Motorola GPS Receiver Command Table |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
by Brooke Clarke |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
VP |
|
|
CMC2003 |
|
|
M12 |
|
|
GT+ |
|
|
UT+ |
|
Description |
PC Cmd |
Cmd |
Rply |
PC Cmd |
Cmd |
Rply |
PC Cmd |
Cmd |
Rply |
PC Cmd |
Cmd |
Rply |
PC Cmd |
Cmd |
Rply |
Ephemeris Hold Option |
ephold |
AA |
AA |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Time of Day |
time |
Aa |
Aa |
- |
- |
- |
- |
- |
- |
time |
Aa |
Aa |
time |
Aa |
Aa |
Application Type (used only at start up) |
aptype |
AB |
AB |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
GMT Time |
gmt |
Ab |
Ab |
- |
- |
- |
- |
- |
- |
gmt |
Ab |
Ab |
gmt |
Ab |
Ab |
Date |
date |
Ac |
Ac |
comtim |
Gb |
Gb |
comtim |
Gb |
Gb |
date |
Ac |
Ac |
date |
Ac |
Ac |
2-D to 0-D HDOP Threshold |
dopmask |
AC |
AC |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Latitude (used for start up) |
lat |
Ad |
Ad |
- |
- |
- |
- |
- |
- |
lat |
Ad |
Ad |
lat |
Ad |
Ad |
Correction Thresholds |
corthr |
AD |
AD |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Longitude (used for start up) |
lon |
Ae |
Ae |
- |
- |
- |
- |
- |
- |
lon |
Ae |
Ae |
lon |
Ae |
Ae |
Output Align (aligns output messages to top of minute) |
-na- |
AE |
AE |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Height |
hgt |
Af |
Af |
- |
- |
- |
- |
- |
- |
hgt |
Af |
Af |
hgt |
Af |
Af |
Satellite mask angle |
mask |
Ag |
Ag |
mask |
Ag |
Ag |
mask |
Ag |
Ag |
mask |
Ag |
Ag |
mask |
Ag |
Ag |
Satellite Select Options (best geom, manual, highest in sky) |
sm |
Ah |
Ah |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Satellite Select (assign SV# to channel #) |
-na- |
Ai |
Ai |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
xDOP Type Geom, Pos, Hor, Vert or Time) |
doptype |
Aj |
Aj |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Differential Correction Time-Out (used with RTCM-104 inputs) |
dto |
AJ |
AJ |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
xDOP Hystereis |
dophys |
Ak |
Ak |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
3-D to 2-D xDOP Threshold |
dopthr |
Al |
Al |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Satellite Ignore List |
ignore |
Am |
Am |
ignore |
Am |
Am |
|
|
|
|
|
|
|
|
|
Position Lock Parameters |
lockp |
AM |
AM |
lockp |
AM |
AM |
lockp |
AM |
AM |
|
|
|
|
|
|
Almanac Update Option (can lock in current almanac) |
update |
An |
An |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Velocity Filter |
filter |
AN |
AN |
filter |
AN |
AN |
filter |
AN |
AN |
filter |
AN |
AN |
|
|
|
Datum ID Code (receiver tells computer the current datum) |
datum |
Ao |
Ap |
datum |
Ao |
Ap |
datum |
Ao |
Ap |
datum |
Ao |
Ap |
datum |
Ao |
Ap |
RCTM Port Mode |
- |
- |
- |
p2baud |
AO |
AO |
|
|
|
p2baud |
AO |
AO |
|
|
|
User Defined Datum (computer sets Datum) |
udatum |
Ap |
Ap |
udatum |
Ap |
Ap |
udatum |
Ap |
Ap |
udatum |
Ap |
Ap |
udatum |
Ap |
Ap |
Pulse Mode |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Ionosphere Correction Option (computer can turn on or off) |
ion |
Aq |
Aq |
ion |
Aq |
Aq |
ion |
Aq |
Aq |
ion |
Aq |
Aq |
ion |
Aq |
Aq |
Position Filter Enable |
pfilter |
AQ |
AQ |
pfilter |
AQ |
AQ |
pfilter |
AQ |
AQ |
|
|
|
|
|
|
Position Fix Algorithm Type (best 4 or N-in-view) |
fix |
Ar |
Ar |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Hold Position Parameters (set Lat, Lon, Hgt, etc.) |
php |
As |
As |
php |
As |
As |
php |
As |
As |
|
|
|
php |
As |
As |
Position Lock Enable |
locke |
AS |
AS |
locke |
AS |
AS |
locke |
AS |
AS |
|
|
|
|
|
|
Position-Hold Option (enable or disable position hold mode) |
ph |
At |
At |
- |
- |
- |
- |
- |
- |
|
|
|
ph |
At |
At |
Altitude-Hold Height Parameter |
ahp |
Au |
Au |
ahp |
Au |
Au |
ahp |
Au |
Au |
ahp |
Au |
Au |
|
|
|
Altitude-Hold Option (enable or disable Alt hold) |
ah |
Av |
Av |
- |
- |
- |
- |
- |
- |
ah |
Av |
Av |
|
|
|
UTC Time Correction Option (UTC, GPS, Epoch) |
utc |
Aw |
Aw |
utc |
Aw |
Aw |
|
|
|
utc |
Aw |
Aw |
utc |
Aw |
Aw |
Measurement Epoch Offset Option (sets epoch to 1 of 1000 places) |
-na- |
Ax |
Ax |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
1 PPS Time Offset (in 1 nS steps) |
ppsoff |
Ay |
Ay |
- |
- |
- |
ppsoff |
Ay |
Ay |
|
|
|
ppsoff |
Ay |
Ay |
1 PPS Cable Delay Option |
ppsdelay |
Az |
Az |
ppsdelay |
Az |
Az |
ppsdelay |
Az |
Az |
|
|
|
ppsdelay |
Az |
Az |
All Commands above have No Periodic Output |
|
|
|
|
|
|
|
|
|
|
|
|
n/a |
AP |
AP |
Position-Status-Data Out Msg 6-Chan (for backward compatibility) |
pos |
Ba |
Ba |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Visible Satellite Status Message |
vis |
Bb |
Bb |
vis |
Bb |
Bb |
vis |
Bb |
Bb |
vis |
Bb |
Bb |
vis |
Bb |
Bb |
xDOP Table Status Msg 6-Chan (for backward compatibility) |
dop |
Bc |
Bc |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Almanac Status Msg (outputs almanac status for RAM & EEPROM) |
alm |
Bd |
Bd |
alm |
Bd |
Bd |
|
|
|
|
|
|
|
|
|
Almanac Data Output Message |
almout |
Be |
Cb |
almout |
Be |
Cb |
almout |
Be |
Cb |
almout |
Be |
Cb |
almout |
Be |
Cb |
Input Ephemeris Data |
ephin |
Bf |
Cc |
ephin |
Bf |
Cc |
|
|
|
ephin |
Bf |
Cc |
|
|
|
Range Data 6-Chan (for backward compatibility) |
rng |
Bg |
Bg |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Output Pseudorange Correction Msg |
corout |
Bh |
Ce |
corout |
Bh |
Ce |
corout |
Bh |
Ce |
|
|
|
|
|
|
Ephemeris Data Output Message |
ephout |
Bi |
Bf |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Leap Second Pending Status for current month |
leapsec |
Bj |
Bj |
leap12 |
Gj |
Gj |
leap12 |
Gj |
Gj |
leapsec |
Bj |
Bj |
leapsec |
Bj |
Bj |
Position-Status-Data Extension Msg 6-Chan |
ext |
Bk |
Bk |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Satellite Broadcast Data Message (the RAW nav message data!) |
-na- |
Bl |
Bl |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
1 PPS Time RAIM Setup & Status 6-Chan |
trstat |
Bn |
Bn |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
UTC Offset Output |
utcoff |
Bo |
Bo |
utcoff |
Bo |
Bo |
utcoff |
Bo |
Bo |
|
|
|
utcoff |
Bo |
Bo |
Request UTC - Ionosphere Data |
- |
- |
- |
utcion |
Bp |
Co |
|
|
|
|
|
|
|
|
|
Self Test 6-Chan |
selftest |
Ca |
Ca |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Input Almanac Data |
almin |
Cb |
Ch |
almin |
Cb |
Ch |
almin |
Cb |
Ch |
almin |
Cb |
Ch |
almin |
Cb |
Ch |
Alert Planning 6-Chan |
alert |
Cd |
Cd |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Input Pseudorange Correction |
corin |
Ce |
Ck |
corin |
Ce |
Ck |
corin |
Ce |
Ck |
n/a |
Ce |
Ck |
|
|
|
Set to Defaults |
default |
Cf |
Cf |
default |
Cf |
Cf |
default |
Cf |
Cf |
default |
Cf |
Cf |
default |
Cf |
Cf |
Position Fix - Idle Mode Option |
mode |
Cg |
Cg |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Switch I/O Format MOTBin, NEMA0183, LORAN |
ioformat |
|
|
ioformat |
Ci |
n/a |
ioformat |
Ci |
n/a |
ioformat |
Ci |
n/a |
|
|
|
Request ID String |
id |
Cj |
text |
id |
Cj |
text |
id |
Cj |
text |
id |
Cj |
text |
id |
Cj |
text |
UTC-Ionospheric Data |
- |
- |
- |
n/a |
Co |
Co |
|
|
|
|
|
|
|
|
|
Position-Status-Data Out Message |
ps8 |
Ea |
Ea |
ps12 |
Ha |
Ha |
ps12 |
Ha |
Ha |
ps8 |
Ea |
Ea |
ps8 |
Ea |
Ea |
8-Channel xDOP Table Status Msg |
dp8 |
Ec |
Ec |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
8-Chan Satellite Range Data Out |
rg8 |
Eg |
Eg |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
8-Chan Position-Status-Data Extension Msg |
et8 |
Ek |
Ek |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
8-Chan Time RAIM Setup & Status Msg |
trstat8 |
En |
En |
- |
- |
- |
- |
- |
- |
|
|
|
trstat8 |
En |
En |
IODE |
- |
- |
- |
- |
- |
- |
- |
- |
- |
Ep |
|
|
Ep |
|
|
NMEA style ASCII position |
- |
- |
- |
as8 |
Eq |
Eq |
as8 |
Eq |
Eq |
as8 |
Eq |
Eq |
|
|
|
Self Test |
selftest8 |
Fa |
Fa |
selftest12 |
Ia |
Ia |
selftest12 |
Ia |
Ia |
selftest8 |
Fa |
Fa |
selftest8 |
Fa |
Fa |
8-Chan Alert Planning |
alert8 |
Fd |
Fd |
- |
- |
- |
- |
- |
- |
|
|
|
|
|
|
Combined Position - stored in EEPROM for start up |
- |
- |
- |
compo |
Ga |
Ga |
compo |
Ga |
Ga |
|
|
|
|
|
|
Combined Time - eliminates week number roll over problem |
- |
- |
- |
comtim |
Gb |
Gb |
comtim |
Gb |
Gb |
|
|
|
|
|
|
1 PPS Control |
- |
- |
- |
ppscon |
Gc |
Gc |
|
|
|
|
|
|
|
|
|
Position Control |
- |
- |
- |
holdon |
Gd |
Gd |
holdon |
Gd |
Gd |
|
|
|
|
|
|
Vehicle ID Tag |
- |
- |
- |
vin |
Gk |
Gk |
vin |
Gk |
Gk |
|
|
|
|
|
|
Short Position 12 Chan |
- |
- |
- |
psd |
Hb |
Hb |
psd |
Hb |
Hb |
|
|
|
|
|
|
Request Oscillator Learning Table |
- |
- |
- |
olt |
Hq |
Ip |
- |
- |
- |
|
|
|
|
|
|
Input Oscillator Learning Table |
- |
- |
- |
n/a |
Ip |
Ir |
- |
- |
- |
|
|
|
|
|
|
System Power-On Failure |
- |
- |
- |
n/a |
n/a |
Sz |
- |
- |
- |
n/a |
n/a |
Sz |
n/a |
n/a |
Sz |
Manual Satteilte Assignment |
- |
- |
- |
dopest |
Tf |
Tf |
- |
- |
- |
|
|
|
|
|
|
All Channel Acquisition |
- |
- |
- |
dopestall |
TF |
-na- |
- |
- |
- |
|
|
|
|
|
|
Crystal Temperature & RAM data |
- |
- |
- |
temp |
Ti |
Ti |
- |
- |
- |
|
|
|
|
|
|
Read-Write Oscillator Data From-To Flash ROM |
- |
- |
- |
osc |
Tj |
Tj |
- |
- |
- |
|
|
|
|
|
|
Read-Write Manufacturing Data From-To Flash ROM |
- |
- |
- |
Mfg |
Tk |
Tk |
- |
- |
- |
|
|
|
|
|
|
Read-Write Temp Sensor Data From-To Flash ROM |
- |
- |
- |
n/a |
Tm |
Tm |
- |
- |
- |
|
|
|
|
|
|
PWM Control (test purposes only) |
- |
- |
- |
pwm |
Tn |
Tn |
- |
- |
- |
|
|
|
|
|
|
Reprogram Command (Motorola S format) |
- |
- |
- |
n/a |
Tq |
Tq |
- |
- |
- |
|
|
|
|
|
|
DSP data from 12 Correlators (This is EVERYTHING!) |
- |
- |
- |
dspout |
Tr |
Tr |
- |
- |
- |
|
|
|
|
|
|
Zero Bias Temperature |
- |
- |
- |
zbias |
Ts |
Ts |
- |
- |
- |
|
|
|
|
|
|
|
|
|
$GPGGA |
- |
- |
- |
|
|
$GPGGA |
|
|
$GPGGA |
|
|
|
|
|
|
$GPRMC |
- |
- |
- |
|
|
$GPRMC |
|
|
$GPRMC |
|
|
|
|
|
|
$GPGLL |
- |
- |
- |
|
|
$GPGLL |
|
|
$GPGLL |
|
|
|
|
|
|
$GPGSA |
- |
- |
- |
|
|
$GPGSA |
|
|
$GPGSA |
|
|
|
|
|
|
$GPGSV |
- |
- |
- |
|
|
$GPGSV |
|
|
$GPGSV |
|
|
|
|
|
|
$GPVTG |
- |
- |
- |
|
|
$GPVTG |
|
|
$GPVTG |
|
|
|
|
|
|
$GPZDA |
- |
- |
- |
|
|
$GPZDA |
|
|
$GPZDA |
|
|
|
|
|
$PMOTTG,FOR |
|
- |
- |
- |
|
|
|
|
|
|
|
|
|
|
|
Z |
|
- |
- |
- |
|
|
|
|
|
|
|
|
|
|
|
T |
T |
- |
- |
- |
|
|
|
|
|
|
|
|
|
|
|
BIN |
|
- |
- |
- |
|
|
|
|
|
|
|
|
|
|
|
NEMA |
|
- |
- |
- |
|
|
|
|
|
|
|
|
|