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It doesn't have to be a standard message, but rosbag works with messages, so anything in there will have to be some message type.

It doesn't have to be a standard message, but rosbag works with messages, so anything in there will have to be some message type.


Edit:

I am using a ROS driver. Here is the link: https://github.com/GAVLab/novatel.

That driver seems to only publish NavSatFix and Odometry messages.

You could perhaps take a look at novatel_span_driver. Provided it is compatible with your hardware, that would seem to publish a lot of low-level data: see the novatel_msgs docs.