NMEA Reference Manual - SparkFun Electronics

1 NMEA Reference ManualSiRF Technology, Devcon DriveSan Jose, CA 95112 : +1 (408) 467-0410 Fax: +1 (408) Number: 1050-0042 Revision , December 2007 SiRF, SiRFstar, and SiRF plus orbit design are registered in the Patent and Trademark Office. iiNMEA Reference Manual December 2007 NMEA Reference ManualCopyright 1996-2007 SiRF Technology, Inc. All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying and recording, or by any information storage or retrieval system without the prior written permission of SiRF Technology, Inc. unless such copying is expressly permitted by United States copyright law. Address inquiries to Legal Department, SiRF Technology, Inc., 217 Devcon Drive, San Jose, California 95112, United States of America. About This DocumentThis document contains information on SiRF products.

2 SiRF Technology, Inc. reserves the right to make changes in its products, specifications and other information at any time without notice. SiRF assumes no liability or responsibility for any claims or damages arising out of the use of this document, or from the use of integrated circuits based on this document, including, but not limited to claims or damages based on infringement of patents, copyrights or other intellectual property rights. SiRF makes no warranties, either express or implied with respect to the information and specifications contained in this document. Performance characteristics listed in this document do not constitute a warranty or guarantee of product performance. All terms and conditions of sale are governed by the SiRF Terms and Conditions of Sale, a copy of which you may obtain from your authorized SiRF sales HelpIf you have any problems contact your SiRF representative or call or send an e-mail to the SiRF Technology support group: phone+1 (408).

3 Messages ..1-1 GGA Global Positioning System Fixed Data ..1-2 GLL Geographic Position - Latitude/Longitude ..1-3 GSA GNSS DOP and Active Satellites ..1-3 GSV GNSS Satellites in View..1-4 MSS MSK Receiver Signal ..1-4 RMC Recommended Minimum Specific GNSS Data ..1-5 VTG Course Over Ground and Ground Speed ..1-6 ZDA SiRF Timing Message ..1-6140 Proprietary..1-7150 OkToSend..1-7151 GPS Data and Extended Ephemeris Mask ..1-7152 Extended Ephemeris Integrity ..1-8154 Extended Ephemeris ACK ..1-9155 Proprietary ..1-9 Reserved Message ID 225 .. Messages ..2-1 Transport Message ..2-1 NMEA Input Messages ..2-2100 SetSerialPort..2-2ivNMEA Reference Manual December 2007101 NavigationInitialization ..2-3102 SetDGPSPort ..2-4103 Query/Rate Control ..2-5104 LLAN avigationInitialization ..2-5105 Development Data On/Off ..2-6106 Select Datum ..2-7107 Proprietary.

4 2-8108 Proprietary ..2-8110 Extended Ephemeris Debug ..2-8112 Set Message Rate ..2-9200 Marketing Software Configuration ..2-9 MSK MSK Receiver Interface ..2-9vTablesTable 1-1 NMEA Output Messages .. 1-1 Table 1-2 Supported NMEA Output Messages .. 1-1 Table 1-3 GGA Data Format .. 1-2 Table 1-4 Position Fix Indicator .. 1-2 Table 1-5 GLL Data Format .. 1-3 Table 1-6 GSA Data Format .. 1-3 Table 1-7 Mode 1 .. 1-4 Table 1-8 Mode 2 .. 1-4 Table 1-9 GSV Data Format .. 1-4 Table 1-10 MSS Data Format .. 1-5 Table 1-11 RMC Data Format .. 1-5 Table 1-12 VTG Data Format.. 1-6 Table 1-13 ZDA Data Format.. 1-6 Table 1-14 Proprietary .. 1-7 Table 1-15 OkToSend Message Data Format.. 1-7 Table 1-16 GPS Data and Ephemeris Mask - Message 151 .. 1-8 Table 1-17 Extended Ephemeris Integrity - Message 152 .. 1-8 Table 1-18 Extended Ephemeris ACK - Message 154.

5 1-9 Table 1-19 Proprietary .. 1-9 Table 2-1 Transport Message Parameters.. 2-1 Table 2-2 NMEA Input Messages .. 2-2 Table 2-3 Supported NMEA Input Messages .. 2-2 Table 2-4 Set Serial Port Data Format .. 2-3viNMEA Reference Manual December 2007 Table 2-5 Navigation Initialization Data Format .. 2-3 Table 2-6 Reset Configuration - Non SiRFLoc Platforms .. 2-4 Table 2-7 Reset Configuration - SiRFLoc Specific .. 2-4 Table 2-8 Set DGPS Port Data Format .. 2-4 Table 2-9 Query/Rate Control Data Format .. 2-5 Table 2-10 Messages .. 2-5 Table 2-11 LLA Navigation Initialization Data Format .. 2-6 Table 2-12 Reset Configuration .. 2-6 Table 2-13 Development Data On/Off Data Format .. 2-6 Table 2-14 Select Datum Data Format .. 2-7 Table 2-15 Proprietary .. 2-8 Table 2-16 Proprietary .. 2-8 Table 2-17 Extended Ephemeris Debug .. 2-8 Table 2-18 Table Set Message Rate.

6 2-9 Table 2-19 RMC Data Format .. 2-9 viiPrefaceMost SiRF products support a subset of the NMEA-0183 standard for interfacing marine electronic devices as defined by the national Marine Electronics association (NMEA).The NMEA Reference Manual provides details of NMEA messages developed and defined by SiRF. It does not provide information about the complete NMEA-0183 interface Should Use This GuideThis Manual was written assuming the user has a basic understanding of interface protocols and their This Guide Is OrganizedThis Manual contains the following chapters:Chapter 1, Output Messages defines NMEA standard output messages supported by SiRF and NMEA proprietary output messages developed by 2, Input Messages defines NMEA standard input messages supported by SiRF and NMEA proprietary input messages developed by ManualsYou can refer to the following document for more information: NMEA-0183 Standard For Interfacing Marine electronic Devices SiRF Binary Protocol Reference Manual SiRF Evaluation Kit User Guides SiRF System Development Kit User GuidesviiiNMEA Reference Manual December 2007 Contacting SiRF Technical SupportAddress.

7 SiRF Technology Inc. 217 Devcon Drive San Jose, CA 95112 Technical Support:Phone:+1 (408) 467-0410 (9 am to 5 pm Pacific Standard Time) enquiries:Phone:+1 (408) 467-0410 (9 am to 5 pm Pacific Standard Time) 1-1 Output Messages1 Table 1-1 lists each of the NMEA output messages specifically developed and defined by SiRF for use within SiRF full description of the listed NMEA messages are provided in the following 1-2 provides a summary of SiRF NMEA output messages supported by the specific SiRF b l e 1-1 NMEA Output MessagesMessage DescriptionGGATime, position and fix type dataGLLL atitude, longitude, UTC time of position fix and statusGSAGPS receiver operating mode, satellites used in the position solution, and DOP valuesGSVN umber of GPS satellites in view satellite ID numbers, elevation, azimuth, & SNR valuesMSSS ignal-to-noise ratio, signal strength, frequency, and bit rate from a radio-beacon receiverRMCTime, date, position.

8 Course and speed dataVTGC ourse and speed information relative to the groundZDAPPS timing message (synchronized to PPS)150OK to send message151 GPS Data and Extended Ephemeris Mask152 Extended Ephemeris Integrity154 Extended Ephemeris ACKTa b l e 1-2 Supported NMEA Output Messages MessageSiRF Software OptionsGSW21 SiRFDRive1 SiRFXTrac1 SiRFLoc1 GSW3 & & & & & & aboveYe s1-2 NMEA Reference Manual December 2007 1 GGA Global Positioning System Fixed DataNote Fields marked in italic red apply only to NMEA version (and later) in this NMEA message 1-3 contains the values for the following example:$GPGGA, , ,N, ,W,1,10, , ,M, ,M,,0000* & & & aboveYe & & & aboveYe s1. GSW2 and SiRFDRive software only output NMEA version (and earlier). Standard binaries for SiRFXTrac, GSW3, and GSWLT3 firmware use NMEA Users of SiRF s software developer s kit can choose through software conditional defines (UI_NMEA_VERSION_XXX) to allow a choice between NMEA and The file contains the NMEA version MSS message for GSW3 and GSWLT3 is empty since they do not support b l e 1-3 GGA Data FormatNameExampleUnitDescriptionMessage ID$GPGGAGGA protocol headerUTC IndicatorNN=north or S=southLongitude IndicatorWE=east or W=westPosition Fix Indicator1 See Table 1-4 Satellites Used10 Range 0 to 12 HDOP Dilution of PrecisionMSL separation.

9 Ellipsoid altitude = MSL Altitude + Geoid of Diff. fields when DGPS is not usedDiff. Ref. Station ID0000 Checksum*5E<CR> <LF>End of message terminationTa b l e 1-4 Position Fix IndicatorVa l u eDescription 0 Fix not available or invalid1 GPS SPS Mode, fix valid2 Differential GPS, SPS Mode, fix valid3-5 Not supported6 Dead Reckoning Mode, fix validTa b l e 1 - 2 Supported NMEA Output Messages (Continued)MessageSiRF Software OptionsGSW21 SiRFDRive1 SiRFXTrac1 SiRFLoc1 GSW3 & GSWLT31 SiRFDiRectOutput Messages1-31 Note A valid position fix indicator is derived from the SiRF Binary 2 position mode 1. See the SiRF Binary Protocol Reference Geographic Position - Latitude/LongitudeNote Fields marked in italic red apply only to NMEA version (and later) in this NMEA message 1-5 contains the values for the following example:$GPGLL, ,N, ,W, ,A,A*41 GSA GNSS DOP and Active SatellitesNote Fields marked in italic red apply only to NMEA version (and later) in this NMEA message 1-6 contains the values for the following example.

10 $GPGSA,A,3,07,02,26,27,09,04,15, , , , , , , , *33Ta b l e 1-5 GLL Data FormatNameExampleUnitDescriptionMessage ID$GPGLLGLL protocol IndicatorNN=north or S=southLongitude IndicatorWE=east or W=westUTC valid or V=data not validModeAA=Autonomous, D=DGPS, E=DR (Only present in NMEA )Checksum*41<CR> <LF>End of message terminationTa b l e 1-6 GSA Data FormatNameExampleUnitDescriptionMessage ID$GPGSAGSA protocol headerMode 1 ASee Table 1-7 Mode 23 See Table 1-8 Satellite Used11. Satellite used in on Channel 1 Satellite Used102SV on Channel Used1SV on Channel Dilution of PrecisionHDOP Dilution of Dilution of PrecisionChecksum*33<CR> <LF>End of message termination1-4 NMEA Reference Manual December 2007 1 GSV GNSS Satellites in ViewTable 1-9 contains the values for the following example:$GPGSV,2,1,07,07,79,048,42,02,51 ,062,43,26,36,256,42,27,27,138,42*71$GPG SV,2,2,07,09,23,313,42,04,19,159,41,15,1 2,041,42*41 MSS MSK Receiver SignalNote Fields marked in italic red apply only to NMEA version (and later) in this NMEA message message for GSW3 and GSWLT3 is empty because they do not support 1-10 contains the values for the following example.