RS2 Output rate change mid collection

Hi Folks,

Some strange things happened during data collection for me, things that I have not experienced with the Emlid products before. not sure if they are related. I’m not running RTK, will PPK at a later date.

Shortly after starting up, about 2 minutes, both the logs from my roving RS2 decided to switch to 1 Hz data collection after starting on 5Hz, this is clear in the LLH and obs. 1 Hz for the rest of the data collection period (about 6 hours, which I will likely have to do again). This occurred after a delay of 2 seconds of no data in the LLH, but 11 seconds of missing data in the OBS. Looks like E, C and J constellations all drop out during this change (not great behavior but why would the unit decide to just switch update rate?). Have pasted the transition described in the obs file below this message, and a couple of LLH lines as well. This is a new thing for me and one that will cause all kinds of trouble.

Now, I do not know if this is related in anyway, and could be a separate issue: I TCP nmea massage’s to some 3rd party nav software (opencpn). During sharp turns or abrupt changes in heading the nav software looses location/heading. My first thought was that this is the 3rd party software not being able to process these changes, but when I check the LLH directly output from the RS2 the data points during those turns/changes are completely missing, double checked in the saved NMEA messages and not there either, so issue at the RS2 end not the 3rd party nav app.

Location is open water so lots of clear sky.
Simple report provided below the Rinex snippet

LLH:
2021/04/01 19:24:19.000 -16.814614347 -179.784264953 55.1466 5 26 0.1300 0.1300 0.3800 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:19.200 -16.814614255 -179.784266495 55.0745 5 26 0.1300 0.1300 0.3800 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:19.400 -16.814614135 -179.784267583 55.0373 5 26 0.1300 0.1300 0.3800 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:19.600 -16.814613825 -179.784268270 55.0230 5 26 0.1300 0.1300 0.3800 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:19.800 -16.814613426 -179.784268615 55.0783 5 26 0.1300 0.1300 0.3800 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:20.000 -16.814613169 -179.784268877 55.1936 5 26 0.1300 0.1300 0.3800 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:20.200 -16.814613182 -179.784269205 55.3257 5 26 0.1300 0.1300 0.3800 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:20.400 -16.814613591 -179.784269611 55.4833 5 26 0.1300 0.1300 0.3800 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:20.600 -16.814614230 -179.784270047 55.5878 5 26 0.1300 0.1300 0.3800 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:20.800 -16.814614860 -179.784270472 55.5887 5 26 0.1300 0.1300 0.3800 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:21.000 -16.814614728 -179.784270924 55.4908 5 24 0.1300 0.1300 0.3800 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:23.000 -16.814605149 -179.784287438 55.8089 5 20 13.0000 13.0000 27.0000 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:24.000 -16.814611217 -179.784286817 53.7793 5 20 4.9000 4.7000 10.0000 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:25.000 -16.814610242 -179.784286998 53.6361 5 20 2.8000 2.6000 5.9000 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:26.000 -16.814609924 -179.784291716 56.7530 5 20 2.0000 1.9000 4.0000 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:27.000 -16.814611141 -179.784294802 56.1557 5 20 1.6000 1.5000 3.2000 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:28.000 -16.814612516 -179.784301327 55.7163 5 20 1.4000 1.3000 2.7000 0.0000 0.0000 0.0000 0.00 0.0
2021/04/01 19:24:29.000 -16.814613769 -179.784305418 55.5591 5 20 1.2000 1.1000 2.4000 0.0000 0.0000 0.0000 0.00 0.0

Rinex:

2021 4 1 19 24 20.9890000 0 45
G 2 18441380.520 1 96910105.783 2 -2121.697 47.000
G 5 17040181.573 1 89546757.030 1 -983.982 48.000 17040173.609 1 69776665.228 2 -766.570 42.000
G 6 20789465.339 1 109249373.236 2 -2832.758 40.000 20789462.129 1 85129371.137 4 -2206.810 38.000
G12 17441850.476 1 91657541.539 1 -933.496 47.000 17441842.917 1 71421424.777 3 -727.747 39.000
G13 20121126.148 1 105737228.154 3 1095.501 40.000
G15 20850005.407 1 109567514.897 2 1598.085 36.000 20849999.496 2 85377262.130 4 1244.056 31.000
G17 21741196.202 1 114250750.726 2 -3660.094 41.000 21741192.784 2 -2852.923 29.000
G19 19788857.391 1 103991146.598 2 -2513.244 42.000
G20 21806708.426 1 114595015.496 4 2132.225 35.000
G24 21346422.867 1 112176203.717 4 -2130.104 37.000 21346418.618 2 87410019.486 4 -1659.376 32.000
G25 19732835.154 1 103696743.778 2 1141.740 43.000 19732830.473 1 80802639.810 3 889.357 38.000
G29 22172329.602 1 116516378.545 2 1540.084 42.000 22172324.017 4 7 1199.431 30.000
R 2 16700494.297 4 89117036.010 1 -2149.308 51.000 16700491.472 4 69313237.622 2 -1671.574 44.000
R 3 16897001.774 4 90450973.550 1 1751.720 50.000 16896995.282 4 70350730.994 2 1360.338 39.000
R 4 20531130.567 4 109943267.479 2 3149.396 40.000 20531125.818 4 85511407.823 3 2449.762 36.000
R14 19685862.925 4 104936723.341 2 -4623.995 41.000 19685862.661 4 81617449.831 2 -3595.698 38.000
R15 18246185.774 4 97502083.952 3 -3127.554 47.000 18246182.689 4 75834938.462 2 -2431.727 44.000
R16 20033426.169 4 107014964.424 3 -93.046 41.000 20033423.297 4 83233850.416 3 -71.969 36.000
R17 18149752.668 4 97122990.073 2 -534.191 49.000 18149746.896 4 75540082.929 2 -415.132 40.000
R18 19655786.108 4 81607532.542 2 232.655 39.000
R24 19680334.104 4 105239588.431 2 -1878.503 47.000 19680330.959 4 81852988.360 3 -1461.503 37.000
E 1 21423966.331 1 112583700.992 2 -2798.597 45.000 21423962.372 1 86265420.034 3 -2146.007 42.000
E 7 22971208.570 1 120714515.431 2 -1766.144 43.000 22971206.328 1 92495528.487 3 -1352.756 39.000
E12 23195407.741 2 121892696.084 5 -397.799 33.000 23195402.384 1 93398275.363 5 -303.772 33.000
E13 25141201.369 2 132117898.429 5 -2004.525 28.000 25141200.039 1 101233193.909 2 -1534.820 38.000
E14 26402004.230 1 138743468.629 2 -1814.656 39.000
E18 22781984.216 1 119720125.904 3 -499.732 37.000 22781986.784 1 91733618.344 5 -382.441 32.000
E19 22970772.677 1 120712227.851 3 1449.912 34.000 22970768.617 1 92493765.860 4 1111.950 33.000
E20 12136907.446 1 63779881.305 3 396.739 39.000
E21 23513549.257 1 123564535.243 2 -3940.106 37.000 23513546.884 1 94679309.391 3 -3017.966 37.000
E26 21573415.737 1 113369061.112 3 -1632.418 44.000 21573413.446 1 86867194.760 3 -1250.226 43.000
E31 22660276.833 1 119080560.542 2 -412.189 43.000 22660274.677 1 91243535.083 2 -316.005 42.000
E33 22177623.877 1 116544197.131 2 -896.734 45.000 22177619.061 1 89300081.092 3 -687.706 41.000
J 2 33485714.211 1 175968612.321 2 -3264.948 44.000 33485708.184 1 137118422.100 4 -2545.567 40.000
J 3 31852466.565 1 167385837.056 1 -284.201 44.000 31852460.185 1 130430565.888 2 -222.285 39.000
J 6 39213527.533 1 206068477.63524 -12.576 37.000
J 7 35509085.746 1 186601513.093 4 -1171.259 34.000 35509079.102 1 145403755.129 3 -911.481 40.000
C 7 34673923.700 1 180556216.593 2 -968.810 41.000 34673907.847 1 139617456.353 2 -749.308 38.000
C 8 36323432.270 1 189145641.727 3 -1582.342 37.000 36323417.408 1 146259348.484 3 -1223.215 39.000
C27 19920338.185 1 103730427.376 2 171.665 47.000
C28 20012647.765 1 104211108.662 2 -1304.495 48.000
C30 23244313.424 1 121039240.280 2 680.783 39.000
C32 20191558.611 1 105142747.567 1 1502.524 43.000
C33 21696149.217 1 112977542.691 2 -3696.251 44.000
C37 21684363.265 1 112916169.728 2 -3140.682 40.000
2021 4 1 19 24 31.9910000 0 21
G 2 19045396.764 1 100084235.43912 -2108.943 44.000
G 5 17641825.558 1 92708418.48511 -984.212 48.000 17641813.884 1 72240277.81912 -766.937 43.000
G 6 21394972.723 1 112431340.47912 -2821.206 39.000 21394965.774 1 87608808.10513 -2198.575 36.000
G12 18043389.936 1 94818653.21511 -934.314 48.000 18043378.006 1 73884615.84612 -728.540 40.000
G13 20718422.131 1 108876043.02112 1090.621 42.000
G15 21446247.173 1 112700789.26012 1594.339 40.000 21446236.916 1 87818754.28213 1243.129 36.000
G17 22348449.376 1 117441893.22212 -3665.211 40.000 22348441.894 2 91513133.00715 -2855.771 34.000
G19 20393705.751 1 107169646.02412 -2515.368 44.000
G20 22401834.549 2 117722434.23415 2127.594 30.000
G24 21950467.202 1 115350482.81513 -2130.733 38.000 21950458.968 2 89883459.73115 -1660.531 32.000
G25 20330027.410 1 106835014.35312 1147.244 43.000 20330018.256 2 83248025.21314 893.574 35.000
G29 22768681.632 1 119650228.78013 1554.779 38.000 22768672.725 8 1211.881 28.000
R 2 17304510.020 4 92340180.64311 -2151.200 51.000 17304504.009 4 71820115.25412 -1673.090 43.000
R 3 17492992.282 4 93641356.44811 1743.743 50.000 17492982.432 4 72832124.86912 1354.965 43.000
R 4 21124250.196 4 113119400.29312 3143.610 44.000 21124237.737 4 87981703.36513 2444.733 35.000
R14 20294989.061 4 108183710.59212 -4628.119 43.000 20294985.165 4 84142869.82712 -3599.468 40.000
R15 18852208.261 4 100740484.10411 -3129.566 48.000 18852200.727 4 78353678.51112 -2434.348 42.000
R16 20633201.038 4 110218855.58212 -89.151 40.000 20633193.610 4 85725745.51114 -69.132 34.000
R17 18750423.288 4 100337301.58612 -520.005 47.000 18750412.196 4 78040077.42713 -403.635 40.000
R18 20254734.119 4 84094224.28313 245.109 38.000
R24 20283779.372 4 108466483.14611 -1872.959 46.000 20283772.583 4 84362791.54613 -1457.103 37.000
2021 4 1 19 24 32.9910000 0 21

Simple report:

Simple system report
app version: 2.24.2-r0
'wifi_status, interface: wlan0':
- wifi_mode: ap
- access_point:
    band: bg
    channel: 1
    password: null
  ip: 192.168.42.1
  is_added: true
  is_connected: true
  mac_address: 6C:21:A2:BF:D3:8A
  security: wpa-psk
  ssid: reach:D6:4C
  uuid: 581645bd-1a18-42e5-83a2-da9bd92b66e1
base mode:
  base coordinates:
    accumulation: 2.0
    antenna offset:
      east: '0'
      north: '0'
      up: '0'
    coordinates:
    - 0
    - 0
    - 0
    format: llh
    mode: single-and-hold
  output:
    baud_rate: 38400
    device: UART
    enabled: false
    io_type: serial
  rtcm3 messages:
    '1006':
      enabled: true
      frequency: 0.10000000000000001
    '1074':
      enabled: true
      frequency: 1.0
    '1084':
      enabled: true
      frequency: 1.0
    '1094':
      enabled: false
      frequency: 1.0
    '1124':
      enabled: false
      frequency: 1.0
bluetooth:
  discoverable: false
  enabled: false
  pin: '***'
constraints:
  lora:
    frequency:
    - - 915000
      - 928000
correction input:
  input2:
    address: 
    enabled: true
    io_type: ntripcli
    mount_point: 
    password: '***'
    port: 
    send_position_to_base: false
    username: 
device:
  night_mode: false
  power_on_bottom_connector: false
  privacy_policy_accepted: true
  usage_analysis_accepted: true
logging:
  base:
    format: RTCM3
    started: true
  correction:
    format: RTCM3
    started: true
  debug: false
  interval: 24
  overwrite: true
  raw:
    format: UBX
    started: true
  solution:
    format: LLH
    started: true
lora:
  air rate: 2.6000000000000001
  frequency: 915000
  output power: 20.0
network:
  tcp_over_modem: false
position output:
  output1:
    enabled: true
    format: NMEA
    io_type: tcpsvr
    port: 9001
  output2:
    baud_rate: 38400
    device: UART
    enabled: false
    format: ERB
    io_type: serial
rtk settings:
  elevation mask angle: 20
  glonass ar mode: 'off'
  gps ar mode: fix-and-hold
  max horizontal acceleration: 1.0
  max vertical acceleration: 1.0
  positioning mode: kinematic
  positioning systems:
    compass: true
    galileo: true
    glonass: true
    gps: true
    qzss: true
  snr mask: 35
  update rate: 5
sound:
  mute: false
  volume: 100

Just realized RTK correction input was on during this time, but shouldn’t have been, although shouldn’t have made a difference.

Hi @e.atkin,

This behavior looks quite strange. Usually, such changes in the logs appear only if the Update rate is changed in the RTK Settings tab. Could you please send the full logs from this test so that I can take a closer look?

@kseniia.koliuk
yep will set up a link to download later on, just out the door now for another day of surveying.
Just so you know, I ran the exact same set up the next day and everything was as it should be.

Hi @e.atkin,

Thanks for the update! Please let me know in case anything like this happens again.