Output message record

The output message record selects the outputs for a specified serial port, the frequency of message transmissions, the integer second offset from the scheduled output rate, and output-specific flags. Bytes 0 through 5 are included in all records, regardless of the output message type. The remaining bytes in the record are dependent on the output message type.

The following table shows the additional records provided when the output message record is included with Command Packet 64h.

Byte

Item

Type

Value

Notes

0

RECORD TYPE

1 (Char)

07h

Output Message Record.

1

RECORD LENGTH

1 (Char)

04h, 05h or 06h

Number of bytes in the record, excluding bytes 0 and 1. The number of bytes is dependent on the number of output specific flags.

2

OUTPUT MESSAGE TYPE

1 (Char)

See Output message type byte values

Type of message or packet.

3

PORT INDEX

1 (Char)

See Port number values

The port number for RS-232 serial, USB or ethernet ports is 0-based.

4

FREQUENCY

1 (Char)

See Frequency byte values

Frequency of message transmissions.

For RTCM version 3, this byte is ignored (see the RTCM and RT17/RT27 ephemeris rate values bytes 10 & 11), set to 01h.

5

OFFSET

1 (Char)

00h–FFh

Integer second offset (0–255 seconds) from scheduled output rate. (Only valid when frequency is < 1 Hz or >1 second.)

If "Output Message Type" is GSOF:

Byte

Item

Type

Value

Notes

6

GSOF SUBMESSAGE TYPE

1 (Char)

See GSOF message record type

GSOF message number.

7

OFFSET

1 (Char)

0–255

Integer second offset from scheduled frequency.

If "Output Message Type" is CMR:

Byte

Item

Type

Value

Notes

6

CMR MESSAGE TYPE FLAGS

1 (Char)

See Output message type byte values

CMR message types:
0: Standard CMR+
1: Moving Base CMR (5, 10, or 20 Hz)
2: Standard CMR (compatible with Trimble 4000 receivers)
3: CMRx or sCMRx
4: Moving Base CMRx or sCMRx (5, 10, or 20 Hz)

7

RESERVED

1 (Char)

00h

Set to zero.

8–9

BANDWIDTH LIMIT

2 (Short)

 

If non-zero, then CMR+ or RTCM version 3.0 output will be limited to the specified number of bytes/sec. For anything but CMR+ and RTCM version 3.0, this limit is ignored.

If "Output Message Type" is RTCM:

Byte

Item

Type

Value

Notes

6

RTCM FLAGS

1 (Char)

See RTCM flag 2 values

Bit settings for RTCM output flags.

7

RESERVED

1 (Char)

00h

Set to zero.

8–9

BANDWIDTH LIMIT

2 (Short)

 

If non-zero, then CMR+ or RTCM version 3.0 output will be limited to the specified number of bytes/sec. For anything but CMR+ and RTCM version 3.0, this limit is ignored.

10

RATE 1

1 (Char)

See RTCM and RT17/RT27 ephemeris rate values

If RTCM version 2:
0xf0 : Controls Type 1 record rate.
0x0f : Controls Type 31 record rate.

If the Advanced RTCM Output option is installed, the type rate can be set. The default value is 2Fh. The type 31 rate can be set with or without the Advanced RTCM Output option is installed.

If RTCM version 3:
0xf0 : Controls Type 1004 record rate.
0x0f : Controls Type 1012 record rate.

If the Advanced RTCM Output option is installed, this byte can be set. When not installed, the only valid value is 22h.

11

RATE 2

1 (Char)

See RTCM and RT17/RT27 ephemeris rate values.

If RTCM version 2:
0xf0 : Controls Type 3 record rate.
0x0f : Controls Type 32 record rate.

If the Advanced RTCM Output option is installed, this byte can be set. When not installed, the only valid value is 5Fh.

If RTCM version 3:
0xf0 : Controls Type 1019 record rate.
0x0f : Controls Type 1020 record rate.

if the Advanced RTCM Output option is installed, this byte can be set. When not installed, the only valid value is FFh.

If "Output Message Type" is RT17/RT27:

NOTE – The RT17 and RT27 data stream consists of 55h RETSVDATA and 57h RAWDATA.

Byte

Item

Type

Value

Notes

6

REAL-TIME MESSAGE FLAG 1

1 (Char)

See Real-time message flag 1 values

RT17/RT27 flag 1.

7

REAL-TIME MESSAGE FLAG 2

1 (Char)

See Real-time message flag 2 values

RT17/RT27 flag 2.

8–9

RESERVED

2 (Char)

0000h

Reserved (set to zero).

10

RATE 1

1 (Char)

See RTCM and RT17/RT27 ephemeris rate values

0xf0 : Controls GLONASS Ephemeris rate.
0x0f : Controls GPS Ephemeris rate.

Used in conjunction with RT17/RT27 flag 1, bit 2. RT17/RT27 flag 1, bit 2 is on if both GPS & GLONASS ephemeris are on.

10

RATE 2

1 (Char)

See RTCM and RT17/RT27 ephemeris rate values

0xf0 : Controls QZSS Ephemeris rate.
0x0f : Controls Galileo Ephemeris rate.

10

RATE 3

1 (Char)

See RTCM and RT17/RT27 ephemeris rate values

0xf0 : Controls Almanac rate.
0x0f : Controls BeiDou Ephemeris rate.

The following tables provide byte values for the information in the output message record.

Output message type byte values

Byte value

Notes

0xFF

Turn off all outputs on all ports. Frequency must also be 'Off' for this to work.

0

Turn off all outputs on the given port only. Frequency must be 'Off' for this to work.

1

Not used

2

CMR output

3

RTCM output

4

RT17/RT27 output

5

Reserved

6

NMEA_GGA

7

NMEA_GGK

8

NMEA_ZDA

9

Reserved

10

GSOF

11

1PPS

12

NMEA_VTG

13

NMEA_GST

14

NMEA_PJK

15

NMEA_PJT

16

NMEA_VGK

17

NMEA_VHD

18

NMEA_GSV

19

Reserved

20

Reserved

21

Reserved

22

Reserved

23

NMEA_GGK_SYNC

24

J1939_VehPos

25

J1939_Time

26

J1939_VehSpd

27

J1939_ImpPos

28

J1939_ImpSpd

29

NMEA_AVR

30

Reserved

31

NMEA_HDT

32

NMEA_ROT

33

NMEA_ADV

34

NMEA_PIO

35

NMEA_BETA

36

Reserved

37

NMEA_VRSGGA

38

NMEA_GSA

39

BINEX

40

NMEA_RMC

41

NMEA_BPQ

42

Reserved

43

Reserved

44

NMEA_GLL

45

NMEA_GRS

46

Reserved

47

NMEA_LDG

48

NMEA_DP

49

NMEA_GBS

50

NMEA_GNS

51

NMEA_DTM

52

NMEA_LLQ

53

NMEA_MSS

54

NMEA_PASHR

55

NMEA_GPEVT

56

NMEA2000_GNSSPosData PGN129029

57

NMEA2000_DeltaPos PGN129027

58

NMEA2000_DeltaAlt PGN129028

59

NMEA2000_ErrorStats PGN129542

60

NMEA_VPT

61

NMEA2000_PosFast PGN129025

62

NMEA2000_CogSog PGN129026

63

NMEA2000_SysTime PGN126992

64

NMEA2000_SatsInView PGN129540

65

NMEA_PASHRPBN

66

NMEA2000_Altitude PGN127257

67

Reserved

68

NMEA2000_Heading PGN127250

69

NMEA2000_Rot PGN127251

70

NMEA2000_PropErrorStats PGN130817

71

NMEA2000_ShortErrorStats PGN65533

72

NMEA_Event1NavData

73

NMEA_Event2NavData

74

Reserved

75

NMEA2000_SpeedWaterRef PGN128259

76

NMEA_REX

77

NMEA2000_SensorStatus PGN65497

78

NMEA2000_Acceleration PGN65498

79

NMEA2000_AngularRate PGN65499

80

NMEA2000_XYZSpeed PGN65500

81

NMEA2000_SensorConfgReply PGN130823

82

Reserved

83

Reserved

84

Reserved

85

Reserved

86

Reserved

87

Reserved

88

Reserved

89

NMEA_PTMSX

Port number values

1-based Port ID

0-based Port ID

Name

Notes

1

0

Serial port 1

 

2

1

Serial port 2

 

3

2

Serial port 3

 

4

3

Serial port 4

On receivers with a fourth serial port

5

4

Multiplexed port

On receivers with a multiplexed port (see Multiplexed port control record)

6

5

Pulse per second port

 

16

15

USB virtual serial port

 

18–20

17–19

Bluetooth virtual serial ports

 

21–23

20–22

1st…3rd IP sockets

On receivers with internal IP stacks

24–30

23–29

4th…10th IP sockets

On receivers with ethernet connections

32

31

NTRIP Server

On receivers with NTRIP server enabled

33–35

32–34

NTRIP Casters 1, 2, and 3

On receivers with NTRIP casters enabled

44

43

USB-to-serial

For receivers with a USB-to-serial channel (i.e., the AX940 and AX940i smart antennas)

Frequency byte values

Byte value

Notes

Dec

Hex

0

00h

Off

1

01h

10 Hz

2

02h

5 Hz

3

03h

1 Hz

4

04h

2 seconds

5

05h

5 seconds

6

06h

10 seconds

7

07h

30 seconds

8

08h

60 seconds

9

09h

5 minutes

10

0Ah

10 minutes

11

0Bh

2 Hz

12

0Ch

15 seconds

13

0Dh

20 Hz

15

0Fh

50 Hz

16

10h

100 Hz

255

FFh

Once only, immediately

Certain message output types may not support >1 Hz output.

GSOF message record type

Record Number

Description

1

POSITION TIME

2

LAT, LONG, HEIGHT

3

ECEF POSITION

4

LOCAL DATUM POSITION

5

LOCAL ZONE POSITION

6

ECEF DELTA

7

TANGENT PLANE DELTA

8

VELOCITY DATA

9

PDOP INFO

10

CLOCK INFO

11

POSITION VCV INFO

12

POSITION SIGMA INFO

13

SV BRIEF INFO

14

SV DETAILED INFO

15

RECEIVER SERIAL NUMBER

16

CURRENT TIME

26

POSITION TIME UTC (Obsolete)

27

ALTITUDE INFO+

33

ALL SV BRIEF INFO

34

ALL SV DETAILED INFO

35

RECEIVED BASE INFO

41

BASE POSITION AND QUALITY INDICATOR

48

MULTIPLE PAGE ALL SV DETAILED INFO

49

INS FULL NAVIGATION INFO

50

INS RMS Info

51

EVENT MARKERS

62

BACKGROUND CODE SOLUTION LAT, LONG, HEIGHT

70

LAT, LONG, MSL HEIGHT

NOTE – If flags are invalid, the record is not applied. (However, the application file may be accepted.)

Real-time message flag 1 values

Value

Notes

0 (lsb)

Compact Format – 0: Disabled 1: Enabled

1

RT (Real-Time) Enhancements – 0: Disabled 1: Enabled

2

Streamed Ephemeris – 0: Disabled 1: Enabled

3

Streamed Position – 0: Disabled 1: Enabled

4

Position Only – 0: Disabled 1: Enabled

5

Reserved (set to zero)

6

Reserved (set to zero)

7 (msb)

Reserved (set to zero)

Real-time message flag 2 values

Value

Notes

0 (lsb)

Enable Multi-System Support (RT27) – 0: Disabled 1: Enabled

1

Enable Phase Smoothing – 0: Disabled 1: Enabled

2

Enable Pseudorange Smoothing – 0: Disabled 1: Enabled

3

Reserved (set to zero)

4

Include Doppler – 0: Disabled 1: Enabled

5

Prefer L2C over L2P measurements – 0: Disabled 1: Enabled

6

Stream FLL measurements in RT27 – 0: Disabled 1: Enabled

7 (msb)

Reserved (set to zero)

RTCM flag 1 values

Value

Notes

b0 ~ b2:

0x01 - RTK (3,18,19)
0x02 - DGNSS (3,1)
0x03 - RTK + DGNSS (3, 1, 18, 19)
0x04 - DGNSS Partial Sets (3, 9) others - rejected

b3 ~ b5:

0x00 - RTCM v2.
0x08 - RTCM v2.2
0x10 - RTCM v2.3
0x18 - RTCM v2.X
0x20 - RTCM v3.X
0x28 - RTCM v2.4
0x30 - RTCM v3.3
others - rejected

b6 ~ b7:

0x40 - RTCM VBS (using OmniSTAR VBS as RTCM source)
0x80 - RTCM BCN (using internal beacon as RTCM source)

RTCM flag 2 values

Value

Notes

RTCM (2.1, 2.2, 2.3, 2.4, 2.X):

 

b0 - Only in RTCM_9_3 mode: (note inverted logic). 0 = Enable / 1 = Disable Type 9-3 GPS corrections
b1 - Only in RTCM_9_3 mode: 0 = Disable / 1 = Enable Type 34-3 GLONASS corrections
b2 - For RTCM 2.* base: 0 = Use PZ90 datum for DGLONASS corrections. This matches the RTCM 2.* standard. 1 = Use PZ90.02 datum for DGLONASS corrections. This matches the current GLONASS constellation.
b3 - 1 = Disable / 0 = Enable Other Record Types. This includes types 22, 23, 24, and 59.
b4 - 1 = Disable / 0 = Enable Type 2 records.
b5 - 0-Disable / 1-Enable Type 42 correction message (the bit was unused before v4.90)
b6 - 0 = Disable / 1 = Enable CRLF between V2.* messages.
b7 - 0 = Disable / 1 = Enable TRIMCOMM™ encapsulation

RTCM (3.X, 3.3):

 

b0 - unused
b1 - unused
b2 - 0 = Disable / 1 = Enable using Fugro variants of types 1019 and 1020
b3 - unused
b4 - unused
b5 - 1 = Disable / 0 = Enable V3.0 Base Station Records (1006/1008/1013)
b6 - 0 = Don't allow observables from unhealthy SVs in RTCM3 stream. 1 = Allow observables from unhealthy SVs in RTCM3 stream. Note that ephemeris from unhealthy SVs is always allowed, when available. Unhealthy SVs data is only available when the receiver is configured to track unhealthy satellites.
b7 - 0 = Disable / 1 = Enable TRIMCOMM encapsulation (same as RTCM 2)

RTCM and RT17/RT27 ephemeris rate values

Value

Meaning

0

(RT17/RT27 ephemeris output as available)

1

100 milliseconds

2

1 second

3

2 seconds

4

5 seconds

5

10 seconds

6

30 seconds

7

60 seconds

8

120 seconds

9

300 seconds or 5 minutes

10

600 seconds or 10 minutes

11

900 seconds or 15 minutes

12

1800 seconds or 20 minutes

13

3600 seconds or 60 minutes

14

7200 seconds or 120 minutes

15

Off