Trouble Activating Tilt Compensation on Facet FPM-T

Positioning and Navigation
1

I recently purchased two Facet FPM-T receivers. They appear to be working fine in general, but I’ve been unable to activate tilt compensation on either of them. One receiver is running RTK Everywhere Firmware v.3.2, and the other is running v3.3 (that’s how they were shipped). Both are running mosaic-X5 Firmware 4.15.0.

The various web pages, manuals, and videos from SparkFun, SparkPNT, and Feyman (manufacturer of the IM19 IMU) have differing descriptions of how to activate tilt compensation. Some say you first need to do an up-and-down movement of the receiver, followed by planting the rod tip on the ground and rocking the rod and receiver side-to-side in one vertical plane, and then rock them side-to-side in the vertical plane perpendicular to the first. Some omit the initial up-and-down movement. Some simply show side-to-side rocking in only one vertical plane. And one video also includes moving the planted rod and receiver in an upside-down conical motion.

I’ve tried all these variations multiple times with both of my receivers, with varying degrees and speeds of rocking, and I’ve seen no sign of tilt compensation activating. I haven’t heard the beeps indicating that it’s been activated, even though I’ve been in quiet conditions in which I can plainly hear the power-on and power-off beeps. Also, as I tilt the rod and receiver, I can plainly see the current coordinates displayed in QField changing much more than they would if tilt compensation were active.

I checked the tilt compensation settings in the Wi-Fi / web configuration’s Instrument Configuration menu on both receivers. The Enable Tilt Compensation setting was already checked, as expected. The Antenna Phase Center setting was already set to the expected 58.3 mm, and I set the Antenna Height (a.k.a. Pole Length) to the correct value for the rod I was using — not that either of those last two settings should affect mere activation of tilt compensation.

I was getting solid RTK Fix status, using my state’s RTN via my iPhone 17 Pro, QField, and Bluetooth, with quite good sky view. The horizontal accuracy values shown on the receiver display were usually 0.007 or 0.008 meters, occasionally going down to 0.006 meters.

I’ve now found a topic (linked below) on the SparkFun GPS/GNSS forum about tilt compensation with the GNSS Flex pHAT ZED-X20P & IM19 that mentioned the IM19’s tilt mode setting. My reading of the IM19’s Product Integration Guide is that this setting can allow tilt initialization simply by walking — but only after first doing a shaking initialization, and that walking initialization is a subsequent alternative to shaking initialization, not a necessary requirement in addition to shaking. However, a comment in that forum topic claims that the Product Integration Guide is incorrect, and that walking is indeed an additional, necessary requirement — at least for certain values of the tilt mode setting. Could this be relevant to the Facet FPM-T? Would the walking be needed before or after the shaking or the rocking? I can try experimenting with this tomorrow, in the daylight.

Can anyone share successful experience with getting the FPM-T to activate tilt compensation?

Thanks!

--Bill

2

I’ve done some further investigation.

I’ve looked at the RTK_Everywhere / Tilt.ino source code, and I see that the ESP32 firmware is setting the IM19’s “work mode” to Tilt mode 2, meaning “initialize by shaking the RTK pole back and forth or by simply walking. Shaking initialization (same as mode 1) is required when the RTK tilt survey is used for the first time (as an calibration)”, according to the IM19 Product Integration Guide. But according to that older topic linked in my original post, the walking is actually required.

In any case, I tried more attempts today to get tilt compensation to activate, while in RTK Fix: walking, rocking the rod and receiver in two different planes, more walking, more rocking — and nothing worked.

I then looked at the startup messages on both receivers’ serial consoles. Instead of power-cycling the receivers — which drops the USB serial connection and then you miss the startup messages by the time you can reconnect — I used the serial console to switch back and forth between two user profiles. Changing profile causes a reboot, without dropping the USB connection.

One time, with one of the receivers, I saw “Beginning tilt autodetection” and “Tilt sensor detected” messages. But most of the times, with both receivers, I either saw no messages about the tilt sensor, or I saw a “Tilt sensor failed to configure after multiple attempts” message (without a “Beginning tilt autodetection” message).

Does anyone from SparkPNT have ideas about what’s going on?

Thanks!

3

Welcome wjc! Thanks for posting. The device will autodetect the GNSS receiver and the tilt sensor only once after a factory reset. After that, you should not see any messages regarding detection.

You’ve got RTK fix, and I presume you are using default settings, so that should be all you need. A small tilt back and forth is all that is required. We’ll do some testing this morning and try to replicate your issue.

4

We’re able to get an FPM-T into tilt compensation mode doing the following steps:

  1. Turn the device on
  2. Extend the pole to 1.8 meters (default, but can be changed via the Antenna Height)
  3. Enable NTRIP or other and obtain an RTK Fix (required)
  4. Rock the FPM-T back and forth 2 or 3 times
  5. Spin the FPM-T 90°
  6. Rock the FPM-T back and forth 2 or 3 times
  7. Once a beep is heard, the device is actively tilt compensating and work can begin
  8. The device will emit a beep every few seconds indicating it remains in tilt compensation mode

I think you’re doing all of this, but I will note you have to spin the device 90 degrees and do a few more tilts. Or if you don’t spin, just be sure to get some tilts back and forth that are orthogonal to each other.

The issue that we hit, and presume you are as well is that the internal buzzer is very loud, but the FP housing is nearly hermetically sealed, disallowing any of that volume to exit the device. We often can’t hear the beep indicating that tilt is active. We are going to add an additional icon change to the display so that it is visibly discernable but this may take a few days. Additionally, the way we detect if tilt is active is by viewing the position dot during tilt activation. You’ll see it moving (during init) and then stop moving once tilt is active. Please try using the dot - if it stops moving while you’re rocking, then tilt is active.

5

Hi, @Sparky.

Thank you for your prompt Monday-morning replies!

We’re able to get an FPM-T into tilt compensation mode doing the following steps:

What was the RTK_Everywhere firmware version in that unit? Was it a production unit or a preproduction / engineering unit?

I think you’re doing all of this, but I will note you have to spin the device 90 degrees and do a few more tilts. Or if you don’t spin, just be sure to get some tilts back and forth that are orthogonal to each other.

I have tried that both ways, either rocking in one plane, rotating 90º, and rocking some more in that same plane, or rocking in one plane and then rocking in a plane 90º to the first. I’ve had no luck in either case.

I’ve watched SparkFun’s “Tilt Compensation with SparkFun RTK Torch” video from 2 years ago on YouTube, and I’ve tried emulating that movements shown in that video — along with other variations. Is the IM19 activation very picky about the amounts or speeds of movements?

The issue that we hit, and presume you are as well is that the internal buzzer is very loud, but the FP housing is nearly hermetically sealed, disallowing any of that volume to exit the device. We often can’t hear the beep indicating that tilt is active.

As I mentioned in my initial post, I’ve been able to plainly hear the startup and shutdown beeps, but I’ve never heard any other beeps. Are the tilt-activation and tilt-active beeps less loud than the startup and shutdown beeps?

Additionally, the way we detect if tilt is active is by viewing the position dot during tilt activation. You’ll see it moving (during init) and then stop moving once tilt is active.

I was watching for this, keeping an eye on the blue dot in QField. It always kept moving back-and-forth and left-and-right when I rocked the receivers and rods.

This afternoon with one of the FPM-T receivers (FW v3.3), I did five successive selections of two different user profiles, using the serial console, to cause reboots, while logging the console output to a file. In all five cases, there was a:

Tilt sensor failed to configure after multiple attempts.

message. In my previous reply, I wrote that sometimes I saw no messages about the tilt sensor. I now suspect that I was incorrect, and sometimes missed seeing messages that were there in the console output, when I wasn’t logging the output. I realized that the timing of the “Tilt sensor failed to configure…” message, relative to other messages, is variable. I suspect that this message is present on every reboot of both of my FPM-T receivers. Logging to a file let me catch them every time this afternoon.

In a very quick look at the source code, it appears that the message results from Tilt.ino:beginTilt() not setting tiltState to TILT_STARTED, but there are many ways that that function can end up not setting that state. I noticed in that function that there’s a facility for generating debugging output, and another quick look at the code pointed me to the serial config menus’ Configure System / Debug hardware / Print Tilt/IMU Debugging and Print Tilt/IMU Compensation Debugging.

After enabling both of those, I caused a reboot to the appropriate user profile, and logged the serial console output. I’m including the log below; It looks like the ESP32 is having trouble communicating with the IM19.

Perhaps tomorrow I’ll have a chance to log the debugging output from my other FPM-T receiver.

I was planning to be using the tilt compensation feature in a project at the end of this week; I would love to figure out what’s going wrong, whether it’s user error or something else.

Thanks!

--Bill

IMU debugging output from FPM-T A382:

Menu: User Profiles
1) Select Profile1
2) Select (Empty)
3) Select MAHOME <- Current
4) Select (Empty)
5) Select (Empty)
6) Select (Empty)
7) Select (Empty)
8) Select (Empty)
9) Edit profile name: MAHOME
10) Set profile 'MAHOME' to factory defaults
11) Delete profile 'MAHOME'
12) Print profile
x) Exit
x
Rebooting to apply new profile settings. Goodbye!
ets Jul 29 2019 12:21:46

rst:0xc (SW_CPU_RESET),boot:0x17 (SPI_FAST_FLASH_BOOT)
configsip: 153911750, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:4832
load:0x40078000,len:16460
load:0x40080400,len:4
load:0x40080404,len:3504
entry 0x400805cc
E (1219) esp_cor??fVW
                     }???͡? No core dump partition found!
E (1219) esp_core_dump_flash: No core dump partition found!


28:56:2F:AC:A3:80 - wifiMACAddress
28:56:2F:AC:A3:82 - btMACAddress
28:56:2F:AC:A3:83 - ethernetMACAddress
=======================
Board ADC ID (mV): 2236
=======================
LittleFS Started
Using profile #2
PSRAM Size (bytes): 2097152
I2C Devices:
  0x0B - BQ40Z50 Battery Pack Manager / Fuel gauge
  0x10 - Authentication Coprocessor
  0x21 - PCA9554 GPIO Expander with Interrupt (Facet FP)
  0x3C - SSD1306 OLED Driver (Facet FP)
GPIO Expander for switches configuration complete
Display started
================
SparkPNT FP v3.3
================
SD card detected @ 2026-06-22 22:47:19.640
microSD: Online @ 2026-06-22 22:47:19.701
Profile 'MAHOME' loaded
Starting communication with mosaic-X5
GNSS mosaic-X5 online
mosaic-X5 firmware: 4.15.0
Fuel gauge configuration complete
No GNSS date/time available for system RTC.
Authentication coprocessor online
Bluetooth SPP and BLE broadcasting as: SparkPNT FPMT-A38206
STATE_ROVER_NOT_STARTED --> STATE_ROVER_CONFIG_WAIT
Batt (100%): Voltage: 8.30V Discharging: 0.00%/hr
mosaic-X5 configuration updated
Mode: Rover
NTRIP Client start
Rover Accuracy (m): 0.426, SIV: 0 GNSS State: DGPS Fix
Batt (100%): Voltage: 8.30V Discharging: 0.00%/hr
sdCardSemaphore failed to yield, held by SD Size Check, NVM.ino line 319
System time set to: Monday, June 22 2026 22:47:23
sdCardSemaphore failed to yield, held by SD Size Check, NVM.ino line 319
Scanning for WiFi...
SD card size: 29.7 GB / Free space: 29.7 GB
WiFi: Station online (OMICRON-313: 172.16.1.186)
Sending disable Navi command.
OK not found in response (17 bytes): 
Install Rotmat:
Setting club vector to: CLUB_VECTOR=0,0,1.858
OK not found in response (2 bytes): 

OK not found in response (7 bytes): 
Error
Sending disable Navi command.
OK not found in response (17 bytes): 
Install Rotmat:
Setting club vector to: CLUB_VECTOR=0,0,1.858
OK not found in response (2 bytes): 

OK not found in response (7 bytes): 
Error
Sending disable Navi command.
OK not found in response (17 bytes): 
Install Rotmat:
Setting club vector to: CLUB_VECTOR=0,0,1.858
OK not found in response (2 bytes): 

OK not found in response (7 bytes): 
Error
Tilt sensor failed to configure after multiple attempts.
Rover Accuracy (m): 0.467, SIV: 29 GNSS State: DGPS Fix
Rover configured
STATE_ROVER_CONFIG_WAIT --> STATE_ROVER_NO_FIX, 2026-06-22 22:47:38.293
Batt (100%): Voltage: 8.30V Discharging: 0.00%/hr
Log file name: /SFE_FP_260622_224738.txt
Default Network Interface: None --> WiFi Station
STATE_ROVER_NO_FIX --> STATE_ROVER_FIX, 2026-06-22 22:47:38.402
TCP Server online, IP address 172.16.1.186:2948
Rover Accuracy (m): 0.471, SIV: 29 GNSS State: DGPS Fix
NTRIP Client connected to macorsrtk.massdot.state.ma.us:10000 via 172.16.1.186:53155 at 22:47:40
Rover Accuracy (m): 0.474, SIV: 29 GNSS State: DGPS Fix
Batt (100%): Voltage: 8.30V Discharging: 0.00%/hr
Log file size: 6467 - Generation rate: 1.3kB/s
Rover Accuracy (m): 0.478, SIV: 29 GNSS State: DGPS Fix
STATE_ROVER_FIX --> STATE_ROVER_RTK_FIX, 2026-06-22 22:47:45.949
Rover Accuracy (m): 0.031, SIV: 29 GNSS State: RTK Fix
Batt (100%): Voltage: 8.30V Discharging: 0.00%/hr
Log file size: 14265 - Generation rate: 1.6kB/s
Rover Accuracy (m): 0.030, SIV: 29 GNSS State: RTK Fix
Rover Accuracy (m): 0.030, SIV: 29 GNSS State: RTK Fix
Rover Accuracy (m): 0.030, SIV: 29 GNSS State: RTK Fix
Batt (100%): Voltage: 8.30V Discharging: 0.00%/hr
Log file size: 22013 - Generation rate: 1.5kB/s
Rover Accuracy (m): 0.030, SIV: 29 GNSS State: RTK Fix
6

What was the RTK_Everywhere firmware version in that unit? Was it a production unit or a preproduction / engineering unit?

I pulled a FPM-T production unit running v3.3.

I assume both of your units are throwing the “OK not found in response” error?

We can do a unit swap, or a module swap. I will PM you for contact info.

7

Hi, @Sparky.

Thanks again for your quick responses.

Several minutes ago, I turned on hardware debugging in the other unit, and it too is throwing the same messages as does the first unit.

I’ll reply to your PM.

--Bill

8

This turned out to be an issue with the IM19: we got a new batch of modules with new firmware that was causing issues. The current release candidate fixes the problem and will be released into production shortly.

9

Good morning,

I just acquired the Sparkpnt FPM-T, and I can not connect/balance the IMU. I did try moving back and forth and walking, but never heard a sound. I have not tried debug. I tried using SW Maps and X-Survey apps for the test. Do we have a new firmware? Are people able to use the IMU?

Update: because the FPM‑T Wi‑Fi station/AP configuration is not working for me, I used ChatGPT Codex to guide the troubleshooting and firmware update through the USB serial connection (COM9).

Codex verified the official v3.4 release-candidate file, flashed it through USB, and verified the flash write. The receiver now boots as SparkPNT FPM‑T d3.4-Jun 25 2026. It detects the GNSS receiver normally and the startup serial log reports:

  • IM19 firmware: 1140
  • Tilt sensor configuration complete
  • Tilt Compensation: Enabled
  • Antenna phase center: 58.3 mm

No factory reset was performed. GNSS, NTRIP, antenna-height, and other operating settings were not changed. Only temporary tilt/IMU debug printing was enabled for diagnosis.

I have tested tilt outdoors with a stable RTK Fix and fresh corrections (approximately 2-second correction age). I tried the prescribed two-plane procedure slowly: 2–3 tilts in one plane, rotate 90°, then 2–3 tilts in the perpendicular plane. I also tried walking and other careful movements. I tested with both XSurvey and SW Maps. In both apps, the displayed position continues to move with the pole when tilted, so compensation does not appear to become active. I have not heard the activation/periodic tilt beep, although I can hear normal power sounds.

Could you please advise:

  1. Is d3.4 RC expected to fully support IM19 firmware 1140 on the FPM‑T?
  2. Is there another required step, setting, or calibration after the update?
  3. Does Tilt sensor configuration complete prove that the IM19 is operating, or only that it communicates during startup?
  4. What diagnostic log or test would distinguish a remaining firmware issue from a defective IM19 module?
  5. Separately, is the FPM‑T Wi‑Fi station failure with both a 2.4 GHz extender and Android hotspot a known issue?
10

I assume you have the device on the end of a 1.8m pole. If this is not correct, let us know.

Is d3.4 RC expected to fully support IM19 firmware 1140 on the FPM‑T?

Nice work! There was a bug in v3.3 that was causing problems with tilt. You are successfully on d3.4 which should work.

Is there another required step, setting, or calibration after the update?

Generally no. An RTK Fix is necessary before initialization (which you’ve got). Once the device is rocked back and forth, tilt should activate. The sound is faint and may be hard to hear over ambient noise. We recommend using the movement of the location dot in SW Maps to recognize when tilt is working. So in SW Maps: the dot will move as you rock the device back and forth. Once tilt is activated, the dot will stop moving as you tilt the device.

Does Tilt sensor configuration complete prove that the IM19 is operating, or only that it communicates during startup?

Thanks for capturing this output! It shows us the device is detected and configured but doesn’t tell us anything further. There is no default serial output when tilt is activated or running. However, if you enable System->Hardware->Print Tilt/IMU Debugging you will see additional output like below:

Rover Accuracy (m): 0.006, SIV: 32 GNSS State: RTK Fix
Batt (99%): Voltage: 8.25V Discharging: 0.00%/hr
Tilt STARTED Status: 0xA1C0001 - RTK Fix
Status: Unknown status bits set: 0x1C0001
Tilt STARTED Status: 0xA1C0001 - RTK Fix
Status: Unknown status bits set: 0x1C0001
Rover Accuracy (m): 0.006, SIV: 32 GNSS State: RTK Fix

From here, you can watch the Tilt module move through its initialization steps as you rock it back and forth.

What diagnostic log or test would distinguish a remaining firmware issue from a defective IM19 module?

See above. The fact that the IMU is online and responding to configuration would indicate it’s working, however I can’t yet explain why it’s not enter compensation mode.

Separately, is the FPM‑T Wi‑Fi station failure with both a 2.4 GHz extender and Android hotspot a known issue?

Let’s keep that discussion over here.

11

Thank you for the detailed answer. Yes, the receiver was mounted on a 1.8 m pole.

I tested using SW Maps while I had a stable RTK Fix and fresh NTRIP corrections (I just re-tested). I watched the location dot closely. It continued to move whenever I tilted the pole; it never became stationary as it should once tilt compensation activates.

I also specifically listened for the activation sound. I was testing in a very quiet environment and can clearly hear the normal power-on/off sounds, but I never heard the tilt activation beep or the periodic active-tilt beep.

I tried rocking the pole back and forth slowly, quickly, and at several speeds. I also rotated it and tried the movement in different directions/planes, including north-south and east-west. I additionally tried walking and circular movements. None of these activated tilt compensation.

In SW Maps, I was receiving an RTK Fix with good correction age and normal rover accuracy. Is there a particular value you would like me to report from the receiver—such as rover accuracy, SIV/satellites in view, correction age, or the IM19 status?

I understand that enabling System → Hardware → Print Tilt/IMU Debugging would show the state transition. Unfortunately, I cannot practically keep my Windows laptop connected while performing the outdoor RTK test. Is there a way for the FPM‑T to write this IMU-debug output to the microSD card for later download, or another way to capture the tilt status without the laptop connected outdoors?

Thank you again for your help.

sw
sw899×1599 109 KB

config
config899×1599 149 KB

12

It sounds like you are doing everything correctly.

Unfortunately, I cannot practically keep my Windows laptop connected while performing the outdoor RTK test.

Hah! That is indeed my problem as well (too many cables). You have troubleshot a ton (thank you!) and I don’t expect you to continue to dig into the problem (that’s for us to do), but when I have to troubleshoot a tilt issue, we leverage the fact that the device supports being connected to over both BLE and SPP simultaneously. I connect SW Maps over BLE so that I can send NTRIP correction data to the device. I then connect over Bluetooth SPP using the Android app Serial Bluetooth Terminal. Connect over SPP to the RTK device and you should NMEA streaming by. Send +++ and you’ll drop into the serial menu system: now you can see the same thing as if you were connected via cable. From there, exit the menu system and you should see the tilt debug output. Much harder to capture and paste to a forum, but at least you can glean some info.

The weather is getting rough here and I don’t want to stand on our roof with a ~2m pole in the rain so I will have to wait until tomorrow to try to replicate your issue…

13

Thank you—that Bluetooth BLE + SPP method is very helpful.

I managed to MacGyver it this time: I brought ChatGPT Codex with me into the yard using a long USB cable and my Windows laptop. :slightly_smiling_face: It worked, and we captured the live IMU diagnostic output during a real outdoor RTK Fix.

I really need the IMU working so I can use this equipment for work. Please feel free to ask for any additional test, movement procedure, setting, or diagnostic capture—I will do my best to complete it.

After your previous reply, I performed the recommended factory reset after updating to d3.4. The receiver rebooted normally and is not bricked. It continues to detect and configure the IM19 at startup, but tilt compensation still does not activate.

Full report follows:

SparkPNT FPM-T IM19 Tilt Diagnostic Report
Date: 2026-07-27

DEVICE / FIRMWARE

Product: SparkPNT FPM-T
Device Bluetooth ID: A30206
Application firmware: d3.4-Jun 25 2026 (v3.4RC)
GNSS receiver: Septentrio mosaic-X5
GNSS firmware: 4.15.0
IM19 firmware: 1140

UPDATE AND RESET

The official v3.4RC firmware was installed through USB serial and verified.
A factory reset was then performed as recommended after the update.

The reset completed normally:
Settings erased successfully. Rebooting. Goodbye!

The receiver rebooted successfully. Firmware d3.4 remained installed.

STARTUP RESULT AFTER RESET

IM19 firmware: 1140
Tilt sensor configuration complete

INSTRUMENT SETTINGS

Enable Tilt Compensation: Enabled
Output Tip Altitude: Disabled
Antenna Phase Center: 58.30 mm
Antenna Height / Pole Length: 1.800 m
Combined Height of Instrument: 1.858 m

LIVE OUTDOOR TEST

I tested outdoors with stable RTK Fix and fresh NTRIP corrections.

I used SW Maps and watched the position dot. I tested rocking slowly, quickly, and at several speeds. I rocked in one plane, rotated 90 degrees, and rocked in the perpendicular plane. I also tried walking and circular movements.

The dot continued to move with the pole. Tilt compensation did not become active.

I tested in a very quiet environment. I can clearly hear the normal power-on and power-off sounds, but I never heard the tilt activation beep or the periodic tilt-active beep.

LIVE IMU DEBUG CAPTURE

Using a long USB cable, I connected the FPM-T to a Windows computer outdoors. I enabled:

System -> Hardware -> Print Tilt/IMU Debugging

The receiver remained in RTK Fix throughout the capture.

SIV: 29 to 32
Rover accuracy: 0.004 m to 0.009 m

During repeated two-plane rocking, the IM19 output remained:

Tilt STARTED Status: 0xA100001 - RTK Fix
Status: Unknown status bits set: 0x100001

It never advanced to:

Tilt INITIALIZED

or:

Tilt CORRECTING

For comparison, your example showed:

Tilt STARTED Status: 0xA1C0001 - RTK Fix

Could you please advise how to interpret the difference between
0xA100001 and 0xA1C0001?

The controller and IM19 clearly communicate during startup, and the receiver has excellent RTK Fix conditions, but the IM19 never reaches initialization or correction mode.

Summary:

IM19 firmware: 1140
Tilt sensor configuration complete

Rover Accuracy (m): 0.004, SIV: 31 GNSS State: RTK Fix
Tilt STARTED Status: 0xA100001 - RTK Fix
Status: Unknown status bits set: 0x100001

Rover Accuracy (m): 0.006, SIV: 30 GNSS State: RTK Fix
Tilt STARTED Status: 0xA100001 - RTK Fix
Status: Unknown status bits set: 0x100001

Thank you again for continuing to investigate this.

14

This is likely a dumb question… but I’ll ask it anyway.

How would the device perform tilt compensation without reporting the Tip Altitude (Disabled)?

Isn’t this a basic Trig problem to resolve the tip location by knowing the length and angle of the rod ?

15

I followed the BLE + SPP procedure. I enabled “Print Tilt/IMU Debugging,” rebooted the FPM‑T, connected SW Maps by BLE for NTRIP/RTK Fix, and connected Serial Bluetooth Terminal by SPP. I performed the prescribed pole movements, then copied the terminal output. It showed normal NMEA streaming and RTK Fix, but it never printed any Tilt STARTED, Tilt INITIALIZED, or Tilt CORRECTING lines.

debug 2
debug 2719×378 113 KB

Is there another setting required for tilt debugging to print over SPP, or does this absence itself indicate why tilt is not activating?



6,0.6,E,D29
18:02:42.244 $GPGGA,230242.50,3010.5424258,N,09358.8463758,W,4,23,0.6,5.0405,M,-24.6091,M,1.5,00047D
18:02:42.253 $GPGSA,A,3,01,03,16,26,28,31,32,,,,,,1.3,0.6,1.13E
18:02:42.253 $GPGSA,A,3,66,67,68,78,,,,,,,,,1.3,0.6,1.136
18:02:42.253 $GPGSA,A,3,02,07,08,13,26,27,30,,,,,,1.3,0.6,1.13B
18:02:42.255 $GPGSA,A,3,23,25,32,37,41,,,,,,,,1.3,0.6,1.130
18:02:42.255 $GPGST,230242.50,0.385,0.004,0.004,281.111,0.004,0.004,0.01052
18:02:42.753 $GPRMC,230243.00,A,3010.5424240,N,09358.8463552,W,0.2,123.3,270726,0.6,E,D28
18:02:42.756 $GPGGA,230243.00,3010.5424240,N,09358.8463552,W,4,22,0.6,5.0280,M,-24.6091,M,2.0,000474
18:02:42.757 $GPGSA,A,3,01,03,16,26,28,31,32,,,,,,1.3,0.6,1.13E
18:02:42.757 $GPGSA,A,3,66,68,78,,,,,,,,,,1.3,0.6,1.137
18:02:42.766 $GPGSA,A,3,02,07,08,13,26,27,30,,,,,,1.3,0.6,1.13B
18:02:42.766 $GPGSA,A,3,23,25,32,37,41,,,,,,,,1.3,0.6,1.130
18:02:42.766 $GPGST,230243.00,0.247,0.004,0.003,286.983,0.003,0.004,0.00955
18:02:42.770 $GPGSV,4,1,13,31,70,357,50,01,25,255,36,10,10,149,20,02,16,232,2571
18:02:42.770 $GPGSV,4,2,13,32,34,082,48,16,30,176,41,03,43,316,47,28,44,035,487F
18:02:42.770 $GPGSV,4,3,13,26,58,153,49,25,08,039,35,44,47,220,47,46,38,235,4570
18:02:42.772 $GPGSV,4,4,13,48,41,230,4443
18:02:42.807 $GLGSV,3,1,10,78,61,187,52,66,23,104,47,79,10,202,,68,29,331,4867
18:02:42.811 $GLGSV,3,2,10,77,53,039,46,67,57,036,54,76,06,028,47,82,02,232,69
18:02:42.811 $GLGSV,3,3,10,83,09,280,,84,00,328,69
18:02:42.811 $GAGSV,3,1,10,07,58,000,49,32,11,084,23,33,18,307,,13,19,198,386C
18:02:42.811 $GAGSV,3,2,10,02,22,051,41,29,26,297,27,27,28,171,40,08,31,071,446D
18:02:42.811 $GAGSV,3,3,10,26,35,253,46,30,47,110,4861
18:02:42.813 $GBGSV,2,1,06,23,81,162,52,33,13,121,23,37,30,214,40,25,42,045,496C
18:02:42.813 $GBGSV,2,2,06,32,52,332,52,41,59,097,526E
18:02:43.251 $GPRMC,230243.50,A,3010.5424315,N,09358.8463173,W,0.3,100.3,270726,0.6,E,D2B
18:02:43.258 $GPGGA,230243.50,3010.5424315,N,09358.8463173,W,4,22,0.6,5.0340,M,-24.6091,M,1.5,00047C
18:02:43.260 $GPGSA,A,3,01,03,16,26,28,31,32,,,,,,1.3,0.6,1.13E
18:02:43.260 $GPGSA,A,3,66,68,78,,,,,,,,,,1.3,0.6,1.137
18:02:43.260 $GPGSA,A,3,02,07,08,13,26,27,30,,,,,,1.3,0.6,1.13B
18:02:43.260 $GPGSA,A,3,23,25,32,37,41,,,,,,,,1.3,0.6,1.130
18:02:43.261 $GPGST,230243.50,0.223,0.004,0.003,282.736,0.003,0.004,0.00956
18:02:43.767 $GPRMC,230244.00,A,3010.5424395,N,09358.8463066,W,0.0,,270726,0.6,E,D0B
18:02:43.768 $GPGGA,230244.00,3010.5424395,N,09358.8463066,W,4,22,0.6,5.0211,M,-24.6091,M,2.0,000470
18:02:43.772 $GPGSA,A,3,01,03,16,26,28,31,32,,,,,,1.3,0.6,1.13E
18:02:43.772 $GPGSA,A,3,66,68,78,,,,,,,,,,1.3,0.6,1.137
18:02:43.772 $GPGSA,A,3,02,07,08,13,26,27,30,,,,,,1.3,0.6,1.13B
18:02:43.772 $GPGSA,A,3,23,25,32,37,41,,,,,,,,1.3,0.6,1.130
18:02:43.774 $GPGST,230244.00,0.147,0.005,0.005,62.719,0.005,0.005,0.0126E
18:02:43.799 $GPGSV,4,1,13,31,70,357,50,01,25,255,35,10,10,149,26,02,16,232,2677
18:02:43.799 $GPGSV,4,2,13,32,34,082,48,16,30,176,42,03,43,316,48,28,44,035,4873
18:02:43.801 $GPGSV,4,3,13,26,58,153,49,25,08,039,37,44,47,220,46,46,38,235,4573
18:02:43.801 $GPGSV,4,4,13,48,41,230,4443
18:02:43.801 $GLGSV,3,1,10,78,61,187,53,66,23,104,49,79,10,202,,68,29,331,4868
18:02:43.801 $GLGSV,3,2,10,77,53,039,47,67,57,036,52,76,06,028,46,82,02,232,6F
18:02:43.830 $GLGSV,3,3,10,83,09,280,,84,00,328,69
18:02:43.830 $GAGSV,3,1,10,07,58,000,47,32,11,084,29,33,18,307,,13,19,198,3969
18:02:43.830 $GAGSV,3,2,10,02,22,051,44,29,26,297,25,27,28,171,41,08,31,071,456A
18:02:43.830 $GAGSV,3,3,10,26,35,253,45,30,47,110,476D
18:02:43.830 $GBGSV,2,1,06,23,81,162,53,33,13,121,34,37,30,214,42,25,42,045,5061
18:02:43.831 $GBGSV,2,2,06,32,52,332,51,41,59,097,526D
18:02:44.252 $GPRMC,230244.50,A,3010.5424437,N,09358.8463083,W,0.1,,270726,0.6,E,D0B
18:02:44.254 $GPGGA,230244.50,3010.5424437,N,09358.8463083,W,4,22,0.6,5.0150,M,-24.6091,M,2.5,000472
18:02:44.257 $GPGSA,A,3,01,03,16,26,28,31,32,,,,,,1.3,0.6,1.13E
18:02:44.257 $GPGSA,A,3,66,68,78,,,,,,,,,,1.3,0.6,1.137
18:02:44.257 $GPGSA,A,3,02,07,08,13,26,27,30,,,,,,1.3,0.6,1.13B
18:02:44.257 $GPGSA,A,3,23,25,32,37,41,,,,,,,,1.3,0.6,1.130
18:02:44.263 $GPGST,230244.50,0.131,0.005,0.004,73.567,0.004,0.004,0.01163
18:02:44.749 $GPRMC,230245.00,A,3010.5424395,N,09358.8463205,W,0.1,,270726,0.6,E,D0C
18:02:44.750 $GPGGA,230245.00,3010.5424395,N,09358.8463205,W,4,22,0.6,5.0200,M,-24.6091,M,2.0,000476
18:02:44.758 $GPGSA,A,3,01,03,16,26,28,31,32,,,,,,1.3,0.6,1.13E
18:02:44.758 $GPGSA,A,3,66,68,78,,,,,,,,,,1.3,0.6,1.137
18:02:44.758 $GPGSA,A,3,02,07,08,13,26,27,30,,,,,,1.3,0.6,1.13B
18:02:44.758 $GPGSA,A,3,23,25,32,37,41,,,,,,,,1.3,0.6,1.130
18:02:44.759 $GPGST,230245.00,0.138,0.004,0.004,79.118,0.004,0.004,0.01068
18:02:44.790 $GPGSV,4,1,13,31,70,357,50,01,25,255,35,10,10,149,26,02,16,232,2879
18:02:44.790 $GPGSV,4,2,13,32,34,082,48,16,30,176,42,03,43,316,48,28,44,035,4873
18:02:44.790 $GPGSV,4,3,13,26,58,153,49,25,08,039,37,44,47,220,46,46,38,235,4573
18:02:44.790 $GPGSV,4,4,13,48,41,230,4443
18:02:44.794 $GLGSV,3,1,10,78,61,187,53,66,23,104,50,79,10,202,,68,29,331,4961
18:02:44.794 $GLGSV,3,2,10,77,53,039,47,67,57,036,52,76,06,028,45,82,02,232,6C
18:02:44.795 $GLGSV,3,3,10,83,09,280,,84,00,328,69
18:02:44.795 $GAGSV,3,1,10,07,58,000,47,32,11,084,29,33,18,307,,13,19,198,3969
18:02:44.795 $GAGSV,3,2,10,02,22,051,45,29,26,297,29,27,28,171,40,08,31,071,4566
18:02:44.795 $GAGSV,3,3,10,26,35,253,46,30,47,110,476E
18:02:44.795 $GBGSV,2,1,06,23,81,162,53,33,13,121,33,37,30,214,41,25,42,045,5065
18:02:44.803 $GBGSV,2,2,06,32,52,332,52,41,59,097,536F
18:02:45.256 $GPRMC,230245.50,A,3010.5424324,N,09358.8463328,W,0.0,,270726,0.6,E,D0C
18:02:45.258 $GPGGA,230245.50,3010.5424324,N,09358.8463328,W,4,22,0.6,5.0273,M,-24.6091,M,1.5,000475
18:02:45.267 $GPGSA,A,3,01,03,16,26,28,31,32,,,,,,1.3,0.6,1.13E
18:02:45.267 $GPGSA,A,3,66,68,78,,,,,,,,,,1.3,0.6,1.137
18:02:45.267 $GPGSA,A,3,02,07,08,13,26,27,30,,,,,,1.3,0.6,1.13B
18:02:45.267 $GPGSA,A,3,23,25,32,37,41,,,,,,,,1.3,0.6,1.130
18:02:45.267 $GPGST,230245.50,0.098,0.004,0.004,279.773,0.004,0.004,0.00957
18:02:45.816 $GPRMC,230246.00,A,3010.5424317,N,09358.8463346,W,0.1,,270726,0.6,E,D03
18:02:45.827 $GPGGA,230246.00,3010.5424317,N,09358.8463346,W,4,23,0.6,5.0310,M,-24.6091,M,2.0,000478
18:02:45.829 $GPGSA,A,3,01,03,16,26,28,31,32,,,,,,1.3,0.6,1.13E
18:02:45.829 $GPGSA,A,3,66,67,68,78,,,,,,,,,1.3,0.6,1.136
18:02:45.829 $GPGSA,A,3,02,07,08,13,26,27,30,,,,,,1.3,0.6,1.13B
18:02:45.829 $GPGSA,A,3,23,25,32,37,41,,,,,,,,1.3,0.6,1.130
18:02:45.830 $GPGST,230246.00,0.185,0.004,0.004,284.090,0.004,0.004,0.00954
18:02:45.840 $GPGSV,4,1,13,31,70,357,50,01,25,255,38,10,10,149,24,02,16,232,2678
18:02:45.840 $GPGSV,4,2,13,32,34,082,47,16,30,176,41,03,43,316,47,28,44,035,477F
18:02:45.840 $GPGSV,4,3,13,26,58,153,49,25,08,039,38,44,47,220,46,46,38,235,457C
18:02:45.840 $GPGSV,4,4,13,48,41,230,4443
18:02:45.843 $GLGSV,3,1,10,78,61,188,52,66,23,104,50,79,10,202,,68,29,331,486E
18:02:45.843 $GLGSV,3,2,10,77,53,039,45,67,57,036,53,76,06,028,46,82,02,232,6C
18:02:45.843 $GLGSV,3,3,10,83,09,280,,84,00,328,69
18:02:45.843 $GAGSV,3,1,10,07,58,000,48,32,11,084,25,33,18,307,,13,19,198,386B
18:02:45.846 $GAGSV,3,2,10,02,22,051,44,29,26,297,26,27,28,171,40,08,31,071,466B
18:02:45.846 $GAGSV,3,3,10,26,35,253,46,30,47,110,4861
18:02:45.846 $GBGSV,2,1,06,23,81,162,52,37,30,214,41,33,13,122,34,25,42,045,5060
18:02:45.846 $GBGSV,2,2,06,32,52,332,52,41,59,097,526E
18:02:46.241 $GPRMC,230246.50,A,3010.5424285,N,09358.8463406,W,0.1,,270726,0.6,E,D0F
18:02:46.243 $GPGGA,230246.50,3010.5424285,N,09358.8463406,W,4,22,0.6,5.0395,M,-24.6091,M,1.5,00047E
18:02:46.250 $GPGSA,A,3,01,03,16,26,28,31,32,,,,,,1.3,0.6,1.13E
18:02:46.257 $GPGSA,A,3,66,68,78,,,,,,,,,,1.3,0.6,1.137
18:02:46.257 $GPGSA,A,3,02,07,08,13,26,27,30,,,,,,1.3,0.6,1.13B
18:02:46.257 $GPGSA,A,3,23,25,32,37,41,,,,,,,,1.3,0.6,1.130
18:02:46.257 $GPGST,230246.50,0.153,0.004,0.004,274.857,0.004,0.004,0.0105E
18:02:46.743 $GPRMC,230247.00,A,3010.5424321,N,09358.8463499,W,0.2,,270726,0.6,E,D01
18:02:46.754 $GPGGA,230247.00,3010.5424321,N,09358.8463499,W,4,22,0.6,5.0412,M,-24.6091,M,2.0,00047D
18:02:46.756 $GPGSA,A,3,01,03,16,26,28,31,32,,,,,,1.3,0.6,1.13E
18:02:46.756 $GPGSA,A,3,66,68,78,,,,,,,,,,1.3,0.6,1.137
18:02:46.756 $GPGSA,A,3,02,07,08,13,26,27,30,,,,,,1.3,0.6,1.13B
18:02:46.756 $GPGSA,A,3,23,25,32,37,41,,,,,,,,1.3,0.6,1.130
18:02:46.757 $GPGST,230247.00,0.140,0.004,0.004,62.687,0.004,0.004,0.0116F
18:02:46.767 $GPGSV,4,1,13,31,70,357,50,01,25,255,37,10,10,149,20,02,16,232,2174
18:02:46.797 $GPGSV,4,2,13,32,34,082,48,16,30,176,41,03,43,316,47,28,44,035,4770
18:02:46.797 $GPGSV,4,3,13,26,58,153,49,25,08,039,37,44,47,220,46,46,38,235,4573
18:02:46.797 $GPGSV,4,4,13,48,41,230,4443
18:02:46.797 $GLGSV,3,1,10,78,61,188,52,66,23,104,49,79,10,202,,68,29,331,4769
18:02:46.799 $GLGSV,3,2,10,77,53,039,45,67,57,036,53,76,06,028,46,82,02,232,6C
18:02:46.799 $GLGSV,3,3,10,83,09,280,,84,00,328,69
18:02:46.799 $GAGSV,3,1,10,07,58,000,48,32,11,084,19,33,18,307,,13,19,198,3864
18:02:46.799 $GAGSV,3,2,10,02,22,051,43,29,26,297,28,27,28,171,39,08,31,071,466C
18:02:46.802 $GAGSV,3,3,10,26,35,253,46,30,47,110,4960
18:02:46.802 $GBGSV,2,1,06,23,81,162,52,37,30,214,41,33,13,122,34,25,42,045,4968
18:02:46.802 $GBGSV,2,2,06,32,52,332,52,41,59,097,526E
18:02:47.246 $GPRMC,230247.50,A,3010.5424299,N,09358.8463543,W,0.1,,270726,0.6,E,D03
18:02:47.248 $GPGGA,230247.50,3010.5424299,N,09358.8463543,W,4,22,0.6,5.0429,M,-24.6091,M,1.5,000472
18:02:47.249 $GPGSA,A,3,01,03,16,26,28,31,32,,,,,,1.3,0.6,1.13E
18:02:47.254 $GPGSA,A,3,66,68,78,,,,,,,,,,1.3,0.6,1.137
18:02:47.254 $GPGSA,A,3,02,07,08,13,26,27,30,,,,,,1.3,0.6,1.13B
18:02:47.254 $GPGSA,A,3,23,25,32,37,41,,,,,,,,1.3,0.6,1.130
18:02:47.254 $GPGST,230247.50,0.158,0.004,0.004,80.311,0.004,0.004,0.01064
18:02:47.761 $GPRMC,230248.00,A,3010.5424293,N,09358.8463541,W,0.1,,270726,0.6,E,D01
18:02:47.763 $GPGGA,230248.00,3010.5424293,N,09358.8463541,W,4,22,0.6,5.0434,M,-24.6091,M,2.0,00047A
18:02:47.778 $GPGSA,A,3,01,03,16,26,28,31,32,,,,,,1.3,0.6,1.13E
18:02:47.778 $GPGSA,A,3,66,68,78,,,,,,,,,,1.3,0.6,1.137
18:02:47.778 $GPGSA,A,3,02,07,08,13,26,27,30,,,,,,1.3,0.6,1.13B
18:02:47.778 $GPGSA,A,3,23,25,32,37,41,,,,,,,,1.3,0.6,1.130
18:02:47.778 $GPGST,230248.00,0.131,0.004,0.004,85.736,0.004,0.004,0.01065
18:02:47.788 $GPGSV,4,1,13,31,70,357,50,01,25,255,36,10,10,149,30,02,16,232,77
18:02:47.788 $GPGSV,4,2,13,32,34,082,48,16,30,176,41,03,43,316,47,28,44,035,4770
18:02:47.793 $GPGSV,4,3,13,26,58,153,49,25,08,039,34,44,47,220,46,46,38,235,4570
18:02:47.793 $GPGSV,4,4,13,48,41,230,4443
18:02:47.793 $GLGSV,3,1,10,78,61,188,51,66,23,104,48,79,10,202,,68,29,331,476B
18:02:47.818 $GLGSV,3,2,10,77,53,039,46,67,57,036,53,76,06,028,47,82,02,232,6E
18:02:47.818 $GLGSV,3,3,10,83,09,280,,84,00,328,69
18:02:47.818 $GAGSV,3,1,10,07,58,000,49,32,11,084,27,33,18,307,,13,19,198,3868
18:02:47.818 $GAGSV,3,2,10,02,22,051,41,29,26,297,27,27,28,171,39,08,31,071,4562
18:02:47.819 $GAGSV,3,3,10,26,35,253,46,30,47,110,4960
18:02:47.822 $GBGSV,2,1,06,23,81,162,52,37,30,214,41,33,13,122,34,25,42,045,4968
18:02:47.822 $GBGSV,2,2,06,32,52,332,52,41,59,097,526E
18:02:47.878 Disconnected
16

A very good question to ask, but this is not the problem. The option to ‘output tip altitude’ only manipulates the altitude by the instrument height. The code does this:

  • If tilt is actively compensating, and ‘output tip altitude’ is disabled, add the instrument height back to the reported altitude. This is so users who use a GIS app that have an instrument height setting, then subtract the IH (and we don’t have double subtraction).
  • If tilt is actively compensating, and ‘output tip altitude’ is enabled, use the altitude reported by the IMU (in other words, do not add the IH). This is for users who don’t want to enter the IH into their GIS app. But we don’t default into this state, because users will not always be in active tilt compensation mode.
  • If there is no tilt sensor, and a user disables ‘output tip altitude’, the device will report to the GIS app whatever the location is that the GNSS receiver reports. This is the default for most users who don’t have a -T model. Users are expected to correctly enter the IH into their GIS app and level with a bubble.
  • If there is no tilt sensor, and a user enables ‘output tip altitude’, the device will subtract the IH from the GNSS receiver’s reported altitude, and pass this lower altitude on to the GIS app. This is handy for users who either don’t have a IH box in their GIS app, or don’t want to mess with their GIS app. This is ok as long as they use the bubble level and always extend their pole to the pole length setting (1.8m by default).
17

WRT to the Bluetooth connection over SPP: you’re so close! That’s NMEA. Now send +++ in the Bluetooth Serial Terminal app to the device.

18

Ah, I guess that’s a “recent” feature to the FW, or I completely overlooked it early on.

@Sparky, thanks for the detailed explanation. I love it. I may need to adjust my general opinion on Tilt Compensation :slight_smile:

19

Thank you. I did send +++ and successfully entered the menu. I enabled 11) Print Tilt/IMU Debugging, confirmed that it displayed Enabled, then exited back to the normal NMEA stream.

While SW Maps was connected over BLE with NTRIP/RTK Fix, I moved/rocked the pole. The SPP terminal continued to show only NMEA; I never saw any Tilt STARTED, Tilt INITIALIZED, or Tilt CORRECTING lines.

In the Debug Hardware menu, 12) Print Tilt/IMU Compensation Debugging is still Disabled. Do you recommend I enable option 12 as well, or should option 11 alone print the tilt state you requested?

20

UPTADE:

I rebooted the FPM‑T, re-entered the Bluetooth SPP serial menu, and confirmed that both 11) Print Tilt/IMU Debugging and 12) Print Tilt/IMU Compensation Debugging remain enabled after reboot. I am attaching the terminal output from the outdoor RTK test; despite these settings being enabled, I did not see any Tilt... diagnostic lines.

image
image959×255 57.5 KB

image
image610×616 29.6 KB

tilt correc
tilt correc800×1280 169 KB



26,0.6,E,D2A
09:24:17.342 $GPGGA,142418.00,3010.5418374,N,09358.8464172,W,4,23,0.6,4.7444,M,-24.6091,M,2.0,00047B
09:24:17.344 $GPGSA,A,3,05,11,12,15,20,29,,,,,,,1.1,0.6,1.03E
09:24:17.344 $GPGSA,A,3,71,72,86,88,,,,,,,,,1.1,0.6,1.038
09:24:17.344 $GPGSA,A,3,04,10,11,12,18,19,25,28,,,,,1.1,0.6,1.03F
09:24:17.344 $GPGSA,A,3,19,21,22,34,35,,,,,,,,1.1,0.6,1.03F
09:24:17.345 $GPGST,142418.00,0.121,0.005,0.005,88.076,0.005,0.005,0.0106F
09:24:17.383 $GPGSV,3,1,10,29,64,319,47,21,28,042,43,11,19,080,43,12,16,193,427D
09:24:17.383 $GPGSV,3,2,10,15,44,169,50,20,50,117,48,05,62,018,47,44,47,220,4771
09:24:17.383 $GPGSV,3,3,10,46,38,235,44,48,41,230,447D
09:24:17.383 $GLGSV,2,1,08,72,70,095,48,65,36,186,50,78,12,298,,77,12,243,69
09:24:17.420 $GLGSV,2,2,08,88,17,317,39,71,27,033,46,86,33,082,49,87,51,028,476E
09:24:17.420 $GAGSV,3,1,12,18,77,289,49,16,38,220,42,04,35,141,44,19,31,073,3966
09:24:17.420 $GAGSV,3,2,12,11,46,314,41,12,48,040,41,25,36,283,41,10,56,359,4664
09:24:17.422 $GAGSV,3,3,12,28,38,109,46,31,07,173,,33,07,078,,36,08,279,69
09:24:17.422 $GBGSV,2,1,06,22,73,090,52,21,41,198,51,34,23,312,38,19,25,041,4461
09:24:17.422 $GBGSV,2,2,06,35,45,102,50,31,68,357,496C
09:24:18.815 $GPRMC,142419.50,A,3010.5424738,N,09358.8464555,W,0.8,16.6,280726,0.6,E,D1F
09:24:18.823 $GPGGA,142419.50,3010.5424738,N,09358.8464555,W,4,24,0.6,5.0608,M,-24.6091,M,1.5,000470
09:24:18.826 $GPGSA,A,3,05,11,12,15,20,29,,,,,,,1.1,0.6,1.03E
09:24:18.826 $GPGSA,A,3,71,72,86,88,,,,,,,,,1.1,0.6,1.038
09:24:18.826 $GPGSA,A,3,04,10,11,12,16,18,19,25,28,,,,1.1,0.6,1.038
09:24:18.829 $GPGSA,A,3,19,21,22,34,35,,,,,,,,1.1,0.6,1.03F
09:24:18.829 $GPGST,142419.50,0.158,0.004,0.004,39.475,0.004,0.004,0.00960
09:24:19.333 $GPRMC,142420.00,A,3010.5424360,N,09358.8464396,W,0.6,37.5,280726,0.6,E,D1E
09:24:19.335 $GPGGA,142420.00,3010.5424360,N,09358.8464396,W,4,24,0.6,5.0580,M,-24.6091,M,2.0,00047A
09:24:19.339 $GPGSA,A,3,05,11,12,15,20,29,,,,,,,1.1,0.6,1.03E
09:24:19.347 $GPGSA,A,3,71,72,86,88,,,,,,,,,1.1,0.6,1.038
09:24:19.347 $GPGSA,A,3,04,10,11,12,16,18,19,25,28,,,,1.1,0.6,1.038
09:24:19.347 $GPGSA,A,3,19,21,22,34,35,,,,,,,,1.1,0.6,1.03F
09:24:19.365 $GPGST,142420.00,0.106,0.004,0.004,37.744,0.004,0.004,0.0096B
09:24:19.366 $GPGSV,3,1,10,29,64,319,49,21,28,042,45,11,19,080,44,12,16,193,387F
09:24:19.369 $GPGSV,3,2,10,15,44,169,47,20,50,117,48,05,62,018,49,44,47,220,457B
09:24:19.369 $GPGSV,3,3,10,46,38,235,44,48,41,230,447D
09:24:19.369 $GLGSV,2,1,08,72,70,095,49,65,36,186,47,78,12,298,,77,12,243,6E
09:24:19.369 $GLGSV,2,2,08,88,17,317,42,71,27,033,48,86,33,082,50,87,51,028,5062
09:24:19.371 $GAGSV,3,1,12,18,77,289,51,16,38,220,43,04,35,141,38,19,31,073,3965
09:24:19.371 $GAGSV,3,2,12,11,46,314,45,12,48,040,44,25,36,283,41,10,56,000,476B
09:24:19.371 $GAGSV,3,3,12,28,38,109,45,31,07,173,,33,07,078,,36,08,279,6A
09:24:19.380 $GBGSV,2,1,06,22,73,090,52,21,41,198,48,34,23,312,43,19,25,041,4766
09:24:19.380 $GBGSV,2,2,06,35,45,102,50,31,68,357,5165
09:24:19.832 $GPRMC,142420.50,A,3010.5423940,N,09358.8464375,W,0.1,,280726,0.6,E,D01
09:24:19.835 $GPGGA,142420.50,3010.5423940,N,09358.8464375,W,4,24,0.6,5.0663,M,-24.6091,M,2.5,000476
09:24:19.836 $GPGSA,A,3,05,11,12,15,20,29,,,,,,,1.1,0.6,1.03E
09:24:19.859 $GPGSA,A,3,71,72,86,88,,,,,,,,,1.1,0.6,1.038
09:24:19.859 $GPGSA,A,3,04,10,11,12,16,18,19,25,28,,,,1.1,0.6,1.038
09:24:19.859 $GPGSA,A,3,19,21,22,34,35,,,,,,,,1.1,0.6,1.03F
09:24:19.859 $GPGST,142420.50,0.090,0.006,0.006,277.864,0.006,0.006,0.01350
09:24:20.341 $GPRMC,142421.00,A,3010.5424102,N,09358.8464430,W,0.1,,280726,0.6,E,D0A
09:24:20.344 $GPGGA,142421.00,3010.5424102,N,09358.8464430,W,4,24,0.6,5.0660,M,-24.6091,M,2.0,00047B
09:24:20.347 $GPGSA,A,3,05,11,12,15,20,29,,,,,,,1.1,0.6,1.03E
09:24:20.347 $GPGSA,A,3,71,72,86,88,,,,,,,,,1.1,0.6,1.038
09:24:20.347 $GPGSA,A,3,04,10,11,12,16,18,19,25,28,,,,1.1,0.6,1.038
09:24:20.347 $GPGSA,A,3,19,21,22,34,35,,,,,,,,1.1,0.6,1.03F
09:24:20.347 $GPGST,142421.00,0.115,0.006,0.006,281.500,0.006,0.006,0.0135E
09:24:20.355 $GPGSV,3,1,10,29,64,319,49,21,28,042,45,11,19,080,42,12,16,193,3879
09:24:20.355 $GPGSV,3,2,10,15,44,169,47,20,50,117,48,05,62,018,48,44,47,220,457A
09:24:20.355 $GPGSV,3,3,10,46,38,235,43,48,41,230,437D
09:24:20.355 $GLGSV,2,1,08,72,70,095,49,65,36,186,47,78,12,298,,77,12,243,6E
09:24:20.355 $GLGSV,2,2,08,88,17,317,41,71,27,033,49,86,33,082,49,87,51,028,5068
09:24:20.358 $GAGSV,3,1,12,18,77,289,51,16,38,220,43,04,35,141,38,19,31,073,406B
09:24:20.358 $GAGSV,3,2,12,11,46,314,44,12,48,040,43,25,36,283,41,10,56,000,476D
09:24:20.358 $GAGSV,3,3,12,28,38,109,46,31,07,173,,33,07,078,,36,08,279,69
09:24:20.361 $GBGSV,2,1,06,22,73,090,54,21,41,198,48,34,23,312,42,19,25,041,486E
09:24:20.361 $GBGSV,2,2,06,35,45,102,51,31,68,357,5267
09:24:20.818 $GPRMC,142421.50,A,3010.5424196,N,09358.8464522,W,0.2,,280726,0.6,E,D03
09:24:20.820 $GPGGA,142421.50,3010.5424196,N,09358.8464522,W,4,24,0.6,5.0747,M,-24.6091,M,1.5,000473
09:24:20.821 $GPGSA,A,3,05,11,12,15,20,29,,,,,,,1.1,0.6,1.03E
09:24:20.856 $GPGSA,A,3,71,72,86,88,,,,,,,,,1.1,0.6,1.038
09:24:20.856 $GPGSA,A,3,04,10,11,12,16,18,19,25,28,,,,1.1,0.6,1.038
09:24:20.856 $GPGSA,A,3,19,21,22,34,35,,,,,,,,1.1,0.6,1.03F
09:24:20.863 $GPGST,142421.50,0.092,0.004,0.003,33.848,0.004,0.004,0.00862
09:24:21.330 $GPRMC,142422.00,A,3010.5424202,N,09358.8464696,W,0.1,,280726,0.6,E,D04
09:24:21.332 $GPGGA,142422.00,3010.5424202,N,09358.8464696,W,4,23,0.6,5.0683,M,-24.6091,M,2.0,00047F
09:24:21.379 $GPGSA,A,3,05,11,12,15,20,29,,,,,,,1.1,0.6,1.03E
09:24:21.379 $GPGSA,A,3,71,72,86,88,,,,,,,,,1.1,0.6,1.038
09:24:21.379 $GPGSA,A,3,04,10,11,12,18,19,25,28,,,,,1.1,0.6,1.03F
09:24:21.379 $GPGSA,A,3,19,21,22,34,35,,,,,,,,1.1,0.6,1.03F
09:24:21.379 $GPGST,142422.00,0.185,0.004,0.004,44.299,0.004,0.004,0.00963
09:24:21.382 $GPGSV,3,1,10,29,64,319,49,21,28,042,46,11,19,080,43,12,16,193,3774
09:24:21.382 $GPGSV,3,2,10,15,44,169,47,20,50,117,48,05,62,018,48,44,47,220,457A
09:24:21.382 $GPGSV,3,3,10,46,38,235,43,48,41,230,427C
09:24:21.382 $GLGSV,2,1,08,72,70,095,49,65,36,186,47,78,12,298,,77,12,243,6E
09:24:21.390 $GLGSV,2,2,08,88,17,317,42,71,27,033,48,86,33,082,49,87,51,028,516B
09:24:21.390 $GAGSV,3,1,12,18,77,289,51,16,38,220,43,04,35,141,38,19,31,073,406B
09:24:21.393 $GAGSV,3,2,12,11,46,314,45,12,48,040,44,25,36,283,40,10,56,000,476A
09:24:21.393 $GAGSV,3,3,12,28,38,109,46,31,07,173,,33,07,078,,36,08,279,69
09:24:21.393 $GBGSV,2,1,06,22,73,090,53,21,41,198,49,34,23,313,40,19,25,041,4764
09:24:21.393 $GBGSV,2,2,06,35,45,102,51,31,68,357,5164
09:24:21.831 $GPRMC,142422.50,A,3010.5424202,N,09358.8464616,W,0.1,,280726,0.6,E,D09
09:24:21.837 $GPGGA,142422.50,3010.5424202,N,09358.8464616,W,4,25,0.6,5.0696,M,-24.6091,M,2.5,000475
09:24:21.840 $GPGSA,A,3,05,11,12,15,20,21,29,,,,,,1.1,0.6,1.03D
09:24:21.840 $GPGSA,A,3,71,72,86,88,,,,,,,,,1.1,0.6,1.038
09:24:21.840 $GPGSA,A,3,04,10,11,12,16,18,19,25,28,,,,1.1,0.6,1.038
09:24:21.840 $GPGSA,A,3,19,21,22,34,35,,,,,,,,1.1,0.6,1.03F
09:24:21.841 $GPGST,142422.50,0.121,0.004,0.004,36.063,0.004,0.004,0.0096A
09:24:22.335 $GPRMC,142423.00,A,3010.5424233,N,09358.8464461,W,0.1,,280726,0.6,E,D0D
09:24:22.349 $GPGGA,142423.00,3010.5424233,N,09358.8464461,W,4,25,0.6,5.0660,M,-24.6091,M,2.0,00047D
09:24:22.351 $GPGSA,A,3,05,11,12,15,20,21,29,,,,,,1.1,0.6,1.03D
09:24:22.351 $GPGSA,A,3,71,72,86,88,,,,,,,,,1.1,0.6,1.038
09:24:22.351 $GPGSA,A,3,04,10,11,12,16,18,19,25,28,,,,1.1,0.6,1.038
09:24:22.351 $GPGSA,A,3,19,21,22,34,35,,,,,,,,1.1,0.6,1.03F
09:24:22.352 $GPGST,142423.00,0.128,0.004,0.004,38.763,0.004,0.004,0.0096E
09:24:22.355 $GPGSV,3,1,10,29,64,319,49,21,28,042,46,11,19,080,43,12,16,193,387B
09:24:22.355 $GPGSV,3,2,10,15,44,169,47,20,50,117,48,05,62,018,48,44,47,220,447B
09:24:22.355 $GPGSV,3,3,10,46,38,235,43,48,41,230,427C
09:24:22.366 $GLGSV,2,1,08,72,70,095,49,65,36,186,47,78,12,298,,77,12,243,6E
09:24:22.366 $GLGSV,2,2,08,88,17,317,42,71,27,033,49,86,33,082,48,87,51,028,516B
09:24:22.366 $GAGSV,3,1,12,18,77,289,51,16,38,220,43,04,35,141,39,19,31,073,406A
09:24:22.366 $GAGSV,3,2,12,11,46,314,45,12,48,040,44,25,36,283,40,10,56,000,476A
09:24:22.369 $GAGSV,3,3,12,28,38,109,46,31,07,173,,33,07,078,,36,08,279,69
09:24:22.369 $GBGSV,2,1,06,22,73,090,53,21,41,198,49,34,23,313,40,19,25,041,4764
09:24:22.369 $GBGSV,2,2,06,35,45,102,51,31,68,357,5164
09:24:22.811 $GPRMC,142423.50,A,3010.5424314,N,09358.8464427,W,0.1,,280726,0.6,E,D0E
09:24:22.816 $GPGGA,142423.50,3010.5424314,N,09358.8464427,W,4,25,0.6,5.0702,M,-24.6091,M,2.5,00047E
09:24:22.822 $GPGSA,A,3,05,11,12,15,20,21,29,,,,,,1.1,0.6,1.03D
09:24:22.827 $GPGSA,A,3,71,72,86,88,,,,,,,,,1.1,0.6,1.038
09:24:22.827 $GPGSA,A,3,04,10,11,12,16,18,19,25,28,,,,1.1,0.6,1.038
09:24:22.827 $GPGSA,A,3,19,21,22,34,35,,,,,,,,1.1,0.6,1.03F
09:24:22.829 $GPGST,142423.50,0.102,0.004,0.004,41.952,0.004,0.004,0.00860
09:24:23.331 $GPRMC,142424.00,A,3010.5424285,N,09358.8464515,W,0.0,,280726,0.6,E,D04
09:24:23.339 $GPGGA,142424.00,3010.5424285,N,09358.8464515,W,4,24,0.6,5.0606,M,-24.6091,M,2.0,000474
09:24:23.341 $GPGSA,A,3,05,11,12,15,20,21,29,,,,,,1.1,0.6,1.03D
09:24:23.341 $GPGSA,A,3,71,72,86,88,,,,,,,,,1.1,0.6,1.038
09:24:23.341 $GPGSA,A,3,04,10,11,12,18,19,25,28,,,,,1.1,0.6,1.03F
09:24:23.341 $GPGSA,A,3,19,21,22,34,35,,,,,,,,1.1,0.6,1.03F
09:24:23.353 $GPGST,142424.00,0.115,0.004,0.004,41.388,0.004,0.004,0.00869
09:24:23.353 $GPGSV,3,1,10,29,64,319,49,21,28,042,45,11,19,080,44,12,16,193,387F
09:24:23.361 $GPGSV,3,2,10,15,44,169,47,20,50,117,48,05,62,018,49,44,47,220,447A
09:24:23.361 $GPGSV,3,3,10,46,38,235,43,48,41,230,427C
09:24:23.361 $GLGSV,2,1,08,72,70,095,49,65,36,186,47,78,12,298,,77,12,243,6E
09:24:23.361 $GLGSV,2,2,08,88,17,317,42,71,27,033,49,86,33,082,48,87,51,028,516B
09:24:23.361 $GAGSV,3,1,12,18,77,289,51,16,38,220,43,04,35,141,39,19,31,073,3964
09:24:23.370 $GAGSV,3,2,12,11,46,314,45,12,48,040,44,25,36,283,40,10,56,000,476A
09:24:23.372 $GAGSV,3,3,12,28,38,109,46,31,07,173,,33,07,078,,36,08,279,69
09:24:23.372 $GBGSV,2,1,06,22,73,090,53,21,41,198,49,34,23,313,41,19,25,041,4664
09:24:23.372 $GBGSV,2,2,06,35,45,102,51,31,68,357,5164
09:24:23.826 $GPRMC,142424.50,A,3010.5424289,N,09358.8464520,W,0.0,,280726,0.6,E,D0B
09:24:23.847 $GPGGA,142424.50,3010.5424289,N,09358.8464520,W,4,25,0.6,5.0622,M,-24.6091,M,1.5,00047A
09:24:23.850 $GPGSA,A,3,05,11,12,15,20,21,29,,,,,,1.1,0.6,1.03D
09:24:23.850 $GPGSA,A,3,71,72,86,88,,,,,,,,,1.1,0.6,1.038
09:24:23.850 $GPGSA,A,3,04,10,11,12,16,18,19,25,28,,,,1.1,0.6,1.038
09:24:23.850 $GPGSA,A,3,19,21,22,34,35,,,,,,,,1.1,0.6,1.03F
09:24:23.851 $GPGST,142424.50,0.107,0.004,0.003,34.660,0.004,0.004,0.00869
09:24:24.082 Disconnected