Novatel NEXAGON CPT7 User manual

CPT7 and CPT7700
Installation and Operation
User Manual
CPT7 and CPT7700 Installation and Operation User Manual v12 August 2022

CPT7 and CPT7700 Installation and Operation User Manual v12 2
CPT7 and CPT7700 Installation and Operation User Manual
Publication Number: OM-20000179
Revision Level: v12
Revision Date: August 2022
Firmware Version:
l7.08.02 / SC7PR0802RN0000:CPT7
l7.08.10 / SC7PR0810RN0000:CPT7700
Warranty
NovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to
the conditions set forth on our web site: novatel.com/products/novatel-warranty-and-return-policies.
Return instructions
To return products, refer to the instructions found at: novatel.com/products/novatel-warranty-and-return-
policies.
Proprietary Notice
ALIGN, GLIDE, Inertial Explorer, NovAtel, OEM7, RTK ASSIST, SPAN, STEADYLINE, TerraStar, VEXXIS
and Waypoint are trademarks of NovAtel, Inc., entities within the Hexagon Autonomy & Positioning division,
their affiliated entities, and/or their licensors. All other trademarks are properties of their respective owners.
©2022 NovAtel Inc. All rights reserved. NovAtel is part of Hexagon. NovAtel makes no representation or
warranty regarding the accuracy of the information in this publication. This document gives only a general
description of the product(s) or service(s) offered by NovAtel and, except where expressly provided otherwise,
shall not form part of any contract. Such information, the products and conditions of supply are subject to
change without notice.

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Table of Contents
Figures
Tables
CPT7 Notices
Customer Support
Chapter 1 CPT7 Overview
1.1 CPT7 Connectors 21
1.2 CPT7 LEDs 22
1.3 Fundamentals of GNSS+INS 24
Chapter 2 CPT7 Installation
2.1 Shipping Box 26
2.2 Additional Equipment Required 26
2.3 Optional Accessories 26
2.4 CPT7 Cables 26
2.5 Selecting a GNSS Antenna 27
2.6 Choosing a Coaxial Cable 28
2.7 Power Supply Requirements for the CPT7 28
2.8 CPT7 Installation Overview 29
2.9 Mounting the GNSS Antenna 31
2.9.1 Antenna LNA Power 31
2.10 Mount the CPT7 31
2.10.1 Securing the CPT7 33
2.10.2 Secure the CPT7 Using the Adapter Plate 33
2.11 Connect the CPT7 to Data Communication Equipment 36
2.11.1 Serial Ports 36
2.11.2 USB Ports 37
2.11.3 Ethernet Port 37
2.11.4 CAN Bus Port 37
2.12 Connect I/O Signals to the CPT7 38
2.13 Connect Power to the CPT7 38
2.13.1 Fuse for the Power Supply 38
2.13.2 Vehicle Installation 39
2.14 Check that the CPT7 is Operating 40
Chapter 3 OEM7 Receiver Operation
3.1 Communications with the Receiver 42
3.1.1 USB Communications 43
3.1.2 Serial Port Communications 43
3.1.3 Ethernet Communications 44

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3.1.4 ICOM Communications 45
3.1.5 CAN Bus Communications 45
3.2 Getting Started 46
3.2.1 Communicating with the Receiver 46
3.3 Transmitting and Receiving Corrections 46
3.3.1 Defining Antenna and Base Antenna 48
3.3.2 Base Station Configuration 48
3.3.3 Rover Station Configuration 49
3.3.4 Configuration Notes 50
3.4 GLIDE 50
3.4.1 Dual-Frequency GLIDE 51
3.4.2 PDP and GLIDE Configurations 51
3.5 STEADYLINE 51
3.5.1 Prefer Accuracy 52
3.6 Enabling SBAS Positioning 52
3.7 Enabling PPP 53
3.7.1 TerraStar Subscriptions 53
3.7.2 Veripos Subscriptions 55
3.8 RTK ASSIST 55
3.9 Transferring Time Between Receivers 56
3.9.1 GPS to Receiver Time Synchronization 56
3.9.2 Time Definitions 56
3.9.3 Procedures to Transfer Time 57
3.10 Interference Toolkit 61
3.10.1 Monitoring GNSS Signals 61
3.10.2 Disable/Enable Detection 63
3.10.3 Monitoring Signals Using a Command Line 63
3.10.4 Monitoring Signals Using NovAtel Application Suite 64
3.10.5 Remove Interference Signals 64
3.10.6 Interference Toolkit Commands and Logs 65
3.11 Logging and Retrieving Data Overview 66
3.11.1 Pass-Through Logging 66
3.11.2 Saving Logs to a File 66
3.11.3 Logging to Internal Memory 67
3.11.4 Access CPT7 Internal Memory with a Computer 68
3.11.5 Repair Errors on the CPT7 Internal Memory 69
3.11.6 Logging Using NovAtel Application Suite or Setup & Monitor (Web) 69
3.12 Additional Features and Information 70
3.12.1 Strobes 70
Chapter 4 SPAN Operation
4.1 Definition of Reference Frames Within SPAN 71
4.1.1 The Local-Level Frame (ENU) 71
4.1.2 The IMU Body Frame 72
4.1.3 The Vehicle Frame 73
4.1.4 The User Output Frame 73
4.2 SPAN Translations and Rotations 73

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4.2.1 Translational Offsets 74
4.2.2 Rotational Offsets 75
4.3 Software Configuration 77
4.3.1 GNSS Configuration 77
4.3.2 INS Profiles 77
4.3.3 Configure the CPT7 IMU Data Rate 78
4.3.4 SPAN Configuration for CPT7 79
4.3.5 Importance of RBV Calibration 81
4.4 Real-Time Operation 83
4.4.1 System Start-Up and Alignment Techniques 84
4.4.2 INSSeed / Fast INS Initialization 86
4.4.3 Navigation Mode 88
4.4.4 Data Collection 88
4.4.5 Recommended Messages to be Logged for SPAN Data Collection 89
4.4.6 Body to Vehicle Frame Rotation Calibration Routine 91
4.4.7 Multi-Line Body to Vehicle Frame Rotation Calibration Routine 91
4.5 Distance Measurement Instrument 93
4.5.1 DMI Communication 94
4.5.2 DMI Connection 94
4.5.3 DMI Requirements 94
4.5.4 DMI Connected to a CPT7 95
4.5.5 DMI Command Compatibility 97
4.5.6 DMI Troubleshooting 98
4.6 Synchronizing External Equipment 98
4.6.1 Configuring an Input Strobe 98
4.7 Adding Timed Sensor Triggers 99
4.7.1 Configuring the Hardware 99
4.7.2 Configuring the Software 100
4.7.3 Using Timed Event Pulses 100
4.7.4 Recording Incoming Sensor Events 100
4.8 Azimuth Sources on a SPAN System 100
4.8.1 Course Over Ground 100
4.8.2 Inertial Azimuth 101
4.8.3 ALIGN Azimuth 101
4.9 Data Collection for Post Processing 101
4.10 Variable Lever Arm 102
4.10.1 Reference Frame Description 102
4.10.2 How to Use Variable Lever Arm 105
4.11 Relative INS 106
4.11.1 Configure Relative INS 107
Chapter 5 CPT7 with Dual Antenna
5.1 Installation 109
5.2 Configuring Dual Antenna ALIGN with SPAN 111
5.3 Configuring SPAN Alignment Method 112
5.3.1 Aided Transfer Alignment – ALIGN Injected Azimuth 113
5.3.2 Unaided Alignment 113

CPT7 and CPT7700 Installation and Operation User Manual v12 6
5.3.3 Automatic Alignment Mode – Automatic Alignment (default) 113
Chapter 6 Ethernet Configuration
6.1 Required Hardware 114
6.2 Static IP Address Configuration 114
6.2.1 Static IP Address Configuration—Receiver 115
6.2.2 Static IP Address Configuration—Windows 7 116
6.2.3 Confirming Ethernet Setup 116
6.3 Dynamic IP Address Configuration 117
6.4 Base/Rover Configuration through Ethernet Connectivity 118
6.5 Large Ethernet Port Data Throughput 119
Chapter 7 NTRIP Configuration
7.1 NTRIP Configuration Over Ethernet 120
Chapter 8 CAN Bus
8.1 Default Configuration 123
8.2 Configuring the CAN Bus 123
8.2.1 Configuration Notes 123
8.2.2 Example of Enabling the CAN Bus 124
8.2.3 Example of Modifying the CAN Bus Parameters 124
8.2.4 Example of Detecting an Address Claim Failure and Reconfiguring 124
8.2.5 Address Claim Procedure 125
8.3 NMEA2000 Logging 125
8.3.1 Example of NMEA2000 Log Configuration 125
8.4 Corrections Over CAN 126
8.4.1 Example for Receiving Corrections from Any Source 126
8.4.2 Example for Transmitting Corrections to 0x1C Node 126
8.5 NovAtel Messages Over CAN 126
8.6 Configuring OEM7 Receivers to Use OEM6 CAN Settings 127
8.6.1 Configuration on OEM6 127
8.6.2 Configuration on OEM7 127
Chapter 9 Built-In Status Tests
9.1 Receiver Status Word 129
9.2 RXSTATUSEVENT Log 129
9.3 RXSTATUS Log 130
9.3.1 Status Word 130
9.3.2 Error Word 130
9.3.3 Status Code Arrays 131
9.3.4 Receiver Status Code 132
9.3.5 Auxiliary Status Codes 132
9.3.6 Set and Clear Mask for all Status Code Arrays 132
Chapter 10 Troubleshooting
10.1 Examining the RXSTATUS Log 134

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10.2 Examining the AUX1 Status Word 137
10.3 High Temperature Environments 138
10.3.1 Indicators of an Error State 138
10.3.2 Recovering from a Temperature Status Error 138
10.3.3 Mitigating High Receiver Temperature 138
10.3.4 Monitoring the Receiver Temperature 139
10.4 Safe Mode 140
10.4.1 Reset Loop Detection 140
10.4.2 Recovery Steps 140
Chapter 11 NovAtel Firmware
11.1 Firmware Updates and Model Upgrades 141
11.1.1 Firmware Updates 141
11.1.2 Model Upgrades 141
11.2 Authorization Code 141
11.3 Downloading Firmware Files 142
11.3.1 Format of Firmware Files 142
11.4 Updating or Upgrading Using the WinLoad Utility 143
11.4.1 Open a File to Download 143
11.4.2 Communications Settings 144
11.4.3 Downloading Firmware 145
11.5 Updating the Firmware Using NovAtel Application Suite 145
11.6 Updating the Firmware Using Setup & Monitor (Web) 146
11.7 Updating Using SoftLoad Commands 146
11.7.1 Implementing SoftLoad 146
11.7.2 Use SoftLoad Customer Support utilities 147
11.7.3 Self-Implement the SoftLoad process 152
11.8 Upgrading Using an Auth-Code 158
11.8.1 Entering an Auth-Code Using NovAtel Application Suite 158
11.8.2 Entering an Auth-Code Using Setup & Monitor (Web) 158
11.8.3 Entering an Auth-Code Using the Command Line 158
APPENDIX A CPT7 Technical Specifications
A.1 CPT7 Performance Specifications 161
A.2 CPT7700 Performance Specifications 164
A.3 CPT7 IMU Performance Specifications 166
A.4 CPT7 Mechanical Specifications 167
A.5 CPT7 Electrical and Environmental Specifications 172
A.6 CPT7 Data Communication Specifications 175
A.7 CPT7 Strobe Specifications 176
A.8 CPT7 Connectors 177
A.9 CPT7 I/O1 Cable 179
A.9.1 Custom Cable Recommendations 180
A.10 CPT7 I/O2 Cable 181
A.10.1 Custom Cable Recommendations 182

CPT7 and CPT7700 Installation and Operation User Manual v12 8
APPENDIX B Differences Between CPT7 and Legacy CPT7
APPENDIX C Accessories and Replacement Parts
APPENDIX D Frequently Asked Questions
APPENDIX E Importance of Antenna Selection

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Figures
Figure 1: CPT7 Receiver 21
Figure 2: CPT7700 Receiver 21
Figure 3: CPT7 Status Indicators 23
Figure 4: Typical Installation of a CPT7 System 29
Figure 5: Typical Installation of a CPT7700 System 30
Figure 6: Default RBV Configuration 32
Figure 7: CPT7 Adapter Plate 34
Figure 8: Offset from the CPT7 to the SPAN-CPT 35
Figure 9: Offset from the CPT7 to the SPAN-IGM-S1 36
Figure 10: Fuse for CPT7 Power Supply 39
Figure 11: Dedicated Battery for the CPT7 40
Figure 12: Basic CPT7 Connection Interfaces (example) 42
Figure 13: Basic Differential Setup 47
Figure 14: Positioning Change Without STEADYLINE 52
Figure 15: STEADYLINE Prefer Accuracy 52
Figure 16: Transfer COARSE Time from Fine Clock to Cold Clock Receiver 58
Figure 17: Transfer FINE Time from Fine Clock to Cold Clock Receiver 59
Figure 18: Transfer FINE Time from Fine Clock to Warm Clock Receiver 60
Figure 19: 1 PPS Alignment 60
Figure 20: Local-Level Frame (ENU) 72
Figure 21: IMU Body Frame Marking 72
Figure 22: Vehicle Frame 73
Figure 23: IMU to Antenna Translation Offset 74
Figure 24: CPT7 to Antenna Offset 80
Figure 25: Rear View of CPT7 – Mounting Plate is not Flat 82
Figure 26: Side View of CPT7 – Vehicle is not Level 82
Figure 27: Top View of CPT7 – CPT7 Misalignment 82
Figure 28: Multi-Line IMU Body to Vehicle Calibration 92
Figure 29: Kistler WPT 94
Figure 30: DMI to CPT7 Setup 96
Figure 31: Sample Configuration 104
Figure 32: Operating Gimbal 104
Figure 33: Relative INS Example 107
Figure 34: SPAN – CPT7700 Dual Antenna Installation 110
Figure 35: SPAN – CPT7 Dual Antenna Installation 111

Figures
CPT7 and CPT7700 Installation and Operation User Manual v12 10
Figure 36: Cross-Over Ethernet Cable Configuration—OEM7 Receiver 115
Figure 37: Dynamic IP Address Configuration through a DHCP Server—OEM7 Receiver 117
Figure 38: Base/Rover Ethernet Setup—OEM7 Receiver 118
Figure 39: NTRIP System 120
Figure 40: Location of Receiver Status Word 130
Figure 41: Reading the Bits in the Receiver Status Word 130
Figure 42: Location of Receiver Error Word 131
Figure 43: Reading the Bits in the Receiver Error Word 131
Figure 44: Status Code Arrays 132
Figure 45: WinLoad’s Open Window 143
Figure 46: Open File in WinLoad 144
Figure 47: COM Port Setup 144
Figure 48: CPT7 Dimensions 168
Figure 49: CPT7700 Dimensions 169
Figure 50: CPT7/CPT7700 Alignment Holes 170
Figure 51: CPT7/CPT7700 Center of Navigation 171
Figure 52: Fischer Core 16 Pin Connector 177
Figure 53: CPT7 I/O1 Cable 179
Figure 54: CPT7 I/O2 Cable 181
Figure 55: Plot of Good and Poor Antenna Phase Center Variation over Elevation Angle 0-90° 191

CPT7 and CPT7700 Installation and Operation User Manual v12 11
Tables
Table 1: CPT7 Connectors 22
Table 2: CPT7 and CPT7700 Status Indicators 23
Table 3: PWR (Power) LED 23
Table 4: POS (Positioning) LED 23
Table 5: INS LED 24
Table 6: LOG (Onboard Storage) LED 24
Table 7: CPT7 Cables 27
Table 8: Fuse/Holder Recommendations 39
Table 9: Serial Ports Supported 44
Table 10: OEM7 INS Profiles 77
Table 11: Inertial Solution Status 83
Table 12: NVM Seed Indication 88
Table 13: Solution Parameters 88
Table 14: Kistler to NovAtel Wheel Sensor Cable Connections 95
Table 15: DMI Command and Log Compatibility 97
Table 16: Valid Event Inputs and Outputs for Timed Sensor Triggers 99
Table 17: Logs with Azimuth Data 101
Table 18: Logs used with Variable Lever Arm 105
Table 19: Commands used with Variable Lever Arm 106
Table 20: Default NAME 123
Table 21: Troubleshooting Based on Symptoms 133
Table 22: Resolving a Receiver Error Word 134
Table 23: Resolving an Error in the Receiver Status Word 136
Table 24: Resolving an Error in the AUX1 Status Word 137
Table 25: CPT7 Physical Description 160
Table 26: CPT7 Receiver Performance 161
Table 27: CPT7700 Receiver Performance 164
Table 28: CPT7 IMU Performance 166
Table 29: CPT7 Environmental Specifications 172
Table 30: CPT7 Power Requirements 172
Table 31: CPT7 RF Input/LNA Power Output 172
Table 32: CPT7 Wheel Sensor Input Signal Levels 173
Table 33: Data Communications Interfaces 175
Table 34: CPT7 Strobes Description 176
Table 35: CPT7 Strobe Electrical Specifications 176

Tables
CPT7 and CPT7700 Installation and Operation User Manual v12 12
Table 36: IO1 Pin Out 177
Table 37: IO2 Pin Out 178
Table 38: CPT7 I/O1 Cable Pinout 179
Table 39: I/O1 Connector 180
Table 40: CPT7 I/O2 Cable Pinout 181
Table 41: IO2 Connector 182
Table 42: Physical Specifications 183
Table 43: Power Requirements 183
Table 44: Signals Tracked 183
Table 45: RF Input 184
Table 46: COM Port Communication 185
Table 47: I/O Strobes 185
Table 48: Features 185
Table 49: OEM7 Receivers 186
Table 50: GNSS Antennas 187
Table 51: CPT7 Cables 188
Table 52: GNSS Antenna Cables 188
Table 53: CPT7 Mounting Accessories 188

CPT7 and CPT7700 Installation and Operation User Manual v12 13
CPT7 Notices
The following notices apply to the CPT7 and CPT7700.
Changes or modifications to this equipment, not expressly approved by NovAtel Inc., could void the
user’s authority to operate this equipment.
FCC
The devices covered by this manual comply with part 15 of the FCC Rules. Operation is subject to the
following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept
any interference received, including interference that may cause undesired operation.
The equipment listed has been tested and found to comply with the limits for a Class B digital device, pursuant
to part 15 of the FCC Rules. The Class B limits are designed to provide reasonable protection against harmful
interference in a residential installation. The equipment listed generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the instructions, may cause harmful
interference to radio communications. However, there is no guarantee that interference will not occur in a
particular installation. If this equipment does cause harmful interference to radio or television reception, which
can be determined by turning the equipment off and on, the user is encouraged to try to correct the
interference by one or more of the following measures:
lReorient or relocate the receiving antenna
lIncrease the separation between the equipment and the receiver
lConnect the equipment to an outlet on a circuit different from that to which the receiver is connected
lConsult the dealer or an experienced radio/TV technician for help
To maintain compliance with the limits of a Class B digital device, you must use shielded interface
cables.
Innovation, Science and Economic Development (ISED) Canada
CPT7 Class B digital device complies with Canadian ICES-003.
CPT7 appareils numérique de la classe B sont conforme à la norme NMB-003 du Canada.
European Union (EU) / United Kingdom (UK)
NovAtel Inc. declares that the CPT7 GNSS receiver is in compliance with:
1. EU Directive 2014/53/EU
2. UK Regulations S.I. 2017/1206
The full text of the EU Declaration of Conformity may be obtained from the NovAtel website at:
novatel.com/products/novatel-compliance.
WEEE
If you purchased your CPT7 in Europe or the United Kingdom, please return it to your dealer or supplier at the
end of life. The objectives of NovAtel's environment policy are, in particular, to preserve, protect and improve
the quality of the environment, protect human health and utilise natural resources prudently and rationally.

CPT7 Notices
CPT7 and CPT7700 Installation and Operation User Manual v12 14
Sustainable development advocates the reduction of wasteful consumption of natural resources and the
prevention of pollution. Waste Electrical and Electronic Equipment (WEEE) is a regulated area. Where the
generation of waste cannot be avoided, it should be reused or recovered for its material or energy. WEEE
products may be recognized by their wheeled bin label ( ).
See novatel.com/products/novatel-compliance/novatel-environmental-compliance for more information.
RoHS
CPT7 GNSS receivers are in conformity with:
1. Directive 2011/65/EU of the European Parliament and of the council of 8 June 2011 on the restriction of
the use of certain hazardous substances in electrical and electronic equipment.
2. the Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment
(Amendment) Regulations 2012 (S.I. 2012/3032).

CPT7 Notices
CPT7 and CPT7700 Installation and Operation User Manual v12 15
CPT7 International Approval
Eurasian Economic Community
Armenia, Belarus, Kazakhstan, Kyrgyzstan and Russia
Conventions
The following conventions are used in this manual:
Information that supplements or clarifies text.
A caution that actions, operation or configuration may lead to incorrect or improper use of the
hardware.
A warning that actions, operation or configuration may result in regulatory noncompliance, safety
issues or equipment damage.

CPT7 and CPT7700 Installation and Operation User Manual v12 16
Customer Support
NovAtel Knowledge Base
If you have a technical issue, visit the NovAtel Support page at novatel.com/support. Through the Support
page you can contact Customer Support, find papers and tutorials or download the latest firmware. To access
the latest user documentation, visit docs.novatel.com/OEM7.
Before Contacting Customer Support
Before contacting NovAtel Customer Support about a software problem, perform the following steps:
If logging data over an RS-232 serial cable, ensure that the configured baud rate can support the data
bandwidth (see SERIALCONFIG command). NovAtel recommends a minimum suggested baud rate
of 230400 bps.
1. Log the data suggested in the appropriate Troubleshooting Logs section to a file on your computer for 15
minutes.
lGeneral Troubleshooting Logs on the next page
lTracking and Interference Troubleshooting Logs on the next page
lSPAN Troubleshooting Logs on page18
lRTK Troubleshooting Logs on page18
lPPP Troubleshooting Logs on page19
lALIGN Troubleshooting Logs on page19
If using NovAtel Application Suite, log the Troubleshooting message set for 15 minutes.
2. Send the data file to NovAtel Customer Support: [email protected]
3. You can also issue a FRESET command to the receiver to clear any unknown settings.
The FRESET command will erase all user settings. You should know your configuration (by
requesting the RXCONFIGA log) and be able to reconfigure the receiver before you send the
FRESET command.
If you are having a hardware problem, send a list of the troubleshooting steps taken and the results.
Contact Information
Log a support request with NovAtel Customer Support using one of the following methods:
Log a Case and Search Knowledge:
Website: novatel.com/support
Log a Case, Search Knowledge and View Your Case History: (login access required)
Web Portal: shop.novatel.com/novatelstore/s/login/

Customer Support
CPT7 and CPT7700 Installation and Operation User Manual v12 17
E-mail:
[email protected]
Telephone:
U.S. and Canada:1-800-NOVATEL (1-800-668-2835)
International:[phone]
General Troubleshooting Logs
LOG RXSTATUSB ONCHANGED
LOG RAWEPHEMB ONNEW
LOG GLORAWEPHEMB ONNEW
LOG BESTPOSB ONTIME 1
LOG RANGEB ONTIME 1
LOG RXCONFIGA ONCE
LOG VERSIONA ONCE
LOG LOGLISTA ONCE
LOG PORTSTATSA ONTIME 10
LOG PROFILEINFOA ONCE
LOG HWMONITORA ONTIME 10
Tracking and Interference Troubleshooting Logs
LOG VERSIONA ONCE
LOG RXCONFIGA ONCE
LOG CHANCONFIGLISTB ONCE
LOG PASSTHROUGHA ONNEW
LOG RXSTATUSB ONCHANGED
LOG CLOCKSTEERINGB ONCHANGED
LOG RAWEPHEMB ONNEW
LOG GLORAWEPHEMB ONNEW
LOG GALINAVRAWEPHEMERISB ONNEW
LOG BDSEPHEMERISB ONNEW
LOG QZSSEPHEMERISB ONNEW
LOG NAVICEPHEMERISB ONNEW
LOG RAWALMB ONNEW
LOG GLORAWALMB ONNEW
LOG GALALMANACB ONNEW
LOG BDSALMANACB ONNEW
LOG QZSSALMANACB ONNEW
LOG NAVICALMANACB ONNEW
LOG IONUTCB ONNEW
LOG GLOCLOCKB ONNEW
LOG GALCLOCKB ONNEW
LOG BDSCLOCKB ONNEW
LOG TRACKSTATB ONTIME 1
LOG RANGEB ONTIME 1
LOG BESTPOSB ONTIME 1
LOG SATVIS2B ONTIME 30
LOG ITDETECTSTATUSB ONCHANGED
For dual antenna receivers, add these logs:
LOG TRACKSTATB_1 ONTIME 1
LOG RANGEB_1 ONTIME 1

Customer Support
CPT7 and CPT7700 Installation and Operation User Manual v12 18
For interference issues add this log.
LOG ITPSDDETECTB ONNEW
For interference issues, when you have enough datalink bandwidth to handle large logs, add this log:
LOG ITPSDFINALB ONNEW
SPAN Troubleshooting Logs
LOG RXSTATUSB ONCHANGED
LOG RAWEPHEMB ONNEW
LOG GLORAWEPHEMB ONNEW
LOG GALINAVRAWEPHEMERISB ONNEW
LOG BDSEPHEMERISB ONNEW
LOG BESTPOSB ONTIME 1
LOG RANGEB ONTIME 1
LOG RXCONFIGA ONCE
LOG VERSIONA ONCE
LOG RAWIMUSXB ONNEW
LOG INSUPDATESTATUSB ONCHANGED
LOG INSPVAXB ONTIME 1
LOG INSCONFIGA ONCHANGED
LOG BESTGNSSPOSB ONTIME 1
RTK Troubleshooting Logs
LOG RXSTATUSB ONCHANGED
LOG RAWEPHEMB ONNEW
LOG GLORAWEPHEMB ONNEW
LOG QZSSRAWEPHEMB ONNEW
LOG BDSRAWNAVSUBFRAMEB ONNEW
LOG GALFNAVRAWEPHEMERISB ONNEW
LOG GALINAVRAWEPHEMERISB ONNEW
LOG RANGEB ONTIME 1.0
LOG BESTPOSB ONTIME 1.0
LOG RXCONFIGB ONCE
LOG VERSIONB ONCE
LOG TRACKSTATB ONTIME 1.0
LOG RTKPOSB ONTIME 1.0
LOG MATCHEDPOSB ONNEW
LOG MATCHEDSATSB ONNEW
LOG RTKSATSB ONTIME 1.0
LOG PSRPOSB ONTIME 1.0
LOG RAWALMB ONNEW
LOG IONUTCB ONNEW
LOG GLORAWALMB ONNEW
LOG GLOCLOCKB ONNEW
LOG PASSTHROUGHB ONNEW
LOG CLOCKMODELB ONTIME 1.0
LOG REFSTATIONB ONNEW
LOG RTKVELB ONTIME 1.0

Customer Support
CPT7 and CPT7700 Installation and Operation User Manual v12 19
PPP Troubleshooting Logs
LOG RXSTATUSB ONCHANGED
LOG GPSEPHEMB ONNEW
LOG GLOEPHEMERISB ONNEW
LOG QZSSEPHEMERISB ONNEW
LOG BDSEPHEMERISB ONNEW
LOG BDSBCNAV1EPHEMERISB ONNEW (firmware versions 7.08.03 and 7.08.10 and later)
LOG BDSBCNAV2EPHEMERISB ONNEW (firmware versions 7.08.03 and 7.08.10 and later)
LOG BDSBCNAV3EPHEMERISB ONNEW (firmware versions 7.08.03 and 7.08.10 and later)
LOG GALFNAVEPHEMERISB ONNEW
LOG GALINAVEPHEMERISB ONNEW
LOG RANGEB ONTIME 1.0
LOG BESTPOSB ONTIME 1.0
LOG RXCONFIGB ONCE
LOG VERSIONB ONCE
LOG TRACKSTATB ONTIME 10.0
LOG LBANDTRACKSTATB ONTIME 1.0
LOG PPPPOSB ONTIME 1.0
LOG PPPSATSB ONTIME 1.0
LOG TERRASTARINFOB ONCHANGED
LOG TERRASTARSTATUSB ONCHANGED
LOG PSRPOSB ONTIME 1.0
LOG ALMANACB ONNEW
LOG GLOALMANACB ONNEW
LOG GALALMANACB ONNEW
LOG BDSALMANACB ONNEW
LOG QZSSALMANACB ONNEW
LOG IONUTCB ONNEW
LOG GLOCLOCKB ONNEW
LOG LBANDBEAMTABLEB ONCHANGED
ALIGN Troubleshooting Logs
LOG RXSTATUSB ONCHANGED
LOG RAWEPHEMB ONNEW
LOG GLORAWEPHEMB ONNEW
LOG GALINAVRAWEPHEMERISB ONNEW
LOG BDSEPHEMERISB ONNEW
LOG BESTPOSB ONTIME 1
LOG RANGEB ONTIME 1
LOG RXCONFIGA ONCE
LOG VERSIONA ONCE
LOG LOGLISTA ONCE
LOG PORTSTATSA ONTIME 10
LOG ALIGNBSLNENUB ONNEW
LOG ALIGNBSLNXYZB ONNEW
LOG ALIGNDOPB ONNEW
LOG HEADING2B ONNEW
LOG MASTERPOSB ONNEW
LOG ROVERPOSB ONNEW (This log can only be output if you have Y model ALIGN)
LOG HEADINGSATSA ONNEW (This log can only be output on the ALIGN rover)
LOG DUALANTENNAHEADINGB ONTIME 1.0
LOG TRACKSTATB_1 ONTIME 1 (Dual antenna receivers only)
LOG RANGEB_1 ONTIME 1 (dual antenna receivers only)

CPT7 and CPT7700 Installation and Operation User Manual v12 20
Chapter 1 CPT7 Overview
SPAN GNSS+INS technology from Hexagon | NovAtel brings together two very different but complementary
positioning and navigation systems namely Global Navigation Satellite System (GNSS) and an Inertial
Navigation System (INS). By combining the best aspects of GNSS and INS into one system, SPAN
technology is able to offer a solution that is more accurate and reliable than either GNSS or INS could provide
alone. The combined GNSS+INS solution has the advantage of the absolute accuracy available from GNSS
and the continuity of INS through traditionally difficult GNSS conditions.
NovAtel's CPT7 is a scalable, high precision GNSS+INS receiver in a lightweight, compact, environmentally
protective enclosure. There are two hardware versions of the CPT7 to meet a range of GNSS applications.
lCPT7
The CPT7 combines a dual antenna OEM7720 receiver and a high performance Honeywell HG4930 IMU
in a single enclosure to provide an easy to deploy SPAN GNSS+INS and ALIGN system.
lCPT7700
The CPT7700 combines an OEM7700 GNSS receiver and a high performance Honeywell HG4930 IMU in
a single enclosure to provide an easy to deploy SPAN GNSS+INS system. In addition to the GNSS signals
tracked by the CPT7, the CPT7700 also tracks Galileo E6, BeiDou B3I and QZSS L6.
In this document, the term CPT7 is used to represent both the CPT7 and CPT7700. When a section
applies to a specific version, the applicable version is identified (e.g. CPT7 only or CPT7700 only).
The CPT7 and CPT7700 provides the following features:
lMulti-frequency/Multi-constellation
lDual antenna inputs for single enclosure ALIGN heading solution (CPT7 only)
lSPAN GNSS+INS functionality
lTwo serial communication ports, 1 RS-422 and 1 RS-232
lOne USB communication port
lOne Ethernet communication port
lOne CAN bus port
l3 Event outputs (legacy CPT7s provide 2 Event outputs)
l3 Event inputs (legacy CPT7s provide 2 Event inputs)
lWheel Sensor (DMI) input (not available on legacy CPT7s)
l16 GB of internal data logging storage (not available on legacy CPT7s)
l4 status LEDs (not available on legacy CPT7s)
lPPP, RTK, SBAS and DGPS positioning solutions
lGLIDE and ALIGN positioning options
lEnhanced interference mitigation