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What are the differences between G-d's mitzvos, chukkim and mishpatim?

In Parasha Netzavim, Devarim 30:16, we learn the commandment to love Hashem, to walk in His ways, and to keep "His commandments [mitzvosav] and His statutes [v'chukosav] and His ordinances [u'mishpatav]." I thought this verse might be distinguishing between the written Torah, oral Torah, and rabbinic law, or perhaps between Torah, rabbinic law, and customs. But I can't find a source that explains this. To what is the verse referring?