D Logs Summary
MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 173
MKPA/B Mark Position

This log contains the estimated position of the antenna at detected mark impulse. It uses the last valid position and

velocities to extrapolate the position at time of mark. Refer to the GPSCard Installation and Operating Manual

Appendix for Mark Input pulse specifications. The latched time of mark impulse is in GPS weeks and seconds into

the week. The resolution of the latched time is 49 ns.

MKPA

Structure:
Example:
$MKPA,653,338214.773382376,51.11227014,-114.03907552,1003.799,-16.199,61,
7.793,3.223,34.509,0*3C[CR][LF]

MKPB

Format: Message ID = 05 Message byte count = 88

$MKPA week seconds lat lon hgt undulation datum ID
lat std lon std hgt std sol status *xx [CR][LF]
Field # Field type Data Description Example
1$MKPA Log header $MKPA
2week GPS week number 653
3seconds GPS seconds into the week measured from the receiver clock, coincident with the
time of electrical closure on the Mark Input port. 338214.773382
376
4lat Latitude of position in current datum, in degrees/decimal degrees
(DD.dddddddd), where a negative sign implies South latitude 51.11227014
5lon Longitude of position in current datum, in degrees/decimal degrees
(DDD.dddddddd), where a negative sign implies West longitude -114.03907552
6hgt Height of position in current datum, in meters with respect to MSL 1003.799
7undulation Geoid undulation, in meters (see Figure C-6, Page 132) -16.199
8datum ID Current datum (see Table G-2 in Appendix G, Page 240) I.D. # 61
9lat std Standard deviation of latitude solution element, in meters 7.793
10 lon std Standard deviation of longitude solution element, in meters 3.223
11 hgt std Standard deviation of height solution element, in meters 34.509
12 sol status Solution status as listed in Table D-1 0
13 *xx Checksum *3C
14 [CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Latitude 8double degrees (+ is North, - is South) 24
5Longitude 8double degrees (+ is East, - is West) 32
6Height 8double meters with respect to MSL 40
7Undulation 8double meters 48
8Datum ID 4integer 56
9StdDev of latitude 8d ouble meters 60
10 StdDev of longitude 8double meters 68
11 StdDev of height 8double meters 76
12 Solution status 4integer 84