0x08000000	IMU Status	0 = Passed, 1 = Failed
N7	28	0x10000000	IMU Status	0 = Passed, 1 = Failed
	29	0x20000000	Reserved
	30	0x40000000	IMU Status	0 = Passed, 1 = Failed
	31	0x80000000	Reserved

The values in Table: IMU-LN200 IMU Status also apply to the IMU-LN200C and UIMU-LN200.

IMU-ISA-100C IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	Maintenance Indication	0 = Normal, 1 = System Maintenance Indicator
	1	0x00000002	Accelerometers Invalid	0 = Normal, 1 = Invalid
	2	0x00000004	Accelerometer X Warning	0 = Normal, 1 = Warning
	3	0x00000008	Accelerometer Y Warning	0 = Normal, 1 = Warning
N1	4	0x00000010	Accelerometer Z Warning	0 = Normal, 1 = Warning
	5	0x00000020	Accelerometer X NOGO	0 = Normal, 1 = NOGO
	6	0x00000040	Accelerometer Y NOGO	0 = Normal, 1 = NOGO
	7	0x00000080	Accelerometer Z NOGO	0 = Normal, 1 = NOGO
N2	8	0x00000100	Reset Occurred	0 = Normal, 1 = First Message after ISA-100C Reset
	9	0x00000200	Gyroscopes Invalid	0 = Normal, 1 = Invalid
	10	0x00000400	Gyroscope X Warning	0 = Normal, 1 = Warning
	11	0x00000800	Gyroscope Y Warning	0 = Normal, 1 = Warning
N3	12	0x00001000	Gyroscope Z Warning	0 = Normal, 1 = Warning
	13	0x00002000	Gyroscope X NOGO	0 = Normal, 1 = NOGO
	14	0x00004000	Gyroscope Y NOGO	0 = Normal, 1 = NOGO
	15	0x00008000	Gyroscope Z NOGO	0 = Normal, 1 = NOGO
N4	16	0x00010000	IMU temperature reading as follows: Signed 2-byte value (SHORT) 1 LSB = 3.90625e^-3 Celsius Temperature Range +/- 128 Celsius
	17	0x00020000
	18	0x00040000
	19	0x00080000
N5	20	0x00100000
	21	0x00200000
	22	0x00400000
	23	0x00800000
N6	24	0x01000000
	25	0x02000000
	26	0x04000000
	27	0x08000000
N7	28	0x10000000
	29	0x20000000
	30	0x40000000
	31	0x80000000

IMU-CPT IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	Gyro X Status	1 = Valid, 0 = Invalid
	1	0x00000002	Gyro Y Status	1 = Valid, 0 = Invalid
	2	0x00000004	Gyro Z Status	1 = Valid, 0 = Invalid
	3	0x00000008	Unused	Set to 0
N1	4	0x00000010	Accelerometer X Status	1 = Valid, 0 = Invalid
	5	0x00000020	Accelerometer Y Status	1 = Valid, 0 = Invalid
	6	0x00000040	Accelerometer Z Status	1 = Valid, 0 = Invalid
	7	0x00000080	Unused	Set to 0
N2	8	0x00000100	IMU Data Sequence Counter read in a Ushort. Increments for each message and resets to 0 after 127.
	9	0x00000200
	10	0x00000400
	11	0x00000800
N3	12	0x00001000
	13	0x00002000
	14	0x00004000
	15	0x00008000
N4	16	0x00010000	Unused
	17	0x00020000
	18	0x00040000
	19	0x00080000
N5	20	0x00100000
	21	0x00200000
	22	0x00400000
	23	0x00800000
N6	24	0x01000000
	25	0x02000000
	26	0x04000000
	27	0x08000000
N7	28	0x10000000
	29	0x20000000
	30	0x40000000
	31	0x80000000

IMU-KVH1750 and IMU-P1750 IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	Gyro X Status	1 = Valid, 0 = Invalid
	1	0x00000002	Gyro Y Status	1 = Valid, 0 = Invalid
	2	0x00000004	Gyro Z Status	1 = Valid, 0 = Invalid
	3	0x00000008	Unused	Set to 0
N1	4	0x00000010	Accelerometer X Status	1 = Valid, 0 = Invalid
	5	0x00000020	Accelerometer Y Status	1 = Valid, 0 = Invalid
	6	0x00000040	Accelerometer Z Status	1 = Valid, 0 = Invalid
	7	0x00000080	Unused	Set to 0
N2	8	0x00000100	IMU Data Sequence Counter read in a Ushort. Increments for each message and resets to 0 after 127.
	9	0x00000200
	10	0x00000400
	11	0x00000800
N3	12	0x00001000
	13	0x00002000
	14	0x00004000
	15	0x00008000
N4	16	0x00010000	IMU temperature reading as follows: Signed 2-byte value (SHORT) Rounded to the nearest degree Example: <RAWIMU COM1 0 75.0 FINESTEERING 1813 514207.000 00000020 fa9a 45836 1813 514207.000000000 00260077 32164 -47 -305 1 -10 0 IMU status = 00260077 Temperatures bytes = 0026 Decimal value = 38 degrees C
	17	0x00020000
	18	0x00040000
	19	0x00080000
N5	20	0x00100000
	21	0x00200000
	22	0x00400000
	23	0x00800000
N6	24	0x01000000
	25	0x02000000
	26	0x04000000
	27	0x08000000
N7	28	0x10000000
	29	0x20000000
	30	0x40000000
	31	0x80000000

HG1900 and HG1930 IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	Reserved
	1	0x00000002
	2	0x00000004
	3	0x00000008
N1	4	0x00000010	IMU Status	0 = Passed, 1 = Failed
	5	0x00000020	IMU Status	0 = Passed, 1 = Failed
	6	0x00000040	IMU Status	0 = Passed, 1 = Failed
	7	0x00000080	IMU Status	0 = Passed, 1 = Failed
N2	8	0x00000100	Reserved
	9	0x00000200
	10	0x00000400
	11	0x00000800
N3	12	0x00001000	Reserved
	13	0x00002000
	14	0x00004000
	15	0x00008000
N4	16	0x00010000	Reserved
	17	0x00020000
	18	0x00040000
	19	0x00080000
N5	20	0x00100000	Reserved
	21	0x00200000
	22	0x00400000
	23	0x00800000
N6	24	0x01000000	IMU Status	0 = Passed, 1 = Failed
	25	0x02000000	Reserved
	26	0x04000000	IMU Status	0 = Passed, 1 = Failed
	27	0x08000000	IMU Status	0 = Passed, 1 = Failed
N7	28	0x10000000	IMU Status	0 = Passed, 1 = Failed
	29	0x20000000	IMU Status	0 = Passed, 1 = Failed
	30	0x40000000	IMU Status	0 = Passed, 1 = Failed
	31	0x80000000	Reserved

The values in Table: HG1900 and HG1930 IMU Status also apply to the IMU-HG1900, OEM-HG1900 and OEM-HG1930.

OEM-IMU-HG4930 AN01 IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	IMU Status	0 = Passed, 1 = Failed
	1	0x00000002	Reserved
	2	0x00000004	Reserved
	3	0x00000008	Gyro Status	0 = Passed, 1 = Failed
N1	4	0x00000010	Accelerometer Status	0 = Passed, 1 = Failed
	5	0x00000020	Reserved
	6	0x00000040	IMU Status	0 = Passed, 1 = Failed
	7	0x00000080	Reserved
N2	8	0x00000100	MU temperature reading as follows: Signed 2-byte integer (SHORT, two's complement) 0°C = 0x0000 1LSB = 0.01 °C Available only on firmware versions 7.08.02 and later
	9	0x00000200
	10	0x00000400
	11	0x00000800
N3	12	0x00001000
	13	0x00002000
	14	0x00004000
	15	0x00008000
N4	16	0x00010000
	17	0x00020000
	18	0x00040000
	19	0x00080000
N5	20	0x00100000
	21	0x00200000
	22	0x00400000
	23	0x00800000
N6	24	0x01000000	Reserved
	25	0x02000000
	26	0x04000000
	27	0x08000000
N7	28	0x10000000	Reserved
	29	0x20000000
	30	0x40000000
	31	0x80000000

The values in Table: OEM-IMU-HG4930 AN01 IMU Status also apply to the legacy CPT7.

OEM-IMU-HG4930 AN04 IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	IMU Status	0 = Passed, 1 = Failed
	1	0x00000002	Reserved
	2	0x00000004	Reserved
	3	0x00000008	Gyro Status	0 = Passed, 1 = Failed
N1	4	0x00000010	Accelerometer Status	0 = Passed, 1 = Failed
	5	0x00000020	Reserved
	6	0x00000040	IMU Status	0 = Passed, 1 = Failed
	7	0x00000080	Reserved
N2	8	0x00000100	MU temperature reading as follows: Signed 2-byte integer (SHORT, two's complement) 0°C = 0x0000 1LSB = 0.01 °C Available only on firmware versions 7.08.02 and later
	9	0x00000200
	10	0x00000400
	11	0x00000800
N3	12	0x00001000
	13	0x00002000
	14	0x00004000
	15	0x00008000
N4	16	0x00010000
	17	0x00020000
	18	0x00040000
	19	0x00080000
N5	20	0x00100000
	21	0x00200000
	22	0x00400000
	23	0x00800000
N6	24	0x01000000	Reserved
	25	0x02000000
	26	0x04000000
	27	0x08000000
N7	28	0x10000000	Reserved
	29	0x20000000
	30	0x40000000
	31	0x80000000

The values in Table: OEM-IMU-HG4930 AN04 IMU Status also apply to the CPT7 and CPT7700.

OEM-IMU-ADIS-16488 IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	Alarm Status Flag
	1	0x00000002	Reserved
	2	0x00000004	Reserved
	3	0x00000008	SPI Communication Error	0 = Passed, 1 = Failed
N1	4	0x00000010	Sensor Over-Range	0 = Passed, 1 = One of more sensors over-ranged
	5	0x00000020	Initial Self Test Failure	0 = Passed, 1= Failed
	6	0x00000040	Flash Memory Failure	0 = Passed, 1 = Failed
	7	0x00000080	Processing Overrun	0 = Passed, 1 = Failed
N2	8	0x00000100	Self Test Failure – X-axis gyro	0 = Passed, 1 = Failed
	9	0x00000200	Self Test Failure – Y-axis gyro	0 = Passed, 1 = Failed
	10	0x00000400	Self Test Failure – Z-axis gyro	0 = Passed, 1 = Failed
	11	0x00000800	Self Test Failure – X-axis accelerometer	0 = Passed, 1 = Failed
N3	12	0x00001000	Self Test Failure – Y-axis accelerometer	0 = Passed, 1 = Failed
	13	0x00002000	Self Test Failure – Z-axis	0 = Passed, 1 = Failed
	14	0x00004000	Reserved
	15	0x00008000	Reserved
N4	16	0x00010000	IMU temperature reading as follows: Signed 2-byte value (SHORT) 25ºC = 0x0000 1 LSB = 0.00565ºC
	17	0x00020000
	18	0x00040000
	19	0x00080000
N5	20	0x00100000
	21	0x00200000
	22	0x00400000
	23	0x00800000
N6	24	0x01000000
	25	0x02000000
	26	0x04000000
	27	0x08000000
N7	28	0x10000000
	29	0x20000000
	30	0x40000000
	31	0x80000000

The values in Table: OEM-IMU-ADIS-16488 IMU Status also apply to the IMU-IGM-A1.

OEM-IMU-STIM300 IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	Gyro status	0 = OK, 1 = X-channel
	1	0x00000002		0 = OK, 1 = Y-channel
	2	0x00000004		0 = OK, 1 = Z-channel
	3	0x00000008		0 = OK, 1 = Error in measurement channel (Bits 0-2 flag the error channels)
N1	4	0x00000010		0 = OK, 1 = Overload (Bits 0-2 flag the error channels)
	5	0x00000020		0 = OK, 1 = Outside operating conditions
	6	0x00000040		0 = OK, 1 = Startup
	7	0x00000080		0 = OK, 1 = System integrity error
N2	8	0x00000100	Accelerometer Status	0 = OK, 1 = X-channel
	9	0x00000200		0 = OK, 1 = Y-channel
	10	0x00000400		0 = OK, 1 = Z-channel
	11	0x00000800		0 = OK, 1 = Error in measurement channel (Bits 0-2 flag the error channels)
N3	12	0x00001000		0 = OK, 1 = Overload (Bits 0-2 flag the error channels)
	13	0x00002000		0 = OK, 1 = Outside operating conditions
	14	0x00004000		0 = OK, 1 = Startup
	15	0x00008000		0 = OK, 1 = System integrity error
N4	16	0x00010000	Temperature of the X gyro sensor 0ºC = 0x0000 1 LSB = 2^-8 ºC
	17	0x00020000
	18	0x00040000
	19	0x00080000
N5	20	0x00100000
	21	0x00200000
	22	0x00400000
	23	0x00800000
N6	24	0x01000000
	25	0x02000000
	26	0x04000000
	27	0x08000000
N7	28	0x10000000
	29	0x20000000
	30	0x40000000
	31	0x80000000

The values in Table: OEM-IMU-STIM300 IMU Status also apply to the IMU-IGM-S1.

IMU-µIMU-IC IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	Reset Acknowledged	0 = Normal, 1 = Reset
	1	0x00000002	Gyros Not Initialized	0 = Normal, 1 = Not Initialized
	2	0x00000004	Gyro X Warning	0 = Normal, 1 = Warning
	3	0x00000008	Gyro Y Warning	0 = Normal, 1 = Warning
N1	4	0x00000010	Gyro Z Warning	0 = Normal, 1 = Warning
	5	0x00000020	Gyro X NOGO	0 = Normal, 1 = NOGO
	6	0x00000040	Gyro Y NOGO	0 = Normal, 1 = NOGO
	7	0x00000080	Gyro Z NOGO	0 = Normal, 1 = NOGO
N2	8	0x00000100	Reserved
	9	0x00000200	Accels Not Initialized	0 = Normal, 1 = Not Initialized
	10	0x00000400	Accel X Warning	0 = Normal, 1 = Warning
	11	0x00000800	Accel Y Warning	0 = Normal, 1 = Warning
N3	12	0x00001000	Accel Z Warning	0 = Normal, 1 = Warning
	13	0x00002000	Accel X NOGO	0 = Normal, 1 = NOGO
	14	0x00004000	Accel Y NOGO	0 = Normal, 1 = NOGO
	15	0x00008000	Accel Z NOGO	0 = Normal, 1 = NOGO
N4	16	0x00010000	IMU temperature reading as follows: Signed 2-byte value (SHORT) 1 LSB = 3.90625e^-3 ºC Temperature Range +/- 128 ºC
	17	0x00020000
	18	0x00040000
	19	0x00080000
N5	20	0x00100000
	21	0x00200000
	22	0x00400000
	23	0x00800000
N6	24	0x01000000
	25	0x02000000
	26	0x04000000
	27	0x08000000
N7	28	0x10000000
	29	0x20000000
	30	0x40000000
	31	0x80000000

The values in Table: IMU-µIMU-IC IMU Status also apply to the OEM-IMU-µIMU-IC and OEM-IMU-µIMU-IC-UART.

OEM-IMU-EG320N IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	Error All	0 = Normal, 1 = Sensor Failure
	1	0x00000002	Reserved
	2	0x00000004
	3	0x00000008
N1	4	0x00000010
	5	0x00000020
	6	0x00000040
	7	0x00000080
N2	8	0x00000100
	9	0x00000200	Accel Z - New Data	New Data = 1, No Data = 0
	10	0x00000400	Accel Y - New Data	New Data = 1, No Data = 0
	11	0x00000800	Accel X - New Data	New Data = 1, No Data = 0
N3	12	0x00001000	Gyro Z - New Data	New Data = 1, No Data = 0
	13	0x00002000	Gyro Y - New Data	New Data = 1, No Data = 0
	14	0x00004000	Gyro X - New Data	New Data = 1, No Data = 0
	15	0x00008000	Temperature - New Data	New Data = 1, No Data = 0
N4	16	0x00010000	IMU temperature reading as follows: Signed 2-byte integer (SHORT, two's complement) 34.9876012 °C = 0x0000 1 LSB = -0.0037918 °C Conversion: Temperature [°C] = -0.0037918 * (VALUE - 2634) + 25 OR Temperature [°C] = -0.0037918 * VALUE + 34.9876012
	17	0x00020000
	18	0x00040000
	19	0x00080000
N5	20	0x00100000
	21	0x00200000
	22	0x00400000
	23	0x00800000
N6	24	0x01000000
	25	0x02000000
	26	0x04000000
	27	0x08000000
N7	28	0x10000000
	29	0x20000000
	30	0x40000000
	31	0x80000000

The values in Table: OEM-IMU-EG320N IMU Status also apply to the PwrPak7-E1, PwrPak7D-E1 and SMART7-S.

OEM-IMU-EG370N IMU Status
Nibble	Bit	Mask	Description	Range Value
N0	0	0x00000001	Error All	0 = Normal, 1 = Sensor Failure
	1	0x00000002	Run Time Diagnostics	0 = Normal, 1 = At least one abnormality detected in run time self-diagnosis result
	2	0x00000004	Reserved
	3	0x00000008
N1	4	0x00000010
	5	0x00000020
	6	0x00000040
	7	0x00000080
N2	8	0x00000100	Range Over	0 = Normal, 1 = At least one over range condition detected
	9	0x00000200	Accel Z - New Data	New Data = 1, No Data = 0
	10	0x00000400	Accel Y - New Data	New Data = 1, No Data = 0
	11	0x00000800	Accel X - New Data	New Data = 1, No Data = 0
N3	12	0x00001000	Gyro Z - New Data	New Data = 1, No Data = 0
	13	0x00002000	Gyro Y - New Data	New Data = 1, No Data = 0
	14	0x00004000	Gyro X - New Data	New Data = 1, No Data = 0
	15	0x00008000	Temperature - New Data	New Data = 1, No Data = 0
N4	16	0x00010000	IMU temperature reading as follows: Signed 2-byte integer (SHORT, two's complement) 34.9876012 °C = 0x0000 1 LSB = -0.0037918 °C Conversion: Temperature [°C] = -0.0037918 * (VALUE - 2634) + 25 OR Temperature [°C] = -0.0037918 * VALUE + 34.9876012
	17	0x00020000
	18	0x00040000
	19	0x00080000
N5	20	0x00100000
	21	0x00200000
	22	0x00400000
	23	0x00800000
N6	24	0x01000000
	25	0x02000000
	26	0x04000000
	27	0x08000000
N7	28	0x10000000
	29	0x20000000
	30	0x40000000
	31	0x80000000

The values in Table: OEM-IMU-EG370N IMU Status also apply to the PwrPak7-E2 and PwrPak7D-E2.

Raw IMU Scale Factors
	Gyroscope Scale Factor	Acceleration Scale Factor
HG1700-AG58 HG1900‑CA29/CA50 HG1930‑AA99/CA50	2.0^-33 rad/LSB	2.0^-27 ft/s/LSB
HG1700-AG62	2.0^-33 rad/LSB	2.0^-26 ft/s/LSB
HG4930-AN01 HG4930-AN04 CPT7 CPT7700	2.0^-33 rad/LSB	2.0^-29 m/s/LSB
IMU-CPT IMU-KVH1750 IMU-P1750	0.1 / (3600.0x256.0) rad/LSB	0.05/2¹⁵ m/s/LSB
IMU-FSAS	0.1x 2^-8 arcsec/LSB	0.05 x 2^-15 m/s/LSB
LN-200	2^-19 rad/LSB	2^-14 m/s/LSB
IMU-ISA-100C IMU-µIMU-IC	1.0E-9 rad/LSB	2.0E-8 m/s/LSB
OEM-IMU-ADIS-16488 IMU-IGM-A1	720/2³¹ deg/LSB	200/2³¹ m/s/LSB
OEM-IMU-STIM300 IMU-IGM-S1	2^-21 deg/LSB	2^-22 m/s/LSB
OEM-IMU-EG320N PwrPak7-E1 PwrPak7D-E1 SMART7-S	(0.008/65536)/(DataRate) deg/LSB	(0.200/65536)*(ONE_G/1000)/(DataRate) m/s/LSB
OEM-IMU-EG370N PwrPak7-E2 PwrPak7D-E2	(0.0151515/65536)/200 deg/LSB	(0.400/65536)*(ONE_G/1000)/200 m/s/LSB

LSB = Least Significant Bit
DataRate = 125 or 200 depending on configuration
ONE_G = 9.80665 m/s/s