M-HEAD -----------------OXFORD TECHNICAL SOLUTIONS LIMITED------------------- M-HEAD Blended navigation system post-processing software M-HEAD Version ID: 1.6.0, Development ID: 190324.14i M-HEAD ---------------------------------------------------------------------- M-HEAD Forwards post-process outputs : fwd/ M-HEAD Backwards post-process outputs : bwd/ M-HEAD Combined post-process outputs : cmb/ M-COOK Section 1 of 1 M-COOK Enabled cooking output 190716_083851.cd M-COOK Raw data cooking start P-COOK 1/1 0.00 M-COOK Primary GNSS time: 2019-07-16 08:38:33.600,435,438 M-COOK Secondary GNSS time: 2019-07-16 08:38:50.399,511,672 P-COOK 1/1 8.46 P-COOK 1/1 16.22 P-COOK 1/1 23.98 P-COOK 1/1 31.87 P-COOK 1/1 40.10 P-COOK 1/1 48.25 P-COOK 1/1 56.57 P-COOK 1/1 64.91 P-COOK 1/1 73.23 P-COOK 1/1 81.52 P-COOK 1/1 89.79 P-COOK 1/1 98.01 P-COOK 1/1 100.00 M-COOK Raw data cooking done M-FWD Section 1 of 7 M-FWD Cooked data 190716_083851.cd M-FWD Gyroscope alignment correction fwd/result.ga M-FWD Gyroscope alignment accuracy fwd/result.gaa M-FWD Gyroscope bias correction fwd/result.gb M-FWD Gyroscope bias accuracy fwd/result.gba M-FWD Accelerometer bias correction fwd/result.ab M-FWD Accelerometer bias accuracy fwd/result.aba M-FWD GPS antenna position 190716_083851.gap fwd/result.gap M-FWD GPS antenna position accuracy 190716_083851.gpa fwd/result.gpa M-FWD Dual-antenna GPS attitude relative to IMU 190716_083851.att fwd/result.att M-FWD Dual-antenna GPS relative attitude accuracy 190716_083851.ata fwd/result.ata M-FWD Vehicle attitude relative to IMU 190716_083851.vat fwd/result.vat M-FWD Blended system accuracy output fwd/190716_083851.acy M-FWD Rotated blended system output fwd/190716_083851.rot M-FWD Rotated blended system accuracy output fwd/190716_083851.acr M-FWD System configuration 190716_083851.cfg M-FWD Output displacement vector 190716_083851.lva M-FWD NCOM output log fwd/190716_083851.ncom M-FWD Vehicle alignment accuracy 190716_083851.vaa fwd/result.vaa M-FWD Command log file fwd/190716_083851.qcf M-FWD MCOM output log fwd/190716_083851.mcom M-FWD OxTS multiplex fwd/190716_083851.xcom M-FWD Output fwd/190716_083851.prn M-FWD Optimal NCOM output fwd/190716_083851.opncom M-FWD Optimal MCOM output fwd/190716_083851.opmcom M-FWD Raw wheel speed counts fwd/190716_083851.wsc M-BWD Section 1 of 7 M-BWD Cooked data 190716_083851.cd M-BWD Gyroscope alignment correction bwd/result.ga M-BWD Gyroscope alignment accuracy bwd/result.gaa M-BWD Gyroscope bias correction bwd/result.gb M-BWD Gyroscope bias accuracy bwd/result.gba M-BWD Accelerometer bias correction bwd/result.ab M-BWD Accelerometer bias accuracy bwd/result.aba M-BWD GPS antenna position 190716_083851.gap bwd/result.gap M-BWD GPS antenna position accuracy 190716_083851.gpa bwd/result.gpa M-BWD Dual-antenna GPS attitude relative to IMU 190716_083851.att bwd/result.att M-BWD Dual-antenna GPS relative attitude accuracy 190716_083851.ata bwd/result.ata M-BWD Vehicle attitude relative to IMU 190716_083851.vat bwd/result.vat M-BWD Blended system accuracy output bwd/190716_083851.acy M-BWD Rotated blended system output bwd/190716_083851.rot M-BWD Rotated blended system accuracy output bwd/190716_083851.acr M-BWD System configuration 190716_083851.cfg M-BWD Output displacement vector 190716_083851.lva M-BWD NCOM output log bwd/190716_083851.ncom M-BWD Vehicle alignment accuracy 190716_083851.vaa bwd/result.vaa M-BWD Command log file bwd/190716_083851.qcf M-BWD MCOM output log bwd/190716_083851.mcom M-BWD OxTS multiplex bwd/190716_083851.xcom M-BWD Output bwd/190716_083851.prn M-BWD Optimal NCOM output bwd/190716_083851.opncom M-BWD Optimal MCOM output bwd/190716_083851.opmcom M-BWD Raw wheel speed counts bwd/190716_083851.wsc P-FWD 1/7 0.00 P-BWD 1/7 0.00 P-FWD 1/7 0.00 P-BWD 1/7 0.00 P-FWD 1/7 0.00 P-BWD 1/7 0.00 M-FWD Attempting to open 190716_083851.cd M-BWD Attempting to open 190716_083851.cd P-FWD 1/7 0.00 P-BWD 1/7 0.00 P-FWD 1/7 0.00 P-BWD 1/7 0.00 P-FWD 1/7 0.00 P-BWD 1/7 0.00 M-FWD Detected IMU6 IMU with B110 primary GPS and B110 secondary GPS M-FWD Section 2 of 7 M-FWD Ephemeris collection: System Initialisation M-BWD Detected IMU6 IMU with B110 primary GPS and B110 secondary GPS M-BWD Section 2 of 7 M-BWD Ephemeris collection: System Initialisation P-FWD 2/7 9.14 P-BWD 2/7 3.09 P-FWD 2/7 38.92 P-BWD 2/7 12.95 P-FWD 2/7 69.48 P-BWD 2/7 22.92 P-FWD 2/7 99.73 P-BWD 2/7 32.90 M-FWD Attempting to open 190716_083851.cd P-FWD 2/7 100.00 P-BWD 2/7 43.07 P-FWD 6/7 0.18 P-BWD 2/7 53.28 M-FWD Found 1 RINEX base station observations file M-FWD Station name: M-FWD File name: Base_Stations/Basesarboh1-20181012-mala-trna.19O M-FWD Lat/Lon/Alt: 48.889596673, 21.316264805, 366.480 M-FWD ----------------------------- M-FWD Section 3 of 7 M-FWD Section 4 of 7 M-FWD Section 5 of 7 M-FWD Section 6 of 7 P-FWD 6/7 0.18 P-BWD 2/7 63.46 P-FWD 6/7 0.23 P-BWD 2/7 73.62 P-FWD 6/7 8.15 P-BWD 2/7 83.46 P-FWD 6/7 15.67 P-BWD 2/7 93.31 M-BWD Attempting to open 190716_083851.cd P-FWD 6/7 23.26 P-BWD 2/7 100.00 M-FWD Using GPS heading for initialisation M-FWD 631.8 seconds of data were skipped before successful initialisation P-FWD 6/7 27.96 P-BWD 2/7 100.00 M-BWD Found 1 RINEX base station observations file M-BWD Station name: M-BWD File name: Base_Stations/Basesarboh1-20181012-mala-trna.19O M-BWD Lat/Lon/Alt: 48.889596673, 21.316264805, 366.480 M-BWD ----------------------------- M-BWD Section 3 of 7 M-BWD Section 4 of 7 M-BWD Section 5 of 7 M-BWD Section 6 of 7 P-FWD 6/7 30.47 P-BWD 6/7 0.11 P-FWD 6/7 33.33 P-BWD 6/7 0.11 M-BWD ----------------------------- M-BWD Station name: M-BWD GPS Time seconds: 202614.500 M-BWD Lat/Lon/Alt: 48.889596673, 21.316264805, 366.480 M-BWD ----------------------------- P-FWD 6/7 36.03 P-BWD 6/7 2.05 P-FWD 6/7 38.35 P-BWD 6/7 7.12 P-FWD 6/7 40.77 P-BWD 6/7 12.05 P-FWD 6/7 43.02 P-BWD 6/7 17.01 M-BWD Using forward heading for initialisation M-BWD 446.0 seconds of data were skipped before successful initialisation P-FWD 6/7 45.31 P-BWD 6/7 20.49 P-FWD 6/7 48.20 P-BWD 6/7 22.77 P-FWD 6/7 51.20 P-BWD 6/7 25.10 P-FWD 6/7 54.19 P-BWD 6/7 27.36 P-FWD 6/7 57.05 P-BWD 6/7 29.69 P-FWD 6/7 59.72 P-BWD 6/7 32.07 P-FWD 6/7 62.38 P-BWD 6/7 34.37 P-FWD 6/7 64.22 P-BWD 6/7 36.69 P-FWD 6/7 65.81 P-BWD 6/7 39.04 P-FWD 6/7 67.89 P-BWD 6/7 41.28 P-FWD 6/7 70.78 P-BWD 6/7 43.68 P-FWD 6/7 73.43 P-BWD 6/7 46.06 P-FWD 6/7 76.05 P-BWD 6/7 48.48 P-FWD 6/7 78.51 P-BWD 6/7 50.86 P-FWD 6/7 81.02 P-BWD 6/7 53.26 P-FWD 6/7 83.52 P-BWD 6/7 55.63 P-FWD 6/7 86.10 P-BWD 6/7 57.95 P-FWD 6/7 88.64 P-BWD 6/7 60.25 P-FWD 6/7 91.16 P-BWD 6/7 62.56 P-FWD 6/7 93.78 P-BWD 6/7 64.93 P-FWD 6/7 96.38 P-BWD 6/7 67.33 P-FWD 6/7 98.98 P-BWD 6/7 69.69 M-FWD Section 7 of 7 P-FWD 7/7 0.00 P-BWD 6/7 71.90 P-FWD 7/7 100.00 P-BWD 6/7 74.09 P-FWD 7/7 100.00 P-BWD 6/7 76.34 P-FWD 7/7 100.00 P-BWD 6/7 78.52 P-FWD 7/7 100.00 P-BWD 6/7 80.78 P-FWD 7/7 100.00 P-BWD 6/7 83.01 P-FWD 7/7 100.00 P-BWD 6/7 85.27 P-FWD 7/7 100.00 P-BWD 6/7 87.44 P-FWD 7/7 100.00 P-BWD 6/7 89.68 P-FWD 7/7 100.00 P-BWD 6/7 91.94 P-FWD 7/7 100.00 P-BWD 6/7 94.21 P-FWD 7/7 100.00 P-BWD 6/7 96.40 P-FWD 7/7 100.00 P-BWD 6/7 98.68 M-BWD Section 7 of 7 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 0.00 P-FWD 7/7 100.00 P-BWD 7/7 100.00 M-COMB Section 1 of 2 M-COMB XCOM combine start P-COMB 1/2 0.00 P-COMB 1/2 6.82 P-COMB 1/2 13.46 P-COMB 1/2 20.11 P-COMB 1/2 26.59 P-COMB 1/2 31.53 P-COMB 1/2 35.79 P-COMB 1/2 40.22 P-COMB 1/2 44.65 P-COMB 1/2 49.08 P-COMB 1/2 53.68 P-COMB 1/2 58.28 P-COMB 1/2 62.71 P-COMB 1/2 67.15 P-COMB 1/2 71.75 P-COMB 1/2 76.35 P-COMB 1/2 80.78 P-COMB 1/2 87.25 P-COMB 1/2 93.90 P-COMB 1/2 100.00 M-COMB XCOM combine done M-COMB Section 2 of 2 M-COMB NCOM combine start P-COMB 2/2 0.00 P-COMB 2/2 5.62 P-COMB 2/2 11.30 P-COMB 2/2 16.98 P-COMB 2/2 22.65 P-COMB 2/2 27.97 P-COMB 2/2 31.77 P-COMB 2/2 35.56 P-COMB 2/2 39.36 P-COMB 2/2 43.19 P-COMB 2/2 47.00 P-COMB 2/2 50.82 P-COMB 2/2 54.66 P-COMB 2/2 58.49 P-COMB 2/2 62.33 P-COMB 2/2 66.19 P-COMB 2/2 70.05 P-COMB 2/2 73.90 P-COMB 2/2 77.74 P-COMB 2/2 82.02 P-COMB 2/2 87.64 P-COMB 2/2 93.33 P-COMB 2/2 99.06 P-COMB 2/2 100.00 M-COMB NCOM combine done M-FOOT Finished