D Logs summary

154 MiLLennium Command Descriptions Manual

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 metres with respect to MSL 1003.799
7 undulation Geoid undulation, in metres (see Figure C-6) -16.199
8datum ID Current datum (see Table G-2 in Appendix G) I.D. # 61
9lat std Standard deviation of latitude solution element, in metres 7.793
10 lon std Standard deviation of longitude solution element, in metres 3.223
11 hgt std Standard deviation of height solution element, in metres 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
1 Sync 3 char 0
(header) Checksum 1 char 3
Message ID 4 integer 4
Message byte count 4 integer 8
2 Week number 4 integer weeks 12
3Seconds of week 8 double seconds 16
4Latitude 8 double degrees (+ is North, - is South) 24
5Longitude 8 double degrees (+ is East, - is West) 32
6Height 8 double metres with respect to MSL 40
7 Undulation 8 double metres 48
8Datum ID 4 integer 56
9StdDev of latitude 8 double metres 60
10 StdDev of longitude 8 double metres 68
11 StdDev of height 8 double metres 76
12 Solution status 4 integer 84