Quick Reference Guide - Hemisphere GNSS

1 NMEA 0183 and other messages Binary messages IEC $JBIN $JBIN. Info Description Description Message Description Approved Message Message Type Message 1 GPS position 95 Satellite $GPDTM P Datum Reference Yes ephemeris data $GPGGA P GPS position and fix data Yes 2 GPS DOPs 96 Code and carrier phase $GPGLL P Geographic position - lat/ Yes long 80 SBAS 97 Processor statistics $GPGNS P GNSS position and fix data Yes V101 and V111 GPS compass 93 SBAS 98 Satellites and $GPGRS S GNSS range residual Yes ephemeris data almanac Quick Reference Guide (RAIM). 94 Ionosphere and 99 GPS Part Number: 875-0251-000 Rev A1. $GPGSA S GNSS DOP and active Yes UTC conversion diagnostics satellites parameters $GPGST S GNSS pseudo range error Yes statistics and position accuracy Parameters specific to $JATT command $GPGSV S GNSS satellites in view Yes Parameter Description Query Specify $GPHDG H Provides magnetic Yes deviation and variation for COGTAU Set/query COG time X X.

2 Calculating magnetic or constant ( to s). true heading CSEP Query antenna separation X. $GPHDM H Magnetic heading (based No GYROAID Enable/disable gyro X X. on GPS-derived heading and magnetic declination) HBIAS Set/query heading bias X X. ( to ). $GPHDT H GPS-derived true heading Yes HIGHMP Set/query the High X X. $GPHEV H Heave value (in meters) Yes Multipath setting for use in $GPRMC P Recommended minimum Yes poor GPS environments specific GNSS data HRTAU Set/query time constant ( X X. Installation Considerations $GPROT H GPS-derived rate of turn Yes to s). Proper location is important to obtain a high-precision (ROT) HTAU Set/query heading time X X GPS reading. Choose an installation location using either $GPRRE S Range residual and Yes constant ( to s).

3 Estimated position error the pole or fixed mount where the V101/111: LEVEL Query or enable/disable X X. message level operation Has a clear view of the sky $GPVTG V COG and ground speed Yes MSEP Manually set or query X X. $GPZDA V Time and date Yes antenna separation Is away from other electronics and antennas $PCSI,1 S Beacon status No NEGTILT Query or enable/disable X X Has enough cable to reach a power source negative tilt $PSAT,GBS S Satellite fault detection Yes Is on a level plane (RAIM) NMEAHE Query for the message X X. headers or change the HDG, $PSAT,HPR H Proprietary NMEA No HDM, HDT, and ROT. Refer to the V101 and V111 GPS compass User Guide for message that provides message headers between detailed installation instructions. heading, pitch, roll, and GP and HE.

4 Time in single message PBIAS Set/query pitch/roll bias (- X X. $PSAT,INTLT H Proprietary NMEA Yes to ). message that provides the pitch and roll PTAU Set/query pitch time X X. measurements from the constant ( to s). internal inclinometers (in ROLL Query or configure for roll X X. degrees) or pitch GPS orientation $RD1 S SBAS diagnostic Yes SEARCH Force a new GPS heading X. information search SPDTAU Set/query speed time X X. constant ( to s). TILTAID Query or enable/disable X X. accelerometer, pre- calibrated TILTCAL Calibrate accelerometers X. Mounting Orientation Serial Port Connection Supplemental Sensors Connect the wires to a DB9 female socket using either Forward A tilt sensor and gyro are integrated in the V101/111. The Parallel the port A or port B configuration.

5 Motion user can turn either on or off. However, the system's Orientation (recommended Port A DB9 RS-232 interface configuration performance is optimized with both on. orientation and resulting signs Pin Wire Color Signal of HPR values) Sensor Purpose Calibration Procedure 2 Blue Port A transmit RS-232. Gyro Smooth rate of turn: Will self-calibrate after several 3 Black/blue striped Port A receive RS-232 aid minutes Recessed arrow Provides alternate located on 5 Gray Signal ground source of heading To manually calibrate: bottom of for up to three After heading is computed enclosure minutes when GPS. Port B DB9 RS-232 interface configuration lock is lost $JATT,GYROAID,YES. Shortens heading Spin Vector for one minute Pin Wire Color Signal reacquisition time at less than 15 per second 2 Brown Port B transmit RS-232 Leave unit stationary for four minutes 3 Black/brown striped Port B receive RS-232.

6 Note: It is not necessary to Perpendicular 5 Gray Signal ground recalibrate with standard use Orientation because the gyro selects the calibration. (alternate DB9 Female Socket Numbering orientation and Tilt aid Smooths rate of Precalibrated during resulting signs 5 4 3 2 1 heading manufacture of HPR values) Reduces startup To recalibrate: and reacquisition Ensure Vector is level times for obtaining heading $JATT,TILTCAL. Recessed arrow 9 8 7 6. Forward located on bottom of Common Commands and Messages motion enclosure Configuration Commands Use a terminal program, or PocketMAX, to connect to a serial port for additional configuration requirements. Use Command Description Wiring Interface default baud rate of 19200 bps and 8-N-1 protocol. $GPMSK Tune beacon to specific frequency The following table provides Information for the 15 m Change baud rate of either port to match that of $J4 STRING Output GPGGA, GPVTG, GPGSA, GPZDA (1Hz cable and 30 m cable.)

7 The external equipment to which the V101/111 is max). connected. After changing the baud rate, you $JAGE Specify maximum DGPS (COAST) correction age (6. to 8100 seconds). must close the terminal program and reconnect $JAPP Query or specify receiver application firmware at the speed selected. Default $JASC Specify ASCII messages to output to specific ports Baud NMEA. Port Rate Messages Update Wires Configure NMEA messages to be output on the Rate $JBAUD Specify RS-232, RS-422 (output) communication appropriate port. rate Port A 19200 GPGGA, GPVTG, 1 Hz BLU. (RS-232) GPGSV, GPZDA, BLK with BLU Select differential source (BEACON is the default $JBIN Specify binary messages to output to specific ports GPHDT, GPROT on the V111). $JDIFF Query or specify differential correction mode Port B 19200 GPGGA, GPVTG, 1 Hz BRN Input heading bias (-180 to +180 ) to $JGEO Query or specify SBAS for current location and (RS-232) GPGSV, GPZDA, BLK with BRN SBAS satellites GPHDT, GPROT compensate for any offset from the centerline.

8 $JI Query unit's serial number and firmware versions Port A 19200 GPGGA, GPVTG, 1 Hz GRN Input bias for tilt (-15 to +15 ) to compensate for $JOFF Turn off all data messages (RS-422) GPGSV, GPZDA, BLK with output GPHDT, GPROT GRN. any offset from horizontal. $JQUERY, Query accuracy suitability for navigation only Enable/disable supplementary sensors (default Guide . Port B 19200 GPGGA, GPVTG, 1 Hz YLW is GYROID and TILTAID on). $JRESET Reset unit's configuration to firmware defaults. (RS-422) GPGSV, GPZDA, BLK with YLW $JRESET clears all parameters. See the V101. output GPHDT, GPROT Use the $JSAVE command to save the and V111 GPS compass User Guide for more only information. configuration changes when finished. Power 9 - 36 VDC RED (+) $JSAVE Save session's configuration changes BLK (-).