| 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 | - | - | - |