CSI Wireless DGPS MAX, Mini MAX, Vector Sensor, Vector Sensor PRO, PowerMAX Programming Manual
...
Programming
Manual
Part Number: 875-0125-002
Date: June 2005
Programming Manual ii
Copyright Notice
Copyright 2005 by CSI Wireless Inc. All rights reserved.
No part of this manual may be stored in a retrieval system, transmitted, or
reproduced by any means, including, but not limited to photocopy,
photograph, digitizing, or otherwise, without the prior written permission
from CSI Wireless Inc.
CSI Wireless Inc.
4110 – 9th Street SE
Calgary, Alberta, Canada T2G 3C4
Telephone number: +1-403-259-3311
Fax number: +1-403-259-8866
E-mail address: info@csi-wireless.com
Web Site: www.csi-wireless.com
Programming Manual
iii
CSI Wireless Inc. Limited Warranty
CSI Wireless Inc. (hereinafter referred to as "CSI Wireless") products are
warranted, subject to the conditions set forth herein below, against defects
in material and workmanship for a period of 12 months. Warranty services
will be provided through your CSI Wireless distribution center, please
contact them for shipping information. You must retain your proof of
purchase for warranty purposes.
Limitation of Liability
The Limited Warranty contained herein replaces all other warranties,
express or implied, including warranties of merchantability or fitness for a
particular purpose. CSI Wireless hereby disclaims and excludes all other
warranties. In no event shall CSI Wireless be liable for direct, indirect,
incidental, collateral or consequential damages of any kind, including but not
limited to damages resulting from installation or use, quality, performance, or
accuracy of CSI Wireless products. This warranty provides you with your
exclusive remedies for any breach in warranty.
Purchaser’s Exclusive Remedy
The purchaser’s exclusive remedy under this warranty shall be limited to the
repair or replacement, at the option of CSI Wireless, of any defective part(s)
of CSI Wireless receivers or accessories. Repairs shall be made through a
CSI Wireless approved service center only. Unauthorized repairs to
CSI Wireless products shall render this warranty null and void.
Programming Manual iv
Governing Legislation
This warranty shall be governed by the laws of the Province of Alberta,
Canada. This warranty gives you specific legal rights which may vary with
Province/State and Country, and accordingly, some limitations may not apply
to you.
Conditions
CSI Wireless does not warrant damage due to misuse, abuse, improper
installation, neglect, lightning (or other electrical discharge) or fresh/salt
water immersion of CSI Wireless products. Repair, modification or service
of CSI Wireless products by unauthorized person(s) or party(s) shall render
this warranty null and void.
CSI Wireless does not warrant or guarantee the precision or accuracy of
positions obtained when using CSI Wireless products. Product accuracy as
stated in CSI Wireless literature and/or product specifications serves to
provide only an estimate of achievable accuracy based on:
• Specifications provided by the US Department of Defense
(US DoD) for GPS Positioning,
• GPS OEM Receiver specifications of the appropriate
manufacturer (if applicable),
• DGPS service provider performance specifications
CSI Wireless reserves the right to modify CSI Wireless products without
any obligation to notify, supply or install any improvements or alterations to
existing products.
Programming Manual
v
Table of Contents
List of Figures ..................................................................................................................................xi
List of Tables....................................................................................................................................xi
Preface xiii
Organization ........................................................................................................................xiii
Customer Service................................................................................................................xv
World Wide Web Site......................................................................................................xvi
Document Conventions ...................................................................................................xvi
Notes, Cautions, and Warnings......................................................................................xvi
1. Introduction............................................................................................................................1
1.1 Summary of Protocols...............................................................................................1
1.1.1 NMEA 0183...................................................................................................1
1.1.2 Binary ..............................................................................................................3
1.1.3 RTCM..............................................................................................................4
1.2 Communications.........................................................................................................5
1.2.1 Terminal Programs ......................................................................................5
1.2.2 PocketMAX and PocketMAX PC ............................................................6
2. Data Messages........................................................................................................................8
2.1 GGA Data Message....................................................................................................8
2.2 GLL Data Message......................................................................................................9
2.3 GSA Data Message .................................................................................................. 10
2.4 GST Data Message ..................................................................................................11
2.5 GSV Data Message ..................................................................................................11
2.6 RMC Data Message.................................................................................................12
Programming Manual vi
2.7 RRE Data Message................................................................................................... 13
2.8 VTG Data Message.................................................................................................. 13
2.9 ZDA Data Message ................................................................................................. 14
2.10 RD1 Data Message .................................................................................................. 15
2.11 $PCSI,1 Beacon Status Message........................................................................... 15
2.12 HDT Data Message.................................................................................................16
2.13 ROT Data Message .................................................................................................16
2.14 HPR Data Message .................................................................................................. 17
2.15 $PSAT,GBS Data Message..................................................................................... 17
3. General Commands........................................................................................................... 19
3.1 $JASC,D1................................................................................................................... 21
3.2 $JAIR........................................................................................................................... 21
3.3 $JASC,VIRTUAL ......................................................................................................22
3.4 $JALT.......................................................................................................................... 23
3.5 $JLIMIT....................................................................................................................... 24
3.6 $JAPP .......................................................................................................................... 24
3.7 $JBAUD...................................................................................................................... 25
3.8 $JCONN.................................................................................................................... 26
3.9 $JDIFF.........................................................................................................................27
3.10 $JK 27
3.11 $JPOS..........................................................................................................................28
3.12 $JQUERY,GUIDE ....................................................................................................29
3.13 $JRESET...................................................................................................................... 29
3.14 $JSAVE........................................................................................................................29
3.15 $JSHOW.................................................................................................................... 30
3.16 $JT 32
3.17 $JI 33
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3.18 $JBIN........................................................................................................................... 34
4. GPS Commands..................................................................................................................35
4.1 $JASC.......................................................................................................................... 35
4.2 $JPOS,M.....................................................................................................................37
4.3 $JAGE ......................................................................................................................... 37
4.4 $JOFF.......................................................................................................................... 38
4.5 $JMASK ...................................................................................................................... 38
4.6 $JNP............................................................................................................................ 39
This command allows the user to specify the number of decimal places
output in the GGA and GLL messages. ................................................................ 39
This command has the following definition.........................................................39
$JNP,x<CR><LF>........................................................................................................... 39
Where 'x' specifies the number of decimal places from 1 to 5. This
command will affect both the GGA and the GLL messages........................ 39
4.7 $J4STRING................................................................................................................39
4.8 $JRAIM ....................................................................................................................... 40
4.9 $JSMOOTH............................................................................................................... 41
5. WAAS Commands............................................................................................................. 43
5.1 $JWAASPRN ............................................................................................................ 43
5.2 $JGEO.........................................................................................................................44
5.3 $JASC,RTCM............................................................................................................45
6. OmniSTAR Commands (for DGPS MAX only)..........................................................47
6.1 $JLBEAM....................................................................................................................47
6.2 $JLXBEAM................................................................................................................. 49
6.3 $JOMS.........................................................................................................................50
6.4 $JOMR........................................................................................................................ 51
6.5 $JFREQ....................................................................................................................... 52
Programming Manual viii
6.6 $JGEO.........................................................................................................................53
7. Beacon Commands (for all receivers excluding Vector and Vector Sensor)...... 55
7.1 RTCM Output ($JASC,BEAC,r)........................................................................... 56
7.2 Tune Command ($GPMSK).................................................................................. 56
7.2.1 Full Manual Tune Command ($GPMSK).............................................56
7.3 $PCSI,0....................................................................................................................... 58
7.4 Status Line A, Channel 0 ($PCSI,1)..................................................................... 59
7.5 Status Line B, Channel 1 ($PCSI,2).....................................................................60
7.6 Search Dump ($PCSI,3) ......................................................................................... 61
7.7 $PCSI,4....................................................................................................................... 63
7.8 $GPCRQ.................................................................................................................... 63
7.8.1 Operating Status Query ($GPCRQ)....................................................63
7.8.2 Performance Status Query ($GPCRQ)............................................... 64
7.9 $CRMSS ..................................................................................................................... 64
7.10 $CRMSK .................................................................................................................... 65
8. Heading Commands (for Vector products only)........................................................66
8.1 $JATT,TILTAID........................................................................................................ 67
8.2 $JATT,TILTCAL....................................................................................................... 68
8.3 $JATT,MAGAID....................................................................................................... 68
8.4 $JATT,MAGCLR and MAGCAL .......................................................................... 69
8.5 $JATT,GYROAID.................................................................................................... 70
8.6 $JATT,LEVEL ............................................................................................................ 71
8.7 $JATT,CSEP .............................................................................................................. 71
8.8 $JATT,MSEP (for Vector Sensor/Sensor PRO and OEM only).................... 72
8.9 $JATT,HTAU............................................................................................................ 72
8.10 $JATT,PTAU............................................................................................................. 73
8.11 $JATT,HRTAU.........................................................................................................74
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8.12 $JATT,COGTAU..................................................................................................... 75
8.13 $JATT,SPDTAU .......................................................................................................76
8.14 $JATT,HBIAS............................................................................................................77
8.15 $JATT,PBIAS.............................................................................................................78
8.16 $JATT,NEGTILT......................................................................................................78
8.17 $JATT,ROLL ............................................................................................................. 79
8.18 $JATT,SEARCH .......................................................................................................79
8.19 $JATT,FLIPBRD........................................................................................................ 80
8.20 $JATT,SUMMARY...................................................................................................80
8.21 $JATT,HELP.............................................................................................................. 82
9. e-Dif Commands (for Mini MAX, PowerMAX and DGPS MAX only)................. 84
9.1 $JRAD,1 .....................................................................................................................84
9.2 $JRAD,1,P..................................................................................................................85
9.3 $JRAD,1,lat,lon,height............................................................................................. 85
9.4 $JRAD,2 .....................................................................................................................86
9.5 $JRAD,3 .....................................................................................................................86
10. Binary Data...................................................................................................................... 88
10.1 Binary Message Structure......................................................................................88
10.2 Bin 1 ............................................................................................................................ 89
10.3 Bin 2 ............................................................................................................................ 90
10.4 Bin 80.......................................................................................................................... 91
10.5 Bin 93.......................................................................................................................... 92
10.6 Bin 94.......................................................................................................................... 93
10.7 Bin 95.......................................................................................................................... 94
10.8 Bin 96.......................................................................................................................... 95
10.9 Bin 97.......................................................................................................................... 96
10.10 Bin 98.......................................................................................................................... 96
Programming Manual x
10.11 Bin 99.......................................................................................................................... 98
11. Menu System Commands (for DGPS MAX only)................................................101
11.1 Virtual Circuit ($JCONN,AB)............................................................................102
11.2 $PCSI,HELP.............................................................................................................102
11.3 $PCSI,BAUD...........................................................................................................102
11.4 $PCSI,STATUS .......................................................................................................103
11.5 $PCSI,SETUP,SET ..................................................................................................103
11.6 $PCSI,SETUP,SHOW ...........................................................................................104
11.7 $PCSI,SETUP,SAVE ...............................................................................................105
11.8 $PCSI,SETUP,READ..............................................................................................106
11.9 $PCSI,SETUP,RESET.............................................................................................106
11.10 $PCSI,SETUP,INTRO ...........................................................................................107
11.11 $PCSI,SETUP,MUX, ..............................................................................................107
12. Configuration Wizard (for DGPS MAX only) ......................................................108
12.1 Virtual Circuit ($JCONN,AB)............................................................................109
12.2 $PCSI,WIZARD,SET.............................................................................................109
12.3 $PCSI,WIZARD,RATES.......................................................................................110
12.4 $PCSI,WIZARD,SHOW......................................................................................111
13. Frequently Asked Questions ....................................................................................112
Appendix A - Resources...........................................................................................................115
Further Reading ..........................................................................................................................116
Index ..........................................................................................................................................117
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List of Tables
Table 1-1 NMEA Message Elements...........................................................................................2
Table 1-2 Binary Message Structure...........................................................................................4
Table 2-1 GPS NMEA Messages ..................................................................................................8
Table 2-2 GGA Data Message Defined......................................................................................9
Table 2-3 GLL Data Message Defined..................................................................................... 10
Table 2-4 GSA Data Message Defined.................................................................................... 10
Table 2-5 GST Data Message Defined .................................................................................... 11
Table 2-6 GSV Data Message Defined .................................................................................... 12
Table 2-7 RMC Data Message Defined................................................................................... 12
Table 2-8 RRE Data Message Defined..................................................................................... 13
Table 2-9 VTG Data Message Defined.................................................................................... 14
Table 2-10 ZDA Data Message Defined................................................................................. 14
Table 2-11 RD1 Data Message Defined.................................................................................. 15
Table 2-12 $PCSI,1 Beacon Status Message Defined..........................................................16
Table 2-13 HPR Data Message Defined.................................................................................. 17
Table 2-14 $PSAT,GBS Data Message Defined .................................................................... 18
Table 3-1 General Commands.................................................................................................. 20
Table 4-1 GPS Commands.........................................................................................................35
Table 5-1 WAAS Commands.................................................................................................... 43
Table 6-1 OmniSTAR Commands............................................................................................ 47
Table 7-1 Beacon Commands ................................................................................................... 55
Table 8-1 GPS Heading Commands......................................................................................... 67
Table 9-1 e-Dif Commands........................................................................................................ 84
Table 10-1 Binary Message Structure...................................................................................... 89
Programming Manual xii
Table 10-2 Bin 1 Message........................................................................................................... 90
Table 10-3 Bin 2 Message........................................................................................................... 91
Table 10-4 Bin 80 Message.........................................................................................................92
Table 10-5 Bin 93 Message......................................................................................................... 93
Table 10-6 Bin 94 Message......................................................................................................... 94
Table 10-7 Bin 95 Message......................................................................................................... 94
Table 10-8 Bin 96 Message......................................................................................................... 95
Table 10-9 Bin 97 Message......................................................................................................... 96
Table 10-10 Bin 98 Message ...................................................................................................... 97
Table 10-11 Bin 99 Message ...................................................................................................... 98
Table 11-1 Menu System Commands....................................................................................101
Table 12-1 Configuration Wizard Commands....................................................................109
Programming Manual
xiii
Preface
Welcome to the Programming Manual. This document augments receiver
specific reference manuals by providing detailed information relating to the
command interface of a large range of products. This manual supports the
following products: the DGPS MAX receiver, the Mini MAX receiver, the
PowerMAX receiver, the Vector heading system, the Vector PRO heading
system, the Vector Sensor heading system, the Vector Sensor PRO heading
system and the Vector OEM board heading system.
Covered in this document are discussions of the various data messages
supported by each receiver, and messages and applications specific to only
certain receivers.
Organization
This manual contains the following chapters:
Chapter 1: Introduction - provides a general overview of this document and
the programming ability of the various receivers.
Chapter 2: Data Messages - describes the various NMEA data messages
output by the various receivers.
Chapter 3: General Commands - defines the commands supported by all
receivers that provide control over their general operation.
Chapter 4: GPS Commands - details the various commands supported by
the internal GPS engine of all receivers.
Chapter 5: WAAS Commands - provides a discussion of the commands
supported by the WAAS demodulator of all receivers.
Programming Manual xiv
Chapter 6: OmniSTAR Commands - describes the commands accepted by
the internal OmniSTAR receiver. Only the DGPS MAX supports
OmniSTAR.
Chapter 7: Beacon Commands - defines the commands supported by the
internal beacon sensor. The receivers that support beacon are: DGPS MAX,
Mini MAX, PowerMAX, Vector PRO, Vector Sensor PRO and Vector OEM
PRO.
Chapter 8: Heading Commands – defines the commands supported by the
heading systems. The heading systems are: the Vector, the Vector PRO, the
Vector Sensor, Vector Sensor PRO and the Vector OEM.
Chapter 9: e-Dif Commands - defines the commands supported by the
internal e-Dif software. Only the Mini MAX (including the SX-1), the
PowerMAX, and the DGPS MAX support e-Dif.
Chapter 10: Binary Data – defines the commands that can be sent in binary
format which can help to improve efficiency or provide information that
cannot be accessed through other formats.
Chapter 11: Menu System Commands - describes the commands used to
configure the setup of the DGPS MAX’s menu system.
Chapter 12: Configuration Wizard - provides a discussion of the commands
used to define configurations for DGPS MAX operation.
Chapter 13: Frequently Asked Questions - This chapter provides answers
to frequently asked questions about programming the DGPS MAX, the Mini
MAX, the PowerMAX and the Vector products.
Appendix A - Resources: This appendix lists resources that may be useful
for the advanced user.
The Further Reading section provides a listing of GPS/DGPS sources for
further information.
Programming Manual
xv
The Index provides a listing of the locations of various subjects within this
manual.
Customer Service
If you encounter problems during the installation or operation of this
product, or cannot find the information you need, please contact your
dealer, or CSI Wireless Customer Service. The contact numbers and e-mail
address for CSI Wireless Customer Service are:
Telephone number: +1-403-259-3311
Fax number: +1-403-259-8866
E-mail address: techsupport@csi-wireless.com
Technical Support is available from 8:00 AM to 5:00 PM Mountain Time,
Monday to Friday.
To expedite the support process, please have the product model and serial
number available when contacting CSI Wireless Customer Service.
In the event that your equipment requires service, we recommend that you
contact your dealer directly. However, if this is not possible, you must
contact CSI Wireless Customer Service to obtain a Return Merchandise
Authorization (RMA) number before returning any product to CSI Wireless.
If you are returning a product for repair, you must also provide a fault
description before CSI Wireless will issue an RMA number.
When providing the RMA number, CSI Wireless will provide you with
shipping instructions to assist you in returning the equipment.
Programming Manual xvi
World Wide Web Site
CSI Wireless maintains a World Wide Web home page at the following
address:
www.csi-wireless.com
A corporate profile, product information, application news, GPS and DGPS
literature, beacon coverage information, and software are available at this
site.
Doc
ument Conventions
Bold is used to emphasize certain points.
This font indicates information presented on the display of the DGPS
MAX receiver.
This icon indicates that you should press the up arrow button of the
DGPS MAX receiver keypad.
This icon indicates that you should press the Enter button of the DGPS
MAX receiver keypad.
This icon indicates that you should press the down arrow button of the
DGPS MAX receiver keypad.
Notes, Cautions, and Warnings
Notes, Cautions, and Warnings stress important information regarding the
installation, configuration, and operation of the receivers.
Note - Notes outline important information of a general nature.
Programming Manual
xvii
Cautions - Cautions inform of possible sources of difficulty or
situations that may cause damage to the product.
Warning - Warnings inform of situations that may cause you
harm.
Programming Manual 1
1. Introduction
This document provides detailed information relating to the programming of
the DGPS MAX receiver, the Mini MAX receiver, the PowerMAX receiver,
the Vector, the Vector PRO, the Vector Sensor, the Vector Sensor PRO and
the Vector OEM board. Discussion of the programming includes data
message output and commands recognized by the internal GPS engine,
WAAS demodulator, OmniSTAR receiver, beacon sensor, e-Dif software,
menu system, Configuration Wizard, heading commands, binary commands
and other general commands.
This chapter summarizes three communication protocols and discusses the
different ways of communicating with your receiver.
1.1 Summary of Protocols
There are three main protocols that are used to communicate with all of the
receivers. They are: NMEA, Binary and RTCM. NMEA is in ascii format and
can be easily viewed using any terminal program on a PC. It is therefore very
user friendly. Binary data is inherently more efficient than NMEA, but it is
not possible to read it without special software. RTCM is the format used to
transmit and receive corrections to GPS data.
1.1.1 NMEA 0183
NMEA 0183 is a communications standard established by the marine
industry. It has found use in a variety of electronic devices, including GPS
and beacon receivers.
The National Marine Electronics Association publishes updates to the NMEA
0183 message standard. The latest NMEA 0183 standard is available
through:
Programming Manual 2
National Marine Electronics Association
NMEA Executive Director
P. O. Box 50040, Mobile, Alabama 36605, USA
Tel (205) 473-1793 Fax (205) 473-1669
NMEA 0183 messages have a common structure, consisting of a message
header, data fields, and carriage return/line feed identifiers.
Example: $XXYYY,zzz,zzz,zzz…<CR><LF>
The components of this generic NMEA message example are displayed in
Table 1-1.
Table 1-1 NMEA Message Elements
Element Description
$ Message header character
XX NMEA Talker field. GP indicates a GPS talker
YYY Type of GPS NMEA Message
zzz Variable Length Message Fields
<CR> Carriage Return
<LF> Line Feed
Null, or empty fields occur when no information is available for that field.
To issue NMEA commands, use a program with a terminal utility running on
a PC computer. You may type these commands into the terminal utility
window once you have matched the communication parameters between
the terminal program and the receiver. You must ensure that when you
press the Enter key on your PC or terminal device to send a command, it
represents both a carriage return <CR> and line feed <LF>. If a NMEA
command is not working, this terminal facility option may not be set
correctly. Please contact your dealer, or CSI Wireless Customer Service for
more information.
Programming Manual 3
1.1.2 Binary
Binary messages may be output from the DGPS MAX receiver, the Mini
MAX receiver, the PowerMAX receiver, the Vector, the Vector PRO, the
Vector Sensor, the Vector Sensor PRO and the Vector OEM along with
NMEA 0183 data. Binary messages have a proprietary definition that likely
will require custom software support if you wish to use it. Binary messages
inherently are more efficient than NMEA 0183 and would be used when you
require maximum communication efficiency. Use of binary messages for
most users is not recommended as the NMEA interface allows you to
control the operation of the receivers and also receive all necessary data
regarding status and positioning information.
The receivers support a selection of binary data messages that provide
improved communication port efficiency. Additionally, certain data is
available only in binary format, such as raw measurement information.
Note - The binary messages described in this chapter are turned
on or off using the $JBIN and $JOFF commands discussed in
Chapters 3 and 4.
1.1.2.1 Binary Message Structure
The Binary messages supported by the receivers are in an Intel Little Endian
format for direct read in a PC environment. You can find more information
on this format at the following Web site.
www.cs.umass.edu/~verts/cs32/endian.html
Each binary message begins with an 8-byte header and ends with a carriagereturn line-feed pair (0x0D, 0x0A). The first four characters of the header is
the ASCII sequence $BIN.
The following table provides the general binary message structure.
Programming Manual 4
Table 1-2 Binary Message Structure
Group Components Type Bytes Value
Synchronization String 4 byte string 4 $BIN
BlockID - a number
which tells the type of
binary message
Unsigned
short
2 1, 2, 80, 93, 94,
95, 96, 97, 98,
or 99
Header
DataLength - the length
of the binary messages
Unsigned
short
2 52, 16, 40, 56,
96, 128, 300, 28,
68, or 304
Data Binary Data - varying
fields of data with a total
length of DataLength
bytes
Mixed fields 52, 16, 40, 56, 96,
128, 300, 28, 68, or
304
Varies - see
message tables
Checksum - sum of all
bytes of the data (all
DataLength bytes). The
sum is placed in a 2-byte
integer
Unsigned
short
2 Sum of data
bytes
CR - Carriage return Byte 1 0D hex
Epilogue
LF - Line feed Byte 1 0A hex
The total length of the binary message packet is DataLength plus 12 (8 byte header, 2 byte checksum,
and 2 bytes for CR, LF).
1.1.3 RTCM
RTCM is a communications standard established by the marine industry. It
has found use in the transmission of GPS corrections.
The Radio Technical Commission for Maritime Services publishes updates to
the RTCM message standard. The latest RTCM standard is available
through:
Programming Manual 5
Radio Technical Commission for Maritime Services
1800 Diagonal Road, Suite 600
Alexandria, Virginia 22314-2840, USA
Tel: (703)684-4481 Fax: (703)836-4229
Website: www.rtcm.org
1.2 Communications
1.2.1 Terminal Programs
A variety of terminal utility programs may be used for serial communication
with the receivers, however, it’s important that the communication
parameters between the program and the receiver be matched (match baud
rate of terminal program to receiver with an 8 data bit, no parity, and 1 stop
bit setting).
You must also ensure that when you press the PC computer’s Enter key to
terminate a NMEA message, that the carriage return is appended with a line
feed, as is required by NMEA.
Programming Manual 6
1.2.2 PocketMAX and PocketMAX PC
CSI Wireless offers configuration utilities designed for use with CSI Wireless
GPS products, including all of the products mentioned in this manual. As
these utilities were not designed specifically for any one product alone, they
support features not offered by every product, such as tracking of the
OmniSTAR differential service and display of our Vector product’s true
heading, however, the interface may be used for all I/O operations.
PocketMAX is a configuration program designed for PDAs with Windows
PocketPC software that runs on PocketPC 2000, 2002 and 2003 platforms.
PocketMAX PC runs on laptop and PC computers running the Microsoft
Windows 95 or higher operating system.
This software offers you the following flexibility:
• Tune your beacon and WAAS receivers
• Monitor beacon and WAAS reception
• Configure GPS message output and port settings
• Configure and monitor heading, time constants, etc.
• Record various types of data
Programming Manual 7
The current versions of PocketMAX and PocketMAX PC, as well as their
associated user manuals are available for download from our website at:
www.csi-wireless.com/products/software.shtml
The following is an example screen capture from this utility.
Caution – It is important to note that when you are using
PocketMAX, the program is doing many operations behind the
scenes. This includes modifying the data output from the serial
port as the program requires, which is screen dependant. When
you close PocketMAX, it will give you a message confirming the
current settings. It will then ask you if you want to proceed and
save these settings or go back and change them. Once you have
the settings configured properly for you, it is imperative to let the
program close completely on its own before you disconnect or
power down the receiver. This may take up to 10 seconds. If this
is not performed, the receiver will not be configured as you feel it
should, and can output a mixture of binary and NMEA data.
Programming Manual 8
2. Data Messages
This chapter describes in detail, the GPS data messages supported by the
DGPS MAX, the Mini MAX, the PowerMAX and the Vector receivers. The
following table summarizes the data messages supported by these receivers.
Table 2-1 GPS NMEA Messages
Message Max Rate Description
GPGGA 5 Hz Global Positioning System Fix Data
GPGLL 5 Hz Geographic Position - Latitude/Longitude
GPGSA 1 Hz GNSS (Global Navigation Satellite System) DOP and Active Satellites
GPGST 1 Hz GNSS Pseudorange Error Statistics
GPGSV 1 Hz GNSS Satellites in View
GPRMC 5 Hz Recommended Minimum Specific GNSS Data
GPRRE 1 Hz Range residual message
GPVTG 5Hz Course Over Ground and Ground Speed
GPZDA 5 Hz Time and Date
RD1 1 Hz SBAS diagnostic information (proprietary NMEA message)
$PCSI,1 1 Hz This is a proprietary beacon status message
HDT 10 Hz This message provides the true heading
ROT 10 Hz This message provides rate of turn information
HPR 10 Hz This is a proprietary message with time, true heading, and pitch or roll
GBS 1 Hz This message is used to support Receiver Autonomous Integrity Monitoring
The following subsections provide detailed information relating to the use of
each command.
2.1 GGA Data Message
The GGA message contains detailed GPS position information, and is the
most frequently used NMEA data message. In Table 2-2, the GGA data
message is broken down into its components. This message takes the
following form:
Programming Manual 9
$GPGGA,hhmmss.ss,ddmm.mmmm,s,dddmm.mmmm,s,n,qq,pp.p,saaa
aa.aa,M,±xxxx.xx,M,sss,aaaa*cc<CR><LF>
Table 2-2 GGA Data Message Defined
Field Description
hhmmss.ss UTC time in hours, minutes, seconds of the GPS position
ddmm.mmmmm Latitude in degrees, minutes, and decimal minutes
s s = N or s = S, for North or South latitude
dddmm.mmmmm Longitude in degrees, minutes, and decimal minutes
s s =E or s = W, for East or West longitude
n Quality indicator, 0 = no position, 1 = undifferentially corrected position, 2 =
differentially corrected position, 9= position computed using almanac
qq Number of satellites used in position computation
pp.p HDOP =0.0 to 9.9
saaaa.aa Antenna altitude
M Altitude units, M = meters
±xxxx.xx Geoidal separation (needs geoidal height option)
M Geoidal separation units, M = meters
sss Age of differential corrections in seconds
aaa Reference station identification
*cc Checksum
<CR><LF> Carriage return and line feed
2.2 GLL Data Message
The GLL message contains Latitude and Longitude. In Table 2-3, the GLL
data message is broken down into its components. This message has the
following format:
$GPGLL,ddmm.mmmm,s,dddmm.mmmm,s,hhmmss.ss,s*cc<CR><LF>
Programming Manual 10
Table 2-3 GLL Data Message Defined
Field Description
ddmm.mmmmm Latitude in degrees, minutes, and decimal minutes
s s = N or s = S, for North or South latitude
dddmm.mmmmm Longitude in degrees, minutes, and decimal minutes
s s = E or s = W, for East or West longitude
hhmmss.ss UTC time in hours, minutes, and seconds of GPS position
s Status, s = A = valid, s = V = invalid
*cc Checksum
<CR><LF> Carriage return and line feed
2.3 GSA Data Message
The GSA message contains GPS DOP and active satellite information. Only
satellites used in the position computation are present in this message. Null
fields are present when data is unavailable due to the number of satellites
tracked. Table 2-4, breaks down the GSA message into its components. This
message has the following format:
$GPGSA,a,b,cc,dd,ee,ff,gg,hh,ii,jj,kk,mm,nn,oo,p.p,q.q,r.r *cc<CR><LF>
Table 2-4 GSA Data Message Defined
Field Description
a Satellite acquisition mode M = manually forced to 2D or 3D, A = automatic swap
between 2D and 3D
b Position mode, 1 = fix not available, 2 = 2D fix, 3 = 3D fix
cc to oo Satellites used in the position solution, a null field occurs if a channel is unused
p.p Position Dilution of Precision (PDOP) = 1.0 to 9.9
q.q Horizontal Dilution of Precision (HDOP) = 1.0 to 9.9
r.r Vertical Dilution of Precision (VDOP) = 1.0 to 9.9
*cc Checksum
<CR><LF> Carriage return and line feed
Programming Manual 11
2.4 GST Data Message
The GST message contains Global Navigation Satellite System (GNSS)
psuedorange error statistics. Table 2-5, breaks down the GST message into
its components. This message has the following format:
$GPGST,hhmmss.ss,a.a,b.b,c.c,d.d,e.e,f.f,g.g *cc<CR><LF>
Table 2-5 GST Data Message Defined
Field Description
hhmmss.ss UTC time in hours, minutes, seconds of the GPS position
a.a Root mean square (rms) value of the standard deviation of the range inputs to the
navigation process. Range inputs include pseudoranges and differential GNSS
(DGNSS) corrections
b.b Standard deviation of semi-major axis of error ellipse (meters)
c.c Standard deviation of semi-minor axis of error ellipse (meters)
d.d Orientation of semi-major axis of error ellipse (meters)
e.e Standard deviation of latitude error (meters)
f.f Standard deviation of longitude error (meters)
g.g Standard deviation of altitude error (meters)
*cc Checksum
<CR><LF> Carriage return and line feed
2.5 GSV Data Message
The GSV message contains GPS satellite information. Null fields occur
where data is not available due to the number of satellites tracked. Table 26 breaks down the GSV data message into its components. This message
has the following format:
$GPGSV,t,m,n,ii,ee,aaa,ss,…ii,ee,aaa,ss,*cc<CR><LF>
Programming Manual 12
Table 2-6 GSV Data Message Defined
Field Description
t Total number of messages
m Message number, m = 1 to 3
n Total number of satellites in view
ii Satellite number
ee Elevation in degrees, ee = 0 to 90
aaa Azimuth (true) in degrees, aaa = 0 to 359
ss SNR (dB) + 30, ss = 0 to 99
*cc Checksum
<CR><LF> Carriage return and line feed
2.6 RMC Data Message
The RMC message contains recommended minimum specific GPS data. Table
2-7 breaks down the RMC data message into its components. This message
has the following format:
$GPRMC,hhmmss.ss,a,ddmm.mmm,n,dddmm.mmm,w,z.z,y.y,ddmmyy
,d.d,v *cc<CR><LF>
Table 2-7 RMC Data Message Defined
Field Description
hhmmss.ss UTC time in hours, minutes, seconds of the GPS position
a Status is valid if a = A, status is invalid if a = V
ddmm.mmmmm Latitude in degrees, minutes, and decimal minutes
n S = N or s = S, for North or South latitude
dddmm.mmmmm Longitude in degrees, minutes, and decimal minutes
w S = E or s = W, for East or West longitude
z.z Ground speed in knots
y.y Track made good, referenced to true north
ddmmyy UTC date of position fix in day, month, year
d.d Magnetic Variation in degrees
v Variation sense v = E = East, v = W = West
*cc Checksum
Programming Manual 13
<CR><LF> Carriage return and line feed
2.7 RRE Data Message
The RRE message contains the satellite range residuals and estimated
position error. Table 2-8 breaks down the RRE data message into its
components. This message has the following format:
$GPRRE,n,ii,rr…ii,rr,hhh.h,vvv.v *cc<CR><LF>
Table 2-8 RRE Data Message Defined
Field Description
n Number of satellites used in position computation
ii Satellite number
rr Range residual in meters
hhh.h Horizontal position error estimate in meters
vvv.v Vertical position error estimate in meters
*cc Checksum
<CR><LF> Carriage return and line feed
2.8 VTG Data Message
The VTG message contains velocity and course information. Table 2-9
breaks down the VTG data message into its components. This message has
the following format:
$GPVTG,ttt,c,ttt,c,ggg.gg,u,ggg,gg,u*cc<CR><LF>
Programming Manual 14
Table 2-9 VTG Data Message Defined
Field Description
ttt True course over ground, ttt = 000 to 359, in degrees
c True course over ground indicator, c = T always
ttt Magnetic course over ground, ttt = 000 to 359, in degrees
c Magnetic course over ground Indicator, always c = M
ggg.gg Speed over ground, 000 to 999 knots
u Speed over ground units, u = N = Nautical mile/h
ggg.gg Speed over ground, 000 to 999 km/h
u Speed over ground units, u = K = kilometer/h
*cc Checksum
<CR><LF> Carriage return and line feed
2.9 ZDA Data Message
The ZDA message contains Universal Time information. Table 2-10 breaks
down the ZDA data message into its components. This message has the
following format:
$GPZDA,hhmmss.ss,dd,mm,yyyy,xx,yy*cc<CR><LF>
Table 2-10 ZDA Data Message Defined
Field Description
hhmmss.ss UTC time in hours, minutes, seconds of the GPS position
dd Day, dd = 0 to 31
mm Month, mm = 1 to 12
yyyy Year
xx Local zone description in hours, xx = -13 to 13
yy Local zone description in minutes, yy = 0 to 59
*cc Checksum
<CR><LF> Carriage return and line feed
Programming Manual 15
2.10 RD1 Data Message
The RD1 Data message contains a variety of information, has the following
format:
$RD1,s,w,f.f,l,ber,agc,dds,dop,dsp,arm,diff,nav<CR><LF>
Table 2-11 summarizes the contents of this message.
Table 2-11 RD1 Data Message Defined
Field Description
s GPS seconds
w GPS week
f.f Current frequency (MHz)
l Lock Indicator (1 = lock, 0 = no lock)
ber BER
agc AGC
dds DDS in Hz
dop Doppler in Hz
dsp DSP status
arm ARM status
diff Differential status
nav Navigation condition
*cc Checksum
<CR><LF> Carriage return and line feed
2.11 $PCSI,1 Beacon Status Message
This message contains a variety of information relating to the status of a CSI
Wireless SBX engine inside the receivers with beacon capability. The
$PCSI,1 output message from the SBX beacon module is intelligently routed
through the receiver to the port from which the $PCSI,1 message was
requested.
Programming Manual 16
$PCSI,CS0,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,Q,ID,H,T
Table 2-12 $PCSI,1 Beacon Status Message Defined
Field Description
CS0 Channel 0
PXXX-Y.YYY Resident SBX-3 firmware version
S/N SBX-3 receiver serial number
fff.f Channel 0 current frequency
M Frequency Mode (‘A’ - Auto or ‘M’ - Manual)
ddd MSK bit rate
R RTCM rate
SS Signal strength
SNR Signal to noise ratio
MTP Message throughput
Q Quality number {0-25} - number of successive good 30 bit RTCM words received
ID Beacon ID to which the receiver’s primary channel is tuned
H Health of the tuned beacon [0-7]
T $PCSI,1 status output period {0-99}
2.12 HDT Data Message
This message provides true heading of the vessel. This is the direction that
the vessel (Vector Antenna Array) is pointing and is not necessarily the
direction of vessel motion (the course over ground). The HDT data
message has the following format.
$HEHDT,x.x,T*cc<CR><LF>
Where ‘x.x’ is the current heading in degrees and ‘T’ indicates true heading.
2.13 ROT Data Message
The ROT data message contains the vessel’s rate of turn information. It has
the following format.
Programming Manual 17
$HEROT,x.x,A*cc<CR><LF>
Where ‘x.x’ is the rate of turn in degrees per minute and ‘A’ is a flag
indicating that the data is valid. The ‘x.x’ field is negative when the vessel
bow turns to port.
2.14 HPR Data Message
The $PSAT,HPR message is a proprietary NMEA sentence that provides the
heading, pitch / roll information, and time in a single data message. This
message has the following format.
$PSAT,HPR,time,heading,pitch,roll,x*7B<CR><LF>
Table 2-13 HPR Data Message Defined
Field Description
time GPS time (HHMMSS.SS)
heading Heading (degrees)
pitch Pitch (degrees)
roll Roll (degrees)
x N when GPS is used to compute heading and G
when gyro is being used to compute heading.
2.15 $PSAT,GBS Data Message
The GBS message is used to support Receiver Autonomous Integrity
Monitoring (RAIM). In Table 2-14, the GBS data message is broken down
into its components. This message takes the following form:
$PSAT,GBS,hhmmss.ss,ll.l,LL.L,aa.a,ID,p.ppppp,b.b,s.s,flag*cc
Programming Manual 18
Table 2-14 $PSAT,GBS Data Message Defined
Field Description
hhmmss.ss UTC time in hours, minutes, seconds of the GGA or GNS fix associated with this
sentence.
ll.l Expected error in latitude.
LL.L Expected error in longitude.
aa.a Expected error in altitude.
ID ID number of most likely failed satellite.
p.ppppp Probability of HPR fault.
b.b Estimate of range bias, in meters, on most likely failed satellite.
s.s Standard deviation of range bias estimate.
flag Good (0) / Warning (1) / Bad (2) Flag (based on horizontal protection radius)
*cc Checksum
Programming Manual 19
3. General Commands
This section presents various commands relating to the general operation
and configuration of the DGPS MAX, Mini MAX, PowerMAX, Vector,
Vector PRO, Vector Sensor, Vector Sensor PRO and Vector OEM.
The following table provides a brief description of the general commands
supported by these receivers.
Programming Manual 20
Table 3-1 General Commands
Message Description
$JASC,Dx Command to turn on diagnostic information.
$JAIR This is a command to place the receiver into ‘AIR’ mode where the receiver will
respond better to the high dynamics associated with airborne applications.
$JASC,VIRTUAL This command is used to output RTCM data fed into the other port, through the
current port.
$JASC,RTCM This command is used to output RTCM data from the SBAS demodulator.
$JALT This command is used to set the altitude aiding mode of the receivers.
$JAPP This command is used to query the current applications and also choose the
current application.
$JBAUD Baud rate change command for the receivers.
$JCONN Virtual circuit command used to interface to the internal beacon receiver or
communicate with the menu system microprocessor (for the DGPS MAX).
$JDIFF This command is used to set the differential mode.
$JK This command is used to subscribe certain features of use of the receivers.
$JPOS This command is used to provide the receiver with a seed position to acquire a
SBAS signal more quickly upon start-up. This is not normally needed.
$JQUERY,GUIDE This command is used to poll the receiver for its opinion on whether or not it is
providing suitable accuracy after the both SBAS and GPS have been acquired (up
to 5 min).
$JRESET This command is used to reset the configuration of the receiver.
$JSAVE This command is used to save the configuration of the receiver.
$JSHOW This command is used to query the receiver for its configuration.
$JT This command is used to poll the receiver for its receiver type.
$JBIN This command is used to turn on the various binary messages supported by the
receiver.
$JI This command is used to get information from the receiver such as its serial
number and firmware version information.
The following subsections provide detailed information relating to the use of
each command.
Programming Manual 21
Note - Please ensure that you save any changes that you wish to
maintain beyond the current power-up by using the $JSAVE
command and wait for the ‘$> Save Complete’ response.
3.1 $JASC,D1
This command allows you to adjust the output of the RD1 diagnostic
information message from the receiver. The diagnostic information is
specific to whichever differential source you are currently using.
This command has the following structure.
$JASC,Dx,r[,OTHER]<CR><LF>
Currently, only the RD1 message is currently defined with x = 1. The
message status variable ‘r’ may be one of the following values.
r Description
0 OFF
1 ON
When the ‘,OTHER’ data field is specified (without the square brackets), this
command will enact a change in the RD1 message on the other port.
3.2 $JAIR
This command allows you to place the primary GPS engine within the
receiver into AIR mode HIGH, where the receiver is optimized for the high
dynamic environment associated with airborne platforms. JAIR defaults to
normal (NORM) and this setting is recommended for most applications.
Turning AIR mode on to HIGH is not recommended for Vector operation.
The format of this command follows.
$JAIR,r<CR><LF>
Programming Manual 22
Where feature status variable, ‘r’, may be one of the following values.
r Description
0 NORM
1 HIGH
The receiver will reply with the following response.
$>
3.3 $JASC,VIRTUAL
When using an external correction source, this command is used to ‘daisy
chain’ RTCM data from being input from one port and output through the
other. For example, if RTCM is input on Port B, this data will correct the
position and also be output through Port A. The receiver acts as a passthrough for the RTCM data. Either port may be configured to accept RTCM
data input and this command then allows the opposite port to output the
RTCM data.
To configure the receiver to output RTCM data on the current port from
data input on the other port, issue the following command.
$JASC,VIRTUAL,r<CR><LF>
To configure the receiver to output RTCM data on the other port from
RTCM data input on the current port, issue the following command.
$JASC,VIRTUAL,r,OTHER<CR><LF>
Where the message status variable, ‘r’, may be one of the following.
r Description
0 OFF
1 ON
Programming Manual 23
The receiver will reply with the following response.
$>
3.4 $JALT
This command turns altitude aiding on or off for the receiver. When set to
on, altitude aiding uses a fixed altitude instead of using one satellite’s
observations to calculate the altitude. The advantage of this feature, when
operating in an application where a fixed altitude is acceptable, is that the
extra satellite’s observations can be used to betterment of the latitude,
longitude, and time offset calculations, resulting in improved accuracy and
integrity. Marine markets, for example, may be well suited for use of this
feature, however, it’s not normally required for receiver operation.
This command has the following layout.
$JALT,c,v[,GEOID] <CR><LF>
Where feature status variable, ‘c’, and threshold variable, ‘v’, may be one of
the following.
c Description
NEVER This is the default mode of operation where
altitude aiding is not used. ‘v’ is ignored in this
case.
SOMETIMES Setting this feature to SOMETIMES allows the
receiver to use altitude aiding, dependent upon
the PDOP threshold, specified by ‘v’
ALWAYS Setting this feature to ALWAYS allows the
receiver to use altitude aiding regardless of a
variable. In this case, you may specify the
ellipsoidal altitude, ‘v’ (in meters) that the
receiver should use. Optionally, if you specify
the ‘,GEOID’ field, the receiver will use the
GEOID as its reference.
Programming Manual 24
The receiver will reply with the following response.
$>
3.5 $JLIMIT
This command is used to change the threshold of estimated horizontal
performance for which the DGPS position LED is illuminated (only on the
Mini MAX and PowerMAX). The default value for this parameter is a
conservative 10.0 meters. This command has the following format.
$JLIMIT,limit<CR><LF>
Where ‘limit’ is the new limit in meters.
The receiver will respond with the following message.
$>
If you wish to verify the current $JLIMIT threshold, the response to the
$JSHOW command provides this information.
3.6 $JAPP
This command allows you to request the receiver for the currently installed
applications and to choose which application to use. Both internal GPS
engines each have two copies of their firmware in both application slots.
This ensures that the application is not accidentally changed such that the
receiver fails to function correctly.
To poll the receiver for the current applications, send the following message.
$JAPP<CR><LF>
There are no data fields to specify in this message. The receiver will
respond with the following message.
Programming Manual 25
$>JAPP,current,other
Where ‘current’ indicates the current application in use and ‘other’ indicates
the secondary application that is not in use currently.
To change from the current application to the other application (when a two
applications are present), issue the following command.
$JAPP,OTHER<CR><LF>
Note - Other derivatives of the $JAPP command are the
$JAPP,1<CR><LF> and $JAPP,2<CR><LF> commands that can be
used to set the receiver to use the first and second application. It’s
best to follow up the sending of these commands with a $JAPP
query to see which application is 1 or 2. These two commands are
best used when upgrading the firmware inside the receiver, as the
firmware upgrading utility uses the application number to
designate which application to overwrite.
Note - When running an application, you can issue a $JI command
to determine the version of that application.
3.7 $JBAUD
This command is used to configure the baud rates of the receiver.
This command has the following structure.
$JBAUD,r[,OTHER] <CR><LF>
Where ‘r’ may be one of the following baud rates.
Baud Rates
4800
Programming Manual 26
9600
19200
38400
When this command has been issued without the ‘,OTHER’ data field, the
baud rate of the current port will be changed accordingly. When the
‘,OTHER’ data field is specified (without the square brackets), a baud rate
change will occur for the other port.
The receiver will reply with the following response.
$>
3.8 $JCONN
This command is used to create a virtual circuit between the A and B port, if
needed. This allows you to communicate through the receiver from Port A
or B to the opposite port.
The virtual circuit command has the following form.
$JCONN,p<CR><LF>
Where the connection type, ‘p’, may be one of the following.
p Description
AB Specify ‘AB’ in order to connect the A port to the B port
X Once a virtual circuit has been established, to remove the
virtual circuit, specify ‘X’ in this command to return the
current port to normal
Programming Manual 27
3.9 $JDIFF
This command is used to change the differential mode of the receiver. The
default differential mode is SBAS (WAAS).
The structure of this command follows.
$JDIFF,diff<CR><LF>
Where the differential mode variable, ‘diff’, has one of the following values.
diff Description
OTHER Specifying OTHER instructs the receiver to use external
corrections input through the opposite port from which you are
communicating
BEACON Specifying BEACON instructs the receiver to use corrections from
the internal SBX beacon engine
WAAS Specifying WAAS instructs the receiver to use SBAS corrections
LBAND Specifying LBAND instructs the receiver to use OmniSTAR
corrections.
X Specifying X instructs the receiver to use e-Dif mode (the receiver
will respond back with $JDIFF,AUTO to a $JDIFF query.)
NONE In order for the receiver to operate in autonomous mode, the
NONE argument may be specified in this command.
3.10 $JK
This command is used by the receiver to enable subscriptions for various
features.
This command will have the following format.
$JK,x…<CR><LF>
Where ‘x…’ is the subscription key provided by CSI Wireless and is 10
characters in length.
Programming Manual 28
If you send the $JK command without a subscription key as follows, it will
return the expiry date of the subscription.
$JK<CR><LF>
Reply.
$>JK,12/31/2003,1
3.11 $JPOS
This command is used to speed up the initial acquisition when changing
continents with the receiver (for example, powering it for the first time in
Europe after it has been tested in Canada). This will allow it to begin the
acquisition process for the closest SBAS spot beams. This will save some
time with acquisition of the SBAS service; however, use of this message is
typically not required due to the quick overall startup time of CSI receivers.
This command has the following layout.
$JPOS,lat,lon<CR><LF>
Where ‘lat’ and ‘lon’ have the following requirements.
Position Component Description
lat Latitude component must be entered in decimal degrees. This
component does not have to be more accurate than half a degree.
lon Longitude component must be entered in decimal degrees. This
component does not have to be more accurate than approximately
half a degree.
Note - this command is not normally required for operation of CSI
receivers.
Programming Manual 29
3.12 $JQUERY,GUIDE
This command is used to poll the receiver for its opinion on whether or not
it is providing suitable performance after the both SBAS and GPS have been
acquired (up to 5 min). This feature takes into consideration the download
status of the SBAS ionospheric map and also the carrier phase smoothing of
the GPS.
This command has the following format.
$JQUERY,GUIDE<CR><LF>
If the receiver is ready for use with navigation or positioning with optimum
performance, it will return the following message.
$>JQUERY,GUIDE,YES<CR><LF>
Otherwise, it will return the following message.
$>JQUERY,GUIDE,NO<CR><LF>
3.13 $JRESET
This command is used to reset the receiver’s GPS engine(s) to their default
operating parameters.
This message has the following format.
$JRESET<CR><LF>
3.14 $JSAVE
Sending this command is required after making changes to the operating
mode of the receiver in order to ensure the changes are present for the
subsequent power cycle.
Programming Manual 30
$JATT commands do not require a $JSAVE command to be issued
subsequently as their changes are automatically saved.
This command has the following structure.
$JSAVE<CR><LF>
The receiver will reply with the following two messages. Ensure that the
receiver indicates that the save process is complete before turning the
receiver off or changing the configuration further.
$> Saving Configuration. Please Wait...
$> Save Complete
No data fields are required. The receiver will indicate that the configuration
is being saved and will notify you when the save is complete.
3.15 $JSHOW
This command is used to poll the receiver for its current configuration.
This command has the following structure.
$JSHOW[,subset] <CR><LF>
Using the $JSHOW command without the optional ‘,subset’ field will provide
a complete response from the receiver. An example of this response
follows.
Programming Manual 31
$>JSHOW,BAUD,9600 (1)
$>JSHOW,BAUD,9600,OTHER (2)
$>JSHOW,ASC,GPGGA,1.0,OTHER (3)
$>JSHOW,ASC,GPVTG,1.0,OTHER (4)
$>JSHOW,ASC,GPGSV,1.0,OTHER (5)
$>JSHOW,ASC,GPGST,1.0,OTHER (6)
$>JSHOW,ASC,D1,1,OTHER (7)
$>JSHOW,DIFF,WAAS (8)
$>JSHOW,ALT,NEVER (9)
$>JSHOW,LIMIT,10.0 (10)
$>JSHOW,MASK,5 (11)
$>JSHOW,POS,51.0,-114.0 (12)
$>JSHOW,AIR,AUTO,OFF (13)
$>JSHOW,FREQ,1575.4200,250 (14)
$>JSHOW,AGE,1800 (15)
This example response is summarized in the following table.
Line Description
1 This line indicates that the current port is set to a baud rate of 9600
2 This line indicates that the other port is set to a baud rate of 9600
3 This line indicates that GPGGA is output at a rate of 1 Hz from the other port
4 This line indicates that GPVTG is output at a rate of 1 Hz from the other port
5 This line indicates that the GPGSV is output at a rate of 1 Hz from the other port
6 This line indicates that GPGST is output at a rate of 1 Hz from the other port
7 This line indicates that D1 is output at a rate of 1 Hz from the other port
8 This line indicates that the current differential mode is WAAS
9 This line indicates the status of the altitude aiding feature
10 This line indicates the threshold of estimated differential performance that allows
the green DGPS LED to illuminate (on the Mini MAX only)
11 This line indicates the current elevation mask cutoff angle, in degrees
12 This line indicates the current seed position used for startup, in decimal degrees
13 This line indicates the current status of the AIR mode
14 This line indicates the current frequency of the L-band receiver
15 This line indicates the current maximum acceptable differential age in seconds
Programming Manual 32
When issuing this command with the optional ‘,subset’ data field (without
the square brackets), a one-line response is provided. The subset field may
be either CONF or GP.
When CONF is specified for ‘subset’, the following response is provided.
$>JSHOW,CONF,N,0.0,10.0,5,A,60W
This response is summarized in the following table.
Message Component Description
$>JSHOW,CONF Message header
N ‘N’ indicates no altitude aiding
0.0 ‘0.0’ indicates the aiding value, if specified (either specified height or
PDOP threshold)
10.0 Residual limit for the $JLIMIT command
5 Elevation mask cutoff angle, in degrees
A AIR mode indication
60 Maximum acceptable age of correction data in seconds
W Current differential mode, ‘W’ indicates WAAS mode.
When GP is specified for ‘subset’, the following is an example response
provided.
$>JSHOW,GP,GGA,1.0
This response will provide the >$JSHOW,GP message header, followed by
each message currently being output through the current port and also the
update rate for that message.
3.16 $JT
This command displays the type of receiver engine within the receiver and
has the following format.
$JT<CR><LF>
Programming Manual 33
The receiver will return the following response.
$>JT,type
Where type is one of the following:
Type Description
SLXg The DGPS MAX will respond with ‘SLXg’, where SLX is the name
of the board controlling the receiver and ‘g’ stands for GPS system.
SX1g The Mini MAX will respond with SX1g, where SX1 is the name of
the board controlling the receiver and ‘g’ stands for GPS system.
SX1a The Vector, Vector PRO, Vector Sensor, Vector Sensor PRO and
Vector OEM will respond with SX1a where SX1 is the board
controlling the receiver and ‘a’ stands for attitude system.
3.17 $JI
This command displays receiver information. It has the following format:
$JI<CR><LF>
The receiver will reply with the following message.
$>JI,11577,1,5,11102002,01/01/1900,01/01/3003,1.1,38
This command is summarized in the following table.
Message Component Description
Programming Manual 34
11577 This field provides the serial number of the GPS engine
1 This field is the fleet number
5 This is the hardware version
11102002 This field is the production date code
01/01/1900 This field is the subscription begin date
1/01/3003 This field is the Subscription expiration date
1.1 This field is the ARM version
38 This field is the DSP version
3.18 $JBIN
This command allows you to request the output of the various binary
messages. Binary messages 95 and 96 contain all information required for
post processing.
This message has the following structure.
$JBIN,msg,r
Where ‘msg’ is the message name and ‘r’ is the message rate as shown in the
table below.
msg r (Hz) Description
Bin1 5, 1, 0, or .2 Binary GPS position message.
Bin2 5, 1, 0, or .2 Binary message containing GPS DOP’s.
Bin80 1 or 0 Binary message containing SBAS information.
Bin95 1 or 0 Binary message containing ephemeris information.
Bin96 1 or 0 Binary message containing code and carrier phase information.
Bin97 5, 1, 0, or .2 Binary message containing process statistics
Bin98 1 or 0 Binary message containing satellite and almanac information.
Bin99 5, 1, 0, or .2 Binary message containing GPS diagnostic information.
The receiver will reply with the following response.
$>
Programming Manual 35
4. GPS Commands
This section describes the selection of commands specific to the
configuration and operation of the DGPS MAX, Mini MAX, PowerMAX,
Vector, Vector PRO, Vector Sensor, Vector Sensor PRO and Vector OEM
receivers.
The following table provides a brief description of the commands supported
by the GPS engine for its configuration and operation.
Table 4-1 GPS Commands
Message Description
$JASC,GP This command is used to configure the NMEA message output of the GPS engine
$JAGE A command used to configure the maximum age of DGPS corrections
$JOFF This command is used to turn off all data output by the GPS engine
$JMASK This command allows you to modify the cut-off angle for tracking of GPS satellites
$J4STRING This command allows you to configure the GPS for output of the GPGGA, GPGSA,
GPVTG, and GPZDA messages at a specific baud rate
$JRAIM This command is used to set and view the RAIM parameters
$JSMOOTH This command is used to change the carrier smoothing interval
The following subsections provide detailed information relating to the use of
each command.
Note - Please ensure that you save any changes that you wish to
maintain beyond the current power-up by using the $JSAVE
command and wait for the ‘$> Save Complete’ response.
4.1 $JASC
Using this command, you may turn GPS data messages on at a particular
update rate or turn them off. When turning messages on, you have the
Programming Manual 36
choice of various update rates available, depending on what your
requirements are.
This command has the following layout.
$JASC,msg,r[,OTHER]<CR><LF>
Where ‘msg’ is the name of the data message and ‘r’ is the message rate, as
shown in the table below. Sending the command without the optional
‘,OTHER’ data field will enact a change on the current port.
Sending a command with a zero value for the ‘r’ field turns off a message.
msg r (Hz) Description
GPGGA 5, 1, 0.2, 0 or M Global Positioning System Fix Data
GPGLL 5, 1, 0.2, 0 or M Geographic Position - Latitude/Longitude
GPGSA 1 or 0 GNSS (Global Navigation Satellite System) DOP and Active
Satellites
GPGST 1 or 0 GNSS Pseudorange Error Statistics
GPGSV 1 or 0 GNSS Satellites in View
GPRMC 5, 1, 0.2, 0 or M Recommended Minimum Specific GNSS Data
GPRRE 1 or 0 Range residual message
GPVTG 5, 1, 0.2, 0 or M Course Over Ground and Ground Speed
GPZDA 5, 1, 0.2, 0 or M Time and Date
HDT 10, 5, 1, 0.2, 0 or M RTK-derived GPS Heading
ROT 10, 5, 1, 0.2, 0 or M RTK-derived GPS rate of turn
INTLT 1 or 0 Internal tilt sensor measurement
HPR 10, 5, 1, 0.2, 0 or M Proprietary message containing heading and roll or pitch
GPGBS 1 or 0 Used to output RAIM information.
When the ‘,OTHER’ data field is specified (without the square brackets), this
command will enact a change on the other port.
Programming Manual 37
The receiver will reply with the following response.
$>
4.2 $JPOS,M
This command allows you to ‘poll’ the receiver and output selected
messages only when this manual mark is entered. To initiate this for the
messages listed above that have this feature enabled, they must be turned on
using the command $JASC,msg,M[,OTHER]<CR><LF>
All messages with ‘M’ in the last field will be outputted with the command
$JPOS,M[,OTHER]<CR><LF>
Note – Messages can only be selected at one output rate. It is not
possible to enable them at a constant output rate as well as with
the manual mark option simultaneously.
4.3 $JAGE
This command allows you to choose the maximum allowable age for
correction data. The default setting for all receivers is 1800 seconds,
however, you may change this value as you feel appropriate. This setting
inherently defines how long a receiver should coast using the COAST
feature.
Using COAST, the receiver is able to use old correction data for extended
periods of time. If you choose to use a maximum correction age older than
1800 seconds, we recommend that you consider testing the receiver to
ensure that the new setting meets your requirements as accuracy will slowly
drift with increasing time.
This command has the following structure.
Programming Manual 38
$JAGE,age<CR><LF>
Where maximum differential age timeout variable, ‘age’, may be a value from
6 to 8100 seconds.
The receiver will reply with the following response.
$>
4.4 $JOFF
This command allows you to turn off all data messages being output through
the current or other port, including any binary messages.
This command has the following definition.
$JOFF[,OTHER]<CR><LF>
When the ‘,OTHER’ data field is specified (without the square brackets), this
command will turn on the four NMEA messages on the other port.
There are no variable data fields for this message. The receiver will reply
with the following response.
$>
4.5 $JMASK
This command allows you to change the elevation cutoff mask angle for the
GPS engine. Any satellites below this mask angle will be ignored, even if
available. The default angle is 5 degrees, as satellites available below this
angle will have significant tropospheric refraction errors.
This message has the following format.
Programming Manual 39
$JMASK,e<CR><LF>
Where the elevation mask cutoff angle, ‘e’, may be a value from 0 to 60
degrees.
The receiver will reply with the following response.
$>
4.6 $JNP
This command allows the user to specify the number of decimal places
output in the GGA and GLL messages.
This command has the following definition.
$JNP,x<CR><LF>
Where 'x' specifies the number of decimal places from 1 to 5. This command
will affect both the GGA and the GLL messages.
4.7 $J4STRING
This command allows the GPGGA, GPVTG, GPGSA, and GPZDA messages
to all be output with the issue of a single command. The output rate of each
message is limited to 1 Hz, however, you may choose to set the baud rate of
the current or other port at the same time.
This command has the following definition.
$J4STRING[,r][,OTHER] <CR><LF>
Programming Manual 40
Where ‘r’ may be one of the following baud rates.
Baud Rates
4800
9600
When the ‘,OTHER’ data field is specified (without the square brackets), this
command will turn on the four NMEA messages on the other port.
The receiver will reply with the following response.
$>
4.8 $JRAIM
RAIM stands for receiver autonomous integrity monitoring. RAIM is a GPS
integrity monitoring scheme that uses redundant ranging signals to detect a
satellite malfunction that results in a large range error. The CSI products use
RAIM to alert users when errors have exceeded a user specified tolerance.
RAIM is available for SBAS, Beacon and OmniSTAR applications.
This command allows you to set the parameters of the RAIM scheme that
affects the output of the $PSAT,GBS message.
This command has the following structure.
$JRAIM,HPR,probHPR,probFALSE<CR><LF>
Where:
Programming Manual 41
Variable Description
HPR Horizontal Protection Radius (HPR). You will receive notification in the $PSAT,GBS message
that the horizontal error has exceeded this amount. The acceptable range for this value is
from 1 to 10000 meters. The default is 10m.
probHPR Maximum allowed probability that the position computed lies outside the HPR. The
acceptable range for this value is from 0.001% to 50%. The default is 5%.
probFALSE Maximum allowed probability that there is a false alarm (that is, that the position error is
reported outside of the HPR, but it is really within the HPR. The acceptable range for this
value is from 0.001% to 50%. The default is 1%.
When the $JRAIM message is sent without any arguments, the response will
show the current settings.
4.9 $JSMOOTH
There is a new command, $JSMOOTH that enables the user to change the
carrier smoothing interval between 15 minutes and 5 minutes. This
command was designed to offer the user flexibility for tuning in different
environments. You may find a slight improvement in positioning performance
using either the short or long smoothing interval depending on your
multipath environment. The default for this command is 15 minutes or
LONG. To change the smoothing interval to 5 minutes or SHORT, use the
following command.
$JSMOOTH,SHORT<CR><LF>
If you wish to change the smoothing interval to 15 minutes or LONG, use
the following command.
$JSMOOTH,LONG<CR><LF>
If you wish to request the status of this message, send the following
command. The status of this command is also output in the $JSHOW
message.
$JSMOOTH<CR><LF>
Programming Manual 42
Note - If you are unsure of the best value for this setting, it’s best
to be conservative and leave it at the default setting of LONG (15
minutes).
Programming Manual 43
5. WAAS Commands
This section details the NMEA messages accepted by the internal WAAS
engine of the DGPS MAX, Mini MAX, PowerMAX, Vector, Vector PRO,
Vector Sensor, Vector Sensor PRO and Vector OEM receivers.
The following table provides a brief description of the commands supported
by the WAAS demodulator for its control and operation.
Table 5-1 WAAS Commands
Message Description
$JWAASPRN This message is used to reconfigure the WAAS PRN numbers for use with other Space Based
Augmentation Systems (SBAS)
$JGEO This command is used to poll the WAAS demodulator for information relating to your current location
and WAAS satellites.
$JASC,RTCM This feature allows you to configure the receiver to output RTCM data from the WAAS demodulator.
$JASC,D1 This command is used to poll the receiver for WAAS diagnostic information
The following subsections provide detailed information relating to the use of
each command.
Note - Please ensure that you save any changes that you wish to
maintain beyond the current power-up by using the $JSAVE
command
5.1 $JWAASPRN
This command allows you to both poll the receiver for the WAAS PRNs in
memory, and change them, if desired.
To poll the receiver for the current applications, send the following message:
$JWAASPRN<CR><LF>
Programming Manual 44
There are no data fields to specify in this message. The receiver will
respond with the following message:
$>JWAASPRN,prn1,prn2
Where ‘prn1’ indicates the first PRN number and ‘prn2’ indicates the second
PRN number. The PRN numbers for WAAS are 122 and 134. EGNOS is
currently using PRN 120.
To change from the current PRN numbers, the following message should be
used:
$JWAASPRN[,sv1[,sv2]] <CR><LF>
Where ‘sv1’ is the PRN number of the first SBAS satellite and ‘sv2’ is the
PRN number of the second SBAS satellite. Either ‘sv1’ or both ‘sv1’ and ‘sv2’
may be specified.
The receiver will reply with the following response:
$>
5.2 $JGEO
This message is used to display information related to the current frequency
of WAAS, and its location in relation to the receiver’s antenna.
To query the receiver for the currently used WAAS satellite information,
use the following query:
$JGEO<CR><LF>
The receiver will respond with the following data message:
$>JGEO,Sent=1575.4200,Used=1575.4200,PRN=prn,Lon=lon,El=ele,
Az=az
Programming Manual 45
This message response is summarized in the following table:
Data Field Description
$>JGEO Message header.
Sent=1575.4200 Frequency sent to the digital signal processor
Used=1575.4200 Frequency currently used by the digital signal processor
PRN=prn WAAS satellite PRN number
Lon=-lon Longitude of the satellite
El=ele Elevation angle from the receiver’s antenna to the WAAS satellite, referenced to the horizon.
Az=az Azimuth from the receiver’s antenna to the WAAS satellite, referenced to the horizon.
To monitor this information for both WAAS satellites, add the ‘,ALL’
variable to the $JGEO message as follows:
$JGEO[,ALL] <CR><LF>
This will result in the following output messages:
$>JGEO,Sent=1575.4200,Used=1575.4200,PRN=122,Lon=-
54,El=9.7,Az=114.0
$>JGEO,Sent=1575.4200,Used=1575.4200,PRN=134,Lon=178,El=5.
0,Az=252.6
As can be seen from this output, the first message is identical to the output
from the $JGEO query, however, the second message provides information
on the WAAS satellite not being currently used. Both outputs follow the
format in the previous table for the $JGEO query.
5.3 $JASC,RTCM
This command allows you to configure the receiver to output, through the
MAIN (for DGPS MAX, Mini MAX or PowerMAX) or Primary Master (for
Vector products) port, correction data currently being used by one of the
three internal sensors. The correction data output is RTCM SC-104 even
though WAAS uses a different over-the-air protocol (RTCA)
Programming Manual 46
This message has the following layout:
$JASC,RTCM,r<CR><LF>
Note - Turning RTCM on or off using this command provides the
same functionality as setting the RTCM menu item to on or off in
the NMEA On/Off menu of the DGPS MAX.
The receiver will reply with the following response:
$>
Programming Manual 47
6. OmniSTAR Commands (for
DGPS MAX only)
This section presents the commands supported by the internal OmniSTAR
sensor within the DGPS MAX.
The following table provides a brief description of the commands supported
by the OmniSTAR sensor for its configuration and control.
Table 6-1 OmniSTAR Commands
Message Description
$JLBEAM This command requests the current spot beam tables in use by the OmniSTAR receiver
$JLXBEAM This command requests debug information for the current spot beam tables
$JOMS This command requests the OmniSTAR engine to provide the current subscription information for the
OmniSTAR service.
$JOMR This command requests the OmniSTAR receiver to provide raw OmniSTAR region information.
$JFREQ This command allows you to tune the OmniSTAR receiver either in automatic mode or manually.
$JGEO This command requests information relating to the current frequency and location of the OmniSTAR
satellite in relation the antenna of the DGPS MAX system.
The following subsections provide detailed information relating to the use of
each command.
Note - Please ensure that you save any changes that you wish to
maintain beyond the current power-up by using the $JSAVE
command
6.1 $JLBEAM
This command displays the current spot beams used by the OmniSTAR
receiver inside the DGPS MAX.
Programming Manual 48
This command has the following layout:
$JLBEAM<CR><LF>
The receiver will output the following data:
$>JLBEAM,Sent frequency1,Used frequency2,Baud xxx,Geo xxx (1)
$>JLBEAM,frequency1,longitude1,latitude1,symbol1,satlongitude1 (2)
.
.
.
$>JLBEAM,frequencyn,longituden,latituden,baud,satlongituden
The first line of this output is described in the following table:
Data Field Description
$JLBEAM Message header.
Sent frequency This field provides the frequency sent to the digital signal processor.
Used frequency This field provides the frequency currently being used by the digital signal processor.
Baud xxxx This data field provides the currently used baud rate of the acquired signal.
Geo xxx This field provides the currently used satellite’s longitude, in degrees.
The second line, and those that follow, are described in the following table:
Data Field Description
$>JLBEAM Message Header.
frequency This data field provides the frequency of the spot beam
longitude This data field indicates the longitude of the center of the spot beam, in degrees.
latitude This data field indicates the latitude of the center of the spot beam, in degrees.
baud This field indicates the baud rate at which this spot beam is modulated.
satlongitude This data field provides the satellite’s longitude, in degrees.
An example of this response follows:
$>JLBEAM,Sent 1551.4890,Used 1551.4890,Baud 1200,Geo -101
$>JLBEAM,1556.8250,-88,45,1200,(-101)
Programming Manual 49
$>JLBEAM,1554.4970,-98,45,1200,(-101)
$>JLBEAM,1551.4890,-108,45,1200,(-101)
$>JLBEAM,1531.2300,25,50,1200,(16)
$>JLBEAM,1535.1375,-75,0,1200,(-98)
$>JLBEAM,1535.1375,-165,13,1200,(-98)
$>JLBEAM,1535.1525,20,6,1200,(25)
$>JLBEAM,1558.5100,135,-30,1200,(160)
$>JLBEAM,1535.1375,90,15,1200,(109)
$>JLBEAM,1535.1375,179,15,1200,(109)
6.2 $JLXBEAM
This command displays debug information for the spot beam table.
This message has the following structure:
$JLXBEAM<CR><LF>
The receiver will respond with the following data output:
$>JLBEAMEX,0 (1)
$> Table:0 (2)
$> Beam:1,DDSfreq1,long1,lat1,symbol1,satlong
1
.
.
.
$> Beam:n,DDSfreqn,longn,symboln,satlongn
$> Table:1
The first line of this response provides the table number in use. The second
line provides table index number. The subsequent lines are summarized in
the following table:
Programming Manual 50
Data Field Description
DDSfreq This field provides the DDS frequency
long This variable is the longitude of the spot beam centroid
lat This field provides the latitude of the spot beam centroid
symbol This data field indicates the symbol rate used for that particular spot beam
satlong This field provides the longitude of the L-band satellite
An example of this response follows:
$>JLBEAMEX,0
$> Table:0
$> Beam:0,1753247034,-88,45,1200,-101
$> Beam:1,1750643210,-98,45,1200,-101
$> Beam:2,1747278819,-108,45,1200,-101
$> Beam:3,1724619511,25,50,1200,16
$> Beam:4,1728989976,-75,0,1200,-98
$> Beam:5,1728989976,-165,13,1200,-98
$> Beam:6,1729006753,20,6,1200,25
$> Beam:7,1755131675,135,-30,1200,160
$> Beam:8,1728989976,90,15,1200,109
$> Beam:9,1728989976,179,15,1200,109
$> Table:1
6.3 $JOMS
This command requests the raw OmniSTAR subscription information and
has the following form:
$JOMS
The receiver will respond with the following message:
$>JOMS,Opt,Source,Type,AccrReduction,StartDate,EndDate,HourGlass,Exte
ntionTime,LinkVector,SoftwareVersion
Programming Manual 51
This message is summarized in the following table
Data field Description
Opt This field indicates a WET or DRY subscription
Source RTCM source ID or ALL if VBS
AccrReduction 0 is most accurate
StartDate Subscription start date
EndDate Subscription end date
HourGlass Seconds of metered time
Extention Time Seconds of extension
LinkVector hexadecimal mask of links
SoftwareVersion This item shows the OmniSTAR library version
An example of this response follows:
$>JOMS,DRY,ALL,VBS,0,01/06/2000,01/06/2001,0,0,1E00,1.43
6.4 $JOMR
This command displays raw OmniSTAR region information and has the
following structure:
$JOMR
The receiver will respond with the following messages:
$JOMR,1,latitude1,longitude1,radius1<CR><LF>
$JOMR,2,latitude2,longitude2,radius2<CR><LF>
$JOMR,3,latitude3,longitude3,radius3<CR><LF>
$JOMR,4,latitude4,longitude4,radius4<CR><LF>
$JOMR,5,latitude5,longitude5,radius5<CR><LF>
Where latitude and longitude are expressed in radians and the radius is in
meters.
Programming Manual 52
If your receiver has an active subscription, the first line should show the
inclusion area. The subsequent lines will show additional inclusion and/or
exclusion areas. A negative radius indicates that the region is an exclusion
zone. An example follows:
$>JOMR,1,.994787,-1.605694,4500000.000
$>JOMR,2,0.000000,0.000000,0.000000
$>JOMR,3,0.000000,0.000000,0.000000
$>JOMR,4,0.000000,0.000000,0.000000
$>JOMR,5,0.000000,0.000000,0.000000
6.5 $JFREQ
This message allows you to either manually or automatically tune the
OmniSTAR receiver inside the DGPS MAX.
This command has the following structure:
$JFREQ,freq,symb<CR><LF>
Where ‘freq’ is the frequency in kHz and ‘symb’ is the symbol rate (1200 or
2400 baud).
The DGPS MAX will reply with the following response:
$>
Entering a frequency of zero with no associated symbol rate will place the
OmniSTAR engine into automatic mode. Entering a valid frequency and
symbol rate will manually tune the receiver.
The following table provides frequency information for the OmniSTAR
satellites.
Programming Manual 53
Coverage Area Longitude Frequency Baud Rate Sat. Name
Eastern U.S. 101 West 1556.825 1200 AMSC-E
Central U.S 101 West 1554.497 1200 AMSC-C
Western U.S. 101 West 1551.489 1200 AMSC-W
Central America,
South America,
Caribbean,
West Africa,
South Africa
98 West 1535.1375 1200 AM-SAT
Asia, Pacific Islands 109 East 1535.1375 1200 AP-SAT
East Africa
Middle East
25 East 1535.1525 1200 EA-SAT
Australia,
Far East
160 East 1558.510 1200 Optus
Europe 16 East 1531.230 1200 EMS
Note – Sending this command does not require you to send a
$JSAVE command to save changes to the tuning of the OmniSTAR
engine.
6.6 $JGEO
This command is used to display current L-band satellite’s frequency, bit
rate, longitude, elevation, and azimuth.
This command has the following format:
$JGEO
The following is an example reply to this command:
$>JGEO,Sent=1551.4890,Used=1551.4890,Baud=1200,Lon=101,El=31.6,Az=163.4
This message response is summarized in the following table:
Programming Manual 54
Data Field Description
$>JGEO Message header.
Sent=1551.4890 Frequency sent to the digital signal processor
Used=1551.4890 Frequency currently used by the digital signal processor
Baud=1200 WAAS satellite PRN number
Lon=-101 Longitude of the satellite
El=31 Elevation angle from the DGPS MAX’s antenna to the WAAS satellite, referenced to the
horizon.
Az=163.4 Azimuth from the DGPS MAX’s antenna to the WAAS satellite, referenced to the horizon.
Programming Manual 55
7. Beacon Commands (for all
receivers excluding Vector and
Vector Sensor)
This section details the commands supported by the DGPS MAX, Mini MAX,
PowerMAX, Vector PRO, Vector Sensor PRO and Vector OEM PRO’s
internal SBX beacon engine.
The following table provides a brief description of the commands supported
by this engine for control of its configuration and operation.
Table 7-1 Beacon Commands
Message Description
$JASC,BEAC This command instructs the receiver to output beacon RTCM data when in beacon mode
$GPMSK You may use this message to manually or automatically tune the beacon receiver
$PCSI,0 This command allows you to request a listing of available beacon commands
$PCSI,1 Issuing this query will cause the beacon receiver to return a channel 0 status message
$PCSI,2 Issuing this query will cause the beacon receiver to return a channel 1 status message
$PCSI,3 This command polls the beacon receiver for its search data
$PCSI,4 This command is used to erase automatic search data, forcing a new search to begin
$GPCRQ This query allows you to request either signal status or frequency status data
$CRMSS This message provides signal status data
$CRMSK This message provides frequency status data
The following subsections provide detailed information relating to the use of
each command.
Note - The beacon receiver does not require a save command in
order to maintain its settings. Changes to its configuration are
automatically saved to memory.
Programming Manual 56
7.1 RTCM Output ($JASC,BEAC,r)
This command allows you to remotely instruct the receiver to output
beacon RTCM data from the receiver, when operating in beacon mode.
This command has the following structure:
$JASC,BEAC,r
Where r is either 0 or 1 indicating OFF or ON, respectively.
The receiver will reply with the following response:
$>
7.2 Tune Command ($GPMSK)
There are three main derivatives of this command that affects the method of
SBX tuning, and each are described in the following sections.
7.2.1 Full Manual Tune Command ($GPMSK)
This command instructs the receiver’s internal beacon receiver to tune to a
specified frequency and MSK Rate. It has the following form:
$GPMSK,fff.f,M,ddd,M,n<CR><LF>
Programming Manual 57
The internal SBX will reply with the following response:
$PCSI,ACK,GPMSK,fff.f,M,ddd,M,n<CR><LF>
Field Description
fff.f Frequency in kHz (283.5 to 325)
M Designates manual frequency selection
ddd MSK bit rate (100 or 200 bps)
M Designates manual MSK bit rate selection
n Period of output of performance status message, 0 to 100 seconds ($CRMSS)
When this message is acknowledged by the internal SBX, it will immediately
tune to the frequency specified and demodulate at the rate specified.
When power to the receiver is removed and reapplied, the status output
interval resets to zero (no output). The status message output by the
internal SBX, as initiated using this command, is the CRMSS message
response discussed in Section 7.9.
7.2.1.1 Partial Manual Tune Command ($GPMSK)
This command instructs the internal SBX beacon receiver to tune to a
specified frequency and automatically select the correct MSK rate. It has the
following form:
$GPMSK,fff.f,M,,A,n<CR><LF
The internal SBX will reply with the following response:
$PCSI,ACK,GPMSK,fff.f,M,,A,n<CR><LF>
Field Description
fff.f Frequency in kHz (283.5 to 325)
M Designates manual frequency selection
A Designates automatic MSK bit rate selection
n Period of output of performance status message, 0 to 100 seconds ($CRMSS)
When this message is acknowledged by the internal SBX, it will immediately
tune to the frequency specified and demodulate at the rate specified.
Programming Manual 58
When power to the receiver is removed and reapplied, the status output
interval resets to zero (no output). The status message output by the SBX,
as initiated using this command, is the CRMSS message response discussed in
Section 7.9.
7.2.1.2 Automatic Beacon Search Command ($GPMSK)
This command initiates the SBX automatic mode of operation in which the
receiver operates without operator intervention, selecting the most
appropriate beacon station. This command has the following format:
$GPMSK,,A1,,A2,n<CR><LF>
The internal SBX will reply with the following response:
$PCSI,ACK,GPMSK,,A,,A,n<CR><LF>
Field Description
A1 Designates automatic frequency selection
A2 Designates automatic MSK bit rate selection
n Period of output of performance status message, 0 to 100 seconds ($CRMSS)
The SBX provides the above response to this variety of $GPMSK message,
and immediately tunes to the optimum beacon station in automatic mode,
provided a valid beacon almanac is present in receiver memory. Without a
valid almanac, the beacon receiver will perform a Global Search to identify
candidate stations in the area, followed by the acquisition phase of the initial
search.
When power to the receiver is removed and reapplied, the status output
interval resets to zero (no output). The status message output by the SBX,
as initiated using this command, is the CRMSS message response discussed in
Section 7.9.
7.3 $PCSI,0
Programming Manual 59
This command queries the receiver for the list of available proprietary $PCSI
commands. It has the following form:
$PCSI,0<CR><LF>
The internal SBX will reply with the following response:
$PCSI,0
$PCSI,ACK,0
$PCSI,P021-0,001
$PCSI,0 ->HELP Msg
$PCSI,1 ->Status line A,<T>,<S>
$PCSI,2 ->Status line B,<T>
$PCSI,3 ->Dump Search
$PCSI,4 ->Wipe Search
$PCSI,5 ->Port Rate,<P0>,<P1>
$PCSI,6 ->Reserved
$PCSI,7 ->RTCM Mode
7.4 Status Line A, Channel 0 ($PCSI,1)
This query requests the SBX to output a selection of parameters related to
the operational status of its primary channel. It has the following format:
$PCSI,1<CR><LF>
The internal SBX will reply with the following response:
$PCSI,ACK,1
$PCSI,CS0,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,Q,ID,H,T
The SBX will return the above response message when queried for its full
channel status.
Programming Manual 60
Field Description
CS0 This field indicates that the data pertains to channel 0 (the primary channel)
PXXX-Y.YYY This data field provides the firmware version of the SBX beacon receiver
SN This item shows the serial number of the SBX
fff.f This field is the current primary channel frequency in kHz (283.5 to 325)
M This field indicates the frequency selection mode (M for manual or A for auto)
ddd This field shows the MSK bit rate
R This field indicates the MSK bit rate selection mode (M for manual or A for auto)
SS This field provides the signal strength reading in dBµV
SNR This field shows the signal to noise ratio in dB
MTP This field indicates the message throughput, measured in percentage
Q This field provides an indication of the word throughput, up to a maximum of 25
successively received good words
ID This data field indicates the currently locked beacon’s station ID
T This field indicates the update period of this message in seconds
An example of this message response follows:
$PCSI,CS0,P021-0.001,19001,287.5,A,200,A,12,2,0,0,943,3,0
7.5 Status Line B, Channel 1 ($PCSI,2)
This query commands the SBX to output a selection of parameters related
to the operational status of its secondary channel. It has the following
format:
$PCSI,2<CR><LF>
The internal SBX will reply with the following response:
$PCSI,ACK,2
$PCSI,CS1,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,Q,ID,H,T
The SBX will return the above response message when queried for its full
channel status.
Field Description
CS1 This field indicates that the data pertains to channel 1
PXXX-Y.YYY This data field provides the firmware version of the SBX beacon receiver
Programming Manual 61
SN This item shows the serial number of the SBX
fff.f This field is the current secondary channel frequency in kHz (283.5 to 325)
M This field indicates the frequency selection mode (M for manual or A for auto)
ddd This field shows the MSK bit rate
R This field indicates the MSK bit rate selection mode (M for manual or A for auto)
SS This field provides the signal strength reading in dBµV
SNR This field shows the signal to noise ratio in dB
MTP This field indicates the message throughput, measured in percentage
Q This field provides an indication of the word throughput, up to a maximum of 25
successively received good words
ID This data field indicates the currently locked beacon’s station ID
T This field indicates the update period of this message in seconds
An example of this message response follows:
$PCSI,CS1,P021-0.001,19001,287.5,A,200,A,12,2,0,0,943,3,0
7.6 Search Dump ($PCSI,3)
This query instructs the SBX to display the search information used for
beacon selection in Automatic Beacon Search mode. The output has three
frequencies per line.
$PCSI,3<CR><LF>
The SBX will reply with the following output:
$PCSI,ACK,3
$PCSI,index1,freq1,ID1,ch1,snr1,ss1,index2,freq2,ID2,ch2,snr2,ss2,index3,freq3,ID3,ch3,snr3,s
s3
.
.
.
$PCSI,index82,freq82,ID82,ch83,snr83,ss83,index83,freq83,ID83,ch83,snr83,ss83,index84,freq84,ID
84
,ch84,snr84,ss
84
This message is summarized in the following table:
Programming Manual 62
Field Description
index1 to index84 This field indicates the channel number from 1 to 84 channels
freq This field indicates the frequency corresponding to the index
number
ID This field shows the latest station ID of a beacon corresponding to
the frequency
ch This field is an internal status flag
snr This field indicates the signal to noise ration in dB that was last
measured for that beacon
ss This field indicates the signal strength last measured for that beacon
in dBµV
An example of this message response follows:
$PCSI,ACK,3
$PCSI,01,2835,000,0E,03,0007,02,2840,000,0E,02,0008,03,2845,000,0E,03,0008
$PCSI,04,2850,000,0E,02,0008,05,2855,000,0E,03,0009,06,2860,000,0E,05,0014
$PCSI,07,2865,000,0E,02,0008,08,2870,060,0F,17,0023,09,2875,000,0E,01,0011
$PCSI,10,2880,000,0E,02,0012,11,2885,000,0E,02,0009,12,2890,000,0E,02,0009
$PCSI,13,2895,000,0E,01,0008,14,2900,000,0E,02,0012,15,2905,000,0E,03,0013
$PCSI,16,2910,000,0E,02,0017,17,2915,000,0E,02,0012,18,2920,000,0E,03,0014
$PCSI,19,2925,000,0E,-100,0012,20,2930,000,0E,-100,0018,21,2935,000,0E,-100,0009
$PCSI,22,2940,000,0E,-100,0014,23,2945,000,0E,-100,0011,24,2950,000,0E,-100,0011
$PCSI,25,2955,000,0E,-100,0008,26,2960,000,0E,-100,0009,27,2965,000,0E,-100,0011
$PCSI,28,2970,000,0E,-100,0012,29,2975,000,0E,-100,0012,30,2980,429,0E,-100,0009
$PCSI,31,2985,000,0E,-100,0013,32,2990,000,0F,06,0044,33,2995,000,0F,00,0013
$PCSI,34,3000,000,0F,03,0013,35,3005,733,0E,-100,0011,36,3010,000,0E,-100,0009
$PCSI,37,3015,000,0E,-100,0009,38,3020,000,0E,-100,0015,39,3025,000,0E,-100,0011
$PCSI,40,3030,000,0E,-100,0013,41,3035,000,0E,-100,0009,42,3040,282,0E,-100,0011
$PCSI,43,3045,000,0E,-100,0013,44,3050,000,0F,05,0023,45,3055,000,0E,-100,0012
$PCSI,46,3060,000,0E,-100,0012,47,3065,000,0E,-100,0013,48,3070,000,0E,-100,0008
$PCSI,49,3075,000,0E,-100,0012,50,3080,000,0E,-100,0017,51,3085,000,0E,-100,0013
$PCSI,52,3090,000,0E,-100,0009,53,3095,000,0E,-100,0009,54,3100,000,0E,-100,0017
$PCSI,55,3105,000,0E,-100,0014,56,3110,023,0E,-100,0017,57,3115,000,0E,-100,0011
$PCSI,58,3120,620,0E,-100,0012,59,3125,000,0E,-100,0012,60,3130,062,0E,-100,0022
$PCSI,61,3135,000,02,-100,0013,62,3140,345,0A,-100,0012,63,3145,000,02,-100,0011
$PCSI,64,3150,000,02,-100,0011,65,3155,000,0A,-100,0011,66,3160,000,0A,-100,0016
$PCSI,67,3165,000,0A,-100,0011,68,3170,000,0A,-100,0013,69,3175,000,0A,-100,0012
$PCSI,70,3180,000,0A,-100,0011,71,3185,000,0A,-100,0013,72,3190,000,0A,-100,0013
$PCSI,73,3195,000,0A,-100,0013,74,3200,000,0B,05,0032,75,3205,000,0B,00,0024
$PCSI,76,3210,000,02,-100,0017,77,3215,000,02,-100,0014,78,3220,000,02,-100,0014
$PCSI,79,3225,000,02,-100,0011,80,3230,000,0A,-100,0019,81,3235,684,0A,-100,0011
Programming Manual 63
$PCSI,82,3240,000,0A,-100,0011,83,3245,000,0A,-100,0011,84,3250,000,0A,-100,0018
7.7 $PCSI,4
The Wipe Search command instructs the SBX to erase all parameters within
the beacon almanac and to initiate a new Global Search to identify the
beacon signals available for a particular area. The command has the
following form:
$PCSI,4<CR><LF>
The internal SBX will reply with the following response:
$PCSI,ACK,4
When this command has been issued in Manual Tune mode, the receiver will
initiate a new Global Search when commanded to Automatic Tune mode. If
the SBX is operating in its Automatic Background Search mode, a new
Global Search will begin immediately.
7.8 $GPCRQ
There are two forms of the $GPCRQ status query that are discussed in the
following subsections.
7.8.1 Operating Status Query ($GPCRQ)
This standard NMEA query prompts the SBX beacon receiver for its
operational status. It has the following format:
$GPCRQ,MSK<CR><LF>
The internal SBX will reply with the following response:
$CRMSK,fff.f,x,ddd,y,n*CS
Programming Manual 64
Field Description
fff.f Frequency in kHz (283.5 to 325)
x Tune mode (M = manual tune mode, A = automatic tune mode)
ddd MSK bit rate (100, or 200 bps)
y MSK rate selection (M = manual tune mode, A = automatic tune mode)
n Period of output of performance status message, 0 to 100 seconds ($CRMSS)
An example of this message follows:
$CRMSK,287.0,A,100,A,0*4A
7.8.2 Performance Status Query ($GPCRQ)
This standard NMEA query prompts the SBX receiver for its performance
status:
$GPCRQ,MSS<CR><LF>
The internal SBX will reply with the following response:
$CRMSS,xx,yy,fff.f,ddd*CS
Field Description
xx Signal Strength (dB µV/m)
yy Signal to Noise Ratio (dB)
fff.f Frequency in kHz (283.5 to 325)
ddd MSK bit rate (100, or 200 bps)
An example of this message follows:
$CRMSS,24,19,287.0,100*40
7.9 $CRMSS
This message provides SBX receiver signal status information and is
described in Section 7.8.2 above.
Programming Manual 65
7.10 $CRMSK
This message provides SBX receiver frequency status information and is
described in Section 7.8.1 above.
Programming Manual 66
8. Heading Commands (for
Vector products only)
This section details the various settings that relate to the GPS heading aspect
of the Vector, Vector PRO, Vector Sensor, Vector Sensor PRO and Vector
OEM heading systems.
The following table summarizes the commands detailed in this section.
Programming Manual 67
Table 8-1 GPS Heading Commands
Message Description
TILTAID Command to turn on tilt aiding and query the current feature status
TILTCAL Command to calibrate tilt aiding and query the current feature status
MAGAID Command to turn on magnetic aiding and query the current feature status
MAGCAL Command to store a new magnetic calibration table
MAGCLR Command to erase the current magnetic calibration and begin recording new magnetic
table data
GYROAID Command to turn on gyro aiding and query the current feature status and query the
current feature status
LEVEL Command to turn on level operation and query the current feature status
CSEP Query to retrieve the current separation between GPS antennas
MSEP Command to manually set the GPS antenna separation and query the current setting
HTAU Command to set the heading time constant and to query the current setting
PTAU Command to set the pitch time constant and to query the current setting
HRTAU Command to set the rate of turn time constant and to query the current setting
COGTAU Command to set the course over ground time constant and to query the current setting
SPDTAU Command to set the speed time constant and to query the current setting
HBIAS Command to set the heading bias and to query the current setting
PBIAS Command to set the pitch bias and to query the current setting
NEGTILT Command to turn on the negative tilt feature and to query the current setting
ROLL Command to configure the Vector for roll or pitch output
SEARCH Command to force a new RTK heading search
FLIPBRD Command to allow upside down installation
SUMMARY Query to show the current configuration of the Vector
HELP Query to show the available commands for GPS heading operation and status
8.1 $JATT,TILTAID
The Vector’s internal tilt sensor (accelerometer) is enabled by default and
constrains the RTK heading solution to reduce startup and reacquisition
times. Since this sensor resides inside the Vector, the receiver enclosure
must be installed in a horizontal plane, as must the Antenna Array.
To turn the tilt-aiding feature off, use the following command.
Programming Manual 68
$JATT,TILTAID,NO<CR><LF>
You may turn this feature back on with the following command.
$JATT,TILTAID,YES,<CR><LF>
To query the Vector for the current status of this feature, issue the
following command.
$JATT,TILTAID<CR><LF>
Note - If you choose to increase the antenna separation of your
Vector Sensor or Vector OEM beyond the default 0.5 m length,
use of tilt aiding is required.
8.2 $JATT,TILTCAL
The tilt sensor of the Vector can be calibrated in the field; however the
Vector enclosure must be horizontal when performing the calibration. To
calibrate the Vector’s internal tilt sensor, issue the following command.
$JATT,TILTCAL<CR><LF>
The calibration process takes about two seconds to complete. The
calibration is automatically saved to memory for subsequent power cycles.
8.3 $JATT,MAGAID
Use of the magnetic aiding feature is disabled for shipping purposes. In
addition to reducing the time required to compute a heading solution, it can
also provide a secondary source of heading when a GPS heading is not
available. When you are ready to turn the magnetic aiding feature on, there
are two different ways of calibrating. The magnetic sensor must be calibrated
after the completion of the installation process.
Programming Manual 69
To turn the magnetic-aiding feature on, use the following command.
$JATT,MAGAID,YES<CR><LF>
You may turn this feature back off with the following command.
$JATT,MAGAID,NO<CR><LF>
To query the Vector for the current status of this feature, issue the
following command.
$JATT,MAGAID<CR><LF>
8.4 $JATT,MAGCLR and MAGCAL
Metallic structures on the vessel affect a compass’ reading, so this effect
must be ‘removed’ through the calibration process. Once the Vector system
is installed in its final location(s), to use this feature, magnetic aiding must
first be turned on, followed by its calibration. A valid GPS heading is
mandatory for the calibration process. There are two different ways to
calibrate the magnetometer.
The first way is to send a command to clear the current magnetic
information to begin the initialization process. Then, if you leave the Vector
powered continuously, it will automatically save the magnetic calibration
tables when it is ready. This may take up to several days or even weeks
depending on the dynamics of your vessel. There is no further calibration
required. If you wish to check if the magnetic information has been saved,
you can issue the following command.
The second way to calibrate the magnetic sensor is to send a command to
clear the current magnetic information to begin the initialization process,
followed by slowly rotating the vessel a full 360° approximately three to four
times. Calibration should be performed in a clear environment without any
potential satellite blockages to minimize any possible errors during the
process. The command to initialize the magnetic calibration process follows.
Programming Manual 70
$JATT,MAGCLR<CR><LF>
Once the command has been issued, the vessel needs to rotate 360° three
to four times. The following command can be sent during the calibration
procedure to ‘ask’ the Vector if the calibration is complete and if so, to
automatically save it to memory for subsequent power cycles.
$JATT,MAGCAL<CR><LF>
If the Vector system is reinstalled in a different location, even on the same
vessel, you will need to clear the calibration table with the $JATT,MAGCLR
command and complete the new calibration.
Note - It is very important to perform the calibration only after
the installation of the Vector has been confirmed to be complete.
If the Vector’s location is changed, you will need to clear the
calibration and recalibrate. A valid GPS heading is required during
the calibration process.
8.5 $JATT,GYROAID
The Vector’s internal gyro is not used by default, however it can offer two
benefits. It will shorten reacquisition times when a GPS heading is lost, due
to obstruction of satellite signals, by reducing the search volume required for
solution of the RTK. It will also provide an accurate substitute heading for a
short period (depending on the roll and pitch of the vessel) ideally seeing the
system through to reacquisition.
Should you wish to use gyro-aiding, you will need to turn it on using the
following command.
$JATT,GYROAID,YES<CR><LF>
If you wish to turn this feature off, the use the following command.
$JATT,GYROAID,NO<CR><LF>
Programming Manual 71
If you wish to request the status of this message, send the following
command.
$JATT,GYROAID<CR><LF>
Note - If you choose to increase the antenna separation of your
Vector Sensor or Vector OEM beyond the default 0.5 m length,
use of gyro aiding is required.
8.6 $JATT,LEVEL
This command is used to invoke the level operation mode of the Vector. If
your application will not involve the system tilting more than ±10° maximum,
then you may choose to use this mode of operation. The benefit of using
level operation is increased robustness and faster acquisition times of the
RTK heading solution. By default, this feature is turned off. The command
to turn this feature on follows.
$JATT,LEVEL,YES<CR><LF>
To turn this feature off, issue the following command.
$JATT,LEVEL,NO<CR><LF>
To determine the current status of this message, issue the following
command.
$JATT,LEVEL<CR><LF>
8.7 $JATT,CSEP
This command polls the Vector for the current separation between
antennas, as solved for by the attitude algorithms. It has the following
format.
Programming Manual 72
$JATT,CSEP<CR><LF>
The Vector will reply with the following.
$JATT,x,CSEP,
Where ‘x‘ is the antenna separation in m.
8.8 $JATT,MSEP (for Vector
Sensor/Sensor PRO and OEM only)
This command is used to manually enter a custom separation between
antennas (must be accurate to within one to two centimeters). The Vector
Sensor, Vector Sensor PRO and Vector OEM are the only Vector products
that has an adjustable antenna separation. Using the new center-to-center
measurement, send the following command to the Vector.
$JATT,MSEP,sep<CR><LF>
Where ‘sep’ is the measured antenna separation entered in meters.
To show the current antenna separation, issue the following command.
$JATT,MSEP<CR><LF>
8.9 $JATT,HTAU
The heading time constant allows you to adjust the level of responsiveness of
the true heading measurement provided in the $HEHDT message. The
default value of this constant is 0.5 seconds of smoothing. Increasing the
time constant will increase the level of heading smoothing.
Programming Manual 73
The following command is used to adjust the heading time constant.
$JATT,HTAU,htau<CR><LF>
Where ‘htau’ is the new time constant that falls within the range of 0.0 to
3600.0 seconds.
Depending on the expected dynamics of the vessel, you may wish to adjust
this parameter. For instance, if the vessel is very large and is not able to turn
quickly, increasing this time is reasonable. The resulting heading would have
reduced ‘noise’, resulting in consistent values with time. However, artificially
increasing this value such that it does not agree with a more dynamic vessel
could create a lag in the heading measurement with higher rates of turn. A
convenient formula for determining what the level of smoothing follows. If
you are unsure on how to set this value, it’s best to be conservative and
leave it at the default setting.
htau (in seconds) = 10 / maximum rate of turn (in °/s)
You may query the Vector for the current heading time constant by issuing
the same command without an argument.
$JATT,HTAU<CR><LF>
Note - If you are unsure of the best value for this setting, it’s best
to be conservative and leave it at the default setting of 0.5 seconds.
8.10 $JATT,PTAU
The pitch time constant allows you to adjust the level of responsiveness of
the pitch measurement provided in the $PSAT,HPR message. The default
value of this constant is 0.5 seconds of smoothing. Increasing the time
constant will increase the level of pitch smoothing.
The following command is used to adjust the pitch time constant.
Programming Manual 74
$JATT,PTAU,ptau<CR><LF>
Where ‘ptau’ is the new time constant that falls within the range of 0.0 to
3600.0 seconds.
Depending on the expected dynamics of the vessel, you may wish to adjust
this parameter. For instance, if the vessel is very large and is not able to
pitch quickly, increasing this time is reasonable. The resulting pitch would
have reduced ‘noise’, resulting in consistent values with time. However,
artificially increasing this value such that it does not agree with a more
dynamic vessel could create a lag in the pitch measurement. A convenient
formula for determining what the level of smoothing follows. If you are
unsure on how to set this value, it’s best to be conservative and leave it at
the default setting.
ptau (in seconds) = 10 / maximum rate of pitch (in °/s)
You may query the Vector for the current pitch time constant by issuing the
same command without an argument.
$JATT,PTAU<CR><LF>
Note - If you are unsure of the best value for this setting, it’s best
to be conservative and leave it at the default setting of 0.5 seconds.
8.11 $JATT,HRTAU
The heading rate time constant allows you to adjust the level of
responsiveness of the rate of heading change measurement provided in the
$HEROT message. The default value of this constant is 2.0 seconds of
smoothing. Increasing the time constant will increase the level of heading
smoothing.
The following command is used to adjust the heading time constant.
$JATT,HRTAU,hrtau<CR><LF>
Programming Manual 75
Where ‘hrtau’ is the new time constant that falls within the range of 0.0 to
3600.0 seconds.
Depending on the expected dynamics of the vessel, you may wish to adjust
this parameter. For instance, if the vessel is very large and is not able to turn
quickly, increasing this time is reasonable. The resulting heading would have
reduced ‘noise’, resulting in consistent values with time. However, artificially
increasing this value such that it does not agree with a more dynamic vessel
could create a lag in the rate of heading change measurement with higher
rates of turn. A convenient formula for determining what the level of
smoothing follows. If you are unsure on how to set this value, it’s best to be
conservative and leave it at the default setting.
hrtau (in seconds) = 10 / maximum rate of the rate of turn (in °/s
2
)
You may query the Vector for the current heading rate time constant by
issuing the same command without an argument.
$JATT,HRTAU<CR><LF>
Note - If you are unsure of the best value for this setting, it’s best
to be conservative and leave it at the default setting of 2.0 seconds.
8.12 $JATT,COGTAU
The course over ground (COG) time constant allows you to adjust the level
of responsiveness of the COG measurement provided in the $GPVTG
message. The default value of this constant is 0.0 seconds of smoothing.
Increasing the time constant will increase the level of COG smoothing.
The following command is used to adjust the COG time constant.
$JATT,COGTAU,cogtau<CR><LF>
Where ‘cogtau’ is the new time constant that falls within the range of 0.0 to
3600.0 seconds.
Programming Manual 76
As with the heading time constant, the setting of this value depends upon the
expected dynamics of the vessel. If a boat is highly dynamic, this value should
be set to a lower value since the filtering window needs be shorter in time,
resulting in a more responsive measurement. However, if a vessel is very
large and has much more resistance to change in its motion, this value can be
increased to reduce measurement noise. The following formula provides
some guidance on how to set this value. If you are unsure what the best
value for this setting is, it’s best to be conservative and leave it at the default
setting.
cogtau (in seconds) = 10 / maximum rate of change of course (in °/s)
You may query the Vector for the current heading time constant by issuing
the same command without an argument.
$JATT,COGTAU<CR><LF>
Note - If you are unsure of the best value for this setting, it’s best
to be conservative and leave it at the default setting of 0.0 seconds.
8.13 $JATT,SPDTAU
The speed time constant allows you to adjust the level of responsiveness of
the speed measurement provided in the $GPVTG message. The default
value of this parameter is 0.0 seconds of smoothing. Increasing the time
constant will increase the level of speed measurement smoothing.
The following command is used to adjust the speed time constant.
$JATT,SPDTAU,spdtau<CR><LF>
Where ‘spdtau’ is the new time constant that falls within the range of 0.0 to
3600.0 seconds.
As with the heading time constant, the setting of this value depends upon the
expected dynamics of the vessel. If a boat is highly dynamic, this value should
Programming Manual 77
be set to a lower value since the filtering window would be shorter, resulting
in a more responsive measurement. However, if a vessel is very large and
has much more resistance to change in its motion, this value can be
increased to reduce measurement noise. The following formula provides
some guidance on how to set this value initially; however, we recommend
that you test how the revised value works in practice. If you are unsure
what the best value for this setting is, it’s best to be conservative and leave it
at the default setting.
spdtau (in seconds) = 10 / maximum acceleration (in m/s2)
You may query the Vector for the current heading time constant by issuing
the same command without an argument.
$JATT,SPDTAU<CR><LF>
Note - If you are unsure of the best value for this setting, it’s best
to be conservative and leave it at the default setting of 0.0 seconds.
8.14 $JATT,HBIAS
You may adjust the heading output from the Vector in order to calibrate the
true heading of the Antenna Array to reflect the true heading of the vessel
using the following command.
$JATT,HBIAS,x<CR><LF>
Where x is a bias that will be added to the Vector’s heading, in degrees.
The acceptable range for the heading bias is -180.0° to 180.0°. The default
value of this feature is 0.0°.
To determine what the current heading compensation angle is, send the
following message to the Vector.
$JATT,HBIAS<CR><LF>
Programming Manual 78
8.15 $JATT,PBIAS
You may adjust the pitch / roll output from the Vector in order to calibrate
the measurement if the Antenna Array is not installed in a horizontal plane.
The following NMEA message allows to you to calibrate the pitch / roll
reading from the Vector.
$JATT,PBIAS,x<CR><LF>
Where x is a bias that will be added to the Vector’s pitch / roll measure, in
degrees. The acceptable range for the heading bias is -15.0° to 15.0°. The
default value of this feature is 0.0°.
To determine what the current pitch compensation angle is, send the
following message to the Vector.
$JATT,PBIAS<CR><LF>
Note - The pitch / roll bias is added after the negation of the pitch /
roll measurement (if so invoked with the $JATT,NEGTILT
command).
8.16 $JATT,NEGTILT
When the secondary GPS antenna is below the primary GPS antenna, the
angle from the horizon at the primary GPS antenna to the secondary GPS
antenna is considered negative.
Depending on your convention for positive and negative pitch / roll, you may
wish to change the sign (either positive or negative) of the pitch / roll. To
do this, issue the following command.
$JATT,NEGTILT,YES<CR><LF>
To return the sign of the pitch / roll measurement to its original value, issue
the following command.
Programming Manual 79
$JATT,NEGTILT,NO<CR><LF>
To query the Vector for the current state of this feature, issue the following
command.
$JATT,NEGTILT<CR><LF>
8.17 $JATT,ROLL
If you wish to get the roll measurement, you will need to install the Antenna
Array perpendicular to the vessel’s axis, and send the following command to
the Vector.
$JATT,ROLL,YES<CR><LF>
If you wish to return the Vector to its default mode of producing the pitch
measurement, issue the following command.
$JATT,ROLL,NO<CR><LF>
You may query the Vector for the current roll / pitch status with the
following command.
$JATT,ROLL<CR><LF>
8.18 $JATT,SEARCH
You may force the Vector to reject the current RTK heading solution, and
have it begin a new search with the following command.
$JATT,SEARCH<CR><LF>
If the Vector has a lock before this command is sent, you will see the
heading LED go out once the command has been sent (Vector Sensor and
Vector Sensor PRO only). The heading LED will turn back on when a new
heading solution has been achieved.
Programming Manual 80
8.19 $JATT,FLIPBRD
This new command was added to allow for the Vector board to be installed
upside down. This command should only be used with the Vector Sensor,
Vector Sensor PRO and the Vector OEM board, since flipping the board (or
Vector Sensor enclosure) doesn’t affect the antenna array, which needs to
remain facing upwards. When using this command, the board needs to be
flipped about roll, so that the front still faces the front of the vessel. To turn
this ‘upside down’ feature on, use the following command.
$JATT,FLIPBRD,YES<CR><LF>
If you wish to return the Vector to its default mode of being right side up,
issue the following command.
$JATT,FLIPBRD,NO<CR><LF>
You may query the Vector for the current flip status with the following
command.
$JATT,FLIPBRD<CR><LF>
8.20 $JATT,SUMMARY
This command is used to receive a summary of the current Vector settings.
This command has the following format.
$JATT,SUMMARY<CR><LF>
The response has the following format.
$>JATT,SUMMARY,htau,hrtau,ptau,ctau,spdtau,hbias,pbias,hexflag<CR><LF>
An example of the response to this message follows.
Programming Manual 81
$>JATT,SUMMARY,TAU:H=0.50,HR=2.00,P=0.50,COG=0.00,SPD=0.00,BIA
S:H=0.00,P=0.00,FLAG_HEX:GN-RMTL=01
Field Description
htau This data field provides the current heading time constant in seconds
hrtau This data field provides the current heading rate time constant in seconds
ptau This data field provides the current pitch time constant in seconds
cogtau This data field provides the current course over ground time constant in seconds
spdtau This data field provides the current speed time constant in seconds
hbias This data field gives the current heading bias in degrees
pbias This data field gives the current pitch / roll bias in degrees
hexflag This field is a hex code that summarizes the heading feature status and is
described in the following table
Value Flag
Feature On Feature Off
Gyro aiding 02 0
Negative tilt 01 0
Roll 08 0
Magnetic aiding 04 0
Tilt aiding 02 0
Level 01 0
The ‘GN-RMTL’ field is two separate hex flags, ‘GN’ and ‘RMTL’. The ‘GN’
value is determined by computing the sum of the gyro aiding and negative tilt
values, depending if they are on or off. If the feature is on, their value is
included in the sum. If the feature is off, it has a value of zero when
computing the sum. The value of RMTL is computed in the same fashion but
by adding the values of roll, magnetic aiding, tilt aiding, and level operation.
For example, if gyro aiding, roll, and magnetic aiding features were each on,
the values of ‘GN’ and ‘RMTL’ would be the following:
GN = hex ( 02 + 0 ) = hex ( 02 ) = 2
Programming Manual 82
RMTL = hex ( 08 + 04) = hex (12) = C
‘GN-RMTL’ = 2C
The following tables summarize the possible feature configurations for the
first GN character and the second RMTL character.
GN Value Gyro Aiding Negative Tilt
0 Off Off
1 Off On
2 On Off
3 On On
RMTL Value Roll Mag Aiding Tilt Aiding Level
0 Off Off Off Off
1 Off Off Off On
2 Off Off On Off
3 Off Off On On
4 Off On Off Off
5 Off On Off On
6 Off On On Off
7 Off On On On
8 On Off Off Off
9 On Off Off On
A On Off On Off
B On Off On On
C On On Off Off
D On On Off On
E On On On Off
F On On On On
8.21 $JATT,HELP
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