Advanced Navigation Spatial FOG Dual Reference Manual page 6

13.8.1 Acknowledge Packet.................................................................................. 92
13.8.1.1 Acknowledge Result...........................................................................92
13.8.2 Request Packet.......................................................................................... 92
13.8.3 Boot Mode Packet...................................................................................... 93
13.8.3.1 Boot Mode Types................................................................................93
13.8.4 Device Information Packet.........................................................................93
13.8.5 Restore Factory Settings Packet.................................................................94
13.8.6 Reset Packet.............................................................................................. 94
13.8.6.1 Verification Sequence Values..............................................................94
13.8.7 Serial Port Pass-through Packet.................................................................94
13.8.7.1 Pass-through Routes...........................................................................95
13.9 State Packets.................................................................................................... 96
13.9.1 System State Packet..................................................................................96
13.9.1.1 System Status.................................................................................... 97
13.9.1.2 Filter Status........................................................................................ 98
13.9.1.3 GNSS Fix Status.................................................................................. 98
13.9.1.4 Unix Time Seconds............................................................................. 98
13.9.1.5 Microseconds...................................................................................... 99
13.9.2 Unix Time Packet....................................................................................... 99
13.9.3 Formatted Time Packet.............................................................................. 99
13.9.4 Status Packet........................................................................................... 100
13.9.5 Position Standard Deviation Packet.........................................................100
13.9.6 Velocity Standard Deviation Packet.........................................................100
13.9.7 Euler Orientation Standard Deviation Packet...........................................101
13.9.8 Quaternion Orientation Standard Deviation Packet.................................101
13.9.9 Raw Sensors Packet.................................................................................102
13.9.10 Raw GNSS Packet..................................................................................102
13.9.10.1 Raw GNSS Status............................................................................103
13.9.11 Satellites Packet.................................................................................... 104
13.9.12 Detailed Satellites Packet......................................................................104
13.9.12.1 Satellite Systems............................................................................105
13.9.12.2 Satellite Frequencies......................................................................105
13.9.13 Geodetic Position Packet........................................................................105
13.9.14 ECEF Position Packet..............................................................................106
13.9.15 UTM Position Packet............................................................................... 106
13.9.16 NED Velocity Packet............................................................................... 106
13.9.17 Body Velocity Packet.............................................................................. 107
13.9.18 Acceleration Packet...............................................................................107
13.9.19 Body Acceleration Packet......................................................................107
13.9.20 Euler Orientation Packet........................................................................108
13.9.21 Quaternion Orientation Packet..............................................................108
13.9.22 DCM Orientation Packet.........................................................................109
13.9.23 Angular Velocity Packet.........................................................................109
13.9.24 Angular Acceleration Packet..................................................................110
13.9.25 External Position & Velocity Packet........................................................110
13.9.26 External Position Packet.........................................................................111
13.9.27 External Velocity Packet........................................................................111
13.9.28 External Body Velocity Packet................................................................112
13.9.29 External Heading Packet........................................................................112
13.9.30 Running Time Packet............................................................................. 112
Spatial FOG Dual Reference Manual
Page 5 of 138
Version 1.0
26/06/2015