Jotron AS TR8000 Tron AIS TR-8000 User Manual Technical Manual

Jotron AS Tron AIS TR-8000 Technical Manual

Technical Manual

www.jotron.comTECHNICAL MANUALTron AIS TR-8000AIS Class A transponder
TR-8000 Technical manual 1-2 EC Declaration of Conformity, available at www.jotron.com Table of Contents 1 Revision History.................................................................................................................... 1-4 2 SPECIFICATIONS ................................................................................................................... 2-5 2.1 Transponder unit ......................................................................................................................................... 2-5 2.1.1 Integrated GPS ......................................................................................................................................................... 2-5 2.1.2 TDMA Transmitter ................................................................................................................................................. 2-6 2.1.3 TDMA Receivers ...................................................................................................................................................... 2-6 2.1.4 DSC Receiver ............................................................................................................................................................. 2-7 2.2 Display unit: .................................................................................................................................................... 2-8 2.2.1 LCD Display with Touch ...................................................................................................................................... 2-8 2.3 Transmission intervals ................................................................................................................................. 2-9 2.4 Interfaces ...................................................................................................................................................... 2-10 2.5 Transmission Intervals ........................................................................................................................... 2-10 3 DATA TRANSMISSION .................................................................................................... 3-11 3.1 Data transmission...................................................................................................................................... 3-11 3.1.1 RS422 interface .....................................................................................................................................................3-11 3.1.2 RS232 interface .....................................................................................................................................................3-12 4 DESCRIPTION OF SENTENCE FORMAT ................................................................ 4-14 4.1 Input ................................................................................................................................................................ 4-15 4.1.1 ABM - Addressed Binary and safety related Message ..........................................................................4-15 4.1.2 ACA - AIS Regional Channel Assignment Message .................................................................................4-15 4.1.3 ACK - Acknowledge alarm ................................................................................................................................4-15 4.1.4 AIR - AIS Interrogation Request ....................................................................................................................4-16 4.1.5 AIQ - Query Sentence ..........................................................................................................................................4-16 4.1.6 BBM - Broadcast Binary Message ..................................................................................................................4-16 4.1.7 DTM Datum reference ........................................................................................................................................4-17 4.1.8 EPV – Command or report equipment property value ........................................................................4-17 4.1.9 GBS - GNSS satellite fault detection ..............................................................................................................4-19 4.1.10 GGA - Global positioning system (GPS) fix data ......................................................................................4-19 4.1.11 GLL - Geographic position - latitude/longitude ......................................................................................4-20 4.1.12 GNS - GNSS fix data ..............................................................................................................................................4-20 4.1.13 HBT Heart Beat ......................................................................................................................................................4-20 4.1.14 HDT - Heading true ..............................................................................................................................................4-21 4.1.15 LRF - Long Range Function ..............................................................................................................................4-21 4.1.16 LRI - Long-Range Interrogation .....................................................................................................................4-21 4.1.17 OSD Own ship data ..............................................................................................................................................4-22 4.1.18 RMC Recommended minimum specific GNSS data ...............................................................................4-22 4.1.19 ROT - Rate of turn .................................................................................................................................................4-23 4.1.20 SPW - Security password sentence ..............................................................................................................4-23 4.1.21 SSD - Station static data .....................................................................................................................................4-23 4.1.22 VBW - Dual ground/water speed ..................................................................................................................4-24 4.1.23 VSD - Voyage Static Data ...................................................................................................................................4-24 4.1.24 VTG - Course over ground and ground speed ..........................................................................................4-24 4.1.25 ZDA – Time and date ...........................................................................................................................................4-25
TR-8000 Technical manual 1-3 4.2 Output.............................................................................................................................................................. 4-25 4.2.1 ABK - Addressed and binary broadcast acknowledgement ..............................................................4-25 4.2.2 ACA  See “Input “ .................................................................................................................................................4-25 4.2.3 ALR - Set alarm state ...........................................................................................................................................4-25 4.2.4 EPV  See “Input “ ..................................................................................................................................................4-26 4.2.5 HBT  See “Input “ .................................................................................................................................................4-26 4.2.6 LRF  See “Input “ ..................................................................................................................................................4-26 4.2.7 LR1 - Long-range Reply with destination for function request "A" ...............................................4-26 4.2.8 LR2 - Long-range Reply for function requests "B, C, E, and F" .........................................................4-26 4.2.9 LR3 - Long-range Reply for function requests "I, O, P, U and W" ....................................................4-26 4.2.10 NAK – Negative acknowledgement ..............................................................................................................4-27 4.2.11 TRL – AIS transmitter non functioning log ...............................................................................................4-27 4.2.12 TXT - Text transmission ....................................................................................................................................4-28 4.2.13 VDM - VHF Data-link Message ........................................................................................................................4-28 4.2.14 VDO - VHF Data-link Own-vessel message ................................................................................................4-28 4.2.15 VER – Version .........................................................................................................................................................4-29 5 Abbreviations and Definitions ...................................................................................... 5-30
TR-8000 Technical manual 1-4 1 Revision History AMENDMENT NO. INCORP. BY DATE PAGE(S) VERSION REASON FOR CHANGE 1 FIT 12.4.2012 2-8 B Added “IEC60945 Protected” to chapter 2.2 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
TR-8000 Technical manual 2-5 2 SPECIFICATIONS 2.1 Transponder unit Size: 274 x 204 x 67 mm Size with bracket: (319 x 204 x 76 mm) Weight: 3.7 Kg Color: Black Enclosure: Aluminium Supply voltage: 12-24 VDC +30% / -10% Power consumption: <15W average <50W burst Operating temperature: -25°C to +55°C Storage temperature: -40°C to +70°C Environmental: IP56 / IEC60945 exposed Compass safe distance: Standard Compass: 95cm Steering Compass: 65cm 2.1.1 Integrated GPS Receiver type: 16 channel u-blox ANTARIS 4 positioning engine SBAS: WAAS, EGNOS, MSAS Navigation update rate: Up to 4 Hz Accuracy1: Position: 2.5 m CEP SBAS: 2.0 m CEP Acquisition2 Cold Start: 36s Warm Start: 33s Hot Start: <3.5s Reacquisition: <1s Sensitivity3 Tracking: -158 dBm Acquisition: -148 dBm Cold Starts: -142dBm 1 Depends on accuracy of correction data of DGPS or SBAS service 2Measured with good visibility and -125 dBm signal strength . 3Demonstrated with a good active antenna. Sensitivity will reduce by 2 dB when using passive antennas.
TR-8000 Technical manual 2-6 2.1.2 TDMA Transmitter Frequency Error : < +/- 0.5 kHz under normal conditions (n.c.). < +/- 1.0 kHz under extreme conditions (e.c.). Frequency Range : 156.025-162.025MHz Channel Switching Time : < 25 ms. Carrier Power, High power setting Carrier Power, Low power setting : : 12.5 W, 41dBm +/- 1.5dB (n.c.) +/- 3.0dB (e.c.) 1 W, 30dBm +/- 1.5dB (n.c.) +/- 3.0dB (e.c.) Data transmission bit rate : 9600 bits/s +/- 50ppm. Modulation Spectrum : < -25 dBc @ Δfc < ±10 kHz < -70 dBc @ ±25 kHz<Δfc< ±62,5 kHz Modulation Accuracy test signal 2 Modulation Accuracy test signal 3 : : < +/- 175 (n.c.) < +/- 350 (e.c.) < +/- 240 (n.c.) < +/- 480 (e.c.) Maximum Transmission Time : A transmission shall not exceed 5 slots (133ms). Excessive Transmission Failure mode : A transmission is shut down by hardware if transmission exceeds 300ms. Spurious emissions : < -36 dBm @ 9 kHz - 1 GHz < -30 dBm @ 1 GHz - 4GHz Transmission output power versus time : Power within mask shown in Fig.2 and timings given in Table 6 in ITU-R M.1371.4 2.1.3 TDMA Receivers Sensitivity : < 20% PER @ –107 dBm (n.c.) < 20% PER @ –101 dBm (e.c.) Error behaviour at high input levels : < 1% PER @ –77 dBm < 1% PER @ –7 dBm Adjacent channel selectivity : < 20% PER @ 70 dB (n.c.) < 20% PER @ 60 dB (e.c.) Co-channel rejection : < 20% PER @ 10 dB Spurious response rejection : < 20% PER @ 70 dB Intermodulasjon response rejection : < 20% PER @ 74 dB Spurious emissions : < –57 dBm (9 kHz to 1 GHz) < –47 dBm (1 GHz to 4 GHz) Blocking : < 20% PER @ 86 dB
TR-8000 Technical manual 2-7 2.1.4 DSC Receiver Frequency Range : Ch 70, 156.525 MHz Sensitivity : < 20% PER @ –107 dBm (n.c.) < 20% PER @ –101 dBm (e.c.) Modulation : PSK, 1200 Baud. Error beaviour at high input levels : < 1% PER @ –7 dBm Co-Channel Rejection : Between –10.0 db and 0 dB.See 61993-2, 5.4.3 Adjacent Channel Selectivity : < 20% PER @ 70 dB (n.c.) < 20% PER @ 60 dB (e.c.) Spurious Response Rejection : < 20% PER @ 70 dB Intermodulation response, rejection : < 20% PER @ 65 dB Blocking or desensitisation : <20% PER @ 84 dB
TR-8000 Technical manual 2-8 2.2 Display unit: Size: 192 x 144 x 52 mm Size with bracket: (210 x 150 x 84 mm) Weight: 1.0 Kg Color: Black Enclosure: ABS Supply voltage: 12-24 VDC +30% / -10% Power consumption: < 12W nominal < 20W max intensity Operating temperature: -25°C to +55°C Storage temperature: -30°C to +70°C Environmental: IP54 / IEC60945 protected Compass safe distance: Standard Compass: 30cm Steering Compass: 14cm 2.2.1 LCD Display with Touch Display: NEC NL8048BC19-02 Type: WVGA, a-Si TFT LCD Display Area: 152.4 x 91.44 mm Diagonal size of display: 18 cm (7.0 inches) Pixel: 800 x 480 Interface: LVDS Luminance: 400cd/m2 Contrast 1000:1 (typ.) Touch technology: Resistive
TR-8000 Technical manual 2-9 2.3 Transmission intervals The transmission intervals are normally as described in Table 1: Transmission intervals. Given certain conditions, as in assigned mode, or when other AIS stations are synchronizing to the unit, the transmission rate might be higher, but the absolute highest rate is once every 2 seconds. Ship’s dynamic conditions Nominal reporting interval Ship at anchor or moored and not moving faster than 3 knots 3 min Ship at anchor or moored and moving faster than 3 knots 10 s Ship 0-14 knots 10 s Ship 0-14 knots and changing course 3.33 s Ship 14-23 knots 6 s Ship 14-23 knots and changing course 2 s Ship 23 knots 2 s Ship 23 knots and changing course 2 s Table 1: Transmission intervals.
TR-8000 Technical manual 2-10 2.4 Interfaces Input sentences Output sentences Sensor 1, 2 and 3: (External GPS, Gyro and ROT/LOG) DTM, GBS, GGA, GLL, GNS, HDT*, OSD, RMC, ROT, VBW, VTG, ZDA External Display, Aux Display/ Pilot Port ABM, ACA, ACK, AIR, AIQ, BBM, EPV, HBT, SPW, SSD, VSD, LRF, LRI DTM, GBS, GGA, GLL, GNS, HDT*, OSD, RMC, ROT, VBW, VTG, ZDA, ABK, ACA, ALR, EPV, HBT, NAK, TRL, TXT, VER, VDM, VDO, LR1, LR2, LR3, LRF, Long Range Port LRF, LRI LR1, LR2, LR3, LRF *) $HCHDT will be rejected. $HEHDT will be accepted. All the above ports comply with IEC 61162-1 (Second edition, 2000-07) at 4800 baud and IEC 61162-2 (First edition, 1998-09) at 38400 baud Alarm Output: Isolated digital switch. 2.5 Transmission Intervals Message output: Description: VDM: At RX of VDL message VDO: 1 second ALR: 30 seconds during alarm, 1 minute otherwise (empty message) ABK, ALR, NAK, TXT: At each event LRF, LR1, LR2, LR3: As response to LRI/LRF requests ACA,TXT, VSD, SSD, TRL, VER: At request via query command (AIQ)
TR-8000 Technical manual 3-11 3 DATA TRANSMISSION 3.1 Data transmission Data is transmitted in serial asynchronous form in accordance with the standards referenced in 2.1 of IEC 61162-1/2. The first bit is a start bit and is followed by data bits, least-significant-bit first, as illustrated by figure below. The following parameters are used: - baud rate: 4 800 to 38 400 - data bits: 8 (D7 = 0), - parity: none; - stop bits: 1. 3.1.1 RS422 interface There are 4 RS422 inputs and 3 RS422 I/O ports on the Transceiver unit. Sensor 1-3 and DGNSS beacon are inputs. External Display, Pilot Plug and Long Range are IO ports. The External Display and the Pilot Plug have a fixed baud rate of 38400 because of the amount of data transferred. The rest of the RS422 ports have adjustable baud rates (4800/9600/19200/38600). The Driver circuit ISO3080 is galvanically isolated. The connector on the Transponder is 5mm Double Deck Terminal Strips from WAGO (736-204). On the Display unit, the connector is a circular 12p female connector from Bulgin (PX0413/12S/PC). Figure 1: Simplified diagram of the RS422 interface D0 D1 D2 D3 D4 D5 D6 D7 Start Stop bit Data bits bit
TR-8000 Technical manual 3-12 3.1.1.1 Electrical characteristics RS422 interface. Parameter Test Condition MIN TYP MAX UNIT VO Voltage at either bus I/O terminal A,B -15 15 V VID Differential input voltage A with respect to B -15 15 V RL Differential input resistance w/jumper 232 Ω Wo/jumper 7680 Ω VIT(+) Positive going input threshold voltage IO = -8mA -85 -10 mV VIT(-) Negative going input threshold voltage IO = 8mA -200 -115 mV Isolation 60s 2500 Vrms IO Output current Receiver -8 8 mA Differential output voltage magnitude IO = 0mA, no load 3 4.3 5 V RL = 54Ω 1.5 2.3 V RL = 100Ω 2 2.3 V IO Output current Driver -60 60 mA 3.1.2 RS232 interface The functionality if the External Display can be setup by software to use the RS232 port as physical interface instead of the RS422 port which is default. The baud rate is fixed to 38400. The Interface is galvanically isolated by an ISO7221A Optocoupler. The connector on the Transponder is 5mm Double Deck Terminal Strips from WAGO (736-204). Figure 2: Simplified diagram of the RS232 interface
TR-8000 Technical manual 3-13 3.1.2.1 Electrical characteristics RS232 Min Typ Max Unit Input Resistance 3 5 7 kΩ Input Voltage Range -15 15 V Input Threshold LOW 0.8 1.5 V Input Threshold HIGH 1.8 2.4 V Output Resistance 300 Ω Output Voltage Swing ±5.0 ±5.4 V Output Short-Circuit Current ±32 ±60 mA 3.1.2.2 Display connection The display is interfaced over Ethernet by LAN8187, enabling data from 10 to 100Mbit/s. The circuit is galvanically isolated by a transformer and isolated to ground by 2kV capacitors. The interface is compliant with IEEE 802.3-2005 standards. The connector is a circular RJ45 connector, Bulgin PX0833/E on the Transponder and PX0839/PC on the Display Unit. The default IP address of the Transponder is 10.0.0.10 and the default IP address of the Display Unit is 10.0.0.11. 3.1.2.3 Alarm relay The Alarm relay is a mandatory normally open earth free relay contact, provided as an independent and simple method for triggering an external alarm. The alarm relay is active in case of power off and is capable of driving a 2A current. The relay is implemented as a FET-switch, using FDS3992 Dual N-Channel PowerTrench® MOSFET. . The connector on the Transponder is 5mm Double Deck Terminal Strips from WAGO (736-204). Min Typ. Max Unit Voltage 48 V Current 2 A Resistance 124 mΩ
TR-8000 Technical manual 4-14 4 DESCRIPTION OF SENTENCE FORMAT The following provides a summary explanation of the approved sentence structure according to IEC 61162: $aaccc, c---c*hh<CR><LF> ASCII HEX Description "$" 24 Start of sentence: starting delimiter aaccc Address field: alphanumeric characters identifying type of talker, and sentence formatter. The first two characters identify the talker. The last three are the sentence formatter mnemonic code identifying the data type and the string format of the successive fields. Mnemonics will be used as far as possible to facilitate read-outs by users. "," 2C Field delimiter: starts each field except address and checksum fields. If it is followed by a null field, it is all that remains to indicate no data in a field. c---c Data sentence block: follows address field and is a series of data fields containing all of the data to be transmitted. Data field sequence is fixed and identified by the third and subsequent characters of the address field (the sentence formatter). Data fields may be of variable length and are preceded by delimiters ",". "*" 2A checksum delimiter: follows last data field of the sentence. It indicates that the following two alpha-numeric characters show the HEX value of the checksum. hh Checksum field: the absolute value calculated by exclusive- OR'ing the eight data bits (no start bits or stop bits) of each character in the sentence between, but excluding, "$" and "*". The hexadecimal value of the most significant and least significant four bits of the result are converted to two ASCII characters (0-9, A-F) for transmission. The most significant character is transmitted first. The checksum field is required in all cases. <CR><LF> 0D 0A End of sentence: sentence terminating delimiter.
TR-8000 Technical manual 4-15 4.1 Input 4.1.1 ABM - Addressed Binary and safety related Message Support for ITU-R M.1371 messages 6, 12, 25, 26, 70 and 71 Provides an external application with a means to exchange data using the AIS. !--ABM,x,x,x,xxxxxxxxx,x,x.x,s--s,x*hh<CR><LF> Number of fill-bits, 0-5 Encapsulated data ITU-R M.1371 message ID 6, 12, 25, 26, 70, 71 AIS channel for broadcast of the radio message The MMSI of destination AIS unit for the ITU-R M.1371 message Sequential Message identifier Sentence number Total number of sentences needed to transfer the message 4.1.2 ACA - AIS Regional Channel Assignment Message This sentence is used to both enter and obtain channel management information. $--ACA,x,llll.ll,a,yyyyy.yy,a,llll.ll,a,yyyyy.yy,a,x,xxxx,x,xxxx,x,x,x,a,x,hhmmss.ss*hh<CR><LF> Time of “in-use” change In-Use Flag Information source Power level control Tx/Rx mode control Channel B bandwidth Channel B Channel A bandwidth Channel A Transition Zone Size Region Southwest corner longitude - E/W Region Southwest corner latitude - N/S Region Northeast corner longitude - E/W Region Northeast corner latitude - N/S Sequence Number, 0 to 9 4.1.3 ACK - Acknowledge alarm This sentence is used to acknowledge an alarm condition reported by a device. $--ACK,xxx,*hh<CR><LF> Identification number of alarm source
TR-8000 Technical manual 4-16 4.1.4 AIR - AIS Interrogation Request This sentence supports ITU-R M.1371 message 15. It provides an external application with the means to initiate a request for specific ITU-R M.1371 messages from distant mobile or base AIS stations. $--AIR,xxxxxxxxx,x.x,x,x.x,x,xxxxxxxxx,x.x,x*hh<CR><LF> Message sub-section (Reserved for future use) Number of message requested from station-2 MMSI of interrogated station-2 Message sub-section (Reserved for future use) Number of second message from station-1 Message sub-section (Reserved for future use) ITU-R M.1371 message requested from station-1 MMSI of interrogated station-1 4.1.5 AIQ - Query Sentence This sentence is used to query some of the other messages from the AIS. The queries which will be answered are: ACA, SSD, TRL, TXT, VER and VSD. $--AIQ,XXX. Queried Sentence 4.1.6 BBM - Broadcast Binary Message Support for ITU-R M.1371 messages 8, 14, 25, 26, 70 and 71 It provides an external application with a means to broadcast data, as defined by the application only - not the AIS. !--BBM,x,x,x,x,x.x,s--s,x*hh<CR><LF> Number of fill-bits , 0 to 5 Encapsulated data ITU-R M.1371 message ID, 8, 14, 25, 26, 70, 71 AIS channel for broadcast of the radio message Sequential message identifier, 0 to 9 Sentence number, 1 to 9 Total number of sentences needed to transfer the message, 1 to 9
TR-8000 Technical manual 4-17 4.1.7 DTM Datum reference Local geodetic datum and datum offsets from a reference datum $--DTM,W84,a,x.x,a,x.x,a, x.x,ccc*hh<CR><LF> Reference datum 1 Altitude offset, (meter) (Not used) Longitude offset, min, E/W (Not used) Lat offset, min, N/S (Not used) Local datum subdivision code (Not used) Local datum must be W84 if valid position shall be accepted on sensor port Note 1: WGS84 = W84 WGS72 = W72 SGS85 = S85 PE90 = P90 User defined =999 (only available for “Local datum”) IHO datum code Important: If a DTM sentence is received, it MUST contain “W84” as “Local Datum”, otherwise position information received in GGA, GLL, RMC or GNS on that sensor port will be rejected. 4.1.8 EPV – Command or report equipment property value This sentence is used to set the properties of the AIS unit, the message is replied with the set value as an ack when the value is set. $--EPV,a,cc,c--c,x.x,c--c,*hh<CR><LF> Value of property to be set Property identifier for the property to be set (see Note 3) MMSI Destination equipment type (see Note 2) Sentence status flag (see Note 1) Note 1: Sentence status flag: C = Command R = Response <Empty field> = request value Note 2: Indicates which equipment type. Indicated by the Talker Id. Every Talker Id has defined a set of Property Identifier. Supported values are AI and JTR. Note 3: The property identifier is a variable length integer field that identifies a parameter that can be set in accordance with the table below and is intended for commissioning settings. Proprietary Property Identifiers (for equipment type “JTR”) will be provided to manufacturer of display system on request. The following Property Identifiers in are permitted for the equipment type “AI”:
TR-8000 Technical manual 4-18 Property Identifier Property Meaning Value range 0-100 Reserved 101 Sensor 1 baud 4800, 9600, 14400, 19200, 38400 102 Sensor 2 baud 4800, 9600, 14400, 19200, 38400 103 Sensor 3 baud 4800, 9600, 14400, 19200, 38400 104 Long Range baud 4800, 9600, 14400, 19200, 38400 105 DGNSS baud 4800, 9600, 14400, 19200, 38400 106 MMSI 000000000, 200000000 … 799999999 107 IMO Number 0000000 … 9999999 108 Long Range configuration “A” = automatic “M” = manual 109 Long Range AIS channel 1 Valid channel according ITU-R M.1084-4 110 Long Range AIS channel 2 Valid channel according ITU-R M.1084-4 111 Change administrator password New administrator password 112 Change user password New user password 113 AIS-SART test mode 0 = normal mode 1 = display and output AIS-SART in test mode All other values Reserved Table 2 Standard Ais Property Identifier for Destination Equipment "AI"
TR-8000 Technical manual 4-19 4.1.9 GBS - GNSS satellite fault detection This message is used to support receiver autonomous integrity monitoring (RAIM). Given that a GNSS receiver is tracking enough satellites to perform integrity checks of the positioning quality of the position solution; a message is needed to report the output of this process to other systems to advise the system user. With the RAIM in the GNSS receiver, the receiver can isolate faults to individual satellites and not use them in its position and velocity calculations. Also, the GNSS receiver can still track the satellite and easily judge when it is back within tolerance. This message shall be used for reporting this RAIM information. To perform this integrity function, the GPS receiver must have at least two observables in addition to the minimum required for navigation. Normally these observables take the form of additional redundant satellites. $--GBS, hhmmss.ss, x.x, x.x, x.x, xx, x.x, x.x, x.x,h,h*hh <CR><LF> 4.1.10 GGA - Global positioning system (GPS) fix data Time, position and fix-related data for a GPS receiver. $--GGA, hhmmss.ss, llll.ll, a, yyyyy.yy, a, x, xx, x.x, x.x, M, x.x, M, x.x, xxxx*hh<CR><LF> Differential reference station ID 0000-1023 (Not used) Age of diff. GPS data (Not used) Units of geoidal separation,m (Not used) Geoidal separation (Not used) Units of antenna altitude, m (Not used) Antenna altitude above/below mean sea level (geoid) (Not used) Horizontal dilution of precision (Not used) No. of satellites in use, 00-12 (Not used) GPS quality indicator Longitude E/W Latitude N/S UTC time of position GNSS Signal ID GNSS System ID Standard deviation of bias estimate (Not used) ID number of most likely failed satellite (Not used) Estimate of bias on most likely failed satellite (Not used) Probability of missed detection for most likely failed satellite (Not used) Expected error in altitude (Not used) Expected error in longitude Expected error in latitude UTC time of the GGA or GNS fix associated with this sentence
TR-8000 Technical manual 4-20 4.1.11 GLL - Geographic position - latitude/longitude Latitude and longitude of vessel position, time of position fix and status. $--GLL, llll.ll, a, yyyyy.yy, a, hhmmss.ss, A, a *hh<CR><LF> Mode indicator (see Note 1) Status: A = data valid V = data invalid Time of position (UTC) Longitude , E/W Latitude, N/S Note 1: Positioning system Mode indicator: A = Autonomous D = Differential E = Estimated (dead reckoning) M = Manual input S = Simulator N = Data not valid 4.1.12 GNS - GNSS fix data Fix data for single or combined satellite navigation systems (GNSS). This sentence provides fix data for GPS, GLONASS, possible future satellite systems and systems combining these. $-- GNS, hhmmss.ss, llll.ll, a, yyyyy.yy, a, c--c,xx,x.x,x.x,x.x,x.x,x.x,a *hh<CR><LF> Navigation status indicator Differential reference station ID (Not used) Age of differential data (Not used) Geoidal separation, m (Not used) Antenna altitude, m, re:mean-sea-level (Not used) Horizontal dilution of precision (HDOP) (Not used) Number of satellites in use, 00-99 (Not used) Mode indicator Longitude E/W Latitude N/S Time of position (UTC) 4.1.13 HBT Heart Beat This sentence is intended to be used to indicate that equipment is operating normally, or for supervision of a connection between two units. $--HBT, x.x,A,x*hh <CR><LF> Sequencial sentence identifier Equipment status (A=normal operation, V=no normal operation Configured repeat interval
TR-8000 Technical manual 4-21 4.1.14 HDT - Heading true IMO Resolutions A.424 and A.821. Actual vessel heading in degrees true produced by any device or system producing true heading $--HDT, x.x, T*hh<CR><LF> Heading, degrees true 4.1.15 LRF - Long Range Function This sentence is used in both long-range interrogation requests and long-range interrogation replies. $--LRF,x,xxxxxxxxx,c--c,c--c,c--c*hh<CR><LF> Function reply status 1 Function request, 1 to 26 characters Name of requestor, 1 to 20 character string MMSI of requestor Sequence number , 0 to 9 Note 1: The "Function Reply Status" field provides the status characters for the "Function Request" information. When a long-range interrogation request is originated, the "Function Reply Status" field should be null. The "Function Reply Status" characters are organised in the same order as the corresponding function identification characters in the "Function Request" field. The following is a list of the "Function Reply Status" characters with the status they represent: 2 = Information available and provided in the following LR1, LR2, or LR3 sentence, 3 = Information not available from AIS unit, 4 = Information is available but not provided (i.e. restricted access determined by ship's master), 4.1.16 LRI - Long-Range Interrogation The long-range interrogation of the AIS is accomplished through the use of two sentences. The pair of interrogation sentences, a LRI-sentence followed by a LRF-sentence, provides the information needed by the AIS to determine if it must construct and provide the reply sentences (LRF, LR1, LR2, and LR3) $--LRI,x,a,xxxxxxxxx,xxxxxxxxx,llll.ll,a,yyyyy.yy,a,llll.ll,a,yyyyy.yy,a*hh<CR><LF> Longitude - E/W (south-west co-ordinate) Latitude - N/S ( -“- -“- “ -“- ) Longitude - E/W (north-east co-ordinate) Latitude - N/S ( -“- -“- “ -“- ) MMSI of "destination" MMSI of "requestor" Control Flag Sequence number, 0-9
TR-8000 Technical manual 4-22 4.1.17 OSD Own ship data IMO Resolution A.477 and MSC 64(67), Annex 1 and Annex 3. Heading, course, speed, set and drift summary. Useful for, but not limited to radar/ARPA applications. OSD gives the movement vector of the ship based on the sensors and parameters in use. $--OSD, x.x,A,x.x, a,x.x,a,x.x,x.x,a*hh<CR><LF> Speed units, K = km/h; N = Knots, S = statute miles/h Vessel drift (speed), (Manually entered) (Not used) Vessel set, degrees true, (Manually entered) (Not used) Speed reference,B/M/W/R/P , see note Vessel speed Course reference, B/M/W/R/P ,see note Vessel course, degrees true Heading status, A= valid data, V= invalid data Heading, degrees true 4.1.18 RMC Recommended minimum specific GNSS data Time, date, position, course and speed data provided by a GNSS navigation receiver. This sentence is transmitted at intervals not exceeding 2 s. All data fields must be provided, null fields used only when data is temporarily unavailable. $--RMC, hhmmss.ss, A, llll.ll,a, yyyyy.yy, a, x.x, x.x, xxxxxx, x.x,a, a, a*hh<CR><LF> Navigation Status Mode indicator (see Note 1) Magnetic variation, degrees, E/W (Not used) Date: dd/mm/yy (Not used) Course over ground, degrees true Speed over ground, knots Longitude, E/W Latitude, N/S Status: A = data valid V = navigation receiver warning Time of position fix (UTC) Note 1: Positioning system Mode indicator: A = Autonomous mode D = Differential mode E = Estimated (dead reckoning) mode M = Manual input mode S = Simulator mode N = No fix P = Precise R = Real time kinematic S = Simulator mode
TR-8000 Technical manual 4-23 4.1.19 ROT - Rate of turn IMO Resolution A.526. Rate of turn and direction of turn. $--ROT, x.x, A*hh<CR><LF> Status: A = data valid, V = data invalid Rate of turn, °/min, "-" = bow turns to port 4.1.20 SPW - Security password sentence This sentence can be used for authentication. For this purpose the sentence has to be applied before the protected sentence (for example EPV, SSD). Other sentences may not be interleaved between the password sentence and protected sentence and the time between the SPW and the protected sentence should be limited. The password protected sentence pair should be sent without unnecessary delay between sentences. The recommendation is 1 s maximum timeout. Note that any of the signals may be lost and timed out. If the password is not accepted (for example because it is incorrect) the command is refused using the NAK sentence. $--SPW,ccc,c--c,x,c--c*hh<CR><LF> Password as text, up to 32 char Password level (see Note 1) MMSI The following sentence formatter that should be protected (for example EPV) Note 1: An integer number as defined below: 1 = User level password 2 = Administrator level password 3-9 = Reserved 4.1.21 SSD - Station static data This sentence is used to enter static parameters into a shipboard AIS. The parameters in this sentence support a number of the ITU-R M.1371 messages. $--SSD,c--c,c--c,xxx,xxx,xx,xx,c,aa*hh<CR><LF> Source identifier DTE indicator flag Pos. ref., "D," distance from starboard beam, 0 to 63 metres Pos. ref., "C," distance from port beam, 0 to 63 metres Pos. ref., "B," distance from stern, 0 to 511 metres Pos. ref., "A," distance from bow, 0 to 511 metres Ship's Name, 1 to 20 characters Ship's Call Sign, 1 to 7 characters
TR-8000 Technical manual 4-24 4.1.22 VBW - Dual ground/water speed Water-referenced and ground-referenced speed data $--VBW, x.x, x.x, A, x.x, x.x, A, x.x, A, x.x, A*hh<CR><LF> Status: stern ground speed, (A = data valid, V = data invalid) (Not used) Stern transverse ground speed, knots (Not used) Status: stern water speed, (A = data valid, V = data invalid) (Not used) Stern transverse water speed, knots (Not used) Status, ground speed, (A = data valid, V = data invalid) Transverse ground speed, knots (see Note 1) Longitudinal ground speed, knots (see Note 1) Status: water speed, (A = data valid, V = data invalid) (Not used) Transverse water speed, knots (Not used) Longitudinal water speed, knots (Not used) Note 1: Transverse speed: "-" = port, Longitudinal speed: "-" = astern. 4.1.23 VSD - Voyage Static Data This sentence is used to enter information about a ship's voyage. $--VSD,x.x,x.x,x.x,c--c,hhmmss.ss,xx,xx,x.x,x.x*hh<CR><LF> Regional application flags, 0 to 15 Navigational status, 0 to 15 Estimated month of arrival at destination, 00 to 12 (UTC) Estimated day of arrival at destination, 00 to 31 (UTC Estimated time of arrival at destination (UTC) Destination, 1-20 characters Persons on-board, 0 to 8191 Maximum present static draught, 0 to 25,5 metre Type of ship and cargo category, 0 to 255 4.1.24 VTG - Course over ground and ground speed The actual course and speed relative to the ground. $--VTG, x.x, T, x.x, M, x.x, N, x.x, K,a*hh<CR><LF> Mode indicator (see Note 1) Speed over ground, km/h Speed over ground, knots Course over ground, degrees magnetic (Not used) Course over ground, degrees true Note 1: Positioning system Mode indicator: A = Autonomous mode D = Differential mode E = Estimated (dead reckoning) mode M = Manual input mode P = Precise S = Simulator mode N = Data not valid The positioning system Mode indicator field shall not be a null field.
TR-8000 Technical manual 4-25 4.1.25 ZDA – Time and date UTC, day, month, year and local time zone. $--ZDA, hhmmss.ss, xx, xx, xxxx, xx, xx*hh<CR><LF> Local zone minutes (see Note 1), 00 to +59 Local zone hours (see Note 1), 00 h to ±13 h Year (UTC) Month, 01 to 12 (UTC) Day, 01 to 31 (UTC) UTC Note 1: Local time zone is the magnitude of hours plus the magnitude of minutes added, with the sign of local zone hours, to local time to obtain UTC. Local zone is generally negative for East longitudes with local exceptions near the international date line. 4.2 Output All sentences starts with a delimiter that can be “$” or “!” followed by the talker identifier indicated by “- -“. The talker identifier is AI for AIS. 4.2.1 ABK - Addressed and binary broadcast acknowledgement The ABK-sentence is generated when a transaction, initiated by reception of an ABM, AIR, or BBM sentence is completed or terminated. $--ABK,xxxxxxxxx,a,x.x,x,x*hh<CR><LF> Type of acknowledgement Message Sequence Number ITU-R M.1371 message ID AIS channel of reception MMSI of the addressed destination AIS unit 4.2.2 ACA  See “Input “ 4.2.3 ALR - Set alarm state Local alarm condition and status. This sentence is used to report an alarm condition on a device and its current state of acknowledgement. $--ALR,hhmmss.ss,xxx,A, A,c--c*hh<CR><LF> Alarm's description text Alarm's acknowledge state, A = acknowledged V = unacknowledged Alarm condition (A = threshold exceeded, V = not exceeded) Local alarm number (identifier) Time of alarm condition change, UTC
TR-8000 Technical manual 4-26 4.2.4 EPV  See “Input “ 4.2.5 HBT  See “Input “ 4.2.6 LRF  See “Input “ 4.2.7 LR1 - Long-range Reply with destination for function request "A" The LR1-sentence identifies the destination for the reply and contains the information requested by the "A" function identification character. $--LR1,x,xxxxxxxxx,xxxxxxxxx,c--c,c--c,xxxxxxxxx*hh<CR><LF> IMO Number, 9-digit number Call Sign, 1 to 7 characters Ship's name, 1 to 20 characters MMSI of requestor (reply destination) MMSI of responder Sequence Number, 0 to 9 4.2.8 LR2 - Long-range Reply for function requests "B, C, E, and F" The LR2-sentence contains the information requested by the "B, C, E, and F" function identification characters. $--LR2,x,xxxxxxxxx,xxxxxxxx,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x.x,T,x.x,N*hh<CR><LF> Speed over ground, knots Course over ground, degrees True Longitude, E/W Latitude, N/S Time of position, UTC Date: ddmmyyyy, 8 digits MMSI of responder Sequence Number, 0 to 9 4.2.9 LR3 - Long-range Reply for function requests "I, O, P, U and W" The LR3-sentence contains the information requested by the "I, O, P, U, and W" function identification characters $--LR3,x,xxxxxxxxx,c--c,xxxxxx,hhmmss.ss,x.x,cc,x.x,x.x,x.x,x.x*hh<CR><LF> Persons, 0 to 8191 Ship type Ship breadth, value to nearest metre Ship length, value to nearest metre Ship/cargo (ITU-R M.1371, Table 18) Draught, value to 0,1 metre ETA Time, value to nearest second ETA Date: ddmmyy Voyage destination, 1 to 20 characters MMSI of "responder" Sequence Number, 0 to 9
TR-8000 Technical manual 4-27 4.2.10 NAK – Negative acknowledgement In general, the NAK sentence is used when a reply to a query sentence cannot be provided, or when a command sentence is not accepted. The NAK sentence reply should be generated within 1 s. $--NAK,cc,ccc,c--c,x.x,c--c*hh<CR><LF> Negative acknowledgement’s descriptive text Reason code for negative acknowledgement (see Note 1) Unique identifier Affected sentence formatter Talker identifier Note 1: Reason codes: 0 = query functionality not supported; 1 = sentence formatter not supported; 2 = sentence formatter supported, but not enabled; 3 = sentence formatter supported and enabled, but temporarily unavailable (for instance, data field problem, unit in initialize state, or in diagnostic state, etc.); 4 = sentence formatter supported, but query for this sentence formatter is not supported; 5 = access denied, for sentence formatter requested; 6 = sentence not accepted due to bad checksum; 7 = sentence not accepted due to listener processing issue; 8 to 9 = reserved for future use; 10 = cannot perform the requested operation; 11 = cannot fulfil request or command because of a problem with a data field in the sentence; 12 to 48 = reserved for future use; 49 = other reason as described in data field 5. Values greater than 50 may be defined by equipment standards. 4.2.11 TRL – AIS transmitter non functioning log This sentence is used to output the logged “transmitter non-functioning” times. On a query (AIQ) for this sentence, up to 10 sentences will be output, one sentence for each logged non-functioning time. This sentence is always generated as a response to a query even when no log entries exist. $--TRL,x.x,x.x,x,xxxxxxxx,hhmmss.ss,xxxxxxxx,hhmmss.ss,x,*hh<CR><LF> Reason Code (See Note 1) Switch on UTC time Switch on date Switch off UTC time Switch off date (ddmmyyyy) Sequential message identifier Log entry number Total number of log entries Note 1: Reason for Tx non-functioning: 1 = power off 2 = silent mode 3 = transmission switched off by channel management command 4 = equipment malfunction 5 = invalid configuration
TR-8000 Technical manual 4-28 4.2.12 TXT - Text transmission For the transmission of short text messages. Longer text messages may be transmitted by using multiple sentences. $--TXT,xx,xx,xx,c--c*hh<CR><LF> Text message, ASCII, up to 61 characters Text identifier, 01-99 Message number, 01 to 99 Total number of messages, 01 to 99 4.2.13 VDM - VHF Data-link Message This sentence is used to transfer the entire contents of a received AIS message packet, as defined in ITU-R M.1371 and as received on the VHF Data Link (VDL), using the "6-bit" field type. !--VDM,x,x,x,a,s--s,x*hh<CR><LF> Number of fill-bits, 0 to 5 Encapsulated ITU-R M.1371 radio message AIS Channel, "A" or "B" Sequential message identifier, 0 to 9 Sentence number, 1 to 9 Total number of sentences needed to transfer the message, 1 to 9 4.2.14 VDO - VHF Data-link Own-vessel message This sentence is used to provide the information assembled for broadcast by the AIS. It uses the six-bit field type for encapsulation. The sentence uses the same structure as the VDM sentence formatter. !--VDO,x,x,x,a,s--s,x*hh<CR><LF> Number of fill-bits, 0 to 5 Encapsulated ITU-R M.1371 radio message AIS Channel, "A" or "B" Sequential message identifier, 0 to 9 Sentence number, 1 to 9 Total number of sentences needed to transfer the message, 1 to 9
TR-8000 Technical manual 4-29 4.2.15 VER – Version This sentence is used to provide identification and version information about a device. This sentence is produced as reply to a query sentence. $--VER,x,x,aa,c--c,c--c,c--c, c--c,c--c,c--c,x *hh <CR><LF> Sequencial message identifier Hardware revision Software revision Unique identifier Model code (product code) Manufacturer serial number Vendor ID Device Type Sentence number, 1 to 9 Total number of sentences needed, 1 to 9
TR-8000 Technical manual 5-30 5 Abbreviations and Definitions ACK Acknowledge AIS Automatic Identification System - A shipborne broadcast transponder system in which ships continually transmit their position, course, speed and other data to other nearby ships and shoreline authorities on a common VHF radio channel. AIS-SART Automatic Identification System-Search And Rescue Transponder AtoN Aid to Navigation BAUD Transmission rate unit of measurement for binary coded data (bit per second). BNC Bayonet Neill-Concelman connector – common type of RF connector used for coaxial cable BRG Bearing CPA Closest Point of Approach COG Course Over Ground – Course made good relative to the sea bed. DSC Digital Selective Calling DGNSS Differential GNSS DGPS Differential GPS – A method of refining GPS position solution accuracy by modifying the locally computed position solution with correction signals from an external reference GPS CDU (monitor). ECDIS Electronic Chart Display and Information System for navigation approved to be used without paper charts ECS Electronic Chart System EPFS Electronic Position Fixing System (GPS is mostly used) ETA Estimated Time of Arrival. Calculated on basis of the distance to the destination and the current (or estimated) speed. FM Frequency Modulation - The method by which a signal offsets the frequency in order to modulate it on a data link. GNSS Global Navigation Satellite System – A common label for satellite navigation systems (such as GPS and GLONASS). GPS Global Positioning System – The NAVSTAR Global Positioning System, which consists of or-biting satellites, a network of ground control stations, and user positioning and navigation equipment. The system has 24 satellites plus 3 active spare satellites in six orbital planes about 20,200 kilometers above the earth. GLONASS A satellite navigation system developed and operated by Russia. GMT Greenwich Mean Time GMDSS Global Maritime Distress Safety System
TR-8000 Technical manual 5-31 HDG Heading - The direction, in which the vessel is pointed, expressed as angular distance from north clockwise through 360 degrees. HEADING should not be confused with COURSE. The HEADING is constantly changing as the vessel yaws back and forth across the course due to the effects of sea, wind, and steering error. IALA International Association of Marine Aids to Navigation and Lighthouse Authorities IEC International Electro-technical Commission IEC 61162-1 Maritime navigation and radio communication equipment and systems – Digital interfaces Single Talker- Multiple listeners: Closely related to NMEA0183 version 2.3, communication at 4800 baud. Definition of both electrical interface and protocol to be used. IEC 61162-2 Maritime navigation and radio communication equipment and systems – Digital interfaces Single Talker- Multiple listeners, High speed transmission: Closely related to NMEA0183HS version 2.3, communication at 34800 baud. Definition of both electrical interface and protocol to be used. IMO International Maritime Organization IP Internet Protocol (IP) is the central, unifying protocol in the TCP/IP suite. It provides the basic delivery mechanism for packets of data sent between all systems on an internet, regardless of whether the systems are in the same room or on opposite sides of the world. All other protocols in the TCP/IP suite depend on IP to carry out the fundamental function of moving packets across the internet. ISGOTT International Safety Guide for Oil Tankers and Terminals ITU International Telecommunication Union LAN Local Area Network LED Light Emitting Diode LCD Liquid Crystal Display LR Long Range NMEA National Marine Electronics Association – The NMEA electronics interface specifications have been developed under the auspices of the Association. The NMEA 0183 is an internationally recognized specification for interfacing marine electronics. NMEA 0183 version 2.3 is almost identical to lEC 61162-1. MKD Minimum Keyboard and Display MMSI Maritime Mobile Service Identity RCC Rescue Coordination Centre RF Radio Frequency RMS ROOT MEAN SQUARED – A statistical measure of probability stating that an expected event will happen 68% of the time. In terms of position update accuracy, 68 position updates out of 100 will be accurate to within specified system accuracy. ROT Rate Of Turn
TR-8000 Technical manual 5-32 RNG Range RX RX is the telegraph and radio abbreviation for “receive” SAR Search And Rescue S/N Signal-to-Noise ratio (SIN). Quantitative relationship between the useful and non-useful part of the received satellite signal. A high SIN indicates a good receiving condition. SOG Speed Over Ground – Speed in relation to the seabed. SOTMA Self Organized Time Division Multiple Access -An access protocol, which allows autonomous operation on a data link while automatically resolving transmission conflicts. TCP Transmission Control Protocol – Provides a reliable byte-stream transfer service between two end points on an internet. TCP depends on IP to move packets around the network on its behalf. TCP/IP TCP/IP is a name given to the collection (or suite) of networking protocols that have been used to construct the global Internet. The protocols are also referred to as the DoD (dee-oh-dee) or Arpanet protocol suite because their early development was funded by the Advanced Research Projects Agency (ARPA) of the US Department of Defense (DoD). TCPA Time to Closest Point of Approach TI Turn Indicator TNC Threaded Neill-Concelman connector – common type of RF connector used for coaxial cable TX TX is the telegraph and radio abbreviation for “transmit” UDP User Datagram Protocol – Provides a packetized data transfer service between end points on an internet. UDP depends on IP to move packets around the network on its behalf. UTC Universal Time Coordinated – Greenwich mean time corrected for polar motion of the Earth and seasonal variation in the Earth's rotation. VDC Volt DC VDL VHF Data Link VHF Very High Frequency – A set of frequencies in the MHz region VSWR Voltage standing wave ratio
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