# System Monitor

The System Monitor window displays various system parameters relating to the rover and its attached sensors. The types of parameters monitored are [Pose](https://docs.phoenixlidar.com/lidarmill-desktop/user-interface/windows/system-monitor#pose) (latitude/longitude, roll/pitch/yaw, etc.), [GNSS/INS Navigation System](https://docs.phoenixlidar.com/lidarmill-desktop/user-interface/windows/system-monitor#navigationsystem) (PosStatus, UncertaintyP, CorrAge, etc.), and [Statistics](https://docs.phoenixlidar.com/lidarmill-desktop/user-interface/windows/system-monitor#statistics) (Packets, Points, etc.)

![System Monitor Window (Offline Mode)](/files/-M_w6GMdRr_Ks0Sx9beq)

There are numerous statistics displayed in the System Monitor window:

## Pose

* **Lat** - Latitude 
  * Rover's latitude (WGS84)
* **Lon** - Longitude
  * Rover's longitude (WGS84)
* **Vel H/V** - Velocity Horizontal/Vertical 
  * Rover's horizontal/vertical velocity in m/s
* **Roll** - Rover's roll orientation in degrees 
* **Pitch**- Rover's pitch orientation in degrees 
* **Yaw**- Rover's yaw orientation in degrees 

## NavigationSystem 

* **PosStatus** - GNSS Position Status
  * The GNSS solution status (e.g. Solution computed, insufficient observations)
* **PosType** - GNSS Position Type
  * e.g. SinglePoint, IntegerNarrowLane
* **INS** - Navigation System Status
  * [status of the GNSS/IMU navigation filter](/rover/theory-and-workflow/navigation-and-alignment-techniques/navigation-procedures/navigation-system-alignment.md)
* **Time** - GNSS reference time status
  * e.g. Coarse, Finesteering
* **UncertP** - Uncertainty Position
  * Unitless covariance value relating to the rover’s position uncertainty. The lower the values the better; minimizing this value produces a more accurate sensor trajectories and thus more accurate measurements
* **UncertA** - Uncertainty Attitude
  * Unitless covariance value relating to the rover’s orientation uncertainty. The lower the values the better; minimizing this value produces a more accurate sensor trajectories and thus more accurate measurements
* **CorrAge** - Corrections Age
  * Age of the last received differential correction in seconds (Applies to RTK corrections and will remain 0 when reference station is not connected to rover)
* **CPU Load** - INS CPU load
  * CPU Load of the GNSS/Inertial Navigation System expressed in %
* **Satellites** - Number of Satellites
  * Satellites count observed by rover GNSS receiver 
* **DOP H/V** - Dilution Of Precision Horizontal/Vertical
  * Term used to specify the error propagation as a mathematical effect of navigation satellite geometry on positional measurement precision. The lower the better. 
* **Temp** - Navigation/IMU system temperature
  * Temperature in the navigation system/IMU
* **SolAge GNSS** - GNSS Solution Age
  * Age of the last computed GNSS solution in seconds
* **SolAge RTK** - RTK-GNSS Solution Age
  * Age of the last computed RTK-GNSS solution in seconds

## Statistics

* **Packets Nav** - Navigation Packets
  * Quantity of navigation packets collected
* **Data LiDAR** - LiDAR data size
  * Size of LiDAR packets collected
* **Photos Captured** - Number of photos captured

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