MASTERPOS

Base Position using ALIGN

Platform:

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

ALIGN generates distance and bearing information between a Base and Rover receiver. This log outputs the position information of the Base when using the ALIGN feature. This log can be output from both Y and Z ALIGN models and can be output at both Base and Rover ends.

You must have an ALIGN capable receiver to use this log.

 

  1. ALIGN is useful for obtaining the relative directional heading of a vessel/body, separation heading between two vessels/bodies or heading information with moving base and pointing applications.

  2. The log can be output at both Y and Z model Rover if it is receiving the RTCAREFEXT or NovAtelXRef message from the Base. The log can be output at any Base if the Base is receiving HEADINGEXTB or HEADINGEXT2B from the Rover.

  3. MASTERPOS logging is dictated by the output frequency of the RTCAREFEXT or NovAtelXRef output frequency.

Message ID: 1051

Log Type: Asynch

Recommended Input:

log masterposa onchanged

ASCII Example:

#MASTERPOSA,COM1,0,21.5,FINESTEERING,1544,340322.000,02000008,5009,4655;SOL_COMPUTED,NARROW_INT,51.11604599076,-114.03855412002,1055.7756,16.9000,WGS84,0.0090,0.0086,0.0143,"AAAA",0.0,0.0,13,13,13,12,0,0,0,0*a72e8d3f

Asynchronous logs, such as MASTERPOS, should only be logged ONCHANGED or ONNEW, otherwise the most current data is not output when it is available. This is especially true of the ONTIME trigger, which may cause inaccurate time tags to result.

Field

Field Type

Description

Format

Binary Bytes

Binary Offset

1

Log header

MASTERPOS header

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

 

H

0

2

sol stat

Solution Status, see Table: Solution Status

Enum

4

H

3

pos type

Position Type see Table: Position or Velocity Type

Enum

4

H+4

4

lat

Base WGS84 Latitude in degrees

Double

8

H+8

5

long

Base WGS84 Longitude in degrees

Double

8

H+16

6

hgt

Base MSL Height in metres

Double

8

H+24

7

undulation

Undulation in metres

Float

4

H+32

8

datum id#

Datum ID number

61 = WGS84

63 = USER

(default = WGS84)

Enum

4

H+36

9

lat σ

Latitude standard deviation in metres

Float

4

H+40

10

long σ

Longitude standard deviation in metres

Float

4

H+44

11

hgt σ

Height standard deviation in metres

Float

4

H+48

12

stn id

Receiver ID can be set using the DGPSTXID command

Char[4]

4

H+52

13

Reserved

Float

4

H+56

14

Float

4

H+60

15

#SVs

Number of satellites tracked

Uchar

1

H+64

16

#solnSVs

Number of satellites used in solution

Uchar

1

H+65

17

#obs

Number of satellites with L1/E1/B1 signals used in solution

Uchar

1

H+66

18

#multi

Number of satellites with multi-frequency signals used in solution

Uchar

1

H+67

19

sol source

Solution source (see Table: Solution Source)

Hex

1

H+68

20

Reserved

Uchar

1

H+69

21

Uchar

1

H+70

22

Uchar

1

H+71

23

xxxx

32-bit CRC (ASCII and Binary only)

HEX

1

H+72

24

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-