Garmin 16x User's Manual
Contents
1. 4 1 3 Sensor Configuration Information PGRMC The PGRMC sentence provides information used to configure the GPS sensor s operation Configuration parameters are stored in non volatile memory and retained between power cycles The GPS sensor will echo this sentence upon its receipt if no errors are detected If an error is detected the echoed PGRMC sentence will contain the current default values Current default values can also be obtained by sending PGRMCE to the GPS sensor PGRMC lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt 10 gt lt 11 gt lt 12 gt lt 13 gt lt 14 gt hh lt CR gt lt LF gt Fix mode A Automatic 3 3D exclusively Altitude above below mean sea level 1500 0 to 18000 0 meters Earth datum index If the user datum index 96 is specified fields lt 4 gt through lt 8 gt must contain valid values Otherwise fields lt 4 gt through lt 8 gt must be null Refer to Appendix A Earth Datums for a list of earth datums and the corresponding earth datum index User earth datum semi major axis 6360000 000 to 6380000 000 meters 001 meters resolution User earth datum inverse flattening factor 285 0 to 310 0 10 resolution User earth datum delta x earth centered coordinate 5000 0 to 5000 0 meters 1 meter resolution User earth datum delta y earth centered coordinate 5000 0 to 5000 0 meters 1 meter resolution User earth datum2. 4 1 5 Output Sentence Enable Disable PGRMO The PGRMO sentence provides the ability to enable and disable specific output sentences The following sentences are enabled at the factory GPGGA GPGSA GPGSV GPRMC and PGRMT This sentence is not intended for turning on and off sentences as a means of polling while the receiver is in use instead it is intended to allow systems integrators to initialize the GPS receiver so it produces only the sentences required by the target application PGRMO lt 1 gt lt 2 gt hh lt CR gt lt LF gt Target sentence description e g PGRMT GPGSV etc Target sentence mode where 0 disable specified sentence 1 enable specified sentence 2 disable all output sentences 3 enable all output sentences except GPALM 4 restore factory default output sentences The following notes apply to the PGRMO input sentence If the target sentence mode is 2 disable all 3 enable all or 4 restore defaults the target sentence description is not checked for validity In this case an empty field is allowed eg PGRMO 3 or the mode field may contain from 1 to 5 characters If the target sentence mode is 0 disable or 1 enable the target sentence description field must be an identifier for one of the sentences that can be output by the GPS sensor If either the target sentence mode field or the target sentence description field is not valid the PGRMO sent
3. 4 1 3 2 2 Input Current coire errem repe rero oc susie Ye PER EUR REX EQ ORE CENE EE ELE ERE HX ERS ETE ERE VR CCRE ONERE eer SERE 4 1 5 2 3 Standby CULE E 4 1 324 GPS Receiver Sensitivity cade eere v n PE ORO UON demander dH 4 LS Envaronmental el Ee 4 1 5 4 GPS Performance EE 5 IT NW Ee E 3 1542 e E ek 3 LSA Sentence Rate eritis es One mter nenatis hides t eite t 5 L544 Accuracy cists ed eet Steeg eege 3 E MEn CES ae eeh Ln LI EE dee 3 1 551 Port 1 5 anon ebraica ER TR ER GA ERE WERE EM ERU 5 1 5 5 2 POTE Doo eie iae eid m eh oa e i on UR ep rA oc ach ces i a ae o enirn 3 1 55 29 EE 6 L53394 Power et 6 2 GPS lox Wiring and Pinouts essoessossssecssecssoceccosesocessecesocesooesoosesocessecssocsscosesosessesssecesocessosss RR ee Wl Te 7 2 2 GPS T6x WATS DIagrarmss s tiae tee ettet ed estet ee Eee deeg eege 8 3 Mechanical Characteristics amp Mounting eere ecce ee eee eee seen eese en esee enses ease ee en sees sss ll 3 1 GPS 16X Flush Moutte ease RB HUE P UR He e Ee EORR a TOREM see 9 3 2 GPS 16x Optional Mapnetic MOUHE orte rtet ettet ener devote tete reda stie tse evt cese s tee ree eel eee ee sir ee ipeo 10 4 Software Intertfacesccssscscscsiscscssscsscsscccsetesecusvenceccccescascccasscvanenaccceneseccndsesacabaececacnasencccnsaeseacscosses ll Lt 4 1 Received NMEA 0183 Sentences ssssssssssssessseseeee eene enne enne ren
4. PORT 1 First Serial Asynchronous Output This RS 232 compatible output normally DATA provides serial data which is formatted per NMEA 0183 Version 3 0 The NMEA OU 0183 baud rate is switchable in the range of 4800 to 38400 baud The default P baud rate is 4800 T Gray PPS One Pulse Per Second Output Typical voltage rise and fall times are 300 ns Impedance is 150 Open circuit output voltage is low 0 Vdc and high Vin in the GPS 16xLVS and low 0 Vdc and high 5 0 Vdc in the GPS 16xHVS and GPS 17HVS The default format is a 100 ms wide active high pulse at a 1 Hz rate the pulse width is configurable in 20 ms increments Rising edge is synchronized to the start of each GPS second This output provides between 800 mVp p to 1 7 Vp p for GPS 16xLVS and 1 4 Vp p for the GPS 16xHVS and 17HVS into a 50 Q load The pulse time measured at the 50 voltage point will T be about 50 ns earlier with a 50 Q load than with no load 7 Green PORT2 Second Serial Asynchronous Input electrically identical to PORT 1 DATA IN DATA IN This input may be used to receive serial differential GPS data formatted per RTCM SC 104 Recommended Standards For Differential Navstar GPS Service Version 2 2 see section 4 5 Received RTCM Doata for details Violet PORT2 Second Serial Asynchronous Output electrically identical to PORT 1 DATA DATA OUT Reserved for future use OU Table 1 GPS 16x Wire Pinout 190 00228 08 GPS 16x Technical Specific
5. 8 AUSTRALIAN GEODETIC 1966 Australia Tasmania Island 9 AUSTRALIAN GEODETIC 1984 Australia Tasmania Island 10 ASTRO DOS 71 4 St Helena Island 11 ASTRONOMIC STATION 1952 Marcus Island 12 ASTRO B4 SOROL ATOLL Tern Island 13 BELLEVUE IGN Efate and Erromango Islands 14 BERMUDA 1957 Bermuda Islands 15 BOGOTA OBSERVATORY Colombia 16 CAMPO INCHAUSPE Argentina 17 CANTON ASTRO 1966 Phoenix Islands 18 CAPE CANAVERAL Florida Bahama Islands 19 CAPE South Africa 20 CARTHAGE Tunisia 21 CHATHAM 1971 Chatham Island New Zealand 22 CHUA ASTRO Paraguay 23 CORREGO ALEGRE Brazil 24 DJAKARTA BATAVIA Sumatra Island Indonesia 25 DOS 1968 Gizo Island New Georgia Islands 26 EASTER ISLAND 1967 Easter Island 27 EUROPEAN 1950 Austria Belgium Denmark Finland France Germany Gibraltar Greece Italy Luxembourg Netherlands Norway Portugal Spain Sweden Switzerland 28 EUROPEAN 1979 Austria Finland Netherlands Norway Spain Sweden Switzerland 29 FINLAND HAYFORD 1910 Finland 30 GANDAJIKA BASE Republic of Maldives 31 GEODETIC DATUM 1949 New Zealand 32 ORDNANCE SURVEY OF GREAT BRITAIN 1936 England Isle of Man Scotland Shetland Islands Wales 33 GUAM 1963 Guam Island 34 GUX 1 ASTRO Guadalcanal Island 35 HJORSEY 1955 Iceland 190 00228 08 GPS 16x Technical Specifications Rev A Page 19 36 HONG KONG 1963 Hong Kong 37 INDIAN Bangladesh India Nepal 38
6. 105 Austria 106 Potsdam 107 Taiwan modified Hu Tzu Shan 108 GDA Geocentric Datum of Australia 109 Dutch 190 00228 08 GPS 16x Technical Specifications Rev A Page 21 APPENDIX B GARMIN BINARY OUTPUT FORMAT Note The following applies to all software versions of GPS 16xLVS and GPS 16xHVS Two records are transmitted once per second by the GPS 16x series products One record contains primarily post process information such as position and velocity information The second record contains receiver measurement information The records are sent at a default baud rate of 9600 baud 8 data bits and no parity Records begin with a delimiter byte 10 hex The second byte identifies the record type 33 hex for a position record 34 hex for a receiver measurement The third byte indicates the size of the data The fourth byte is the first byte of data The data is then followed by a checksum byte a delimiter byte 10 hex and an end of transmission character 03 hex Note If RTCM 104 differential data is sent to the GPS sensor the board will reset the Garmin Binary Output Data baud rate to the same baud rate used for RTCM 104 data If the differential inputs are used on the GPS sensor the RTCM 104 data must be sent to the GPS sensor at 9600 baud preferred or 4800 baud RTCM 104 baud rates less than 4800 baud are not supported by the GPS sensors as it would limit bus bandwidth past the point where a once per second Garmin binary outpu
7. Get Configuration From GPS F8 Retrieves the current programming from the sensor The programming is then displayed in the Main Interface window Send Configuration To GPS F9 Sends the changes you have made to the programming to the sensor Switch to NMEA Mode F10 Switches the unit to NMEA Mode The sensor must be in NMEA Mode when connected to this software Switch to Garmin Mode F11 Switches the unit to Garmin Mode Update Software F12 After you have downloaded a new software version for the sensor you can update the sensor with the new software Select Update Software and then select the file using the Open dialog box You must locate both the rgn file and the updater exe file View Menu The View Menu allows you to view the NMEA sentences transmitted by the sensor You can also customize how the program looks by showing and hiding the Toolbar and Status Bar Help Menu The Help Menu displays the software version and copyright information For the latest free software updates excluding map data throughout the life of your Garmin products visit the Garmin Web site at www garmin com A GARMIN 2007 Garmin Ltd or its subsidiaries Garmin International Inc 1200 East 151 Street Olathe Kansas 66062 U S A Garmin Europe Ltd Liberty House Hounsdown Business Park Southampton Hampshire SO40 9RB U K Garmin Corporation No 68 Jangshu 2 Road Shijr Taipei County Taiwan www garmin com Par
8. PRN number 01 to 32 GPS week number SV health bits 17 24 of each almanac page Eccentricity Almanac reference time Inclination angle Rate of right ascension Root of semi major axis Omega argument of perigee Longitude of ascension node Mean anomaly af clock parameter afl clock parameter 190 00228 08 GPS 16x Technical Specifications Rev A Page 11 4 1 2 Sensor Initialization Information PGRMI The PGRMI sentence provides information used to initialize the GPS sensor s set position and time used for satellite acquisition Receipt of this sentence by the GPS sensor causes the software to restart the satellite acquisition process If there are no errors in the sentence it will be echoed upon receipt If an error is detected the echoed PGRMI sentence will contain the current default values Current PGRMI defaults with the exception of the Receiver Command which is a command rather than a mode can also be obtained by sending PGRMIE to the GPS sensor PGRML lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt hh lt CR gt lt LF gt Latitude ddmm mmm format leading zeros must be transmitted Latitude hemisphere N or S Longitude dddmm mmm format leading zeros must be transmitted Longitude hemisphere E or W Current UTC date ddmmyy format Current UTC time hhmmss format Receiver Command A Cold Start R Unit Reset
9. Page ii 4 2 10 Estimated Error Information PGRMB essessssssessesserssessesseesseesoessesseossessessresoesesseeserssesseessroseesoesstesereresseessrsree LE 4 2 11 GPS Fix Data Sentence PGRMF 4 2 12 Map Datum PGRMM 5 nest rata EHE RE SEE EORR EEEREERR ERN EKR SEL E EE ES ER HEE RM PERRA NENNEN 4 2 13 Sensor Status Information PGRMT 4 2 14 3D Velocity Information PGRM V eere ertt eate terre ree thee thee Rel tie A GE Eae ep e ded ee pie er eese d edes 4 2 15 DGPS Beacon Information PGRMB 45 iran o e e Ye dr ros inni e di ce eres 18 2 3 Baud Rate Selection terr rro Entro ete pur cess eer reed e tro vases rer eee bip eER HER Lese ETE E ENET 18 4 4 One Pulse Per Second PPS Output eee eee eese eee eee REEERE EEE E E Ee E RESE E ANE EREE EEEE 18 4 5 Received RTCM Data 18 Appendix A Earth Datums e m L9 Appendix B Garmin Binary Output Format eee e ceres eee eee ee eene eene esee en sees ea sees asse 22 P sition RECO sissies issd5s seve does nene Te io e i ene de tbs ber ede ee ie ERO er ER ERE RE Satellite Data Record Sample C Kein cem EE Appendix C Ephemeris Data download Programming Example 25 S m Garmin Binary Format Review Ephemieris Download Proceduire 5 5 5 enemies ib eb i Eee E e ERE EAE RES TX Pac
10. Select the radio button next to the type of Garmin sensor you are configuring Connecting to the Sensor C GPS 17x C GPS 18x PC LVC C GPS 18x 5Hz After selecting the type of sensor the following window opens This is the Main Interface Screen for the program To configure your sensor you must first connect to the sensor 1 Select Config gt Switch to NMEA Mode or press the F10 key 2 Select Comm gt Setup to open the Comm Setup window 3 Select the serial port to which the sensor is connected Select Auto to have the program automatically determine the baud rate or select Manual to manually select the baud rate of the GPS 16x Click OK when done 4 Click the Connect icon s or select Comm gt Connect 5 To view the current programming of the sensor select Config gt Get Configuration from GPS or press the F8 key The current programming of the sensor is displayed in the window shown to the right 190 00228 08 SNSRCFG GARMIN Sensor Configuration Software File Comm Config Yiew Help lni x ell aglzlsglel el Sl Configuration file GPS Base Hodel System Configuration Baud rate Power Save Hode Phase Output Data NHER Configuration WHER 2 30 Hode NHER Output Time PPS Configuration PPS mode PPS Length PPS Auto Off GPS Configuration Fix mode DGPS Hode Differential mode Dead Reckon Time Latitude Longitude Altitude Eart
11. by the GPS sensor must be terminated with lt CR gt lt LF gt the ASCII characters for carriage return OD hexadecimal and line feed 0A hexadecimal The checksum hh is used for parity checking data and is not required but is recommended for use in environments containing high electromagnetic noise It is generally not required in normal PC environments When used the parity bytes hh are the ASCII representation of the exclusive or XOR sum of all the characters between the and characters non inclusive The hex representation must be a capital letter such as 3D instead of 3d Sentences may be truncated by lt CR gt lt LF gt after any data field and valid fields up to that point will be acted on by the sensor 4 1 1 Almanac Information ALM The GPALM sentence can be used to initialize the GPS sensor s stored almanac information in the unlikely event of non volatile memory loss or after storing longer than six months without tracking GPS satellites GPALM lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt 10 gt lt 11 gt lt 12 gt lt 13 gt lt 14 gt lt 15 gt hh lt CR gt lt LF gt Total number of ALM sentences to be transmitted by the GPS sensor during almanac download This field can be null or any number when sending almanac to the GPS sensor Number of current ALM sentence This field can be null or any number when sending almanac to the GPS sensor Satellite
12. delta z earth centered coordinate 5000 0 to 5000 0 meters 1 meter resolution Differential mode A Automatic output DGPS data when available non DGPS otherwise D Differential exclusively output only differential fixes NMEA 0183 Baud rate 3 4800 4 9600 5 19200 6 300 7 600 8 38400 No Effect This field is not used on this model and is included only for backwards compatibility PPS mode 1 Off 2 On PPS pulse length 0 though 48 n 1 20 ms Example n 4 corresponds to a 100 ms wide pulse Dead reckoning valid time 1 to 30 sec All configuration changes take affect after receipt of a valid value except baud rate and PPS mode Baud rate and PPS mode changes take effect on the next power cycle or an external reset event 190 00228 08 GPS 16x Technical Specifications Rev A Page 12 4 1 4 Additional Sensor Configuration Information PGRMC1 The PGRMCI sentence provides additional information used to configure the GPS sensor operation Configuration parameters are stored in non volatile memory and retained between power cycles The GPS sensor will echo this sentence upon its receipt if no errors are detected If an error is detected the echoed PGRMC1 sentence will contain the current default values Current default values can also be obtained by sending PGRMCIE to the GPS sensor PGRMCI1 lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt
13. field Since a DLE that is a part of the data will have a second DLE to escape it a single DLE followed by an ETX byte means that the end of a packet has been reached In order to interpret these packets properly one must remove the escaped DLE bytes This can be achieved using an algorithm similar to the Sample C Code fragment on the previous page 190 00228 08 GPS 16x Technical Specifications Rev A Page 25 Ephemeris Download Procedure The following is the sequence of events that occurs when downloading ephemeris Send a packet containing the command that requests ephemeris data IOP_DOWN_LOAD_ EPH The packet should look like this TX Packet Ephemeris Data Request Byte Description Name Delimiter DLE Command Data ID IOP CMND DATA Number of bytes in data SIZE Request to D L ephemeris IOP DOWN LOAD EPH Pad to 2 bytes DATA Checksum calculation CHKSUM Delimiter DLE End ETX HEX Value 0x10 Ox0A 0x02 Ox5D 0x00 Ox97 0x10 0x03 From now on checksum calculation will not be shown for every packet example The unit will return an acknowledgement packet that will look like this RX Packet Acknowledgement Byte Description Name Delimiter DLE Acknowledgement ID IOP_ACK_BYTE Number of bytes in data SIZE Request to D L ephemeris IOP_CMND_DATA Pad DATA Checksum calculation CHKSUM Delimiter DLE End of packet ETX HEX Value 0x10 0x06 0x02 Ox0A 0x00 0x10 0x03 Then the u
14. to 999 9 knots leading zeros will be transmitted Speed over ground 0000 0 to 1851 8 kilometers per hour leading zeros will be transmitted Mode indicator only output if NMEA 0183 version 2 30 active A Autonomous D Differential E Estimated N Data not valid 190 00228 08 GPS 16x Technical Specifications Rev A Page 16 4 2 9 Geographic Position GLL GPGLL lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt hh lt CR gt lt LF gt Latitude ddmm mmmm format leading zeros will be transmitted Latitude hemisphere N or S Longitude dddmm mmmm format leading zeros will be transmitted Longitude hemisphere E or W UTC time of position fix hhmmss format Status A Valid position V NAV receiver warning Mode indicator only output if NMEA 0183 version 2 30 active A Autonomous D Differential E Estimated N Data not valid 4 2 10 Estimated Error Information PGRME PGRME lt 1 gt M lt 2 gt M lt 3 gt M hh lt CR gt lt LF gt Estimated horizontal position error HPE 0 0 to 999 9 meters Estimated vertical position error VPE 0 0 to 999 9 meters Estimated position error EPE 0 0 to 999 9 meters 4 2 11 GPS Fix Data Sentence PGRMF PGRMF lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt 10 gt lt 11 gt lt 12 gt lt 13 gt lt 14 gt lt 15 gt hh lt CR gt lt LF gt GPS week number 0 t
15. 10 gt lt 11 gt lt 12 gt lt 13 gt lt 14 gt hh lt CR gt lt LF gt NMEA 0183 output time 1 900 sec Binary Output Data Off 2 On No Effect This field is not used on this model and is included only for backwards compatibility DGPS beacon frequency 0 0 283 5 325 0 kHz in 0 5 kHz steps DGPS beacon bit rate 0 25 50 100 or 200 bps DGPS beacon scanning Off 2 On NMEA 0183 version 2 30 mode indicator 1 Off 2 On DGPS mode W WAAS Only N None DGPS disabled Power Save Mode P Power Save mode N Normal No Effect Adaptive Transmission Enabled 1 Off 2 On No Effect Auto Power Off 1 Off 2 On No Effect Power On with External Charger 1 Off 2 On PPS Auto Off Mode 1 Off 2 On No Effect This field is not used on this model and is included only for backwards compatibility Configuration changes take effect immediately with the exception of Binary Output Data and PPS Auto Off Mode which take effect on the next power cycle or a reset event A reset can be commanded by sending the sentence PGRMI R see section 4 1 2 Sensor Initialization Information PGRMI If the GPS sensor is in the Binary data mode it is necessary to send the following eight byte data stream to temporarily change the data format to NMEA 0183 Then follow by sending a PGRMCI sentence that turns off the Binary Output Data format 10 0A 02 26 00 CE 10 03 Hexadecimal
16. CPS 16x TECHNICAL SPEC ACATIONS A GARMIN Garmin International Inc 1200 E 151 Street Olathe KS 66062 USA 190 00228 08 Revision A December 2007 2007 Garmin Ltd or its subsidiaries Garmin International Inc 1200 East 151 Street Olathe Kansas 66062 U S A Tel 913 397 8200 or 800 800 1020 Fax 913 397 8282 Garmin Europe Ltd Liberty House Hounsdown Business Park Southampton Hampshire SO40 9RB U K Tel 44 0 870 8501241 outside the UK 0808 2380000 within the UK Fax 44 0 870 8501251 Garmin Corporation No 68 Jangshu ore Road Shijr Taipei County Taiwan Tel 886 2 2642 9199 Fax 886 2 2642 9099 All rights reserved Except as expressly provided herein no part of this manual may be reproduced copied transmitted disseminated downloaded or stored in any storage medium for any purpose without the express prior written consent of Garmin Garmin hereby grants permission to download a single copy of this manual onto a hard drive or other electronic storage medium to be viewed and to print one copy of this manual or of any revision hereto provided that such electronic or printed copy of this manual must contain the complete text of this copyright notice and provided further that any unauthorized commercial distribution of this manual or any revision hereto is strictly prohibited Information in this document is subject to change without notice Garmin reserves the right to change or imp
17. Configuration EE should be left alone Refer to the beginning of NMEA Output Time T this manual for clarification about some of NMEA 2 30 Mode L Lean Er f fi these fields For the most part this window is GE IESELTINOTIV O used to enter a new latitude longitude and altitude for the sensor This is especially m Pulse Per Second PPS Configuration helpful when you are programming the sensor Iv Pulse Per Second PPS Length SetAutolacate for use in a particular geographic location I PPS Auto Off Mode foo ESTEE Resetting the unit Reset Unit performs a reset on the unit much like cycling the power 7 GPS Configuration Resetting the non volatile memory Reset Fix Mode Automatic zl Pad lec e Dat NonVol will clear all of the data from the DGPS Mode waas Ony v WGS 84 30 sec non volatile memory Diff Mode Automatic Y Latitude 0 fo EINE wes Longitude o S o ECW Altitude 00 meter window If the sentence is enabled a check mark appears in the box to the NMEA Sentence Selections F7 Displays the NMEA Sentence Selections x left of the sentence name Click the box to enable or disable to the sentence r Selections PGRMB jv GPGSA J PGRME jv GPGSV PGRMF v GPRMC v PGRMT GPvTG PGRMV Cancel Lok Toi J7 PGRMM Pi tev7a GPGLL OK 190 00228 08 GPS 16x Technical Specifications Rev A Page 31
18. DX EPH CIS pTemp EphStruct cic float amp m TempArray IDX EPH CIC pTemp EphStruct crs float amp m TempArray IDX EPH CRS pTemp EphStruct crc float amp m TempArray IDX EPH CRC pTemp gt EphStruct iod unsigned char amp m TempArray IDX EPH IOD return copyData 190 00228 08 GPS 16x Technical Specifications Page 28 Rev A Each data member of the ephemeris data structure is indexed into the data array of the ephemeris packet and cast as the appropriate data type The indices are as follows note that they correlate to the data members of the structure respectively define I define I define I define I define I define I define I define I define I define I define I define I define I define I define I define I define IDX define IDX define IDX_ define IDX_ define IDX_ define IDX_ define IDX The last packet will be a download complete packet that will look like this DX E DX E DX E DX E DX E DX E DX E DX E DX E DX E DX E DX E DX E DX E DX E DX E _EP EPH WN EPH TOC PH TOE EPH AFO0 EPH AFL EPH AF2 EPH URA PH E EPH SORTA EPH DN EPH MO EPH W EPH OMGO EPH IO EPH ODO EPH IDO EPH CUS EPH CUC EPH CIS EPH CIC EPH CRS EPH CRC H IOD 0 4 8 12 16 20 24 28 36 44 52 60 68 76 84 88 92 96 100 104 108 112 116 TX Packet Download Complete Byte Descriptio
19. INDIAN Thailand Vietnam 39 IRELAND 1965 Ireland 40 ISTS O73 ASTRO 1969 Diego Garcia 41 JOHNSTON ISLAND 1961 Johnston Island 42 KANDAWALA Sri Lanka 43 KERGUELEN ISLAND Kerguelen Island 44 KERTAU 1948 West Malaysia Singapore 45 L C 5 ASTRO Cayman Brac Island 46 LIBERIA 1964 Liberia 47 LUZON Mindanao Island 48 LUZON Phillippines excluding Mindanao Island 49 MAHE 1971 Mahe Island 50 MARCO ASTRO Salvage Islands 51 MASSAWA Eritrea Ethiopia 52 MERCHICH Morocco 53 MIDWAY ASTRO 1961 Midway Island 54 MINNA Nigeria 55 NORTH AMERICAN 1927 Alaska 56 NORTH AMERICAN 1927 Bahamas excluding San Salvador Island 57 NORTH AMERICAN 1927 Central America Belize Costa Rica El Salvador Guatemala Honduras Nicaragua 58 NORTH AMERICAN 1927 Canal Zone 59 NORTH AMERICAN 1927 Canada including Newfoundland Island 60 NORTH AMERICAN 1927 Caribbean Barbados Caicos Islands Cuba Dominican Republic Grand Cayman Jamaica Leeward Islands Turks Islands 61 NORTH AMERICAN 1927 Mean Value CONUS 62 NORTH AMERICAN 1927 Cuba 63 NORTH AMERICAN 1927 Greenland Hayes Peninsula 64 NORTH AMERICAN 1927 Mexico 65 NORTH AMERICAN 1927 San Salvador Island 66 NORTH AMERICAN 1983 Alaska Canada Central America CONUS Mexico 67 NAPARIMA BWI Trinidad and Tobago 68 NAHRWAN Masirah Island Oman 69 NAHRWAN Saudi Arabia 70 NAHRWAN United Arab Emirates 71 OBSERVATORIO 1966 C
20. No Effect This field is not used on this model and is included only for backwards compatibility No Effect This field is not used on this model and is included only for backwards compatibility No Effect This field is not used on this model and is included only for backwards compatibility No Effect This field is not used on this model and is included only for backwards compatibility No Effect This field is not used on this model and is included only for backwards compatibility No Effect This field is not used on this model and is included only for backwards compatibility No Effect This field is not used on this model and is included only for backwards compatibility No Effect This field is not used on this model and is included only for backwards compatibility 190 00228 08 GPS 16x Technical Specifications Rev A Page 17 4 2 14 3D Velocity Information PGRMV PGRMV lt 1 gt lt 2 gt lt 3 gt hh lt CR gt lt LF gt True east velocity 514 4 to 514 4 meters second True north velocity 514 4 to 514 4 meters second Up velocity 999 9 to 999 9 meters second 4 2 15 DGPS Beacon Information PGRMB Note PGRMB is not supported at this time PGRMB lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt K lt 6 gt lt 7 gt hh lt CR gt lt LF gt No Effect This field is not used on this model and is included only for backwards compatibility No Effect This field is not used on this m
21. Technical Specifications Rev A Page iii 1 INTRODUCTION 1 1 CAUTION CAUTION The GPS system is operated by the government of the United States which is solely responsible for its accuracy and maintenance Although the GPS 16x is a precision electronic NAVigation AID NAVAID any NAVAID can be misused or misinterpreted and therefore become unsafe Use these products at your own risk To reduce the risk carefully review and understand all aspects of these Technical Specifications before using the GPS 16x When in actual use carefully compare indications from the GPS to all available navigation sources including the information from other NAVAIDs visual sightings charts etc For safety always resolve any discrepancies before continuing navigation FCC Compliance This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and may cause harmful interference to radio communications if not installed and used i
22. age Temperature 40 C to 80 C 40 F to 176 F 190 00228 08 GPS 16x Technical Specifications Page 4 Rev A 1 5 4 1 5 4 1 GPS Performance Receiver WAAS Enabled GPS receiver continuously tracks and uses multiple satellites to compute and update your position 1 5 4 2 Acquisition Times Reacquisition Less than 2 seconds Hot Approx 1 second all data known Warm Approx 38 seconds initial position time and almanac known ephemeris unknown Cold Approx 45 seconds 1 5 4 3 Sentence Rate 1 second default NMEA 0183 output interval configurable from 1 to 900 seconds in 1 second increments 1 5 4 4 Accuracy GPS Standard Positioning Service SPS Position lt 15 meters 95 typical 100 meters with Selective Availability on Velocity 0 1 knot RMS steady state e DGPS USCG RTCM Position 3 5 meters 95 typical Velocity 0 1 knot RMS steady state e DGPS WAAS Position 3 meters 95 typical Velocity 0 1 knot RMS steady state e PPS Time 1 microsecond at rising edge of PPS pulse subject to Selective Availability e Dynamics 999 knots velocity only limited at altitude greater than 60 000 feet 3g dynamics 1 5 5 Interfaces e True RS 232 output asynchronous serial input compatible with RS 232 or TTL voltage levels RS 232 polarity e User selectable baud rate 4800 9600 19200 or 38400 1 5 5 1 Port 1 e Configurable between NMEA 0183 Versions 2 00 factory default and 3 00 e ASCII output senten
23. anac sentences other NMEA 0183 data output will be suspended temporarily GPALM lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt 10 gt lt 11 gt lt 12 gt lt 13 gt lt 14 gt lt 15 gt hh lt CR gt lt LF gt lt field information gt can be found in section 4 1 1 Almanac Information ALM 4 2 4 Global Positioning System Fix Data GGA GPGGA lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt M lt 10 gt M lt 11 gt lt 12 gt hh lt CR gt lt LF gt UTC time of position fix hhmmss format Latitude ddmm mmmm format leading zeros will be transmitted Latitude hemisphere N or S Longitude dddmm mmmm format leading zeros will be transmitted Longitude hemisphere E or W GPS quality indication 0 Fix not available 1 Non differential GPS fix available 2 Differential GPS DGPS fix available 6 Estimated Number of satellites in use 00 to 12 leading zeros will be transmitted Horizontal dilution of precision 0 5 to 99 9 Antenna height above below mean sea level 9999 9 to 99999 9 meters Geoidal height 999 9 to 9999 9 meters Differential GPS RTCM SC 104 data age number of seconds since last valid RTCM transmission null if not an RTCM DGPS fix Differential Reference Station ID 0000 to 1023 leading zeros will be transmitted null if not an RTCM DGPS fix 190 00228 08 GPS 16x Technical Spe
24. ata be SDM_spc_eph_type 190 00228 08 GPS 16x Technical Specifications Rev A Page 27 An example function to do the parsing is shown below Note that the double data types are converted by the function cnvt ieee double This function merely swaps the upper and lower words of the double This is necessary on GPS 15 16 17 series sensors due to a compatibility issue with the IEEE floating point standard In this example the array m_TempArray contains the data portion of the ephemeris packet with DLE stuffing removed KKK KK KR A A A A A A A AA A A A A A A A A A A kCkCkCkCkCk A k ck k ck k ckckckokckok sk ke ke e kx PROC EDUR NAM me DESCRIPTION have been removed integer type xoxo Ro F HF FH copyData ephemeris data unpacker unpacks data from ephemeris packet DATA field after Gl xtraneous DLI Note that sintl6 refers to a signed 16 bit FER AA A A A A A AA AA AA AAA AA A A A A A A kCkCk Ck k ck k ck k ck A A A A ke e e e e x f void GPM ephList copyData ephemeris data unpacker GPM ephData pTemp pointer to ephemeris data array v pTemp EphStruct wn sintl6 amp m TempArray IDX EPH WN pTemp EphStruct toc float amp m TempArray IDX EPH TOC plemp
25. ations Rev A Page 7 2 2 GPS 16x WIRING DIAGRAMS 1 RED POWER 2 BLACK GROUND 4 BLUE PORT 1 DATAIN PIN 2 DATAIN 5 WHITE PORT 1 DATA OUT PIN 5 GROUND GPS 16x Power Data Cable ooje Oo PIN 3 DATA OUT o O O o O O o DB 9 Serial Connector Female Pin Contacts Figure 1 Computer Serial Port Interconnection 1 1 Fuse Power Source 1A 1 RED POWER 2 BLACK GROUND 3 YELLOW REMOTE ON OFF 4 BLUE PORT 1 DATA IN 5 WHITE PORT 1 DATA OUT GPS 16x Power Data Cable PIN 2 DATA OUT PIN 3 DATA IN PIN 5 GROUND DB 9 Serial Connector Male Pin Contacts Figure 2 PDA Serial Port Interconnection 1 RED POWER GROUND 2 BLACK GROUND 3 YELLOW REMOTE ON OFF DATA OUT 4 BLUE PORT 1 DATA IN DATA IN 5 WHITE PORT 1 DATA OUT Host Application NMEA Device E Power Data Cable Figure 3 Basic NMEA Device Interconnection 190 00228 08 GPS 16x Technical Specifications Rev A Page 8 3 MECHANICAL CHARACTERISTICS amp MOUNTING 3 4 GPS 16x FLUSH MOUNT TN 1 65 inches 42 mm 2 44 inches 62 mm Figure 4 GPS 16x Flush Mount Dimensions 190 00228 08 GPS 16x Technical Specifications Rev A Page 9 3 2 GPS 16x OPTIONAL MAGNETIC MOUNT Magnetic Mount lt M4 Flat Head Screws 3 each Figure 5 Optional GPS 16x Magnetic Mount 190 00228 08 GPS 16x Technical Specificat
26. ces GPALM GPGGA GPGLL GPGSA GPGSV GPRMC GPVTG NMEA approved sentences PGRMB PGRME PGRMF PGRMM PGRMT and PGRMV Garmin proprietary sentences e NMEA 0183 Outputs see section 4 2 Transmitted NMEA 0183 Sentences for full protocol specifications o Position velocity and time o Receiver and satellite status o Differential Reference Station ID and RTCM Data age o Geometry and error estimates e NMEA 0183 Inputs see section 4 1 Received NMEA 0183 Sentences for full protocol specifications o Initial position date and time not required o Earth datum and differential mode configuration command PPS Enable GPS satellite almanac e Configurable for binary data output 1 5 5 2 Port 2 Real time Differential Correction input RTCM SC 104 message types 1 2 3 7 and 9 190 00228 08 GPS 16x Technical Specifications Rev A Page 5 1 5 5 3 PPS 1 Hz pulse programmable width 1 us accuracy 1 5 5 4 Power Control e Off Open circuit e On Ground or pull to low logic level lt 0 3 volts 190 00228 08 GPS 16x Technical Specifications Rev A Page 6 2 GPS 16x WIRING AND PINOUTS 2 1 GPS 16x PINOUT The GPS 16xLVS and GPS 16xHVS sensors utilize an 8 pin RJ 45 plug The following is a functional description of each wire in the cable assembly RJ 45 Wire js Color Signal Description Name 1 POWER GPS 16xLVS Regulated 3 3 to 6 Vdc Typical operating current is 80 mA An internal 6 67 Vdc transient zener diode and a po
27. cifications Rev A Page 15 4 2 5 GPS DOP and Active Satellites GSA GPGSA lt 1 gt lt 2 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt hh lt CR gt lt LF gt Mode M Manual A Automatic Fix type 1 Not available 2 2D 3 3D PRN number 01 to 32 of satellite used in solution up to 12 transmitted leading zeros will be transmitted Position dilution of precision 0 5 to 99 9 Horizontal dilution of precision 0 5 to 99 9 Vertical dilution of precision 0 5 to 99 9 4 2 6 GPS Satellites in View GSV GPGSV lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt hh lt CR gt lt LF gt Total number of GSV sentences to be transmitted Number of current GSV sentence Total number of satellites in view 00 to 12 leading zeros will be transmitted Satellite PRN number 01 to 32 leading zeros will be transmitted Satellite elevation 00 to 90 degrees leading zeros will be transmitted Satellite azimuth 000 to 359 degrees true leading zeros will be transmitted Signal to noise ratio C No 00 to 99 dB leading zeros will be transmitted Note Items lt 4 gt lt 5 gt lt 6 gt and lt 7 gt repeat for each satellite in view to a maximum of four 4 satellites per sentence Additional satellites in view infor
28. e the ASCII representation of the exclusive or XOR sum of all the characters between the and characters non inclusive Sentences may be truncated by lt CR gt lt LF gt after any data field and valid fields up to that point will be acted on by the GPS sensor See section 4 Software Interface The unit will stay in Garmin mode until the next power cycle Now that unit is in Garmin binary format transmitted and received packets are structured as follows Byte Description Name Notes Packet Delimiter DLE 0x10 Packet ID type ID Packet type Data Size SIZE Number of bytes in data portion not including escaped DLEs See below Data bytes DATA Not to exceed 256 bytes Checksum CHKSUM 2 s complement of the arithmetic sum of all the bytes from the Packet ID byte to the last DATA byte inclusive not counting escaped DLEs See below Packet Delimiter DLE 0x10 End of Packet ETX 0x03 The DLE 0x10 is a delimiter byte used in conjunction with the ETX byte to determine beginning and ending of a packet However a 0x10 could appear in the data itself if this occurs the byte is escaped with another DLE byte sometimes referred to as DLE stuffing In other words if a DLE occurs in the data another DLE is transmitted immediately after to indicate that it is a data byte and it is not being used as a delimiter Note that the size byte of the packet does not count the second DLE byte in an escaped DLE pair in the data
29. e sentence is 82 characters including delimiters Values in the table include the sentence start delimiter character and the termination delimiter lt CR gt lt LF gt The factory set defaults will result in a once per second transmission at the NMEA 0183 specification transmission rate of 4800 baud Regardless of the selected baud rate the information transmitted by the GPS sensor is referenced to the one pulse per second output pulse immediately preceding the GPRMC sentence or whichever sentence is output first in the burst see Table 2 above 190 00228 08 GPS 16x Technical Specifications Rev A Page 14 4 2 Transmitted Time The GPS sensor outputs Coordinated Universal Time UTC date and time of day in the transmitted sentences Before the initial position fix the on board clock provides the date and time of day After the initial position fix the date and time of day are calculated using GPS satellite information and are synchronized with the one pulse per second output The GPS sensor uses information obtained from the GPS satellites to add or delete UTC leap seconds and correct the transmitted date and time of day The transmitted date and time of day for leap second correction follow the guidelines in National Institute of Standards and Technology Special Publication 432 Revised 1990 This document is for sale by the Superintendent of Documents U S Government Printing Office Washington D C 20402 U S A When a posit
30. ence will have no effect PGRMO GPALM will cause the GPS sensor to transmit all stored almanac information All other NMEA 0183 sentence transmission will be suspended temporarily PGRMO G will cause the COM port to change to Garmin Data Transfer format for the duration of the power cycle You must enable Garmin Data Transfer format to update the GPS 16x series products 190 00228 08 GPS 16x Technical Specifications Rev A Page 13 4 2 TRANSMITTED NMEA 0183 SENTENCES The subsequent paragraphs define the sentences that can be transmitted on COM 1 by the GPS sensor 4 2 1 Sentence Transmission Rate Sentences are transmitted with respect to the user selected baud rate The GPS sensor will transmit each sentence except where noted in particular transmitted sentence descriptions at a periodic rate based on the user selected baud rate and user selected output sentences The GPS sensor will transmit the selected sentences contiguously The length of the transmission can be determined by the following equation and Tables 2 and 3 total characters to be transmitted length of transmission 2e MMMMMMMeMeeneeL characters transmitted per second Sentence Output by Default Maximum Characters Table 2 NMEA 0183 Output Sentence Order and Size Baud Characters per Second Table 3 Characters per Second for Available Baud Rates The maximum number of fields allowed in a singl
31. gt EphStruct toe float amp m TempArray IDX EPH TOE pTemp EphStruct af0 float amp m TempArray IDX EPH AF0 pTemp EphStruct afl float amp m TempArray IDX EPH AF1 pTemp EphStruct af2 float amp m TempArray IDX EPH AF2 pTemp EphStruct ura float amp m TempArray IDX EPH URA cnvt ieee double long amp m TempArray IDX EPH E pTemp EphStruct e double amp m TempArray IDX EPH E cnvt ieee double long amp m TempArray IDX EPH SQRTA pTemp EphStruct sqrta double amp m TempArray IDX EPH SQRTA cnvt ieee double long amp m TempArray IDX EPH DN pTemp 5EphStruct dn double amp m TempArray IDX EPH DN cnvt ieee double long amp m TempArray IDX EPH MO pTemp gt EphStruct m0 double amp m TempArray IDX EPH M0 cnvt ieee double long amp m TempArray IDX EPH W plemp gt EphStruct w double amp m TempArray IDX EPH WI cnvt ieee double long amp m TempArray IDX EPH OMG0 pTemp EphStruct omg0 double amp m TempArray IDX EPH OMGO0 cnvt ieee double long amp m TempArray IDX EPH I0 pTemp EphStruct i0 double amp m TempArray IDX EPH I0 pTemp EphStruct odot float amp m TempArray IDX EPH ODOT pTemp EphStruct idot float amp m TempArray IDX EPH IDOT pTemp EphStruct cus float amp m TempArray IDX EPH CUS pTemp EphStruct cuc float amp m TempArray IDX EPH CUC pTemp EphStruct cis float amp m TempArray I
32. h datum index GPS 16x Technical Specifications SNSRCFG GPS l6 x Selected Sentences GPGGA GPGSA GPGSU 4600 bps Off Normal Mode Off GPRMC PGRMT oft l sec l1 Hz 100 msec off Automatic WAAS Only Automatic 30 0 sec 00 00 000 N 000 00 000 E 300 0 meters Wes 84 Rev A Page 30 File Menu The File Menu allows you to open save and print sensor configurations The items in the File Menu work like most Windows based programs Comm Menu The Comm Communication Menu allows you to set the port number baud rate and then connect and disconnect from the sensor Setup Opens the Comm Setup window Select the serial port to which the s Set x sensor is connected from the drop down list Then select Auto the program x determines the baud rate on its own or Manual you then enter the baud Serial Port ses Rate rate for the baud rate entry z be Ee Connect Select Connect to connect to the sensor to change or view the configuration Cancel Disconnect Select Disconnect to disconnect from the sensor Config Menu i a Sensor Configuration x The Config Configuration Menu allows you x to configure the sensor as it is connected System Configuration Les Power Save Mode i H 7 k Sensor Configuration F6 Opens the Baud Rate 4800 Phase Output Data Cancel Sensor Configuration window shown to the right Many of the fields in this window NMEA
33. he proof of purchase for warranty repairs Write the tracking number clearly on the outside of the package Send the unit freight charges prepaid to any Garmin warranty service station Online Auction Purchases Products sold through online auctions are not eligible for rebates or other special offers from Garmin Online auction confirmations are not accepted for warranty verification To obtain warranty service an original or copy of the sales receipt from the original retailer is required Garmin will not replace missing components from any package purchased through an online auction International Purchases A separate warranty is provided by international distributors for units purchased outside the United States This warranty is provided by the local in country distributor and this distributor provides local service for your unit Distributor warranties are only valid in the area of intended distribution Units purchased in the United States or Canada must be returned to the Garmin service center in the United Kingdom the United States Canada or Taiwan for service Garmin International Inc 1200 E 151st Street Olathe Kansas 66062 U S A Tel 913 397 8200 or 800 800 1020 Fax 913 397 8282 Garmin Europe Ltd Liberty House Hounsdown Business Park Southampton Hampshire SO40 9RB UK Tel 44 0 870 8501241 outside the UK 0808 2380000 within the UK Fax 44 0 870 8501251 Garmin Corporation No 68 Jangshu 2nd Road S
34. hijr Taipei County Taiwan Tel 886 2 2642 9199 Fax 886 2 2642 9099 190 00228 08 GPS 16x Technical Specifications Rev A Page 2 1 3 OVERVIEW The GPS 16x series products are complete GPS sensors including embedded receiver and antenna designed for a broad spectrum of Original Equipment Manufacture OEM system applications Based on the proven technology found in other Garmin GPS receivers the GPS 16x tracks multiple satellites at a time while providing fast time to first fix one second navigation updates and low power consumption This generation of GPS sensors includes the capability of FAA Wide Area Augmentation System WAAS differential GPS The GPS 16x design uses the latest technology and high level circuit integration to achieve superior performance while minimizing space and power requirements All critical components of the system including the RF IF receiver hardware and the digital baseband are manufactured by Garmin to ensure the quality and capability of the GPS The hardware capability combined with software intelligence makes the GPS 16x easy to integrate and use The GPS 16x series products are designed to withstand rugged operating conditions and are waterproof to IEC 60529 IPX7 immersion in 1 meter of water for 30 minutes These complete GPS receivers require minimal additional components to be supplied by an OEM or system integrator A minimum system must provide the GPS with a source of power and a clear view of the GPS
35. ions Rev A Page 10 4 SOFTWARE INTERFACE The GPS 16x series products interface protocol design on COM 1 is based on the National Marine Electronics Association s NMEA 0183 ASCII interface specification The COM 2 port can receive differential GPS DGPS correction data using the Radio Technical Commission for Maritime Services RTCM SC 104 standard These standards are fully defined in NMEA 0183 Version 3 0 copies may be obtained from NMEA www nmea org and RTCM Recommended Standards For Differential Navstar GPS Service Version 2 2 RTCM Special Committee No 104 copies may be obtained from RTCM www rtcm org The GPS 16x series products interface protocol in addition to transmitting navigation information as defined by NMEA 0183 transmits additional information using the convention of Garmin proprietary sentences Binary information can alternatively be output on the COM 1 port see Appendix B Garmin Binary Output Format for details The following sections describe the NMEA 0183 data format of each sentence transmitted and received by the GPS 16x series products The baud rate selection one pulse per second output interfaces and RTCM differential GPS input are also described 4 1 RECEIVED NMEA 0183 SENTENCES The following paragraphs define the sentences that can be received on the GPS sensors COM 1 port Null fields in the configuration sentence indicate no change in the particular configuration parameter All sentences received
36. ive leap second is required one second is inserted at the beginning of the first hour Oh Om Os of the day that the positive leap is occurring The minute containing the leap second is 61 seconds long The GPS sensor would have transmitted this information for the leap second added December 31 1998 as follows GPRMC 235959 A 385 1 365 1 N 09447 9382 W 000 0 221 9 071103 003 3 E 69 GPRMC 000000 A 385 1 365 1 N 09447 9382 W 000 0 221 9 081103 003 3 E 67 GPRMC 000000 A 385 1 365 1 N 09447 9382 W 000 0 221 9 081 103 003 3 E 67 GPRMC 000001 A 3851 3651 N 09447 9382 W 000 0 221 9 081103 003 3 E 66 If a negative leap second should be required one second will be deleted at the end of some UTC month The minute containing the leap second will be only 59 seconds long In this case the GPS sensor will not transmit the time of day Oh Om Os 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 1 11103 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 385 1 3650 N 09447 9373 W 000 0 000 0 121103 003 3 E 69 4 2 3 Global Positioning System Almanac Data ALM Almanac sentences are not normally transmitted Almanac transmission can be initiated by sending the GPS sensor a PGRMO GPALM 1 command Upon receipt of this command the GPS sensor will transmit available almanac information on GPALM sentences During the transmission of alm
37. ket Ephemeris Data Request n i erben i e EE EEE EES EE ANONTSAS RARE ERE Ce ERE bee EE ERE ARE RX Packet Acknowledgement cient ERES PIY EAE E R N EISE E REA SERES EE EVERY ENSE E ERES RX Packet Number of Data Packets to Expect TX Packet Acknowledgement RX Packet Ephemeris Data TX Packet Download Comrplete 3 3 rre eie gebe Gr e ROI EL rh E Appendix D Sensor Configuration Software eee eee ee ee eere ee eene eee eese en sees esseessssees s DU Downloading the Sensor Configuration Software 30 Selecting a Model P 30 Connecting to the Sensores etel n o ERE Ib RE T t re D a eaaa ea da oia e eile ete e Ee bete he ed 30 uil EE Config Menu Miam Im LIST OF TABLES AND FIGURES Table ES ETC 16x Wire ai ME Figure 1 Computer Serial Port Interconnection eese nennen nennen nen enr en eter ene nr enne nee Figure 2 PDA Serial Port Interconpecton enne nnen teen nren retener enne tnne enne tene tenete en trennen Figure 3 Basic NMEA Device Interconnection Figure 4 GPS 16x Flush Mount Dimensions Figure 5 Optional GPS 16x Magnetic Mount Table 2 NMEA 0183 Output Sentence Order and Size Table 3 Characters per Second for Available Baud Rates 190 00228 08 GPS 16x
38. mation must be sent in subsequent bursts of NMEA 0183 data These fields will be null if unused 4 2 7 Recommended Minimum Specific GPS TRANSIT Data RMC GPRMC lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt 10 gt lt 11 gt lt 12 gt hh lt CR gt lt LF gt UTC time of position fix hhmmss format Status A Valid position V NAV receiver warning Latitude ddmm mmmm format leading zeros will be transmitted Latitude hemisphere N or S Longitude dddmm mmmm format leading zeros will be transmitted Longitude hemisphere E or W Speed over ground 000 0 to 999 9 knots leading zeros will be transmitted Course over ground 000 0 to 359 9 degrees true leading zeros will be transmitted UTC date of position fix ddmmyy format Magnetic variation 000 0 to 180 0 degrees leading zeros will be transmitted Magnetic variation direction E or W westerly variation adds to true course Mode indicator only output if NMEA 0183 version 2 30 active A Autonomous D Differential E Estimated N Data not valid 4 2 8 Track Made Good and Ground Speed VTG GPVTG lt 1 gt T lt 2 gt M lt 3 gt N lt 4 gt K lt 5 gt hh lt CR gt lt LF gt True course over ground 000 to 359 9 degrees leading zeros will be transmitted Magnetic course over ground 000 to 359 9 degrees leading zeros will be transmitted Speed over ground 000 0
39. meris data DATA AA Checksum calculation CHKSUM EE Delimiter DLE 0x10 End of packet ETX 0x03 The data portion of each packet can then be parsed into an instance of the following structure Each of these structures represents data from a single satellite typedef struct ephemeris data record for SPC sintl6 wn week number weeks Xx float toc reference time of clock parameters s pU float toe reference time of ephemeris parameters s SC float af0 clock correction coefficient group delay s ur i float afl clock correction coefficient s s Bas float af2 clock correction coefficient s s s SA float ura user range accuracy m A double e eccentricity x double sqrta square root of semi major axis a m 1 2 double dn mean motion correction r s x double m0 mean anomaly at reference time r double w argument of perigee r double omg0 right ascension r x double i0 inclination angle at reference tim r float odot rate of right ascension r s Uf float idot rate of inclination angle r s xy float cus argument of latitude correction sine r float cuc argument of latitude correction cosine xr float cis inclination correction sine r float CLG inclination correction cosine r float Crs radius correction sine m SA float cre radius correction cosine m unsigned char iod issue of d
40. n Pad Delimiter Download Complete ID Number of bytes in data Ephemeris Download ID Checksum calculation Delimiter End of packet Name DLE IOP DL CMPLT SIZI IOP DOWN LOAD EPH DATA CHKSUM DLE ETX w HEX Value 0x10 0x0c 0x02 0x5D 0x00 0x10 0x03 After properly acknowledging this packet ACK the IOP_DL_CMPLT ID the ephemeris download is complete 190 00228 08 GPS 16x Technical Specifications Page 29 Rev A APPENDIX D SENSOR CONFIGURATION SOFTWARE SNSRCFG configures the GPS sensors based on user selected parameters Some application features include the ability to download GPS sensor configuration maintain different configurations in files and perform GPS sensor configurations quickly with the use of one function key This section provides a brief overview of the Sensor Configuration Software Refer to this section when using the software to configure your Garmin sensor Downloading the Sensor Configuration Software The Garmin Sensor Configuration Software SNSRCFG exe is available from the Garmin Web site To download the software start at www garmin com oem select the GPS 16x and then select Updates and Base Model Downloads The Garmin Sensor Configuration Software SNSRCFG exe is piece E sensor are you connecting to included in the software update download Selecting a Model After opening the program snsrcfg exe the Set Base Model to window appears
41. n accordance with the instructions However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one of the following measures e Reorient or relocate the receiving antenna e Increase the separation between the equipment and the receiver e Connect the equipment into an outlet that is on a different circuit from the GPS unit e Consult the dealer or an experienced radio TV technician for help This product does not contain any user serviceable parts Repairs should only be made by an authorized Garmin service center Unauthorized repairs or modifications could result in permanent damage to the equipment and void your warranty and your authority to operate this device under Part 15 regulations 190 00228 08 GPS 16x Technical Specifications Rev A Page 1 1 2 LIMITED WARRANTY This Garmin product is warranted to be free from defects in materials or workmanship for one year from the date of purchase Within this period Garmin will at its sole option repair or replace any components that fail in normal use Such repairs or replacement will be made at no charge to the customer for parts or labor provided that the customer shall be responsible for any transportation cost This warranty does not cover failures due
42. nen nnne nenne rennen rennen nr enne 11 4 1 1 Almanac Information ALM Jisikie ania a iae ernia niyii 11 4 1 2 Sensor Initialization Information ODOGRMI sessissssisroisriiriririapreisrotgieiasenreii trip rri kien ei e iE Eria SAE i R AINE E EiS 12 4 1 3 Sensor Configuration Information DOR MO 12 4 1 4 Additional Sensor Configuration Information PGRMC1 ccescesseseeseeseeeeeeeeneeesecaeceseeeeeeeeeaeeeeeeaeseaeeaeeeaeenes 13 4 1 5 Output Sentence Enable Disable PGRMO ccccecesssseeesececeesecseceseeseeeaesanceaessecaeeaeceeeeaeceaeeaeseaeeaeecaeeneeeaeenes 13 4 2 Transmitted NMEA 0183 Sentences 2 0 cccccccesssececssssecessenceceeaeeecsesaececeneeecesaeeecsesaeeecseeeeseeaeeecseeaeeeesenaees 14 4 2 1 Sentence Transmission Rate e cnin ai Oe RR EE rta as PRECES aes IE ase 14 4 2 2 Transmitted Time von 1S 4 2 3 Global Positioning System Almanac Data ATM 15 4 2 4 Global Positioning System Fix Data OOA sss enne nre rtnetre tenente 15 4 2 5 GPS DOP and Active Satellites GSA nsnsi nsnsi Eir E ATE EA iE SES N E EA 16 42 6 GPS Satellites in View GS V icseheiiieee ara eb A bias c timed oett e 16 4 2 7 Recommended Minimum Specific GPS TRANSIT Data RMC EX 4 2 8 Track Made Good and Ground Speed VTG sss eene enne nne nne nnt rn etre enne 16 4 2 9 Geographic Position GLL ertt rented ot re ehe EOR EXE E EEEIEE TEE RECO REA SEE euet edv 17 190 00228 08 GPS 16x Technical Specifications Rev A
43. nit will immediately send a packet communicating how many data packets to expect for the ephemeris download a maximum of twelve RX Packet Number of Data Packets to Expect Byte Description Name Delimiter DLE Record ID IOP RECORDS Number of bytes in data SIZE Number of records NUM SV Pad DATA Checksum calculation CHKSUM Delimiter DLE End of packet ETX HEX Value 0x10 Ox1B 0x02 OxOC 0x00 0x10 0x03 This packet requires acknowledgement as shown below note that the data field contains the Top RECORDS ID to indicate the acknowledgement of the TOP RECORDS packet TX Packet Acknowledgement Byte Description Name Delimiter DLE Record ID IOP ACK BYTE Number of bytes in data SIZE Pad DATA ID of packet being ACK d IOP RECORDS Checksum calculation CHKSUM Delimiter DLE End of packet ETX 190 00228 08 GPS 16x Technical Specifications Page 26 HEX Value 0x10 0x06 0x02 0x00 Ox1B 0x10 0x03 Rev A Next the unit will send the specified number of packets containing the ephemeris information An example packet is shown below Each packet should be acknowledged as before be sure to modify the ACK packet to indicate what type of packet being acknowledged For ephemeris data the ID is 0x35 RX Packet Ephemeris Data Byte Description Name HEX Value Delimiter DLE 0x10 Ephemeris data ID IOP SPC EPH DATA 0x35 Number of bytes in data SIZE 0x78 Ephe
44. not require battery backup e Waterproof design allows continuous exposure to the prevailing weather conditions at most locations 190 00228 08 GPS 16x Technical Specifications Rev A Page 3 1 5 TECHNICAL SPECIFICATIONS Specifications are subject to change without notice 1 5 1 Physical Characteristics 1 5 1 1 Size 3 58 91 0 mm diameter 1 65 42 mm high 1 5 1 2 Weight e GPS 16xLVS only 6 0 oz 169 g e GPS 16xHVS only 6 1 oz 174 g e GPS 16xLVS with 5 meter cable 11 3 oz 320 g e GPS 16xHVS with 5 meter cable 11 5 oz 325 g e GPS 16xLVS amp 16xHVS cable alone 5 3 oz 151 g 1 5 1 3 Cable GPS 16xLVS amp 16xHVS Black PVC jacketed 5 meter foil shielded 8 conductor 28 AWG with RJ 45 termination 1 5 1 4 Color GPS 16xLVS amp 16xHVS Black with white logos 1 5 1 5 Case Material Polycarbonate thermoplastic that is waterproof to IEC 60529 IPX7 level immersion in 1 meter of water for 30 minutes 1 5 2 Electrical Characteristics 1 5 2 1 Input Voltage e GPS 16xLVS 3 3 Vdc to 6 0 Vdc regulated 100 mV ripple e GPS 16xHVS amp 17HVS 8 0 Vdc to 40 Vdc unregulated 1 5 2 2 Input Current e GPS 16xHVS 100 mA 8 Vdc 65 mA 12 Vdc 28 mA 40 Vdc e GPS 16xLVS 90 mA typical 1 5 2 3 Standby Current 10 pA for all GPS 16x models 1 5 2 4 GPS Receiver Sensitivity 185 dBW minimum 1 5 3 Environmental Characteristics e Operating Temperature 30 C to 80 C 22 F to 176 F e Stor
45. o 1023 GPS seconds 0 to 604799 UTC date of position fix ddmmyy format UTC time of position fix hhmmss format GPS leap second count Latitude ddmm mmmm format leading zeros will be transmitted Latitude hemisphere N or S Longitude dddmm mmmm format leading zeros will be transmitted Longitude hemisphere E or W Mode M Manual A Automatic Fix type 0 no fix 1 2D fix 2 3D fix Speed over ground 0 to 1851 kilometers hour Course over ground 0 to 359 degrees true Position dilution of precision 0 to 9 rounded to nearest integer value Time dilution of precision 0 to 9 rounded to nearest integer value 4 2 12 Map Datum PGRMM The Garmin Proprietary sentence PGRMM gives the name of the map datum currently in use by the GPS sensor This information is used by the Garmin MapSource real time plotting application PGRMM lt 1 gt hh lt CR gt lt LF gt Name of map datum currently in use variable length field for example WGS 84 4 2 13 Sensor Status Information PGRMT The Garmin Proprietary sentence PGRMT gives information concerning the status of the GPS sensor This sentence is transmitted once per minute regardless of the selected baud rate PGRMT lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt hh lt CR gt lt LF gt Product model and software version variable length field e g GPS 16xHVS VER 2 05
46. odel and is included only for backwards compatibility No Effect This field is not used on this model and is included only for backwards compatibility No Effect This field is not used on this model and is included only for backwards compatibility Distance to beacon reference station in kilometers No Effect This field is not used on this model and is included only for backwards compatibility DGPS fix source R RTCM W WAAS N Non DGPS Fix DGPS mode A Automatic W WAAS Only R RTCM Only N None DGPS disabled 4 3 BAUD RATE SELECTION Baud rate selection can be performed by sending the appropriate configuration sentence to the GPS sensor as described in the PGRMC section 4 1 3 Sensor Configuration Information PGRMC field lt 10 gt 4 4 ONE PULSE PER SECOND PPS OUTPUT The highly accurate one pulse per second PPS output is provided for applications requiring precise timing measurements The signal is generated after the initial position fix has been calculated and continues until the unit is powered down The rising edge of the signal is synchronized to the start of each GPS second Regardless of the selected baud rate the information transmitted by the GPS sensor is referenced to the pulse immediately preceding the NMEA 0183 RMC sentence The accuracy of the one pulse per second output is maintained only while the GPS sensor can compute a valid position fix To obtain the most accurate re
47. orvo and Flores Islands Azores 72 OLD EGYPTIAN Egypt 73 OLD HAWAIIAN Mean Value 74 OMAN Oman 190 00228 08 QGPSl6xTechnicalSpecificaions Rev A Page 20 75 PICO DE LAS NIEVES Canary Islands 76 PITCAIRN ASTRO 1967 Pitcairn Island 77 PUERTO RICO Puerto Rico Virgin Islands 78 QATAR NATIONAL Qatar 79 QORNOQ South Greenland 80 REUNION Mascarene Island 81 ROME 1940 Sardinia Island 82 RT 90 Sweden 83 PROVISIONAL SOUTH AMERICAN 1956 Bolivia Chile Colombia Ecuador Guyana Peru Venezuela 84 SOUTH AMERICAN 1969 Argentina Bolivia Brazil Chile Colombia Ecuador Guyana Paraguay Peru Venezuela Trinidad and Tobago 85 SOUTH ASIA Singapore 86 PROVISIONAL SOUTH CHILEAN 1963 South Chile 87 SANTO DOS Espirito Santo Island 88 SAO BRAZ Sao Miguel Santa Maria Islands Azores 89 SAPPER HILL 1943 East Falkland Island 90 SCHWARZECK Namibia 91 SOUTHEAST BASE Porto Santo and Madeira Islands 92 SOUTHWEST BASE Faial Graciosa Pico Sao Jorge and Terceira Islands Azores 93 TIMBALAI 1948 Brunei and East Malaysia Sarawak and Sabah 94 TOKYO Japan Korea Okinawa 95 TRISTAN ASTRO 1968 Tristan da Cunha 96 User defined earth datum 97 VITI LEVU 1916 Viti Levu Island Fiji Islands 98 WAKE ENIWETOK 1960 Marshall Islands 99 WORLD GEODETIC SYSTEM 1972 100 WORLD GEODETIC SYSTEM 1984 101 ZANDERIJ Surinam 102 CH 1903 Switzerland 103 Hu Tzu Shan 104 Indonesia 74
48. rove its products and to make changes in the content without obligation to notify any person or organization of such changes or improvements Visit the Garmin Web site www garmin com for current updates and supplemental information concerning the use and operation of this and other Garmin products Garmin MapSource and WAAS Enabled are registered trademarks of Garmin Ltd or its subsidiaries and may not be used without the express permission of Garmin Web site address www garmin com RECORD OF REVISIONS Revision an Description ECO Date 12 7 07 Initial Release 190 00228 08 GPS 16x Technical Specifications Rev A Pagei TABLE OF CONTENTS 1 ING OdUCHON sisississicdtestsissiece scien ican acne II Coupon 1 12 autre Gt Warianty EE 2 L EOE D A ee Eege E E 3 Lat EET RODEO E EO saad poe ceca E E E A E EE eg 3 1 5 Technical Specifications ird I tette ecce e Hr e eE e EES cde ro etre edd 4 1 5 1 Physical EE 4 US EN SU juego 3 N 4 VSD Uuum S 4 V5 AS CAMS 4 ESLA CONE M E M 4 1 35 57 Case Material eege ege eee bere Poe rece sacs EE EE 4 1 5 2 Electrical Characteristics orici eec E FERE EO GRO HO Oise Ur RO EE 4 I PA ME noi SIE e
49. satellites The system may communicate with the GPS via an asynchronous serial communications port Internal FLASH memory allows the GPS to retain critical data such as satellite orbital parameters last known position date and time End user interfaces such as keyboards and displays are the responsibility of the application designer 1 4 FEATURES e GPS receiver tracks and uses multiple satellites for fast accurate positioning and velocity estimates e Differential DGPS capability using real time WAAS or RTCM corrections yielding 3 to 5 meter position accuracy see section 1 5 Technical Specifications e Compact rugged design ideal for applications with minimal space e May be remotely mounted in an out of the way location e Factory configuration meets the needs of most systems that expect NMEA 0183 data from a GPS receiver Configuration commands are available to customize the NMEA 0183 output see section 4 1 Received NMEA 0183 Sentences e Highly accurate one pulse per second PPS output for precise timing measurements Pulse width is configurable in 20 millisecond increments from 20 ms to 980 ms with 1 us accuracy e Configurable for binary format data output on COM 1 port e Flexible input voltage levels of 3 3 Vdc to 6 0 Vdc with over voltage protection in the GPS 16xLVS and 8 0 Vdc to 40 Vdc in the GPS 16xHVS e FLASH based program with new software revisions available through Web site download e Non volatile memory does
50. sitive temperature coefficient resistor protect from transients and over voltages With voltages greater than 6 8 Vdc the zener will draw several amps of current through the resistor causing it to heat rapidly and eventually power the unit off unless an external fuse blows first When proper supply voltages are returned the resistor will cool and allow the GPS 16xLVS to operate GPS 16xHVS Vin can be an unregulated 8 0 Vdc to 40 Vdc optimized for 12 Vdc Typical operating power is 780 mW This voltage drives a switching regulator with a nominal 5 0 Vdc output which powers an internal linear regulator producing the system Vcc Yellow REMOTE External Power Control Input Active ON if less than 0 3 Vdc Inactive OFF if open circuit Pulling this pin to ground enables the unit leaving the pin open circuited powers the internal regulators off and drops the supply current to less than 1 mA This input is intended to be driven by an open collector output Blue PORT 1 First Serial Asynchronous Input RS 232 compatible with maximum input DATA IN voltage range 25 lt Vdc lt 25 This input may also be directly connected to standard 3 to 5 Vdc CMOS logic The low signal voltage requirement is lt 0 6 V and the high signal voltage requirement is gt 2 4 Vdc Input impedance is between 3 0 and 7 0 kQ This input may be used to receive serial initialization configuration data as specified in section 4 1 Received NMES 0183 Sentences White
51. sults the one pulse per second output should be calibrated against a local time reference to compensate for cable and internal receiver delays and the local time bias The default pulse width is 100 ms however it may be programmed in 20 ms increments between 20 ms and 980 ms as described in PGRMC section 4 1 3 Sensor Configuration Information PGRMC field 13 4 5 RECEIVED RTCM DATA Position accuracy of less than 5 meters can be achieved with the GPS 16x series products by using Differential GPS DGPS real time pseudo range correction data in RTCM SC 104 format with message types 1 2 3 7 and 9 These corrections can be received by the GPS 16x series products on COM 2 The RTCM data must be received at the same baud rate as the COM 1 port For details on the SC 104 format refer to RTCM Paper 134 89 SC 104 68 by the Radio Technical Commission for Maritime Services 190 00228 08 GPS 16x Technical Specifications Rev A Page 18 APPENDIX A EARTH DATUMS The following is a list of the Garmin GPS 16x Earth datum indices and the corresponding earth datum name including the area of application 0 ADINDAN Ethiopia Mali Senegal Sudan AFGOOYE Somalia Koch 2 AIN EL ABD 1970 Bahrain Island Saudi Arabia 3 ANNA 1 ASTRO 1965 Cocos Island 4 ARC 1950 Botswana Lesotho Malawi Swaziland Zaire Zambia Zimbabwe 5 ARC 1960 Kenya Tanzania 6 ASCENSION ISLAND 1958 Ascension Island 7 ASTRO BEACON E Iwo Jima Island
52. t Number 190 00228 08 Rev A 190 00228 08 GPS 16x Technical Specifications Rev A Page 32
53. t data rate could be maintained Position Record 0x10 DLE is first byte 0x33 Position record identifier 0x40 Size of data cpo_pvt_data See description below one byte checksum The addition of bytes between the delimiters should equal 0 0x10 DLE 0x03 ETX is last byte typedef struct float alt float epe float eph float epv int fix double gps tow double dat double lon Float lon vel Float lat vel Float alt vel Float msl hght int leap sec long grmn days Ccpo pvt data 190 00228 08 GPS 16x Technical Specifications Rev A Page 22 alt Ellipsoid altitude meters epe Estimated position error meters eph Position error horizontal meters epv Position error vertical meters fix 0 no fix 1 no fix 2 2D 3 3D 4 2D differential 5 3D differential 6 and greater not defined gps_tow GPS time of week sec lat Latitude radians lon Longitude radians lon_vel Longitude velocity meters second lat_vel Latitude velocity meters second alt_vel Altitude velocity meters second msl hght height mean sea level meters leap sec UTC leap seconds grmn days Garmin days days since December 31 1989 Satellite Data Record The satellite data has a record ID of 0x72 with 84 0x54 data bytes The data bytes contain data for 12 satellites as described below typedef struct uint8 svid space
54. to abuse misuse accident or unauthorized alteration or repairs This product is intended to be used only as a travel aid and must not be used for any purpose requiring precise measurement of direction distance location or topography Garmin makes no warranty as to the accuracy or completeness of map data in this product THE WARRANTIES AND REMEDIES CONTAINED HEREIN ARE EXCLUSIVE AND IN LIEU OF ALL OTHER WARRANTIES EXPRESS IMPLIED OR STATUTORY INCLUDING ANY LIABILITY ARISING UNDER ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE STATUTORY OR OTHERWISE THIS WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS WHICH MAY VARY FROM STATE TO STATE IN NO EVENT SHALL GARMIN BE LIABLE FOR ANY INCIDENTAL SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES WHETHER RESULTING FROM THE USE MISUSE OR INABILITY TO USE THIS PRODUCT OR FROM DEFECTS IN THE PRODUCT Some states do not allow the exclusion of incidental or consequential damages so the above limitations may not apply to you Garmin retains the exclusive right to repair or replace the unit or software or offer a full refund of the purchase price at its sole discretion SUCH REMEDY SHALL BE YOUR SOLE AND EXCLUSIVE REMEDY FOR ANY BREACH OF WARRANTY To obtain warranty service contact your local Garmin authorized dealer or call Garmin Product Support for shipping instructions and an RMA tracking number Securely pack the unit and a copy of the original sales receipt which is required as t
55. vehicl identification 1 32 and 33 64 for WAAS uintl6 snr signal to noise ratio uint8 elev satellite elevation in degrees uintl6 azmth satellite azimuth in degrees uint8 status status bit field cpo sat data The status bit field represents a set of booleans described below Meaning when bit is one 1 The unit has ephemeris data for the specified satellite The unit has a differential correction for the specified satellite The unit is using this satellite in the solution This pattern is repeated for 12 satellites for a total of 12 X 7 bytes 2 84 0x54 bytes The RS 232 Packet for the Satellite Record looks like 0x10 DLE is first byte 0x72 Record ID single byte 0x54 Number of data bytes single byte 12 cpo sat data records Ox 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 12 cpo sat data records 190 00228 08 GPS 16x Technical Specifications Page 23 Rev A Sample C Code DLE and ETX bytes Sample C code to receive the two records should filter DLE and ETX bytes as described below typedef enum DAT DLE ETX rx_state_type Declare and initialize static variables static char in que 256 static int in que ptr 0 static r
56. x state type rx state DAT void add to que char data define DLE BYTE 0x10 define ETX_BYTE 0x03 if rx state DAT if data DLE_BYTE rx_state DLE else in que in_que_ptr data else if rx_state DLE if data ETX_BYTE rx_state ETX else rx_state DAT in_que in_que_ptr data else if rx_state ETX if data DLE_BYTE rx_state DLE if in que ptr gt 255 in que ptr 0 190 00228 08 GPS 16x Technical Specifications Page 24 Rev A APPENDIX C EPHEMERIS DATA DOWNLOAD PROGRAMMING EXAMPLE Synopsis This section describes using an example how to download ephemeris information from a Garmin 15 16 17 or 18 family GPS unit with the exception of the GPS 15 W and the GPS 15 F Garmin Binary Format Review To download the ephemeris data you must first command the unit to output information in Garmin Binary Format Garmin mode instead of the default NMEA output format To put the unit in Garmin mode connect to the unit using a terminal program and send the following NMEA sentence PGRMO G hh lt CR gt lt LF gt The checksum hh is used for parity checking data and generally is not required in normal PC environments but is recommended for use in environments containing high electromagnetic noise When used the parity bytes hh ar
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