Garmin 00855 GPS 10; GPS10 DELUXE User Manual INTRODUCTION

Garmin International Inc GPS 10; GPS10 DELUXE INTRODUCTION

USERS MANUAL

GPS 10 Technical Specifications (P/N 190-00516-00) Rev. AGarmin International, Inc.1200 E. 151st StreetOlathe, KS 66062 USA190-00516-00, Revision ADecember 2004GPS 10TECHNICALSPECIFICATIONS
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage i© Copyright 2004Garmin Ltd. or its subsidiariesAll Rights ReservedExcept as expressly provided below, no part of this manual may be reproduced, copied, transmitted,disseminated, downloaded or stored in any storage medium, for any purpose without the express priorwritten consent of Garmin. Garmin hereby grants permission to download a single copy of thismanual and of any revision to this manual onto a hard drive or other electronic storage medium to beviewed and to print one copy of this manual or of any revision hereto, provided that such electronic orprinted copy of this manual or revision must contain the complete text of this copyright notice andprovided further that any unauthorized commercial distribution of this manual or any revision heretois strictly prohibited.Information in this document is subject to change without notice. Garmin reserves the right to changeor improve its products and to make changes in the content without obligation to notify any person ororganization of such changes or improvements.Garmin International, Inc.1200 East 151st StreetOlathe, KS 66062 U.S.A.Telephone: 913/397.8200FAX: 913/397.8282Garmin (Europe) Ltd.Unit 5, The Quadrangle, Abbey Park Industrial EstateRomsey SO51 9DL, U.K.Telephone: 44/1794.519944FAX: 44/1794.519222Garmin CorporationNo. 68, Jangshu 2nd RoadShijr, Taipei County, TaiwanTelephone: 886/2.2642.9199FAX: 886/2.2642.9099Web site address: www.garmin.comRECORD OF REVISIONSRevision RevisionDateDescription ECO #A12/10/04 Initial Release --
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage iiTABLE OF CONTENTS1 Introduction..................................................................................................................11.1 Cautions ............................................................................................................................................11.2 Limited Warranty..............................................................................................................................21.3 Overview...........................................................................................................................................31.4 Features .............................................................................................................................................31.5 GPS 10 ..............................................................................................................................................41.5.1 GPS 10 Wireless Receiver...................................................................................................................... 41.6 Technical Specifications ...................................................................................................................51.6.1 Physical Characteristics.......................................................................................................................... 51.6.1.1 Size..................................................................................................................................................... 51.6.1.2 Weight................................................................................................................................................ 51.6.1.3 Color .................................................................................................................................................. 51.6.1.4 Case Material ..................................................................................................................................... 51.6.2 Electrical Characteristics ........................................................................................................................ 51.6.2.1 Input Voltage ..................................................................................................................................... 51.6.2.2 Input Current...................................................................................................................................... 51.6.2.3 Battery................................................................................................................................................ 51.6.2.4 Battery Charger.................................................................................................................................. 51.6.2.5 GPS Receiver Sensitivity ................................................................................................................... 51.6.3 Environmental Characteristics................................................................................................................ 5 1.6.3.1 Operating Temperature Range………………………………………..………………………………5 1.6.3.2 Battery Charging Temperature Range……………………………..…………………………………5 1.6.3.3 Storage Temperature……………………………………………..……………..…………………….5 1.6.4 GPS Performance ................................................................................................................................... 61.6.4.1 Receiver ............................................................................................................................................. 61.6.4.2 Acquisition Times .............................................................................................................................. 61.6.4.3 Update Rate........................................................................................................................................ 61.6.4.4 Accuracy ............................................................................................................................................ 61.6.5 Interfaces ................................................................................................................................................ 61.6.5.1 GPS 10 Electrical Characteristics....................................................................................................... 61.6.5.2 GARMIN Interface Protocol.............................................................................................................. 61.6.5.3 GPS 10 PC Protocol........................................................................................................................... 62 Mechanical Characteristics & Mounting...................................................................63 GPS 10 Software Interface..........................................................................................73.1 Received NMEA 0103 Sentences .....................................................................................................83.1.1 Almanac Information (ALM) ................................................................................................................. 83.1.2 Sensor Initialization Information (PGRMI)............................................................................................ 93.1.3 Sensor Configuration Information (PGRMC)......................................................................................... 93.1.4 Additional Sensor Configuration Information (PGRMC1)..................................................................... 93.1.5 Output Sentence Enable/Disable (PGRMO)..........................................................................................103.1.6 Adaptive Transmission Mode Enable/Disable (PGRMN)……………………………………………....113.2 Transmitted NMEA 0103 Sentences...............................................................................................113.2.1 Sentence Transmission Rate..................................................................................................................113.2.2 Transmitted Time ..................................................................................................................................113.2.3 Global Positioning System Almanac Data (ALM) ................................................................................123.2.4 Global Positioning System Fix Data (GGA)..........................................................................................123.2.5 GPS DOP and Active Satellites (GSA) .................................................................................................123.2.6 GPS Satellites in View (GSV)...............................................................................................................133.2.7 Recommended Minimum Specific GPS/TRANSIT Data (RMC)..........................................................133.2.8 Track Made Good and Ground Speed (VTG)........................................................................................133.2.9 Geographic Position (GLL) ...................................................................................................................133.2.10 Estimated Error Information (PGRME).................................................................................................14
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage iii3.2.11 GPS Fix Data Sentence (PGRMF).........................................................................................................143.2.12 Sensor Status Information (PGRMT) ....................................................................................................143.2.13 3D velocity Information (PGRMV).......................................................................................................143.2.14 DGPS Beacon Information (PGRMB)...................................................................................................143.3 Baud Rate Selection ........................................................................................................................15Appendix A: Earth Datums ............................................................................................15Appendix B: Binary Phase Output Format...................................................................19Appendix C: GPS 10 and Windows Serial Mouse Issue ..............................................23Appendix D: Sensor Configuration Software................................................................25Downloading the Sensor Configuration Software............................................................................................25Selecting a Model.............................................................................................................................................25Connecting to the Sensor .................................................................................................................................25File Menu.........................................................................................................................................................25Comm Menu ....................................................................................................................................................26Config Menu ....................................................................................................................................................26View Menu ......................................................................................................................................................28Help Menu .......................................................................................................................................................28LIST OF TABLES AND FIGURESFigure 1. GPS 10 Case Footprint Dimensions................................................................................................ 7Figure 2. GPS 10 Operational Characteristics............................................................................................... 7Table 1: NMEA 0103 Output Sentence Order and Size...............................................................................11Table 2: Characters per Second for Available Baud Rates........................................................................... 11
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 11 INTRODUCTION1.1 CAUTIONSCAUTIONThe GPS system is operated by the government of the United States, which is solely responsible for itsaccuracy and maintenance. Although the GPS 10 is a precision electronic NAVigation AID (NAVAID),any NAVAID can be misused or misinterpreted, and therefore become unsafe. Use these products at yourown risk. To reduce the risk, carefully review and understand all aspects of these Technical Specificationsbefore using the GPS 10. When in actual use, carefully compare indications from the GPS to all availablenavigation sources including the information from other NAVAIDs, visual sightings, charts, etc. For safety,always resolve any discrepancies before continuing navigation.FCCComplianceThe GPS 10 complies with Part 15 of the FCC interference limits for Class B digital devices FOR HOMEOR OFFICE USE. These limits are designed to provide reasonable protection against harmful interferencein a residential installation, and are more stringent than “outdoor” requirements.Operation of this device is subject to the following conditions: (1) This device may not cause harmfulinterference, and (2) this device must accept any interference received, including interference that maycause undesired operation.This equipment generates, uses and can radiate radio frequency energy and, if not installed and used inaccordance with the instructions, may cause harmful interference to radio communications. However, thereis no guarantee that interference will not occur in a particular installation. If this equipment does causeharmful interference to radio or television reception, which can be determined by turning the equipment offand on, the user is encouraged to try to correct the interference by one or more of the following measures:• Reorient or relocate the receiving antenna.• Increase the separation between the equipment and receiver.• Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.• Consult the dealer or an experienced radio/TV technician for help.The GPS 10 does not contain any user-serviceable parts. Unauthorized repairs or modifications could resultin permanent damage to the equipment, and void your warranty and your authority to operate this deviceunder Part 15 regulations. This device and its antenna(s) must not be co-located or operating in conjunction with any other antenna or transmitter. Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment.
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 21.2 LIMITED WARRANTYThis Garmin product is warranted to be free from defects in materials or workmanship for one year fromthe date of purchase. Within this period, Garmin will at its sole option, repair or replace any componentsthat fail in normal use. Such repairs or replacement will be made at no charge to the customer for parts orlabor, provided that the customer shall be responsible for any transportation cost. This warranty does notcover failures due to abuse, misuse, accident or unauthorized alteration or repairs.THE WARRANTIES AND REMEDIES CONTAINED HEREIN ARE EXCLUSIVE AND IN LIEU OFALL OTHER WARRANTIES EXPRESS OR IMPLIED OR STATUTORY, INCLUDING ANYLIABILITY ARISING UNDER ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR APARTICULAR PURPOSE, STATUTORY OR OTHERWISE. THIS WARRANTY GIVES YOUSPECIFIC LEGAL RIGHTS, WHICH MAY VARY FROM STATE TO STATE.IN NO EVENT SHALL GARMIN BE LIABLE FOR ANY INCIDENTAL, SPECIAL, INDIRECT ORCONSEQUENTIAL DAMAGES, WHETHER RESULTING FROM THE USE, MISUSE, ORINABILITY TO USE THIS PRODUCT OR FROM DEFECTS IN THE PRODUCT. Some states do notallow the exclusion of incidental or consequential damages, so the above limitations may not apply to you.Garmin retains the exclusive right to repair or replace the unit or software or offer a full refund of thepurchase price at its sole discretion. SUCH REMEDY SHALL BE YOUR SOLE AND EXCLUSIVEREMEDY FOR ANY BREACH OF WARRANTY.To obtain warranty service, contact your local Garmin authorized dealer. Or call Garmin Customer Serviceat one of the numbers shown below, for shipping instructions and an RMA tracking number. The unitshould be securely packed with the tracking number clearly written on the outside of the package. The unitshould then be sent, freight charges prepaid, to any Garmin warranty service station. A copy of the originalsales receipt is required as the proof of purchase for warranty repairs.Garmin International, Inc.1200 East 151st StreetOlathe, KS 66062 U.S.A.Telephone: 913/397.8200FAX: 913/397.8282Garmin (Europe) Ltd.Unit 5, The Quadrangle, Abbey Park Industrial EstateRomsey SO51 9DL, U.K.Telephone: 44/1794.519944FAX: 44/1794.519222
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 31.3 OVERVIEWThe GPS 10 product includes an embedded receiver and an antenna. Based on the proven technology foundin other Garmin 12-channel GPS receivers, the GPS 10 tracks up to 12 satellites at a time while providingfast time-to-first-fix, one-second navigation updates, and low power consumption. This generation of GPSsensors adds the capability of FAA Wide Area Augmentation System (WAAS) differential GPS. The GPS10’s far-reaching capability meets the sensitivity requirements of land navigation as well as the dynamicsrequirements of high-performance aircraft.The GPS 10 design uses the latest technology and high-level circuit integration to achieve superiorperformance while minimizing space and power requirements. All critical components of the systemincluding the RF/IF receiver hardware and the digital baseband are designed and manufactured by Garminto ensure the quality and capability of the GPS. The hardware capability combined with softwareintelligence makes the GPS 10 easy to integrate and use.The GPS 10 series products are designed to withstand rugged operating conditions and are waterproof toIEC 60529 IPX7, immersion in 1 meter of water for 30 minutes. This complete GPS receiver requires noadditional components to be supplied by an OEM or system integrator. It is provided with an internalrechargeable battery and 12 V DC charging adapter. The only requirements are a 12 Volt DC power sourceand a clear view of the GPS satellites. Internal FLASH memory allows the GPS to retain critical data suchas satellite orbital parameters, last-known position, date and time. End user interfaces such as keyboardsand displays are the responsibility of the application designer.1.4 FEATURES• 12-channel GPS receiver tracks and uses up to 12 satellites for fast, accurate positioning and lowpower consumption.• Differential DGPS capability using real-time WAAS corrections yielding position errors of less than 3meters.• Compact, rugged design ideal for applications with minimal space. Receiver position information canbe displayed directly on a chart plotter or PC.• User initialization is not required. Once installed, unit automatically produces navigation data afterposition fix is acquired.• User-configurable navigation mode (2-dimensional or 3-dimensional fix).• Configurable for binary format carrier phase data output.• FLASH-based program and non-volatile memory. New software revisions available through Web sitedownload. Non-volatile memory does not require battery backup.• Integrated Bluetooth (Class 2) wireless technology module for communication with a mobile device.• On-board rechargeable main power battery and a backup battery to maintain the real-time clock for upto 3 weeks.• Configurable parameters include expected position, current time and date, preferred position fix type(2D, 3D, or automatic), and velocity filter time constant (none, automatic, or your choice between 2and 255 seconds). • Magnetic mount for attachment to ferrous surfaces. (Velcro adhesive backed patch for non-magneticsurfaces.) • 12 V DC Cigarette Lighter Charging Adapter• Waterproof design allows continuous exposure to the prevailing weather conditions at most locations.
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 41.5 GPS 10 There is one version of the GPS 10 available. 1.5.1 GPS 10 Wireless ReceiverThe GPS 10 uses Bluetooth wireless technology to interface with a mobile device (Computer/PDA) that isBluetooth wireless technology enabled. Class 2 Bluetooth device with power control capability based on the Bluetooth System Specification,Version 1.1. The supported profile is Serial Profile (SSP)Accessories provided with the GPS 10: Velcro Mounting Patch (Not shown0, 12 V DC Cigarette LighterCharging Adapter.12 V DC Charging Adapter, P/N 010-10412-00Optional Accessories: Suction Cup Windshield Mount, 110-115 V AC Charging AdapterSuction Cup Mount P/N 010- 10616-00 AC Charging Adapter P/N 010-10413-00Power Plug Specifications for charging the GPS 10 from user provided power source: 5 V DC (Range 4.5to 5.5 V DC @ 600 mA)
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 51.6 TECHNICAL SPECIFICATIONSSpecifications are subject to change without notice.1.6.1 Physical Characteristics1.6.1.1 Size45mm wide, 88mm long and 19mm in height. 1.6.1.2 Weight80.0 grams1.6.1.3 ColorBlack w/Gray Accents1.6.1.4 Case MaterialPolycarbonate thermoplastic case that is waterproof to IEC 60529 IPX7 level (immersion in 1meter of water for 30 minutes)1.6.2 Electrical Characteristics1.6.2.1 Input Voltage4.8 – 6.5V1.6.2.2 Input Current 500mA @ 5.0V1.6.2.3 Battery • Capacity: 900mAHr• Charging rate: Approx. 3 Hrs • Operating rate: Approx. 10 Hours with WAAS enabled.1.6.2.4 Battery Charger (Garmin Model DD-05-1000)• Input 10 to 30 V AC• Output 4.9 to 5.25 V DC @ 1.0 A 1.6.2.5 GPS Receiver Sensitivity-165 dBW minimum1.6.3 Environmental Characteristics1.6.3.1 Operating Temperature Range• -30°C to + 60°C Powered from external supply• -10°C to +60°C Powered by internal batteries1.6.3.2 Battery Charging Temperature Range -5°C to +45°C (Outside this temperature range, battery charging is not possible)1.6.3.3 Storage Temperature -40°C to +90°C
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 61.6.4 GPS Performance1.6.4.1 Receiver WAAS enabled; 12 parallel channel GPS receiver continuously tracks and uses up to 12 satellites (up to 11with PPS active) to compute and update your position.1.6.4.2 Acquisition Times• Reacquisition: Less than 2 seconds• Warm: Approx. 15 seconds (all data known)• Cold: Approx. 45 seconds (initial position, time, and almanac known; ephemeris unknown)• AutoLocateTM: 5 minutes (almanac known; initial position and time unknown)• SkySearch: 5 minutes (no data known)1.6.4.3 Update Rate1 record per second1.6.4.4 Accuracy• GPS Standard Positioning Service (SPS)Position: < 15 meters, 95% typicalVelocity: 0.1 knot RMS steady state• WAASPosition: < 3 meters, 95% typicalVelocity: 0.1 knot RMS steady state• PPS Time: ±1 microsecond at rising edge of PPS pulse• Dynamics: 999 knots velocity (only limited at altitude greater than 60,000 feet), 6g dynamics1.6.5 Interfaces1.6.5.1 GPS 10 Electrical CharacteristicsCommunicate with Host Platform via Bluetooth (Class 2) Serial ProfileTypical Range: up to 32 feet (10 meters)1.6.5.2 GARMIN Interface Refer to the GARMIN GPS Interface Specification Addendum for specific information about the GARMINProtocol. The document is located on the Garmin Web site at:http://www.garmin.com/support/commProtocol.html. See also Appendix B: Binary Phase Output Formatfor additional information concerning access to raw pseudo-range and carrier phase data from the GPS 10.Refer to the GARMIN GPS Interface Specification for details on the GARMIN interface. At the time of thisprinting, these specs are available from the technical suppport section of our Web site:http://www.garmin.com/support/commProtocol.html.1.6.5.3 GPS 10 Protocol• NMEA 0103 Version 2.0 or NMEA 0103 Version 2.30 (Version 2.0 is factory default, programmableby data field 7 of the PGRMC1 sentence described in Section 3.1.4 Additional Sensor ConfigurationInformation (PGRMC1).• Available NMEA 0103 output sentences include GPALM, GPGGA, GPGSA, GPGSV, GPRMC,GPVTG, GPGLL, PGRME, PGRMF, PGRMT, PGRMV, and PGRMB (GARMIN proprietarysentences). See Section 3.2 Transmitted NMEA 0103 Sentences for format descriptions.• Configuration and initialization is accomplished with NMEA 0103 input sentences. Allowsinitialization of information such as expected position, date, time, earth datum, and differential mode.See Section 3.1 Received NMEA 0103 Sentences for format descriptions.• Configurable for binary data output including GPS carrier phase data
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 72 MECHANICAL CHARACTERISTICS & MOUNTING The unit contains an integrated magnetic mount and is supplied with a Velcro patch for mounting on non-ferrous surfaces. The following drawing show example geometry for mounting hardware in case you wishto design your own custom mount. Figure 1 shows the mounting footprint. Figure 2 shows operationalcharacteristics of the GPS 10.Figure 1. GPS 10 Bottom Case DimensionsFigure 2. GPS 10 Operational Characteristics
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 83 GPS 10 SOFTWARE INTERFACEThe interface protocol design of the GPS 10 product is based on the National Marine ElectronicsAssociation’s NMEA 0103 ASCII interface specification. This standard is fully defined in NMEA 0103,Version 2.30. Copies may be obtained from NMEA, www.nmea.org. In addition to the standard NMEA 0103 sentences, the GPS 10 may also be configured to transmitinformation over their serial interface using NMEA 0103 compliant Garmin proprietary sentences. Theseproprietary sentences begin with the characters, “$PGRM”, instead of the characters “$G” that are typicalof the standard NMEA 0103 sentences. The characters “$P” indicate that the sentence is a proprietaryimplementation and the characters and “GRM” indicate that it is Garmin’s proprietary sentence. The letter(or letters) that follow the characters “$PGRM” uniquely identifies that particular Garmin proprietarysentence.It is also possible to configure the GPS 10 to transmit binary phase data information over their serialinterface. See Appendix B: Binary Phase Output Format for details. The following sections describe the NMEA 0103 data format of each sentence transmitted and received bythe GPS 10 product. 3.1 RECEIVED NMEA 0103 SENTENCESThe following paragraphs define the sentences that can be received on the GPS sensors’ port. Null fields inthe configuration sentence indicate no change in the particular configuration parameter. All sentencesreceived by the GPS sensor must be terminated with <CR><LF>, the ASCII characters for carriage return(0D hexadecimal) and line feed (0A hexadecimal). The checksum *hh is used for parity checking data andis not required, but is recommended for use in environments containing high electromagnetic noise. It isgenerally not required in normal PC environments. When used, the parity bytes (hh) are the ASCIIrepresentation of the exclusive-or (XOR) sum of all the characters between the “$” and “*” characters, non-inclusive. The hex representation must be a capital letter, such as 3D instead of 3d. Sentences may betruncated by <CR><LF> after any data field and valid fields up to that point will be acted on by the sensor.3.1.1 Almanac Information (ALM)The $GPALM sentence can be used to initialize the GPS sensor’s stored almanac information in theunlikely event of non-volatile memory loss or after storing longer than six months without tracking GPSsatellites.$GPALM,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>,<14>,<15>*hh<CR><LF><1> Total number of ALM sentences to be transmitted by the GPS sensor during almanac download.This field can be null or any number when sending almanac to the GPS sensor.<2> Number of current ALM sentence. This field can be null or any number when sending almanacto the GPS sensor.<3> Satellite PRN number, 01 to 32<4> GPS week number<5> SV health, bits 17-24 of each almanac page<6> Eccentricity<7> Almanac reference time<8> Inclination angle<9> Rate of right ascension<10> Root of semi major axis<11> Omega, argument of perigee<12> Longitude of ascension node<13> Mean anomaly<14> af0 clock parameter<15> af1 clock parameter
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 93.1.2 Sensor Initialization Information (PGRMI)The $PGRMI sentence provides information used to initialize the GPS sensor’s set position and time usedfor satellite acquisition. Receipt of this sentence by the GPS sensor causes the software to restart thesatellite acquisition process. If there are no errors in the sentence, it will be echoed upon receipt. If an erroris detected, the echoed PGRMI sentence will contain the current default values. Current PGRMI defaults(with the exception of the Receiver Command, which is a command rather than a mode) can also beobtained by sending $PGRMIE to the GPS sensor.$PGRMI,<1>,<2>,<3>,<4>,<5>,<6>,<7>*hh<CR><LF><1> Latitude, ddmm.mmm format (leading zeros must be transmitted)<2> Latitude hemisphere, N or S<3> Longitude, dddmm.mmm format (leading zeros must be transmitted)<4> Longitude hemisphere, E or W<5> Current UTC date, ddmmyy format<6> Current UTC time, hhmmss format<7> Receiver Command, A = Auto Locate, R = Unit Reset3.1.3 Sensor Configuration Information (PGRMC)The $PGRMC sentence provides information used to configure the GPS sensor’s operation. Configurationparameters are stored in non-volatile memory and retained between power cycles. The GPS sensor willecho this sentence upon its receipt if no errors are detected. If an error is detected, the echoed PGRMCsentence will contain the current default values. Current default values can also be obtained by sending$PGRMCE to the GPS sensor.$PGRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>,<14>*hh<CR><LF><1> Fix mode, A = automatic, 2 = 2D exclusively (host system must supply altitude),3 = 3D exclusively<2> Altitude above/below mean sea level, -1500.0 to 10000.0 meters<3> Earth datum index. If the user datum index (96) is specified, fields <4> through <8> mustcontain valid values. Otherwise, fields <4> through <8> must be null. Refer to Appendix AEarth Datums for a list of earth datums and the corresponding earth datum index.<4> User earth datum semi-major axis, 6360000.000 to 6380000.000 meters (.001 metersresolution)<5> User earth datum inverse flattening factor, 285.0 to 310.0 (10-9 resolution)<6> User earth datum delta x earth centered coordinate, -5000.0 to 5000.0 meters (1 meterresolution)<7> User earth datum delta y earth centered coordinate, -5000.0 to 5000.0 meters (1 meterresolution)<8> User earth datum delta z earth centered coordinate, -5000.0 to 5000.0 meters (1 meterresolution)<9> Differential mode, A = automatic (output DGPS data when available, non-DGPS otherwise), D= differential exclusively (output only differential fixes)<10> NMEA 0103 Baud rate, 1 = 1200, 2 = 2400, 3 = 4800, 4 = 9600, 5 = 19200, 6 = 300, 7 = 600<11> Velocity filter, 0 = No filter, 1 = Automatic filter, 2-255 = Filter time constant (e.g., 10 = 10second filter)<12> Not used<13> Not used<14> Dead reckoning valid time 1-30 (sec)All configuration changes take effect after receipt of a valid value except baud rate and PPS mode. Baudrate and PPS mode changes take effect on the next power cycle or an external reset even3.1.4 Additional Sensor Configuration Information (PGRMC1)The $PGRMC1 sentence provides additional information used to configure the GPS sensor operation.Configuration parameters are stored in non-volatile memory and retained between power cycles. The GPSsensor will echo this sentence upon its receipt if no errors are detected. If an error is detected, the echoedPGRMC1 sentence will contain the current default values. Current default values can also be obtained bysending $PGRMC1E to the GPS sensor.$PGRMC1,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>*hh<CR><LF>
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 10<1> NMEA 0103 output time 1-900 (sec) <2> Binary Phase Output Data, 1 = Off, 2 = On.<3> Automatic Position Averaging when Stopped, 1 = Off, 2 = On<4> No Effect (DGPS beacon frequency – 0.0, 283.5 – 325.0 kHz in 0.5 kHz steps)<5> No Effect (DGPS beacon bit rate – 0, 25, 50, 100, or 200 bps)<6> No Effect (DGPS beacon scanning, 1 = Off, 2 = On)<7> NMEA 0103 version 2.30 mode indicator, 1 = Off, 2 = On<8> DGPS mode, W = WAAS Only, N = None (DGPS disabled)<9> Power Save Mode, P = Power Save mode, N = NormalConfiguration changes take effect immediately, with the exception of Binary Phase Output Data, whichtakes effect on the next power cycle or a reset event. A reset can be commanded by sending the sentence“$PGRMI,,,,,,,R” (refer to Section 3.1.2 Sensor Initialization Information (PGRMI)). If the GPS sensor isin the Binary data mode, it is necessary to send the following eight-byte data stream to temporarily changethe data format to NMEA 0103. Then follow by sending a PGRMC1 sentence that turns off the BinaryPhase Output Data format:10 0A 02 26 00 CE 10 03 (Hexadecimal)3.1.5 Output Sentence Enable/Disable (PGRMO)The $PGRMO sentence provides the ability to enable and disable specific output sentences. The followingsentences are enabled at the factory: GPGGA, GPGSA, GPGSV, GPRMC, and PGRMT.$PGRMO,<1>,<2>*hh<CR><LF><1> Target sentence description (e.g., PGRMT, GPGSV, etc.)<2> Target sentence mode, where:0 = disable specified sentence1 = enable specified sentence2 = disable all output sentences 3 = enable all output sentences (except GPALM)4 = restore factory default output sentencesThe following notes apply to the PGRMO input sentence:1. If the target sentence mode is ‘2’ (disable all), ‘3’ (enable all), or ‘4’ (restore defaults), the targetsentence description is not checked for validity. In this case, an empty field is allowed (e.g.,$PGRMO,,3), or the mode field may contain from 1 to 5 characters.2. If the target sentence mode is ‘0’ (disable) or ‘1’ (enable), the target sentence description field must bean identifier for one of the sentences that can be output by the GPS sensor.3. If either the target sentence mode field or the target sentence description field is not valid, the PGRMOsentence will have no effect.4. $PGRMO,GPALM,1 will cause the GPS sensor to transmit all stored almanac information. All otherNMEA 0103 sentence transmission will be temporarily suspended.5. $PGRMO,,G will cause the COM port to change to GARMIN Data Transfer format for the duration ofthe power cycle. The GARMIN mode is required for GPS 10 series product software updates.6. $PGRMO,,M will cause the Auto shutoff feature to activate. The sensor will power off if the Bluetoothlink is broken or fails to establish within 15 minutes.7. $PGRMO,,N will cause the Auto shutoff feature to deactivate.3.1.6 Adaptive transmission Mode Enable/Disable (PGRMN)The $PGRMN sentence provides the ability to enable and disable the adaptive transmission mode to extendthe battery life by putting the GPS 10 circuits into low power mode to reduce the current consumption.1. $PGRMN,,A sets the adaptive transmission mode to ON.2. $PGRMN,,F sets the adaptive transmission mode to OFF.
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 113.2 TRANSMITTED NMEA 0103 SENTENCESThe subsequent paragraphs define the sentences that can be transmitted by the GPS 10.3.2.1 Sentence Transmission RateSentences are transmitted with respect to the user selected baud rate.The GPS sensor will transmit each sentence (except where noted in particular transmitted sentencedescriptions) at a periodic rate based on the user selected baud rate and user selected output sentences. TheGPS sensor will transmit the selected sentences contiguously. The length of the transmission can bedetermined by the following equation and Tables 2 and 3:total characters to be transmittedlength of transmission = ---------------------------------------------characters transmitted per secondSentence Output by Default? Maximum CharactersGPRMC ✔74GPGGA ✔82GPGSA ✔66GPGSV ✔70PGRME ✔35GPGLL 44GPVTG 42PGRMV 32PGRMF 82PGRMB ✔40PGRMT Once per minute 50Table 1: NMEA 0103 Output Sentence Order and SizeBaud Characters per Second300 30600 601200 1202400 2404800 4809600 96019200 192038400 3840Table 2: Characters per Second for Available Baud RatesThe maximum number of fields allowed in a single sentence is 82 characters including delimiters. Valuesin the table include the sentence start delimiter character “$” and the termination delimiter <CR><LF>. Thefactory set defaults will result in a once per second transmission at the NMEA 0103 specificationtransmission rate of 4800 baud.Regardless of the selected baud rate, the information transmitted by the GPS sensor is referenced to theone-pulse-per-second output pulse immediately preceding the GPRMC sentence, or whichever sentence isoutput first in the burst (see Table 2 above).3.2.2 Transmitted TimeThe GPS sensor outputs UTC (Coordinated Universal Time) date and time of day in the transmittedsentences. Before the initial position fix, the on-board clock provides the date and time of day. After theinitial position fix, the date and time of day are calculated using GPS satellite information and aresynchronized with the one-pulse-per-second output.
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 12The GPS sensor uses information obtained from the GPS satellites to add or delete UTC leap seconds andcorrect the transmitted date and time of day. The transmitted date and time of day for leap secondcorrection follow the guidelines in “National Institute of Standards and Technology Special Publication432 (Revised 1990)” (for sale by the Superintendent of Documents, U.S. Government Printing Office,Washington, D.C., 20402, U.S.A.).When a positive leap second is required, one second is inserted at the beginning of the first hour (0h 0m 0s)of the day that the positive leap is occurring. The minute containing the leap second is 61 seconds long. TheGPS sensor would have transmitted this information for the leap second added December 31, 1998 asfollows:$GPRMC,235959,A,3851.3651,N,09447.9382,W,000.0,221.9,071103,003.3,E*69$GPRMC,000000,A,3851.3651,N,09447.9382,W,000.0,221.9,081103,003.3,E*67$GPRMC,000000,A,3851.3651,N,09447.9382,W,000.0,221.9,081103,003.3,E*67$GPRMC,000001,A,3851.3651,N,09447.9382,W,000.0,221.9,081103,003.3,E*66If a negative leap second should be required, one second will be deleted at the end of some UTC month.The minute containing the leap second will be only 59 seconds long. In this case, the GPS sensor will nottransmit the time of day 0h 0m 0s (the “zero” second) for the day from which the leap second is removed.$GPRMC,235959,A,3851.3650,N,09447.9373,W,000.0,000.0,111103,003.3,E*69$GPRMC,000001,A,3851.3650,N,09447.9373,W,000.0,000.0,121103,003.3,E*6A$GPRMC,000002,A,3851.3650,N,09447.9373,W,000.0,000.0,121103,003.3,E*693.2.3 Global Positioning System Almanac Data (ALM)Almanac sentences are not normally transmitted. Almanac transmission can be initiated by sending theGPS sensor a $PGRMO,GPALM,1 command. Upon receipt of this command, the GPS sensor will transmitavailable almanac information on GPALM sentences. During the transmission of almanac sentences, otherNMEA 0103 data output will be temporarily suspended.$GPALM,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>,<14>,<15>*hh<CR><LF><field information> can be found in Section 3.1.1 Almanac Information (ALM).3.2.4 Global Positioning System Fix Data (GGA)$GPGGA,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,M,<10>,M,<11>,<12>*hh<CR><LF><1> UTC time of position fix, hhmmss format<2> Latitude, ddmm.mmmm format (leading zeros will be transmitted) <3> Latitude hemisphere, N or S<4> Longitude, dddmm.mmmm format (leading zeros will be transmitted) <5> Longitude hemisphere, E or W<6> GPS quality indication, 0 = fix not available, 1 = Non-differential GPS fix available, 2 =Differential GPS (DGPS) fix available, 6 = Estimated<7> Number of satellites in use, 00 to 12 (leading zeros will be transmitted)<8> Horizontal dilution of precision, 0.5 to 99.9<9> Antenna height above/below mean sea level, -9999.9 to 99999.9 meters<10> Geoidal height, -999.9 to 9999.9 meters<11> Differential GPS (RTCM SC-104) data age, number of seconds since last valid RTCMtransmission (null if not an RTCM DGPS fix)<12> Differential Reference Station ID, 0000 to 1023 (leading zeros will be transmitted, null if not anRTCM DGPS fix)3.2.5 GPS DOP and Active Satellites (GSA)$GPGSA,<1>,<2>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<4>,<5>,<6>*hh<CR><LF><1> Mode, M = manual, A = automatic<2> Fix type, 1 = not available, 2 = 2D, 3 = 3D<3> PRN number, 01 to 32, of satellite used in solution, up to 12 transmitted (leading zeros will be
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 13transmitted)<4> Position dilution of precision, 0.5 to 99.9<5> Horizontal dilution of precision, 0.5 to 99.9<6> Vertical dilution of precision, 0.5 to 99.93.2.6 GPS Satellites in View (GSV)$GPGSV,<1>,<2>,<3>,<4>,<5>,<6>,<7>,...<4>,<5>,<6>,<7>*hh<CR><LF><1> Total number of GSV sentences to be transmitted<2> Number of current GSV sentence<3> Total number of satellites in view, 00 to 12 (leading zeros will be transmitted)<4> Satellite PRN number, 01 to 32 (leading zeros will be transmitted)<5> Satellite elevation, 00 to 90 degrees (leading zeros will be transmitted)<6> Satellite azimuth, 000 to 359 degrees, true (leading zeros will be transmitted)<7> Signal to noise ratio (C/No) 00 to 99 dB, null when not tracking (leading zeros will betransmitted)NOTE: Items <4>,<5>,<6>, and <7> repeat for each satellite in view to a maximum of four (4) satellitesper sentence. Additional satellites in view information must be sent in subsequent bursts of NMEA 0103data. These fields will be null if unused.3.2.7 Recommended Minimum Specific GPS/TRANSIT Data (RMC)$GPRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>*hh<CR><LF><1> UTC time of position fix, hhmmss format<2> Status, A = Valid position, V = NAV receiver warning<3> Latitude, ddmm.mmmm format (leading zeros will be transmitted) <4> Latitude hemisphere, N or S<5> Longitude, dddmm.mmmm format (leading zeros will be transmitted) <6> Longitude hemisphere, E or W<7> Speed over ground, 000.0 to 999.9 knots (leading zeros will be transmitted)<8> Course over ground, 000.0 to 359.9 degrees, true (leading zeros will be transmitted)<9> UTC date of position fix, ddmmyy format<10> Magnetic variation, 000.0 to 100.0 degrees (leading zeros will be transmitted)<11> Magnetic variation direction, E or W (westerly variation adds to true course)<12> Mode indicator (only output if NMEA 0103 version 2.30 active), A = Autonomous,D = Differential, E = Estimated, N = Data not valid3.2.8 Track Made Good and Ground Speed (VTG)$GPVTG,<1>,T,<2>,M,<3>,N,<4>,K,<5>*hh<CR><LF><1> True course over ground, 000 to 359 degrees (leading zeros will be transmitted)<2> Magnetic course over ground, 000 to 359 degrees (leading zeros will be transmitted)<3> Speed over ground, 000.0 to 999.9 knots (leading zeros will be transmitted)<4> Speed over ground, 0000.0 to 1051.8 kilometers per hour (leading zeros will be transmitted)<5> Mode indicator (only output if NMEA 0103 version 2.30 active), A = Autonomous,D = Differential, E = Estimated, N = Data not valid3.2.9 Geographic Position (GLL)$GPGLL,<1>,<2>,<3>,<4>,<5>,<6>,<7>*hh<CR><LF><1> Latitude, ddmm.mmmm format (leading zeros will be transmitted) <2> Latitude hemisphere, N or S<3> Longitude, dddmm.mmmm format (leading zeros will be transmitted)<4> Longitude hemisphere, E or W<5> UTC time of position fix, hhmmss format<6> Status, A = Valid position, V = NAV receiver warning<7> Mode indicator (only output if NMEA 0103 version 2.30 active), A = Autonomous,
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 14D = Differential, E = Estimated, N = Data not valid3.2.10 Estimated Error Information (PGRME)$PGRME,<1>,M,<2>,M,<3>,M*hh<CR><LF><1> Estimated horizontal position error (HPE), 0.0 to 999.9 meters<2> Estimated vertical position error (VPE), 0.0 to 999.9 meters<3> Estimated position error (EPE), 0.0 to 999.9 meters3.2.11 GPS Fix Data Sentence (PGRMF)$PGRMF,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>,<14>,<15>*hh<CR><LF><1> GPS week number (0 - 1023)<2> GPS seconds (0 - 604799)<3> UTC date of position fix, ddmmyy format<4> UTC time of position fix, hhmmss format<5> GPS leap second count<6> Latitude, ddmm.mmmm format (leading zeros will be transmitted)<7> Latitude hemisphere, N or S<8> Longitude, dddmm.mmmm format (leading zeros will be transmitted)<9> Longitude hemisphere, E or W<10> Mode, M = manual, A = automatic<11> Fix type, 0 = no fix, 1 = 2D fix, 2 = 3D fix<12> Speed over ground, 0 to 1051 kilometers/hour<13> Course over ground, 0 to 359 degrees, true<14> Position dilution of precision, 0 to 9 (rounded to nearest integer value)<15> Time dilution of precision, 0 to 9 (rounded to nearest integer value)3.2.12 Sensor Status Information (PGRMT)The GARMIN Proprietary sentence $PGRMT gives information concerning the status of the GPS sensor.This sentence is transmitted once per minute regardless of the selected baud rate.$PGRMT,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>*hh<CR><LF><1> Product, model and software version (variable length field, e.g., “GPS 10 VER 2.05”)<2> ROM checksum test, P = pass, F = fail<3> Receiver failure discrete, P = pass, F = fail<4> Stored data lost, R = retained, L = lost<5> Real time clock lost, R = retained, L = lost<6> Oscillator drift discrete, P = pass, F = excessive drift detected<7> Data collection discrete, C = collecting, null if not collecting<8> GPS sensor temperature in degrees C<9> GPS sensor configuration data, R = retained, L = lost3.2.13 3D velocity Information (PGRMV)$PGRMV,<1>,<2>,<3>*hh<CR><LF><1> True east velocity, 514.4 to 514.4 meters/second<2> True north velocity, 514.4 to 514.4 meters/second<3> Up velocity, 999.9 to 9999.9 meters/second3.2.14 DGPS Beacon Information (PGRMB)NOTE: PGRMB is not supported at this time. $PGRMB,<1>,<2>,<3>,<4>,<5>,K,<6>,<7>*hh<CR><LF><1> Beacon tune frequency, 0.0, 283.5 – 325.0 kHz in 0.5 kHz steps<2> Beacon bit rate, 0, 25, 50, 100, or 200 bps<3> Beacon SNR, 0 to 31
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 15<4> Beacon data quality, 0 to 100<5> Distance to beacon reference station in kilometers<6> Beacon receiver communication status (0 = Check Wiring, 1 = No Signal, 2 = Tuning, 3 =Receiving, 4= Scanning)<7> DGPS fix source (R = RTCM, W = WAAS, N = Non-DGPS Fix)<8> DGPS mode, A = Automatic, W = WAAS Only, R = RTCM Only, N = None (DGPS disabled)3.3 BAUD RATE SELECTIONBaud rate selection can be performed by sending the appropriate configuration sentence to the GPS sensoras described in the $PGRMC Section 3.1.2 Sensor Initialization Information (PGRMI), field <10>.
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 16APPENDIX A: EARTH DATUMSThe following is a list of the Garmin GPS 10 Earth datum indices and the corresponding earth datum name(including the area of application):0 ADINDAN - Ethiopia, Mali, Senegal, Sudan1 AFGOOYE - Somalia2 AIN EL ABD 1970 - Bahrain Island, Saudi Arabia3 ANNA 1 ASTRO 1965 - Cocos Island4 ARC 1950 - Botswana, Lesotho, Malawi, Swaziland, Zaire, Zambia, Zimbabwe5 ARC 1960 - Kenya, Tanzania6 ASCENSION ISLAND 1958 - Ascension Island7 ASTRO BEACON “E” - Iwo Jima Island8 AUSTRALIAN GEODETIC 1966 - Australia, Tasmania Island9 AUSTRALIAN GEODETIC 1984 - Australia, Tasmania Island10 ASTRO DOS 71/4 - St. Helena Island11 ASTRONOMIC STATION 1952 - Marcus Island12 ASTRO B4 SOROL ATOLL - Tern Island13 BELLEVUE (IGN) - Efate and Erromango Islands14 BERMUDA 1957 - Bermuda Islands15 BOGOTA OBSERVATORY - Colombia16 CAMPO INCHAUSPE - Argentina17 CANTON ASTRO 1966 - Phoenix Islands10 CAPE CANAVERAL - Florida, Bahama Islands19 CAPE - South Africa20 CARTHAGE - Tunisia21 CHATHAM 1971 - Chatham Island (New Zealand)22 CHUA ASTRO - Paraguay23 CORREGO ALEGRE - Brazil24 DJAKARTA (BATAVIA) - Sumatra Island (Indonesia)25 DOS 1968 - Gizo Island (New Georgia Islands)26 EASTER ISLAND 1967 - Easter Island27 EUROPEAN 1950 - Austria, Belgium, Denmark, Finland, France, Germany, Gibraltar, Greece,Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland28 EUROPEAN 1979 - Austria, Finland, Netherlands, Norway, Spain, Sweden, Switzerland29 FINLAND HAYFORD 1910 - Finland30 GANDAJIKA BASE - Republic of Maldives31 GEODETIC DATUM 1949 - New Zealand32 ORDNANCE SURVEY OF GREAT BRITAIN 1936 - England, Isle of Man, Scotland,Shetland Islands, Wales33 GUAM 1963 - Guam Island34 GUX 1 ASTRO - Guadalcanal Island
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 1735 HJORSEY 1955 - Iceland36 HONG KONG 1963 - Hong Kong37 INDIAN - Bangladesh, India, Nepal38 INDIAN - Thailand, Vietnam39 IRELAND 1965 - Ireland40 ISTS O73 ASTRO 1969 - Diego Garcia41 JOHNSTON ISLAND 1961 - Johnston Island42 KANDAWALA - Sri Lanka43 KERGUELEN ISLAND - Kerguelen Island44 KERTAU 1948 - West Malaysia, Singapore45 L.C. 5 ASTRO - Cayman Brac Island46 LIBERIA 1964 - Liberia47 LUZON - Mindanao Island48 LUZON - Phillippines (excluding Mindanao Island)49 MAHE 1971 - Mahe Island50 MARCO ASTRO - Salvage Islands51 MASSAWA - Eritrea (Ethiopia)52 MERCHICH - Morocco53 MIDWAY ASTRO 1961 - Midway Island54 MINNA - Nigeria55 NORTH AMERICAN 1927 - Alaska56 NORTH AMERICAN 1927 - Bahamas (excluding San Salvador Island)57 NORTH AMERICAN 1927 - Central America (Belize, Costa Rica, El Salvador, Guatemala,Honduras, Nicaragua)58 NORTH AMERICAN 1927 - Canal Zone59 NORTH AMERICAN 1927 - Canada (including Newfoundland Island)60 NORTH AMERICAN 1927 - Caribbean (Barbados, Caicos Islands, Cuba, DominicanRepublic, Grand Cayman, Jamaica, Leeward Islands, Turks Islands)61 NORTH AMERICAN 1927 - Mean Value (CONUS)62 NORTH AMERICAN 1927 - Cuba63 NORTH AMERICAN 1927 - Greenland (Hayes Peninsula)64 NORTH AMERICAN 1927 - Mexico65 NORTH AMERICAN 1927 - San Salvador Island66 NORTH AMERICAN 1983 - Alaska, Canada, Central America, CONUS, Mexico67 NAPARIMA, BWI - Trinidad and Tobago68 NAHRWAN - Masirah Island (Oman)69 NAHRWAN - Saudi Arabia70 NAHRWAN - United Arab Emirates71 OBSERVATORIO 1966 - Corvo and Flores Islands (Azores)72 OLD EGYPTIAN - Egypt73 OLD HAWAIIAN - Mean Value
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 1874 OMAN - Oman75 PICO DE LAS NIEVES - Canary Islands76 PITCAIRN ASTRO 1967 - Pitcairn Island77 PUERTO RICO - Puerto Rico, Virgin Islands78 QATAR NATIONAL - Qatar79 QORNOQ - South Greenland80 REUNION - Mascarene Island81 ROME 1940 - Sardinia Island82 RT 90 - Sweden83 PROVISIONAL SOUTH AMERICAN 1956 - Bolivia, Chile, Colombia, Ecuador, Guyana,Peru, Venezuela84 SOUTH AMERICAN 1969 - Argentina, Bolivia, Brazil, Chile, Colombia, Ecuador, Guyana,Paraguay, Peru, Venezuela, Trinidad and Tobago85 SOUTH ASIA - Singapore86 PROVISIONAL SOUTH CHILEAN 1963 - South Chile87 SANTO (DOS) - Espirito Santo Island88 SAO BRAZ - Sao Miguel, Santa Maria Islands (Azores)89 SAPPER HILL 1943 - East Falkland Island90 SCHWARZECK - Namibia91 SOUTHEAST BASE - Porto Santo and Madeira Islands92 SOUTHWEST BASE - Faial, Graciosa, Pico, Sao Jorge, and Terceira Islands (Azores)93 TIMBALAI 1948 - Brunei and East Malaysia (Sarawak and Sabah)94 TOKYO - Japan, Korea, Okinawa95 TRISTAN ASTRO 1968 - Tristan da Cunha96 User defined earth datum97 VITI LEVU 1916 - Viti Levu Island (Fiji Islands)98 WAKE-ENIWETOK 1960 - Marshall Islands99 WORLD GEODETIC SYSTEM 1972100 WORLD GEODETIC SYSTEM 1984101 ZANDERIJ - Surinam102 CH-1903 - Switzerland103 Hu - Tzu - Shan104 Indonesia 74105 Austria106 Potsdam107 Taiwan - modified Hu-Tzu-Shan108 GDA - Geocentric Datum of Australia109 Dutch
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 19APPENDIX B: BINARY PHASE OUTPUT FORMATIn binary phase output mode, GPS 10 series products will transmit two types of packets once per second.One record contains primarily post-process information such as position and velocity information. Thesecond record contains receiver measurement information. For the GPS 10, the records are sent at a defaultbaud rate of 9600 baud, 8 data bits, and no parity. To turn these records on, use the $PGRMC1 NMEA sentence as described in Section 3.1.4.(Refer to the GARMIN GPS Interface Specification for details on how to form and parse Garmin packets.At the time of this printing, these specs are available from the technical suppport section of our Web site:http://www.garmin.com/support/commProtocol.html.) For the GPS 10, the two records must be enabled independently by commands to the unit (Refer to theGARMIN GPS Interface Specification USB Addendum for details on how to form and parse Garminpackets over USB. At the time of this printing, these specs are available from the technical suppport sectionof our Web site: http://www.garmin.com/support/commProtocol.html.) The ID of each command shouldbe 10 decimal to signify that the record is a command. The data portion of the packet should be one of thefollowing:Function Command (base 10)Position Record On 49Position Record Off 50Receiver Measurement Record On 110Receiver Measurement Record Off 111Note that the satellite data information is also enabled when the position record is enabled. Records sent over RS232 begin with a delimiter byte (10 hex). The second byte identifies the record type(33 hex for a position record, 34 hex for a receiver measurement and 72 hex for a satellite data record).The third byte indicates the size of the data. The fourth byte is the first byte of data. The data is thenfollowed by a checksum byte, a delimiter byte (10 hex), and an end-of-transmission character (03 hex).Additionally, any DLEs (0x10) that appear between the delimeters are escaped with a second DLE. Thereis sample code at the end of this section that will strip off the DLEs and ETXs.RS232 Packet:- 0x10 (DLE is first byte)- 0x## (Record ID – single byte)- 0x## (Number of data bytes – single byte)- data bytes (See descriptions below)- 0x## (2’s complement of the arithmetic sum of the bytes between the delimiters)- 0x10 (DLE)- 0x03 (ETX is last byte)USB packets contain only the record ID, size, and data payload. Refer to the GARMIN GPS InterfaceSpecification USB Addendum for details on how to form and parse Garmin USB packets.USB Packet:- 0x## (Record ID – single byte)- 0x## (Number of data bytes – single byte)- data bytes (See descriptions below)The data bytes of each packet contain the record specified by the record ID. A description of each recordfollows.Satellite Data RecordThe satellite data has a record ID of 0x72 with 84 (0x54) data bytes. The data bytes contain the data for the12 channels as described below. For each satellite, the following data is available:typedef struct
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 20{uint8 svid; //space vehicle identification (1-32 and 33-64 for WAAS)uint16 snr; //signal-to-noise ratio uint8 elev; //satellite elevation in degreesuint16 azmth; //satellite azimuth in degreesuint8 status; //status bit-field } cpo_sat_data;The status bit field represents a set of booleans described below:Bit Meaning when bit is one (1)0The unit has ephemeris data for the specified satellite.1The unit has a differential correction for the specified satellite.2The unit is using this satellite in the solution.This pattern is repeated for all 12 channels for a total of 12 X 7 bytes = 84 (0x54) bytes :typedef struct{cpo_sat_datacpo_sat_datacpo_sat_datacpo_sat_datacpo_sat_datacpo_sat_datacpo_sat_datacpo_sat_datacpo_sat_datacpo_sat_datacpo_sat_datacpo_sat_data} cpo_all_sat_dataThe RS-232 Packet for the Satellite Record looks like:- 0x10 (DLE is first byte)- 0x72 (Record ID – single byte)- 0x54 (Number of data bytes – single byte)- cpo_all_sat_data- 0x## (2’s complement of the arithmetic sum of the bytes between the delimiters)- 0x10 (DLE)- 0x03 (ETX is last byte) The USB Packet for the Satellite Record looks like:- 0x72 (Record ID – single byte)- 0x54 (Number of data bytes – single byte)- cpo_all_sat_data
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 21Position RecordThe Position Record has a record identifier of typedef struct{float alt;float epe;float eph;float epv;int fix;double gps_tow;double lat;double lon;float lon_vel;float lat_vel;float alt_vel;float msl_hght;int leap_sec;long grmn_days;} cpo_pvt_data;alt Ellipsoid altitude (meters)epe Est pos error (meters)eph Pos err, horizontal (meters)epv Pos err, vertical (meters)fix 0 = no fix; 1 = no fix; 2 = 2D; 3 = 3D; 4 = 2D differential; 5 = 3D differential;6 and greater - not definedgps_tow GPS time of week (sec)lat Latitude (radians)lon Longitude (radians)lon_vel Longitude velocity (meters/second)lat_vel Latitude velocity (meters/second)alt_vel Altitude velocity (meters/second)msl_hght Mean sea level height (meters)leap_sec UTC leap secondsgrmn_days Garmin days (days since December 31, 1989)Receiver Measurement Recordtypedef struct { unsigned long cycles; double pr; unsigned int phase; char slp_dtct; unsigned char snr_dbhz; char svid; char valid;} cpo_rcv_sv_data;typedef struct { double rcvr_tow; int rcvr_wn; cpo_rcv_sv_data sv[ 12 ];} cpo_rcv_data;rcvr_tow Receiver time of week (seconds)rcvr_wn Receiver week numbercycles Number of accumulated cyclespr Pseudorange (meters)phase To convert to (0 -359.999) multiply by 360.0 and divide by 2048.0slp_dtct 0 = no cycle slip detected; non-zero = cycle slip detected
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 22snr_dbhz Signal strength - db Hzsvid Satellite number (0-31 and 119-138 for WAAS) Note - add 1 to offset to current svidnumbers. valid 0 = information not valid; non-zero = information validDLE and ETX bytes:Sample C code to receive the two records should filter DLE and ETX bytes as described below:typedef enum { DAT, DLE, ETX } rx_state_type;/* Declare and initialize static variables */static char in_que[ 256 ];static int in_que_ptr = 0;static rx_state_type rx_state = DAT;...void add_to_que( char data ){#define DLE_BYTE 0x10#define ETX_BYTE 0x03if ( rx_state == DAT ) { if ( data == DLE_BYTE ) { rx_state = DLE; } else { in_que[ in_que_ptr++ ] = data; } }else if ( rx_state == DLE ) { if ( data == ETX_BYTE ) { rx_state = ETX; } else { rx_state = DAT; in_que[ in_que_ptr++ ] = data; } }else if ( rx_state == ETX ) { if ( data == DLE_BYTE ) { rx_state = DLE; } }if ( in_que_ptr > 255 ) { in_que_ptr = 0; }
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 23}APPENDIX C: GPS 10 AND WINDOWS SERIAL MOUSE ISSUEProblem: It is possible for Windows to incorrectly interpret the NMEA 0103 output of the GPS 10 as theoutput of a Microsoft Serial BallPoint Mouse. When that happens, Windows loads drivers for the SerialBallPoint Mouse. This causes the cursor to move erratically about the display, clicking, right clicking,double clicking, dragging and dropping displayed items as it goes. On Windows 2000 and Windows XP,you may not experience the problem if you wait until after the computer is booted before connecting theGPS 10 to the serial communications port. This problem is not specific to the GPS 10. Any NMEA 0103device connected to a Windows computer’s serial port is likely to cause this problem. Below are severalpossible solutions to this problem. Note: If your GPS 10 came with Garmin nRoute™ Navigation Software, you will not have this problembecause the unit is programmed to produce data according to the binary format that is described inAppendix B: Binary Phase Output Format. If you wish to use a different navigation software application with your GPS 10, you will need to de-selectthe “Phase Output Data” option that is discussed in Solution 3 below.Solution 1: The easiest solution is to disable the Serial BallPoint mouse in the Device Manager. Of course,this solution assumes that you do not need to use a Serial BallPoint mouse with your computer. When thewild mouse problem occurs follow the steps below. 1. Unplug the DB9 connector.2. Right-click on the My Computer icon on your desktop and select Properties to open Device Manager3. Go to the hardware tab of the resulting pop-up window and click on the Device Manager button. 4. Right-click on the Serial BallPoint Mouse and choose the option to disable (NOT uninstall) this device.Solution 2: Do not plug the DB9 connector into the computer until the computer is turned on and theoperating system is completely booted up and running. Every time you use the GPS 10 PC/LVC, you willneed to start the computer and operating system before making the connection between the GPS 10 PC andthe computer. This solution usually works on Windows 2000 and Windows XP computers. Solution 3: Change the default output of the GPS 10 so that it does not automatically send NMEA 0103data to the computer (change the default configuration to enable “Phase Output Data”). Use the GarminSensor Configuration Software, named SNSRCFG.EXE, provided on the Web site to enable “Phase OutputData.” SNSRCFG.EXE is included with the latest GPS 10 firmware, available athttp://www.garmin.com/support/agree.jsp?product=010-00321-05.Please note that by enabling “Phase Output Data,” the device will no longer appear as a NMEA 0103device to your computer. As a result, mapping applications that expect to hear NMEA 0103 data will notrecognize your GPS 10 P/LVC until you re-enable the NMEA 0103 output, disabling the “Phase OutputData” in the process.Refer to Appendix D: Sensor Configuration Software for complete information about downloading theSensor Configuration Software application.After the Sensor Configuration Software is installed and running on your computer, follow the steps belowto change the default data output of the GPS 10. 1. Select the GPS 10 from the list of sensors and click OK. The Sensor Configuration Software openswith the default configuration file for the GPS 10, as shown on the next page. 2. Select Config > Switch to NMEA Mode (or press the F10 key).3. Select Comm > Setup to open the Comm Setup Window.
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 244. Select the Serial Port to whichthe GPS 10 is connected. SelectAuto to have the programautomatically determine theBaud Rate, or select Manual tomanually select the Baud Rate ofthe GPS 10. Click OK whendone. 5. Click the Connect icon , orselect Comm > Connect toconnect to the GPS 10. 6. To view the currentprogramming of the GPS 10,select Config > GetConfiguration from GPS (orpress the F8 key). The currentprogramming of the GPS 10 is displayed in the window, as shown on the previous page. 7. Open the Sensor Configuration Window by pressing the F6 key or selecting Config > SensorConfiguration. 8. Place a check mark in the box next to “BinaryOutput Data” to change the GPS 10 to GARMINMode. The unit will keep this change in theprogramming until you change it again in thesoftware. Note: Selecting Config > Switch to GarminMode (or pressing the F11 key) only changes theunit to work in Garmin Mode until power iscycled through the unit again. For a morepermanent change, refer to step 8 above. 9. Click OK when completed enabling “BinaryOutput Data.” 10. When you are ready to upload the changes into theGPS 10, select Config > Send Configuration toGPS (or press the F9 key). The new configurationis then loaded into the GPS 10. 11. You may disconnect and close the software whenfinished. The software configuration can also besaved for future reference. Refer to Appendix D: Sensor Configuration Softwarefor complete information about downloading theSensor Configuration Software application.
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 25APPENDIX D: SENSOR CONFIGURATION SOFTWARESNSRCFG configures the GPS sensors based on user-selected parameters. Some application featuresinclude the ability to download GPS sensor configuration, maintain different configurations in files, andperform GPS sensor configurations quickly with the use of one function key. This section provides a brief overview of the Sensor Configuration Software. Refer to this section whenusing the software to configure your Garmin sensor. Downloading the Sensor Configuration SoftwareThe Garmin Sensor Configuration Software (SNSRCFG.exe) is available from the Garmin Web site. Todownload the software, start at http://www.garmin.com/oem, select the GPS 10, and then select SoftwareUpdates. The Garmin Sensor Configuration Software (SNSRCFG.exe) is included in the software updatedownload. Selecting a ModelAfter opening the program (snsrcfg.exe), the following screen appears. Select the radio button next to thetype of Garmin sensor you are configuring. Connecting to the SensorAfter selecting the type of sensor, the following window opens. This is the Main Interface Screen for theprogram. To configure your sensor, you must first connect to the sensor. 1. Select Config > Switch to NMEA Mode (or press the F10 key).2. Select Comm > Setup to open the Comm Setup Window.3. Select the Serial Port to which the sensor is connected. Select Autoto have the program automatically determine the Baud Rate, orselect Manual to manually select the Baud Rate of the GPS 10.Click OK when done. 4. Click the Connect icon , or select Comm >Connect. 5. To view the current programming of the sensor, selectConfig > Get Configuration from GPS (or press theF8 key). The current programming of the sensor isdisplayed in the window shown to the right. File MenuThe File Menu allows you to open, save, and print sensorconfigurations. The items in the File Menu work like mostWindows-based programs.
GPS 10 Technical Specifications (P/N 190-00516-00) Rev. APage 26Comm MenuThe Comm (Communication) Menu allows you to set the port number, baud rate, and then connect anddisconnect from the sensor. Setup: Opens the Comm Setup Window, shown to the left. Selectthe Serial Port to which the sensor is connected from the drop-down list. Then select Auto (the program determines the baud rateon its own) or Manual (you then enter the baud rate) for the BaudRate entry. Connect: Select Connect to connect to the sensor to change orview the configuration. Disconnect: Select Disconnect to disconnect from the sensor. Config MenuThe Config (Configuration) Menu allows youconfigure the sensor as it is connected.Sensor Configuration (F6): Opens the SensorConfiguration Window, shown to the right. Many ofthe fields in this window should be left alone. Pleaserefer to the beginning of this manual for clarificationabout some of these fields. For the most part, thiswindow is used to enter a new Latitude, Longitude,and Altitude for the sensor. This is especially helpfulwhen you are programming the sensor for use in aparticular geographic location. Resetting the Unit (Reset Unit) performs a reset on theunit, much like cycling the power. Resetting the non-volatile memory (Reset NonVol)will clear all of the data from the non-volatile memory. NMEA Sentence Selections (F7): Displays theNMEA Sentence Selections Window. If the sentence isenabled, a check mark appears in the box to the left ofthe sentence name. Click the box to enable or disableto the sentence.
For the latest free software updates (excluding map data) throughout the life of yourGarmin products, visit the Garmin Web site at www.garmin.com.© Copyright 2004 Garmin Ltd. or its subsidiariesGarmin International, Inc.1200 East 151st Street, Olathe, Kansas 66062, U.S.A.Garmin (Europe) Ltd.Unit 5, The Quadrangle, Abbey Park Industrial Estate, Romsey, SO51 9DL, U.K.Garmin CorporationNo. 68, Jangshu 2nd Road, Shijr, Taipei County, Taiwanwww.garmin.comPart Number 190-00516-00 Rev. AGet Configuration From GPS (F8): Retrieves the current programming from the sensor. Theprogramming is then displayed in the Main Interface Window. Send Configuration To GPS (F9): Sends the changes you have made to the programming to the sensor. Switch to NMEA Mode (F10): Switches the unit to NMEA Mode. The sensor must be in NMEA Modewhen connected to this software. Switch to Garmin Mode (F11): Switches the unit to Garmin Mode. Update Software (F12): After you have downloaded a new software version for the sensor, you can updatethe sensor with the new software. Select Update Software and then select the file using the Open dialogbox. You must locate both the *.rgn file and the updater.exe file. View MenuThe View Menu allows you to view the NMEA sentences transmitted by the sensor. You can alsocustomize how the program looks by showing and hiding the Toolbar and Status Bar. Help MenuThe Help Menu displays the software version and copyright information.

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