RINEX: The Receiver Independent Exchange Format Version 2 ********************************************************* (Revision, April 1993) (Clarification December 1993) (Doppler Definition: Jan. 1994) (PR Clarification: Oct. 1994) (Wlfact Clarification: Feb. 1995) (Event Time Frame Clarification: May 1996) (Minor errors in the examples A7/A8: May 1996) (Naming convention for compressed met files; Jan. 1997) Werner Gurtner Astronomical Institute University of Berne 0. INTRODUCTION This paper is a revised version of the one published by W. Gurtner and G. Mader in the CSTG GPS Bulletin of September/October 1990. The main reason for a revision is the new treatment of antispoofing data by the RINEX format (see chapter 7). Chapter 4 gives a recommendation for data compression procedures, especially useful when large amounts of data are exchanged through computer networks. In Table A3 in the original paper the definiton of the "PGM / RUN BY / DATE" navigation header record was missing, although the example showed it. The redefinition of AODE/AODC to IODE/IODC also asks for an update of the format description. For consistency reasons we also defined a Version 2 format for the Meteorological Data files (inclusion of a END OF HEADER record and an optional MARKER NUMBER record). * The slight modification (or rather the definition of a bit in the Loss * * of Lock Indicator unused so far) to flag AS data is so small a change * * that we decided to NOT increase the version number! * In order to have all the available information about RINEX in one place we also included parts of earlier papers and a complete set of format definiton tables and examples. URA Clarification (10-Dec-93): The user range accuracy in the Navigation Message File did not contain a definition of the units: There existed two ways of interpretation: Either the 4 bit value from the original message or the converted value in meters according to GPS ICD-200. In order to simplify the interpretation for the user of the RINEX files I propose the bits to be converted into meters prior to RINEX file creation. 1. THE PHILOSOPHY OF RINEX The first proposal for the "Receiver Independent Exchange Format" RINEX has been developed by the Astronomical Institute of the University of Berne for the easy exchange of the GPS data to be collected during the large European GPS campaign EUREF 89, which involved more than 60 GPS receivers of 4 different manufacturers. The governing aspect during the development was the following fact: Most geodetic processing software for GPS data use a well-defined set of observables: - the carrier-phase measurement at one or both carriers (actually being a measurement on the beat frequency between the received carrier of the satellite signal and a receiver-generated reference frequency). - the pseudorange (code) measurement, equivalent to the difference of the time of reception (expressed in the time frame of the receiver) and the time of transmission (expressed in the time frame of the satellite) of a distinct satellite signal. - the observation time being the reading of the receiver clock at the instant of validity of the carrier-phase and/or the code measurements. Usually the software assumes that the observation time is valid for both the phase AND the code measurements, AND for all satellites observed. Consequently all these programs do not need most of the information that is usually stored by the receivers: They need phase, code, and time in the above mentioned definitions, and some station-related information like station name, antenna height, etc. 2. GENERAL FORMAT DESCRIPTION Currently the format consists of three ASCII file types: 1. Observation Data File 2. Navigation Message File 3. Meteorological Data File Each file type consists of a header section and a data section. The header section contains global information for the entire file and is placed at the beginning of the file. The header section contains header labels in columns 61-80 for each line contained in the header section. These labels are mandatory and must appear exactly as given in these descriptions and examples. The format has been optimized for mimimum space requirements independent from the number of different observation types of a specific receiver by indicating in the header the types of observations to be stored. In computer systems allowing variable record lengths the observation records may then be kept as short as possible. The maximum record length is 80 bytes per record. Each Observation file and each Meteorological Data file basically contain the data from one site and one session. RINEX Version 2 also allows to include observation data from more than one site subsequently occupied by a roving receiver in rapid static or kinematic applications. If data from more than one receiver has to be exchanged it would not be economical to include the identical satellite messages collected by the different receivers several times. Therefore the Navigation Message File from one receiver may be exchanged or a composite Navigation Message File created containing non-redundant information from several receivers in order to make the most complete file. The format of the data records of the RINEX Version 1 Navigation Message file is identical to the former NGS exchange format. The actual format descriptions as well as examples are given in the Tables at the end of the paper. 3. DEFINITION OF THE OBSERVABLES GPS observables include three fundamental quantities that need to be defined: Time, Phase, and Range. TIME: The time of the measurement is the receiver time of the received signals. It is identical for the phase and range measurements and is identical for all satellites observed at that epoch. It is expressed in GPS time (not Universal Time). PSEUDO-RANGE: The pseudo-range (PR) is the distance from the receiver antenna to the satellite antenna including receiver and satellite clock offsets (and other biases, such as atmospheric delays): PR = distance + c * (receiver clock offset - satellite clock offset + other biases) so that the pseudo-range reflects the actual behavior of the receiver and satellite clocks. The pseudo-range is stored in units of meters. PHASE: The phase is the carrier-phase measured in whole cycles at both L1 and L2. The half-cycles measured by sqaring-type receivers must be converted to whole cycles and flagged by the wavelength factor in the header section. The phase changes in the same sense as the range (negative doppler). The phase observations between epochs must be connected by including the integer number of cycles. The phase observations will not contain any systematic drifts from intentional offsets of the reference oscillators. The observables are not corrected for external effects like atmospheric refraction, satellite clock offsets, etc. If the receiver or the converter software adjusts the measurements using the real-time-derived receiver clock offsets dT(r), the consistency of the 3 quantities phase / pseudo-range / epoch must be maintained, i.e. the receiver clock correction should be applied to all 3 observables: Time(corr) = Time(r) - dT(r) PR(corr) = PR(r) - dT(r)*c phase(corr) = phase(r) - dT(r)*freq DOPPLER: The sign of the doppler shift as additional observable is defined as usual: Positive for approaching satellites. 4. THE EXCHANGE OF RINEX FILES: We recommend using the following naming convention for RINEX files: ssssdddf.yyt ssss: 4-character station name designator ddd: day of the year of first record f: file sequence number within day 0: file contains all the existing data of the current day yy: year t: file type: O: Observation File N: Navigation file M: Meteorological data file To exchange RINEX files on magnetic tapes we recommend using the following tape format: - Non-label; ASCII; fixed record length: 80 characters; block size: 8000 - First file on tape contains list of files using above-mentioned naming conventions When data transmission times or storage volumes are critical we recommend compressing the files prior to storage or transmission using the UNIX "compress" und "uncompress" programs. Compatible routines are available on VAX/VMS and PC/DOS systems, as well. Proposed naming conventions for the compressed files: System Observation files Navigation Files Meteorological Files UNIX ssssdddf.yyO.Z ssssdddf.yyN.Z ssssdddf.yyM.Z VMS ssssdddf.yyO_Z ssssdddf.yyN_Z ssssdddf.yyN_Z DOS ssssdddf.yyY ssssdddf.yyX ssssdddf.yyW 5. RINEX VERSION 2 FEATURES The following section contains features that have been introduced for RINEX Version 2. 5.1 Satellite Numbers: Version 2 has been prepared to contain GLONASS or other satellite systems' observations. Therefore we have to be able to distinguish the satellites of the different systems: We precede the 2-digit satellite number with a system denominator. snn s: satellite system blank: system as defined in header record G : GPS R : GLONASS T : Transit nn: PRN (GPS), almanac number (GLONASS) or two-digit satellite number Note: G, R, and T are mandatory in mixed files 5.2 Order of the Header Records: As the record descriptors in columns 61-80 are mandatory, the programs reading a RINEX Version 2 header are able to decode the header records with formats according to the record descriptor, provided the records have been first read into an internal buffer. We therefore propose to allow free ordering of the header records, with the following exceptions: - The "RINEX VERSION / TYPE" record must be the first record in a file - The default "WAVELENGTH FACT L1/2" record (if present) should precede all records defining wavelength factors for individual satellites - The "# OF SATELLITES" record (if present) should be immediately followed by the corresponding number of "PRN / # OF OBS" records. (These records may be handy for documentary purposes. However, since they may only be created after having read the whole raw data file we define them to be optional. 5.3 Missing Items, Duration of the Validity of Values Items that are not known at the file creation time can be set to zero or blank or the respective record may be completely omitted. Consequently items of missing header records will be set to zero or blank by the program reading RINEX files. Each value remains valid until changed by an additional header record. 5.4. Event Flag Records The "number of satellites" also corresponds to the number of records of the same epoch followed. Therefore it may be used to skip the appropriate number of records if certain event flags are not to be evaluated in detail. 5.5 Receiver Clock Offset A large number of users asked to optionally include a receiver-derived clock offset into the RINEX format. In order to prevent confusion and redundancy, the receiver clock offset (if present) should report the value that has been used to correct the observables according to the formulae under item 1. It would then be possible to reconstruct the original observations if necessary. As the output format for the receiver-derived clock offset is limited to nanoseconds the offset should be rounded to the nearest nanosecond before it is used to correct the observables in order to guarantee correct reconstruction. 6. ADDITIONAL HINTS AND TIPS Programs developed to read RINEX Version 1 files have to verify the version number. Version 2 files may look different (version number, END OF HEADER record, receiver and antenna serial number alphanumeric) even if they do not use any of the new features We propose that routines to read RINEX Version 2 files automatically delete leading blanks in any CHARACTER input field. Routines creating RINEX Version 2 files should also left-justify all variables in the CHARACTER fields. DOS, and other, files may have variable record lengths, so we recommend to first read each observation record into a 80-character blank string and decode the data afterwards. In variable length records, empty data fields at the end of a record may be missing, especially in the case of the optional receiver clock offset. 7. RINEX UNDER ANTISPOOFING (AS) Some receivers generate code delay differences between the first and second frequency using cross-correlation techniques when AS is on and may recover the phase observations on L2 in full cycles. Using the C/A code delay on L1 and the observed difference it is possible to generate a code delay observation for the second frequency. Other receivers recover P code observations by breaking down the Y code into P and W code. Most of these observations may suffer from an increased noise level. In order to enable the postprocessing programs to take special actions, such AS-infected observations are flagged using bit number 2 of the Loss of Lock Indicators (i.e. their current values are increased by 4). 8. REFERENCES Evans, A. (1989): "Summary of the Workshop on GPS Exchange Formats." Proceedings of the Fifth International Geodetic Symposium on Satellite Systems, pp. 917ff, Las Cruces. Gurtner, W., G. Mader, D. Arthur (1989): "A Common Exchange Format for GPS Data." CSTG GPS Bulletin Vol.2 No.3, May/June 1989, National Geodetic Survey, Rockville. Gurtner, W., G. Mader (1990): "The RINEX Format: Current Status, Future Developments." Proceedings of the Second International Symposium of Precise Positioning with the Global Positioning system, pp. 977ff, Ottawa. Gurtner, W., G. Mader (1990): "Receiver Independent Exchange Format Version 2." CSTG GPS Bulletin Vol.3 No.3, Sept/Oct 1990, National Geodetic Survey, Rockville. 9. RINEX VERSION 2 FORMAT DEFINITIONS AND EXAMPLES +----------------------------------------------------------------------------+ | TABLE A1 | | OBSERVATION DATA FILE - HEADER SECTION DESCRIPTION | +--------------------+------------------------------------------+------------+ | HEADER LABEL | DESCRIPTION | FORMAT | | (Columns 61-80) | | | +--------------------+------------------------------------------+------------+ |RINEX VERSION / TYPE| - Format version (2) | I6,14X, | | | - File type ('O' for Observation Data) | A1,19X, | | | - Satellite System: blank or 'G': GPS | A1,19X | | | 'R': GLONASS | | | | 'T': NNSS Transit | | | | 'M': Mixed | | +--------------------+------------------------------------------+------------+ |PGM / RUN BY / DATE | - Name of program creating current file | A20, | | | - Name of agency creating current file | A20, | | | - Date of file creation | A20 | +--------------------+------------------------------------------+------------+ *|COMMENT | Comment line(s) | A60 |* +--------------------+------------------------------------------+------------+ |MARKER NAME | Name of antenna marker | A60 | +--------------------+------------------------------------------+------------+ *|MARKER NUMBER | Number of antenna marker | A20 |* +--------------------+------------------------------------------+------------+ |OBSERVER / AGENCY | Name of observer / agency | A20,A40 | +--------------------+------------------------------------------+------------+ |REC # / TYPE / VERS | Receiver number, type, and version | 3A20 | | | (Version: e.g. Internal Software Version)| | +--------------------+------------------------------------------+------------+ |ANT # / TYPE | Antenna number and type | 2A20 | +--------------------+------------------------------------------+------------+ |APPROX POSITION XYZ | Approximate marker position (WGS84) | 3F14.4 | +--------------------+------------------------------------------+------------+ |ANTENNA: DELTA H/E/N| - Antenna height: Height of bottom | 3F14.4 | | | surface of antenna above marker | | | | - Eccentricities of antenna center | | | | relative to marker to the east | | | | and north (all units in meters) | | +--------------------+------------------------------------------+------------+ |WAVELENGTH FACT L1/2| - Wavelength factors for L1 and L2 | 2I6, | | | 1: Full cycle ambiguities | | | | 2: Half cycle ambiguities (squaring) | | | | 0 (in L2): Single frequency instrument | | | | - Number of satellites to follow in list | I6, | | | 0 or blank: Default wavelength factors | | | | Maximum 7. If more than 7 satellites: | | | | Repeat record. | | | | - List of PRNs (satellite numbers) | 7(3X,A1,I2)| +--------------------+------------------------------------------+------------+ |# / TYPES OF OBSERV | - Number of different observation types | I6, | | | stored in the file | | | | - Observation types | 9(4X,A2) | | | | | | | The following observation types are | | | | defined in RINEX Version 2: | | | | | | | | L1, L2: Phase measurements on L1 and L2 | | | | C1 : Pseudorange using C/A-Code on L1 | | | | P1, P2: Pseudorange using P-Code on L1,L2| | | | D1, D2: Doppler frequency on L1 and L2 | | | | T1, T2: Transit Integrated Doppler on | | | | 150 (T1) and 400 MHz (T2) | | | | | | | | Observations collected under Antispoofing| | | | are converted to "L2" or "P2" and flagged| | | | with bit 2 of loss of lock indicator | | | | (see Table A2). | | | | | | | | Units : Phase : full cycles | | | | Pseudorange : meters | | | | Doppler : Hz | | | | Transit : cycles | | | | | | | | The sequence of the types in this record | | | | has to correspond to the sequence of the | | | | observations in the observation records | | +--------------------+------------------------------------------+------------+ *|INTERVAL | Observation interval in seconds | I6 |* +--------------------+------------------------------------------+------------+ |TIME OF FIRST OBS | Time of first observation record | 5I6,F12.6 | | | year (4 digits), month,day,hour,min,sec| | +--------------------+------------------------------------------+------------+ *|TIME OF LAST OBS | Time of last observation record | 5I6,F12.6 |* | | year (4 digits), month,day,hour,min,sec| | +--------------------+------------------------------------------+------------+ *|# OF SATELLITES | Number of satellites, for which | I6 |* | | observations are stored in the file | | +--------------------+------------------------------------------+------------+ *|PRN / # OF OBS | PRN (sat.number), number of observations |3X,A1,I2,9I6|* | | for each observation type indicated | | | | in the "# / TYPES OF OBSERV" - record. | | | | This record is repeated for each | | | | satellite present in the data file | | +--------------------+------------------------------------------+------------+ |END OF HEADER | Last record in the header section. | 60X | +--------------------+------------------------------------------+------------+ Records marked with * are optional +----------------------------------------------------------------------------+ | TABLE A2 | | OBSERVATION DATA FILE - DATA RECORD DESCRIPTION | +-------------+-------------------------------------------------+------------+ | OBS. RECORD | DESCRIPTION | FORMAT | +-------------+-------------------------------------------------+------------+ | EPOCH/SAT | - Epoch : | 5I3,F11.7, | | or | year (2 digits), month,day,hour,min,sec | | | EVENT FLAG | - Epoch flag 0: OK | I3, | | | 1: power failure between | | | | previous and current epoch | | | | >1: Event flag | | | | - Number of satellites in current epoch | I3, | | | - List of PRNs (sat.numbers) in current epoch | 12(A1,I2), | | | If more than 12 satellites: Continued in | | | | next line with n(A1,I2) | | | | - receiver clock offset (seconds, optional) | F12.9 | | | | | | | If EVENT FLAG record (epoch flag > 1): | | | | - Event flag: | | | | 2: start moving antenna | | | | 3: new site occupation (end of kinem. data) | | | | (at least MARKER NAME record follows) | | | | 4: header information follows | | | | 5: external event (epoch is significant, | | | | same time frame as observation time tags)| | | | 6: cycle slip records follow to optionally | | | | report detected and repaired cycle slips | | | | (same format as OBSERVATIONS records; | | | | slip instead of observation; LLI and | | | | signal strength blank) | | | | - "Number of satellites" contains number of | | | | records to follow (0 for event flags 2,5) | | +-------------+-------------------------------------------------+------------+ |OBSERVATIONS | - Observation | rep. within record for | m(F14.3, | | | - LLI | each obs.type (same seq | I1, | | | - Signal strength | as given in header) | I1) | | | This record is repeated for each satellite | | | | given in EPOCH/SAT - record. | | | | If more than 5 observation types (=80 char): | | | | Continue observations in next record. | | | | | | | | Observations: | | | | Phase : Units in whole cycles of carrier | | | | Code : Units in meters | | | | Missing observations are written as 0.0 | | | | or blanks. | | | | | | | | Loss of lock indicator (LLI). Range: 0-7 | | | | 0 or blank: OK or not known | | | | Bit 0 set : lost lock between previous and | | | | current observation: cycle slip possible | | | | Bit 1 set : Inverse wavelength factor to | | | | default (does NOT change default) | | | | Bit 2 set : observation under Antispoofing | | | | (may suffer from increased noise) | | | | | | | | Bits 0 and 1 for phase only. | | | | | | | | Signal strength projected into interval 1-9: | | | | 1: minimum possible signal strength | | | | 5: threshold for good S/N ratio | | | | 9: maximum possible signal strength | | | | 0 or blank: not known, don't care | | +-------------+-------------------------------------------------+------------+ +----------------------------------------------------------------------------+ | TABLE A3 | | NAVIGATION MESSAGE FILE - HEADER SECTION DESCRIPTION | +--------------------+------------------------------------------+------------+ | HEADER LABEL | DESCRIPTION | FORMAT | | (Columns 61-80) | | | +--------------------+------------------------------------------+------------+ |RINEX VERSION / TYPE| - Format version (2) | I6,14X, | | | - File type ('N' for Navigation data) | A1,19X | +--------------------+------------------------------------------+------------+ |PGM / RUN BY / DATE | - Name of program creating current file | A20, | | | - Name of agency creating current file | A20, | | | - Date of file creation | A20 | +--------------------+------------------------------------------+------------+ *|COMMENT | Comment line(s) | A60 |* +--------------------+------------------------------------------+------------+ *|ION ALPHA | Ionosphere parameters A0-A3 of almanac | 2X,4D12.4 |* | | (page 18 of subframe 4) | | +--------------------+------------------------------------------+------------+ *|ION BETA | Ionosphere parameters B0-B3 of almanac | 2X,4D12.4 |* +--------------------+------------------------------------------+------------+ *|DELTA-UTC: A0,A1,T,W| Almanac parameters to compute time in UTC| 3X,2D19.12,|* | | (page 18 of subframe 4) | 2I9 | | | A0,A1: terms of polynomial | | | | T : reference time for UTC data | | | | W : UTC reference week number | | +--------------------+------------------------------------------+------------+ *|LEAP SECONDS | Delta time due to leap seconds | I6 |* +--------------------+------------------------------------------+------------+ |END OF HEADER | Last record in the header section. | 60X | +--------------------+------------------------------------------+------------+ Records marked with * are optional +----------------------------------------------------------------------------+ | TABLE A4 | | NAVIGATION MESSAGE FILE - DATA RECORD DESCRIPTION | +--------------------+------------------------------------------+------------+ | OBS. RECORD | DESCRIPTION | FORMAT | +--------------------+------------------------------------------+------------+ |PRN / EPOCH / SV CLK| - Satellite PRN number | I2, | | | - Epoch: Toc - Time of Clock | | | | year (2 digits) | 5I3, | | | month | | | | day | | | | hour | | | | minute | | | | second | F5.1, | | | - SV clock bias (seconds) | 3D19.12 | | | - SV clock drift (sec/sec) | | | | - SV clock drift rate (sec/sec2) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 1| - IODE Issue of Data, Ephemeris | 3X,4D19.12 | | | - Crs (meters) | | | | - Delta n (radians/sec) | | | | - M0 (radians) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 2| - Cuc (radians) | 3X,4D19.12 | | | - e Eccentricity | | | | - Cus (radians) | | | | - sqrt(A) (sqrt(m)) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 3| - Toe Time of Ephemeris | 3X,4D19.12 | | | (sec of GPS week) | | | | - Cic (radians) | | | | - OMEGA (radians) | | | | - CIS (radians) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 4| - i0 (radians) | 3X,4D19.12 | | | - Crc (meters) | | | | - omega (radians) | | | | - OMEGA DOT (radians/sec) | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 5| - IDOT (radians/sec) | 3X,4D19.12 | | | - Codes on L2 channel | | | | - GPS Week # (to go with TOE) | | | | - L2 P data flag | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 6| - SV accuracy (meters) | 3X,4D19.12 | | | - SV health (MSB only) | | | | - TGD (seconds) | | | | - IODC Issue of Data, Clock | | +--------------------+------------------------------------------+------------+ | BROADCAST ORBIT - 7| - Transmission time of message | 3X,4D19.12 | | | (sec of GPS week, derived e.g. | | | | from Z-count in Hand Over Word (HOW) | | | | - spare | | | | - spare | | | | - spare | | +--------------------+------------------------------------------+------------+ +----------------------------------------------------------------------------+ | TABLE A5 | | METEOROLOCICAL DATA FILE - HEADER SECTION DESCRIPTION | +--------------------+------------------------------------------+------------+ | HEADER LABEL | DESCRIPTION | FORMAT | | (Columns 61-80) | | | +--------------------+------------------------------------------+------------+ |RINEX VERSION / TYPE| - Format version (2) | I6,14X, | | | - File type ('M' for Meteorological Data)| A1,39X | +--------------------+------------------------------------------+------------+ |PGM / RUN BY / DATE | - Name of program creating current file | A20, | | | - Name of agency creating current file | A20, | | | - Date of file creation | A20 | +--------------------+------------------------------------------+------------+ *|COMMENT | Comment line(s) | A60 |* +--------------------+------------------------------------------+------------+ |MARKER NAME | Station Name | A60 | | | (preferably identical to MARKER NAME in | | | | the associated Observation File) | | +--------------------+------------------------------------------+------------+ *|MARKER NUMBER | Station Number | A20 |* | | (preferably identical to MARKER NUMBER in| | | | the associated Observation File) | | +--------------------+------------------------------------------+------------+ |# / TYPES OF OBSERV | - Number of different observation types | I6, | | | stored in the file | | | | - Observation types | 9(4X,A2) | | | | | | | The following meteorological observation | | | | types are defined in RINEX Version 2: | | | | | | | | PR : Pressure (mbar) | | | | TD : Dry temperature (deg Celsius) | | | | HR : Relative Humidity (percent) | | | | ZW : Wet zenith path delay (millimeters) | | | | (for WVR data) | | | | | | | | The sequence of the types in this record | | | | must correspond to the sequence of the | | | | measurements in the data records | | +--------------------+------------------------------------------+------------+ |END OF HEADER | Last record in the header section. | 60X | +--------------------+------------------------------------------+------------+ +----------------------------------------------------------------------------+ | TABLE A6 | | METEOROLOGICAL DATA FILE - DATA RECORD DESCRIPTION | +-------------+-------------------------------------------------+------------+ | OBS. RECORD | DESCRIPTION | FORMAT | +-------------+-------------------------------------------------+------------+ | EPOCH / MET | - Epoch in GPS time (not local time!) | 6I3, | | | year (2 digits), month,day,hour,min,sec | | | | | | | | - Met data in the same sequence as given in the | mF7.1 | | | header | | +-------------+-------------------------------------------------+------------+ +------------------------------------------------------------------------------+ | TABLE A7 | | OBSERVATION DATA FILE - EXAMPLE | +------------------------------------------------------------------------------+ ----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8| 2 OBSERVATION DATA M (MIXED) RINEX VERSION / TYPE BLANK OR G = GPS, R = GLONASS, T = TRANSIT, M = MIXED COMMENT XXRINEXO V9.9 AIUB 22-APR-93 12:43 PGM / RUN BY / DATE EXAMPLE OF A MIXED RINEX FILE COMMENT A 9080 MARKER NAME 9080.1.34 MARKER NUMBER BILL SMITH ABC INSTITUTE OBSERVER / AGENCY X1234A123 XX ZZZ REC # / TYPE / VERS 234 YY ANT # / TYPE 4375274. 587466. 4589095. APPROX POSITION XYZ .9030 .0000 .0000 ANTENNA: DELTA H/E/N 1 1 WAVELENGTH FACT L1/2 1 2 6 G14 G15 G16 G17 G18 G19 WAVELENGTH FACT L1/2 4 P1 L1 L2 P2 # / TYPES OF OBSERV 18 INTERVAL 1990 3 24 13 10 36.000000 TIME OF FIRST OBS END OF HEADER 90 3 24 13 10 36.0000000 0 3G12G 9G 6 -.123456789 23629347.915 .300 8 -.353 23629364.158 20891534.648 -.120 9 -.358 20891541.292 20607600.189 -.430 9 .394 20607605.848 90 3 24 13 10 50.0000000 4 3 1 2 2 G 9 G12 WAVELENGTH FACT L1/2 *** WAVELENGTH FACTOR CHANGED FOR 2 SATELLITES *** COMMENT COMMENT 90 3 24 13 10 54.0000000 0 5G12G 9G 6R21R22 -.123456789 23619095.450 -53875.632 8 -41981.375 23619112.008 20886075.667 -28688.027 9 -22354.535 20886082.101 20611072.689 18247.789 9 14219.770 20611078.410 21345678.576 12345.567 5 22123456.789 23456.789 5 90 3 24 13 11 0.0000000 2 4 1 *** FROM NOW ON KINEMATIC DATA! *** COMMENT 90 3 24 13 11 48.0000000 0 4G16G12G 9G 6 -.123456789 21110991.756 16119.980 7 12560.510 21110998.441 23588424.398 -215050.557 6 -167571.734 23588439.570 20869878.790 -113803.187 8 -88677.926 20869884.938 20621643.727 73797.462 7 57505.177 20621649.276 3 4 A 9080 MARKER NAME 9080.1.34 MARKER NUMBER .9030 .0000 .0000 ANTENNA: DELTA H/E/N --> THIS IS THE START OF A NEW SITE <-- COMMENT 90 3 24 13 12 6.0000000 0 4G16G12G 6G 9 -.123456987 21112589.384 24515.877 6 19102.763 3 21112596.187 23578228.338 -268624.234 7 -209317.284 4 23578244.398 20625218.088 92581.207 7 72141.846 4 20625223.795 20864539.693 -141858.836 8 -110539.435 5 20864545.943 90 3 24 13 13 1.2345678 5 0 4 1 (AN EVENT FLAG WITH SIGNIFICANT EPOCH) COMMENT 90 3 24 13 14 12.0000000 0 4G16G12G 9G 6 -.123456012 21124965.133 89551.30216 69779.62654 21124972.2754 23507272.372 -212616.150 7 -165674.789 5 23507288.421 20828010.354 -333820.093 6 -260119.395 5 20828017.129 20650944.902 227775.130 7 177487.651 4 20650950.363 4 1 *** ANTISPOOFING ON G 16 AND LOST LOCK COMMENT 90 3 24 13 14 12.0000000 6 2G16G 9 123456789.0 -9876543.5 0.0 -0.5 4 2 ---> CYCLE SLIPS THAT HAVE BEEN APPLIED TO COMMENT THE OBSERVATIONS COMMENT 90 3 24 13 14 48.0000000 0 4G16G12G 9G 6 -.123456234 21128884.159 110143.144 7 85825.18545 21128890.7764 23487131.045 -318463.297 7 -248152.728 4 23487146.149 20817844.743 -387242.571 6 -301747.22925 20817851.322 20658519.895 267583.67817 208507.26234 20658525.869 4 3 *** SATELLITE G 9 THIS EPOCH ON WLFACT 1 (L2) COMMENT *** G 6 LOST LOCK AND ON WLFACT 2 (L2) COMMENT (INVERSE TO PREVIOUS SETTINGS) COMMENT ----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8| +------------------------------------------------------------------------------+ | TABLE A8 | | NAVIGATION MESSAGE FILE - EXAMPLE | +------------------------------------------------------------------------------+ ----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8| 2 N: GPS NAV DATA RINEX VERSION / TYPE XXRINEXN V2.0 AIUB 12-SEP-90 15:22 PGM / RUN BY / DATE EXAMPLE OF VERSION 2 FORMAT COMMENT .1676D-07 .2235D-07 -.1192D-06 -.1192D-06 ION ALPHA .1208D+06 .1310D+06 -.1310D+06 -.1966D+06 ION BETA .133179128170D-06 .107469588780D-12 552960 39 DELTA-UTC: A0,A1,T,W 6 LEAP SECONDS END OF HEADER 6 90 8 2 17 51 44.0 -.839701388031D-03 -.165982783074D-10 .000000000000D+00 .910000000000D+02 .934062500000D+02 .116040547840D-08 .162092304801D+00 .484101474285D-05 .626740418375D-02 .652112066746D-05 .515365489006D+04 .409904000000D+06 -.242143869400D-07 .329237003460D+00 -.596046447754D-07 .111541663136D+01 .326593750000D+03 .206958726335D+01 -.638312302555D-08 .307155651409D-09 .000000000000D+00 .551000000000D+03 .000000000000D+00 .000000000000D+00 .000000000000D+00 .000000000000D+00 .910000000000D+02 .406800000000D+06 13 90 8 2 19 0 0.0 .490025617182D-03 .204636307899D-11 .000000000000D+00 .133000000000D+03 -.963125000000D+02 .146970407622D-08 .292961152146D+01 -.498816370964D-05 .200239347760D-02 .928156077862D-05 .515328476143D+04 .414000000000D+06 -.279396772385D-07 .243031939942D+01 -.558793544769D-07 .110192796930D+01 .271187500000D+03 -.232757915425D+01 -.619632953057D-08 -.785747015231D-11 .000000000000D+00 .551000000000D+03 .000000000000D+00 .000000000000D+00 .000000000000D+00 .000000000000D+00 .389000000000D+03 .410400000000D+06 ----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8| +------------------------------------------------------------------------------+ | TABLE A9 | | METEOROLOGICAL DATA FILE - EXAMPLE | +------------------------------------------------------------------------------+ ----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8| 2 METEOROLOGICAL DATA RINEX VERSION / TYPE XXRINEXM V9.9 AIUB 22-APR-93 12:43 PGM / RUN BY / DATE EXAMPLE OF A MET DATA FILE COMMENT A 9080 MARKER NAME 3 PR TD HR # / TYPES OF OBSERV END OF HEADER 90 3 24 13 10 15 987.1 10.6 89.5 90 3 24 13 10 30 987.2 10.9 90.0 90 3 24 13 10 45 987.1 11.6 89.0 ----|---1|0---|---2|0---|---3|0---|---4|0---|---5|0---|---6|0---|---7|0---|---8|