Advanced Navigation Spatial FOG Reference Manual page 6

13.6 Packet Timing.................................................................................................. 95
13.7 Packet Summary.............................................................................................. 95
13.8 System Packets................................................................................................ 98
13.8.1 Acknowledge Packet................................................................................. 98
13.8.1.1 Acknowledge Result..........................................................................98
13.8.2 Request Packet......................................................................................... 98
13.8.3 Boot Mode Packet..................................................................................... 99
13.8.3.1 Boot Mode Types...............................................................................99
13.8.4 Device Information Packet........................................................................99
13.8.5 Restore Factory Settings Packet..............................................................100
13.8.6 Reset Packet........................................................................................... 100
13.8.6.1 Verification Sequence Values...........................................................100
13.8.7 Serial Port Pass-through Packet..............................................................100
13.8.7.1 Pass-through Routes........................................................................100
13.9 State Packets................................................................................................. 102
13.9.1 System State Packet...............................................................................102
13.9.1.1 System Status.................................................................................103
13.9.1.2 Filter Status..................................................................................... 104
13.9.1.3 GNSS Fix Status...............................................................................104
13.9.1.4 Unix Time Seconds..........................................................................104
13.9.1.5 Microseconds...................................................................................105
13.9.2 Unix Time Packet.................................................................................... 105
13.9.3 Formatted Time Packet...........................................................................105
13.9.4 Status Packet.......................................................................................... 105
13.9.5 Position Standard Deviation Packet........................................................106
13.9.6 Velocity Standard Deviation Packet........................................................106
13.9.7 Euler Orientation Standard Deviation Packet..........................................106
13.9.8 Quaternion Orientation Standard Deviation Packet................................107
13.9.9 Raw Sensors Packet................................................................................ 107
13.9.10 Raw GNSS Packet.................................................................................108
13.9.10.1 Raw GNSS Status...........................................................................109
13.9.11 Satellites Packet................................................................................... 109
13.9.12 Detailed Satellites Packet.....................................................................110
13.9.12.1 Satellite Systems...........................................................................110
13.9.12.2 Satellite Frequencies.....................................................................110
13.9.13 Geodetic Position Packet.......................................................................111
13.9.14 ECEF Position Packet.............................................................................111
13.9.15 UTM Position Packet.............................................................................. 111
13.9.16 NED Velocity Packet.............................................................................. 112
13.9.17 Body Velocity Packet.............................................................................112
13.9.18 Acceleration Packet..............................................................................112
13.9.19 Body Acceleration Packet.....................................................................113
13.9.20 Euler Orientation Packet.......................................................................113
13.9.21 Quaternion Orientation Packet.............................................................114
13.9.22 DCM Orientation Packet........................................................................114
13.9.23 Angular Velocity Packet........................................................................114
13.9.24 Angular Acceleration Packet.................................................................115
13.9.25 External Position & Velocity Packet.......................................................115
13.9.26 External Position Packet........................................................................116
13.9.27 External Velocity Packet.......................................................................116
Spatial FOG Reference Manual
Page 5 of 144
Version 2.3
03/05/2018