Novatel Software Version 4.45 OM-20000026 Rev 1

OM-20000026 Rev 1 97/10/28

NovAtel Inc.

1120 - 68 Avenue NE

Calgary, Alberta, Canada, T2E 8S5

GPS Hotline: (403) 295-4900

GPS Fax: (403) 295-4901

E-mail: support@novatel.ca

Web site: http://www.novatel.ca

Recyclable

Printed in Canada on

recycled paper

Contents

Main TABLE OF CONTENTS MiLLennium Command Descriptions Manual iii 1Quick Start 2Command Descriptions 3Special Data Input Commands APPENDICES A GPS Overview B Multipath Elimination Technology C Commands Summary MiLLennium Command Descriptions Manual v DLogs Summary vi MiLLennium Command Descriptions Manual MiLLennium Command Descriptions Manual vii FIGURES TABLES 1QUICK START MiLLennium Command Descriptions Manual 1 1.1 INSTALLATION Graphical Interface 2 MiLLennium Command Descriptions Manual 1.2 DATA LOGGING MiLLennium Command Descriptions Manual 3 COMMONLY USED LOGS 1.3 DIFFERENTIAL OPERATION Establish a Data Link 4 MiLLennium Command Descriptions Manual FIX POSITION lat lon height station id health Table 1-1 GPSCard Pseudorange Differential Initialization Summary Initialization - Reference Station REFERENCE FIX POSITION MiLLennium Command Descriptions Manual 5 LOG BROADCAST DATA 1.4 RTK MODE Data Communications Link Table 1-2 Latency-Induced Extrapolation Error 6 MiLLennium Command Descriptions Manual System Initialization INITIALIZATION FOR RTCA-FORMAT MESSAGING (RT-2 OR RT-20) 1. At the reference station: station id MiLLennium Command Descriptions Manual 7 Monitoring Your RTK Output Data Options for Logging Differential Corrections SET DGPSTIMEOUT 8 MiLLennium Command Descriptions Manual USING RTCM SC-104 LOG TYPES USING RTCA LOG TYPES MiLLennium Command Descriptions Manual 9 Initialization - Rover Station ACCEPT COMMAND LOG POSITION DATA AND OTHER USEFUL DATA 2COMMAND DESCRIPTIONS 10 MiLLennium Command Descriptions Manual 2.1 GENERAL MiLLennium Command Descriptions Manual 11 2.2 COMMAND TABLES Table 2-1 Commands By Function Table 12 MiLLennium Command Descriptions Manual Table 2-1 Commands By Function Table (continued) MiLLennium Command Descriptions Manual 13 Table 2-2 GPSCard Command Summary 14 MiLLennium Command Descriptions Manual Table 2-2 GPSCard Command Summary (continued) Range Value Default MiLLennium Command Descriptions Manual 15 16 MiLLennium Command Descriptions Manual All Commands: Optional calculation of the checksum All Commands: Response to an invalid command input 32SPECIAL DATA INPUT COMMANDS MiLLennium Command Descriptions Manual 17 3 3.1 ALMANAC DATA 18 MiLLennium Command Descriptions Manual $ALMA... $IONA... MiLLennium Command Descriptions Manual 19 $UTCA... 3.2 DIFFERENTIAL CORRECTIONS DATA $PVAA/B XYZ Position, Velocity and Acceleration $REPA/B Raw GPS Ephemeris Data 20 MiLLennium Command Descriptions Manual $RTCA... (RTCAA) $RTCM... (RTCMA, $RTCM1A, $RTCM3A, $RTCM9A, $RTCM16A, RTCM59A) MiLLennium Command Descriptions Manual 21 $TM1A/B Receiver Time of 1PPS 4 DATA LOGS 22 MiLLennium Command Descriptions Manual 4.1 OUTPUT LOGGING MiLLennium Command Descriptions Manual 23 4.2 NovAtel FORMAT DATA LOGS General ASCII Log Structure Binary Log Structure 24 MiLLennium Command Descriptions Manual 4.3 RTK MiLLennium Command Descriptions Manual 25 4.4 NMEA FORMAT DATA LOGS General 26 MiLLennium Command Descriptions Manual 4.5 GPS TIME VS LOCAL RECEIVER TIME 4.6 LOG TABLES Table 4-1 Logs By Function Table MiLLennium Command Descriptions Manual 27 SATELLITE TRACKING AND CHANNEL CONTROL WAYPOINT NAVIGATION DIFFERENTIAL REFERENCE STATION DIFFERENTIAL REMOTE STATION 28 MiLLennium Command Descriptions Manual Table 4-2 GPSCard Log Summary MiLLennium Command Descriptions Manual 29 Table 4-2 GPSCard Log Summary (continued) 5SPECIAL PASS-THROUGH LOGS 30 MiLLennium Command Descriptions Manual MiLLennium Command Descriptions Manual 31 Figure 5-1 Pass-Through Log Data 5.1 COMMAND SYNTAX 32 MiLLennium Command Descriptions Manual 5.2 ASCII LOG STRUCTURE MiLLennium Command Descriptions Manual 33 5.3 BINARY LOG STRUCTURE 6 MESSAGE FORMATS 34 MiLLennium Command Descriptions Manual Table 6-1 Positioning Modes 6.1 RTCA-FORMAT MESSAGES MiLLennium Command Descriptions Manual 35 RTCA STANDARD LOGS RTCA 36 MiLLennium Command Descriptions Manual 6.2 RTCM-FORMAT MESSAGES MiLLennium Command Descriptions Manual 37 RTCM STANDARD COMMANDS and LOGS 38 MiLLennium Command Descriptions Manual RTCM General Message Format RTCM Standard Commands RTCMRULE RTCM16T MiLLennium Command Descriptions Manual 39 RTCM Standard Logs 40 MiLLennium Command Descriptions Manual ASCII BINARY RTCM OR RTCM1 MiLLennium Command Descriptions Manual 41 42 MiLLennium Command Descriptions Manual RTCM3 REFERENCE STATION PARAMETERS RTK RTCM9 PARTIAL SATELLITE SET DIFFERENTIAL CORRECTIONS MiLLennium Command Descriptions Manual 43 RTCM16 SPECIAL MESSAGE 44 MiLLennium Command Descriptions Manual RTCM59 TYPE 59N-0 NOVATEL PROPRIETARY MESSAGE RTK RTCM RECEIVE ONLY DATA 7RINEX-STANDARD COMMANDS & LOGS MiLLennium Command Descriptions Manual 45 46 MiLLennium Command Descriptions Manual 7.1 COMMANDS RINEX Command example: RINEX cfgtype MiLLennium Command Descriptions Manual 47 7.2 LOGS RINEX Observation and Navigation Logs and Headers XKIN Observation Kinematic Event XNAV Navigation Data Record 48 MiLLennium Command Descriptions Manual XNHD Navigation Header XOBS Observation Data Record XOHD Observation Header MiLLennium Command Descriptions Manual 49 XSTA Observation Static Event This log generates a time tag and flag when a new site occupation begins. Command example: AGPS OVERVIEW A.1 GPS SYSTEM DESIGN MiLLennium Command Descriptions Manual 51 The Space Segment The Control Segment A.2 HEIGHT RELATIONSHIPS What is a geoid? What is an ellipsoid? What is the relationship between a geoid and an ellipsoid? 52 MiLLennium Command Descriptions Manual A.3 GPS POSITIONING MiLLennium Command Descriptions Manual 53 Figure A-3 Accuracy versus Precision Single-point vs. Relative Positioning 54 MiLLennium Command Descriptions Manual Figure A-4 Example of Differential Positioning Static vs. Kinematic Positioning Real-time vs. Post-mission Data Processing A.3.1 DIFFERENTIAL POSITIONING MiLLennium Command Descriptions Manual 55 A.3.2 PSEUDORANGE ALGORITHMS Pseudorange Differential Positioning GPS SYSTEM ERRORS 56 MiLLennium Command Descriptions Manual MiLLennium Command Descriptions Manual 57 Figure A-5 Single Point Averaging 58 MiLLennium Command Descriptions Manual Dual Station Differential Positioning Figure A-6 Typical Differential Configuration MiLLennium Command Descriptions Manual 59 THE REFERENCE STATION THE REMOTE STATION A.4 CARRIER-PHASE ALGORITHMS 60 MiLLennium Command Descriptions Manual BMULTIPATH ELIMINATION TECHNOLOGY MiLLennium Command Descriptions Manual 61 B.1 MULTIPATH Why Does Multipath Occur? 62 MiLLennium Command Descriptions Manual B.2 HARDWARE SOLUTIONS FOR MULTIPATH REDUCTION Antenna Site Selection MiLLennium Command Descriptions Manual 63 Antenna Designs 64 MiLLennium Command Descriptions Manual Antenna Ground Planes Flat plate Choke Ring MiLLennium Command Descriptions Manual 65 NovAtels Internal Receiver Solutions for Multipath Reduction NARROW CORRELATOR TECHNOLOGY SUMMARY CCOMMANDS SUMMARY 66 MiLLennium Command Descriptions Manual ACCEPT MiLLennium Command Descriptions Manual 67 68 MiLLennium Command Descriptions Manual ANTENNAPOWER Table C-1 Antenna LNA Power Configuration MiLLennium Command Descriptions Manual 69 ASSIGN 70 MiLLennium Command Descriptions Manual CLOCKADJUST MiLLennium Command Descriptions Manual 71 COMn COMn_DTR active [lead] [tail] 72 MiLLennium Command Descriptions Manual COMn_RTS active [lead] [tail] Data MiLLennium Command Descriptions Manual 73 CONFIG 74 MiLLennium Command Descriptions Manual CRESET MiLLennium Command Descriptions Manual 75 CSMOOTH [L2 time] 76 MiLLennium Command Descriptions Manual DATUM MiLLennium Command Descriptions Manual 77 DGPSTIMEOUT ephem delay 78 MiLLennium Command Descriptions Manual DIFF_PROTOCOL Differential Protocol Control RTCM/A/B LOGS MiLLennium Command Descriptions Manual 79 DYNAMICS 80 MiLLennium Command Descriptions Manual ECUTOFF MiLLennium Command Descriptions Manual 81 EXTERNALCLOCK Overview ++++= f Theory 82 MiLLennium Command Descriptions Manual externalclock user 1.0e-20 1.0e-24 1.0e-28 Table C-2 Default Values of Process Noise Elements EXTERNALCLOCK option MiLLennium Command Descriptions Manual 83 EXTERNALCLOCK FREQUENCY 84 MiLLennium Command Descriptions Manual FIX HEIGHT [auto] FIX POSITION MiLLennium Command Descriptions Manual 85 (RTK) station id [ stn health] FIX VELOCITY MiLLennium Command Descriptions Manual 87 FREQUENCY_OUT Table C-3 VARF Range Page MiLLennium Command Descriptions Manual 89 HELP ? HELP OR: Figure C-1 HELP Command Screen Display LOCKOUT MiLLennium Command Descriptions Manual 91 LOG [period] [offset] {hold} trigger [port] 92 MiLLennium Command Descriptions Manual MAGVAR Figure C-3 Illustration of Magnetic Variation & Correction MiLLennium Command Descriptions Manual 93 MESSAGES 94 MiLLennium Command Descriptions Manual POSAVE RESET 96 MiLLennium Command Descriptions Manual RESETHEALTH RESETHEALTHALL RINEX Receiver-Independant Exchange Format RTCM16T Page 100 MiLLennium Command Descriptions Manual RTKMODE to MiLLennium Command Descriptions Manual 101 102 MiLLennium Command Descriptions Manual MiLLennium Command Descriptions Manual 103 104 MiLLennium Command Descriptions Manual SAVEALMA Page 106 MiLLennium Command Descriptions Manual SEND Figure C-4 Using SEND Command MiLLennium Command Descriptions Manual 107 SENDHEX 108 MiLLennium Command Descriptions Manual SETDGPSID MiLLennium Command Descriptions Manual 109 SETHEALTH 110 MiLLennium Command Descriptions Manual SETL1OFFSET MiLLennium Command Descriptions Manual 111 SETNAV Reference Description MiLLennium Command Descriptions Manual 113 SETTIMESYNC 114 MiLLennium Command Descriptions Manual UNASSIGN UNASSIGNALL MiLLennium Command Descriptions Manual 115 UNDULATION Figure C-6 Illustration of Undulation 116 MiLLennium Command Descriptions Manual UNFIX UNLOCKOUT UNLOCKOUTALL MiLLennium Command Descriptions Manual 117 UNLOG port UNLOGALL 118 MiLLennium Command Descriptions Manual USERDATUM VERSION DLOGS SUMMARY 120 MiLLennium Command Descriptions Manual LOG DESCRIPTIONS ALMA/B Decoded Almanac MiLLennium Command Descriptions Manual 121 ALMA ALMA FORMAT 122 MiLLennium Command Descriptions Manual MiLLennium Command Descriptions Manual 123 ALMB Message ID = 16 Message byte count = 76 IONB FORMAT: ALMB FORMAT: Message ID = 18 Message byte count = 120 Page BSLA/B Baseline Measurement MiLLennium Command Descriptions Manual 125 RTK BSLA 126 MiLLennium Command Descriptions Manual BSLB Format: Message ID = 59 Message byte count = 100 MiLLennium Command Descriptions Manual 127 Table D-1 GPSCard Solution Status Table D-4 RTK Status for Position Type 4 (RT-2) Table D-2 Position Type Table D-3 RTK Status for Position Type 3 (RT-20) CDSA/B Communication and Differential Decode Status CDSA MiLLennium Command Descriptions Manual 129 130 MiLLennium Command Descriptions Manual CDSB Format: Message ID = 39 Message byte count = 128 MiLLennium Command Descriptions Manual 131 CLKA/B Receiver Clock Offset Data CLKA 132 MiLLennium Command Descriptions Manual CLKB Format: Message ID = 02 Message byte count = 68 CLMA/B Receiver Clock Model 134 MiLLennium Command Descriptions Manual CLMB COM1A/B and COM2A/B Pass-Through Logs 136 MiLLennium Command Descriptions Manual DOPA/B Dilution of Precision DOPA MiLLennium Command Descriptions Manual 137 DOPB Format: Message ID = 07 Message byte count = 68+(sats*4) 138 MiLLennium Command Descriptions Manual ETSA/B Extended Tracking Status ETSA MiLLennium Command Descriptions Manual 139 Example (carriage returns have been added between observations for clarity): ETSB Format: Message ID = 48 Message byte count = 32 + (n x 52) where n is number of observations 140 MiLLennium Command Descriptions Manual FRMA/B Framed Raw Navigation Data Format: Message ID = 54 Message byte count = variable FRMA FRMB $FRMA week seconds prn cstatus # of bits framed raw data GGAB Global Position System Fix Data (Binary Format Only) Note: The maximum age reported here is limited to 99 seconds. 142 MiLLennium Command Descriptions Manual GPALM Almanac Data Reference Table 20-VI, ICD-GPS-200, Rev. B for scalingfactors and units. MiLLennium Command Descriptions Manual 143 GPGGA Global Position System Fix Data $GPGGA utc lat lat dir lon lon dir GPS qual # sats hdop alt units null null age stn ID *xx [CR][LF] 144 MiLLennium Command Descriptions Manual GPGLL Geographic Position MiLLennium Command Descriptions Manual 145 GPGRS GPS Range Residuals for Each Satellite 146 MiLLennium Command Descriptions Manual GPGSA GPS DOP and Active Satellites MiLLennium Command Descriptions Manual 147 GPGST Pseudorange Measurement Noise Statistics 148 MiLLennium Command Descriptions Manual GPGSV GPS Satellites in View MiLLennium Command Descriptions Manual 149 GPRMB Navigation Information 150 MiLLennium Command Descriptions Manual GPRMC GPS Specific Information MiLLennium Command Descriptions Manual 151 GPVTG Track Made Good And Ground Speed 152 MiLLennium Command Descriptions Manual GPZDA UTC Time and Date MiLLennium Command Descriptions Manual 153 GPZTG UTC & Time to Destination Waypoint 154 MiLLennium Command Descriptions Manual MKPA/B Mark Position Format: Message ID = 05 Message byte count = 88 MKPA MKPB MiLLennium Command Descriptions Manual 155 MKTA/B Time of Mark Input Format: Message ID = 04 Message byte count = 52 MKTA MKTB $MKTA week seconds offset offset std utc offset cm status *xx [CR][LF] NAVA/B Waypoint Navigation Data NAVA MiLLennium Command Descriptions Manual 157 NAVB Format: Message ID = 08 Message byte count = 76 Page MiLLennium Command Descriptions Manual 159 PAVA/B Position Averaging Status PAVA 160 MiLLennium Command Descriptions Manual PAVB Format: Message ID = 50 Message byte count = 80 MiLLennium Command Descriptions Manual 161 POSA/B Computed Position POSA POSB PRTKA/B Computed Position 162 MiLLennium Command Descriptions Manual (RTK) PRTKA MiLLennium Command Descriptions Manual 163 PRTKB Format: Message ID = 63 Message byte count = 124 164 MiLLennium Command Descriptions Manual PVAA/B XYZ Position, Velocity and Acceleration PVAA MiLLennium Command Descriptions Manual 165 PVAB Format: Message ID = 49 Message byte count = 108 166 MiLLennium Command Descriptions Manual PXYA/B Computed Cartesian Coordinate Position PXYA $PXYA week seconds x y z x std y std z std sol status fix status diff lag *xx [CR][LF] MiLLennium Command Descriptions Manual 167 PXYB Format: Message ID = 26 Message byte count = 88 Page MiLLennium Command Descriptions Manual 169 RALA/B Raw Almanac RALA RALB 170 MiLLennium Command Descriptions Manual RASA/B Raw Almanac Set RASA $RASA RxWeek RxSec AlmWeek Toa RxPrn # subframes subframe# page # subframe subframe# page # subframe MiLLennium Command Descriptions Manual 171 RASB Format: Message ID = 66 Message byte count = 40 + (n * 32) 172 MiLLennium Command Descriptions Manual RBTA/B Satellite Broadcast Data: Raw Bits RBTA RBTB MiLLennium Command Descriptions Manual 173 RCCA Receiver Configuration RCCA 174 MiLLennium Command Descriptions Manual RCSA/B Receiver Status RCSA RCSB MiLLennium Command Descriptions Manual 175 REPA/B Raw Ephemeris REPA REPB 176 MiLLennium Command Descriptions Manual RGEA/B/D Channel Range Measurements MiLLennium Command Descriptions Manual 177 RGEA Example (carriage returns have been added between observations for clarity): $RGEA week seconds # obs rec status prn psr psr std adr adr std dopp C/No locktime ch-tr-status prn psr psr std adr adr std dopp C/No locktime ch-tr-status 178 MiLLennium Command Descriptions Manual RGEB Format: Message ID = 32 Message byte count = 32 + (obs x 44) MiLLennium Command Descriptions Manual 179 RGED Format: Message ID = 65 Message byte count =24 + (20 x number of obs) 180 MiLLennium Command Descriptions Manual Table D-5 Receiver Self-Test Status Codes MiLLennium Command Descriptions Manual 181 182 MiLLennium Command Descriptions Manual MiLLennium Command Descriptions Manual 183 Table D-6 Range Record Format (RGED only) 184 MiLLennium Command Descriptions Manual Table D-7 Channel Tracking Status Table D-7, Bits 12-14 : Correlator Spacing RINEX 186 MiLLennium Command Descriptions Manual RPSA/B Reference Station Position and Health RPSA RPSB MiLLennium Command Descriptions Manual 187 RTCA Standard Logs RTCM Standard Logs RTKA/B Computed Position - Time Matched 188 MiLLennium Command Descriptions Manual RTK RTKA MiLLennium Command Descriptions Manual 189 RTKB Format: Message ID = 61 Message byte count = 116 190 MiLLennium Command Descriptions Manual RTKOA/B RTK Solution Parameters RTKOA sat id amb res MiLLennium Command Descriptions Manual 191 RTKOB Format: Message ID = 62 Message byte count = 196 + (#res)*16 192 MiLLennium Command Descriptions Manual Table D-8 Ambiguity Types Table D-10 RTK Status Table D-9 Searcher Status MiLLennium Command Descriptions Manual 193 RVSA/B Receiver Status RVSA 194 MiLLennium Command Descriptions Manual RVSB Format: Message ID = 56 Message byte count =28+ (8 x number of cards) MiLLennium Command Descriptions Manual 195 SATA/B Satellite Specific Data SATA 196 MiLLennium Command Descriptions Manual SATB Table D-11 GPSCard Range Reject Codes Format: Message ID =12 Message byte count = 32 + (obs*32) MiLLennium Command Descriptions Manual 197 SBTA/B SATELLITE BROADCAST DATA: RAW SYMBOLS Format: Message ID = 53 Message byte count = 168 SBTA SBTB $SBTA week seconds prn cstatus message # # of symbols raw symbols *xx [CR][LF] SPHA/B Speed and Direction Over Ground SPHA SPHB MiLLennium Command Descriptions Manual 199 SVDA/B SV Position in ECEF XYZ Coordinates with Corrections SVDA 200 MiLLennium Command Descriptions Manual SVDB Format: Message ID = 36 Message byte count = 36 +(obs*68) MiLLennium Command Descriptions Manual 201 TM1A/B Time of 1PPS TM1A TM1B 202 MiLLennium Command Descriptions Manual VERA/B Receiver Hardware and Software Version Numbers VERA VERB VLHA/B Velocity, Latency, and Direction over Ground MiLLennium Command Descriptions Manual 203 VLHA 204 MiLLennium Command Descriptions Manual VLHB Table D-12 GPSCard Velocity Status Format: Message ID = 34 Message byte count = 72 MiLLennium Command Descriptions Manual 205 WRCA/B Wide Band Range Correction (Grouped Format) WRCA WRCB ECOMPARISON OF RT-2 AND RT-20 206 MiLLennium Command Descriptions Manual E.1 RT-2 & RT-20 PERFORMANCE Table E-1 Comparison of RT-2 and RT-20 Table E-2 RTK Messages Vs. Accuracy RT-2 Performance Table E-4 RT-2 Performance: Kinematic Mode Table E-3 RT-2 Performance: Static Mode 208 MiLLennium Command Descriptions Manual Figure E-1 Typical RT-2 Horizontal Convergence - Static Mode Figure E-2 Typical RT-2 Horizontal Convergence - Kinematic Mode RT-20 Performance Single-point solution Floating ambiguity solution Narrow lane solution 210 MiLLennium Command Descriptions Manual Table E-5 RT-20 Performance Figure E-5 Typical RT-20 Convergence - Static Mode Page 212 MiLLennium Command Descriptions Manual E.2 PERFORMANCE CONSIDERATIONS Performance Degradation REMOTE TRACKING LOSS DIFFERENTIAL LINK BREAKDOWN MiLLennium Command Descriptions Manual 213 Figure E-8 RT-20 Re-initialization Process F Standards and References FSTANDARDS AND REFERENCES 214 MiLLennium Command Descriptions Manual GGEODETIC DATUMS MiLLennium Command Descriptions Manual 215 Table G-1 Reference Ellipsoid Constants Table G-2 Transformation Parameters (Local Geodetic to WGS84) 216 MiLLennium Command Descriptions Manual Table G-2 Transformation Parameters (Local Geodetic to WGS84) MiLLennium Command Descriptions Manual 217 HSOME COMMON UNIT CONVERSIONS INFORMATION MESSAGES I MiLLennium Command Descriptions Manual 219 INFORMATION MESSAGES Table TYPE 2 INFORMATION MESSAGES MiLLennium Command Descriptions Manual 221 222 MiLLennium Command Descriptions Manual J JLISTING OF TABLES MiLLennium Command Descriptions Manual 223 LISTING OF TABLES 224 MiLLennium Command Descriptions Manual REFERENCE Table 1-2 Latency-Induced Extrapolation Error MiLLennium Command Descriptions Manual 225 Table 2-1 Commands By Function Table 226 MiLLennium Command Descriptions Manual Table 2-1 Commands By Function Table (continued) MiLLennium Command Descriptions Manual 227 Table 2-2 GPSCard Command Summary 228 MiLLennium Command Descriptions Manual Table 2-2 GPSCard Command Summary (continued) MiLLennium Command Descriptions Manual 229 Table 4-1 Logs By Function Table SATELLITE TRACKING AND CHANNEL CONTROL 230 MiLLennium Command Descriptions Manual WAYPOINT NAVIGATION DIFFERENTIAL REFERENCE STATION DIFFERENTIAL REMOTE STATION POST PROCESSING DATA MiLLennium Command Descriptions Manual 231 Table 4-2 GPSCard Log Summary 232 MiLLennium Command Descriptions Manual Table 6-1 Positioning Modes Remote station: Table C-3 VARF Range (Software Version 4.42 or higher) Table C-1 Antenna LNA Power Configuration MiLLennium Command Descriptions Manual 233 Table D-1 GPSCard Solution Status Table D-3 RTK Status for Position Type 3 (RT-20) Table D-2 Position Type 234 MiLLennium Command Descriptions Manual Table D-4 RTK Status for Position Type 4 (RT-2) Table D-5 Receiver Self-Test Status Codes MiLLennium Command Descriptions Manual 235 Table D-6 Range Record Format (RGED only) 236 MiLLennium Command Descriptions Manual Table D-7 Channel Tracking Status Table D-7, MiLLennium Command Descriptions Manual 237 Table D-8 Ambiguity Types Table D-10 RTK Status Table D-9 Searcher Status Ambiguity Type Definition 238 MiLLennium Command Descriptions Manual Table D-11 GPSCard Range Reject Codes Table D-12 GPSCard Velocity Status Table E-1 Comparison of RT-2 and RT-20 . MiLLennium Command Descriptions Manual 239 Table E-3 RT-2 Performance: Static Mode Table E-5 RT-20 Performance Table E-4 RT-2 Performance: Kinematic Mode KGPS GLOSSARY OF TERMS 240 MiLLennium Command Descriptions Manual MiLLennium Command Descriptions Manual 241 242 MiLLennium Command Descriptions Manual MiLLennium Command Descriptions Manual 243 244 MiLLennium Command Descriptions Manual MiLLennium Command Descriptions Manual 245 246 MiLLennium Command Descriptions Manual MiLLennium Command Descriptions Manual 247 L GPS Glossary of Acronyms LGPS GLOSSARY OF ACRONYMS 248 MiLLennium Command Descriptions Manual L GPS GLOSSARY OF ACRONYMS L GPS Glossary of Acronyms MiLLennium Command Descriptions Manual 249