1252 lines
24 KiB
HTML
1252 lines
24 KiB
HTML
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<!doctype html public "-//w3c//dtd html 4.0 transitional//en">
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<html>
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<head>
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<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
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<title>Trimble Palisade Receiver</title>
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</head>
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<body text="#000000" bgcolor="#FFFFFF" link="#0000FF" vlink="#800080" alink="#FF0000">
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<h1>
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<font size=+2>Trimble Palisade Receiver</font>
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<hr></h1>
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<h2>
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<font size=+1>Synopsis</font></h2>
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<table>
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<tr>
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<td>
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<div align=right><tt>Address: </tt></div>
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</td>
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<td><b>127.127.29.<i>u</i></b></td>
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</tr>
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<tr>
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<td>
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<div align=right><tt>Reference ID:</tt></div>
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</td>
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<td><a NAME="REFID"></a><b>GPS</b></td>
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</tr>
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<tr>
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<td>
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<div align=right><tt>Driver ID:</tt></div>
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</td>
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<td><b>GPS_PALISADE</b></td>
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</tr>
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<tr>
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<td>
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<div align=right><tt>Serial Port:</tt></div>
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</td>
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<td><b>/dev/palisade<i>u</i></b></td>
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</tr>
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<tr>
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<td>
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<div align=right><tt><font size=+1>Serial I/O:</font></tt></div>
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</td>
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<td><b>9600 baud, 8-bits, 1-stop, odd parity</b></td>
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</tr>
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</table>
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<h2>
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<font size=+1>Description</font></h2>
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The <b>refclock_palisade</b> driver supports <a href="http://www.trimble.com/products/ntp">Trimble
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Navigation's Palisade Smart Antenna GPS receiver</a>.
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<br>Additional software and information about the Palisade GPS is available
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from: <a href="http://www.trimble.com/oem/ntp">http://www.trimble.com/oem/ntp</a>.
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<br>Latest NTP driver source, executables and documentation is maintained
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at:
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<a href="ftp://ftp.trimble.com/pub/ntp">ftp://ftp.trimble.com/pub/ntp</a>
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<p>This documentation describes version 7.12 of the GPS Firmware and version
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2.46 (July 15, 1999) and later, of the driver source.
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<br>
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<h2>
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<font size=+1>Operating System Compatibility</font></h2>
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The Palisade driver has been tested on the following software and hardware
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platforms:
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<br>
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<center><table>
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<tr>
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<td VALIGN=CENTER WIDTH="23%">Platform</td>
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<td VALIGN=CENTER>Operating System</td>
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<td>NTP Sources</td>
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<td>Accuracy</td>
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</tr>
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<tr>
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<td VALIGN=CENTER WIDTH="23%">i386 (PC) </td>
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<td VALIGN=CENTER>Linux</td>
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<td>NTP Distribution</td>
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<td>10 us</td>
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</tr>
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<tr>
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<td>i386 (PC) </td>
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<td>Windows NT</td>
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<td><a href="ftp://ftp.trimble.com/pub/ntp">ftp://ftp.trimble.com/pub/ntp</a></td>
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<td>1 ms</td>
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</tr>
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<tr>
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<td VALIGN=CENTER WIDTH="23%">SUN</td>
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<td VALIGN=CENTER>Solaris 2.x</td>
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<td>NTP Distribution</td>
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<td>50 us</td>
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</tr>
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<tr>
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<td VALIGN=CENTER WIDTH="23%">Hewlett-Packard</td>
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<td VALIGN=CENTER>HPUX 9, 10, 11</td>
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<td><a href="http://us-support.external.hp.com">http://us-support.external.hp.com</a></td>
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<td>50 us</td>
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</tr>
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<tr>
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<td>Various</td>
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<td>Free BSD</td>
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<td>NTP Distribution</td>
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<td>20 us</td>
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</tr>
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</table></center>
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<h2>
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<font size=+1>GPS Receiver</font></h2>
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The Palisade GPS receiver is an 8-channel smart antenna, housing the GPS
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receiver, antenna and interface in a single unit, and is designed for rooftop
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deployment in static timing applications.
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<p>Palisade generates a PPS synchronized to UTC within +/- 100 ns.
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The Palisade's external event input with 40 nanosecond resolution is utilized
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by the Palisade NTP driver for asynchronous precision time transfer.
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<p>No user initialization of the receiver is required. This driver is compatible
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with the following versions of Palisade:
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<br>
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<center><table>
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<tr>
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<td VALIGN=CENTER>
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<center>Version</center>
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</td>
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<td VALIGN=TOP>
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<center>Event Input</center>
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</td>
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<td VALIGN=CENTER>
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<center>Trimble Part Number</center>
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</td>
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</tr>
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<tr>
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<td VALIGN=CENTER>
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<center>7.02</center>
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</td>
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<td VALIGN=TOP>
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<center>No</center>
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</td>
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<td VALIGN=CENTER>
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<center>26664-00</center>
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</td>
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</tr>
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<tr>
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<td ALIGN=CENTER VALIGN=CENTER>
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<center>7.02E</center>
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</td>
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<td VALIGN=TOP>
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<center>Yes</center>
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</td>
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<td VALIGN=CENTER>
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<center>26664-10</center>
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</td>
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</tr>
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<tr>
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<td VALIGN=CENTER>
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<center>7.12</center>
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</td>
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<td VALIGN=TOP>
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<center>Yes</center>
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</td>
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<td VALIGN=CENTER>
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<center>38158-00</center>
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</td>
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</tr>
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</table></center>
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<dl>
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<dl>Note: When using Palisade 26664-00, you must set fudge flag2 to 1 in
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<b>ntp.conf</b>.
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See <a href="#Configuration">configuration</a>.</dl>
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<dl>
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<h3>
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<font size=+1>GPS <a NAME="Installation"></a>Installation</font></h3>
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A location with unobstructed view of the horizon is recommended. Palisade
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is designed to be securely mounted atop standard 3/4 inch threaded pipe.
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<p>The 12 conductor (dia. 10 mm) power and I/O cable must be routed
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from the rooftop site to the NTP server and properly strain relieved.
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<h3>
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<font size=+1>GPS <a NAME="Connection"></a>Connection</font></h3>
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The Palisade is equipped with dual (A & B) RS-422 serial interfaces
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and a differential TTL PPS output. An RS-232 / RS-422 Interface Module
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is supplied with the Palisade NTP Synchronization Kit. Palisade <a href="#PortA">port
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A</a> must be connected to the NTP host server. Maximum antenna cable length
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is 500 meters. See the <a href="#Pinouts">pinouts</a> table for detailed
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connection Information.
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<p>Palisade's <a href="#PortB">port B</a> provides a TSIP (Trimble Standard
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Interface Protocol) interface for diagnostics, configuration, and monitoring.
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Port B and the PPS output are not currently used by the Palisade NTP reference
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clock driver.
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<br> </dl>
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</dl>
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<h2>
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<font size=+1>O/S Serial Port Configuration</font></h2>
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The driver attempts to open the device <b><tt><a href="#REFID">/dev/palisade<i>u</i></a></tt></b>
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where
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<b><i>u</i></b> is the NTP refclock unit number as defined by the
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LSB of the refclock address. Valid refclock unit numbers are 0 -
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3.
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<p>The user is expected to provide a symbolic link to an available serial
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port device. This is typically performed by a command such as:
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<blockquote><tt>ln -s /dev/ttyS0 /dev/palisade0</tt></blockquote>
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Windows NT does not support symbolic links to device files. COM<b>x</b>:
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is used by the driver, based on the refclock unit number, where unit 1
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corresponds to COM<b>1</b>: and unit 3 corresponds to COM3:
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<br>
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<h2>
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<a NAME="Configuration"></a><font size=+1>NTP Configuration</font></h2>
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Palisade NTP configuration file <b><tt>"ntp.conf"</tt></b> with event polling:
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<br><tt>#------------------------------------------------------------------------------</tt>
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<br><tt># The Primary reference</tt>
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<br><tt>server 127.127.29.0 # Trimble Palisade GPS Refclock Unit #0</tt>
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<br><tt>peer terrapin.csc.ncsu.edu # internet server</tt>
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<br><tt># Drift file for expedient re-synchronization after downtime or
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reboot.</tt>
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<br><tt>driftfile /etc/ntp.drift</tt>
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<br><tt>#------------------------------------------------------------------------------</tt>
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<p>Configuration without event polling:
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<br><tt>#------------------------------------------------------------------------------</tt>
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<br><tt># The Primary reference</tt>
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<br><tt>server 127.127.29.0 # Trimble Palisade GPS (Stratum 1).</tt>
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<br><tt># Set packet delay</tt>
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<br><tt><a href="#time1">fudge 127.127.29.0 time1 0.020</a></tt>
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<br><tt># and set flag2 to turn off event polling.</tt>
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<br><tt><a href="#flag2">fudge 127.127.29.0 flag2 1</a></tt>
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<br><tt>#------------------------------------------------------------------------------</tt>
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<br>
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<h2>
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<a NAME="TimeTransfer"></a><font size=+1>Time Transfer and Polling</font></h2>
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Time transfer to the NTP host is performed via the Palisade's comprehensive
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time packet output. The time packets are output once per second, and whenever
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an event timestamp is requested.
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<p>The driver requests an event time stamp at the end of each polling interval,
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by pulsing the RTS (request to send) line on the serial port. The Palisade
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GPS responds with a time stamped event packet.
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<p>Time stamps are reported by the Palisade with respect to UTC time. The
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GPS receiver must download UTC offset information from GPS satellites.
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After an initial UTC download, the receiver will always start with correct
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UTC offset information.
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<br>
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<h2>
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<font size=+1>Run NTP in Debugging Mode</font></h2>
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The following procedure is recommended for installing and testing a Palisade
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NTP driver:
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<ol>
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<li>
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Perform initial checkout procedures. Place the GPS receiver outdoors; with
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clear view of the sky. Allow the receiver to obtain an UTC almanac.</li>
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<li>
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Verify presence of timing packets by observing the 1 Hz (PPS) led on the
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interface module. It should flash once per second.</li>
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<li>
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Connect Palisade's port A to the NTP host.</li>
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<li>
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Configure NTP and the serial I/O port on the host system.</li>
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<li>
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Initially use <tt><a href="#flag2">fudge flag2</a></tt> in <b><a href="#Configuration">ntp.conf</a>,</b>
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to disable event polling (see configuration).</li>
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<li>
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Run NTP in debug mode (-d -d), to observe Palisade_receive events.</li>
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<li>
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The driver reports the <a href="#TrackingStatus">tracking status of the
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receiver</a>. Make sure it is tracking several satellites.</li>
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<li>
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Remove fudge flag2 and restart <b>ntpd</b> in debug mode to observe palisade_receive
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events.</li>
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<li>
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If event polling fails, verify the <a href="#Pinouts">connections</a> and
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that the host hardware supports RTS control.</li>
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</ol>
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<h2>
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<font size=+1>Event Logging</font></h2>
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System and Event log entries are generated by NTP to report significant
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system events. Administrators should monitor the system log to observe
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NTP error messages. Log entries generated by the Palisade NTP reference
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clock driver will be of the form:
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<blockquote>
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<pre>Nov 14 16:16:21 terrapin ntpd[1127]: Palisade #0: <i>message</i></pre>
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</blockquote>
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<h2>
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<font size=+1>Fudge Factors</font></h2>
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<dl>
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<dt>
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<a NAME="time1"></a><tt><font size=+1><a href="#Configuration">time1 <i>time</i></a></font></tt></dt>
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<dd>
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Specifies the time offset calibration factor, in seconds and fraction,
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with default 0.0. If event capture is not used, time1 should be set to
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20 milliseconds to correct serial line and operating system delays incurred
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in capturing time stamps from the synchronous packets.</dd>
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<dt>
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<tt><font size=+1>stratum <i>number</i></font></tt></dt>
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<dd>
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Specifies the driver stratum, in decimal from 0 to 15, with default 0.</dd>
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<dt>
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<tt><font size=+1><a href="#REFID">refid <i>string</i></a></font></tt></dt>
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<dd>
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Specifies the driver reference identifier, <b>GPS</b>.</dd>
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<dt>
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<a NAME="flag2"></a><tt><font size=+1><a href="#Configuration">flag2 0
|
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|
|
| 1</a></font></tt></dt>
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|
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<dd>
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When set to 1, driver does not use hardware event capture. The synchronous
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|
|
packet output by the receiver at the beginning of each second is time stamped
|
||
|
|
by the driver. If triggering the event pulse fails, the driver falls back
|
||
|
|
to this mode automatically.</dd>
|
||
|
|
</dl>
|
||
|
|
|
||
|
|
<h2>
|
||
|
|
<font size=+1>DEFINEs</font></h2>
|
||
|
|
The following constants are defined in the driver source code. These defines
|
||
|
|
may be modified to improve performance or adapt to new operating systems.
|
||
|
|
<br>
|
||
|
|
<center><table BORDER >
|
||
|
|
<tr>
|
||
|
|
<td><b>Label</b></td>
|
||
|
|
|
||
|
|
<td>Definition</td>
|
||
|
|
|
||
|
|
<td>Default Value</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>DEVICE</td>
|
||
|
|
|
||
|
|
<td>The serial port device to be used by the driver</td>
|
||
|
|
|
||
|
|
<td>/dev/palisade<b><i>u</i></b></td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>PRECISION</td>
|
||
|
|
|
||
|
|
<td>Accuracy of time transfer</td>
|
||
|
|
|
||
|
|
<td>1 microsecond</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>CURRENT_UTC</td>
|
||
|
|
|
||
|
|
<td>Valid GPS - UTC offset</td>
|
||
|
|
|
||
|
|
<td>13</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>SPEED232</td>
|
||
|
|
|
||
|
|
<td>Host RS-232 baud rate</td>
|
||
|
|
|
||
|
|
<td>B9600</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>TRMB_MINPOLL </td>
|
||
|
|
|
||
|
|
<td>Minimum polling interval</td>
|
||
|
|
|
||
|
|
<td>5 (32 seconds)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>TRMB_MAXPOLL</td>
|
||
|
|
|
||
|
|
<td>Maximum interval between polls</td>
|
||
|
|
|
||
|
|
<td>7 (128 seconds)</td>
|
||
|
|
</tr>
|
||
|
|
</table></center>
|
||
|
|
|
||
|
|
<h2>
|
||
|
|
<a NAME="DataFormat"></a><font size=+1>Data Format</font></h2>
|
||
|
|
Palisade port A can output two synchronous time packets. The NTP driver
|
||
|
|
can use either packet for synchronization. Packets are formatted as follows:
|
||
|
|
<h3>
|
||
|
|
<b><font size=+0>Packet 8F-AD (Primary NTP Packet)</font></b></h3>
|
||
|
|
|
||
|
|
<center><table>
|
||
|
|
<tr>
|
||
|
|
<td>Byte</td>
|
||
|
|
|
||
|
|
<td>Item</td>
|
||
|
|
|
||
|
|
<td>Type</td>
|
||
|
|
|
||
|
|
<td>Meaning</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>0</td>
|
||
|
|
|
||
|
|
<td>Sub-Packet ID</td>
|
||
|
|
|
||
|
|
<td>BYTE</td>
|
||
|
|
|
||
|
|
<td>Subcode 0xAD</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>1 - 2</td>
|
||
|
|
|
||
|
|
<td>Event Count</td>
|
||
|
|
|
||
|
|
<td>INTEGER</td>
|
||
|
|
|
||
|
|
<td>External event count recorded (0 = PPS)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>3 - 10</td>
|
||
|
|
|
||
|
|
<td>Fractional Second</td>
|
||
|
|
|
||
|
|
<td>DOUBLE</td>
|
||
|
|
|
||
|
|
<td>Time elapsed in current second (s)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>11</td>
|
||
|
|
|
||
|
|
<td>Hour</td>
|
||
|
|
|
||
|
|
<td>BYTE</td>
|
||
|
|
|
||
|
|
<td>Hour (0 - 23)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>12</td>
|
||
|
|
|
||
|
|
<td>Minute</td>
|
||
|
|
|
||
|
|
<td>BYTE</td>
|
||
|
|
|
||
|
|
<td>Minute (0 - 59)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>13</td>
|
||
|
|
|
||
|
|
<td>Second</td>
|
||
|
|
|
||
|
|
<td>BYTE</td>
|
||
|
|
|
||
|
|
<td>Second (0 - 59; 60 = leap)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>14</td>
|
||
|
|
|
||
|
|
<td>Day</td>
|
||
|
|
|
||
|
|
<td>BYTE</td>
|
||
|
|
|
||
|
|
<td>Date (1 - 31)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>15</td>
|
||
|
|
|
||
|
|
<td>Month</td>
|
||
|
|
|
||
|
|
<td>BYTE</td>
|
||
|
|
|
||
|
|
<td>Month (1 - 12)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>16 - 17</td>
|
||
|
|
|
||
|
|
<td>Year</td>
|
||
|
|
|
||
|
|
<td>INTEGER</td>
|
||
|
|
|
||
|
|
<td>Year (4 digit)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>18</td>
|
||
|
|
|
||
|
|
<td>Receiver Status</td>
|
||
|
|
|
||
|
|
<td>BYTE</td>
|
||
|
|
|
||
|
|
<td>Tracking Status</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>19</td>
|
||
|
|
|
||
|
|
<td>UTC Flags</td>
|
||
|
|
|
||
|
|
<td>BYTE</td>
|
||
|
|
|
||
|
|
<td>Leap Second Flags</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>20</td>
|
||
|
|
|
||
|
|
<td>Reserved</td>
|
||
|
|
|
||
|
|
<td>BYTE</td>
|
||
|
|
|
||
|
|
<td>Contains 0xFF</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>21</td>
|
||
|
|
|
||
|
|
<td>Reserved</td>
|
||
|
|
|
||
|
|
<td>BYTE</td>
|
||
|
|
|
||
|
|
<td>Contains 0xFF</td>
|
||
|
|
</tr>
|
||
|
|
</table></center>
|
||
|
|
|
||
|
|
<blockquote>
|
||
|
|
<h4>
|
||
|
|
Leap Second Flag Definition:</h4>
|
||
|
|
Bit 0: (1) UTC Time is available
|
||
|
|
<br>Bits 1 - 3: Undefined
|
||
|
|
<br>Bit 4: (1) Leap Scheduled: Leap second pending asserted by GPS
|
||
|
|
control segment.
|
||
|
|
<br>Bit 5: (1) Leap Pending: set 24 hours before, until beginning
|
||
|
|
of leap second.
|
||
|
|
<br>Bit 6: (1) GPS Leap Warning: 6 hours before until 6 hours after
|
||
|
|
leap event
|
||
|
|
<br>Bit 7: (1) Leap In Progress. Only set during the leap second.
|
||
|
|
<h4>
|
||
|
|
<a NAME="TrackingStatus"></a>Tracking Status Flag Definitions:</h4>
|
||
|
|
</blockquote>
|
||
|
|
|
||
|
|
<center><table BORDER=0 CELLSPACING=0 WIDTH="712" >
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">Code</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Meaning</td>
|
||
|
|
|
||
|
|
<td>Accuracy</td>
|
||
|
|
|
||
|
|
<td>Receiver Mode</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>0</td>
|
||
|
|
|
||
|
|
<td>Receiver is Navigating</td>
|
||
|
|
|
||
|
|
<td>+/- 1 us</td>
|
||
|
|
|
||
|
|
<td>Self Survey</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">1</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Static 1 Sat. Timing Mode </td>
|
||
|
|
|
||
|
|
<td>+/- 1 us</td>
|
||
|
|
|
||
|
|
<td>1-D Timing</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">2</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Approximate Time</td>
|
||
|
|
|
||
|
|
<td>20 - 50 ms</td>
|
||
|
|
|
||
|
|
<td>Acquisition</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">3</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Startup</td>
|
||
|
|
|
||
|
|
<td>N/A</td>
|
||
|
|
|
||
|
|
<td>Initialization</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">4</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Startup</td>
|
||
|
|
|
||
|
|
<td>N/A</td>
|
||
|
|
|
||
|
|
<td>Initialization</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">5</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Dilution of Position too High </td>
|
||
|
|
|
||
|
|
<td>5 ppm</td>
|
||
|
|
|
||
|
|
<td>Self Survey</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">6</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Static 1 Sat. Timing: Sat. not usable</td>
|
||
|
|
|
||
|
|
<td>5 ppm</td>
|
||
|
|
|
||
|
|
<td>1-D Timing</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">7</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">No Satellites Usable</td>
|
||
|
|
|
||
|
|
<td>N/A</td>
|
||
|
|
|
||
|
|
<td>Self Survey</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">8</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Only 1 Satellite Usable</td>
|
||
|
|
|
||
|
|
<td>20 - 50 ms</td>
|
||
|
|
|
||
|
|
<td>Self Survey</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">9</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Only 2 Satellite Usable</td>
|
||
|
|
|
||
|
|
<td>20 - 50 ms</td>
|
||
|
|
|
||
|
|
<td>Self Survey</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">10</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Only 3 Satellites Usable</td>
|
||
|
|
|
||
|
|
<td>20 - 50 ms</td>
|
||
|
|
|
||
|
|
<td>Self Survey</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">11</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Invalid Solution</td>
|
||
|
|
|
||
|
|
<td>N/A</td>
|
||
|
|
|
||
|
|
<td>Error</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">12</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Differential Corrections </td>
|
||
|
|
|
||
|
|
<td>N/A</td>
|
||
|
|
|
||
|
|
<td>N/A</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="5%">13</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="59%">Overdetermined Fixes</td>
|
||
|
|
|
||
|
|
<td>+/- 100 ns</td>
|
||
|
|
|
||
|
|
<td>Timing Steady State</td>
|
||
|
|
</tr>
|
||
|
|
</table></center>
|
||
|
|
|
||
|
|
<h3>
|
||
|
|
<b><font size=+0>Packet 8F-0B (Comprehensive Timing Packet)</font></b></h3>
|
||
|
|
|
||
|
|
<center><table BORDER=0 CELLSPACING=0 >
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">Byte</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">Item</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">Type</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">Meaning</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">0</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">Sub-Packet ID</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">BYTE</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">Subcode 0x0B</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=TOP WIDTH="9%">1 - 2</td>
|
||
|
|
|
||
|
|
<td VALIGN=TOP WIDTH="27%">Event Count</td>
|
||
|
|
|
||
|
|
<td VALIGN=TOP WIDTH="16%">INTEGER</td>
|
||
|
|
|
||
|
|
<td VALIGN=TOP WIDTH="48%">External event count recorded (0 = PPS)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=TOP WIDTH="9%">3 - 10</td>
|
||
|
|
|
||
|
|
<td VALIGN=TOP WIDTH="27%">UTC / GPS TOW</td>
|
||
|
|
|
||
|
|
<td VALIGN=TOP WIDTH="16%">DOUBLE</td>
|
||
|
|
|
||
|
|
<td VALIGN=TOP WIDTH="48%">UTC / GPS time of week (seconds)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">11</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">Date</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">BYTE</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">Day of Month</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">12</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">Month</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">BYTE</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">Month of Event</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">13 - 14</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">Year</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">INT</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">Year of event</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=TOP WIDTH="9%">15</td>
|
||
|
|
|
||
|
|
<td VALIGN=TOP WIDTH="27%">Receiver Mode</td>
|
||
|
|
|
||
|
|
<td VALIGN=TOP WIDTH="16%">BYTE</td>
|
||
|
|
|
||
|
|
<td VALIGN=TOP WIDTH="48%">Receiver operating dimensions:
|
||
|
|
<br>0: Horizontal (2D)
|
||
|
|
<br>1: Full Position (3D)
|
||
|
|
<br>2: Single Satellite (0D)
|
||
|
|
<br>3: Automatic (2D / 3D)
|
||
|
|
<br>4: DGPS reference
|
||
|
|
<br>5: Clock hold (2D)
|
||
|
|
<br>6: Over determined Clock</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">15 - 17</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">UTC Offset</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">INTEGER</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">UTC Offset value (seconds)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">18 - 25</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">Oscillator Bias</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">DOUBLE</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">Oscillator BIAS (meters)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=TOP WIDTH="9%">26 - 33</td>
|
||
|
|
|
||
|
|
<td VALIGN=TOP WIDTH="27%">Oscillator Drift Rate</td>
|
||
|
|
|
||
|
|
<td VALIGN=TOP WIDTH="16%">DOUBLE</td>
|
||
|
|
|
||
|
|
<td VALIGN=TOP WIDTH="48%">Oscillator Drift (meters / second)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">34 - 37</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">Bias Uncertainty</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">SINGLE</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">Oscillator bias uncertainty (meters)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">38 - 41</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">Drift Uncertainty</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">SINGLE</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">Oscillator bias rate uncertainty (m / sec)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">42 - 49</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">Latitude</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">DOUBLE</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">Latitude in radians</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">50 - 57</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">Longitude</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">DOUBLE</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">Longitude in radians</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">58 - 65</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">Altitude</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">DOUBLE</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">Altitude above mean sea level, in meters</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="9%">66 - 73</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="27%">Satellite ID</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">BYTE</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="48%">SV Id No. of tracked satellites</td>
|
||
|
|
</tr>
|
||
|
|
</table></center>
|
||
|
|
|
||
|
|
<h2>
|
||
|
|
<a NAME="Pinouts"></a><font size=+1>Pinouts</font></h2>
|
||
|
|
<a href="#Connection">The following connections are required when connecting
|
||
|
|
Palisade with a host:</a>
|
||
|
|
<br>
|
||
|
|
<br>
|
||
|
|
<center><table>
|
||
|
|
<tr>
|
||
|
|
<td><u>Description</u></td>
|
||
|
|
|
||
|
|
<td><b>Host</b></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td><b>Palisade </b></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td><a NAME="PortA"></a><b>Port A</b></td>
|
||
|
|
|
||
|
|
<td><u>DB-9</u></td>
|
||
|
|
|
||
|
|
<td><u>DB-25</u></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td><u>RS-232</u></td>
|
||
|
|
|
||
|
|
<td><u>RS-422</u></td>
|
||
|
|
|
||
|
|
<td><u>Palisade Pin</u></td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>Receive Data </td>
|
||
|
|
|
||
|
|
<td>2</td>
|
||
|
|
|
||
|
|
<td>3</td>
|
||
|
|
|
||
|
|
<td><--></td>
|
||
|
|
|
||
|
|
<td>Green</td>
|
||
|
|
|
||
|
|
<td>Green / Blue</td>
|
||
|
|
|
||
|
|
<td>8 (T-) & 10 (T+)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>Request to Send</td>
|
||
|
|
|
||
|
|
<td>7</td>
|
||
|
|
|
||
|
|
<td>4</td>
|
||
|
|
|
||
|
|
<td><--></td>
|
||
|
|
|
||
|
|
<td>Gray</td>
|
||
|
|
|
||
|
|
<td>Gray / White</td>
|
||
|
|
|
||
|
|
<td>6 (R-) & 7 (R+)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>Signal Ground</td>
|
||
|
|
|
||
|
|
<td>5</td>
|
||
|
|
|
||
|
|
<td>7</td>
|
||
|
|
|
||
|
|
<td><--></td>
|
||
|
|
|
||
|
|
<td>Black</td>
|
||
|
|
|
||
|
|
<td>Black</td>
|
||
|
|
|
||
|
|
<td>9 (GND)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td><a NAME="PortB"></a><b>Port B</b></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
|
||
|
|
<td></td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>Receive Data </td>
|
||
|
|
|
||
|
|
<td>2</td>
|
||
|
|
|
||
|
|
<td>3</td>
|
||
|
|
|
||
|
|
<td><--></td>
|
||
|
|
|
||
|
|
<td>Brown</td>
|
||
|
|
|
||
|
|
<td>Brown / Yellow</td>
|
||
|
|
|
||
|
|
<td>4 (T-) & 5 (T+)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>Transmit Data</td>
|
||
|
|
|
||
|
|
<td>3</td>
|
||
|
|
|
||
|
|
<td>2</td>
|
||
|
|
|
||
|
|
<td><--></td>
|
||
|
|
|
||
|
|
<td>Violet</td>
|
||
|
|
|
||
|
|
<td>Orange/ Violet</td>
|
||
|
|
|
||
|
|
<td>2 (R-) & 3 (R+)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td>Signal Ground</td>
|
||
|
|
|
||
|
|
<td>5</td>
|
||
|
|
|
||
|
|
<td>7</td>
|
||
|
|
|
||
|
|
<td><--></td>
|
||
|
|
|
||
|
|
<td>Black</td>
|
||
|
|
|
||
|
|
<td>Black</td>
|
||
|
|
|
||
|
|
<td>9 (GND)</td>
|
||
|
|
</tr>
|
||
|
|
</table></center>
|
||
|
|
|
||
|
|
<blockquote>Note: If driving the RS-422 inputs on the Palisade single ended,
|
||
|
|
i.e. using the Green and Gray connections only, does not work on all serial
|
||
|
|
ports. Use of the Palisade NTP Synchronization Interface Module is recommended.</blockquote>
|
||
|
|
|
||
|
|
<blockquote>The 12 pin connector pinout definition:
|
||
|
|
<br>Face the round 12 pin connector at the end of the cable, with the notch
|
||
|
|
turned upwards.
|
||
|
|
<br>Pin 1 is to the left of the notch. Pins 2 - 8 wrap around the bottom,
|
||
|
|
counterclockwise to pin 9 on the right of the notch. Pin 10 is just below
|
||
|
|
the notch. Pins 10 (top), 11 (bottom left) and 12 (bottom right) form a
|
||
|
|
triangle in the center of the connector.</blockquote>
|
||
|
|
|
||
|
|
<blockquote><a NAME="SIM"></a>Pinouts for the Palisade NTP host adapter
|
||
|
|
(Trimble PN 37070) DB-25 M connector are as follows:</blockquote>
|
||
|
|
|
||
|
|
<center><table BORDER=0 CELLSPACING=0 WIDTH="682" >
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">DB-25M</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">Conductor </td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">Palisade</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">Description</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">1 </td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">Red</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">1</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">Power</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">7 </td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">Black</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">9</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">Ground</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">9</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">Black/White</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">12</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">PPS -</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">10 </td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">Green</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">8</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">Transmit Port A (T-)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">11 </td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">Brown</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">4</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">Transmit Port B (T-)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">12 </td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">Gray</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">7</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">Receive Port A (R+)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">13</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">Orange</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">3</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">Receive Port B (R+)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">21</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">Orange/White</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">11</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">PPS +</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">22</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">Blue</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">10</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">Transmit Port A (T+)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">23</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">Yellow</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">5</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">Transmit Port B (T+)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">24</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">White</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">6</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">Receive Port A (R-)</td>
|
||
|
|
</tr>
|
||
|
|
|
||
|
|
<tr>
|
||
|
|
<td VALIGN=CENTER WIDTH="12%">25</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="31%">Violet</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="16%">2</td>
|
||
|
|
|
||
|
|
<td VALIGN=CENTER WIDTH="41%">Receive Port B (R-)</td>
|
||
|
|
</tr>
|
||
|
|
</table></center>
|
||
|
|
|
||
|
|
<p>
|
||
|
|
<hr>
|
||
|
|
<p>Questions or Comments:
|
||
|
|
<br><a href="mailto:sven_dietrich@trimble.com">Sven Dietrich</a>
|
||
|
|
<br><a href="http://www.trimble.com/">Trimble Navigation Ltd.</a>
|
||
|
|
<p>(last updated July 29, 1999)
|
||
|
|
<br>
|
||
|
|
</body>
|
||
|
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</html>
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