Data Logs
Appendix C
SPAN-SE User Manual Rev 1
235
C.4.38 MARK1PVA, MARK2PVA, MARK3PVA, MARK4PVA
Position,
Velocity and Attitude at Mark
This log outputs position, velocity and attitude information received on a Mark input. By default, the
MARK
x
PVA logs contain the solution at the IMU centre in the SPAN computation frame. If the
SETMARK
x
OFFSET command has been entered, the MARK
x
PVA log will contain the solution
translated, and then rotated, by the values provided in the command. See also the
SETMARK
x
OFFSET commands, valid at the time, on
MARK1PVA Message ID: 1067
MARK2PVA Message ID: 1068
MARK3PVA Message ID: 1118
MARK4PVA Message ID: 1119
Log Type: Synch
Recommended Input:
log mark1pva ontime 1
Abbreviated ASCII Example:
MARK1PVA USB1 0 51.5 EXACT 1481 251850.001 00040000 46f4 3388
1481 251850.001000000 51.116573435 -114.037237211 1040.805671970 0.000257666
-0.003030102 -0.000089758 3.082229474 -1.019023628 89.253955744
INS_SOLUTION_GOOD
Field
Field Type
Description
Format
Binary
Bytes
Binary
Offset
1
Log Header
Log header
-
H
0
2
Week
GPS Week at Mark1, 2, 3 or 4 request
Ulong
4
H
3
Seconds
Seconds from week at Mark1, 2, 3 or 4
Double
8
H+4
4
Latitude
Latitude (WGS84) at Mark1, 2, 3 or 4
Double
8
H+12
5
Longitude
Longitude (WGS84) at Mark1, 2, 3 or 4
Double
8
H+20
6
Height
Height (WGS84) at Mark1, 2, 3 or 4
Double
8
H+28
7
North Velocity
Velocity in a northerly direction (-ve implies
a southerly direction) at Mark1, 2, 3 or 4
Double
8
H+36
8
East Velocity
Velocity in an easterly direction (-ve implies
a westerly direction) at Mark1, 2, 3 or 4
Double
8
H+44
9
Up Velocity
Velocity in an up direction at Mark1, 2, 3 or 4 Double
8
H+52
10
Roll
Right handed rotation from local level around
y-axis in degrees at Mark1, 2, 3 or 4
Double
8
H+60
11
Pitch
Right handed rotation from local level around
x-axis in degrees at Mark1, 2, 3 or 4
Double
8
H+68
12
Azimuth
Left handed rotation around z-axis Degrees
clockwise from North at Mark1, 2, 3 or 4
Double
8
H+76
13
Status
INS Status, see
at Mark
Enum
4
H+84
14
xxxx
32-bit CRC
Hex
4
H+88
15
[CR][LF]
Sentence Terminator (ASCII only)
-
-
-
