INTRODUCTION GPS 17 470 GPS16 17Technical Specification
User Manual: GPS 17
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GPS 16/17 SERIES TECHNICAL SPECIFICATIONS Garmin International, Inc. 1200 E. 151st Street Olathe, KS 66062 USA 190-00228-20, Revision C October 2005 © Copyright 2002, 2005 Garmin Ltd. or its subsidiaries Garmin International, Inc. 1200 East 151st Street, Olathe, Kansas 66062, U.S.A. Tel. 913/397.8200 or 800/800.1020 Fax 913/397.8282 Garmin (Europe) Ltd. Unit 5, The Quadrangle, Abbey Park Industrial Estate, Romsey, SO51 9DL, U.K. Tel. 44/0870.8501241 Fax 44/0870.8501251 Garmin Corporation No. 68, Jangshu 2nd Road, Shijr, Taipei County, Taiwan Tel. 886/2.2642.9199 Fax 886/2.2642.9099 All rights reserved. Except as expressly provided herein, no part of this manual may be reproduced, copied, transmitted, disseminated, downloaded, or stored in any storage medium, for any purpose without the express prior written consent of Garmin. Garmin hereby grants permission to download a single copy of this manual onto a hard drive or other electronic storage medium to be viewed and to print one copy of this manual or of any revision hereto, provided that such electronic or printed copy of this manual must contain the complete text of this copyright notice and provided further that any unauthorized commercial distribution of this manual or any revision hereto is strictly prohibited. Information in this document is subject to change without notice. Garmin reserves the right to change or improve its products and to make changes in the content without obligation to notify any person or organization of such changes or improvements. Visit the Garmin Web site (www.garmin.com) for current updates and supplemental information concerning the use and operation of this and other Garmin products. Garmin®, AutoLocate®, and MapSource® are registered trademarks and WAAS Enabled™ is trademark of Garmin Ltd. or its subsidiaries and may not be used without the express permission of Garmin. Web site address: www.garmin.com RECORD OF REVISIONS Revision A B C 190-00228-20 Revision Date 1/29/02 11/7/02 10/26/05 Description Initial Release Add GPS 16A GPS 17N has been replaced by the GPS 17HVS. The GPS 16A has been discontinued. GPS 16/17 Technical Specifications Page ii ECO # -19451 33833 Rev. C TABLE OF CONTENTS 1 Introduction.................................................................................................... 1 1.1 Caution ..............................................................................................................................................1 1.2 FCC Compliance...............................................................................................................................1 1.3 Limited Warranty ..............................................................................................................................2 1.4 Overview...........................................................................................................................................3 1.5 Features .............................................................................................................................................3 1.6 GPS 16/17 Series ..............................................................................................................................4 1.6.1 GPS 16LVS & 16HVS ..........................................................................................................4 1.6.2 GPS 16A ................................................................................................................................4 1.6.3 GPS 17HVS & 17N ...............................................................................................................4 1.7 Technical Specifications ...................................................................................................................5 1.7.1 Physical Characteristics .........................................................................................................5 1.7.1.1 Size ..........................................................................................................................5 1.7.1.2 Weight .....................................................................................................................5 1.7.1.3 Cable........................................................................................................................5 1.7.1.4 Color........................................................................................................................5 1.7.1.5 Case Material...........................................................................................................5 1.7.2 Electrical Characteristics .......................................................................................................5 1.7.2.1 Input Voltage...........................................................................................................5 1.7.2.2 Input Current ...........................................................................................................5 1.7.2.3 GPS Receiver Sensitivity ........................................................................................5 1.7.3 Environmental Characteristics ...............................................................................................5 1.7.4 GPS Performance...................................................................................................................6 1.7.4.1 Receiver...................................................................................................................6 1.7.4.2 Acquisition Times ...................................................................................................6 1.7.4.3 Sentence Rate ..........................................................................................................6 1.7.4.4 Accuracy..................................................................................................................6 1.7.5 Interfaces ...............................................................................................................................7 1.7.5.1 Port 1 .......................................................................................................................7 1.7.5.2 Port 2 .......................................................................................................................7 1.7.5.3 PPS (Not available on GPS 16A or GPS 17N)........................................................7 1.7.5.4 Power Control (Not available on GPS 16A)............................................................7 2 GPS 16/17 Wiring and Pinouts ..................................................................... 8 2.1 GPS 16/17 Pinout..............................................................................................................................8 2.2 GPS 16/17 Wiring Diagrams.............................................................................................................9 3 Mechanical Characteristics & Mounting.................................................... 10 3.1 GPS 16 ............................................................................................................................................10 3.2 GPS 17 ............................................................................................................................................11 4 Software Interface ....................................................................................... 12 4.1 Received NMEA 0183 Sentences ...................................................................................................12 4.1.1 Almanac Information (ALM) ..............................................................................................12 4.1.2 Sensor Initialization Information (PGRMI).........................................................................13 4.1.3 Sensor Configuration Information (PGRMC)......................................................................13 4.1.4 Additional Sensor Configuration Information (PGRMC1)..................................................14 4.1.5 Output Sentence Enable/Disable (PGRMO)........................................................................14 4.1.6 Tune DGPS Beacon Receiver (PSLIB) ...............................................................................15 4.2 Transmitted NMEA 0183 Sentences...............................................................................................16 4.2.1 Sentence Transmission Rate ................................................................................................16 4.2.1.1 GPS 16LVS, 16HVS, and GPS 17HVS (not 17N)................................................16 4.2.1.2 GPS 16A................................................................................................................16 4.2.2 Transmitted Time.................................................................................................................17 190-00228-20 GPS 16/17 Technical Specifications Page iii Rev. C 4.2.3 Global Positioning System Almanac Data (ALM) ..............................................................17 4.2.4 Global Positioning System Fix Data (GGA)........................................................................17 4.2.5 GPS DOP and Active Satellites (GSA) ...............................................................................18 4.2.6 GPS Satellites in View (GSV) .............................................................................................18 4.2.7 Recommended Minimum Specific GPS/TRANSIT Data (RMC) .......................................18 4.2.8 Track Made Good and Ground Speed (VTG)......................................................................18 4.2.9 Geographic Position (GLL) .................................................................................................19 4.2.10 Estimated Error Information (PGRME)...............................................................................19 4.2.11 GPS Fix Data Sentence (PGRMF).......................................................................................19 4.2.12 Map Datum (PGRMM)........................................................................................................19 4.2.13 Sensor Status Information (PGRMT) ..................................................................................20 4.2.14 3D Velocity Information (PGRMV)....................................................................................20 4.2.15 DGPS Beacon Information (PGRMB).................................................................................20 4.3 Baud Rate Selection ........................................................................................................................21 4.4 One-Pulse-Per-Second (PPS) Output ..............................................................................................21 4.5 Received RTCM Data .....................................................................................................................21 Appendix A: Earth Datums .............................................................................. 22 Appendix B: Binary Phase Output Format ..................................................... 25 Satellite Data Record.......................................................................................................................25 Position Record ...............................................................................................................................26 Receiver Measurement Record .......................................................................................................27 Sample C Code................................................................................................................................28 Appendix C: Ephemeris Data download (Programming Example)............... 29 Synopsis ..........................................................................................................................................29 Garmin Binary Format Review .......................................................................................................29 Ephemeris Download Procedure .....................................................................................................30 TX Packet: Ephemeris Data Request...................................................................................30 RX Packet: Acknowledgement ............................................................................................30 RX Packet: Number of Data Packets to Expect...................................................................30 TX Packet: Acknowledgement ............................................................................................30 RX Packet: Ephemeris Data ................................................................................................31 TX Packet: Download Complete .........................................................................................33 Appendix D: Sensor Configuration Software ................................................. 34 Downloading the Sensor Configuration Software...........................................................................34 Selecting a Model............................................................................................................................34 Connecting to the Sensor ................................................................................................................34 File Menu ........................................................................................................................................35 Comm Menu ...................................................................................................................................35 Config Menu ...................................................................................................................................35 View Menu........................................................................................................................................0 Help Menu.........................................................................................................................................0 LIST OF TABLES AND FIGURES GPS 16LVS & 16HVS ................................................................................................................................... 4 GPS 16A......................................................................................................................................................... 4 GPS 17HVS & 17N........................................................................................................................................ 4 Table 1: GPS 16/17 Wire Pinout .................................................................................................................... 8 Figure 1: Computer Serial Port Interconnection............................................................................................. 9 Figure 2. PDA Serial Port Interconnection..................................................................................................... 9 Figure 3. Basic NMEA Device Interconnection............................................................................................. 9 Figure 4. GPS 16 Dimensions ...................................................................................................................... 10 Figure 5. GPS 16 Magnetic Mount Attachment ........................................................................................... 10 Figure 6. GPS 17 Dimensions ...................................................................................................................... 11 Table 2: NMEA 0183 Output Sentence Order and Size ............................................................................... 16 Table 3: Characters per Second for Available Baud Rates........................................................................... 16 190-00228-20 GPS 16/17 Technical Specifications Page iv Rev. C 1 INTRODUCTION 1.1 Caution The GPS system is operated by the government of the United States, which is solely responsible for its accuracy and maintenance. Although the GPS 16/17 is a precision electronic NAVigation AID (NAVAID), any NAVAID can be misused or misinterpreted, and therefore become unsafe. Use these products at your own risk. To reduce the risk, carefully review and understand all aspects of these Technical Specifications before using the GPS 16/17. When in actual use, carefully compare indications from the GPS to all available navigation sources including the information from other NAVAIDs, visual sightings, charts, etc. For safety, always resolve any discrepancies before continuing navigation. 1.2 FCC Compliance The GPS 16/17 complies with Part 15 of the FCC interference limits for Class B digital devices FOR HOME OR OFFICE USE. These limits are designed to provide reasonable protection against harmful interference in a residential installation, and are more stringent than “outdoor” requirements. Operation of this device is subject to the following conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: • Reorient or relocate the receiving antenna. • Increase the separation between the equipment and receiver. • Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. • Consult the dealer or an experienced radio/TV technician for help. The GPS 16/17 does not contain any user-serviceable parts. Unauthorized repairs or modifications could result in permanent damage to the equipment, and void your warranty and your authority to operate this device under Part 15 regulations. 190-00228-20 GPS 16/17 Technical Specifications Page 1 Rev. C 1.3 Limited Warranty This Garmin product is warranted to be free from defects in materials or workmanship for one year from the date of purchase. Within this period, Garmin will at its sole option repair or replace any components that fail in normal use. Such repairs or replacement will be made at no charge to the customer for parts or labor, provided that the customer shall be responsible for any transportation cost. This warranty does not cover failures due to abuse, misuse, accident, or unauthorized alteration or repairs. THE WARRANTIES AND REMEDIES CONTAINED HEREIN ARE EXCLUSIVE AND IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED OR STATUTORY, INCLUDING ANY LIABILITY ARISING UNDER ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, STATUTORY OR OTHERWISE. THIS WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS, WHICH MAY VARY FROM STATE TO STATE. IN NO EVENT SHALL GARMIN BE LIABLE FOR ANY INCIDENTAL, SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES, WHETHER RESULTING FROM THE USE, MISUSE, OR INABILITY TO USE THIS PRODUCT OR FROM DEFECTS IN THE PRODUCT. Some states do not allow the exclusion of incidental or consequential damages, so the above limitations may not apply to you. Garmin retains the exclusive right to repair or replace the unit or software or offer a full refund of the purchase price at its sole discretion. SUCH REMEDY SHALL BE YOUR SOLE AND EXCLUSIVE REMEDY FOR ANY BREACH OF WARRANTY. To obtain warranty service, contact your local Garmin authorized dealer or call Garmin Product Support at one of the numbers listed below for shipping instructions and an RMA tracking number. The unit should be securely packed with the tracking number clearly written on the outside of the package. The unit should then be sent, freight charges prepaid, to any Garmin warranty service station. A copy of the original sales receipt is required as the proof of purchase for warranty repairs. Garmin International, Inc. 1200 E 151st Street, Olathe, Kansas 66062 U.S.A. Tel. 913/397.8200 or 800/800.1020 Fax. 913/397.8282 Garmin (Europe) Ltd. Unit 5, The Quadrangle, Abbey Park Industrial Estate, Romsey, SO51 9DL U.K. Tel. 44/0870.8501241 Fax 44/0870.8501251 Online Auction Purchases: Products sold through online auctions are not eligible for rebates or other special offers from Garmin. Online auction confirmations are not accepted for warranty verification. To obtain warranty service, an original or copy of the sales receipt from the original retailer is required. Garmin will not replace missing components from any package purchased through an online auction. International Purchases: A separate warranty is provided by international distributors for units purchased outside the United States. This warranty is provided by the local in-country distributor and this distributor provides local service for your unit. Distributor warranties are only valid in the area of intended distribution. Units purchased in the United States or Canada must be returned to the Garmin service center in the United Kingdom, the United States, Canada, or Taiwan for service. 190-00228-20 GPS 16/17 Technical Specifications Page 2 Rev. C 1.4 Overview The GPS 16/17 series products are complete GPS sensors including embedded receiver and antenna, designed for a broad spectrum of OEM (Original Equipment Manufacture) system applications. Based on the proven technology found in other Garmin 12-channel GPS receivers, the GPS 16/17 tracks up to 12 satellites at a time while providing fast time-to-first-fix, one-second navigation updates, and low power consumption. This generation of GPS sensors adds the capability of FAA Wide Area Augmentation System (WAAS) differential GPS. The GPS 16/17’s far-reaching capability meets the sensitivity requirements of land navigation as well as the dynamics requirements of high-performance aircraft. The GPS 16/17 design uses the latest technology and high-level circuit integration to achieve superior performance while minimizing space and power requirements. All critical components of the system including the RF/IF receiver hardware and the digital baseband are designed and manufactured by Garmin to ensure the quality and capability of the GPS. The hardware capability combined with software intelligence makes the GPS 16/17 easy to integrate and use. The GPS 16/17 series products are designed to withstand rugged operating conditions and are waterproof to IEC 60529 IPX7, immersion in 1 meter of water for 30 minutes. These complete GPS receivers require minimal additional components to be supplied by an OEM or system integrator. A minimum system must provide the GPS with a source of power and a clear view of the GPS satellites. The system may communicate with the GPS via two full-duplex communication channels. Internal FLASH memory allows the GPS to retain critical data such as satellite orbital parameters, last-known position, date and time. End user interfaces such as keyboards and displays are the responsibility of the application designer. Note: Due to parts availability, the GPS 17N has been replaced by the GPS 17HVS. References to the GPS 17N are for current GPS 17N product information. Note: The GPS 16A has been discontinued. References to the GPS 16A are for current GPS 16A product information. A comparable replacement sensor is the GPS 18-5Hz. 1.5 Features • 12-channel GPS receiver tracks and uses up to 12 satellites for fast, accurate positioning and low power consumption. • Differential DGPS capability using real-time WAAS or RTCM corrections yielding 3 to 5 meter position accuracy (see Section 1.7 Technical Specifications). • Compact, rugged design ideal for applications with minimal space. • May be remotely mounted in an out-of-the-way location. • Receiver position information can be displayed directly on a chartplotter or PC. • User initialization is not required. Once the unit is installed and has established a location fix, the unit automatically produces navigation data. • User-configurable navigation mode (2-dimensional or 3-dimensional fix). • (Not Available on GPS 16A or GPS 17N) Highly accurate one-pulse-per-second (PPS) output for precise timing measurements. Pulse width is configurable in 20 millisecond increments from 20 ms to 980 ms with 1 µs accuracy. • Configurable for binary format carrier phase data output on COM 1 port. • Flexible input voltage levels of 3.3 VDC to 6.0 VDC with over-voltage protection in the GPS 16LVS; 6.0 VDC to 40 VDC in the GPS 16HVS and GPS 17HVS; and 8.0 VDC to 40 VDC in the GPS 16A and 17N. • FLASH-based program and non-volatile memory. New software revisions available through Web site download. Non-volatile memory does not require battery backup. • Waterproof design allows continuous exposure to the prevailing weather conditions at most locations. 190-00228-20 GPS 16/17 Technical Specifications Page 3 Rev. C 1.6 GPS 16/17 Series There are several different products in the GPS 16/17 product series. Refer below for a description of each product and the differences between the products. 1.6.1 GPS 16LVS & 16HVS Both the GPS 16LVS and GPS 16 HVS are black with a white logo. GPS 16LVS & 16HVS 1.6.2 GPS 16A Due to parts availability, the GPS 16A has been discontinued. References to the GPS 16A are for current GPS 16A product information. The GPS 16A is white with a black logo. GPS 16A 1.6.3 GPS 17HVS & 17N Due to parts availability, the GPS 17N has been replaced by the GPS 17HVS. References to the GPS 17N are for current GPS 17N product information. Both units are white with a black logo. GPS 17HVS & 17N 190-00228-20 GPS 16/17 Technical Specifications Page 4 Rev. C 1.7 Technical Specifications Specifications are subject to change without notice. 1.7.1 Physical Characteristics 1.7.1.1 Size • GPS 16: 3.39” (86 mm) diameter, 1.65” (42 mm) high • 3.39” (86 mm) diameter, 4.25” (108 mm) high GPS 17: 1.7.1.2 Weight • GPS 16LVS & 16HVS: 6.4 oz. (181 g) without cable; 11.7 oz. (332 g) with 5 meter cable • GPS 16A: 9.6 oz. (272 g) without cable; 17.6 oz. (500 g) with 5 meter cable • GPS 17HVS: 6.7 oz. (190 g) without cable; 16.4 oz. (465 g) with 30 foot cable • GPS 17N: 6.4 oz. (181 g) without cable; 16.0 oz. (454 g) with 30 foot cable 1.7.1.3 Cable • GPS 16LVS & 16HVS: Black PVC-jacketed, 5 meter, foil-shielded, 8-conductor 28 AWG with RJ-45 termination • GPS 16A: White Teflon-jacketed, 5 meter, foil-shielded, 5-conductor 22 AWG with bare wire termination • GPS 17HVS: White PVC-jacketed, 30 foot, foil-shielded, 8-conductor 28 AWG with RJ-45 termination • GPS 17N: White PVC-jacketed, 30 foot, foil-shielded 8-conductor 28 AWG with bare wire termination 1.7.1.4 Color • GPS 16LVS & 16HVS: Black with white logos • White with black logos GPS 17HVS, 17N, & 16A: 1.7.1.5 Case Material Polycarbonate thermoplastic that is waterproof to IEC 60529 IPX7 level (immersion in 1 meter of water for 30 minutes) 1.7.2 Electrical Characteristics 1.7.2.1 Input Voltage • GPS 16LVS: 3.3 VDC to 6.0 VDC regulated, < 100 mV ripple • GPS 16HVS & 17HVS 6.0 VDC to 40 VDC unregulated • GPS 16A & 17N 8.0 VDC to 40 VDC unregulated 1.7.2.2 Input Current • GPS 16HVS, GPS 17HVS 100 mA @ 6 VDC; 65 mA @ 12 VDC; 28 mA @ 40 VDC • GPS 16A, & GPS 17N 100 mA @ 8 VDC 65 mA @ 12 VDC; 28 mA @ 40 VDC • GPS 16LVS: 80 mA typical 1.7.2.3 GPS Receiver Sensitivity -165 dBW minimum 1.7.3 Environmental Characteristics • Operating Temperature: -30°C to +80°C • Storage Temperature: -40°C to +90°C 190-00228-20 GPS 16/17 Technical Specifications Page 5 Rev. C 1.7.4 GPS Performance 1.7.4.1 Receiver WAAS Enabled™; 12 parallel channel GPS receiver continuously tracks and uses up to 12 satellites (up to 11 with PPS active) to compute and update your position. 1.7.4.2 Acquisition Times • Reacquisition: Less than 2 seconds • Warm: • Cold: Approx. 15 seconds (all data known) Approx. 45 seconds (initial position, time, and almanac known; ephemeris unknown) • AutoLocate : 5 minutes (almanac known; initial position and time unknown) • SkySearch: 5 minutes (no data known) ® 1.7.4.3 Sentence Rate • GPS 16LVS, 16HVS, 17HVS, & 17N: 1 second default; NMEA 0183 output interval configurable from 1 to 900 seconds in 1-second increments • GPS 16A: 1 second independent update rate, propagated every 200 milliseconds 1.7.4.4 Accuracy • GPS Standard Positioning Service (SPS) Position: < 15 meters, 95% typical (100 meters with Selective Availability on) Velocity: 0.1 knot RMS steady state • DGPS (USCG/RTCM) Position: 3–5 meters, 95% typical Velocity: 0.1 knot RMS steady state • DGPS (WAAS) Position: < 3 meters, 95% typical Velocity: 0.1 knot RMS steady state • PPS Time (Not available on GPS 16A or 17N): ±1 microsecond at rising edge of PPS pulse (subject to Selective Availability) • Dynamics: 190-00228-20 999 knots velocity (only limited at altitude greater than 60,000 feet), 6g dynamics GPS 16/17 Technical Specifications Page 6 Rev. C 1.7.5 Interfaces • True RS-232 output (TTL output for GPS 16A and 17N), asynchronous serial input compatible with RS-232 or TTL voltage levels, RS-232 polarity. • User selectable baud rate: 300, 600, 1200, 2400, 4800, 9600, or 19200. 38400 available for GPS 16A. 1.7.5.1 Port 1 • Configurable between NMEA 0183 Versions 2.00 and 3.00 • ASCII output sentences GPALM, GPGGA, GPGLL, GPGSA, GPGSV, GPRMC, GPVTG (NMEAapproved sentences); PGRMB, PGRME, PGRMF, PGRMM, PGRMT, and PGRMV (Garmin proprietary sentences) • NMEA 0183 Outputs (see Section 4.2 Transmitted NMEA 0183 Sentences for full protocol specifications) Position, velocity and time Receiver and satellite status Differential Reference Station ID and RTCM Data age Geometry and error estimates • NMEA 0183 Inputs (see Section 4.1 Received NMEA 0183 Sentences for full protocol specifications) Initial position, date and time (not required) Earth datum and differential mode configuration command, PPS Enable, GPS satellite almanac • Configurable for binary data output including GPS carrier phase data 1.7.5.2 Port 2 Real-time Differential Correction input (RTCM SC-104 message types 1, 2, 3, 7, and 9) 1.7.5.3 PPS (Not available on GPS 16A or GPS 17N) 1 Hz pulse, programmable width, 1 µs accuracy 1.7.5.4 Power Control (Not available on GPS 16A) • Off: Open circuit • On: 190-00228-20 Ground, or pull to low logic level < 0.3 volts GPS 16/17 Technical Specifications Page 7 Rev. C 2 GPS 16/17 WIRING AND PINOUTS 2.1 GPS 16/17 Pinout The GPS 16LVS, GPS 16HVS, and GPS 17HVS sensors utilize an 8-pin RJ-45 plug. The GPS 16A and GPS 17N feature a stripped and pre-tinned, 5-wire cable assembly for connection flexibility. The following is a functional description of each wire in the cable assembly. RJ-45 Pin # Wire Color 1 Red 2 3 Black Yellow GROUND REMOTE POWER ON/OFF 4 Blue PORT 1 DATA IN 5 White PORT 1 DATA OUT 6 Gray PPS 7 Green PORT 2 DATA IN 8 Violet PORT 2 DATA OUT Signal Name POWER Description GPS 16LVS: Regulated +3.3 to +6 VDC. Typical operating current is 80 mA. An internal 6.8 V transient zener diode and a positive temperature coefficient thermistor protect from transients and over-voltages. With voltages greater than 6.8 VDC the zener will draw several amps of current through the thermistor, causing it to heat rapidly and eventually power the unit off, unless an external fuse blows first. When proper supply voltages are returned, the thermistor will cool and allow the GPS 16LVS to operate. The CMOS/TTL output buffers are powered by Vin; therefore, a 3.3 VDC supply will create 3.3 V logic output levels. GPS 16HVS, GPS 16A, GPS 17HVS, & GPS 17N: Vin can be an unregulated 6.0 VDC (8.0 VDC for GPS 16A and GPS 17N) to 40 VDC, optimized for 12 VDC. Typical operating power is 800 mW. This voltage drives a switching regulator with a nominal 5.0 VDC output, which powers the internal linear regulators, and the CMOS output buffers. Power and Signal Ground (N/A for GPS 16A) External Power Control Input. Active (ON) if less than 0.3 VDC. Inactive (OFF) if open-circuit. 51 kΩ internal pull-up resistor to the voltage on the POWER input. Activation of this input powers the internal regulators off and drops the supply current below 20mA in the GPS 16LVS, and below 1 mA in the GPS 16HVS, GPS 17HVS, and GPS 17N. This input is intended to be driven by an open-collector output. First Serial Asynchronous Input. RS-232 compatible with maximum input voltage range -25 < V < 25. This input may also be directly connected to standard 3 to 5 VDC CMOS logic. The low signal voltage requirement is < 0.9 V, and the high signal voltage requirement is > 2.1 V. Maximum load impedance is 4.7 kΩ. This input may be used to receive serial initialization/ configuration data as specified in Section 4.1 Received NMEA 0183 Sentences. First Serial Asynchronous Output. This RS-232 compatible (TTL level on GPS 16A and GPS 17N) output normally provides serial data which is formatted per NMEA 0183, Version 3.0. This output is also capable of outputting phase data information, see Appendix C for details. The NMEA 0183 baud rate is switchable in the range of 300 to 19200 baud (38400 for GPS 16A). The default baud rate is 19200 for GPS 16A and 4800 for all other products. (N/A for GPS 16A and GPS 17N) One-Pulse-Per-Second Output. Typical voltage rise and fall times are 300 ns. Impedance is 250 Ω. Open circuit output voltage is low=0 V and high=Vin in the GPS 16LVS, and low=0 V and high=5.0 V in the GPS 16HVS and GPS 17HVS. The default format is a 100 ms wide active-high pulse at a 1 Hz rate; the pulse width is configurable in 20 ms increments. Rising edge is synchronized to the start of each GPS second. This output will provide a nominal 700 mVp-p signal into a 50 Ω load. The pulse time measured at the 50% voltage point will be about 50 ns earlier with a 50 Ω load than with no load. Second Serial Asynchronous Input, electrically identical to PORT 1 DATA IN. This input may be used to receive serial differential GPS data formatted per RTCM SC-104 Recommended Standards For Differential Navstar GPS Service, Version 2.2 (see Section 4.5 Received RTCM Data for details). (N/A for GPS 16A) Second Serial Asynchronous Output, electrically identical to PORT 1 DATA OUT. Reserved for future use. Table 1: GPS 16/17 Wire Pinout 190-00228-20 GPS 16/17 Technical Specifications Page 8 Rev. C 2.2 GPS 16/17 Wiring Diagrams Figure 1: Computer Serial Port Interconnection Figure 2. PDA Serial Port Interconnection Figure 3. Basic NMEA Device Interconnection * Not Applicable on the GPS 16A 190-00228-20 GPS 16/17 Technical Specifications Page 9 Rev. C 3 3.1 MECHANICAL CHARACTERISTICS & MOUNTING GPS 16 Figure 4. GPS 16 Dimensions Figure 5. GPS 16 Magnetic Mount Attachment 190-00228-20 GPS 16/17 Technical Specifications Page 10 Rev. C 3.2 GPS 17 Figure 6. GPS 17 Dimensions 190-00228-20 GPS 16/17 Technical Specifications Page 11 Rev. C 4 SOFTWARE INTERFACE The GPS 16/17 series products interface protocol design on COM 1 is based on the National Marine Electronics Association’s NMEA 0183 ASCII interface specification. The COM 2 port can receive differential GPS (DGPS) correction data using the Radio Technical Commission for Maritime Services’ RTCM SC-104 standard. These standards are fully defined in NMEA 0183, Version 3.0 (copies may be obtained from NMEA, www.nmea.org) and RTCM Recommended Standards For Differential Navstar GPS Service, Version 2.2, RTCM Special Committee No. 104 (copies may be obtained from RTCM, www.rtcm.org). The GPS 16/17 series products interface protocol, in addition to transmitting navigation information as defined by NMEA 0183, transmits additional information using the convention of Garmin proprietary sentences. Binary phase data information can alternatively be output on the COM 1 port; see Appendix B: Binary Phase Output Format for details. The following sections describe the NMEA 0183 data format of each sentence transmitted and received by the GPS 16/17 series products. The baud rate selection, one-pulse-per-second output interfaces and RTCM differential GPS input are also described. 4.1 Received NMEA 0183 Sentences The following paragraphs define the sentences that can be received on the GPS sensors’ COM 1 port. Null fields in the configuration sentence indicate no change in the particular configuration parameter. All sentences received by the GPS sensor must be terminated with, the ASCII characters for carriage return (0D hexadecimal) and line feed (0A hexadecimal). The checksum *hh is used for parity checking data and is not required, but is recommended for use in environments containing high electromagnetic noise. It is generally not required in normal PC environments. When used, the parity bytes (hh) are the ASCII representation of the exclusive-or (XOR) sum of all the characters between the “$” and “*” characters, non-inclusive. The hex representation must be a capital letter, such as 3D instead of 3d. Sentences may be truncated by after any data field and valid fields up to that point will be acted on by the sensor. 4.1.1 Almanac Information (ALM) The $GPALM sentence can be used to initialize the GPS sensor’s stored almanac information in the unlikely event of non-volatile memory loss or after storing longer than six months without tracking GPS satellites. $GPALM,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>,<14>,<15>*hh <1> <2> <3> <4> <5> <6> <7> <8> <9> <10> <11> <12> <13> <14> <15> 190-00228-20 Total number of ALM sentences to be transmitted by the GPS sensor during almanac download. This field can be null or any number when sending almanac to the GPS sensor. Number of current ALM sentence. This field can be null or any number when sending almanac to the GPS sensor. Satellite PRN number, 01 to 32 GPS week number SV health, bits 17-24 of each almanac page Eccentricity Almanac reference time Inclination angle Rate of right ascension Root of semi major axis Omega, argument of perigee Longitude of ascension node Mean anomaly af0 clock parameter af1 clock parameter GPS 16/17 Technical Specifications Page 12 Rev. C 4.1.2 Sensor Initialization Information (PGRMI) The $PGRMI sentence provides information used to initialize the GPS sensor’s set position and time used for satellite acquisition. Receipt of this sentence by the GPS sensor causes the software to restart the satellite acquisition process. If there are no errors in the sentence, it will be echoed upon receipt. If an error is detected, the echoed PGRMI sentence will contain the current default values. Current PGRMI defaults (with the exception of the Receiver Command, which is a command rather than a mode) can also be obtained by sending $PGRMIE to the GPS sensor. $PGRMI,<1>,<2>,<3>,<4>,<5>,<6>,<7>*hh <1> <2> <3> <4> <5> <6> <7> 4.1.3 Latitude, ddmm.mmm format (leading zeros must be transmitted) Latitude hemisphere, N or S Longitude, dddmm.mmm format (leading zeros must be transmitted) Longitude hemisphere, E or W Current UTC date, ddmmyy format Current UTC time, hhmmss format Receiver Command, A = Auto Locate, R = Unit Reset Sensor Configuration Information (PGRMC) The $PGRMC sentence provides information used to configure the GPS sensor’s operation. Configuration parameters are stored in non-volatile memory and retained between power cycles. The GPS sensor will echo this sentence upon its receipt if no errors are detected. If an error is detected, the echoed PGRMC sentence will contain the current default values. Current default values can also be obtained by sending $PGRMCE to the GPS sensor. $PGRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>,<14>*hh <1> <2> <3> <4> <5> <6> <7> <8> <9> <10> <11> Fix mode, A = automatic, 2 = 2D exclusively (host system must supply altitude), 3 = 3D exclusively Altitude above/below mean sea level, -1500.0 to 18000.0 meters Earth datum index. If the user datum index (96) is specified, fields <4> through <8> must contain valid values. Otherwise, fields <4> through <8> must be null. Refer to Appendix A: Earth Datums for a list of earth datums and the corresponding earth datum index. User earth datum semi-major axis, 6360000.000 to 6380000.000 meters (.001 meters resolution) User earth datum inverse flattening factor, 285.0 to 310.0 (10-9 resolution) User earth datum delta x earth centered coordinate, -5000.0 to 5000.0 meters (1 meter resolution) User earth datum delta y earth centered coordinate, -5000.0 to 5000.0 meters (1 meter resolution) User earth datum delta z earth centered coordinate, -5000.0 to 5000.0 meters (1 meter resolution) Differential mode, A = automatic (output DGPS data when available, non-DGPS otherwise), D = differential exclusively (output only differential fixes) NMEA 0183 Baud rate, 1 = 1200, 2 = 2400, 3 = 4800, 4 = 9600, 5 = 19200, 6 = 300, 7 = 600 Velocity filter, 0 = No filter, 1 = Automatic filter, 2 to 255 = Filter time constant (e.g., 10 = 10 second filter) <12> <13> PPS mode, 1 = Off, 2 = 1 Hz PPS pulse length, 0 though 48 = (n+1)*20 ms. Example: n = 4 corresponds to a 100 ms wide pulse <14> Dead reckoning valid time 1to 30 (sec) All configuration changes take effect after receipt of a valid value except baud rate and PPS mode. Baud rate and PPS mode changes take effect on the next power cycle or an external reset event. 190-00228-20 GPS 16/17 Technical Specifications Page 13 Rev. C 4.1.4 Additional Sensor Configuration Information (PGRMC1) The $PGRMC1 sentence provides additional information used to configure the GPS sensor operation. Configuration parameters are stored in non-volatile memory and retained between power cycles. The GPS sensor will echo this sentence upon its receipt if no errors are detected. If an error is detected, the echoed PGRMC1 sentence will contain the current default values. Current default values can also be obtained by sending $PGRMC1E to the GPS sensor. $PGRMC1,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>*hh <1> NMEA 0183 output time 1-900 (sec) <2> Binary Phase Output Data, 1 = Off, 2 = On. <3> Automatic Position Averaging when Stopped, 1 = Off, 2 = On <4> No Effect (DGPS beacon frequency: 0.0, 283.5–325.0 kHz in 0.5 kHz steps) <5> No Effect (DGPS beacon bit rate:0, 25, 50, 100, or 200 bps) <6> No Effect (DGPS beacon scanning, 1 = Off, 2 = On) <7> NMEA 0183 version 2.30 mode indicator, 1 = Off, 2 = On <8> DGPS mode, W = WAAS Only, N = None (DGPS disabled) <9> Power Save Mode, P = Power Save mode, N = Normal <10> Adaptive Transmission Enabled, 1 = Off, 2 = On <11> Auto Power Off, 1 = Off, 2 = On <12> Power On with External Charger, 1 = Off, 2 = On <13> PPS Auto Off Mode, 1 = Off, 2 = On Configuration changes take effect immediately, with the exception of Binary Phase Output Data, which takes effect on the next power cycle or a reset event. A reset can be commanded by sending the sentence “$PGRMI,,,,,,,R” (refer to Section 4.1.2 Sensor Initialization Information (PGRMI)). If the GPS sensor is in the Binary data mode, it is necessary to send the following eight-byte data stream to temporarily change the data format to NMEA 0183. Then follow by sending a PGRMC1 sentence that turns off the Binary Phase Output Data format: 10 0A 02 26 00 CE 10 03 (Hexadecimal) 4.1.5 Output Sentence Enable/Disable (PGRMO) The $PGRMO sentence provides the ability to enable and disable specific output sentences. The following sentences are enabled at the factory: GPGGA, GPGSA, GPGSV, GPRMC, and PGRMT. $PGRMO,<1>,<2>*hh <1> <2> Target sentence description (e.g., PGRMT, GPGSV, etc.) Target sentence mode, where: 0 = disable specified sentence 1 = enable specified sentence 2 = disable all output sentences 3 = enable all output sentences (except GPALM) 4 = restore factory default output sentences The following notes apply to the PGRMO input sentence: 1. If the target sentence mode is ‘2’ (disable all), ‘3’ (enable all), or ‘4’ (restore defaults), the target sentence description is not checked for validity. In this case, an empty field is allowed (e.g., $PGRMO,,3), or the mode field may contain from 1 to 5 characters. 2. If the target sentence mode is ‘0’ (disable) or ‘1’ (enable), the target sentence description field must be an identifier for one of the sentences that can be output by the GPS sensor. 3. If either the target sentence mode field or the target sentence description field is not valid, the PGRMO sentence will have no effect. 4. $PGRMO,GPALM,1 will cause the GPS sensor to transmit all stored almanac information. All other NMEA 0183 sentence transmission will be suspended temporarily. 5. $PGRMO,,G will cause the COM port to change to Garmin Data Transfer format for the duration of the power cycle. The Garmin mode is required for GPS 16/17 series product software updates. 190-00228-20 GPS 16/17 Technical Specifications Page 14 Rev. C 4.1.6 Tune DGPS Beacon Receiver (PSLIB) The $PSLIB sentence provides the ability to tune a Garmin GBR 21, GBR 23 or equivalent beacon receiver. $PSLIB,<1>,<2>*hh <1> Beacon tune frequency, 0.0, 283.5–325.0 kHz in 0.5 kHz steps <2> Beacon bit rate, 0, 25, 50, 100, or 200 bps If valid data is received, the GPS sensor will store it in the EEPROM and echo the PSLIB command to the beacon receiver. If the GPS sensor is using any stored beacon frequency other than 0.0, it will tune the beacon receiver once immediately after power up or external reset. 190-00228-20 GPS 16/17 Technical Specifications Page 15 Rev. C 4.2 Transmitted NMEA 0183 Sentences The subsequent paragraphs define the sentences that can be transmitted on COM 1 by the GPS sensor. 4.2.1 Sentence Transmission Rate Sentences are transmitted with respect to the user selected baud rate. The GPS sensor will transmit each sentence (except where noted in particular transmitted sentence descriptions) at a periodic rate based on the user selected baud rate and user selected output sentences. The GPS sensor will transmit the selected sentences contiguously. The length of the transmission can be determined by the following equation and Tables 2 and 3: length of transmission Sentence GPRMC GPGGA GPGSA GPGSV PGRME GPGLL GPVTG PGRMV PGRMF PGRMB PGRMM PGRMT = total characters to be transmitted --------------------------------------------characters transmitted per second Output by Default? * Once per minute Maximum Characters 74 82 66 70 35 44 42 32 82 40 32 50 * Except GPS 16A Table 2: NMEA 0183 Output Sentence Order and Size Baud Characters per Second 300 30 600 60 1200 120 2400 240 4800 480 9600 960 19200 1920 38400 ** 3840 Table 3: Characters per Second for Available Baud Rates ** GPS 16A Only The maximum number of fields allowed in a single sentence is 82 characters including delimiters. Values in the table include the sentence start delimiter character “$” and the termination delimiter . The factory set defaults will result in a once-per-second transmission at 4800 baud, which is the NMEA 0183 specification transmission rate. 4.2.1.1 GPS 16LVS, 16HVS, and GPS 17HVS (not 17N) Regardless of the selected baud rate, the information transmitted by the GPS sensor is referenced to the one-pulse-per-second output pulse immediately preceding the GPRMC sentence, or whichever sentence is output first in the burst (see Table 2 above). 4.2.1.2 GPS 16A Sentences are transmitted at a fixed 200-millisecond interval. 190-00228-20 GPS 16/17 Technical Specifications Page 16 Rev. C 4.2.2 Transmitted Time The GPS sensor outputs UTC (Coordinated Universal Time) date and time of day in the transmitted sentences. Before the initial position fix, the on-board clock provides the date and time of day. After the initial position fix, the date and time of day are calculated using GPS satellite information and are synchronized with the one-pulse-per-second output. The GPS sensor uses information obtained from the GPS satellites to add or delete UTC leap seconds and correct the transmitted date and time of day. The transmitted date and time of day for leap second correction follow the guidelines in National Institute of Standards and Technology Special Publication 432 (Revised 1990). This document is for sale by the Superintendent of Documents, U.S. Government Printing Office, Washington, D.C., 20402, U.S.A. When a positive leap second is required, one second is inserted at the beginning of the first hour (0h 0m 0s) of the day that the positive leap is occurring. The minute containing the leap second is 61 seconds long. The GPS sensor would have transmitted the following information for the leap second added December 31, 1998: $GPRMC,235959,A,3851.3651,N,09447.9382,W,000.0,221.9,071103,003.3,E*69 $GPRMC,000000,A,3851.3651,N,09447.9382,W,000.0,221.9,081103,003.3,E*67 $GPRMC,000000,A,3851.3651,N,09447.9382,W,000.0,221.9,081103,003.3,E*67 $GPRMC,000001,A,3851.3651,N,09447.9382,W,000.0,221.9,081103,003.3,E*66 If a negative leap second should be required, one second will be deleted at the end of some UTC month. The minute containing the leap second will be only 59 seconds long. In this case, the GPS sensor will not transmit the time of day 0h 0m 0s (the “zero” second) for the day from which the leap second is removed. $GPRMC,235959,A,3851.3650,N,09447.9373,W,000.0,000.0,111103,003.3,E*69 $GPRMC,000001,A,3851.3650,N,09447.9373,W,000.0,000.0,121103,003.3,E*6A $GPRMC,000002,A,3851.3650,N,09447.9373,W,000.0,000.0,121103,003.3,E*69 4.2.3 Global Positioning System Almanac Data (ALM) Almanac sentences are not normally transmitted. Almanac transmission can be initiated by sending the GPS sensor a $PGRMO,GPALM,1 command. Upon receipt of this command, the GPS sensor will transmit available almanac information on GPALM sentences. During the transmission of almanac sentences, other NMEA 0183 data output will be suspended temporarily. $GPALM,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>,<14>,<15>*hh can be found in Section 4.1.1 Almanac Information (ALM). 4.2.4 Global Positioning System Fix Data (GGA) $GPGGA,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,M,<10>,M,<11>,<12>*hh <1> <2> <3> <4> <5> <6> <7> <8> <9> <10> <11> <12> 190-00228-20 UTC time of position fix, hhmmss format Latitude, ddmm.mmmm format (leading zeros will be transmitted) (The GPS 16A reports the decimal fraction of minutes with 5 digits of precision) Latitude hemisphere, N or S Longitude, dddmm.mmmm format (leading zeros will be transmitted) (The GPS 16A reports the decimal fraction of minutes with 5 digits of precision) Longitude hemisphere, E or W GPS quality indication, 0 = fix not available, 1 = Non-differential GPS fix available, 2 = Differential GPS (DGPS) fix available, 6 = Estimated (only output if NMEA 0183 version 2.30 active) Number of satellites in use, 00 to 12 (leading zeros will be transmitted) Horizontal dilution of precision, 0.5 to 99.9 Antenna height above/below mean sea level, -9999.9 to 99999.9 meters Geoidal height, -999.9 to 9999.9 meters Differential GPS (RTCM SC-104) data age, number of seconds since last valid RTCM transmission (null if not an RTCM DGPS fix) Differential Reference Station ID, 0000 to 1023 (leading zeros will be transmitted, null if not an RTCM DGPS fix) GPS 16/17 Technical Specifications Page 17 Rev. C 4.2.5 GPS DOP and Active Satellites (GSA) $GPGSA,<1>,<2>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<4>,<5>,<6>*hh <1> <2> <3> <4> <5> <6> 4.2.6 Mode, M = manual, A = automatic Fix type, 1 = not available, 2 = 2D, 3 = 3D PRN number, 01 to 32, of satellite used in solution, up to 12 transmitted (leading zeros will be transmitted) Position dilution of precision, 0.5 to 99.9 Horizontal dilution of precision, 0.5 to 99.9 Vertical dilution of precision, 0.5 to 99.9 GPS Satellites in View (GSV) $GPGSV,<1>,<2>,<3>,<4>,<5>,<6>,<7>,...<4>,<5>,<6>,<7>*hh <1> <2> <3> <4> <5> <6> <7> Total number of GSV sentences to be transmitted Number of current GSV sentence Total number of satellites in view, 00 to 12 (leading zeros will be transmitted) Satellite PRN number, 01 to 32 (leading zeros will be transmitted) Satellite elevation, 00 to 90 degrees (leading zeros will be transmitted) Satellite azimuth, 000 to 359 degrees, true (leading zeros will be transmitted) Signal to noise ratio (C/No) 00 to 99 dB, null when not tracking (leading zeros will be transmitted) Note: Items <4>,<5>,<6>, and <7> repeat for each satellite in view to a maximum of four (4) satellites per sentence. Additional satellites in view information must be sent in subsequent bursts of NMEA 0183 data. These fields will be null if unused. 4.2.7 Recommended Minimum Specific GPS/TRANSIT Data (RMC) $GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>*hh <1> <2> <3> <4> <5> <6> <7> <8> <9> <10> <11> <12> 4.2.8 UTC time of position fix, hhmmss format Status, A = Valid position, V = NAV receiver warning Latitude, ddmm.mmmm format (leading zeros will be transmitted) (The GPS 16A reports the decimal fraction of minutes with 5 digits of precision) Latitude hemisphere, N or S Longitude, dddmm.mmmm format (leading zeros will be transmitted) (The GPS 16A reports the decimal fraction of minutes with 5 digits of precision) Longitude hemisphere, E or W Speed over ground, 000.0 to 999.9 knots (leading zeros will be transmitted) Course over ground, 000.0 to 359.9 degrees, true (leading zeros will be transmitted) UTC date of position fix, ddmmyy format Magnetic variation, 000.0 to 180.0 degrees (leading zeros will be transmitted) Magnetic variation direction, E or W (westerly variation adds to true course) Mode indicator (only output if NMEA 0183 version 2.30 active), A = Autonomous, D = Differential, E = Estimated, N = Data not valid Track Made Good and Ground Speed (VTG) $GPVTG,<1>,T,<2>,M,<3>,N,<4>,K,<5>*hh <1> <2> <3> <4> <5> 190-00228-20 True course over ground, 000 to 359 degrees (leading zeros will be transmitted) Magnetic course over ground, 000 to 359 degrees (leading zeros will be transmitted) Speed over ground, 000.0 to 999.9 knots (leading zeros will be transmitted) Speed over ground, 0000.0 to 1851.8 kilometers per hour (leading zeros will be transmitted) Mode indicator (only output if NMEA 0183 version 2.30 active), A = Autonomous, D = Differential, E = Estimated, N = Data not valid GPS 16/17 Technical Specifications Page 18 Rev. C 4.2.9 Geographic Position (GLL) $GPGLL,<1>,<2>,<3>,<4>,<5>,<6>,<7>*hh <1> <2> <3> <4> <5> <6> <7> Latitude, ddmm.mmmm format (leading zeros will be transmitted) (The GPS 16A reports the decimal fraction of minutes with 5 digits of precision) Latitude hemisphere, N or S Longitude, dddmm.mmmm format (leading zeros will be transmitted) (The GPS 16A reports the decimal fraction of minutes with 5 digits of precision) Longitude hemisphere, E or W UTC time of position fix, hhmmss format Status, A = Valid position, V = NAV receiver warning Mode indicator (only output if NMEA 0183 version 2.30 active), A = Autonomous, D = Differential, E = Estimated, N = Data not valid 4.2.10 Estimated Error Information (PGRME) $PGRME,<1>,M,<2>,M,<3>,M*hh <1> <2> <3> Estimated horizontal position error (HPE), 0.0 to 999.9 meters Estimated vertical position error (VPE), 0.0 to 999.9 meters Estimated position error (EPE), 0.0 to 999.9 meters 4.2.11 GPS Fix Data Sentence (PGRMF) $PGRMF,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>,<14>,<15>*hh <1> <2> <3> <4> <5> <6> <7> <8> <9> <10> <11> <12> <13> <14> <15> GPS week number (0 to 1023) GPS seconds (0 to 604799) UTC date of position fix, ddmmyy format UTC time of position fix, hhmmss format GPS leap second count Latitude, ddmm.mmmm format (leading zeros will be transmitted) (The GPS 16A reports the decimal fraction of minutes with 5 digits of precision) Latitude hemisphere, N or S Longitude, dddmm.mmmm format (leading zeros will be transmitted) (The GPS 16A reports the decimal fraction of minutes with 5 digits of precision) Longitude hemisphere, E or W Mode, M = manual, A = automatic Fix type, 0 = no fix, 1 = 2D fix, 2 = 3D fix Speed over ground, 0 to 1851 kilometers/hour Course over ground, 0 to 359 degrees, true Position dilution of precision, 0 to 9 (rounded to nearest integer value) Time dilution of precision, 0 to 9 (rounded to nearest integer value) 4.2.12 Map Datum (PGRMM) The Garmin Proprietary sentence $PGRMM gives the name of the map datum currently in use by the GPS sensor. This information is used by the Garmin MapSource real-time plotting application. $PGRMM,<1>*hh <1> 190-00228-20 Name of map datum currently in use (variable length field, e.g., “WGS 84”) GPS 16/17 Technical Specifications Page 19 Rev. C 4.2.13 Sensor Status Information (PGRMT) The Garmin Proprietary sentence $PGRMT gives information concerning the status of the GPS sensor. This sentence is transmitted once per minute regardless of the selected baud rate. $PGRMT,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>*hh <1> <2> <3> <4> <5> <6> <7> <8> <9> Product, model and software version (variable length field, e.g., “GPS 16/17HVS VER 2.05”) ROM checksum test, P = pass, F = fail Receiver failure discrete, P = pass, F = fail Stored data lost, R = retained, L = lost Real time clock lost, R = retained, L = lost Oscillator drift discrete, P = pass, F = excessive drift detected Data collection discrete, C = collecting, null if not collecting GPS sensor temperature in degrees C GPS sensor configuration data, R = retained, L = lost 4.2.14 3D Velocity Information (PGRMV) $PGRMV,<1>,<2>,<3>*hh <1> <2> <3> True east velocity, -514.4 to 514.4 meters/second True north velocity, -514.4 to 514.4 meters/second Up velocity, -999.9 to 999.9 meters/second 4.2.15 DGPS Beacon Information (PGRMB) Note: PGRMB is not supported at this time. $PGRMB,<1>,<2>,<3>,<4>,<5>,K,<6>,<7>*hh <1> <2> <3> <4> <5> <6> <7> <8> 190-00228-20 Beacon tune frequency, 0.0, 283.5–325.0 kHz in 0.5 kHz steps Beacon bit rate, 0, 25, 50, 100, or 200 bps Beacon SNR, 0 to 31 Beacon data quality, 0 to 100 Distance to beacon reference station in kilometers Beacon receiver communication status (0 = Check Wiring, 1 = No Signal, 2 = Tuning, 3 = Receiving, 4= Scanning) DGPS fix source (R = RTCM, W = WAAS, N = Non-DGPS Fix) DGPS mode, A = Automatic, W = WAAS Only, R = RTCM Only, N = None (DGPS disabled) GPS 16/17 Technical Specifications Page 20 Rev. C 4.3 Baud Rate Selection Baud rate selection can be performed by sending the appropriate configuration sentence to the GPS sensor as described in the $PGRMC Section 4.1.3 Sensor Configuration Information (PGRMC), field <10>. 4.4 One-Pulse-Per-Second (PPS) Output (This signal not available on the GPS 16A or GPS 17N.) The highly accurate one-pulse-per-second (PPS) output is provided for applications requiring precise timing measurements. The signal is generated after the initial position fix has been calculated, and the signal continues until power down. The rising edge of the signal is synchronized to the start of each GPS second. Regardless of the selected baud rate, the information transmitted by the GPS sensor is referenced to the pulse immediately preceding the NMEA 0183 RMC sentence. The accuracy of the one-pulse-per-second output is maintained only while the GPS sensor can compute a valid position fix. To obtain the most accurate results, the one-pulse-per-second output should be calibrated against a local time reference to compensate for cable and internal receiver delays and the local time bias. The default pulse width is 100 ms, however; it may be programmed in 20 ms increments between 20 ms and 980 ms as described in $PGRMC Section 4.1.3 Sensor Configuration Information (PGRMC), field <13>. 4.5 Received RTCM Data Position accuracy of less than 5 meters can be achieved with the GPS 16/17 series products by using Differential GPS (DGPS) real-time pseudo-range correction data in RTCM SC-104 format, with message types 1, 2, 3, 7, and 9. These corrections can be received by the GPS 16/17 series products on COM 2. The RTCM data must be received at the same baud rate as the COM 1 port. For details on the SC-104 format, refer to RTCM Paper 134-89/SC 104-68 by the Radio Technical Commission for Maritime Services. 190-00228-20 GPS 16/17 Technical Specifications Page 21 Rev. C APPENDIX A: EARTH DATUMS The following is a list of the Garmin GPS 16/17 Earth datum indices and the corresponding earth datum name (including the area of application): 0 ADINDAN - Ethiopia, Mali, Senegal, Sudan 1 AFGOOYE - Somalia 2 AIN EL ABD 1970 - Bahrain Island, Saudi Arabia 3 ANNA 1 ASTRO 1965 - Cocos Island 4 ARC 1950 - Botswana, Lesotho, Malawi, Swaziland, Zaire, Zambia, Zimbabwe 5 ARC 1960 - Kenya, Tanzania 6 ASCENSION ISLAND 1958 - Ascension Island 7 ASTRO BEACON “E” - Iwo Jima Island 8 AUSTRALIAN GEODETIC 1966 - Australia, Tasmania Island 9 AUSTRALIAN GEODETIC 1984 - Australia, Tasmania Island 10 ASTRO DOS 71/4 - St. Helena Island 11 ASTRONOMIC STATION 1952 - Marcus Island 12 ASTRO B4 SOROL ATOLL - Tern Island 13 BELLEVUE (IGN) - Efate and Erromango Islands 14 BERMUDA 1957 - Bermuda Islands 15 BOGOTA OBSERVATORY - Colombia 16 CAMPO INCHAUSPE - Argentina 17 CANTON ASTRO 1966 - Phoenix Islands 18 CAPE CANAVERAL - Florida, Bahama Islands 19 CAPE - South Africa 20 CARTHAGE - Tunisia 21 CHATHAM 1971 - Chatham Island (New Zealand) 22 CHUA ASTRO - Paraguay 23 CORREGO ALEGRE - Brazil 24 DJAKARTA (BATAVIA) - Sumatra Island (Indonesia) 25 DOS 1968 - Gizo Island (New Georgia Islands) 26 EASTER ISLAND 1967 - Easter Island 27 EUROPEAN 1950 - Austria, Belgium, Denmark, Finland, France, Germany, Gibraltar, Greece, Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland 28 EUROPEAN 1979 - Austria, Finland, Netherlands, Norway, Spain, Sweden, Switzerland 29 FINLAND HAYFORD 1910 - Finland 30 GANDAJIKA BASE - Republic of Maldives 31 GEODETIC DATUM 1949 - New Zealand 32 ORDNANCE SURVEY OF GREAT BRITAIN 1936 - England, Isle of Man, Scotland, Shetland Islands, Wales 33 GUAM 1963 - Guam Island 34 GUX 1 ASTRO - Guadalcanal Island 35 HJORSEY 1955 - Iceland 190-00228-20 GPS 16/17 Technical Specifications Page 22 Rev. C 36 HONG KONG 1963 - Hong Kong 37 INDIAN - Bangladesh, India, Nepal 38 INDIAN - Thailand, Vietnam 39 IRELAND 1965 - Ireland 40 ISTS O73 ASTRO 1969 - Diego Garcia 41 JOHNSTON ISLAND 1961 - Johnston Island 42 KANDAWALA - Sri Lanka 43 KERGUELEN ISLAND - Kerguelen Island 44 KERTAU 1948 - West Malaysia, Singapore 45 L.C. 5 ASTRO - Cayman Brac Island 46 LIBERIA 1964 - Liberia 47 LUZON - Mindanao Island 48 LUZON - Phillippines (excluding Mindanao Island) 49 MAHE 1971 - Mahe Island 50 MARCO ASTRO - Salvage Islands 51 MASSAWA - Eritrea (Ethiopia) 52 MERCHICH - Morocco 53 MIDWAY ASTRO 1961 - Midway Island 54 MINNA - Nigeria 55 NORTH AMERICAN 1927 - Alaska 56 NORTH AMERICAN 1927 - Bahamas (excluding San Salvador Island) 57 NORTH AMERICAN 1927 - Central America (Belize, Costa Rica, El Salvador, Guatemala, Honduras, Nicaragua) 58 NORTH AMERICAN 1927 - Canal Zone 59 NORTH AMERICAN 1927 - Canada (including Newfoundland Island) 60 NORTH AMERICAN 1927 - Caribbean (Barbados, Caicos Islands, Cuba, Dominican Republic, Grand Cayman, Jamaica, Leeward Islands, Turks Islands) 61 NORTH AMERICAN 1927 - Mean Value (CONUS) 62 NORTH AMERICAN 1927 - Cuba 63 NORTH AMERICAN 1927 - Greenland (Hayes Peninsula) 64 NORTH AMERICAN 1927 - Mexico 65 NORTH AMERICAN 1927 - San Salvador Island 66 NORTH AMERICAN 1983 - Alaska, Canada, Central America, CONUS, Mexico 67 NAPARIMA, BWI - Trinidad and Tobago 68 NAHRWAN - Masirah Island (Oman) 69 NAHRWAN - Saudi Arabia 70 NAHRWAN - United Arab Emirates 71 OBSERVATORIO 1966 - Corvo and Flores Islands (Azores) 72 OLD EGYPTIAN - Egypt 73 OLD HAWAIIAN - Mean Value 74 OMAN - Oman 190-00228-20 GPS 16/17 Technical Specifications Page 23 Rev. C 75 PICO DE LAS NIEVES - Canary Islands 76 PITCAIRN ASTRO 1967 - Pitcairn Island 77 PUERTO RICO - Puerto Rico, Virgin Islands 78 QATAR NATIONAL - Qatar 79 QORNOQ - South Greenland 80 REUNION - Mascarene Island 81 ROME 1940 - Sardinia Island 82 RT 90 - Sweden 83 PROVISIONAL SOUTH AMERICAN 1956 - Bolivia, Chile, Colombia, Ecuador, Guyana, Peru, Venezuela 84 SOUTH AMERICAN 1969 - Argentina, Bolivia, Brazil, Chile, Colombia, Ecuador, Guyana, Paraguay, Peru, Venezuela, Trinidad and Tobago 85 SOUTH ASIA - Singapore 86 PROVISIONAL SOUTH CHILEAN 1963 - South Chile 87 SANTO (DOS) - Espirito Santo Island 88 SAO BRAZ - Sao Miguel, Santa Maria Islands (Azores) 89 SAPPER HILL 1943 - East Falkland Island 90 SCHWARZECK - Namibia 91 SOUTHEAST BASE - Porto Santo and Madeira Islands 92 SOUTHWEST BASE - Faial, Graciosa, Pico, Sao Jorge, and Terceira Islands (Azores) 93 TIMBALAI 1948 - Brunei and East Malaysia (Sarawak and Sabah) 94 TOKYO - Japan, Korea, Okinawa 95 TRISTAN ASTRO 1968 - Tristan da Cunha 96 User defined earth datum 97 VITI LEVU 1916 - Viti Levu Island (Fiji Islands) 98 WAKE-ENIWETOK 1960 - Marshall Islands 99 WORLD GEODETIC SYSTEM 1972 100 WORLD GEODETIC SYSTEM 1984 101 ZANDERIJ - Surinam 102 CH-1903 - Switzerland 103 Hu - Tzu - Shan 104 Indonesia 74 105 Austria 106 Potsdam 107 Taiwan - modified Hu-Tzu-Shan 108 GDA - Geocentric Datum of Australia 109 Dutch 190-00228-20 GPS 16/17 Technical Specifications Page 24 Rev. C APPENDIX B: BINARY PHASE OUTPUT FORMAT Note: The following applies to GPS 17N software version 2.06 and higher, and all software versions of GPS 16LVS, GPS 16HVS, GPS 16A, and GPS 17HVS. Two records are transmitted once per second by the GPS 16/17 series products. One record contains primarily post-process information, such as position and velocity information. The second record contains receiver measurement information. The records are sent at a default baud rate of 9600 baud, 8 data bits, and no parity. Records begin with a delimiter byte (10 hex). The second byte identifies the record type (33 hex for a position record, 34 hex for a receiver measurement). The third byte indicates the size of the data. The fourth byte is the first byte of data. The data is then followed by a checksum byte, a delimiter byte (10 hex), and an end-of-transmission character (03 hex). Note: If RTCM-104 differential data is sent to the GPS sensor the board will reset the Phase Output Data baud rate to the same baud rate used for RTCM-104 data. If the differential inputs are used on the GPS sensor then the RTCM-104 data must be sent to the GPS sensor at 9600 baud (preferred) or 4800 baud. RTCM-104, baud rates less than 4800 baud are not supported by the GPS sensors since it would limit bus bandwidth past the point where a once per second phase output data rate could be maintained. Note that the satellite data information is also enabled when the position record is enabled. Records sent over RS232 begin with a delimiter byte (10 hex). The second byte identifies the record type (33 hex for a position record, 34 hex for a receiver measurement and 72 hex for a satellite data record). The third byte indicates the size of the data. The fourth byte is the first byte of data. The data is then followed by a checksum byte, a delimiter byte (10 hex), and an end-of-transmission character (03 hex). Additionally, any DLEs (0x10) that appear between the delimeters are escaped with a second DLE. There is sample code at the end of this section that will strip off the DLEs and ETXs. RS232 Packet: - 0x10 (DLE is first byte) - 0x## (Record ID – single byte) - 0x## (Number of data bytes – single byte) - data bytes (See descriptions below) - 0x## (2’s complement of the arithmetic sum of the bytes between the delimiters) - 0x10 (DLE) - 0x03 (ETX is last byte) The data bytes of each packet contain the record specified by the record ID. A description of each record follows. Satellite Data Record The satellite data has a record ID of 0x72 with 84 (0x54) data bytes. The data bytes contain the data for the 12 channels as described below. For each satellite, the following data is available: typedef struct { uint8 svid; //space vehicle identification (1–32 and 33–64 for WAAS) uint16 snr; //signal-to-noise ratio uint8 elev; //satellite elevation in degrees uint16 azmth; //satellite azimuth in degrees uint8 status; //status bit-field } cpo_sat_data; 190-00228-20 GPS 16/17 Technical Specifications Page 25 Rev. C The status bit field represents a set of booleans described below: Bit Meaning when bit is one (1) 0 The unit has ephemeris data for the specified satellite. 1 The unit has a differential correction for the specified satellite. 2 The unit is using this satellite in the solution. This pattern is repeated for all 12 channels for a total of 12 X 7 bytes = 84 (0x54) bytes : typedef struct { cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data } cpo_all_sat_data The RS-232 Packet for the Satellite Record looks like: - 0x10 (DLE is first byte) - 0x72 (Record ID – single byte) - 0x54 (Number of data bytes – single byte) - cpo_all_sat_data - 0x## (2’s complement of the arithmetic sum of the bytes between the delimiters) - 0x10 (DLE) - 0x03 (ETX is last byte) Position Record - 0x10 - 0x33 - 0x40 - cpo_pvt_data - one-byte checksum - 0x10 - 0x03 typedef struct { float float float float int double double 190-00228-20 (DLE is first byte) (Position record identifier) (Size of data) (See description below) (The addition of bytes between the delimiters should equal 0) (DLE) (ETX is last byte) alt; epe; eph; epv; fix; gps_tow; lat; GPS 16/17 Technical Specifications Page 26 Rev. C double lon; float lon_vel; float lat_vel; float alt_vel; float msl_hght; int leap_sec; long grmn_days; } cpo_pvt_data; alt epe eph epv fix Ellipsoid altitude (meters) Est pos error (meters) Pos err, horizontal (meters) Pos err, vertical (meters) 0 = no fix; 1 = no fix; 2 = 2D; 3 = 3D; 4 = 2D differential; 5 = 3D differential; 6 and greater = not defined gps_tow GPS time of week (sec) lat Latitude (radians) lon Longitude (radians) lon_vel Longitude velocity (meters/second) lat_vel Latitude velocity (meters/second) alt_vel Altitude velocity (meters/ second) msl_hght Mean sea level height (meters) leap_sec UTC leap seconds grmn_days Garmin days (days since December 31, 1989) Receiver Measurement Record - 0x10 - 0x34 - 0xE2 - cpo_rcv_data - one byte checksum - 0x10 - 0x03 (DLE is first byte) (Receiver record identifier) (Size of data) (See below) (The sum of bytes between the delimiters should equal 0) (DLE) (ETX) typedef struct { unsigned long double unsigned int char unsigned char char char } cpo_rcv_sv_data; cycles; pr; phase; slp_dtct; snr_dbhz; svid; valid; typedef struct { double rcvr_tow; int rcvr_wn; cpo_rcv_sv_data sv[ 12 ]; } cpo_rcv_data; rcvr_tow rcvr_wn cycles pr phase slp_dtct snr_dbhz svid valid Receiver time of week (seconds) Receiver week number Number of accumulated cycles Pseudorange (meters) To convert to (0 -359.999) multiply by 360.0 and divide by 2048.0 0 = no cycle slip detected; non-zero = cycle slip detected Signal strength Satellite number (0 to 31) Note: add 1 to offset to current svid numbers 0 = information not valid; non-zero = information valid 190-00228-20 GPS 16/17 Technical Specifications Page 27 Rev. C Sample C Code DLE and ETX bytes: Sample C code to receive the two records should filter DLE and ETX bytes as described below: typedef enum { DAT, DLE, ETX } rx_state_type; /* Declare and initialize static variables */ static char in_que[ 256 ]; static int in_que_ptr = 0; static rx_state_type rx_state = DAT; . . . void add_to_que( char data ) { #define DLE_BYTE 0x10 #define ETX_BYTE 0x03 if ( rx_state == DAT ) { if ( data == DLE_BYTE ) { rx_state = DLE; } else { in_que[ in_que_ptr++ ] = data; } } else if ( rx_state == DLE ) { if ( data == ETX_BYTE ) { rx_state = ETX; } else { rx_state = DAT; in_que[ in_que_ptr++ ] = data; } } else if ( rx_state == ETX ) { if ( data == DLE_BYTE ) { rx_state = DLE; } } if ( in_que_ptr > 255 ) { in_que_ptr = 0; } } 190-00228-20 GPS 16/17 Technical Specifications Page 28 Rev. C APPENDIX C: EPHEMERIS DATA DOWNLOAD (PROGRAMMING EXAMPLE) Synopsis This section describes, using an example, how to download ephemeris information from a Garmin 15, 16, 17 or 18 family GPS unit with the exception of the GPS 15-W and the GPS 15-F. Garmin Binary Format Review To download the ephemeris data, you must first command the unit to output information in Garmin Binary Format (Garmin mode) instead of the default NMEA output format. To put the unit in Garmin mode, connect to the unit using a terminal program and send the following NMEA sentence: $PGRMO,,G*hh The checksum *hh is used for parity checking data and generally is not required in normal PC environments, but is recommended for use in environments containing high electromagnetic noise. When used, the parity bytes (hh) are the ASCII representation of the exclusive-or (XOR) sum of all the characters between the “$” and “*” characters, non-inclusive. Sentences may be truncated by after any data field and valid fields up to that point will be acted on by the GPS sensor. See Section 4 Software Interface. The unit will stay in Garmin mode until the next power cycle. Now that unit is in Garmin binary format, transmitted and received packets are structured as follows: Byte Description Packet Delimiter Packet ID (type) Data Size Name DLE ID SIZE Data bytes . . . Checksum DATA . . . CHKSUM Packet Delimiter End of Packet Notes 0x10 Packet type Number of bytes in data portion(not including escaped DLEs. See below) Not to exceed 256 bytes . . . 2’s complement of the arithmetic sum of all the bytes from the Packet ID byte to the last DATA byte(inclusive) not counting escaped DLEs. See below DLE 0x10 ETX 0x03 The DLE (0x10) is a delimiter byte used in conjunction with the ETX byte to determine beginning and ending of a packet. However, a 0x10 could appear in the data itself; if this occurs, the byte is escaped with another DLE byte (sometimes referred to as DLE stuffing). In other words, if a DLE occurs in the data, another DLE is transmitted immediately after to indicate that it is a data byte and it is not being used as a delimiter. Note that the size byte of the packet does not count the second DLE byte in an escaped DLE pair in the data field. Since a DLE that is a part of the data will have a second DLE to escape it, a single DLE followed by an ETX byte means that the end of a packet has been reached. In order to interpret these packets properly, one must remove the escaped DLE bytes. This can be achieved using an algorithm similar to the Sample C Code fragment on the previous page. 190-00228-20 GPS 16/17 Technical Specifications Page 29 Rev. C Ephemeris Download Procedure The following is the sequence of events that occurs when downloading ephemeris. Send a packet containing the command that requests ephemeris data (IOP_DOWN_LOAD_EPH). The packet should look like this: TX Packet: Ephemeris Data Request Byte Description Name HEX Value Delimiter DLE 0x10 Command Data ID IOP_CMND_DATA 0x0A Number of bytes in data SIZE 0x02 Request to D/L ephemeris IOP_DOWN_LOAD_EPH 0x5D Pad to 2 bytes DATA 0x00 Checksum calculation CHKSUM 0x97* Delimiter DLE 0x10 End ETX 0x03 * From now on, checksum calculation will not be shown for every packet example The unit will return an acknowledgement packet that will look like this: RX Packet: Acknowledgement Byte Description Delimiter Acknowledgement ID Number of bytes in data Request to D/L ephemeris Pad Checksum calculation Delimiter End of packet Name DLE IOP_ACK_BYTE SIZE IOP_CMND_DATA DATA CHKSUM DLE ETX HEX Value 0x10 0x06 0x02 0x0A 0x00 ---0x10 0x03 Then, the unit will immediately send a packet communicating how many data packets to expect for the ephemeris download (a maximum of twelve): RX Packet: Number of Data Packets to Expect Byte Description Delimiter Record ID Number of bytes in data Number of records Pad Checksum calculation Delimiter End of packet Name DLE IOP_RECORDS SIZE NUM_SV DATA CHKSUM DLE ETX HEX Value 0x10 0x1B 0x02 0x0C 0x00 ---0x10 0x03 This packet requires acknowledgement, as shown below (note that the data field contains the IOP_RECORDS ID to indicate the acknowledgement of the IOP_RECORDS packet): TX Packet: Acknowledgement Byte Description Delimiter Record ID Number of bytes in data Pad ID of packet being ACK’d Checksum calculation Delimiter End of packet 190-00228-20 Name DLE IOP_ACK_BYTE SIZE DATA IOP_RECORDS CHKSUM DLE ETX GPS 16/17 Technical Specifications Page 30 HEX Value 0x10 0x06 0x02 0x00 0x1B ---0x10 0x03 Rev. C Next, the unit will send the specified number of packets containing the ephemeris information. An example packet is shown below. Each packet should be acknowledged as before (be sure to modify the ACK packet to indicate what type of packet being acknowledged—for ephemeris data, the ID is 0x35). RX Packet: Ephemeris Data Byte Description Delimiter Ephemeris data ID Number of bytes in data Ephemeris data . . . Checksum calculation Delimiter End of packet Name DLE IOP_SPC_EPH_DATA SIZE DATA . . . CHKSUM DLE ETX HEX Value 0x10 0x35 0x78 ---. . . ---0x10 0x03 The data portion of each packet can then be parsed into an instance of the following structure. Each of these structures represents data from a single satellite. typedef struct { sint16 wn; float toc; float toe; float af0; float af1; float af2; float ura; double e; double sqrta; double dn; double m0; double w; double omg0; double i0; float odot; float idot; float cus; float cuc; float cis; float cic; float crs; float crc; unsigned char iod; } SDM_spc_eph_type; 190-00228-20 /* ephemeris data record for SPC */ /* /* /* /* /* /* /* /* /* /* /* /* /* /* /* /* /* /* /* /* /* /* /* */ */ */ */ */ */ */ */ */ */ */ */ */ */ */ */ */ */ */ */ */ */ */ week number (weeks) reference time of clock parameters (s) reference time of ephemeris parameters (s) clock correction coefficient - group delay (s) clock correction coefficient (s/s) clock correction coefficient (s/s/s) user range accuracy (m) eccentricity (-) square root of semi-major axis (a) (m**1/2) mean motion correction (r/s) mean anomaly at reference time (r) argument of perigee (r) right ascension (r) inclination angle at reference time (r) rate of right ascension (r/s) rate of inclination angle (r/s) argument of latitude correction, sine (r) argument of latitude correction, cosine (r) inclination correction, sine (r) inclination correction, cosine (r) radius correction, sine (m) radius correction, cosine (m) issue of data GPS 16/17 Technical Specifications Page 31 Rev. C An example function to do the parsing is shown below. Note that the double data types are converted by the function cnvt_ieee_double(). This function merely swaps the upper and lower words of the double. This is necessary on GPS 15, 16, 17 series sensors due to a compatibility issue with the IEEE floating point standard): In this example, the array m_TempArray contains the data portion of the ephemeris packet (with DLE stuffing removed). /**************************************************************************** * * PROCEDURE NAME: * copyData - ephemeris data unpacker * * DESCRIPTION: * unpacks data from ephemeris packet DATA field after extraneous DLEs * have been removed. Note that sint16 refers to a signed 16-bit * integer type. * ****************************************************************************/ void GPM_ephList::copyData /* ephemeris data unpacker */ ( GPM_ephData* pTemp /* pointer to ephemeris data array */ ) { pTemp->EphStruct.wn = *(sint16*)&m_TempArray[IDX_EPH_WN]; pTemp->EphStruct.toc = *(float*)&m_TempArray[IDX_EPH_TOC]; pTemp->EphStruct.toe = *(float*)&m_TempArray[IDX_EPH_TOE]; pTemp->EphStruct.af0 = *(float*)&m_TempArray[IDX_EPH_AF0]; pTemp->EphStruct.af1 = *(float*)&m_TempArray[IDX_EPH_AF1]; pTemp->EphStruct.af2 = *(float*)&m_TempArray[IDX_EPH_AF2]; pTemp->EphStruct.ura = *(float*)&m_TempArray[IDX_EPH_URA]; cnvt_ieee_double((long *)&m_TempArray[IDX_EPH_E]); pTemp->EphStruct.e = *(double*)&m_TempArray[IDX_EPH_E]; cnvt_ieee_double((long *)&m_TempArray[IDX_EPH_SQRTA]); pTemp->EphStruct.sqrta = *(double*)&m_TempArray[IDX_EPH_SQRTA]; cnvt_ieee_double((long *)&m_TempArray[IDX_EPH_DN]); pTemp->EphStruct.dn = *(double*)&m_TempArray[IDX_EPH_DN]; cnvt_ieee_double((long *)&m_TempArray[IDX_EPH_M0]); pTemp->EphStruct.m0 = *(double*)&m_TempArray[IDX_EPH_M0]; cnvt_ieee_double((long *)&m_TempArray[IDX_EPH_W]); pTemp->EphStruct.w = *(double*)&m_TempArray[IDX_EPH_W]; cnvt_ieee_double((long *)&m_TempArray[IDX_EPH_OMG0]); pTemp->EphStruct.omg0 = *(double*)&m_TempArray[IDX_EPH_OMG0]; cnvt_ieee_double((long *)&m_TempArray[IDX_EPH_I0]); pTemp->EphStruct.i0 = *(double*)&m_TempArray[IDX_EPH_I0]; pTemp->EphStruct.odot = *(float*)&m_TempArray[IDX_EPH_ODOT]; pTemp->EphStruct.idot = *(float*)&m_TempArray[IDX_EPH_IDOT]; pTemp->EphStruct.cus = *(float*)&m_TempArray[IDX_EPH_CUS]; pTemp->EphStruct.cuc = *(float*)&m_TempArray[IDX_EPH_CUC]; pTemp->EphStruct.cis = *(float*)&m_TempArray[IDX_EPH_CIS]; pTemp->EphStruct.cic = *(float*)&m_TempArray[IDX_EPH_CIC]; pTemp->EphStruct.crs = *(float*)&m_TempArray[IDX_EPH_CRS]; pTemp->EphStruct.crc = *(float*)&m_TempArray[IDX_EPH_CRC]; pTemp->EphStruct.iod = *(unsigned char*)&m_TempArray[IDX_EPH_IOD]; return; } /* copyData */ 190-00228-20 GPS 16/17 Technical Specifications Page 32 Rev. C Each data member of the ephemeris data structure is indexed into the data array of the ephemeris packet and cast as the appropriate data type. The indices are as follows (note that they correlate to the data members of the structure respectively): #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define IDX_EPH_WN IDX_EPH_TOC IDX_EPH_TOE IDX_EPH_AF0 IDX_EPH_AF1 IDX_EPH_AF2 IDX_EPH_URA IDX_EPH_E IDX_EPH_SQRTA IDX_EPH_DN IDX_EPH_M0 IDX_EPH_W IDX_EPH_OMG0 IDX_EPH_I0 IDX_EPH_ODOT IDX_EPH_IDOT IDX_EPH_CUS IDX_EPH_CUC IDX_EPH_CIS IDX_EPH_CIC IDX_EPH_CRS IDX_EPH_CRC IDX_EPH_IOD 0 4 8 12 16 20 24 28 36 44 52 60 68 76 84 88 92 96 100 104 108 112 116 The last packet will be a “download complete” packet that will look like this: TX Packet: Download Complete Byte Description Delimiter Download Complete ID Number of bytes in data Ephemeris Download ID Pad Checksum calculation Delimiter End of packet Name DLE IOP_DL_CMPLT SIZE IOP_DOWN_LOAD_EPH DATA CHKSUM DLE ETX HEX Value 0x10 0x0c 0x02 0x5D 0x00 ---0x10 0x03 After properly acknowledging this packet (ACK the IOP_DL_CMPLT ID), the ephemeris download is complete. 190-00228-20 GPS 16/17 Technical Specifications Page 33 Rev. C APPENDIX D: SENSOR CONFIGURATION SOFTWARE The Sensor Configuration software program (SNSRCFG) configures the GPS sensors based on userselected parameters. Some application features include the ability to download GPS sensor configuration, maintain different configurations in files, and perform GPS sensor configurations quickly with the use of one function key. This section provides a brief overview of the Sensor Configuration Software. Refer to this section when using the software to configure your Garmin sensor. Downloading the Sensor Configuration Software The Garmin Sensor Configuration Software (SNSRCFG.exe) is available from the Garmin Web site. To download the software, start at http://www.garmin.com/oem, select the GPS 16/17, and then select Software Updates. Download SNSRCFG. Selecting a Model After opening the program (snsrcfg.exe), the following screen appears. Select the radio button next to the type of Garmin sensor you are configuring. Then click OK. Connecting to the Sensor After selecting the type of sensor, the following window opens. This is the Main Interface Screen for the program. To configure your sensor, you must first connect to the sensor. 1. Select Config > Switch to NMEA Mode (or press the F10 key). 2. Select Comm > Setup to open the Comm Setup Window. 3. Select the Serial Port to which the sensor is connected. Select Auto to have the program automatically determine the Baud Rate, or select Manual to manually select the Baud Rate of the GPS 16/17. Click OK when done. 4. Click the Connect icon , or select Comm > Connect. 5. To view the current programming of the sensor, select Config > Get Configuration from GPS (or press the F8 key). The current programming of the sensor is displayed in the window shown to the right. 190-00228-20 GPS 16/17 Technical Specifications Page 34 Rev. C File Menu The File Menu allows you to open, save, and print sensor configurations. The items in the File Menu work like most Windows-based programs. Comm Menu The Comm (Communication) Menu allows you to set the port number, baud rate, and then connect and disconnect from the sensor. Setup: Opens the Comm Setup Window, shown to the left. Select the Serial Port to which the sensor is connected from the dropdown list. Then select Auto (the program determines the baud rate on its own) or Manual (you then enter the baud rate) for the Baud Rate entry. Connect: Select Connect to connect to the sensor to change or view the configuration. Disconnect: Select Disconnect to disconnect from the sensor. Config Menu The Config (Configuration) Menu allows you configure the sensor as it is connected. Sensor Configuration (F6): Opens the Sensor Configuration Window, shown to the right. Many of the fields in this window should be left alone. Please refer to the beginning of this document for specific information about some of these fields. For the most part, this window is used to enter a new Latitude, Longitude, and Altitude for the sensor. This is especially helpful when you are programming the sensor for use in a particular geographic location. Resetting the Unit (Reset Unit) performs a reset on the unit, much like cycling the power. Resetting the non-volatile memory (Reset NonVol) will clear all of the data from the nonvolatile memory. NMEA Sentence Selections (F7): Displays the NMEA Sentence Selections Window. If the sentence is enabled, a check mark appears in the box to the left of the sentence name. Click the box to enable or disable to the sentence. 190-00228-20 GPS 16/17 Technical Specifications Page 35 Rev. C Get Configuration From GPS (F8): Retrieves the current programming from the sensor. The programming is then displayed in the Main Interface Window. Send Configuration To GPS (F9): Sends the changes you have made to the programming to the sensor. Switch to NMEA Mode (F10): Switches the unit to NMEA Mode. The sensor must be in NMEA Mode when connected to this software. Switch to Garmin Mode (F11): Switches the unit to Garmin Mode. Update Software (F12): After you have downloaded a new software version for the sensor, you can update the sensor with the new software. Select Update Software and then select the file using the Open dialog box. You must locate both the *.rgn file and the updater.exe file. View Menu The View Menu allows you to view the NMEA sentences transmitted by the sensor. You can also customize how the program looks by showing and hiding the Toolbar and Status Bar. Help Menu The Help Menu displays the software version and copyright information. For the latest free software updates (excluding map data) throughout the life of your Garmin products, visit the Garmin Web site at www.garmin.com. © 2002, 2005 Garmin Ltd. or its subsidiaries Garmin International, Inc. 1200 East 151st Street, Olathe, Kansas 66062, U.S.A. Garmin (Europe) Ltd. Unit 5, The Quadrangle, Abbey Park Industrial Estate, Romsey, SO51 9DL, U.K. Garmin Corporation No. 68, Jangshu 2nd Road, Shijr, Taipei County, Taiwan www.garmin.com Part Number 190-00228-20 Rev. C
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