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Novatel ProPak6, User Manual

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72

ProPak6 Installation and Operation User Manual  Rev 4

Chapter 3

Operation

Rec Button

Press the Rec button to record the output results of logged data.

The Rec button flashes during recording. To stop recording, press the Rec button again.

A maximum of 15000 responses can be recorded in one session using the 

Rec feature. Refer to 

Section 3.8.3.6, Profile Manager

 on 

page 69

 if 

intending to log data over a long period of time.

Summary of Contents for ProPak6

Page 1: ...ProPak6 Installation Operation User Manual OM 20000148 Rev 4 September 2015 ...

Page 2: ...ocument is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the licen...

Page 3: ... Power Source 29 2 7 1 Battery Backup 30 2 7 2 Connect the Additional Communication Ports on a ProPak6 31 2 7 3 Connect the CAN Bus 32 2 7 4 Mounting the ProPak6 32 2 8 Installing NovAtel Connect PC Utilities 32 2 9 ProPak6 Security 33 2 9 1 Administration Password 33 2 9 2 FTP Server and ICOM Ports 33 2 10 Next Steps 33 3 Operation 34 3 1 Communications with the Receiver 34 3 1 1 Communicating Us...

Page 4: ... 8 1 Setup Up Network IP 61 3 8 2 Device Menu 64 3 8 3 Dashboard 65 3 8 4 Terminal 70 4 Ethernet Configuration 73 4 1 Required Hardware 73 4 2 Static IP Address Configuration 73 4 2 1 Static IP Address Configuration Receiver 74 4 2 2 Static IP Address Configuration Windows XP with SP3 75 4 2 3 Static IP Address Configuration Windows 7 75 4 2 4 Confirming Ethernet Setup 76 4 3 Dynamic IP Address Co...

Page 5: ...d 104 7 4 8 SoftLoad Errors 105 7 5 Upgrading Using the AUTH Command 105 7 5 1 Upgrade Procedure 105 8 Built In Status Tests 106 8 1 Overview 106 8 2 Receiver Status Word 106 8 3 Error Strobe Signal 107 8 4 RXSTATUSEVENT Log 107 8 5 RXSTATUS Log 107 8 5 1 Overview 107 8 5 2 Error Word 108 8 5 3 Status Code Arrays 108 8 5 4 Receiver Status Code 109 8 5 5 Auxiliary Status Codes 109 8 5 6 Set and Cle...

Page 6: ...intain 51 18 Steadyline Transition 51 19 Steadyline Prefer Accuracy 52 20 Steadyline UAL Warning Limit Example 53 21 Steadyline UAL Out of Bounds Example 53 22 Product Information Info 63 23 Status Display Top Panel 63 24 Cross Over Ethernet Cable Configuration ProPak6 74 25 ProPak6 Ethernet Hardware Setup 77 26 Base Rover Ethernet Setup ProPak6 79 27 Wi Fi Configuration Overview 83 28 SIM Card In...

Page 7: ...acking LEDs States 37 10 Satellite Position LEDs States 38 11 CELL LED States 39 12 Data Communication Port Defaults 41 13 Status Drop Menu Examples 64 14 COM1 and COM2 Port Pin Out Descriptions 115 15 COM3 IMU Port Pin Out Description 115 16 I O Port Pin Out Descriptions 116 17 Expansion Port Pin Out Description 116 18 ProPak6 Strobe Electrical Specifications 117 19 Wiring Table 120 20 I O Cable ...

Page 8: ...FIG ONCE WIFIAPSTATUS ONCHANGED WIFICLISTATUS ONCHANGED BLUETOOTHSTATUS ONCHANGED CELLULARSTATUS ONCHANGED LOGFILESTATUS ONCE 3 Send the data file to NovAtel Customer Support using either the NovAtel FTP site at ftp ftp novatel ca or through the support novatel com e mail address 4 You can also issue a FRESET command to the receiver to clear any unknown settings If you are having a hardware proble...

Page 9: ...he interference by one or more of the following measures Re orient or relocate the receiving antenna Increase the separation between the equipment and the receiver Connect the equipment to an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help Industry Canada ProPak6 Class B digital apparatus complies with Can...

Page 10: ...io with the following modular approvals FCC ID RI7HE910 IC 5131A HE910 FCC Radiation Exposure Statement The radiated output power of this device is below the FCC radio frequency exposure limits Nevertheless this device should be used in such a manner that the potential for human contact during normal operation is minimized This device has been evaluated for and shown compliant with the FCC RF Expo...

Page 11: ...lectrical safety and other relevant provisions of Directive 1999 5 EC EMC Directive 2004 108 EC and the RoHS Recast Directive 2011 65 EU Therefore the equipment is labeled with the following CE marking The Declaration of Conformity may be obtained from NovAtel Inc 1120 68th Ave N E Calgary Alberta Canada T2E 8S5 Instructions for Safe Operation of Equipment The ProPak6 is capable of operation at am...

Page 12: ...he voltage surge induced onto the center conductor lags in time behind the voltage surge induced onto the shield Hazard Impact A lightning strike causes the ground potential in the area to rise to dangerous levels resulting in harm to personnel or destruction of electronic equipment in an unprotected environment It also conducts a portion of the strike energy down the inner conductor of the coax c...

Page 13: ...y lightning protections should be as close to the building s entrance as possible Where feasible they should be mounted onto the grounding plate itself See Figure 1 Primary and Secondary Lightning Protection on page 13 Figure 1 Primary and Secondary Lightning Protection Ref Description 1 Primary lightning protection device 2 Secondary lightning protection device 3 External antenna 4 GNSS Receiver ...

Page 14: ...e with post processing software from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details Global Navigation Satellite System GNSS positioning observes range measurements from orbiting GNSS satellites From these observations the receiver can compute position and velocity with high accuracy NovAtel GNSS positioning systems are highly accurate positioning tools GNSS pos...

Page 15: ...g options to provide a tightly integrated and rugged solution for any application 1 2 System Components The ProPak6 system includes the following components OEM638 receiver with built in Wi Fi Bluetooth USB 2 0 and 4 GB of onboard memory 12 VDC power adapter CLA with slow blow fuse Null modem cable DB9 male extension cable I O DB9 male interface cable Mounting bracket and hardware Refer to Section...

Page 16: ...C and external oscillator BNC model dependent Refer to Figure 5 Antenna and External Oscillator Ports on page 24 for details Power PWR 4 pin LEMO power connector Refer to Figure 6 Power Port on page 24 for details Expansion EXP 9 pin LEMO expansion port for CAN1 CAN2 and an additional USB host port Refer to Figure 8 Expansion and I O Ports on page 25 for details USB DEVICE USB Device Type micro B ...

Page 17: ...l Specifications on page 110 for connector details The Bluetooth Wi Fi antennas are located on the front of the ProPak6 not visible Refer to Figure 41 Bluetooth Wi Fi Antenna Keep out Area and Antenna Location on page 114 for exact location and keep out dimensions for this antenna INS ALN HOST CELL INS ALN HOST Cellular Model Non cellular Model Bluetooth Wi Fi antenna location ...

Page 18: ... Yes INS status indication SPAN configuration only ALIGN heading status indication Dual antenna configuration only Refer to Section 3 1 7 INS and ALIGN LEDs on page 36 for details COM 1 2 and 3 Yes Transmit Receive indication COM 1 2 and or 3 Refer to Section 3 1 13 1 Configure COM 1 2 and 3 on page 42 and Section 3 1 4 COM Ports LEDs on page 35 for details Wi Fi Yes Wi Fi radio status LED Refer t...

Page 19: ...Manual Rev 4 19 Mini SIM only 25 mm x 15 mm SIM No Push push style SIM card holder Remove SIM card holder cover to insert card replace cover to avoid damaging card Table 3 ProPak6 Front Label Definitions Button Connector LED Type Label LED Description Open Covered ...

Page 20: ... interconnect adapter cable as necessary user supplied A Windows based computer A means of communicating between the ProPak6 and computer or other external devices Ethernet cable USB micro B cable RS 232 serial cable RS 422 serial cable A cellular link A cell antenna such as PCTEL Inc MLPV800 12023303 and magnetic mount such as PCTEL Inc GMHFML195C 12023300 cellular radio antenna cable Bluetooth l...

Page 21: ... interference Each one has an environmentally sealed radome 2 2 3 Choosing a Coaxial Cable An appropriate 50 ohm coaxial cable whose line loss does not exceed 10 0 dB If the limit is exceeded excessive signal degradation may occur and the receiver may not be able to meet its performance specifications NovAtel offers a variety of coaxial cables to meet GNSS antenna interconnection requirements incl...

Page 22: ... with a 12 V power adapter with a built in 6 A slow blow fuse for use with a standard 12 VDC power outlet When valid voltage is present at the power supply input the ProPak6 power LED briefly flashes red and then turns solid green operational mode The power button only needs to be pressed to turn off the ProPak6 Refer to Section 3 2 1 Applying Power to the Receiver on page 43 for details on poweri...

Page 23: ...details 2 4 Standard Configuration Installation Complete the steps below to connect and power a standard ProPak6 configuration Figure 4 Typical Standard Installation with External Oscillator 1 Mount a GNSS antenna user supplied on a secure stable structure with an unobstructed view of the sky from horizon to horizon Refer also to Section 2 6 1 Mounting the GNSS Antenna on page 29 If using the ProP...

Page 24: ... page 111 4 The power cable connector included is keyed to the PWR 9 36 VDC connector Figure 6 on the back of the ProPak6 Line up the red dot on the cable with the red line on the connector port and insert Refer also to Section 3 2 1 Applying Power to the Receiver on page 43 Figure 6 Power Port 5 Use the appropriate cable to connect a computer to the COM port Ethernet port or DEVICE port on the ba...

Page 25: ...iver on page 43 for instructions on turning on the ProPak6 2 5 Dual Antenna Configuration and Installation NovAtel s ALIGN heading technology generates distance and bearing information between a master and one or more rover receivers This information can be used by SPAN to update the inertial error estimates and improve attitude accuracy This is particularly useful in applications with reduced mot...

Page 26: ...horizon to horizon Refer also to Section 2 6 1 Mounting the GNSS Antenna on page 29 2 Use a coaxial cable user supplied to connect an antenna to the TNC ANT1 port and connect a second antenna to the other TNC ANT2 port on the back face of the ProPak6 Figure 10 Figure 10 GNSS Antenna Ports Network Marked ANT2 Marked ANT1 Install the ProPak6 and the two antennas in the vehicle such that the relative...

Page 27: ...der to use the integrated cellular radio Figure 11 Cellular Network Setup 1 Remove the SIM card holder cover For instructions on setting up heading refer to 3 5 External ALIGN Master or Rover Configuration Only on page 49 The Ethernet port must be configured prior to first use Refer to Chapter 4 Ethernet Configuration on page 73 for configuration instructions To comply with FCC regulations limitin...

Page 28: ...h a metal roof is inherently a ground plane For vehicles with a non metallic roof a metal ground plane available from NovAtel must be used When installing the antenna on a metallic roof it is recommended that the antenna be installed no closer than 10 cm 4 inches from the edge of the rooftop to avoid adversely affecting the antenna performance due to distortion of the antenna pattern The NovAtel g...

Page 29: ...2 V car adapter from the power cable 2 Install a user supplied 6 A slow blow fuse at the power source to protect the power supply wiring and the warranty 3 Tie the exposed wires to a 9 36 VDC supply capable of at least 14 W Be sure to connect the red and orange or green wires to the positive side of the power supply and connect the black and brown or white wires to the negative side of the power s...

Page 30: ...ltage supply as a power buffer When a vehicle engine is started power can dip to below minimum operating voltage or cut out to ancillary equipment causing the receiver to lose lock and calibration settings Table 6 Fuse Holder Recommendations Fuse Holder BK MDA 6 R Fuse or equivalent BK HFA R R Fuse or equivalent The fuse and holder are made by Cooper Bussmann available from Digikey 6 A Fuse Vehicl...

Page 31: ...orts COM1 COM2 and COM3 IMU on the back of the ProPak6 there are four additional COM ports available from the EXP port To access these ports connect the ProPak6 Expansion Cable 01019154 to the EXP port For more information about this cable see Section A 5 5 ProPak6 Expansion Cable NovAtel part number 01019154 on page 123 Figure 12 Additional COM ports on the ProPak6 Refer to A 5 5 ProPak6 Expansio...

Page 32: ...t the EXP port refer to Section 3 1 15 Expansion Port on page 42 of this manual Figure 13 CAN Bus ports on the ProPak6 2 7 4 Mounting the ProPak6 For general applications the supplied mounting brackets may be used to install the receiver refer to the ProPak6 Quick Start Guide GM 14915125 provided with the receiver or download the guide from our web site www novatel com support For high vibration i...

Page 33: ...sabled by default The IPSERVICE FTP_SERVER command is issued to enable or disable the FTP server port Refer to Section 3 7 1 5 Remote Retrieval of Logged Data on page 59 for instructions on enabling the FTP port For security purposes the IPSERVICE SECURE_ICOM command can also be used to enable password security on the ICOM ports When security is enabled the port refuses incoming commands until a v...

Page 34: ...422 communication refer to Section 3 1 13 1 Configure COM 1 2 and 3 on page 42 for details To communicate with the terminal the receiver only requires the RX TX and GND lines to be used Handshaking is an option and is not required Ensure the terminal s communications setup matches the receiver s RS 232 protocol Bluetooth Wi Fi and Ethernet are also available Refer to Section 3 1 13 Serial Ports on...

Page 35: ... the OEM6 Firmware Reference Manual OM 20000129 for details 3 1 3 2 Fixed Status Indicators The fixed LEDs are Power refer to Section 3 2 1 Applying Power to the Receiver on page 43 for LED states INS refer to Section 3 1 7 INS and ALIGN LEDs on page 36 for LED states ALN ALIGN Heading refer to Section 3 1 7 INS and ALIGN LEDs on page 36 for LED states COM 1 2 and 3 refer to Section 3 1 4 COM Port...

Page 36: ... INS and ALIGN LEDs The INS LED indicates the status of the Inertial Navigation System INS the ALN LED indicates the ALIGN heading status Table 7 INS LED States LED State Description Off Bluetooth radio is not powered Blue solid Bluetooth radio is powered Status LED LED State Description Off Wi Fi radio is not powered Blue solid a a By default the radio is on and powered in AP mode Wi Fi radio is ...

Page 37: ...States LED State Description Off ALIGN is not operational Dual card is disabled or unavailable Tracking 4 satellites Heading log not received updated in 30 seconds Amber solid ALIGN has FLOAT solution SOLTYPE_L1_FLOAT SOLTYPE_NARROW_FLOAT or SOLTYPE_WIDE_FLOAT Green solid ALIGN has fixed solution SOLTYPE_L1_INT SOLTYPE_NARROW_INT LED State Description Off Tracking 0 satellites Red solid Tracking 1...

Page 38: ...NS_RTKFLOAT SOLTYPE_INS_OMNISTAR Unconverged SOLTYPE_INS_OMNISTAR_HP Unconverged SOLTYPE_INS_OMNISTAR_XP Unconverged SOLTYPE_OMNISTAR_HP Unconverged SOLTYPE_OMNISTAR_XP Unconverged SOLTYPE_PROPAGATED SOLTYPE_PPP_CONVERGING SOLTYPE_INS_PPP_CONVERGING Green solid Converged accuracy SOLTYPE_INS_OMNISTAR Converged SOLTYPE_INS_OMNISTAR_HP Converged SOLTYPE_INS_OMNISTAR_XP Converged SOLTYPE_OMNISTAR_HP ...

Page 39: ...talled with the NovAtel USB drivers is used to change the COM port numbers assigned to the virtual serial ports Refer to the NovAtel PC Utilities manual for instructions or check for updates to the drivers and release notes at www novatel com support LED State Description Off Cellular not available Red solid No cellular signal Red blinking Error Amber Cellular network available IP connectivity not...

Page 40: ...3 for configuration details LED State Description Off No devices connected or an error has occurred Red solid Device is idle Red blinking Device is busy active HOST Status LED A computer may have several USB ports The assignment of COM port numbers is tied to a USB port on the computer This allows receivers to be switched without Microsoft Windows assigning new COM ports However if the receiver is...

Page 41: ...municates with the computer or terminal via a serial port For communication to occur both the receiver and the operator interface must be properly configured The ProPak6 s COM1 COM2 and COM3 default port settings are as follows 9600 bps no parity 8 data bits 1 stop bit no handshaking echo off Table 12 Data Communication Port Defaults The data transfer rate determines how fast information is transm...

Page 42: ...ization signals Refer to Table 16 I O Port Pin Out Descriptions on page 116 for details Also refer to the Chapter 4 Ethernet Configuration on page 73 for details and to the IOCONFIG EVENTINCONTROL and EVENTOUTCONTROL commands in the OEM6 Family Firmware Reference Manual OM 20000129 for configuration and command details 3 1 15 Expansion Port The ProPak6 Expansion port supplies two CAN ports and a U...

Page 43: ...cillator to the receiver s external oscillator input connector OSC The receiver does not have to be powered down during this operation The input impedance is 50 ohms When using the external oscillator use the EXTERNALCLOCK command refer to the OEM6 Family Firmware Reference Manual OM 20000129 for details to set the clock type e g cesium rubidium or ovenized crystal and frequency 3 2 Getting Starte...

Page 44: ...ion from the Welcome window 3 Enter a name for the connection 4 Select Device Type to use to communicate from the drop list Serial choose a COM port USB choose a COM port Network choose a receiver and define network settings 5 Click the OK button to save the new connection Button Press Time Result LEDs Press and hold minimum 3 s and maximum 10 s Power to the ProPak6 is turned off After 3 s Satelli...

Page 45: ...OM2 FIX POSITION 51 11635 114 0383 1048 2 carriage return OK In this example COM2 is the port prompt This example illustrates command input to the base receiver s COM2 port that sets the position of the base station receiver for differential operation If the command was accepted the receiver responds with OK 1 Output from receiver self tests may take some time On startup the ProPak6 receiver is se...

Page 46: ... station is the GNSS receiver that does not know its exact position and requires correction messages from a base station to calculate differential GNSS positions Figure 15 Basic Differential Setup Ensure the computer does not sleep or hibernate during a logging session or data will be lost Use a ProPak6 receiver for the Rover Station Use a ProPak6 receiver for the Base Station 1 Connection a GNSS ...

Page 47: ...e Center Offset PCO for each can also be specified using the THISANTENNAPCV and THISANTENNAPCO or the BASEANTENNAPCV or BASEANTENNAPCO commands Refer to the OEM6 Firmware Reference Manual OM 20000129 for command details 3 4 2 Base Station Configuration At the base station enter the following commands interfacemode port rx_type tx_type responses fix position latitude longitude height enter your own...

Page 48: ...gt enter your own lat lon hgt log com2 rtcm1002 ontime 1 for L1 only models log com2 rtcm1004 ontime 1 for L1 L2 models log com2 rtcm1010 ontime 1 for L1 only models log com2 rtcm1012 ontime 1 for L1 L2 models log com2 rtcm1006 ontime 10 log com2 rtcm1033 ontime 10 log com2 rtcm1019 ontime 120 log com2 rtcm1020 ontime 120 saveconfig optional CMRPLUS CMR interfacemode com2 none cmr off fix position...

Page 49: ...f CMR interfacemode com2 cmr none off CMR interfacemode com2 cmr none off same as CMR NOVATELX interfacemode com2 NOVATELX none off 3 5 External ALIGN Master or Rover Configuration Only This section provides instructions for setting up an external master station with additional ALIGN capable rover receivers for applications requiring heading output Refer to APN 048 ALIGN Overview and Setup at www ...

Page 50: ...osition type and log dependent according to the application For example details of the RTKSOURCE PSRDIFFSOURCE INTERFACEMODE SERIALCONFIG and other configuration commands are outlined in the OEM6 Family Firmware Reference Manual OM 20000129 Also refer to the NovAtel application note APN 038 Pseudorange Delta Phase PDP and GLIDE available from www novatel com support search 3 6 Steadyline The Stead...

Page 51: ...eceiver transitions to a different positioning mode the position offset is applied to the calculated position to limit a potential real position jump The position then slowly transitions to the new reference position type over a specified period of time This time period is specified by the Transition time parameter in the STEADYLINE command Figure 18 Steadyline Transition Position Intended Path ch...

Page 52: ...ty and will slowly transition back to the RTK positions at a default rate of 0 005 m s or the time specified in the STEADYLINE command Figure 19 Steadyline Prefer Accuracy 3 6 4 UAL The Steadyline mode used depends on the BESTPOS and GPGGA solution types When the solution type is OPERATIONAL the receiver uses the Maintain option When the solution type is WARNING the receiver uses the Transition op...

Page 53: ... The position type changes to OPERATIONAL The Steadyline mode remains in Transition mode D The solution offset is removed The Steadyline mode changes from Transition to Maintain Operational Limit Warning Limit Operational Limit Warning Limit A B C D A The position type is OPERATIONAL Higher accuracy corrections are lost The receiver changes to a lower accuracy solution Steadyline operates in Maint...

Page 54: ...corrections from multiple base stations At the base station log the contents of the standard corrections in a form that is easier to read These larger variants have the correction fields broken out into standard types in the log rather than compressed into bit fields This can be useful to modify the format of the corrections for a non standard application or to look at the corrections for system d...

Page 55: ...corrections The receiver s TerraStar Product Activation Code PAC or the NovAtel product serial number PSN is needed to obtain a subscription To obtain the receiver specific PAC enter the following command log terrastarinfo This log displays the PAC in the first field following the log header and also displays the status of your subscription To activate a subscription the receiver must be powered a...

Page 56: ...r in the fifth field following the log header The log also provides the status of your subscription Refer to the LBANDINFO log in the OEM6 Family Firmware Reference Manual OM 20000129 for more information To activate the subscription the receiver must be powered and tracking an L Band satellite When advised by OmniSTAR of the appropriate satellite frequency and data link rate for your location use...

Page 57: ...i message windows Stop logging in two ways UNLOG PORT LOGNAME UNLOGALL stops all logging activity Refer to the following sections for detailed instructions on performing logging tasks Naming Log Files File names for logs saved to onboard storage can be specified manually or the ProPak6 can be set to automatically name files Manual Log File Naming Use NovAtel Connect or HyperTerminal to name logged...

Page 58: ...nts currently in the onboard memory 3 7 1 1 Manual Logging Initiation Required log requests must be saved to the NVM prior to logging start Example LOG FILE VERSIONA LOG FILE RANGEB ONTIME1 LOG FILE BESTPOSB ONTIME1 SAVECONFIG Logging can be initiated by pressing the Logging button Logged data is stored in the ProPak6 onboard internal flash memory Pressing the Log button automatically issues the L...

Page 59: ...L 3 7 1 5 Remote Retrieval of Logged Data The FTP server on the ProPak6 allow access to the internal flash memory There is a limitation of one connection at any given time This not only means that only one user can access the FTP server at a time but the FTP Client software must be set to only use one connection refer to Section 5 2 3 Wi Fi Client Configuration on page 86 for Client setup details ...

Page 60: ...m file bundled with the software for further logging details If the FTP connection is lost during the downloading of files reconnect and begin the file transfer again The data files are not removed from internal storage until manually deleted If the Propak6 lost power and commands to configure the Ethernet Chapter 4 Ethernet Configuration on page 73 Wi Fi Section 5 2 Wi Fi Network Configuration on...

Page 61: ...ture functionality required is not available in the Web UI use NovAtel Connect to perform comprehensive monitoring configuration and updating tasks using various connections Refer to Section 2 8 Installing NovAtel Connect PC Utilities on page 32 for details regarding NovAtel Connect The following browsers are supported IE11 Google Chrome 33 0 1750 154 m and Mozilla Firefox 27 0 1 3 8 1 Setup Up Ne...

Page 62: ... Password field and enter the default password the ProPak6 receiver Product Serial Number PSN is the default password located bottom of receiver 8 Press the Log In button The default Product Information home page displays This page contains information about the connected ProPak6 receiver Note it may take a few moments to load all information into the fields When entering any information into the ...

Page 63: ... time for the satellites being tracked Shows percent of onboard storage used Click to display information and configure Position Mode Click to display current receiver health information Color Status Red Error Green Good Yellow Warning Shows IP status The blinking light indicates receiver connection alive status Press the button in the upper right corner to display additional information and confi...

Page 64: ...s 3 8 2 Device Menu The Device menu contains the Info Page default home page Update and Change Password options 3 8 2 1 Info Refer to Figure 22 Product Information Info on Page 63 for location 3 8 2 2 Update Use to update either the firmware on the ProPak6 or the Web UI interface Click to move between options ...

Page 65: ...file Manager 3 8 3 1 Constellation Use to monitor the satellites currently being tracked Each satellite type displays as a different shape The color indicates the status of the channel the colored line below the shape indicates the signal strength Each shape also displays the PRN of that satellite Click a shape within the Constellation circle to display SV information Red No signal match Blue No e...

Page 66: ... one or multiple check boxes and press the delete button to delete selected files Click on the up down arrows at the top of each column to customize the sort order Green Good Red Bad Health Misclosure No Ephemeris Unknown Not Used NA Bad Integrity Lossoflock Yellow OldEphemeris Elevationerror Nodiffcorr Invalidiode Lockedout Lowpower OBSL2 Noionocolor OBSL1 OBSE1 OBSL5 OBSE5 OBSB2 OBSB1 NoSignalma...

Page 67: ...save button to configure the receiver with the selected position mode settings Set system to NONE to reset to previous position mode Use the PPP Tab to configure a position mode for Precise Point Positioning if your receiver is enabled with a TerraStar Subscription A message at the bottom of the screen indicate the current subscription status If there is an active subscription click the Enable L B...

Page 68: ...ovatel com to inquire about TerraStar subscription activation For beam coverage information visit www terrastar net coverage html Use the Differential page to configure the receiver for Base Rover operations The NovAtel Connect PC Utilities contain a number of additional utilities that can be used to access more advanced features of the ProPak6 Download the latest PC Utilities that include NovAtel...

Page 69: ...lications by simply selecting the appropriate profile which after being activated will being logging automatically whenever the receiver is powered on until the profile is manually deactivated Up to 9 profiles can be stored on the ProPak6 and 20 commands per profile Profile restrictions are each command in a profile cannot exceed 200 characters and a maximum of 1500 characters for all commands in ...

Page 70: ... Load Button Create a text file containing a list of commands to be executed in sequence Name and save the file to the connected computer device not the ProPak6 Use the Load button to find and select one of these files Only ASCII log responses are allowed No responses and no recording for binary log requests If abbreviated ASCII log requests are sent ASCII responses are shown recorded ...

Page 71: ...tion and Operation User Manual Rev 4 71 Save Button Press the Save button to name and create a file of any logged data Logged data files are listed under the Storage menu Use the Cancel button to return to the Terminal page without saving ...

Page 72: ... record the output results of logged data The Rec button flashes during recording To stop recording press the Rec button again A maximum of 15000 responses can be recorded in one session using the Rec feature Refer to Section 3 8 3 6 Profile Manager on page 69 if intending to log data over a long period of time ...

Page 73: ...USB port or Wi Fi or Bluetooth link a ProPak6 receiver an RS 232 null modem cable or USB cable a cross over CAT5 Ethernet cable or a user supplied Ethernet network hub or wired router optional and CAT 5 Ethernet cable 4 2 Static IP Address Configuration For a static IP address configuration unique IP addresses are assigned to both the ProPak6 receiver and the computer TCP IP is used for the connec...

Page 74: ...4 Assign the TCP IP port number used for the connection by entering icomconfig icom1 tcp 2000 5 Assign the receiver IP address subnet mask and default gateway by entering ipconfig etha static 192 168 74 10 255 255 255 0 192 168 74 1 6 Save the new Ethernet settings by entering saveconfig 7 Log the IPCONFIG command and confirm the TCP IP configuration by entering log ipconfig once Ethernet Cable Pr...

Page 75: ...lose button 8 Proceed to Section 4 2 4 Confirming Ethernet Setup on page 76 4 2 3 Static IP Address Configuration Windows 7 Follow these steps to set up a static IP address on a computer 1 Click Start Control Panel 2 Click View Network Status and Tasks under Network and Internet 3 Click the Local Area Connection link The Local Area Connection Status window appears 4 Click the Properties button The...

Page 76: ... Connect to the receiver using NovAtel Connect or any third party terminal program that supports TCP IP connections Use the static IP address and port number assigned to the ProPak6 receiver in Section 4 2 1 Static IP Address Configuration Receiver on page 74 The figure below shows the New Connection window in NovAtel Connect with the example Ethernet settings used in Section 4 2 1 Ensure the Ethe...

Page 77: ...receiver using a null modem serial cable or USB cable 2 Establish a connection to the receiver using either NovAtel Connect or another terminal program such as Windows HyperTerminal This connection is used to send the commands in this procedure to the receiver 3 Enable the Ethernet port by entering ethconfig etha auto auto auto auto For information about establishing a connection using NovAtel Con...

Page 78: ...ttings refer to the figure below 4 4 Base Rover Configuration through Ethernet Connectivity You can use an Ethernet connection to provide communication between a base and rover receiver Make a note of the IP address returned with this log This value is used later in this procedure Issue the SAVEETHERNETDATA ETHA command to ensure port settings are retained after a reset and automatically used at b...

Page 79: ...ons Refer to Section 4 2 Static IP Address Configuration on page 73 or Section 4 3 Dynamic IP Address Configuration on page 77 for more information 6 Send the following commands to each receiver either through serial or USB ports Base fix position lat long height interfacemode icom1 none rtca off log icom1 rtcaobs2 ontime 1 log icom1 rtcaref ontime 10 log icom1 rtca1 ontime 5 saveconfig Rover icom...

Page 80: ...t settings are retained after a reset and automatically used at boot time The SAVEETHERNETDATA ETHA command is not applicable to the ICOMCONFIG and NTRIPCONFIG settings The SAVEETHERNETDATA ETHA command overrides the SAVECONFIG command configuration settings The FRESET command does not clear Ethernet setting FRESET INTERNET must be issued ...

Page 81: ... information 5 1 1 Enable Bluetooth on the ProPak6 Receiver By default the Bluetooth radio is turned off 1 Connect the ProPak6 to a computer using one of the communication ports and turn power on 2 To turn on the Bluetooth radio issue BLUETOOTHCONFIG POWER ON command The Bluetooth LED on the front of the ProPak6 lights blue 3 Enter LOG BLUETOOTHSTATUS ONCHANGED to display the Bluetooth radio statu...

Page 82: ...ce the COM port is determined connect to the device over this port 10 To turn off and disconnect devices issue BLUETOOTHCONFIG POWER OFF Instructions for configuring Bluetooth devices vary depending on the type of device and or operating system Consult the instructions provided with the Bluetooth device for detailed setup instructions Bluetooth discovery may minimally restrict Wi Fi performance No...

Page 83: ...an support both static and dynamic IP address assignment If the ProPak6 is not to be accessible to a LAN or is located in a remote location that does not have an AP nearby configure the ProPak6 as the AP When configured as the AP the ProPak6 must use a static IP address although any devices connecting to the ProPak6 mobile phone laptop etc can use either static or dynamic IP address assignment Fig...

Page 84: ...guration the WIFIAPCONFIG MODE AP command is issued and the Wi Fi module power cycled see step 9 below WIFIAP Configuration Parameter Value Description SSID String PSN default The Service Set Identifier network name of the Wi Fi AP IsHidden TRUE FALSE default When this parameter set to TRUE the Wi Fi AP does not broadcast the SSID Channel 802 11 Channel default 6 The 802 11 Channel to use for this...

Page 85: ...ent and the IP of the ProPak6 set the static IP address of the client to 192 168 1 5 or above The subnet should be the same as the ProPak6 The gateway is the same as the ProPak6 IP address 13 Open the port to the receiver from a computer or mobile device The IP address should be the IP address of the ProPak6 The port number is the port number assigned to the ICOM port being connected to default IC...

Page 86: ...1 Follow the first three steps in Section 5 2 2 Wi Fi AP Configuration on page 84 2 Issue the WIFICONFIG MODE AP X command X being 2 3 or 4 for the additional AP configurations 3 Continue following the steps in Section 5 2 2 Wi Fi AP Configuration on page 84 4 Repeat as required for a maximum of 4 APs 5 2 3 Wi Fi Client Configuration The ProPak6 can store configurations for a maximum of 16 APs on ...

Page 87: ... to TRUE the Wi Fi client network is included as a potential connection when the client interface is enabled and the system is searching for Access Points it knows When set to FALSE the Wi Fi client network is kept for reference but is not automatically used Priority Int Instructs the client to always attempt connecting to this network regardless of availability of other networks signal strength e...

Page 88: ...ion setting of the AP TKIP AES_CCMP WIFICLICONFIG 1 PASSPHRASE XXXX where XXXX is the passphrase password of the AP WIFIWLICONFIG 1 ENABLED TRUE 9 Configure the ICOM ports to be used refer to Section 3 1 12 ICOM Ports on page 41 for details 10 If required configure port security refer to Section 2 9 2 FTP Server and ICOM Ports on page 33 for details 11 If using configure NTRIP refer to Chapter 6 N...

Page 89: ...not locked to any particular carrier To activate a ProPak6 on a GSM GPRS HSDPA network follow these steps 1 Obtain an active account and SIM card providing GSM GPRS HSDPA data services recommended data plans for Network RTK are 5GB Month Rate Plans The Service Provider may require the fol lowing information to setup an active account a Product Name ProPak6 GSM GPRS HSDPA b Modem Serial Number IMEI...

Page 90: ... APN APN sets AP name1 CELLULARCONFIG USERNAME USERNAME sets user name1 CELLULARCONFIG PASSWORD PASSWORD sets APN password1 CELLULARCONFIG DATA ON enables disables data connectivity on the configured APN CELLULARCONFIG DATAROAM ON enables disables data connectivity when roaming 8 If internet access is required over this interface issue the SETPREFERREDNETIF CELL command 9 Issue the SAVECONFIG comm...

Page 91: ...ly aligned and secured Issue the CELLULARCONFIG POWER ON command to turn the cellular radio on 5 4 Airplane Mode Enabling Airplane Mode turns off any Wi Fi Bluetooth or cellular radios in the ProPak6 Airplane Mode is disabled by default radios on If Airplane mode is enabled and then disabled all radios automatically return to their last state on or off however any connections made before airplane ...

Page 92: ...st of NTRIP casters refer to the following link www rtcm ntrip org home The following procedure describes how to configure a NovAtel base and a NovAtel rover through a third party NTRIP caster This configuration is recommended for optimal RTK performance 1 Establish a connection to the receiver using Ethernet Wi Fi or Cellular Refer to Chapter 4 Ethernet Configuration on page 73 or the sections Se...

Page 93: ...FERREDNETIF WIFI or CELL or ETHA SAVECONFIG If using a specific Network RTK system certain National Marine Electronics Association NMEA strings are required to be sent from the rover back to the RTK network For example if connected to the VRS mount point the rover is required to send its position to the network in a standard NMEA GGA message This is achieved by issuing the following commands LOG N...

Page 94: ...94 ProPak6 Installation and Operation User Manual Rev 4 Chapter 6 NTRIP Configuration ...

Page 95: ...l the information needed to upgrade or update a receiver Refer to www novatel com where to buy for contact information or contact sales novatel com or support novatel com directly 7 1 1 Firmware Updates Firmware updates are firmware releases that include fixes and enhancements to the receiver functionality Firmware updates are released occasionally on the NovAtel web site as they become available ...

Page 96: ...e version use the AUTH command with the issued auth code as outlined in Upgrading Using the AUTH Command To upgrade to a new model with a new firmware version the new firmware needs to be loaded into the OEM6 receiver Refer to 7 3 Updating or Upgrading Using the WinLoad Utility on page 97 for use instructions or to 7 4 Updating Using SoftLoad Commands on page 99 There are two types of auth codes S...

Page 97: ...re to be installed on OEM638 receiver NovAtel Customer Service may generate and provide the required authorization code Authorization codes are obtained by contacting support novatel com or at www novatel com Support For convenience unzip the update file to a GNSS sub directory for example C GNSS LOADER If the firmware update file is password protected NovAtel Customer Support provides the require...

Page 98: ...oad s Open Window When a file is selected the filename appears in the main WinLoad display area and in the title bar Figure 31 Figure 31 Open File in WinLoad Communications Settings To set the communications port and baud rate select Settings COM Settings Choose the computer port to use from the Com Port drop down list and the baud rate from the Download Baudrate drop down list Set the baud rate a...

Page 99: ...pears in the main display area Figure 35 Upgrade Process Complete 7 Close WinLoad 7 4 Updating Using SoftLoad Commands Firmware can be updated on a running receiver using a process called SoftLoad Any available communication ports on the receiver COM USB ICOM XCOM etc can be used The SoftLoad process is made up of a set of commands and logs that are used to send new firmware data to a receiver and...

Page 100: ...g with S3 contain the actual firmware image data Aside from the header each pair of characters forms the ASCII representation of a binary byte The format is as follows Command Description SOFTLOADRESET Initiate a new SoftLoad process SOFTLOADSREC Send an S Record to the receiver for the SoftLoad process SOFTLOADDATA Send firmware image data to the receiver for the SoftLoad process SOFTLOADCOMMIT C...

Page 101: ... record follows immediately after the previous record That is the address from the current S3 record must equal the address from the previous S3 record plus the data length of the previous S3 record If the data is not consecutive then the SOFTLOADDATA command can be sent with the amount of data it has packaged up to that point Subsequent data can be packaged in a new SOFTLOADDATA command Within th...

Page 102: ...ORD Data within S0 records can also be sent to the receiver by converting them to SOFTLOADSETUP commands Refer to the OEM6 Family Firmware Reference Manual OM 20000129 for details on how to convert from S0 S Records to SOFTLOADSETUP commands B S3 S Records should be parsed and packaged into a SOFTLOADDATA command 6 Send the SOFTLOADCOMMIT command after all data from the hex or shex file has been t...

Page 103: ...receiver Once the receiver resets the new version of firmware is active The SoftLoad process can be safely canceled at any time using the SOFTLOADRESET command or by otherwise resetting the receiver Once the COMPLETE status is reported by SOFTLOADSTATUS the new firmware image will be run after the receiver is reset ...

Page 104: ...connection to any port on the receiver COM USB ICOM or XCOM with the input and out put INTERFACEMODE set to NOVATEL 2 Request the SOFTLOADSTATUSA log using the following command LOG SOFTLOADSTATUSA ONCHANGED 3 Initiate the firmware update using one of the following commands where firmwarefilename hex is the name of the hex or shex file A If using internal flash use this command SOFTLOADFILE INTERN...

Page 105: ...er Support The upgrade can be performed directly through the NovAtel Connect command line or from any other communications program 7 5 1 Upgrade Procedure 1 Power up the OEM6 family receiver and establish communications refer to the Quick Start Guide included with the product for instructions 2 Issue the LOG VERSION command to verify the current model firmware version and serial number refer to 7 ...

Page 106: ...he error is corrected the receiver must be reset to resume normal operation Two scenarios describe factory default behavior These behaviors can be customized to better suit an individual application RXSTATUSEVENT logs can be disabled completely with the UNLOG command RXSTATUSEVENT logs can be generated when a receiver status bit is set or cleared with the STATUSCONFIG SET and STATUSCONFIG CLEAR co...

Page 107: ...irmware Reference Manual for a more detailed description of this log 8 5 RXSTATUS Log 8 5 1 Overview The Receiver Status log RXSTATUS provides system status and configuration information in a series of hexadecimal words The status word is the third field after the header as shown in the example in Figure 36 Figure 36 Location of Receiver Status Word Each bit in the status word indicates the status...

Page 108: ...ading the Bits in the Receiver Error Word Refer to the RXSTATUS and the RXSTATUSEVENT logs in the OEM6 Family Firmware Reference Manual OM 20000129 for more detailed log descriptions If the receiver error word indicates an error refer to Resolving an Error in the Receiver Error Word table in the troubleshooting section of the OEM6 Family Installation and Operation User Manual OM 20000128 8 5 3 Sta...

Page 109: ... the auxiliary priority mask results in the corresponding bit in the receiver status code to be set if any masked auxiliary bit is set Bit 31 of the receiver status word indicates the condition of all masked bits in the auxiliary 1 status word Likewise bit 30 of the receiver status word corresponds to the auxiliary 2 status word and bit 29 to the auxiliary 3 status word Refer also to the RXSTATUS ...

Page 110: ...Star subscription which is available direct from NovAtel www novatel com products novatel correct ppp d Performance dependent on local observing conditions 4 cm to 6 cm RTK 1 cm 1 ppm Time to First Fix Hot 35 s Almanac and recent ephemeris saved and approximate position and time entered Cold 50 s No almanac or ephemeris and no approximate position or time Reacquisition 0 5 s L1 typical 1 0 s L2 ty...

Page 111: ...x 75 mm Weight including high vibe 1 94 kg Bluetooth Wi Fi Heading HSPA 1 89 kg Bluetooth Wi Fi HSPA 1 79 kg Bluetooth Wi Fi 1 84 kg Bluetooth Wi Fi Heading ENVIRONMENTAL Operating Temperature 40 C to 75 C 40 C to 65 C heading 40 C to 65 C cellular Storage Temperature 45 C to 95 C Humidity Not to exceed 95 non condensing Dust IEC 60529 IP6X Waterproof IEC 60529 IPX7 Vibrationa a See also the Notic...

Page 112: ...ctor Refer to Section 3 1 10 1 USB Host LED on page 40 Ethernet RJ45 connector 10 100 base T Ethernet support Refer to Figure 7 Ethernet COM or USB Device Ports on page 24 I O DB9 female connector Refer to Figure 8 Expansion and I O Ports on page 25 COM1 COM2 COM3 IMU DB9 male connector DB9 male connector DB9 male connector Baud rates 300 600 900 1200 2400 4800 9600 19200 38400 57600 115200 230400...

Page 113: ...ProPak6 Installation and Operation User Manual Rev 4 113 A 3 Dimension Drawings Figure 40 ProPak6 Dimensions Dimensions are in millimeters ...

Page 114: ...114 ProPak6 Installation and Operation User Manual Rev 4 Figure 41 Bluetooth Wi Fi Antenna Keep out Area and Antenna Location Keep out 20 cm from Bluetooth Wi Fi antenna Dimensions are in millimeters ...

Page 115: ...page 24 Connector Pin No RS 232 Mode RS 422 Mode 1 N C N C 2 RXD RX 3 TXD TX 4 Vout Vouta a Can be turned on or off using the COMVOUT command Refer to the OEM6 Family Firmware Reference Manual OM 20000129 for more information 5 GND GND 6 N C N C 7 RTS TX 8 CTS RX 9 N C N C Connector Pin No RS 232 Mode RS 422 Mode 1a a The IMU_EVENT_OUT SYNC 1 signal can be disabled IMU_EVENT_OUT SYNC 1 IMU_EVENT_O...

Page 116: ...scription 1 EVENT_OUT 1 VARF Output Event1 Variable Frequency VARF output 2 PPS PPS 1 Pulse Per Second PPS output 3 EVENT_OUT 2 MSR Output Event2 Measured output for Event 2 4 EVENT_IN 1 EVENT1 Input Event1 5 EVENT_OUT 3 PV Output Event3 Position valid output 6 EVENT_IN 2 EVENT2 Input Event2 7 EVENT_IN 3 _RESETOUT Input Event3 active low reset out 8 EVENT_IN 4 ERROR Input Event4 error indicator ou...

Page 117: ... Strobe Sym Min V Max V Current mA Conditions Event_In1 Mark 1 Event_In2 Mark2 Event_In3 Mark3 Event_In4 Mark4 VIL 0 8 VCC 3 3 V 85 C VIH 2 0 VCC 3 3 V 85 C PPS VOL 0 4 8 VCC 3 3 V 85 C VOL 2 4 PV VARF VOL 0 4 24 VCC 3 3 V 85 C VOH 3 0 24 VCC 3 3 V 85 C RESETIN VIL 0 8 VCC 3 3 V 85 C VIH 2 3 VCC 3 3 V 85 C ...

Page 118: ...m RMS SBASb b GPS only 0 6 m RMS DGPS 0 4 m RMS RTK 1 cm 1 ppm RMS Time to First Fix Hot 35 s Almanac and recent ephemeris saved and approximate position and time entered Cold 50 s No almanac or ephemeris and no approximate position or time Reacquisition 0 5 s L1 typical 1 0 s L2 typical Data Rates Measurements up to 20 Hz Position up to 20 Hz Time Accuracyac c Time accuracy does not include biase...

Page 119: ...utlet The output from the power adapter utilizes a 4 pin LEMO connector LEMO part number FGG 0B 304 CLAD52Z and plugs directly into the PWR input located on the back panel of the ProPak6 This cable is RoHS compliant For alternate power sources see Section 2 8 Installing NovAtel Connect PC Utilities on page 32 Reference Description Reference Description 1 Black 1 Ground 2 Red 2 12 V 3 Orange 3 12 V...

Page 120: ...op The cable is equipped with a 9 pin connector at the receiver end which can be plugged into the COM1 COM2 or AUX port At the PC laptop end a 9 pin connector is provided to accommodate a computer serial RS 232 communication port This cable is RoHS compliant Table 19 Wiring Table Note Cables may contain DEHP Connector Pin Number To DB9S 10 2 3 8 7 4 5 1 6 To DB9S 11 3 2 7 8 1 6 5 4 5 1 1 5 6 9 9 6...

Page 121: ...e differential corrections The cable is equipped with a female DB9 connector at the receiver end The male DB9 connector at the other end is provided to plug into your user supplied equipment please refer to your modem or radio transmitter user guide for more information on its connectors The cable is approximately 2 m in length This cable is RoHS compliant 5 1 1 5 6 9 9 6 11 1 2 3 4 5 6 1 2 3 4 5 ...

Page 122: ... at the other The 01019148 cable is similar in function to the 0108519 cable however each signal is in a twisted pair with a ground wire to reduce cross talk and improve signal integrity The 01019148 cable is recommended when using multiple event lines simultaneously in order to prevent false triggers Table 20 I O Cable Wiring Instructions DB9 Male to Receiver Color Code P1 Black P2 Brown P3 Red P...

Page 123: ...le Pin Out Descriptions P1 EXP Pin Function P2 DB9 Connectors P3 Wire Bundle Label 1 CAN Bus 1 CAN1 2 CAN Bus 1 CAN1 3 CAN Bus 2 CAN2 4 CAN Bus 2 CAN2 5 Digital Ground DGND 6 VBUS The ProPak6 Expansion Cable multiplexes four serial COM ports COM7 COM8 COM9 and COM10 onto a single USB port See Table 22 P2 Connector Pin Out Descriptions on page 124 for the pin out of the four P2 connectors 7 USB D 8...

Page 124: ... User Manual Rev 4 Table 22 P2 Connector Pin Out Descriptions Pin Description 1 No connect 2 Transmit Data TXD 3 Receive Data RXD 4 No connect 5 Ground GND 6 No connect 7 Clear To Send CTS 8 Request To Send RTS 9 No connect Shell Ground GND ...

Page 125: ...806 960 MHz 1710 2500 MHz NMO 12023303 Ethernet PATCH CABLE 7FT BLACK W SR HOOD 60723118 CABLE USB A TO USB MICRO B 2 METER 60723119 30 W AC to DC power adapter LEMO to wall socket Operating temperature range 0 to 40 C indoor use only 01018931 Optional NovAtel Antennas Model 702 L1 L2 GPS 702 Model 701 L1 only GPS 701 Model 702L L1 L2 L Band B1 BeiDou GPS 702L Model 702GG L1 L2 GLONASS GPS 702 GG ...

Page 126: ...ailable from NovAtel as a separate part Model 42G1215A L1 L2 42G1215A XT 1 Optional RF Antenna Cable 5 meters GPS C006 15 meters GPS C016 30 meters GPS C032 Part Description NovAtel Part Product Part Description Company Part Number ProPak6 Power Cable connector 4 pin socket connector LEMO FGG 0B 304 CLAD52Z ProPak6 Expansion Port connector 9 pin socked connector LEMO FGA OB 309 CLAZ ...

Page 127: ...ng and Receiving Corrections on page 46 Are there any Bluetooth connectivity issues while using Wi Fi The ProPak6 uses a common Bluetooth and Wi Fi antenna Only when discovering Bluetooth devices pairing is Wi Fi performance impacted Simply ensure Bluetooth discoverability is turned off before connecting to a Wi Fi network refer to Section 5 1 1 2 Connecting Bluetooth Devices on page 82 for detail...

Page 128: ...BLUETOOTHDISCOVERABILTY OFF When the discoverability is disabled no new device may pair with the ProPak6 however previously paired devices are recognized The only way to fully disable Bluetooth is by issuing the follow command BLUETOOTHCONFIG POWER OFF which completely powers down the ProPak6 Why is data not being received on the ICOM Ports The ProPak6 ICOM ports can be locked and password protect...

Page 129: ...advanced Microsoft Windows users only NovAtel Inc is not able to provide any technical support for any actions taken regarding information found in Microsoft s Knowledge Base Windows XP SP3 and Windows Server 2003 http support microsoft com kb 328890 http support microsoft com kb 815230 Refer to the Chapter Customer Support on page 8 for details on contacting NovAtel Customer Support ...

Page 130: ...OM 20000148 Rev 4 September 2015 ...

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