Trimble Outdoors 58059-00 Table 76: 0x30-03: Buffered Cumulative DR Message

DR + GPS
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Table 76: 0x30-03: Buffered Cumulative DR Message
Byte Name Type Units /
LSB Range / Value Meaning
Code U8 0x30
Subcode U8 0x03
0 0 Current Position
Valid
U1 1 = Valid
0 1 Current Heading
Valid
U1 1 = Valid
0 2 Delta Distance Valid U1 1 = Valid
0 3 Delta Heading Valid U1 1 = Valid
0 4 All data U1 1 = contains all data since start
0 5 Rolling start U1 1 = motion detected at start-up
0 6-7 Time Source U2 Time Source for Map Match
1-2 Time Tag U16 1 ms [0, 65535] ms Time Tag for Map Match
3-6 Current Latitude S32 2-31 sc [-½, ½] sc.
7-10 Current Longitude S32 2-31 sc [-1, 1) sc.
11-12 Current Heading U16 2-15 sc [0, 2) sc
13-14 Delta Distance [0] S16 1 cm [-327.67, 327.67] m (Now – 1 s) to (Now)
15-16 Delta Heading [0] S16 1 cdeg [-327.67°, 327.67°] (Now – 1 s) to (Now)
17-18 Delta Distance [1] S16 1 cm [-327.67, 327.67] m (Now – 2 s) to (Now – 1 s)
19-20 Delta Heading [1] S16 1 cdeg [-327.67°, 327.67°] (Now – 2 s) to (Now – 1 s)
…
…
89-90 Delta Distance [19] S16 1 cm [-327.67, 327.67] m (Now – 20 s) to (Now – 19 s)
91-92 Delta Heading [19] S16 1 cdeg [-327.67°, 327.67°] (Now – 20 s) to (Now – 19 s)
93-94 Current Heading
Acc’y
U16 2-15sc [0, 2) sc
95-96 Current Position
Acc’y
U16 1 m [0, 65534] m
97-98 Distance accy U16 1 cm [0, 655.36] m
99-100 Delta heading accy U16 1 cdeg [0°, 360°]