GPS Hemisphere GNSS Technical Reference Guide V1.09

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Hemisphere GNSS

Technical Reference

Manual

Current Version: v1.09 January 8, 2018

Table of Contents 
 
 
SBAS Automatic Tracking ................................................................................................ 10 
SBAS Performance .......................................................................................................... 11 
WAAS .............................................................................................................................. 11 
WAAS DGPS ................................................................................................................... 12 
WAAS Signal Information ................................................................................................. 14 
WAAS Reception ............................................................................................................. 15 
WAAS Coverage .............................................................................................................. 16 
Radiobeacon Overview .................................................................................................... 20 
Radiobeacon Range......................................................................................................... 21 
Radiobeacon Reception ................................................................................................... 22 
Radiobeacon Antenna Location ....................................................................................... 22 
Radiobeacon Coverage .................................................................................................... 23 
Atlas Overview ................................................................................................................. 24 
Atlas Signal Information ................................................................................................... 25 
Atlas Reception ................................................................................................................ 26 
Atlas Automatic Tracking .................................................................................................. 27 
Atlas Receiver Performance ............................................................................................. 28 
Crescent Base Station Overview ...................................................................................... 29 
Crescent Base Station Startup ......................................................................................... 30 
Crescent Base Station Calibration .................................................................................... 31 
Crescent Base Station Performance ................................................................................ 32 
About Firmware ................................................................................................................ 53 
Using RightARM to Load Firmware .................................................................................. 54 
Subscribing to an Application ........................................................................................... 59 
Interpreting the $JK 'Date'/Subscription Codes ................................................................. 61 
Understanding Additive Codes ......................................................................................... 62 
Comparing the JI and JK Responses ............................................................................... 64 
Eclipse II Subscription Codes ........................................................................................... 65 
Determining the Receiver Type and Current Application .................................................. 72 
'THIS' Port and the 'OTHER' Port ..................................................................................... 74 
Enabling Database Mode ................................................................................................. 77 
Performance in Database Mode ....................................................................................... 77 
Available Production Configuration Settings ..................................................................... 77 
Enabling and Disabling Ethernet ...................................................................................... 78 
Enabling Ethernet Services .............................................................................................. 78 
Message Structure ......................................................................................................... 101 
Messages ....................................................................................................................... 101 
JASC Command Overview ................................................................................................................................................ 115 

JASC,CMR Command ....................................................................................................................................................... 116 
JASC,D1 Command ........................................................................................................................................................... 117 
JASC,DFX Command ........................................................................................................................................................ 119 
JASC,GL Command .......................................................................................................................................................... 120 
JASC,GA Command .......................................................................................................................................................... 122 
JASC,GQ Command .......................................................................................................................................................... 124 
JASC,GN Command .......................................................................................................................................................... 126 
JASC,GP Command .......................................................................................................................................................... 127 
JASC,INTLT Command ..................................................................................................................................................... 129 
JASC,PASHR Command ................................................................................................................................................... 130 
JASC,PSAT,ATTSTAT Command ..................................................................................................................................... 132 
JASC,PSAT,BLV Command .............................................................................................................................................. 133 
JASC,PSAT,FVI Command ............................................................................................................................................... 134 
JASC,PSAT,RTKPROG Command ................................................................................................................................... 135 
JASC,PSAT,RTKSTAT Command..................................................................................................................................... 137 
JASC,PSAT,VCT Command .............................................................................................................................................. 138 
JASC,PTSS1 Command .................................................................................................................................................... 139 
JASC,ROX Command ........................................................................................................................................................ 141 
JASC,RTCM Command ..................................................................................................................................................... 142 
JASC,RTCM3 Command ................................................................................................................................................... 143 
JASC,VIRTUAL Command ................................................................................................................................................ 145 
JATT ................................................................................................................................................................................... 146 
JATT Command Overview ................................................................................................................................................ 146 
JATT,COGTAU Command ................................................................................................................................................. 147 
JATT,CSEP Command ...................................................................................................................................................... 148 
JATT,EXACT Command .................................................................................................................................................... 149 
JATT,FLIPBRD Command ................................................................................................................................................. 150 
JATT,GYROAID Command ............................................................................................................................................... 151 
JATT,HBIAS Command ..................................................................................................................................................... 153 
JATT,HELP Command ...................................................................................................................................................... 154 
JATT,HIGHMP Command .................................................................................................................................................. 155 
JATT,HRTAU Command .................................................................................................................................................... 156 
JATT,HTAU Command ...................................................................................................................................................... 158 
JATT,LEVEL Command..................................................................................................................................................... 159 
JATT,MOVEBASE Command ............................................................................................................................................ 160 
JATT,MSEP Command ...................................................................................................................................................... 161 
JATT,NEGTILT Command ................................................................................................................................................. 162 
JATT,NMEAHE Command ................................................................................................................................................. 163 
JATT,PBIAS Command ..................................................................................................................................................... 164 

JATT,PTAU Command ...................................................................................................................................................... 165 
JATT,ROLL Command ...................................................................................................................................................... 166 
JATT,SEARCH Command ................................................................................................................................................. 167 
JATT,SPDTAU Command ................................................................................................................................................. 168 
JATT,SUMMARY Command .............................................................................................................................................. 169 
JATT,TILTAID Command .................................................................................................................................................. 171 
JATT,TILTCAL Command ................................................................................................................................................. 172 
JBAUD Command.............................................................................................................................................................. 173 
JBIN Command .................................................................................................................................................................. 175 
JBOOT ................................................................................................................................................................................ 178 
JBOOT Command.............................................................................................................................................................. 178 
JBOOT,LBAND Command ................................................................................................................................................ 179 
JCONN Command ............................................................................................................................................................. 180 
JDIFF .................................................................................................................................................................................. 181 
JDIFF Command ................................................................................................................................................................ 181 
JDIFF,AVAILABLE Command ........................................................................................................................................... 183 
JDIFFX,EXCLUDE Command ............................................................................................................................................ 184 
JDIFFX,GNSSOUT Command ........................................................................................................................................... 185 
JDIFFX,INCLUDE Command ............................................................................................................................................. 187 
JDIFFX,SOURCE Command.............................................................................................................................................. 189 
JDIFFX,TYPE Command ................................................................................................................................................... 190 
JEPHOUT,PERIODSEC Command ................................................................................................................................... 192 
JETHERNET ....................................................................................................................................................................... 193 
JETHERNET Command Overview .................................................................................................................................... 193 
JETHERNET,MODE ........................................................................................................................................................... 194 
JETHERNET,PORTI ........................................................................................................................................................... 195 
JFLASH .............................................................................................................................................................................. 196 
JFLASH Command Overview ........................................................................................................................................... 196 
JFLASH,DIR Command ..................................................................................................................................................... 197 
JFLASH,FILE,CLOSE Command ...................................................................................................................................... 198 
JFLASH,FILE,NAME Command ........................................................................................................................................ 199 
JFLASH,FILE,OPEN Command ........................................................................................................................................ 201 
JFLASH,FREESPACE Command...................................................................................................................................... 202 
JFLASH,NOTIFY,CONNECT Command ............................................................................................................................ 203 
JFLASH,QUERYCONNECT Command ............................................................................................................................. 204 
JFREQ Command .............................................................................................................................................................. 205 
JATLAS,LIMIT Command .................................................................................................................................................. 206 
JFORCEAPP Command .................................................................................................................................................... 209 
JGEO Command ................................................................................................................................................................ 209 

JI Command ....................................................................................................................................................................... 211 
JK Command ..................................................................................................................................................................... 212 
JLBEAM Command ........................................................................................................................................................... 216 
JLIMIT Command .............................................................................................................................................................. 218 
JLXBEAM Command ......................................................................................................................................................... 219 
JMASK Command ............................................................................................................................................................. 221 
JMODE ............................................................................................................................................................................... 222 
JMODE Overview ............................................................................................................................................................... 222 
JMODE Command ............................................................................................................................................................. 223 
JMODE,BASE Command .................................................................................................................................................. 224 
JMODE,BDSOFF Command .............................................................................................................................................. 225 
JMODE,FIXLOC Command ............................................................................................................................................... 226 
JMODE,FOREST Command .............................................................................................................................................. 227 
JMODE,GLOFIX ................................................................................................................................................................. 228 
JMODE,GLOOFF Command.............................................................................................................................................. 229 
JMODE,GPSOFF Command .............................................................................................................................................. 230 
JMODE,GPSONLY Command ........................................................................................................................................... 231 
JMODE,L1ONLY Command .............................................................................................................................................. 232 
JMODE,MIXED Command ................................................................................................................................................. 233 
JMODE,NULLNMEA Command ........................................................................................................................................ 234 
JMODE,SBASNORTK Command ...................................................................................................................................... 236 
JMODE,SBASR Command ................................................................................................................................................ 237 
JMODE,STRICTRTK Command ........................................................................................................................................ 238 
JMODE,SURETRACK Command ...................................................................................................................................... 239 
JMODE,SURVEY Command .............................................................................................................................................. 240 
JMODE,TIMEKEEP Command .......................................................................................................................................... 241 
JMODE,TUNNEL Command .............................................................................................................................................. 242 
JMSG99 Command ............................................................................................................................................................ 243 
JNMEA ............................................................................................................................................................................... 244 
JNMEA,GGAALLGNSS Command .................................................................................................................................... 244 
JNMEA,PRECISION Command ......................................................................................................................................... 245 
JNP Command ................................................................................................................................................................... 246 
JOFF ................................................................................................................................................................................... 247 
JOFF Command ................................................................................................................................................................. 247 
JOFF,ALL Command ......................................................................................................................................................... 248 
JPOS Command ................................................................................................................................................................ 249 
JPRN,EXCLUDE Command............................................................................................................................................... 254 
JQUERY ............................................................................................................................................................................. 257 
JQUERY,GUIDE Command ............................................................................................................................................... 257 

JQUERY,RTKPROG Command ......................................................................................................................................... 256 
JQUERY,RTKSTAT Command .......................................................................................................................................... 258 
JQUERY,TEMPERATURE Command ............................................................................................................................... 261 
JRAD Command Overview ............................................................................................................................................... 262 
JRAD,1 Command ............................................................................................................................................................. 263 
JRAD,1,LAT,LON,HEIGHT Command ............................................................................................................................... 264 
JRAD,1,P Command .......................................................................................................................................................... 265 
JRAD,2 Command ............................................................................................................................................................. 266 
JRAD,3 Command ............................................................................................................................................................. 267 
JRAD,7 Command ............................................................................................................................................................. 268 
JRAD,9 Command ............................................................................................................................................................. 269 
JRAD,10 Command ........................................................................................................................................................... 270 
JRTCM3,ANTNAME Command ......................................................................................................................................... 277 
JRTCM3,EXCLUDE ............................................................................................................................................................ 278 
JRTCM3,INCLUDE Command ........................................................................................................................................... 279 
JRTCM3,NULLANT Command .......................................................................................................................................... 280 
JRTK ................................................................................................................................................................................... 281 
JRTK Command Overview ................................................................................................................................................ 281 
JRTK,1 Command.............................................................................................................................................................. 282 
JRTK,1,LAT,LON,HEIGHT Command ............................................................................................................................... 283 
JRTK,1,P Command .......................................................................................................................................................... 284 
JRTK,5 Command.............................................................................................................................................................. 285 
JRTK,5,Transmit Command .............................................................................................................................................. 286 
JRTK,6 Command.............................................................................................................................................................. 287 
JRTK,12 Command ............................................................................................................................................................ 288 
JRTK,17 Command ............................................................................................................................................................ 289 
JRTK,18 Command ............................................................................................................................................................ 290 
JRTK,18,BEARING Command .......................................................................................................................................... 291 
JRTK,18,NEU Command ................................................................................................................................................... 292 
JRTK,28 Command ............................................................................................................................................................ 293 
JSHOW Command ............................................................................................................................................................. 295 
JSHOW,ASC Command .................................................................................................................................................... 297 
JSHOW,BIN Command ...................................................................................................................................................... 300 
JSHOW,CONF Command .................................................................................................................................................. 301 
JSHOW,GP Command ....................................................................................................................................................... 303 
JSHOW,THISPORT Command .......................................................................................................................................... 304 
JSIGNAL Command .......................................................................................................................................................... 305 
JTAU Command Overview ................................................................................................................................................ 311 
JTAU,COG Command ....................................................................................................................................................... 312 

JTAU,SPEED Command .................................................................................................................................................... 314 
PCSI,1 Command (Status Line A, Channel 0 command)................................................................................................. 319 
PCSI,1,1 Command (Beacon Status command) .............................................................................................................. 321 
PCSI,2 Command (Status Line B, Channel 1 command)................................................................................................. 323 
PCSI,3,1 Command (Receiver Search Dump command) ................................................................................................ 325 
PCSI,3,2 Command (Ten Closest Stations command) .................................................................................................... 328 
PCSI,3,3 Command (Station Database command) .......................................................................................................... 330 
PCSI,5 Command (Set Baud Rates command) ................................................................................................................ 333 
PCSI,6 Command (Reboot command).............................................................................................................................. 334 
PCSI,7 Command (Swap Modes command) .................................................................................................................... 335 
Bin1 Message .................................................................................................................................................................... 366 
Bin2 Message .................................................................................................................................................................... 369 
Bin3 Message .................................................................................................................................................................... 371 
Bin5 Message .................................................................................................................................................................... 376 
Bin16 Message .................................................................................................................................................................. 380 
Bin19 Message .................................................................................................................................................................. 386 
Bin35 Message .................................................................................................................................................................. 391 
Bin36 Message .................................................................................................................................................................. 394 
Bin44 Message .................................................................................................................................................................. 396 
Bin45 Message .................................................................................................................................................................. 400 
Bin62 Message .................................................................................................................................................................. 402 
Bin65 Message .................................................................................................................................................................. 404 
Bin66 Message .................................................................................................................................................................. 402 
Bin69 Message .................................................................................................................................................................. 404 
Bin76 Message .................................................................................................................................................................. 406 
Bin80 Message .................................................................................................................................................................. 411 
Bin89 Message .................................................................................................................................................................. 413 
Bin93 Message .................................................................................................................................................................. 415 
Bin122 Message ................................................................................................................................................................ 431 
 
 

GNSS Technical Reference Manual

Current Version: v1.09 January 8, 2018

Page 1

Introduction

The purpose of the GNSS Technical Reference Manual is to serve as a resource for software engineers and system

integrators engaged in the configuration of GNSS receivers. It may also be of use to persons with knowledge of the

installation and operation of GNSS navigation systems.

This reference covers features, commands, logs, and operating modes for a variety of Hemisphere GNSS products: not

all aspects described apply to all products.

Information is provided as follows:

• Quick Start provides basic information to get you started using your Hemisphere GNSS receiver

• GNSS Technology and Platforms provides information on the GNSS engine, GNSS solutions, and GNSS platforms

• Receiver Operation introduces general operational features of the receiver, receiver operation modes, and default

operation parameters

• Commands and Messages are grouped by their type (General, GNSS, e-Dif, Data, RAIM, etc.) and for each type

the commands or messages are initially listed in a table with a brief description. Each command and message is

then described in detail in separate topics.

• Resources provides resources for additional information

• Change History provides a list of all topics updated in a release and a short description of each change

• Troubleshooting provides troubleshooting advice

Hemisphere GNSS Applications

No part of this manual may be reproduced, transmitted, transcribed, stored in a retrieval system or translated into

any language or computer language, in any form or by any means, electronic, mechanical, magnetic, optical,

chemical, manual or otherwise, without the prior written permission of Hemisphere GNSS.

Topic Last Updated: v1.08 June 21, 2017

GNSS Technical Reference Manual

Current Version: v1.09 January 8, 2018

Page 2

Quick Start

This topic provides basic information to get you started using your Hemisphere GNSS receiver.

• What is my receiver type? Send the JT command.

• How do I load firmware onto my receiver and why would I do this?

Use RightARM. Loading firmware allows you to run application specific capabilities.

• What is my current receiver configuration? Send the JSHOW query.

For Vector products send the JATT,SUMMARY query.

• What commands are supported by my receiver?

Find out what GNSS engine is in your receiver (issue JT command) then go to the Overview topic for

commands supported by that GNSS engine.

• How do I send a command to my receiver?

Connect receiver to a PC and use a terminal program (such as HyperTerminal) or Hemisphere GNSS'

PocketMax or SLXMon. For more information refer to the User Guide for your product.

• How do I turn on data messages (such as GPGGA) for a receiver? See Configuring the Data Message Output.

Topic Last Updated: v1.07 / February 16, 2017

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Page 3

GNSS Technology and Platforms

GNSS Engine

GNSS Engine Overview

The GNSS engine is always operating regardless of the DGNSS mode of operation. The following sections describe

the general operation of the receiver.

•

Satellite Tracking

•

Positioning Accuracy

•

Update Rates

Both the GNSS and SBAS operation of the receiver module features automatic operational algorithms. When powered

for the first time, the receiver system performs a "cold start," which involves acquiring the available GNSS satellites in

view and the SBAS differential service. To do this, the receiver needs a compatible GNSS antenna connected that offers

a relatively clear, unobstructed view of the sky. While you can often achieve this indoors with an antenna placed against

a window, you may need to place the antenna outside, for example on a roof or a short distance away from the building.

If SBAS is not available in a particular area, an external source of RTCM SC-104 differential correction may be used. If

an external source of correction data is needed, the external source needs to support an eight data bit, no parity and

one stop bit configuration (8-N-1). See also SBAS Overview.

Topic Last Updated: v1.07 / February 16, 2017

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Page 4

GNSS Technology and Platforms

Satellite Tracking

The receiver automatically searches for GNSS satellites, acquires the signal, and manages the associated navigation

information required for positioning and tracking. This is a hands-free mode of operation. Satellite acquisition quality is

described as a signal-to-noise ratio (SNR) and the higher the SNR, the better the signal reception quality. SNR

information is provided by the receiver through the use of NMEA 0183 data messages available via its multiple serial

ports.

Topic Last Updated: v1.07 / February 16, 2017

GNSS Technical Reference Manual

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Page 5

GNSS Technology and Platforms

Positioning Accuracy

The receiver is a sub-meter product with 95% horizontal accuracy under ideal conditions.

To determine the positioning performance of the receiver, Hemisphere GNSS gathers a 24-hour data set of positions in

order to log the diurnal environmental effects and full GPS constellation changes. Data sets shorter than 24 hours tend to

provide more optimistic results.

The horizontal performance specification of 95% accuracy is, as stated above, based on ideal conditions. In reality,

obstruction of satellites, multipath signals from reflective objects, and operating with poor corrections will detract from the

receiver’s ability to provide accurate and reliable positions. Differential performance can also be compromised if the

receiver module is used in a region without sufficient ionospheric coverage.

Further, if external corrections are used, the baseline separation between the remote base station antennas can affect

performance.

Since the receiver will be used in the real world, blockage of the line of sight to SBAS satellites is often inevitable. The

COAST function provides solace from obstruction of any differential correction source (SBAS, Beacon, RTCM, Atlas,

RTK, e-Dif) for 30 to 40 minutes depending on the amount of tolerable performance drift. In fact, our receivers will

COAST when differential correction is lost no matter what the differential source is: SBAS, Beacon, RTCM, Atlas,

RTK, or e-Dif.

The estimated positioning precision is accessible through the use of NMEA 0183 command responses as described

Commands and Messages.

Because the receiver cannot determine accuracy with respect to a known location in real time (so is traditionally

performed in post-mission analyses), the precision numbers are relative in nature and are only approximates.

Topic Last Updated: v1.06 / March 10, 2015

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GNSS Technology and Platforms

Update Rates

The update rate of each NMEA 0183 and binary message of the receiver can be set independently with a maximum that

is dependant upon the message type. For example, some messages have a 1 Hz maximum while other messages have

a 20 Hz maximum. The higher update rates, such as 20 Hz, are an option and can be obtained at an additional cost.

Higher update rates are valuable for applications where:

•

Higher speeds are present such as in aviation

•

You have manual navigational tasks such as in agricultural guidance

•

You have an automated or autonomous navigational task such as in robotics or machine control Keep the following

in mind regarding message rates:

•

Some messages can only be OFF or ON (0 or 1Hz) Example: $JASC,RTCM3,1

•

Some messages can only be 0 or 1 Hz, but will come out once first, then only if they change Example:

$JASC,BIN95,1

•

Messages that are available at other rates can be set to rates SLOWER than 1 Hz (see Note 1 below)

•

Example: $JASC,GPGGA,0.1

•

If the receiver is subscribed to 10 or 20Hz, the receiver can log at rates FASTER than 1 Hz (see Note 2 below)

•

Example: $JASC,GPGGA,5

Note 1: Slower than 1 Hz.

Use the following guidelines:

To log once

every

seconds

Use

JASC,xxxx,

0.5

0.3333

0.25

0.1667

0.1429

0.125

0.1111

0.1

0.0667

0.05

0.04

0.025

0.02

100

0.01

120

0.0083

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GNSS Technology and Platforms

Rates not listed above may be possible but may not log on integer seconds. Users should test to see if the results are

acceptable for their application.

Note 2: Faster than 1Hz, if subscribed.

Acceptable rates are 1, 2, 4, 5, 10 or 20 Hz. Using rates other than those listed will result in data appearing in a rate

similar to the rate requested, but the data times will be quantized to 0.05 second resolution. This is due to the receiver’s

internal computing rate of 20 Hz. Time resolution is 0.05 seconds even if the receiver is only subscribed for 10 Hz data.

Quantizing may result in a slightly different number of messages per minute than expected. For example, 3 Hz data

produces approximately 172 messages per minute due to quantizing, instead of the expected 180 messages.

Using rates other than a factor of 20 Hz may result in quantized data. Regardless, the data in the message is referenced

to the time of the message. For example, 3 Hz data may appear at a time of 0.30 seconds; the data is referenced to 0.3

seconds, not 0.333333 seconds.

Topic Last Updated: v1.00 / August 11, 2010

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GNSS Technology and Platforms

DGNSS Solutions

COAST Technology

Crescent and Eclipse OEM boards feature Hemisphere GNSS’ exclusive COAST technology that enables Hemisphere

GNSS Crescent and Eclipse receivers to utilize old DGPS correction data for 40 minutes or more without significantly

affecting positioning quality.

Note: Crescent refers to Crescent, Crescent Vector

When using COAST, these receivers are less likely to be affected by differential signal outages due to signal blockages,

weak signals, or interference.

Note: To obtain a full set of SBAS corrections, the COAST technology provides the following benefits:

•

Accurate and minimal position drift during temporary loss of differential signal corrections

•

Sub-meter accuracy up to 40 minutes after differential signal loss

•

Outstanding performance in environments where maintaining a consistent differential link is difficult

•

It is standard with Crescent and Eclipse GPS receiver technology

Topic Last Updated: v1.06 / March 10, 2015

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GNSS Technology and Platforms

SBAS

SBAS Overview

The following topics describe the general operation and performance monitoring of the Space-Based Augmentation

System (SBAS) demodulator within the receiver module:

•

Automatic tracking

•

Performance

•

WAAS

•

WAAS DGPS

•

WAAS Signal Information

•

WAAS Reception

•

WAAS Coverage

Topic Last Updated: v1.00 / August 11, 2010

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GNSS Technology and Platforms

SBAS Automatic Tracking

The SBAS demodulator featured within the receiver automatically scans and tracks multiple SBAS satellite signals, as

specified by the JWAASPRN command (defaulted to WAAS PRN 135 and 138, suitable for use in North America).

If the default satellites become disabled, the receiver automatically tracks different satellites. This automatic tracking

enables you to focus on other aspects of your application rather than ensuring the receiver is tracking SBAS correctly.

The SBAS demodulator features two-channel tracking that enhances the ability to maintain acquisition on an SBAS signal

satellite in regions where more than one satellite is in view.

This redundant tracking approach results in more consistent signal acquisition in areas where signal blockage of either

satellite is possible.

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GNSS Technology and Platforms

SBAS Performance

SBAS performance is described in terms of bit error rate (BER). The SBAS receiver requires a line of sight to the SBAS

satellite to acquire a signal.

The BER number indicates the number of unsuccessfully decoded symbols in a moving window of 2048 symbols. Due

to the use of forward error correction algorithms, one symbol is composed of two bits. The BER value for both SBAS

receiver channels is available in the RD1 message.

A lower BER indicates data is being successfully decoded with fewer errors, providing more consistent throughput. The

BER has a default no-lock of 500 or more. As the receiver begins to successfully acquire a signal, a lower BER results.

For best operation, this value should be less than 150 and ideally less than 20.

SBAS broadcasts an ionospheric map on a periodic basis and it can take up to five minutes to receive the map on

startup. Until it downloads the SBAS map the receiver uses the broadcast ionosphere model, which can result in a lower

performance compared to when the map has been downloaded. This is the case for any GNSS product supporting SBAS

services.

Topic Last Updated: v11.07 / February 16, 2017

WAAS

The US Federal Aviation Administration developed the Wide Area Augmentation System (WAAS) to provide accurate

positioning to the aviation industry. In addition to providing a high quality and accurate service for this industry, the

service is available free of charge to civilians and markets in North America.

Other government agencies have developed similar WAAS-compatible systems for their respective geographic regions.

•

Europe - the European Space Agency, the European Commission and EUROCONTROL jointly developed the European

Geostationary Navigation Overlay Service (EGNOS)

•

Japan - the MTSAT Satellite-based Augmentation System (MSAS) was developed by the Japan Civil Aviation Bureau (JCAB)

•

India - the Airport Authority of India and the Indian Space Research Organization (ISRO) are deploying the GPS Aided Geo

Augmented Navigation system (GAGAN)

These compatible augmentation systems fall into a broader category often referred to as Space Based Augmentation

System (SBAS). The receiver is capable of receiving correction data from all WAAS- compatible SBAS.

Topic Last Updated: v1.00 / August 11, 2010

WARNING: When the map has been downloaded, you may observe a position jump due to the potentialdifference between

the GPS ionospheric model and the ionosphere SBAS map. To minimize the impact of this issue on the use of the receive

wait up to five minutes before using the receiver or issue the JQUERY,GUIDE command to 'ask' the receiver if it feels the

performance will be sufficient for operation.

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GNSS Technology and Platforms

WAAS DGPS

WAAS differential, and other compatible SBAS, use a state-based approach in their software architecture. These services

take in reference data from a network of base stations and endeavor to model the sources of error directly, rather than

computing the sum impact of errors upon observed ranges. The advantage of this approach is that the error source can be

more specifically accounted for during the correction process.

Specifically, WAAS calculates separate errors for the following:

•

Ionospheric error

•

GPS satellite timing errors

•

GPS satellite orbit errors

Provided that a GNSS satellite is available to the WAAS reference station network for tracking purposes, orbit and timing

error corrections will be available for that satellite. Ionospheric corrections for that satellite are only available if the signal

passes through the ionospheric map provided by WAAS, which covers most of North America.

To improve the ionospheric map provided by WAAS, the receiver extrapolates information from the broadcast ionospheric

coverage map, extending its effective coverage. This allows the receiver to be used successfully in regions that

competitive products may not. This is especially important in Canada for regions north of approximately 54° N latitude and

for outer regions of the Caribbean.

The process of estimating ionospheric corrections beyond the WAAS broadcast map is not as good as having an

extended WAAS map and accuracy degradation may occur.

The map links below depict the broadcast WAAS ionospheric map coverage and the Hemisphere GNSS extrapolated

version, respectively. As the two maps show, the Hemisphere GNSS extrapolated version’s coverage is greater in all

directions, enhancing usable coverage.

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GNSS Technology and Platforms

•

Broadcast WAAS ionospheric correction map

•

Extrapolated WAAS ionospheric correction map

Topic Last Updated: v1.07 / February 16, 2017

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GNSS Technology and Platforms

WAAS Signal Information

WAAS and other SBAS systems transmit correction data on the same frequency as GPS, allowing the use of the same

receiver equipment used for GPS. Another advantage of having WAAS transmit on the same frequency as GPS is that

only one antenna element is required.

Topic Last Updated: v1.00 / August 11, 2010

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GNSS Technology and Platforms

WAAS Reception

Since WAAS broadcasts on the same frequency as GPS, the signal requires a line of site in the same manner as

GPS to maintain signal acquisition.

Because of their locations, SBAS satellites may appear lower on the horizon than GPS satellites—it depends on the

geographic position on land. When using WAAS correction data, the receiver can provide the azimuth and elevation of

all satellites to aid in determining their position with respect to the antenna.

Topic Last Updated: v1.00 / August 11, 2010

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GNSS Technology and Platforms

WAAS Coverage

The figure below depicts the current WAAS coverage provided by the geostationary satellites.

The WAAS satellites are identified by their pseudorange number (PRN). In some areas, two or more satellites

may be visible.

Note: Signal coverage may be present in some areas without either sufficient ionospheric map coverage or

satellites with valid orbit and clock corrections. In such cases performance may be degraded compared to

areas fully covered by the WAAS ionospheric coverage.

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EGNOS

The European Geostationary Navigation Overlay Service (EGNOS) uses multiple geostationary satellites and a

network of ground stations to transmit differential correction data for public use. EGNOS is currently located over the

Atlantic Ocean and Africa.

Because of their location over the equator, these satellites may appear lower over the horizon as compared to GPS

satellites - it depends on the geographic position on the land. In regions where the satellites appear lower on the

horizon, they may be more susceptible to being masked by terrain, foliage, buildings or other objects, resulting in signal

loss. Increased distance from the equator and the satellite's longitude cause the satellite to appear lower on the horizon.

Hemisphere GNSS's COAST technology helps alleviate this problem by maintaining system performance when EGNOS

signal loss occurs for extended periods of time. More information on COAST technology is provided later in this chapter.

The figure below shows approximate EGNOS coverage provided by the satellites. Virtually all of Europe, part of

Northern Africa, and part of the Middle East is covered with at least one signal. Most of Europe is covered by three

signals.

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Note: Increased distance from the equator and the satellite’s longitude cause the

satellite to appear lower on the horizon. Although a good amount of signal coverage

is shown in northern latitudes for EGNOS, it may not be usable because of its low

elevation angle and the potential for it to be obstructed. Testing of the system in the

area of its use is recommended to ensure that the signal is sufficiently available.

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MSAS

The MTSAT Satellite-based Augmentation System (MSAS) is currently run by the Japan Meteorological Agency (JMA).

MSAS provides GPS augmentation information to aircraft through MTSAT (Multi-functional Transport Satellite) located

approximately 36000 km above the equator (geostationary earth orbit).

MSAS generates GPS augmentation information by analyzing signals from GPS satellites received by monitor

stations on the ground. This augmentation information consists of GPS-like ranging signal and correction information

on GPS errors caused by the satellites themselves or by the ionosphere.

The MSAS signal provides accurate, stable, and reliable GPS position solutions to aircraft, resulting in a considerable

improvement in the safety and reliability of GPS positioning. This enables aviation users who are under very strict safety

regulations to use GPS positioning as a primary navigation system.

Visit http://www.jma.go.jp/jma/jma-eng/satellite/ for more information on MSAS and MTSAT.

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GAGAN

The GPS Aided Geo Augmented Navigation system (GAGAN) is currently under deployment by the Indian government

and is anticipated to be operational by 2011. It operates similarly to the other SBAS regions described previously and will

broadcast on one geostationary satellite (PRN 127) over the Western portion of the Indian Ocean. GAGAN should be

visible in India at elevation angles in excess of 50º above the horizon. This will provide an excellent correction source in

virtually all areas of the subcontinent.

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Radiobeacon

Radiobeacon Overview

Many marine authorities, such as Coast Guards, have installed networks of radiobeacons that broadcast DGPS

corrections to their users. With increasing use of these networks for terrestrial applications, there is increasing

densification of these networks inland.

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Radiobeacon Range

The broadcasting range of a 300 kHz beacon depends on a number of factors, including:

•

Transmission power

•

Free space loss

•

Ionospheric state

•

Surface conductivity

•

Ambient noise

•

Atmospheric losses

Signal strength decreases with distance from the transmitting station, mostly due to spreading loss. This loss is a result of

the signal’s power being distributed over an increasing surface area as the signal radiates away from the transmitting

antenna.

The expected broadcast range also depends on the conductivity of the surface over which it travels. A signal will

propagate further over a surface area with high conductivity than over a surface with low conductivity.

Lower conductivity surfaces, such as dry, infertile soil, absorb the power of the transmission more than higher

conductivity surfaces, such as sea water or arable land.

A radio beacon transmission has three components:

1. Direct line-of-sight wave

The line-of-sight wave is insignificant beyond visual range of the transmitting tower and does not have a

substantial impact upon signal reception.

2. Ground wave

The ground wave portion of the signal propagates along the surface of the earth, losing strength due to

spreading loss, atmospheric refraction and diffraction, and attenuation by the surface over which it travels

(dependent upon conductivity).

3. Sky wave

Depending on its reflectance, this skyward portion of the beacon signal may bounce off the ionosphere and

back to Earth, causing reception of the ground wave to fade. Fading—which may cause reception to fade in

and out—occurs when the ground and sky waves interfere with each other. This problem usually occurs in the

evening when the ionosphere becomes more reflective and usually on the edge of coverage areas. Fading is

not usually an issue with overlapping coverage areas of beacons and their large overall range.

Atmospheric attenuation plays a minor part in signal transmission range because it absorbs and scatters the signal. This

type of loss is the least significant of those described.

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Radiobeacon Reception

Various noise sources affect beacon reception and include:

•

Engine noise

•

Alternator noise

•

Noise from power lines

•

DC to AC inverting equipment

•

Electric devices such as CRTs, electric motors, and solenoids

Noise generated by these types of equipment can mask the beacon signal, reducing or impairing reception.

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Radiobeacon Antenna Location

When using the internal beacon receiver as the correction source, antenna location will influence the performance of the

internal beacon receiver.

A good location will:

•

Have a clear view of the sky (important for GNSS, WAAS, and Atlas signal reception)

•

Be at least three feet away from all forms of transmitting antennas, communications, and electrical equipment, to

reduce the amount of noise present at the antenna

•

Be the best for the application, such as the center line of the vehicle or vessel (the position calculated by the

beacon receiver is measured to the center of the antenna)

•

Not be in areas that exceed specified environmental conditions

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Radiobeacon Coverage

The figure below shows the approximate radiobeacon coverage throughout the world. Light shaded regions denote current

coverage, with beacon stations shown as white circles. The world beacon networks continue to expand. For more current

coverage, visit the Hemisphere GNSS web site at www.hemispheregnss.com.

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Atlas

Atlas Overview

Atlas services provides correction data to subscribers of the system with the use of a geostationary transponder.

The Atlas service is based on a network of reference stations, located around the world, that communicate GNSS raw

observation data to control centers. At the control centers the GNSS correction data is decoded, processed, and

packaged into a proprietary format for transmission to a geostationary Atlas communications satellite. The satellite

broadcasts the correction information back to earth over a large signal footprint. The signal can be demodulated by any

Atlas enabled receivers.

The Atlas service does not provide RTCM SC-104 formatted data, instead using a proprietary, highly compressed,

correction format. With this service, the positioning accuracy does not degrade as a function of distance to a particular

base station because the data content is not composed of a single base station’s information; it is composed of an entire

network’s information.

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Atlas Signal Information

The Atlas signal is a line-of-sight UHF signal that is similar to GNSS. For the Atlas differential receiver to acquire the

signal, there must be a line of sight between the antenna and the geostationary communications satellite.

Various Atlas communications satellites are used for transmitting the correction data to Atlas users around the world.

When the Atlas receiver has acquired an Atlas signal, the elevation and azimuth are available in the menu system to

enable troubleshooting line-of sight problems.

Contact your Atlas service provider for further information on this service.

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Atlas Reception

Atlas services broadcast at a similar frequency to GNSS and as a result is a line-of-sight system; there must be a line of

sight between the antenna and the Atlas satellite for reception of the service.

Atlas services use geostationary satellites for communication. The elevation angle to these satellites is dependent upon

latitude. For latitudes higher than approximately 55° North or South, the Atlas signal may be blocked more easily by

obstructions such as trees, buildings, and terrain.

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Atlas Automatic Tracking

The Hemisphere GNSS Atlas receiver features an automatic mode that allows it to locate the best spot beam if more

than one is available in a particular region. With this function you do not need to adjust the receiver’s frequency. The

receiver also features a manual tune mode for flexibility.

See the JFREQ command for more information on automatic and manual tuning.

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Atlas Receiver Performance

Atlas receivers provide both a lock indicator and a BER (bit error rate) to describe the lock status and reception quality.

Both these features depend on a line of sight between the antenna and the geostationary communications satellite

broadcasting the Atlas correction information.

Atlas capable Hemisphere GNSS antennas are designed with sufficient gain at low elevation angles to perform well at

higher latitudes where the signal power is lower and the satellite appears lower on the horizon. The BER number

indicates the number of unsuccessfully decoded symbols in a moving window of 2048 symbols. Because of the use of

forward error correction algorithms, one symbol is composed of two bits.

The BER has a default, no-lock value of 500. As the receiver begins to successfully acquire the signal a lower BER

results. For best operation this value should be less than 150 and ideally less than 20.

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Crescent Base Station

Crescent Base Station Overview

The Crescent receiver with e-Dif subscription can operate in a DGPS base station mode. NMEA 0183 commands need

to be sent to the receiver to enter this mode. These commands may be automatically issued through customized

software or through a simple terminal interface running on a PC, PDA, or data logger. DGPS Base Station Commands

provides detailed information on the commands supported by the base station application.

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Crescent Base Station Startup

When the receiver running the e-Dif application first starts up, it requires a few minutes to gather enough satellite tracking

information to model the errors for the future. Once commands are sent to put the receiver into base station mode,

corrections will be generated and can be sent via the serial port to rover receivers. In some more challenging GNSS

environments, the time required to model errors can take up to 10 minutes. The receiver must be stationary during this

process and the antenna for the base station must be secured in a stable location.

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Crescent Base Station Calibration

Base station calibration is the process of modeling the errors at the base station. Calibration can be performed in either a

relative or an absolute sense, depending on positioning needs. Relative positioning provides positions that are accurate to

one another but there may be some offset from the true geographical position.

Calibrating for relative positioning is easier than for absolute position since you are not restricted to using a point with

known coordinates. Calibrating for absolute positioning mode requires placing the GPS antenna at a known reference

location. Care should be taken to use a location that has good sky visibility and is relatively free from obstructions.

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Crescent Base Station Performance

Base station performance depends primarily on the site location for the base station GNSS antenna. An ideal location

would have no obstructions above the height of the antenna, offering a full 180º by 360º view of the sky. In reality,

obstructions such as trees, vehicles, people, and buildings nearby both block satellite signals and reflect interfering

signals called multipath signals. Multipath degrades the accuracy of the satellite measurements and detracts from the

receiver’s ability to provide accurate and reliable corrections for the rovers.

For a rover to work optimally, a base station should be near by the rover’s area of operation. As distance from the

base to the rover increases, the modeling process cannot tune the solution to the exact environmental conditions at

the rover’s location and the rover’s accuracy will not be as good. Best performance is attained when the distance

from your base to your rover is less than 50 km (30 miles).

Generally, there is little to no advantage to using a base station if it is more than 300 km (180 miles) from the rover.

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e-Dif

e-Dif - Extended Differential Option for the Crescent Receiver

The Crescent receiver module is designed to work with Hemisphere GNSS’ patented Extended Differential (e-Dif)

software. e-Dif is an optional mode where the receiver can perform with differential-like accuracy for extended periods of

time without the use of a differential service. It models the effects of ionosphere, troposphere, and timing errors for

extended periods by computing its own set of pseudo-corrections.

e-Dif may be used anywhere geographically and is especially useful where SBAS networks have not yet been installed,

such as South America, Africa, Australia, and Asia. Two things are required to enable e-Dif. First your receiver will

require the e-Dif application software to be installed on it. As well, a software key, called a subscription code, is needed

for the receiver to use e-Dif. Both can be installed in the field using a PC computer. See Using RightARM to Load

Firmware if you need to install the application firmware onto your receiver. To install a subscription code, contact

Hemisphere GNSS for a JK command which can be issued to your receiver.

Positioning with e-Dif is jump-free compared to a receiver working with just raw GPS provided the receiver consistently

maintains a lock on at least four satellites at one time. The accuracy of positioning will have a slow drift that limits use of

the e-Dif for approximately 30 to 40 minutes although it depends on how tolerant the application is to drift as e-Dif can be

used for longer periods.

This mode of operation should be tested to determine if it is suitable for the application and for how long the user is

comfortable with its use. As accuracy will slowly drift, the point at which to recalibrate e-Dif to maintain a certain level of

accuracy must be determined.

The figure below displays the static positioning error of e-Dif while it is allowed to age for fourteen consecutive cycles of

30 minutes. The top line indicates the age of the differential corrections. The receiver computes a new set of corrections

using e-Dif during the calibration at the beginning of each hour and modifies these corrections according to its models.

After the initialization, the age correspondingly increases from zero until the next calibration.

The position excursion from the true position (the lines centered on the zero axis are northing [dark line] and easting [light

line]) with increasing correction age is smooth from position to position; however, there is a slow drift to the position. The

amount of drift depends on the rate of change of the environmental errors relative to the models used inside the e-Dif

software engine.

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Note: You decide how long e-Dif is to function before between calibrations and you should test this operation

mode to determine an acceptable level of performance.

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e-Dif Rover Mode Operation

Rover mode operation of the Crescent receiver unit with the optional e-Dif application requires NMEA 0183 commands.

These commands may be automatically issued through customized software or through a simple terminal interface

running on a PC, PDA or data logger. See e-Dif Commands for detailed information on the commands supported by the e-

Dif feature.

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e-Dif Startup

On startup, the receiver with the e-Dif application software running requires a few minutes to gather enough satellite

tracking information to model the errors for the future. And in some environments this can take up to 10 minutes. The

receiver does not have to be stationary for this process but it must be tracking the satellites throughout it. This process of

gathering information and the subsequent initialization of e-Dif is referred to as "calibration."

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e-Dif Rover Calibration

Rover calibration is the process of modeling the errors at the rover. Calibration can be performed in either a relative or

an absolute sense, depending on positioning needs. Relative positioning provides positions that are accurate to one

another but there may be some offset from the true geographical position. Additionally, unless the same point is used for

all calibrations and its assumed position stored, it is possible for different cycles of e-Dif to have an offset.

Calibrating for relative positioning is easier than for absolute position, since you are not restricted to using a point with

known coordinates. Calibrating for absolute positioning mode requires placing the GPS antenna at a known reference

location. Use this point for subsequent calibrations.

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Dif Rover Performance

The Crescent receiver’s positioning performance is dependant upon the rate at which the environmental modeling of e-

Dif and the environmental errors diverge. The more that e-Dif is able to model the errors correctly, the longer it will

provide reliable and accurate positioning. As there is no way in real time to know the rate of divergence, a rule of thumb

is to set the maximum age of differential to either 30 or 40 minutes, depending on how much error the application is able

to tolerate (or simply recalibrate before 30 to 40 minutes goes by). Hemisphere GNSS testing has shown that relative

accuracy will often be better than 1.0 m 95% of the time after 30 minutes of e-Dif operation.

You should perform testing at your location to determine the level of performance that would be seen on average. When

testing this feature, it is a good idea to look at a number of e-Dif cycles per day, and monitor performance against a

known coordinate and possibly other receivers in autonomous and differential mode. You should do this over a number

of days with different states of the ionosphere.

You can monitor the energy level of the ionosphere based upon the amount of solar flare activityat

http://www.spaceweather.com.

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L-Dif

L-Dif Local Differential Option

Local differential (L-Dif) is a specialized message type that can be sent only between two Crescent-based receivers.

One receiver is used as the base station and must remain stationary. It is extremely useful to know the coordinates of

the base station position but averaging the position over several days will also suffice. The second receiver is used as

a rover and the messages must be sent either through a cable or over a radio link.

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L-Dif Startup

On startup, the receiver with the L-Dif running requires several commands to initialize the proprietary messages

that are sent over the air.

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L-D

if Performance

The receiver’s positioning performance in L-Dif mode is dependant upon:

•

Environment of the base and rover receivers

•

Distance between them and

•

Accuracy of the entered coordinates of the base station

Hemisphere GNSS suggests you perform your own testing at your location to determine the level of performance you

would expect on average. When testing this feature, conduct tests of 12-24 hours—in different environments—and

monitor performance against a known coordinate. Do this over a number of days with different states of the ionosphere.

You can monitor the energy level of the ionosphere based upon the amount of solar flare activity at

http://www.spaceweather.com.

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RTK Overview

Real Time Kinematic (RTK) positioning is the highest form of navigational accuracy for GNSS receivers. Hemisphere

GNSS offers RTK for both Crescent and Eclipse platforms. See RTK commands for more information.

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Multi-Funcation Application (MFA) Software

Your device may include MFA software that allows you to set the positioning (mode) hierarchy of your device. To verify if

your device contains MFA software send the $JAPP command to the device; the response indicates whether you have

MFA as follows:

•

Without MFA (two specific applications listed) Example: $>JAPP,WAASRTKB,AUTODIFF,1,2

•

With MFA (MFA and one specific application listed) Example: $>JAPP,MFA,SBASRTKB,1,2

The hierarchy is the path your device follows to determine what differential source to use depending on available

sources. The hierarchy is as follows:

RTK

L-band (Atlas)

SBAS

Beacon

External RTCM

Autonomous

If you are running RTK and you lose your RTK radio link, the device defaults to the next highest mode, being either Atlas

high precision service or SBAS (if available). If the new signal becomes unusable, the next mode will be selected (for

example Beacon or External RTCM). Finally, if no correction signals are available, the device defaults to Autonomous.

You can include or exclude specific sources. For example, you can exclude sources that you do not want your device to

use, such as if you want to use only beacon. If you do not exclude the other sources your device may use SBAS instead.

Another example is if you want to exclude Atlas (when you do not have an Atlas subscription) to conserve power. You

include and exclude sources using

the $JDIFFX,INCLUDE and $JDIFFX,EXCLUDE commands, respectively.

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Post-Processing

Crescent and Eclipse receiver modules can output raw measurement data for post processing applications. The raw

measurement and ephemeris data are contained in the following messages, which must be logged in a binary file:

Observations: Bin 76 (GPS), Bin 66 (GLONASS), Bin 36 (BEIDOU)

Or

Bin 16 (All constellations; required for GALILEO)

Ephemeris: Bin 95 (GPS), Bin 65 (GLONASS), Bin 35 (BEIDOU), Bin 45 (GALILEO)

Time conversion: Bin 94 (GPS), Bin 34 (BEIDOU), Bin 44 (GALILEO)

(Crescent receivers must log Bin 94, 95, and 96 messages for GPS). Depending on the application, the binary data can

be logged to a file and then translated to RINEX at a later time on a PC.

Hemisphere GNSS provides a RINEX translator. It is available by contacting technical support at Hemisphere GNSS;

however, because there is limited ability to store station information in the binary file, developers may consider writing

their own translator. Some code is available for developers but with very limited support. The code should be self-evident

to developers familiar with RINEX and knowledgeable in C language.

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Hemisphere GNSS Hardware Platforms

Hardware Platforms Overview

Hemisphere GNSS offers the following hardware platforms:

•

Crescent

•

Crescent Vector II

•

Eclipse II

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Universal Development Kit

The Universal Development Kit allows you to integrate a Hemisphere GNSS OEM board into your design and includes the

following:

•

Enclosure

•

Main carrier board

•

Set of three adapter boards for use with small form factor Hemisphere GNSS OEM boards

•

Power cable and AC power supply

•

Two serial cables - one straight serial cable and one null modem cable for RTK

•

The Universal Development Kit supports the following Hemisphere GNSS OEM boards:

•

Enclosure

•

Crescent

•

Crescent Vector II

•

Eclipse II

•

miniEclipse

•

LX-2 (L-band DGPS and high precision services)

Depending on the Hemisphere GNSS OEM board you purchase with your Universal Development Kit, an Integrator’s Guide is

available for download from the Hemisphere GNSS website at www.hemispheregnss.com (search for Universal Development

Kit).

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Evaluating Receiver Performance

Hemisphere GNSS evaluates performance of the receiver with the objective of determining best-case performance in a

real-world environment. Our testing has shown that the receiver achieves a performance better than 0.6 m 95% of the

time in typical DGPS modes.

The qualifier of 95% is a statistical probability. Manufacturers often use a probability of RMS, one sigma, or one

standard deviation. These three terms all mean the same thing and represent approximately 67% probability.

Performance measures with these probabilities are not directly comparable to a 95% measure since they are lower

probability (less than 70% probability).

Table 1 summarizes the common horizontal statistical probabilities.

Table 1: Horizontal Accuracy Probability Statistics

Accuracy Measure

Probability (%)

rms (root mean square)

63 to 68

CEP (circular error probability)

R95 (95% radius)

95 to 98

2drms (twice the distance root)

It is possible to convert from one statistic to another using Table 2. Using the value where the 'From' row meets the 'To'

column, multiply the accuracy by this conversion value.

Table 2: Accuracy Conversions

From

CEP

rms

R95

2drms

CEP

1.2

2.1

2.4

rms

0.83

1.7

2.0

R95

0.48

.59

1.2

2drms

0.42

.83

For example, Product A, after testing, has an accuracy of 90 cm 95% of the time (R95). To compare

this to Product B that has a sub-meter horizontal rms specification of 60 cm:

Select the value from where the 'R95' row and the 'rms' column intersect (to convert to rms). This conversion

value is 0.59.

Multiply the 90 cm accuracy by this conversion factor and the result is 53 cm rms. Compared to Product B’s

60 cm specification of sub-meter rms, Product A offers better performance.

To properly evaluate one receiver against another statistically, the receivers should be using identical correction input

(from an external source) and share the same antenna using a power splitter (equipped with appropriate DC-blocking of

the receivers and a bias-T to externally power the antenna). With this setup, the errors in the system are identical with the

exception of receiver noise.

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Although this is a comparison of the GNSS performance qualities of a receiver, it excludes other performance merits of a

GNSS engine. The dynamic ability of a receiver should always be compared in a similar way with the test subjects sharing

the same antenna. Unless a receiver is moving, its software filters are not stressed in a similar manner to the final product

application. When testing dynamically, a much more accurate reference would need to be used, such as an RTK system,

so that a "truth" position per epoch is available.

Further, there are other performance merits of a GNSS engine such as its ability to maintain a lock on GNSS and SBAS

satellites. When evaluating this ability, the same GNSS antenna should be shared between the receivers test subjects.

For the sake of comparing the tracking availability of one receiver to another, no accurate "truth" system is required unless

performance testing is also to be analyzed. Again, an RTK system would be required; however, it is questionable how its

performance will fare with environments where there are numerous obstructions such as foliage. Other methods of

providing a truth reference may need to be provided through observation times on surveyed monuments or traversing

well-known routes.

Should you look to compare two RTK systems, determining truth can be very complicated. A rigorous dynamic comparison

of two competing RTK systems should only be attempted by individuals and organizations familiar with RTK and potentially

with inertial navigation equipment. Fortunately, most manufacturer's RTK performance is specified in similar accuracy

values, and in general, RTK accuracy is quite similar across different manufacturers.

Topic Last Updated: v1.07 / February 16, 2017

Note: Contact Hemisphere GNSS Technical Support for further assistance in developing a test setup or

procedure for evaluation of the receiver.

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Receiver Operation

Receiver Operation Overview

When turned on, the receiver goes through an internal startup sequence. It is, however, ready to communicate immediately.

Refer to the receiver-specific manual for the power specifications of the product.

When its antenna has an unobstructed view of the sky, the receiver provides a position in approximately 60 seconds and

acquires SBAS lock in about 30 seconds more.

Topic Last Updated: v1.00 / August 11, 2010

Note: The receiver can take up to 5 minutes to receive a full SBAS ionospheric map. Optimum accuracy is

obtained when the receiver is processing corrected positions using complete ionosphere information.

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Communicating with the Receiver

Communicating with Receivers

The receiver module features three primary serial ports (A, B, C) that may be configured independently of each other.

The ports can be configured to output a combination of data types:

•

NMEA 0183

•

Hemisphere GPS proprietary binary format

•

RTCM SC-104

The usual data output is NMEA 0183 messages because these are the industry standard.

Topic Last Updated: v1.00 / August 11, 2010

Note: If different data types are required to be output from the receiver simultaneously, such as NMEA 0183 and

binary or NMEA 0183 and RTCM SC-104, ensure that the software used for logging and processing of the data

has been designed to correctly parse the different data types from the single stream of data.

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Receiver Operation

NMEA 0183 Messages

NMEA 0183 is a communications standard established by the National Marine Electronics Association (NMEA). NMEA

0183 provides data definitions for a variety of navigation instruments and related equipment such as gyrocompasses,

Loran receivers, echo sounders, and GNSS receivers.

NMEA 0183 functionality is virtually standard on all GNSS equipment available. NMEA 0183 has an ASCII character

format that enables the user to read the data via a receiving device with terminal software.

The following is an example of one second of NMEA 0183 data from the receiver:

$GPGGA,144049.0,5100.1325,N,11402.2729,W,1,07,1.0,1027.4,M,0,M,,010

*61

$GPVTG,308.88,T,308.88,M,0,0.04,N,0.08,K*42

$GPGSV,3,1,10,02,73,087,54,04,00,172,39,07,66,202,54,08,23,147,48,*7

$GPGSV,3,2,10,09,23,308,54,11,26,055,54,15,00,017,45,21,02,353,45*78

$GPGSV,3,3,10,26,29,257,51,27,10,147,45,45,,,,,,,,*74

The NMEA 0183 standard allows manufacturers to define proprietary custom commands and to combine data into

proprietary custom messages. Proprietary NMEA 0813 messages are likely to be supported only by specific manufacturers.

All messages and ports can be configured independently (see example below).

Port

Baud

Rate

Messages

9600

GPGGA, one every 1

second

GPGSV, one every 5

seconds

19200

GPGGA, one every 2

seconds

Bin1, one every 1 second

Bin2, one every 1 second

A selection of NMEA 0183 data messages can be configured at various update rates with each message having a

maximum update rate. A different selection of NMEA 0183 messages with different rates can be configured on another port.

Commands and Messages Overview presents information about the NMEA 0183 interface of the receiver smart antenna.

See Reference Documents for contact information if you need to purchase a copy of the NMEA 0183 standard.

Topic Last Updated: v1.07 / February 16, 2017

Hemisphere GNSS Proprietary Binary Interface

Hemisphere GNSS proprietary binary messages may be output from the receiver simultaneously with NMEA 0183

messages.

Binary messages are inherently more efficient than NMEA 0183 and would be used when maximum

communication efficiency is required. Some receiver-specific pieces of information are only available through

binary messages, such as raw data for post processing.

Topic Last Updated: v1.06 / March 10, 2015

Note: If you need to log binary data, make sure the logging software has opened the file as a binary file;

otherwise, data may be lost.

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Receiver Operation

RTCM SC-104 Protocol

RTCM SC-104 is a standard that defines the data structure for differential correction information for a variety of

differential correction applications. It was developed by the Radio Technical Commission for Maritime services (RTCM)

and has become an industry standard for communication of correction information. RTCM is a binary data protocol and is

not readable with a terminal program. Because it is a binary format and not ASCII text, it appears as "garbage" data on

screen.

The following is an example of how the RTCM data appears on screen:

mRMP@PJfeUtNsmMFM{nVtIOTDbA^xGh~kDH`_FdW_yqLRryrDuh

cB\@}N`ozbSD@O^}nrGqkeTlpLLrYpDqAsrLRrQN{zW|uW@H`z]~aG

xWYt@I`_FxW_qqLRryrDCikA\@Cj]DE]|E@w_mlroMNjkKOsmMFM{ WDw

W@HVEbA^xGhLJQH`_F`W_aNsmMFM[WVLA\@S}amz@ilIuP

qx~IZhTCpLLrYpdP@kOsmMFM[kVDHwVGbA^P{WWuNt_SW_yMs

mMnqdrhcC\@sE^ZfC@}vJmNGAHJVhTCqLRryrdviStW@H_GbA^ P{wxu[k

All Hemisphere GNSS receivers support RTCM v2.x Type 1, Type 5, Type 6, and Type 9 messages for DGPS

positioning.

Hemisphere GNSS receivers do not support RTCM v2.x messages for RTK positioning. However RTCM v3.x

messages (Type 1001 through 1008) are suitable for RTK positioning.

See Reference Documents for RTCM contact information to purchase a copy of the RTCM SC-104 specifications.

Topic Last Updated: v1.07 / February 16, 2017

Note: RTCM v2.x is a local area data standard. This means that performance degrades as a function

of distance from the base station when:

Positioning with external connection input to the receiver from an external source or

Outputting corrections from the receiver to another GNSS receiver.

The additional degradation depends on the difference in observed orbit and ionospheric errors

between the reference station and the remote unit. A general rule of thumb is an additional 1 m error

per 100 miles.

This error is often seen as a bias in positioning, resulting in a position offset. The scatter of the receiver

is likely to remain close to constant.

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Receiver Operation

Firmware and Subscriptions

Firmware

About Firmware

Hemisphere GNSS products are built on one of three receiver platforms, each of which has specific firmware applications

available.

•

Crescent - WAAS, e-Dif, Atlas service, L-Dif/RTK base, L-Dif/RTK rover

•

Crescent Vector - WAAS, RTK rover

•

Eclipse - WAAS/RTK base, RTK roverAtlas high precision services

Some products may require purchasing a subscription code to unlock specific functionality. See Subscription Codes for

more information.

As its name suggests, firmware is somewhere between hardware and software. Like software, it is a computer program

which is executed by a microprocessor or a microcontroller. But it is also tightly linked to a piece of hardware, and has

little meaning outside of it.

Within the context of GNSS, the hardware is the GNSS receiver and it is the receiver’s processor that executes the

firmware. The receiver’s processor supports two simultaneous versions of firmware but only one version operates at a

given time. The two versions—referred to as applications—may have different functionality.

Use the JAPP command to change between two receiver applications.

Topic last updated: v1.07/ February 16, 2017

GNSS Technical Reference Manual

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Receiver Operation

Using RightARM to Load Firmware

RightARM is Hemisphere GNSS software that allows you to load the various GNSS receiver firmware options and

updates as they are provided by Hemisphere GNSS.

To load the firmware:

Download the latest version of RightARM from http://www.hemispheregnss.com.

Install RightARM application on your computer.

Connect the receiver to your computer and power on the receiver.

Double-click the RightARM icon to launch the program. The following screen appears.

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Receiver Operation

Click the Open Receiver button or select Receiver > Connect. The Open Receiver

window appears, so you can identify a connected receiver.

Select the Comm Port on your computer to which the receiver is connected, select the 19200 baud rate for the

receiver, and then click OK.

Note: You must set the baud rate to 19200.

When RightARM has successfully connected to the receiver the following message appears in the

lower left corner of the screen.

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Receiver Operation

Click the Programming View button . The Programming View window appears, enabling

you to select different

firmware programming options.

Select the Program Type you want to install and then click Select File. The Open window

appears.

Select the required firmware file from the location where you saved it on your computer and click

Open. "File Loaded" appears in the status window on the Programming View window.

Click the Erase and Program button to erase the firmware that is currently installed on the receiver in the selected

application location and install the newly selected file in its place. "Erasing...Please Wait" appears in the Status field

and a progress bar below this message indicates the programming progress. Once the new firmware has been

successfully loaded on the receiver "Programming Done" appears in the Status field.

Once the appropriate firmware has been loaded, click the Close button to close the Programming View window.

Note: Most Hemisphere GNSS receivers have two application locations available for firmware. In this

case, select the Application option under Program Type and follow the remaining steps. Once the

process is complete, you will repeat the process, selecting the Application 2 option when you reach

this step again.

Note: Before pressing the Erase and Program button, the Activate Loader check box in the Programming

View window will be selected. After pressing the Erase and Program button, the check box should be

cleared and the Status field should show that the receiver is in loader mode and ready to receive the new

firmware file. If the Activate Loader check box remains selected, turn the receiver off and then back on

again, close and restart RightARM, and then start over at step 5.

WARNING: Do not to interrupt the power supply to the receiver, and do not interrupt the communication

link between the PC and the receiver until programming is complete. Failure to do so may cause the

receiver to become inoperable and will require it to be returned to the factory for repair.

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Receiver Operation

Exit RightARM, turn off your receiver, and then disconnect the receiver from your computer.

Topic Last Updated: v1.07/ February 16, 2017

Note: If a second application needs to be loaded, turn off the receiver, repeating all the steps starting at

step 4, and on step 8 select the Application 2 option from the Program Type field.

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Receiver Operation

Subscriptions Codes

This section covers:

• Finding the serial number and inputting a subscription code (e-Dif, RTK, 20 Hz or 10Hz, etc.) into a Hemisphere GNSS

receiver

• Viewing the status and interpreting the $JI subscription date codes

• The difference between the receiver’s response to the $JK and $JI commands

Topic Last Updated: v1.07/ February 16, 2017

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Receiver Operation

Subscribing to an Application

Activating an application code on a Hemisphere GNSS receiver requires the following:

•

Serial communication cable to connect the Hemisphere GNSS receiver to the serial COM port on the computer

•

Download SLXMon from the www.hemispheregnss.com and install it on your PC or use a generic terminal program

such as HyperTerminal

•

Load the application to which to subscribe onto the Hemisphere GNSS receiver (see Using RightARM to Load

Firmware)

•

Purchase the application subscription code from Hemisphere GNSS or an authorized Hemisphere GNSS

representative

To activate the application on a Hemisphere GNSS receiver:

Connect the Hemisphere GNSS receiver to the serial COM port on the computer.

Start SLXMon.

Select File > Connect and then select the appropriate Comm Port and Baud Rate to open communication with the

receiver.

Select Control > View Command Page.

In the Receiver Command Page window type $JAPP in the Message box and then click Send.

Confirm which applications are loaded onto the receiver and the order in which they appear in the Reply box.

Example Response (in Reply box):

$>JAPP,WAAS,DIFF

where WAAS (SBAS, EGNOS, MSAS) is the number one application (or application number 1) and DIFF (same as e-Dif) is the

"other" application (or application number 2)

If DIFF is listed as application number 2 in the $JAPP response then type the following command in the Message box:

$JAPP,O

where 'O' is the "other" application in the example. This swaps the two applications so that DIFF is be the current

application.

Type the following command in the Message box:

$JI

The first number in the response is the serial number of the receiver. Example

Response (in Reply box):

$>JI,810133,1,3,09031998,01/06/1998,12/31/2018,3.5,31

The serial number is 810133. You will need to provide it to Hemisphere GNSS with your request for an e-Dif

subscription code.

Type the following command in the Message box after receiving the subscription code from Hemisphere GNSS:

$JK,nnnn

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Receiver Operation

where 'nnnn' is the subscription number. The receiver will respond with "subscription accepted."

Topic Last Updated: v1.7 / February 16, 2017

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Receiver Operation

Interpreting the $JK 'Date'/Subscription Codes

Subscriptions codes enable GNSS differential correction sources on your receiver. When discussing them it is important

to understand the following.

•

The YYYY component of a MM/DD/YYYY formatted date—returned by the JK command—is not always just the

year component of that date. When a date’s year starts with 30, only the 30 represents the year - and that year is

3000. A subscription expiration date of 01/01/3000 effectively means there is no expiration date.

•

The last two digits of the 30YY 'date' represent the data output rate and the GNSS differential correction sources

that have been subscribed to and are therefore enabled on your receiver. Hemisphere GNSS refers to these two

digits as the Additive Code (see Understanding Additive Codes).

•

The 30 and the 00 in the 'year' 3000, then, represents "Expires 3000 (so effectively does not expire), the data rate

is 10 Hz, and SBAS is enabled." The 'year' 3015 indicates "Expires 3000, the data rate is 20 Hz and differential

correction sources SBAS/e-Dif/RTK and L-Dif have been subscribed to and are enabled."

Below is an example of the $JK command response, part of which is the subscription start and expiration dates (the

Date Code is shaded).

$>JK,01/01/3000,0

Topic Last Updated: v1.09 / January 8, 2018

Receiver Operation

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Understanding Additive Codes

Tables 1 and 2 below provide subscription information for Crescent and Eclipse receivers, where the data rate and

subscription are indicated by the 'date' returned by the JK command. For Eclipse II receivers, refer to Eclipse II

Subscription Codes. The part of the date that indicates the data rate and subscription code is called the Additive

Code. The last two digits in the subscription expiration date’s ‘year’ comprise the Additive Codes, that is, the

available data output rate from the receiver, plus the subscriptions—the enabled GPS differential correction sources.

Table 3 outlines the components of the Crescent, Eclipse, and Eclipse II Additive Codes. The subscription codes

have different additive components for Crescent, Eclipse, and Eclipse II.

Table 1: Crescent Subscription Codes

Date Code (Additive

Code)

Hex Code

Maximum

Data Rate

Subscription Description

3000 (0)

HEX 0

10 Hz

SBAS enabled

3001 (1)

HEX 1

20 Hz

SBAS enabled

3002 (0+2)

HEX 2

10 Hz

SBAS, e-Dif enabled

3003 (1+2)

HEX 3

20 Hz

SBAS, e-Dif enabled

3004 (0+4)

HEX 4

10 Hz

SBAS, RTK Rover enabled

3005 (1+4)

HEX 5

20 Hz

SBAS, RTK Rover enabled

3006 (0+2+4)

HEX 6

10 Hz

SBAS, RTK Rover, e-Dif enabled

3007 (1+2+4)

HEX 7

20 Hz

SBAS, RTK Rover, e-Dif enabled

3008 (0+8)

HEX 8

10 Hz

SBAS, L-Dif Rover, L-Dif Base, RTK Base enabled

3009 (1+8)

HEX 9

20 Hz

SBAS, L-Dif Rover, L-Dif Base, RTK Base enabled

3010 (0+2+8)

HEX A

10 Hz

SBAS, L-Dif Rover, L-Dif Base, RTK Base, e-Dif

enabled

3011 (1+2+8)

HEX B

20 Hz

SBAS, L-Dif Rover, L-Dif Base, RTK Base, e-Dif

enabled

3012 (0+4+8)

HEX C

10 Hz

SBAS, L-Dif Rover, L-Dif Base, RTK Rover, RTK

Base enabled

3013 (1+4+8)

HEX D

20 Hz

SBAS, L-Dif Rover, L-Dif Base, RTK Rover, RTK

Base enabled

3014 (0+2+4+8)

HEX E

10 Hz

SBAS, L-Dif Rover, L-Dif Base, RTK Rover, RTK

Base, e-Dif enabled

3015 (1+2+4+8)

HEX F

20 Hz

SBAS, L-Dif Rover, L-Dif Base, RTK Rover, RTK

Base, e-Dif enabled

Receiver Operation

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Table 2: Eclipse Subscription Codes

Date Code

(Additive

Code)

Hex Code

Maximum

Data Rate

Subscription Description

3000 (0)

HEX 0

10 Hz

SBAS, Atlas enabled

3001 (1)

HEX 1

20 Hz

SBAS,Atlas enabled

3004 (0+4)

HEX 4

10 Hz

SBAS,Atlas , RTK Rover, RTK Base, Raw L1/L2 data enabled

3005 (1+4)

HEX 5

20 Hz

SBAS,Atlas , RTK Rover, RTK Base, Raw L1/L2 data enabled

3008 (0+8)

HEX 8

10 Hz

SBAS,Atlas , RTK Base, Raw L1/L2 data enabled

3009 (1+8)

HEX 9

20 Hz

SBAS,Atlas , RTK Base, Raw L1/L2 data enabled

3016 (0+16)

HEX 10

10 Hz

SBAS,Atlas , Raw L1/L2 data enabled

3017 (1+16)

HEX 11

20 Hz

SBAS,Atlas , Raw L1/L2 data enabled

Table 3: Crescent, Eclipse, and Eclipse II Additive Codes Components

Crescent

Eclipse

Eclipse II

Code

Description

Code

Description

Code

Description

10 Hz

20 Hz

e-Dif

n/a

e-Dif

L-Dif Rover, L-Dif Base, RTK

Rover

Raw L1/L2 Data, RTK Base, RTK

Rover

RTK Rover

(minimum

L1 only)

RTK Base

Raw L1/L2 Data, RTK Base

RTK Base

(minimum

L1 only)

n/a

Raw L1/L2 Data

Raw Data

(minimum

L1 only)

n/a

L2 signals

n/a

GLONASS signals

(minimum L1 only)

Crescent Additive Code Examples

•

10 Hz (SBAS), e-Dif, and RTK is 0+2+4 = 6 (so 3006)

•

20 Hz (SBAS), e-Dif, and RTK is 1+2+4 = 7 (so 3007)

Eclipse II Subscription Codes (go here)

Receiver Operation

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Comparing the JI and JK Responses

Example 1:

In the following Crescent examples, the Date Code is shaded.

•

JI query date code example:

$>JI,311077,1,7,04102005,01/01/1900,01/01/3000,6.8Hx,46

•

JK query date code example:

$>JK,01/01/3000,0,(1, 2, 5 or no number)

In the JK example the last two digits ('00') of the Date Code ('3000') represent the Hex Code (the second column of Table 2 above).

The last digit to the right (1, 2, 5 or no number) is the Downgrade Code...this is the output rate in Hertz indicating a downgrade from the

default of 10 Hz. So if 1, 2 or 5 does not appear (no number), the output rate is the default 10 Hz.

The Date Codes are identical in either query and are directly related to each other. Also, the last digit in the JK query is the hexadecimal

equivalent of the last two digits in the Date Code. The following example further illustrate this (Date Code is shaded).

Note: The JI response provides the decimal Date Code while the JK response provides both the decimal Date Code and the hex

Date Code (the Hex Code).

Example 2:

$>JI,311077,1,7,04102005,01/01/1900,01/01/3015,6.8Hx,46

•

JK query date code example:

$>JK,01/01/3015,F

In this example the last two digits ('15') of the Date Code ('3015') is the decimal equivalent of the last value ('F'), which is the Hex Code (see

the last row in Table 1 above). Example shows no downgrade code.

Topic Last Updated: v1.03 / January 11, 2012

Receiver Operation

GNSS Technical Reference Manual

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Eclipse II Subscription Codes

Use the information below to determine your Eclipse II subscription code and its features.

1 2 4 8 16 32 64

0x01 0x02 0x04 0x08 0x10 0x20 0x40

RTK Rover, RTK Base, Date Code Hex

20H

z e-Di

f RTK Base,

Raw Out

Raw Out Raw Out L2

GLONASS

(Additive Code)

Code

Standard

3000

3001

3002

3003

3004

3005

3006

3007

3008

3009

3010

3011

3012

3013

3014

3015

3016

3017

3018

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Receiver Operation

3019

3020

3021

3022

3023

3024

3025

3026

3027

3028

3029

3030

3031

3032

3033

3034

3035

3036

3037

3038

3039

3040

3041

3042

3043

3044

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Receiver Operation

3045

3046

3047

3048

3049

3050

3051

3052

3053

3054

3055

3056

3057

3058

3059

3060

3061

3062

3063

3064

3065

3066

3067

3068

3069

3070

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Receiver Operation

3071

3072

3073

3074

3075

3076

3077

3078

3079

3080

3081

3082

3083

3084

3085

3086

3087

3088

3089

3090

3091

3092

3093

3094

3095

3096

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Receiver Operation

3097

3098

3099

3100

3101

3102

3103

3104

3105

3106

3107

3108

3109

3110

3111

3112

3113

3114

3115

3116

3117

3118

3119

3120

3121

3122

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Receiver Operation

3123

3124

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Receiver Operation

3125

3126

3127

Topic Last Updated: v1.03 / January 11, 2012

Receiver Operation

GNSS Technical Reference Manual

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Page 72

Determining the Receiver Type and Current Application

To determine the current receiver type, use the JT command. Table 1 shows the receiver type indicated by the JT

response.

Table 1: $JT Response and Receiver Type

$JT Response

Receiver Type

SX1x

SX-1

SX2x

Crescent

SLXx

SLX2/SLX3

DF2x

Eclipse

DF3x

Eclipse II

MF3x

miniEclipse

The 'x' in the responses represents the receiver’s current application. For example, if x = i, as in SX2i, 'i' is the

application code for e-Dif.

Table 2 shows the application for the application code in the JT response.

Table 2: $JT Response and Application

$JT Responses with

Application Code

Receiver Application

RTK rover

RTK base

e-Dif

L-band

WAAS

Standalone

Vector

Topic Last Updated: v1.02 / January 25, 2011

Receiver Operation

GNSS Technical Reference Manual

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Page 73

Configuring the Receiver

You can configure all aspects of receiver operation through any serial port using NMEA 0183 commands. You can:

•

Select one of the two on-board applications:

Two applications may be loaded at the same time, but only one can be active

You can select the active application through serial commands or through menu options on products with

displays

•

Set the baud rate of communication ports

•

Select NMEA 0183 data messages to output on the serial ports and select the output rate of each message

•

Set the maximum differential age cut-off

•

Set the satellite elevation angle cut-off mask

The appropriate commands are described in Commands and Messages.

Topic Last Updated: v1.07 / February 16, 2017

Receiver Operation

GNSS Technical Reference Manual

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Page 74

Configuring the Data Message Output

In addition to its differential-only Port D, the receiver features three primary bidirectional ports referred to as A, B, and C.

You can configure GPS data messages for all three ports by sending NMEA 0183 commands to the receiver module

through all its communication ports. You can configure the output of Port B through A, for instance, and vice versa. The

JASC NMEA message allows you to turn the messages on or off as required.

'THIS' Port and the 'OTHER' Port

The NMEA 0183 interface for Port A and B both use 'THIS' and 'OTHER' terminology.

•

THIS port

The port you are currently connected to for inputting commands. To get the data output through THIS port it is

not necessary to specify 'this' (see Example 1 below).

•

The OTHER port

To specify the OTHER port for the data output, you need to include 'OTHER' in the command. See the two

examples following which are both based on you being connected to Port B.

Example 1:

To turn the GPGGA message on at 5 Hz on Port B, use the following command:

$JASC,GPGGA,5<CR><LF>

Because B is THIS it does not have to be specified.

Example 2:

To turn the GPGGA message on at an output rate of 5 Hz on Port A, use the following command:

$JASC,GPGGA,5,OTHER<CR><LF>

Because B is THIS and A is OTHER, you have to specify OTHER. In contrast, when turning messages on or off on Port C

from Port A or Port B, you must specify Port C in the command.

Example 3:

To turn the GPGLL NMEA 0183 message on at 10 Hz on Port C, use the following command:

$JASC,GPGLL,10,PORTC<CR><LF>

As with Port A and B, when communicating directly with Port C, you do not need to specify anything at the end of the

message. See Commands and Messages for more information.

Topic Last Updated: v1.02 / January 25, 2011

Note: For receivers that have a USB port that supports writing to a USB flash drive you can specify Port T as a

port to receive messages.

In the examples below where you can specify the port, use 'PORTT' to specify Port T.

Receiver Operation

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Saving the Receiver Configuration

Each time the configuration of the receiver is changed, the new configuration should be saved so the receiver

does not have to be reconsidered for the next power cycle.

To save the settings:

•

Issue the JSAVE command. The receiver records the current configuration to non-volatile memory. The

receiver indicates when the save process, which takes about five seconds, is complete.

Topic Last Updated: v1.00 / August 11, 2010

Receiver Operation

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Using Port D for RTCM Input

The receiver has a port designed to accommodate externally supplied corrections input according to the RTCM SC-104

protocol. Port D provides this functionality although it has been fixed to operate at a baud rate of 9600 (8 data bits, no

parity, and 1 stop bit, that is, 8-N-1).

To use Port D of the receiver for correction input, you must set the receiver to operate in beacon differential mode using

the following command:

$JDIFF,BEACON<CR><LF>

This command was designed to “turn on” Port D differential operation in our products because many use the Hemisphere

GNSS SBX beacon module interfaced to Port D.

To return to using SBAS as the correction source, send the following command to the receiver:

$JDIFF,WAAS<CR><LF>

See Commands and Messages for detailed information on NMEA 0183 messages supported by the receiver.

Topic Last Updated: v1.06 / March 10, 2015

Note: The receiver is compatible with RTCM SC-104 message types 1-3, 5-7, 9 and 16 although not all the

message types contain differential data.

Receiver Operation

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SBX-4 Database Mode

Enabling Database Mode

Database mode is automatically enabled when the SBX-4 receives a valid RMC message on Port 0. This requires the

baud rate of Port 0 to be the same as the corresponding GPS receiver port.

Performance in Database Mode

In most installations Database mode will result in faster initial acquisition and better GPS accuracy compared

to Auto mode.

In some installations Database mode may not work as well as Auto mode for the following reasons:

•

The closest station is not in the station database and the SBX-4 has not yet received a Type7 Almanac message.

Most stations now broadcast the Almanac message every ten minutes. Assuming the SBX-4 can tune to a

surrounding station and receive a Type7 message, it will update the station database and automatically retune to the

closest station.

•

Signal quality in the area is poor. IEC61108-4 requires the receiver to switch away from a station when WER rises

above 10%. For installations that do not need to comply with IEC61108-4 this threshold can be increased as usable

corrections can be obtained for word error rates up to 50%.

Available Production Configuration Settings

Disable the automatic switch to Database mode: $PCSI,8,NITRAM,A

Enable weak signal tracking (WER of 50%): $PCSI,8,NITRAM,W

Enable legacy Q value output (in place of WER): $PCSI,8,NITRAM,Q

Set SBX-4 to factory defaults: $PCSI,8,NITRAM,E

Topic Last Updated: v1.00 / August 11, 2010

Receiver Operation

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Ethernet Configuration

As of firmware version V5.6.1, the Hemisphere P328 receiver board has Ethernet support. It is disabled by default, but may

be enabled.

The P328 is connected to a carrier board or enclosure which connects the P328’s Ethernet pins to a standard RJ-45 jack

(with integrated magnetics as appropriate).

Enabling and Disabling Ethernet

The full current state of Ethernet configuration may be checked with the command “$JETHERNET”. Doing this when Ethernet

is disabled should give a result like the following:

$JETHERNET

$>JETHERNET,MAC,8C-B7-F7-F0-00-01

$>JETHERNET,MODE,OFF

$>JETHERNET,PORTI,OFF

$> Current Ethernet IP Address: None

To enable Ethernet, determine if the receiver is allowed to be assigned an IP address automatically via DHCP, or statically

assigned. If you are unsure, please contact the administrator of the network you wish to connect it to.

To enable Ethernet support with a DHCP-assigned IP address, simply use the command:

$JETHERNET,MODE,DHCP

The receiver will attempt to get an address from the DHCP server on the network. You should be able to see the current IP

address reported by a “$JETHERNET” query change.

To enable Ethernet support with a statically assigned IP address, use the command

$JETHERNET,MODE,STATIC,ip,subnet,gateway,dns

where ip/subnet/gateway/dns are each replaced with the relevant IP address. The gateway and dns parameters are

optional, and only useful for allowing outgoing connections from the P328, which are not currently supported anyway. An

example command would be

$JETHERNET,MODE,STATIC,192.168.0.42,255.255.255.0

If one wishes to disable Ethernet use the command

$JETHERNET,MODE,OFF

With Ethernet enabled, one can access the receiver on Windows machnies via “HGNSSxx”, where “xx” is the receiver’s

ESN. For example from the command line one could use the command,

ping HGNSS1234567

Enabling Ethernet Services

With Ethernet enabled, it should be possible to send an ICMP ping to the P328 receiver from a PC on the same network, if

one wishes to test that. No actual services are enabled on Ethernet by default however though, so to make practical use of

Ethernet support, one must also enable a service.

As of the writing of this document, the only Ethernet service implemented is the PORTI virtual serial port. Additional types of

Ethernet services may be implemented in future firmware versions.

Receiver Operation

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The PORTI virtual serial port allows a listening TCP port to be opened, which will act just like a local serial port of the

receiver would. Only one TCP client may be connected at a time.

Important Note: Enabling “PORTI” on Ethernet should only be done with the P328 connected to a trusted network, since it

gives full access to the receiver just as a local serial port would, and has no authentication or security mechanisms.

To enable the PORTI service, use the command

$JETHERNET,PORTI,port

where port is replaced with the TCP port number which one wishes to use. Any port in the range 1 to 65535 is allowable,

but it is recommended one consider which TCP port numbers are typically reserved for various common protocols and avoid

those port numbers.

To disable the PORTI service, use the command

$JETHERNET,PORTI,OFF

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

Commands and Messages Overview

The receiver supports a selection of NMEA 0183 messages, proprietary messages that conform to NMEA 0183

standards, and Hemisphere GNSS proprietary binary messages. It is your decision as a systems designer whether or

not to support a NMEA 0183-only software interface or a selection of both NMEA 0183 and binary messages.

All Crescent and Eclipse receivers are configured with NMEA 0183 commands and can output NMEA 0183 messages. In

addition to NMEA 0183, some receivers can be configured using NMEA 2000 commands and can output NMEA 2000

messages.

Commands

•

General operation and configuration commands

•

GNSS commands

•

SBAS commands

•

e-Dif commands

•

Vector commands and messages

•

GLONASS commands and messages

•

DGPS base station commands

•

Local differential and RTK commands and messages

•

Beacon receiver commands and messages

•

L-band commands

•

RAIM commands

Messages

•

Data messages

•

Binary messages

•

NMEA 2000 CAN messages

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

NMEA 0183 Message Format

NMEA 0183 messages (sentences) have the following format:

$XXYYY,ZZZ,ZZZ,ZZZ...*CC<CR><LF>

where:

Element

Description

Message header character

NMEA 0183 talker field (GP = GPS, GL = GLONASS, GA = GALILEO, GB =

BEIDOU, GN = All constellations)

YYY

Type of GPS NMEA 0183 message

ZZZ

Variable length message fields

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Null (empty) fields occur when there is no information for that field. You can use the JNP command to specify the

number of decimal places output in the GPGGA and GPGLL messages.

What does <CR><LF> mean?

The literal translation means "Carriage Return, Line Feed." They are terms used in computer programming languages to

describe the end of a line or string of text. If you are writing your own communication software for a receiver, see some of

the examples below. If you are already using a program such as Hemisphere GNSS' PocketMax, when you click to send a

command to the receiver, the program adds the carriage return and line feed to the end of the text string for you. If you are

using HyperTerminal or other terminal software, typically the Enter key on your keyboard is set to send the <CR><LF>

pair. You may need to define this in the setup section of the terminal software. Some software may treat the Enter key on

your numeric keypad differently than the main Enter key in the main QWERTY section of the keyboard – use the main

Enter key for best results.

Originally, the carriage return and line feed characters were for use with printers. The carriage return character would

signal the printer to send the print head back to the left edge of the page on the current line of text. The line feed

command instructed the printer to advance the paper one line. Today, electronics often use the carriage return and line

feed instructions to signify the end of a string of text, prompting the device to process the string and execute the

instructions sent in the text string.

Electronics use different ways to represent the <CR><LF> characters. In ASCII numbers, <CR> is represented as 13 in

decimal, or 0D in hexadecimal. ASCII for <LF> is 10 decimal, or 0A hexadecimal. Some computer languages use

different ways to represent <CR><LF>. Unix and C language can use “\x0D\x0A". C language can also use “\r\n” in some

instances. Java may use CR+LF. In Unicode, carriage return is U+000D, and line feed is U+000A. It is advised to clearly

understand how to send these characters if you are writing your own interface software.

Topic Last Updated: v1.07 February 16, 2017

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Commands and Messages

Command/Query/Message Types

General Operation and Configuration Commands

The following table lists the commands related to the general operation and configuration of the receiver.

Command

Description

JAIR

Specify how the receiver will respond to the

dynamics associated with airborne applications

JALT

Turn altitude aiding for the receiver on or off

JAPP

Specify or query receiver application firmware

JASC,D1

Set the RD1 diagnostic information message from

the receiver to on or off

JASC,VIRTUAL

Configure the receiver to have RTCM data input on

one port and output through the other (when using

an external correction source)

JBAUD

Specify the baud rates of the receiver or query the

current setting

JBIN

Enable the output of the various binary messages

supported by the receiver

JCONN

Create a virtual circuit between the A and B ports to

enable communication through the receiver to the

device on the opposite port

JDIFF

Specify or query the differential mode of the receiver

JDIFF,AVAILABLE

Query the receiver for the differential types currently

being received

JDIFFX,EXCLUDE

Specify the differential sources to be excluded from

operating in a multi-diff application

JDIFFX,GNSSOUT

Specify GNSS output in correction formats or query

the current setting

JDIFFX,INCLUDE

Specify the differential sources to be allowed to

operate in a multi-diff application

JDIFFX,SOURCE

Query the receiver for the differential source

JDIFFX,TYPE

Query the receiver for the differential type

JEPHOUT,PERIODSEC

to allow ephemeris messages (95, 65, 35) to go out a

rate other than when they change

JFLASH,DIR

Display the files on a USB flash drive

JFLASH,FILE,CLOSE

Close an open file on a USB flash drive

JFLASH,FILE,NAME

Open a specific file, append to a specific file, or

display the file name of the open file on a USB flash

drive

JFLASH,FILE,OPEN

Create and open a file with an automatically

generated file name on a USB flash drive

JFLASH,FREESPACE

Display the free space in kilobytes (KB) on a USB

flash drive

JFLASH,NOTIFY,CONNECT

Enable/disable the automatic response when a USB

flash drive is inserted or removed (if port is not

specified the response will be sent to the port that

issued the command)

JFLASH,QUERYCONNECT

Manually verify if a USB flash drive is connected or

disconnected

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Commands and Messages

JFORCEAPP

Force an application to be used in a multi-application

(MFA)

Display receiver information, such as its serial

number and firmware version

Subscribe the receiver to various options, such as

higher update rates, e-Dif (or base station capability)

or L-Dif; or query for the current subscription

expiration date when running Atlas application or the

receiver subscription code when running all other

applications

JK,SHOW

contain authorization information

JLIMIT

Set the threshold of estimated horizontal

performance for which the DGPS position LED is

illuminated or query the current setting

JMODE

Query receiver for status of JMODE settings

JMODE,BASE

Enable/disable base mode functionality or query the

current setting

JMODE,FIXLOC

Set the receiver to not re-average (or re-average) its

position or query the current setting

JMODE,FOREST

Turn the higher gain functionality (for tracking under

canopy) on/off or query the current setting

JMODE,GLOFIX

Enable/disable use of RTCM v3 (RTK) GLONASS

correctors

JMODE,GPSONLY

Set the receiver to use GPS data in the solution or

query the current setting (if GLONASS is available,

setting to YES will cause the receiver to only use

GPS data)

JMODE,L1ONLY

Set the receiver to use L1 data even if L2 data is

available or query the current setting

JMODE,MIXED

Include satellites that do not have differential

corrections in the solution

JMODE,NULLNMEA

Enable/disable output of NULL fields in NMEA 0183

messages when no there is no fix (when position is

lost)

JMODE,SBASNORTK

Disable/enable the use of SBAS ranging signals

(carrier phase) in RTK

JMODE,SBASR

Enable/disable SBAS ranging

JMODE,STRICTRTK

Use this command to invoke stricter checks on whether

RTK fix is declared. Forces float of RTK at 30 seconds

of Age-of-Diff

JMODE,SURETRACK

Enable/disable SureTrack functionality (default is

enabled) or query the current setting

JMODE,SURVEY

Assure RTK fix is not declared when residual errors

exceed 10 cm. Also forces use of GLONASS and

prevents SureTrack operation.

JMODE,TIMEKEEP

Enable/disable continuous time updating in NMEA

0183 messages when there is no fix (when position

is lost)

JMODE,TUNNEL

Enable/disable faster reacquisition after coming out

of a tunnel or query the current setting

JPOS

Speed up the initial acquisition when changing

continents with the receiver or query the receiver for

the current position of the receiver

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Commands and Messages

JPPS,FREQ

Specify the pps frequency of the receiver or query

the current setting

JPPS,WIDTH

Specify the pps width of the receiver or query the

current setting

JPRN,EXCLUDE

For advanced users only.

Exclude GPS and/or other GNSS satellites from

being used in the positioning solution or query the

current setting

JQUERY,GUIDE

Query the receiver for its determination on whether

or not it is providing suitable accuracy after both the

SBAS and GPS have been acquired (up to five

minutes)

JQUERY,TEMPERATURE

Query the receiver’s temperature

JRELAY

Send user-defined text out of a serial port

JRESET

Reset the receiver to its default operating parameters

by turning off outputs on all ports, saving the

configuration, and setting the configuration to its

defaults

JSAVE

Send this command after making changes to the

operating mode of the receiver

JSHOW

Query the current operating configuration of the

receiver

JSHOW,ASC

Query receiver for current ASCII messages being

output

JSHOW,BIN

Query receiver for current Bin messages being

output

JSHOW,CONF

Query receiver for configuration settings

JSHOW,GP

Query the receiver for each GP message currently

being output through the current port and the update

rate for that message

JSHOW,THISPORT

Query to determine which receiver port you are

connected to

JSYSVER

Returns the boot loader version from the GPS card

Query the receiver for its GPS engine type

Note: Use the JSAVE command to save changes you need to keep and wait for the $>SAVE COMPLETE

response.

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

GNSS Commands

The following table lists the commands supported by the internal GNSS engine for its configuration and operation.

Command

Description

JAGE

Specify maximum DGPS (COAST) correction age (6 to 8100 seconds)

JASC,GN

Enable the GPS data messages at a particular update rate to be turned on or off

JMASK

Specify the elevation cutoff mask angle for the GPS engine

JNMEA,PRECISION

Specify or query the number of decimal places to output in the GPGGA and the GPGLL

messages or query the current setting

JNP

Specify the number of decimal places output in the GPGGA and GPGLL messages

JOFF

Turn off all data messages being output through the current port or other port

JOFF,ALL

Turn off all data messages being output through all ports

JSMOOTH

Set the carrier smoothing interval (15 to 6000 seconds) or query the current setting

JTAU,COG

Set the course over ground (COG) time constant (0.00 to 3600.00 seconds) or query

the current setting

JTAU,SPEED

Set the speed time constant (0.00 to 3600.00 seconds) or query the current setting

Note: Use the JSAVE command to save changes you need to keep and wait for the $>SAVE COMPLETE response.

The following table lists the messages applicable to GNSS

Message

Description

Bin16

GNSS code and phase observation information

Bin19

GNSS Tracking Information

Topic Last Updated: v1.07/ February 16, 2017

SBAS Commands

The following table lists the commands supported by the SBAS demodulator for its control and operation.

Command

Description

JASC,D1

Set the RD1 diagnostic information message from the receiver to on or off

JASC,RTCM

Configure the receiver to output RTCM version 2 DGPS corrections from SBAS or beacon

through either receiver serial port

JGEO

Display information related to the current frequency of SBAS and its location in relation to the

receiver’s antenna

JWAASPRN

Change the SBAS PRNs in memory or query the receiver for current PRNs in memory

Note: Use the JSAVE command to save changes you need to keep and wait for the $>SAVE COMPLETE

response.

Topic Last Updated: v1.00 / August 11, 2010

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Commands and Messages

Dif Commands

The following table lists the commands supported by the e-Dif application for its control and operation.

Command

Description

JRAD,1

Display the current reference position in e-Dif applications only

JRAD,1,LAT,LON,HEIGHT

Use this command—a derivative of the JRAD,1,P command—when absolute

positioning is required in e-Dif applications only

JRAD,1,P

e-Dif: Record the current position as the reference with which to compute e-Dif

corrections. This would be used in relative mode as no absolute point information is

specified.

DGPS Base Station: Record the current position as the reference with which to

compute Base Station corrections in e-Dif applications only. This would be used in

relative mode as no absolute point information is specified

JRAD,2

Forces the receiver to use the new reference point (you normally use this command

following a JRAD,1 type command)

JRAD,3

Invoke the e-Dif function once the unit has started up with the e-Dif application active,

or, update the e-Dif solution (calibration) using the current position as opposed to the

reference position used by the JRAD,2 command

JRAD,7

Turn auto recalibration on or off

Note: Use the JSAVE command to save changes you need to keep and wait for the $>SAVE COMPLETE response.

Topic Last Updated: v1.02 / January 25, 2011

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Commands and Messages

Vector Commands and Messages

The following table lists the commands related to the GPS heading aspect of the Vector OEM heading system.

Command

Description

JASC

Turn on different messages

JASC,INTLT

Configure the receiver to output pitch and roll data (pitch and roll are factory calibrated over

temperature to be accurate to ±3°C)

JASC,PASHR

Configure the receiver to output time, true heading, roll, and pitch data in one message

JASC,PTSS1

Configure the receiver to output heave, pitch, and roll in the commonly used TSS1 message

format

JATT,COGTAU

Set the course over ground (COG) time constant (0.0 to 3600.0 seconds) or query the current

setting

JATT,CSEP

Query for the current separation between GPS antennas

JATT,EXACT

Enable/disable internal filter reliance on the entered antenna separation or query the current

setting

JATT,FLIPBRD

Turn the flip feature on/off (allowing you to install the Crescent Vector board upside down) or

query the current feature status

JATT,GYROAID

Turn gyro aiding on or off or query the current setting

JATT,HBIAS

Set the heading bias or query the current setting

JATT,HELP

Show the available commands for GPS heading operation and status

JATT,HIGHMP

Set/query the high multipath setting for use in poor GPS environments

JATT,HRTAU

Set the heading rate time constant or query the current setting

JATT,HTAU

Set the heading time constant or query the current setting

JATT,LEVEL

Turn level operation on or off or query the current setting

JATT,MOVEBASE

Set the auto GPS antenna separation or query the current setting

JATT,MSEP

Manually set the GPS antenna separation or query the current setting

JATT,NEGTILT

Turn the negative tilt feature on or off or query the current setting

JATT,NMEAHE

Instruct the Crescent Vector to preface the HDG, HDM, HDT, and ROT messages with GPor

JATT,PBIAS

Set the pitch/roll bias or query the current setting

JATT,PTAU

Set the pitch time constant or query the current setting

JATT,ROLL

Configure the Crescent Vector for roll or pitch GPS antenna orientation

JATT,SEARCH

Force the Crescent Vector to reject the current GPS heading solution and begin a new search

JATT,SPDTAU

Set the speed time constant (0.0 to 3600.0 seconds) or query the current setting

JATT,SUMMARY

Display a summary of the current Crescent Vector settings

JATT,TILTAID

Turn tilt aiding on or off or query the current setting

JATT,TILTCAL

Calibrate tilt aiding or query the current feature status

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Commands and Messages

The following table lists Vector messages.

Message

Description

GNGSA

GNSS DOP and active satellites

GPDTM

Datum reference

GPGGA

GPS fix data

GPGLL

Geographic position - latitude/longitude

GPGNS

GNSS fix data

GPGRS

GNSS range residuals

GPGST

GNSS pseudorange error statistics

GPGSV

GNSS satellite in view

GPHDG/HEHDG

Provide magnetic deviation and variation for calculating magnetic or true heading

GPHDM/HEHDM

Provide magnetic heading of the vessel derived from the true heading calculated

GPHDT/HEHDT

Provide true heading of the vessel

GPHEV

Heave value in meters

GPRMC

Recommended minimum specific GNSS data

GPROT/HEROT

Contains the vessel’s rate of turn (ROT) information

GPRRE

Range residual message

GPVTG

Course over ground and ground speed

GPZDA

Time and date

PASHR

Time, true heading, roll, and pitch data in one message

PSAT,GBS

Satellite fault detection used for RAIM

PSAT,HPR

Proprietary NMEA sentence that provides the true heading, pitch/roll information and time ina

single message

PSAT,INTLT

Proprietary NMEA sentence that provides the title measurement from the internal inclinometer

(in degrees)

TSS1

Heave, pitch, and roll message in the commonly used TSS1 message format

Topic Last Updated: v1.07 / Octoter 13, 2016

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Commands and Messages

GLONASS Commands and Messages

The following table lists the commands applicable to GLONASS-capable receivers.

Command

Description

JASC,GL

Enable the GLONASS data messages at a particular update rate to be turned on or off.

When turning messages on, various update rates are available depending on the

requirements.

JMODE,GPSONLY

Set the receiver to use GPS data in the solution or query the current setting (if

GLONASS is available, setting to YES will cause the receiver to only use GPS data)

JNMEA,GGAALLGNSS

Configure the GGA string to include full GNSS information (the number of used

GLONASS satellites will be included in the GPGGA message) or query the current

setting

The following table lists the messages applicable to GLONASS-capable receivers.

Message

Description

Bin16

GALILEO GNSS code and phase observation information

Bin62

GLONASS almanac information

Bin65

GLONASS ephemeris information

Bin66

GLONASS L1 code and carrier phase information

Bin69

GLONASS L1 diagnostic information

GLMLA

GLONASS almanac data - contains complete almanac data for one GLONASS satellite (multiple

sentences may be transmitted, one for each satellite in the GLONASS constellation)

Topic Last Updated: v1.02 / January 25, 2011

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Commands and Messages

GALILEO Commands and Messages

The following table lists the commands applicable to GALILEO-capable receivers.

Command

Description

JASC,GAGSV

Enable/disable the data for GALILEO satellites in view. When turning messages on,

various update rates are available depending on the requirements.

JASC,GNGNS

Enable/disable fix data for GNSS systems including GALILEO (GAGNS). When turning

messages on, various update rates are available depending on the requirements.

JMODE,GPSONLY

Set the receiver to use GPS data in the solution or query the current setting (if GALILEO

is available, setting to YES will cause the receiver to only use GPS data)

JNMEA,GGAALLGNSS

Configure the GGA string to include full GNSS information (the number of used satellites

will be included in the GPGGA message) or query the current setting

The following table lists the messages applicable to GALILEO-capable receivers.

Message

Description

Bin45

GALILEO ephemeris information

Bin16

GALILEO GNSS code and phase observation information

Bin44

GALILEO time conversion information

*Note: For observations in tracking status, see GNSS, Bin 16 & Bin 19.

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

QZSS Commands and Messages

The following table lists the commands applicable to QZSS-capable receivers.

Command

Description

JASC,GQGSV

Enable/disable the data for QZSS satellites in view.

JASC,GNGNS

Enable/disable fix data for GNSS systems.

JASC,GNGSA

DOP and active satellite information

The following table lists the binary messages applicable to QZSS-capable receivers.

Message

Description

Bin16

GNSS code and phase observation information

Bin19

GNSS diagnostic information

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

DGPS Base Station Commands

The following table lists the commands supported by the base station feature for its control and operation.

Command

Description

JRAD,1

Display the current reference position in e-Dif applications only

JRAD,1,LAT,LON,HEIGHT

Use this command—a derivative of the JRAD,1,P command—when absolute

positioning is required in e-Dif applications only

JRAD,1,P

e-Dif: Record the current position as the reference with which to compute e-Dif

corrections. This would be used in relative mode as no absolute point information is

specified.

DGPS Base Station: Record the current position as the reference with which to

compute Base Station corrections in e-Dif applications only. This would be used in

relative mode as no absolute point information is specified

JRAD,9

Initialize the Base Station feature and use the previously entered point, either with

$JRAD,1,P or $JRAD,1,LAT,LON,HEIGHT, as the reference with which to compute

Base Station corrections in e-Dif applications only. Use this for both relative mode

and absolute mode.

JRAD,10

Specify BDS message to be transmitted by base station

Topic Last Updated: v1.02 / January 25, 2011

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Commands and Messages

Local Differential and RTK Commands and Messages

The following table lists the commands supported by Local Differential (L-Dif) and RTK feature for its control and operation.

Command

Description

JASC,CMR

Set the proprietary CMR messages to on or off to provide corrections to the rover

(only applies to an Eclipse base station receiver when using GPS dual frequency

RTK mode)

JASC,DFX

Set the proprietary DFX messages to on or off to provide corrections to the rover

(only applies to a Crescent base receiver when using L-Dif or RTK mode)

JASC,ROX

Set the proprietary ROX messages to on or off to provide corrections to the rover

(only applies to an Eclipse base station receiver when using GPS dual frequency

RTK mode)

JASC,RTCM3

Set the RTCM version 3 messages to on or off to provide corrections to the rover

(only applies to an Eclipse base station receiver when using GPS dual frequency

RTK mode)

JASC,PSAT,BLV,1

Configure the receiver to output the North,East,Up base-line vector

JASC,PSAT,FVI,1

Configure the receiver to output a message include most position and attitude

information

JASC,PSAT,RTKPROG

Configure the receiver to output RTK fix progress

JASC,PSAT,RTKSTAT

Configure the receiver to output the most relevant parameters affecting RTK

JASC,PSAT,VCT,1

Configure the receiver to output the heading, pitch, roll, and master to slave vector

JMODE,BASE

Enable/disable base mode functionality or query the current setting

JNMEA,PRECISION

Specify or query the number of decimal places to output in the GPGGA andthe

GPGLL messages or query the current setting

JNP

Specify the number of decimal places output in the GPGGA and GPGLLmessages

JQUERY,RTKPROG

Perform a one-time query of RTK fix progress information

JQUERY,RTKSTAT

Perform a one-time query of the most relevant parameters that affect RTK

JRTK,1

Show the receiver’s reference position (can issue command to base station or rover)

JRTK,1,LAT,LON,HEIGHT

Set the receiver’s reference position to the coordinates you enter (canissue

command to base station or rover)

JRTK,1,P

Set the receiver’s reference coordinates to the current calculated position if you do

not have known coordinates for your antenna location (can issue command to base

station or rover)

JRTK,5

Show the base station’s transmission status for RTK applications (can issue

command to base station)

JRTK,5,Transmit

Suspend or resume the transmission of RTK (can issue command to base station)

JRTK,6

Display the progress of the base station (can issue command to base station)

JRTK,12

Disable or enable the receiver to go into fixed integer mode (RTK) vs. float mode (L-

Dif) - can issue command to rover

JRTK,17

Display the transmitted latitude, longitude, and height of the base station (can issue

command to base station or rover)

JRTK,18

Display the distance from the rover to the base station, in meters (can issue

command to rover)

JRTK,18,BEARING

Display the bearing from the base station to the rover, in degrees (can issue

command to rover)

JRTK,18,NEU

Display the distance from the rover to the base station and the delta North, East, and

Up, in meters (can issue command to rover)

JRTK,28

Set the base station ID transmitted in ROX/DFX/CMR/RTCM3 messages (can issue

command to base station)

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Commands and Messages

JRTCM3, ANTNAME

Specify the antenna name that is transmitted in various RTCM3 messages from the

base

JRTCM3, EXCLUDE

Specify RTCM3 message types to not be transmitted (excluded) by base station

JRTCM3, INCLUDE

Specify RTCM3 message types to be transmitted by base station

JRTCM3, NULLANT

Specify the antenna name as null (no name) that is transmitted in various RTCM3

messages from the base

The following table lists the Local Differential (L-Dif) and RTK messages.

Message

Description

PSAT,RTKPROG

Contains RTK fix progress information

PSAT,RTKSTAT

Contains the most relevant parameters affecting RTK

Topic Last Updated: v1.07 / October 13, 2016

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Commands and Messages

Beacon Receiver Commands and Messages

If integrating a Hemisphere GNSS SBX beacon module with the receiver GNSS engine, Hemisphere GNSS recommends

interfacing the beacon receiver to Port D of the receiver engine. Hemisphere GNSS has implemented some command

and message pass-through intelligence for such an integration. In this configuration you can issue the commands in the

following table to the beacon receiver through either Port A, Port B, or Port C of the receiver. When you issue queries to

the SBX primary communications port, the response messages are output interspersed with RTCM correction information.

This may cause conflicts with a GNSS receiver’s ability to compute differential corrected solutions. By sending these

queries to the SBX secondary communications port the flow of RTCM corrections on the primary port will not be

interrupted.

The following table lists the beacon commands/messages found in this Help file.

Query

NMEA 0183 Query Type

Description

GPCRQ,MSK

Standard

Query the SBX for its operational status

GPCRQ,MSS

Standard

Query the SBX for its performance status

GPMSK

Standard

Tune beacon the receiver and turn on diagnostic information

PCSI,0

Hemisphere GNSS

proprietary

Query the SBX to output a list of available proprietary PCSI

commands

PCSI,1

Hemisphere GNSS

proprietary

Query the SBX for a selection of parameters related to the

operational status of its primary channel

PCSI,1,1

Hemisphere GNSS

proprietary

Obtain beacon status information from the SBX beacon engine

inside the receiver

PCSI,2

Hemisphere GNSS

proprietary

Query the SBX to output a selection of parameters related to the

operational status of its secondary channel

PCSI,3,1

Hemisphere GNSS

proprietary

Query the SBX to output the search information used for beacon

selection in Automatic Beacon Search mode. The output has three

frequencies per line.

PCSI,3,2

Hemisphere GNSS

proprietary

Display the ten closest beacon stations

PCSI,3,3

Hemisphere GNSS

proprietary

Display the contents of the beacon station database

PCSI,4

Hemisphere GNSS

proprietary

Clear search history in Auto mode

PCSI,5

Hemisphere GNSS

proprietary

Set the baud rate of Port0 and Port1

PCSI,6

Hemisphere GNSS

proprietary

Reboot SBX receiver

PCSI,7

Hemisphere GNSS

proprietary

Swap modes on the receiver

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Commands and Messages

The following table lists the beacon messages found in this Help file.

Message

Description

CRMSK

Operational status message of SBX

CRMSS

Performance status message of SBX

Topic Last Updated: v1.06 / March 10, 2015

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Commands and Messages

Atlas® Commands

The following tables lists the commands accepted by the Atlas-band receiver to configure and monitor the Atlas

functionality of the receiver.

Command

Description

$JI

Requests the serial number and firmware version number

from the receiver

$JK

Requests the authorization from the receiver

Is used to send the authorization to the receiver

$JASC,GPGGA,1

Requests receiver to output GGA positions at 1Hz.

$JASC,RD1,1

EnablesAtlas Diagnostic message output

$JDIFF,LBAND,SAVE

EnablesAtlas mode for tracking the Atlas communication

satellites

$JDIFF,INCLUDE,ATLAS

Enables the Atlas solution in the receiver

$JFREQ,AUTO

Automatically sets theAtlas parameters to track the Atlas

communication satellites

$JATLAS,LIMIT

Configure the accuracy threshold for when the NMEA

0183 GPGGA message reports a quality indicator of 4.

See $JATLAS,LIMIT, section for more detail

$JSAVE

Saves issued commands

If your Atlas communication is working properly the following should apply:

Bit Error Rate: less than 10-10

Spot Beam Freq:

▪

AMERICAS: 1545.5300

▪

APAC: 1539.8525

▪

EMEA: 1540.9525

Nav Condition: FFFFF

If this is not the case, then enter the following commands in the Receiver Command Page, one at a time:

Command

$JFREQ,AUTO

$JDIFF,LBAND,SAVE

$JFREQ,AUTO

$JDIFF,LBAND,SAVE

Topic Last Updated: v1.09 / January 8, 2018

Note: Use the JSAVE command to save changes you need to keep and wait for the $J>SAVE COMPLETE

response.

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Commands and Messages

RAIM Commands

RAIM (Receiver Autonomous Integrity Monitoring) is a GNSS integrity monitoring scheme that uses redundant ranging

signals to detect a satellite malfunction resulting in a large range error. The Hemisphere GNSS products use RAIM to alert

users when errors have exceeded a user-specified tolerance. RAIM is available for SBAS, and Beacon, applications.

The following table lists the available RAIM commands.

Command

Description

JRAIM

Specify the parameters of the RAIM scheme that affect the output of the PSAT,GBS

message or query the current setting

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

Data Messages

Note: Output rates greater than 1Hz may require a subscription. Output rates greater than 20 Hz are not available for

all products. Please refer to your product’s documentation for the supported output rates.

For messages supporting rates greater than 1 Hz, see the following table:

Firmware

Version

Support Output Rates

50 Hz

50, 25, 10, 5, 2, 1, .2, 0

20 Hz

20, 10, 5, 4, 2, 1, .2, .5, 0

For message descriptions and maximum rates see the following table:

Message

Maximum

Rate

Description

GNGSA

1 Hz

GPS DOP and active satellite information

GPALM

1 Hz

GPS almanac data

GPGGA

50 Hz

Detailed GPS position information

GPGLL

50 Hz

Latitude and longitude data

GPGNS

50 Hz

Fixes data for single or combined satellite navigation systems

GPGRS

50 Hz

Supports Receiver Autonomous Integrity Monitoring (RAIM)

GPGST

1 Hz

GNSS pseudorange error statistics

GPGSV

1 Hz

GNSS satellite in view

GPHDG/HEHDG

50 Hz

Magnetic deviation and variation for calculating magnetic or true heading

GPHDM/HEHDM

50 Hz

Magnetic heading of the vessel derived from the true heading calculated

GPHDT/HEHDT

50 Hz

True heading of the vessel

GPHEV

50 Hz

Heave value in meters

GPRMC

50 Hz

Recommended minimum specific GNSS data

GPROT/HEROT

50 Hz

Vessel’s rate of turn (ROT) information

GPRRE

1 Hz

Range residual message

GPVTG

50 Hz

Course over ground and ground speed

GPZDA

50 Hz

UTC time and date information

PASHR

1 Hz

Time, true heading, roll, and pitch data in one message

PSAT,ATTSTAT

1HZ

PSAT,GBS

1 Hz

Used to support Receiver Autonomous Integrity Monitoring (RAIM)

PSAT,HPR

50 Hz

Proprietary NMEA message that provides the true heading, pitch, roll, and

time in a single message

PSAT,INTLT

1 Hz

Proprietary NMEA message that provides the tilt measurements from the

internal inclinometers (in degrees)

PSAT,RTKPROG

1 Hz

Contains RTK fix progress information

PSAT,RTKSTAT

1 Hz

Contains the most relevant parameters affecting RTK

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Commands and Messages

RD1

1 Hz

SBAS diagnostic information

TSS1

50 Hz

Heave, pitch, and roll message in the commonly used TSS1 message format

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Binary Messages

Message Structure

The binary messages supported by the receiver are in an Intel Little Endian format for direct read in a PC

environment. More information on this format at the following web site:

http://www.cs.umass.edu/~verts/cs32/endian.html

Each binary message begins with an 8-byte header and ends with a carriage return, line feed pair (0x0D, 0x0A). The

first four characters of the header is the ASCII sequence $BIN.

The following table provides the general binary message structure.

Component

Description

Type

Bytes

Values

Header

Synchronization String

4 byte

string

$BIN

Block ID - type of binary

message

Unsigned

short

1, 2, 80, 93,

94, 95, 96, 97,

98, or 99

DataLength - the length of

the binary messages

Unsigned

short

52, 16, 40, 56,

96, 128, 300,

28, 68, or 304

Data

Binary Data - varying fields

of data with a total length

of DataLength bytes

Mixed

fields

52, 16,

40, 56,

96, 128,

300, 28,

68, or 304

Varies - see

message

tables

Epilogue

Checksum - sum of all

bytes of the data (all

DataLength bytes); the

sum is placed in a 2-byte

integer

Unsigned

short

Sum of data

bytes

CR- Carriage return

Byte

0D hex

LF - Line feed

Byte

0A hex

Messages

Message

Description

Bin1

GPS position message (position and velocity data)

Bin2

GPS DOPs (Dilution of Precision)

Bin3

Lat/Lon/Hgt, Covariances, RMS, DOPs and COG, Speed, Heading

Bin5

Base station information

Bin16

All constellation code and phase information

Bin 19

GNSS diagnostic information

Bin35

BeiDou ephemeris information

Bin36

BeiDou code and carrier phase information (all frequencies)

Bin44

GALILEO time conversion

Bin45

GALILEO ephemeris

Bin62

GLONASS almanac information

Bin65

GLONASS ephemeris information

Bin66

GLONASS L1/L2 code and carrier phase information

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Bin69

GLONASS L1/L2 diagnostic information

Bin76

GPS L1/L2 code and carrier phase information

Bin80

SBAS data frame information

Bin89

SBAS satellite tracking information

Bin93

SBAS ephemeris information

Bin94

Ionospheric and UTC conversion parameters

Bin95

GPS ephemeris information

Bin96

GPS L1 code and carrier phase information

Bin97

Processor statistics

Bin98

GPS satellite and almanac information

Bin99

GPS L1 diagnostic information

Bin100

GPS L2 diagnostic information

Bin122

Alternate position solution data

Bin209

SNR and status for all GNSS tracks

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NMEA 2000 CAN Messages

Message

Description

GNSSPositionData

Detailed GPS position information

GNSSPositionRapidUpdates

Abbreviated GPS position information

NMEACogSogData

GPS speed and direction information

Topic Last Updated: v1.00 / August 11, 2010

Commands and Messages

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GPCRQ

GPCRQ,MSK Command

Command

Type Beacon Receiver

Description Standard NMEA 0183 query to prompt the SBX for its operational status (response is the CRMSK message)

You can issue this command through the secondary serial port with a standard response issued to the same

port. This will not affect the output of RTCM data from the main serial port when the receiver has acquired a

lock on a beacon station.

Command

Format

$GPCRQ,MSK<CR><LF>

Receiver

Response

$CRMSK,fff.f,X,ddd,Y,n*CC<CR><LF>

where

Response

Component

Description

fff.f

Frequency in kHz (283.5 to 325)

Tune mode (M = manual, A = automatic, D = database)

ddd

MSK bit rate (100 or 200 bps)

MSK rate selection mode (M = manual, A = automatic, D = database)

Period of output of CRMSS performance status message (0 to 100 seconds)

Example Response example:

$CRMSK,322.0,M,100,A,2*CC

The frequency is 322.0 kHz, tune mode is Manual, MSK bit rate is 100 bps, MSK rate selection mode is

Automatic, and the message is output every 2 seconds.

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

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GPCRQ,MSS Command

Command

Type Beacon Receiver

Description Standard NMEA 0183 query to prompt the SBX for its performance status (response is the CRMSS

message)

You can issue this command through the secondary serial port with a standard response issued to the same

port. This will not affect the output of RTCM data from the main serial port when the receiver has acquired a

lock on a beacon station.

Command

Format

$GPCRQ,MSS<CR><LF>

Receiver

Response

$CRMSS,xx,yy,fff.f,ddd*CC<CR><LF>

where

Response

Component

Description

Signal strength in dBμV/m

Signal-to-noise ratio (SNR) in dB

fff.f

Frequency in kHz (283.5 to 325)

ddd

MSK bit rate in bps (100 or 200)

Example Response example:

$CRMSS,65,36,322.0,100*CC

The signal strength is 65 dBμV/m, SNR is 36 dB, frequency is 322.0 kHz, and MSK bit rate is 100 bps.

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

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Commands and Messages

GPMSK Command

Command

Type Beacon Receiver

Description Beacon Tune command

Instruct the SBX to tune to a specified frequency and automatically select the correct MSK rate. When you

send this command through Port A, Port B, or Port C, it is automatically routed to Port D. The resulting

confirmation of this message is returned to the same port from which you sent the command.

Command

Format

$GPMSK,fff.f,F,mmm,M[,n]<CR><LF>

where:

Command/Response

Component

Description

fff.f

Beacon frequency in kHz (283.5 to 325)

This may be left blank if the following field 'F' is set to 'A' (automatic) or 'D'

(database)

Frequency selection mode

(M = manual, A = automatic, D = database)

mmm

MSK bit rate

This may be left blank if the following field 'M' is set to 'A' (automatic) or 'D'

(database)

MSK rate selection mode

(M = manual, A = automatic, D = database)

Period of output of CRMSS performance status message (0 to 100 seconds),

where leaving the field blank will output the message once

Note: This field is optional when using database tuning mode or automatic

tuning mode.

Receiver

Response

$CRMSS,xx,yy,fff.f,ddd*CC<CR><LF>

where

Response

Component

Description

Signal strength in dBμV/m

Signal-to-noise ratio (SNR) in dB

fff.f

Frequency in kHz (283.5 to 325)

ddd

MSK bit rate in bps (100 or 200)

Example To instruct the SBX to tune to 310.5 kHz with a bit rate of 100 and output the CRMSS message every 20

seconds issue the following command:

$GPMSK,310.5,M,100,M,20<CR><LF>

...and the receiver response is:

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Commands and Messages

$CRMSS,65,36,310.5,100*CC

(repeating every n=20 seconds)

If using database tuning mode issue the following command:

$GPMSK,,D,,D<CR><LF>

If using automatic tuning mode issue the following command:

$GPMSK,,A,,A<CR><LF>

Additional

Information

When the SBX acknowledges this message, it immediately tunes to the specified frequency and

demodulates at the specified rate.

When you set 'n' to a non-zero value, the SBX outputs the CRMSS message at that period through the

serial port from which the SBX was tuned. When you issue this command with a non-zero 'n' value through

Port B, the periodic output of the CRMSS performance status message does not impact the output of RTCM

on Port A. However, when tuning the SBX with a non-zero 'n' value through Port A, the CRMSS message is

interspersed with the RTCM data. Most GPS engines will not be able to filter the CRMSS message, causing

the overall data to fail parity checking. When power to the SBX is removed and reapplied, the status output

interval resets to zero (no output).

When tuning the SBX engine, if the 'n' field in this message is non-zero, the CRMSS message output by the

SBX may interrupt the flow of RTCM data to the GPS receiver. Repower the SBX to stop the output of the

CRMSS message or retune the Beacon receiver with 'n' set to zero.

Topic Last Updated: v1.02 / January 25, 2011

Commands and Messages

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JAGE Command

Command

Type GPS

Description Specify maximum DGPS (COAST) correction age (6 to 8100 seconds). Using

COAST technology, the receiver can use old correction data for extended

periods of time.

The default setting for the receiver is 2700 seconds.

If you select a maximum correction age older than 1800 seconds (30

minutes), test the receiver to ensure the new setting meets the requirements,

as accuracy will slowly drift with increasing time.

Command

Format

$JAGE,age<CR><LF>

where 'age' is the maximum differential age timeout

Receiver $>

Response

Example To set the DGPS correction age to 60 seconds issue the following command:

$JAGE,60<CR><LF>

Additional

Information

To query the receiver for the current DGPS correction age, issue the JSHOW

command.

What does <CR><LF> mean?

Topic Last Updated: v1.02 / January 25, 2011

Commands and Messages

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JAIR Command

Command

Type General Operation and Configuration

Description Specify how the receiver will respond to the dynamics associated with

airborne applications or query the current setting

Command

Format Specify how the receiver responds

$JAIR,r<CR><LF>

where 'r' is the AIR mode:

•

NORM - normal track and nav filter bandwidth

•

HIGH - highest track and nav filter bandwidth (receiver is

optimized for the high dynamic environment associated with

airborne platforms)

•

LOW - lowest track and nav filter bandwidth

•

AUTO - default track and nav filter bandwidth, similar to

NORM but automatically goes to HIGH above 30 m/sec

Query the current setting

$JAIR<CR><LF>

Receiver

Response

$>JAIR,MAN,NORM

$>JAIR,MAN,HIGH

$>JAIR,MAN,LOW

$>JAIR,AUTO,NORM

Example To set the AIR mode to LOW issue the following command:

$JAIR,LOW<CR><LF>

The response is then:

$>JAIR,MAN,LOW<CR><LF>

Additional

Information

Defaults to normal (NORM) which is recommended for most applications.

The AUTO option enables the receiver to decide when to turn JAIR to HIGH.

CAUTION: Setting AIR mode to HIGH is not recommended for Crescent

Vector operation.

On the HIGH setting, the receiver tolerates larger and sudden drops in the

SNR value before it discards the data as being invalid. This additional

tolerance is beneficial in applications such as crop dusting where an aircraft

is banking rapidly. As the aircraft banks, the antenna position shifts from

upright and having a clear view of the sky to being tipped slightly, with a

Receiver response when specifying how the receiver responds or querying

the current setting

Commands and Messages

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possibly obscured view of the sky, and then back to upright. This sudden

tipping of the antenna causes the SNR value to drop.

If the tolerance is not set as HIGH, the receiver views the data recorded while

banking as invalid and discards it. As a result the GPS position will not be

accurate.

The status of this command is also output in the JSHOW message.

Topic Last Updated: v1.02 / January 25, 2011

Commands and Messages

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JALT Command

Command

Type General Operation and Configuration

Description Turn altitude aiding for the receiver on or off

When set to something other than NEVER, altitude aiding uses a fixed altitude instead of using one satellite’s

observations to calculate the altitude. The advantage of this feature, when operating in an application where a

fixed altitude is acceptable, is that the extra satellite’s observations can be used to the betterment of the latitude,

longitude, and time offset calculations, resulting in improved accuracy and integrity. Marine markets, for example,

may be well suited for use of this feature.

Command

Format

$JALT,c[,h[,GEOID]]<CR><LF>

where 'c' (feature status variable) and 'h' (threshold variable) may be one of the following:

c Value

Correspondi

ng h Value

Description

Format

NEVER

N/A

Default

mode of

operation

where

altitude

aiding is

not used.

$JALT,NEVER<CR><LF>

SOMETIMES

PDOP

Sets the

receiver to

use altitude

aiding

depending

upon the

PDOP

threshold.

$JALT,SOMETIMES,PDOP<CR><LF>

SATS

NUMSATS

Sets the

receiver to

use altitude

aiding

depending

upon the

number of

visible

satellites. If

there are

fewer visible

satellites

than

specified by

NUMSATS,

altitude

aiding is

used.

$JALT,SATS,NUMSATS<CR><LF>

ALWAYS

HEIGHT

Sets the

receiver to

use altitude

aiding

regardless

$JALT,ALWAYS,HEIGHT<CR><LF>

$JALT,ALWAYS,HEIGHT,GEOID<CR><LF>

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To obtain a HEIGHT value to use with ALWAYS (using DGPS positions), average the HEIGHT over a period of

time (the longer the time period, the more accurate this HEIGHT value). This is the ellipsoidal height.

$JALT,ALWAYS,HEIGHT<CR><LF>

If you use the height reported from the GPGGA message (this is actually geoidal and not ellipsoidal), use the

following command:

$JALT,ALWAYS,HEIGHT,GEOID<CR><LF>

Receiver $>

Response

Example To turn altitude aiding on to SOMETIMES with a PDOP of 5 issue the following command:

$JALT,SOMETIMES,5<CR><LF>

To turn altitude aiding on to ALWAYS using the height of 401.6 m as reported in the GPGGA message (geoidal

height) issue the following command:

$JALT,ALWAYS,401.6,GEOID<CR><LF>

Additional

Information

To query the receiver for the current setting, issue the JSHOW command. For example, if you issue the following

command:

$JALT,ALWAYS,404.2<CR><LF>

...then issuing the JSHOW command displays the following as part of its output:

$>JSHOW,ALT,ALWAYS,404.2

Topic Last Updated: v1.03 / January 11, 2012

of a

variable. In

this case,

you may

specify the

ellipsoidal

altitude

HEIGHT

that the

receiver

should use.

Commands and Messages

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JAPP Command

Command

Type General Operation and Configuration

Description Specify which of the installed applications should be utilized or query the receiver

for the currently installed applications

Note: Hemisphere GNSS Crescent and Eclipse GPS receivers are able to hold

up to two different application firmware programs simultaneously.

Command

Format

$JAPP,OTHER<CR><LF> or $JAPP,O<CR><LF>

(the second command uses the letter O, not a zero) or

$JAPP,x<CR><LF>

where ‘x’ is either 1 (application in slot 1) or 2 (application in slot 2)

Query receiver application firmware

$JAPP<CR><LF>

Receiver

Response For example, if WAAS (SBAS) and AUTODIFF (e-Dif) are the two installed

applications (WAAS in slot1 and AUTODIFF in slot2) and WAAS is the current

application, if you issue the $JAPP,OTHER<CR><LF>command on a

receiver, the response to $JAPP<CR><LF> will

be$>JAPP,AUTODIFF,WAAS,2,1, indicating that application slot 2 (e-

Dif) is currently being used.

Hemisphere GNSS recommends that you follow up the sending of these

commands with a $JAPP query to see which application is 1 or 2. It is best to

use these two commands when upgrading the firmware inside the receiver,

because the firmware upgrading utility uses the application number to designate

which application to overwrite.

Response to querying the current setting

$>JAPP,CURRENT,OTHER,[1 OR 2],[2 OR 1]

where:

•

'CURRENT' indicates the current application in use

•

'OTHER' indicates the secondary application that is not

currently in use

•

1 and 2 indicate in which application slots the applications

reside

Specify receiver application firmware (when two applications are present)

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Example If the response

to $JAPP<CR><LF> is $>JAPP,WAAS,AUTODIFF,1,2, this

indicates:

• WAAS (SBAS) is the current application and is in application slot 1

• e-Dif is the other application (not currently used) and is in application slot 2

Additional

Information

When querying the current setting, the following application names may

appear (depending on your product):

• Crescent

WAAS – Changes to the SBAS application. For the sake of the application names, the SBAS application is referred to as

WAAS by the receiver’s internal firmware

•

AUTODIFF – Changes to the e-Dif application. Referred to as "AUTODIFF" in the receiver’s

internal firmware

•

LOCRTK – Changes to the local differential rover application

•

RTKBAS – Changes to the local differential base application

•

LBAND – Changes toAtlas DGPS service

•

Eclipse

WAASRTKB – Changes to the SBAS/RTK Base application

•

LBAND – Changes to Atlas DGPS service

•

RTK – Changes to the RTK Rover application

•

Eclipse II

SBASRTKB – Changes to the SBAS/L-band/RTK Base application

•

AUTODIFF – Changes to the e-Dif application, referred to as "AUTODIFF" in the firmware

•

RTK – Changes to the RTK Rover application

•

MFA - Multi-function application

•

miniEclipse

WAASRTKB – Changes to the SBAS/RTK Base application

•

AUTODIFF – Changes to the e-Dif application, referred to as "AUTODIFF" in the firmware

•

RTK – Changes to the RTK Rover application

•

MFA - Multi-function application

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Topic Last Updated: v1.06 / March 10, 2015

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JASC

JASC Command Overview

The JASC command is used to request ASCII messages.

Command

Description

JASC,CMR

Set the proprietary CMR messages to on or off to provide corrections to the rover

JASC,D1 (RD1)

Set the RD1 diagnostic information message from the receiver to on or off

JASC,DFX

Set the proprietary DFX messages to on or off to provide corrections to the rover

JASC,GL

Enable the GLONASS data messages at a particular update rate to be turned on or

off. When turning messages on, various update rates are available depending on the

requirements.

JASC,GN

Enable the GNSS data messages at a particular update rate to be turned on or off.

When turning messages on, various update rates are available depending on the

requirements.

JASC,GP

Enable the GPS data messages at a particular update rate to be turned on or off

JASC,INTLT

Configure the receiver to output pitch and roll data

JASC,PASHR

Configure the receiver to output time, true heading, roll, and pitch data in one

message

JASC,PSAT,ATTSTAT

Configure the receiver to output the information of secondary antenna

JASC,PSAT,BLV,1

Configure the receiver to output the North,East,Up base-line vector

JASC,PSAT,FVI,1

Configure the receiver to output a message include most position and

attitude information

JASC,PSAT,RTKPROG

Configure the receiver to output RTK fix progress

JASC,PSAT,RTKSTAT

Configure the receiver to output the most relevant parameters affecting RTK

JASC,PSAT,VCT,1

Configure the receiver to output the heading, pitch, roll, and master to slave vector

JASC,PTSS1

Configure the receiver to output heave, pitch, and roll in the commonly used TSS1

message format

JASC,ROX

Set the proprietary ROX messages to on or off to provide corrections to the rover

JASC,RTCM

Configure the receiver to output RTCM version 2 DGPS corrections from SBAS or

beacon through either receiver serial port

JASC,RTCM3

Set the RTCM version 3 messages to on or off to provide corrections to the rover

JASC,VIRTUAL

Configure the receiver to have RTCM data input on one port and output through the

other (when using an external correction source)

Topic Last Updated: v1.07 / February 16, 2017

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JASC,CMR Command

Command

Type Local Differential and RTK

Description Set the proprietary CMR messages to on or off to provide corrections to the

rover

This command only applies to an Eclipse base station receiver when using

GPS dual frequency RTK mode. RTK is relative to the reference position

(base only).

Command

Format

where:

$JASC,CMR,r[,OTHER]<CR><LF>

•

'r' = correction status variable (0 = turn corrections Off, 1 =

turn corrections On)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

Receiver $>

Response

Example To turn on CMR messages on the OTHER port issue the following command:

$JASC,CMR,1,OTHER<CR><LF>

Additional

Information

To query the receiver for the current setting, issue the JSHOW command.

To change the broadcast station ID, use JRTK,28.

Topic Last Updated: v1.02 / January 25, 2011

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JASC,D1 Command

Command

Type General Operation and Configuration, SBAS

Description Set the RD1 diagnostic information message from the receiver to on or off

There is currently only an (R)D1 message.

Command

Format

where:

$JASC,D1,r[,OTHER]<CR><LF>

•

'r' = message rate (0 = Off, 1 = On at 1Hz)

•

',OTHER' = optional field, enacts a change in the RD1

message on the current port when you send the command

without it (and without the brackets) and enacts a change in

the RD1 message on the other port when you send the

command with it (without the brackets). See Configuring the

Data Message Output for detailed information on 'THIS' and

'OTHER' port terminology.

Receiver $>

Response

Example To output the RD1 message once per second from THIS port issue the

following command:

$JASC,D1,1<CR><LF>

...and the output will look similar to the following:

$RD1,410213,1052,1551.489,1,0,39,- 611.5,0,1F,1F,0,999999

$RD1,410214,1052,1551.489,1,0,40,-

615.1,0,1F,1F,0,999999

$RD1,410215,1052,1551.489,1,0,40,-

607.1,0,1F,1F,0,999999

See RD1 message for a description of each field in the response.

Additional

Information

Although you request D1 through this command the responding message is

RD1.

To query the receiver for the current setting, issue the JSHOW command.

For example, if you issue the following command:

$JASC,D1,1<CR><LF>

...then issuing the JSHOW command displays the following as part of its

output:

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$>JSHOW,ASC,D1,1

Topic Last Updated: v1.02 / January 25, 2011

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JASC,DFX Command

Command

Type Local Differential and RTK

Description Set the proprietary DFX messages to on or off to provide corrections to the

rover

This command only applies to a Crescent base receiver when using L-Dif or

RTK mode. Differential is relative to the reference position (base only). See

the JASC,ROX command for the equivalent message for the Eclipse series of

products.

Command

Format

$JASC,DFX,r[,OTHER]<CR><LF>

where:

•

'r' = correction status variable (0 = turn corrections Off, 1 =

turn corrections On)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

Receiver $>

Response

Example To turn on DFX messages on THIS port issue the following command:

$JASC,DFX,1<CR><LF>

Additional

Information

To query the receiver for the current setting, issue the JSHOW command.

To change the broadcast station ID, use JRTK,28.

Topic Last Updated: v1.02 / January 25, 2011

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JASC,GL Command

Command

Type GLONASS

Description Enable the GLONASS data messages at a particular update rate to be turned on or off. When turning

messages on, various update rates are available depending on therequirements.

Command

Format

$JASC,msg,r[,OTHER]<CR><LF>

where:

•

'msg' = name of the data message

•

'r' = message rate (see table below)

•

',OTHER' = optional field, enacts a change on the current port (THIS port) whenyou

send the command without it (and without the brackets) and enacts a change on the

other port (OTHER port) when you send the command with it (without the brackets).

See Configuring the Data Message Output for detailed information on 'THIS' and

'OTHER' port terminology.

Send a command with a zero value for the 'R' field to turn off a message.

MSG

R (rate in Hz)

Description

GLMLA

1 (on) or 0 (off)

When set to on the

message is sent once

(one message for each

tracked satellite) and

then sent again

whenever satellite

information changes

GLONASS almanac data

GLGGA

20, 10, 2, 1, 0 or .2

GPS fix data

GLGLL

20, 10, 2, 1, 0 or .2

Geographic position - latitude/longitude

GLGNS

20, 10, 2, 1, 0 or .2

GNSS fix data

GLGSA

1 or 0

GLONASS DOP and active satellites

GLGSV

1 or 0

GLONASS satellite in view

Receiver $>

Response

Example To output the GLGNS message through the OTHER port at a rate of 20 Hz, issue the following command:

$JASC,GLGNS,20,OTHER<CR><LF>

Additional

Information

The status of this command is also output in the JSHOW message.

What does <CR><LF> mean?

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Updated: v1.02 / January 25, 2011

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JASC,GA Command

Command

Type GALILEO

Description Enable the GALILEO data messages at a particular update rate to be turned on or off. When turning

messages on, various update rates are available depending on the requirements.

Command

Format

$JASC,msg,r[,OTHER]<CR><LF>

where:

•

'msg' = name of the data message

•

'r' = message rate (see table below)

•

',OTHER' = optional field, enacts a change on the current port (THIS port) whenyou

send the command without it (and without the brackets) and enacts a change on the

other port (OTHER port) when you send the command with it (without the brackets).

See Configuring the Data Message Output for detailed information on 'THIS' and

'OTHER' port terminology.

Send a command with a zero value for the 'R' field to turn off a message.

MSG

R (rate in Hz)

Description

GNGNS

20, 10, 2, 1, 0 or .2

All GNSS fix data (GAGNS output is GALILEO)

GAGSV

1 or 0

GALILEO satellites in view

Receiver $>

Response

Example To output the GAGNS message through the OTHER port at a rate of 20 Hz, issue the following command:

Additional

Information

The status of this command is also output in the JSHOW message.

What does <CR><LF> mean?

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Topic Last Updated: v1.07 / February 16, 2017

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JASC,GQ Command

Command

Type QZSS

Description Enable the QZSS data messages at a particular update rate to be turned on or off.

Command

Format

$JASC,msg,r[,OTHER]<CR><LF>

where:

•

'msg' = name of the data message

•

'r' = message rate (see table below)

•

',OTHER' = optional field, enacts a change on the current port (THIS port) when you

send the command without it (and without the brackets) and enacts a change onthe

other port (OTHER port) when you send the command with it (without the brackets).

See Configuring the Data Message Output for detailed information on 'THIS' and

'OTHER' port terminology.

Send a command with a zero value for the 'R' field to turn off a message.

MSG

R (rate in Hz)

Description

GQGSV

1 or 0

QZSS satellites in view

Receiver $>

Response

Example To output the GAGNS message through the OTHER port, issue the following command:

$JASC,GNGNS,1,OTHER<CR><LF>

Additional

Information

The status of this command is also output in the JSHOW message.

What does <CR><LF> mean?

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Commands and Messages

JASC,GN Command

Command

Type GPS, Vector

Description Enable the GNSS data messages at a particular update rate to be turned on or off. When turning messages

on, various update rates are available depending on therequirements.

Command

Format

$JASC,msg,r[,OTHER]<CR><LF>

where:

•

'msg' = name of the data message

•

'r' = message rate (see table below)

•

',OTHER' = optional field, enacts a change on the current port (THIS port) when you

send the command without it (and without the brackets) and enacts a change on the

other port (OTHER port) when you send the command with it (without the brackets).

See Configuring the Data Message Output for detailed information on 'THIS' and

'OTHER' port terminology.

Send a command with a zero value for the 'R' field to turn off a message.

MSG

R (rate in Hz)

Description

GNGGA

20, 10, 2, 1, 0 or .2

GNSS fix data

GNGLL

20, 10, 2, 1, 0 or .2

Geographic position - latitude/longitude

GNGNS

20, 10, 2, 1, 0 or .2

GNSS fix data

GNGSA

1 or 0

GNSS DOP and active satellites

Receiver $>

Response

Example To output the GNGNS message through the OTHER port at a rate of 20 Hz, issue the following command:

$JASC,GNGNS,20,OTHER<CR><LF>

Additional

Information

The status of this command is also output in the JSHOW message.

What does <CR><LF> mean?

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

JASC,GP Command

Command

Type GPS, Vector

Description Enable the GPS data messages at a particular update rate to be turned on or off. When turning messages

on, various update rates are available depending on therequirements.

Command

Format

$JASC,msg,r[,OTHER]<CR><LF>

where:

•

'msg' = name of the data message

•

'r' = message rate (see table below)

•

',OTHER' = optional field, enacts a change on the current port (THIS port) when you

send the command without it (and without the brackets) and enacts a change on the

other port (OTHER port) when you send the command with it (without the brackets).

See Configuring the Data Message Output for detailed information on 'THIS' and

'OTHER' port terminology.

Send a command with a zero value for the 'R' field to turn off a message.

MSG

R (rate in Hz)

Description

GPALM

1 or 0

GPS almanac data

GPDTM

1 or 0

Datum reference

GPGBS

1 or 0

Satellite fault detection used for RAIM

GPGGA

20, 10, 2, 1, 0 or .2

Detailed GPS position information

GPGLL

20, 10, 2, 1, 0 or .2

Latitude and longitude data

GPGNS

20, 10, 2, 1, 0 or .2

Fixes data for single or combined satellite navigation

systems

GPGRS

1, 0 or .2

GNSS range residuals

GNGSA

1 or 0

GPS DOP and active satellite information

GPGST

1 or 0

GNSS pseudorange error statistics

GPGSV

1 or 0

GNSS satellite in view

GPHDG

HEHDG

20, 10, 2, 1, 0 or .2

Magnetic deviation and variation for calculating magnetic

or true heading

GPHDM

HEHDM

20, 10, 2, 1, 0 or .2

Magnetic heading of the vessel derived from the true

heading calculated

GPHDT

HEHDT

20, 10, 2, 1, 0 or .2

True heading of the vessel

GPHEV

20, 10, 2, 1, 0 or .2

Heave value in meters

GPHPR

20, 10, 2, 1, 0 or .2

Proprietary NMEA message that provides the true

heading, pitch, roll, and time in a single message

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Commands and Messages

GPRMC

10, 2, 1, 0 or .2

Recommended minimum specific GNSS data

GPROT

HEROT

20, 10, 2, 1, 0 or .2

Vessel’s rate of turn (ROT) information

GPRRE

1 or 0

Range residual message

GPVTG

20, 10, 2, 1, 0 or .2

Course over ground and ground speed

GPZDA

20, 10, 2, 1, 0 or .2

UTC time and date information

INTLT

1 or 0

Proprietary NMEA message that provides the tilt

measurements from the internal inclinometers (in

degrees)

Receiver $>

Response

Example To output the GPGGA message through the OTHER port at a rate of 20 Hz, issue the following command:

$JASC,GPGGA,20,OTHER<CR><LF>

Additional

Information

The status of this command is also output in the JSHOW message.

What does <CR><LF> mean?

Topic Last Updated: v1.06 / March 10, 2015

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Commands and Messages

JASC,INTLT Command

Command

Type Vector

Description Configure the receiver to output pitch and roll data (pitch and roll are factory

calibrated over temperature to be accurate to ±3°C)

Saved with JSAVE.

Command

Format

$JASC,INTLT,r[,OTHER]<CR><LF>

where:

•

'r' = message rate (0 = Off, 1 = On at 1Hz)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

Receiver

Response

$PSAT,INTLT,pitch,roll*CC<CR><LF>

where pitch and roll are in degrees

Example

Additional

Information

PSAT,INTLT message

Topic Last Updated: v1.06 / March 10, 2015

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Commands and Messages

JASC,PASHR Command

Command

Type Vector

Description Configure the receiver to output time, true heading, heave, roll, and pitch data in one message

Command

Format

$JASC,PASHR,r[,OTHER]<CR><LF>

where:

•

'r' = message rate (0 = Off, 1 = On at 1Hz)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it

(and without the brackets) and enacts a change on the other port when you send the command with it

(without th brackets). See Configuring the Data Message Output for detailed information on 'THIS' and

'OTHER' port terminology.

Receiver

Response

$PASHR,hhmmss.ss,HHH.HH,T,RRR.RR,PPP.PP,heave,rr.rrr,pp.ppp,hh.hhh,QF*CC<CR>

where:

Message

Component

Description

hhmmss.ss

UTC time

HHH.HH

Heading value in decimal degrees

True heading (T displayed if heading is relative to true north)

RRR.RR

Roll in decimal degrees (- sign will be displayed when applicable)

PPP.PP

Pitch in decimal degrees (- sign will be displayed when applicable)

heave

Heave, in meters

rr.rrr

Roll standard deviation in decimal degrees

pp.ppp

Pitch standard deviation in decimal degrees

hh.hhh

Heading standard deviation in decimal degrees

Quality Flag

•

0 = No position

•

1 = All non-RTK fixed integer positions

•

2 = RTK fixed integer position

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Example To turn on the PASHR message on THIS port issue the following command:

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Commands and Messages

$JASC,PASHR,1<CR><LF>

...and the message output appears similar to the following:

$PASHR,162930.00,,T,2.48,3.92,-0.64,0.514,0.514,0.000,1*05

$PASHR,162931.00,,T,2.38,3.93,-0.70,0.508,0.508,0.000,1*07

$PASHR,162932.00,,T,2.67,4.00,-0.66,0.503,0.503,0.000,1*04

Additional

Information

PASHR message

Topic Last Updated: v1.06 / March 10, 2015

Commands and Messages

Topic Last Updated: v1.07 / Octoter 13, 2016

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JASC,PSAT,ATTSTAT Command

Command

Type Local Differential and RTK

Description The information of secondary antenna.

Command

Format

$JASC,PSAT,ATTSTAT,r[,OTHER]<CR><LF>

where:

•

'r' = message rate (0 = Off, 1 = On at 1Hz)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

Receiver $>

Response

Example To turn on this message on the THIS port issue the following command:

$JASC,PSAT,ATTSTAT,1<CR><LF>

Additional

Information

Issuing the JSAVE command after setting JASC,PSAT,ATTSTAT to 1

(message on at 1Hz) does not save this setting. You must enable

JASC,PSAT,ATTSTAT (set it to 1) each time you power on the receiver.

Commands

and

Messages

PSAT,ATTSTAT message

Commands and Messages

Topic Last Updated: v1.07 / Octoter 13, 2016

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JASC,PSAT,BLV Command

Command

Type Local Differential and RTK

Description Configure the receiver to output the North, East,Up base-line vector

Command

Format

$JASC,PSAT,BLV,r[,OTHER]<CR><LF>

where:

•

'r' = message rate 0,1,2,5,10,20 (0 = Off, 1 = On at 1Hz)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

Receiver $>

Response

Example To turn on this message on the THIS port issue the following command:

$JASC,PSAT,BLV,1<CR><LF>

Additional .

Information

Commands

and

Messages

PSAT, BLV message

Commands and Messages

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JASC,PSAT,FVI Command

Command

Type Local Differential and RTK

Description Contains much more special information

Command

Format

$JASC,PSAT,FVI,r[,OTHER]<CR><LF>

where:

•

'r' = message rate 0,1,2,5,10,20 (0 = Off, 1 = On at 1Hz)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

Receiver $>

Response

Example To turn on this message on the THIS port issue the following command:

$JASC,PSAT,FVI,1<CR><LF>

Additional .

Information

Commands

and

Messages

PSAT, FVI message

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Commands and Messages

JASC,PSAT,RTKPROG Command

Command

Type Local Differential and RTK

Description Configure the receiver to output RTK fix progress

Command

Format

$JASC,PSAT,RTKPROG,r[,OTHER]<CR><LF>

where:

•

'r' = message rate (0 = Off, 1 = On at 1Hz)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

You can also perform a one-time query of the message information by

issuing the JQUERY,RTKPROG command.

Receiver $>

Response

Example To turn on this message on the THIS port issue the following command:

$JASC,PSAT,RTKPROG,1<CR><LF>

Additional

Information

Issuing the JSAVE command after setting JASC,PSAT,RTKPROG to 1

(message on at 1Hz) does not save this setting. You must enable

JASC,PSAT,RTKPROG (set it to 1) each time you power on the receiver.

See also PSAT,RTKPROG message.

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Commands and Messages

JASC,PSAT,RTKSTAT Command

Command

Type Local Differential and RTK

Description Configure the receiver to output the most relevant parameters affecting RTK

Command

Format

$JASC,PSAT,RTKSTAT,r[,OTHER]<CR><LF>

where:

•

'r' = message rate (0 = Off, 1 = On at 1Hz)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

You can also perform a one-time query of the message information by

issuing the JQUERY,RTKSTAT command.

Receiver $>

Response

Example To turn on this message on the THIS port issue the following command:

$JASC,PSAT,RTKSTAT,1<CR><LF>

Additional

Information

Issuing the JSAVE command after setting JASC,PSAT,RTKSTAT to 1

(message on at 1Hz) does not save this setting. You must enable

JASC,PSAT,RTKSTAT (set it to 1) each time you power on the receiver.

Commands

and

Messages

JQUERY,RTKSTAT command

PSAT,RTKSTAT message

Topic Last Updated: v1.05 / January 18, 2013

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Commands and Messages

JASC,PSAT,VCT Command

Command

Type Local Differential and RTK

Description

Command

Format

$JASC,PSAT,VCT,r[,OTHER]<CR><LF>

where:

•

'r' = message rate 0,1,2,5,10,20 (0 = Off, 1 = On at 1Hz)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

Receiver $>

Response

Example To turn on this message on the THIS port issue the following command:

$JASC,PSAT,VCT,1<CR><LF>

Additional .

Information

Commands

and

Messages

PSAT, VCT message

Topic Last Updated: v1.07 / Octoter 13, 2016

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JASC,PTSS1 Command

Command

Type Vector

Description Configure the receiver to output heave, pitch, and roll in the commonly used TSS1 message format

Command

Format

$JASC,PTSS1,r[,OTHER]<CR><LF>

where:

•

'r' = message rate (in Hz) of 0 (off), 0.25, 0.5, 1, 2, 4, 5, 10, or 20 (if subscribed)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it

(and without the brackets) and enacts a change on the other port when you send the command with it

(without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and

'OTHER' port terminology.

Receiver

Response

:XXAAAASMHHHHQMRRRRSMPPPP*CC<CR><LF>

where:

Message

Component

Description

Horizontal acceleration

AAAA

Vertical acceleration

HHHH

Heave, in centimeters

S = space character

Space if positive; minus if negative

Status flag

Value Description

h Heading aided mode (settling) -

The System is receiving heading aiding signals from a gyrocompass but is still

awaiting the end of the three minutes settling period after power-on or a change of

mode or heave bandwidth. The gyrocompass takes approximately five minutes to

settle after it has been powered on. During this time, gyrocompass aiding of the

System will not be perfect. The status flag does NOT indicate this condition.

F Full aided mode (settled condition) - The System is receiving and using aiding

signals from a gyrocompass and from a GPS receiver or a Doppler log.

Space if positive; minus if negative

RRRR

Roll, in units of 0.01 degrees (ex: 1000 = 10°)

S = space character

Space if positive; minus if negative

PPPP

Pitch, in units of 0.01 degrees (ex: 1000 = 10°)

<CR>

Carriage return

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Additional

Information

TSS1 message

Topic Last Updated: v1.06 / March 10, 2015

<LF>

Line feed

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JASC,ROX Command

Command

Type Local Differential and RTK

Description Set the proprietary ROX messages to on or off to provide corrections to the

rover

This command only applies to an Eclipse base station receiver when using

GPS dual frequency RTK mode. RTK is relative to the reference position

(base only).

Command

Format

$JASC,ROX,r[,OTHER]<CR><LF>

where:

•

'r' = correction status variable (0 = turn corrections Off, 1 =

turn corrections On)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

Receiver $>

Response

Example To turn on ROX messages on the OTHER port issue the following command:

$JASC,ROX,1,OTHER<CR><LF>

Additional

Information

To query the receiver for the current setting, issue the JSHOW command.

To change the broadcast station ID, use JRTK,28.

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JASC,RTCM Command

Command

Type SBAS

Description Configure the receiver to output RTCM version 2 DGPS corrections from

SBAS or beacon through either receiver serial port. The correction data

output is RTCM SC-104, even though SBAS uses a different over-the-air

protocol (RTCA).

Command

Format

$JASC,RTCM,r[,OTHER]<CR><LF>

where:

•

'r' = message status variable (0 = Off, 1 = On)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

Receiver $>

Response

Example To output RTCM corrections from SBAS or beacon on THIS port (current

port) issue the following command:

$JASC,RTCM,1<CR><LF>

Additional

Information

To verify the current setting is on, issue the JSHOW command. You will see

output similar to the following:

$>JSHOW,ASC,RTCM,1.0

If the current setting is off, the JSHOW command will not show any

information for this setting.

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JASC,RTCM3 Command

Command

Type Local Differential and RTK

Description Set the RTCM version 3 messages to on or off to provide corrections to the

rover

This command only applies to an Eclipse base station receiver when using

GPS dual frequency RTK mode. RTK is relative to the reference position

(base only).

Command

Format

$JASC,RTCM3,r[,OTHER]<CR><LF>

where:

•

'r' = correction status variable (0 = turn corrections Off, 1 =

turn corrections On)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

Receiver $>

Response

Example To turn on RTCM3 messages on the OTHER port issue the following

command:

$JASC,RTCM3,1,OTHER<CR><LF>

Additional

Information

To query the receiver for the current setting, issue the JSHOW command.

To change the broadcast station ID, use JRTK,28.

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JASC,VIRTUAL Command

Command

Type General Operation and Configuration

Description Configure the receiver to have RTCM data input on one port and output

through the other (when using an external correction source)

For example, if RTCM is input on Port B, the data will be output through Port

A having corrected the receiver position. The receiver acts as a pass-through

for the RTCM data. Either port may be configured to accept RTCM data

input; this command enables the opposite port to output the RTCM data.

Command

Format

$JASC,VIRTUAL,r[,OTHER]<CR><LF>

where:

•

'r' = message status variable (0 = Off, 1 = On)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed

information on 'THIS' and 'OTHER' port terminology.

Receiver $>

Response

Example To configure THIS port to output RTCM messages that are being input

through the OTHER port issue the following command:

$JASC,VIRTUAL,1

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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JATT

JATT Command Overview

The JATT command is used to define or query attitude settings for Vector products.

Command

Description

JATT,COGTAU

Set the course over ground (COG) time constant (0.0 to 3600.0 seconds) or query

the current setting

JATT,CSEP

Query to retrieve the current separation between GPS antennas

JATT,EXACT

Enable/disable internal filter reliance on the entered antenna separation or query

the current setting

JATT,FLIPBRD

Allow upside down installation

JATT,GYROAID

Turn on gyro aiding or query the current feature status

JATT,HBIAS

Set the heading bias or query the current setting

JATT,HELP

Show the available commands for GPS heading operation and status

JATT,HIGHMP

Set/query the high multipath setting for use in poor GPS environments

JATT,HRTAU

Set the rate of turn time constant or query the current setting

JATT,HTAU

Set the heading time constant or query the current setting

JATT,LEVEL

Turn on level operation or query the current feature status

JATT,MOVEBASE

Set the auto GPS antenna separation or query the current setting

JATT,MSEP

Set (manually) the GPS antenna separation or query the current setting

JATT,NEGTILT

Turn on the negative tilt feature or query the current setting

JATT,NMEAHE

Instruct the Vector to preface the HDG, HDT, ROT and THS messages with GP or

HE, and the HDM message with GP or HC.

JATT,PBIAS

Set the pitch bias or query the current setting

JATT,PTAU

Set the pitch time constant or query the current setting

JATT,ROLL

Configure the Vector for roll or pitch output

JATT,SEARCH

Force a new RTK heading search

JATT,SPDTAU

Set the speed time constant (0.0 to 3600.0 seconds) or query the current setting

JATT,SUMMARY

Show the current configuration of the Vector

JATT,TILTAID

Turn tilt aiding on/off or query the Vector for the current status of this feature

JATT,TILTCAL

Calibrate the internal tilt sensor of the Vector

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JATT,COGTAU Command

Note: The JTAU,COG command provides identical functionality but works with Crescent and Eclipse products in addition

to Crescent Vectorproducts.

Command

Type Vector

Description Set the course over ground (COG) time constant (0.0 to 3600.0 seconds) or

query the current setting

This command allows you to adjust the level of responsiveness of the COG

measurement provided in the GPVTG message. The default value is 0.0

seconds of smoothing. Increasing the COG time constant increases the level

of COG smoothing.

COG is computed using only the primary GPS antenna (when using a multi-

antenna system) and its accuracy depends upon the speed of the vessel

(noise is proportional to 1/speed). This value is invalid when the vessel is

stationary, as tiny movements due to calculation inaccuracies are not

representative of a vessel’s movement.

Command

Format Set the COG timeconstant

$JATT,COGTAU,cogtau<CR><LF>

where 'cogtau' is the new COG time constant that falls within the range of 0.0

to 200.0 seconds

The setting of this value depends upon the expected dynamics of the

Crescent. If the Crescent will be in a highly dynamic environment, this value

should be set lower because the filtering window would be shorter, resulting

in a more responsive measurement. However, if the receiver will be in a

largely static environment, this value can be increased to reduce

measurement noise.

Query the current setting

$JATT,COGTAU<CR><LF>

Receiver $>

Response

Additional

Information

You can use the following formula to determine the COG time constant:

cogtau (in seconds) = 10 / maximum rate of change of course (in °/s)

If you are unsure about the best value for this setting, it is best to be

conservative and leave it at the default setting of 0.0 seconds.

Topic Last Updated: v1.06 / March 10, 2015

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JATT,CSEP Command

Command

Type Vector

Description Query the Vector for the current calculated separation between antennas, as

solved for by the attitude algorithms

Command

Format

$JATT,CSEP<CR><LF>

Receiver

Response

$>JATT,X,CSEP

where 'X' is the antenna separation in meters

Additional

Information

Topic Last Updated: v1.06 / March 10, 2015

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JATT,EXACT Command

Command

Type Vector

Description Enable/disable internal filter reliance on the entered antenna separation or

query the current setting

Command

Format Enable/disable internal filter reliance

To enable internal filter reliance:

$JATT,EXACT,YES<CR><LF>

To disable internal filter reliance:

$JATT,EXACT,NO<CR><LF>

Query the current setting

$JATT,EXACT<CR><LF>

Receiver $>

Response

Additional

Information

Topic Last Updated: v1.06 / March 10, 2015

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JATT,FLIPBRD Command

Command

Type Vector

Description Turn the flip feature on/off or querythe current feature status

Allow the Vector OEM board to be installed upside down. You should use this

command only with the Vector Sensor and the Vector OEM board because

flipping the OEM board does not affect the antenna array that needs to

remain facing upwards. When using this command, the board needs to be

flipped about roll so the front still faces the front of the vessel.

Command

Format Turn the flip feature on/off

To turn the flip feature on:

$JATT,FLIPBRD,YES<CR><LF>

To turn the flip feature off (return to default mode - right side up):

$JATT,FLIPBRD,NO<CR><LF>

Query current the current setting

$JATT,FLIPBRD<CR><LF>

Receiver $>

Response

Additional

Information

Topic Last Updated: v1.06 / March 10, 2015

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JATT,GYROAID Command

Command

Type Vector

Description Turn gyro aiding on or off or query the current setting

The Vector’s internal gyro—enabled by default when shipped—offers two

benefits.

•

It shortens reacquisition times when a GPS heading is lost

because of obstruction of satellite signals. It does this by reducing

the search volume required for solution of the RTK.

•

It provides an accurate substitute heading for a short period

(depending on the roll and pitch of the vessel) ideally seeing the

system through to reacquisition.

For these two benefits, Hemisphere GNSS highly recommend leaving gyro

aiding on.

Exceeding rates of 90°/sec is not recommended because the gyro cannot

measure rates beyond this point. This is a new recommendation since

Hemisphere GNSS now uses gyro measurements to obtain a heading rate

measurement.

Command

Format Turn gyro aiding on/off

To turn gyro aiding on:

$JATT,GYROAID,YES<CR><LF>

To turn gyro aiding off:

$JATT,GYROAID,NO<CR><LF>

Query the current setting

$JATT,GYROAID<CR><LF>

Receiver $>

Response

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Additional Information

Every time you power up the Vector the gyro goes through a warm-up procedure and

calibrates itself. You cannot save the resulting calibration, so the self-calibration takes place

every time the Vector is power cycled.

This self-calibration procedure takes several minutes and is the equivalent of the following

manual calibration procedure.

With the Vector unit installed:

Apply power and wait several minutes until it has acquired aGPS signal and is

computing heading.

Ensure gyroaiding is on by issuing the following command:

$JATT,GYROAID<CR><LF>

Slowly spin the unit for one minute at no more than 15°/sec.

Keep the unit stationary for four minutes. Both the manual andthe self-calibration

procedures calibrate the Crescent Vector’s gyro to the same effect.

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JATT,HBIAS Command

Command

Type Vector

Description Set the heading output from the Vector to calibrate the true heading of the

antenna array to reflect the true heading of the vessel or query the current

setting

Command

Format Set the heading output

$JATT,HBIAS,x<CR><LF>

where 'x' is a bias that will be added to the Vector’s heading in degrees. The

acceptable range for the heading bias is -180.0° to 180.0°. The default value

of this feature is 0.0°.

Query the current setting (current compensation angle)

$JATT,HBIAS<CR><LF>

Receiver $>

Response

Additional

Information

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Commands and Messages

JATT,HELP Command

Command

Type Vector

Description Show the available commands for GPS heading operation and status

Command

Format

$JATT,HELP<CR><LF>

Receiver

Response

$>JATT,HELP,CSEP,MSEP,EXACT,LEVEL,HTAU,HRTAU,HBIASPBIAS,NEGTILT,ROLL,TILTAID,

TILTCAL,MAGAID,MAGCAL,MAGCLR,GYROAID,COGTAU,SPDTAU,SEARCH,SUMMARY

Additional

Information

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Commands and Messages

JATT,HIGHMP Command

Command

Type Vector

Description Enable/disable the high multipath setting for use in poor GPS environments

or query the current setting

Enabling HIGHMP mode may result in longer heading acquisition times in

high multipath environments. In HIGHMP mode, the Vector will not output

heading until it has good confidence in the result. In very poor environments,

this may take a few minutes or more; in normal environments, there is only a

slight increase in heading acquisition time.

Command

Format Set the high multipath setting

To enable the high multipath setting:

$JATT,HIGHMP,YES<CR><LF>

To disable the high multipath setting:

$JATT,HIGHMP,NO<CR><LF>

Query the current setting

$JATT,HIGHMP<CR><LF>

Receiver $>

Response

Additional

Information

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Commands and Messages

JATT,HRTAU Command

Command

Type Vector

Description Set the rate of turn (ROT) time constant to adjust the level of responsiveness

of the ROT measurement provided in the GPROT message or query the

current setting

The default value of this constant is 2.0 seconds of smoothing. Increasing the

time constant increases the level of ROT smoothing.

Command

Format Set the heading rate time constant

$JATT,HRTAU,hrtau<CR><LF>

where 'hrtau' is the new time constant that falls within the range of 0.0 to

seconds

The setting of this value depends upon the expected dynamics of the vessel.

For example, if the vessel is very large and cannot turn quickly, increasing

this time is reasonable. The resulting heading would have reduced ‘noise’,

resulting in consistent values with time. However, artificially increasing this

value such that it does not agree with a more dynamic vessel could create a

lag in the ROT measurement with higher rates of turn.

Query the current setting

$JATT,HRTAU<CR><LF>

Receiver $>

Response

Additional

Information

You can use the following formula to determine the level of smoothing:

hrtau (in seconds) = 10 / maximum rate of the rate of turn (in °/s2)

Note: If you are unsure about the best value for the setting, leave it at the

default setting of 2.0 seconds.

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Commands and Messages

JATT,HTAU Command

Command

Type Vector

Description Set the heading time constant to adjust the level of responsiveness of the

true heading measurement provided in the GPHDT message or query the

current setting.

For OEM boards the default value of this constant is 0.5 seconds of

smoothing (regardless of whether the gyro is enabled or disabled). For

finished products that implement an OEM board the default value may be

different—check your product's documentation for this value.

Although the gyro is enabled by default, you can disable it. Increasing the

heading time constant increases the level of heading smoothing and

increases lag only if the gyro is disabled.

Command

Format Set the heading time constant

$JATT,HTAU,htau<CR><LF>

where 'htau' is the new time constant that falls within the range of 0.0 to

seconds

The setting of this value depends upon the expected dynamics of the vessel.

If the vessel is very large and cannot turn quickly, increasing this time is

reasonable. The resulting heading would have reduced ‘noise’ resulting in

consistent values with time. However, artificially increasing this value such

that it does not agree with a more dynamic vessel could create a lag in the

heading measurement with higher rates of turn.

Query the current setting

$JATT,HTAU<CR><LF>

Receiver $>

Response

Additional

Information

You can use the following formula to determine level of heading smoothing

required when the gyro is in use:

Gyro on

htau (in seconds) = 40 / maximum rate of turn (in °/s)

Gyro off

htau (in seconds) = 10 / maximum rate of turn (in °/s)

If you are unsure about the best value for the setting, leave it at the default

setting of 2.0 seconds when the gyro is on and at 0.5 seconds when the gyro

is off.

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Commands and Messages

JATT,LEVEL Command

Command

Type Vector

Description Turn level operation on or off or query thecurrent setting

If the Vector will be operated within ±10° of level, you may use this mode of

operation for increased robustness and faster acquisition times of the

heading solution.

Command

Format Turn level operation on/off

To turn level operation on:

$JATT,LEVEL,YES<CR><LF>

To turn level operation off:

$JATT,LEVEL,NO<CR><LF>

Query the current setting

$JATT,LEVEL<CR><LF>

Receiver $>

Response

Additional

Information

Topic Last Updated: v1.05 / January 18, 2013

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Commands and Messages

JATT,MOVEBASE Command

Command

Type Vector

Description Set the auto GPS antenna separation or query the current setting

If the operation is turned on ,you do not need to set the GPS antenna

separation manually . Only multi-frequency boards are supported.

Command

Format Turn level operation on/off

To turn movebase operation on:

$JATT,MOVEBASE,YES<CR><LF>

To turn movebase operation off:

$JATT,MOVEBASE,NO<CR><LF>

Query the current setting

$JATT,MOVEBASE<CR><LF>

Receiver $>

Response

Additional

Information

Topic Last Updated: v1.08 / June 21, 2017

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Commands and Messages

JATT,MSEP Command

Command

Type Vector

Description Manually enter a custom separation between antennas (must be accurate to

within 1 to 2 cm) or query the current setting

Command

Format Set the antenna separation

Using the new center-to-center measurement, issue the following command:

$JATT,MSEP,sep<CR><LF>

where 'sep' is the measured antenna separation entered in meters

Query the current setting

$JATT,MSEP<CR><LF>

Receiver $>

Response

Additional

Information

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Commands and Messages

JATT,NEGTILT Command

Command

Type Vector

Description Turn the negative tilt feature on or off or query the current setting.

When the secondary GPS antenna (SA) is below the primary GPS antenna (PA), there is an angle formed

between a horizontal line through the center of the primary antenna (Line A in the diagram below) and an

intersecting line through the center of the primary and secondary antennas (Line B). This angle is considered to

be negative.

Depending on the convention for positive and negative pitch/roll, you want to change the sign (either positive or

negative) of the pitch/roll.

Command

Format

Turn negative tilt feature on/off

To change the sign of the pitch/roll measurement:

$JATT,NEGTILT,YES<CR><LF>

To return the sign of the pitch/roll measurement to its original value:

$JATT,NEGTILT,NO<CR><LF>

Query the current setting

$JATT,NEGTILT<CR><LF>

Receiver $>

Response

Additional

Information

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Commands and Messages

JATT,NMEAHE Command

Command

Type Vector

Description Instruct the Vector to preface the following messages with GP or HE.

•

HDG

•

HDM

•

HDT

•

ROT

Command

Format

$JATT,NMEAHE,x<CR><LF>

where 'x' is either 1 for HE or 0 for GP

To preface specific messages with GP

$JATT,NMEAHE,0<CR><LF>

To preface specific messages with HE

$JATT,NMEAHE,1<CR><LF>

Receiver

Response

$>JATT,NMEAHE,OK

Additional

Information

The HDM message is for a magnetic compass. The message will be HCHDM

when requesting with $JATT,NMEAHE,1specified.

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Commands and Messages

JATT,PBIAS Command

Command

Type Vector

Description Set the pitch/roll output from the Vector to calibrate the measurement if the

antenna array is not installed in a horizontal plane or query the currentsetting

Command

Format Set the pitch/roll output

$JATT,PBIAS,x<CR><LF>

where 'x' is a bias that will be added to the Vector’s pitch/roll measure, in

degrees

The acceptable range for the pitch bias is -15.0° to 15.0°. The default value is

0.0°.

Query the current setting

$JATT,PBIAS<CR><LF>

Receiver $>

Response

Additional

Information

Note: The pitch/roll bias is added after the negation of the pitch/roll

measurement (if invoked with the JATT,NEGTILT command). Use PBIAS to

describe any angular differences between the level of the two GPS antennas.

Pitch is the default, but if the antennas are mounted in the roll direction, you

can still enter the roll bias in PBIAS (make sure JATT,ROLL,YES isset).

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Commands and Messages

JATT,PTAU Command

Command

Type Vector

Description Set the level of responsiveness of the pitch measurement provided in the

PSAT,HPR message or query the current setting.

For OEM boards the default value of this constant is 0.5 seconds of

smoothing (regardless of whether the gyro is enabled or disabled). For

finished products that implement an OEM board the default value may be

different—check your product's documentation for this value. Increasing the

pitch time constant increases the level of pitch smoothing and increases lag.

Command

Format Set the pitch time constant

$JATT,PTAU,ptau<CR><LF>

where 'ptau' is the new time constant that falls within the range of 0.0 to

3600.0 seconds.

The setting of this value depends upon the expected dynamics of the vessel.

For instance, if the vessel is very large and cannot pitch quickly, increasing

this time is reasonable. The resulting pitch would have reduced ‘noise’,

resulting in consistent values with time. However, artificially increasing this

value such that it does not agree with a more dynamic vessel could create a

lag in the pitch measurement.

Query the current setting

$JATT,PTAU<CR><LF>

Note: If you are unsure about the best value for the setting, leave it at the

default setting of 0.5 seconds.

Receiver $>

Response

Additional

Information

You can use the following formula to determine the level of pitch smoothing

required:

ptau (in seconds) = 10 / maximum rate of pitch (in °/s)

Topic Last Updated: v1.06 / March 10, 2015

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Commands and Messages

JATT,ROLL Command

Command

Type Vector

Description Configure the Vector for roll or pitch GPS antenna orientation.

Command

Format Configure the Vector for pitch or roll GPS antenna orientation

To configure the Vector for roll GPS antenna orientation (the Antenna Array

must be installed perpendicular to the vessel’s axis):

$JATT,ROLL,YES<CR><LF>

To configure the Vector for pitch GPS antenna orientation (default):

$JATT,ROLL,NO<CR><LF>

Query the current setting

$JATT,ROLL<CR><LF>

Receiver $>

Response

Additional

Information

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Commands and Messages

JATT,SEARCH Command

Command

Type Vector

Description Force the Vector to reject the current GPS heading solution and begin a new

search.

$JATT,SEARCH<CR><LF>

Command

Format

Receiver $>

Response

Additional

Information

The SEARCH function will not work if you have enabled the gyroaid feature

(using the GYROAID command). In this case you must cycle power to the

receiver to have a new GPS solution computed.

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Commands and Messages

JATT,SPDTAU Command

Note: The JTAU,SPEED command provides identical functionality but works with Crescent and Eclipse

products in addition to Crescent Vector products.

Command

Type Vector

Description Set the speed time constant (0.0 to 3600.0 seconds) or query the current

setting.

This command allows you to adjust the level of responsiveness of the speed

measurement provided in the GPVTG message. The default value is 0.0

seconds of smoothing. Increasing the speed time constant increases the

level of speed measurement smoothing.

Command

Format Set the speed time constant

$JATT,SPDTAU,spdtau<CR><LF>

where 'spdtau' is the new time constant that falls within the range of 0.0 to

200.1

seconds

The setting of this value depends upon the expected dynamics of the

receiver. If the receiver will be in a highly dynamic environment, you should

set this to a lower value, since the filtering window will be shorter, resulting in

a more responsive measurement. However, if the receiver will be in a largely

static environment, you can increase this value to reduce measurement

noise.

Query the current setting

$JATT,SPDTAU<CR><LF>

Receiver $>

Response

Additional

Information

You can use the following formula to determine the COG time constant

(Hemisphere GNSS recommends testing how the revised value works in

practice):

spdtau (in seconds) = 10 / maximum acceleration (in m/s2)

If you are unsure about the best value for this setting, it is best to be

conservative and leave it at the default setting of 0.00 seconds.

Topic Last Updated: v1.06 / March 10, 2015

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JATT,SUMMARY Command

Command

Type Vector

Description Display a summary of the current Vector settings

Command

Format

$JATT,SUMMARY<CR><LF>

Receiver

Response

$>JATT,SUMMARY,htau,hrtau,ptau,cogtau,spdtau,hbias,pbias,hexflag<CR><LF>

where:

Component

Description

htau

Current heading time constant, in seconds

hrtau

Current heading rate time constant, in seconds

ptau

Current pitch time constant, in seconds

cogtau

Current course over ground time constant, in seconds

spdtau

Current speed time constant, in seconds

hbias

Current heading bias, in degrees

pbias

Current pitch/roll bias, in degrees

hexflag

Hex code that summarizes the heading feature status

Flag 'On' 'Off'

Value Value

Gyro aiding 02 0

Negative tilt 01 0

Roll 08 0

Tilt aiding 02 0

Level 01 0

The 'hexflag' field is two separate hex flags:

•

'GN' - Value is determined by computing the sum of the gyro aiding and negative tilt values,

depending on whether they are on or off:

•

If the feature is on, their value is included in the sum

•

If the feature is off, it has a value of zero when computing the sum

•

'RMTL' - Value is determined in much the same way but by adding the values of roll, tilt aiding, and level operation.

For example, if gyro aiding, roll, and tilt aiding features were each on, the values of 'GN' and 'RMTL' would be:

Commands and Messages

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•

'GN' = hex (02 + 0) = hex (02) = 2

•

'RMTL' = hex (08 + 02) = hex (10) = A

•

‘GN-RMTL’ = 2A

The following tables summarize the possible feature configurations for the first 'GN' character and the second 'RMTL' character.

JATT,SUMMARY 1st GN Character

Configurations

GN Value

Gyro Value

Negative Tilt

Off

JATT,SUMMARY 2nd RMTL Character

Configurations

RMTL

Value

Roll

Tilt

Aiding

Level

Off

Example $>JATT,SUMMARY,TAU:H=0.50,HR=2.00,COG=0.00,SPD=0.00,BIAS:H=0.00,P=0.00, FLAG_HEX:HF-RMTL=01

Additional

Information

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Commands and Messages

JATT,TILTAID Command

Command

Type Vector

Description Turn tilt aiding on or off or query the current setting.

The Vector’s internal tilt sensors (accelerometers) may be enabled by default

(see your specific product manuals for further information).

The sensors act to reduce the RTK search volume, which improves heading

startup and reacquisition times. This improves the reliability and accuracy of

selecting the correct heading solution by eliminating other possible,

erroneous solutions.

Command

Format Turn tilt aiding on/off

Turn tilt aiding on:

$JATT,TILTAID,YES<CR><LF>

Turn tilt aiding off:

$JATT,TILTAID,NO<CR><LF>

Query the current setting

$JATT,TILTAID<CR><LF>

Receiver

Response Response to issuing command to turn tilt aiding on/off

Response to querying the current setting

If setting is currently ON the response is:

$>JATT,TILTAID,ON

If setting is currently OFF the response is:

$>JATT,TILTAID,OFF

Additional

Information

Tilt aiding is required to increase the antenna separation of the Vector OEM

beyond the default 0.5 m length.

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JATT,TILTCAL Command

Command

Type Vector

Description Calibrate the internal tilt sensors of the Vector. Calibration takes

approximately two seconds and is automatically saved to memory for

subsequent power cycles.

You can calibrate the tilt sensor of the Vector in the field but the Vector

enclosure must be horizontal when you calibrate.

$JATT,TILTCAL<CR><LF>

Command

Format

Receiver $>

Response

Additional

Information

Topic Last Updated: v1.06 / March 10, 2015

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JBAUD Command

Command

Type General Operation and Configuration

Description Specify the baud rates of the receiver or query the current setting.

Command

Format

Specify the baud rates

$JBAUD,r[,OTHER][,SAVE]<CR><LF>

where:

•

'r' = baud rate (4800, 9600, 19200, 38400, 57600, or

115200)

•

',OTHER' = optional field, enacts a change on the current

port when you send the command without it (and without

the brackets) and enacts a change on the other port when

you send the command with it (without the brackets)

•

',SAVE' = optional field, saves the baud rate into flash

memory so that if you reset power the receiver will boot at

the new baud rate (it may take several seconds to save the

baud rate to flash memory)

Query the current setting

$JBAUD[,OTHER]<CR><LF>

where:

•

',OTHER' = optional field, queries the current port when you

send the command without it (and without the brackets) and

queries the other port when you send the command with it

(without the brackets)

Receiver

Response

$>JBAUD,R[,OTHER]

The response format is the same whether you specify the baud rates or

query the current settings.

Example Issue the following command to set the baud rate to 19200 on the current

port:

$JBAUD,19200<CR><LF>

...the response is then:

$>JBAUD,19200

Issue the following command to set the baud rate to 9600 on the OTHER port

and save it into memory:

$JBAUD,9600,OTHER,SAVE<CR><LF>

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...the response is then:

$>JBAUD,9600,OTHER

Additional

Information

Note: When saving the baud rate wait until you see the SAVE COMPLETE message before powering off the

receiver. See the JSAVE command for an example of this output.

The status of this command is also output when issuing the JSHOW command.

Topic Last Updated: v1.02 / January 25, 2011

Commands and Messages

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JBIN Command

Command

Type General Operation and Configuration

Description Enable the output of the various binary messages—most notably the Bin95 and Bin96 messages—to be requested. The Bin95 and Bin96

messages contain all the information required for post processing.

Command

Format

$JBIN,msg,r<CR><LF>

where:

•

'msg' = binary message you want to output

•

'r' = message rate as shown in the following table

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Message

Name

MSG

R (Hz)

Description

Bin1

20, 10, 2, 1, 0, or

GPS position message (position and velocity

data)

Bin2

1 or 0

GPS DOPs (Dilution of Precision)

Bin3

20, 10, 2, 1, 0, or

Lat/Lon/Hgt, Covariances, RMS, DOPs and

COG, Speed, Heading

Bin5

1 or 0

Base station information

Bin16

All constellation code and phase observation

data

Bin19

GNSS diagnostic information

Bin35

1 or 0

BeiDou ephemeris information

Bin36

1 or 0

BeiDou code and carrier phase information (all

frequencies)

Bin44

GALILEO time conversion

Bin45

GALILEO ephemeris

Bin62

1 or 0

GLONASS almanac information

Bin65

1 or 0

GLONASS ephemeris information

Bin66

20, 10, 2, 1, or 0

GLONASS L1/L2 code and carrier phase

information

Bin69

1 or 0

GLONASS L1/L2 diagnostic information

Bin76

20, 10, 2, 1, 0, or

GPS L1/L2 code and carrier phase information

Bin80

1 or 0

SBAS data frame information

Bin89

1 or 0

SBAS satellite tracking information

Bin93

1 or 0

SBAS ephemeris information

Bin94

1 or 0

Ionospheric and UTC conversion parameters

Bin95

1 or 0

GPS ephemeris information

Bin96

20, 10, 2, 1, or 0

GPS L1 code and carrier phase information

Bin97

20, 10, 2, 1, 0, or

Processor statistics

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Bin98

1 or 0

GPS satellite and almanac information

Bin99

1 or 0

GPS L1 diagnostic information

Bin100

100

1 or 0

GPS L2 diagnostic information

Bin122

122

20, 10, 5, 2, 1, 0, .5,

.2, .1

Alternate position solution data

Bin209

209

1 or 0

SNR and status for all GNSS tracks

Receiver $>

Response

Example To output the Bin76 message at a rate of 10 Hz, issue the following command:

$JBIN,76,10<CR><LF>

Additional

Information

Higher update rates may be available with a subscription on Bin 1, 2, 96, 97 and 99.

Topic Last Updated: v1.09 / January 8, 2018

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JBOOT

JBOOT Command

Command

Type General Operation and Configuration

Description Power down the Eclipse engine and then power it back up. This

allows you to reboot the receiver to drop the satellite to which itis

currently locked and retune to another satellite without cyclingthe

power of the Eclipse II.

Command

Format

$JBOOT<CR><LF>

Receiver

Response If MFA is the current application and you send the $JBOOT command, the

response is similar to the following:

$>STARTED,MFA,Ver=1.2Qe

If any application other than MFA is the current application and you send the

$JBOOT command, the response is similar to the following:

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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JBOOT,LBAND Command

Command

Type

L-B

and

Description Power down theAtlas portion of the Eclipse engine and then power it back

up. This allows you to reboot the receiver to drop the satellite to which it is

currently locked and retune to another satellite without cycling the power of

the Eclipse II..

$JBOOT,LBAND<CR><LF>

Command

Format

Receiver $>

Response

Additional

Information

JFREQ

Topic Last Updated: v1.07 / February 16, 2017

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JCONN Command

Command

Type General Operation and Configuration

Description Create a virtual circuit between two ports to enable communication through

the receiver to the device on the opposite port.

Command

Format To connect two ports virtually:

$JCONN,P1,P2<CR><LF>

where P1 and P2 are a pair of the following: A,B,C,D or

PortA,PortB,PortC,PortD

Examples

$JCONN,A,B<CR><LF>

$JCONN,PortA,PortB<CR><LF>

To disconnect virtual connection:

$JCONN,X<CR><LF>

Receiver $>

Response

Additional

Information

Topic Last Updated: v1.06 / March 10, 2015

Caution: Hemisphere GNSS receivers with menus, such as an R Series, use

JCONN within the menu application. Any settings you make with JCONN on

these products may disable the menu functions until power is cycled.

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JDIFF

JDIFF Command

Command

Type General Operation and Configuration

Description Specify or query the differential source of the receiver.

Forces the system to use “diff” as the source (see table in Command Format section

below).

Command

Format Specify the differential mode

$JDIFF,diff[,SAVE]<CR><LF>

where:

•

'diff' (differential source) may be one of the following:

DIFF

Description

OTHER

Instruct the receiver to use external corrections

input through the opposite port that is

communicating

THIS

Instruct the receiver to use external corrections

input through the same port that is

communicating

PORTA

PORTB

PORTC

PORTD

Instruct the receiver to:

•

Use external corrections input

through the specified port.

•

Allow RTCM2 (DGPS) inputs to

receiver.

BEACON

Instruct the receiver to use RTCM corrections

entering Port C at a fixed rate of 9600 baud. This

input does not have to be from a beacon receiver,

such as SBX. However, this is a common source of

corrections.

WAAS

Instruct the receiver to use SBAS. This is also the

response when running the local dif application as

the base.

RTK

Response when running the local dif or rover RTK

application for the rover.

LBAND

Instruct the receiver to turn on theAtlas

module and useAtlas. Setting diff to anything

other thanAtlas turns off theAtlas module.

Instruct the receiver to use e-Dif

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mode

NONE

Instruct the receiver to operate in

autonomous mode. This turns off the use of

SBAS,Atlas, and RTCM2 (DGPS); however,

RTK is still allowed.

•

,SAVE' = optional field, saves the differential source into

flash memory so that if you reset power the receiver will

boot with the new differential source (it may take several

seconds to save the differential source to flash memory).

•

Using $JDIFF with SBAS, RTCM2, or Atlas assigns the

priority in the MFA. For example, RTCM2 is a higher priority

if the assigned diff port is PORTA. See MFA for more

information.

Query the current DIFF setting

$JDIFF<CR><LF>

Receiver

Response Receiver response when specifying the differential source

Receiver response when querying the differentialsource

$>JDIFF,SOURCE,TYPE

where:

•

'SOURCE' is the port/source as issued with the JDIFF

command

•

'TYPE' is the differential type actually being used

'AUTO' is the response when queried in e-Dif

Example Issue the following command to query the receiver:

$JDIFF<CR><LF>

...and if the differential source is WAAS, the response is:

$>JDIFF,WAAS

Additional

Information

The status of this command is also output in the JSHOW message.

Topic Last Updated: v1.07/ February 16, 2017

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JDIFF,AVAILABLE Command

Command

Type General Operation and Configuration

Description Query the receiver for the differential types currently being received

Command

Format

$JDIFF,AVAILABLE<CR><LF>

Receiver

Response

$>JDIFFX,AVAILABLE,x[,x][,x]...[,x]

where 'x' is the differential type(s)

Example

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

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JDIFFX,EXCLUDE Command

Command

Type General Operation and Configuration

Description Specify the differential sources to be excluded from operating in a multi-differential application

or query the receiver for excluded differential sources

Command

Format Specify the differential sources to be excluded

$JDIFFX,EXCLUDE[,SBAS][,RTCM2][,EDIF][,DFX][,CMR] [,RTCM3][,ROX

]<CR><LF>

Query the current setting

$JDIFFX,EXCLUDE<CR><LF>

Receiver

Response Response to issuing command to exclude differential sources

Response to querying the current setting

$JDIFFX,EXCLUDE[,SOURCE1][,SOURCE2]...[,SOURCEn]<CR><LF>

where SOURCE1 through SOURCEn represent each excluded source

Example Issue the following commandto exclude RTCM3:

$JDIFFX,EXCLUDE,RTCM3<CR><LF>

If you then issue $JDIFFX,EXCLUDE<CR><LF> to query the current setting the

response is (if RTCM3 is the only excluded source):

$>JDIFFX,EXCLUDE,RTCM3<CR><LF>

Additional

Information

Topic Last Updated: v1.06 / March 10, 2015

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JDIFFX,GNSSOUT Command

Command

Type General Operation and Configuration

Description Specify the GNSS systems to be output in the differential or query the current

setting

Command

Format Specify the GNSS systems to be output in the differential

$JDIFFX,GNSSOUT,gnss,x<CR><LF>

where:

•

'gnss' = GNSS system to be output in the differential (GPS ,

GLONASS, BEIDOU, GALILEO)

•

'x' = NO (do not output specified GNSS system in the differential)

or YES (output specified GNSS system in the differential)

Query the current setting

Query what GNSS systems are output in thedifferential

$JDIFFX,GNSSOUT<CR><LF

Query if a specific GNSS system is output in the differential

$JDIFFX,GNSSOUT,gnss<CR><LF

where 'gnss' is the GNSS system

Receiver

Response

Receiver response when querying the current setting

See Example section below

Example Specify that GPS is output in correction formats

Command: $JDIFFX,GNSSOUT,GPS,YES<CR><LF>

Response: $>

Query what GNSS systems are output in the differential

Command: $JDIFFX,GNSSOUT<CR><LF>

Response if just GPS: $>JDIFFX,GNSSOUT,GPS

Response if all GPS and GLONASS:

$>JDIFFX,GNSSOUT,GPS,GLONASS

Query if a specific GNSS system is output in the differential (example uses

GLONASS)

Command: $JDIFFX,GNSSOUT,GLONASS<CR><LF>

Response if GLONASS is output:

$>JDIFFX,GNSSOUT,GLONASS,YES

Receiver response when specifying the GNSS systems to be output in the

differential

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Commands and Messages

Response if GLONASS is not output:

$>JDIFFX,GNSSOUT,GLONASS,NO

Additional Information

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Commands and Messages

JDIFFX,INCLUDE Command

Command

Type General Operation and Configuration

Description Specify the differential sources to be allowed to operate in a multi-differential application or

query the receiver for included differential sources

Command

Format Specify the differential sources to be included

$JDIFFX,INCLUDE[,SBAS][,RTCM2][,EDIF][,DFX][,CMR]

[,RTCM3][,ROX ][,ATLAS]<CR><LF>

Query the current setting

$JDIFFX,INCLUDE<CR><LF>

Receiver

Response Response to issuing command to include differential sources

Response to querying the current setting

$JDIFFX,INCLUDE[,SOURCE1][,SOURCE2]...[,SOURCEn]<CR><LF>

where SOURCE1 through SOURCEn represent each included source

Example Issue the following command to include CMR:

$JDIFFX,INCLUDE,CMR<CR><LF>

If you then issue $JDIFFX,INCLUDE<CR><LF> to query the current setting the

response may be (showing all included sources including CMR):

$>JDIFFX,INCLUDE,SBAS,RTCM2,EDIF,DFX,CMR,RTCM3,ROX

Additional

Information

For example, if an Eclipse II receiver with SBAS,Atlas, and RTK-base in the same application

(multi-diff) has no activeAtlas subscription:

The receiver triesAtlas high precision services and when it is not found, falls back

toAtlas DGPS service.

The receiver triesAtlas DGPS service and when it is not found, falls back to

WAAS.

No warnings when subscription has expired – user expects a certain levelof

accuracy withAtlas services, not SBAS level accuracy.

If you do not actively watch theAtlas service end date, you could potentially use SBAS without

knowing it. This command limits the differential sources to ensure a certain level of accuracy is

retained.

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Commands and Messages

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Commands and Messages

JDIFFX,SOURCE Command

Command

Type General Operation and Configuration

Description Query the receiver for the differential source

Command

Format

$JDIFFX,SOURCE<CR><LF>

Receiver

Response

$>JDIFFX,source

where 'source' is the differential source

Example Response ifAtlas is thedifferential source

$>JDIFFX,SOURCE,LBAND

Response if RTK is the differential source through Port B

$>JDIFFX,SOURCE,PORTB

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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Commands and Messages

JDIFFX,TYPE Command

Command

Type General Operation and Configuration

Description Query the receiver for the differential type

Command

Format

$JDIFFX,TYPE<CR><LF>

Receiver

Response

$>JDIFFX,TYPE,type

where 'type' is one of the following differential types:

•

NONE (no differential corrections)

•

CMR

•

DFX

•

EDIF

•

ROX

•

RTCM2

•

RTCM3

•

SBAS

Example Response if SBAS is the differential type

$>JDIFFX,TYPE,SBAS

Response if RTK (ROX) is the differential type

$>JDIFFX,TYPE,ROX

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

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Commands and Messages

JDISNAVMODE Command

Command

Type

General Operation and Configuration

Description Enable/disable Athena nav mode reporting in BIN1 and BIN3

messages.

Command

Format $JDISNAVMODE<CR><LF>

Receiver

Response

Response to querying the current setting

$> JDISNAVMODE[,DEFAULT][,PHOENIX]

Additional

Information

This setting is automatically saved and can be reset to default by sending $JRESET

Topic Last Updated: v1.08 / June 21, 2017

Response to issuing command to enable/disable detailed nav

mode display

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Commands and Messages

JEPHOUT,PERIODSEC Command

Command

Type General Operation and Configuration

Description to allow ephemeris messages (95, 65, 35) to go out a rate other than

when they change. This also does the same rate for the ionoutc

message 94. This is a global message and applies to all ephemeris

messages on all ports..

Command

Format Enable/disable the command

To enable this command

$JEPHOUT,1<CR><LF>

To disable this command:

$JEPHOUT,0<CR><LF>

Query the current setting

$JEPHOUT<CR><LF>

Receiver

Response Response to issuing command to enable/disable command

Response to querying the current setting If setting is currently enabled

the response is:

$>JEPHOUT,1

If setting is currently disabled the response is:

$>JEPHOUT,0

Additional ..

Information

Topic Last Updated: v1.07 / Octoter 13, 2016

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Commands and Messages

JETHERNET

JETHERNET Command Overview

The JETHERNET command is used to configure Ethernet settings on Ethernet-capable boards.

Command

Description

JETHERNET

Query current Ethernet configuration state

JETHERNET,MODE

Enable/Disable Ethernet

JETHERNET, PORTI

Enable/Disable PORTI virtual serial port

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

JETHERNET,MODE

Command

Type General Operation and Configuration

Description On receivers with Ethernet support, this command allows configuring how the receiver connects to a

network on the Ethernet interface.

Command

Format

$JETHERNET,MODE,OFF<CR><LF>

$JETHERNET,MODE,DHCP<CR><LF>

$JETHERNET,MODE,STATIC,IP,SUBNET[,GATEWAY[,DNS]]<CR><LF>

Where IP, SUBNET, GATEWAY, and DNS are the ip address, subnet

mask, gateway ip, and dns server ip respectively, in the standard

decimal notation.

Receiver

Response

$>JETHERNET,MODE,...<CR><LF>

Example To disable Ethernet support, one would use the command

$JETHERNET,MODE,OFF<CR><LF>

To enable Ethernet support in DHCP (automatic IP address assignment by the network) mode, use the following command.

$JETHERNET,MODE,DHCP<CR><LF>

To enable Ethernet support with a fixed IP address of 192.168.1.5, one could use the following command.

$JETHERNET,MODE,STATIC,192.168.1.5,255.255.255.0<CR><LF>

Additional

Information

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Commands and Messages

JETHERNET,PORTI

Command

Type General Operation and Configuration

Description This command configures the virtual serial port ‘PORTI’, which may be accessible via the Ethernet

interface. By default PORTI is disabled, but may be enabled on a specified TCP port using this

command.

Note that PORTI provides full access just as a local serial port would, without any authentication, so

should only be enabled on a trusted network.

Command

Format

$JETHERNET,PORTI,OFF<CR><LF>

$JETHERNET,PORTI,TCPPORT<CR><LF>

Where TCPPORT is a decimal number from 1 to 65535 representing the TCP port to listen for incoming

connections on.

Receiver

Response

$>JETHERNET,PORTI,...<CR><LF>

Where the response reflects the current configuration.

Example To disable the PORTI virtual serial port, one may use the command:

$>JETHERNET,PORTI,OFF<CR><LF>

To enable PORTI listening on TCP port 5000, one may use the following command:

$>JETHERNET,PORTI,5000<CR><LF>

Additional

Information

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JFLASH

JFLASH Command Overview

The JFLASH command is used to perform file operations via a USB flash drive on Eclipse and Eclipse II based

receivers.

Command

Description

JFLASH,DIR

Display the files on a USB flash drive

JFLASH,FILE,CLOSE

Close an open file on a USB flash drive

JFLASH,FILE,NAME

Open a specific file, append to a specific file, or display the file name of the open file

on a USB flash drive

JFLASH,FILE,OPEN

Create and open a file with an automatically generated file name on a USB flash

drive

JFLASH,FREESPACE

Display the free space in kilobytes (KB) on a USB flash drive

JFLASH,NOTIFY,CONNECT

Enable/disable the automatic response when a USB flash drive is inserted or

removed

JFLASH,QUERYCONNECT

Manually verify if a USB flash drive is connected or disconnected

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JFLASH,DIR Command

Command

Type General Operation and Configuration

Description Display the files on a USB flash drive

You can only display files at the root level of the flash drive (you cannot

navigate into subdirectories).

Command

Format

$JFLASH,DIR<CR><LF>

Receiver

Response

$>JFLASH,file1

$>JFLASH,file2

$>JFLASH,file3

...

$>JFLASH,filen

One line appears for each file at the root level of the flash drive.

Example If you issue the $JFLASH,DIR command and the root level of the flash

drive contains the following files:

hemi_1.bin, hemi_2.bin, hemi_3.bin

the response is:

$>JFLASH,hemi_1.bin

$>JFLASH,hemi_2.bin

$>JFLASH,hemi_3.bin

Additional

Information

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Commands and Messages

JFLASH,FILE,CLOSE Command

Command

Type General Operation and Configuration

Description Close an open file on a USB flash drive

Closing a file does not turn off the messages being written to the flash drive;

it just closes the file so you can safely remove the flash drive.

Caution: Close the file before removing the flash drive. Failure to do so may

corrupt the file.

Command

Format

$JFLASH,FILE,CLOSE<CR><LF>

Receiver

Response

$>JFLASH,CLOSE mass_storage:0:\filename

Example If you issue the $JFLASH,FILE,CLOSE command and the

'hemi_4.bin' file on the flash drive is currently open, the response is:

$>JFLASH,CLOSE mass_storage:0:\HEMI_4.BIN

Additional

Information

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Commands and Messages

JFLASH,FILE,NAME Command

Command

Type General Operation and Configuration

Description Open a specific file, append to a specific file, or display the file name of the

open file on a USB flash drive

Command

Format Open a specific file (overwrite or append)

$JFLASH,FILE,NAME,filename[,APPEND]<CR><LF>

where:

•

'filename' is the name of the file and it must be a legal 8.3

file name

•

',APPEND' is an optional field that allows you to append

data to the file

Display the name of the open file

$JFLASH,FILE,NAME<CR><LF>

Receiver

Response

$>JFLASH, OPEN mass_storage:0:\filename

Response from issuing command to display the name of the open file

$>JFLASH, mass_storage:0:\filename

If you attempt to display the name of the open file and no file is actually open

the response is:

$>JFLASH, NO FILE OPEN

Example If you issue the following command to open file hemi_4.bin on a USB flash

drive:

$JFLASH,FILE,NAME,hemi_4.bin<CR><LF>

the response is:

$>JFLASH, mass_storage:0:\HEMI_4.BIN

Additional

Information

Warning: Using this command without the ',Append' option overwrites the

existing file without warning.

Response from issuing command to open an existing file or append to an

existing file

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JFLASH,FILE,OPEN Command

Command

Type General Operation and Configuration

Description Create and open a file with an automatically generated file name (hemi_1.bin

… hemi_99.bin) on a USB flash drive (only 8.3 file format is allowed)

Command

Format

$JFLASH,FILE,OPEN<CR><LF>

Receiver

Response

$>JFLASH,OPEN mass_storage:0:\filename

where 'filename' is the name of the new file

Example If you issue the $JFLASH,FILE,OPEN command and the root level of

the flash drive contains the following files:

hemi_1.bin, hemi_2.bin, hemi_3.bin

the response is:

$>JFLASH,OPEN mass_storage:0:\HEMI_4.bin

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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JFLASH,FREESPACE Command

Command

Type General Operation and Configuration

Description Display the free space in kilobytes (KB) on a USB flash drive

You can use a flash drive larger than 4GB; however, this command will not

display a number greater than 4GB.

Command

Format

$JFLASH,FREESPACE<CR><LF>

Receiver

Response

$>JFLASH,FREESPACE, numbytes bytes

where 'numbytes' is the number of kilobytes

Example The following response indicates a USB flash drive with approximately 2GB

of free space.

$>JFLASH,FREESPACE, 2001731584 bytes

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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JFLASH,NOTIFY,CONNECT Command

Command

Type General Operation and Configuration

Description Enable/disable the automatic response when a USB flash drive is inserted or

removed (if port is not specified the response will be sent to the port that

issued the command)

Command

Format

$JFLASH,NOTIFY,CONNECT,r[,PORT]<CR><LF>

where:

•

'r' is the message status variable (0 = Off, 1 = On)

•

',PORT' is an optional field you use to specify the port to

which the response will be sent (if you do not specify a port,

the response is sent to the port from which you issued the

command)

Receiver

Response Response to issuing command to enable notification

Response to inserting a flash drive if notification is enabled

$>JFLASH,CONNECTED

Response to removing a flash drive if notification is enabled

$>JFLASH,DISCONNECTED

Additional

Information

Commands and Messages

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JFLASH,QUERYCONNECT Command

Command

Type General Operation and Configuration

Description Manually verify if a USB flash drive is connected or disconnected

Command

Format

$JFLASH,QUERYCONNECT<CR><LF>

Receiver

Response

$>JFLASH,CONNECTED

$>JFLASH,DISCONNECTED

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

Response to verifying the connection status of a flash drive if the flash drive

is connected

Response to verifying the connection status of a flash drive if the flash drive

is disconnected

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JFREQ Command

Command

Type

L-B

and

Description Tune the Atlas receiver (manually or automatically) or query the receiver for the current setting

Command

Format Tune the Atlas receiver To manually tune the receiver:

$JFREQ,freq,symb<CR><LF>

where:

•

'freq' is the frequency in kHz (reply is in MHz)

•

'symb' is the symbol baud rate (1200 or 2400)

Note: When manually tuning the receiver by entering the frequency ('freq') make sure you enter a decimal point before the last

digit for any frequencies that are to .5 Hz (see table in Additional Information section below).

Examples:

Correct: $JFREQ,1557835,1200 (1,557,835 Hz, no decimal required)

Correct: $JFREQ,1539962.5,600 (1,539,962.5 Hz, decimal required)

Incorrect: $JFREQ,15399625,600 (1,539,962.5 Hz, decimal required)

To auto-tune the receiver:

$JFREQ,0<CR><LF>

Note: You must restart theAtlas receiver (either by cycling power to theAtlas receiver or by issuing the JBOOT,LBAND

command) for changes to take effect.

Query the current setting

$JFREQ<CR><LF>

Receiver

Response Response to issuing command to tune receiver

Response to querying the current setting

$>JLBEAM,Sent sfreq,Used ufreq,Baud baud,Geolon[,AUTO]

where:

Response

Componen

Description

sfreq

Frequency to which theAtlas receiver is instructed to tune (in this example, 1557.8550 MHz)

ufreq

Frequency to which theAtlas receiver is tuned

baud

Baud rate of the signals being received

lon

Approximate longitude of the geostationary satellite to which theAtlas receiver is tuned

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Example Manually Tune a Frequency (command and response)

$JFREQ,1557835,1200

Auto-Tune a Frequency based on Geographic Location (command and response)

$JFREQ,0

Query a Manually Tuned Receiver (response)

$>JLBEAM,Sent 1557.8350,Used 1557.8350,Baud 1200,Geo -101

Query an Auto-Tuned Receiver (response)

$>JLBEAM,Sent 1557.8550,Used 1557.8550,Baud 1200,Geo -101,AUTO

Additional

Information

The status of this command is also output when issuing the JSHOW command.

The following table provides frequency information for the Atlas satellites. This information is subject to change. Visit your

Atlas service provider's website for up-to-date satellite constellation and broadcast information.

Coverage

Area

Frequency

Baud Rate

Satellite Name

North and

South

America

1545.5300

600

AMERICAS

Asia-Pacific

1539.8525

600

APAC

Europe,

Middle East

and Africa

1540.9525

600

EMEA

If you are already locked onto an Atlas signal, you will need to break the lock on the Atlas satellite before JFREQ will

manually tune to your new signal. To do this, either disconnect the antenna momentarily, cycling power to the receiver,

issuing the JBOOT,OMNI command, or block signal to the antenna physically, for example by covering it with something

metallic.

[Optional Field]

'AUTO' appears at the end of the query response only when the L-band receiver is in ‘auto-tune’

mode.

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Topic Last Updated: v1.04 / May 29, 2012

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JATLAS,LIMIT Command

Command

Type

L-C

and

Description When using Atlas, configure the accuracy threshold for when the GPGGA quality indicator reports a Fix.

Command

Format $JATLAS,LIMIT,[OPTION],[THRESHOLD],SAVE<CR><LF>

where:

•

[THRESHOLD] is in meters

•

The SAVE field is optional. However, if omitted this setting will not survive a power cycle. $JSAVE does not save this

setting.

•

Options are 3D, HORI, or VERT

To configure the receiver so that it reports an RTK fix when the Atlas solution has converged to 3D accuracy of 30cm, send:

$JATLAS,LIMIT,3D,0.3,SAVE<CR><LF>

Query the current setting

$JATLAS,LIMIT<CR><LF>

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Receiver Response

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Response to issuing command to tune receiver

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JFORCEAPP Command

Command

Type General Operation and Configuration Commands

Description Force an application to be used in a multi-application (MFA)

Note: This command is not saved; it is only for the current session.

Command

Format Force an application to be used

$JFORCEAPP,app<CR><LF>

where 'app' is one of the following applications:

•

AUTO = allow automatic selection of the application in the

MFA (default setting)

•

RTK

•

SBAS

Query the current setting

$JFORCEAPP<CR><LF>

Receiver

Response Response to issuing command to force an application to be used

Response to querying the current setting

If currently set to SBAS the response is:

$>JFORCEAPP,SBAS

Example

Additional

Information

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Commands and Messages

JGEO Command

Command

Type SBAS

Description Display information related to the current frequency of SBAS and its location in relation to the receiver’s antenna

Command

Format

$JGEO[,ALL]<CR><LF>

where ',ALL' is an optional field that displays information for all SBAS satellites (including those not being used)

Receiver

Response

$>JGEO,SENT=1575.4200,USED=1575.4200,PRN=prn,LON=lon,EL=ele,AZ=az

where:

Response

Component

Description

JGEO

Message header

Sent=1575.4200

Frequency sent to the digital signal processor

Used=1575.4200

Frequency currently used by the digital signal processor

PRN=prn

WAAS satellite PRN number

Lon=-lon

Longitude of the satellite

El=ele

Elevation angle from the receiver antenna to the WAAS satellite, reference to the horizon

AZ=az

Azimuth from the receiver antenna to the WAAS satellite, reference to the horizon

Example To display information related to the current frequency of SBAS issue the following command:

$JGEO[,ALL]<CR><LF>

The response is then:

$>JGEO,SENT=1575.4200,USED=1575.4200,PRN=122,LON=-54,EL=9.7,AZ=114.0

To display information for dual SBAS satellites issue the following command:

$JGEO[,ALL]<CR><LF>

The response is:

$>JGEO,SENT=1575.4200,USED=1575.4200,PRN=122,LON=-54,EL=9.7,AZ=114.0

$>JGEO,SENT=1575.4200,USED=1575.4200,PRN=134,LON=178,EL=5.0,AZ=252.6

The first line of output is identical to the output from the first JGEO query above; however, the second line of output provides

information on the WAAS satellite not being currently used. Both lines of output follow the same format.

Additional

Information

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JI Command

Commands and Messages

Command

Type General Operation and Configuration

Description Display receiver information, such as its serial number and firmware version

Command

Format

$JI<CR><LF>

Receiver

Response

$>JI,SN,FLT,HW,PROD,SDATE,EDATE,SW,DSP<CR><LF>

where:

Response

Component

Description

Serial number of the GPS engine

FLT

Fleet number

Hardware version

PROD

Production date code

SDATE

Subscription begin date

EDATE

Subscription expiration date

Application software version number

DSP

DSP version (only valid for Atlas applications)

Example From a Crescent Vector:

$>JI,452204,1,7,02122009,01/01/1900,01/01/3007,1.5Pa,46

From a Crescent with Atlas:

$>JI,883765,1,7,12052010,01/06/1980,06/30/2011,4.9Pa,11

Additional

Information

Topic Last Updated: v1.09 / January 8, 2018

Commands and Messages

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JK Command

Command

Type General Operation and Configuration

Description Subscribe the receiver to various options, such as higher update rates, e-Dif

(or base station capability) or L-Dif

Query for the current subscription expiration date when running Atlas

application or the receiver subscription code when running all other

applications

Command

Format Subscribe the receiver to specific options

$JK,x…<CR><LF>

where 'x…' is the subscription key provided by Hemisphere GNSS and is 10

characters in length

Query the current setting

$JK<CR><LF>

Receiver

Response Response to issuing command to subscribe

Response to querying the current setting when running Atlas applications

$>JK,EndDate,1HzOnly

where:

•

'EndDate' is the subscription end date

•

'1HzOnly' has a value of 1 if the receiver is limited to 1 Hz output (if

the receiver is subscribed to a minimum of 10 Hz output this field is

omitted)

Response to querying the current setting when running all other applications

$>JK,DateCode,SubscriptionCode,DowngradeCode

where:

•

'DateCode' indicates your subscription information (compare last

four digits of Date Code to determine your subscription and see the

Example section below and the examples in Understanding

Additive Codes)

•

'SubscriptionCode' is the hex equivalent of the Date Code

•

'DowngradeCode' is the output rate in Hertz indicating a

downgrade from the default of 10 Hz (if 1, 2 or 5 does not appear

the output rate is the default 10 Hz)

Example If you query the receiver for the current setting when running A t l a s

applications the response will appear similar to the following:

$>JK,06/30/2011,0

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If you query the receiver for the current setting when running any other

application the response will appear similar to the following (Crescent Vector

example response shown). Example shows no downgrade code (using

default output rate of 10 Hz).

$>JK,01/01/3007,7

Additional

Information

Interpreting the $JK 'Date'/Subscription Codes

Last Updated: v1.09 / January 8, 2018

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Commands and Messages

JK,SHOW Command

Command

Type General Operation and Configuration

Description contain authorization information

Command

Format

$JK,SHOW<CR><LF>

Receiver

Response

$>JK,SHOW,0,SUBOPT,ENDDATE,0,OPT=,SUBSCRIPTION DESCRTIPTION,<CR><LF>

where:

Response

Component

Description

UNKNOWN

SUBOPT

Subscription code (see Interpreting the $JK 'Date'/Subscription Codes to determine the meaning of the

subscription code)

END DATE

The subscription end date

UNKNOWN

OPT=

Subscription

Description

X HZ

The maximum data rate .

EDIF

Supports EDIF function .

RTK

Supports RTK function.

BASE

Supports RTK base function.

RAW_DATA

Supports the RAW data output .

L2_L5

Supports other frequencies besides L1.

MULTI_GNSS

Supports other satellite system besides GPS.

BEIDOUB3

Supports B3 frequencie.

ATLAS_LBAND

Supports receive ATLAS/China CM signal .

ATLAS_Xcm

The most accurate accuracy by ATLAS/China CM.

Example :

$>JK,SHOW,0,157F,12/31/2016,0,OPT=,20HZ,EDIF,RTK,BASE,RAW_DATA,L2_L5,

MULTI_ GNSS,BEIDOUB3,ATLAS_LBAND,ATLAS_30cm

Additional Interpreting the $JK 'Date'/Subscription Codes

Information

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JLBEAM Command

Command

Type L-Band

Description Display the information of each spot beam currently in use by the Atlas receiver

Command

Format

$JLBEAM<CR><LF>

Receiver

Response

$>JLBEAM,Sent freq,Used freq,Baud xxx,Geo xxx (1)

$>JLBEAM,freq1,lon1,lat1,baud1,satlon1

(2)

$>JLBEAM,freqn,lonn,latn,baudn,satlonn

where:

Response

Component

Description

"Sent" freq

Frequency sent to the digital signal processor (DSP)

"Used" freq

Frequency currently being used by the digital signal processor (DSP)

"Baud"

xxxx

Currently used baud rate of the acquired signal

"Geo" xxx

Currently used satellites longitude (in degrees)

The output second line components are described in the following table:

Response

Component

Description

freq

Frequency of the spot beam

lon

Longitude of the center of the spot beam (in degrees)

lat

Latitude of the center of the spot beam (in degrees)

baud

Baud rate at which this spot beam is modulated

satlon

Satellites longitude (in degrees)

Example $>JLBEAM,Sent 1551.4890,Used 1551.4890,Baud 1200,Geo -101

$>JLBEAM,1556.8250,-88,45,1200,(-101)

$>JLBEAM,1554.4970,-98,45,1200,(-101)

$>JLBEAM,1551.4890,-108,45,1200,(-101)

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$>JLBEAM,1531.2300,25,50,1200,(16)

$>JLBEAM,1535.1375,-75,0,1200,(-98)

$>JLBEAM,1535.1375,-165,13,1200,(-98)

$>JLBEAM,1535.1525,20,6,1200,(25)

$>JLBEAM,1558.5100,135,-30,1200,(160)

$>JLBEAM,1535.1375,90,15,1200,(109)

$>JLBEAM,1535.1375,179,15,1200,(109)

Additional

Information

Topic Last Updated: v1.00 / August 11, 2010

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JLIMIT Command

Commands and Messages

Command

Type General Operation and Configuration

Description Set the threshold of estimated horizontal performance for which the DGPS

position LED is illuminated or query the current setting.

Command

Format Set the threshold of estimated horizontal performance

$JLIMIT,limit<CR><LF>

where 'limit' is the new limit in meters

Query the current setting

$JLIMIT<CR><LF>

Receiver

Response $>

$>JLIM,RESID,LIMIT

where 'LIMIT' is the limit in meters

Example To set the threshold to 5 m issue the following command:

$JLIMIT,5<CR><LF>

If you then query the receiver with $JLIMIT<CR><LF> the response is:

$JLIM,RESID,5.00

Additional

Information

The default value for this parameter is a conservative 10.00 m.

The status of this command is also output in the JSHOW message.

Topic Last Updated: v1.02 / January 25, 2011

Receiver response when querying the current threshold of estimated

horizontal performance

Receiver response when setting the threshold of estimated horizontal

performance

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JLXBEAM Command

Command

Type

L-B

and

Description Display spot beam debug information

Command

Format

$JLXBEAM<CR><LF>

Receiver

Response

$>JLBEAMEX

$> Beam:1,DDSfreq1,symbol1,lon1,lat1,lonrad1,latrad1,beamrot1,satlon1,*

$> Beam:2,DDSfreq2,symbol2,lon2,lat2,lonrad2,latrad2,beamrot2,satlon2,*

$> Beam:n,DDSfreqn,symboln,lonn,latn,lonradn,latradn,beamrotn,satlonn,*

where:

Response

Component

Description

DDSfreq

DDS frequency

symbol

Symbol rate used for that particular spot beam

lon

Longitude of the spot beam centroid

lat

Latitude of the spot beam centroid

lonrad

Longitude radius of the spot beam

latrad

Latitude radius of the spot beam

beamrot

Rotation angle of the spot beam

satlon

Longitude of the Atlas satellite

Reserved

Example $>JLBEAMEX

$> Beam:22,1535125000,600,-26,40,2,41,0,9999,*

$> Beam:21,1535157500,600,65,30,31,18,-21,64,*

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Beam:13,1535185000,1200,136,-25,23,28,-40,144,*

Beam:13,1535185000,1200,172,-40,13,26,-26,144,*

Beam:24,1557835000,1200,-100,49,6,28,0,-101,*

Beam:24,1557835000,1200,-101,66,12,6,0,-101,*

Beam:25,1557845000,1200,-74,52,12,30,-30,-101,*

Beam:26,1557855000,1200,-122,45,11,30,25,-101,*

Beam:8,1535137500,1200,-85,2,30,20,-5,-98,*

Beam:8,1535137500,1200,-60,-25,34,36,-20,-98,*

Beam:4,1535137500,1200,109,2,14,19,-27,109,*

Beam:4,1535137500,1200,140,38,27,51,-56,109,*

Beam:7,1537440000,1200,23,-2,29,49,50,25,*

Beam:7,1537440000,1200,14,59,41,23,34,25,*

Beam:7,1537440000,1200,11,28,17,24,0,25,*

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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JMASK Command

Command

Type GPS

Description Specify the elevation cutoff mask angle for the GPS engine

Any satellites below this mask angle will be ignored even if available. The

default angle is 5° because satellites available below this angle will have

significant tropospheric refraction errors.

Command

Format

$JMASK,e<CR><LF>

where the elevation mask cutoff angle 'e' may be a value from 0 to 60°

Receiver $>

Response

Example To specify the elevation cutoff mask angle to 10° issue the following

command:

$JMASK,10<CR><LF>

Additional

Information

To query the receiver for the current setting, issue the JSHOW command.

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JMODE

JMODE Overview

The JMODE command is used to control various GPS tracking parameters.

Command

Description

JMODE

Query receiver for status of JMODE settings

JMODE,BASE

Enable/disable base mode functionality or query the current setting

JMODE,BDSOFF

Set the receiver to use BDS data in the solution

JMODE,FIXLOC

Set the receiver to not re-average (or re-average) its position or query the current

setting

JMODE,FOREST

Enable/disable high gain functionality (for tracking under canopy) or query the

current setting

JMODE,GLOFIX

Enable/disable use of RTCM v3 (RTK) GLONASS correctors

JMODE,GLOOFF

Set the receiver to use GLONASS data in the solution

JMODE,GPSOFF

Set the receiver to use GPS data in the solution

JMODE,GPSONLY

Set the receiver to use GPS data in the solution or query the current setting (if

GLONASS is available, setting to YES will cause the receiver to only use GPS

data)

JMODE,L1ONLY

Set the receiver to use L1 data even if L2 data is available or query the current

setting

JMODE,MIXED

Include satellites that do not have DGPS or SBAS corrections in the solution

JMODE,NULLNMEA

Enable/disable output of NULL fields in NMEA 0183 messages when no there is no

fix (when position is lost)

JMODE,SBASNORTK

Disable/enable the use of SBAS ranging signals (carrier phase) in RTK

JMODE,SBASR

Enable/disable SBAS ranging or query the current setting

JMODE,STRICTRTK

Use this command to invoke stricter checks on whether RTK fix is declared. Forces

float of RTK at 30 seconds of Age-of-Diff

JMODE,SURETRACK

Enable/disable SureTrack functionality (default is enabled) or query the current

setting

JMODE,SURVEY

Assure RTK fix is not declared when residual errors exceed 10 cm. Also forces

use of GLONASS and prevents SureTrack operation

JMODE,TIMEKEEP

Enable/disable continuous time updating in NMEA 0183 messages when there is

no fix (when position is lost) or query the current setting

JMODE,TUNNEL

Enable/disable faster reacquisition after coming out of a tunnel or query the current

setting

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Commands and Messages

JMODE Command

Command

Type General Operation and Configuration

Description Query receiver for status of JMODE settings

Command

Format

$JMODE<CR><LF>

Receiver

Response

$>JMODES[,BASE][,FIXLOC][,FOREST][,GLOFIX][,GPSONLY][,L1ONLY][,MIXED]

[,NULLNM

Example If FOREST and TUNNEL are set to ON and all others ( MIXED, NULLNMEA, SBASR, and TIMEKEEP) are set to OFF and

you issue

$JMODES,TUNNEL,FOREST

If all features are set to OFF and you issue the JMODE command the receiver response willbe:

$JMODES

Additional

Information

The status of this command is also output in the JSHOW response. For example, if TUNNEL is set to ON and all other

JMODE option

$>JSHOW,MODES,TUNNEL

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Commands and Messages

JMODE,BASE Command

Command

Type General Operation and Configuration, Local Differential and RTK Commands

Description Enable/disable base mode functionality or query the current setting

•

If base mode is NO (disabled) and the receiver is receiving RTK corrections, these corrections are

echoed out when RTK corrections (ROX, RTCM3, CMR) are requested

•

If base mode is YES (enabled), the receiver computes its own corrections, regardless of whether or

not it is receiving RTK corrections from another source

Command

Format Enable/disable base mode

To enable base mode:

$JMODE,BASE,YES<CR><LF>

To disable base mode:

$JMODE,BASE,NO<CR><LF>

Query the current setting

$JMODE,BASE<CR><LF>

Receiver

Response Response to issuing command to enable/disable base mode

Response to querying the current setting

If base mode is currently enabled the response is:

$>JMODE,BASE,YES

If base mode is currently disabled the response is:

$>JMODE,BASE,NO

Example

Additional

Information

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Commands and Messages

JMODE,BDSOFF Command

Command

Type General Operation and Configuration

Description Set the receiver to use BDS data in the solution

Command

Format Close/Open BDS operation

Close BDS operation:

$JMODE,BDSOFF,YES<CR><LF>

Open BDS operation:

$JMODE,BDSOFF,NO<CR><LF>

Receiver

Response Response to issuing command to turn enable/disable BDS operation

Response to querying the current setting

If BDS operation is currently enabled the response is:

$>JMODE,BDSOFF,YES

If BDS operation is currently disabled the response is:

$>JMODE,BDSOFF,NO

Additional

Information

Topic Last Updated: v1.07 / Octoter 13, 2016

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Commands and Messages

JMODE,FIXLOC Command

Command

Type General Operation and Configuration

Description Set the receiver to not re-average (or re-average) its position or query the

current setting.

$JMODE,FIXLOC,YES assure that the BASE will not re-average its

position. Good for permanent installations.

Command

Format Enable/disable position re-averaging

To set receiver to not re-average its position:

$JMODE,FIXLOC,YES<CR><LF>

To set receiver to re-average its position:

$JMODE,FIXLOC,NO<CR><LF>

Query the current setting

$JMODE,FIXLOC<CR><LF>

Receiver

Response Response to issuing command to enable/disable position re-averaging

Response to querying the current setting

If setting is currently enabled (no position re-averaging) the response is:

$>JMODE,FIXLOC,YES

If setting is currently disabled (position re-averaging enabled) the response

is:

$>JMODE,FIXLOC,NO

Example

Additional

Information

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Commands and Messages

JMODE,FOREST Command

Command

Type General Operation and Configuration

Description Enable/disable high gain functionality (for tracking under canopy) or query the

current setting.

This command is useful if you are trying to maximize the likelihood of

calculating a position, but are willing to sacrifice accuracy. See also

JMODE,MIXED.

Command

Format Enable/disable high gain functionality

To enable high gain functionality:

$JMODE,FOREST,YES<CR><LF>

To disable high gain functionality:

$JMODE,FOREST,NO<CR><LF>

Query the current setting

$JMODE,FOREST<CR><LF>

Receiver

Response Response to issuing command to turn functionality on/off

Response to querying the current setting

If high gain functionality is currently enabled the response is:

$>JMODE,FOREST,YES

If high gain functionality is currently disabled the response is:

$>JMODE,FOREST,NO

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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Commands and Messages

JMODE,GLOFIX

Command

Type General Operation and Configuration

Description Enable/disable use of RTCM v3 (RTK) GLONASS correctors.

GLOFIX does not affect CMR or ROX (CMR does not have GLONASS, and

ROX correctors are always used regardless of the GLOFIX setting) and

SureTrack is automatically used for any satellite that does not have

GLONASS correctors.

Command

Format Enable/disable use of RTCM v3 GLONASS correctors

To enable use of RTCM v3 GLONASS correctors:

$JMODE,GLOFIX,YES<CR><LF>

To disable use of RTCM v3 GLONASS correctors:

$JMODE,GLOFIX,NO<CR><LF>

Query the current setting

$JMODE,GLOFIX<CR><LF>

Receiver

Response Response to issuing command to turn functionality on/off

Response to querying the current setting

If use of RTCM v3 GLONASS correctors is currently enabled the response is:

$>JMODE,GLOFIX,YES

If use of RTCM v3 GLONASS correctors is currently disabled the response

is:

$>JMODE,GLOFIX,NO

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

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Commands and Messages

JMODE,GLOOFF Command

Command

Type General Operation and Configuration

Description Set the receiver to use GLONASS data in the solution

Command

Format Close/Open GLONASS operation

Close GLONASS operation:

$JMODE,GLOOFF,YES<CR><LF>

Open GLONASS operation:

$JMODE,GLOOFF,NO<CR><LF>

Receiver

Response Response to issuing command to turn enable/disable GLONASS operation

Response to querying the current setting

If GLONASS operation is currently enabled the responseis:

$>JMODE,GLOOFF,NO

If GLONASS operation is currently disabled the response is:

$>JMODE,GLOOFF,YES

Additional

Information

Topic Last Updated: v1.07 / Octoter 13, 2016

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Commands and Messages

JMODE,GPSOFF Command

Command

Type General Operation and Configuration

Description Set the receiver to use GPS data in the solution or query the current setting

Command

Format Close/Open GPS operation

Close GPS operation:

$JMODE,GPSOFF,YES<CR><LF>

Open GPS operation:

$JMODE,GPSOFF,NO<CR><LF>

Receiver

Response Response to issuing command to turn enable/disable GPS-only operation

Response to querying the current setting

If GPS-only operation is currently enabled the response is:

$>JMODE,GPSONLY,YES

If GPS-only operation is currently disabled the response is:

$>JMODE,GPSONLY,NO

Additional

Information

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

JMODE,GPSONLY Command

Command

Type General Operation and Configuration

Description Set the receiver to use GPS data in the solution or query the current setting (if

GLONASS is available, setting to YES will cause the receiver to only use

GPS data)

Command

Format Enable/disable GPS-only operation

Enable GPS-only operation:

$JMODE,GPSONLY,YES<CR><LF>

Disable GPS-only operation (use GLONASS as well if available):

$JMODE,GPSONLY,NO<CR><LF>

Query the current setting

$JMODE,GPSONLY<CR><LF>

Receiver

Response Response to issuing command to turn enable/disable GPS-only operation

Response to querying the current setting

If GPS-only operation is currently enabled the response is:

$>JMODE,GPSONLY,YES

If GPS-only operation is currently disabled the response is:

$>JMODE,GPSONLY,NO

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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Commands and Messages

JMODE,L1ONLY Command

Command

Type General Operation and Configuration

Description Set the receiver to use L1 data even if L2 data is available or query the

current setting:

•

When set to YES receiver will use Atlas DGPS service or

L1 RTK

•

When set to NO receiver will use Atlas high precision

services or L1/L2 RTK

Command

Format Set receiver to use/not use L1 data even if L2 data is available

To use L1 data (even if L2 data is available):

$JMODE,L1ONLY,YES<CR><LF>

To use L2 data if it is available:

$JMODE,L1ONLY,NO<CR><LF>

Query the current setting

$JMODE,L1ONLY<CR><LF>

Receiver

Response Response to issuing command to turn functionality on/off

Response to querying the current setting

If the receiver is currently using L1 data only even if L2 data is available the

response is:

$>JMODE,L1ONLY,YES

If the receiver is currently using L2 data if it is available the response is:

$>JMODE,L1ONLY,NO

Additional

Information

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

Response to issuing command to include/exclude satellites without DGPS or

SBAS corrections

JMODE,MIXED Command

Command

Type General Operation and Configuration

Description Include satellites that do not have DGPS or SBAS corrections in the solution

or query the current setting

This command is useful if you are trying to maximize the likelihood of

calculating a position, but are willing to sacrifice accuracy. See also

JMODE,FOREST.

Command

Format To include/exclude satellites without DGPS or SBAS corrections

To include satellites without DGPS or SBAScorrections:

$JMODE,MIXED,YES<CR><LF>

To exclude satellites without DGPS or SBAS corrections:

$JMODE,MIXED,NO<CR><LF>

Query the current setting

$JMODE,MIXED<CR><LF>

Receiver

Response

Response to querying the current setting

If satellites without differential corrections are currently included the response

is:

$>JMODE,MIXED,YES

If satellites without differential corrections are currently excluded the

response is:

$>JMODE,MIXED,NO

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

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Page 234

JMODE,NULLNMEA Command

Command

Type General Operation and Configuration

Description Enable/disable output of NULL fields in NMEA 0183 messages when no there is no fix (when position is lost) or

query the current setting

This only applies to position portion of the messages; it does not affect the time portion of the message. If this

setting is disabled and position is lost then the positioning parameters of the message from the most recent known

position are repeated (instead of being NULL if enabled).

Command

Format Enable/disable output of NULL fields in NMEA 0183 messages

To enable output:

$JMODE,NULLNMEA,YES<CR><LF>

To disable output:

$JMODE,NULLNMEA,NO<CR><LF>

Query the current setting

$JMODE,NULLNMEA<CR><LF>

Receiver

Response Response to issuing command to enable/disable output of NULL fields in NMEA 0183 messages

Response to querying the current setting

If setting is currently enabled the response is:

$>JMODE,NULLNMEA,YES

If setting is currently disabled the response is:

$>JMODE,NULLNMEA,NO

Example If the most recent GPGGA message is as follows:

$GPGGA,220715.00,3333.4254353,N,11153.3506065,W,2,10,1.0,406.614,M,-

26.294,M,6.0,1001*70

...and then position is lost and JMODE,NULLNMEA is set to NO the GPGGA message repeats as follows (most

recent known values do not change):

$GPGGA,220715.00,3333.4254353,N,11153.3506065,W,2,10,1.0,406.614,M,-

26.294,M,6.0,1001*70

For the same message, if position is lost and JMODE,NULLNMEA is set to YES the GPGGA message repeats as

follows (position parameters are NULL):

$GPGGA,220716.00,,,,,0,,,,M,,M,,*48

Additional

Commands and Messages

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Information

Topic Last Updated: v1.03 / January 11, 2012

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Response to issuing command to disable/enable the use of SBAS ranging

signals in RTK

JMODE,SBASNORTK Command

Command

Type General Operation and Configuration

Description Disable/enable the use of SBAS ranging signals (carrier phase) in RTK

Command

Format Disable/enable use of SBAS ranging signals in RTK

To disable use of SBAS ranging signals in RTK:

$JMODE,SBASNORTK,YES<CR><LF>

To enable use of SBAS ranging signals in RTK:

$JMODE,SBASNORTK,NO<CR><LF>

Query the current setting

$JMODE,SBASNORTK<CR><LF>

Receiver

Response

Response to querying the current setting

If current setting is to disable SBAS ranging the response is:

$>JMODE,SBASNORTK,YES

If current setting is to enable SBAS ranging the response is:

$>JMODE,SBASNORTK,NO

Example

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

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JMODE,SBASR Command

Command

Type General Operation and Configuration

Description Enable/disable SBAS ranging or query the current setting

Command

Format Enable/disable SBAS ranging

To enable SBAS ranging:

$JMODE,SBASR,YES<CR><LF>

To disable SBAS ranging:

$JMODE,SBASR,NO<CR><LF>

Query the current setting

$JMODE,SBASR<CR><LF>

Receiver

Response Response to issuing command to enable/disable SBAS ranging

Response to querying the current setting

If setting is currently enabled the response is:

$>JMODE,SBASR,YES

If setting is currently disabled the response is:

$>JMODE,SBASR,NO

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

Commands and Messages

Topic Last Updated: v1.04 / May 29, 2012

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JMODE,STRICTRTK Command

Command

Type General Operation and Configuration

Description Use this command to invoke stricter checks on whether RTK fix is

declared. Forces float of RTK at 30 seconds of Age-of-Diff

Command

Format Enable/disable STRICTRTK functionality

To enable STRICTRTK functionality:

$JMODE,STRICTRTK,YES<CR><LF>

To disable STRICTRTK functionality:

$JMODE,STRICTRTK,NO<CR><LF>

Query the current setting

$JMODE,SURETRACK<CR><LF>

Receiver

Response $> Response to issuing command to enable/disable command

Response to querying the current setting

If setting is currently enabled the response is:

$>JMODE,STRICTRTK,YES

If setting is currently disabled the response is:

$>JMODE,STRICTRTK,NO

Additional

Information

This mode is not saved between power cycles..

Commands and Messages

Topic Last Updated: v1.04 / May 29, 2012

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JMODE,SURETRACK Command

Command

Type General Operation and Configuration

Description Enable/disable SureTrack functionality (default is enabled) or query the

current setting

Command

Format Enable/disable SureTrack functionality

To enable SureTrack functionality:

$JMODE,SURETRACK,YES<CR><LF>

To disable SureTrack functionality:

$JMODE,SURETRACK,NO<CR><LF>

Query the current setting

$JMODE,SURETRACK<CR><LF>

Receiver

Response $>

Response to querying the current setting

If setting is currently enabled the response is:

$>JMODE,SURETRACK,YES

If setting is currently disabled the response is:

$>JMODE,SURETRACK,NO

Additional

Information

Response to issuing command to enable/disable SureTrack functionality

Commands and Messages

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Current Version: v1.09/December 217, 20217

Page 240

Response to issuing command to enable/disable command

JMODE,SURVEY Command

Command

Type General Operation and Configuration

Description Assure RTK fix is not declared when residual errors exceed 10 cm. Also

forces use of GLONASS and prevents SureTrack operation.

Command

Format Enable/disable continuoustime updating

To enable this command

$JMODE,SURVEY,YES<CR><LF>

To disable this command:

$JMODE,SURVEY,NO<CR><LF>

Query the current setting

$JMODE,SURVEY<CR><LF>

Receiver

Response $>

Response to querying the current setting

If setting is currently enabled the response is:

$>JMODE,SURVEY,YES

If setting is currently disabled the response is:

$>JMODE,SURVEY,NO

Additional

Information

This mode is not saved between power cycles (for now)..

Topic Last Updated: v1.07 / Octoter 13, 2016

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Page 241

JMODE,TIMEKEEP Command

Command

Type General Operation and Configuration

Description Enable/disable continuous time updating in NMEA 0183 messages when

there is no fix (when position is lost) or query the current setting

When position is lost the time is the only parameter in the message that

continues to update; all other parameters remain the same.

Command

Format Enable/disable continuoustime updating

To enable continuous time updating:

$JMODE,TIMEKEEP,YES<CR><LF>

To disable continuous time updating:

$JMODE,TIMEKEEP,NO<CR><LF>

Query the current setting

$JMODE,TIMEKEEP<CR><LF>

Receiver

Response Response to issuing command to enable/disable continuous time updating

Response to querying the current setting

If setting is currently enabled the response is:

$>JMODE,TIMEKEEP,YES

If setting is currently disabled the response is:

$>JMODE,TIMEKEEP,NO

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

Commands and Messages

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Page 242

JMODE,TUNNEL Command

Command

Type General Operation and Configuration

Description Enable/disable faster reacquisition after coming out of a tunnel or query the

current setting

Command

Format Enable/disable faster reacquisition after coming out of a tunnel

To enable faster reacquisition:

$JMODE,TUNNEL,YES<CR><LF>

To disable faster reacquisition:

$JMODE,TUNNEL,NO<CR><LF>

Query the current setting

$JMODE,TUNNEL<CR><LF>

Receiver

Response Response to issuing command to turn functionality on/off

Response to querying the current setting

If setting is currently enabled the response is:

$>JMODE,TUNNEL,YES

If setting is currently disabled the response is:

$>JMODE,TUNNEL,NO

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

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JMSG99 Command

Type Vector

Description Change the output in the Bin99 message to be from the specified antenna

Format $JMSG99,0

where '0' is used view the primary antenna SNR (default)

$JMSG99,1

where '1' is used view the secondary antenna SNR

Receiver $>

Response

Other

Topic Last Updated: v1.06 / March 10, 2015

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JNMEA

JNMEA,GGAALLGNSS Command

Command

Type GLONASS

Description Configure the GGA string to include full GNSS information (the number of

used GNSS satellites will be included in the GPGGA message) orquery the

current setting

The GGA message is only supposed to report position and satellite

information based on the GPS constellation. The combined constellation

position and satellite data should be reported in the GNSS message, but

some users with older equipment cannot utilize this message. This

command allows users with older equipment that require a GGA message

to be able to utilize and take advantage of the larger constellation of GNSS

satellites.

Command

Format Include/exclude full GNSS information in GGA string

To include full GNSS information in GGA string:

$JNMEA,GGAALLGNSS,YES<CR><LF>

To exclude full GNSS information from GGA string:

$JNMEA,GGAALLGNSS,NO<CR><LF>

Query the current setting

$JNMEA,GGAALLGNSS<CR><LF>

Receiver

Response Include/exclude full GNSS information in GGA string

Query the current setting

If set to yes, querying the current setting returns the following:

$>JNMEA,GGAALLGNSS,YES

If set to no, querying the current setting returns the following:

$>JNMEA,GGAALLGNSS,NO

Additional

Information

Topic Last Updated: v1.07 February 16, 2017

Commands and Messages

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JNMEA,PRECISION Command

Command

Type GPS, Local Differential and RTK, L-Band

Description Specify or query the number of decimal places to output in the GPGGA,

GPGLL, and GPGNS messages or query the current setting

Command

Format Specify the number of decimal places

$JNMEA,PRECISION,x<CR><LF>

where 'x' specifies the number of decimal places from 1 to 8

Query the current setting

$JNMEA,PRECISION<CR><LF>

Receiver

Response Specify the precision

Query the current setting

$>JNMEA,PRECISION,x

where 'x' refers to the number of decimal places to output

Additional

Information

When using RTK orAtlas high precision services, Hemisphere GNSS

recommends you set JNMEA,PRECISION to at least 7 decimal places. High

accuracy positioning techniques require at least 7 decimal places to maintain

millimeter (mm) accuracy.

This command is the same as JNP.

Topic Last Updated: v1.07 / February 16, 2017

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JNP Command

Command

Type GPS, Local Differential and RTK, L-Band

Description Specify or query the number of decimal places to output in the GPGGA,

GPGLL, and GPGNS messages or query the current setting

Command

Format Specify the number of decimal places

$JNP,x<CR><LF>

where 'x' specifies the number of decimal places from 1 to 8

Query the current setting

$JNP<CR><LF>

Receiver

Response Specify the number of decimal places to output

Query the current setting

$>JNP,x

where 'x' refers to the number of decimal places to output

Additional

Information

When using RTK or Atlas high precision services, Hemisphere GNSS

recommends you set JNP to at least 7 decimal places. High accuracy

positioning techniques require at least 7 decimal places to maintain millimeter

(mm) accuracy.

This command is the same as JNMEA,PRECISION.

Topic Last Updated: v1.07 / February 16, 2017

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JOFF

JOFF Command

Command

Type GPS

Description Turn off all data messages being output through the current port or other port

(or Port C), including any binary messages such as Bin95 and Bin96

Command

Format

$JOFF[,OTHER]<CR><LF>

When you specify the ',OTHER' data field (without the brackets), this

command turns off all messages on the other port. There are no variable data

fields for this message.

You can issue this command as follows to turn off all messages on Port C:

$JOFF,PORTC<CR><LF>

Receiver $>

Response

Additional

Information

To turn off all data messages being output through all ports, including any

binary messages such as Bin95 and Bin96, see the JOFF,ALL command

Topic Last Updated: v1.02 / January 25, 2011

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JOFF,ALL Command

Command

Type GPS

Description Turn off all data messages being output through all ports, including any

binary messages such as Bin95 and Bin96

$JOFF,ALL<CR><LF>

Command

Format

Receiver $>

Response

Additional

Information

To turn off all data messages being output through a single port, including

any binary messages such as Bin95 and Bin96, see the JOFF command

Topic Last Updated: v1.02 / January 25, 2011

Commands and Messages

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JPOS Command

Command

Type General Operation and Configuration

Description Speed up the initial acquisition when changing continents with the receiver or

query the receiver for the current position of the receiver (for example,

powering up the receiver for the first time in Europe after it has been tested in

Canada)

The command enables the receiver to begin the acquisition process for the

closest SBAS spot beams. This saves some time with acquisition of the

SBAS service. However, use of this message is typically not required

because of the quick overall startup time of the receiver module.

Command

Format Specify the latitude and longitude

$JPOS,lat,lon<CR><LF>

where both 'lat' and 'lon':

•

Must be entered in decimal degrees

•

Do not need to be more accurate than half a degree

Query the current setting

$JPOS<CR><LF>

Receiver

Response Receiver response when specifying the latitude and longitude

Receiver response when querying the current setting

$>JPOS,LAT,LON

Additional

Information The status of this command is also output in the JSHOW message.

Topic Last Updated: v1.02 / January 25, 2011

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JPPS Command

JPPS,FREQ Command

Command

Type General Operation and Configuration

Description Specify the pps frequency of the receiver or query the current setting.

Command

Format Set the receiver’s specific pps frequency (in Hz)

$JPPS,FREQ,r,SAVE<CR><LF>

where:

'r' = specific pps frequency

The SAVE field is optional. However, if omitted this setting will not survive a power cycle. This

setting is not saved with $JSAVE. It must be saved by adding the SAVE field.

Query the current setting

$PPS,FREQ<CR><LF>

Receiver

Response $>

Response to querying the current setting

$JPPS,FREQ,1.00<CR><LF>

Example Issue the following command to set the pps frequency to 2.000 on the

current port:

$JPPS,FREQ,2<CR><LF>

...the response is then:

If you query the current setting now, the response is:

$JPPS,FREQ,2.00<CR><LF>

Additional

Information

This mode is not saved between power cycles

Topic Last Updated: v1.07 / Octotbr 13, 2016

Response to issuing command

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JPPS,PERIOD Command

Command

Type General Operation and Configuration

Description Specify the pps peiod (in seconds) of the receiver or query the current setting.

Command

Format Set the receiver’s specific pps period

$JPPS,PERIOD,r<CR><LF>

where:

'r' = specific pps period

(inverse of frequency)

The SAVE field is optional. However, if omitted this setting will not survive a power cycle. This setting is

not saved with $JSAVE. It must be saved by adding the SAVE field.

Query the current setting

$PPS,PERIOD<CR><LF>

Receiver

Response

Response to querying the current setting

$JPPS,PERIOD,1.0<CR><LF>

Example Issue the following command to set the pps period to 2 seconds (0.5 Hz)

$JPPS,PERIOD,2<CR><LF>

...the response is then:

If you query the current setting now, the response is:

$JPPS,PERIOD,2.000<CR><LF>

Additional

Information

This mode is not saved between power cycles

Response to issuing command

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Topic Last Updated: v1.07 / October 13, 2016

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JPPS,WIDTH Command

Command

Type General Operation and Configuration

Description Specify the pps width of the receiver or query the current setting

Command

Format Set the receiver’s specific pps width (microseconds)

$JPPS,WIDTH,r,SAVE<CR><LF>

where:

'r' = specific pps widthThe SAVE field is optional. However, if omitted this setting will not survive a

power cycle. This setting is not saved with $JSAVE. It must be saved by adding the SAVE field.

Query the current setting

$PPS,WIDTH<CR><LF>

Receiver

Response

Response to querying the current setting

$JPPS,WIDTH,999.996<CR><LF>

Example Issue the following command to set the pps width to 2.000 on the current

port:

$JPPS,WIDTH,2<CR><LF>

...the response is then:

If you query the current setting now, the response is:

$JPPS,WIDTH,2.000<CR><LF>

Additional

Information

This mode is not saved between power cycles

Topic Last Updated: v1.07 / October 13, 2016

Response to issuingcommand

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JPRN,EXCLUDE Command

Note: For advanced users only. Not required for typical operation.

Command

Type General Operation and Configuration Commands

Description For advanced users only.

Exclude GPS and/or other GNSS satellites from being used in the

positioning solution or query the current setting

Command

Format Exclude PRNs from being used in the positioning solution

Exclude GPS and/or other GNSS PRNs:

$JPRN,EXCLUDE[,GPS,x,x,x…][,GLO,y,y,y…][,GAL,z,z,z…]<CR><LF>

where:

•

'x,x,x...' represents the GPS PRNs you want to exclude

•

'y,y,y...' represents the GLONASS PRNs you want to exclude

•

‘z,z,z…’ represents the GALILEO PRNs you want to exclude

Exclude no GNSS PRNs:

$JPRN,EXCLUDE,NONE<CR><LF>

Exclude no GPS PRNs

$JPRN,EXCLUDE,GPS,NONE<CR><LF>

Exclude no GLONASS PRNs:

$JPRN,EXCLUDE,GLO,NONE<CR><LF>

Exclude no GALILEO PRNs:

$JPRN,EXCLUDE,GAL,NONE<CR><LF>

Query the current setting

Query all excluded PRNs (GPS and GLONASS):

$JPRN,EXCLUDE<CR><LF>

Query excluded GPS PRNs:

$JPRN,EXCLUDE,GPS<CR><LF>

Query excluded GLONASS PRNs:

$JPRN,EXCLUDE,GLO<CR><LF>

Query excluded GALILEO PRNs:

$JPRN,EXCLUDE,GAL<CR><LF>

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Receiver

Response See Example section below

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Example If you excluded no GPS or GLONASS PRNS and issued

the $JPRN,EXCLUDE,GPS<CR><LF> command the response is:

$>JPRN,EXCLUDE,GPS,NONE,GLO,NONE

If you excluded one GPS PRN (22) and one GLONASS PRN (10) and issued

the following commands you would see the following corresponding responses:

•

Command: $JPRN,EXCLUDE,GPS<CR><LF>

Response: $>JPRN,EXCLUDE,GPS,22

•

Command: $JPRN,EXCLUDE,GLO<CR><LF>

Response: $>JPRN,EXCLUDE,GLO,10

•

Command: $JPRN,EXCLUDE<CR><LF>

Response: $>JPRN,EXCLUDE,GPS,22,GLO,10

Additional

Information

Topic Last Updated: v1.07 / February 16, 2017

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JQUERY

JQUERY,GUIDE Command

Command

Type General Operation and Configuration

Description Query the receiver for its determination on whether or not it is providing

suitable accuracy after both the SBAS and GPS have been acquired (up to

five minutes)

This feature takes into consideration the download status of the SBAS

ionospheric map and also the carrier phase smoothing of the unit.

Command

Format

$JQUERY,GUIDE<CR><LF>

Receiver

Response If the receiver is ready for use with navigation, or positioning with optimum

performance, it returns:

$>JQUERY,GUIDE,YES<CR><LF>

Otherwise, it returns:

$>JQUERY,GUIDE,NO<CR><LF>

Additional

Information

Topic Last Updated: v1.00 / August 11, 2010

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JQUERY,RTKPROG Command

Command

Type Local Differential and RTK

Description Perform a one-time query of RTK fix progress information

Command

Format

$JQUERY,RTKPROG<CR><LF>

As an alternative you can log this as a message using the JASC,PSAT,RTKPROGcommand.

Receiver

Response

$>JQUERY,RTKPROG,R,F,N,SS1,SS2,SS3,MASK*CC<CR><LF>

where

Message

Component

Description

1 = Ready to enter RTK ambiguity fix

0 = Not ready to enter RTK ambiguity fix

1 = Receiver running in RTK ambiguity fix mode

0 = Receiver not running in RTK ambiguity fix mode

Number of satellites used to fix

SS1

summer-1

SS1 must be significantly larger than SS2 and SS3 to enter R=1 mode

SS2

summer-2

SS3

summer-3

MASK

Bit mask; bits identify which GNSS observables are being received from base recently

(1 = GPS, 3 = GPS + GLONASS)

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Example $>JQUERY,RTKPROG,1,1,23,243.3,0.0,0.0,3

Additional

Information

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Topic Last Updated: v1.04 / May 29, 2012

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JQUERY,RTKSTAT Command

Command

Type Local Differential and RTK

Description Perform a one-time query of the most relevant parametersaffecting RTK

Command

Format

$JQUERY,RTKSTAT<CR><LF>

As an alternative you can log this as a message using the JASC,PSAT,RTKSTAT command.

Receiver

Response

$>JQUERY,RTKSTAT,MODE,TYP,AGE,SUBOPT,DIST,SYS,NUM,SNR,RSF,BSF,HAG,

ACCSTAT,SNT

where

Message

Component

Description

MODE

Mode (FIX,FLT,DIF,AUT,NO)

TYP

Correction type (DFX,ROX,CMR,RTCM3,CMR+,...)

AGE

Age of differential corrections, in seconds

SUBOPT

Subscription code (see Interpreting the $JK 'Date'/Subscription Codes to

determine the meaning of the subscription code)

DIST

Distance to base in kilometers

SYS

Systems in use:

•

GPS: L1, L2, L5

•

GLONASS: G1, G2

•

Galileo: E5a, E5b, E5a+b, E6

NUM

Number of satellites used by each system

SNR

Quality of each SNR path, where:

•

A is > 20 dB

•

B is > 18 dB

•

C is > 15 dB

•

D is <= 15 dB

RSF

Rover slip flag (non zero if parity errors in last 5 minutes, good for detecting jamming

and TCXO issues)

BSF

Base slip flag

HAE

Horizontal accuracy estimation

ACCSTAT

RTK accuracy status (hex), where:

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•

0x1 = no differential or differential too old, for the application

•

0x2 = problems with differential message

•

0x4 = horizontal position estimate poor for the application

•

0x8 = HDOP high, poor satellite geometry

•

0x10 = fewer than 6 L1 sats used

•

0x20 = poor L1 SNRs

•

0x40 = not in RTK mode

•

0x80 = not in RTK mode or RTK only recently solved (< 10secs

ago)

•

0x100 = RTK solution compromised, may fail

The status message can be any of the above or any combination of the above. For

example, a status message of '047' indicates the following:

•

0x1 = no differential or differential too old, for the application

•

0x2 = problems with differential message

•

0x4 = horizontal position estimate poor for the application

•

0x40 = not in RTK mode

SNT

Ionospheric scintillation, values are:

•

0 (little or no scintillation - does not adversely affect RTK solution)

•

1-100 (scintillation detected - adversely affects RTK solution)

<CR>

Carriage return

<LF>

Line feed

Example $>JQUERY,RTKSTAT,FIX,ROX,

1,007F,0.0,(,L1,L2,G1,G2,)(,14,11,9,9,)(,A,A,A,A,),0,1,0.008,000,3

Additional

Information

Commands

and

Messages

JASC,PSAT,RTKSTAT command

PSAT,RTKSTAT message

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Topic Last Updated: v1.05 / January 18, 2013

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JQUERY,TEMPERATURE Command

Command

Type General Operation and Configuration

Description Query the receiver’s temperature

Command

Format :

$JQUERY,TEMPERATURE<CR><LF>

Receiver

Response $>JQUERY,TEMPERATURE,51.88

Additional ..

Information

Topic Last Updated: v1.04 / May 29, 2012

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JRAD

JRAD Command Overview

This topic provides information related to the NMEA 0183 messages accepted by the receiver’s e-Dif

application. The following table provides a brief description of the commands supported by the e-Dif

application for its control and operation.

Command

Description

JRAD,1

Display the current reference position in e-Dif applications only

JRAD,1,LAT,LON,HEIGHT

Use this command—a derivative of the JRAD,1,P command—when absolute

positioning is required in e-Dif applications only

JRAD,1,P

e-Dif: Record the current position as the reference with which to compute e-Dif

corrections. This would be used in relative mode as no absolute point information is

specified.

DGPS Base Station: Record the current position as the reference with which to

compute Base Station corrections in e-Dif applications only. This would be used in

relative mode as no absolute point information is specified

JRAD,2

Forces the receiver to use the new reference point (you normally use this command

following a JRAD,1 type command)

JRAD,3

Invoke the e-Dif function once the unit has started up with the e-Dif application active,

or, update the e-Dif solution (calibration) using the current position as opposed to the

reference position used by the JRAD,2 command

JRAD,7

Turn auto recalibration on or off

JRAD,9

Initialize the Base Station feature and use the previously entered point, either with

$JRAD,1,P or $JRAD,1,LAT,LON,HEIGHT, as the reference with which to compute

Base Station corrections in e-Dif applications only. Use this for both relative mode and

absolute mode.

JRAD,10

Specify BDS message to be transmitted by base station

Note: Use the JSAVE command to save changes you need to keep and wait for the $>SAVE COMPLETE response.

Topic Last Updated: v1.07 / Octoter 13, 2016

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JRAD,1 Command

Command

Type e-Dif, DGPS Base Station

Description Display the current reference position in e-Dif applications only

Command

Format

$JRAD,1<CR><LF>

Receiver

Response

$>JRAD,1,LAT,LON,HEIGHT

where:

Command

Component

Description

LAT

Latitude of the reference point in decimal degrees

LON

Longitude of the reference point in decimal degrees

HEIGHT

Ellipsoidal height of the reference point in meters

Upon startup of the receiver with the e-Dif application running—as opposed to with the SBAS application—

no reference position will be present in memory. If you attempt to query for the reference position, the

receiver’s response will be:

$>JRAD,1,FAILED,PRESENT LOCATION NOT STABLE

Example When you issue the $JRAD,1 command the response will be similar to the following:

$>JRAD,1,51.00233513,-114.08232345,1050.212

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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JRAD,1,LAT,LON,HEIGHT Command

Command Dif, DGPS Base Station

Type

Description Use this command—a derivative of the JRAD,1,P command—when absolute positioning is required in e-Dif

applications only

Command

Format

$JRAD,1,lat,lon,height<CR><LF>

where:

Command

Component

Description

lat

Latitude of the reference point in decimal degrees

lon

Longitude of the reference point in decimal degrees

height

Ellipsoidal height of the reference point in meters. Ellipsoidal height can be calculated by

adding the altitude and the geoidal separation, both available from the GPGGA message.

Example:

$GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4

, 1071.0,M,- 17.8,M,6.0, 0122*48

ellipsoidal height = 1071.0 + (-17.8) = 1053.2 meters

Both latitude and longitude must be entered as decimal degrees. The receiver will not accept the command if

there are no decimal places.

Receiver

Response

$>JRAD,LAT,LON,HEIGHT

Additional

Information

Topic Last Updated: v1.00 / August 11, 2010

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JRAD,1,P Command

Command Dif, DGPS Base Station

Type

Description e-Dif: Record the current position as the reference with which to compute e-

Dif corrections. This would be used in relative mode as no absolute point

information is specified.

DGPS Base Station: Record the current position as the reference with which

to compute Base Station corrections in e-Dif applications only. This would be

used in relative mode as no absolute point information is specified

Command

Format

$JRAD,1,P<CR><LF>

Receiver

Response

$>JRAD,1,OK

Additional

Information

Topic Last Updated: v1.00 / August 11, 2010

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JRAD,2 Command

Command

Type e-Dif

Description Forces the receiver to use the new reference point

You normally use this command following a JRAD,1 type command.

Command

Format

$JRAD,2<CR><LF>

Receiver

Response

$>JRAD,2,OK

Additional

Information

Topic Last Updated: v1.00 / August 11, 2010

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JRAD,3 Command

Command

Type

Dif

Description This command has two primary purposes.

•

To invoke the e-Dif function once the unit has started up with the e-Dif application active

•

To update the e-Dif solution (calibration) using the current position as opposed to the reference

position used by the JRAD,2 command

Command

Format

$JRAD,3<CR><LF>

Receiver

Response If the receiver has tracked enough satellites for a long enough period before

you issue this command, it will respond with the following. (The tracking

period can be from 3 to 10 minutes and is used for modeling errors going

forward.

$>JRAD,3,OK<CR><LF>

If the e-Dif algorithms do not find sufficient data, the receiver responds with:

$>JRAD,3,FAILED,NOT ENOUGH STABLE SATELLITE TRACKS

Additional

Information

If you receive the failure message after a few minutes of operation, try again

shortly after until you receive the “OK” acknowledgement message. The e-Dif

application begins operating as soon as the $>JRAD,3,OK message has

been received; however, a you will still need to define a reference position for

e-Dif unless relative positioning is sufficient for any needs.

Topic Last Updated: v1.00 / August 11, 2010

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JRAD,7 Command

Command

Type

Dif

Description Turn auto recalibration on or off

Command

Format

$JRAD,7,n

where 'n' is the auto-recalibration variable (0 = Off or 1 = On, 0 is the

default)

Receiver

Response

$>JRAD,7,OK

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

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JRAD,9 Command

Command

Type DGPS Base Station

Description Initialize the Base Station feature and use the previously entered point, either

with $JRAD,1,P or $JRAD,1,LAT,LON,HEIGHT, as the reference with which

to compute Base Station corrections in e-Dif applications only. Use this for

both relative mode and absolute mode.

Command

Format To initialize/turn off base station mode

To initialize base station mode and use storedcoordinates:

$JRAD,9,1,1<CR><LF>

To turn off base station mode:

$JRAD,9,0<CR><LF>

Receiver

Response

$>JRAD,9,OK

(same response for turning base station mode on or off)

Additional

Information

The $JASC,RTCM,1 command must be sent to the receiver to start

outputting standard RTCM corrections.

Topic Last Updated: v1.04 / May 29, 2012

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JRAD,10 Command

Command

Type DGPS Base Station

Description Specify BDS message to be transmitted by base station

Command

Format

Specify BDS message to be transmitted by base station

$JRAD,10,1

Specify BDS message to be not transmitted by base station

$JRAD,10,0

Receiver

Response

$>JRAD,10,OK

(same response for specify BDS to be transmitted or not)

Additional

Information

Topic Last Updated: v1.07 / Octoter 13, 2016

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JRAIM Command

Command

Type RAIM

Description Specify the parameters of the RAIM scheme that affect the output of the PSAT,GBS message or query the

current setting

Command

Format Specify the parameters of the RAIM scheme

$JRAIM,hpr,probhpr,probfalse<CR><LF>

where:

Command

Component

Description

hpr

Horizontal Protection Radius: notification in the PSAT,GBS message that the horizontal

error has exceeded this amount will be received. The acceptable range for this value is

1 to 10,000 m. The default is 10 m.

probhpr

Maximum allowed probability that the position computed lies outside the HPR. The

acceptable range for this value is 0.001% to 50%. The default is 5%.

probfalse

Maximum allowed probability that there is a false alarm (that the position error is

reported outside the of the HPR, but it is really within the HPR). The acceptable range

for this value is 0.001% to 50%. The default is 1%.

Query the current setting

$JRAIM

Receiver

Response Response to issuing command to specify RAIM scheme parameters

Response to querying the current setting

$>JRAIM,HPR,probHPR,probFALSE

Example To specify the RAIM scheme parameters as HPR = 8 m, probHPR = 2%, and probFALSE = 0.5% issue the

following command:

$JRAIM,8,2,0.5<CR><LF>

If you then query the receiver for the RAIM scheme issue the following command:

$JRAIM<CR><LF>

...and the response will be:

$>JRAIM,8.00,2.0000,0.5000

Additional The purpose of the probability of false alarm is to help make a decision on whether to declare a fault or

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Information warning in an uncertain situation. The philosophy is to only issue a fault if the user is certain (to within the

probability of a false alarm) that the protection radius has been exceeded, else issue a warning.

Topic Last Updated: v1.02 / January 25, 2011

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Commands and Messages

JRELAY Command

Command

Type General Operation and Configuration

Description Send user-defined text out of a serial port

Command

Format

$JRELAY,PORTx,msg<CR><LF>

•

'x' = destination port where the message (MSG) will be sent

•

'msg' = message to be sent

Receiver $>

Response

Example Example 1:

Command

$JRELAY,PORTA,HELLO\nTHERE\n<CR><LF>

Response

HELLO

THERE

Example 2:

The following commands apply to the A101 and A325 antennas. You can configure the A101 and A325

through the serial ports using these commands.

•

Configure the setup and output of tilt commands as follows (note that all commands are preceded

with $JRELAY,PORTC, to direct them through internal Port C):

$JRELAY,PORTC,$JTILT,CALIBRATE[,RESET]

Output the tilt offset values for the X and Y axes. If performing a reset, ensure the A101/A325 is on a flat surface.

$JRELAY,PORTC,$JTILT,TAU[,value]

Output the filter constant for tilt value smoothing.

$JRELAY,PORTC,$JTILT,COMPENSATION[,[ON|OFF],[height

offset]]

Turn positioning tilt compensation on/off (currently only the GPGGA data log is supported for tilt compensated position

output).

$JRELAY,PORTC,$JASC,GPGGA,rate[,port]

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Commands and Messages

Turn tilt compensated GPGGA message on.

$JRELAY,PORTC,$JTILT,COGBIAS[,value]

Set a COG bias to be used in the tilt compensation algorithms (for use when the A101/A325 is not mounted with the connector facing the

forward direction of travel).

$JRELAY,PORTC,$JASC,INTLT,rate[,port]

$JRELAY,PORTC,$JASC,PSAT,INTLT,rate[,port]

Log tilt information from the A101/A325

•

Set/query the receiver mode—serial or NMEA2000 (commands must be sent over Port A):

$JRELAY,PORTC,$JQUERYMODE

Query the receiver for the current mode

$JRELAY,PORTC,$JSERIALMODE

Set the receiver mode to serial

$JRELAY,PORTC,$JN2KMODE

Set the receiver mode to NMEA2000

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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JRESET Command

Command

Type General Operation and Configuration

Description Reset the receiver to its default operating parameters by:

•

Turning off outputs on all ports

•

Saving the configuration

•

Setting the configuration to its defaults (in following table)

Configuration

Setting

Elev Mask

Residual limit

Alt aiding

None

Age of Diff

45 minutes

Air mode

Auto

Diff type

Default for

app

NMEA

precision

5 decimals

COG

smoothing

None

speed

smoothing

None

WAAS

UERE

thresholds

Command

Format

$JRESET[,x]<CR><LF>

where ',x' is an optional field:

•

When set to ALL does everything $JRESET does, plus it clears

almanacs

•

When set to BOOT does everything $JRESET,ALL does, plus

clears use of the real-time clock at startup, clears use of backed-up

ephemeris and almanacs, and reboots the receiver when done

Receiver

Response

$JRESET

$> Saving Configuration. Please Wait...

$> Save Complete

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Additional

Information

Topic Last Updated: v1.00 / August 11, 2010

CAUTION: $JRESET clears all parameters. For the V101 Series and the

LV101 you will have to issue the $JATT, FLIPBRD,YES command to properly

redefine the circuitry orientation inside the product once the receiver has

reset. Failure to do so will cause radical heading behavior.

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JRTCM3

JRTCM3,ANTNAME Command

Command

Type Local Differential and RTK

Description Specify the antenna name that is transmitted in various RTCM3 messages

from the base

Command

Format Specify the antenna name

$JRTCM3,ANTNAME,name

where name must be an antenna name from the following list:

http://www.ngs.noaa.gov/ANTCAL/LoadFile?file=ngs08.003

Query the current setting

$JRTCM3,ANTNAME<CR><LF>

Receiver

Response Response to issuing command to specify the antenna name

Response to querying the current setting

$JRTCM3,ANTNAME,name

where name is the previously specified antenna name

Example To specify the antenna name as a Hemisphere GNSS A42 antenna

(HEMA42), issue the following command:

$JRTCM3,ANTNAME,HEMA42<CR><LF>

If you then issue $JRTCM3,ANTNAME<CR><LF> to query the current

setting the response is:

$>JRTCM3,ANTNAME,HEMA42<CR><LF>

Additional

Information

See JRTCM3,NULLANT for information on setting the antenna name to a null

value (no name)

Topic Last Updated: v1.06 / March 10, 2015

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JRTCM3,EXCLUDE

Command

Type Local Differential and RTK

Description Specify RTCM3 message types to not be transmitted (excluded) by base station

Command

Format Specify the RTCM3 messages to not be transmitted

$JRTCM3,EXCLUDE[,1004][,1005][,1006][,1007][,1008][,1012][,1033][,1104]

[,4011][,MSM3][,MSM4]<CR><LF>

Query the current setting

$JRTCM3,EXCLUDE<CR><LF>

Receiver

Response Response to issuing command to exclude specific RTCM3 messages from being transmitted

Response to querying the current setting

$JRTCM3,EXCLUDE[,MSG1][,MSG2]...[,MSGn]<CR><LF>

where MSG1 through MSGn represent each included message type to not be transmitted (excluded)

Example Assume all available RTCM3 messages are included (1004, 1005, 1006, 1007, 1008, 1012, 1033). You then issue the

following command to exclude message types 1004, 1006, and 1012:

$JRTCM3,EXCLUDE,1004,1006,1012<CR><LF>

If you then issue $JRTCM3,EXCLUDE<CR><LF> to query the current setting the response is:

$>JRTCM3,EXCLUDE,1004,1006,1012<CR><LF>

Correspondingly, if you issue $JRTCM3,INCLUDE<CR><LF> to query the current setting for included messages

the response is:

$>JRTCM3,INCLUDE,1005,1007,1008,1033<CR><LF>

Additional

Information

See JRTCM3,INCLUDE for more information on including RTCM3 messages for transmission

Topic Last Updated: v1.07 / Octoter 13, 2016

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JRTCM3,INCLUDE Command

Command

Type Local Differential and RTK

Description Specify RTCM3 message types to be transmitted by base station

Command

Format Specify the RTCM3 messages to be transmitted

$JRTCM3,INCLUDE[,1004][,1005][,1006][,1007][,1008][,1012][,1033][,1104]

[,4011][,MSM3][,MSM4]<CR><LF>

Query the current setting

$JRTCM3,INCLUDE<CR><LF>

Receiver

Response Response to issuing command to include specific RTCM3 messages to be transmitted

Response to querying the current setting

$JRTCM3,INCLUDE[,MSG1][,MSG2]...[,MSGn]<CR><LF>

where MSG1 through MSGn represent each included message type to be transmitted

Example Assume none of the available RTCM3 messages are included (1004, 1005, 1006, 1007, 1008, 1012, 1033). You then

issue the following command to include message types 1004, 1006, and 1012

$JRTCM3,INCLUDE,1004,1006,1012<CR><LF>

If you then issue $JRTCM3,INCLUDE<CR><LF> to query the current setting the response is:

$>JRTCM3,INCLUDE,1004,1006,1012<CR><LF>

Additional

Information

See JRTCM3,EXCLUDE for more information on including RTCM3 messages for transmission

Topic Last Updated: v1.07 / Octoter 13, 2016

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Response to issuing command to exclude specific RTCM3 messages from

being transmitted

JRTCM3,NULLANT Command

Command

Type Local Differential and RTK

Description Specify the antenna name as null (no name) that is transmitted in various

RTCM3 messages from the base

Command

Format Specify the antenna name as null

$JRTCM3,NULLANT<CR><LF>

Receiver

Response

Example Assume you previously specified the antenna name as a Hemisphere GNSS

A42 antenna (HEMA42). If you issue

$JRTCM3,ANTNAME<CR><LF> to query the current setting the

response is:

$>JRTCM3,ANTNAME,HEMA42<CR><LF>

Now send the following command to specify the antenna name as null (no

name):

$>JRTCM3,NULLANT<CR><LF>

If you then issue $JRTCM3,ANTNAME<CR><LF> to query the

current setting the response is:

$>JRTCM3,ANTNAME,<CR><LF>

Additional

Information

See JRTCM3,ANTNAME for information on specifying the antenna name as

something other than null

Topic Last Updated: v1.06 / March 10, 2015

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JRTK

JRTK Command Overview

The JRTK commands are used to define or query RTK settings.

Command

Description

JRTK,1

Show the receiver’s reference position (can issue command to base station or rover)

JRTK,1,LAT,LON,HEIGHT

Set the receiver’s reference position to the coordinates you enter (can issuecommand

to base station or rover)

JRTK,1,P

Set the receiver’s reference coordinates to the current calculated position if you donot

have known coordinates for your antenna location (can issue command to base station

or rover)

JRTK,5

Show the base station’s transmission status for RTK applications (can issuecommand

to base station)

JRTK,5,Transmit

Suspend or resume the transmission of RTK (can issue command to base station)

JRTK,6

Display the progress of the base station (can issue command to base station)

JRTK,12

Disable or enable the receiver to go into fixed integer mode (RTK) vs. float mode (L-

Dif) - can issue command to rover

JRTK,17

Display the transmitted latitude, longitude, and height of the base station (can issue

command to base station or rover)

JRTK,18

Display the distance from the rover to the base station, in meters (can issue command

to rover)

JRTK,18,BEARING

Display the bearing from the base station to the rover, in degrees (can issue command

to rover)

JRTK,18,NEU

Display the distance from the rover to the base station and the delta North, East, and

Up, in meters (can issue command to rover)

JRTK,28

Set the base station ID transmitted in ROX/DFX/CMR/RTCM3 messages (can issue

command to base station)

Topic Last Updated: v1.03 / January 11, 2012

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JRTK,1 Command

Command

Type Local Differential and RTK

Description Show the receiver’s reference position (can issue command to base station or rover)

Command

Format

$JRTK,1<CR><LF>

Receiver

Response

$JRTK,1,LAT,LON,HEIGHT

where

Command

Component

Description

LAT

Latitude of the reference point in decimal degrees

LON

Longitude of the reference point in decimal degrees

HEIGHT

You must enter HEIGHT as ellipsoidal height in meters.

Ellipsoidal height can be calculated by adding the altitude and the geoidal separation, both available

from the GPGGA message.

Example:

$GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4,1071.0,

M,- 17.8,M,6.0, 0122*48

ellipsoidal height = 1071.0 + (-17.8) = 1053.2 meters

Example $>JRTK,1,33.55679117,-111.88955483,374.600

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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JRTK,1,LAT,LON,HEIGHT Command

Command

Type Local Differential and RTK

Description Set the receiver’s reference position to the coordinates you enter (can issue command to base station or rover)

Command

Format

$JRTK,1,lat,lon,height<CR><LF>

where:

Command

Component

Description

lat

Latitude of the reference point in decimal degrees

lon

Longitude of the reference point in decimal degrees

height

You must enter HEIGHT as ellipsoidal height in meters.

Ellipsoidal height can be calculated by adding the altitude and the geoidal separation, both available

from the GPGGA message.

Example:

$GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4,1071.0,

M,- 17.8,M,6.0, 0122*48

ellipsoidal height = 1071.0 + (-17.8) = 1053.2 meters

Receiver $>

Response

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

Note: You must enter both latitude and longitude in decimal degrees; the receiver will not accept the command if there are

no decimal places.

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JRTK,1,P Command

Command

Type Local Differential and RTK

Description Set the receiver’s reference coordinates to the current calculated position if

you do not have known coordinates for your antenna location (can issue

command to base station or rover)

$JRTK,1,P<CR><LF>

Command

Format

Receiver $>

Response

Additional

Information

If you have known coordinates for your antenna location, use the

JRTK,1,LAT,LON,HEIGHT command to enter the latitude and longitude (in

decimal degrees) and the ellipsoidal height (in meters).

Topic Last Updated: v1.02 / January 25, 2011

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JRTK,5 Command

Command

Type Local Differential and RTK

Description Show the base station’s transmission status for RTK applications (can issue

command to base station)

Command

Format

$JRTK,5<CR><LF>

Receiver

Response If transmission status is suspended, response is as follows:

$>JRTK,6

If transmission status is not suspended, response is as follows:

$>JRTK,5,1

Additional

Information

Also see the JRTK,6 command.

Topic Last Updated: v1.02 / January 25, 2011

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JRTK,5,Transmit Command

Command

Type Local Differential and RTK

Description Suspend or resume the transmission of RTK (can issue command to base

station)

Command

Format

$JRTK,5,transmit<CR><LF>

where "transmit" is 0 (suspend) or 1 (resume)

Receiver

Response If the transmission status is not suspended and you issue the following

command to suspend:

$JRTK,5,0<CR><LF>

the response is as follows:

$>JRTK,5,OK

Similarly, if the transmission status is suspended and you issue the following

command to resume:

$JRTK,5,1<CR><LF>

the response is again as follows:

$>JRTK,5,OK

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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Commands and Messages

JRTK,6 Command

Command

Type Local Differential and RTK

Description Display the progress of the base station (can issue command to base station)

Command

Format

$JRTK,6<CR><LF>

Receiver

Response

$JRTK,6,TimeToGo,ReadyTransmit,Transmitting

where

Response

Component

Description

TimeToGo

Seconds left until ready to transmit RTK

ReadyTransmit

Non zero when configured to transmit and ready to transmit RTK on at least one port. It is a bit mask

of the transmitting port, with bit 0 being port A, bit 1 being port B, and bit 2 being port C. It will be

equal to "Transmitting" unless transmission has be suspended with $JRTK,5,0.

Transmitting

Non-zero when actually transmitting RTK on at least one port. It is a bit mask of the transmitting port,

with bit 0 being port A, bit 1 being port B, and bit 2 being port C.

Example If the receiver is not ready to transmit:

$>JRTK,6,263,0,0

If the receiver is currently transmitting on Port B:

$>JRTK,6,0,2,2

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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Commands and Messages

JRTK,12 Command

Warning! Hemisphere GPS recommends that only advanced users employ this command.

Command

Type Local Differential and RTK

Description Disable or enable the receiver to go into fixed integer mode (RTK) vs. float

mode (L-Dif) - can issue command to rover

Note: Requires RTK rover subscription

Command

Format

$JRTK,12,x

where 'x' is:

•

1 = Allow RTK (recommended, and the default)

•

0 = Do not allow RTK, stay in L-Dif

Receiver $>

Response

Additional

Information

In high multipath conditions it may be desirable to prevent the rover from

obtaining a fixed position. Using $JRTK,12,0 while logging position data is

useful for determining the level of multipath present.

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Commands and Messages

JRTK,17 Command

Command

Type Local Differential and RTK

Description Display the transmitted latitude, longitude, and height of the base station (can

issue command to base station or rover)

Command

Format

$JRTK,17<CR><LF>

Receiver

Response

$>JRTK,17,lat,lon,height

Example $>JRTK,17,33.55709242,-111.88916894,380.534

Additional

Information

Format is similar to JRTK,1,LAT,LON,HEIGHT

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Commands and Messages

JRTK,18 Command

Command

Type Local Differential and RTK

Description Display the distance from the rover to the base station, in meters (can issue

command to rover)

Command

Format

$JRTK,18<CR><LF>

Receiver

Response

$>JRTK,18,d

•

'd' is the baseline distance in meters

•

'm' indicates the units are meters

Example $>JRTK,18,13154.520

Additional

Information

Topic Last Updated: v1.03 / January 11, 2012

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Commands and Messages

JRTK,18,BEARING Command

Command

Type Local Differential and RTK

Description Display the bearing from the base station to the rover, in degrees (can issue

command to rover)

Command

Format

$JRTK,18,BEARING<CR><LF>

Receiver

Response

$>JRTK,18,b

•

'b' is the bearing from base to rover in degrees

•

'd' indicates the units are degrees

Example $>JRTK,18,20.014

Additional

Information

Topic Last Updated: v1.03 / January 11, 2012

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Commands and Messages

JRTK,18,NEU Command

Command

Type Local Differential and RTK

Description Display the distance from the rover to the base station and the delta North,

East, and Up, in meters (can issue command to rover)

Command

Format

$JRTK,18,NEU<CR><LF>

Receiver

Response

$>JRTK,18,d,X,Y,Z

where

•

'd' is the baseline distance in meters

•

'm' indicates the units are meters

•

'X' is the North delta, in meters

•

'Y' is the East delta, in meters

•

'Z' is the Up delta, in meters

Example $>JRTK,18,13154.509,12360.045,4502.139,33.739

Additional

Information

Topic Last Updated: v1.03 / January 11, 2012

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Commands and Messages

JRTK,28 Command

Command

Type Local Differential and RTK

Description Set the base station ID transmitted in ROX/DFX/CMR/RTCM3 messages

(can issue command to base station), where:

•

Default is 333

•

Range is 0-4095 (except for CMR which is 0-31)

Command

Format Set the base station ID

$JRTK,28,baseid<CR><LF>

where 'baseid' is the base station ID

Query the current setting

$JRTK,28<CR><LF>

Receiver $>

Response

Example To set the base station ID to 123 issue the following command:

$JRTK,28,123<CR><LF>

If the base station ID is 333 and you issue the $JRTK,28<CR><LF>

query the response is:

$>JRTK,28,333

Additional

Information

Topic Last Updated: v1.02 / January 25, 2011

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Commands and Messages

JSAVE Command

Command

Type General Operation and Configuration

Description Send this command after making changes to the operating mode of the

receiver

Command

Format

$JSAVE<CR><LF>

Receiver

Response

$> SAVING CONFIGURATION. PLEASE WAIT...

then

$> Save Complete

Additional

Information

Ensure that the receiver indicates that the save process is complete before

turning the receiver off or changing the configuration further.

No data fields are required. The receiver indicates that the configuration is

being saved and indicates when the save is complete.

Topic Last Updated: v1.00 / August 11, 2010

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JSHOW

JSHOW Command

Command

Type General Operation and Configuration

Description Query the current operating configuration of the receiver

Command

Format

$JSHOW<CR><LF>

Receiver

Response Use the JSHOW command to provide a complete response from the receiver.

Example (number in parentheses corresponds to line number in table following the response):

$>JSHOW,BAUD,9600 (1)

$>JSHOW,BAUD,9600,OTHER (2)

$>JSHOW,BAUD,9600,PORTC (3)

$>JSHOW,ASC,GPGGA,1.0,OTHER (4)

$>JSHOW,ASC,GPVTG,1.0,OTHER (5)

$>JSHOW,ASC,GPGSV,1.0,OTHER (6)

$>JSHOW,ASC,GPGST,1.0,OTHER (7)

$>JSHOW,ASC,D1,1,OTHER (8)

$>JSHOW,DIFF,WAAS (9)

$>JSHOW,ALT,NEVER (10)

$>JSHOW,LIMIT,10.0 (11)

$>JSHOW,MASK,5 (12)

$>JSHOW,POS,51.0,-114.0 (13)

$>JSHOW,AIR,AUTO,OFF (14)

$>JSHOW,FREQ,1575.4200,250 (15)

$>JSHOW,AGE,1800 (16)

Description of responses:

Line

Description

Current port is set to a baud rate of 9600

Other port is set to a baud rate of 9600

Port C is set to a baud rate of 9600 (Port C is not usually connected externally on the

finished product)

GPGGA is output at a rate of 1 Hz from the other port

GPVTG is output at a rate of 1 Hz from the other port

GPGSV is output at a rate of 1 Hz from the other port

GPGST is output at a rate of 1 Hz from the other port

D1 is output at a rate of 1 Hz from the other port

Current differential mode is WAAS

Status of the altitude aiding feature (see the JALT command for information how to set turn

altitude aiding on or off)

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Receiver does not support this feature

Elevation mask cutoff angle (in degrees)

Current send position used for startup, in decimal degrees

Current status of the AIR mode (see the JAIR command for information how to set the AIR

mode)

Current frequency of the augmentation source in use for the receiver (depending on the

configuration of the receiver), followed by the bit rate from the SBAS satellite, and

optionally followed by 'AUTO' (only when theAtlas receiver is in ‘auto-tune’ mode)

Current maximum acceptable differential age, in seconds (see the JAGE command for

information how to set the differential age)

Example See "Receiver Response" section above

Additional

Information

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

JSHOW,ASC Command

Command

Type General Operation and Configuration

Description Query receiver for current ASCII messages being output

Command

Format

$JSHOW,ASC[,x]<CR><LF>

where x is one of the following:

•

PORTA

•

PORTB

•

PORTC

•

PORTD

•

OTHER - displays

Whatever port you are connected to you do not need to specify that port. For example, if you connected to Port A, the

following two commands result in the same response:

$JSHOW,ASC<CR><LF>

$JSHOW,ASC,PORTA<CR><LF>

Receiver

Response See Example section below

Example The first row below shows the response to each individual command for Port A (with and without specifying Port A), Port

B, and Port C.

The second row shows the response to the generic $JSHOW command with items similar to the first row responses

highlighted.

Command Sent to

Receiver

Response

$JSHOW,ASC

$JSHOW,ASC,PORTA

$JSHOW,ASC,PORTB

$JSHOW,ASC,PORTC

$>JSHOW,ASC,RTCM,1

$>JSHOW,ASC,CMR,1,OTHER

$>JSHOW,ASC,D1,1,PORTC

$JSHOW

$>JSHOW,BAUD,19200

$>JSHOW,ASC,GPGNS,1.00

$>JSHOW,ASC,GPGRS,1.00

$>JSHOW,BIN,1,1.00

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Commands and Messages

$>JSHOW,BIN,2,1.00

$>JSHOW,BIN,89,1

$>JSHOW,BIN,99,1

$>JSHOW,ASC,RTCM,1.0

$>JSHOW,BAUD,19200,OTHER

$>JSHOW,ASC,CMR,1,OTHER

$>JSHOW,BAUD,57600,PORTC

$>JSHOW,ASC,GPGGA,1.00,PORTC

$>JSHOW,ASC,GPGSV,1.00,PORTC

$>JSHOW,ASC,GLGSV,1.00,PORTC

$>JSHOW,BIN,69,1,PORTC

$>JSHOW,BIN,100,1,PORTC

$>JSHOW,ASC,D1,1,PORTC

$>JSHOW,DIFF,RTK

$>JSHOW,ALT,NEVER

$>JSHOW,LIMIT,10.0

$>JSHOW,MASK,5

$>JSHOW,POS,33.6,-112.2

$>JSHOW,AIR,AUTO,NORM

$>JSHOW,SMOOTH,LONG900

$>JSHOW,FREQ,1575.4200,250

$>JSHOW,AGE,2700

$>JSHOW,THISPORT,PORTA

$>JSHOW,MODES,FOREST,BASE,GPSONLY,GLOFIX,SURETRACK

Additional

Information

Commands and Messages

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Topic Last Updated: v1.04 / May 29, 2012

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JSHOW,BIN Command

Command

Type General Operation and Configuration

Description Query receiver for current Bin messages being output

Command

Format

$JSHOW,BIN<CR><LF>

Receiver

Response

$>JSHOW,BIN,B1,B1R,B2,B2R...,Bn,BnR

where:

•

B1 is the first Bin message being output

B1R is the rate of B1

•

B2 is the second Bin message being output

B2R is the rate of B2

•

Bn is the last Bin message being output

BnR is the rate of Bn

Example $>JSHOW,BIN,B01,1.00,B02,1.00,B69,1,B80,1,B89,1,B99,1

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

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JSHOW,CONF Command

Command

Type General Operation and Configuration

Description Query receiver for configuration settings

Command

Format

$JSHOW,CONF<CR><LF>

Receiver

Response

$>JSHOW,CONF,AID,AIDVAL,RES,ELEV,MODE,AGE,DIFF

where:

Message

Component

Description

As Displayed in Example Below

This Table

AID

Altitude aiding indicator as set by JALT command:

•

A = ALWAYS

•

N = NEVER

•

S = SOMETIMES

•

T = SATS

AIDVAL

Altitude aiding value as by JALT command:

•

If AID = N, then AIDVAL = 0.0

•

If AID = A, then AIDVAL = height

•

If AID = S, then AIDVAL = PDOP threshold

•

If AID = T, then AIDVAL = number of sats

404.2

RES

Residual limit for the $JLIMIT command

10.0

ELEV

Elevation mask cutoff angle (in degrees) as set by JMASK

command

MODETYPE

AIR mode type, A (AUTO) or M (MANUAL), as set by JAIR

command

MODE

AIR mode, LOW or HIGH or NORM, as set by JAIR

command

LOW

AGE

Maximum acceptable differential age (in seconds)

8100 (259200 is using e-Dif)

DIFF

Current differential mode as set by JDIFF command:

•

T = THIS PORT

•

P = PORTC

•

O (letter) = OTHER PORT

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Example $>JSHOW,CONF,A,404.2,10.0,5,M,LOW,259200,A

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

B = BEACON

W = WAAS

R = RTK

L = LBAND

A = X (e-Dif, where A = AUTO)

N = NONE

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JSHOW,GP Command

Command

Type General Operation and Configuration

Description Query the receiver for each GP message currently being output through the

current port and the update rate for that message

To see output for other ports you must specify that port or OTHER

Command

Format

$JSHOW,GP[,PORTX][,OTHER]<CR><LF>

where:

•

',PORTX' = a port other than the current port, such as Port

B or Port C

•

',OTHER' = Port B if the current port is Port A, or Port A if

the current port is Port B

Receiver

Response

$>JSHOW,M1,M1R,M2,M2R...,Mn,MnR

where:

•

M1 is the first message being output

M1R is the rate of M1

•

M1 is the first message being output

M1R is the rate of M1

•

Mn is the last message being output

MnR is the rate of Bn

Example $>JSHOW,GP,GGA,1.00,GST,1.00

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

Commands and Messages

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JSHOW,THISPORT Command

Command

Type General Operation and Configuration

Description Query to determine which receiver port you are connected to

Command

Format

$JSHOW,THISPORT<CR><LF>

Receiver

Response

$>JSHOW,THISPORT,port

where 'port' is the port you are connected to

Example Response if you are connected to Port B:

$>JSHOW,THISPORT,PORTB

Additional

Information

See JSHOW for information on displaying more configuration information for

a receiver

Topic Last Updated: v1.03 / January 11, 2012

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Commands and Messages

JSIGNAL Command

Command

Type General Operation and Configuration

Description Set the GNSS signals that the receiver will attempt to track. Specific signals shown here are only valid for receivers

supporting the signal in question.

Command

Format Specify the signal(s) to be used

$JSIGNAL,INCLUDE[,L1CA][,L1P][,L2P][,L2C][,G1][,G2][,E1BC][,B1][,B2][,B3]

[,E5B][,QZSL1CA][,QZSL2C][,ALL]<CR><LF>

Specify the signal(s) NOT to be used

$JSIGNAL,EXCLUDE[,L1CA][,L1P][,L2P][,L2C][,G1][,G2][,E1BC][,B1][,B2][,B3]

[,E5B][,QZSL1CA][,QZSL2C][,ALL]<CR><LF>

Query the current setting

$JSIGNAL,INCLUDE<CR><LF>

Receiver

Response Response to issuing command to turn functionality on/off

Response to querying the current setting

$>JSIGNAL,INCLUDE[,L1CA][,L1P][,L2P][,L2C][,G1][,G2][,E1BC][,B1][,B2][,B3]

[,E5B][,QZSL1CA][,QZSL2C]<CR><LF>

Additional

Information

Topic Last Updated: v1.10 / February 16, 2017

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JSMOOTH Command

Command

Type GPS

Description Set the carrier smoothing interval (15 to 6000 seconds) or query the current

setting

This command provides the flexibility to tune in different environments. The

default for this command is 900 seconds (15 minutes) or LONG. A slight

improvement in positioning performance (depending on the multipath

environment) may occur if you use either the SHORT (300 seconds) or

LONG (900 seconds) smoothing interval.

Command

Format Set the carrier smoothing interval

To set the carrier smoothing interval to a specific number of seconds issue

the following command:

$JSMOOTH,x<CR><LF>

where 'x' is one of the following:

•

Number of seconds

•

DEFAULT (equals 900 seconds)

Default for e-Dif is 300 seconds

•

SHORT (equals 300 seconds)

•

LONG (equals 900 seconds)

Query the current setting

$JSMOOTH<CR><LF>

Receiver

Response Receiver response when setting the carrier smoothing interval

Receiver response when querying the current carrier smoothinginterval

$>JSMOOTH,x

where 'x' is the word 'SHORT' or 'LONG' followed by the number of seconds

used:

•

SHORT precedes the number of seconds for any setting

less than 900 seconds

•

LONG precedes the number of seconds for any setting

greater than or equal to 900 seconds

Example To set the carrier smoothing interval to 750 seconds issue the following

command:

$JSMOOTH,750<CR><LF>

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...and if you then query the receiver using $JSMOOTH the response is:

$JSMOOTH,SHORT750

To set the carrier smoothing interval to 300 seconds (5 minutes) issue the

following command:

$JSMOOTH,SHORT<CR><LF>

To set the carrier smoothing interval to 900 seconds (15 minutes) issue the

following command:

$JSMOOTH,LONG<CR><LF>

Additional

Information

If you are unsure of the best value for this setting, leave it at the default

setting of LONG (900 seconds).

The status of this command is also output in the JSHOW message.

Topic Last Updated: v1.04 / May 29, 2012

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JSYSVER Command

Command

Type General Operation and Configuration

Description Returns the boot loader version from the GPS card

Command

Format

$JSYSVER<CR><LF>

Receiver

Response

$>SYSVER,v

where 'v' is the boot loader version

Example Response when the boot loader version is 75

$>SYSVER,75

Additional

Information

Topic Last Updated: v1.05 / January 18, 2013

Note: This command is only for querying a receiver for its boot loader version. Before attempting to actually

update boot loader software consult Hemisphere GNSS Technical Support.

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JT Command

Command

Type General Operation and Configuration

Description Query the receiver for its GPS engine type

Command

Format

$JT<CR><LF>

Receiver

Response

$>JT,xxxx

where xxxx indicates the GPS engine and mode:

JT Command Response

(xxxx)

GPS Engine

Mode

DF2b

Eclipse

WAAS, RTK Base

DF2g

Eclipse

L-band

DF2r

Eclipse

RTK Rover

DF3g

Eclipse II

WAAS, RTK Base

DF3i

Eclipse II

e-Dif

DF3r

Eclipse II

RTK Rover

MF3g

miniEclipse

WAAS, RTK Base

MF3i

miniEclipse

e-Dif

MF3r

miniEclipse

RTK Rover

SX2a

Crescent Vector

WAAS RTK

SX2b

Crescent

Base

SX2g

Crescent

WAAS

SX2i

Crescent

e-Dif

SX2r

Crescent

Rover

Example When you issue the $JT<CR><LF>command a typical response may be:

$>JT,DF2b,MX31rev=28

DF2b indicates an Eclipse receiver with WAAS and RTK Base functionality.

Note: MX31rev=28 is the processor type and only appears as part of the Eclipse receiver

response. You can disregard the processor type as the text that precedes it (DF2b in this

example) provides the requested information (GPS engine and mode).

Additional

Information

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Topic Last Updated: v1.03 / January 11, 2012

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JTAU

JTAU Command Overview

The JTAU command is used to set the time constants for specific parameters for Crescent, Crescent Vector, and Eclipse

products.

Command

Description

JTAU,COG

Set the course over ground time (COG) constant and query the current setting

JTAU,SPEED

Set the speed time constant and query the current setting

Topic Last Updated: v1.00 / August 11, 2010

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JTAU,COG Command

Note: The JATT,COGTAU command provides identical functionality but works only with Crescent Vector

products.

Command

Type GPS

Description Set the course over ground (COG) time constant (0.00 to 3600.00 seconds)

or query the current setting

This command allows you to adjust the level of responsiveness of the COG

measurement provided in the GPVTG message. The default value is 0.00

seconds of smoothing. Increasing the COG time constant increases the level

of COG smoothing.

Command

Format Set the COG timeconstant

$JTAU,COG,tau<CR><LF>

where 'tau' is the new COG time constant that falls within the range of 0.00 to

200.1

seconds

The setting of this value depends upon the expected dynamics of the

Crescent. If the Crescent will be in a highly dynamic environment, this value

should be set lower because the filtering window would be shorter, resulting

in a more responsive measurement. However, if the receiver will be in a

largely static environment, this value can be increased to reduce

measurement noise.

Query the current setting

$JTAU,COG<CR><LF>

Receiver

Response Receiver response when setting the COG time constant

Receiver response when querying the current COG time constant

$>JTAU,COG,tau<CR><LF>

Example To set the COG time constant as 2 seconds issue the following command:

$JTAU,COG,2<CR><LF>

Additional You can use the following formula to determine the COG time constant: tau

Information (in seconds) = 10 / maximum rate of change of course (in °/s)

If you are unsure about the best value for this setting, it is best to be

conservative and leave it at the default setting of 0.00 seconds.

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Topic Last Updated: v1.02 / January 25, 2011

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JTAU,SPEED Command

Command

Type GPS

Description Set the speed time constant (0.00 to 3600.00 seconds) or query the current

setting

This command allows you to adjust the level of responsiveness of the speed

measurement provided in the GPVTG message. The default value is 0.00

seconds of smoothing. Increasing the speed time constant increases the

level of speed measurement smoothing.

Command

Format Set the speed time constant

$JTAU,SPEED,tau<CR><LF>

where 'tau' is the new speed time constant that falls within the range of 0.0 to

200.2

seconds

The setting of this value depends upon the expected dynamics of the

receiver. If the receiver will be in a highly dynamic environment, you should

set this to a lower value, since the filtering window will be shorter, resulting in

a more responsive measurement. However, if the receiver will be in a largely

static environment, you can increase this value to reduce measurement

noise.

Query the current setting

$JTAU,SPEED<CR><LF>

Receiver

Response Receiver response when setting the speed time constant

Receiver response when querying the current speed time constants

$>JTAU,SPEED,tau<CR><LF>

Example To set the speed time constant as 4.6 seconds issue the following command:

$JTAU,SPEED,4.6<CR><LF>

Additional

Information

You can use the following formula to determine the COG time constant

(Hemisphere GNSS recommends testing how the revised value works in

practice):

tau (in seconds) = 10 / maximum acceleration (in m/s2)

If you are unsure about the best value for this setting, it is best to be

conservative and leave it at the default setting of 0.00 seconds.

Note: The JATT,SPDTAU command provides identical functionality but works only with Crescent Vector products.

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Topic Last Updated: v1.06 / March 10, 2015

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JWAASPRN Command

Command

Type SBAS

Description Change the SBAS PRNs in memory or query the receiver for current PRNs in

memory

Valid PRNs include:

•

EGNOS (Europe SBAS): 120, 124, 126

•

GAGAN (India SBAS): 127

•

SDCM (Russia SBAS): 125, 141, 140

•

MSAS (Japan SBAS): 129, 137

•

WAAS (North America SBAS): 133, 135, 138

Command

Format Change the SBAS PRNs in memory

$JWAASPRN,prn1,prn2,prn3<CR><LF>

where 'prn1' and 'prn2' specify PRNs for Crescent receivers and 'prn3'

specifies the additional PRN for Eclipse receivers

Query the current setting

$JWAASPRN<CR><LF>

Receiver

Response Response to issuing command to change PRNs

Response to querying the current setting

$>JWAASPRN,PRN1,PRN2[,PRN3]

Example To change the SBAS PRNs in memory for an Eclipse receiver to WAAS

PRNs (133, 135, 138) issue the following command:

$>JWAASPRN,133,135,138<CR><LF>

Additional

Information

You can specify an auto-tune mode to tune to the appropriate SBAS PRNs

based on the autonomous GPS position. To auto-tune the PRNs issue the

following command:

$JWAASPRN,AUTO

If you then query the receiver for the PRNs the receiver response will show

',AUTO' at the end. For example, if you query the receiver and the PRNs are

133,135, and 138 and autotuning is enabled the response is as follows:

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$>JWAASPRN,133,135,138,AUTO

Topic Last Updated: v1.02 / January 25, 2011

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PCSI

PCSI,0 Command (Receiver Help Query command)

Command

Type Beacon Receiver

Description Hemisphere GNSS proprietary NMEA 0183 query

Query the SBX to output a list of available proprietary PCSI commands

Command

Format

$PCSI,0<CR><LF>

Receiver

Response

$PCSI,ACK,0

$PCSI,P003-0K,012

$PCSI,0 ->HELP Msg

$PCSI,1 ->Status line A,<T>,<S>

$PCSI,2 ->Status line B,<T>

$PCSI,3 ->Dump Search,<x>

$PCSI,4 ->Wipe Search

$PCSI,5 ->Port Rate,<P0>,<P1>

$PCSI,6 ->Reset

$PCSI,7 ->RTCM Mode

Additional

Information

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Commands and Messages

PCSI,1 Command (Status Line A, Channel 0 command)

Command

Type Beacon Receiver

Description Hemisphere GNSS proprietary NMEA 0183 query

Query the SBX for a selection of parameters related to the operational status of its primary channel

Command

Format

$PCSI,1<CR><LF>

Receiver

Response

$PCSI,ACK,1

$PCSI,CS0,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T,G

where:

Response

Component

Description

CS0

Channel 0

PXXX-Y.YYY

Resident SBX firmware version

SBX receiver serial number

fff.f

Channel 0 current frequency

Frequency mode (A = automatic, M = manual, D = database)

ddd

MSK bit rate

RTCM rate mode (A = automatic, M = manual, D = database)

Signal strength

SNR

Signal-to-noise ratio

MTP

Message throughput

WER

Word Error Rate - Percentage of bad 30-bit RTCM words in the last 25 words

Beacon ID to which the receiver’s primary channel is tuned

Health of the tuned beacon [0-7]

$PCSI,1 status output period [0-99]

AGC gain in dB (0 to 48 db)

Additional

Information

Optionally you can modify the Status Line A query to request the output of the response message once

every period at a specified output rate. It has the following format, where 'T' is the output period in

seconds:

$PCSI,1,T<CR><LF>

The response will be:

$PCSI,ACK,1

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$PCSI,CS0,PXXXY.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T,G

You can stop the output of the message by either of the following:

•

Cycling receiver power

•

Issuing the $PCSI,1<CR><LF> query without the output period field

The response message has the same format as discussed above. In addition to this modified version of

the Status Line A command, an additional 'S' field may be placed after the 'T' field, resulting in the

following command:

$PCSI,1,T,S<CR><LF>

The 'S' field is not a variable and specifies that the output of the Status Line A message should continue

after the power has been cycled. To return the receiver to the default mode (in which message output

ceases after receiver power is cycled) send the $PCSI,1<CR><LF> query to the receiver.

You may send the $PCSI,1 query through either serial port for reporting of the full status of the primary

receiver channel. The query response is returned to the port from which you issued the command. When

querying the primary receiver channel using the secondary serial port, no interruptions in RTCM data

output will occur on the primary port provided the SBX has acquired a valid beacon.

The response is different depending on whether you are connected directly to the SBX-4 or not.

•

If connected directly (by hardware or JCONN), the response will be bothan

acknowledgement as well as the full PCSI,1 message.

•

If connected through a Crescent receiver (such as the R110) you may see the full

PCSI,1 message. Consider PCSI,1,1 to generate periodic output.

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PCSI,1,1 Command (Beacon Status command)

Command

Type Beacon Receiver

Description Obtain PCSI,CS0 beacon status data from an SBX engine when interfaced to the receiver Port D. When

you send this command through either Port A, B, or C it is automatically routed to Port D. The resulting

PCSI,CS0 message is returned to the same port from which the command was sent at the desired rate.

Command

Format

$PCSI,1,1<CR><LF>

Receiver

Response

$PCSI,CS0,Pxxx-y.yyy,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T,G

where:

Response

Component

Description

CS0

Channel 0

PXXX-Y.YYY

Resident SBX firmware version

SBX receiver serial number

fff.f

Channel 0 current frequency

Frequency mode (A = automatic, M = manual, D = database)

ddd

MSK bit rate

RTCM rate mode (A = automatic, M = manual, D = database)

Signal strength

SNR

Signal-to-noise ratio

MTP

Message throughput

WER

Word Error Rate - Percentage of bad 30-bit RTCM words in the last 25 words

Beacon ID to which the receiver’s primary channel is tuned

Health of the tuned beacon (0-7)

$PCSI,1 status output period (0-99)

AGC gain in, dB (0 to 48)

Example $PCSI,CS0,P030-0.000,19001,313.0,D,100,D,18,8,80,0,63,0,1,48

Additional

Information

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PCSI,2 Command (Status Line B, Channel 1 command)

Command

Type Beacon Receiver

Description Hemisphere GNSS proprietary NMEA 0183 query

Query the SBX to output a selection of parameters related to the operational status of its secondary

channel

Command

Format

$PCSI,2<CR><LF>

Receiver

Response

$PCSI,ACK,2

$PCSI,CS1,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T

where:

Response

Component

Description

CS1

Channel 1

PXXX-Y.YYY

Resident SBX firmware version

SBX receiver serial number

fff.f

Channel 1 current frequency

Frequency mode (A = automatic, M = manual, D = database)

ddd

MSK bit rate

RTCM rate mode (A = automatic, M = manual, D = database)

Signal strength

SNR

Signal to noise ratio

MTP

Message throughput

WER

Word error rate - Percentage of bad 30-bit RTCM words in the last 25 words

Beacon ID to which the receiver’s secondary channel is tuned

Health of the tuned beacon (0-7)

$PCSI,1 status output period (0-99)

Example $PCSI,ACK,2

$PCSI,CS1,P030-0.004,770737,291.0,D,200,D,-7,2,0,100,1024,8,0

Additional

Information

Optionally you can modify the Status Line B query to request the output of the response message once

every period. It has the following format, where T is the output period inseconds:

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$PCSI,2,T<CR><LF>

The response will:

$PCSI,ACK,2

$PCSI,CS0,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T

The response message has the same format as discussed above. The Status Line B message output

cannot be set to remain active after the power of the SBX has been cycled.

The $PCSI,2 query may be sent through the either serial port for reporting of the full status of the

secondary receiver channel. The response to the query is returned to the port from which the command

was issued. When querying the secondary receiver channel using the secondary serial port, no

interruptions in RTCM data output will occur on the primary port provided that SBX has acquired avalid

beacon.

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Commands and Messages

PCSI,3,1 Command (Receiver Search Dump command)

Command

Type Beacon Receiver

Description Hemisphere GNSS proprietary NMEA 0183 query

Query the SBX to output the search information used for beacon selection in Automatic Beacon Search mode.

The output has three frequencies per line.

Command

Format

$PCSI,3,1<CR><LF>

Receiver

Response

$PCSI,ACK,3,1

$PCSI,tag1,freq1,ID1,chan1,snr1,ss1,tag2,freq2,ID2,chan2,snr2,ss2,

tag3,freq3,ID3,chan3,snr3,ss3

where:

Response

Component

Description

tag

Channel number with a range of 1 to 84

freq

Channel frequency (kHz * 10)

Beacon ID

chan

Channel information

snr

SNR (dB)

Signal Strength (dBuV/m)

Example $PCSI,ACK,3,1

$PCSI,01,2835,209,0E,00,-0009,02,2840,339,0E,00,-

0012,03,2845,006,0E,00,0009

$PCSI,04,2850,342,0E,00,-0010,05,2855,547,0E,00,-0005,06,2860,109,0E,00,- 0011

$PCSI,07,2865,188,0E,00,-0007,08,2870,272,0E,00,-0004,09,2875,682,0E,00,- 0006

$PCSI,10,2880,645,0E,00,-0007,11,2885,256,0E,00,-0009,12,2890,000,06,00,- 0012

$PCSI,13,2895,132,0E,00,-0009,14,2900,281,0E,00,-0010,15,2905,634,0E,00,- 0008

$PCSI,16,2910,172,0E,00,-0007,17,2915,006,0E,00,-0009,18,2920,546,0E,00,- 0014

$PCSI,19,2925,358,0E,00,-0008,20,2930,479,0E,00,-0009,21,2935,358,0E,00,-

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0011

$PCSI,22,2940,853,0E,00,-0005,23,2945,588,0E,00,-0015,24,2950,210,0E,00,-

0011

$PCSI,25,2955,000,06,00,-0011,26,2960,663,0E,00,-0010,27,2965,596,0E,00,-

0009

$PCSI,28,2970,000,06,00,-0009,29,2975,917,0E,00,-0009,30,2980,000,06,00,-

0016

$PCSI,31,2985,343,0E,00,-0013,32,2990,546,0E,00,-0010,33,2995,546,0E,00,-

0010

$PCSI,34,3000,172,0E,00,-0014,35,3005,006,0E,00,-

0011,36,3010,1006,0E,00,-0009

$PCSI,37,3015,006,0E,00,-0015,38,3020,300,0E,00,-0013,39,3025,277,0E,00,-

0100

$PCSI,40,3030,479,0E,00,-0010,41,3035,006,0E,00,-0012,42,3040,050,0E,00,-

0008

$PCSI,43,3045,000,06,00,-0014,44,3050,172,0E,00,-0013,45,3055,000,06,00,-

0011

$PCSI,46,3060,000,06,00,-0011,47,3065,000,06,00,-0014,48,3070,000,06,00,-

0010

$PCSI,49,3075,000,06,00,-0012,50,3080,006,0E,00,-0015,51,3085,000,06,00,-

0015

$PCSI,52,3090,300,0E,00,-0007,53,3095,000,06,00,-0013,54,3100,000,06,00,-

0013

$PCSI,55,3105,000,06,00,-0012,56,3110,127,0E,00,-0013,57,3115,000,06,00,-

0012

$PCSI,58,3120,596,0E,00,-0012,59,3125,051,0E,00,-0009,60,3130,000,06,00,-

0011

$PCSI,61,3135,213,0E,00,-0008,62,3140,000,06,00,-0011,63,3145,000,06,00,-

0015

$PCSI,64,3150,302,0E,00,-0008,65,3155,000,06,00,-0009,66,3160,000,06,00,-

0003

$PCSI,67,3165,000,06,00,-0013,68,3170,000,06,00,-

0011,69,3175,612,0E,01,0000

$PCSI,70,3180,000,06,00,-0015,71,3185,000,06,00,-0008,72,3190,000,06,00,-

0009

$PCSI,73,3195,000,06,00,0011,74,3200,1002,0E,01,-0002,75,3205,067,0E,00,-

0008

$PCSI,76,3210,001,0E,00,-0008,77,3215,000,06,00,-0009,78,3220,132,0E,00,-

0009

$PCSI,79,3225,000,06,00,-0010,80,3230,339,0E,00,-0013,81,3235,000,06,00,-

0011

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$PCSI,82,3240,000,06,00,-0010,83,3245,202,0E,00,-0007,84,3250,006,0E,00,- 0002

Additional

Information

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Commands and Messages

PCSI,3,2 Command (Ten Closest Stations command)

Command

Type Beacon Receiver

Description Display the ten closest beacon stations

Command

Format

$PCSI,3,2<CR><LF>

Receiver

Response

$PCSI,ACK,3,2

$PCSI,3,2,StationID,name,freq,status,time,date,distance,health,WER

$PCSI,3,2, ...

...

where:

Response

Component

Description

StationID

Specific ID number for beacon stations (appears in the last field of the

GPGGA message)

name

Name of station

freq

Frequency, in kHz (scaled by 10), on which the station is transmitting. In the

first line of the Example below, 2870 indicates 287.0 kHz.

status

0 (operational), 1 (undefined), 2 (no information), 3 (do not use)

time

Not implemented. Currently displayed at 0

date

Not implemented. Currently displayed at 0

distance

Calculated in nautical miles

health

-1 (not updated), 8 (undefined), 0-7 (valid range)

WER

-1 (not updated), 0-100 (valid range)

Example

$PCSI,ACK,3,3

$PCSI,3,2, 849,Polson

MT,2870,0,210,0,0,-1,-1

$PCSI,3,2, 848,Spokane

$PCSI,3,2, 907,Richmond

WA,3160,0,250,0,0,-1,-1

BC,3200,0,356,0,0,-1,-1

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$PCSI,3,2,

888,Whidbey Is.

WA,3020,0,363,0,0,-1,-1

$PCSI,3,2,

887,Robinson Pt.

WA,3230,0,383,0,0,-1,-1

$PCSI,3,2,

874,Billings

MT,3130,0,389,0,0,-1,-1

$PCSI,3,2,

871,Appleton

WA,3000,0,420,0,0,-1,-1

$PCSI,3,2,

908,Amphitrite Pt

BC,3150,0,448,0,0,-1,-1

$PCSI,3,2,

886,Fort Stevens

OR,2870,0,473,0,0,-1,-1

$PCSI,3,2,

909,Alert Bay

BC,3090,0,480,0,0,-1,-1

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

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PCSI,3,3 Command (Station Database command)

Command

Type Beacon Receiver

Description Display the contents of the beacon station database

Command

Format

$PCSI,3,3<CR><LF>

Receiver

Response

$PCSI,ACK,3,3

$PCSI,3,3,IDref1,IDref2,StationID,name,freq,lat,long,datum,status

$PCSI,3,3, ...

...

where:

Response

Component

Description

IDref1

Beacon reference ID (primary)

IDref2

Beacon reference ID (secondary)

StationID

Specific ID number for beacon stations (appears in the last field of the GPGGA message)

name

Name of station

freq

Frequency, in kHz (scaled by 10), on which the station is transmitting. In the first line of the

Example below, 2950 indicates 295.0 kHz.

lat

Scaled by 364 (+ve indicates N and -ve indicates S)

long

Longitude is scaled by 182 (+ve indicates N and -ve indicates S)

datum

1 (NAD83), 0(WGS84)

status

0 (operational), 1(undefined), 2 (no information), 3, (do not use)

Example

$PCSI,ACK,3,3

$PCSI,3,3,0282,0283,0891,Level Island

AK,2950,20554,-24221,1,0

$PCSI,3,3,0306,0307,0906,Sandspit

BC,3000,19377,-23991,1,0

$PCSI,3,3,0278,0279,0889,Annette Is.

AK,3230,20044,-23951,1,0

$PCSI,3,3,0300,0301,0909,Alert Bay

BC,3090,18412,-23099,1,0

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$PCSI,3,3,0302,0303,0908,Amphitrite Pt BC,3150,17806,-22850,1,0

$PCSI,3,3,0270,0271,0885,C. Mendocino CA,2920,14718,-22641,1,0

$PCSI,3,3,0272,0273,0886,Fort Stevens OR,2870,16817,-22559,1,0

$PCSI,3,3,0304,0305,0907,Richmond

BC,3200,17903,-22407,1,0

$PCSI,3,3,0276,0277,0888,Whidbey Is. WA,3020,17587,-22331,1,0

...

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

Commands and Messages

PCSI,4 Command (Wipe Search command)

Command

Type

Beacon Receiver

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Description Clear search history in Auto mode

Command

Format

$PCSI,4<CR><LF>

Receiver

Response

$PCSI,ACK,4

Example

Additional

Information

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PCSI,5 Command (Set Baud Rates command)

Command

Type Beacon Receiver

Description Set the baud rate of Port0 and Port1

The baud rate for Port0 is saved for next powerup; however, the baud rate for

Port1 always defaults to 4800.

Note: This command applies when you connect directly to a beacon board,

as this command has no effect when a beacon board is integrated with a

GNSS receiver.

Command

Format

$PCSI,5,portrate0,portrate1<CR><LF>

where:

•

portrate0 = desired baud rate for Port0

•

portrate1 = desired baud rate for Port1

Receiver $>

Response

Example

Additional

Information

Topic Last Updated: v1.07 / February 16, 2017

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PCSI,6 Command (Reboot command)

Command

Type Beacon Receiver

Description Reboot SBX receiver

Command

Format

$PCSI,6<CR><LF>

Receiver

Response See example below

Example When sending this command your response will appear similar to below:

$PCSI,S/N:00019001

$PCSI,FCFGcrc,B5E5,CCFGcrc,B5E5,Pass

$PCSI,FGLBcrc,19BC,CGLBcrc,19BC,Pass

$PCSI,FLSHcrc,0531 Pass

$PCSI,FSTAcrc,56C3 Base,2FB2,B077

Additional

Information

Topic Last Updated: v1.04 / May 29, 2012

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PCSI,7 Command (Swap Modes command)

Command

Type Beacon Receiver

Description Swap modes on the receiver (allowing you to output RTCM and PCSI on the

desired ports—Port0 and Port1)

Note: This command applies when you connect directly to a beacon board,

as this command has no effect when a beacon board is integrated with a

GNSS receiver.

Command

Format

$PCSI,7,mode<CR><LF>

where mode is:

•

1 = PCSI on Port1 and RTCM on Port0

•

2 = PCSI on Port0 and RTCM on Port1

Receiver

Response

$PCSI,ACK,7,mode

For example, when sending the following command...

$PCSI,7,1<CR><LF>

... the response is:

$PCSI,ACK,7,1

Example

Additional

Information

Topic Last Updated: v1.07 / February 16, 2017

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Binary Messages Code

This section provides the code for the binary messages that Hemisphere GNSS uses.

// BinaryMsg.h

#ifndef BinaryMsg_H

#define BinaryMsg_H

#ifdef cplusplus

extern "C" {

#endif

* Use and copying of this software and preparation of derivative works

* based upon this software are permitted. Any copy of this software or

* of any derivative work must include the above copyright notice, this

* paragraph and the one after it. Any distribution of this software or

* derivative works must comply with all applicable laws.

* This software is made available AS IS, and COPYRIGHT OWNERS DISCLAIMS

* ALL WARRANTIES, EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION THE

* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR

* PURPOSE, AND NOTWITHSTANDING ANY OTHER PROVISION CONTAINED HEREIN, ANY

* LIABILITY FOR DAMAGES RESULTING FROM THE SOFTWARE OR ITS USE IS

* EXPRESSLY DISCLAIMED, WHETHER ARISING IN CONTRACT, TORT (INCLUDING

* NEGLIGENCE) OR STRICT LIABILITY, EVEN IF COPYRIGHT OWNERS ARE ADVISED

* OF THE POSSIBILITY OF SUCH DAMAGES.

#if defined(WIN32) || ( ARMCC_VERSION >= 300441)

#pragma pack(push)

#pragma pack(4)

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#endif

/****************************************************/

/* SBinaryMsgHeader */

/****************************************************/

typedef struct

{

char m_strSOH[4]; /* start of header ($BIN) */ unsigned

short m_byBlockID; /* ID of message (1,2,99,98,97,96,95,94,93

or 80 ) */

unsigned short m_wDataLength; /* 52 16,304,68,28,300,128,96,56, or 40 */

} SBinaryMsgHeader;

typedef struct

{

unsigned long ulDwordPreamble; /* 0x4E494224 = $BIN */ unsigned

long ulDwordInfo; /* 0x00340001 or 0x00100002 or

0x01300063 */

} SBinaryMsgHeaderDW; /* or 0x00440062 or 0x001C0061 or

0x012C0060 */

0x0038005D */

/* or 0x0080005F or 0x0060005E or

/* or 0x00280050 */

#define BIN_MSG_PREAMBLE 0x4E494224 /* $BIN = 0x4E494224 */

#define BIN_MSG_HEAD_TYPE1 0x00340001 /* 52 = 0x34 */

#define BIN_MSG_HEAD_TYPE2 0x00100002 /* 16 = 0x10 */

#define BIN_MSG_HEAD_TYPE99 0x01300063 /* 99 = 0x63, 304 = 0x130 */

#define BIN_MSG_HEAD_TYPE102 0x01580066 /* 102 = 0x66, 344 = 0x158 */

#define BIN_MSG_HEAD_TYPE101 0x01C00065 /* 101 = 0x65, 448 = 0x1C0 */

#define BIN_MSG_HEAD_TYPE100 0x01040064 /* 100 = 0x64, 260 = 0x104*/

#define BIN_MSG_HEAD_TYPE98 0x00440062 /* 98 = 0x62, 68 = 0x44 */

#define BIN_MSG_HEAD_TYPE97 0x001C0061 /* 97 = 0x61, 28 = 0x1C */

#define BIN_MSG_HEAD_TYPE96 0x012C0060 /* 96 = 0x60, 300 = 0x12C */

#define BIN_MSG_HEAD_TYPE95 0x0080005F /* 95 = 0x5F, 128 = 0x80 */

#define BIN_MSG_HEAD_TYPE94 0x0060005E /* 94 = 0x5E, 96 = 0x60 */

#define BIN_MSG_HEAD_TYPE93 0x0038005D /* 93 = 0x5D, 56 = 0x38 */

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#define BIN_MSG_HEAD_TYPE91 0x0198005B /* 91 = 0x5B, 408 = 0x198 = total size in

bytes -8 -2 -2*/

#define BIN_MSG_HEAD_TYPE89 0x00500059 /* 89 = 0x59, 80 = 0x50 */

#define BIN_MSG_HEAD_TYPE80 0x00280050 /* 80 = 0x50, 40 = 0x28 */

#define BIN_MSG_HEAD_TYPE76 0x01C0004C /* 76 = 0x4C, 448 = 0x1C0 = total size in

bytes -8 -2 -2*/

#define BIN_MSG_HEAD_TYPE71 0x01C00047 /* 71 = 0x47, 448 = 0x1C0 = total size in

bytes -8 -2 -2*/

#define BIN_MSG_HEAD_TYPE16 0x01380010 /* 16 = 0x10, 312 = 0x138 */ //GNSS

phase observables

#define BIN_MSG_HEAD_TYPE45 0x0080002D /* 45 = 0x2D, 128 = 0x80 */ //Galileo

subframe words --- similar to GPS

#define BIN_MSG_HEAD_TYPE44 0x0038002C /* 44 = 0x2C, 56 = 0x38 */ //Galileo time

offsets

#define

BIN_MSG_HEAD_TYPE61

0x0140003D

0x3D,

320

0x140

#define

BIN_MSG_HEAD_TYPE62

0x0028003E

0x3E,

0x28

#define

BIN_MSG_HEAD_TYPE65

0x00440041

0x41,

0x44

#define

BIN_MSG_HEAD_TYPE66

0x01600042

0x42,

352

0x160

#define

BIN_MSG_HEAD_TYPE69

0x012C0045

0x45,

300

0x12C

#define

BIN_MSG_HEAD_TYPE59

0x0100003B

0x3B,

256

0x100

*/ //GPS L2C

#define BIN_MSG_HEAD_TYPE10 0x0194000A /* 10 = 0xA, 404 = 0x194 = total size

in bytes -8 -2 -2*/

#if defined(_RXAIF_PLOT_MESSAGES_)

#define BIN_MSG_HEAD_TYPE11 0x0064000B /* 11 = 0x0B, 100 = 0x64 = total

size(112) in bytes -8 -2 -2*/

#endif

#define BIN_MSG_CRLF 0x0A0D /* CR LF = 0x0D, 0x0A */

#define CHANNELS_12 12

#define cBPM_SCAT_MEMSIZE 100

#if defined(_RXAIF_PLOT_MESSAGES_)

#define cBPM_AIFSCAT_MEMSIZE 16

#endif

typedef

union

{

SBinaryMsgHeader

sBytes

; SBinaryMsgHeaderDW

sDWord;

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} SUnionMsgHeader;

/****************************************************/

/* SBinaryMsg1 */

/****************************************************/

typedef struct

{

SUnionMsgHeader m_sHead;

unsigned char m_byAgeOfDiff; /* age of differential, seconds (255

max)*/

unsigned char m_byNumOfSats; /* number of satellites used (12 max)

unsigned short m_wGPSWeek; /* GPS week */

double m_dGPSTimeOfWeek; /* GPS tow */

double m_dLatitude; /* Latitude degrees, -90..90 */ double

m_dLongitude; /* Latitude degrees, -180..180 */

float m_fHeight; /* (m), Altitude ellipsoid */ float

m_fVNorth; /* Velocity north m/s */

float m_fVEast; /* Velocity eastm/s */

float m_fVUp; /* Velocity up m/s */

float m_fStdDevResid; /* (m), Standard Deviation of

Residuals */

unsigned short m_wNavMode;

unsigned short m_wAgeOfDiff; /* age of diff using 16 bits */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg1; /* length = 8 + 52 + 2 + 2 = 64 */

/****************************************************/

/* SBinaryMsg2 */

/****************************************************/

typedef struct

{

SUnionMsgHeader m_sHead;

unsigned long m_ulMaskSatsTracked; /* SATS Tracked, bit mapped 0..31 */

unsigned long m_ulMaskSatsUsed; /* SATS Used, bit mapped 0..31 */

unsigned short m_wGpsUtcDiff; /* GPS/UTC time difference (GPS minus

UTC) */

unsigned short m_wHDOPTimes10;

/* HDOP

(0.1 units) */ unsigned

short m_wVDOPTimes10;

/* VDOP

(0.1 units) */ unsigned

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short m_wWAASMask; /* Bits 0-1: tracked sats, Bits 2-3:

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used sats, Bits 5-9 WAAS PRN 1

minus

120, Bits 10-14 WAAS PRN 1 minus

120 */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg2; /* length = 8 + 16 + 2 + 2 = 28 */

/****************************************************/

/* SChannelData */

/****************************************************/

typedef struct

{

unsigned char m_byChannel; /* channel number */

unsigned char m_bySV; /* satellite being tracked, 0 == not

tracked */

unsigned char m_byStatus; /* Status bits (code carrier bit frame...)

unsigned char m_byLastSubFrame; /* last subframe processed */

unsigned char m_byEphmVFlag; /* ephemeris valid flag */

unsigned char m_byEphmHealth; /* ephemeris health */ unsigned

char m_byAlmVFlag; /* almanac valid flag */

unsigned char m_byAlmHealth; /* almanac health */

char m_chElev; /* elevation angle */ unsigned

char m_byAzimuth; /* 1/2 the Azimuth angle */

unsigned char m_byURA; /* User Range Error */

unsigned char m_byDum; /* Place Holder */

unsigned short m_wCliForSNR; /* code lock indicator for SNR divided by 32

short m_nDiffCorr; /* Differential correction * 100 */

short m_nPosResid; /* position residual * 10 */

short m_nVelResid; /* velocity residual * 10 */ short

m_nDoppHz; /* expected doppler in HZ */ short m_nNCOHz;

/* track from NCO in HZ */

} SChannelData; /* 24 bytes */

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/****************************************************/

/* SChannelL2Data */

/****************************************************/

//#if defined(_DUAL_FREQ_) typedef

struct

{

unsigned char m_byChannel; /* channel number */

unsigned char m_bySV; /* satellite being tracked, 0 == not

tracked */

unsigned char m_byL2CX; /* Status bits for L2P (code carrier bit

frame...) */

unsigned char m_byL1CX; /* Status bits for L1P (code carrier bit

frame...) */

unsigned short m_wCliForSNRL2P; /* code lock indicator for SNR divided by 32 */

unsigned short m_wCliForSNRL1P; /* code lock indicator for L1P SNR divided by 32 */

short

m_nC1_L1;

m_nP2_C1;

C1-L1

P2-C1

meters

* 100

short

m_nP2_L1;

P2-L1

meters

* 100

short

m_nL2_L1;

L2-L1

meters

* 100

short

m_nP2_P1;

P2-P1

meters

* 100

short m_nNCOHz; /* track from NCO in HZ */

} SChannelL2Data; /* 20 bytes */

//#endif

/****************************************************/

/* SChannelL2CData for USING_GPSL2CL */

/****************************************************/

typedef struct

{

unsigned char m_byChannel; // channel number

unsigned char m_bySV; // satellite being tracked, 0 == not

tracked

unsigned char m_byL2CX; // Status bits for L2P (code carrier bit

frame...)

unsigned char spare1;

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unsigned short m_wCliForSNRL2C; // code lock indicator for SNR divided by

unsigned short spare2;

short m_nL2C_L1Ca; //L2CL - CA code error meters * 100

short

m_nL2C_L2P;

//L2CL - L2P code error meters * 100 short

m_nL2_L1;

//L2CL - L1CA phase error meters * 100

short

m_nL2_L2P;

//L2CL - L2P phase error meters * 100 short

spare3;

short

} SChannelL2CData;

m_nNCOHz;

// 20 bytes

// track from NCO in HZ

/****************************************************/

/* SBinaryMsg99 */

/****************************************************/

typedef struct

{

SUnionMsgHeader m_sHead;

unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D

(high bit =has_diff) */

char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS

unsigned short m_wGPSWeek; /* GPS week */

double m_dGPSTimeOfWeek; /* GPS tow */

SChannelData m_asChannelData[CHANNELS_12]; /* channel data */ short

m_nClockErrAtL1; /* clock error at L1, Hz */ unsigned short m_wSpare;

/* spare */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg99; /* length = 8 + 304 + 2 + 2 = 316 */

#define CHANNELS_SBAS_E 3

/****************************************************/

/* SBinaryMsg89 * Supports 3 SBAS Satellites */

/****************************************************/

typedef struct

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{

SUnionMsgHeader m_sHead;

long m_lGPSSecOfWeek; /* GPS tow integer sec */

unsigned char m_byMaskSBASTracked; /* SBAS Sats Tracked, bit mapped 0..3

unsigned char m_byMaskSBASUSED; /* SBAS Sats Used, bit mapped 0..3 */

unsigned short m_wSpare; /* spare */

SChannelData m_asChannelData[CHANNELS_SBAS_E]; /* SBAS channel data */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg89; /* length = 8 + 80 + 2 + 2 = 92 */

/****************************************************/

/* SBinaryMsg100 */

/****************************************************/

//#if defined(_DUAL_FREQ_) typedef

struct

{

SUnionMsgHeader m_sHead;

unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D

(high bit =has_diff) */

char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS

unsigned short m_wGPSWeek; /* GPS week */

unsigned long m_ulMaskSatsUsedL2P; /* L2P SATS Used, bit mapped 0..31 */ double

m_dGPSTimeOfWeek; /* GPS tow */

unsigned long m_ulMaskSatsUsedL1P; /* L1P SATS Used, bit mapped 0..31 */

SChannelL2Data m_asChannelData[CHANNELS_12]; /* channel data */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg100; /* length = 8 + 260 + 2 + 2 = 272 */

//#endif

/****************************************************/

/* SBinaryMsg59 for USING_GPSL2CL */

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/****************************************************/

typedef struct

{

SUnionMsgHeader m_sHead;

unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D

(high bit =has_diff) */ //1 byte

char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS

*/ //1 byte

unsigned short m_wGPSWeek; /* GPS week */

//2 bytes

unsigned long m_ulMaskSatsUsedL2P; /* L2P SATS Used, bit mapped 0..31 */

//4 bytes

double m_dGPSTimeOfWeek; /* GPS tow */

//8 bytes

SChannelL2CData m_asChannelData[CHANNELS_12]; /* channel data */

//20*12 bytes

unsigned short m_wCheckSum; /* sum of all bytes of the datalengtha

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg59; /* length = 8 + 260 + 2 + 2 = 272 */

/****************************************************/

/* SSVAlmanData */

/****************************************************/

typedef struct

{

short m_nDoppHz; /* doppler in HZ for stationary receiver */

unsigned char m_byCountUpdate; /* count of almanac updates */

unsigned char m_bySVindex; /* 0 through 31 (groups of 8)*/

unsigned char m_byAlmVFlag; /* almanac valid flag */ unsigned

char m_byAlmHealth; /* almanac health */

char m_chElev; /* elevation angle */ unsigned

char m_byAzimuth; /* 1/2 the Azimuth angle */

} SSVAlmanData; /* 8 bytes */

/****************************************************/

/* SBinaryMsg98 */

/****************************************************/

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typedef struct

{

SUnionMsgHeader m_sHead;

SSVAlmanData m_asAlmanData[8]; /* SV data, 8 at a time */

unsigned char m_byLastAlman; /* last almanac processed */

unsigned char m_byIonoUTCVFlag; /* iono UTC flag */ unsigned

short m_wSpare; /* spare */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg98; /* length = 8 + (64+1+1+2) + 2 + 2 = 80

/****************************************************/

/* SBinaryMsg97 */

/****************************************************/

typedef struct

{

SUnionMsgHeader m_sHead;

unsigned long m_ulCPUFactor; /* CPU utilization Factor (%=multby

450e-6) */

unsigned short m_wMissedSubFrame;

missed subframes */

unsigned short m_wMaxSubFramePend;

max subframe pending */

unsigned short m_wMissedAccum;

missed accumulations */

unsigned short m_wMissedMeas;

missed measurements */

unsigned long m_ulSpare1;

spare 1 (zero)*/ unsigned

long m_ulSpare2;

spare 2 (zero)*/ unsigned

long m_ulSpare3;

spare 3 (zero)*/ unsigned

short m_wSpare4; /* spare 4 (zero)*/

unsigned short m_wSpare5;

spare 5 (zero)*/

unsigned short m_wCheckSum;

sum of all bytes of the datalength

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg97; /* length = 8 + (28) + 2 + 2 = 40 */

/****************************************************/

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/* SObservations */

/****************************************************/

typedef struct

{

unsigned long m_ulCS_TT_SNR_PRN; /* Bits 0-7 PRN (PRN is 0 if no data)

/* Bits 8-15 SNR_value

SNR = 10.0*log10( 0.8192*SNR_value)

/* Bits 16-23 Phase Track Time in units of

1/10 second (range = 0 to 25.5 seconds

(see next word) */

/* Bits 24-31 Cycle Slip Counter Increments

by 1 every cycle slip with natural roll

over after 255 */

unsigned long m_ulDoppler_FL; /* Bit 0: 1 if Valid Phase, 0

otherwise

Bit 1: 1 if Track Time > 25.5 sec,

0 otherwise

Bits 2-3: unused

Bits 4-32: Signed (two's compliment)

doppler in units of m/sec x 4096. (i.e.,

LSB = 1/4096). Range =

+/- 32768 m/sec. Computed as phase

change over 1/10 sec. */

double m_dPseudoRange; /* pseudo ranges (m) */

double m_dPhase; /* phase (m) L1 wave len =

0.190293672798365*/

} SObservations; /* 24 bytes */

/****************************************************/

/* SBinaryMsg96 */

/****************************************************/

typedef struct

{

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SUnionMsgHeader

unsigned short

m_sHead;

m_wSpare1;

spare 1 (zero)*/

unsigned short

double

m_wWeek;

m_dTow;

GPS Week Number */

Predicted GPS Time in seconds */

SObservations m_asObvs[CHANNELS_12];/* 12 sets of observations */

unsigned short m_wCheckSum; /* sum of all bytes of the

datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg96; /* length = 8 + (300) + 2 + 2 = 312

/****************************************************/

/* SBinaryMsg95 */

/****************************************************/

/* sent only upon command or when values change */ typedef

struct

{

SUnionMsgHeader m_sHead;

unsigned short m_wSV; /* The satellite to which this data

belongs. */

unsigned short m_wSpare1; /* spare 1 (chan number (as zero

9/1/2004)*/

unsigned long m_TOW6SecOfWeek; /* time at which this arrived (LSB =

6sec) */

unsigned long m_SF1words[10]; /* Unparsed SF 1 message words. */ unsigned long

m_SF2words[10]; /* Unparsed SF 2 message words. */ unsigned long m_SF3words[10];

/* Unparsed SF 3 message words.*/

contains

ignored

left to

/* Each of the subframe words

one 30-bit GPS word in the lower

30 bits, The upper two bits are

Bits are placed in the words from

right as they are received */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength

unsigned short m_wCRLF; /* Carriage Return Line Feed */

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} SBinaryMsg95; /* length = 8 + (128) + 2 + 2 = 140

/****************************************************/

/* SBinaryMsg94 */

/****************************************************/

/* sent only upon command or when values change */ typedef

struct

{

SUnionMsgHeader m_sHead;

/* Iono parameters. */

double

m_a0,m_a1,m_a2,m_a3;

AFCRL alpha parameters. */

double

m_b0,m_b1,m_b2,m_b3;

AFCRL beta parameters.

/* UTC conversion parameters. */

double

m_A0,m_A1;

Coeffs for determining UTC time. */

unsigned long

m_tot;

Reference time for A0 & A1, sec of

GPS week. */

unsigned short m_wnt; /* Current UTC reference week number.

unsigned short m_wnlsf; /* Week number when dtlsf becomes

effective. */

unsigned short m_dn; /* Day of week (1-7) when dtlsf

becomes effective. */

short m_dtls; /* Cumulative past leap seconds. */

short m_dtlsf; /* Scheduled future leap seconds. */

unsigned short m_wSpare1; /* spare 4 (zero)*/

unsigned short m_wCheckSum; /* sum of all bytes of the datalength

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg94; /* length = 8 + (96) + 2 + 2 = 108 */

/****************************************************/

/* SBinaryMsg93 */

/****************************************************/

/* sent only upon command or when values change */

/* WAAS ephemeris */ typedef

struct

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{

SUnionMsgHeader m_sHead;

unsigned short m_wSV; /* The satellite to which this data

belongs. */

unsigned short m_wWeek; /* Week corresponding to m_lTOW*/

unsigned long m_lSecOfWeekArrived; /* time at which this arrived (LSB =

1sec) */

unsigned short m_wIODE;

unsigned short m_wURA; /* See 2.5.3 of Global Pos Sys Std Pos

Service Spec */

long m_lTOW; /* Sec of WEEK Bit 0 = 1 sec */

long

m_lXG;

Bit

0.08 m */

long

m_lYG;

Bit

0.08 m */

long

m_lZG;

Bit

0.4 m */

long

m_lXGDot;

Bit

0.000625 m/sec */

long

m_lYGDot;

Bit

0.000625 m/sec */

long

m_lZGDot;

Bit

0.004 m/sec */

long

m_lXGDotDot;

Bit

0.0000125 m/sec/sec */

long

m_lYGDotDot;

Bit

0.0000125 m/sec/sec */

long

m_lZGDotDot;

Bit

0.0000625 m/sec/sec */

short m_nGf0; /* Bit 0 = 2**-31 sec */

short m_nGf0Dot; /* Bit 0 = 2**-40 sec/sec */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg93; /* length = 8 + (56) + 2 + 2 = 68 */

/****************************************************/

/* SBinaryMsg80 */

/****************************************************/

typedef struct

{

SUnionMsgHeader m_sHead;

unsigned short m_wPRN; /* Broadcast PRN */

unsigned short m_wSpare; /* spare (zero) */

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unsigned long m_ulMsgSecOfWeek; /* Seconds of Week For Message */

unsigned long m_aulWaasMsg[8]; /* Actual 250 bit waas message*/

unsigned short m_wCheckSum; /* sum of all bytes of the datalength

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg80; /* length = 8 + (40) + 2 + 2 = 52 */

/****************************************************/

/* SMsg91Data */

/****************************************************/

typedef struct

{

unsigned char bySV; /* satellite being tracked, 0 == not

tracked */

unsigned char byStatus; /* Status bits (code carrier bit frame...)

unsigned char byStatusSlave; /* Status bits (code carrier bit frame...)

unsigned char byChannel; /* Not used */

unsigned short wEpochSlew; /* 20*_20MS_EPOCH_SLEW +

_1MS_EPOCH_SLEW */

unsigned short wEpochCount; /* epoch_count */

unsigned long codeph_SNR; /* 0-20 = code phase (21 bits), 28-

32 = SNR/4096, upper 4 bits */

unsigned long ulCarrierCycles_SNR; /* 0-23 = carrier cycles, 24-32 =

SNR/4096 lower 8 bits */

unsigned short wDCOPhaseB10_HalfWarns; /* 0-11 = DCO phase, 12-14 = Half

Cycle Warn

15 = half Cycle added */

unsigned short m_wPotentialSlipCount; /* potential slip count */

/* SLAVE DATA */

unsigned long codeph_SNR_Slave; /* 0-20 = code phase (21

bits), 28-32 = SNR/4096, upper 4 bits */

unsigned long ulCarrierCycles_SNR_Slave; /* 0-23 = carrier cycles, 24-

32 = SNR/4096 lower 8 bits */

unsigned short wDCOPhaseB10_HalfWarns_Slave; /* 0-11 = DCO phase, 12-14 = Half

Cycle Warn

15 = half Cycle added */

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unsigned short m_wPotentialSlipCount_Slave; /* potential slip count */

} SMsg91Data; /* 32 bytes */

/****************************************************/

SBinaryMsg91

Comment: Transmits

data from Takemeas.c

debugging

structure.

/* Added by bbadke 7/07/2003 */

/****************************************************/

typedef struct

{

SUnionMsgHeader

m_sHead;

8 */

double

m_sec;

8 bytes */

int

m_iWeek;

4 bytes */

unsigned long

m_Tic;

4 bytes */

long

lTicOfWeek;

4 bytes */

long

unsigned short

lProgTic;

s91Data[CHANNELS_12];

m_wCheckSum;

4 bytes */ SMsg91Data

12*32= 384 bytes */

sum of all bytes of the

datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg91; /* length = 8 + (408) + 2 + 2 =

420 */

/****************************************************/

/* SObsPacket */

/****************************************************/

typedef struct

{

unsigned long m_ulCS_TT_W3_SNR; /* Bits 0-11 (12 bits) =SNR_value

For L1 SNR = 10.0*log10(

0.1024*SNR_value)

FOR L2 SNR = 10.0*log10(

0.1164*SNR_value) */

/* Bits 12-14 (3 bits) = 3 bits of

warning

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for potential 1/2 cycle slips. A

warning

set. */

25.5 sec,

units

exists if any of these bits are

/* bit 15: (1 bit) 1 if Track Time >

0 otherwise */

/* Bits 16-23 (8 bits): Track Time in

seconds) */

Counter

of 1/10 second (range = 0 to 25.5

/* Bits 24-31 (8 bits) = Cycle Slip

Increments by 1 every cycle slip with

natural roll-over after 255 */

unsigned long m_ulP7_Doppler_FL; /* Bit 0: (1 bit) 1 if Valid Phase, 0

otherwise

doppler

1=negative, 0=pos

of the

cycles */

Bit 1-23: (23 bits) =Magnitude of

LSB = 1/512 cycle/sec

Range = 0 to 16384 cycle/sec

Bit 24: sign of doppler,

Bits 25-31 (7 bits) = upper 7 bits

23 bit carrier phase.

LSB = 64 cycles, MSB = 4096

unsigned long m_ulCodeAndPhase; /* Bit 0-15 (16 bits) lower 16 bits of

code

pseudorange

LSB = 1/256 meters MSB

= 128 meters

Note, the upper 19 bits are

given in

code

carrier phase,

m_aulCACodeMSBsPRN[] for CA

Bit 16-31 lower 16 bits of the

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m_ulP7_Doppler_FL

7 more bits are in

LSB = 1/1024 cycles MSB

= 32 cycles */

} SObsPacket; /* 12 bytes , note: all zero if data not available */

/* A NOTE ON DECODING MESSAGE 76

* Notation: "code" -- is taken to mean the PseudoRange derived from code

phase.

* "phase" -- is taken to mean range derived from carrier phase.

* This will contain cycle ambiguities.

* Only the lower 16 bits of L1P code, L2P code and the lower 23 bits of

* carrier phase are provided. The upper 19 bits of the L1CA code are found

* in m_aulCACodeMSBsPRN[]. The upper 19 bits of L1P or L2P must be derived

* using the fact that L1P and L2P are within 128 meters of L1CA. To

* determine L1P or L2P, use the lower 16 bits provided in the message and

* set the upper bits to that of L1CA. Then add or subtract one LSB of the

* upper bits (256 meters) so that L1P or L2P are within 1/2 LSB (128 meters)

* of the L1CA code.

* The carrier phase is in units of cycles, rather than meters,

* and is held to within 1023 cycles of the respective code range. Only

* the lower 16+7=23 bits of carrier phase are transmitted in Msg 76.

* In order to determine the remaining bits, first convert the respective

* code range (determined above) into cycles by dividing by the carrier

* wavelength. Call this the "nominal reference phase". Next extract the 16

* and 7 bit blocks of carrier phase from Msg 76 and arrange to form the lower

* 23 bits of carrier phase. Set the upper bits (bit 23 and above) equal to

* those of the nominal reference phase. Then, similar to what was done for

* L1P and L2P, add or subtract the least significant upper bit (8192 cycles)

* so that carrier phase most closely agrees with the nominal reference phase

* (to within 4096 cycles).

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#define CHANNELS_12_PLUS (CHANNELS_12+2) /* up to two SBAS

satellites */

#define CHANNELS_L1_E (CHANNELS_12+CHANNELS_SBAS_E) /* All L1 (including SBAS

satellites) */

/****************************************************/

/* SBinaryMsg76 */

/****************************************************/

typedef struct

{

SUnionMsgHeader

double

m_sHead;

m_dTow;

GPS Time in seconds */

unsigned short

unsigned long

SObsPacket

m_wWeek;

m_wSpare1;

m_ulSpare2;

m_asL2PObs[CHANNELS_12];

GPS Week Number */

spare 1 (zero)*/

spare 2 (zero)*/

12 sets of L2(P)

observations */

SObsPacket m_asL1CAObs[CHANNELS_L1_E]; /* 15 sets of L1(CA)

observations */

unsigned long m_aulCACodeMSBsPRN[CHANNELS_L1_E]; /* array of 15words.

satellite PRN, 0

bit 7:0 (8 bits) =

if no satellite

bit 12:8 (5 bits) = spare

19 bits

meters */

bit 31:13 (19 bits) = upper

of L1CA LSB = 256 meters

MSB = 67108864

unsigned long m_auL1Pword[CHANNELS_12]; /* array of 12 words relating to

L1(P) code.

bits of the

Bit 0-15 (16 bits) lower 16

L1P code pseudo range.

LSB = 1/256 meters MSB =

128 meters

Bits 16-27 (12 bits) = L1P

SNR_value

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0.1164*SNR_value) SNR = 10.0*log10(

L1P track

If Bits 16-27 all zero, no

Bits 28-31 (4 bits) spare */

unsigned short m_wCheckSum; /* sum of all bytes of the

datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg76; /* length = 8 + (448) + 2 + 2 =

460 */

/****************************************************/

/* SMsg71DataL1 */

/****************************************************/

typedef struct

{

unsigned char bySV; /* satellite being tracked, 0 == not

tracked */

unsigned char byStatus; /* Status bits (code carrier bit

frame...) */

unsigned char byStatusL1P; /* 0-8 lower 8 bits of L1P

SNR/32768, if zero and

m_wSNR_codeph_L1P are zero

if upper two bits of

then L1P is not tracking */

unsigned char byStatusL2P; /* Status bits (code carrier phase

...) */

unsigned short wEpochSlew; /* 20*_20MS_EPOCH_SLEW +

_1MS_EPOCH_SLEW */

unsigned short wEpochCount; /* epoch_count */

unsigned long codeph_SNR; /* 0-20 = code phase (21 bits), 28-

32 = SNR/4096, upper 4 bits */

unsigned long ulCarrierCycles_SNR; /* 0-23 = carrier cycles, 24-32 =

SNR/4096 lower 8 bits */

unsigned short wDCOPhaseB10_HalfWarns; /* 0-11 = DCO phase, 12-14 = Half

Cycle Warn

15 = half Cycle added */

unsigned short m_wPotentialSlipCount; /* potential slip count */

} SMsg71DataL1; /* 20 bytes */

/****************************************************/

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/* SMsg71DataL1PL2P */

/****************************************************/

typedef struct

{

/* L1P and L2P Data */

// unsigned long codeph_SNR_L1P; NOT USED YET /* 0-22 = L1 code phase (23

bits), 28-32 = SNR/8192, upper 4 bits */

unsigned long codeph_SNR_L2P; /* 0-22 = L2P code phase (23

bits), 28-32 = SNR/8192, upper 4 bits */

unsigned long ulCarrierCycles_SNR_L2P; /* 0-23 = carrier cycles,

24-32 = SNR/8192 lower 8 bits */

unsigned short wDCOPhaseB10_L2P; /* 0-11 = DCO phase, 12-15 =

Spare */

unsigned short m_wSNR_codeph_L1P; /* 0-13 = lower 14 bits of

L1P code, 14-15 SNR/32768 Upper 2 bits */

upper bits form L2P and adjust by

/* To get full L1P code, use

+/- 2**14 if necessary */

} SMsg71DataL1PL2P; /* 12 bytes */

/****************************************************/

SBinaryMsg71

Comment: Transmits

data from Takemeas.c

debugging

structure for Dual Freq.

/****************************************************/

typedef struct

{

SUnionMsgHeader

m_sHead;

/* 8 */

double

m_sec;

/* 8 bytes */

int

m_iWeek;

/* 4 bytes */

unsigned long

m_Tic;

/* 4 bytes */

long

lTicOfWeek;

/* 4 bytes */

long

lProgTic;

/* 4 bytes */

SMsg71DataL1PL2P s91L2PData[CHANNELS_12]; /* 12*12 = 144 bytes */

SMsg71DataL1

s91Data[CHANNELS_12_PLUS];

/* 14*20 = 280 bytes */

unsigned short

m_wCheckSum;

/* sum of all bytes of the

datalength */

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unsigned short m_wCRLF; /* Carriage Return Line Feed

} SBinaryMsg71; /* length = 8 + (448) + 2 + 2

= 460 */

/////////////////////////////////////////////////////

// SBinaryMsg10

// Comment: Transmits scatter plot data from

// buffacc.c

/////////////////////////////////////////////////////

enum eBIN10_TYPE {eBIN10_GPSL1CA=0,eBIN10_GPSL1P,eBIN10_GPSL2P,

eBIN10_GLONASSL1,eBIN10_GLONASSL2,eBIN10_GPSL2CL,eBIN10_GPSL5

Q};

typedef struct

{

SUnionMsgHeader m_sHead; // 8 bytes

unsigned short m_awScatterPlotDataI[cBPM_SCAT_MEMSIZE]; //100*2 = 200 bytes unsigned

short m_awScatterPlotDataQ[cBPM_SCAT_MEMSIZE]; //100*2 = 200 bytes unsigned short

m_wChannel;

unsigned short m_wSigType; // one of eBIN10_TYPE

unsigned short m_wCheckSum; // sum of all bytes of the

datalength

unsigned short m_wCRLF; // Carriage Return Line Feed

} SBinaryMsg10; // length = 8 +200 +200 +2 +2 +2

+2 = 416

#if defined(_RXAIF_PLOT_MESSAGES_)

/////////////////////////////////////////////////////

// SBinaryMsg11

// Comment: Transmits scatter plot data for RXGNSS_AIF statistics

///////////////////////////////////////////////////// enum

eBIN11_TYPE {eBIN11_COUNTS=0,eBIN11_VALUES};

typedef struct

{

SUnionMsgHeader m_sHead; // 8 bytes

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unsigned short m_awScatterPlotDataValues[cBPM_AIFSCAT_MEMSIZE]; //16*2

= 32 bytes

unsigned short m_awScatterPlotDataCntMag[cBPM_AIFSCAT_MEMSIZE]; //16*2

= 32 bytes

unsigned short m_awScatterPlotDataCntDCoff[cBPM_AIFSCAT_MEMSIZE]; //16*2

= 32 bytes

unsigned short m_wChannel; // aif_sel 0: AIF_A, 1: AIF_B, ...

unsigned short m_wSigType; // one of eBIN11_TYPE

unsigned short m_wCheckSum; // sum of all bytes of the

datalength

unsigned short

} SBinaryMsg11;

m_wCRLF;

Carriage

length =

Return Line Feed

8 +32 +32 +32 +2 +2 +2

+2 = 112

#endif

/****************************************************/

/* SGLONASSChanData */

/****************************************************/ typedef

struct

{

unsigned char m_bySV; /* Bit (0-6) = SV slot, 0 == not tracked

* Bit 7 = Knum flag

* = KNum+8 if bit 7 set

unsigned char m_byAlm_Ephm_Flags; /* ephemeris and almanac status flags */

out

/* bit 0: Ephemeris available but timed

* bit 1: Ephemeris valid

* bit 2: Ephemeris health OK

* bit 3: unused

* bit 4: Almanac available

* bit 5: Almanac health OK

* bit 6: unused

* bit 7: Satellite doesn't exist

unsigned char m_byStatus_L1; /* Status bits (code carrier bit

frame...) */

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unsigned char m_byStatus_L2; /* Status bits (code carrier bit

frame...) */

char m_chElev; /* elevation angle */ unsigned

char m_byAzimuth; /* 1/2 the Azimuth angle */

unsigned char m_byLastMessage; /* last message processed */

unsigned char m_bySlip01; /* cycle slip on chan 1 */

unsigned short m_wCliForSNR_L1; /* code lock indicator for SNR divided by

32 */

unsigned short m_wCliForSNR_L2; /* code lock indicator for SNR divided by

32 */

short

m_nDiffCorr_L1;

m_nDoppHz;

Differential correction * 100 */

expected doppler in HZ at glonass L1

short

m_nNCOHz_L1;

track from NCO in HZ */

short

m_nNCOHz_L2;

track from NCO in HZ */

short

m_nPosResid_1;

position residual 1 * 1000 */

short

m_nPosResid_2;

position residual 2 * 1000 */

} SGLONASSChanData; /* 24 bytes */

/****************************************************/

/* SBinaryMsg69 */

/****************************************************/

typedef struct

{

SUnionMsgHeader m_sHead;

long m_lSecOfWeek; /* tow */

unsigned short m_wL1usedNavMask; /* mask of L1 channels used in nav

solution */

unsigned short m_wL2usedNavMask; /* mask of L2 channels used in nav

solution */

SGLONASSChanData m_asChannelData[CHANNELS_12]; /* channel data 12X24 = 288 */

unsigned

short

m_wWeek;

week */

unsigned

char

m_bySpare01;

spare 1 */

unsigned

char

m_bySpare02;

spare 2 */

unsigned

short

m_wCheckSum;

sum of all bytes of the datalength

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unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg69; /* length = 8 + 300 + 2 + 2 = 312 */

/****************************************************/

/* SMsg61Data */

/****************************************************/

typedef struct

{

unsigned char bySV; /* satellite slot 0 == not tracked */

unsigned char byStatusL1; /* Status bits (code carrier bit

frame...) */

unsigned char byStatusL2; /* Status bits (code carrier bit

frame...) */

unsigned char byL1_L2_DCO; /* 0-3 = upper 4 bits of L1 carrier DCO

Phase

* 4-7 = upper 4 bits of L2 carrier DCO

sec

unsigned short wEpochSlewL1; /* 0-9 = slew, 0 to 1000 count for ms of

* 10-15 = 6 bits of L1 slip count */

unsigned short wEpochCountL1; /* 0-9 = epoch_count, 0 to 1000 count for

ms of sec

* 10-15 = 6 bits of L2 slip count */

unsigned long codeph_SNR_L1; /* 0-20 = L1 code phase (21 bits =

9+12),

* 21-32 = L1 SNR/4096 (upper 11 of 12

bits) */

unsigned long ulCarrierCycles_L1; /* 0-23 = L1 carrier cycles,

* 24-32 = L1 Carrier DCO lower 8 bits

unsigned long codeph_SNR_L2; /* 0-20 = L2 code phase (21 bits =

9+12),

* 21-32 = L2 SNR/4096 (upper 11 of 12

bits) */

unsigned long ulCarrierCycles_L2; /* 0-23 = L2 carrier cycles,

* 24-32 = L2 Carrier DCO lower 8 bits

} SMsg61Data; /* 24 bytes */

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/****************************************************/

SBinaryMsg61

Comment: Transmits data from TakemeasGLONASS.c

debugging structure for Dual Freq.

/****************************************************/

typedef struct

{

SUnionMsgHeader m_sHead; /* 8 */

unsigned long m_Tic; /* 4 bytes */

unsigned long ulSpare; /* 4 bytes */ unsigned

short awHalfWarns[CHANNELS_12]; /* 12*2 = 24 bytes */

SNR/4096

/* each word is

* bit 0-2 L1 Half Cycle Warn

* bit 3 = L1 half cycle added

* bit 4-6 L2 Half Cycle Warn

* bit 7 = L2 half cycle added

* 8 = LSB of 12 bit L1

* 9 = LSB of 12 bit L2

* bit 10-15 Ktag of the SV */

SMsg61Data as61Data[CHANNELS_12]; /* 12*24 = 288 bytes */

unsigned short m_wCheckSum; /* sum of all bytes of the

datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg61; /* length = 8 + (320) + 2 + 2 =

332 */

/****************************************************/

/* SBinaryMsg66 GLONASS OBS (see notes on mesage 76) */

/****************************************************/

typedef struct

{

SUnionMsgHeader m_sHead;

double m_dTow; /* Time in seconds */

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unsigned

short

m_wWeek;

m_wSpare1;

GPS Week Number */

spare 1 (zero)*/

unsigned

long

m_ulSpare2;

spare 2 (zero)*/

SObsPacket m_asL1Obs[CHANNELS_12]; /* 12 sets of L1(Glonass)

observations */

SObsPacket m_asL2Obs[CHANNELS_12]; /* 12 sets of L2(Glonass)

observations */

unsigned long m_aulL1CodeMSBsSlot[CHANNELS_12]; /* array of 12 words.

satellite Slot, 0

bit 7:0 (8 bits) =

if no satellite

bit 12:8 (5 bits) = spare

19 bits

meters */

bit 31:13 (19 bits) = upper

of L1 LSB = 256 meters

MSB = 67108864

unsigned short m_wCheckSum; /* sum of all bytes of the

datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg66; /* length = 8 + (352) + 2 + 2 =

364 */

/****************************************************/

/* SGLONASS_String, added for glonass strings */

/****************************************************/

typedef struct

{

unsigned long m_aul85Bits[3]; /* holds bits 9-85 of the GLONASS string */

* bit order in message 65

* m_aul85Bits[0]:

MSB

LSB

84. ......... 54

* m_aul85Bits[1]:

52. ......... 22

* m_aul85Bits[2]:

20. .... 9

} SGLONASS_String; /* 12 bytes (max of 96 bits) */

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/****************************************************/

/* SBinaryMsg65, added by JL for glonass subframe immediate data + string_5

/****************************************************/

/* sent only upon command or when values change (not including changes in tk)

typedef struct

{

SUnionMsgHeader m_sHead;

unsigned char m_bySV; /* The satellite to which

this data belongs. */

unsigned char m_byKtag; /* The satellite K Number + 8.

unsigned short m_wSpare1; /* Spare, keeps alignment to

4 bytes */

unsigned long m_ulTimeReceivedInSeconds; /* time at which this

arrived */

SGLONASS_String m_asStrings[5]; /* first 5 Strings of

Glonass Frame (60 bytes) */

unsigned short m_wCheckSum; /* sum of all bytes of

datalength */

unsigned short

Feed */

m_wCRLF;

Carriage Return Line

} SBinaryMsg65;

2 = 80 */

length = 8 + (68) + 2 +

/*********************************************************************/

/* SBinaryMsg62, Glonass almanac data. Containing string

* 5 and the two string pair for each satellite after string 5.

* String 5 contains the time reference for the glonass almanac

* and gps-glonass time differences.

*********************************************************************/ typedef

struct

{

SUnionMsgHeader m_sHead;

unsigned char m_bySV; /* The satellite to which

this data belongs. */

unsigned char m_byKtag_ch; /* Proprietary data */

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unsigned short m_wSpare1; /* Spare, keeps alignment to

4 bytes */

SGLONASS_String m_asStrings[3]; /* glonass almanac data

(36 bytes)

0 & 1 = Two almanac SFs,

3= SF 5*/

unsigned short m_wCheckSum; /* sum of all bytes of the

datalength */

unsigned short m_wCRLF; /* Carriage Return Line

Feed */

} SBinaryMsg62; /* length = 8 + (40) + 2 + 2

= 52 */

#if defined(WIN32) || ( ARMCC_VERSION >= 300441)

#pragma pack(pop)

#endif

#ifdef cplusplus

}

#endif

#endif // BinaryMsg_H_

Last updated: v1.07 / February 16, 2017

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 366

Bin1 Message

Message

Type Binary

Description GNSS position message (position and velocity data)

Command

Format to

Request

Message

$JBIN,1,r<CR><LF>

where:

•

'1' = Bin1 message

•

'r' = message rate in Hz (20, 10, 2, 1, 0, or .2)

Message

Format

Message

Component

Description

Type

Bytes

Values

AgeOfDiff

Age of differential, seconds. Use

Extended AgeOfDiff first. If both = 0,

then no differential

Byte

0 to 255

NumOfSats

Number of satellites used in the GPS

solution

Byte

0 to 12

GPSWeek

GPS week associated with this

message

Unsigned

short

0 to 65535

GPSTimeOfWeek

GPS tow (sec) associated with this

message

Double

0.0 to

604800.0

Latitude

Latitude in degrees north

Double

-90.0 to 90.0

Longitude

Longitude in degrees East

Double

-180.0 to

180.0

Height

Altitude above the ellipsoid in meters

Float

VNorth

Velocity north in m/s

Float

VEast

Velocity east in m/s

Float

Vup

Velocity up in m/s

Float

StdDevResid

Standard deviation of residuals in

meters

Float

Positive

Commands and Messages

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Current Version: v1.09/January 8, 2018

Page 367

NavMode

Navigation mode:

0 = No fix

1 = Fix 2d no diff

2 = Fix 3d no diff

3 = Fix 2D with diff

4 = Fix 3D with diff

5 = RTK float

6 = RTK integer fixed

When

$JDISNAVMODE,PHOENIX

Is enabled

7 = RTK float (SureFix enabled)

8 = RTK integer fixed (SureFix

enabled)

9 = RTK SureFixed

10 = aRTK integer fixed

11 = aRTK float

12 = aRTK Atlas converged

13 = aRTK Atlas un-converged

14 = Atlas converged

15 = Atlas un-converged

If bit 7 is set (left-most bit), then

this is a manual position

Unsigned

short

Bits 0

through 6 =

Navmode

Bit 7 =

Manual

mark

Extended

AgeOfDiff

Extended age of differential,

seconds. If 0, use 1 byte AgeOfDiff

listed above

Unsigned

short

0 to 65536

Structure typedef struct

{

SUnionMsgHeader

m_sHead;

unsigned char

m_byAgeOfDiff;

age of differential, seconds

(255 max)*/

unsigned

max) */

char

m_byNumOfSats;

number of satellites used (12

unsigned

short

m_wGPSWeek;

GPS week */

double

m_dGPSTimeOfWeek;

GPS tow */

double

m_dLatitude;

Latitude degrees, -90..90 */

double

m_dLongitude;

Longitude degrees, -180..180 */

float

m_fHeight;

(m), Altitude ellipsoid */

float

m_fVNorth;

Velocity north m/s */

float

m_fVEast;

Velocity eastm/s */

float

m_fVUp;

Velocity up m/s */

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GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 368

float

Residuals */

m_fStdDevResid;

(m), Standard Deviation of

unsigned short

m_wNavMode;

unsigned short

m_wAgeOfDiff;

age of diff using 16 bits */

unsigned short

datalength */

m_wCheckSum;

sum of all bytes of the

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg1; /* length = 8 + 52 + 2 + 2 = 64 */

Additional

Information

Message has a BlockID of 1 and is 52 bytes, excluding the header and epilogue

Commands

JBIN

Topic Last Updated: v1.08 / June 9, 2017

GNSS Technical Reference Manual

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Page 369

Commands and Messages

Bin2 Message

Message

Type Binary

Description GPS DOPs (Dilution of Precision)

This message contains various quantities that are related to the GNSS solution, such as satellites tracked,

satellites used, and DOPs.

Command

Format to

Request

Message

$JBIN,2,r<CR><LF>

where:

•

'2' = Bin2 message

•

'r' = message rate in Hz (1 or 0)

Message

Format

Message

Component

Description

Type

Bytes

Values

MaskSatsTracked

Mask of satellites tracked by the

GPS. Bit 0 corresponds to the

GPS satellite with PRN 1.

Unsigned long

Individual bits

represent satellites

MaskSatsUsed

Mask of satellites used in the

GPS solution. Bit 0 corresponds

to the GPS satellite with PRN 1.

Unsigned long

Individual bits

represent satellites

GpsUtcDiff

Whole seconds between UTC

and GPS time (GPS minus

UTC)

Unsigned short

Positive

HDOPTimes10

Horizontal dilution of precision

scaled by10 (0.1 units)

Unsigned short

Positive

VDOPTimes10

Vertical dilution of precision

scaled by 10 (0.1 units)

Unsigned short

Positive

WAASMask

PRN and tracked or used status

masks

Unsigned short

See following

•

Bit 00 - Mask of satellites tracked by first WAAS satellite

•

Bit 01 - Mask of satellites tracked by second WAAS satellite

•

Bit 02 - Mask of satellites used by first WAAS satellite

•

Bit 03 - Mask of satellites used by second WAAS satellite

•

Bit 04 - Unused

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Commands and Messages

Structure typedef struct

{

SUnionMsgHeader m_sHead;

unsigned long m_ulMaskSatsTracked; /* SATS Tracked, bit mapped 0..31 */

unsigned long m_ulMaskSatsUsed; /* SATS Used, bit mapped 0..31 */

unsigned short

UTC) */

m_wGpsUtcDiff; /* GPS/UTC time difference (GPS minus

unsigned short m_wHDOPTimes10; /* HDOP (0.1 units) */

unsigned short m_wVDOPTimes10; /* VDOP (0.1 units) */

unsigned short m_wWAASMask; /* Bits 0-1: tracked sats, Bits 2-3:

used sats, Bits 5-9 WAAS PRN 1 minus

120, Bits 10-14 WAAS PRN 1 minus 120

unsigned short m_wCheckSum; /* sum of all bytes of the datalength

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg2; /* length = 8 + 16 + 2 + 2 = 28 */

Additional

Information

Message has a BlockID of 2 and is 16 bytes, excluding the header and epilogue

Commands

JBIN

Topic Last Updated: v1.07 / February 16,

2017

Bits 05-09 - Value used to find PRN of first WAAS satellite (This value + 120 = PRN)

Bits 10-14 - Value used to find PRN of second WAAS satellite (This value + 120 = PRN)

Bit 15 - Unused

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Commands and Messages

Bin3 Message

Message

Type Binary

Description Lat/Lon/Hgt, Covariances, RMS, DOPs and COG, Speed, Heading

Command

Format to

Request

Message

$JBIN,3,r<CR><LF>

where:

•

'3' = Bin3 message

•

'r' = message rate in Hz

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Commands and Messages

Message

Format

Message

Component

Description

Type

Bytes

Values

GPSTimeOfWeek

GPS tow (sec) associated with this

message

Double

0.0 to 604800.0

GPSWeek

GPS week associated with this

message

Unsigned

short

0 to 65535

SATS Tracked

Number of satellites tracked in

the GPS solution

Unsigned

short

NumOfSats

Number of satellites used in the GPS

solution

Byte

NAV Mode

Navigation mode:

0 = No fix

1 = Fix 2d no diff

2 = Fix 3d no diff

3 = Fix 2D with diff

4 = Fix 3D with diff

5 = RTK float

6 = RTK integer fixed

When

$JDISNAVMODE,PHOENIX

enabled

7 = RTK float (SureFix enabled)

8 = RTK integer fixed (SureFix

enabled)

9 = RTK SureFixed

10 = aRTK integer fixed

11 = aRTK float

12 = aRTK Atlas converged

13 = aRTK Atlas un-converged

14 = Atlas converged

15 = Atlas un-convergedIf bit 7 is

set (left-most bit), then this is a

manual position

unsigned char

Bits 0

through 6 =

Navmode

Bit 7 = Manual

mark

Spare

unsigned char

Latitude

Latitude in degrees north

Double

-90.0 to 90.0

Longitude

Longitude in degrees East

Double

-180.0 to

180.0

Height

Altitude above the ellipsoid in meters

Float

Horizontal Speed

Velocity horizontal in m/s

Float

Vup

Velocity up in m/s

Float

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Commands and Messages

COG

Course over Ground, degrees

Float

Heading

Heading(degrees), Zero unless

vecto

Float

Pitch

Pitch (degrees), Zero unless

vector

Float

Spare

Float

AgeOfDiff

Age of differential, seconds. Use

Extended AgeOfDiff first. If both =

0, then no differential

Unsigned

short

Spare

Unsigned

short

Spare

Unsigned

short

Spare

Unsigned

short

HRMS

Horizontal RMS

Float

VRMS

Vertical RMS

Float

HDOP

Horizontal DOP

Float

VDOP

Vertical DOP

Float

TDOP

Time DOP

Float

CovNN

Covaraince North-North

Float

CovNE

Covaraince North-East

Float

CovNU

Covaraince North-Up

Float

CovEE

Covaraince East-East

Float

CovEU

Covaraince East-Up

Float

CovUU

Covaraince Up-Up

Float

GNSS Technical Reference Manual

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Commands and Messages

Structure typedef struct

{

SUnionMsgHeader m_sHead; //

Double m_dGPSTimeOfWeek; // GPS tow

unsigned short m_wGPSWeek; // GPS week

unsigned short m_wNumSatsTracked; // SATS Tracked

unsigned short m_wNumSatsUsed; // SATS Used

unsigned char m_byNavMode; // Nav Mode (same as message 1)

unsigned char m_bySpare00; // Spare

double m_dLatitude; // Latitude degrees, -90..90 double

m_dLongitude; // Longitude degrees, -180..180

float m_fHeight; // (m), Altitude ellipsoid float

m_fSpeed; // Horizontal Speed m/s

float m_fVUp; // Vertical Velocity +up m/s

float m_fCOG; // Course over Ground, degrees

float m_fHeading; // Heading (degrees), Zero unless vector

float m_fPitch; // Pitch (degrees), Zero unless vector float

m_fSpare01; // Spare

unsigned short m_wAgeOfDiff; // age of differential, seconds

unsigned short m_wSpare02; // Spare

unsigned long m_ulSpare03; // Spare

unsigned long m_ulSpare04; // Spare

float m_fHRMS; // Horizontal RMS

float m_fVRMS; // Vertical RMS

float m_fHDOP; // Horizontal DOP

float m_fVDOP; // Vertical DOP

float m_fTDOP; // Time DOP

float m_fCovNN; // Covaraince North-North

float m_fCovNE; // Covaraince North-East

float m_fCovNU; // Covaraince North-Up

float m_fCovEE; // Covaraince East-East

float m_fCovEU; // Covaraince East-Up

float m_fCovUU; // Covaraince Up-Up

unsigned short m_wCheckSum; // sum of all bytes of the header and data

unsigned short m_wCRLF; // Carriage Return Line Feed

} SBinaryMsg3; // length = 8 + 116 + 2 + 2 = 128 (108 =

74 hex)

Additional

Information

Commands

JBIN

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 375

Commands and Messages

Topic Last Updated: v1.08 / June 21, 2017

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 376

Commands and Messages

Bin5 Message

Message

Type Binary

Description Base station information

Command

Format to

Request

Message

$JBIN,5,r<CR><LF>

where:

•

'5' = Bin5 message

•

'r' = message rate in Hz

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 377

Commands and Messages

Message

Format

Message

Component

Description

Type

Bytes

Values

Latitude

Latitude of base station in degrees

north

Double

-90.0 to 90.0

Longitude

Longitude of base station in

degrees east

Double

-180.0 to 180.0

Height

Base station altitude in meters

Float

BaseID

Base station ID

Unsigned

short

0 to 65535

Spare

Unsigned

short

DiffFormat

String giving the format of the differential

(i.e. RTCM3)

Char array

16*1 =

Spare

Unsigned

short array

16*2 =

GNSS Technical Reference Manual

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Commands and Messages

Structure typedef struct

{

SUnionMsgHeader m_sHead; // [8]

double m_dLatitude; // Base Latitude degrees, -90..90 [8 bytes]

double m_dLongitude; // Base Longitude degrees, -180..180 [8 bytes]

float m_fHeight; // Base Altitude ellipsoid, (m) [4 bytes]

unsigned short m_wBaseID; // BaseID [2 bytes]

unsigned short m_wSpare; // Spare [2 bytes]

char m_szDiffFormat[16]; // String giving format of Differential [16 bytes]

unsigned short m_awSpare[16]; // 32 bytes of spare [32 bytes]

unsigned short m_wCheckSum; // sum of all bytes of the header and data

unsigned short m_wCRLF; // Carriage Return Line Feed

} SBinaryMsg5; // length = 8 + 72 + 2 + 2 = 84 (72 = 48 hex)

Additional Information

Commands

JBIN

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 379

Commands and Messages

Topic Last Updated: v1.09 / January 8, 2018

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 380

Commands and Messages

Bin16 Message

Message

Type Binary

Description Generic GNSS observations (see notes on message 76)

Command

Format to

Request

Message

$JBIN,16,r<CR><LF>

where:

'16' = Bin16 message

'r' = message rate in Hz (1 or 0)

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Commands and Messages

Message

Format

Message

Component

Description

Type

Bytes

Values

Tow

Time in seconds

double

Week

GPS week number

Unsigned short

Individual bits

represent satellites

Spare1

Not used at this time

Unsigned short

Future Use

PageCount

Page information

Unsigned long

See following

[0-15] Spare bits

[16,17,18,19,20,21] Number of Pages = N

[22,23,24,25,26,27] Page Number [0...N-1]

[28,29,30,31] Spare bits

AllSignalsIncluded_

Bit mask of all signals included in

the set of pages

Unsigned long

See following

bit 0 = GPS:L1CA included

bit 1 = GPS:L2P included

bit 2 = GPS:L2C included

bit 3 = GPS:L5 included

bit 7:4 = spare

bit 8 = GLO:G1C or GLO:G1P included

bit 9 = GLO:G2C or GLO:G1P included

bit 15:10 = spare

bit 16 = GAL:E1BC included

bit 17 = GAL:E5A included

bit 18 = GAL:E5B included

bit 23:19 = spare

bit 24 = BDS:B1I included

bit 25 = BDS:B2I included

bit 26 = BDS:B3I included

bit 31:27 = spare

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Commands and Messages

Message

Description

Type

Bytes

Values

AllSignalsInclude

d_02

Bit mask of all signals

included in the set of pages

Unsigned long

See following

• bit 0 = QZS:L1CA included

• bit 1 = spare

• bit 2 = QZS:L2C included

• bit 3 = QZS:L5 included

• bit 4 = QZS:L1C included

• bit 31:5 = spare

Obs[16]

16 sets of observations

Structure array

16*12 =

192

CodeMSBsPRN

Array of 16 32-bit words

Array of

unsigned longs

16*4=64

• bit 7:0 (8 bits) = satellite PRN,

= 0 if no satellite

• bit 12:8 (5 bits) = Log_Base_2(X+1)

where X = Time, in units of 1/100th sec,

since carrier phase tracking was last stressed

or cycle slipped

• bit 31:13 (19 bits) = upper 19 bits

of code pseudorange LSB = 256 meters

MSB = 67108864 meters

ChanSignalSYS

Array of 16 16-bit words

Array of

unsigned shorts

16*2=32

• [15,14] spare bits

• [13] = 1 if GLONASS P-Code

• [12,11,10,9,8] = Channel (0 is the first channel)

• [7,6,5,4] = Signal ID (L1CA, L5, G1, B1I, B2I, B3I, etc)

GPS Signal ID: L1CA=0, L2P=1, L2C=2, L5=3

GLO Signal ID: G1C/G1P=0, G2C/G2P=1

GAL Signal ID: E1BC=0, E5A=1, E5B=2

BDS Signal ID: B1I=0, B2I=1, B3I=2

QZS Signal ID: L1CA=0, L2C=2, L5=3, L1C=4

• [3,2,1,0] = GNSS System, 0=GPS,1=GLO,2=GAL,3=BDS,4=QZS

CheckSum

Sum of all bytes of header

and data

Unsigned short

CRLF

Carriage return line feed

Unsigned short

Structure typedef struct

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 383

Commands and Messages

{

SUnionMsgHeader m_sHead; // (8 bytes)

double m_dTow; // Time in seconds (8 bytes)

unsigned short m_wWeek; // GPS Week Number (2 bytes)

unsigned short m_wSpare1; // spare 1 (zero) (2 bytes)

unsigned long m_uPageCount; //[0-15] Spare bits

//[16,17,18,19,20,21] Number of Pages = N

//[22,23,24,25,26,27] Page Number [0...N-1]

//[28,29,30,31] Spare bits

// Bit mask of all signals included

in the set of pages

unsigned long m_uAllSignalsIncluded_01; // bit 0 = GPS:L1CA included

// bit 1 = GPS:L2P included

// bit 2 = GPS:L2C included

// bit 3 = GPS:L5 included

// bit 7:4 = spare

// bit 8 = GLO:G1C or GLO:G1P

included

// bit 9 = GLO:G2C or GLO:G1P

// bit 15:10 = spare

// bit 16 = GAL:E1BC included

// bit 17 = GAL:E5A included

// bit 18 = GAL:E5B included

// bit 23:19 = spare

// bit 24 = BDS:B1I included

// bit 25 = BDS:B2I included

// bit 26 = BDS:B3I included

// bit 31:27 = spare

unsigned long m_uAllSignalsIncluded_02; // bit 0 = QZS:L1CA included

// bit 1 = spare

// bit 2 = QZS:L2C included

// bit 3 = QZS:L5 included

// bit 4 = QZS:L1C included

// bit 31:5 = spare

SObsPacket m_asObs[CHANNELS_gen]; // 16 sets of observations (16*12=192

bytes)

unsigned long m_aulCodeMSBsPRN[CHANNELS_gen]; // array of 16, 32 bit words

(16*4=64 bytes)

PRN,

satellite

Log_Base_2(X+1)

units of 1/100th sec,

// bit 7:0 (8 bits) = satellite

// = 0 if no

// bit 12:8 (5 bits) =

// where X = Time, in

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 384

Commands and Messages

tracking was last stressed

bits

meters

67108864 meters

// since carrier phase

// or cycle slipped

// bit 31:13 (19 bits) = upper 19

// of code pseudorange LSB = 256

// MSB =

unsigned short m_awChanSignalSYS[CHANNELS_gen]; // Array of 16, 16 bit words (32

bytes)

first channel)

G1, B1I, B2I, B3I, etc)

L2C=2, L5=3

G2C/G2P=1

E5B=2

L5=3, L1C=4

0=GPS,1=GLO,2=GAL,3=BDS,4=QZS

//[15,14] spare bits

//[13] = 1 if GLONASS P-Code

//[12,11,10,9,8] = Channel (0 is the

//[7,6,5,4] = Signal ID (L1CA, L5,

// GPS Signal ID: L1CA=0, L2P=1,

// GLO Signal ID: G1C/G1P=0,

// GAL Signal ID: E1BC=0, E5A=1,

// BDS Signal ID: B1I=0, B2I=1, B3I=2

// QZS Signal ID: L1CA=0, L2C=2,

//[3,2,1,0] = GNSS System,

unsigned short

and data (2 bytes)

m_wCheckSum;

/// sum of all bytes of the header

unsigned short

(2 bytes)

m_wCRLF;

// Carriage Return Line Feed

} SBinaryMsg16; // length = 8 +

(8+2+2+4+4+4+192+64+32=312) + 2 + 2 = 324

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 385

Commands and Messages

Additional

Information

Related Commands JBIN

Topic Last Updated: v1.07 / February 16, 2017

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 386

Commands and Messages

Bin19 Message

Message

Type Binary

Description GNSS diagnostic information

Command

Format to

Request

Message

$JBIN,19,r<CR><LF>

where:

'19' = Bin19 message

'r' = message rate in Hz (1 or 0)

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 387

Commands and Messages

Message Component

Description

Type

Bytes

Values

SecOfWeek

Time of Week

long

GPSWeek

GPS Week Number

unsigned short

NavMode

Nav Mode

unsigned char

0-255

UTCTimeDiff

Whole seconds

between UTC and GPS

time

char

PageCount

Information about the

paging of the BIN19

message.

unsigned long

Bits [16,17,18,19,20,21] Number of Pages = N

Bits [22,23,24,25,26,27] Page Number [0...N-1]

AllSignalsIncludes01

Bitmask of all signals

includes in this set of

pages

unsigned long

bit 0 = GPS:L1CA included

bit 1 = GPS:L2P included

bit 2 = GPS:L2C included

bit 3 = GPS:L5 included

bit 8 = GLO:G1C or GLO:G1P included

bit 9 = GLO:G2C or GLO:G1P included

bit 16 = GAL:E1BC included

bit 17 = GAL:E5A included

bit 18 = GAL:E5B included

bit 24 = BDS:B1I included

bit 25 = BDS:B2I included

bit 26 = BDS:B3I included

AllSignalsIncluded02

Continued bitmask of

all signals included in

this set of pages.

unsigned long

bit 0 = QZS:L1CA included

bit 2 = QZS:L2C included

bit 3 = QZS:L5 included

bit 4 = QZS:L1C included

Spare

unsigned short

ChannelData[16]

Detailed data for each

signal included.

SGENERICchanData[]

320

ChanSignalSYS

Information about the

type of signal

represented by each

entry in ChannelData

unsigned short[]

[13] = 1 if GLONASS P-Code

[12,11,10,9,8] = Channel (0 is the first channel)

[7,6,5,4] = Signal ID (L1CA, L5, G1, B1I, B2I, B3I, etc)

GPS Signal ID = 0: L1CA, 1: L2P, 2: L2C, 3: L5

GLO Signal ID = 0: G1C/G1P, 1: G2C/G2P

GAL Signal ID = 0: E1BC, 1: E5A, 2:E5B

BDS Signal ID = 0: B1I, 1: B2I, 2:B3I

QZS Signal ID = 0: L1CA, 1: xxx, 2:L2C, 3: L5, 4:

L1C

[3,2,1,0] = GNSS System,

0=GPS,1=GLO,2=GAL,3=BDS,4=QZS

CheckSum

Sum of all bytes of

header and data

Unsigned short

CRLF

Carriage return line

feed

Unsigned short

GNSS Technical Reference Manual

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Page 388

Commands and Messages

Structure

//=====================================================================

// SGENERICchanData

//=====================================================================

typedef struct

{

unsigned char m_bySV; // Bit (0-6) = SV slot, 0 == not tracked

unsigned char m_byAlm_Ephm_Flags; // ephemeris and almanac status flags

// bit 0: Ephemeris available but timed out

// bit 1: Ephemeris valid

// bit 2: Ephemeris health OK

// bit 3: unused

// bit 4: Almanac available

// bit 5: Almanac health OK

// bit 6: unused

// bit 7: Satellite doesn't exist

unsigned char m_byStatus; // Status bits (code carrier bit frame...)

char m_chElev; // elevation angle

unsigned char m_byAzimuth; // 1/2 the Azimuth angle

unsigned char m_byLastMessage; // last message processed

unsigned char m_bySlip; // cycle slip on chan 1

char m_cFlags; //

// [0] bChanEnabled

// [1] bUsedInSolution

unsigned short m_wCliForSNR; // code lock indicator for SNR divided by 32

short m_nDiffCorr; // Differential correction * 100

short m_nDoppHz; // expected doppler in HZ at B1 frequency

short m_nNCOHz; // track from NCO in HZ

short m_nPosResid; // position residual * 1000

unsigned short m_wAllocType; //

} SGENERICchanData; // (20 bytes)

//-----------------------------------------------------------------------------

// SBinaryMsg19

// Generic GNSS message for signal tracking status

//-----------------------------------------------------------------------------

typedef struct

{

SUnionMsgHeader

m_sHead;

// 8 bytes

long

m_lSecOfWeek;

// tow (4 bytes)

unsigned short

m_wGPSWeek;

// GPS Week Number (2 bytes)

unsigned char

m_byNavMode;

// Nav Mode FIX_NO, FIX_2D, FIX_3D (high bit =has_diff)

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char m_cUTCTimeDiff; // whole Seconds between UTC and GPS

unsigned long m_uPageCount; // [0-15] Spare bits (4 bytes)

// [16,17,18,19,20,21] Number of Pages = N

// [22,23,24,25,26,27] Page Number [0...N-1]

// [28,29,30,31] Spare bits

// Bit mask of all signals included in the set of pages

unsigned long m_uAllSignalsIncluded_01; // bit 0 = GPS:L1CA included

// bit 1 = GPS:L2P included

// bit 2 = GPS:L2C included

// bit 3 = GPS:L5 included

// bit 7:4 = spare

// bit 8 = GLO:G1C or GLO:G1P included

// bit 9 = GLO:G2C or GLO:G1P included

// bit 15:10 = spare

// bit 16 = GAL:E1BC included

// bit 17 = GAL:E5A included

// bit 18 = GAL:E5B included

// bit 23:19 = spare

// bit 24 = BDS:B1I included

// bit 25 = BDS:B2I included

// bit 26 = BDS:B3I included

// bit 31:27 = spare

unsigned long m_uAllSignalsIncluded_02; // bit 0 = QZS:L1CA included

// bit 1 = spare

// bit 2 = QZS:L2C included

// bit 3 = QZS:L5 included

// bit 4 = QZS:L1C included

// bit 31:5 = spare

short m_nClockErrAtL1;// clock error at L1, Hz (2 bytes)

unsigned short m_wSpare1; // spare (2 bytes)

SGENERICchanData m_asChannelData[CHANNELS_gen]; // channel data 16x20 = 320

unsigned short m_awChanSignalSYS[CHANNELS_gen]; // Array of 16, 16 bit words (32 bytes)

//[15,14] spare bits

//[13] = 1 if GLONASS P-Code

//[12,11,10,9,8] = Channel (0 is the first channel)

//[7,6,5,4] = Signal ID (L1CA, L5, G1, B1I, B2I, B3I, etc)

GPS Signal ID = 0: L1CA,

GLO Signal ID = 0: G1C/G1P,

GAL Signal ID = 0: E1BC,

BDS Signal ID = 0: B1I,

QZS Signal ID = 0: L1CA,

4: L1C

//[3,2,1,0] = GNSS System, 0=GPS,1=GLO,2=GAL,3=BDS,4=QZS

unsigned short

m_wCheckSum;

// sum of all bytes of the header and data

unsigned short

} SBinaryMsg19;

m_wCRLF;

// Carriage Return Line Feed

// length = 8+(4+2+1+1+4+4+4+2+2+320+32)+2+2 = 8 + (376) + 2 + 2 =

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Additional

Information

Commands

Topic Last Updated: v1.08 / June 9, 2017

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Commands and Messages

Bin35 Message

Message

Type Binary

Description BeiDou ephemeris information

Command

Format to

Request

Message

$JBIN,35,r<CR><LF>

where:

'35' = Bin35 message

•

''r' = 1 (on) or 0 (off),

When set to on the message is sent once (one message for each tracked satellite at 1 second intervals)

and then sent again whenever satellite information changes

Message

Format

Message

Component

Description

Type

Bytes

Values

Satellite to which this data

belongs

Unsigned short

Spare1

Not used at this time

Unsigned short

Future use

SecOfWeek

Time at which this arrived

(LSB=6)

Unsigned long

BeiDouNav[30]

Unparsed BeiDou

Navigation message

See following

4 x 30 =

120

Elements correspond to the ephemeris values as defined in the BeiDou ICD:

Element 00, BDS_tow, Unsigned (4 bytes)

Element 01, BDS_toc, Unsigned (4 bytes)

Element 02, BDS_a0, Signed (4 bytes)

Element 03, BDS_a1,Signed (4 bytes)

Element 04, BDS_a2, Signed (4 bytes)

Element 05, BDS_toe, Unsigned (4 bytes)

Element 06, BDS_Root_A, Unsigned (4 bytes)

Element 07, BDS_Eccentricity, Unsigned (4 bytes)

Element 08, BDS_omega_perigee, Signed (4 bytes)

10.

Element 09, BDS_DeltaN_MeanMotionDiff, Signed (4 bytes)

11.

Element 10, BDS_M_MeanAnomaly, Signed (4 bytes)

12.

Element 11, BDS_OMEGA0_Lon_Ascending, Signed (4 bytes)

13.

Element 12, BDS_OMEGA_DOT, Signed (4 bytes)

14.

Element 13, BDS_io_InclinationAngle, Signed (4 bytes)

15.

Element 14, BDS_IDOT_RateInclination, Signed (4 bytes)

16.

Element 15, BDS_Cuc_AmpCosHarmonicLat, Signed (4 bytes)

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17.

Element 16, BDS_Cus_AmpSinHarmonicLat, Signed (4 bytes)

18.

Element 17, BDS_Crc_AmpCosHarmonicRadius, Signed (4 bytes)

19.

Element 18, BDS_Crs_AmpSinHarmonicRadius, Signed (4 bytes)

20.

Element 19, BDS_Cic_AmpCosHarmonicInclination, Signed (4 bytes)

21.

Element 20, BDS_Cir_AmpSinHarmonicInclination, Signed (4 bytes)

22.

Element 21, BDS_TGD1_TGD2, Unsigned (4 bytes)

TGD1 in lower 10 bits (bits 0-9)

TGD2 in next 10 bits (10-19)

23.

Element 22, BDS_WN, Unsigned (4 bytes)

24.

Element 23, BDS_alpha_0_1_2_3, Unsigned (4 bytes)

Packed with 4, 8-bit words, exactly as defined in the BeiDou ICD Alpha3

in lower 8 bits (bits 0-7)

Alpha2 in next 8 bits (bits 8-15)

Alpha1 in next 8 bits (bits 16-23)

Alpha0 in upper 8 bits (bits 24-31)

25.

Element 24, BDS_beta_0_1_2_3, Unsigned (4 bytes)

Packed with 4, 8-bit words, exactly as defined in the BeiDou ICD Beta3 in

lower 8 bits (bits 0-7)

Beta2 in next 8 bits (bits 8-15) Beta1

in next 8 bits (bits 16-23) Beta0 in

upper 8 bits (bits 24-31)

26.

Element 25, BDS_SatH1_IODC_URA1_IODE, Unsigned (4 bytes)

IODE in lower 5 bits (bits 0-4)

URA1 in next 4 bits (bits 5-8) IODC

in next 5 bits (bits 9-13) SatH1in

next 1 bit (bit 14)

27.

Element 26, spare (4 bytes)

28.

Element 27, spare (4 bytes)

29.

Element 28, spare (4 bytes)

30.

Element 29, spare (4 bytes)

Structure typedef struct

{

SUnionMsgHeader m_sHead;

unsigned short m_wSV; /* The satellite to which this data

belongs*/

unsigned short m_wSpare1; /* spare 1 (chan number (as zero

9/1/2004) */

unsigned long m_TOW6SecOfWeek; /* time at which this arrived (LSB = 6sec)

unsigned long m_BeidouNav[30]; /* Unparsed BeiDou navigation words.

Read

needed. */

/* Each of the BeiDou nav words contains one 32-

bit signed or unsigned word.

as a signed or unsigned long as

unsigned short m_wCheckSum; /* sum of all bytes of the header and

data */

unsigned short

m_wCRLF;

Carriage Return Line Feed */

} SBinaryMsg35;

length = 8 + (128) + 2 + 2 = 140 */

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Additional

Information

Message has a BlockID of 35 and is 128 bytes, excluding the header and epilogue

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

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Commands and Messages

Bin36 Message

Message

Type Binary

Description BeiDou code and carrier phase information(all frequencies)

Command

Format to

Request

Message

$JBIN,36,r<CR><LF>

where:

•

'36' = Bin36 message

•

'r' = message rate in Hz (20, 10, 2, 1, or 0)

Message

Format

Message Component

Description

Type

Bytes

Values

Tow

Time in seconds

Double

Week

GPS week number

Unsigned short

Spare1

Spare 1 (zero)

Unsigned short

FreqPage

See following

Unsigned long

31.

Bits 0-19 (20 bits)

Spare bits

32.

Bits 20-23 (4 bits)

Number of pages

33.

Bits 24-27 (4 bits)

Page number

34.

Bits 28-31 (4 bits)

Signal ID (0 = B1I, 1 = B2I, 2 = B3I)

Obs[CHANNELS_20]

20 sets of BeiDou

observations

SObsPacket

20 x 12

= 240

1CodeMSBsPRN[CHANNELS_20]

See following

Unsigned long

20 x 4 =

•

Bits 0-7 (8 bits)

Satellite PRN, 0 if no satellite

•

Bits 8-12 (5 bits)

Spare bits

•

Bits 13- 31 (19 bits)

Upper 19 bits of B1/B2/B3, LSB = 256 meters, MSB = 67108864 meters

Structure typedef struct

{

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SUnionMsgHeader m_sHead; // (8

bytes)

double m_dTow; // Time in seconds (8

bytes)

unsigned short m_wWeek; // GPS Week Number (2

bytes)

unsigned short m_wSpare1; // spare 1 (zero) (2

bytes)

unsigned long m_uFreqPage; //[0-19] Spare bits

//[20,21,22,23] Number of Pages

//[24,25,26,27] Page Number

//[28,29,30,31] Signal ID (B1I, B2I, B3I,

etc)

SObsPacket m_asObs[CHANNELS_20]; // 20 sets of BeiDou observations

// (20*12=240 bytes)

unsigned long m_aulCodeMSBsPRN[CHANNELS_20]; // array of 20 words

// (20*4=80 bytes)

// bit 7:0 (8 bits) =

// satellite PRN, 0

// if no satellite

// bit 12:8 (5 bits) =

// spare

// bit 31:13 (19 bits) =

// upper 19 bits

// of B1/B2/B3

// LSB = 256

meters meters

// MSB = 67108864

348

// = 8 + (336) + 2 + 2 = 348

Additional

Information

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

byt

)

igned

short

m_wCheckSum;

sum of all bytes of datalength

} S

;

ort

m_wCRLF;

ha=

240

F+

) + 2 +

2 = (2

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Commands and Messages

Bin44 Message

Message

Type Binary

Description Galileo time conversion parameters

Command

Format to

Request

Message

$JBIN,44,r<CR><LF>

where:

•

'44' = Bin44 message

•

'r' = 1 (on) or 0 (off)

When set to on the message is sent once and then sent again whenever satellite information changes

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Commands and Messages

Message

Format

Structure

typedef struct

{

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

SUnionMsgHeader m_sHead; // Header of message.

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (8 bytes)

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

// Galileo Time to UTC conversion parameters (32 bytes).

double m_A0; // Constant term of polynomial to

// determine UTC from Galileo Time.

double m_A1; // 1st order term of polynomial to

// determine UTC from Galileo Time.

unsigned long m_tot; // Reference time for A0 & A1, sec of

// Galileo week.

unsigned short m_wnt; // Current Galileo reference week.

unsigned short m_wnlsf; // GST Week number when m_dtlsf

// becomes effective.

unsigned short m_dn; // Day of the week 1 (= Sunday) to

Message

Component

Description

Type

Bytes

Values

A0, A1

Coefficients for determining UTC time

Double

8 x 2 = 16

tot

Reference time for A0 and A1,

second of Galileo week

Unsigned long

wnt

Current Galileo reference week

Unsigned short

wnlsf

Week number when dtlsf becomes

effective

Unsigned short

Day of week (1-7) when dtlsf

becomes effective

Unsigned short

dtls

Cumulative past leap seconds

Short

dtlsf

Scheduled future leap seconds

Short

Spare

Not used at this time

Short

Future use

A0G, A1G

Coefficients of GGTO polynomial

Double

8 x 2 = 16

T0G

Reference time of week for GGTO

Unsigned long

WN0G

Reference week for GGTO

Unsigned short

GGTOisValid

Indicates if GGTO is valied

Unsigned short

0 = GGTO Invalid

1 = GGTO Valid.

CheckSum

Sum of all bytes of header and data

Unsigned short

CRLF

Carriage return line feed

Unsigned short

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// 7 (= Saturday) when m_dtlsf

// becomes effective.

short m_dtls; // Cumulative past leap seconds.

short m_dtlsf; // Scheduled future (past) leap

// seconds.

unsigned short m_wSpare1; // Spare (zero).

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (32 bytes)

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

// GPS Time to Galileo Time conversion parameters (GGTO Parameters).

// dTsys = Tgal - Tgps = m_A0G + m_A1G [TOW - m_t0G + 604800*(WN - m_WN0G)]

// where,

// dTsys = The time difference between systems

// Tgal = Galileo Time

// Tgps = GPS Time

// TOW = Galileo Time of Week

// WN = Galileo Week Number

// remaining parameters follow.

double m_A0G; // Constant term of GGTO polynomial.

double m_A1G; // 1st order term of GGTO polynomial.

unsigned long m_t0G; // Reference time of week for GGTO.

unsigned short m_WN0G; // Reference week for GGTo.

unsigned short m_wGGTOisValid; // Coded: 0 == GGTO Invalid,

// 1 == GGTO Valid.

// The Galileo OS-SIS-ICD indicates

// that when satellite broadcasts

// all 1 bit values for A0G, A1G,

// t0G, and WN0G then "the GGTO is

// considered as not valid."

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (24 bytes)

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

// Message Tail

unsigned short m_wCheckSum; // Sum of all bytes of the header and

// data.

unsigned short m_wCRLF; // Carriage Return Line Feed.

// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - (4 bytes)

} SBinaryMsg44; // length = 8 + (32+24) + 2 + 2 = 68.

Additional

Information

Message has a BlockID of 44 and is 56 bytes, excluding the header and epilogue

Related Commands JBIN

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Commands and Messages

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

Bin45 Message

Message

Type Binary

Description Galileo ephemeris information

Command

Format to

Request

Message

$JBIN,45,r<CR><LF>

where:

•

'45' = Bin45 message

•

''r' = 1 (on) or 0 (off),

When set to on the message is sent once (one message for each tracked satellite at 1 second intervals)

and then sent again whenever satellite information changes

Message Format

Message

Component

Description

Type

Bytes

Values

Satellite to which this data belongs

Unsigned short

Spare1

Not used at this time

Unsigned short

Future use

SecOfWeek

Time at which this arrived (LSB =

Unsigned long

SF1words[10]

Unparsed SF 1 message

Unsigned long

4 x 10 = 40

SF2words[10]

Unparsed SF 2 message

Unsigned long

4 x 10 = 40

SF3words[10]

Unparsed SF 3 message

Unsigned long

4 x 10 = 40

Structure

typedef struct

{

SUnionMsgHeader m_sHead;

unsigned short m_wSV; /* The satellite to which this data belongs.

unsigned short m_wSpare1; /* spare 1 (chan number (as zero 9/1/2004)*/

unsigned long m_TOW6SecOfWeek; /* time at which this arrived (LSB = 6sec)

unsigned long m_SF1words[10]; /* Unparsed SF 1 message words. */ unsigned

long m_SF2words[10]; /* Unparsed SF 2 message words. */ unsigned long

m_SF3words[10]; /* Unparsed SF 3 message words.*/

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/* Each of the subframe words contains

one 30-bit GPS word in the lower

30 bits, The upper two bits are ignored

Bits are placed in the words from left to

right as they are received */

unsigned short

} SBinaryMsg95;

m_wCheckSum;

m_wCRLF;

sum of all bytes of the datalength */

Carriage Return Line Feed */

length = 8 + (128) + 2 + 2 = 140 */

Additional Information

Message has a BlockID of 45 and is 128 bytes, excluding the header and epilogue

Related Commands JBIN

Topic Last Updated: v1.07 / February 16, 2017

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Current Version: v1.09/January 8, 2018

Page 402

Commands and Messages

Bin62 Message

Message

Type Binary, GLONASS

Description GLONASS almanac information

Command

Format to

Request

Message

$JBIN,62,r<CR><LF>

where:

•

'62' = Bin62 message

•

'r' = message rate in Hz (1 or 0)

Message

Format

Structure typedef struct

{

SUnionMsgHeader m_sHead;

unsigned char m_bySV; /* The satellite to which this data

belongs. */

unsigned char m_byKtag_ch; /* Proprietary data */

unsigned short m_wSpare1; /* Spare, keeps alignment to 4 bytes */

SGLONASS_String m_asStrings[3]; /* glonass almanac data (36 bytes)

0 & 1 = Two almanac SFs, 3= SF 5*/

unsigned short m_wCheckSum; /* sum of all bytes of the datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg62; /* length = 8 + (40) + 2 + 2 = 52 */

Message

Component

Description

Type

Bytes

Values

Satellite to which this data belongs

Byte

Ktag_ch

Proprietary data

Byte

Spare1

Spare, keeps alignment to 4 bytes

Unsigned short

Strings[3]

GLONASS almanac data (36 bytes)

•

0 & 1 = Two almanac SFs

•

3= SF 5

SGLONASS string

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Commands and Messages

Additional

Information

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 400

Bin65 Message

Message

Type Binary, GLONASS

Description GLONASS ephemeris information

Command

Format to

Request

Message

$JBIN,65,r<CR><LF>

where:

•

'65' = Bin65 message

•

''r' = 1 (on) or 0 (off),

When set to on the message is sent once (one message for each tracked satellite at 1 second

intervals) and then sent again whenever satellite information changes

Message

Format

Structure typedef struct

{

SUnionMsgHeader m_sHead;

unsigned char m_bySV; /* The satellite to which this data

belongs. */

unsigned char m_byKtag; /* The satellite K Number + 8. */ unsigned

short m_wSpare1; /* Spare, keeps alignment to 4 bytes */

unsigned long m_ulTimeReceivedInSeconds; /* time at which this arrived */

SGLONASS_String m_asStrings[5]; /* first 5 Strings of Glonass Frame (60 bytes)

unsigned short

m_wCheckSum;

sum of all bytes of the datalength */

unsigned short

m_wCRLF;

Carriage Return Line Feed */

Message Component

Description

Type

Bytes

Values

Satellite to which this data

belongs

Byte

Ktag

Satellite K Number + 8

Byte

Spare1

Spare, keeps alignment to 4

bytes

Unsigned short

TimeReceivedInSeconds

Time at which this arrived

Unsigned long

Strings[5]

First five strings of

GLONASS frame (60 bytes)

SGLONASS string

Commands and Messages

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Current Version: v1.09/January 8, 2018

Page 401

} SBinaryMsg65; /* length = 8 + (68) + 2 + 2 = 80 */

Additional

Information

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 402

Bin66 Message

Message

Type Binary, GLONASS

Description GLONASS L1/L2 code and carrier phase information

Command

Format to

Request

Message

$JBIN,66,r<CR><LF>

where:

•

'66' = Bin66 message

•

'r' = message rate in Hz (20, 10, 2, 1, or 0)

Message

Format

Structure typedef struct

{

SUnionMsgHeader m_sHead;

double

m_dTow;

/* Time in seconds */

unsigned short

m_wWeek;

/* GPS Week Number */

Message Component

Description

Type

Bytes

Values

Tow

Time in seconds

Double

Week

GPS week number

Unsigned short

Spare1

Spare 1 (zero)

Unsigned short

Spare2

Spare 2 (zero)

Unsigned long

L1Obs[CHANNELS_12]

12 sets of L1

(GLONASS)

observations

SObsPacket

L2Obs[CHANNELS_12]

12 sets of L2

(GLONASS)

observations

SObsPacket

L1CodeMSBsSlot[CHANNELS_12]

See following

Unsigned long

•

Bits 0-7 (8 bits)

Satellite slot, 0 if no satellite

•

Bits 8-12 (5 bits)

Spare bit

•

Bits 13- 31 (19 bits)

Upper 19 bits of L1, LSB = 256 meters, MSB = 67108864 meters

Commands and Messages

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Page 403

unsigned short m_wSpare1; /* spare 1 (zero)*/

unsigned long m_ulSpare2; /* spare 2 (zero)*/

SObsPacket m_asL1Obs[CHANNELS_12]; /* 12 sets of L1(Glonass)

observations */

SObsPacket m_asL2Obs[CHANNELS_12]; /* 12 sets of L2(Glonass)

observations */

unsigned long m_aulL1CodeMSBsSlot[CHANNELS_12]; /* array of 12 words.

bit 7:0 (8 bits) =

satellite Slot, 0 if

satellite

spare

bit 12:8 (5 bits) =

bit 31:13 (19 bits) =

upper 19 bits of L1 LSB

= 256 meters

MSB = 67108864 meters

unsigned short m_wCheckSum; /* sum of all bytes of the datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg66; /* length = 8 + (352) + 2 + 2 = 364 */

Additional

Information

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 404

Bin69 Message

Message

Type Binary, GLONASS

Description GLONASS L1/L2diagnostic information

Command

Format to

Request

Message

$JBIN,69,r<CR><LF>

where:

•

'69' = Bin69 message

•

'r' = message rate in Hz (1 or 0)

Message

Format

Structure typedef struct

{

SUnionMsgHeader m_sHead;

long m_lSecOfWeek; /* tow */

unsigned short m_wL1usedNavMask; /* mask of L1 channels used in nav

solution */

unsigned short m_wL2usedNavMask; /* mask of L2 channels used in nav

solution */

SGLONASSChanData m_asChannelData[CHANNELS_12]; /* channel data 12X24 = 288

Message Component

Description

Type

Bytes

Values

SecOfWeek

Tow

Long

L1usedNavMask

Mask of L1

channels used in

nav solution

Unsigned short

L2usedNavMask

Mask of L2

channels used in

nav solution

Unsigned short

ChannelData[CHANNELS_12]

Channel data

12X24 = 288

SGLONASSChanData

Week

Unsigned short

Spare01

Spare 1

Unsigned char

Spare02

Spare 2

Unsigned char

Commands and Messages

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Current Version: v1.09/January 8, 2018

Page 405

unsigned short m_wWeek; /* week */

unsigned char m_bySpare01; /* spare 1 */

unsigned char m_bySpare02; /* spare 2 */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg69; /* length = 8 + 300 + 2 + 2 = 312 */

Additional

Information

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 406

Bin76 Message

Message

Type Binary

Description GPS L1/L2 code and carrier phase information

Note: "Code" means pseudorange derived from code phase. "Phase" means range derived from carrier phase. This will

contain cycle ambiguities.

Only the lower 16 bits of L1P code, L2P code and the lower 23 bits of carrier phase are provided. The upper 19 bits of the

L1CA code are found in m_aulCACodeMSBsPRN[]. The upper 19 bits of L1P or L2P must be derived using the fact L1P

and L2P are within 128 m (419.9 ft) of L1CA.

To determine L1P or L2P:

Use the lower 16 bits provided in the message.

Set the upper bits to that of L1CA.

Add or subtract on LSB of the upper bits (256 meters (839.9 feet)) so that L1P or L2P are with in 1/2 LSB (128 m

(419.9 ft))

The carrier phase is in units of cycles, rather than meters, and is held to within 1023 cycles of the respective code range.

Only the lower 16+7 = 23 bits of carrier phase are transmitted in Bin 76.

To determine the remaining bits:

Convert the respective code range (determined above) into cycles by dividing by the carrier wavelength. This is

the nominal reference phase.

Extract the 16 and 7 bit blocks of carrier phase from bin 76 and arrange it to form the lower 23 bits of carrier

phase.

Set the upper bits (bit 23 and above) equal to those of the nominal reference phase

Add or subtract the least significant upper bit (8192 cycles) so that carrier phase most closely agrees with the

nominal reference phase (to within 4096 cycles).

Command

Format to

Request

Message

$JBIN,76,r<CR><LF>

where:

•

'76' = Bin76 message

•

'r' = message rate in Hz (20, 10, 2, 1, 0, or .2)

Message

Format

Message Component

Description

Type

Bytes

Values

TOW

Predicted GPS time in seconds

Double

Week

GPS week number

Unsigned short

Spare1

Unsigned long

Spare2

Unsigned long

L2PSatObs[12]

(array for next 3 fields)

L2 satellite observation data

Structure array

12 x 12 =

144

CS_TT_W3_SNR

See following

Unsigned long

•

Bits 0-11 (12 bits)

SNR; 10.0 X log10(0.1164xSNR_value)

•

Bits 12-14 (3 bits)

Cycle Slip Warn (warning for potential 1/2 cycle slips); a warning exists if any of these bits are

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set

•

Bit 15 (1 bit)

Long Track Time;1 if Track Time > 25.5 sec (0 otherwise)

•

Bits 16-23 (8 bits)

Track Time (signal tracking time in seconds); LSB = 0.1 seconds; Range = 0 to 25.5 seconds

•

Bits 24-31 (8 bits)

Cycle Slips; increments by 1 every cycle slip with natural roll-over after 255

P7_Doppler_FL

See following

Unsigned long

•

Bit 0 (1 bit)

Phase Valid (Boolean);1 if valid phase (0 otherwise)

•

Bits 1-23 (23 bits)

Doppler (magnitude of Doppler);LSB = 1/512 cycle/sec; Range = 0 to 16384 cycle/sec

•

Bit 24 (1 bit)

Doppler Sign (sigh of Doppler);1 = negative, 0 = positive

•

Bits 25-31 (7 bits)

Carrier Phase (High part) (Upper 7 bits of the 23 bit carrier phase): LSB = 64 cycles, MSB =

4096 cycles

CodeAndPhase

See following

Unsigned long

•

Bits 0-15 (16 bits)

Pseudorange (lower 16 bits of code pseudorange);LSB = 1/256 meters, MSB = 128 meters

Note: For CA code, the upper 19 bits are given in L1CACodeMSBsPRN[] below

•

Bits 16-31 (16 bits)

Carrier Phase (lower 16 bits of the carrier phase); LSB = 1/1024 cycles, MSB = 32 cycles

Note: The 7 MSBs are given in P7_Doppler_FL (see preceding row in this table)

L1CASatObs[15]

(array for next 3 fields)

L1 satellite code observation

data

Structure array

15 x 12 =

180

CS_TT_W3_SNR

See following

Unsigned long

•

Bits 0-11 (12 bits)

SNR; 10.0 X log10(0.1024xSNR_value)

•

Bits 12-14 (3 bits)

Cycle Slip Warn (warning for potential 1/2 cycle slips); a warning exists if any of these bits are

set

•

Bit 15 (1 bit)

Long Track Time;1 if Track Time > 25.5 sec (0 otherwise)

•

Bits 16-23 (8 bits)

Track Time (signal tracking time in seconds); LSB = 0.1 seconds; Range = 0 to 25.5 seconds

•

Bits 24-31 (8 bits)

Cycle Slips; increments by 1 every cycle slip with natural roll-over after 255

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P7_Doppler_FL See following Unsigned long 4

•

Bit 0 (1 bit)

Phase Valid (Boolean);1 if valid phase (0 otherwise)

•

Bits 1-23 (23 bits)

Doppler (magnitude of Doppler);LSB = 1/512 cycle/sec; Range = 0 to 16384 cycle/sec

•

Bit 24 (1 bit)

Doppler Sign (sigh of Doppler);1 = negative, 0 = positive

•

Bits 25-31 (7 bits)

Carrier Phase (High part) (Upper 7 bits of the 23 bit carrier phase): LSB = 64 cycles, MSB =

4096 cycles

CodeAndPhase

See following

Unsigned long

•

Bits 0-15 (16 bits)

Pseudorange (lower 16 bits of code pseudorange);LSB = 1/256 meters, MSB = 128 meters

Note: For CA code, the upper 19 bits are given in L1CACodeMSBsPRN[] below

•

Bits 16-31 (16 bits)

Carrier Phase (lower 16 bits of the carrier phase); LSB = 1/1024 cycles, MSB = 32 cycles

Note: The 7 MSBs are given in P7_Doppler_FL (see preceding row in this table)

L1CACodeMSBsPRN[15]

L1CA code observation

Array of 15

Unsigned long

15 x 4 =

See

following

•

Bits 0-7 (8 bits)

PRN (space vehicle ID);PRN = 0 if no data

•

Bits 8-12 (5 bits)

Unused

•

Bits 13-31 (19 bits)

L1CA Range (upper 19 bits of L1CA); LSB = 256 meters, MSB = 67,108,864 meters

L1PCode[12]

L1(P) code observation data

Array of 12

Unsigned long

12 x 4 =

See

following

•

Bits 0-15 (16 bits)

L1P Range (lower 16 bits of the L1P code pseudorange);LSB = 1/256 meters, MSB = 128

meters

•

Bits 16-27 (12 bits)

L1P SNR (L1P signal-to-noise ratio); SNR = 10.0 x log(0.1164 x SNR_value), if 0, then L1P

channel not tracked

•

Bits 28-31 (4 bits)

Unused

wCeckSum

Sum of all bytes of header and

data

Unsigned short

wCRLF

Carriage return line feed

Unsigned short

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Structure typedef struct

{

SUnionMsgHeader m_sHead;

double m_dTow; /* GPS Time in seconds */

unsigned short m_wWeek; /* GPS Week Number */

unsigned short m_wSpare1; /* spare 1 (zero)*/ unsigned

long m_ulSpare2; /* spare 2 (zero)*/

SObsPacket m_asL2PObs[CHANNELS_12]; /* 12 sets of L2(P) observations

SObsPacket m_asL1CAObs[CHANNELS_L1_E]; /* 15 sets of L1(CA) observations

unsigned long m_aulCACodeMSBsPRN[CHANNELS_L1_E]; /* array of 15words.

satellite

spare

upper

bit 7:0 (8 bits) =

PRN, 0 if no satellite

bit 12:8 (5 bits) =

bit 31:13 (19 bits) =

19 bits of L1CA LSB

= 256 meters

MSB = 67108864 meters */

unsigned long m_auL1Pword[CHANNELS_12]; /* array of 12 words relating to

L1(P)

range.

SNR_value

code. Bit 0-15 (16 bits) lower bits of

the L1P code pseudo

LSB = 1/256 meters MSB

= 128 meters

Bits 16-27 (12 bits) = L1P

SNR = 10.0*log10(

0.1164*SNR_value)

If Bits 16-27 all zero, no L1P

track

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Bits 28-31 (4 bits) spare */

unsigned short

m_wCheckSum;

sum of all bytes of the datalength */

unsigned short

m_wCRLF;

Carriage Return Line Feed */

} SBinaryMsg76; /* length = 8 + (448) + 2 + 2 = 460 */

Additional

Information

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

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Bin80 Message

Message

Type Binary

Description SBAS data frame information

Command

Format to

Request

Message

Format

Additional

Information

$JBIN,80,r<CR><LF>

where:

•

'80' = Bin80 message

•

'r' = message rate in Hz (1 or 0)

Message

Component

Description

Type

Bytes

Values

PRN

Broadcast PRN

Unsigned short

Spare

Not used at this time

Unsigned short

Future use

MsgSecOfWeek

Seconds of week for message

Unsigned long

WaasMsg[8]

250-bit WAAS message (RTCA DO0229).

8 unsigned longs, with most significant bit

received first.

Unsigned long

4 x 8 =

Message has a BlockID of 80 and is 40 bytes, excluding the header and epilogue

Related JBIN

Structure

typedef struct

{

SUnionMsgHeader m_sHead;

unsigned short m_wPRN;

unsigned short m_wSpare;

unsigned long m_ulMsgSecOfWeek;

long m_aulWaasMsg[8];

short m_wCheckSum;

unsigned short m_wCRLF;

/* Broadcast PRN */

/* spare (zero) */

/* Seconds of Week For Message */ unsigned

/* Actual 250 bit waas message*/ unsigned

/* sum of all bytes of the datalength */

/* Carriage Return Line Feed */

} SBinaryMsg80;

/* length = 8 + (40) + 2 + 2 = 52 */

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Commands

Topic Last Updated: v1.06 / March 10, 2015

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Bin89 Message

Message

Type Binary

Description SBAS satellite tracking information (supports three SBAS satellites)

Command

Format to

Request

Message

Format

$JBIN,89,r<CR><LF>

where:

•

'89' = Bin89 message

•

'r' = message rate in Hz (1 or 0)

Structure typedef struct

{

SUnionMsgHeader

long

m_sHead;

m_lGPSSecOfWeek; /* GPS tow integer sec */

unsigned char m_byMaskSBASTracked; /* SBAS Sats Tracked, bit mapped 0..3 */

unsigned char

unsigned short

m_byMaskSBASUSED; /* SBAS Sats Used, bit mapped 0..3 */

m_wSpare; /* spare */

SChannelData

unsigned short

} SBinaryMsg89;

m_asChannelData[CHANNELS_SBAS_E]; /* SBAS channel data */

m_wCheckSum; /* sum of all bytes of the datalength */

m_wCRLF; /* Carriage Return Line Feed */

/* length = 8 + 80 + 2 + 2 = 92 */

Message Component

Description

Type

Bytes

Values

GPSSecOfWeek

GPS tow integer sec

Long

MaskSBASTracked

SBAS satellites tracked, bit

mapped 0..3

Byte

MaskSBASUSED

SBAS satellites used, bit

mapped 0..3

Byte

Spare

Unsigned

short

ChannelData[CHANNELS_SBAS_E]

SBAS channel data

SChannelData

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Additional

Information

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

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Bin93 Message

Message

Type Binary

Description SBAS ephemeris information

Command

Format to

Request

Message

Format

$JBIN,93,r<CR><LF>

where:

•

'93' = Bin93 message

•

'r' = message rate in Hz (1 or 0)

Structure typedef struct

{

SUnionMsgHeader m_sHead;

Message

Component

Description

Type

Bytes

Values

Satellite to which this data belongs

Unsigned short

Spare

Not used at this time

Unsigned short

Future use

TOWSecOfWeek

Time at which this arrived

(LSB = 1 sec)

Unsigned long

IODE

Unsigned short

URA

Consult the ICD-GPS-200 for

definition in Appendix A

Unsigned short

Bit 0 = 1 sec

Long

Bit 0 = 0.08 m

Long

Bit 0 = 0.08 m

Long

Bit 0 = 0.4 m

Long

XGDot

Bit 0 = 0.000625 m/sec

Long

YXDot

Bit 0 = 0.000625 m/sec

Long

ZGDot

Bit 0 = 0.004 m/sec

Long

XGDotDot

Bit 0 = 0.0000125 m/sec/sec

Long

YGDotDot

Bit 0 = 0.0000125 m/sec/sec

Long

ZGDotDot

Bit 0 = 0.0000625 m/sec/sec

Long

Gf0

Bit 0 = 2**-31 sec

Unsigned short

Gf0Dot

Bit 0 = 2**-40sec/sec

Unsigned short

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unsigned

short

m_wSV;

/* The satellite to which this data belongs. */

unsigned

short

m_wWeek;

/* Week corresponding to m_lTOW*/

unsigned long m_lSecOfWeekArrived; /* time at which this arrived (LSB = 1sec)

unsigned short m_wIODE;

unsigned short m_wURA; /* See 2.5.3 of Global Pos Sys Std Pos Service Spec

long m_lTOW; /* Sec of WEEK Bit 0 = 1 sec */

long

m_lXG;

Bit

0.08 m */

long

m_lYG;

Bit

0.08 m */

long

m_lZG;

Bit

0.4 m */

long

m_lXGDot;

Bit

0.000625 m/sec */

long

m_lYGDot;

Bit

0.000625 m/sec */

long

m_lZGDot;

Bit

0.004 m/sec */

long m_lXGDotDot; /* Bit 0 = 0.0000125 m/sec/sec */ long

m_lYGDotDot; /* Bit 0 = 0.0000125 m/sec/sec */ long m_lZGDotDot;

/* Bit 0 = 0.0000625 m/sec/sec */ short m_nGf0; /* Bit 0 = 2**-31

sec */

short m_nGf0Dot; /* Bit 0 = 2**-40 sec/sec */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg93; /* length = 8 + (56) + 2 + 2 = 68 */

Additional

Information

Message has a BlockID of 93 and is 45 bytes, excluding the header and epilogue

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

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Current Version: v1.09/January 8, 2018

Page 417

Bin94 Message

Message

Type Binary

Description Ionospheric and UTC conversion parameters

Command

Format to

Request

Message

Format

$JBIN,94,r<CR><LF>

where:

•

'94' = Bin94 message

•

'r' = 1 (on) or 0 (off)

When set to on the message is sent once and then sent again whenever satellite information changes

Structure typedef struct

{

SUnionMsgHeader m_sHead;

/* Iono parameters. */

double

m_a0,m_a1,m_a2,m_a3;

/* AFCRL alpha parameters. */

double

m_b0,m_b1,m_b2,m_b3;

/* AFCRL beta parameters.

/* UTC conversion parameters. */

Message

Component

Description

Type

Bytes

Values

a0, a1,a2, a3

AFCRL alpha parameters

Double

8 x 4 = 32

b0, b1,b2, b3

AFCRL beta parameters

Double

8 x 4 = 32

A0, A1

Coefficients for determining UTC time

Double

8 x 2 = 16

tot

Reference time for A0 and A1,

second of GPS week

Unsigned long

wnt

Current UTC reference week

Unsigned short

wnlsf

Week number when dtlsf becomes

effective

Unsigned short

Day of week (1-7) when dtlsf

becomes effective

Unsigned short

dtls

Cumulative past leap

Short

dtlsf

Scheduled future leap

Short

Spare

Not used at this time

Short

Future use

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double m_A0,m_A1; /* Coeffs for determining UTC time. */

unsigned long m_tot; /* Reference time for A0 & A1, sec of GPS week. */

unsigned short m_wnt; /* Current UTC reference week number. */

unsigned short m_wnlsf; /* Week number when dtlsf becomes effective. */

unsigned short m_dn; /* Day of week (1-7) when dtlsf becomes effective.

short m_dtls; /* Cumulative past leap seconds. */

short m_dtlsf; /* Scheduled future leap seconds. */

unsigned short m_wSpare1; /* spare 4 (zero)*/

unsigned short m_wCheckSum; /* sum of all bytes of the datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg94; /* length = 8 + (96) + 2 + 2 = 108 */

Additional

Information

Message has a BlockID of 94 and is 96 bytes, excluding the header and epilogue

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

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Current Version: v1.09/January 8, 2018

Page 419

Bin95 Message

Message

Type Binary

Description GPS ephemeris information

Command

Format to

Request

Message

Format

$JBIN,95,r<CR><LF>

where:

•

'95' = Bin95 message

•

'r' = 1 (on) or 0 (off)

When set to on the message is sent once (one message for each tracked satellite at 1 second intervals) and

then sent again whenever satellite information changes

Structure typedef struct

{

SUnionMsgHeader m_sHead;

unsigned short m_wSV; /* The satellite to which this data belongs.

unsigned short m_wSpare1; /* spare 1 (chan number (as zero 9/1/2004)*/

unsigned long m_TOW6SecOfWeek; /* time at which this arrived (LSB = 6sec)

unsigned long m_SF1words[10]; /* Unparsed SF 1 message words. */ unsigned long

m_SF2words[10]; /* Unparsed SF 2 message words. */ unsigned long

m_SF3words[10]; /* Unparsed SF 3 message words.*/

/* Each of the subframe words contains

Message

Component

Description

Type

Bytes

Values

Satellite to which this data belongs

Unsigned short

Spare1

Not used at this time

Unsigned short

Future use

SecOfWeek

Time at which this arrived (LSB =

Unsigned long

SF1words[10]

Unparsed SF 1 message

Unsigned long

4 x 10 = 40

SF2words[10]

Unparsed SF 2 message

Unsigned long

4 x 10 = 40

SF3words[10]

Unparsed SF 3 message

Unsigned long

4 x 10 = 40

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one 30-bit GPS word in the lower

30 bits, The upper two bits are ignored

Bits are placed in the words from left to

right as they are received */

unsigned short

} SBinaryMsg95;

m_wCheckSum;

m_wCRLF;

sum of all bytes of the datalength */

Carriage Return Line Feed */

length = 8 + (128) + 2 + 2 = 140 */

Additional

Information

Message has a BlockID of 95 and is 128 bytes, excluding the header and epilogue

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

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Page 421

Bin96 Message

Message

Type Binary

Description GPS L1 code and carrier phase information

Command

Format to

Request

Message

Format

$JBIN,96,r<CR><LF>

where:

•

'96' = Bin96 message

•

'r' = message rate in Hz (20, 10, 2, 1, or 0)

Message Component

Description

Type

Bytes

Values

Spare1

Not used at this time

Unsigned short

Future use

Week

GPS week number

Unsigned short

TOW

Predicted GPS time in

seconds

Double

UNICS_TT_SNR_PRN[12]

See following

Unsigned long

•

Bits 0-7 (8 bits)

Pseudorandom noise; PRN is 0 if no data

•

Bits 8-15 (8 bits)

Signal-to noise ratio (SNR); SNR=10.0 *log10* (0.8192*SNR)

•

Bits 16-23 (8 bits)

PhaseTrackTime (PTT); in units of 1/10 sec; range=0 to 25 sec (if greater than 25 see

UIDoppler_FL[12] below)

•

Bits 24-31 (8 bits)

CycleSlip Counter (CSC); increments by 1 every cycle with natural rollover after 255

UIDoppler_FL[12]

See following

Unsigned long

•

Bit 0 (1 bit)

Phase; Location 0; 1 if valid (0 otherwise)

•

Bit 1 (1 bit)

TrackTime; 1 if track time > 25.5 seconds (0 otherwise)

•

Bits 2-3 (2 bits)

Unused

•

Bits 4-31 (28 bits)

Doppler; Signed (two’s compliment) Doppler in units of m/sec x 4096. (i.e., LSB=1/4096), range

= +/- 32768 m/sec. Computed as phase change over 1/10 sec.

PseudoRange[12]

Pseudorange

Double

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Phase[12]

Phase (m) L1 wave =

0.190293672798365

Double

Structure typedef struct

{

SUnionMsgHeader

m_sHead;

unsigned short

m_wSpare1;

spare 1 (zero)*/

unsigned short

double

m_wWeek;

m_dTow;

GPS Week Number */

Predicted GPS Time in seconds */

SObservations m_asObvs[CHANNELS_12];/* 12 sets of observations */

unsigned short

m_wCheckSum;

sum of all bytes of the datalength

unsigned short

m_wCRLF;

Carriage Return Line Feed */

} SBinaryMsg96; /* length = 8 + (300) + 2 + 2 = 312 */

Additional

Information

Message has a BlockID of 96 and is 300 bytes, excluding the header and epilogue

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

Commands and Messages

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Current Version: v1.09/January 8, 2018

Page 423

Bin97 Message

Message

Type Binary

Description Processor statistics

Command

Format to

Request

Message

Format

$JBIN,97,r<CR><LF>

where:

•

'97' = Bin97 message

•

'r' = message rate in Hz (20, 10, 2, 1, 0, or .2)

Structure typedef struct

{

Message

Component

Description

Type

Bytes

Values

CPUFactor

CPU utilization factor

Multiply by 450e-06 to get

percentage of spare CPU that is

available

Note: This field is only relevant on

the old SLX platforms and Eclipse

platform. It is not relevant for the

Crescent receivers.

Unsigned long

Positive

MissedSubFrame

Total number of missed sub frames

in the navigation message since

power on

Unsigned short

Positive

MaxSubFramePnd

Max sub frames queued for

processing at any one time

Unsigned short

Positive

MissedAccum

Total number of missed code

accumulation measurements in the

channel tracking loop

Unsigned short

Positive

MissedMeas

Total number missed pseudorange

measurements

Unsigned short

Positive

Spare 1

Not used at this time

Unsigned long

Future use

Spare 2

Not used at this time

Unsigned long

Future use

Spare 3

Not used at this time

Unsigned long

Future use

Spare 4

Not used at this time

Unsigned short

Future use

Spare 5

Not used at this time

Unsigned short

Future use

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Current Version: v1.09/January 8, 2018

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SUnionMsgHeader m_sHead;

unsigned long m_ulCPUFactor; /* CPU utilization Factor (%=multby 450e-6)

unsigned short m_wMissedSubFrame; /* missed subframes */

unsigned short m_wMaxSubFramePend; /* max subframe pending */

unsigned short m_wMissedAccum; /* missed accumulations */

unsigned short m_wMissedMeas; /* missed measurements */

unsigned long m_ulSpare1; /* spare 1 (zero)*/ unsigned

long m_ulSpare2; /* spare 2 (zero)*/ unsigned

long m_ulSpare3; /* spare 3 (zero)*/ unsigned

short m_wSpare4; /* spare 4 (zero)*/ unsigned short m_wSpare5; /*

spare 5 (zero)*/

unsigned short m_wCheckSum; /* sum of all bytes of the datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg97; /* length = 8 + (28) + 2 + 2 = 40 */

Additional

Information

Message has a BlockID of 97 and is 28 bytes, excluding the header and epilogue

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 425

Bin98 Message

Message

Type Binary

Description GPS satellite and almanac information

Command

Format to

Request

Message

$JBIN,98,r<CR><LF>

where:

•

'98' = Bin98 message

• 'r' = message rate in Hz (1 or 0)

Message

Format

Structure

typedef struct

{

SUnionMsgHeader

SSVAlmanData

m_sHead;

m_asAlmanData[8];

SV data, 8 at a time */

unsigned char

m_byLastAlman;

last almanac processed */

unsigned char

unsigned short

m_byIonoUTCVFlag;

m_wSpare;

m_wCheckSum;

iono UTC flag */

spare */

sum of all bytes of the datalength */

unsigned short

} SBinaryMsg98;

m_wCRLF;

Carriage Return Line Feed */

length = 8 + (64+1+1+2) + 2 + 2 = 80 */

Additional

Information

Message has a BlockID of 98 and is 68 bytes, excluding the header and epilogue

Commands

JBIN

Message

Component

Description

Type

Bytes

Values

AlmanData[8]

SV data, 8 at a time

SSVAlmanData

See following

LastAlman

Last almanac processed

Byte

0 to 31

IonoUTCVFlag

Flag that is set when ionosphere

modeling data is extracted from the

GPS sub frame 4

Byte

0 = not logged

2 = valid

Spare

Not used at this time

Unsigned short

Future use

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Topic Last Updated: v1.06 / March 10, 2015

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Commands and Messages

Bin99 Message

Message

Type Binary

Description GPS L1 diagnostic information

Command

Format to

Request

Message

Format

$JBIN,99,r<CR><LF>

where:

•

'99' = Bin99 message

•

'r' = message rate in Hz (1 or 0)

Structure typedef struct

{

SUnionMsgHeader m_sHead;

Message Component

Description

Type

Bytes

Values

NavMode

Navigation mode data

Byte

Lower 3 bits

(lower 3 bits hold the

take on the

GPS mode, upper bit

values:

set if differential is

0 = time not

available)

valid

1 = No fix

2 = 2D fix

3 = 3D fix

Upper bit (bit

7) is 1 if

differential is

available

UTCTimeDiff

Whole seconds

between UTC and

GPS time (GPS minus

UTC)

Byte

Positive

GPSWeek

GPS week associated

with this message

Unsigned short

0 to 65536

GPSTimeofWeek

GPS tow (sec)

associated with this

message

Double

0.0 to

604800.0

sChannelData[CHANNELS_12]

Channel data

SChannelData

12 x 24 =

288

ClockErrAtL1

Clock error of the GPS

clock oscillator at L1

frequency in Hz

Short

-32768 to

32768

Spare

Not used at this time

Unsigned short

Future use

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

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Commands and Messages

unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D

(high bit =has_diff) */

char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS */

unsigned short m_wGPSWeek; /* GPS week */

double m_dGPSTimeOfWeek; /* GPS tow */

SChannelData m_asChannelData[CHANNELS_12]; /* channel data */ short

m_nClockErrAtL1; /* clock error at L1, Hz */

unsigned short m_wSpare; /* spare */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg99; /* length = 8 + 304 + 2 + 2 = 316 */

Additional

Information

Message has a BlockID of 99 and is 304 bytes, excluding the header and epilogue

Commands

JBIN

Topic Last Updated: v1.06 / March 10, 2015

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Current Version: v1.09/January 8, 2018

Page 429

Commands and Messages

Bin100 Message

Message

Type Binary

Description GPS L2 diagnostic information

Command

Format to

Request

Message

Format

$JBIN,100,r<CR><LF>

where:

•

'100' = Bin100 message

•

'r' = message rate in Hz (1 or 0)

Message Component

Description

Type

Bytes

Values

NavMode

Navigation mode data

Byte

Lower 3 bits

(lower 3 bits hold the

take on the

GPS mode, upper bit

values:

set if differential is

0 = time not

available)

valid

1 = No fix

2 = 2D fix

3 = 3D fix

Upper bit (bit

7) is 1 if

differential is

available

UTCTimeDiff

Whole seconds

between UTC and

GPS time (GPS minus

UTC)

Byte

Positive

GPSWeek

GPS week associated

with this message

Unsigned short

0 to 65535

MaskSatsUsedL2P

L2P satellites used,

bit mapped 0..31

Unsigned long

GPSTimeofWeek

GPS tow (sec)

associated with this

message

Double

0.0 to

604800.0

MaskSatsUsedL1P

L1P satellites used,

bit mapped 0..31

Unsigned long

sChannelData[CHANNELS_12]

L2 channel data

SChannelData

12 x 24 =

288

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Commands and Messages

Structure

typedef struct

{

SUnionMsgHeader

unsigned char

m_sHead;

m_byNavMode;

/* Nav Mode FIX_NO, FIX_2D, FIX_3D

(high bit =has_diff) */

char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS */

unsigned short m_wGPSWeek; /* GPS week */

unsigned long m_ulMaskSatsUsedL2P /* L2P SATS Used, bit mapped 0..31 */

double m_dGPSTimeOfWeek; /* GPS tow */

unsigned long m_ulMaskSatsUsedL1P; /* L1P SATS Used, bit mapped 0..31 */

SChannelL2Data m_asChannelData[CHANNELS_12]; /* channel data */

unsigned short m_wCheckSum; /* sum of all bytes of the datalength */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg100; /* length = 8 + 260 + 2 + 2 = 272 */

Additional

Information

Message has a BlockID of 100 and is 260 bytes, excluding the header and epilogue

Commands

JBIN

Topic Last Updated: v1.08 / June 9, 2017

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 431

Commands and Messages

Bin122 Message

Message

Type Binary

Description Alternate position solution data

Command

Format to

Request

Message

$JBIN,122,r<CR><LF>

where:

•

'122' = Bin122 message

•

'r' = message rate in Hz

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Commands and Messages

Message

Format

Message

Component

Description

Type

Bytes

Values

GPSTimeOfWeek

GPS tow (sec) associated with this

message

Double

to 604800.0

GPSWeek

GPS week associated with this

message

Unsigned

short

0 to 65535

PosType

Type of position

0: Autonomous

1: SBAS

2: Differential phase solution

3: Differential code solution

4: RTK (fixed vs. float is not specified)

5: RTK Fixed

6: RTK Float

7: Tracer

8: Manual

9: Atlas (fixed vs. float not specified)

10: SureFix

11: FastFix

Unsigned

char

Correction source

Source of corrections

0: No correction

1: SBAS

2: eDif

3: Atlas

6: RTCM unspecified version

7: RTCM 2.3

8: RTCM 3

9: ROX

11: CMR

Unsigned char

BaseID

Base station ID

Unsigned short

0 to 65535

SatUsedCount

Sats used in each system

[GPS, GLN, GAL, BDS, SBAS, QZSS]

Unsigned char

array

6*1 =

Latitude

Latitude in degrees north

Double

-90.0 to 90.0

Longitude

Longitude in degrees east

Double

-180.0 to 180.0

Height

Altitude above ellipsoid in meters

Float

AgeOfDiff

Age of differential, in seconds

Float

VNorth

North-South velocity, +North m/s

Float

VEast

East-West velocity, +East m/s

Float

VUP

Vertical velocity, +up m/s

Float

CovNN

Covariance North-North

Float

CovNE

Covariance North-East

Float

CovNU

Covariance North-Up

Float

CovEE

Covariance East-East

Float

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

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Commands and Messages

CovEU

Covariance East-Up

Float

CovUU

Covariance Up-Up

Float

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Commands and Messages

Structure typedef struct

{

SUnionMsgHeader m_sHead;

double m_dGPSTimeOfWeek; // GPS tow [8 bytes]

unsigned short m_wGPSWeek; // GPS week [2 bytes]

unsigned char m_byPhxPosType; // Phoenix position type [1 bytes]

unsigned char m_byCorSource; // Phoenix correction source [1 byte ]

unsigned short m_wBaseStationId; // Base station ID [2 bytes]

unsigned char m_bySatUsedCount[6]; // Satellites used per system [6 bytes]

// [GPS GLN GAL BDS SBAS QZSS]

double m_dLatitude; // Latitude degrees, -90..90 [8 bytes]

double m_dLongitude; // Longitude degrees, -180..180 [8 bytes]

float m_fHeight; // (m), Altitude ellipsoid [4 bytes]

float m_fAgeOfDiff; // age of differential, seconds [4 bytes]

float m_fVNorth; // North-South Velocity +North m/s [4 bytes]

float m_fVEast; // East-West Velocity +East m/s [4 bytes]

float m_fVUp; // Vertical Velocity +up m/s [4 bytes]

float m_fCovNN; // Covariance North-North [4 bytes]

float m_fCovNE; // Covariance North-East [4 bytes]

float m_fCovNU; // Covariance North-Up [4 bytes]

float m_fCovEE; // Covariance East-East [4 bytes]

float m_fCovEU; // Covariance East-Up [4 bytes]

float m_fCovUU; // Covariance Up-Up [4 bytes]

unsigned short m_wCheckSum; /* sum of all bytes of the header and data */

unsigned short m_wCRLF; /* Carriage Return Line Feed */

} SBinaryMsg122; /* length = 8 + 80 + 2 + 2 = 92 */

Additional Information

Commands

JBIN

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 435

Commands and Messages

Topic Last Updated: v1.09 / January 8, 2018

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 436

Commands and Messages

Bin209 Message

Message

Type Binary

Description SNR and status for all GNSS tracks

Command

Format to

Request

Message

Format

$JBIN,209,r<CR><LF>

where:

•

'209' = Bin209 message

•

'r' = message rate in Hz

Message Component

Description

Type

Bytes

Values

GPSTimeofWeek

GPS tow (sec)

associated with this

message

Double

0.0 to

604800.0

GPSWeek

GPS week associated

with this message

Unsigned short

0 to 65535

UTCTimeDiff

Whole Seconds

between UTC and

GPS

char

Page

Bits 0-1 = Antenna:

0 = Master, 1 =

Slave, 2 = Slave2

Bits 2-4 = Page ID:

0 = page 1, 1 =

page 2, etc

Bits 5-7 = Max

page ID: 0 = only 1

page, 1 = 2 pages

Unsigned char

sSVData

SNR data

GNSS Technical Reference Manual

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Page 437

Commands and Messages

Structure

typedef struct

{

SUnionMsgHeader

m_sHead;

double

m_dGPSTimeOfWeek;

// GPS tow

unsigned short

m_wGPSWeek;

// GPS week

char

m_cUTCTimeDiff;

// Whole Seconds between UTC and GPS

unsigned char

m_byPage;

// Bits 0-1 = Antenna: 0 = Master, 1 = Slave, 2 = Slave2

// Bits 2-4 = Page ID: 0 = page 1, 1 = page 2, etc

// Bits 5-7 = Max page ID: 0 = only 1 page, 1 = 2 pages

SSVSNRData

m_asSVData[40];

// SNR data

unsigned short

m_wCheckSum;

// sum of all bytes of the header and data

unsigned short

} SBinaryMsg209;

m_wCRLF;

// Carriage Return Line Feed

// length = 8 + 332 + 2 + 2 = 344

Additional

Information

Related Commands

JBIN

Topic Last Updated: v1.07 / Octoter 13, 2016

Topic Last Updated: v1.00 / August 11, 2010

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 433

CRMSK Message

Commands and Messages

Message

Type Beacon Receiver

Description Operational status message of SBX

Command

Format to

Request

Message

$GPCRQ,MSK<CR><LF>

Message

Format

$CRMSK,FFF.F,X,DDD,Y,N*CC<CR><LF>

where:

Message

Component

Description

FFF.F

Frequency, in kHz (283.5 to 325)

Tune mode (M = manual, A = automatic)

DDD

MSK bit rate, in bps (100 or 200)

MSK rate selection mode (M = manual, A = automatic)

Period of output of performance status message, in seconds (0 to 100);

see CRMSS

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

Commands

GPCRQ,MSK

Topic Last Updated: v1.00 / August 11, 2010

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 434

Commands and Messages

CRMSS Message

Message

Type Beacon Receiver

Description Performance status message of SBX

Command

Format to

Request

Message

$GPCRQ,MSS<CR><LF>

Message

Format

$CRMSS,XX,YY,FFF.F,DDD*CC<CR><LF>

where:

Message

Component

Description

Signal strength, in dB μV/m

Signal-to-noise ratio, in dB

FFF.F

Frequency, in kHz (283.5 to 325)

DDD

MSK bit rate in bps (100 or 200)

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

Commands

GPCRQ,MSS

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 435

GLMLA Message

Message

Type GLONASS

Description GLONASS almanac data

Contains complete almanac data for one GLONASS satellite. Multiple sentences may be transmitted, one for each

satellite in the GLONASS constellation.

Command

Format to

Request

Message

$JASC,GLMLA,r[,OTHER]<CR><LF>

where:

•

'r' = 1 (on) or 0 (off)

When set to on the message is sent once (one message for each tracked satellite at 1 second intervals)

and then sent again whenever satellite information changes

•

',OTHER' = optional field, enacts a change on the current port when you send the command

without it (and without the brackets) and enacts a change on the other port when you send the

command with it (without the brackets)

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 436

Message

Format

$GLMLA,A.A,B.B,CC,D.D,EE,FFFF,GG,HHHH,IIII,JJJJJJ,KKKKKK,MMMMMM,

NNNNNN,PPP,QQQ*hh<CR><LF>

where:

Message

Component

Description

A.A

Total number of sentences

B.B

Sentence number

Satellite ID (satellite slot) number

D.D

Calendar day count within the four year period beginning with the previous leap year

Generalized health of the satellite and carrier frequency number respectively

FFFF

Eccentricity

DOT, rate of change of the draconitic circling time

HHHH

Argument of perigee

IIII

16 MSB of system time scale correction

JJJJJJ

Correction to the average value of the draconitic circling time

KKKKKK

Time of the ascension node, almanac reference time

MMMMMM

Greenwich longitude of the ascension node

NNNNNN

Correction to the average value of the inclination angle

PPP

LSB of system time scale correction

QQQ

Course value of the time scale shift

Example

Additional

Information

Similar to the GPS message GPALM

Commands

JASC,GL

Topic Last Updated: v1.05 / January 18, 2013

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 437

GNSSPositionData Message

Message

Type NMEA 2000 CAN

Description Detailed GPS position information

The GNSSPositionData message (PGN 0x1F805/129029) has an update rate of 1 Hz and DLC of 43, 47, or 51, dependent

on the NumberOfReferenceStations.

Command

Format to

Request

Message

Message is continuously output on the CAN port for the following products:

•

A100, continuously output

•

A325, continuously output when NMEA 2000 mode is enabled

•

V102, continuously output when NMEA 2000 mode is enabled, requires NMEA 2000 adapter

Message

Format The following table provides the start bit, length (bit), value type, factor, and offset for the GNSSPositionData message.

Field Name

Start

bit

Length

(Bit)

Byte

Order

Value Type

Factor

SequenceID

Intel

Unsigned

PositionDate

Intel

Unsigned

PositionTime

Intel

Unsigned

0.0001

LatitudeLow

Intel

Unsigned

1.00E-16

LatitudeHigh

Intel

Signed

4.29E-07

LongitudeLow

120

Intel

Unsigned

1.00E-16

LongitudeHigh

152

Intel

Signed

4.29E-07

AltitudeLow

184

Intel

Unsigned

1.00E-6

AltitudeHigh

216

Intel

Signed

4294.97

TypeOfSystem

248

Intel

Unsigned

GNSSMethod

252

Intel

Unsigned

GNSSIntegrity

256

Intel

Unsigned

GNSS_Reserved1

258

Intel

Unsigned

NumberOfSVs

264

Intel

Unsigned

HDOP

272

Intel

Signed

0.01

PDOP

288

Intel

Signed

0.01

GeodalSeparation

304

Intel

Signed

0.01

NumberOfReferenceStations

336

Intel

Unsigned

ReferenceStationType1

344

Intel

Unsigned

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 438

ReferenceStationID1

348

Intel

Unsigned

AgeOfDGNSSCorrections1

360

Intel

Unsigned

0.01

ReferenceStationType2

376

Intel

Unsigned

ReferenceStationID2

380

Intel

Unsigned

AgeOfDGNSSCorrections2

392

Intel

Unsigned

0.01

The following table provides the offset, minimum and maximum values, unit, and comment for the GNSSPositionData

message.

Field Name

Offset

Min

Max

Unit

Comment

SequenceID

255

An upward counting number

used to tie related information

together between different PGNS

PositionDate

65532

day

Days since January 1, 1970.

Date is relative to UTC time.

PositionTime

86401

sec

24 hour clock, 0=midnight, time

is in UTC

LatitudeLow

4.29E-07

deg

Latitude referenced to WGS-84

LatitudeHigh

-90

deg

Latitude referenced to WGS-84

LongitudeLow

deg

Longitude referenced to WGS-84

LongitudeHigh

-180

deg

Longitude referenced to WGS-84

AltitudeLow

Altitude referenced to WGS-84

AltitudeHigh

-9.22

E+12

Altitude referenced to WGS-84

TypeOfSystem

0x0 GPS

0x1 GLONASS

0x2 GPS and GLONASS

0x3 GPS and SBAS,

(WAAS/EGNOS)

0x4 GPS and SBAS and

GLONASS

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 439

GNSSMethod

0x0 No GPS

0x1 GNSS fix

0x2 DGNSS fix

0x3 Precise GNSS

0x4 RTK fixed integer

0x5 RTK float

0x6 Estimated (DR) mode

0x7 Manual input

0x8 Simulate mode

0xE Error

GNSSIntegrity

0x0 No integrity checking

0x1 Safe

0x2 Caution

0X3 Unsafe

GNSS_Reserved1

NumberOfSVs

252

Numeric count, event counter

HDOP

-327.64

327.64

Dilution of Precision (DOP)

indicates the contribution of

satellite configuration geometry

to positioning error

PDOP

-327.64

327.64

Dilution of Precision (DOP)

indicates the contribution of

satellite configuration geometry

to positioning error

GeodalSeparation

-2.15

E+07

2.15

E+07

The difference between the earth

ellipsoid and mean sea-level

(period), defined by the reference

datum used in the position

solution.

'-' indicates mean sea-level

below ellipsoid

NumberOfReferenceStations

252

Number of reference stations

reported

ReferenceStationType1

0x0 GPS

0x1 GLONASS

0xE Error

ReferenceStationID1

4095

Reference station ID

AgeOfDGNSSCorrections1

655.32

sec

Age of differential corrections

ReferenceStationType2

0x0 GPS

0x1 GLONASS

0xE Error

ReferenceStationID2

4095

Reference station ID

AgeOfDGNSSCorrections2

655.32

sec

Age of differential corrections

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 440

Additional

Information

Commands

Topic Last Updated: v1.00 / August 11, 2010

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 441

GNSSPositionRapidUpdates Message

Message

Type NMEA 2000 CAN

Description Abbreviated GPS position information

The GNSSPositionRapidUpdates message (PGN 0x1F801/129025) has an update rate equal to the subscribed rate (default of

10 Hz) and DLC of 8.

Command

Format to

Request

Message

Message is continuously output on the CAN port for the following products:

•

A100, continuously output

•

A325, continuously output when NMEA 2000 mode is enabled

•

V102, continuously output when NMEA 2000 mode is enabled, requires NMEA 2000 adapter

Message

Format The following table provides the start bit, length (bit), value type, factor, and offset for fields of the GNSSPositionRapidUpdates

message.

Field

Name

Start bit

Length

(Bit)

Byte

Order

Value

Type

Factor

Offset

Min

Max

Unit

Latitude

Intel

Signed

0.0000001

-90

deg

Longitude

Intel

Signed

0.0000001

-180

180

deg

Additional

Information

Commands

Topic Last Updated: v1.00 / August 11, 2010

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 442

Commands and Messages

GPALM Message

Message

Type Data

Description Message number (individual and total), week number, satellite health, and the almanac data for each satellite in the GPS

constellation up to a maximum of 32 messages

Command

Format to

Request

Message

$JASC,GPALM,r[,OTHER]<CR><LF>

where

•

'r' = 1 (on) or 0 (off)

When set to on the message is sent once (one message for each tracked satellite at 1 second intervals) and

then sent again whenever satellite information changes

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it

(and without the brackets) and enacts a change on the other port when you send the command with it

(without the brackets)

Message

Format

$GPALM,A,B,C,D,E,F,G,H,J,K,L,M,N,P,Q*CC<CR><LF>

where:

Response

Component

Description

As Displayed in First Full Line of Example Below

This Table

Total number of messages

Message number

Satellite PRN number

GPS week number (0-1023)

1617

Satellite health (bits 17-24 of message)

Eccentricity

50F6

Reference time of almanac (TOA)

Satellite inclination angle (sigma)

FD98

Rate of right ascension (omega dot)

FD39

Square root of semi-major axis (root A)

A10CF3

Perigee (omega)

81389B

Ascending node longitude (omega O)

423632

Mean anomaly (mo)

BD913C

Clock parameter 0 (af0)

148

Clock parameter 1 (af1)

001

*CC

Checksum

<CR>

Carriage return

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 443

Commands and Messages

Example $>

$GPALM,31,1,02,1617,00,50F6,0F,FD98,FD39,A10CF3,81389B,423632,BD913C,148

,001*

$GPALM,31,2,03,1617,00,71B9,0F,F6C2,FD45,A10C96,2B833C,131DB4,BA69EE,2B1,

001*

$GPALM,31,3,04,1617,00,4F01,0F,FD03,FD39,A10BFC,1C6C35,42EDB1,35B537,112,

003*

$GPALM,31,4,05,1617,00,121B,0F,08C8,FD61,A10C5C,09CA99,6D7257,021B32,79F,

7FE*

$GPALM,31,5,06,1617,00,337F,0F,FB6B,FD49,A10CC2,DBE103,161127,10CD11,18C,

7FE*

$GPALM,31,29,30,1617,00,6A85,0F,0ADD,FD5C,A11A83,3F6243,EBCC46,E8548D,145,

001

$GPALM,31,30,31,1617,00,4037,0F,1778,FD3E,A10C28,D62817,C32ADF,781125,01B,

001

$GPALM,31,31,32,1617,00,65B5,0F,0956,FD65,A10DD0,DD74BA,71125D,985AE3,751,

7FE

Additional

Information

Similar to the GLONASS message GLMLA

Commands

JASC,GP

Topic Last Updated: v1.05 / January 18, 2013

<LF>

Line feed

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 444

Commands and Messages

GPDTM Message

Message

Type Data

Description Datum reference

Command

Format to

Request

Message

$JASC,GPDTM,r[,OTHER]<CR><LF>

where:

•

'r' = message rate (in Hz) of (1 or 0)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it

(and without the brackets) and enacts a change on the other port when you send the command with it

(without the brackets)

Message

Format

$GPDTM,CCC,A,X.X,K,X.X,L,X.X,CCC*CC<CR><LF>

where:

Message

Component

Description

CCC

Local datum (normally W84, but could be NAD83 when using beacon in North America)

Local datum subdivision code

X.X

Latitude offset, in minutes

Latitude indicator; value is N (North latitude) or S (South latitude)

X.X

Longitude offset, in minutes

Longitude indicator; value is E (East longitude) or W (West longitude)

X.X

Altitude offset, in meters

CCC

Reference datum (always W84)

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Example $GPDTM,W84,,0.0,N,0.0,E,0.0,W84*CC<CR><LF>

Additional

Information

Related JASC,GP

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 445

Commands and Messages

Commands

Topic Last Updated: v1.04 / May 29, 2012

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 446

Commands and Messages

GPGGA Message

Message

Type Data

Description Detailed GNSS position information (most frequently used NMEA 0183 data message)

Command

Format to

Request

Message

$JASC,GPGGA,r[,OTHER]<CR><LF>

where:

•

'r' = message rate (in Hz) of 20, 10, 5, 4, 2, 1, 0, or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it

(and without the brackets) and enacts a change on the other port when you send the command with

it (without the brackets)

Message

Format

$GPGGA,HHMMSS.SS,DDMM.MMMMM,K,DDDMM.MMMMM,L,N,QQ,PP.P,AAAA.AA,M,±XX.XX,M,

SSS,RRRR*CC<CR><LF>

where:

Message

Component

Description

HHMMSS.SS

UTC time in hours, minutes, and seconds of the position

DDMM.MMMMM

Latitude in degrees, minutes, and decimal minutes (you can set the number of decimal places

using the JNP command)

Latitude indicator; value is N (North latitude) or S (South latitude)

DDDMM.MMMMM

Longitude in degrees, minutes, and decimal minutes (you can set the number of decimal

places using the JNP command)

Longitude indicator; value is E (East longitude) or W (West longitude)

Quality indicator; value is:

•

0 = no position

•

1 = undifferentially corrected position (autonomous)

•

2 = differentially corrected position (SBAS, DGPS,Atlas DGPSservice, L-

Dif and e-Dif)

•

4 = RTK fixed integer (Crescent RTK, Eclipse RTK),Atlas high precision

services converged

•

5 = RTK float,Atlas high precision services converging

Number of satellites used in position solution

P.P

Horizontal dilution of precision (HDOP)

Note: This topic provides information pertaining to GPS. The format is the same for the messages pertaining to

GNSS and GLONASS (see Additional Information below).

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Commands and Messages

A.A

Antenna altitude, in meters, re: mean-sea-level (geoid)

Units of antenna altitude (M = meters)

G.G

Geoidal separation (in meters)

Units of geoidal separation (M = meters)

SSS

Age of differential corrections, in seconds

RRRR

Differential reference station ID

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Example $GPGGA,001038.00,3334.2313457,N,11211.0576940,W,2,04,5.4,354.682,M,- 26.574,M,7.0,0138*79

Additional

Information

This message provides information specific to the satellite system identified by the first two characters of the message.

GPGGA - GPS information

GNGGA - GNSS information

GLGGA - GLONASS information

The JNMEA,GGAALLGNSS command significantly affects the output of the GGA message. If you are tracking more than

GNSS signals, Hemisphere GNSS highly recommends that you review this command.

Commands

JASC,GP, JASC,GN, JASC,GL, JNMEA,GGAALLGNSS

Topic Last Updated: v1.07 / February 16,

2017

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Commands and Messages

GPGLL Message

Message

Type Data

Description Latitude and longitude data

Command

Format to

Request

Message

$JASC,GPGLL,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 20, 10, 2, 1, 0, or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the

command without it (and without the brackets) and enacts a change on the other port

when you send the command with it (without the brackets)

Message

Format

$GPGLL,DDMM.MMMMM,S,DDDMM.MMMMM,S,HHMMSS.SS,S*CC<CR><LF>

where:

Message

Component

Description

DDMM.MMMMM

Latitude in degrees, minutes, and decimal minutes

S = N (North latitude ) or S (South latitude)

DDDMM.MMMMM

Longitude in degrees, minutes, and decimal minutes

S = E (East longitude) or W (West longitude)

HHMMSS.SS

UTC time in hours, minutes, and seconds of GNSS position

Status, S = A (valid) or V (invalid)

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

This message provides information specific to the satellite system identified by the first two characters of

the message.

GPGLL - GPS information

GNGLL - GNSS information

GLGLL - GLONASS information

The JNMEA,GGAALLGNSS command significantly affects the output of the GLL message. If you are

tracking more than GNSS signals, Hemisphere GNSS highly recommends that you review this

command.

Commands

JASC,GP, JASC,GN, JASC,GL, JNMEA,GGAALLGNSS

Note: This topic provides information pertaining to GPS. The format is the same for the messages pertaining to

GNSS and GLONASS (see Additional Information below).

Commands and Messages

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Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

GPGNS Message

Message

Type Data

Description Fixes data for single or combined (GPS, GLONASS, possible future satellite systems, and systems combining these) satellite

navigation systems

Command

Format to

Request

Message

$JASC,GPGNS,r[,OTHER]<CR><LF>

where:

•

'r' = message rate (in Hz) of 20, 10, 2, 1, 0, or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and the brackets)

and enacts a change on the other port when you send the command with it (without the brack

Message

Format

$GPGNS,HHMMSS.SS,DDMM.MMMMM,K,DDDMM.MMMMM,L,MM,QQ,H.H,A.A,G.G,D.D,R.R,NS*CC<C

where:

Message

Component

Description

HHMMSS.SS

UTC time in hours, minutes, and seconds of the position

DDMM.MMMMM

Latitude in degrees, minutes, and decimal minutes (you can set the number of decimal places

using the JNP command)

Latitude indicator; value is N (North latitude) or S (South latitude)

DDDMM.MMMMM

Longitude in degrees, minutes, and decimal minutes (you can set the number of decimal places

using the JNP command)

Longitude indicator; value is E (East longitude) or W (West longitude)

Mode indicator

Variable length valid character field type with the first two characters currently defined.

•

First character indicates the use of GPS satellites

•

Second character indicates the use of GLONASS satellites

If another satellite system is added to the standard, the mode indicator will be extended to three

characters. New satellite systems shall always be added on the right, so the order of characters

in the Mode Indicator is: GPS, GLONASS, other satellite systems in the future.

The characters shall take one of the following values:

•

N = No fix. Satellite system not used in position fix, or fix not valid

•

A = Autonomous. Satellite system used in non-differential mode in positionfix

•

D = Differential. Satellite system used in differential mode in positionfix

•

P = Precise. Satellite system used in precision mode. Precision mode is defined as

no deliberate degradation (such as Selective Availability) and higher resolution code

(P-code) is used to compute position fix.

•

R = Real Time Kinematic. Satellite system used in RTK mode with fixed integers

•

F = Float RTK. Satellite system used in real time kinematic mode with floating

integers

Note: This topic provides information pertaining to GPS. The format is the same for the messages pertaining to

GNSS and GLONASS (see Additional Information below).

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Commands and Messages

•

E = Estimated (dead reckoning) mode

•

M = Manual input mode

•

S = Simulator mode

The mode indicator shall not be a null field.

Number of satellites used in position solution

P.P

Horizontal dilution of precision (HDOP)

A.A

Antenna altitude, in meters, re: mean-sea-level (geoid)

G.G

Geoidal separation (in meters)

SSS

Age of differential corrections, in seconds

RRRR

Differential reference station ID

Navigational status; options are:

•

S = Safe

•

C = Caution

•

U = Unsafe

•

V = Not valid for navigation

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Example $GPGNS,224749.00,3333.4268304,N,11153.3538273,W,D,19,0.6,406.110,- 26.294,6.0,0138,S,*6A

Additional

Information

This message provides information specific to the satellite system identified by the first two characters of the message.

GPGNS - GPS information

GNGNS - GNSS information

GLGNS - GLONASS information

GAGNS – GALILEO information

The JNMEA,GGAALLGNSS command significantly affects the output of the GNS message. If you are tracking more than GNSS

sign Hemisphere GNSS highly recommends that you review thiscommand.

Commands

JASC,GP, JASC,GN, JASC,GL, JNMEA,GGAALLGNSS

Topic Last Updated: v1.07/ February 16, 2017

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Commands and Messages

GPGRS Message

Message

Type Data

Description Supports Receiver Autonomous Integrity Monitoring (RAIM)

Command

Format to

Request

Message

$JASC,GPGRS,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 1, 0, or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the brackets)

and enacts a change on the other port when you send the command with it (without the brackets)

Message

Format

$GPGRS,HHMMSS.SS,M,X.X ... X.X,GSID,SID*CC<CR><LF>

where:

Message

Component

Description

HHMMSS.SS

UTC time

Mode:

0 = residuals used to calculate the position given in the GPGGA or GPGNS message

1 = residuals were recomputed after the GPGGA or GPGNS message position was computed

X.X ... X.X

Range residuals, in meters, for satellites used in the navigation solution. Order must match order

of satellite ID numbers in GPGSA message. When GPGRS message is used, the GPGSA and

GPGSV messages are generally required with this message.

GSID

GNSS system ID, value is 1 (GPS)

SID

Signal ID, value is 1 (L1 C/A)

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

Commands

JASC,GP

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Commands and Messages

Topic Last Updated: v1.04 / May 29, 2012

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GNGSA Message

Commands and Messages

Message

Type Data

Description DOP and active satellite information

Only satellites used in the position computation are present in this message. Null fields are present when data is

unavailable due to the number of satellites tracked.

Command

Format to

Request

Message

$JASC,GNGSA,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 1 or 0 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the

brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message

Format

$GNGSA,A,B,CC ... OO,P.P,Q.Q,R.R,GSID*CC<CR><LF>

where:

Message

Component

Description

Satellite acquisition mode (M = manually forced to 2D or 3D, A = automatic swap between 2D and

3D)

Position mode (1 = fix not available, 2 = 2D fix, 3 = 3D fix)

CC to OO

Satellites used in the position solution, a null field occurs if a channel is unused

P.P

Position Dilution of Precision (PDOP) = 1.0 to 9.9

Q.Q

Horizontal Dilution of Precision (HDOP) 1.0 to 9.9

R.R

Vertical Dilution of Precision (VDOP) = 1.0 to 9.9

GSID

GNSS system ID, value is 1 (GPS), 2 (GLONASS), 3 (GALILEO), 5 (BEIDOU)

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

This message provides information specific to the satellite system(s) identified by the first two characters of the

message.

GNGSA - GNSS information (all

constellations)

GPGSA - GPS information

GLGSA - GLONASS information

Commands

JASC,GP, JASC,GN, JASC,GL

Note: This topic provides information pertaining to all GNSS constellations. The format is the same for the

messages pertaining to only GPS and GLONASS (see Additional Information below).

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Commands and Messages

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

GPGST Message

Message

Type Data

Description GNSS pseudorange error statistics and position accuracy

Command

Format to

Request

Message

Format

$JASC,GPGST,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 1 or 0 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the

brackets) and enacts a change on the other port when you send the command with it (without the brackets)

$GPGST,HHMMSS.SS,A.A,B.B,C.C,D.D,E.E,F.F,G.G*CC<CR><LF>

where:

Message

Component

Description

HHMMSS.SS

UTC time in hours, minutes, and seconds of the GPS position

A.A

Root mean square (rms) value of the standard deviation of the range inputs to the navigation

process. Range inputs include pseudoranges and differential GNSS (DGNSS) corrections.

B.B

Standard deviation of semi-major axis of error ellipse, in meters

C.C

Standard deviation of semi-minor axis of error ellipse, in meters

D.D

Error in Eclipse’s semi major axis origination, in decimal degrees, true north

E.E

Standard deviation of latitude error, in meters

F.F

Standard deviation of longitude error, in meters

G.G

Standard deviation of altitude error, in meters

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 457

Related Commands

JASC,GP

Topic Last Updated: v1.01 / September 23, 2010

Commands and Messages

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Page 458

GPGSV Message

Message

Type Data

Description GNSS satellite in view

Null fields occur where data is unavailable due to the number of satellites tracked.

Command

Format to

Request

Message

$JASC,GPGSV,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 1 or 0 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it

(and without the brackets) and enacts a change on the other port when you send the command with it

(without the brackets)

Message

Format

$GPGSV,T,M,N,II,EE,AAA,SS,…II,EE,AAA,SS,SID*CC<CR><LF>

where:

Message

Component

Description

Total number of messages

Message number (1 to 3)

Total number of satellites in view

Satellite number

Elevation, in degrees (0 to 90)

AAA

Azimuth (true), in degrees (0 to 359)

Signal strength, in dB-Hz (0 - 99)

To compare with SNR values found in Bin messages (such as Bin96) subtract

30 from this signal strength value for an approximate SNR value

SS - 30 = SNR (from Bin message)

SID

Signal ID, value is 1 (L1 C/A)

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

This message provides information specific to the satellite system identified by the first two

characters of the message.

GPGSV – GPS information

GLGSV – GLONASS information

GAGSV – GALILEO information

GQGSV – QZSS information

If you request GNGSV the receiver will respond with GPGSV messages only.

Note: This topic provides information pertaining to GPS. The format is the same for the message pertaining to

other constelations (see Additional Information below).

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 459

Commands

JASC,GP, JASC,GL, BEIDOU

Topic Last Updated: v1.07 / February 16, 2017

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 460

GPHDG/HEHDG Message

Message

Type Data

Description Magnetic deviation and variation for calculating magnetic or true heading

The message simulates data from a magnetic sensor although it does not actually contain one.

The purpose of this message is to support older systems that may not be able to accept the HDT

message that is recommended for use.

Command

Format to

Request

Message

$JASC,GPHDG,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 20, 10, 2, 1, 0 or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it

(and without the brackets) and enacts a change on the other port when you send the command with it

(without the brackets)

Message

Format

$GPHDG,s.s,d.d,D,v.v,V*CC<CR><LF>

$HEHDG,s.s,d.d,D,v.v,V*CC<CR><LF>

where:

Message

Component

Description

s.s

Magnetic sensor reading, in degrees

d.d

Magnetic deviation, in degrees

E = Easterly deviation, W = Westerly deviation

v.v

Magnetic variation, in degrees

E = Easterly deviation, W = Westerly deviation

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

You can change the HDG message header to either GP or HE using the JATT,NMEAHE

command.

Commands

JASC,GP

Commands and Messages

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Topic Last Updated: v1.00 / August 11, 2010

Commands and Messages

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Page 462

GPHDM/HEHDM Message

Message

Type Data

Description Magnetic heading of the vessel derived from the true heading calculated

Command

Format to

Request

Message

$JASC,GPHDM,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 20, 10, 2, 1, 0 or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and

without the brackets) and enacts a change on the other port when you send the command with it (without the

brackets)

Message

Format

$GPHDM,X.X,M*CC<CR><LF>

$HCHDM,X.X,M*CC<CR><LF>

where:

Message

Component

Description

X.X

Current heading, in degrees

Indicates magnetic heading

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

You can change the HDM message header to either GP or HE using the JATT,NMEAHE

command.

Commands

JASC,GP

Topic Last Updated: v1.02 / January 25, 2011

Commands and Messages

GPHDT/HEHDT Message

Message

Type

Data

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Page 463

Description True heading of the vessel

This is the direction that the vessel (antennas) is pointing and is not necessarily the direction of

vessel motion (the course over ground).

Command

Format to

Request

Message

$JASC,GPHDT,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 20, 10, 2, 1, 0 or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it

(and without the brackets) and enacts a change on the other port when you send the command with it

(without the brackets)

Message

Format

$GPHDT,X.X,T*CC<CR><LF>

$HEHDT,X.X,T*CC<CR><LF>

where:

Message

Component

Description

X.X

Current heading, in degrees

Indicates true heading

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

You can change the HDT message header to either GP or HE using the JATT,NMEAHE

command.

Commands

JASC,GP

Topic Last Updated: v1.00 / August 11, 2010

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Commands and Messages

GPHEV Message

Message

Type

Data

Description Heave value in meters

Command

Format to

Request

Message

$JASC,GPHEV,1<CR><LF>

Message

Format

$GPHEV,H,*CC<CR><LF>

where:

Message

Component

Description

Heave value, in meters

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

Commands

JASC,GP

Topic Last Updated: v1.00 / August 11, 2010

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 465

GPRMC Message

Message

Type Data

Description Contains recommended minimum specific GNSS data

Command

Format to

Request

Message

$JASC,GPRMC,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 10, 2, 1, 0, or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the

brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message

Format

$GPRMC,HHMMSS.SS,A,DDMM.MMM,N,DDDMM.MMM,W,Z.Z,Y.Y,DDMMYY,D.D,V,M,NS*CC<CR><LF

where:

Message

Component

Description

HHMMSS.SS

UTC time in hours, minutes, and seconds of the GPS position

Status (A = valid, V = invalid)

DDMM.MMM

Latitude in degrees, minutes, and decimal minutes

Latitude location (N = North latitude, S = South latitude)

DDDMM.MMM

Longitude in degrees, minutes, and decimal minutes

Longitude location (E = East longitude, W = West longitude)

Z.Z

Ground speed, in knots

Y.Y

Track made good, reference to true north

DDMMYY

UTC date of position fix in day, month, and year

D.D

Magnetic Variation, in degrees

Variation sense (E = East, W = West)

Mode indicator

Variable length valid character field type with the first two characters currently defined.

•

First character indicates the use of GPS satellites

If another satellite system is added to the standard, the mode indicator will be extended to three

characters. New satellite systems shall always be added on the right, so the order of characters in the

Mode Indicator is: GPS, GLONASS, other satellite systems in the future.

The characters shall take one of the following values:

•

N = No fix. Satellite system not used in position fix, or fix not valid

•

A = Autonomous. Satellite system used in non-differential mode in positionfix

Commands and Messages

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Current Version: v1.09/January 8, 2018

Page 466

•

D = Differential. Satellite system used in differential mode in position fix

•

P = Precise. Satellite system used in precision mode. Precision mode is defined as no

deliberate degradation (such as Selective Availability) and higher resolution code (P-code) is

used to compute position fix.

•

R = Real Time Kinematic. Satellite system used in RTK mode with fixed integers

•

F = Float RTK. Satellite system used in real time kinematic mode with floating integers

•

E = Estimated (dead reckoning) mode

•

M = Manual input mode

•

S = Simulator mode

The mode indicator shall not be a null field.

Navigational status; options are:

•

S = Safe

•

C = Caution

•

U = Unsafe

•

V = Not valid for navigation

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

Commands

JASC,GP

Topic Last Updated: v1.04 / May 29, 2012

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 467

GPROT/HEROT Message

Message

Type Data

Description Vessel’s rate of turn (ROT) information

Command

Format to

Request

Message

$JASC,GPROT,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 20, 10, 2, 1, 0 or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it

(and without the brackets) and enacts a change onthe other port when you send the command with it

(without the brackets)

Message

Format

$GPROT,X.X,A*CC<CR><LF>

$HEROT,X.X,A*CC<CR><LF>

where:

Message

Component

Description

X.X

Rate of turn in °/min (negative when the vessel bow turns to port)

Flag indicating the data is valid

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

You can change the ROT message header to either GP or HE using the JATT,NMEAHE command.

Commands

JASC,GP

Topic Last Updated: v1.00 / August 11, 2010

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 468

GPRRE Message

Message

Type Data

Description Satellite range residuals and estimated position error

Command

Format to

Request

Message

$JASC,GPRRE,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 1 or 0 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it

(and without the brackets) and enacts a change on the other port when you send the command with it

(without the brackets)

Message

Format

$GPRRE,N,II,RR ... II,RR,HHH.H,VVV.V*CC<CR><LF>

where:

Message

Component

Description

Number of satellites used in position computation

Satellite number

Range residual, in meters

HHH.H

Horizontal position error estimate, in meters

VVV.V

Vertical position error estimate, in meters

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

Commands

JASC,GP

Topic Last Updated: v1.00 / August 11, 2010

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 469

GPVTG Message

Message

Type Data

Description Course over ground and ground speed

Command

Format to

Request

Message

$JASC,GPVTG,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 20, 10, 2, 1, 0, or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command

without it (and without the brackets) and enacts a change on the other port when you send the

command with it (without the brackets)

Message

Format

$GPVTG,TTT,T,MMM,M,NNN.NN,N,KKK.KK,K,X*CC<CR><LF>

where:

Message

Component

Description

TTT

True course over ground (COG) in degrees (000 to 359)

True course over ground indicator (always 'T')

MMM

Magnetic course over ground in degrees (000 to 359)

Magnetic course over ground indicator (always 'M')

NNN.NN

Speed over ground in knots

Speed over ground in knots indicator (always 'N')

KKK.KK

Speed over ground in km/h

Speed over ground in km/h indicator (always 'K')

Mode

A = Autonomous mode

D = Differential mode

E = Estimated (dead reckoning) mode

M = Manual input mode

S = Simulator mode

N = Data not valid

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Example Sample message output:

$GPVTG,103.85,T,92.79,M,0.14,N,0.25,K,D*1E

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 470

Additional

Information

Commands

JASC,GP

Topic Last Updated: v1.00 / August 11, 2010

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 471

GPZDA Message

Message

Type Data

Description UTC time and date information

Command

Format to

Request

Message

$JASC,GPZDA,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 20, 10, 2, 1, 0, or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command

without it (and without the brackets) and enacts a change on the other port when you send the

command with it (without the brackets)

Message

Format

$GPZDA,HHMMSS.SS,DD,MM,YYYY,XX,YY*CC<CR><LF>

where:

Message

Component

Description

HHMMSS.SS

UTC time in hours, minutes, and seconds of the GPS unit

Day (0 to 31)

Month (1 to 12)

YYYY

Year

Local zone description in hours (-13 to 13)

Local zone description in minutes (0 to 59)

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

Commands

JASC,GP

Topic Last Updated: v1.00 / August 11, 2010

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 472

NMEACogSogData Message

Commands and Messages

Message

Type NMEA 2000 CAN

Description GPS speed and direction information

The NMEACogSogData command (PGN 0x1F802/129026) has an update rate equal to the subscribed rate (default of 10 Hz) and

DLC of 8.

Command

Format to

Request

Message

Message is continuously output on the CAN port for the following products:

•

A100, continuously output

•

A325, continuously output when NMEA 2000 mode is enabled

•

V102, continuously output when NMEA 2000 mode is enabled, requires NMEA 2000 adapter

Message

Format

The following table describes the fields of the NMEACogSogData message:

Additional

Information

Commands

Field Name

Start

Bit

Length

(Bit)

Byte

Order

Value

Type

Factor

Min

Max

Comment

NMEA_SequenceID

Intel

Unsigned

255

An upward

counting number

used to tie related

information

together between

different PGNs

NMEA_Direction

Reference

Intel

Unsigned

0x0 True north

0x1 Magnetic

north 0x2 Error

0X3 Null

NMEA_Reserved1

Intel

Unsigned

NMEA_Course

OverGround

Intel

Unsigned

0.0001

6.5535

GPS based travel

direction, in rad

NMEA_Speed

OverGround

Intel

Unsigned

0.01

655.35

GPS based travel

speed, in m/s

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Current Version: v1.09/January 8, 2018

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Commands and Messages

Topic Last Updated: v1.00 / August 11, 2010

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 474

PASHR Message

Message

Type Vector, Data

Description Time, true heading, roll, pitch, and heave data in one message

Command

Format to

Request

Message

$JASC,PASHR,r[,OTHER]<CR><LF>

where:

•

'r' = message rate (in Hz) of 20, 10, 5, 4, 2, 1, 0, or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the

brackets) and enacts a change on the other port when you send the command with it (without th brackets). See Configuring

the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.

Message

Format $PASHR,hhmmss.ss,HHH.HH,T,RRR.RR,PPP.PP,heave,rr.rrr,pp.ppp,hh.hhh,QF*CC<CR><

where:

Message

Component

Description

hhmmss.ss

UTC time

HHH.HH

Heading value in decimal degrees

True heading (T displayed if heading is relative to true north)

RRR.RR

Roll in decimal degrees (- sign will be displayed when applicable)

PPP.PP

Pitch in decimal degrees (- sign will be displayed when applicable)

heave

Heave, in meters

rr.rrr

Roll standard deviation in decimal degrees

pp.ppp

Pitch standard deviation in decimal degrees

hh.hhh

Heading standard deviation in decimal degrees

Quality Flag

•

0 = No position

•

1 = All non-RTK fixed integer positions

•

2 = RTK fixed integer position

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 475

Information

Commands

JASC,PASHR

Topic Last Updated: v1.05 / January 18, 2013

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 476

PSAT,ATTSTAT Message

Message

Type Data,

Description

Command

Format to

Request

Message

$JASC,PSAT,ATTSTAT,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 1 or 0 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and brackets) and

enacts a change on the other port when you send the command with it (without the brackets)

Message

Format

$PSAT,ATTSTAT,S,MSEP,CSEP,Heading,TYPE,Pitch,Roll,Q,N,SYS,NUM,SNR,*CC

where:

Message

Component

Description

ID of the secondary antenna

MSEP

custom separation between antennas manually entered (when the value is MOV, it means

MOVEBASE is on)

CSEP

auto GPS antenna separation

Heading

TYPE

Heading indicator, value is:

N= Heading used GNSS

G=Heading used gyroscope

Pitch

pitch

Roll

roll

The current setting of antenna directivity, value is

P= antennas placed front and back, output pitch

R= antennas placed left and right, output roll

The number of satellite used by the secondary antenna

SYS

Systems in use:

•

GPS: L1, L2, L5

•

GLONASS: G1, G2

•

BDS: B1,B2 B3

•

Galileo: E5a, E5b, E5a+b, E6

NUM

Number of satellites used by each system

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Commands and Messages

SNR

Quality of each SNR path, where:

•

A is > 20 dB

•

B is > 18 dB

•

C is > 15 db

•

D is <= 15 dB

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Example

$PSAT,ATTSTAT,1,MOV,0.504,334.75,N,1.71,8.0,P,30,(,L1,L2,G1,G2,B1,B2,B3,)(,12,10,9,9,10,10,0,)(,

A,A,C,B,B,B,D,)*1D

Additional

Information Issuing the JSAVE command after setting JASC,PSAT,ATTSTAT to 1 (message on at 1Hz) does not save this setting. You

must JASC,PSAT,ATTSTAT (set it to 1) each time you power on the receiver.

Commands

and

Messages

JASC,PSAT,ATTSTAT command

Topic Last Updated: v1.8 / June 21, 2017

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Current Version: v1.09/January 8, 2018

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Commands and Messages

PSAT,GBS Message

Message

Type Data

Description Used to support Receiver Autonomous Integrity Monitoring (RAIM)

Command

Format to

Request

Message

$JASC,GPGBS,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 1 or 0 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the

brackets) and enacts a change on the other port when you send the command with it (without the brackets)

Message

Format

$PSAT,GBS,HHMMSS.SS,KK.K,LL.L,AA.A,ID,P.PPPPP,B.B,S.S,FLAG,GSID,SID*CC<CR><LF

where:

Message

Component

Description

HHMMSS.SS

UTC time in hours, minutes, and seconds of the GGA or GNS fix associated

with this sentence

KK.K

Expected error in latitude

LL.L

Expected error in longitude

AA.A

Expected error in altitude

ID number of most likely failed satellite

P.PPPPP

Probability of HPR fault

B.B

Estimate of range bias, in meters, on most likely failed satellite

S.S

Standard deviation of range bias estimate

FLAG

Based on horizontal radius:

0 = Good

1 = Warning

2 = Bad or Fault

GSID

GNSS system ID, value is 1 (GPS)

SID

Signal ID, value is 1 (L1 C/A)

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 479

Commands and Messages

Commands

JASC,GP

Topic Last Updated: v1.04 / May 29, 2012

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 480

PSAT,HPR Message

Message

Type Data

Description Proprietary NMEA message that provides the true heading, pitch, roll, and time in a single

message

During normal operation heading and pitch are derived from GPS and roll comes from the inertial

sensor. While coasting heading is based on gyro and pitch/roll are from the inertial sensor.

Command

Format to

Request

Message

$JASC,GPHPR,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 20, 10, 2, 1, 0 or .2 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command

without it (and without the brackets) and enacts a change on the other port when you send the

command with it (without the brackets)

Message

Format

$PSAT,HPR,TIME,HEADING,PITCH,ROLL,TYPE*CC<CR><LF>

where:

Message

Component

Description

TIME

UTC time (HHMMSS.SS)

HEADING

Heading (degrees)

PITCH

Pitch (degrees)

ROLL

Roll (degrees)

TYPE

N = GPS derived heading

G = gyro heading

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 481

Related Commands

JASC,GP

Topic Last Updated: v1.05 / January 18, 2013

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 482

PSAT,INTLT Message

Message

Type Data

Description Proprietary NMEA message that provides the tilt measurements from the internal inclinometers in

degrees. It delivers an output of crude accelerometer measurements of pitch and roll with no

temperature compensation or calibration for GPS heading/pitch/roll.

Pitch and roll are factory calibrated over temperature to be accurate to ±3°C.

CAUTION: User calibration will clear out precise factory calibration.

Command

Format to

Request

Message

$JASC,INTLT,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 1 or 0 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when yousend the command without it

(and without the brackets) and enacts a change on the other port when you send the command with it

(without the brackets)

Message

Format

$PSAT,INTLT,PITCH,ROLL*CC<CR><LF>

where:

Message

Component

Description

PITCH

Pitch (degrees)

ROLL

Roll (degrees)

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Additional

Information

Commands

JASC,GP

Topic Last Updated: v1.00 / August 11, 2010

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 483

PSAT, BLV Message

Message

Type Data, Local Differential and RTK

Description Contains RTK fixprogress information

Command

Format to

Request

Message

$JASC,PSAT,BLV,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 1 or 0 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and

without the brackets) and enacts a change on the other port when you send the command with it (without the

brackets)

Message

Format

$PSAT,BLV,HHMMSS.SS,DATE,A.A,B.B,C.C,ID,STATE,number,pdop*CC<CR><L

where

Message

Component

Description

HHMMSS.SS

UTC time (HHMMSS.SS)

DATE

Date (day-month-year)

A.A

North component of base to rover vector ( m )

B.B

Esat component of base to rover vector ( m )

C.C

Up component of base to rover vector ( m )

Base station ID

STATE

Quality indicator; value is:

•

0 = no position

•

1 = undifferentially corrected position (autonomous)

•

2 = differentially corrected position (SBAS, DGPS, Atlas DGPS

service, L-Dif and e-Dif)

•

4 = RTK fixed integer (Crescent RTK, Eclipse RTK) ,Atlas high

precision services converged

5 = RTK float, Atlas high precision services converging

NUMBER

Number of used satellite

PDOP

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 484

Example $PSAT,BLV,000151.00,051115,-0.001,0.002,-0.003,0333,4,20,1.2*52

Additional

Information

Commands

JASC, PSAT, BLV

Topic Last Updated: v1.08 / June 9, 2017

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 485

PSAT,FVI Message

Message

Type Data, Local Differential and RTK

Description Contains much more special information

Command

Format to

Request

Message

$JASC,PSAT,FVI,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 0,1,2,5,10,20 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and

without the brackets) and enacts a change on the other port when you send the command with it (without

the brackets)

Message

Format

$PSAT,FVI,HHMMSS.SS, DDMM.MMMM, DDDMM.MMMM, AA.AAA,

E.E,F.F,G.G,HHH.HHH,hh.hhh,PP.PP,pp.ppp,RR.RRR,rr.rrr,ve.eee,v

n.nnn,vu.uuu,vv.vvv,LE.EEE,LN.NNN,LU.UUU,ZONE,UEEE.EEEE,UNNN.N

NNN,PN,SN,p,h,L,sss*CC<CR><LF>

where

Message

Component

Description

HHMMSS.SS

UTC time

DDMM.MMMM

Latitude in degrees and decimal minutes

DDMM.MMMM

Longitude in degrees, and decimal minutes

AA.AAA

altitude

E.E

Standard deviation of latitude error, in meters

F.F

Standard deviation of longitude error, in meters

G.G

Standard deviation of altitude error, in meters

HHH.HHH

Heading (degrees)

hh.hhh.

Standard deviation of heading error, in degrees

PP.PP

Pitch (degrees)

pp.ppp

Standard deviation of pitch error, in degrees

RR.RRR

Roll (degrees)

rr.rrr

Standard deviation of roll error, in degrees

Ve.eee

East to speed（m/s）

Vn.nnn

North to speed (m/s)

Vu.uuu

Vertical speed (m/s)

Vv.vvv

Speed over ground (m/s)

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 486

LE.EEE

East component of master to slave vector ( m )

LN.NNN

North component of master to slave vector ( m )

LU.UUU

Up component of master to slave vector ( m )

ZONE

projection area

UEEE.EEEE

East to positon of projection area

UNNN.NNNN

North to position of projection area

Number of satellites used by the primary antenna

Number of satellites used by the secondary antenna

Position indicator; value is:

•

0 = no position

•

1 = undifferentially corrected position (autonomous)

•

2 = differentially corrected position (SBAS, DGPS ,Atlas DGPS

service, L-Dif ande-Dif)

•

4 = RTK fixed integer (Crescent RTK, Eclipse RTK), Atlas high

precision services converged

•

5 = RTK float, Atlas high precision services converging

Heading indicator; value is:

•

0 = no heading or heading is invalid

•

1 = heading is valid

Distance between base and rover in meter

SSS

Age of differential corrections, in seconds

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Example $PSAT,FVI,011657.00,40.071345258,116.326680384,51.2922,0.001,0.003,0.003,28.358,0.106,-5.306,0.087,,,0.030,-

0.001,-0.062,0.030,-0.001,0.001,-0.002,117.0,442562.296,4437668.138,25,26,4,1,4.759,1*6B

Additional

Information

Commands

JASC,PSAT,FVI

Topic Last Updated: v1.08 / June 9, 2017

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 487

PSAT,RTKPROG Message

Message

Type Data, Local Differential and RTK

Description Contains RTK fixprogress information

$JASC,PSAT,RTKPROG,r[,OTHER]<CR><LF>

Command

Format to

Request

Message

where:

•

'r' = message rate in Hz of 1 or 0 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and

without the brackets) and enacts a change on the other port when you send the command with it (without

the brackets)

Message

Format

$PSAT,RTKPROG,,R,F,N,SS1,SS2,SS3,MASK*CC<CR><LF>

where

Message

Component

Description

1 = Ready to enter RTK ambiguity fix

0 = Not ready to enter RTK ambiguity fix

1 = Receiver running in RTK ambiguity fix mode

0 = Receiver not running in RTK ambiguity fix mode

Number of satellites used to fix

SS1

summer-1

SS1 must be significantly larger than SS2 and SS3 to enter R=1 mode

SS2

summer-2

SS3

summer-3

MASK

Bit mask; bits identify which GNSS observables are being received from base recently

(1 = GPS, 3 = GPS + GLONASS)

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Example $PSAT,RTKPROG,1,1,24,243.0,0.0,0.0,3*4F<CR><LF>

•

Ready to enter RTK ambiguity fix

•

Receiver running in RTK ambiguity fix mode

•

24 satellites used to fix

Commands and Messages

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 488

•

summer-1 is 243.0, summer-2 is 0, summer-3 is 0

•

Bit mask is 3 (GPS + GLONASS)

Additional

Information

Issuing the JSAVE command after setting JASC,PSAT,RTKPROG to 1 (message on at 1Hz) does not save

this setting. You must enable JASC,PSAT,RTKPROG (set it to 1) each time you power on the receiver.

Commands

JASC,PSAT,RTKPROG

Topic Last Updated: v1.04 / May 29, 2012

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 489

Commands and Messages

PSAT,RTKSTAT Message

Message

Type Data, Local Differential and RTK

Description Contains the most relevant parameters affecting RTK

Command

Format to

Request

Message

$JASC,PSAT,RTKSTAT,r[,OTHER]<CR><LF>

where:

•

'r' = message rate in Hz of 1 or 0 (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and brackets) and

enacts a change on the other port when you send the command with it (without the brackets)

Message

Format

$PSAT,RTKSTAT,MODE,TYP,AGE,SUBOPT,DIST,SYS,NUM,SNR,RSF,BSF,HAG,ACCSTAT,SNT

*CC

where:

Message

Component

Description

MODE

Mode (FIX,FLT,DIF,AUT,NO)

TYP

Correction type (DFX,ROX,CMR,RTCM3,CMR+,...)

AGE

Age of differential corrections, in seconds

SUBOPT

Subscription code (see Interpreting the $JK 'Date'/Subscription Codes to determine the

meaning of the subscription code)

DIST

Distance to base in kilometers

SYS

Systems in use:

•

GPS: L1, L2, L5

•

GLONASS: G1, G2

•

BDS: B1,B2 B3

•

Galileo: E5a, E5b, E5a+b, E6

NUM

Number of satellites used by each system

SNR

Quality of each SNR path, where:

•

A is > 20 dB

•

B is > 18 dB

•

C is > 15 db

•

D is <= 15 dB

RSF

Rover slip flag (non zero if parity errors in last 5 minutes, good for detecting jamming and TCXO

issues)

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Commands and Messages

BSF

Base slip flag

HAE

Horizontal accuracy estimation

ACCSTAT

RTK accuracy status (hex), where:

•

0x1 = no differential or differential too old, for the application

•

0x2 = problems with differential message

•

0x4 = horizontal position estimate poor for the application

•

0x8 = HDOP high, poor satellite geometry

•

0x10 = fewer than 6 L1 sats used

•

0x20 = poor L1 SNRs

•

0x40 = not in RTK mode

•

0x80 = not in RTK mode or RTK only recently solved (< 10 secs ago)

•

0x100 = RTK solution compromised, may fail

The status message can be any of the above or any combination of the above. For example, a

status message of '047' indicates the following:

•

0x1 = no differential or differential too old, for the application

•

0x2 = problems with differential message

•

0x4 = horizontal position estimate poor for the application

•

0x40 = not in RTK mode

SNT

Ionospheric scintillation, values are:

•

0 (little or no scintillation - does not adversely affect RTK solution)

•

1-100 (scintillation detected - adversely affects RTK solution)

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Example

$PSAT,RTKSTAT,FIX,ROX,1,007F,9.5,(,L1,L2,G1,G2,)(,14,11,9,9,)(,A,A,A,A,),0,1,0.011,000

•

Fixed mode

•

ROX corrections

•

Diff age = 1 second

•

Subscribed options = 7F (see Understanding Additive Codes for information onsubscriptions)

•

Distance to base = 9.5 km

•

L1,L2,G1,G2 are the systems in use

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Commands and Messages

•

Satellites used: L1 = 14, L2 = 11, G1 = 9, G2 = 9

•

SNR quality is (> 20 dB), (> 20 dB), (> 20 dB), (> 20dB)

•

Rover slip flag = 0

•

Base slip flag = 1

•

Horizontal accuracyestimation = 0.011

•

RTK accuracy status = 000 (no issues or errors)

•

Little or no ionospheric scintillation

Additional

Information Issuing the JSAVE command after setting JASC,PSAT,RTKSTAT to 1 (message on at 1Hz) does not save this setting. You

must e JASC,PSAT,RTKSTAT (set it to 1) each time you power on the receiver.

Commands

and

Messages

JASC,PSAT,RTKSTAT command

JQUERY,RTKSTAT message

Topic Last Updated: v1.08 / June 21, 2017

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 492

Commands and Messages

PSAT,VCT Message

Message

Type Data, Local Differential and RTK

Description

Command

Format to

Request

Message

$JASC,PSAT,VCT,r[,OTHER]<CR><LF>

where:

•

'r' =0,1,2,5,10,20HZ (0 turns off the message)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and

without the brackets) and enacts a change on the other port when you send the command with it (without the

brackets)

Message

Format

$PSAT,VCT,ID,HHMMSS.SS,A.A,B.B,C.C,D,E.E,F.F,G.G,H.H*CC<CR><LF

where

Message

Component

Description

antenna pair ID (always 1 for now)

HHMMSS.SS

UTC time in hours, minutes, and seconds of the position

A.A

Heading in degree

B.B

Pitch in degree

C.C

Roll in degree

Normal, not coasting

E.E

distance between antennas ( m )

F.F

North component of master to slave vector ( m )

G.G

East component of master to slave vector ( m )

H.H

Up component of master to slave vector ( m )

*CC

Checksum

<CR>

Carriage return

<LF>

Line feed

Example $PSAT,VCT,1,011657.00,28.358,-5.306,,N,4.7591,4.1530,2.2823,- 0.4401*1F

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Commands and Messages

Additional

Information

Commands

JASC,PSAT,VCT

Topic Last Updated: v1.07 / Octoter 13, 2016

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Current Version: v1.09/January 8, 2018

Page 494

Commands and Messages

RD1 Message

Message

Type Data

Description SBAS diagnostic information

Command

Format to

Request

Message

$JASC,D1,r[,OTHER]<CR><LF>

where:

•

'r' = message rate (0 = Off, 1 = On at 1Hz)

•

',OTHER' = optional field, enacts a change in the RD1 message on the current port when you send the command

without it (and without the brackets) and enacts a change in the RD1 message on the other port when you send the

command with it (without the brackets). See Configuring the Data Message Output for detailed information on 'THIS'

and 'OTHER' port terminology.

Message

Format

$RD1,SEC,WEEK,FREQ,DSPLOCK,BER2,AGC,DDS,DOPPLER,DSPSTAT,ARMSTAT,

DIFFSTAT,NAVCON<CR><LF>

where:

Message

Component

Description

SEC

Second of GPS week (may be a couple of seconds old)

WEEK

GPS week number

FREQ

L-band frequency in MHz (1575.4200 is used for SBAS)

DSPLOCK

N/A

BER2

BER - given for both SBAS satellites being tracked

AGC

L-band signal strength

DDS

0.0 for SBAS

DOPPLER

0 for SBAS

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Commands and Messages

DSPSTAT

Status bit mask for the DSP tracking of SBAS

•

Bit 0 = Carrier lock

•

Bit 1 = BER OK (Viterbi lock) (yellow LED 2)

•

Bit 2 =Atlas: DSP got lock and has stable freq; WAAS: Frame sync2

•

Bit 3 = Frame sync1

•

Bit 4 = Track mode (same as carrier lock)

•

Bits 5 - 15 Unused

ARMSTAT

Status bit mask for the ARM GPS solution (ARM status values shown below)

•

Bit 0 = GPS lock (yellow LED 1)

•

Bit 1 = DGPS valid data

•

Bit 2 = ARM has lock

•

Bit 3 = Diff and GPS (flashing green LED 3)

•

Bit 4 = GPS solution is good (solid green LED 3)

•

Bit 5 = ARM controls yellow LED 2

•

Bit 6 = ARM command for yellow LED 2

•

Bits 7 - 15 Unused

DIFFSTAT

SBAS PRN of the satellite in use

NAVCON

Series of hex character fields with each field representing the number of GPS satellites satisfying

a certain condition, all of which conditions are required if the satellite is to be used in the solution

Example of NAVCON for the value 179889A shown below (read right to left)

Hex Field Description Value

(right Hexadecimal count of satellites with valid tracks A

most field)

Hexadecimal count of satellites for which an 9

ephemeris message has been received

Hexadecimal count of satellites which are healthy 8

Hexadecimal count of satellites which passed the 8

criteria of hex fields 1,2,3 and 5 (satellites that er

tracked, have an ephemeris, are healthy, and are

above the elevation mask)

Hexadecimal count of satellites above the elevation 9

mask

Hexadecimal count of satellites for which a differential 7

correction is available

Hexadecimal count of satellites for which a differential 1

correction is NOT available

<CR>

Carriage return

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Commands and Messages

Additional

Information

Commands

<LF>

Line feed

JASC,D1 (RD1)

Topic Last Updated: v1.07 / February 16, 2017

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Commands and Messages

TSS1 Message

Message

Type Vector, Data

Description Heave, pitch, and roll message in the commonly used TSS1 message format

Command

Format to

Request

Message

$JASC,PTSS1,r[,OTHER]<CR><LF>

where:

•

'r' = message rate (in Hz) of 0 (off), 0.25, 0.5, 1, 2, 4, 5, 10, or 20 (if subscribed)

•

',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without

the brackets) and enacts a change on the other port when you send the command with it (without the brackets). See

Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.

Message

Format

:XXAAAASMHHHHQMRRRRSMPPPP<CR><LF>

where:

Message

Component

Description

Horizontal acceleration (hex value), in 3.83 cm/s², with a range of zero to 9.81 m/s²

AAAA

Vertical acceleration (hex value - 2’s complement), in 0.0625 cm/s², with a range of –20.48 to

+20.48 m/s²

Space character

Space if positive; minus if negative

HHHH

Heave, in centimeters, with a range of –99.99 to +99.99 meters

Status flag

Value Description

h Heading aided mode (settling) - The System is receiving heading aiding

signals from a gyrocompass but is still awaiting the end of the three minutes

settling period after power-on or a change of mode or heave bandwidth.

The gyrocompass takes approximately five minutes to settle after it has

been powered on. During this time, gyrocompass aiding of the System will

not be perfect. The status flag does NOT indicate thiscondition.

F Full aided mode (settled condition) - The System is receiving and using

aiding signals from a gyrocompass and from a GNSS receiver or a

Doppler log.

Space if positive; minus if negative

RRRR

Roll, in units of 0.01 degrees (ex: 1000 = 10°), with a range of –99.99° to +99.99°

Space character

Space if positive; minus if negative

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Commands and Messages

PPPP

Pitch, in units of 0.01 degrees (ex: 1000 = 10°), with a range of –99.99° to +99.99°

<CR>

Carriage return

<LF>

Line feed

Example :020010 -0001F 0023 -0169

where:

•

XX = 02, horizontal acceleration, which is 7.66 cm/s²

•

(XX = 02 (hex) = decimal 2, multiplied by 3.83 cm/s² yields 7.66 cm/s²)

•

AAAA = 0010, vertical acceleration, which is 1 cm/s²

•

(AAAA = 0010 (hex), which = decimal 16, multiplied by 0.0625 cm/s² yields 1 cm/s²)

•

S = (space)

•

M = (minus), meaning following heave value is negative

•

HHHH = 0001, heave, which is 1 cm (-1 cm based on the M value)

•

Q = F, status flag, which is full aided mode

•

M = (space), meaning following roll value is positive

•

RRRR = 0023, roll, which is 0.23°

•

S = (space)

•

M = (minus), meaning following pitch value is negative

•

PPPP = 0169, pitch, which is 1.69°

Additional

Information

Commands

JASC,PTSS1

Topic Last Updated: v1.07 / February 16, 2017

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 499

Resources

Reference Documents

National Marine Electronics Association

National Marine Electronics Association (NMEA) Standard for Interfacing Marine Electronic Devices

Version 2.1, October 15, NMEA 1995

7 Riggs Avenue

Severna Park, MD 21146 Tel:

+1-410-975-9425

Tel Toll Free: +1-800-808-6632

http://www.nmea.org/

Radio Technical Commission for Maritime Services

RTCM Recommended Standards for Differential NAVSTAR GPS Service Version 2.2

Developed by Special Committee No. 104, RTCM 1998 1800

N Kent St, Suite 1060

Arlington, VA 22209, USA Tel:

+1-703-527-2000

http://www.rtcm.org/

Radio Technical Commission for Aeronautics

Minimum Operational Performance Standards (MOPS) for Global Positioning System/Wide Area Augmentation System Airborne

Equipment

Document RTCA D0-229A, Special Committee No. 159, RTCA 1998 71828 L

Street, NW, Suite 805

Washington, D.C. 20036 USA Tel:

+1-202-833-9339

http://www.rtca.org/

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 500

ARIC Research Corporation

Interface Control Document, Navstar GPS Space Segment/Navigation User Interfaces

ICD-GPS-200, April 12, 2000

Resources

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 501

2250 E. Imperial Highway, Suite 450 El

Segundo, CA 90245-3509

http://www.navcen.uscg.gov/

Topic Last Updated: v1.02 / January 25, 2011

Resources

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 502

Websites

Hemisphere GNSS

http://www.hemispheregnss.com

FAA WAAS

This site offers general information on the WAAS service provided by the U.S. FAAS.

http://www.faa.gov/about/office_org/headquarters_offices/ato/service_units/techops/navservices/gnss/waas/

ESA EGNOS System Test Bed

This site contains information relating to past performance, real-time performance, and broadcast schedule of

EGNOS.

http://www.esa.int/esaNA/egnos.html

Solar and Ionosphereic Activity

The following sites are useful in providing details regarding solar and ionospheric activity.

http://iono.jpl.nasa.gov

http://www.spaceweather.com

Topic Last Updated: v1.06 / March 10, 2015

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 503

Change History

Change History v1.09

$JI Removed from document

$Atlas, LIMIT, Command Command added

50Hz Data Message added

20Hz Data Message added

Bin5 Added

Bin122 Added

JATT NMEAHE Command updated command

JDISNAVEMODE Command replaced “Phoenix” with “Athena”

JATLAS Command Added

$JPPS Command Added note

JPPS, PERIOD Command Added

JPPS,WIDTH Command Added units

GNSS Technical Reference Manual

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Page 504

Change History

Change History v1.08

Atlas Commands `

Removed content. “ When the Hemisphere GNSS Atlas receiver demodulates the

proprietary signal it converts it into a local-area format for input to the GNSS

receiver (standard RTCM SC-104, message Type 1). The Atlas receiver

interpolates corrections from the wide-area signal, specific to the location using

Atlas service processing algorithms. The resulting RTCM corrections are those that

would be calculated if a reference station were set up at the present location. This

type of solution ensures a consistent level of accuracy across the entire coverage

area. The GNSS receiver provides position information to the Atlas receiver for

Atlas service calculations. Atlas high precision services are also available. Atlas

high precision services require a dual frequency receiver such as the Eclipse to

function properly and are approximately three to seven times more accurate than

standard Atlas service.”

Bin1

Changed “GPSWeek” Values to “0 to 65535

Added: When $JDISNAVMODE,PHOENIX enabled

7 = RTK float (SureFix enabled)

8 = RTK integer fixed (SureFix enabled)

9 = RTK SureFixed

10 = aRTK integer fixed

11 = aRTK float

12 = aRTK Atlas converged

13 = aRTK Atlas un-converged

14 = Atlas converged

15 = Atlas un-converged

Bin19

Added NavMode Value “0-255”

Bin100

Changed “GPSWeek” values to “0 to 65535

JDISNAVMODE New topic added

PSAT, BLV

Added “BLV” to Message Format

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Page 505

Change History

Change History v1.07.1

$PSAT, ATTSTAT Added “S,” to $PSAT, ATTSTAT,MSEP, CSEP

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Page 506

Change History

Change History v1.07

Atlas Commands Removed: •”L-Band Commands”

Updated: •”Command/Description” table

Bin16 Moved from GALILEO Commands to GNSS Commands

Ethernet

Configuration New topic added

GALILEO Commands Added note:

*Note: For observations in tracking status, see GNSS, Bin 16 & Bin 19.

Added:

•Commands and Messages

GPS to GNSS Changed GPS to GNSS throughout the document where applicable

GPGSA Changed to GNGSA (where applicable)

GNGSA Document system ID 6

GQGSV Section added

JASC Command

Overview Removed:

•JASC, PSAT,SMARTBASE

Added:

•JASC< PSAT< VCT,1

JASC, GG Command section added

Replaced JASC, GP to JASC GN

JBIN Command Added Bin16, Bin44

JBOTT Command Removed:

•”Omni”, Added “L-Band”. Removed from description “It also allows you to reset the L-

band high precision services resolution algorithm.”

JDIFFX, GNSSOUT

Change History

GNSS Technical Reference Manual

Current Version: v1.09/January 8, 2018

Page 506

Command Added:

•BEIDOU, GALILEO to Command Format. Replaced “both” GPOS and GLONASS with “all”GPS

and GLONASS

JDIFFX, INCLUDE

Command Added:

•[, ATLAS] to Command Format

JDIFF Subscription

Code Removed

JETHERNET- Added topic

JETHERNET MODE Added topic

JETHERNET PORTI Added topic

JHP Removed topic

JHP, LIMIT

Command Removed topic

JHP, MODE,

AUTOSEED

Command Removed topic

JHP, MODE<

IGNORECONV

Command Removed topic

JHP, POS

\Command Removed topic

JHP, POS, LAT,

LON, HGT

Command Removed topic

JHP, POS, LAT,

LON, HGT,,,,

GPS Hemisphere GNSS Technical Reference Guide V1.09

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