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   - - -                  

Last Updated on 8/7/99
By Brooke Clarke
Email: brooke@pacific.net