Airmar PB200 User Manual
PB200 WeatherStation User Manual revision 1.000
THIS DOCUMENT AND THE DATA DISCLOSED HEREIN OR
HEREWITH IS NOT TO BE REPRODUCED, USED, OR DISCLOSED
IN WHOLE OR IN PART TO ANYONE WITHOUT THE
Proprietary and Confidential
PB200 WeatherStation User Manual
Revision 1.000
12/01/09
This document is Subject to Change.
AIRMAR Technology Corporation
35 Meadowbrook Drive
Milford, NH 03055-4613
(603) 673-9570
PROPRIETARY AND CONFIDENTIAL
PERMISSION OF AIRMAR TECHNOLOGY CORPORATION.
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Table of Contents
1. Introduction............................................................................................................. 1
2. NMEA 2000® Interface ......................................................................................... 2
2.1. Terminology........................................................................................................ 2
2.2. Sequence ID (SID).............................................................................................. 3
2.3. Precedence of Data ............................................................................................. 4
2.4. Transmitted NMEA 2000® PGNs...................................................................... 4
PGN 059392 ISO Acknowledgment................................................................... 7
PGN 060928 ISO Address Claim ....................................................................... 8
PGN 065285 Proprietary: Boot State Acknowledgment .................................... 9
PGN 065287 Proprietary: Access Level........................................................... 10
PGN 65410 Proprietary: Device Temperature and Supply Voltage................. 13
PGN 126208 Acknowledge Group Function.................................................... 14
PGN 126464 PGN List - Transmit/Received PGN's Group............................. 15
PGN 126720 Addressable Multi-Frame Proprietary ........................................ 17
PGN 126720-32 Proprietary: Attitude Offsets ............................................. 18
PGN 126720-33 Proprietary: Calibrate Compass......................................... 21
PGN 126720-34 Proprietary: True Wind Options........................................ 24
PGN 126720-35 Proprietary: Simulate Mode............................................... 26
PGN 126720-46 Proprietary: NMEA 2000® Options.................................. 28
PGN 126720-47 Proprietary: Received PGN Source................................... 30
PGN 126720-48 Proprietary: Altitude Settings............................................ 33
PGN 126720-49 Proprietary: Set WAAS Satellite....................................... 35
PGN 126720-50 Proprietary: Enable GPS Type 0 Messages....................... 36
PGN 126992 System Time ............................................................................... 37
PGN 126996 Product Information.................................................................... 37
PGN 126998 Configuration Information.......................................................... 38
PGN 127250 Vessel Heading ........................................................................... 39
PGN 127251 Rate of Turn................................................................................ 40
PGN 127257 Attitude ....................................................................................... 41
PGN 127258 Magnetic Variation ..................................................................... 42
PGN 129025 Position, Rapid Update ............................................................... 43
PGN 129026 COG & SOG, Rapid Update....................................................... 44
PGN 129029 GNSS Position Data.................................................................... 45
PGN 129033 Time & Date ............................................................................... 46
PGN 129044 Datum.......................................................................................... 47
PGN 129538 GNSS Control Status .................................................................. 48
PGN 129539 GNSS DOPs................................................................................ 49
PGN 129540 GNSS Sats in View..................................................................... 50
PGN 130306 Wind Data................................................................................... 51
PGN 130310 Environmental Parameters.......................................................... 52
PGN 130311 Environmental Parameters.......................................................... 53
PGN 130323 Meteorological Station Data ....................................................... 54
PGN 130880 Proprietary: Additional Weather Data ........................................ 56
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PGN 130881 Proprietary: Heater Control......................................................... 58
PGN 130944 Proprietary: POST....................................................................... 61
2.5. Received NMEA 2000® PGNs ........................................................................ 63
PGN 059904 ISO Request ................................................................................ 65
PGN 060928 ISO Address Claim ..................................................................... 66
PGN 065286 Proprietary: Boot State Request.................................................. 67
PGN 126208 Request Group Function ............................................................. 68
PGN 126208 Command Group Function ......................................................... 70
PGN 126720 Addressable Multi-Frame Proprietary ........................................ 71
PGN 126720-1 Proprietary: Master Reset.................................................... 72
PGN 126720-130 Proprietary: Reset EEPROM........................................... 73
PGN 126720-132 Proprietary: Reset GPS.................................................... 74
PGN 128259 Speed........................................................................................... 75
3. NMEA 0183 Interfaces......................................................................................... 76
3.1. Transmitted NMEA 0183 Sentences ................................................................ 76
$GPDTM........................................................................................................... 79
$GPGGA........................................................................................................... 81
$GPGLL............................................................................................................ 83
$GPGSA ........................................................................................................... 84
$GPGSV ........................................................................................................... 85
$HCHDG .......................................................................................................... 87
$HCHDT........................................................................................................... 88
$WIMDA.......................................................................................................... 89
$WIMWD ......................................................................................................... 91
$WIMWV ......................................................................................................... 92
$GPRMC........................................................................................................... 94
$TIROT............................................................................................................. 96
$GPVTG ........................................................................................................... 97
$WIVWR.......................................................................................................... 98
$WIVWT .......................................................................................................... 99
$YXXDR ........................................................................................................ 100
$GPZDA ......................................................................................................... 103
3.2. Received NMEA 0183 Sentences and Commands......................................... 104
$--VHW .......................................................................................................... 106
$PAMTC......................................................................................................... 107
$PAMTC,ALT................................................................................................ 108
$PAMTC,ATTOFF......................................................................................... 110
$PAMTC,BAUD ............................................................................................ 113
$PAMTC,COMP ............................................................................................ 114
$PAMTC,DATUM......................................................................................... 122
$PAMTC,EN .................................................................................................. 124
$PAMTC,ERST.............................................................................................. 129
$PAMTC,HEATER........................................................................................ 130
$PAMTC,OPTION......................................................................................... 132
$PAMTC,POST.............................................................................................. 137
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$PAMTC,QPS ................................................................................................ 139
$PAMTC,QV.................................................................................................. 140
$PAMTC,RESET............................................................................................ 141
$PAMTC,SIM................................................................................................. 142
$PAMTX......................................................................................................... 143
4. Revision History ................................................................................................. 144
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1. Introduction
This document is a supplement to the Airmar PB200 WeatherStation Owner's Guide.
The PB200 WeatherStation is a multifunctional device that integrates several sensors into
a single compact housing. These sensors include:
• Ultrasonic anemometer, providing apparent wind speed and direction
• Thermistor, providing air temperature
• Piezoresistive pressure sensor, providing barometric pressure
• Magnetoinductive XYZ sensors, providing tilt-compensated magnetic compass
heading
• 3-axis MEMS1 accelerometer, providing pitch and roll angles
• MEMS rate gyro, providing rate-of-turn of the vessel
• Global Positioning System (GPS) receiver, providing position, and speed and
course over ground
In addition to the above directly measured parameters, the PB200 WeatherStation is able
to calculate the following values as well, if the necessary data are available:
• True wind speed and direction
• Heading relative to true north
• Apparent wind chill temperature
• True wind chill temperature
• True wind speed relative to water (with optional Airmar® Smart™ speed sensor,
not included)
The PB200 WeatherStation has two separate communication interfaces: one compliant
with the NMEA 2000®2 protocol, and the other with the NMEA 0183 protocol. Both
interfaces are able to operate simultaneously and independently from one another.
This document provides detailed descriptions of the communications protocols for the
NMEA 2000® and NMEA 0183 interfaces used by the PB200 WeatherStation.
For further information about the NMEA 2000® protocol, refer to the document, NMEA
2000® Standard for Serial-Data Networking of Marine Electronic Devices, version
1.200. For further information about the NMEA 0183 protocol, refer to the document,
NMEA 0183 Standard for Interfacing Marine Electronic Devices, v3.01. Both of these
documents are available from the National Marine Electronics Association
(www.nmea.org).
1
MEMS is an acronym for Micro Electro-Mechanical Systems
2
NMEA 2000® is a Registered Trademark of the National Marine Electronics Association, Inc.
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2. NMEA 2000® Interface
The Airmar PB200 WeatherStation has a single NMEA 2000®-compliant network
interface, and is expected to be certified as a Class 1 Level B device. The PB200
transmits and receives standard and proprietary NMEA 2000® Parameter Groups via this
interface. Transmitted PGNs (Parameter Group Numbers) are described in section 2.4.
Received PGNs are described in section 2.5.
2.1. Terminology
The following terms related to the NMEA 2000® protocol appear on the detailed PGN
pages to follow.
PGN: Parameter Group Number. NMEA 2000® messages are organized into logical
collections of data called Parameter Groups. The NMEA assigns each Parameter Group a
unique Parameter Group Number, or PGN.
Single Frame: Yes = the Parameter Group has been designed to fit within the 8 bytes of
a single CAN frame. No = the Parameter Group is larger than 8 bytes, so must be
transmitted in multiple CAN frames using either NMEA 2000® Fast Packets, or (TBD)
ISO 11783 multi-packets, using the Data Transfer Transport Protocol (PGNs 60160 and
60416).
Priority: NMEA 2000® parameter groups are each assigned a priority value between 0
and 7, which is used to arbitrate between two devices attempting to transmit
simultaneously. 0 is the highest priority, and 7 is the lowest. The Priority field at the top
of each of the detailed specification pages shows three values separated by slashes (e.g.
6/Y/Y). The first value is the default priority, between 0 and 7, of the parameter group as
defined in the NMEA 2000® Standard. The second value is "Y" if the priority for this
parameter group may be changed using the Command Group Function PGN 126208, or
"N" if the priority may not be changed. The third value is "Y" if the priority is saved in
nonvolatile EEPROM memory within the PB200 and maintained upon cycling power, or
"N" if the priority reverts to the default value upon cycling power.
Update Rate: Some NMEA 2000® parameter groups are transmitted periodically by the
PB200. The Update Rate field at the top of each of the detailed specification pages
shows three values separated by slashes (e.g. 100 ms/Y/Y). The first value is the default
update rate for the parameter group, as defined in the NMEA 2000® Standard. If the
default behavior for the parameter group is not to transmit periodically, then this first
value will be 0 (zero). The second value is "Y" if the update rate for this parameter group
may be changed using the Transmission Interval field in the Request Group Function
PGN 126208, or "N" if the update rate may not be changed. The third value is "Y" if the
update rate is saved in nonvolatile EEPROM memory within the PB200 and maintained
upon cycling power, or "N" if the update rate reverts to the default value upon cycling
power.
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Destination: Global or Address. A Global Destination means that the parameter group
was designed to be broadcast for use by all receiving devices on the bus. If Destination =
Address, this means the parameter group was designed to be transmitted to a specific
device on the bus. In this case, the address of the destination device must be provided
within the PGN.
Query Support: If the parameter group supports queries, then the PB200 will transmit
the parameter group if requested by another device on the bus. The request must be made
using either the ISO Request PGN 59904, or the Complex Request Group PGN 126208.
Access Level: The PB200 contains a security mechanism whereby certain PGNs require
an access sequence to be performed in order to enable the functionality in the PGN. If
the indicated Access Level is 0, then the PGN is fully functional without requiring an
access sequence to be performed. If the indicated Access Level is nonzero, then it is
necessary to perform an access sequence using the proprietary transmitted PGN 065287,
Access Level, before the functionality of the PGN will be enabled.
Request Parameter: A "Yes" value specifies that the given field may be used by the
Request Group Function PGN 126208 as a qualifier to request specific data according to
the contents of the field.
DD: Data Dictionary. The Data Dictionary number defines the contents of the parameter
group field. The designators in this column are described in detail in the NMEA 2000®
Standard, Appendix B.2.
DF: Data Format. The Data Format number defines the format of the data in the
parameter group field. The designators in this column are described in detail in the
NMEA 2000® Standard, Appendix B.3.
Type: The Type designators are described in detail in the NMEA 2000® Standard,
Appendix B.4.
Resolution: The resolution indicates the smallest increment of the value in the given
field, in the units specified by the data format.
Value: This indicates the range of allowable values the field may contain.
2.2. Sequence ID (SID)
Some transmitted Parameter Groups contain a SID (Sequence Identification Number)
field. This field contains an 8-bit upward counting number that is used to tie related
information together between different Parameter Groups. The SID provides a method to
indicate that the data in a given set of Parameter Groups are synchronized to the same
sample interval.
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In the PB200, the following PGNs will contain identical SID values, indicating that the
data from each of these PGNs was taken at the same time, even though the PGNs may be
transmitted at different times:
126992 System Time
129026 COG and SOG, Rapid Update
129029 GNSS Position Data
129539 GNSS DOPs
129540 GNSS Satellites in View
2.3. Precedence of Data
In a given installation, certain data items received by the PB200 might be available from
more than one source. In this circumstance, the following precedence rules apply for the
PB200.
Speed Through Water:
NMEA 2000® PGN 128259 supersedes NMEA 0183 $--VHW.
2.4. Transmitted NMEA 2000® PGNs
The NMEA 2000® PGNs transmitted by the PB200 WeatherStation are summarized in
Table 1. Each of the transmitted PGNs in Table 1 is described in detail on the subsequent
pages.
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Table 1: NMEA 2000® Transmitted PGNs
PGN Description
59392 ISO Acknowledgement
60928 ISO Address Claim
65285 Proprietary: Boot State Acknowledgment
65287 Proprietary: Access Level
65410 Proprietary: Internal Device Temperature and Supply Voltage
126208 Acknowledge Group Function
126464 PGN List – Transmit and Received PGNs Group Function
126720 Proprietary:
-32: Attitude Offsets
-33: Calibrate Compass
-34: True Wind Options
-35: Simulate Mode
-46: NMEA 2000® Options
-47: Received PGN Source
-48: Altitude Settings
-49: Set WAAS Satellite
-50: Enable GPS Type 0 Messages
126992 System Time
126996 Product Information
126998 Configuration Information
127250 Vessel Heading
127251 Rate of Turn
127257 Attitude
127258 Magnetic Variation
129025 Position, Rapid Update
129026 COG & SOG, Rapid Update
129029 GNSS Position Data
129033 Time & Date
129044 Datum
129538 GNSS Control Status
129539 GNSS DOPs
129540 GNSS Sats in View
130306 Wind Data
130310 Environmental Parameters
130311 Environmental Parameters
130323 Meteorological Station Data
130880 Proprietary: Additional Weather Data
130881 Proprietary: Heater Control
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PGN Description
130944 Proprietary: POST
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NMEA 2000® TRANSMITTED PARAMETER GROUP
ISO Acknowledgment
PGN 059392 (0x0E800)
Single Frame: Yes Priority: 6/N/N Update Rate: 0/N/N Destination: Address Query Support: Yes Access Level: 0
For further information about the NMEA 2000® protocol, including field descriptions refer to the document, NMEA 2000® Standard for Serial-Data
Networking of Marine Electronic Devices available from NMEA.
Notes
This PGN is transmitted as a handshake mechanism in response to an ISO Request PGN 59904.
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NMEA 2000® TRANSMITTED PARAMETER GROUP
ISO Address Claim
PGN 060928 (0x0EE00)
Single Frame: Yes Priority: 6/N/N Update Rate: 0/N/N Destination: Address Query Support: Yes Access Level: 0
For further information about the NMEA 2000® protocol, including field descriptions refer to the document, NMEA 2000® Standard for Serial-Data
Networking of Marine Electronic Devices available from NMEA.
Notes
PGN 60928 is a network management message used to claim a network address, reply to devices requesting the claimed address, and to respond to requests for device information
(NAME). The 64 bits comprised by the ten fields in this parameter group constitute the ISO 11783-5 NAME entity.
The contents of fields 3, 4, and 8 are stored in EEPROM memory and may be changed using PGN 126208, Command Group Function.
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NMEA 2000® TRANSMITTED PARAMETER GROUP
Proprietary: Boot State Acknowledgment
PGN 065285 (0x0FF05)
Single Frame: Yes Priority: 7/N/N Update Rate: 0/N/N Destination: Global Query Support: No Access Level: 0
Field
#
1 Manufacturer Code No DD172 DF52 11 bits 1 135 (decimal) Manufacturer Code for Airmar Technology.
2 Reserved bits No DD001 DF52 2 bits 1 0x3 All bits set to logic "1"
3 Industry Group No DD168 DF52 3 bits 1 4 (decimal) Industry Group for "Marine Industry".
4 Boot State No N/A DF52 3 bits 1 000 = in Startup Monitor
5 Reserved bits No DD001 DF52 45 bits 1 0x1FFFFFFFFFFF All bits set to logic "1"
Notes
Name
Request
Param.
DD DF Type Resolution
Value Remark
001 = running Bootloader
010 = running Application
011 to 110 = reserved
111 = Data Not Available
The Boot State Acknowledgment proprietary PGN is transmitted in response to the received proprietary PGN 65286, Global Boot State Request. This PGN is transmitted from
any of the following contexts: Startup Monitor, CAN Bootloader, or Application.
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NMEA 2000® TRANSMITTED PARAMETER GROUP
Proprietary: Access Level
PGN 065287 (0x0FF07)
Single Frame: Yes Priority: 7/Y/N Update Rate: 0/N/N Destination: Global Query Support: Yes Access Level: 0
Field
#
1 Manufacturer Code Yes DD172 DF52 11 bits 1 135 (decimal) Manufacturer Code for Airmar Technology.
2 Reserved bits No DD001 DF52 2 bits 1 0x3 All bits set to logic "1"
3 Industry Group Yes DD168 DF52 3 bits 1 4 (decimal) Industry Group for "Marine Industry".
4 Format Code Yes DD005 DF53 uint8 1 bit 1 1 = Format Code 1
5 Access Level No N/A DF52 3 bits 1 0x0 = locked
6 Reserved bits No DD001 DF52 5 bits 1 0x1F All bits set to logic "1"
7 Access Seed/Key No N/A DF55 uint32 1 bit 0 to 4,294,967,292 When this PGN is transmitted, this field
Notes
Name
Request
Param.
DD DF Type Resolution
Value Remark
0x1 = unlocked, level 1
0x2 = unlocked, level 2
0x3 to 0x7 = reserved
When this PGN is transmitted, this field
indicates the current Access Level of the PB200.
This field may be changed using the Command
Group Function PGN 126208 (see text below).
contains a Seed that may be used in a
subsequent Unlock operation. This field is also
used to provide a Key to the PB200 when
performing an Unlock operation, using the
Command Group Function PGN 126208 (see
text below).
The Access Level proprietary PGN is a security mechanism that provides the PB200 with a method to limit access to certain functions to devices that understand the proper unlock
sequence. Certain operations will not be possible unless the Access Level is first increased to the required value. A nonzero Access Level remains in effect until the unit powers
down, or 15 minutes has elapsed, whichever comes first, after which the Access Level returns to zero. The Access Level is not stored in EEPROM.
This PGN is transmitted in response to a PGN 126208 Request Group Function message. Fields 1 and 3 must both be fully specified in the request in order for this PGN to be
transmitted.
Note that the value in field 4 (Format Code) may correspond to a specific set of algorithms for calculating the key from a given seed.
If field 4 is specified in a Request Group PGN 126208, but does not agree with the format code known by the device, then the request will be NAK'ed. If field 4 is not specified in
a request, then the PGN will be transmitted with the format code known to the device.
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This PGN does not respond to ISO Requests (PGN 59904).
When this PGN is transmitted, field 5 contains the current Access Level of the PB200, and field 7 contains a randomly-generated Seed that may be used in a subsequent Unlock
operation.
To change the Access Level, use the Command Group Function PGN 126208, specifying the individual fields in PGN 65287 as follows:
To change the Access Level to 0
Use the Command Group Function PGN 126208, specifying the individual fields in PGN 65287 as follows. (Note that it is not required to specify field 7.)
PGN 65287
Field Value
1 135 (decimal)
3 4 (decimal)
4 1
5 0
The PB200 will respond with the Acknowledge Group Function PGN 126208, indicating success or failure according to the error codes provided in the
parameter fields.
To change the Access Level to 1:
Use the Command Group Function PGN 126208, specifying the individual fields in PGN 65287 as follows.
Field 7 serves as a simple password to allow setting the Access Level to 1. For this Access Level, it is not necessary to obtain a Seed or calculate a Key.
PGN 65287
Field Value
1 135 (decimal)
3 4 (decimal)
4 1
5 1
7 0x12345678
(i.e. to lock the device after having been previously unlocked):
The PB200 will respond with the Acknowledge Group Function PGN 126208, indicating success or failure according to the error codes provided in the
parameter fields.
To change the Access Level to 2 or higher:
1. Use the Request Group Function PGN 126208, specifying PGN 65287, to obtain a Seed.
2. The PB200 will respond with PGN 65287, with the current Access Level in field 5, and with a random Seed in field 7.
3. Using the Seed provided in step 2, calculate a Key according to the algorithm corresponding to the desired Access Level.
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4. Use the Command Group Function PGN 126208, specifying the individual fields in PGN 65287 as follows:
PGN 65287
Field Value
1 135 (decimal)
3 4 (decimal)
4 1
5 The desired Access Level
7 The calculated Key
5. The PB200 will respond with the Acknowledge Group Function PGN 126208, indicating success or failure according to the error codes provided in the
parameter fields.
After executing the above sequence to change the Access Level, you may optionally request this PGN using the Request Group Function PGN 126208 to confirm that the
Access Level was in fact changed.
Note that increasing the Access Level does not in and of itself allow global access to the secure functions of the PB200. The Access Level is changed only for subsequent
commands and requests originating from the device with the source address originally used to specify the Access Level.
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NMEA 2000® TRANSMITTED PARAMETER GROUP
Proprietary: Device Temp. and Supply Voltage
PGN 65410 (0xFF82)
Single Frame: Yes Priority: 7/Y/Y Update Rate: 0/Y/Y Destination: Global Query Support: Yes Access Level: 0
Field
#
1 Manufacturer Code Yes DD172 DF52 11 bits 1 135 (decimal) Manufacturer Code for Airmar Technology.
2 Reserved bits No DD001 DF52 2 bits 1 0x3 All bits set to logic "1"
3 Industry Group Yes DD168 DF52 3 bits 1 4 (decimal) Industry Group for "Marine Industry".
4 SID (Sequence ID) No DD056 DF53 uint8 1 bit 0 to 252 Unit-less number. Refer to section 2.2. for
5 Internal Device Temperature No DD043 DF39 uint16 0.01 deg K 0 to 655.32 deg K Measured temperature of the PB200 upper
6 Supply Voltage No DD136 DF42 int16 0.01 V +/-327.64 V Supply voltage, as measured by the PB200
7 Reserved bits No DD001 DF52 8 bits 1 0xFF All bits set to logic "1"
Notes
Name
Request
Param.
DD DF Type Resolution
Value Remark
an explanation of this field.
module circuit board.
This PGN is transmitted in response to a PGN 126208 Request Group Function message. Fields 1 and 3 must both be fully specified in the request in order for this PGN to be
transmitted.
This PGN does not respond to ISO Requests (PGN 59904).
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NMEA 2000® TRANSMITTED PARAMETER GROUP
Acknowledge Group Function
PGN 126208 (0x1ED00)
Single Frame: No Priority: 6/N/N Update Rate: 0/N/N Destination: Address Query Support: Yes Access Level: 0
For further information about the NMEA 2000® protocol, including field descriptions refer to the document, NMEA 2000® Standard for Serial-Data
Networking of Marine Electronic Devices available from NMEA.
Notes
The Acknowledgment Reply is transmitted in response to a PGN 126208 Request or Command Group Function message. In response to the Request message, the Acknowledge is
only transmitted for a request that cannot be complied with.
See also related PGNs:
• the received Request Group Function PGN 126208
• the received Command Group Function PGN 126208
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NMEA 2000® TRANSMITTED PARAMETER GROUP
PGN List - Transmit/Received PGNs Group
PGN 126464 (0x1EE00)
Single Frame: No Priority: 6/Y/N Update Rate: 0/N/N Destination: Address Query Support: Yes Access Level: 0
For further information about the NMEA 2000® protocol, including field descriptions refer to the document, NMEA 2000® Standard for Serial-Data
Networking of Marine Electronic Devices available from NMEA.
Notes
This message provides a list of the transmitted or received PGNs that are supported by the PB200. It is transmitted only upon request. If it is requested using the ISO Request
PGN 59904, or with the Request Group Function PGN 126208 without specifying the Group Function Code in field 1, then this PGN will be transmitted twice, once each for the
transmitted and received lists.
Note that proprietary PGNs are excluded from these lists.
The list of Transmitted PGNs is as follows:
Description
PGN
59392 ISO Acknowledgment
60928 ISO Address Claim
126208 Acknowledge Group Function
126464 PGN List – Transmit and Received PGNs Group Function
126992 System Time
126996 Product Information
126998 Configuration Information
127250 Vessel Heading
127251 Rate of Turn
127257 Attitude
127258 Magnetic Variation
129025 Position, Rapid Update
129026 COG & SOG, Rapid Update
129029 GNSS Position Data
129033 Time & Date
129044 Datum
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PGN Description
129538 GNSS Control Status
129539 GNSS DOPs
129540 GNSS Sats in View
130306 Wind Data
130310 Environmental Parameters
130311 Environmental Parameters
130323 Meteorological Station Data
The list of Received PGNs is as follows.
Description
PGN
59904 ISO Request
60928 ISO Address Claim
126208 Request Group Function
126208 Command Group Function
128259 Speed
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NMEA 2000® TRANSMITTED PARAMETER GROUP
Addressable Multi-Frame Proprietary
PGN 126720 (0x1EF00)
Single Frame: No Priority: 7/Y/N Update Rate: 0/N/N Destination: Address Query Support: Yes Access Level: See PID variants
Field
#
1 Manufacturer Code Yes DD172 DF52 11 bits 1 135 (decimal) Manufacturer Code for Airmar Technology.
2 Reserved bits No DD001 DF52 2 bits 1 0x3 All bits set to logic "1"
3 Industry Group Yes DD168 DF52 3 bits 1 4 (decimal) Industry Group for "Marine Industry".
4 Proprietary ID (PID) Yes DD005 DF53 uint8 1 bit 0 to 252 Identifier specifying how to interpret the
5+ (PID-dependent) No DD000 DF00 undef. undefined undefined The use of the remaining bytes and the number
Notes
Name
Request
Param.
DD DF Type Resolution
Value Remark
remaining fields in this parameter group.
of CAN frames required varies according to the
PID (field 4).
This PGN is transmitted in response to a PGN 126208 Request Group Function message. Fields 1, 3, and 4 must each be fully specified in the request in order for this PGN to be
transmitted.
This PGN does not respond to ISO Requests (PGN 59904).
The use of this PGN with the following Proprietary ID's (field 4) is described on the subsequent pages:
32: Attitude Offsets
33: Compass Calibration
34: True Wind Options
35: Simulate Mode
46: NMEA 2000® Options
47: Received PGN Source
48: Altitude Settings
49: Set WAAS Satellite
50: Enable GPS Type 0 Messages
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NMEA 2000® TRANSMITTED PARAMETER GROUP
Proprietary: Attitude Offsets
PGN 126720-32 (0x1EF00)
Single Frame: No Priority: 7/Y/N Update Rate: 0/N/N Destination: Address Query Support: Yes Access Level: 0
Field
#
1 Manufacturer Code Yes DD172 DF52 11 bits 1 135 (decimal) Manufacturer Code for Airmar Technology.
2 Reserved bits No DD001 DF52 2 bits 1 0x3 All bits set to logic "1"
3 Industry Group Yes DD168 DF52 3 bits 1 4 (decimal) Industry Group for "Marine Industry".
4 Proprietary ID (PID) Yes DD005 DF53 uint8 1 bit 32 (decimal) 32 = Attitude Offsets
5 Azimuth offset No N/A DF04 int16 0.0001 rad - to + rad
6 Pitch offset No N/A DF04 int16 0.0001 rad -/4 to +/4 rad
7 Roll offset No N/A DF04 int16 0.0001 rad -/4 to +/4 rad
Notes
Name
Request
Param.
DD DF Type Resolution
Value Remark
Default value = 0 rad.
Default value = 0 rad.
Default value = 0 rad.
Negative values indicate the forward mark on
the sensor housing is oriented toward the
starboard side of the vessel; positive values
toward the port side. Value stored in EEPROM.
Positive values indicate the sensor is tilted
forward toward the bow; negative values
indicate the sensor is tilted aftward. Value
stored in EEPROM.
Positive values indicate the sensor is tilted
toward the port side; negative values toard the
starboard side. Value stored in EEPROM.
This PGN is transmitted in response to a PGN 126208 Request Group Function message. Fields 1, 3, and 4 must each be fully specified in the request in order for this PGN to be
transmitted.
This PGN does not respond to ISO Requests (PGN 59904).
This PGN performs the same function in the PB200 as the NMEA 0183 proprietary command, $PAMTC,ATTOFF. Note that in the NMEA 0183 command, the arguments are in
degrees, while in the NMEA 2000® PGN, the arguments are in radians. The values are stored in the PB200 in radians.
This PGN is used to program the PB200 WeatherStation with the attitude offset angles when the sensor is not oriented parallel to the centerline, and perpendicular to the deck of
the vessel. The programmed values are stored in nonvolatile EEPROM memory within the WeatherStation, and so remain programmed even after cycling power.
The azimuth offset angle is used by the PB200 to adjust the apparent wind angle relative to the bow of the vessel, and the vessel’s heading measured by the internal compass.
These values are further used in calculating the true wind speed and angle.
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The azimuth offset angle, along with the pitch and roll offset angles, are also used to adjust the reported pitch and roll values in the transmitted PGN 127257, and in the transmitted
NMEA 0183 $WIXDR sentence. A properly set azimuth offset angle will allow the unit to accurately report pitch and roll of the vessel, even though the orientation mark on the
sensor housing may not be facing precisely toward the bow.
The recommended procedure to set these offsets is as follows:
1. If the unit is mounted on a vessel, this procedure should be performed with calm water and no wind, and with the vessel at rest.
2. First, zero out all offsets by using the Command Group Function PGN 126208, specifying the individual fields in PGN 126720-32 as follows.
PGN 126720
Field Value
1 135 (decimal)
3 4 (decimal)
4 32 (decimal)
5 0
6 0
7 0
3. Determine the desired azimuth offset angle, and program this into the sensor using the Command Group Function PGN 126208, specifying the individual fields in PGN
126720-32 as follows. The pitch and roll offset fields should be omitted for this step (or set to zeroes).
PGN 126720
Field Value
1 135 (decimal)
3 4 (decimal)
4 32 (decimal)
Azimuth offset angle
5
of sensor, relative to
bow
4. Allow the vessel to stabilize to its "level" state, and then read the values of pitch and roll that are reported by PGN 127257. If the vessel is rocking back and forth, then
take a number of readings and calculate an average for both pitch and roll.
5. Program the negated versions of these measured pitch and roll values back into the unit as offsets using the Command Group Function PGN 126208, specifying the
individual fields in PGN 126720-32 as follows. Note that field 5, azimuth offset angle, is not programmed during this step.
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PGN 126720
Field Value
1 135 (decimal)
3 4 (decimal)
4 32 (decimal)
6 Pitch offset angle
7 Roll offset angle
6. At this point the transmitted PGN 127257 should be producing values that are centered around 0.0 degrees for both pitch and roll.
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NMEA 2000® TRANSMITTED PARAMETER GROUP
Proprietary: Calibrate Compass
PGN 126720-33 (0x1EF00)
Single Frame: No Priority: 7/Y/N Update Rate: 0/N/N Destination: Address Query Support: Yes Access Level: 0/1
Field
#
1 Manufacturer Code Yes DD172 DF52 11 bits 1 135 (decimal) Manufacturer Code for Airmar Technology.
2 Reserved bits No DD001 DF52 2 bits 1 0x3 All bits set to logic "1"
3 Industry Group Yes DD168 DF52 3 bits 1 4 (decimal) Industry Group for "Marine Industry".
4 Proprietary ID (PID) Yes DD005 DF53 uint8 1 bit 33 (decimal) 33 = Calibrate Compass
5 Calibrate Function Yes DD005 DF53 uint8 1 bit 0 = X = Normal, cancel
6 Calibration Status No DD005 DF53 uint8 1 bit 0 = QUERIED
7 Verify Score No N/A DF53 uint8 1 bit Score TBD
8 X-axis Gain Value No N/A DF58 int16 .01 Multiplier Default 100, range 50 to 500
9 Y-axis Gain Value No N/A DF58 int16 .01 Multiplier Default 100, range 50 to 500
10 Z-axis Gain Value No N/A DF58 int16 .01 Multiplier Default 100, range 50 to 500
11 X-axis Linear Offset No N/A DF58 int16 .01 Teslas Default 0, range -32000 to +32000
Name
21
Request
Param.
DD DF Type Resolution
Value Remark
See Notes
calibration mode
1 = GO, enter calibration
mode
2 = RESET All User
Calibration Values to
Defaults
3 = Verify
4 = Reset Compass Cal
Values to defaults
5. Reset Damping Values
to defaults
See Notes
1 = PASSED
2 = FAILED, Timeout
3 = FAILED, Tilt Error
4 = FAILED, Other Error
5 = IN-PROGRESS
PB200 WeatherStation User Manual revision 1.000
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Field
#
12 Y-axis Linear Offset No N/A DF58 int16 .01 Teslas Default 0, range -32000 to +32000
13 Z-axis Linear Offset No N/A DF58 int16 .01 Teslas Default 0, range -32000 to +32000
14 X-axis Angular Offset (Unused) No N/A DF58 int16 .1 Degrees Default 0, range 0 to 3600
15 Pitch and Roll Damping No N/A DF58 int16 .05 Seconds Default 30, range 0 to200
16 Compass/RateGyro Damping No N/A DF58 int16 .05 Seconds Default -30, range -2400 to 2400, negative
Notes
This PGN can be used to manually initiate a user calibration sequence for the internal compass sensor. There is an alternative to issuing this PGN to start user compass calibration,
called AutoCal. AutoCal is intended for users who do not have access to a user interface which allows them to manually start user compass calibration.
This PGN is transmitted in response to a PGN 126208 Request Group Function message. Fields 1, 3, and 4 must each be fully specified in the request in order for this PGN to be
transmitted.
This PGN does not respond to ISO Requests (PGN 59904).
Queries work with access level 0, all other functions require at least access level 1.
Calibration needs to be done in calm seas, away from other boats or ferrous objects (structures or aids to navigation). Trying to turn a 2-3 minute circle in strong currents or
congested areas will be difficult, if not hazardous.
The user calibration sequence for the PB200 is as follows:
1. The weather station instrument is installed on the vessel. The unit under test is powered up.
Name
Request
Param.
DD DF Type Resolution
Value Remark
numbers indicate that the rate gyro is to be used
in compass computations.
2. Manual Start: The access level is set to 1.
AutoCal Start: Access level not required.
3. Manual Start: PGN 126208 Command Group Function message is sent Fields 1, 3, 4 and 5 must each be fully specified, field 5 is set to 1 (GO) to initiate user calibration
mode.
AutoCal Start: Within 2 minutes of applying power to the weather station instrument being calibrated, the vessel must start a slow (2-4 knots) circular turn. If it completes
a full circle within 2-3 minutes, AutoCal will enter the user compass calibration procedure (See steps 4-7).
4. During the user calibration process, the vessel is rotated slowly (driven at 2-4 knots, completing a circle within 2-3 minutes), while the sensor collects data. Once the
weather station instrument
5. During the user calibration process, PGN 126208 can be used to request PGN 126720-33 to obtain status at any time. While calibration is running, the status will be 5 for
INPROGRESS. Once it has completed, the status will be 1 for Passed or 2-4 for Failed.
6. If PASS was transmitted, then the offsets that are now in use and saved in EEPROM are the newly calculated ones.
has determined that enough data has been collected, it calculates the coefficients, and sets the status to 1 for PASS or 2 - 4 for FAIL.
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7. Note: During user compass calibration, heading is not valid and will be output as DataNotAvailable. Also, air temperature is set to 0 degrees Celsius. After calibration is
complete, heading will again be valid, and if successful, air temperature will also return to the current temperature, but if calibration fails, air temperature will be output as
-10.0 degrees Celsius for 30 seconds.
To exit user calibration mode before it passes or fails, PGN 126208 Command Group Function message is sent. Fields 1, 3, 4 and 5 must each be fully specified, field 5 is set to 0
(X, Normal, Cancel).
To reset user calibration coefficients and damping control, PGN 126208 Command Group Function message is sent Fields 1, 3, 4 and 5 must each be fully specified, field 5 is set
to 2 (Reset All).
To reset just user calibration coefficients, PGN 126208 Command Group Function message is sent Fields 1, 3, 4 and 5 must each be fully specified, field 5 is set to 4 (Reset
Calibration).
To reset just user damping control, PGN 126208 Command Group Function message is sent Fields 1, 3, 4 and 5 must each be fully specified, field 5 is set to 5 (Reset Damping).
To request status or current user calibration coefficients, PGN 126208 Request Group Function message is sent Fields 1, 3, and 4 must each be fully specified. PGN 126720-33,
will be transmitted with status set to 0 for QUERIED, 1 for PASSED, 2-4 for FAILED, or 5 for IN-PROGRESS.
Fields 8-16 can be used to set User Calibration Coefficients. PGN 126208 Command Group Function message is sent Fields 1, 3, 4 and the field or fields to be set must each be
fully specified. Currently only Linear Offsets and Damping values are supported.
Failure modes: 2 = FAILED: 5 minute timeout occurred before successful completion or more than 30 seconds was taken to turn thru 45 degrees, 3 = FAILED: Tilt Error, or 4 =
FAILED: Other Error, such as, reversing the direction of the turn for more than 45 degrees.
The user compass calibration procedure can be aborted by purposely causing one of the above errors. For example, stopping the turn will cause an error within 30 seconds, or
reversing the direction of the turn will cause an error even faster.
User compass calibration procedure does not affect Pitch and Roll Damping or Compass/RateGyro Damping, but this PGN can be used to change the damping control values.
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NMEA 2000® TRANSMITTED PARAMETER GROUP
Proprietary: True Wind Options
PGN 126720-34 (0x1EF00)
Single Frame: No Priority: 7/Y/N Update Rate: 0/N/N Destination: Address Query Support: Yes Access Level: 0
Field
#
1 Manufacturer Code Yes DD172 DF52 11 bits 1 135 (decimal) Manufacturer Code for Airmar Technology.
2 Reserved bits No DD001 DF52 2 bits 1 0x3 All bits set to logic "1"
3 Industry Group Yes DD168 DF52 3 bits 1 4 (decimal) Industry Group for "Marine Industry".
4 Proprietary ID (PID) Yes DD005 DF53 uint8 1 bit 34 (decimal) 34 = True Wind Options
5 Allow COG Instead of Heading for True Wind
Calculations
6 Reserved bits No DD001 DF52 22 bits 1 0x3FFFFF All bits set to logic "1"
Notes
Name
Request
Param.
No N/A DF52 2 bits 1 MSB/LSB:
DD DF Type Resolution
00 = Use heading only
01 = Allow COG to
replace heading
10 = Error
11 = Data not available
Value Remark
This field defines whether COG may be
substituted for compass heading in true wind
calculations.
This field is stored in EEPROM and may be
changed with the Command Group Function
PGN 126208. The default value is 00 (use
heading only).
This PGN is transmitted in response to a PGN 126208 Request Group Function message. Fields 1, 3, and 4 must each be fully specified in the request in order for this PGN to be
transmitted.
This PGN does not respond to ISO Requests (PGN 59904).
This PGN performs the same function as the received proprietary NMEA 0183 command, $PAMTC,OPTION. See the description of that command for a full description of the
use of this feature.
Although this is a fast-packet message, the version with this PID fits into a single CAN frame.
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