Hemisphere Gnss Technical Reference Manual: Current Version: v4.0 June 30, 2020

Hemisphere
GNSS
Technical
Reference
Manual
Current Version: v4.0 June 30, 2020
1
Introduction
Introduction and Quick Start

The Hemisphere GNSS Technical Reference Manual (TRM) is a resource for software engineers and system
integrators to configure GNSS receivers. It may also be useful to persons with knowledge of the installation and
operation of GNSS navigation systems.
The TRM includes information on GNSS technology and platforms, general operations of receiver, and the
commands and messages you need to operate your receiver and/or other HGNSS hardware.
Use the following links to navigate quickly throughout the contents of this manual:
Quick Start - the basic information you need to get started using your Hemisphere GNSS receiver.
GNSS Technology and Platforms -an overview the GNSS engine, satellite tracking information, positioning,
accuracy, and update rates of NMEA 0183 and binary messages.
DGNSS Solutions
Receiver Operation introduces general operational features of the receiver operation modes, and default
operation parameters.
Commands and Messages are grouped by type (General, GNSS, e-Dif, Data, RAIM, etc.). You can find a listing of all
commands in the Commands and Message table. For a more detailed description of each message and
command, click the link to navigate to that specific command or message.
Firmware
Resources provides resources for additional information.
Change History lists all the topics in this manual along with the latest update description and change date.
Troubleshooting provides troubleshooting advice for common questions.
No part of this manual may be reproduced, transmitted, transcribed, stored in a retrieval system or
translated into any language or computer language, in any form or by any means, electronic, mechanical,
magnetic, optical, chemical, manual or otherwise, without the prior written permission of Hemisphere
GNSS.
2
Quick Start
Quick Start contains basic information to get you started using your Hemisphere GNSS receiver.
What is my receiver type? Send the JHTYPE,SHOW command.
How do I load firmware onto my receiver, and why would I do this?

To load firmware, use RightARM,
Loading firmware allows you to run application specific capabilities.
What is my current receiver configuration?

Send the JSHOW query.
What is my Vector receiver configuration?

Send the JATT,SUMMARY query.
What commands are supported by my receiver?

First, send the JHTYPE_SHOW command to identify the GNSS engine in your receiver.
Then, go to the Overview (?) topic for a list of commands supported by that GNSS engine.
Overview topic for commands supported by that GNSS engine.
How do I send a command to my receiver?

Connect your receiver to a PC and use a terminal program (i.e., HyperTerminal), or Hemisphere GNSS'
PocketMax, or SLXMon. For more information, refer to the User Guide for your product. User Guides can be
found on the Hemisphere GNSS website.
How do I turn on data messages (such as GPGGA) for a receiver?

See Configuring the Data Message Output.
Topic Last Updated: v1.11 / November 15, 2018
1
GNSS Technology and Platforms
GNSS Engine Overview
The GNSS engine is always operating regardless of the DGNSS mode of operation. The following sections describe the
general operation of the receiver.
Satellite Tracking
Positioning Accuracy
Update Rates
Both the GNSS and SBAS operation of the receiver module feature automatic operational algorithms. When powered for
the first time, the receiver system performs a "cold start," which involves acquiring the available GNSS satellites in view
and the SBAS differential service. To do this, the receiver needs a compatible GNSS antenna connected that offers a
relatively clear, unobstructed view of the sky. While you can often achieve this indoors with an antenna placed against a
window, you may need to place the antenna outside (i.e., on a roof or a short distance away from the building).
If SBAS is not available in a particular area, an external source of RTCM SC-104 differential correction may be used. If an
external source of correction data is needed, the external source needs to support an eight data bit, no parity and one
stop bit configuration (8-N-1). See also SBAS Overview.
Topic Last Updated: v1.07 / February 16, 2017
10
Printed Documentation
Satellite Tracking
The receiver automatically searches for GNSS satellites, acquires the signal, and manages the associated navigation
information required for positioning and tracking. This is a hands-free mode of operation. Satellite acquisition quality is
described as a signal-to-noise ratio (SNR. The higher the SNR, the better the signal reception quality. SNR information is
provided by the receiver through the use of NMEA 0183 data messages available via its multiple serial ports.
3
Positioning Accuracy
The receiver is a sub-meter product with 95% horizontal accuracy under ideal conditions.
To determine the positioning performance of the receiver, Hemisphere GNSS gathers a 24-hour data set of positions in
order to log the diurnal environmental effects and full GPS constellation changes. Data sets shorter than 24 hours tend to
provide more optimistic results.
The horizontal performance specification of 95% accuracy is, as stated above, based on ideal conditions. In reality,
obstruction of satellites, multipath signals from reflective objects, and operating with poor corrections will detract from the
receiver’s ability to provide accurate and reliable positions. Differential performance can also be compromised if the
receiver module is used in a region without sufficient ionospheric coverage.
Further, if external corrections are used, the baseline separation between the remote base station antennas can affect
performance.
The estimated positioning precision is accessible through the use of NMEA 0183 command responses as described
Commands and Messages.
Because the receiver cannot determine accuracy with respect to a known location in real time (traditionally performed in
post-mission analyses), the precision numbers are relative in nature and are only approximates.
5
Update Rates
The update rate of each NMEA 0183 and binary message of the receiver can be set independently with a maximum that
is dependent upon the message type. For example, some messages have a 1 Hz maximum while other messages have a
50 Hz maximum. The higher update rates, such as 20 Hz, are an option and can be obtained at an additional cost.
Higher update rates are valuable for applications where:
• Higher speeds are present such as in aviation
• You have manual navigational tasks such as in agricultural guidance
• You have an automated or autonomous navigational task such as in robotics or machine control.
Keep the following in mind regarding message rates:
• Some messages can only be OFF or ON (0 or 1Hz) Example: $JASC,RTCM3,1
• Some messages can only be 0 or 1 Hz, but will come out once first, then only if they change Example:
$JASC,BIN95,1
• Messages that are available at other rates can be set to rates SLOWER than 1 Hz (see Note 1 below
Example: $JASC,GPGGA,0.1
• If the receiver is subscribed to 10 or 20Hz, the receiver can log at rates FASTER than 1 Hz (See Note 2 below.)
Example: $JASC,GPGGA,5Note 1: Slower than 1 Hz.
Use the following guidelines:
To log once Use

every x JASC,xxxx,
seconds
2 0.5
3 0.3333
4 0.25
5 .2
6 0.1667
7 0.1429
8 0.125
9 0.1111
10 0.1
15 0.0667
20 0.05
25 0.04
40 0.025
50 0.02
100 0.01
120 0.0083
Rates not listed above may be possible, but may not log on integer seconds. Users should test to see if the results are
acceptable for their application.
Note 2: Faster than 1Hz, if subscribed.
6
For traditional firmware support is 20 Hz, Acceptable rates are 1, 2, 4, 5, 10 or 20 Hz. Using rates other than those listed
will result in data appearing in a rate similar to the rate requested, but the data times will be quantized to 0.05 second
resolution. This is due to the receiver’s internal computing rate of 20 Hz. Time resolution is 0.05 seconds even if the
receiver is only subscribed for 10 Hz data. Quantizing may result in a slightly different number of messages per minute
than expected. For example, 3 Hz data produces approximately 172 messages per minute due to quantizing, instead of
the expected 180 messages.
Some products and firmware support 50 Hz. Acceptable rates are 1, 2, 5, 10, 25, or 50. Using rates other than a factor of
20 Hz may result in quantized data. Regardless, the data in the message is referenced to the time of the message.
7
Hemisphere GNSS Hardware Platforms
Hemisphere GNSS offers many hardware platforms, some of which include:
• Positioning OEM boards and receivers
• Heading OEM boards and receivers
• Beacon OEM boards
8
Universal Development Kit

The Universal Development Kit allows you to integrate a Hemisphere GNSS OEM board into your design and includes the
following:
• Main carrier board
• Adapter board
• Power cable and AC power supply
• Serial data cable,power cable and AC power supply, ethernet cable, serial
cable null modem, USB-C to USB-A cable-
The Universal Development Kit supports the following Hemisphere GNSS OEM
boards:
• Phantom 20
• Phantom 34
• Phantom 40
• Vega 28
• Vega 40
• Vega 60
• Crescent 206
• Crescent P207
Depending on the Hemisphere GNSS OEM board you purchase with your Universal Development Kit, an
Integrator Guide is available for download from the Hemisphere GNSS website.
Last Updated: v4.0 / June 30, 2020
9
DGNSS and RTK Solutions

SBAS
SBAS Overview
The following topics describe the general operation and performance monitoring of the Space-Based Augmentation
System (SBAS) demodulator within the receiver module:
SBAS Automatic Tracking
SBAS Performance
WAAS DGPS
WAAS Signal Information
WAAS Reception
WAAS Coverage
Topic Last Updated: v1.00 / August 11, 2010
12
SBAS Automatic Tracking

The SBAS demodulator featured within the receiver automatically scans and tracks multiple SBAS satellite signals, as
specified by the JWAASPRN command (defaulted to WAAS PRN 135 and 138, suitable for use in North America).
If the default satellites become disabled, the receiver automatically tracks different satellites. This automatic tracking
enables you to focus on other aspects of your application rather than ensuring the receiver is tracking SBAS correctly.
The SBAS demodulator features two-channel tracking that enhances the ability to maintain acquisition on an SBAS signal
satellite in regions where more than one satellite is in view. This redundant tracking approach results in more consistent
signal acquisition in areas where signal blockage of either satellite is possible.
11
SBAS Performance
SBAS performance is described in terms of bit error rate (BER). The SBAS receiver requires a line of sight to the SBAS
satellite to acquire a signal.
The BER number indicates the number of unsuccessfully decoded symbols in a moving window of 2048 symbols. Due to
the use of forward error correction algorithms, one symbol is composed of two bits. The BER value for both SBAS
receiver channels is available in the RD1 message.
A lower BER indicates data is being successfully decoded with fewer errors, providing more consistent throughput. The
BER has a default no-lock of 500 or more. As the receiver begins to successfully acquire a signal, a lower BER results.
For best operation, this value should be less than 150 and ideally less than 20.
SBAS broadcasts an ionospheric map on a periodic basis and it can take up to five minutes to receive the map on startup.
Until it downloads the SBAS map the receiver uses the broadcast ionosphere model, which can result in a lower
performance compared to when the map has been downloaded. This is the case for any GNSS product supporting SBAS
services.
Topic Last Updated: v.1.11/November 15, 2018
13
WAAS DGPS
SBAS services take in reference data from a network of base stations to model the sources of error directly, rather than
computing the sum impact of errors upon observed ranges. The advantage of this approach is that the error source can
be more specifically accounted for during the correction process.
Specifically, WAAS calculates separate errors for the following:
• Ionospheric error
• GPS satellite timing errors
• GPS satellite orbit errors
Provided that a GNSS satellite is available to the WAAS reference station network for tracking purposes, orbit and timing
error corrections will be available for that satellite. Ionospheric corrections for that satellite are only available if the signal
passes through the ionospheric map provided by WAAS, which covers most of North America.
To improve the ionospheric map provided by WAAS, the receiver extrapolates information from the broadcast ionospheric
coverage map, extending its effective coverage. This allows the receiver to be used successfully in regions that
competitive products may not. This is especially important in Canada for regions north of approximately 54° N latitude and
for outer regions of the Caribbean.
The process of estimating ionospheric corrections beyond the WAAS broadcast map is not as good as having an
extended WAAS map and accuracy degradation may occur.
The map links below depict the broadcast WAAS ionospheric map coverage and the Hemisphere GNSS extrapolated
version, respectively. As the two maps show, the Hemisphere GNSS extrapolated version’s coverage is greater in all
directions, enhancing usable coverage.
• Broadcast WAAS ionospheric correction map
• Extrapolated WAAS ionospheric correction map
Topic Last Updated: v1.11/November 15, 2018
14
WAAS Signal Information
WAAS and other SBAS systems transmit correction data on the same frequency as GPS, allowing the use of the same
receiver equipment used for GPS. Another advantage of having WAAS transmit on the same frequency as GPS is that
only one antenna element is required.
15
WAAS Reception
Since WAAS broadcasts on the same frequency as GPS, the signal requires a line of site in the same manner as GPS to
maintain signal acquisition.
Because of their locations, SBAS satellites may appear lower on the horizon than GPS satellites—it depends on the
geographic position on land. When using WAAS correction data, the receiver can provide the azimuth and elevation of all
satellites to aid in determining their position with respect to the antenna.
16
WAAS Coverage
The figure below depicts the current WAAS coverage provided by the geostationary satellites.
The WAAS satellites are identified by their pseudo-range-number (PRN). In some areas, two or more satellites may be
visible.
Note: Signal coverage may be present in some areas without either sufficient ionospheric map coverage or satellites with
valid orbit and clock corrections. In such cases performance may be degraded compared to areas fully covered by the
WAAS ionospheric coverage.
17
EGNOS
The European Geostationary Navigation Overlay Service (EGNOS) uses multiple geostationary satellites and a network of
ground stations to transmit differential correction data for public use. EGNOS is currently located over the Atlantic Ocean
and Africa.
Because of their location over the equator, these satellites may appear lower over the horizon as compared to GPS
satellites - depending upon the geographic position on the land. In regions where the satellites appear lower on the
horizon, they may be more susceptible to being masked by terrain, foliage, buildings or other objects, resulting in signal
loss. Increased distance from the equator and the satellite's longitude cause the satellite to appear lower on the horizon.
The figure below shows approximate EGNOS coverage provided by the satellites. Virtually all of Europe, part of Northern
Africa, and part of the Middle East is covered with at least one signal. Most of Europe is covered by three signals.
18
MSAS
The MTSAT Satellite-based Augmentation System (MSAS) is currently run by the Japan Meteorological Agency (JMA).
MSAS provides GPS augmentation information to aircraft through MTSAT (Multi-functional Transport Satellite) located
approximately 36000 km above the equator (geostationary earth orbit).
MSAS generates GPS augmentation information by analyzing signals from GPS satellites received by monitor stations on
the ground. This augmentation information consists of GPS-like ranging signal and correction information on GPS errors
caused by the satellites themselves or by the ionosphere.
The MSAS signal provides accurate, stable, and reliable GPS position solutions to aircraft, resulting in a considerable
improvement in the safety and reliability of GPS positioning. This enables aviation users who are under very strict safety
regulations to use GPS positioning as a primary navigation system.
Visit http://www.jma.go.jp/jma/jma-eng/satellite/ for more information on MSAS and MTSAT.
19
GAGAN
The GPS Aided Geo Augmented Navigation system (GAGAN) was deployed by the Indian government . It operates
similarly to the other SBAS regions described previously and will broadcast on one geostationary satellite (PRN 127) over
the Western portion of the Indian Ocean. GAGAN is visible in India at elevation angles in excess of 50º above the horizon.
This provides an excellent correction source in virtually all areas of the subcontinent.
20
Radiobeacon
Radiobeacon Range
The broadcasting range of a 300 kHz beacon depends on a number of factors, including:
• ϒϒTransmission power
• Free space loss
• Ionospheric state
• Surface conductivity
• Ambient noise
• Atmospheric losses
Signal strength decreases with distance from the transmitting station, mostly due to spreading loss. This loss is a result of
the signal’s power being distributed over an increasing surface area as the signal radiates away from the transmitting
antenna.
The expected broadcast range also depends on the conductivity of the surface over which it travels. A signal will
propagate further over a surface area with high conductivity than over a surface with low conductivity.
Lower conductivity surfaces, such as dry, infertile soil, absorb the power of the transmission more than higher conductivity
surfaces, such as sea water or arable land.
A radio beacon transmission has three components:
1. Direct line-of-sight wave
The line-of-sight wave is insignificant beyond visual range of the transmitting tower and does not have a substantial
impact upon signal reception.
2. Ground wave
The ground wave portion of the signal propagates along the surface of the earth, losing strength due to spreading loss,
atmospheric refraction and diffraction, and attenuation by the surface over which it travels (dependent upon conductivity).
3. Sky wave
Depending on its reflectance, this skyward portion of the beacon signal may bounce off the ionosphere and back to Earth,
causing reception of the ground wave to fade. Fading—which may cause reception to fade in and out—occurs when the
ground and sky waves interfere with each other. This problem usually occurs in the evening when the ionosphere
becomes more reflective and usually on the edge of coverage areas. Fading is not usually an issue with overlapping
coverage areas of beacons and their large overall range.
Atmospheric attenuation plays a minor part in signal transmission range because it absorbs and scatters the signal. This
type of loss is the least significant of those described.
21
Radiobeacon Reception
Various noise sources affect beacon reception and include:
• Engine noise
• Alternator noise
• Noise from power lines
• DC to AC inverting equipment
• Electric devices such as CRTs, electric motors, and solenoids
Noise generated by these types of equipment can mask the beacon signal, reducing or impairing reception.
22
Radiobeacon Antenna Location

When using the internal beacon receiver as the correction source, antenna location will influence the performance of the
internal beacon receiver.
A good location will:
• Have a clear view of the sky (important for GNSS,WAAS, and Atlas signal reception)
• Be at least three feet away from all forms of transmitting antennas,communications, and electrical equipment, to
reduce the amount of noise present at the antenna
• Be the best for the application, such as the center line of the vehicle or vessel (the position calculated by the
beacon receive is measured to the center of the antenna)
• Not be in areas that exceed specified environmental conditions
23
Atlas
Atlas Signal Information
The Atlas signal is a line-of-sight L-band signal that is similar to GNSS. For the Atlas differential receiver to acquire the
signal, there must be a line of sight between the antenna and the geostationary communications satellite.
Various Atlas communications satellites are used for transmitting the correction data to Atlas users around the world.
When the Atlas receiver has acquired an Atlas signal, the elevation and azimuth are available in the menu system to
enable troubleshooting line-of sight problems.
Contact your Atlas service provider for further information on this service.
24
Atlas Reception
Atlas services broadcast at a similar frequency to GNSS and as a result is a line-of-sight system; there must be a line of
sight between the antenna and the Atlas satellite for reception of the service.
Atlas services use geostationary satellites for communication. The elevation angle to these satellites is dependent upon
latitude. For latitudes higher than approximately 55° North or South, the Atlas signal may be blocked more easily by
obstructions such as trees, buildings, and terrain.
Topic Last Updated: v1.07/ February 16, 2017
25
Atlas Automatic Tracking

The Hemisphere GNSS Atlas receiver features an automatic mode that allows it to locate the best spot beam if more than
one is available in a particular region. With this function you do not need to adjust the receiver’s frequency. The receiver
also features a manual tune mode for flexibility.
See the JFREQ command for more information on automatic and manual tuning.
26
Atlas Receiver Performance

Atlas receivers provide both a lock indicator and a BER (bit error rate) to describe the lock status and reception quality.
Both these features depend on a line of sight between the antenna and the geostationary communications satellite
broadcasting the Atlas correction information.
Atlas capable Hemisphere GNSS antennas are designed with sufficient gain at low elevation angles to perform well at
higher latitudes where the signal power is lower and the satellite appears lower on the horizon. The BER number indicates
the number of unsuccessfully decoded symbols in a moving window of 2048 symbols. Because of the use of forward error
correction algorithms, one symbol is composed of two bits.
The BER has a default, no-lock value of 500. As the receiver begins to successfully acquire the signal a lower BER
results. For best operation this value should be less than 150 and ideally less than 20.
27
Atlas Commands
The following tables lists the commands accepted by the Atlas-band receiver to configure and monitor the Atlas
functionality of the receiver.
Command Description
$JI Requests the serial number and firmware version number

from the receiver
$JK Is used to send an authorization code to the receiver
$JK,SHOW Requests the subscription and activation information from

the receiver,
$JASC,GPGGA,1 Requests receiver to output GGA positions at 1Hz.
$JASC,RD1,1 Enables Atlas Diagnostic message output
$JDIFF,LBAND,SAVE Enables Atlas mode for tracking the Atlas communication

satellites
$JDIFF,INCLUDE,ATLAS Enables the Atlas solution in the receiver
$JFREQ,AUTO Automatically sets the Atlas parameters to track the Atlas

communication satellites
$JATLAS,LIMIT Configure the accuracy threshold for when the NMEA

0183 GPGGA message reports a quality indicator of 4.
See $JATLAS,LIMIT, section for more detail
$JSAVE Saves issued commands
Note: Use the JSAVE command to save changes you need to keep and wait for the $J>SAVE COMPLETE
response.
If your Atlas communication is working properly the following should apply:

Bit Error Rate: less than 10-10
Spot Beam Freq:
AMERICAS: 1545.915
APAC: 1545.855
EMEA: 1545.905
Nav Condition: FFFFF
If this is not the case, then enter the following commands in the Receiver Command Page, one at a time:
Command
$JFREQ,AUTO
$JDIFF,LBAND,SAVE
Base IDs:
4715- Atlas with ITRF08 reference frame (default)
4716-Atlas with GDA94 reference frame*
4717-Atlas with User-specific local reference frame (Cartesian)*
28
*Available on select products
Topic Last Updated: v4.0/ June 30, 2020
29
Base Station
DGPS Base Station Performance
Base station performance depends primarily on the site location for the base station GNSS antenna. An ideal location
would have no obstructions above the height of the antenna, offering a full 180º by 360º view of the sky. In reality,
obstructions such as trees, vehicles, people, and buildings nearby both block satellite signals and reflect interfering
signals called multipath signals. Multipath degrades the accuracy of the satellite measurements and detracts from the
receiver’s ability to provide accurate and reliable corrections for the rovers.
For a rover to work optimally, a base station should be near by the rover’s area of operation. As distance from the base to
the rover increases, the modeling process cannot tune the solution to the exact environmental conditions at the rover’s
location and the rover’s accuracy will not be as good. Best performance is attained when the distance from your base to
your rover is less than 50 km (30 miles).
30
DGPS Base Station
The Hemisphere receiver with an e-Dif subscription can operate in a DGPS base station mode. JRAD commands need to
be sent to the receiver to enter this mode. These commands may be automatically issued through customized software or
through a simple terminal interface running on a PC or handheld device. DGPS Base Station Commands provide detailed
information on the commands supported by the base station application.
31
DGPS Base Station Startup
When the receiver running the e-Dif application first starts up, it requires a few minutes to gather enough satellite tracking
information to model the errors for the future. Once commands are sent to put the receiver into base station mode,
corrections will be generated and can be sent via the serial port to rover receivers. In some more challenging GNSS
environments, the time required to model errors can take up to 10 minutes. The receiver must be stationary during this
process and the antenna for the base station must be secured in a stable location.
32
DGPS Base Station Calibration

Base station calibration is the process of modeling the errors at the base station. Calibration can be performed in either a
relative or an absolute sense, depending on positioning needs. Relative positioning provides positions that are accurate to
one another but there may be some offset from the true geographical position.
Calibrating for relative positioning is easier than for absolute position since you are not restricted to using a point with
known coordinates. Calibrating for absolute positioning mode requires placing the GPS antenna at a known reference
location. Care should be taken to use a location that has good sky visibility and is relatively free from obstructions.
33
e-Dif
e-Dif-Extended Differential Option
The Hemisphere receiver module is designed to work with Hemisphere GNSS’ patented Extended Differential (e-Dif)
software. e-Dif is an optional mode where the receiver can perform with differential-like accuracy for extended periods of
time without the use of a differential service. It models the effects of ionosphere, troposphere, and timing errors for
extended periods by computing its own set of pseudo-corrections.
e-Dif may be used anywhere geographically and is especially useful where SBAS networks have not yet been installed,
such as South America, Africa, Australia, and Asia. Two things are required to enable e-Dif. First your receiver will require
standard MFA application software to be installed on it. A software key, called a subscription code, is needed for the
receiver to use e-Dif. Both can be installed in the field using a PC computer. See Using RightARM to Load Firmware if you need
to install the application firmware onto your receiver. To install a subscription code, contact Hemisphere GNSS for a JK
command which can be issued to your receiver.
Positioning with e-Dif is jump-free compared to a receiver working with just raw GPS provided the receiver consistently
maintains a lock on at least four satellites at one time. The accuracy of positioning will have a slow drift that limits use of
the e-Dif for approximately 30 to 40 minutes although it depends on how tolerant the application is to drift as e-Dif can be
used for longer periods.
This mode of operation should be tested to determine if it is suitable for the application and for how long the user is
comfortable with its use. As accuracy will slowly drift, the point at which to recalibrate e-Dif to maintain a certain level of
accuracy must be determined.
The figure below displays the static positioning error of e-Dif while it is allowed to age for fourteen consecutive cycles of
30 minutes. The top line indicates the age of the differential corrections. The receiver computes a new set of corrections
using e-Dif during the calibration at the beginning of each hour and modifies these corrections according to its models.
After the initialization, the age correspondingly increases from zero until the next calibration.
The position excursion from the true position (the lines centered on the zero axis are northing [dark line] and easting [light
line]) with increasing correction age is smooth from position to position; however, there is a slow drift to the position. The
amount of drift depends on the rate of change of the environmental errors relative to the models used inside the e-Dif
software engine.
Note: You decide how long e-Dif is to function before between calibrations and you should test this operation mode to
determine an acceptable level of performance.
34
L-Dif
L-Dif Startup
On startup, the receiver with the L-Dif running requires several commands to initialize the proprietary messages that are
sent over the air.
35
L-D if Performance
The receiver’s positioning performance in L-Dif mode is dependant upon:
• Environment of the base and rover receivers
• Distance between them and
• Accuracy of the entered coordinates of the base station
Hemisphere GNSS suggests performing your own testing at your location to determine the level of performance you
would expect on average. When testing this feature, conduct tests of 12-24 hours—in different environments—and
monitor performance against a known coordinate. Do this over a number of days with different states of the ionosphere.
You can monitor the energy level of the ionosphere based upon the amount of solar flare activity at
http://www.spaceweather.com.
Topic Last Updated: v1.06 / March 10, 2015
36
L-Dif Local Differential Option

Local differential (L-Dif) is a specialized message type that can be sent only between two Crescent-based receivers. One
receiver is used as the base station and must remain stationary. It is extremely useful to know the coordinates of the base
station position but averaging the position over several days will also suffice. The second receiver is used as a rover and
the messages must be sent either through a cable or over a radio link.
37
RTK Overview
Real Time Kinematic (RTK) positioning is the highest form of navigational accuracy for GNSS receivers. Hemisphere
GNSS offers RTK for both Crescent and Eclipse platforms. See RTK commands for more information.
38
Post-Processing
Hemisphere receiver modules can output raw measurement data for post processing applications. The raw measurement
and ephemeris data are contained in the following messages, which must be logged in a binary file:
Observations: Bin 76 (GPS), Bin 66 (GLONASS), Bin 36 (BEIDOU) Or
Bin 16 (All constellations; required for GALILEO)
Ephemeris: Bin 95 (GPS), Bin 65 (GLONASS), Bin 35 (BEIDOU), Bin 45 (GALILEO)
Time conversion: Bin 94 (GPS), Bin 34 (BEIDOU), Bin 44 (GALILEO)
(Crescent receivers must log Bin 94, 95, and 96 messages for GPS). Depending on the application, the binary data can
be logged to a file and then translated to RINEX at a later time on a PC.
Contact Hemisphere GNSS technical support for a RINEX translator.
Because there is limited ability to store station information in the binary file, developers may consider writing their own
translator.
39
Receiver Operation
Evaluating Receiver Performance
Hemisphere GNSS evaluates performance of the receiver with the objective of determining best-case performance in a
real-world environment. Our testing has shown that the receiver achieves a performance better than 0.6 m 95% of the
time in typical DGPS modes.
The qualifier of 95% is a statistical probability. Manufacturers often use a probability of RMS, one sigma, or one standard
deviation. These three terms all mean the same thing and represent approximately 67% probability. Performance
measures with these probabilities are not directly comparable to a 95% measure since they are lower probability (less
than 70% probability).
Table 1 summarizes the common horizontal statistical probabilities.
Table 1: Horizontal Accuracy Probability Statistics
Accuracy Measure Probability (%)

rms (root mean square) 63 to 68
CEP (circular error probability) 50

R95 (95% radius) 95 to 98
2drms (twice the distance root) 95
It is possible to convert from one statistic to another using Table 2. Using the value where the 'From' row meets the 'To'
column, multiply the accuracy by this conversion value.
Table 2: Accuracy Conversions
To
From CEP rms R95 2drms

CEP 1 1.2 2.1 2.4
rms 0.83 1 1.7 2.0
R95 0.48 .59 1 1.2
2drms 0.42 .5 .83 1
For example, Product A, after testing, has an accuracy of 90 cm 95% of the time (R95). To compare this to Product B that
has a sub-meter horizontal rms specification of 60 cm:
1. Select the value from where the 'R95' row and the 'rms' column intersect (to convert to rms). This conversion value is
0.59.
2. Multiply the 90 cm accuracy by this conversion factor and the result is 53 cm rms. Compared to Product B’s 60cm
specification of sub-meter rms, Product A offers better performance.
To properly evaluate one receiver against another statistically, the receivers should be using identical correction input
(from an external source) and share the same antenna using a power splitter (equipped with appropriate DC-blocking of
the receivers and a bias-T to externally power the antenna). With this setup, the errors in the system are identical with the
exception of receiver noise.
Although this is a comparison of the GNSS performance qualities of a receiver, it excludes other performance merits of a
GNSS engine. The dynamic ability of a receiver should always be compared in a similar way with the test subjects sharing
the same antenna. Unless a receiver is moving, its software filters are not stressed in a similar manner to the final product
application. When testing dynamically, a much more accurate reference would need to be used, such as an RTK system,
so that a "truth" position per epoch is available.
40
Further, there are other performance merits of a GNSS engine such as its ability to maintain a lock on GNSS and SBAS
satellites. When evaluating this ability, the same GNSS antenna should be shared between the receivers test subjects.
For the sake of comparing the tracking availability of one receiver to another, no accurate "truth" system is required unless
performance testing is also to be analyzed. Again, an RTK system would be required; however, it is questionable how its
performance will fare with environments where there are numerous obstructions such as foliage. Other methods of
providing a truth reference may need to be provided through observation times on surveyed monuments or traversing
well-known routes.
Should you look to compare two RTK systems, determining truth can be very complicated. A rigorous dynamic
comparison of two competing RTK systems should only be attempted by individuals and organizations familiar with RTK
and potentially with inertial navigation equipment. Fortunately, most manufacturer's RTK performance is specified in
similar accuracy values, and in general, RTK accuracy is quite similar across different manufacturers.
39
Receiver Operation
When turned on, the receiver goes through an internal startup sequence. It is, however, ready to communicate
immediately. Refer to the receiver-specific manual for the power specifications of the product.
When its antenna has an unobstructed view of the sky, the receiver provides a position in approximately 60 seconds and
acquires SBAS lock in approximately 30 seconds.
Topic Last Updated: v1.11/ November 15, 2018
41
Receiver Operation
Communicating with the Receiver

The receiver module features three primary serial ports (A, B, C) that may be configured independently of each other. The
ports can be configured to output a combination of data types:
• NMEA 0183
• Hemisphere GNSS proprietary binary and ASCII formats
• RTCM v2.x, 3.x, proprietary ROX and CMR
The usual data output is NMEA 0183 messages because these are the industry standard.
42
Configuring the Receiver

You can configure all aspects of receiver operation through any serial port using NMEA 0183 commands. You can select
one of the two on-board applications.
• Two applications may be loaded at the same time, but only one can be active.
• You can select the active application through serial commands or through menu options on products with
displays
• Set the baud rate of communication ports
• Select NMEA 0183 data messages to output on the serial ports and select the output rate of each message
• Set the maximum differential age cut-of
• Set the satellite elevation angle cut-off mask
The appropriate commands are described in Commands and Messages.
43
Receiver Operation
Saving the Receiver Configuration

Each time the configuration of the receiver is changed, the new configuration should be saved so the receiver does not
have to be reconsidered for the next power cycle.
To save the settings issue the JSAVE command. The receiver records the current configuration to non-volatile memory.
The receiver indicates when the save process, which takes about five secondsis complete.
44
Commands and Messages
Commands and Messages Overview
The receiver supports a selection of NMEA 0183 messages, proprietary messages that conform to NMEA 0183
standards, and Hemisphere GNSS proprietary binary messages. It is your decision as a systems designer whether or not
to support a NMEA 0183-only software interface or a selection of both NMEA 0183 and binary messages.
All Crescent and Eclipse receivers are configured with NMEA 0183 commands and can output NMEA 0183 messages. In
addition to NMEA 0183, some receivers can be configured using NMEA 2000 commands and can output NMEA 2000
messages.
Commands
Beacon receiver commands and messages
DGPS base station commands
e-Dif commands
General Operation and Configuration Commands
GLONASS commands and messages
GNSS commands
Local differential and RTK commands and messages
SBAS commands
RAIM commands
Vector commands and messages
Messages
Binary messages
Data messages
NMEA 0183 messages
NMEA 2000 CAN messages
45
NMEA 0183 Messages
NMEA 0183 is a communications standard established by the National Marine Electronics Association (NMEA). NMEA
0183 provides data definitions for a variety of navigation instruments and related equipment such as gyrocompasses,
Loran receivers, echo sounders, and GNSS receivers.
NMEA 0183 functionality is virtually standard on all GNSS equipment available. NMEA 0183 has an ASCII character
format that enables the user to read the data via a receiving device with terminal software.
The following is an example of one second of NMEA 0183 data from the receiver:
$GPGGA,144049.0,5100.1325,N,11402.2729,W,1,07,1.0,1027.4,M,0,M,,010
*61
$GPVTG,308.88,T,308.88,M,0,0.04,N,0.08,K*42
$GPGSV,3,1,10,02,73,087,54,04,00,172,39,07,66,202,54,08,23,147,48,*7 9
$GPGSV,3,2,10,09,23,308,54,11,26,055,54,15,00,017,45,21,02,353,45*78
$GPGSV,3,3,10,26,29,257,51,27,10,147,45,45,,,,,,,,*74
The NMEA 0183 standard allows manufacturers to define proprietary custom commands and to combine data into
proprietary custom messages. Proprietary NMEA 0813 messages are likely to be supported only by specific
manufacturers.
All messages and ports can be configured independently (see example below).
Baud Rate Messages
Port
A 9600 GPGGA, one every 1 second
GPGSV, one every 5 seconds
B 19200 GPGGA, one every 2 seconds
Bin1, one every 1 second Bin2,

one every 1 second
A selection of NMEA 0183 data messages can be configured at various update rates with each message having a
maximum update rate. A different selection of NMEA 0183 messages with different rates can be configured on another
port.
Commands and Messages Overview presents information about the NMEA 0183 interface of the receiver smart antenna. See
Reference Documents for contact information if you need to purchase a copy of the NMEA 0183 standard.
100
NMEA 0183 Message Format

NMEA 0183 messages (sentences) have the following format:
$XXYYY,ZZZ,ZZZ,ZZZ...*CC<CR><LF>
where:
Element Description
$ Message header character
XX NMEA 0183 talker field (GP = GPS, GL = GLONASS, GA = GALILEO, GB =
BEIDOU, GN = All constellations)
YYY Type of GPS NMEA 0183 message
ZZZ Variable length message fields
*CC Checksum
<CR> Carriage return
<LF> Line feed
Null (empty) fields occur when there is no information for that field. You can use the JNP command to specify the number
of decimal places output in the GPGGA and GPGLL messages.
What does <CR><LF> mean?
The literal translation means "Carriage Return, Line Feed." These are terms used in computer programming languages to
describe the end of a line or string of text. If you are writing your own communication software for a receiver, see some of
the examples below. If you are already using a program such as Hemisphere GNSS' PocketMax, when you click to send a
command to the receiver, the program adds the carriage return and line feed to the end of the text string for you. If you
are using HyperTerminal or other terminal software, typically the Enter key on your keyboard is set to send the <CR><LF>
pair. You may need to define this in the setup section of the terminal software. Some software may treat the Enter key on
your numeric keypad differently than the main Enter key in the main QWERTY section of the keyboard – use the main
Enter key for best results.
Electronics use different ways to represent the <CR><LF> characters. In ASCII numbers, <CR> is represented as 13 in
decimal, or 0D in hexadecimal. ASCII for <LF> is 10 decimal, or 0A hexadecimal. Some computer languages use different
ways to represent <CR><LF>. Unix and C language can use “\x0D\x0A". C language can also use “\r\n” in some
instances. Java may use CR+LF. In Unicode, carriage return is U+000D, and line feed is U+000A. It is advised to clearly
understand how to send these characters if you are writing your own interface software.
Topic Last Updated: v2.0/ April 30, 2019
47

The following table lists the commands related to the general operation and configuration of the receiver.
Command Description
JAIR Specify how the receiver will respond to the
dynamics associated with airborne applications
JALT Turn altitude aiding for the receiver on or off
JAPP Specify or query receiver application firmware
JASC,D1 Set the RD1 diagnostic information message from

the receiver to on or off
JASC,VIRTUAL Configure the receiver to have RTCM data input on

one port and output through the other (when using
an external correction source)
JBAUD Specify the baud rates of the receiver or query the
current setting
JBOOT
JBIN Enable the output of the various binary messages

supported by the receiver
JCONN Create a virtual circuit between the A and B ports to
enable communication through the receiver to the
device on the opposite port
JDIFF Specify or query the differential mode of the receiver

JDIFF,AVAILABLE Query the receiver for the differential types currently
being received
JDIFFX,EXCLUDE Specify the differential sources to be excluded from

operating in a multi-diff application
JDIFFX,GNSSOUT Specify GNSS output in correction formats or query

the current setting
JDIFFX,INCLUDE Specify the differential sources to be allowed to

operate in a multi-diff application
JDIFFX,SOURCE Query the receiver for the differential source

JDIFFX,TYPE Query the receiver for the differential type
JEPHOUT,PERIODSEC to allow ephemeris messages (95, 65, 35) to go out a

rate other than when they change
JFLASH,DIR Display the files on a USB flash drive
JFLASH,FILE,CLOSE Close an open file on a USB flash drive
JFLASH,FILE,NAME Open a specific file, append to a specific file, or

display the file name of the open file on a USB flash
drive
JFLASH,FILE,OPEN Create and open a file with an automatically
generated file name on a USB flash drive
JFLASH,FREESPACE Display the free space in kilobytes (KB) on a USB

flash drive
JFLASH,NOTIFY,CONNECT Enable/disable the automatic response when a USB

flash drive is inserted or removed (if port is not
specified the response will be sent to the port that
issued the command)
48
JFLASH,QUERYCONNECT Manually verify if a USB flash drive is connected or

disconnected
JFORCEAPP Force an application to be used in a multi-application

(MFA)
JHTYPE, SHOW Queries the hardware type
JI Display receiver information, such as its serial

number and firmware version
JK Subscribe the receiver to various options, such as

higher update rates, e-Dif (or base station capability)
or L-Dif; or query for the current subscription
expiration date when running Atlas application or the
receiver subscription code when running all other
applications
JK,SHOW contain authorization information
JLIMIT Set the threshold of estimated horizontal

performance for which the DGPS position LED is
illuminated or query the current setting
JMODE Query receiver for status of JMODE settings
JMODE,BASE Enable/disable base mode functionality or query the

current setting
JMODE,FIXLOC Set the receiver to not re-average (or re-average) its

position or query the current setting
JMODE,FOREST Turn the higher gain functionality (for tracking under

canopy) on/off or query the current setting
JMODE,GLOFIX Enable/disable use of RTCM v3 (RTK) GLONASS
correctors
JMODE,MIXED Include satellites that do not have differential

corrections in the solution
JMODE,NULLNMEA Enable/disable output of NULL fields in NMEA 0183

messages when no there is no fix (when position is
lost)
JMODE,SBASNORTK Disable/enable the use of SBAS ranging signals

(carrier phase) in RTK
JMODE,SBASR Enable/disable SBAS ranging
JMODE,STRICTRTK Use this command to invoke stricter checks on whether

RTK fix is declared. Forces float of RTK at 30 seconds
of Age-of-Diff
JMODE,SURETRACK Enable/disable SureTrack functionality (default is
enabled) or query the current setting
JMODE,SURVEY Assure RTK fix is not declared when residual errors

exceed 10 cm. Also forces use of GLONASS and
prevents SureTrack operation.
JMODE,TIMEKEEP Enable/disable continuous time updating in NMEA
0183 messages when there is no fix (when position
is lost)
JMODE,TUNNEL Enable/disable faster reacquisition after coming out

of a tunnel or query the current setting
JPOS Speed up the initial acquisition when changing

continents with the receiver or query the receiver for
the current position of the receiver
49
JPPS,FREQ Specify the pps frequency of the receiver or query the

current setting
JPPS,WIDTH Specify the pps width of the receiver or query the current
setting
JPRN,EXCLUDE For advanced users only.
Exclude GPS and/or other GNSS satellites from being

used in the positioning solution or query the current
setting
JQUERY,GUIDE Query the receiver for its determination on whether or not

it is providing suitable accuracy after both the SBAS and
GPS have been acquired (up to five minutes)
JQUERY,TEMPERATURE Query the receiver’s temperature
JRELAY Send user-defined text out of a serial port
JRESET Reset the receiver to its default operating parameters by

turning off outputs on all ports, saving the configuration,
and setting the configuration to its defaults
JSAVE Send this command after making changes to the

operating mode of the receiver
JSHOW Query the current operating configuration of the receiver
JSHOW,ASC Query receiver for current ASCII messages being output
JSHOW,BIN Query receiver for current Bin messages being output
JSHOW,CONF Query receiver for configuration settings
JSHOW,GP Query the receiver for each GP message currently being

output through the current port and the update rate for
that message
JSHOW,THISPORT Query to determine which receiver port you are

connected to
JSIGNAL, EXCLUDE Query the receiver for the signals for which you are
disabling tracking
JSIGNAL,INCLUDE Query the receiver for the signals for which you are
enabling tracking
JSYSVER Returns the boot loader version from the GPS card
Note: Use the JSAVE command to save changes you need to keep and wait for the $>SAVE COMPLETE response.
50
GNSS Commands
The following table lists the commands supported by the internal GNSS engine for its configuration and operation.
Command Description
JAGE Specify maximum DGPS (COAST) correction age (6 to 8100 seconds)
JASC,GN Enable the GPS data messages at a particular update rate to be turned on or off
JMASK Specify the elevation cutoff mask angle for the GPS engine
JNMEA,PRECISION Specify or query the number of decimal places to output in the GPGGA and the GPGLL
messages or query the current setting
JNP Specify the number of decimal places output in the GPGGA and GPGLL messages
JOFF Turn off all data messages being output through the current port or other port
JOFF,ALL Turn off all data messages being output through all ports
JSMOOTH Set the carrier smoothing interval (15 to 6000 seconds) or query the current setting
JTAU,COG Set the course over ground (COG) time constant (0.00 to 3600.00 seconds) or query
the current setting
JTAU,SPEED Set the speed time constant (0.00 to 3600.00 seconds) or query the current setting
The following table lists the messages applicable to GNSS
Message Description
Bin16 GNSS code and phase observation information
Bin19 GNSS Tracking Information
51
SBAS Commands
The following table lists the commands supported by the SBAS demodulator for its control and operation.
Command Description
JASC,D1 Set the RD1 diagnostic information message from the receiver to on or off
JASC,RTCM Configure the receiver to output RTCM version 2 DGPS corrections from SBAS or
beacon through either receiver serial port
JGEO Display information related to the current frequency of SBAS and its location in relation
to the receiver’s antenna
JWAASPRN Change the SBAS PRNs in memory or query the receiver for current PRNs in memory
52
e-Dif Commands
The following table lists the commands supported by the e-Dif application for its control and operation.
Command Description
JRAD,1 Display the current reference position in e-Dif applications only
JRAD,1,LAT,LON,HEIGHT Use this command—a derivative of the JRAD,1,P command—when

absolute positioning is required in e-Dif applications only
JRAD,1,P e-Dif: Record the current position as the reference with which to compute e-Dif
corrections. This would be used in relative mode as no absolute point
information is specified.
DGPS Base Station: Record the current position as the reference with which to
compute Base Station corrections in e-Dif applications only. This would be
used in relative mode as no absolute point information is specified
JRAD,2 Forces the receiver to use the new reference point (you normally use this
command following a JRAD,1 type command)
JRAD,3 Invoke the e-Dif function once the unit has started up with the e-Dif application
active, or, update the e-Dif solution (calibration) using the current position as
opposed to the reference position used by the JRAD,2 command
JRAD,7 Turn auto recalibration on or off
Topic Last Updated: v1.02 / January 25, 2011
53
Vector Commands and Messages

The following table lists the commands related to the GPS heading aspect of the Vector OEM heading system.
Command Description
JASC Turn on different messages
JASC,INTLT Configure the receiver to output pitch and roll data (pitch and roll are factory
calibrated over temperature to be accurate to ±3°)
JASC,PASHR Configure the receiver to output time, true heading, roll, and pitch data in one message
JASC,PTSS1 Configure the receiver to output heave, pitch, and roll in the commonly used TSS1
message format
$JATT,ACC90 Refer to the User Guide for your product
$JATT, ACC180 Refer to the User Guide for your product
JATT,COGTAU Set the course over ground (COG) time constant (0.0 to 3600.0 seconds) or query the
current setting
JATT,CSEP Query for the current separation between GPS antennas

JATT,EXACT Enable/disable internal filter reliance on the entered antenna separation or query the
current setting
JATT,FLIPBRD Turn the flip feature on/off (allowing you to install the Crescent Vector board upside
down) or query the current feature status
JATT,GYROAID Turn gyro aiding on or off or query the current setting
JATT,HBIAS Set the heading bias or query the current setting
JATT,HELP Show the available commands for GPS heading operation and status
JATT,HIGHMP Set/query the high multipath setting for use in poor GPS environments
JATT,HRTAU Set the heading rate time constant or query the current setting
JATT,HTAU Set the heading time constant or query the current setting
JATT,LEVEL Turn level operation on or off or query the current setting
JATT,MOVEBASE Set the auto GPS antenna separation or query the current setting
JATT,MSEP Manually set the GPS antenna separation or query the current setting
JATT,NEGTILT Turn the negative tilt feature on or off or query the current setting
JATT,NMEAHE Instruct the Crescent Vector to preface the HDG, HDM, HDT, and ROT messages
with GP or HE
JATT,PBIAS Set the pitch/roll bias or query the current setting
JATT,PTAU Set the pitch time constant or query the current setting
JATT,ROLL Configure the Crescent Vector for roll or pitch GPS antenna orientation
JATT,SEARCH Force the Crescent Vector to reject the current GPS heading solution and begin a new
search
JATT,SPDTAU Set the speed time constant (0.0 to 3600.0 seconds) or query the current setting
JATT,SUMMARY Display a summary of the current Crescent Vector settings

JATT,TILTAID Turn tilt aiding on or off or query the current setting
JATT,TILTCAL Calibrate tilt aiding or query the current feature status

The following table lists Vector messages.
54
Message Description
GNGSA GNSS DOP and active satellites
GPDTM Datum reference
GPGGA GPS fix data

GPGLL Geographic position - latitude/longitude
GPGNS GNSS fix data

GPGRS GNSS range residuals
GPGST GNSS pseudorange error statistics
GPGSV GPS satellites in view

GLGSV GLONASS satellites in view
GAGSV Galileo satellites in view
GBGSV BeiDou satellites in view
GPHDG/HEHDG Provide magnetic deviation and variation for calculating magnetic or true heading
GPHDM/HEHDM Provide magnetic heading of the vessel derived from the true heading calculated
GPROT/HEROT Contains the vessel’s rate of turn (ROT) information
GPRRE Range residual message

GPVTG Course over ground and ground speed
GPZDA Time and date
PASHR Time, true heading, roll, and pitch data in one message
PSAT,GBS Satellite fault detection used for RAIM

PSAT,HPR Proprietary NMEA sentence that provides the true heading, pitch/roll information and
time in a single message
PSAT,INTLT Proprietary NMEA sentence that provides the title measurement from the internal
inclinometer (in degrees)
TSS1 Heave, pitch, and roll message in the commonly used TSS1 message format
55
GLONASS Commands and Messages

The following table lists the commands applicable to GLONASS-capable receivers.
Command Description
JASC,GL Enable the GLONASS data messages at a particular update rate to be turned on or
off. When turning messages on, various update rates are available depending on
the requirements.
JNMEA,GGAALLGNSS Configure the GGA string to include full GNSS information (the number of used
GLONASS satellites will be included in the GPGGA message) or query the
current setting
The following table lists the messages applicable to GLONASS-capable receivers.
Message Description

Bin62 GLONASS almanac information
Bin65 GLONASS ephemeris information
Bin66 GLONASS L1 code and carrier phase information

Bin69 GLONASS L1 diagnostic information
GLMLA GLONASS almanac data - contains complete almanac data for one GLONASS satellite
(multiple sentences may be transmitted, one for each satellite in the GLONASS
constellation)
56
GALILEO Commands and Messages

The following table lists the commands applicable to GALILEO-capable receivers.
Command Description
JASC,GAGSV Enable/disable the data for GALILEO satellites in view. When turning messages on,
various update rates are available depending on the requirements.
JASC,GNGNS Enable/disable fix data for GNSS systems including GALILEO (GAGNS). When turning
messages on, various update rates are available depending on the requirements.
JNMEA,GGAALLGNSS Configure the GGA string to include full GNSS information (the number of used satellites
will be included in the GPGGA message) or query the current setting
The following table lists the messages applicable to GALILEO-capable receivers.
Message Description
Bin45 GALILEO ephemeris information
Bin16 GALILEO GNSS code and phase observation information
Bin44 GALILEO time conversion information
*Note: For observations in tracking status, see GNSS, Bin 16 & Bin 19.
57
QZSS Commands and Messages

The following table lists the commands applicable to QZSS-capable receivers.
Command Description
JASC,GQGSV Enable/disable the data for QZSS satellites in view.
JASC,GNGNS Enable/disable fix data for GNSS systems.
JASC,GNGSA DOP and active satellite information

The following table lists the binary messages applicable to QZSS-capable receivers.
Message Description
Bin19 GNSS diagnostic information
58
DGPS Base Station Commands

The following table lists the commands supported by the base station feature for its control and operation.
Command Description
JRAD,1,LAT,LON,HEIGHT Use this command—a derivative of the JRAD,1,P command—when
absolute positioning is required in e-Dif applications only
corrections. This would be used in relative mode as no absolute point
information is specified.
DGPS Base Station: Record the current position as the reference with which
to compute Base Station corrections in e-Dif applications only. This would be
used in relative mode as no absolute point information is specified.
JRAD,9 Initialize the Base Station feature and use the previously entered point, either with
$JRAD,1,P or $JRAD,1,LAT,LON,HEIGHT, as the reference with which to compute
Base Station corrections in e-Dif applications only. Use this for both relative
mode and absolute mode.
JRAD,10 If $JRAD,10,1 is entered, the diff output will be RTCM2.4
59
Local Differential and RTK Commands and Messages

The following table lists the commands supported by Local Differential (L-Dif) and RTK feature for its control and operation.
Command Description
JASC,CMR Set the proprietary CMR messages to on or off to provide corrections to the
rover (only applies to an Eclipse base station receiver when using GPS dual
frequency RTK mode)
JASC,DFX Set the proprietary DFX messages to on or off to provide corrections to the
rover (only applies to a Crescent base receiver when using L-Dif or RTK
mode)
JASC,ROX Set the proprietary ROX messages to on or off to provide corrections to the
frequency RTK mode)
JASC,RTCM3 Set the RTCM version 3 messages to on or off to provide corrections to the
frequency RTK mode)
JASC,PSAT,BLV,1 Configure the receiver to output the North,East,Up base-line vector
JASC,PSAT,FVI,1 Configure the receiver to output a message include most position and
attitude information
JASC,PSAT,RTKPROG Configure the receiver to output RTK fix progress
JASC,PSAT,RTKSTAT Configure the receiver to output the most relevant parameters affecting RTK
JASC,PSAT,VCT,1 Configure the receiver to output the heading, pitch, roll, and master to slave
vector
JMODE,BASE Enable/disable base mode functionality or query the current setting
JNMEA,PRECISION Specify or query the number of decimal places to output in the GPGGA
andthe GPGLL messages or query the current setting
JNP Specify the number of decimal places output in the GPGGA and GPGLLmessages
JQUERY,RTKPROG Perform a one-time query of RTK fix progress information
JQUERY,RTKSTAT Perform a one-time query of the most relevant parameters that affect RTK
JRTK,1 Show the receiver’s reference position (can issue command to base station or
rover)
JRTK,1,LAT,LON,HEIGHT Set the receiver’s reference position to the coordinates you enter (can
issue command to base station or rover)
JRTK,1,P Set the receiver’s reference coordinates to the current calculated position if you
do
not have known coordinates for your antenna location (can issue command to
base station or rover)
JRTK,5 Show the base station’s transmission status for RTK applications (can
issue command to base station)
JRTK,5,Transmit Suspend or resume the transmission of RTK (can issue command to base
station)
JRTK,6 Display the progress of the base station (can issue command to base station)
JRTK,12 Disable or enable the receiver to go into fixed integer mode (RTK) vs. float
mode (L- Dif) - can issue command to rover
JRTK,17 Display the transmitted latitude, longitude, and height of the base station (can
issue command to base station or rover)
JRTK,18 Display the distance from the rover to the base station, in meters (can
issue command to rover)
JRTK,18,BEARING Display the bearing from the base station to the rover, in degrees (can
issue command to rover)
JRTK,18,NEU Display the distance from the rover to the base station and the delta North,
East, and Up, in meters (can issue command to rover)
60
JRTK,28 Set the base station ID transmitted in ROX/DFX/CMR/RTCM3 messages (can

issue command to base station)
JRTCM3, ANTNAME Specify the antenna name that is transmitted in various RTCM3 messages from
the base
JRTCM3, EXCLUDE Specify RTCM3 message types to not be transmitted (excluded) by base station
JRTCM3, INCLUDE Specify RTCM3 message types to be transmitted by base station

JRTCM3, NULLANT Specify the antenna name as null (no name) that is transmitted in various
RTCM3 messages from the base
The following table lists the Local Differential (L-Dif) and RTK messages.
Message Description
PSAT,RTKPROG Contains RTK fix progress information
PSAT,RTKSTAT Contains the most relevant parameters affecting RTK
Topic Last Updated: v1.07 / October 13, 2016
61
Beacon Receiver Commands and Messages

If integrating a Hemisphere GNSS SBX beacon module with the receiver GNSS engine, Hemisphere GNSS recommends
interfacing the beacon receiver to Port D of the receiver engine. Hemisphere GNSS has implemented some command
and message pass-through intelligence for such an integration. In this configuration you can issue the commands in the
following table to the beacon receiver through either Port A, Port B, or Port C of the receiver. When you issue queries to
the SBX primary communications port, the response messages are output interspersed with RTCM correction information.
This may cause conflicts with a GNSS receiver’s ability to compute differential corrected solutions. By sending these
queries to the SBX secondary communications port the flow of RTCM corrections on the primary port will not be
interrupted.
The following table lists the beacon commands/messages found in this Help file.
Query NMEA 0183 Query Type Description

GPCRQ,MSK Standard Query the SBX for its operational status
GPCRQ,MSS Standard Query the SBX for its performance status
GPMSK Standard Tune beacon the receiver and turn on diagnostic information
PCSI,0 Hemisphere GNSS Query the SBX to output a list of available proprietary PCSI
proprietary commands
PCSI,1 Hemisphere GNSS Query the SBX for a selection of parameters related to the
proprietary operational status of its primary channel
PCSI,1,1 Hemisphere GNSS Obtain beacon status information from the SBX beacon engine
proprietary inside the receiver
PCSI,2 Hemisphere GNSS Query the SBX to output a selection of parameters related to the
proprietary operational status of its secondary channel
PCSI,3,1 Hemisphere GNSS Query the SBX to output the search information used for beacon
proprietary selection in Automatic Beacon Search mode. The output has three
frequencies per line.
PCSI,3,2 Hemisphere GNSS Display the ten closest beacon stations
proprietary
PCSI,3,3 Hemisphere GNSS Display the contents of the beacon station database
proprietary
PCSI,4 Hemisphere GNSS Clear search history in Auto mode

proprietary
PCSI,5 Hemisphere GNSS Set the baud rate of Port0 and Port1
proprietary
PCSI,6 Hemisphere GNSS Reboot SBX receiver
proprietary
PCSI,7 Hemisphere Swap modes on the receiver

GNSS
proprietary
The following table lists the beacon messages found in this Help file.
Message Description
CRMSK Operational status message of SBX
CRMSS Performance status message of SBX
62
RAIM Commands
RAIM (Receiver Autonomous Integrity Monitoring) is a GNSS integrity monitoring scheme that uses redundant ranging
signals to detect a satellite malfunction resulting in a large range error. The Hemisphere GNSS products use RAIM to alert
users when errors have exceeded a user-specified tolerance. RAIM is available for SBAS, and Beacon applications.
The following table lists the available RAIM commands.
Command Description
JRAIM Specify the parameters of the RAIM scheme that affect the output of the PSAT,GBS
message or query the current setting
63
Data Messages
Note: Output rates greater than 1Hz may require a subscription. Output rates greater than 20 Hz are not available for all
products. Please refer to your product’s documentation for the supported output rates.
For messages supporting rates greater than 1 Hz, see the following table:
Firmware Support Output Rates

Version
50 Hz 50, 25, 10, 5, 2, 1, .2, 0
20 Hz 20, 10, 5, 4, 2, 1, .2, .5, 0
For message descriptions and maximum rates see the following table:
Message Maximum Description

Rate
GNGSA 1 Hz GPS DOP and active satellite information
GPALM 1 Hz GPS almanac data
GPGGA 50 Hz Detailed GPS position information
GPGLL 50 Hz Latitude and longitude data
GPGNS 50 Hz Fixes data for single or combined satellite navigation systems
GPGRS 50 Hz Supports Receiver Autonomous Integrity Monitoring (RAIM)
GPGST 1 Hz GNSS pseudorange error statistics
GPGSV 20 Hz GPS satellites in view
GLGSV 20 Hz GLONASS satelllites in view
GAGSV 20 Hz Galileo sattelites in view
GBGSV 20 Hz BeiDou satellites in view
GPHDG/HEHDG 50 Hz Magnetic deviation and variation for calculating magnetic or true

heading
GPHDM/HEHDM 50 Hz Magnetic heading of the vessel derived from the true heading
calculated
GPHDT/HEHDT 50 Hz True heading of the vessel
GPHEV 50 Hz Heave value in meters
GPRMC 50 Hz Recommended minimum specific GNSS data
GPROT/HEROT 50 Hz Vessel’s rate of turn (ROT) information
GPRRE 1 Hz Range residual message
GPVTG 50 Hz Course over ground and ground speed
GPZDA 50 Hz UTC time and date information
64
PASHR 1 Hz Time, true heading, roll, and pitch data in one message
PSAT,ATTSTAT 1HZ
PSAT,GBS 1 Hz Used to support Receiver Autonomous Integrity Monitoring

(RAIM)
PSAT,HPR 50 Hz Proprietary NMEA message that provides the true
heading, pitch, roll, and time in a single message
PSAT,INTLT 1 Hz Proprietary NMEA message that provides the tilt

measurements from the internal inclinometers (in
degrees)
PSAT,RTKPROG 1 Hz Contains RTK fix progress information
PSAT,RTKSTAT 1 Hz Contains the most relevant parameters affecting RTK
RD1 1 Hz SBAS diagnostic information
TSS1 50 Hz Heave, pitch, and roll message in the commonly used TSS1
message format
Topic Last Updated: v1.11/ November 15, 2018
65
Binary Messages
Message Structure
The binary messages supported by the receiver are in an Intel Little Endian format for direct read in a PC environment.
More information on this format at the following web site: http://www.cs.umass.edu/~verts/cs32/endian.html
Each binary message begins with an 8-byte header and ends with a carriage return, line feed pair (0x0D, 0x0A). The first
four characters of the header is the ASCII sequence $BIN.
The following table provides the general binary message structure.
Component Description Type Bytes

Header Synchronization String 4 byte 4
string
Block ID - type of Unsigned 2

binary message short
DataLength - the length Unsigned 2

of the binary messages short
Data Binary Data - varying Mixed Data

fields of data with a total fields Length
length of DataLength bytes
bytes
Epilogue Checksum - sum of all Unsigned 2

bytes of the data (all short
DataLength bytes); the
sum is placed in a 2-
byte integer
CR- Carriage return Byte 1
LF - Line feed Byte 1
66
NMEA 2000 CAN Messages

Refer to the NMEA Specification Appendix A & B. The following NMEA 2000 CAN messages are supported by HGNSS:
Default
PGN Description
Rate
126992System Time 1 Hz
129025Position Rapid update 10 Hz
129026COG & SOG, Rapid update 4 Hz
129027Position Delta, High Precision Rapid update 10 Hz
129028Altitude Delta, High Precision Rapid update 10 Hz
129029GNSS Position Data 1 Hz
129033Local Time Offset 1 Hz
129539GNSS DOPs 1 Hz
129540GNSS Sats in View 1 Hz
129542GNSS Pseudorange Noise Statistics 1 Hz
129545GNSS RAIM Output Off
127250Vessel Heading 10 Hz*
127251Rate of Turn 10 Hz*
127258Magnetic Variation 1 Hz*
127257Attitude, Yaw, Pitch, Roll 1 Hz*
* These messages may be off when heading is not supported.
For a list of Hemisphere GNSS Proprietary Commands, refer to the NMEA 2000 Reference Manual on the HGNSS
website.
Note: Not all products support the messages listed above.
Topic Last Updated: v1.10 / June 1, 2018
67
Beacon Receiver Commands

CRMSK Message
Message Type:
Beacon Receiver
Description:
Operational status message of SBX
Command Format to Request Message:
$GPCRQ,MSK<CR><LF>
Command Format:
$CRMSK,FFF.F,X,DDD,Y,N*CC<CR><LF>
where:
Message Description
Component
FFF.F Frequency, in kHz (283.5 to 325)
X Tune mode (M = manual, A = automatic)
DDD MSK bit rate, in bps (100 or 200)
Y MSK rate selection mode (M = manual, A = automatic)
N Period of output of performance status message, in seconds (0 to 100); see CRMSS
*CC Checksum
<LF> Line feed
Receiver Response:
Additional Information:
Related Commands
GPCRQ,MSK
Topic Last Updated: v. 1.00 / August 11, 2010
68
CRMSS Message
Message Type:
Beacon Receiver
Description:
Performance status message of SBX
$GPCRQ,MSS<CR><LF>
Message Format:
$CRMSS,XX,YY,FFF.F,DDD*CC<CR><LF>
where:
Message Description
Component
XX Signal strength, in dB μV/m
YY Signal-to-noise ratio, in dB
FFF.F Frequency, in kHz (283.5 to 325)
DDD MSK bit rate in bps (100 or 200)
*CC Checksum
<LF> Line feed
Related Commands:
GPCRQ,MSS
Topic Last Updated: v.1.00 / August 11, 2020
69
GPCRQ,MSS Command
Command Type:
Beacon Receiver
Description:
Standard query to prompt the SBX for its performance status (response is the CRMSS message)
You can issue this command through the secondary serial port with a standard response issued to the same port. This will
not affect the output of RTCM data from the main serial port when the receiver has acquired a lock on a beacon station.
Command Format:
$GPCRQ,MSS<CR><LF>
Receiver Response:
$CRMSS,xx,yy,fff.f,ddd*CC<CR><LF>
where:
Response Description
Component
xx Signal strength in dBμV/m
yy Signal-to-noise ratio (SNR) in dB
fff.f Frequency in kHz (283.5 to 325)
ddd MSK bit rate in bps (100 or 200)
Response example:
$CRMSS,65,36,322.0,100*CC
The signal strength is 65 dBμV/m, SNR is 36 dB, frequency is 322.0 kHz, and MSK bit rate is 100 bps.
70
GPMSK Command
Command Type:
Beacon Receiver
Description:
Beacon Tune command
Instruct the SBX to tune to a specified frequency and automatically select the correct MSK rate. When you send this
command through Port A, Port B, or Port C, it is automatically routed to Port D. The resulting confirmation of this message
is returned to the same port from which you sent the command.
Command Format:
$GPMSK,fff.f,F,mmm,M[,n]<CR><LF>
where:
Command/Response Description
Component
fff.f Beacon frequency in kHz (283.5 to 325)
This may be left blank if the following field 'F' is set to 'A' (automatic) or 'D'
(database)
F Frequency selection mode
(M = manual, A = automatic, D = database)
mmm MSK bit rate
This may be left blank if the following field 'M' is set to 'A' (automatic) or 'D'
(database)
M MSK rate selection mode
(M = manual, A = automatic, D = database)
n Period of output of CRMSS performance status message (0 to 100 seconds),

where leaving the field blank will output the message once
Note: This field is optional when using database tuning mode or automatic tuning
mode.
Receiver Response:
$CRMSS,xx,yy,fff.f,ddd*CC<CR><LF>
where:
Component
xx Signal strength in dBμV/m
71
yy Signal-to-noise ratio (SNR) in dB
fff.f Frequency in kHz (283.5 to 325)
ddd MSK bit rate in bps (100 or 200)
Example:
To instruct the SBX to tune to 310.5 kHz with a bit rate of 100 and output the CRMSS message every 20 seconds issue
the following command:
$GPMSK,310.5,M,100,M,20<CR><LF>
...and the receiver response is:
$CRMSS,65,36,310.5,100*CC
(repeating every n=20 seconds)
If using database tuning mode issue the following command:
$GPMSK,,D,,D<CR><LF>
If using automatic tuning mode issue the following command:
$GPMSK,,A,,A<CR><LF>
When the SBX acknowledges this message, it immediately tunes to the specified frequency and demodulates at the
specified rate.
When you set 'n' to a non-zero value, the SBX outputs the CRMSS message at that period through the serial port from
which the SBX was tuned. When you issue this command with a non-zero'n' value through Port B, the periodic output of
the CRMSS performance status message does not impact the output of RTCM on Port A. However, when tuning the SBX
with a non-zero 'n' value through Port A, the CRMSS message is interspersed with the RTCM data. Most GPS engines
will not be able to filter the CRMSS message,causing the overall data to fail parity checking. When power to the SBX is
removed and reapplied, the status output interval resets to zero (no output).
When tuning the SBX engine, if the 'n' field in this message is non-zero, the CRMSS message output by the SBX may
interrupt the flow of RTCM data to the GPS receiver. Repower the SBX to stop the output of the CRMSS message or
retune the Beacon receiver with 'n' set to zero.
72
GPS Commands
JAGE Command
Command Type:
GPS
Description:
Specify maximum DGPS (COAST) correction age (6 to 8100 seconds). Using COAST technology, the receiver can use
old correction data for extended periods of time. If using aRTK, the parameter must be set to higher than 601 seconds.
The default setting for the receiver is 2700 seconds.
If you select a maximum correction age older than 1800 seconds (30 minutes) test the receiver to ensure the new setting
meets the requirements, as accuracy will slowly drift with increasing time.
Command Format:
$JAGE,age<CR><LF>
where 'age' is the maximum differential age time out
Receiver Response:
$>
Example:
To set the DGPS correction age to 60 seconds issue the following command:
$JAGE,60<CR><LF>
To query the receiver for the current DGPS correction age, issue the JSHOW command.
73
General Operation and Configuration

JAIR Command
Command Type:
Description:
Specify how the receiver will respond to the dynamics associated with airborne applications or query the current setting
Command Format:
Specify how the receiver responds:
$JAIR,r<CR><LF>
where 'r' is the AIR mode:
NORM - normal track and nav filter bandwidth
HIGH - highest track and nav filter bandwidth (receiver is optimized for the high dynamic environment associated with
airborne platforms)
LOW - lowest track and nav filter bandwidth
AUTO - default track and nav filter bandwidth, similar to NORM but automatically goes to HIGH above 30m/sec
Query the current setting:
$JAIR<CR><LF>
Receiver Response:
Receiver response when specifying how the receiver responds or querying the current setting:
$>JAIR,MAN,NORM
$>JAIR,MAN,HIGH
$>JAIR,MAN,LOW
$>JAIR,AUTO,NORM
Example:
To set the AIR mode to LOW issue the following command:
$JAIR,LOW<CR><LF>
The response is then:
$>JAIR,MAN,LOW<CR><LF>
Defaults to normal (NORM) which is recommended for most applications. The AUTO option enables the receiver to
decide when to turn JAIR to HIGH.
CAUTION: Setting AIR mode to HIGH is not recommended for Crescent Vector operation.
74
On the HIGH setting, the receiver tolerates larger and sudden drops in the SNR value before it discards the data as being
invalid. This additional tolerance is beneficial in applications such as crop dusting where an aircraft is banking rapidly. As
the aircraft banks, the antenna position shifts from upright and having a clear view of the sky to being tipped slightly, with
a possibly obscured view of the sky, and then back to upright. This sudden tipping of the antenna causes the SNR value
to drop.
If the tolerance is not set as HIGH, the receiver views the data recorded while banking as invalid and discards it. As a
result the GPS position will not be accurate.
The status of this command is also output in the JSHOW message.
75
JALT Command
Command Type:
Description:
Turn altitude aiding for the receiver on or off
When set to something other than NEVER, altitude aiding uses a fixed altitude instead of using one satellite’s
observations to calculate the altitude. The advantage of this feature, when operating in an application where a fixed
altitude is acceptable, is that the extra satellite’s observations can be used to the betterment of the latitude, longitude, and
time offset calculations, resulting in improved accuracy and integrity. Marine markets, for example, may be well suited for
use of this feature.
Command Format:
$JALT,c[,h[,GEOID]]<CR><LF>
where 'c' (feature status variable) and 'h' (threshold variable) may be one of the following:
c Value Correspondi Description Format

ng h Value
NEVER N/A Default $JALT,NEVER<CR><LF>

mode of
operation
where
altitude
aiding is
not used.
SOMETIMES PDOP Sets the $JALT,SOMETIMES,PDOP<CR><LF>

receiver to
use altitude
aiding
depending
upon the
PDOP
threshold.
SATS NUMSATS Sets the $JALT,SATS,NUMSATS<CR><LF>

receiver to
use altitude
aiding
depending
upon the
number of
visible
satellites. If
there are
fewer visible
satellites
than
specified by
NUMSATS,
altitude
aiding is
used.
ALWAYS HEIGHT Sets the $JALT,ALWAYS,HEIGHT<CR><LF>

receiver to
use altitude $JALT,ALWAYS,HEIGHT,GEOID<CR><LF>
aiding
regardless
76
To obtain a HEIGHT value to use with ALWAYS (using DGPS positions), average the HEIGHT over a period of time (the
longer the time period, the more accurate this HEIGHT value). This is the ellipsoidal height.
$JALT,ALWAYS,HEIGHT<CR><LF>
If you use the height reported from the GPGGA message (this is actually geoidal and not ellipsoidal), use the following
command:
$JALT,ALWAYS,HEIGHT,GEOID<CR><LF>
Receiver Response:
$>
Example:
To turn altitude aiding on to SOMETIMES with a PDOP of 5 issue the following command:
$JALT,SOMETIMES,5<CR><LF> 7
To turn altitude aiding on to ALWAYS using the height of 401.6 m as reported in the GPGGA message (geoidal height)
issue the following command:
$JALT,ALWAYS,401.6,GEOID<CR><LF>
To query the receiver for the current setting, issue the JSHOW command. For example, if you issue the following
command:
$JALT,ALWAYS,404.2<CR><LF>
...then issuing the JSHOW command displays the following as part of its output:
$>JSHOW,ALT,ALWAYS,404.2
77
JAPP Command
Command Type:
Description:
Specify which of the installed applications should be utilized or query the receiver for the currently installed applications. All
modern versions of Hemisphere receivers have MFA firmware. However, you can use this command if you have 2
different versions of firmware installed. For example, if you update the firmware on application 1 and your receiver still
shows you have the previous version of firmware installed, check to see if you are in application 2, or vice versa.
Specify receiver application firmware (when two applications are present)
Command Format:
$JAPP,OTHER<CR><LF> or $JAPP,O<CR><LF>
(the second command uses the letter O, not a zero) or
$JAPP,x<CR><LF>
where ‘x’ is either 1 (application in slot 1) or 2 (application in slot 2)
Query receiver application firmware:
$JAPP<CR><LF>
Receiver Response:
For example, if WAAS (SBAS) and AUTODIFF (e-Dif) are the two installed applications (WAAS in slot1 and AUTODIFF in
slot2) and WAAS is the current application, if you issue the $JAPP,OTHER<CR><LF>command on a receiver, the
response to $JAPP<CR><LF> will be$>JAPP,AUTODIFF,WAAS,2,1, indicating that application slot 2 (e- Dif)
is currently being used.
Hemisphere GNSS recommends that you follow up the sending of these commands with a $JAPP query to see which
application is 1 or 2. It is best to use these two commands when upgrading the firmware inside the receiver, because the
firmware upgrading utility uses the application number to designate which application to overwrite.
Response to querying the current setting:
$>JAPP,CURRENT,OTHER,[1 OR 2],[2 OR 1]
where:
• 'CURRENT' indicates the current application in use
• 'OTHER' indicates the secondary application that is not currently in use
• 1 and 2 indicate in which application slots the applications reside
Example:
If the response to:
$JAPP<CR><LF> is $>JAPP,WAAS,AUTODIFF,1,2,
this indicates:
•ϒϒWAAS (SBAS) is the current application and is in application slot 1
• e-Dif is the other application (not currently used)and is in application slot 2
78
When querying the current setting, the following application names may appear (depending on your product):
• Crescent
• WAAS – Changes to the SBAS application. For the sake of the application names, the SBAS application is
referred to as WAAS by the receiver’s internal firmware
• AUTODIFF – Changes to the e-Dif application. Referred to as "AUTODIFF" in the receiver’s internal firmware
• LOCRTK – Changes to the local differential rover application
• RTKBAS – Changes to the local differential base application
• LBAND – Changes to Atlas DGPS service
• Eclipse
• WAASRTKB – Changes to the SBAS/RTK Base application
• LBAND – Changes to Atlas DGPS service
• RTK – Changes to the RTK Rover application
• Eclipse II
• SBASRTKB – Changes to the SBAS/L-band/RTK Base application
• AUTODIFF – Changes to the e-Dif application, referred to as "AUTODIFF" in the firmware
• MFA - Multi-function application
• miniEclipse
• WAASRTKB – Changes to the SBAS/RTK Base application
• AUTODIFF – Changes to the e-Dif application, referred to as "AUTODIFF" in the firmware
• MFA - Multi-function application
79
JASC Commands
JASC Command
The JASC command is used to request ASCII messages.
Command Description
JASC,CMR Set the proprietary CMR messages to on or off to provide corrections to the rover
JASC,D1 (RD1) Set the RD1 diagnostic information message from the receiver to on or off
JASC,DFX Set the proprietary DFX messages to on or off to provide corrections to the rover
JASC,GL Enable the GLONASS data messages at a particular update rate to be turned
on or off. When turning messages on, various update rates are available
depending on the requirements.
JASC,GN Enable the GNSS data messages at a particular update rate to be turned on
or off. When turning messages on, various update rates are available
depending on the requirements.
JASC,GP Enable the GPS data messages at a particular update rate to be turned on or off
JASC,HPR Configure the receiver to output UTC time, heading, pitch, and roll.
Pitch and roll will come from the antenna array, one from internal sensor, for more
information refer to JATT, ROLL
JASC,INTLT Configure the receiver to output pitch and roll data
JASC,PASHR Configure the receiver to output time, true heading, roll, and pitch data
in one message
JASC,PSAT,ATTSTAT Configure the receiver to output the information of secondary antenna
JASC,PSAT,BLV,1 Configure the receiver to output the North,East,Up base-line vector
JASC,PSAT,FVI,1 Configure the receiver to output a message include most position and
attitude information
JASC,PSAT,RTKPROG Configure the receiver to output RTK fix progress

JASC,PSAT,RTKSTAT Configure the receiver to output the most relevant parameters affecting RTK
JASC,PSAT,VCT,1 Configure the receiver to output the heading, pitch, roll, and master to slave vector
JASC,PTSS1 Configure the receiver to output heave, pitch, and roll in the commonly used
TSS1 message format
JASC,ROX Set the proprietary ROX messages to on or off to provide corrections to the rover
JASC,RTCM Configure the receiver to output RTCM version 2 DGPS corrections from
SBAS or beacon through either receiver serial port
JASC,RTCM3 Set the RTCM version 3 messages to on or off to provide corrections to the rover
JASC,VIRTUAL Configure the receiver to have RTCM data input on one port and output
through the other (when using an external correction source)
80
JASC,CMR Command
Command Type:
Local Differential and RTK
Description:
Set the proprietary CMR messages to on or off to provide corrections to the rover.
This command only applies to an Eclipse base station receiver when using GPS dual frequency RTK mode. RTK is
relative to the reference position (base only).
Command Format:
where:
$JASC,CMR,r[,OTHER]<CR><LF>
• 'r' = correction status variable (0 = turn corrections Off, 1 = turn corrections On)
· ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without
the brackets)and enacts a change on the other port when you send the command with it (without the brackets). See
Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.
Receiver Response:
$>
Example: To turn on CMR messages on the OTHER port issue the following command:
$JASC,CMR,1,OTHER<CR><LF>
To query the receiver for the current setting, issue the JSHOW command. To change the broadcast station ID, use JRTK,28.
81
JASC,D1 Command
Command Type:
General Operation and Configuration, SBAS
Description:
Set the RD1 diagnostic information message from the receiver to on or off There is currently only an (R)D1 message. This
contains diagnostic information for L-band.
Command Format:
where:
$JASC,D1,r[,OTHER]<CR><LF>
• 'r' = message rate (0 = Off, 1 = On at 1Hz)
',OTHER' = optional field, enacts a change in the RD1 message on the current port when you send the command without it
(and without the brackets)and enacts a change in the RD1 message on the other port when you send the command with it
(without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port
terminology.
Receiver Response:
$>
Example:
To output the RD1 message once per second from THIS port issue the following command:
$JASC,D1,1<CR><LF>
...and the output will look similar to the following:
$RD1,410213,1052,1551.489,1,0,39,- 611.5,0,1F,1F,0,999999
$RD1,410214,1052,1551.489,1,0,40,- 615.1,0,1F,1F,0,999999
$RD1,410215,1052,1551.489,1,0,40,- 607.1,0,1F,1F,0,999999
See RD1 message for a description of each field in the response.
Although you request D1 through this command the responding message is RD1.
To query the receiver for the current setting, issue the JSHOW command. For example, if you issue the following
command:
$JASC,D1,1<CR><LF>
...then issuing the JSHOW command displays the following as part of its output:
$>JSHOW,ASC,D1,1
82
JASC,DFX Command
Command Type:
Description:
Set the proprietary DFX messages to on or off to provide corrections to the rover
This command only applies to a Crescent base receiver when using L-Dif or RTK mode. Differential is relative to the
reference position (base only). See the JASC,ROX command for the equivalent message for the Eclipse series of products.
Command Format:
$JASC,DFX,r[,OTHER]<CR><LF>
where:
• ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without
Receiver Response:
$>
Example:
To turn on DFX messages on THIS port issue the following command:
$JASC,DFX,1<CR><LF>
83
JASC,GL Command
Command Type:
GLONASS
Description:
Enable the GLONASS data messages at a particular update rate to be turned on or off. When turning messages on,
Command Format:
$JASC,msg,r[,OTHER]<CR><LF>
where:
• 'msg' = name of the data message
• 'r' = message rate (see table below)
•ϒ ',OTHER' = optional field, enacts a change on the current port (THIS port) when you send the command without it (and
without the brackets) and enacts a change on the other port (OTHER port) when you send the command with it (without
the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.
Send a command with a zero value for the 'R' field to turn off a message.
MSG R (rate in Hz) Description
GLMLA 1 (on) or 0 (off) GLONASS almanac data
When set to on the

message is sent once (one
message for each tracked
satellite) and then sent
again whenever satellite
information changes
GLGSV 1 or 0 GLONASS satellite in view
Receiver Response:
$>
Example:
To output the GLGNS message through the OTHER port at a rate of 20 Hz, issue the following command:
$JASC,GLGNS,20,OTHER<CR><LF>
The status of this command is also output in the JSHOW message. What does <CR><LF> mean?
84
JASC,GA Command
Command Type:
GALILEO
Description:
Enable the GALILEO data messages at a particular update rate to be turned on or off. When turning messages on,
Command Format:
where:
•',OTHER' = optional field, enacts a change on the current port (THIS port) when you send the command without it (and
GNGNS 20, 10, 2, 1, 0 or .2 All GNSS fix data (GAGNS output is GALILEO)
GAGSV 1 or 0 GALILEO satellites in view
Receiver Response:
$>
85
JASC,GQ Command
Command Type:
QZSS
Description:
Enable the QZSS data messages at a particular update rate to be turned on or off.
Command Format:
where:
•ϒ',OTHER' = optional field, enacts a change on the current port (THIS port) when you send the command without it (and
GQGSV 1 or 0 QZSS satellites in view
Receiver Response:
$>
Example:
To output the GQGSV message through the OTHER port, issue the following command:
$JASC,GQGSV,1,OTHER<CR><LF>
Additional Informatio:
86
JASC,GN Command
Command Type:
GPS, Vector
Description:
Enable the GNSS data messages at a particular update rate to be turned on or off. When turning messages on, various
update rates are available depending on the requirements.
Command Format:
where:
•ϒ ',OTHER' = optional field, enacts a change on the current port (THIS port) when you send the command without it (and
GNGGA 20, 10, 2, 1, 0 or .2 GNSS fix data
GNGLL 20, 10, 2, 1, 0 or .2 Geographic position - latitude/longitude
GNGNS 20, 10, 2, 1, 0 or .2 GNSS fix data
GNGSA 1 or 0 GNSS DOP and active satellites
Receiver Response:
$>
Example:
To output the GNGNS message through the OTHER port at a rate of 20 Hz, issue the following command:
$JASC,GNGNS,20,OTHER<CR><LF>
87
JASC,GP Command
Command Type:
GPS, Vector
Description:
Enable the GPS data messages at a particular update rate to be turned on or off. When turning messages on, various
update rates are available depending on the requirements.
Command Format:
where:
· ',OTHER' = optional field, enacts a change on the current port (THIS port) when you send the command without it
(and without the brackets)and enacts a change on the other port (OTHER port) when you send the command with it
(without the brackets). See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port
terminology.
MSG R (rate in Description

Hz)
GPALM 1 or 0 GPS almanac data
GPDTM 1 or 0 Datum reference
GPGBS 1 or 0 Satellite fault detection used for RAIM
GPGGA 20, 10, 2, 1, Detailed GPS position information

0 or .2
GPGLL 20, 10, 2, 1, Latitude and longitude data

0 or .2
GPGNS 20, 10, 2, 1, Fixes data for single or combined satellite navigation systems
0 or .2
GPGRS 1, 0 or .2 GNSS range residuals
GNGSA 1 or 0 GPS DOP and active satellite information
GPGST 1 or 0 GNSS pseudorange error statistics
GPGSV 20, 10, 2, 1, GPS satellites in view

0 or .2
88
GPHDG 20, 10, 2 1, Magnetic deviation and variation for calculating magnetic or true heading
0 or .2
or HEHDG
GPHDM 20, 10, 2 1, Magnetic heading of the vessel derived from the true heading calculated
0 or .2
or HEHDM
GPHDT 20, 10, 2 1, True heading of the vessel

0 or .2
or HEHDT
GPHEV 20, 10, 2 1, Heave value in meters

0 or .2
GPHPR 20, 10, 2 1, Proprietary NMEA message that provides the true heading, pitch, roll, and
0 or .2 time in a single message
GPRMC 10, Rec ommended

2, 1, minimum
0 or specific GNSS
.2 data
GPROT 20, Ves sel’s rate

10, of t urn (ROT)
or HEROT 2, 1, infomation
0 or
.2
GPRRE 1 or Range residual

0 message
GPVTG 20, Course over

10, ground and
2, 1, ground speed
0 or
.2
GPZDA 20, UTC time and

10, date
2, 1, info mation
0 or
.2
Receiver Response:
$>
Example:
To output the GPGGA message through the OTHER port at a rate of 20 Hz, issue the following command:
$JASC,GPGGA,20,OTHER<CR><LF>
89
JASC,INTLT Command
Command Type:
Vector
Description:
Configure the receiver to output pitch and roll data (pitch and roll are factory calibrated over temperature to be accurate to
±3°C) directly from the internal tilt sensor
Saved with JSAVE.
Command Format:
$JASC,INTLT,r[,OTHER]<CR><LF>
where:
· ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the
brackets)and enacts a change on the other port when you send the command with it (without the brackets). See
Receiver Response:
$PSAT,INTLT,pitch,roll*CC<CR><LF>
where pitch and roll are in degrees
PSAT,INTLT message
90
JASC,PASHR Command
Command Type:
Vector
Description:
Configure the receiver to output time, true heading, heave, roll, and pitch data in one message
Command Format:
$JASC,PASHR,r[,OTHER]<CR><LF>
where:
•ϒ ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the
brackets) and enacts a change on the other port when you send the command with it (without th brackets). See
Configuring the Data Message Output for detailed information on 'THIS'and 'OTHER' port terminology.
Receiver Response:
$PASHR,hhmmss.ss,HHH.HH,T,RRR.RR,PPP.PP,heave,rr.rrr,pp.ppp,hh.hhh,QF*CC<CR>
where:
Message Description
Component
hhmmss.ss UTC time
HHH.HH Heading value in decimal degrees
T True heading (T displayed if heading is relative to true north)
RRR.RR Roll in decimal degrees (- sign will be displayed when applicable)
PPP.PP Pitch in decimal degrees (- sign will be displayed when applicable)
heave Heave, in meters
rr.rrr Roll standard deviation in decimal degrees
pp.ppp Pitch standard deviation in decimal degrees
hh.hhh Heading standard deviation in decimal degrees
QF Quality Flag
• 0 = No position
• 1 = All non-RTK fixed integer positions
• 2 = RTK fixed integer position
*CC Checksum
91
<LF> Line feed
Example:
To turn on the PASHR message on THIS port issue the following command:
$JASC,PASHR,1<CR><LF>
...and the message output appears similar to the following:
$PASHR,162930.00,,T,2.48,3.92,-0.64,0.514,0.514,0.000,1*05
$PASHR,162931.00,,T,2.38,3.93,-0.70,0.508,0.508,0.000,1*07
$PASHR,162932.00,,T,2.67,4.00,-0.66,0.503,0.503,0.000,1*04
PASHR message
92
JASC,PSAT,ATTSTAT Command
Command Type:
Description:
The information of secondary antenna.
Command Format:
$JASC,PSAT,ATTSTAT,r[,OTHER]<CR><LF>
where:
•ϒ ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the
Receiver Response:
$>
Example:
To turn on this message on the THIS port issue the following command:
$JASC,PSAT,ATTSTAT,1<CR><LF>
Issuing the JSAVE command after setting JASC,PSAT,ATTSTAT to 1 (message on at 1Hz) does not save this setting.
You must enable JASC,PSAT,ATTSTAT (set it to 1) each time you power on the receiver.
Related Commands and Messages:
PSAT,ATTSTAT message
Topic Last Updated: v. 1.07/ October 13, 2016
93
JASC,PSAT,BLV Command
Command Type:
Description:
Configure the receiver to output the North, East, Upbase-line vector
Command Format:
$JASC,PSAT,BLV,r[,OTHER]<CR><LF>
where:
· 'r' = message rate 0,1,2,5,10,20 (0 = Off, 1 = On at 1Hz)
• ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the
Receiver Response:
$>
Example:
$JASC,PSAT,BLV,1<CR><LF>
PSAT, BLV message
Topic Last Updated: v.1.07/October 13, 2016
94
JASC,PSAT,FVI Command
Command Type:
Description:
Contains information on position, standard deviation of position, heading, pitch, and roll along with standard deviations of
the previous, horizontal and vertical velocities, as well as general position quality information.
Command Format:
$JASC,PSAT,FVI,r[,OTHER]<CR><LF>
where:
• 'r' = message rate 0,1,2,5,10,20 (0 = Off, 1 = On at 1Hz)
Receiver Response:
$>
Example:
$JASC,PSAT,FVI,1<CR><LF>
PSAT, FVI message
95
JASC,PSAT,RTKPROG Command
Command Type:
Description:
Configure the receiver to output RTK fix progress
Command Format:
$JASC,PSAT,RTKPROG,r[,OTHER]<CR><LF>
where:
You can also perform a one-time query of the message information by issuing the JQUERY,RTKPROG command.
Receiver Response:
$>
Example:
$JASC,PSAT,RTKPROG,1<CR><LF>
Issuing the JSAVE command after setting JASC,PSAT,RTKPROG to 1 (message on at 1Hz) does not save this setting.
You must enable JASC,PSAT,RTKPROG (set it to 1) each time you power on the receiver.
See also: PSAT,RTKPROG message.
Topic Last Updated: v1.04 / May 29, 2012
96
JASC,PSAT,RTKSTAT Command
Command Type:
Description:
Configure the receiver to output the most relevant parameters affecting RTK
Command Format:
$JASC,PSAT,RTKSTAT,r[,OTHER]<CR><LF>
where:
You can also perform a one-time query of the message information by issuing the JQUERY,RTKSTAT command.
Receiver Response:
$>
Example:
$JASC,PSAT,RTKSTAT,1<CR><LF>
Issuing the JSAVE command after setting JASC,PSAT,RTKSTAT to 1 (message on at 1Hz) does not save this setting.
You must enable JASC,PSAT,RTKSTAT (set it to 1) each time you power on the receiver.
JQUERY,RTKSTAT command PSAT,RTKSTAT message
97
JASC,PSAT,VCT Command
Command Type:
Description:
Command Format:
$JASC,PSAT,VCT,r[,OTHER]<CR><LF>
where:
• 'r' = message rate 0,1,2,5,10,20 (0 = Off, 1 = On at 1Hz)
Receiver Response:
$>
Example:
$JASC,PSAT,VCT,1<CR><LF>
PSAT, VCT message
98
JASC,PTSS1 Command
Command Type:
Vector
Description:
Configure the receiver to output heave, pitch, and roll in the commonly used TSS1 message format
Command Format:
$JASC,PTSS1,r[,OTHER]<CR><LF>
where:
• 'r' = messagerate (in Hz) of 0 (off), 0.25,0.5, 1, 2, 4, 5, 10, or 20 (if subscribed)
brackets) and enacts a change on the other port when you send the command with it (without the brackets). See
Configuring the Data Message Output for detailed information on 'THIS'and 'OTHER' port terminology.
Receiver Response:
:XXAAAASMHHHHQMRRRRSMPPPP*CC<CR><LF>
where:
Message Description
Component
XX Horizontal acceleration
AAAA Vertical acceleration
HHHH Heave, in centimeters
S S = space character
M Space if positive; minus if negative
Q Status flag
Value Description
h Heading aided mode (settling) -
The System is receiving heading aiding signals from a gyrocompass but is still
awaiting the end of the three minutes settling period after power-on or a change of
mode or heave bandwidth. The gyrocompass takes approximately five minutes to
settle after it has been powered on. During this time, gyrocompass aiding of the
System will not be perfect. The status flag does NOT indicate this condition.
F Full aided mode (settled condition) - The System is receiving and using
aiding signals from a gyrocompass and from a GPS receiver or a Doppler log.
RRRR Roll, in units of 0.01 degrees (ex: 1000 = 10°)
S S = space character
99
PPPP Pitch, in units of 0.01 degrees (ex: 1000 = 10°)
TSS1 message
100
JASC,ROX Command
Command Type:
Description:
Set the proprietary ROX messages to on or off to provide corrections to the rover
Command Format:
$JASC,ROX,r[,OTHER]<CR><LF>
where:
Receiver Response:
$>
Example:
To turn on ROX messages on the OTHER port issue the following command:
$JASC,ROX,1,OTHER<CR><LF>
101
JASC,RTCM Command
Command Type:
SBAS
Description:
Configure the receiver to output RTCM version 2 DGPS corrections from SBAS or beacon through either receiver serial
port. The correction data output is RTCM SC-104,even though SBAS uses a different over-the-air protocol (RTCA).
Command Format:
$JASC,RTCM,r[,OTHER]<CR><LF>
where:
• 'r' = message status variable (0 = Off, 1 = On)
Receiver Response:
$>
Example:
To output RTCM corrections from SBAS or beacon on THIS port (current port) issue the following command:
$JASC,RTCM,1<CR><LF>
To verify the current setting is on, issue the JSHOW command. You will see output similar to the following:
$>JSHOW,ASC,RTCM,1.0
If the current setting is off, the JSHOW command will not show any information for this setting.
102
JASC,RTCM3 Command
Command Type:
Description:
Set the RTCM version 3 messages to on or off to provide corrections to the rover
Command Format:
$JASC,RTCM3,r[,OTHER]<CR><LF>
where:
Receiver Response:
$>
Example:
To turn on RTCM3 messages on the OTHER port issue the following command:
$JASC,RTCM3,1,OTHER<CR><LF>
103
JASC,VIRTUAL Command
Command Type:
Description:
Configure the receiver to have RTCM data input on one port and output through the other (when using an external
correction source)
For example, if RTCM is input on Port B, the data will be output through Port A having corrected the receiver position. he
receiver acts as a pass-through for the RTCM data. Either port may be configured to accept RTCM data input; this
command enables the opposite port to output the RTCM data.
Command Format:
$JASC,VIRTUAL,r[,OTHER]<CR><LF>
where:
• 'r' = message status variable (0 = Off, 1 = On)
Receiver Response:
$>
Example:
To configure THIS port to output RTCM messages that are being input through the OTHER port issue the following
command:
$JASC,VIRTUAL,1
Additional Information :
104
JATLAS Commands
JATLAS,LIMIT Command
Command Type:
L-band
Description:
When using Atlas, configure the accuracy threshold for when the GPGGA quality indicator reports a Fix.
Command Format:
$JATLAS,LIMIT,[OPTION],[THRESHOLD],SAVE<CR><LF>
where:
· [THRESHOLD] is in meters
· The SAVE field is optional. However, if omitted this setting will not survive a power cycle. $JSAVE does not save
this setting.
· Options are 3D, HORI, or VERT
To configure the receiver so that it reports an RTK fix when the Atlas solution has converged to 3D accuracy of 30cm,
send:
$JATLAS,LIMIT,3D,0.3,SAVE<CR><LF>
Query the current

setting:
$JATLAS,LIMIT<CR><LF>
Receiver Response:
Response to issuing command to tune

receiver :
$>
105
$JATLAS,POS,PRESENT [,OTHER]
Command Type:
ATLAS
Description:
Saves the current location and associated standard deviations into nonvolatile memory (provided that the present position
is sufficiently stable), to be used with Atlas position seeding.
Use of “OTHER” saves the position that is used by the Atlas Autoseed algorithm; otherwise, saves the position that is
used for manual position seeding.
Command Format:
$JATLAS,POS,PRESENT[,OTHER] <CR><LF>
See $JATLAS,POS[,OTHER]
Receiver Response:
If the present position is stable, the response is:
$>
If the present position is not stable, the command is ignored and the response is:
Present Location Not Stable
Example:
See $JATLAS,MODE,AUTOSEED and $JATLAS,SEED for additional information about position seeding.
Topic Last Updated: v.3.0/ December 30, 2019
106
$JATLAS,POS[,OTHER]
Command Type:
ATLAS
Description:
Query the receiver for the stored position and standard deviations to be used with Atlas position seeding.
Use of “OTHER” displays the position that is used by the Atlas Autoseed algorithm; otherwise, displays the position that is
Command Format:
$JATLAS,POS[,OTHER] <CR><LF>
Receiver Response:
$>JATLAS,POS,lat,lon,hgt,(LatStDev,LonStDev,HgtStDev)
where:
Command Description
Component
lat Latitude in decimal degrees
lon Longitude in decimal degrees
hgt Ellipsoidal height in meters.
Ellipsoidal height can be calculated by adding the altitude and the geoidal separation, both available
from the GPGGA message.
Example:
$GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4,1071.0,
M,- 17.8,M,6.0, 0122*48
ellipsoidal height = 1071.0 + (-17.8) = 1053.2 meters
LatStDev Standard deviation of latitude in meters
LonStDev Standard deviation of longitude in meters
HgtStDev Standard deviation of height in meters
Example:
A response to querying the saved position would look like:
$>JATLAS,POS,33.64334383,-111.89596094,455.244,(0.062,0.086,0.156)
Topic Last Updated: v.3.0 /December 30, 2019
107
$JATLAS,POS,lat,lon,hgt[,LatStDev,LonStDev,HgtStDev][,OTHER]
Command Type:
ATLAS
Description:
Saves the input position and optionally the corresponding standard deviation into non-volatile memory, to be used with
Atlas position seeding.
Use of “OTHER” saves the position that is used by the Atlas Autoseed algorithm; otherwise, saves the position that is
Command Format:
$JATLAS,POS,lat,lon,hgt,[LatStDev,LonStDev,HgtStDev][,OTHER]<CR><LF>
where:
Command Description
Component
Example:
$GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4,1071.0,
M,- 17.8,M,6.0, 0122*48
LatStDev Standard deviation of latitude in meters [optional]
LonStDev Standard deviation of longitude in meters [optional]
HgtStDev Standard deviation of height in meters [optional]
See $JATLAS,POS[,OTHER]
Receiver Response:
$>
Example:
$JATLAS,POS,33.64334383,-111.89596094,455.244,0.062,0.086,0.156<CR><LF>
Topic Last Updated: v.3.0 / December 30, 2019
108
$JATLAS,SEED[,OTHER]
Command Type:
ATLAS
Description:
Manually seed the Atlas solution with the saved position and standard deviations.
Use of “OTHER” seeds the position using the location stored for the Atlas Autoseed algorithm; otherwise, seeds using the
location stored for manual position seeding.
Command Format:
$JATLAS,SEED[,OTHER] <CR><LF>
Receiver Response:
$>
If the seed position is not close enough to the current location, the response is:
$>JATLAS,SEED,Current Position Too Far From Seed
Example:
Position seeding can reduce Atlas convergence time by supplying the engine with a known position at initialization.
Warning: Manual seeding should be used with caution, as any errors entered here will affect the future accuracy of the
position solution. The seed position coordinates should generally be known to within several centimeters before
attempting to seed the position.
See also $JATLAS,MODE,AUTOSEED, which handles the Atlas position seeding automatically.
109
$JATLAS,SEED,lat,lon,hgt[,LatStDev,LonStDev,HgtStDev]
Command Type:
ATLAS
Description:
Manually seed the Atlas solution with the input position and optionally standard deviations.
Command Format:
$JATLAS,SEED,lat,lon,hgt,[LatStDev,LonStDev,HgtStDev]<CR><LF>
where:
Command Description
Component
Example:
$GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4,1071.0,
M,- 17.8,M,6.0, 0122*48
LatStDev Standard deviation of latitude in meters [optional]
LonStDev Standard deviation of longitude in meters [optional]
HgtStDev Standard deviation of height in meters [optional]
Receiver Response:
$>
If the input coordinates are not close enough to the current location, the response is:
$>JATLAS,SEED,Current Position Too Far From Seed
110
Example:
$JATLAS,SEED,33.64334383,-111.89596094,455.244,0.062,0.086,0.156<CR><LF>
Warning: Manual seeding should be used with caution, as any errors entered here will affect the future accuracy of the
position solution. The seed position coordinates should generally be known to within several centimeters before
attempting to seed the position.
See also $JATLAS,MODE,AUTOSEED, which handles the Atlas position seeding automatically.
111
$JATLAS,MODE,AUTOSEED[,YES/NO]
Command Type:
ATLAS
Description:
Enable or disable the Atlas AUTOSEED feature, or query the current setting.
Command Format:
To enable the AUTOSEED feature:
$JATLAS,MODE,AUTOSEED,YES<CR><LF>
To disable the AUTOSEED feature:
$JATLAS,MODE,AUTOSEED,NO<CR><LF>
$JATLAS,MODE,AUTOSEED<CR><LF>
Receiver Response:
Response to issuing command to enable/disable AUTOSEED feature:
$>
$>JATLAS,MODE,AUTOSEED,[YES/NO]
Example:
When AUTOSEED is enabled, receiver locations are automatically saved to memory. The last saved position will then
automatically be used to seed the solution when the receiver is powered back on (under appropriate conditions—see
below).
The setting for AUTOSEED mode is automatically saved to memory.
Warning: The AUTOSEED position can only be saved if the receiver has not detected motion for 5 s. It is therefore
recommended that the user allow sufficient stationary time before powering off.
Warning: The antenna must not be moved after being powered off. The antenna must continue to remain stationary
when powered back on and until the seeding process completes. The AUTOSEED feature may not function properly if
the antenna has moved more than several centimeters during this time.
112
$JATLAS,RESET,ENGINE
Description:
The $JATLAS,RESET,ENGINE command resets the Atlas engine
Command Type:
ATLAS
Description:
Reset the Atlas engine, forcing the solution to re-converge.
Command Format:
$JATLAS,RESET,ENGINE
Receiver Response:
$>
Example:
113
$JATLAS,STATUS,AUTOSEED
Command Type:
ATLAS
Description:
The $JATLAS,STATUS,AUTOSEED command displays the status of the AUTOSEED initialization process.
Description:
Displays the status of the Atlas AUTOSEED initialization process.
Command Format:
$JATLAS,STATUS,AUTOSEED<CR><LF>
Receiver Response:
$>JATLAS,STATUS,AUTOSEED,status
where 'status' is one of following:
Status Description
NoAtlas Autoseeding cannot occur because the Atlas solution is not available.
Disabled Autoseed mode is not enabled.
Seeding Autoseeding is in process.
Failed_NoSeed Autoseeding failed because no seed position is available.
Failed_Moved Autoseeding failed because receiver motion was detected during the seeding process.
Failed_Timeout Autoseeding failed to complete within the required time.
Success Autoseeding was successful.
Example:
See also $JATLAS,MODE,AUTOSEED for additional information about Atlas Autoseed.
114
JATT Commands
JATT
The JATT command is used to define or query attitude settings for Vector products.
Command Description
JATT,COGTAU Set the course over ground (COG) time constant (0.0 to 3600.0 seconds) or query
the current setting
JATT,CSEP Query to retrieve the current separation between GPS antennas

JATT,EXACT Enable/disable internal filter reliance on the entered antenna separation or query
the current setting
JATT,FLIPBRD Allow upside down installation
JATT,GYROAID Turn on gyro aiding or query the current feature status
JATT,HBIAS Set the heading bias or query the current setting
JATT,HELP Show the available commands for GPS heading operation and status
JATT,HIGHMP Set/query the high multipath setting for use in poor GPS environments
JATT,HRTAU Set the rate of turn time constant or query the current setting
JATT,HTAU Set the heading time constant or query the current setting
JATT,LEVEL Turn on level operation or query the current feature status
JATT,MOVEBASE Set the auto GPS antenna separation or query the current setting
JATT,MSEP Set (manually) the GPS antenna separation or query the current setting
JATT,NEGTILT Turn on the negative tilt feature or query the current setting
JATT,NMEAHE Instruct the Vector to preface the HDG, HDT, ROT and THS messages with GP or
HE, and the HDM message with GP or HC.
JATT,PBIAS Set the pitch bias or query the current setting
JATT,PTAU Set the pitch time constant or query the current setting
JATT,ROLL Configure the Vector for roll or pitch output
JATT,SEARCH Force a new RTK heading search
JATT,SPDTAU Set the speed time constant (0.0 to 3600.0 seconds) or query the current setting
JATT,SUMMARY Show the current configuration of the Vector
JATT,TILTAID Turn tilt aiding on/off or query the Vector for the current status of this feature
JATT,TILTCAL Calibrate the internal tilt sensor of the Vector
115
JATT,COGTAU Command
Note: The JTAU,COG command provides identical functionality but works with positioning and heading products.
Command Type:
Vector
Description:
Set the course over ground (COG) time constant (0.0 to 200.0seconds) or query the current setting.
This command allows you to adjust the level of responsiveness of the COG measurement provided in the GPVTG
message. The default value is 0.0 seconds of smoothing. Increasing the COG time constant increases the level of COG
smoothing.
COG is computed using only the primary GPS antenna (when using a multi- antenna system) and its accuracy depends
upon the speed of the vessel (noise is proportional to 1/speed). This value is invalid when the vessel is stationary, as tiny
movements due to calculation inaccuracies are not representative of a vessel’s movement.
Command Format:
Set the COG time constant:
$JATT,COGTAU,cogtau<CR><LF>
where 'cogtau' is the new COG time constant that falls within the range of 0.0 to 200.0 seconds
The setting of this value depends upon the expected dynamics of the Crescent. If the Crescent will be in a highly dynamic
environment, this value should be set lower because the filtering window would be shorter, resulting in a more responsive
measurement. However, if the receiver will be in a largely static environment, this value can be increased to reduce
measurement noise.
$JATT,COGTAU<CR><LF>
Receiver Response:
$>
You can use the following formula to determine the COG time constant: cogtau (in seconds) = 10 / maximum rate of
change of course (in °/s).
If you are unsure about the best value for this setting, it is best to be conservative and leave it at the default setting of 0.0
seconds.
116
JATT,CSEP Command
Command Type:
Vector
Description:
Query the Vector for the current calculated separation between antennas, as solved for by the attitude algorithms
Command Format:
$JATT,CSEP<CR><LF>
Receiver Response:
$>
$>JATT,X,CSEP
where 'X' is the antenna separation in meters
117
JATT,EXACT Command
Command Type:
Vector
Description:
Enabling forces the heading calculation to rely on the MSEP value (see $JATT,MSEP).
Disabling forces the heading calculation to rely on the CSEP and the MSEP values.
Command Format:
Enable/disable internal filter reliance
To enable internal filter reliance:
$JATT,EXACT,YES<CR><LF>
To disable internal filter reliance:
$JATT,EXACT,NO<CR><LF>
$JATT,EXACT<CR><LF>
Receiver Response:
$>
Topic Last Updated: v2.0/April 30, 2019
118
JATT,FLIPBRD Command
Command Type:
Vector
Description:
Turn the flip feature on/off or query the current feature status
Allow the Vector OEM board to be installed upside down. You should use this command only with the Vector Sensor and
the Vector OEM board because flipping the OEM board does not affect the antenna array that needs to remain facing
upwards. When using this command, the board needs to be flipped about roll so the front still faces the front of the vessel.
For all OEM heading boards starting the H328 and H220, this command is replaced with $JATT,ACC180 and
$JATT,ACC90.
Command Format:
Turn the flip feature on/off
To turn the flip feature on:
$JATT,FLIPBRD,YES<CR><LF>
To turn the flip feature off (return to default mode - right side up):
$JATT,FLIPBRD,NO<CR><LF>
Query current the current setting:
$JATT,FLIPBRD<CR><LF>
Receiver Response:
$>
Topic Last Updated: v3.0 / December 30, 2019
119
JATT,GYROAID Command
Command Type:
Vector
Description:
Turn gyro aiding on or off or query the current setting
The Vector’s internal gyro—enabled by default when shipped—offers two benefits.
It shortens reacquisition times when a GPS heading is lost because of obstruction of satellite signals. It does this by
reducing the search volume required for solution of the RTK.
It provides an accurate substitute heading for a short period (depending on the roll and pitch of the vessel) ideally seeing
the system through to reacquisition.
For these two benefits, Hemisphere GNSS highly recommend leaving gyro aiding on.
Exceeding rates of 90°/sec is not recommended because the gyro cannot measure rates beyond this point. This is a new
recommendation since Hemisphere GNSS now uses gyro measurements to obtain a heading rate measurement.
Command Format:
Turn gyro aiding on/off
To turn gyro aiding on:
$JATT,GYROAID,YES<CR><LF>
To turn gyro aiding off:
$JATT,GYROAID,NO<CR><LF>
$JATT,GYROAID<CR><LF>
Receiver Response:
$>
Every time you power up the Vector the gyro goes through a warm-up procedure and calibrates itself. You cannot save
the resulting calibration, so the self-calibration takes place every time the Vector is power cycled.
This self-calibration procedure takes several minutes and is the equivalent of the following manual calibration procedure.
With the Vector unit installed:
1. Apply power and wait several minutes until it has acquired a GPS signal and is computing heading.
2. Ensure gyro aiding is on by issuing the following command: $JATT,GYROAID<CR><LF>
3. Slowly spin the unit for one minute at no more than 15°/sec.
4. Keep the unit stationary for four minutes. Both the manual and the self-calibration
Procedures calibrate the Crescent Vector’s gyro to the same effect.
120
JATT,HBIAS Command
Command Type:
Vector
Description:
Set the heading output from the Vector to calibrate the true heading of the antenna array to reflect the true heading of the
vessel or query the current setting
Command Format:
Set the heading output:
$JATT,HBIAS,x<CR><LF>
where 'x' is a bias that will be added to the Vector’s heading in degrees. The acceptable range for the heading bias is -
180.0° to 180.0°. The default value of this feature is 0.0°.
Query the current setting (current compensation angle):
$JATT,HBIAS<CR><LF>
Receiver Response:
$>
121
JATT,HELP Command
Command Type:
Vector
Description:
Show the available commands for GPS heading operation and status
Command Format:
$JATT,HELP<CR><LF>
Receiver Response:
$>JATT,HELP,CSEP,MSEP,EXACT,LEVEL,HTAU,HRTAU,HBIASPBIAS,NEGTILT,ROLL,TILTAID,
TILTCAL,MAGAID,MAGCAL,MAGCLR,GYROAID,COGTAU,SPDTAU,SEARCH,SUMMARY
122
JATT,HIGHMP Command
Command Type:
Vector
Description:
Enable/disable the high multipath setting for use in poor GPS environments or query the current setting
Enabling HIGHMP mode may result in longer heading acquisition times in high multipath environments. In HIGHMP
mode, the Vector will not output heading until it has good confidence in the result. In very poor environments, this may
take a few minutes or more; in normal environments, there is only a slight increase in heading acquisition time.
Command Format:
Set the high multipath setting
To enable the high multipath setting:
$JATT,HIGHMP,YES<CR><LF>
To disable the high multipath setting:
$JATT,HIGHMP,NO<CR><LF>
$JATT,HIGHMP<CR><LF>
Receiver Response:
$>
123
JATT,HRTAU Command
Command Type:
Vector
Description:
Set the rate of turn (ROT) time constant to adjust the level of responsiveness of the ROT measurement provided in the
GPROT message or query the current setting
The default value of this constant is 2.0 seconds of smoothing. Increasing the time constant increases the level of ROT
smoothing.
Command Format:
Set the heading rate time constant:
$JATT,HRTAU,hrtau<CR><LF>
where 'hrtau' is the new time constant that falls within the range of 0.0 to seconds
The setting of this value depends upon the expected dynamics of the vessel. For example, if the vessel is very large and
cannot turn quickly, increasing this time is reasonable. The resulting heading would have reduced ‘noise’, resulting in
consistent values with time. However, artificially increasing this value such that it does not agree with a more dynamic
vessel could create a lag in the ROT measurement with higher rates of turn.
$JATT,HRTAU<CR><LF>
Receiver Response:
$>
You can use the following formula to determine the level of smoothing: hrtau (in seconds) = 10 / maximum rate of the rate
of turn (in °/s2)
Note: If you are unsure about the best value for the setting, leave it at the default setting of 2.0 seconds.
124
JATT,HTAU Command
Command Type:
Vector
Description:
Set the heading time constant to adjust the level of responsiveness of the true heading measurement provided in the
GPHDT message or query the current setting.
For OEM boards the default value of this constant is 0.5 seconds of smoothing (regardless of whether the gyro is enabled
or disabled). For finished products that implement an OEM board the default value may be different—check your product's
documentation for this value.
Although the gyro is enabled by default, you can disable it. Increasing the heading time constant increases the level of
heading smoothing and increases lag only if the gyro is disabled.
Command Format:
Set the heading time constant:
$JATT,HTAU,htau<CR><LF>
where 'htau' is the new time constant that falls within the range of 0.0 to seconds
The setting of this value depends upon the expected dynamics of the vessel. If the vessel is very large and cannot turn
quickly, increasing this time is reasonable. The resulting heading would have reduced ‘noise’ resulting in consistent values
with time. However, artificially increasing this value such that it does not agree with a more dynamic vessel could create a
lag in the heading measurement with higher rates of turn.
$JATT,HTAU<CR><LF>
Receiver Response:
$>
You can use the following formula to determine level of heading smoothing required when the gyro is in use:
Gyro on
htau (in seconds) = 40 / maximum rate of turn (in °/s)
Gyro off
htau (in seconds) = 10 / maximum rate of turn (in °/s)
If you are unsure about the best value for the setting, leave it at the default setting of 2.0 seconds when the gyro is on and
at 0.5 seconds when the gyro is off.
125
JATT,LEVEL Command
Command Type:
Vector
Description:
Turn level operation on or off or query the current setting
If the Vector will be operated within ±10° of level, you may use this mode of operation for increased robustness and faster
acquisition times of the heading solution.
Command Format:
Turn level operation on/off
To turn level operation on:
$JATT,LEVEL,YES<CR><LF>
To turn level operation off:
$JATT,LEVEL,NO<CR><LF>
$JATT,LEVEL<CR><LF>
Receiver Response:
$>
126
JATT,MOVEBASE Command
Command Type:
Vector
Description:
Set the auto GPS antenna separation or query the current setting
If the operation is turned on ,you do not need to set the GPS antenna separation manually . Only multi-frequency boards
are supported.
Command Format:
Turn move base on/off
To turn move base operation on:
$JATT,MOVEBASE,YES<CR><LF>
To turn move base operation off:
$JATT,MOVEBASE,NO<CR><LF>
$JATT,MOVEBASE<CR><LF>
Receiver Response: $>
127
JATT,MSEP Command
Command Type:
Vector
Description:
Manually enter a custom separation between antennas (must be accurate to within 2 cm) or query the current setting
Command Format:
Set the antenna separation:
Using the new center-to-center measurement, issue the following command:
$JATT,MSEP,sep<CR><LF>
where 'sep' is the measured antenna separation entered in meters
$JATT,MSEP<CR><LF>
Receiver Response:
$>
128
JATT,NEGTILT Command
Command Type:
Vector
Description:
Turn the negative tilt feature on or off or query the current setting.
When the secondary GPS antenna (SA) is below the primary GPS antenna (PA), there is an angle formed between a
horizontal line through the center of the primary antenna (Line A in the diagram below) and an intersecting line through
the center of the primary and secondary antennas (Line B). This angle is considered to be negative.
Depending on the convention for positive and negative pitch/roll, you want to change the sign (either positive or negative)
of the pitch/roll.
Command Format:
Turn negative tilt feature on/off
To change the sign of the pitch/roll measurement:
$JATT,NEGTILT,YES<CR><LF>
To return the sign of the pitch/roll measurement to its original value:
$JATT,NEGTILT,NO<CR><LF>
$JATT,NEGTILT<CR><LF>
Receiver Response:
$>
129
JATT,NMEAHE Command
Command Type:
Vector
Description:
Instruct the Vector to preface the following messages with GP or HE.
• HDG
• HDM
• HDT
• ROT
Command Format:
$JATT,NMEAHE,x<CR><LF>
where 'x' is either 1 for HE or 0 for GP
To preface specific messages with GP:
$JATT,NMEAHE,0<CR><LF>
To preface specific messages with HE:
$JATT,NMEAHE,1<CR><LF>
Receiver Response:
$>
$>JATT,NMEAHE,OK
The HDM message is for a magnetic compass. The message will be HCHDM when requesting with
$JATT,NMEAHE,1specified.
130
JATT,PBIAS Command
Command Type:
Vector
Description:
Set the pitch/roll output from the Vector to calibrate the measurement if the antenna array is not installed in a horizontal
plane or query the current setting.
Command Format:
Set the pitch/roll output:
$JATT,PBIAS,x<CR><LF>
where 'x' is a bias that will be added to the Vector’s pitch/roll measure, in degrees
The acceptable range for the pitch bias is -15.0° to 15.0°. The default value is 0.0°.
$JATT,PBIAS<CR><LF>
Receiver Response:
$>
Note: The pitch/roll bias is added after the negation of the pitch/roll measurement (if invoked with the JATT,NEGTILT
command). Use PBIAS to describe any angular differences between the level of the two GPS antennas. Pitch is the
default, but if the antennas are mounted in the roll direction, you can still enter the roll bias in PBIAS (make sure
JATT,ROLL,YES is set).
131
JATT,PTAU Command
Command Type:
Vector
Description:
Set the level of responsiveness of the pitch measurement provided in the PSAT,HPR message or query the current setting.
For OEM boards the default value of this constant is 0.5 seconds of smoothing (regardless of whether the gyro is enabled
or disabled). For finished products that implement an OEM board the default value may be different—check your product's
documentation for this value. Increasing the pitch time constant increases the level of pitch smoothing and increases lag.
Command Format:
Set the pitch time constant:
$JATT,PTAU,ptau<CR><LF>
where 'ptau' is the new time constant that falls within the range of 0.0 to 3600.0 seconds.
The setting of this value depends upon the expected dynamics of the vessel. For instance, if the vessel is very large and
cannot pitch quickly, increasing this time is reasonable. The resulting pitch would have reduced ‘noise’, resulting in
consistent values with time.
However, artificially increasing this value such that it does not agree with a more dynamic vessel could create a lag in the
pitch measurement.
$JATT,PTAU<CR><LF>
Note: If you are unsure about the best value for the setting, leave it at the default setting of 0.5 seconds.
Receiver Response:
$>
You can use the following formula to determine the level of pitch smoothing required:
ptau (in seconds) = 10 / maximum rate of pitch (in °/s)
132
JATT,ROLL Command
Command Type:
Vector
Description:
Configure the Vector for roll or pitch GPS antenna orientation.
Command Format:
Configure the Vector for pitch or roll GPS antenna orientation:
To configure the Vector for roll GPS antenna orientation (the Antenna Array must be installed perpendicular to the
vessel’s axis):
$JATT,ROLL,YES<CR><LF>
To configure the Vector for pitch GPS antenna orientation (default):
$JATT,ROLL,NO<CR><LF>
$JATT,ROLL<CR><LF>
Receiver Response:
$>
133
JATT,SEARCH Command
Command Type:
Vector
Description:
Force the Vector to reject the current GPS heading solution and begin a new search.
Command Format:
$JATT,SEARCH<CR><LF>
Receiver Response:
$>
The SEARCH function will not work if you have enabled the gyroaid feature (using the GYROAID command). In this case
you must cycle power to the receiver to have a new GPS solution computed.
134
JATT,SPDTAU Command
Note: The JTAU,SPEED command provides identical functionality but works with Crescent and Eclipse products in addition
to Crescent Vector products.
Command Type:
Vector
Description:
Set the speed time constant (0.0 to 3600.0seconds) or query the current setting.
This command allows you to adjust the level of responsiveness of the speed measurement provided in the GPVTG
message. The default value is 0.0 seconds of smoothing. Increasing the speed time constant increases the level of speed
measurement smoothing.
Command Format:
Set the speed time constant:
$JATT,SPDTAU,spdtau<CR><LF>
where 'spdtau' is the new time constant that falls within the range of 0.0 to 200.1 seconds
The setting of this value depends upon the expected dynamics of the receiver. If the receiver will be in a highly dynamic
environment, you should set this to a lower value, since the filtering window will be shorter, resulting in a more responsive
measurement. However, if the receiver will be in a largely static environment, you can increase this value to reduce
measurement noise.
$JATT,SPDTAU<CR><LF>
Receiver Response:
$>
You can use the following formula to determine the COG time constant (Hemisphere GNSS recommends testing how the
revised value works in practice):
spdtau (in seconds) = 10 / maximum acceleration (in m/s2)
seconds.
135
JATT,SUMMARY Command
Command Type:
Vector
Description:
Display a summary of the current Vector settings.
Command Format:
$JATT,SUMMARY<CR><LF>
Receiver Response:
$>JATT,SUMMARY,htau,hrtau,ptau,cogtau,spdtau,hbias,pbias,hexflag<CR><LF>
where:
Component Description
htau Current heading time constant, in seconds
hrtau Current heading rate time constant, in seconds
ptau Current pitch time constant, in seconds
cogtau Current course over ground time constant, in seconds
spdtau Current speed time constant, in seconds
hbias Current heading bias, in degrees
pbias Current pitch/roll bias, in degrees
hexflag Hex code that summarizes the heading feature status
Flag 'On' 'Off'
Value Value
Gyro aiding 02 0
Negative tilt 01 0
Roll 08 0
Tilt aiding 02 0
Level 01 0
The 'hexflag' field is two separate hex flags:
• 'GN' - Value is determined by computing the sum of the gyro aiding and negative tilt
values, depending on whether they are on or off:
• If the feature is on, their value is included in the sum
• If the feature is off, it has a value of zero when computing the sum
• 'RTML'- Value is determined in much the same way, but by adding the value of roll, tilt
aiding, and level operation
For example, if gyro aiding, roll, and tilt aiding features were each on, the values of 'GN' and 'RMTL' would be:
136
• 'GN' = hex (02 + 0) = hex (02) = 2

• 'RMTL' = hex (08 + 02) = hex (10) = A
• ‘GN-RMTL’ = 2A
The following tables summarize the possible feature configurations for the first 'GN' character and the second 'RMTL'
character.
JATT,SUMMARY 1st GN Character

Configurations
GN Value Gyro Value Negative Tilt
0 Off Off
1 Off On
2 On Off
3 On On
JATT,SUMMARY 2nd RMTL Character

Configurations
RMTL Roll Tilt Aiding Level
Value
0 Off Off Off
1 Off Off On
2 Off On Off
3 Off On On
8 On Off Off
9 On Off On
A On On Off
B On On On
Example:
$>JATT,SUMMARY,TAU:H=0.50,HR=2.00,COG=0.00,SPD=0.00,BIAS:H=0.00,P=0.00, FLAG_HEX:HF-RMTL=01
Topic Last Updated: v.1. 06/ March 10, 2015
137
JATT,TILTAID Command
Command Type:
Vector
Description:
Turn tilt aiding on or off or query the current setting.
The Vector’s internal tilt sensors (accelerometers) may be enabled by default (see your specific product manuals for
further information).
The sensors act to reduce the RTK search volume, which improves heading startup and reacquisition times. This
improves the reliability and accuracy of selecting the correct heading solution by eliminating other possible, erroneous
solutions.
Command Format:
Turn tilt aiding on/off
Turn tilt aiding on:
$JATT,TILTAID,YES<CR><LF>
Turn tilt aiding off:
$JATT,TILTAID,NO<CR><LF>
$JATT,TILTAID<CR><LF>
Receiver Response:
Response to issuing command to turn tilt aiding on/off:
$>
If setting is currently ON the response is:
$>JATT,TILTAID,ON
If setting is currently OFF the response is:
$>JATT,TILTAID,OFF
Tilt aiding is required to increase the antenna separation of the Vector OEM beyond the default 0.5 m length.
Topic Last Updated: v.1. 06/ March 10, 2015
138
JATT,TILTCAL Command
Command Type:
Vector
Description:
Calibrate the internal tilt sensors of the Vector Calibration takes approximately two seconds and is automatically saved to
memory for subsequent power cycles.
You can calibrate the tilt sensor of the Vector in the field but the Vector enclosure must be horizontal when you calibrate.
$JATT,TILTCAL<CR><LF>
Command Format:
Receiver Response:
$>
139
JBAUD Command
JBAUD Command
Command Type:
Description:
Specify the baud rates of the receiver or query the current setting.
Command Format:
Specify the baud rates:
$JBAUD,r[,OTHER][,SAVE]<CR><LF>
where:
· 'r' = baud rate (4800, 9600, 19200, 38400, 57600, or 115200)
• ϒ ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the
brackets) and enacts a change on the other port when you send the command with it (without the brackets)
• ϒ',SAVE' = optional field, saves the baud rate into flash memory so that if you reset power the receiver will boot at the
new baud rate (it may take several seconds to save the baud rate to flash memory)
$JBAUD[,OTHER]<CR><LF>
where:
• ',OTHER' = optionalfield, queries the current port when you sendthe command without it (and withoutthe brackets)
and queries the other port when you send the command with it (without the brackets)
Receiver Response:
$>JBAUD,R[,OTHER]
The response format is the same whether you specify the baud rates or query the current settings.
Example:
Issue the following command to set the baud rate to 19200 on the current port:
$JBAUD,19200<CR><LF>
...the response is then:
$>JBAUD,19200
Issue the following command to set the baud rate to 9600 on the OTHER port and save it into memory:
$JBAUD,9600,OTHER,SAVE<CR><LF>
$>JBAUD,9600,OTHER
140
Note: When saving the baud rate wait until you see the SAVE COMPLETE message before powering off the receiver.
See the JSAVE command for an example of this output.
The status of this command is also output when issuing the JSHOW command.
141
JBIN Command
JBIN Command
Command Type:
Description:
Enable the output of the various binary messages
Command Format:
$JBIN,msg,r<CR><LF>
where:
• 'msg' = binary message you want to output
• 'r' = message rate as shown in the following table
Message MSG R (Hz) Description

Name
Bin1 1 20, 10, 2, 1, 0, or GPS position message (position and velocity data)
.2
Bin2 2 1 or 0 GPS DOPs (Dilution of Precision)
Bin3 3 20, 10, 2, 1, 0, or Lat/Lon/Hgt, Covariances, RMS, DOPs and COG,

Speed, Heading
.2
Bin5 5 1 or 0 Base station information
Bin16 16 All constellation code and phase observation data
Bin19 GNSS diagnostic information
Bin35 35 1 or 0 BeiDou ephemeris information
Bin36 36 1 or 0 BeiDou code and carrier phase information (all

frequencies)
Bin44 44 GALILEO time conversion
Bin45 45 GALILEO ephemeris
Bin62 62 1 or 0 GLONASS almanac information
Bin65 65 1 or 0 GLONASS ephemeris information
Bin66 66 20, 10, 2, 1, or 0 GLONASS L1/L2 code and carrier phase

information
Bin69 69 1 or 0 GLONASS L1/L2 diagnostic information
142
Bin76 76 20, 10, 2, 1, 0, or GPS L1/L2 code and carrier phase information
.2
Bin80 80 1 or 0 SBAS data frame information
Bin89 89 1 or 0 SBAS satellite tracking information
Bin93 93 1 or 0 SBAS ephemeris information
Bin94 94 1 or 0 Ionospheric and UTC conversion parameters
Bin95 95 1 or 0 GPS ephemeris information
Bin96 96 20, 10, 2, 1, or 0 GPS L1 code and carrier phase information
Bin97 97 20, 10, 2, 1, 0, or Processor statistics
.2
Bin98 98 1 or 0 GPS satellite and almanac information
Bin99 99 1 or 0 GPS L1 diagnostic information
Bin100 100 1 or 0 GPS L2 diagnostic information
Bin122 122 20, 10, 5, 2, 1, 0, Alternate position solution data

.5, .2, .1
Bin209 209 1 or 0 SNR and status for all GNSS tracks
Receiver Response:
$>
Example:
To output the Bin76 message at a rate of 10 Hz, issue the following command:
$JBIN,76,10<CR><LF>
Higher update rates may be available on select binary message.
143
JBOOT Commands
JBOOT Command
Command Type:
Description:
Power cycles the receiver.
Command Format:
$JBOOT<CR><LF>
Receiver Response:
The response is similar to the following:
$>STARTED,MFA,Ver=5.9 Aa08
If any application other than MFA is the current application and you send the $JBOOT command, the response is similar
to the following:
$>
144
145
JCONN Command
JCONN Command
Command Type:
Description:
Create a virtual circuit between two ports to enable communication through the receiver to the device on the opposite port.
Command Format:
To connect two ports virtually:
$JCONN,P1,P2<CR><LF>
where P1 and P2 are a pair of the following: A,B,C,D or PortA,PortB,PortC,PortD
Examples:
$JCONN,A,B<CR><LF>
$JCONN,PortA,PortB<CR><LF>
To disconnect virtual connection:
$JCONN,X<CR><LF>
Receiver Response:
$>
Caution: Hemisphere GNSS receivers with menus, such as an R Series, use JCONN within the menu application. Any
settings you make with JCONN on these products may disable the menu functions until power is cycled.
146
JDIFF Commands
JDIFF Command
Command Type:
Description:
Specify or query the differential source of the receiver.
Forces the system to use “diff” as the source (see table in Command Format section below).
Command Format:
Specify the differential mode:
$JDIFF,diff[,SAVE]<CR><LF>
where:
· 'diff' (differential source) may be one of the following:
DIFF Description
OTHER Instruct the receiver to use external corrections input

through the opposite port that is communicating
THIS Instruct the receiver to use external corrections input

through the same port that is communicating
PORTA Instruct the receiver to:
or PORTB
or PORTC • Use external corrections input through the

specified port.
or PORTD
• Allow RTCM2 (DGPS) inputs to receiver.
BEACON Instruct the receiver to use RTCM corrections entering

Port C at a fixed rate of 9600 baud. This input does not
have to be from a beacon receiver, such as SBX.
However, this is a common source of corrections.
WAAS Instruct the receiver to use SBAS. This is also the

response when running the local dif application as the
base.
RTK Response when running the local dif or rover RTK

application for the rover.
LBAND Instruct the receiver to turn on theAtlas module

and useAtlas. Setting diff to anything other
thanAtlas turns off theAtlas module.
147
X Instruct the receiver to use e-Dif
mode
NONE Instruct the receiver to operate in autonomous

mode. This turns off the use of SBAS,Atlas, and
RTCM2 (DGPS); however, RTK is still allowed.
,SAVE' = optional field, saves the differential source into flash memory so that if you reset power the receiver will boot
with the new differential source (it may take several seconds to save the differential source to flash memory).
Using $JDIFF with SBAS, RTCM2, or Atlas assigns the priority in the MFA. For example, RTCM2is a higher priority if the
assigned diff port is PORTA. See MFA for more information.
Query the current DIFF setting:
$JDIFF<CR><LF>
Receiver Response:
Receiver response when specifying the differential source:
$>
Receiver response when querying the differential source:
$>JDIFF,SOURCE,TYPE
where:
• 'SOURCE' is the port/source as issued with the JDIFF command

• TYPE' is the differential type actually being used
• 'AUTO' is the response when queried in e-Dif
Example:
Issue the following command to query the receiver:
$JDIFF<CR><LF>
...and if the differential source is WAAS, the response is:
$>JDIFF,WAAS
148
JDIFF,AVAILABLE Command
Command Type:
Description:
Query the receiver for the differential types currently being received
Command Format:
$JDIFF,AVAILABLE<CR><LF>
Receiver Response:
$>JDIFFX,AVAILABLE,x[,x][,x]...[,x]
where 'x' is the differential type(s)
Example:
149
JDIFFX,EXCLUDE Command
Command Type:
Description:
Specify the differential sources to be excluded from operating in a multi-differential application or query the receiver for
excluded differential sources.
Command Format:
Specify the differential sources to be excluded:
$JDIFFX,EXCLUDE[,SBAS] [,ARTK] [,ATLAS] [,RTCM2][,EDIF][,DFX][,CMR] [,RTCM3][,ROX] [,RTCM_23]

[,BEIDOU]<CR><LF>
$JDIFFX,EXCLUDE<CR><LF>
Receiver Response:
Response to issuing command to exclude differential sources
$>
Response to querying the current

setting:
$JDIFFX,EXCLUDE[,SOURCE1][,SOURCE2]...[,SOURCEn]<CR><LF>
where SOURCE1 through SOURCEn represent each excluded source
Example:
Issue the following command to exclude RTCM3:
$JDIFFX,EXCLUDE,RTCM3<CR><LF>
If you then issue $JDIFFX,EXCLUDE<CR><LF> to query the current setting the response is (if RTCM3 is the only
excluded source):
$>JDIFFX,EXCLUDE,RTCM3<CR><LF>
150
JDIFFX,GNSSOUT Command
Command Type:
Description:
Specify the GNSS systems to be output in the differential or query the current setting
Command Format:
Specify the GNSS systems to be output in the differential:
$JDIFFX,GNSSOUT,gnss,x<CR><LF>
where:
· 'gnss' = GNSS system to be outputin the differential (GPS , GLONASS, BEIDOU, GALILEO)
· 'x' = NO (do not output specified GNSS system in the differential) or YES (output specified GNSS system in the
differential)
Query the current setting
Query what GNSS systems are output in the differential:
$JDIFFX,GNSSOUT<CR><LF
Query if a specific GNSS system is output in the differential:
$JDIFFX,GNSSOUT,gnss<CR><LF
where 'gnss' is the GNSS system
Receiver Response:
Receiver response when specifying the GNSS systems to be output in the differential.
$>
Receiver response when querying the current setting, see Example section below:
Example:
Specify that GPS is output in correction formats:
$JDIFFX,GNSSOUT,GPS,YES<CR><LF>
Receiver Response:
$>
Query what GNSS systems are output in the differential:
$JDIFFX,GNSSOUT<CR><LF>
Response if just GPS:
$>JDIFFX,GNSSOUT,GPS
Response if all GPS and GLONASS:
$>JDIFFX,GNSSOUT,GPS,GLONASS
Query if a specific GNSS system is output in the differential (example uses GLONASS)
151
$JDIFFX,GNSSOUT,GLONASS<CR><LF>
Response if GLONASS is output:
$>JDIFFX,GNSSOUT,GLONASS,YES
Response if GLONASS is not output:
$>JDIFFX,GNSSOUT,GLONASS,NO
152
JDIFFX,INCLUDE Command
Command Type:
Description:
Specify the differential sources to be allowed to operate in a multi-differential application or query the receiver for included
differential sources.
Command Format:
Specify the differential sources to be included:
$JDIFFX,INCLUDE[,SBAS] [,ARTK] [,ATLAS] [,RTCM2][,EDIF][,DFX][,CMR] [,RTCM3][,ROX] [,RTCM_23]

[,BEIDOU]<CR><LF>
$JDIFFX,INCLUDE<CR><LF>
Receiver Response:
Response to issuing command to include differential sources:
$>

setting:
$JDIFFX,INCLUDE[,SOURCE1][,SOURCE2]...[,SOURCEn]<CR><LF>
where SOURCE1 through SOURCEn represent each included source
Example:
Issue the following command to include CMR:
$JDIFFX,INCLUDE,CMR<CR><LF>
If you then issue $JDIFFX,INCLUDE<CR><LF> to query the current setting the response may be (showing all
included sources including CMR):
$>JDIFFX,INCLUDE,SBAS,RTCM2,EDIF,DFX,CMR,RTCM3,ROX
For example, if an Eclipse II receiver with SBAS,Atlas, and RTK-base in the same application (multi-diff) has no active
Atlas subscription:
1. The receiver tries Atlas high precision services and when it is not found, falls back to Atlas DGPS service.
2. The receiver tries Atlas DGPS service and when it is not found, falls back to WAAS.
3. No warnings when subscription has expired – user expects a certain level of accuracy with Atlas services,not
SBAS level accuracy.
If you do not actively watch the Atlas service end date, you could potentially use SBAS without knowing it. This command
limits the differential sources to ensure a certain level of accuracy is retained.
153
JDIFFX,SOURCE Command
Command Type:
Description:
Query the receiver for the differential source
Command Format:
$JDIFFX,SOURCE<CR><LF>
Receiver Response:
$>JDIFFX,source
where 'source' is the differential source
Example:
Response if Atlas is the differential source:
$>JDIFFX,SOURCE,LBAND
Response if RTK is the differential source through Port B:
$>JDIFFX,SOURCE,PORTB
154
JDIFFX,TYPE Command
Command Type:
Description:
Query the receiver for the differential type
Command Format:
$JDIFFX,TYPE<CR><LF>
Receiver Response:
$>JDIFFX,TYPE,type
where 'type' is one of the following differential types:
• NONE (no differential corrections)
• CMR
• DFX
• EDIF
• ROX
• RTCM2
• RTCM3
• SBAS
Example:
Response if SBAS is the differential type:
$>JDIFFX,TYPE,SBAS
Response if RTK (ROX) is the differential type:
$>JDIFFX,TYPE,ROX
155
JDISNAVMODE Command
Command Type:
Description:
Enable/disable Athena nav mode reporting in BIN1 and BIN3 messages.
Command Format:
$JDISNAVMODE<CR><LF>
Receiver Response:
Response to issuing command to enable/disable detailed nav mode display:
$>
$> JDISNAVMODE[,DEFAULT][,PHOENIX]
This setting is automatically saved and can be reset to default by sending $JRESET
156
JEPHOUT, PERIODSEC Command

JEPHOUT,PERIODSEC Command
Command Type:
Description:
To allow ephemeris messages (95, 65, 35) to go out a rate other than when they change. This also does the same rate for
the ionoutc message 94. This is a global message and applies to all ephemeris messages on all ports.
Command Format:
Enable/disable the command
To enable this command
$JEPHOUT,1<CR><LF>
To disable this command:
$JEPHOUT,0<CR><LF>
$JEPHOUT<CR><LF>
Receiver Response:
Response to issuing command to enable/disable command
$>
Response to querying the current setting
If setting is currently enabled the response is:
$>JEPHOUT,1
If setting is currently disabled the response is:
$>JEPHOUT,0
157
JETHERNET Commands
JETHERNET Command Overview
The JETHERNET command is used to configure Ethernet settings on Ethernet-capable boards.
Command Description
JETHERNET Query current Ethernet configuration state
JETHERNET,MODE Enable/Disable Ethernet and set IP address configuration
JETHERNET,PORTI Enable/Disable PORTI virtual serial port
JETHERNET,NTRIPCLIENT Configure receiving RTK corrections over IP from an NTRIP caster
JETHERNET,NTRIPSERVER Configure sending RTK connections over IP to an NTRIP caster
JETHERNET,WEBUI Enable/Disable the WebUI interface over HTTP
158
JETHERNET,MODE
Command Type:
Description:
On receivers with Ethernet support, this command allows configuring how the receiver connects to a network on the
Ethernet interface.
Command Format:
$JETHERNET,MODE,OFF<CR><LF>
$JETHERNET,MODE,DHCP<CR><LF>
$JETHERNET,MODE,STATIC,IP,SUBNET[,GATEWAY[,DNS]]<CR><LF>
Where IP, SUBNET, GATEWAY, and DNS are the ip address, subnet mask, gateway ip, and dns server ip respectively, in
the standard decimal notation.
Receiver Response:
$>JETHERNET,MODE,...<CR><LF>
Example:
To disable Ethernet support, one would use the command.
$JETHERNET,MODE,OFF<CR><LF>
To enable Ethernet support in DHCP (automatic IP address assignment by the network) mode, use the following
command:
$JETHERNET,MODE,DHCP<CR><LF>
To enable Ethernet support with a fixed IP address of 192.168.1.5, use the following command:
$JETHERNET,MODE,STATIC,192.168.1.5,255.255.255.0<CR><LF>
Topic Last Updated v.1.07 / : February 16, 2017
159
JETHERNET,PORTI
Command Type:
Description:
This command configures the virtual serial port ‘PORTI’, which may be accessible via the
Ethernet interface. By default PORTI is disabled, but may be enabled on a specified TCP port
using this command. This interface supports acting as either TCP server or TCP client,
depending on whether you specify a destination host or not. Messages can be enabled on the
port with commands such as $JASC and $JBIN by specifying ‘PORTI’ as the destination port.
Note that PORTI provides full access just as a local serial port would, and does not have an
authentication mechanism. As such, care should be taken for what networks it is enabled on,
especially if behaving as a TCP server.
Command Format:
$JETHERNET,PORTI,OFF<CR><LF>
To turn off the PORTI interface.
$JETHERNET,PORTI,PORT<CR><LF>
Where ‘PORT’ is replaced with a port number to listen for incoming TCP connections on,
behaving as a TCP server.
$JETHERNET,PORTI,HOST,PORT<CR><LF>
Where ‘HOST’ and ‘PORT’ are replaced with the host (IP address or domain name) and port to
make an outgoing TCP connection to, behaving as a TCP client.
$JETHERNET,PORTI,HOST1,PORT1,HOST2,PORT2<CR><LF>
Same as the above, except allowing two host/port pairs. The second one is can be switched to if
an outgoing connection to the first fails, or vice versa. Only one connection will be active at a
time.
Receiver Response:
$>JETHERNET,PORTI,...<CR><LF>
Where the response reflects the current configuration.
Example:
To disable the PORTI virtual serial port, one may use the command:
$>JETHERNET,PORTI,OFF<CR><LF>
To enable PORTI listening on TCP port 5000, one may use the following command:
$>JETHERNET,PORTI,5000<CR><LF>
160
$JETHERNET,PORTUDP Command
Command Type:

Description:
The $JETHERNET,PORTUDP command allows configuring a virtual serial port for transmitting
messages via UDP packets. Up to four destination host/port pairs may be specified, and
messages will be sent to all of them at once. This is for outgoing data only, and incoming data or
commands via UDP are not accepted. Messages can be enabled on the port with commands
such as $JASC and $JBIN by specifying ‘PORTJ’ as the destination port.
Command Format:
$JETHERNET,PORTUDP,OFF<CR><LF>
To turn off the PORTJ transmission.
$JETHERNET,PORTUDP,HOST,PORT<CR><LF>
Where ‘HOST’ and ‘PORT’ are replaced with the host (IP address or domain name) and port to
transmit UDP messages to.
$JETHERNET,PORTUDP,HOST1,PORT1,HOST2,PORT2,…<CR><LF>
Up to four hosts/port pairs may be specified.
Receiver Response:
$>JETHERNET,PORTUDP,...<CR><LF>
Where the response reflects the current configuration.
Topic Last Updated: v3/0/December 30, 2019
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$JETHERNET,NTRIPCLIENT Command
Command Type:

Description:
The $JETHERNET,NTRIPCLIENT command allows configuring a simple NTRIP client for the
receive correction messages from.
Command Format:
$JETHERNET,NTRIPCLIENT,OFF<CR><LF>
To turn off the NTRIP client transmission.
$JETHERNET,NTRIPCLIENT,HOST,PORT,MOUNTPOINT,USERNAME,PASS
WORD<CR><LF>
Where ‘HOST’, ‘PORT’, ‘MOUNTPOINT’, ‘USERNAME’, and ‘PASSWORD’ are all replaced with
the relevant configuration parameters for connecting to the NTRIP caster. The username and
password fields can be omitted if the NTRIP caster in question does not require authentication.
Receiver Response:
$>JETHERNET,NTRIPCLIENT,...<CR><LF>
$>JETHERNET,NTRIPSTATUS,Connecting,0.0KB,0.0
seconds<CR><LF>
Where the first line indicates the current configuration, and the second line indicates the status of
the NTRIP client connection. The second line will be omitted if the NTRIP client is turned off.
Topic Last Updated: v3.0/December 30, 2019
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$JETHERNET,NTRIPSERVER Command
Description:
The $JETHERNET,NTRIPSERVER command allows configuring a simple NTRIP server for allowing sending
correction messages to an NTRIP caster.
Command Type:
Command Format:
$JETHERNET,NTRIPSERVER,OFF<CR><LF>
To turn off the NTRIP server.
$JETHERNET,NTRIPSERVER,HOST,PORT,MOUNTPOINT,CORRTYPE,PASSWORD<CR><LF>
Where ‘HOST’, ‘PORT’, ‘MOUNTPOINT’, and ‘PASSWORD’ are all replaced with the relevant configuration parameters
for connecting to the NTRIP caster. The ‘CORRTYPE’ field represents the correction type to send to the caster, and
may be set to any of ROX, RTCM3, RTCM23, and CMR.
$JETHERNET,NTRIPSERVER <CR><LF>
Receiver Response:
$>JETHERNET,NTRIPSERVER,...<CR><LF>
$>JETHERNET,NTRIPSTATUS,Connecting,0.0KB,0.0 seconds<CR><LF>
Where the first line indicates the current configuration, and the second line indicates the status of the NTRIP server
connection. The second line will be omitted if the NTRIP server is turned off.
Topic Last Updated: v4.0/June 30, 2020
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$JETHERNET,WEBUI Command
Description:
The $JETHERNET,WEBUI command enables/disables the WebUI interface over HTTP.
Command Type:
Command Format:
$JETHERNET,WEBUI,ON<CR><LF>
To enable the WebUI interface.
$JETHERNET,WEBUI,OFF<CR><LF>
To disable the WebUI interface.
$JETHERNET,WEBUI<CR><LF>
Receiver Response:
$JETHERNET,WEBUI,...<CR><LF>
The response reflects whether the WebUI interface is enabled or disabled.
Topic Last Updated: v4/0/June 30, 2020
164
JFLASH Commands
JFLASH Command Overview
The JFLASH command is used to perform file operations via a USB flash drive on Eclipse and Eclipse II based receivers.
Command Description
JFLASH,DIR Display the files on a USB flash drive
JFLASH,FILE,CLOSE Close an open file on a USB flash drive
JFLASH,FILE,NAME Open a specific file, append to a specific file, or display the file name of the open file
on a USB flash drive
JFLASH,FILE,OPEN Create and open a file with an automatically generated file name on a USB flash
drive
JFLASH,FREESPACE Display the free space in kilobytes (KB) on a USB flash drive
JFLASH,NOTIFY,CONNECT Enable/disable the automatic response when a USB flash drive is inserted or
removed
JFLASH,QUERYCONNECT Manually verify if a USB flash drive is connected or disconnected
165
JFLASH,DIR Command
Command Type:
Description:
Display the files on a USB flash drive
You can only display files at the root level of the flash drive (you cannot navigate into subdirectories).
Command Format:
$JFLASH,DIR<CR><LF>
Receiver Response:
$>JFLASH,file1
$>JFLASH,file2
$>JFLASH,file3
$>JFLASH,filen
One line appears for each file at the root level of the flash drive.
Example:
If you issue the $JFLASH,DIR command and the root level of the flash drive contains the following files:
hemi_1.bin, hemi_2.bin, hemi_3.bin the response is:
$>JFLASH,hemi_1.bin
$>JFLASH,hemi_2.bin
$>JFLASH,hemi_3.bin
166
JFLASH,FILE,CLOSE Command
Command Type:
Description:
Close an open file on a USB flash drive
Closing a file does not turn off the messages being written to the flash drive; it just closes the file so you can safely
remove the flash drive. Caution: Close the file before removing the flash drive. Failure to do so may corrupt the file.
Command Format:
$JFLASH,FILE,CLOSE<CR><LF>
Receiver Response:
$>JFLASH,CLOSE mass_storage:0:\filename
Example:
If you issue the $JFLASH,FILE,CLOSE command and the 'hemi_4.bin' file on the flash drive is currently open, the
response is:
$>JFLASH,CLOSE mass_storage:0:\HEMI_4.BIN
167
JFLASH,FILE,NAME Command
Command Type:
Description:
Open a specific file, append to a specific file, or display the file name of the open file on a USB flash drive
.
Command Format:
Open a specific file (overwrite or append):
$JFLASH,FILE,NAME,filename[,APPEND]<CR><LF>
where:
• 'filename' is the name of the file and it must be a legal 8.3 file name
• ',APPEND' is an optional field that allows you to append data to the file
Warning: Using this command without the ",Append" option overwrites the existing file without warning.
Display the name of the open file:
$JFLASH,FILE,NAME<CR><LF>
Receiver Response:
Response from issuing command to open an existing file or append to an existing file:
$>JFLASH, OPEN mass_storage:0:\filename
Response from issuing command to display the name of the open file
$>JFLASH, mass_storage:0:\filename
If you attempt to display the name of the open file and no file is actually open the response is:
$>JFLASH, NO FILE OPEN
Example:
If you issue the following command to open file hemi_4.bin on a USB flash drive:
$JFLASH,FILE,NAME,hemi_4.bin<CR><LF>
the response is:
$>JFLASH, mass_storage:0:\HEMI_4.BIN
168
JFLASH,FILE,OPEN Command
Command Type:
Description:
Create and open a file with an automatically generated file name (hemi_1.bin… hemi_99.bin) on a USB flash drive (only
8.3 file format is allowed)
Command Format:
$JFLASH,FILE,OPEN<CR><LF>
Receiver Response:
$>JFLASH,OPEN mass_storage:0:\filename
where 'filename' is the name of the new file
Example:
If you issue the $JFLASH,FILE,OPEN command and the root level of the flash drive contains the following files:
hemi_1.bin, hemi_2.bin, hemi_3.bin the response is:
$>JFLASH,OPEN mass_storage:0:\HEMI_4.bin
169
JFLASH,FREESPACE Command
Command Type:
Description:
Display the free space in kilobytes (KB) on a USB flash drive. You can use a flash drive larger than 4GB; however, this
command will not display a number greater than 4GB.
Command Format:
$JFLASH,FREESPACE<CR><LF>
Receiver Response:
$>JFLASH,FREESPACE, numbytes bytes
where 'numbytes' is the number of kilobytes
Example:
The following response indicates a USB flash drive with approximately 2GB of free space.
$>JFLASH,FREESPACE,2001731584bytes
170
JFLASH,NOTIFY,CONNECT Command
Command Type:
Description:
Enable/disable the automatic response when a USB flash drive is inserted or removed (if port is not specified the response
will be sent to the port that issued the command)
Command Format:
$JFLASH,NOTIFY,CONNECT,r[,PORT]<CR><LF>
where:
• 'r' is the message status variable (0 = Off, 1 = On)
• ',PORT' is an optional field you use to specify the port to which the response will be sent (if you do not specify a port, the
response is sent to the port from which you issued the command)
Receiver Response:
Response to issuing command to enable notification:
$>
Response to inserting a flash drive if notification is enabled:
$>JFLASH,CONNECTED
Response to removing a flash drive if notification is enabled:
$>JFLASH,DISCONNECTED
171
JFLASH,QUERYCONNECT Command
Command Type:
Description:
Manually verify if a USB flash drive is connected or disconnected
Command Format:
$JFLASH,QUERYCONNECT<CR><LF>
Receiver Response:
Response to verifying the connection status of a flash drive if the flash drive is connected:
$>JFLASH,CONNECTED
$>
Response to verifying the connection status of a flash drive if the flash drive is disconnected:
$>JFLASH,DISCONNECTED
$>
172
JFREQ Command
JFREQ Command
Command Type:
Atlas
Description:
Tune the Atlas receiver (manually or automatically) or query the receiver for the current setting.
Command Format:
Tune the Atlas receiver
To manually tune the receiver:
$JFREQ,freq,symb<CR><LF>
where:
1. 'freq' is the frequency in kHz (reply is in MHz)
2. symb' is the symbol baud rate (600)
Note:
Examples:
Correct: $JFREQ,1545915,600 (1,545,915 Hz,)
To auto-tune the receiver:
$JFREQ,0<CR><LF>
Note:
Query the current

setting:
$JFREQ<CR><LF>
Receiver Response:
Response to issuing command to tune

receiver:
$>
173

setting:
$>JLBEAM,Sent sfreq,Used ufreq,Baud baud,Geolon[,AUTO]
where:
Component
sfreq Frequency to which the Atlas receiver is instructed to tune (in this example,
1557.8550 MHz)
ufreq Frequency to which the Atlas receiver is tuned
baud Baud rate of the signals being received
lon Approximate longitude of the geostationary satellite to which the Atlas receiver is
tuned
Example:
Manually Tune a Frequency (command and response):
$JFREQ,1545915,600
$>
Auto-Tune a Frequency based on Geographic Location (command and response):
$JFREQ,AUTO
$>
Query a Manually Tuned Receiver (response):
$>JLBEAM,Sent 1557.8350,Used 1557.8350,Baud 1200,Geo -101
Query an Auto-Tuned Receiver (response):
$>JLBEAM,Sent 1557.8550,Used 1557.8550,Baud 1200,Geo -101,AUTO
The status of this command is also output when issuing the JSHOW command.
The following table provides frequency information for the Atlas satellites. This information is subject to change. Visit your
Atlas service provider’s website for up-to-date satellite constellation and broadcast information.
Coverage Area Frequency Baud Rate Satellite Name
North and South 1545.915 MHz 600 AMERICAS

America
Asia-Pacific 1545.855 MHz 600 APAC
Europe, Middle 1545.905 MHz 600 EMEA

East and Africa
Eastern Europe 1545.915 MHz 600 MEAS

and Middle East
174
175
JGEO Command
JGEO Command
Command Type:
SBAS
Description:
Display information related to the current frequency of SBAS or Atlas satellite and its location in relation to the receiver’s
antenna
Command Format:
$JGEO[,ALL]<CR><LF>
where ',ALL' is an optional field that displays information for all SBAS satellites (including those not being used)
Receiver Response:
$>JGEO,SENT=1575.4200,USED=1575.4200,PRN=prn,LON=lon,EL=ele,AZ=az
where:
Component
JGEO Message header
Sent=1575.4200 Frequency sent to the digital signal processor
Used=1575.4200 Frequency currently used by the digital signal processor
PRN=prn WAAS satellite PRN number
Lon=-lon Longitude of the satellite
El=ele Elevation angle from the receiver antenna to the WAAS satellite, reference to the
horizon
AZ=az Azimuth from the receiver antenna to the WAAS satellite, reference to the horizon
Example:
To display information related to the current frequency of SBAS issue the following command:
$JGEO[,ALL]<CR><LF>
The response is then:
$>JGEO,SENT=1575.4200,USED=1575.4200,PRN=122,LON=-54,EL=9.7,AZ=114.0
To display information for dual SBAS satellites issue the following command:
$JGEO[,ALL]<CR><LF>
The response is:
$>JGEO,SENT=1575.4200,USED=1575.4200,PRN=122,LON=-54,EL=9.7,AZ=114.0
$>JGEO,SENT=1575.4200,USED=1575.4200,PRN=134,LON=178,EL=5.0,AZ=252.6
The first line of output is identical to the output from the first JGEO query above; however, the second line of output
provides information on the WAAS satellite not being currently used. Both lines of output follow the same format.
176
Topic Last Updated: v3.0/ December 30, 2019
177
JHTYPE_SHOW Command
JHTYPE_SHOW Command
Queries the hardware type.
178
JI Command
JI Command
Command Type:
Description:
Display receiver information, such as its serial umber and firmware version
Command Format:
$JI<CR><LF>
Receiver Response:
$>JI,SN,FLT,HW,PROD,SDATE,EDATE,SW,DSP<CR><LF>
where:
Component
SN Serial number of the GPS engine
FLT Fleet number
HW Hardware version
PROD Production date code
SDATE Subscription begin date
EDATE Subscription expiration date
SW Application software version number
DSP DSP version (only valid for Atlas applications)
Example:
$>JI,19422368,20,1,04062018,01/01/1900,01/01/6455,5.9Aa08,89
Topic Last Updated: v3.0/ December 30, 2019
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JK Command
JK Command
Command Type:
Description:
Subscribe the receiver to various options, such as higher update rates, Atlas or RTK.
or
Query for the current subscription expiration date when running Atlas application or the receiver subscription code when
running all other applications
Command Format:
Subscribe the receiver to specific options:
$JK,x…<CR><LF>
where 'x…' is the subscription key provided by Hemisphere GNSS and is 56 characters in length
$JK<CR><LF>
Receiver Response:
Response to issuing command to subscribe:
$>
$>JK,DateCode,SubscriptionCode,DowngradeCode
where:
· 'DateCode' indicates your subscription information (compare last four digits of Date Code to determine your
subscription and see the Example section below and the examples in Understanding Additive Codes)
· 'SubscriptionCode' is the hex equivalent of the Date Code
· 'DowngradeCode' is the output rate in Hertz indicating a downgrade from the default of 10 Hz (if 1, 2 or 5 does not
appear the output rate is the default 10 Hz)
Example:
If you query the receiver for the current setting when running A t l a s applications the response will appear similarto the
following:
180
$>JK,06/30/2011,0
If you query the receiver for the current setting when running any other application the response will appear similar to the
following (Crescent Vector example response shown). Example shows no downgrade code (using default output rate of
10 Hz).
$>JK,01/01/3007,7
Interpreting the $JK 'Date'/Subscription Codes
Last Updated: v.3.0/ December 30, 2019
181
JK SHOW Command
Command Type:
Description:
Contain authorization information
Command Format:
$JK,SHOW<CR><LF>
Receiver Response:
$>JK,SHOW,0,SUBOPT,ENDDATE,0,OPT=,SUBSCRIPTION DESCRIPTION,<CR><LF>
where:
Example:
$>JK,SHOW,0,157F,12/31/2016,0,OPT=,20HZ,EDIF,RTK,BASE,RAW_DATA,L2_L5,MULTI_
GNSS,BEIDOUB3,ATLAS_LBAND,ATLAS_30cm
182
183
JLBEAM Command
JLBEAM Command
Command Type:
L-Band
Description:
Display the information of each spot beam currently in use by the Atlas receiver
Command Format:
$JLBEAM<CR><LF>
Receiver Response:
$>JLBEAM,Sent 1545.9150,Used 1545.9150,Baud 600,Geo -98,AUTO
$>JLBEAM,Sent freq,Used freq,Baud xxx,Geo xxx (1)
$>JLBEAM,freq1,lon1,lat1,baud1,satlon1 (2).
$>JLBEAM,freqn,lonn,latn,baudn,satlonn
where:
Component
"Sent" freq Frequency sent to the digital signal processor (DSP)
"Used" freq Frequency currently being used by the digital signal processor (DSP)
"Baud" xxxx Currently used baud rate of the acquired signal
"Geo" xxx Currently used satellites longitude (in degrees)
The output second line components are described in the following table:
Component
freq Frequency of the spot beam
lon Longitude of the center of the spot beam (in degrees)
lat Latitude of the center of the spot beam (in degrees)
baud Baud rate at which this spot beam is modulated
satlon Satellites longitude (in degrees)
Example:
$>JLBEAM,Sent 1551.4890,Used 1551.4890,Baud 1200,Geo -101
$>JLBEAM,1556.8250,-88,45,1200,(-101)
184
$>JLBEAM,1554.4970,-98,45,1200,(-101)
$>JLBEAM,1551.4890,-108,45,1200,(-101)
$>JLBEAM,1531.2300,25,50,1200,(16)
$>JLBEAM,1535.1375,-75,0,1200,(-98)
$>JLBEAM,1535.1375,-165,13,1200,(-98)
$>JLBEAM,1535.1525,20,6,1200,(25)
$>JLBEAM,1558.5100,135,-30,1200,(160)
$>JLBEAM,1535.1375,90,15,1200,(109)
$>JLBEAM,1535.1375,179,15,1200,(109)
185
JLIMIT Command
JLIMIT Command
Command Type:
Description:
Set the threshold of estimated horizontal performance for which the DGPS position LED is illuminated or query the current
setting.
Command Format:
Set the threshold of estimated horizontal performance:
$JLIMIT,limit<CR><LF>
where 'limit' is the new limit in meters
$JLIMIT<CR><LF>
Receiver Response:
Receiver response when setting the threshold of estimated horizontal performance
$>
$>JLIM,RESID,LIMIT
where 'LIMIT' is the limit in meters
Example:
To set the threshold to 5 m issue the following command:
$JLIMIT,5<CR><LF>
If you then query the receiver with $JLIMIT<CR><LF> the response is:
$JLIM,RESID,5.00
The default value for this parameter is a conservative 10.00 m. The status of this command is also output in the JSHOW
message.
186
JLXBEAM Command
JLXBEAM Command
Command Type:
L-B
and
Description:
Display spot beam debug information.
Command Format:
$JLXBEAM<CR><LF>
Receiver Response:
$>JLBEAMEX
$> Beam:1,DDSfreq1,symbol1,lon1,lat1,lonrad1,latrad1,beamrot1,satlon1,*
$> Beam:2,DDSfreq2,symbol2,lon2,lat2,lonrad2,latrad2,beamrot2,satlon2,*
$> Beam:n,DDSfreqn,symboln,lonn,latn,lonradn,latradn,beamrotn,satlonn,*
where:
Component
DDSfreq DDS frequency
symbol Symbol rate used for that particular spot beam
lon Longitude of the spot beam centroid
lat Latitude of the spot beam centroid
lonrad Longitude radius of the spot beam
latrad Latitude radius of the spot beam
beamrot Rotation angle of the spot beam
satlon Longitude of the Atlas satellite
* Reserved
Example:
$>JLBEAMEX
$> Beam:22,1535125000,600,-26,40,2,41,0,9999,*
$> Beam:21,1535157500,600,65,30,31,18,-21,64,*
$> Beam:13,1535185000,1200,136,-25,23,28,-40,144,*
187
$> Beam:13,1535185000,1200,172,-40,13,26,-26,144,*
$> Beam:24,1557835000,1200,-100,49,6,28,0,-101,*
$> Beam:24,1557835000,1200,-101,66,12,6,0,-101,*
$> Beam:25,1557845000,1200,-74,52,12,30,-30,-101,*
$> Beam:26,1557855000,1200,-122,45,11,30,25,-101,*
$> Beam:8,1535137500,1200,-85,2,30,20,-5,-98,*
$> Beam:8,1535137500,1200,-60,-25,34,36,-20,-98,*
$> Beam:4,1535137500,1200,109,2,14,19,-27,109,*
$> Beam:4,1535137500,1200,140,38,27,51,-56,109,*
$> Beam:7,1537440000,1200,23,-2,29,49,50,25,*
$> Beam:7,1537440000,1200,14,59,41,23,34,25,*
$> Beam:7,1537440000,1200,11,28,17,24,0,25,*
188
JMASK Command
JMASK Command
Command Type:
GPS
Description:
Specify the elevation cutoff mask angle for the GPS engine
Any satellites below this mask angle will be ignored even if available. The default angle is 5° because satellites available
below this angle will have significant tropospheric refraction errors.
Command Format:
$JMASK,e<CR><LF>
where the elevation mask cutoff angle 'e' may be a value from 0 to 60°
Receiver Response:
$>
Example:
To specify the elevation cutoff mask angle to 10° issue the following command:
$JMASK,10<CR><LF>
To query the receiver for the current setting, issue the JSHOW command.
189
JMODE Commands
JMODE Command
Command Type:
Description:
Query receiver for status of JMODE settings
Command Format:
$JMODE<CR><LF>
Receiver Response:
$>JMODES[,BASE][,FIXLOC][,FOREST][,GLOFIX][,GPSONLY][,L1ONLY][,MIXED] [,NULLNMEA][,CMRPLUS]
Example:
If FOREST and TUNNEL are set to ON and all others ( MIXED, NULLNMEA,SBASR, and TIMEKEEP) are set to OFF and
you issue
$JMODES,TUNNEL,FOREST
If all features are set to OFF and you issue the JMODE command the receiver response will be:
$JMODES
The status of this command is also output in the JSHOW response. For example, if TUNNEL is set to ON and all other
JMODE option:
$>JSHOW,MODES,TUNNEL
190
JMODE,BASE Command
Command Type:
General Operation and Configuration, Local Differential and RTK Commands
Description:
Enable/disable base mode functionality or query the current setting:
• If base mode is NO (disabled) and the receiveris receiving RTK corrections, these corrections are echoed out when
RTK corrections (ROX, RTCM3, CMR) are requested
• If base mode is YES (enabled), the receiver computes its own corrections, regardless of whether or not it is receiving
RTK corrections from another source
Command Format:
Enable/disable base mode
To enable base mode:
$JMODE,BASE,YES<CR><LF>
To disable base mode:
$JMODE,BASE,NO<CR><LF>
$JMODE,BASE<CR><LF>
Receiver Response:
Response to issuing command to enable/disable base mode:
$>
If base mode is currently enabled the response is:
$>JMODE,BASE,YES
If base mode is currently disabled the response is:
$>JMODE,BASE,NO
Example:
191
JMODE,BDSOFF Command
Command Type:
Description:
Set the receiver to use BDS data in the solution
Command Format:
Close/Open BDS operation
Close BDS operation:
$JMODE,BDSOFF,YES<CR><LF>
Open BDS operation:
$JMODE,BDSOFF,NO<CR><LF>
Receiver Response:
Response to issuing command to turn enable/disable BDS operation:
$>
If BDS operation is currently enabled the response is:
$>JMODE,BDSOFF,YES
If BDS operation is currently disabled the response is:
$>JMODE,BDSOFF,NO
192
$JMODE,CMRPLUS Command
Command Type:
Description:
Set the receiver to output CMR+ instead of CMR
Command Format: Output CMR+ instead of CMR
$JMODE,CMRPLUS,YES<CR><LF>
Output CMR instead of CMR+:
$JMODE,CMRPLUS,NO<CR><LF>
Receiver Response:
Response to issuing command to turn enable/disable CMR+ operation:
$>
If CMR+ is currently enabled the response is:
$>JMODE,CMRPLUS,YES
If CMR is currently disabled the response is:
$>JMODE,CMRPLUS,NO
193
JMODE,FIXLOC Command
Command Type:
Description:
Set the receiver to not re-average (or re-average) its position or query the current setting.
$JMODE,FIXLOC,YES assure that the BASE will not re-average its position. Good for permanent installations.
Command Format:
Enable/disable position re-averaging
To set receiver to not re-average its position:
$JMODE,FIXLOC,YES<CR><LF>
To set receiver to re-average its position:
$JMODE,FIXLOC,NO<CR><LF>
$JMODE,FIXLOC<CR><LF>
Receiver Response:
Response to issuing command to enable/disable position re-averaging:
$>
If setting is currently enabled (no position re-averaging) the response is:
$>JMODE,FIXLOC,YES
If setting is currently disabled (position re-averaging enabled) the response is:
$>JMODE,FIXLOC,NO
Example:
194
JMODE,FOREST Command
Command Type:
Description:
Enable/disable high gain functionality (for tracking under canopy) or query the current setting.
This command is useful if you are trying to maximize the likelihood of calculating a position, but are willing to sacrifice
accuracy.
See also JMODE,MIXED.
Command Format:
Enable/disable high gain functionality
To enable high gain functionality:
$JMODE,FOREST,YES<CR><LF>
To disable high gain functionality:
$JMODE,FOREST,NO<CR><LF>
$JMODE,FOREST<CR><LF>
Receiver Response:
Response to issuing command to turn functionality on/off:
$>
If high gain functionality is currently enabled the response is:
$>JMODE,FOREST,YES
If high gain functionality is currently disabled the response is:
$>JMODE,FOREST,NO
195
JMODE,GLOFIX
Command Type:
Description:
Enable/disable use of RTCM v3 (RTK) GLONASS correctors.
GLOFIX does not affect CMR or ROX (CMR does not have GLONASS, and ROX correctors are always used regardless
of the GLOFIX setting) and SureTrack is automatically used for any satellite that does not have GLONASS correctors.
Command Format:
Enable/disable use of RTCM v3 GLONASS correctors
To enable use of RTCM v3 GLONASS correctors:
$JMODE,GLOFIX,YES<CR><LF>
To disable use of RTCM v3 GLONASS correctors:
$JMODE,GLOFIX,NO<CR><LF>
$JMODE,GLOFIX<CR><LF>
Receiver Response:
Response to issuing command to turn functionality on/off:
$>
If use of RTCM v3 GLONASS correctors is currently enabled the response is:
$>JMODE,GLOFIX,YES
If use of RTCM v3 GLONASS correctors is currently disabled the response is:
$>JMODE,GLOFIX,NO
196
JMODE,GLOOFF Command
Command Type:
Description:
Set the receiver to use GLONASS data in the solution
Command Format:
Close/Open GLONASS operation
Close GLONASS operation:
$JMODE,GLOOFF,YES<CR><LF>
Open GLONASS operation:
$JMODE,GLOOFF,NO<CR><LF>
Receiver Response:
Response to issuing command to turn enable/disable GLONASS operation
$>
If GLONASS operation is currently enabled the response is:
$>JMODE,GLOOFF,NO
If GLONASS operation is currently disabled the response is:
$>JMODE,GLOOFF,YES
197
JMODE,GPSOFF Command
Command Type:
Description:
Set the receiver to use GPS data in the solution or query the current setting
Command Format:
Close/Open GPS Operation
Close GPS operation:
$JMODE,GPSOFF,YES<CR><LF>
Open GPS operation:
$JMODE,GPSOFF,NO<CR><LF>
Receiver Response:
Response to issuing command to turn enable/disable GPS-only operation
$>
If GPS-only operation is currently enabledthe response is:
$>JMODE,GPSONLY,YES
If GPS-only operation is currently disabled the response is:
$>JMODE,GPSONLY,NO
198
JMODE,GPSONLY Command
Command Type:
Description:
Set the receiver to use GPS data in the solution or query the current setting (if GLONASS is available, setting to YES will
cause the receiver to only use GPS data)
Command Format:
Enable/disable GPS-only operation
Enable GPS-only operation:
$JMODE,GPSONLY,YES<CR><LF>
Disable GPS-only operation (use GLONASS as well if available):
$JMODE,GPSONLY,NO<CR><LF>
$JMODE,GPSONLY<CR><LF>
Receiver Response:
Response to issuing command to turn enable/disable GPS-only operation
$>
If GPS-only operation is currently enabled the response is:
$>JMODE,GPSONLY,YES
If GPS-only operation is currently disabled the response is:
$>JMODE,GPSONLY,NO
199
JMODE,L1ONLY Command
Command Type:
Description:
Set the receiver to use L1 data even if L2 data is available or query the current setting:
• When set to YES receiver will use Atlas DGPS service or L1 RTK
• ϒϒ When set to NO receiver will use Atlas high precision services or L1/L2 RTK
Command Format:
Set receiver to use/not use L1 data even if L2 data is available
To use L1 data (even if L2 data is available):
$JMODE,L1ONLY,YES<CR><LF>
To use L2 data if it is available:

$JMODE,L1ONLY,NO<CR><LF>
$JMODE,L1ONLY<CR><LF>
Receiver Response:
Response to issuing command to turn functionality on/off
$>
If the receiver is currently using L1 data only even if L2 data is available the response is:
$>JMODE,L1ONLY,YES
If the receiver is currently using L2 data if it is available the response is:
$>JMODE,L1ONLY,NO
200
JMODE,MIXED Command
Command Type:
Description:
Include satellites that do not have DGPS or SBAS corrections in the solution or query the current setting
This command is useful if you are trying to maximize the likelihood of calculating a position, but are willing to sacrifice
accuracy. See also JMODE,FOREST.
Command Format:
To include/exclude satellites without DGPS or SBAS corrections
To include satellites without DGPS or SBAS corrections:
$JMODE,MIXED,YES<CR><LF>
To exclude satellites without DGPS or SBAS corrections:
$JMODE,MIXED,NO<CR><LF>
Query the current settin g:
$JMODE,MIXED<CR><LF>
Receiver Response:
Response to issuing command to include/exclude satellites without DGPS or SBAS corrections
$>
If satellites without differential corrections are currently included the response is:
$>JMODE,MIXED,YES
If satellites without differential corrections are currently excluded the response is:
$>JMODE,MIXED,NO
201
JMODE,NULLNMEA Command
Command Type:
Description:
Enable/disable output of NULL fields in NMEA 0183 messages when no there is no fix (when position is lost) or query the
current setting
This only applies to position portion of the messages; it does not affect the time portion of the message. If this setting is
disabled and position is lost then the positioning parameters of the message from the most recent known position are
repeated (instead of being NULL if enabled).
Command Format:
Enable/disable output of NULL fields in NMEA 0183

messages
To enable output:
$JMODE,NULLNMEA,YES<CR><LF>
To disable output:
$JMODE,NULLNMEA,NO<CR><LF>
$JMODE,NULLNMEA<CR><LF>
Receiver Response:
Response to issuing command to enable/disable output of NULL fields in NMEA 0183

messages
$>

setting
$>JMODE,NULLNMEA,YES
$>JMODE,NULLNMEA,NO
Example:
If the most recent GPGGA message is as follows:
$GPGGA,220715.00,3333.4254353,N,11153.3506065,W,2,10,1.0,406.614,M,- 26.294,M,6.0,1001*70
...and then position is lost and JMODE,NULLNMEA is set to NO the GPGGA message repeats as follows (most recent
known values do not change):
$GPGGA,220715.00,3333.4254353,N,11153.3506065,W,2,10,1.0,406.614,M,- 26.294,M,6.0,1001*70
For the same message, if position is lost and JMODE,NULLNMEA is set to YES the GPGGA message repeats as follows
(position parameters are NULL):
202
$GPGGA,220716.00,,,,,0,,,,M,,M,,*48
203
JMODE,SBASNORTK Command
Command Type:
Description:
Disable/enable the use of SBAS ranging signals (carrier phase)in RTK
Command Format:
Disable/enable use of SBAS ranging signalsin RTK
To disable use of SBAS ranging signals in RTK:
$JMODE,SBASNORTK,YES<CR><LF>
To enable use of SBAS ranging signals in RTK:

$JMODE,SBASNORTK,NO<CR><LF>
$JMODE,SBASNORTK<CR><LF>
Receiver Response:
Response to issuing command to disable/enable the use of SBAS ranging signals in RTK.
Response to issuing command to disable/enable the use of SBAS ranging signals in RTK
$>
If current setting is to disable SBAS ranging the response is:
$>JMODE,SBASNORTK,YES
If current setting is to enable SBAS ranging the response is:
$>JMODE,SBASNORTK,NO
Example:
204
JMODE,SBASR Command
Command Type:
Description:
Enable/disable SBAS ranging or query the current setting
Command Format:
Enable/disable SBAS ranging
To enable SBAS ranging:
$JMODE,SBASR,YES<CR><LF>
To disable SBAS ranging:
$JMODE,SBASR,NO<CR><LF>
$JMODE,SBASR<CR><LF>
Receiver Response:
Response to issuing command to enable/disable SBAS ranging
$>
$>JMODE,SBASR,YES
$>JMODE,SBASR,NO
205
JMODE,STRICTRTK Command
Command Type:
Description:
Use this command to invoke stricter checks on whether RTK fix is declared. Forces float of RTK at 30 seconds of Age-of-
Diff
Command Format:
Enable/disable STRICTRTK functionality
To enable STRICTRTK functionality:
$JMODE,STRICTRTK,YES<CR><LF>
To disable STRICTRTK functionality:
$JMODE,STRICTRTK,NO<CR><LF>
$JMODE,SURETRACK<CR><LF>
Receiver Response:
$>
$>JMODE,STRICTRTK,YES
$>JMODE,STRICTRTK,NO
This mode is not saved between power cycles.
206
JMODE,SURETRACK Command
Command Type:
Description:
Enable/disable SureTrack functionality (default is enabled) or query the current setting
Command Format:
Enable/disableSureTrack functionality
To enable SureTrack functionality:
$JMODE,SURETRACK,YES<CR><LF>
To disable SureTrack functionality:
$JMODE,SURETRACK,NO<CR><LF>
$JMODE,SURETRACK<CR><LF>
Receiver Response:
Response to issuing command to enable/disable command:
$>
$>JMODE,SURETRACK,YES
$>JMODE,SURETRACK,NO
207
JMODE,SURVEY Command
Command Type:
Description:
Assure RTK fix is not declared when residual errors exceed 10 cm. Also forces use of GLONASS and prevents SureTrack
operation.
Command Format:
Enable/disable continuous time updating
To enable this command
$JMODE,SURVEY,YES<CR><LF>
To disable this command:
$JMODE,SURVEY,NO<CR><LF>
$JMODE,SURVEY<CR><LF>
Receiver Response:
$>
$>JMODE,SURVEY,YES
$>JMODE,SURVEY,NO
This mode is not saved between power cycles (for now)..
208
JMODE,TIMEKEEP Command
Command Type:
Description:
Enable/disable continuous time updating in NMEA 0183 messages when there is no fix (when position is lost) or query the
current setting
When position is lost the time is the only parameter in the message that continues to update; all other parameters remain
the same.
Command Format:
Enable/disable continuous time updating
To enable continuous time updating:
$JMODE,TIMEKEEP,YES<CR><LF>
To disable continuous time updating:

$JMODE,TIMEKEEP,NO<CR><LF>
$JMODE,TIMEKEEP<CR><LF>
Receiver Response:
Response to issuing command to enable/disable continuous time updating
$>
$>JMODE,TIMEKEEP,YES
$>JMODE,TIMEKEEP,NO
209
JMODE,TUNNEL Command
Command Type:
Description:
Enable/disable faster reacquisition after coming out of a tunnel or query the current setting
Command Format:
Enable/disable faster reacquisition after coming out of a tunnel
To enable faster reacquisition:
$JMODE,TUNNEL,YES<CR><LF>
To disable faster reacquisition:
$JMODE,TUNNEL,NO<CR><LF>
$JMODE,TUNNEL<CR><LF>
Receiver Response:
$>
$>JMODE,TUNNEL,YES
$>JMODE,TUNNEL,NO
210
JMSG99 Command
JMSG99 Command
Command Type:
Vector
Description:
Change the output in the Bin99 message to be from the specified antenna
Format:
$JMSG99,0
where '0' is used view the primary antenna SNR (default)
$JMSG99,1
where '1' is used view the secondary antenna SNR
Receiver Response:
$>
Other:
211
JNMEA
JNMEA,BDSOFFSET Command
Command Type
BeiDou
Description
Used to add an offset to the satellite id number for BeiDou GSV message
Command Format:
$JNMEA.BDSOFFSET,x
X=’10, 100, 200
Examples:
The GBGSV message in its default form with no offset:

$GBGSV,2,1,08,21,09,249,,26,30,313,37,29,67,072,53,30,17,040,48,1*7E
$GBGSV,2,2,08,35,48,196,53,36,32,109,48,42,04,297,,45,74,032,53,1*77
The GBGSV message with $JNMEA,BDSOFFSET,100.

$GBGSV,2,1,08,121,09,249,,126,30,313,37,129,67,072,54,130,17,040,48,1*79
$GBGSV,2,2,08,135,48,196,53,136,32,109,48,142,04,297,,145,74,032,53,1*77
Receiver Response:
$>
212
JNMEA,GGAALLGNSS Command
Command Type:
GLONASS
Description:
Configure the GGA string to include full GNSS information (the number of used GNSS satellites will be included in the
GPGGA message) or query the current setting
The GGA message is only supposed to report position and satellite information
based on the GPS constellation. The combined constellation position and
satellite data should be reported in the GNSS message, but some users with
older equipment cannot utilize this message. This command allows users with
older equipment that require a GGA message to be able to utilize and take
advantage of the larger constellation of GNSS satellites.
Command Format:
Include/exclude full GNSS information in GGA string
To include full GNSS information in GGA string:
$JNMEA,GGAALLGNSS,YES<CR><LF>
To exclude full GNSS information from GGA string:

$JNMEA,GGAALLGNSS,NO<CR><LF>
$JNMEA,GGAALLGNSS<CR><LF>
Receiver Response:
Include/exclude full GNSS information in GGA string:

$>
If set to yes, querying the current setting returns the followin:
>JNMEA,GGAALLGNSS,YES
If set to no, querying the current setting returns the following:
213
$>JNMEA,GGAALLGNSS,NO
Topic Last Updated: v1.07 February 16, 2017
214
$JNMEA,LIMITID,YES Command
Command Type:
General operation and configuration
Description:
Option to limit the range of the station ID field to be 0-1023 in GGA messages. Masks the base station ID by 0x3FF.
Command Format:
To enable the station ID limit:
$JNMEA,LIMITID,YES<CR><LF>
To disable the station ID limit:
$JNMEA,LIMITID,NO<CR><LF>
$JNMEA,LIMITID<CR><LF>
Receiver Response:
Response to issuing command to enable/disable station ID limit:
$>
$>JNMEA,LIMITID,[YES/NO]
Example:
By default, the station ID is not limited.
Atlas uses a Base ID of 4715, 4716, or 4717. This command will change the Base ID reported in the GGA message to 619, 620 or 621. This
only affects the GGA message.
Topic Last Updated: v.4.0 / June 30, 2020
215
$JNMEA,PADHDG Command
Command Type:
Description:
Enable or disable zero-padding of digits before decimal for certain heading output messages. When enabled, this
ensures that 3 digits will be printed before the decimal. Applies to the following messages:
3. HDT
4. HDG
5. HDM
6. HPR
7. THS
8. PASHR
Command Format:
To enable padding for heading:
$JNMEA,PADHDG,YES<CR><LF>
To disable padding for heading:
$JNMEA,PADHDG,NO<CR><LF>
$JNMEA,PADHDG<CR><LF>
Receiver Response:
Response to issuing command to enable/disable padding:
$>
$>JNMEA,PADHDG,[YES/NO]
Example:
When padding is disabled, the HEHDT output message will display a heading of 22.5 degrees as:
$HEHDT,22.5,T*CC
When padding is enabled, the same heading would display as:
$HEHDT,022.5,T*CC
Padding is disabled by default.
216
JNMEA,PRECISION Command
Command Type:
GPS, Local Differential and RTK, L-Band
Description:
Specify or query the number of decimal places to output in the GPGGA, GPGLL, and GPGNS messages or query the current
setting
Command Format:
Specify the number of decimal places
$JNMEA,PRECISION,x<CR><LF>
where 'x' specifies the number of decimal places from 1 to 8
$JNMEA,PRECISION<CR><LF>
Receiver Response:
Specify the precision:
$>
Query the current setting :
$>JNMEA,PRECISION,x
where 'x' refers to the number of decimal places to output
When using RTK or Atlas high precision services, Hemisphere GNSS recommends you set JNMEA,PRECISION to at
least 7 decimal places. High accuracy positioning techniques require at least 7 decimal places to maintain millimeter (mm)
accuracy.
This command is the same as JNP.
217
JNP Command
JNP Command
Command Type:
GPS, Local Differential and RTK, L-Band
Description:
Specify or query the number of decimal places to output in the GPGGA, GPGLL, and GPGNS messages or query the current
setting
Command Format:
Specify the number of decimal places
$JNP,x<CR><LF>
where 'x' specifies the number of decimal places from 1 to 8
$JNP<CR><LF>
Receiver Response:
Specify the number of decimal places to output :
$>
$>JNP,x
where 'x' refers to the number of decimal places to output
When using RTK or Atlas high precision services, Hemisphere GNSS recommends you set JNP to at least 7 decimal
places. High accuracy positioning techniques require at least 7 decimal places to maintain millimeter (mm) accuracy.
This command is the same as JNMEA,PRECISION.
218
JOFF Commands
JOFF Command
Command Type:
GPS.
Description:
Turn off all data messages being output through the current port or other port (or
Port C), including any binary messages such as Bin95 and Bin96
Command Format:
$JOFF[,OTHER]<CR><LF>
When you specify the ',OTHER' data field (without the brackets), this command
turns off all messages on the other port. There are no variable data fields for this
message.
You can issue this command as follows to turn off all messages on Port C:
$JOFF,PORTC<CR><LF>
Receiver Response:
$>
Turn off all data messages being output through all ports, including any binary
messages such as Bin95 and Bin 96, see JOFF,ALL command
219
JOFF,ALL Command
Command Type:
GPS
Description:
Turn off all data messages being output through all ports, including any binary messages such as Bin95 and Bin96
$JOFF,ALL<CR><LF>
Command Format:
Receiver Response:
$>
To turn off all data messages being output through a single port, including any binary messages such as Bin95 and Bin96,
see the JOFF command
220
JOFF Command
Command Type:
GPS
Description:
Turn off all data messages being output through the curren tport or other port (or Port C), including any binary messages
such as Bin95 and Bin96
Command Format:
$JOFF[,OTHER]<CR><LF>
When you specify the ',OTHER' data field (without the brackets), this command turns off all messages on the other port.
There are no variable data fields for this message.
You can issue this command as follows to turn off all messages on Port C:
$JOFF,PORTC<CR><LF>
Receiver Response:
$>
To turn off all data messages being output through all ports, including any binary messages such as Bin95 and Bin96, see
the JOFF,ALL command
221
JPOS Command
JPOS Command
Command Type:
Description:
Speed up the initial acquisition when changing continents with the receiver or query the receiver for the current position of
the receiver (for example, powering up the receiver for the first time in Europe after it has been tested in Canada)
The command enables the receiver to begin the acquisition process for the closest SBAS spot beams. This saves some
time with acquisition of the SBAS service. However, use of this message is typically not required because of the quick
overall startup time of the receiver module.
Command Format:
Specify the latitude and longitude
$JPOS,lat,lon<CR><LF>
where both 'lat' and 'lon':
• Must be entered in decimal degrees
• Do not need to be more accurate than half a degree
$JPOS<CR><LF>
Receiver Response:
Receiver response when specifying the latitude and longitude
$>
Receiver response when querying the current setting
$>JPOS,LAT,LON
222
JPPS Command
JPPS, WIDTH Command
Command Type:
Description:
Specify the pps width of the receiver or query the current setting
Command Format:
Set the receiver’s specific pps width (microseconds)
$JPPS,WIDTH,r,SAVE<CR><LF>
where:
'r' = specific pps width. The SAVE field is optional. However, if omitted this setting will not survive a power cycle. This
setting is not saved with $JSAVE. It must be saved by adding the SAVE field.
Response to issuing command:
$PPS,WIDTH<CR><LF>
Receiver Response:
$JPPS,WIDTH,999.996<CR><LF>
Example:
Issue the following command to set the pps width to 2.000 on the current port:
$JPPS,WIDTH,2<CR><LF>
$>
If you query the current setting now, the response is:
$JPPS,WIDTH,2.000<CR><LF>
This mode is not saved between power cycles
223
JPPS, FREQ Command
Command Type:
Description:
Specify the pps frequency of the receiver or query the current setting.
Command Format:
Set the receiver's specific pps frequency (in Hz)
$JPPS,FREQ,r,SAVE<CR><LF>
where:
'r' = specific pps frequency
The SAVE field is optional. However, if omitted this setting will not survive a power cycle. This setting is not saved with
$JSAVE. It must be saved by adding the SAVE field.
$PPS,FREQ<CR><LF>
Receiver Response:
$>
$JPPS,FREQ,1.00<CR><LF>
Example:
Issue the following command to set the pps frequency to 2.000 on the current port:
$JPPS,FREQ,2<CR><LF>
$>
$JPPS,FREQ,2.00<CR><LF>
This mode is not saved between power cycles.
224
JPPS, PERIOD Command

Command Type:
Description:
Specify the pps period (in seconds) of the receiver or query the current setting.
Command Format:
Set the receiver’s specific pps period
$JPPS,PERIOD,r<CR><LF>
where:
'r' = specific pps period (inverse of frequency)
The SAVE field is optional. However, if omitted this setting will not survive a power cycle. This setting is not saved with
$JSAVE. It must be saved by adding the SAVE field.
$>
$PPS,PERIOD<CR><LF>
Receiver Response:
$JPPS,PERIOD,1.0<CR><LF>
Example:
Issue the following command to set the pps period to 2 seconds (0.5 Hz)
$JPPS,PERIOD,2<CR><LF>
$>
$JPPS,PERIOD,2.000<CR><LF>
This mode is not saved between power cycles
225
JPRN,EXCLUDE Command
JPRN,EXCLUDE Command
Note: For advanced users only. Not required for typical

operation.
Command Type:
Description:
For advanced users only.
Exclude GPS and/or other GNSS satellites from being used in the positioning solution or query the current setting
Command Format:
Exclude PRNs from being used in the positioning solution
Exclude GPS and/or other GNSS PRNs:
$JPRN,EXCLUDE[,GPS,x,x,x…][,GLO,y,y,y…][,GAL,z,z,z…]<CR><LF>
where:
• 'x,x,x...' represents the GPS PRNs you want to exclude
• 'y,y,y...' represents the GLONASS PRNs you want to exclude
• ‘z,z,z…’ represents the GALILEO PRNs you want to exclude
Exclude no GNSS PRNs:

$JPRN,EXCLUDE,NONE<CR><LF>
Exclude no GPS PRNs

$JPRN,EXCLUDE,GPS,NONE<CR><LF>
Exclude no GLONASS PRNs:

$JPRN,EXCLUDE,GLO,NONE<CR><LF>
Exclude no GALILEO PRNs:

$JPRN,EXCLUDE,GAL,NONE<CR><LF>
Query all excluded PRNs (GPS and GLONASS):
$JPRN,EXCLUDE<CR><LF>
Query excluded GPS PRNs:

$JPRN,EXCLUDE,GPS<CR><LF>
Query excluded GLONASS PRNs:
226
$JPRN,EXCLUDE,GLO<CR><LF>
Query excluded GALILEO PRNs:
$JPRN,EXCLUDE,GAL<CR><LF>
Receiver Response:
See Example section below
Example:
If you excluded no GPS or GLONASS PRNS and issued the $JPRN,EXCLUDE,GPS<CR><LF> command the response
is:
$>JPRN,EXCLUDE,GPS,NONE,GLO,NONE
If you excluded one GPS PRN (22) and one GLONASS PRN (10) and issued the following commands you would see the
following corresponding responses:
• Command: $JPRN,EXCLUDE,GPS<CR><LF> Response: $>JPRN,EXCLUDE,GPS,22
• Command: $JPRN,EXCLUDE,GLO<CR><LF> Response: $>JPRN,EXCLUDE,GLO,10
• Command: $JPRN,EXCLUDE<CR><LF>
Response:
$>JPRN,EXCLUDE,GPS,22,GLO,10
227
$JPRN,IN/EXCLUDE,BDSPHASE3 Command
Command Type:
Description:
Enable or disable tracking of all Beidou Phase-3 satellites.
Command Format:
To include Beidou Phase-3:
$JPRN,INCLUDE,BDSPHASE3<CR><LF>
To exclude Beidou Phase-3:
$JPRN,EXCLUDE,BDSPHASE3<CR><LF>
$JPRN,BDSPHASE3<CR><LF>
Receiver Response:
Receiver response when in/excluding Beidou Phase-3:
$>
Receiver response when querying the current setting:
$>JPRN,[INCLUDE/EXCLUDE],BDSPHASE3
Example:
This setting is automatically saved to non-volatile memory.
228
JQUERY Commands
JQUERY,GUIDE Command
Command Type:
Description:
Query the receiver for its determination on whether or not it is providing suitable accuracy after both the SBAS and GPS
have been acquired (up to five minutes)
This feature takes into consideration the download status of the SBAS ionospheric map and also the carrier phase
smoothing of the unit.
Command Format:
$JQUERY,GUIDE<CR><LF>
Receiver Response:
If the receiver is ready for use with navigation, or positioning with optimum performance, it returns:
$>JQUERY,GUIDE,YES<CR><LF>
Otherwise, it returns:
$>JQUERY,GUIDE,NO<CR><LF>
229
JQUERY,RTKPROG Command
Command Type:
Description:
Perform a one-time query of RTK fix progress information
Command Format:
$JQUERY,RTKPROG<CR><LF>
As an alternative you can log this as a message using the JASC,PSAT,RTKPROG command.
Receiver Response:
$>JQUERY,RTKPROG,R,F,N,SS1,SS2,SS3,MASK*CC<CR><LF>
where:
Message Description
Component
R 1 = Ready to enter RTK ambiguity fix
0 = Not ready to enter RTK ambiguity fix
F 1 = Receiver running in RTK ambiguity fix mode
0 = Receiver not running in RTK ambiguity fix mode
N Number of satellites used to fix
SS1 summer-1
SS1 must be significantly larger than SS2 and SS3 to enter R=1 mode
SS2 summer-2
SS3 summer-3
MASK Bit mask; bits identify which GNSS observables are being received from base
recently (1 = GPS, 3 = GPS + GLONASS)
*CC Checksum
<LF> Line feed
Example:
$>JQUERY,RTKPROG,1,1,23,243.3,0.0,0.0,3
230
JQUERY,RTKSTAT Command
Command Type:
Description:
Perform a one-time query of the most relevant parameters affecting RTK
Command Format:
$JQUERY,RTKSTAT<CR><LF>
As an alternative you can log this as a message using the JASC,PSAT,RTKSTAT command.
Receiver Response:
$>JQUERY,RTKSTAT,MODE,TYP,AGE,SUBOPT,DIST,SYS,NUM,SNR,RSF,BSF,HAG, ACCSTAT,SNT
where
Message Description
Component
MODE Mode (FIX,FLT,DIF,AUT,NO)
TYP Correction type (DFX,ROX,CMR,RTCM3,CMR+,...)
AGE Age of differential corrections, in seconds
SUBOPT Subscription code (see Interpreting the $JK 'Date'/Subscription Codes to

determine the meaning of the subscription code)
DIST Distance to base in kilometers
SYS Systems in use:
• GPS: L1, L2, L5
• GLONASS: G1, G2
• Galileo: E5a, E5b, E5a+b, E6
NUM Number of satellites used by each system
SNR Quality of each SNR path, where:
• A is > 20 dB
• B is > 18 dB
• C is > 15 dB
• D is <= 15 dB
RSF Rover slip flag (non zero if parity errors in last 5 minutes, good for
detecting jamming and TCXO issues)
231
BSF Base slip flag
HAE Horizontal accuracy estimation
ACCSTAT RTK accuracy status (hex), where:
• 0x1 = no differential or differential too old, for the application
• 0x2 = problems with differential message
• 0x4 = horizontal position estimate poor for the application
• 0x8 = HDOP high, poor satellite geometry
• 0x10 = fewer than 6 L1 sats used
• 0x20 = poor L1 SNRs
• 0x40 = not in RTK mode
• 0x80 = not in RTK mode or RTK only recently solved (<

10secs ago)
• 0x100 = RTK solution compromised, may fail
The status message can be any of the above or any combination of the
above. For example, a status message of '047' indicates the following:
SNT Ionospheric scintillation, values are:
• 0 (little or no scintillation - does not adversely affect RTK

solution)
• 1-100 (scintillation detected - adversely affects RTK solution)
<LF> Line feed
Example:
232
$>JQUERY,RTKSTAT,FIX,ROX,
1,007F,0.0,(,L1,L2,G1,G2,)(,14,11,9,9,)(,A,A,A,A,),0,1,0.008,000,3
JASC,PSAT,RTKSTAT command
PSAT,RTKSTAT message
233
JQUERY,TEMPERATURE Command
Command Type:
Description:
Query the receiver’s temperature
Command Format::
$JQUERY,TEMPERATURE<CR><LF>
Receiver Response:
$>JQUERY,TEMPERATURE,51.88
234
JRAD Commands
JRAD Command Overview
This topic provides information related to the NMEA 0183 messages accepted by the receiver’s e-Dif application.
The following table provides a brief description of the commands supported by the e-Dif application for its control and
operation.
Command Description
JRAD,1,LAT,LON,HEIGHT Use this command—a derivative of the JRAD,1,P command—when absolute positioning
is required in e-Dif applications only
corrections. This would be used in relative mode as no absolute point information is
specified.
DGPS Base Station: Record the current position as the reference with which to
compute Base Station corrections in e-Dif applications only. This would be used in
relative mode as no absolute point information is specified
JRAD,2 Forces the receiver to use the new reference point (you normally use this command
following a JRAD,1 type command)
JRAD,3 Invoke the e-Dif function once the unit has started up with the e-Dif application active,
or, update the e-Dif solution (calibration) using the current position as opposed to the
reference position used by the JRAD,2 command
JRAD,7 Turn auto recalibration on or off
JRAD,9 Initialize the Base Station feature and use the previously entered point, either with
$JRAD,1,P or $JRAD,1,LAT,LON,HEIGHT, as the reference with which to compute Base

Station corrections in e-Dif applications only. Use this for both relative mode and
absolute mode.
JRAD,10 Specify BDS message to be transmitted by base station
235
JRAD,1 Command
Command Type:
e-Dif, DGPS Base Station
Description:
Display the current reference position in e-Dif applications only
Command Format:
$JRAD,1<CR><LF>
Receiver Response:
$>JRAD,1,LAT,LON,HEIGHT
where:
Command Description
Component
LAT Latitude of the reference point in decimal degrees
LON Longitude of the reference point in decimal degrees
HEIGHT Ellipsoidal height of the reference point in meters
Upon startup of the receiver with the e-Dif application running—as opposed to with the SBAS application— no reference
position will be present in memory. If you attempt to query for the reference position, the receiver’s response will be:
$>JRAD,1,FAILED,PRESENT LOCATION NOT STABLE
Example:
When you issue the $JRAD,1 command the response will be similar to the following:
$>JRAD,1,51.00233513,-114.08232345,1050.212
236
JRAD,1,LAT,LON,HEIGHT Command
Command Type:
Dif, DGPS Base Station
Description:
Use this command—a derivative of the JRAD,1,P command—when absolute positioning is required in e-Dif applications
only
Command Format:
$JRAD,1,lat,lon,height<CR><LF>
where:
Command Description
Component
lat Latitude of the reference point in decimal degrees
lon Longitude of the reference point in decimal degrees
height Ellipsoidal height of the reference point in meters. Ellipsoidal height can be calculated by
adding the altitude and the geoidal separation, both available from the GPGGA message.
Example:
$GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4
, 1071.0,M,- 17.8,M,6.0, 0122*48

Both latitude and longitude must be entered as decimal degrees. The receiver will not accept the command if there are no
decimal places.
Receiver Response:
$>JRAD,LAT,LON,HEIGHT
237
JRAD,1,P Command
Command Type:
Dif, DGPS Base Station
Description:
e-Dif: Record the current position as the reference with which to compute e- Dif corrections. This would be used in
relative mode as no absolute point information is specified.
DGPS Base Station:
Record the current position as the reference with which to compute Base Station corrections in e-Dif applications only.
This would be used in relative mode as no absolute point information is specified
Command Format:
$JRAD,1,P<CR><LF>
Receiver Response:
$>JRAD,1,OK
238
JRAD,2 Command
Command Type:
e-Dif
Description:
Forces the receiver to use the new reference point
You normally use this command following a JRAD,1 type command.
Command Format:
$JRAD,2<CR><LF>
Receiver Response:
$>JRAD,2,OK
239
JRAD,3 Command
Command Type:
e-Dif
Description:
This command has two primary purposes.
To invoke the e-Dif function once the unit has started up with the e-Dif application active
To update the e-Dif solution (calibration) using the current position as opposed to the reference position used by the
JRAD,2 command
Command Format:
$JRAD,3<CR><LF>
Receiver Response:
If the receiver has tracked enough satellites for a long enough period before you issue this command, it will respond with
the following. (The tracking period can be from 3 to 10 minutes and is used for modeling errors going forward.)
$>JRAD,3,OK<CR><LF>
If the e-Dif algorithms do not find sufficient data, the receiver responds with:
$>JRAD,3,FAILED,NOT ENOUGH STABLE SATELLITE TRACKS
If you receive the failure message after a few minutes of operation, try again shortly after until you receive the “OK”
acknowledgement message. The e-Dif application begins operating as soon as the $>JRAD,3,OK message has been
received; however, a you will still need to define a reference position for e-Dif unless relative positioning is sufficient for
any needs.
240
JRAD,7 Command
Command Type:
e-Dif
Description:
Turn auto recalibration on or off
Command Format:
$JRAD,7,n
where 'n' is the auto-recalibration variable (0 = Off or 1 = On, 0 is the default)
Receiver Response:
$>JRAD,7,OK
241
JRAD,9 Command
Command Type:
DGPS Base Station
Description:
Initialize the Base Station feature and use the previously entered point,either with $JRAD,1,P or $JRAD,1,LAT,LON,HEIGHT, as
the reference with which to compute Base Station corrections in e-Dif applications only. Use this for both relative mode
and absolute mode.
Command Format:
To initialize/turn off base station mode
To initialize base station mode and use stored coordinates:
JRAD,9,1,1<CR><LF>
To turn off base station mode:

$JRAD,9,0<CR><LF>
Receiver Response:
$>JRAD,9,OK
(same response for turning base station mode on or off)
The $JASC,RTCM,1 command must be sent to the receiver to start outputting standard RTCM corrections.
242
JRAD,10 Command
Command Type:
DGPS Base Station
Description:
Specify BDS message to be transmitted by base station
Command Format:
Specify BDS message to be transmitted by base station
$JRAD,10,1
Specify BDS message to be not transmitted by base station
$JRAD,10,0
Receiver Response:
$>JRAD,10,OK
(same response for specify BDS to be transmitted or not)
243
JRESET Command
Command Type:
Description:
Reset the receiver to its default operating parameters by:
• Turning off outputs on all ports
• Saving the configuration
• Setting the configuration to its defaults (in following table)
Configuration Setting
Elev Mask 5
Residual limit 10
Alt aiding None
Age of Diff 45 minutes
Air mode Auto
Diff type Default for app
NMEA 5 decimals
precision
COG None
smoothing
speed smoothing None
WAAS UERE
thresholds
Command Format:
$JRESET[,x]<CR><LF>
where ',x' is an optional field:
• When set to ALL does everything $JRESET does, plus it clears almanacs
• ϒϒ When set to BOOT does everything $JRESET,ALL does, plus clears use of the real-time clock at startup,clears useof
backed-up ephemeris and almanacs, and reboots the receiver when done
Receiver Response:
$JRESET
$> Saving Configuration. Please Wait...
$>
244
$> Save Complete
CAUTION: $JRESET clears all parameters. For the V101 Series and the LV101 you will have to issue the $JATT,
FLIPBRD,YES command to properly redefine the circuitry orientation inside the product once the receiver has reset. Failure
to do so will cause radical heading behavior.
245
JRELAY Command
Command Type:
Description:
Send user-defined text out of a serial port
Command Format:
$JRELAY,PORTx,msg<CR><LF>
• 'x' = destination port where the message (MSG) will be sent
• 'msg' = message to be sent
Receiver Response:
$>
Example 1:
Command:
$JRELAY,PORTA,HELLO\nTHERE\n<CR><LF>
Response:
HELLO THERE
$>
Example 2:
The following commands apply to the A101 and A325 antennas. You can configure the A101 and A325 through the serial
ports using these commands.
Configure the setup and output of tilt commands as follows (note that all commands are preceded with $JRELAY,PORTC,
to direct them through internal Port C):
$JRELAY,PORTC,$JTILT,CALIBRATE[,RESET]
Output the tilt offset values for the X and Y axes. If performing a reset, ensure the A101/A325 is on a flat surface.
$JRELAY,PORTC,$JTILT,TAU[,value]
Output the filter constant for tilt value smoothing.
$JRELAY,PORTC,$JTILT,COMPENSATION[,[ON|OFF],[heightoffset]]
Turn positioning tilt compensation on/off (currently only the GPGGA data log is supported for tilt compensated position
output).
$JRELAY,PORTC,$JASC,GPGGA,rate[,port]
Turn tilt compensated GPGGA message on.
$JRELAY,PORTC,$JTILT,COGBIAS[,value]
246
Set a COG bias to be used in the tilt compensation algorithms (for use when the A101/A325 is not mounted with the
connector facing the forward direction of travel).
$JRELAY,PORTC,$JASC,INTLT,rate[,port]
or
$JRELAY,PORTC,$JASC,PSAT,INTLT,rate[,port]
Log tilt information from the A101/A325
• Set/query the receiver mode—serial or NMEA2000(commands must be sent over Port A):
$JRELAY,PORTC,$JQUERYMODE
Query the receiver for the current mode
$JRELAY,PORTC,$JSERIALMODE
Set the receiver mode to serial
$JRELAY,PORTC,$JN2KMODE
Set the receiver mode to NMEA2000
247
JRAIM Command
Command Type:
RAIM
Description:
Specify the parameters of the RAIM scheme that affect the output of the PSAT,GBS message or query the current setting
Command Format:
Specify the parameters of the RAIM scheme
$JRAIM,hpr,probhpr,probfalse<CR><LF>
where:
Command Description
Component
hpr Horizontal Protection Radius: notification in the PSAT,GBS message that the horizontal error
has exceeded this amount will be received. The acceptable range for this value is 1 to
10,000 m. The default is 10 m.
probhpr Maximum allowed probability that the position computed lies outside the HPR. The
acceptable range for this value is 0.001% to 50%. The default is 5%.
probfalse Maximum allowed probability that there is a false alarm (that the position error is reported
outside the of the HPR, but it is really within the HPR). The acceptable range for this value
is 0.001% to 50%. The default is 1%.
$JRAIM
Receiver Response:
Response to issuing command to specify RAIM scheme parameters
$>

setting
$>JRAIM,HPR,probHPR,probFALSE
Example:
To specify the RAIM scheme parameters as HPR = 8 m, probHPR = 2%, and probFALSE= 0.5% issue the following
command:
$JRAIM,8,2,0.5<CR><LF>
If you then query the receiver for the RAIM scheme issue the following command:
$JRAIM<CR><LF>
...and the response will be:
$>JRAIM,8.00,2.0000,0.5000
248
The purpose of the probability of false alarm is to help make a decision on whether to declare a fault or warning in an
uncertain situation. The philosophy is to only issue a fault if the user is certain (to within the probability of a false alarm)
that the protection radius has been exceeded, else issue a warning.
249
JRTCM3 Commands
JRTCM3,ANTNAME Command
Command Type:
Description:
Specify the antenna name that is transmitted in various RTCM3 messages from the base
Command Format:
Specify the antenna name
$JRTCM3,ANTNAME,name
where name must be an antenna name from the following list: http://www.ngs.noaa.gov/ANTCAL/LoadFile?file=ngs08.003
$JRTCM3,ANTNAME<CR><LF>
Receiver Response:
Response to issuing command to specify the antenna name
$>
$JRTCM3,ANTNAME,name
where name is the previously specified antenna name
Example:
To specify the antenna name as a Hemisphere GNSS A42 antenna (HEMA42), issue the following command:
$JRTCM3,ANTNAME,HEMA42<CR><LF>
If you then issue $JRTCM3,ANTNAME<CR><LF> to query the current setting the response is:
$>JRTCM3,ANTNAME,HEMA42<CR><LF>
See JRTCM3,NULLANT for information on setting the antenna name to a null value (no name)
250
JRTCM3,EXCLUDE
Command Type:
Description:
Specify RTCM3 message types to not be transmitted (excluded) by base station
Command Format:
Specify the RTCM3 messages to not be

transmitted
$JRTCM3,EXCLUDE[,1004][,1005][,1006][,1007][,1008][,1012][,1033][,1104] [,4011][,MSM3][,MSM4]<CR><LF>
Query the current

setting:
$JRTCM3,EXCLUDE<CR><LF>
Receiver Response:
Response to issuing command to excludes pecific RTCM3 messages from being

transmitted
$>

setting:
$JRTCM3,EXCLUDE[,MSG1][,MSG2]...[,MSGn]<CR><LF>
where MSG1 through MSGn represent each included message type to not be transmitted (excluded)
Example:
Assume all available RTCM3 messages are included (1004, 1005, 1006, 1007, 1008, 1012, 1033). You then issue the
following command to exclude message types 1004, 1006, and 1012:
$JRTCM3,EXCLUDE,1004,1006,1012<CR><LF>
If you then issue $JRTCM3,EXCLUDE<CR><LF> to query the current setting the response is:
$>JRTCM3,EXCLUDE,1004,1006,1012<CR><LF>
Correspondingly, if you issue $JRTCM3,INCLUDE<CR><LF> to query the current setting for included messages the
response is:
$>JRTCM3,INCLUDE,1005,1007,1008,1033<CR><LF>
See JRTCM3,INCLUDE for more information on including RTCM3 messages for transmission
251
JRTCM3,INCLUDE Command
Command Type:
Description:
Specify RTCM3 message types to be transmitted by base station
Command Format:
Specify the RTCM3 messages to be

transmitted
$JRTCM3,INCLUDE[,1004][,1005][,1006][,1007][,1008][,1012][,1033][,1104] [,4011][,MSM3][,MSM4]<CR><LF>
Query the current

setting
$JRTCM3,INCLUDE<CR><LF>
Receiver Response:
Response to issuing command to include specific RTCM3 message sto be

transmitted
$>

setting:
$JRTCM3,INCLUDE[,MSG1][,MSG2]...[,MSGn]<CR><LF>
where MSG1 through MSGn represent each included message type to be transmitted
Example:
Assume none of the available RTCM3 messages are included (1004,1005, 1006, 1007, 1008, 1012, 1033). You then
issue the following command to include message types 1004, 1006,and 1012
$JRTCM3,INCLUDE,1004,1006,1012<CR><LF>
If you then issue $JRTCM3,INCLUDE<CR><LF> to query the current setting the response is:
$>JRTCM3,INCLUDE,1004,1006,1012<CR><LF>
See JRTCM3,EXCLUDE for more information on including RTCM3 messages for transmission
252
JRTCM3,NULLANT Command
Command Type:
Description:
Specify the antenna name as null (no name) that is transmitted in various RTCM3 messages from the base
Command Format:
Specify the antenna name as null
$JRTCM3,NULLANT<CR><LF>
Response to issuing command to exclude specific RTCM3 messages from being transmitted
Receiver Response:
$>
Example:
Assume you previously specified the antennan ame as a Hemisphere GNSS A42 antenna (HEMA42). If you issue
$JRTCM3,ANTNAME<CR><LF>
to query the current setting the response is:
$>JRTCM3,ANTNAME,HEMA42<CR><LF>
Now send the following command to specify the antenna name as null (no name):
$>JRTCM3,NULLANT<CR><LF>
If you then issue $JRTCM3,ANTNAME<CR><LF> to query the current setting the response is:
$>JRTCM3,ANTNAME,<CR><LF>
See JRTCM3,ANTNAME for information on specifying the antenna name as something other than null
253
JRTK Commands
JRTK Command Overview
The JRTK commands are used to define or query RTK settings.
Command Description
JRTK,1 Show the receiver’s reference position (can issue command to base station or rover)
JRTK,1,LAT,LON,HEIGHT Set the receiver’s reference position to the coordinates you enter (can issuecommand
to base station or rover)
JRTK,1,P Set the receiver’s reference coordinates to the current calculated position if you donot
have known coordinates for your antenna location (can issue command to base station
or rover)
JRTK,5 Show the base station’s transmission status for RTK applications (can issuecommand
to base station)
JRTK,5,Transmit Suspend or resume the transmission of RTK (can issue command to base station)
JRTK,6 Display the progress of the base station (can issue command to base station)
JRTK,12 Disable or enable the receiver to go into fixed integer mode (RTK) vs. float mode (L-
Dif) - can issue command to rover
JRTK,17 Display the transmitted latitude, longitude, and height of the base station (can issue
command to base station or rover)
JRTK,18 Display the distance from the rover to the base station, in meters (can issue command
to rover)
JRTK,18,BEARING Display the bearing from the base station to the rover, in degrees (can issue command
to rover)
JRTK,18,NEU Display the distance from the rover to the base station and the delta North, East, and
Up, in meters (can issue command to rover)
JRTK,28 Set the base station ID transmitted in ROX/DFX/CMR/RTCM3 messages (can issue
command to base station)
254
JRTK,1 Command
Command Type:
Description:
Show the receiver’s reference position (can issue command to base station or rover)
Command Format:
$JRTK,1<CR><LF>
Receiver Response:
$JRTK,1,LAT,LON,HEIGHT
where:
Command Description
Component
LAT Latitude of the reference point in decimal degrees
LON Longitude of the reference point in decimal degrees
HEIGHT You must enter HEIGHT as ellipsoidal height in meters.
Ellipsoidal height can be calculated by adding the altitude and the geoidal separation, both
available from the GPGGA message.
Example:
$GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4,1071.0,
M,- 17.8,M,6.0, 0122*48
Example:
$>JRTK,1,33.55679117,-111.88955483,374.600
255
JRTK,1,LAT,LON,HEIGHT Command
Command Type:
Description:
Set the receiver’s reference position to the coordinates you enter (can issue command to base station or rover)
Command Format:
$JRTK,1,lat,lon,height<CR><LF>
where:
Command Description
Component
lat Latitude of the reference point in decimal degrees
lon Longitude of the reference point in decimal degrees
height You must enter HEIGHT as ellipsoidal height in meters.
Ellipsoidal height can be calculated by adding the altitude and the geoidal separation,
both available from the GPGGA message.
Example:
$GPGGA,173309.00,5101.04028,N,11402.38289,W,2,07,1.4,1071.0,
M,- 17.8,M,6.0, 0122*48

Receiver Response:
$>
256
JRTK,1,P Command
Command Type:
Description:
Set the receiver’s reference coordinates to the current calculated position if you do not have known coordinates for your
antenna location (can issue command to base station or rover)
$JRTK,1,P<CR><LF>
Command Format:
Receiver Response:
$>
If you have known coordinates for your antenna location, use the JRTK,1,LAT,LON,HEIGHT command to enter the latitude
and longitude (in decimal degrees) and the ellipsoidal height (in meters).
257
JRTK,5 Command
Command Type:
Description:
Show the base station’s transmission status for RTK applications (can issue command to base station)
Command Format:
$JRTK,5<CR><LF>
Receiver Response:
If transmission status is suspended, response is as follows:
$>JRTK,6
If transmission status is not suspended, response is as follows:
$>JRTK,5,1
Also see the JRTK,6 command.
258
JRTK,5,Transmit Command
Command Type:
Description:
Suspend or resume the transmission of RTK (can issue command to base station)
Command Format:
$JRTK,5,transmit<CR><LF>
where "transmit" is 0 (suspend) or 1 (resume)
Receiver Response:
If the transmission status is not suspended and you issue the following command to suspend:
$JRTK,5,0<CR><LF>
the response is as follows:
$>JRTK,5,OK
Similarly, if the transmission status is suspended and you issue the following command to resume:
$JRTK,5,1<CR><LF>
the response is again as follows:
$>JRTK,5,OK
259
JRTK,6 Command
Command Type:
Description:
Display the progress of the base station (can issue command to base station)
Command Format:
$JRTK,6<CR><LF>
Receiver Response:
$JRTK,6,TimeToGo,ReadyTransmit,Transmitting
where:
Component
TimeToGo Seconds left until ready to transmit RTK
ReadyTransmit Non zero when configured to transmit and ready to transmit RTK on at least one
port. It is a bit mask of the transmitting port, with bit 0 being port A, bit 1 being port
B, and bit 2 being port C. It will be equal to "Transmitting" unless transmission has
be suspended with $JRTK,5,0.
Transmitting Non-zero when actually transmitting RTK on at least one port. It is a bit mask of
the transmitting port, with bit 0 being port A, bit 1 being port B, and bit 2 being port
C.
Example:
If the receiver is not ready to transmit:
$>JRTK,6,263,0,0
If the receiver is currently transmitting on Port B:
$>JRTK,6,0,2,2
260
JRTK,12 Command
Warning! Hemisphere GNSS recommends that only advanced users employ this
command.
Command Type:
Description:
Disable or enable the receiver to go into fixed integer mode (RTK) vs. float mode (L-Dif) - can issue command to rover
Note:
Requires RTK rover subscription
Command Format:
$JRTK,12,x
where 'x' is:
1 = Allow RTK (recommended, and the default)
0 = Do not allow RTK, stay in L-Dif
Receiver Response:
$>
In high multipath conditions it may be desirable to prevent the rover from obtaining a fixed position. Using $JRTK,12,0
while logging position data is useful for determining the level of multipath present.
261
JRTK,17 Command
Command Type:
Description:
Display the transmitted latitude, longitude, and height of the base station (can issue command to base station or rover)
Command Format:
$JRTK,17<CR><LF>
Receiver Response:
$>JRTK,17,lat,lon,height
Example:
$>JRTK,17,33.55709242,-111.88916894,380.534
Format is similar to JRTK,1,LAT,LON,HEIGHT
262
JRTK,18 Command
Command Type:
Description:
Display the distance from the rover to the base station, in meters (can issue command to rover)
Command Format:
$JRTK,18<CR><LF>
Receiver Response:
$>JRTK,18,d
• 'd' is the baseline distance in meters
• 'm' indicates the units are meters
Example:
$>JRTK,18,13154.520
263
JRTK,18,BEARING Command
Command Type:
Description:
Display the bearing from the base station to the rover,in degrees (can issue command to rover)
Command Format:
$JRTK,18,BEARING<CR><LF>
Receiver Response:
$>JRTK,18,b
• 'b' is the bearing from base to rover in degrees
• 'd' indicates the units are degrees
Example:
$>JRTK,18,20.014
264
JRTK,18,NEU Command
Command Type:
Description:
Display the distance from the rover to the base station and the delta North, East, and Up, in meters can issue command to
rover)
Command Format:
$JRTK,18,NEU<CR><LF>
Receiver Response:
$>JRTK,18,d,X,Y,Z
where:
• 'd' is the baseline distance in meters
• 'm' indicates the units are meters
• 'X' is the North delta, in meters
• 'Y' is the East delta, in meters
• 'Z' is the Up delta, in meters
Example:
$>JRTK,18,13154.509,12360.045,4502.139,33.739
265
JRTK,28 Command
Command Type:
Description:
Set the base stationID transmitted in ROX/DFX/CMR/RTCM3 messages (can issue command to base station), where:
• Default is 333
• Range is 0-4095 (except for CMR which is 0-31)
Command Format:
Set the base station ID
$JRTK,28,baseid<CR><LF>
where 'baseid' is the base station ID
$JRTK,28<CR><LF>
Receiver Response:
$>
Example:
To set the base station ID to 123 issue the following command:
$JRTK,28,123<CR><LF>
If the base station ID is 333 and you issue the $JRTK,28<CR><LF>
query the response is:
$>JRTK,28,333
266
JSAVE Command
JSAVE Command
Command Type:
Description:
Send this command after making changes to the operating mode of the receiver
Command Format:
$JSAVE<CR><LF>
Receiver Response:
$> SAVING CONFIGURATION. PLEASE WAIT...
then
$> Save Complete
Ensure that the receiver indicates that the save process is complete before turning the receiver off or changing the
configuration further.
No data fields are required. The receiver indicates that the configuration is being saved and indicates when the save is
complete.
267
JSHOW Commands
JSHOW Command
Command Type:
Description:
Query the current operating configuration of the receiver
Command Format:
$JSHOW<CR><LF>
Receiver Response:
Use the JSHOW command to provide a complete response from the receiver.
Example (number in parentheses corresponds to line number in table following the response):
$>JSHOW,BAUD,9600 (1)
$>JSHOW,BAUD,9600,OTHER (2)
$>JSHOW,BAUD,9600,PORTC (3)
$>JSHOW,ASC,GPGGA,1.0,OTHER (4)
$>JSHOW,ASC,GPVTG,1.0,OTHER (5)
$>JSHOW,ASC,GPGSV,1.0,OTHER (6)
$>JSHOW,ASC,GPGST,1.0,OTHER (7)
$>JSHOW,ASC,D1,1,OTHER (8)
$>JSHOW,DIFF,WAAS (9)
$>JSHOW,ALT,NEVER (10)
$>JSHOW,LIMIT,10.0 (11)
$>JSHOW,MASK,5 (12)
$>JSHOW,POS,51.0,-114.0 (13)
$>JSHOW,AIR,AUTO,OFF (14)
$>JSHOW,FREQ,1575.4200,250 (15)
$>JSHOW,AGE,1800 (16)
Description of responses:
Line Description
1 Current port is set to a baud rate of 9600
2 Other port is set to a baud rate of 9600
268
3 Port C is set to a baud rate of 9600 (Port C is not usually connected externally on the
finished product)
4 GPGGA is output at a rate of 1 Hz from the other port
5 GPVTG is output at a rate of 1 Hz from the other port
6 GPGSV is output at a rate of 1 Hz from the other port
7 GPGST is output at a rate of 1 Hz from the other port
8 D1 is output at a rate of 1 Hz from the other port
9 Current differential mode is WAAS
10 Status of the altitude aiding feature (see the JALT command for information how to set
turn altitude aiding on or off)
11 Receiver does not support this feature
12 Elevation mask cutoff angle (in degrees)
13 Current send position used for startup, in decimal degrees
14 Current status of the AIR mode (see the JAIR command for information how to set the
AIR mode)
15 Current frequency of the augmentation source in use for the receiver (depending on the
configuration of the receiver), followed by the bit rate from the SBAS satellite, and
optionally followed by 'AUTO' (only when theAtlas receiver is in ‘auto-tune’ mode)
16 Current maximum acceptable differential age, in seconds (see the JAGE command for
information how to set the differential age)
Example:
See "Receiver Response" section above
269
JSHOW,ASC Command
Command Type:
Description:
Query receiver for current ASCII messages being output
Command Format:
$JSHOW,ASC[,x]<CR><LF>
where x is one of the following:
• PORTA
• PORTB
• PORTC
• PORTD
• OTHER - displays
Whatever port you are connected to you do not need to specify that port. For example, if you connected to Port A, the
following two commands result in the same response:
$JSHOW,ASC<CR><LF>
$JSHOW,ASC,PORTA<CR><LF>
Receiver Response:
See Example section below
Example:
The first row below shows the response to each individual command for Port A (with and without specifying Port A), Port
B, and Port C.
The second row shows the response to the generic $JSHOW command with items similar to the first row responses
highlighted.
Command Sent to Receiver Response
$JSHOW,ASC $>JSHOW,ASC,RTCM,1
$JSHOW,ASC,PORTA $>JSHOW,ASC,RTCM,1
$JSHOW,ASC,PORTB $>JSHOW,ASC,CMR,1,OTHER
$JSHOW,ASC,PORTC $>JSHOW,ASC,D1,1,PORTC
270
$ JSHOW $>JSHOW,BAUD,19200
$>JSHOW,ASC,GPGNS,1.00
$>JSHOW,ASC,GPGRS,1.00
$>JSHOW,BIN,1,1.00
$>JSHOW,BIN,2,1.00
$>JSHOW,BIN,89,1
$>JSHOW,BIN,99,1
$>JSHOW,ASC,RTCM,1.0
$>JSHOW,BAUD,19200,OTHER
$>JSHOW,ASC,CMR,1,OTHER
$>JSHOW,BAUD,57600,PORTC
$>JSHOW,ASC,GPGGA,1.00,PORTC
$>JSHOW,ASC,GPGSV,1.00,PORTC
$>JSHOW,ASC,GLGSV,1.00,PORTC
$>JSHOW,BIN,69,1,PORTC
$>JSHOW,BIN,100,1,PORTC
$>JSHOW,ASC,D1,1,PORTC
$>JSHOW,DIFF,RTK
$>JSHOW,ALT,NEVER
$>JSHOW,LIMIT,10.0
$>JSHOW,MASK,5
$>JSHOW,POS,33.6,-112.2
$>JSHOW,AIR,AUTO,NORM
$>JSHOW,SMOOTH,LONG900
$>JSHOW,FREQ,1575.4200,250
$>JSHOW,AGE,2700
$>JSHOW,THISPORT,PORTA
$>JSHOW,MODES,FOREST,BASE,GPSONLY,GLOFIX,SURETRACK
271
JSHOW,BIN Command
Command Type:
Description:
Query receiver for current Bin messages being output
Command Format:
$JSHOW,BIN<CR><LF>
Receiver Response:
$>JSHOW,BIN,B1,B1R,B2,B2R...,Bn,BnR
where:
• B1 is the first Bin message being output B1R is the rate of B1
• B2 is the second Bin message being output B2R is the rate of B2
• Bn is the last Bin message being output BnR is the rate of Bn
Example:
$>JSHOW,BIN,B01,1.00,B02,1.00,B69,1,B80,1,B89,1,B99,1
272
JSHOW,CONF Command
Command Type:
Description:
Query receiver for configuration settings
Command Format:
$JSHOW,CONF<CR><LF>
Receiver Response:
$>JSHOW,CONF,AID,AIDVAL,RES,ELEV,MODE,AGE,DIFF
where:
Message Description As Displayed in Example

Component Below This Table
AID Altitude aiding indicator as set by JALT command: A
• A = ALWAYS
• N = NEVER
• S = SOMETIMES
• T = SATS
AIDVAL Altitude aiding value as by JALT command: 404.2
• If AID = N, then AIDVAL = 0.0
• If AID = A, then AIDVAL = height
• If AID = S, then AIDVAL = PDOP threshold
• If AID = T, then AIDVAL = number of sats
RES Residual limit for the $JLIMIT command 10.0
ELEV Elevation mask cutoff angle (in degrees) as set by 5

JMASK command
MODETYPE AIR mode type, A (AUTO) or M (MANUAL), as set by M

JAIR command
MODE AIR mode, LOW or HIGH or NORM, as set by JAIR LOW

command
AGE Maximum acceptable differential age (in seconds) 8100 (259200 is using e-Dif)
273
DIFF Current differential mode as set by JDIFF command: A
• T = THIS PORT
• P = PORTC
• O (letter) = OTHER PORT
Example:
$>JSHOW,CONF,A,404.2,10.0,5,M,LOW,259200,A
274
JSHOW,GP Command
Command Type:
Description:
Query the receiver for each GP message currently being output through the current port and the update rate for that
message
To see output for other ports you must specify that port or OTHER
Command Format:
$JSHOW,GP[,PORTX][,OTHER]<CR><LF>
where:
• ',PORTX' = a port other than the current port, such as Port B or Port C
• ',OTHER' = Port B if the current port is Port A, or Port A if the current port is Port B
Receiver Response:
$>JSHOW,M1,M1R,M2,M2R...,Mn,MnR
where:
• M1 is the first message being output M1R is the rate of M1
• M1 is the first message being output M1R is the rate of M1
• Mn is the last message being output MnR is the rate of Bn
Example:
$>JSHOW,GP,GGA,1.00,GST,1.00
275
JSHOW,THISPORT Command
Command Type:
Description:
Query to determine which receiver port you are connected to
Command Format:
$JSHOW,THISPORT<CR><LF>
Receiver Response:
$>JSHOW,THISPORT,port
where 'port' is the port you are connected to
Example:
Response if you are connected to Port B:
$>JSHOW,THISPORT,PORTB
See JSHOW for information on displaying more configuration information for a receiver
276
JSIGNAL Command
JSIGNAL Command
Command Type:
Description:
Set the GNSS signals that the receiver will attempt to track. Specific signals shown here are only valid for receivers
supporting the signal in question.
Command Format:
Specify the signal(s)to be

used:
$JSIGNAL,INCLUDE[,L1CA][,L1P][,L2P][,L2C][,G1][,G2][,E1BC][,B1][,B2][,B3]
[,E5B][,QZSL1CA][,QZSL2C][,ALL]<CR><LF>
Specify the signal(s) NOT to be used:
$JSIGNAL,EXCLUDE[,L1CA][,L1P][,L2P][,L2C][,G1][,G2][,E1BC][,B1][,B2][,B3]
[,E5B][,QZSL1CA][,QZSL2C][,ALL]<CR><LF>
$JSIGNAL,INCLUDE<CR><LF>
Receiver Response:
$>
$>JSIGNAL,INCLUDE[,L1CA][,L1P][,L2P][,L2C][,G1][,G2][,E1BC][,B1][,B2][,B3]
[,E5B][,QZSL1CA][,QZSL2C]<CR><LF>
277
JSMOOTH Command
Command Type:
GPS
Description:
Set the carrier smoothing interval (15 to 6000 seconds)or query the current setting
This command provides the flexibility to tune in different environments. The default for this command is 900 seconds (15
minutes) or LONG. A slight improvement in positioning performance (depending on the multipath environment) may occur
if you use either the SHORT (300 seconds) or LONG (900 seconds) smoothing interval.
Command Format:
Set the carrier smoothing interval:
To set the carrier smoothing interval to a specific number of seconds issue
the following command:
$JSMOOTH,x<CR><LF>
where 'x' is one of the following:
• Number of seconds
• DEFAULT (equals 900 seconds)
Default for e-Dif is 300 second
• SHORT (equals 300 seconds)
• LONG (equals 900 seconds)
$JSMOOTH<CR><LF>
Receiver Response:
Receiver response when setting the carrier smoothing interval
$>
Receiver response when querying the current carrier smoothing interval
$>JSMOOTH,x
where 'x' is the word 'SHORT' or 'LONG' followed by the number of seconds used:
• SHORT precedes the number of seconds for any setting less than 900 seconds
• LONG precedes the number of seconds for any setting greater than or equal to 900 seconds
Example:
To set the carrier smoothing interval to 750 seconds issue the following command:
$JSMOOTH,750<CR><LF>
278
...and if you then query the receiver using $JSMOOTH the response is:
$JSMOOTH,SHORT750
To set the carrier smoothing interval to 300 seconds (5 minutes) issue the following command:
$JSMOOTH,SHORT<CR><LF>
To set the carrier smoothing interval to 900 seconds (15 minutes) issue the following command:
$JSMOOTH,LONG<CR><LF>
If you are unsure of the best value for this setting, leave it at the default setting of LONG (900 seconds).
279
JSYSVER Command
Command Type:
Description:
Returns the boot loader version from the GPS card
Command Format:
$JSYSVER<CR><LF>
Receiver Response:
$>SYSVER,v
where 'v' is the boot loader version
Example:
Response when the boot loader version is 75
$>SYSVER,75
280
JT Command
Command Type:
Description:
Query the receiver for its GPS engine type
Command Format:
$JT<CR><LF>
Receiver Response:
$>JT,xxxx
where xxxx indicates the GPS engine and mode:
JT Command Response GPS Engine Mode

(xxxx)
DF2b Eclipse WAAS, RTK Base
DF2g Eclipse L-band
DF2r Eclipse RTK Rover
DF3g Eclipse II WAAS, RTK Base
DF3i Eclipse II e-Dif
DF3r Eclipse II RTK Rover
MF3g miniEclipse WAAS, RTK Base
MF3i miniEclipse e-Dif
MF3r miniEclipse RTK Rover
SX2a Crescent Vector WAAS RTK
SX2b Crescent Base
SX2g Crescent WAAS
SX2i Crescent e-Dif
SX2r Crescent Rover
Example:
When you issue the $JT<CR><LF>command a typical responsemay be:
$>JT,DF2b,MX31rev=28DF2b indicates an Eclipse receiver with WAAS and RTK Base functionality.
Note:
281
MX31rev=28 is the processor type and only appears as part of the Eclipse receiver response. You can disregard the
processor type as the text that precedes it (DF2b in this example) provides the requested information (GPS engine and
mode).
282
JTAU Commands
JTAU Command Overview
The JTAU command is used to set the time constants for specific parameters for Crescent, Crescent Vector, and Eclipse
products.
Command Description
JTAU,COG Set the course over ground time (COG) constant and query the current setting
JTAU,SPEED Set the speed time constant and query the current setting
283
JTAU,COG Command
Note:
The JATT,COGTAU command provides identical functionality but works only with Crescent Vector products.
Command Type:
GPS
Description:
Set the course over ground (COG) time constant(0.00 to 3600.00 seconds) or query the current setting.
This command allows you to adjust the level of responsiveness of the COG measurement provided in the GPVTG
message. The default value is 0.00 seconds of smoothing. Increasing the COG time constant increases the level of COG
smoothing.
Command Format:
Set the COG time constant
$JTAU,COG,tau<CR><LF>
where 'tau' is the new COG time constant that falls within the range of 0.00 to 200.1 seconds
The setting of this value depends upon the expected dynamics of the Crescent. If the Crescent will be in a highly dynamic
environment, this value should be set lower because the filtering window would be shorter, resulting in a more responsive
measurement. However, if the receiver will be in a largely static environment, this value can be increased to reduce
measurement noise.
$JTAU,COG<CR><LF>
Receiver Response:
Receiver response when setting the COG time constant
$>
Receiver response when querying the current COG time constant
$>JTAU,COG,tau<CR><LF>
Example:
To set the COG time constants 2 seconds issue the following command:
$JTAU,COG,2<CR><LF>
You can use the following formula to determine the COG time constant: tau (in seconds) = 10 / maximum rate of change
of course (in °/s)
seconds.
284
JTAU,SPEED Command
Command Type:
GPS
Description:
Set the speed time constant (0.00 to 3600.00 seconds)or query the current setting
This command allows you to adjust the level of responsiveness of the speed measurement provided in the GPVTG
message. The default value is 0.00 seconds of smoothing. Increasing the speed time constant increases the level of
speed measurement smoothing.
Command Format:
Set the speed time constant:
$JTAU,SPEED,tau<CR><LF>
where 'tau' is the new speed time constant that falls within the range of 0.0 to 200.2 seconds
The setting of this value depends upon the expected dynamics of the receiver. If the receiver will be in a highly dynamic
environment, you should set this to a lower value, since the filtering window will be shorter, resulting in a more responsive
measurement. However, if the receiver will be in a largely static environment, you can increase this value to reduce
measurement noise.
$JTAU,SPEED<CR><LF>
Receiver Response:
Receiver response when setting the speed time constant
$>
Receiver response when querying the current speed time constants
$>JTAU,SPEED,tau<CR><LF>
Example:
To set the speed time constant as 4.6 seconds issue the following command:
$JTAU,SPEED,4.6<CR><LF>
You can use the following formula to determine the COG time constant (Hemisphere GNSS recommends testing how the
revised value works in practice): tau (in seconds) = 10 / maximum acceleration (in m/s2)
seconds.
285
JTIMING Commands
$JTIMING,ATLASCLOCK,YES/NO Command
Command Type:
Description:
Enable/disable receiver clock steering by the Atlas solution.
Command Format:
To enable Atlas clock steering:
$JTIMING,ATLASCLOCK,YES<CR><LF>
To disable Atlas clock steering:
$JTIMING,ATLASCLOCK,NO<CR><LF>
$JTIMING,ATLASCLOCK<CR><LF>
Receiver Response:
Response to issuing command to enable/disable Atlas clock steering:
$>
$>JTIMING,ATLASCLOCK,[YES/NO]
Example:
Clock steering by Atlas is disabled by default.
286
$JTIMING,MANUALMARK[,yes/no] Command
Command Type:
Description:
The $JTIMING,MANUALMARK[,yes/no] command is used to enable or disable manual mark.
Command Format:
To enable manual mark:
$JTIMING,MANUALMARK,YES<CR><LF>
To disable manual mark:
$JTIMING,MANUALMARK,NO<CR><LF>
$JTIMING,MANUALMARK<CR><LF>
Receiver Response:
Response to issuing command to enable/disable manual mark:
$>
$>JTIMING,MANUALMARK,[YES/NO]
Example:
Manual mark mode is enabled by default.
287
$JTIMING,HALTCLOCKSTEER,YES Command
Command Type:
Description:
The $JTIMING,HALTCLOCKSTEER command is used to prevent GNSS clock steering, for use with external atomic ref
clocks.
Command Format:
To disable GNSS clock steering:
$JTIMING,HALTCLOCKSTEER,YES<CR><LF>
To enable GNSS clock steering:
$JTIMING,HALTCLOCKSTEER,NO<CR><LF>
$JTIMING,HALTCLOCKSTEER<CR><LF>
Receiver Response:
Response to issuing command to enable/disable GNSS clock steering:
$>
$>JTIMING,HALTCLOCKSTEER,[YES/NO]
Example:
GNSS clock steering is enabled by default. This command can be used to prevent clock steering, for example, if using an
external atomic reference clock.
288
PCSI Commands
PCSI,1 Command (Status Line A, Channel 0 command)
Command Type:
Beacon Receiver
Description:
Hemisphere GNSS proprietary NMEA 0183 query
Query the SBX for a selection of parameters related to the operational status of its primary channel
Command Format:
$PCSI,1<CR><LF>
Receiver Response:
$PCSI,ACK,1
$PCSI,CS0,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T,G
where:
Component
CS0 Channel 0
PXXX-Y.YYY Resident SBX firmware version
SN SBX receiver serial number
fff.f Channel 0 current frequency
M Frequency mode (A = automatic, M = manual, D = database)
ddd MSK bit rate
R RTCM rate mode (A = automatic, M = manual, D = database)
SS Signal strength
SNR Signal-to-noise ratio
MTP Message throughput
WER Word Error Rate - Percentage of bad 30-bit RTCM words in the last 25
words
ID Beacon ID to which the receiver’s primary channel is tuned
H Health of the tuned beacon [0-7]
T $PCSI,1 status output period [0-99]
G AGC gain in dB (0 to 48 db)
289
Optionally you can modify the Status Line A query to request the output of the response message once every period at a
specified output rate. It has the following format, where 'T' is the output period in seconds:
$PCSI,1,T<CR><LF>
The response will be:

$PCSI,ACK,1
$PCSI,CS0,PXXXY.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T,G
You can stop the output of the message by either of the following:
· Cycling receiver power
· Issuing the $PCSI,1<CR><LF> query without the output period field
The response message has the same format as discussed above. In addition to this modified version of the Status Line A
command, an additional 'S' field may be placed after the 'T' field, resulting in the following command:
$PCSI,1,T,S<CR><LF>
The 'S' field is not a variable and specifies that the output of the Status Line A message should continue after the power
has been cycled. To return the receiver to the default mode (in which message output ceases after receiver power is
cycled) send the $PCSI,1<CR><LF> query to the receiver.
You may send the $PCSI,1 query through either serial port for reporting of the full status of the primary receiver channel.
The query response is returned to the port from which you issued the command. When querying the primary receiver
channel using the secondary serial port, no interruptions in RTCM data output will occur on the primary port provided the
SBX has acquired a valid beacon.
The response is different depending on whether you are connected directly to the SBX-4 or not.
· If connected directly (by hardware or JCONN), the response will be both an acknowledgement as well as the full PCSI,1
message.
· If connected through a Crescent receiver (such as the R110) you may see the full PCSI,1 message. Consider PCSI,1,1
to generate periodic output.
290
PCSI,1,1 Command (Beacon Status command)
Command Type:
Beacon Receiver
Description:
Obtain PCSI,CS0 beacon status data from an SBX engine when interfaced to the receiver Port D. When you send this
command through either Port A, B, or C it is automatically routed to Port D. The resulting PCSI,CS0 message is returned
to the same port from which the command was sent at the desired rate.
Command Format:
$PCSI,1,1<CR><LF>
Receiver Response:
$PCSI,CS0,Pxxx-y.yyy,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T,G
where:
Component
CS0 Channel 0
ddd MSK bit rate
SS Signal strength
SNR Signal-to-noise ratio
WER Word Error Rate - Percentage of bad 30-bit RTCM words in the last 25
words
ID Beacon ID to which the receiver’s primary channel is tuned
H Health of the tuned beacon (0-7)
T $PCSI,1 status output period (0-99)
G AGC gain in, dB (0 to 48)
Example:
$PCSI,CS0,P030-0.000,19001,313.0,D,100,D,18,8,80,0,63,0,1,48
291
292
PCSI,2 Command (Status Line B, Channel 1 command)
Command Type:
Beacon Receiver
Description:
Query the SBX to output a selection of parameters related to the operational status of its secondary channel
Command Format:
$PCSI,2<CR><LF>
Receiver Response:
$PCSI,ACK,2
$PCSI,CS1,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T
where:
Component
CS1 Channel 1
ddd MSK bit rate
SS Signal strength
SNR Signal to noise ratio
WER Word error rate - Percentage of bad 30-bit RTCM words in the last 25 words
ID Beacon ID to which the receiver’s secondary channel is tuned
H Health of the tuned beacon (0-7)
T $PCSI,1 status output period (0-99)
Example:
$PCSI,ACK,2
289
$PCSI,CS1,P030-0.004,770737,291.0,D,200,D,-7,2,0,100,1024,8,0
Optionally you can modify the Status Line B query to request the output of the response message once every period. It
has the following format, where T is the output period in seconds:
$PCSI,2,T<CR><LF>
The response will be:

$PCSI,ACK,2
$PCSI,CS0,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,WER,ID,H,T
The response message has the same format as discussed above. The Status Line B message output cannot be set to
remain active after the power of the SBX has been cycled.
The $PCSI,2 query may be sent through the either serial port for reporting of the full status of the secondary receiver
channel. The response to the query is returned to the port from which the command was issued. When querying the
secondary receiver channel using the secondary serial port, no interruptions in RTCM data output will occur on the
primary port provided that SBX has acquired a valid beacon.
290
PCSI,3,1 Command (Receiver Search Dump command)
Command Type:
Beacon Receiver
Description:
Query the SBX to output the search information used for beacon selection in Automatic Beacon Search mode. The output
has three frequencies per line.
Command Format:
$PCSI,3,1<CR><LF>
Receiver Response:
$PCSI,ACK,3,1
$PCSI,tag1,freq1,ID1,chan1,snr1,ss1,tag2,freq2,ID2,chan2,snr2,ss2, tag3,freq3,ID3,chan3,snr3,ss3
where:
Component
tag Channel number with a range of 1 to 84
freq Channel frequency (kHz * 10)
ID Beacon ID
chan Channel information
snr SNR (dB)
ss Signal Strength (dBuV/m)
Example:
$PCSI,ACK,3,1
$PCSI,01,2835,209,0E,00,-0009,02,2840,339,0E,00,- 0012,03,2845,006,0E,00,0009
$PCSI,04,2850,342,0E,00,-0010,05,2855,547,0E,00,-0005,06,2860,109,0E,00,- 0011
$PCSI,07,2865,188,0E,00,-0007,08,2870,272,0E,00,-0004,09,2875,682,0E,00,- 0006
$PCSI,10,2880,645,0E,00,-0007,11,2885,256,0E,00,-0009,12,2890,000,06,00,- 0012
$PCSI,13,2895,132,0E,00,-0009,14,2900,281,0E,00,-0010,15,2905,634,0E,00,- 0008
$PCSI,16,2910,172,0E,00,-0007,17,2915,006,0E,00,-0009,18,2920,546,0E,00,- 0014
$PCSI,19,2925,358,0E,00,-0008,20,2930,479,0E,00,-0009,21,2935,358,0E,00,-
0011
$PCSI,22,2940,853,0E,00,-0005,23,2945,588,0E,00,-0015,24,2950,210,0E,00,- 0011
$PCSI,25,2955,000,06,00,-0011,26,2960,663,0E,00,-0010,27,2965,596,0E,00,- 0009
291
$PCSI,28,2970,000,06,00,-0009,29,2975,917,0E,00,-0009,30,2980,000,06,00,- 0016
$PCSI,31,2985,343,0E,00,-0013,32,2990,546,0E,00,-0010,33,2995,546,0E,00,- 0010
$PCSI,34,3000,172,0E,00,-0014,35,3005,006,0E,00,- 0011,36,3010,1006,0E,00,-0009
$PCSI,37,3015,006,0E,00,-0015,38,3020,300,0E,00,-0013,39,3025,277,0E,00,- 0100
$PCSI,40,3030,479,0E,00,-0010,41,3035,006,0E,00,-0012,42,3040,050,0E,00,- 0008
$PCSI,43,3045,000,06,00,-0014,44,3050,172,0E,00,-0013,45,3055,000,06,00,- 0011
$PCSI,46,3060,000,06,00,-0011,47,3065,000,06,00,-0014,48,3070,000,06,00,- 0010
$PCSI,49,3075,000,06,00,-0012,50,3080,006,0E,00,-0015,51,3085,000,06,00,- 0015
$PCSI,52,3090,300,0E,00,-0007,53,3095,000,06,00,-0013,54,3100,000,06,00,- 0013
$PCSI,55,3105,000,06,00,-0012,56,3110,127,0E,00,-0013,57,3115,000,06,00,- 0012
$PCSI,58,3120,596,0E,00,-0012,59,3125,051,0E,00,-0009,60,3130,000,06,00,- 0011
$PCSI,61,3135,213,0E,00,-0008,62,3140,000,06,00,-0011,63,3145,000,06,00,- 0015
$PCSI,64,3150,302,0E,00,-0008,65,3155,000,06,00,-0009,66,3160,000,06,00,- 0003
$PCSI,67,3165,000,06,00,-0013,68,3170,000,06,00,- 0011,69,3175,612,0E,01,0000
$PCSI,70,3180,000,06,00,-0015,71,3185,000,06,00,-0008,72,3190,000,06,00,- 0009
$PCSI,73,3195,000,06,00,0011,74,3200,1002,0E,01,-0002,75,3205,067,0E,00,- 0008
$PCSI,76,3210,001,0E,00,-0008,77,3215,000,06,00,-0009,78,3220,132,0E,00,- 0009
$PCSI,79,3225,000,06,00,-0010,80,3230,339,0E,00,-0013,81,3235,000,06,00,- 0011
$PCSI,82,3240,000,06,00,-0010,83,3245,202,0E,00,-0007,84,3250,006,0E,00,- 0002
292
PCSI,3,2 Command (Ten Closest Stations command)
Command Type:
Beacon Receiver
Description:
Display the ten closest beacon stations
Command Format:
$PCSI,3,2<CR><LF>
Receiver Response:
$PCSI,ACK,3,2
$PCSI,3,2,StationID,name,freq,status,time,date,distance,health,WER
$PCSI,3,2, ...
$PCSI,3,2, ...
$PCSI,3,2, ...
$PCSI,3,2, ...
...
where:
Component
StationID Specific ID number for beacon stations (appears in the last field of the
GPGGA message)
name Name of station
freq Frequency, in kHz (scaled by 10), on which the station is transmitting.

In the first line of the Example below, 2870 indicates 287.0 kHz.
status 0 (operational), 1 (undefined), 2 (no information), 3 (do not use)
time Not implemented. Currently displayed at 0
date Not implemented. Currently displayed at 0
distance Calculated in nautical miles
health -1 (not updated), 8 (undefined), 0-7 (valid range)
WER -1 (not updated), 0-100 (valid range)
293
Example $PCSI,ACK,3,3
$PCSI,3,2, 849,Polson MT,2870,0,210,0,0,-1,-1
$PCSI,3,2, 848,Spokane WA,3160,0,250,0,0,-1,-1
$PCSI,3,2, 907,Richmond BC,3200,0,356,0,0,-1,-1
$PCSI,3,2, 888,Whidbey Is. WA,3020,0,363,0,0,-1,-1
$PCSI,3,2, 887,Robinson Pt. WA,3230,0,383,0,0,-1,-1
$PCSI,3,2, 874,Billings MT,3130,0,389,0,0,-1,-1
$PCSI,3,2, 871,Appleton WA,3000,0,420,0,0,-1,-1
$PCSI,3,2, 908,Amphitrite Pt BC,3150,0,448,0,0,-1,-1
$PCSI,3,2, 886,Fort Stevens OR,2870,0,473,0,0,-1,-1
$PCSI,3,2, 909,Alert Bay BC,3090,0,480,0,0,-1,-1
294
PCSI,3,3 Command (Station Database command)
Command Type:
Beacon Receiver
Description:
Display the contents of the beacon station database
Command Format:
$PCSI,3,3<CR><LF>
Receiver Response:
$PCSI,ACK,3,3
$PCSI,3,3,IDref1,IDref2,StationID,name,freq,lat,long,datum,status
$PCSI,3,3, ...
$PCSI,3,3, ...
$PCSI,3,3, ...
$PCSI,3,3, ...
...
where:
Component
IDref1 Beacon reference ID (primary)
IDref2 Beacon reference ID (secondary)
StationID Specific ID number for beacon stations (appears in the last field of the GPGGA
message)
name Name of station
freq Frequency, in kHz (scaled by 10), on which the station is transmitting. In the first
line of the Example below, 2950 indicates 295.0 kHz.
lat Scaled by 364 (+ve indicates N and -ve indicates S)
long Longitude is scaled by 182 (+ve indicates N and -ve indicates S)
datum 1 (NAD83), 0(WGS84)
status 0 (operational), 1(undefined), 2 (no information), 3, (do not use)
Example
295
$PCSI,ACK,3,3 AK,2950,20554,-24221,1,0
$PCSI,3,3,0282,0283,0891,Level Island
$PCSI,3,3,0306,0307,0906,Sandspit BC,3000,19377,-23991,1,0
$PCSI,3,3,0278,0279,0889,Annette Is. AK,3230,20044,-23951,1,0
$PCSI,3,3,0300,0301,0909,Alert Bay BC,3090,18412,-23099,1,0
$PCSI,3,3,0302,0303,0908,Amphitrite Pt BC,3150,17806,-22850,1,0
$PCSI,3,3,0270,0271,0885,C. Mendocino CA,2920,14718,-22641,1,0
$PCSI,3,3,0272,0273,0886,Fort Stevens OR,2870,16817,-22559,1,0
$PCSI,3,3,0304,0305,0907,Richmond BC,3200,17903,-22407,1,0
$PCSI,3,3,0276,0277,0888,Whidbey Is WA,3020,17587,-22331,1,0
296
PCSI,4 Command (Wipe Search command)
Description:
Clear search history in Auto mode
Command Format:
$PCSI,4<CR><LF>
Receiver Response:
$PCSI,ACK,4
Example:
297
PCSI,5 Command (Set Baud Rates command)
Command Type:
Beacon Receiver
Description:
Set the baud rate of Port0 and Port1
The baud rate for Port0 is saved for next power up; however, the baud rate for Port1 always defaults to 4800.
Note:
This command applies when you connect directly to a beacon board, as this command has no effect when a beacon
board is integrated with a GNSS receiver.
Command Format:
$PCSI,5,portrate0,portrate1<CR><LF>
where:
• portrate0 = desired baud rate for Port0
• portrate1 = desired baud rate for Port1
Receiver Response:
$>
Example:
Additional Information;
298
PCSI,6 Command (Reboot command)
Command Type:
Beacon Receiver
Description:
Reboot SBX receiver
Command Format:
$PCSI,6<CR><LF>
Receiver Response:
See example below.
Example:
When sending this command your response will appear similar to the below:
$PCSI,S/N:00019001
$PCSI,FCFGcrc,B5E5,CCFGcrc,B5E5,Pass
$PCSI,FGLBcrc,19BC,CGLBcrc,19BC,Pass
$PCSI,FLSHcrc,0531 Pass
$PCSI,FSTAcrc,56C3 Base,2FB2,B077
299
PCSI,7 Command (Swap Modes command)
Command Type:
Beacon Receiver
Description:
Swap modes on the receiver (allowing you to output RTCM and PCSI on the desired ports—Port 0 and Port 1)
Note:
This command applies when you connect directly to a beacon board, as this command has no effect when a beacon
board is integrated with a GNSS receiver.
Command Format:
$PCSI,7,mode<CR><LF>
where mode is:
• 1 = PCSI on Port1 and RTCM on Port0
• 2 = PCSI on Port0 and RTCM on Port1
Receiver Response:
$PCSI,ACK,7,mode
For example, when sending the following command...
$PCSI,7,1<CR><LF>
... the response is:
$PCSI,ACK,7,1
Example:
300
Bin Messages
Binary Messages Code
This section provides the code for the binary messages used by Hemisphere GNSS.
// BinaryMsg.h
#ifndef BinaryMsg_H
#define BinaryMsg_H
#ifdef cplusplus
extern "C" {
#endif
/*
* Copyright (c) 2020 Hemisphere GNSS, Inc.
* All Rights Reserved. *
* Use and copying of this software and preparation of derivative works based upon this software are permitted. Any copy
of this software or of any derivative work must include the above copyright notice, this paragraph and the one after it. Any
distribution of this software or derivative works must comply with all applicable laws. This software is made available AS
IS, and COPYRIGHT OWNERS DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, INCLUDING WITHOUT
LIMITATION THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE,
AND NOTWITHSTANDING ANY OTHER PROVISION CONTAINED HEREIN, ANY LIABILITY FOR DAMAGES
RESULTING FROM THE SOFTWARE OR ITS USE IS EXPRESSLY DISCLAIMED, WHETHER ARISING IN
CONTRACT, TORT (INCLUDING NEGLIGENCE) OR STRICT LIABILITY, EVEN IF COPYRIGHT OWNERS ARE
ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
*/
//xx #if defined(WIN32) || ( ARMCC_VERSION>=300441) // all compilers that we use today
#pragma pack(push)
#pragma pack(4)
//#endif
/****************************************************/
/* SBinaryMsgHeader */
/****************************************************/
typedef struct
char m_strSOH[4]; /* start of header ($BIN) */
unsigned short m_byBlockID; /* ID of message (1,2,99,98,97,96,95,94,93 or 80 ) */
unsigned short m_wDataLength; /* 52 16,304,68,28,300,128,96,56, or 40 */
} SBinaryMsgHeader;
typedef struct
301
unsigned long ulDwordPreamble; /* 0x4E494224 = $BIN */
unsigned long ulDwordInfo; /* 0x00340001 or 0x00100002 or 0x01300063 */
} SBinaryMsgHeaderDW; /* or 0x00440062 or 0x001C0061 or 0x012C0060 */
/* or 0x0080005F or 0x0060005E or 0x0038005D */
/* or 0x00280050 */
#define BIN_MSG_PREAMBLE 0x4E494224 /* $BIN = 0x4E494224 */
#define BIN_MSG_HEAD_TYPE1 0x00340001 /* 52 = 0x34 */
#define BIN_MSG_HEAD_TYPE6 0x000C0006 /* 12 = 0x0C */
#define BIN_MSG_HEAD_TYPE99 0x01300063 /* 99 = 0x63, 304 = 0x130 */ //GPS
#define BIN_MSG_HEAD_TYPE108 0x0174006C /* 108 = 0x6C, 372 = 0x174 = total size in bytes -8 -2 -2 */
#define BIN_MSG_HEAD_TYPE104 0x01180068 /* 104 = 0x68, 280 = 0x118 */
#define BIN_MSG_HEAD_TYPE101 0x01C00065 /* 101 = 0x65, 448 = 0x1C0 */
#define BIN_MSG_HEAD_TYPE97 0x001C0061 /* 97 = 0x61, 28 = 0x1C */
#define BIN_MSG_HEAD_TYPE96 0x012C0060 /* 96 = 0x60, 300 = 0x12C */ //GPS L1CA phase observables
#define BIN_MSG_HEAD_TYPE95 0x0080005F /* 95 = 0x5F, 128 = 0x80 */ //GPS L1CA ephemeris data
#define BIN_MSG_HEAD_TYPE94 0x0060005E /* 94 = 0x5E, 96 = 0x60 */
#define BIN_MSG_HEAD_TYPE93 0x0038005D /* 93 = 0x5D, 56 = 0x38 */
#define BIN_MSG_HEAD_TYPE92 0x0034005C /* 92 = 0x5C, 52 = 0x34 */
#define BIN_MSG_HEAD_TYPE91 0x0198005B /* 91 = 0x5B, 408 = 0x198 = total size in bytes -8 -2 -2*/
#define BIN_MSG_HEAD_TYPE76 0x01C0004C /* 76 = 0x4C, 448 = 0x1C0 = total size in bytes -8 -2 -2*/
#define BIN_MSG_HEAD_TYPE71 0x01C00047 /* 71 = 0x47, 448 = 0x1C0 = total size in bytes -8 -2 -2*/
#define BIN_MSG_HEAD_TYPE61 0x0140003D /* 61 = 0x3D, 320 = 0x140 */
#define BIN_MSG_HEAD_TYPE62 0x0028003E /* 62 = 0x3E, 40 = 0x28 */
302
#define BIN_MSG_HEAD_TYPE69 0x012C0045 /* 69 = 0x45, 300 = 0x12C */ //Glonass
#define BIN_MSG_HEAD_TYPE59 0x0100003B /* 59 = 0x3B, 256 = 0x100 */ //GPS L2C
#define BIN_MSG_HEAD_TYPE49 0x012C0031 /* 49 = 0x31, 300 = 0x12C */ //Galileo Channel Data for SLXMON
#define BIN_MSG_HEAD_TYPE45 0x0080002D /* 45 = 0x2D, 128 = 0x80 */ //Galileo subframe words --- similar to
GPS
#define BIN_MSG_HEAD_TYPE44 0x0038002C /* 44 = 0x2C, 56 = 0x38 */ //Galileo time offsets
#define BIN_MSG_HEAD_TYPE42 0x0034002A /* 42 = 0x2A, 52 = 0x34 */
#define BIN_MSG_HEAD_TYPE30 0x0080001E /* 30 = 0x1E, 208 = 0xD0 */ //BeiDou subframe words --- similar to
GPS
#define BIN_MSG_HEAD_TYPE34 0x00200022 /* 34 = 0x22, 32 = 0x20 */ //BeiDou time offsets
#define BIN_MSG_HEAD_TYPE35 0x00800023 /* 35 = 0x23, 128 = 0x80 */ //BeiDou subframe words --- similar to GPS
#define BIN_MSG_HEAD_TYPE36 0x01500024 /* 36 = 0x24, 336 = 0x150 */ //BeiDou phase observables
#define BIN_MSG_HEAD_TYPE39 0x019C0027 /* 39 = 0x27, 412 = 0x19C */ //BeiDou Channel Data for SLXMON
#define BIN_MSG_HEAD_TYPE25 0x00800019 /* 25 = 0x19, 128 = 0x80 */ //QZSS L1CA ephemeris data
#define BIN_MSG_HEAD_TYPE16 0x01380010 /* 16 = 0x10, 312 = 0x138 */ //GNSS phase observables
#define BIN_MSG_HEAD_TYPE19 0x01780013 /* 19 = 0x13, 376 = 0x178 */ //Generic Channel Data for SLXMON
#define BIN_MSG_HEAD_TYPE10 0x0194000A /* 10 = 0xA, 404 = 0x194 = total size in bytes -8 -2 -2*/
//#define BIN_MSG_HEAD_TYPE12 0x0194000C /* 12 = 0xC, 404 = 0x194 = total size in bytes -8 -2 -2*/
#define BIN_MSG_HEAD_TYPE12 0x019A000C /* 12 = 0xC, 410 = 0x19A = total size in bytes -8 -2 -2*/ //RFR_160506
-- added 6 bytes
#define BIN_MSG_HEAD_TYPE13 0x0194000D /* 13 = 0xD, 404 = 0x194 = total size in bytes -8 -2 -2*/
#define BIN_MSG_HEAD_TYPE17 0x02100011 /* 17 = 0x11, 528 = 0x210 = total size in bytes -8 -2 -2*/
//#if defined(_RXAIF_PLOT_MESSAGES_)
#define BIN_MSG_HEAD_TYPE11 0x0064000B /* 11 = 0x0B, 100 = 0x64 = total size(112) in bytes -8 -2 -2*/
//#endif
#define BIN_MSG_HEAD_TYPE209 0x014C00D1 // 209 = 0xD1, 332 = 0x14C
#define BIN_MSG_HEAD_TYPE122 0x0050007A //122 = 0x7A, 80 = 50
#endif
#define BIN_MSG_CRLF 0x0A0D /* CR LF = 0x0D, 0x0A */
#define CHANNELS_12 12
#define CHANNELS_20 20
303
#define CHANNELS_gen 16 // CHANNELS FOR 16 and 19 general messages
#define cBPM_SCAT_MEMSIZE 100
#define cBPM_SPEC_AN_MEMSIZE 128 //Must be a power of 2 (for a 4096 FFT we need 32 of these)
//RFR_140829 #define cBPM_STRIP_MEMSIZE 50
#define cBPM_STRIP_MEMSIZE 95
#define cBPM_AIFSCAT_MEMSIZE 16
//#endif
typedef union
SBinaryMsgHeader sBytes;
SBinaryMsgHeaderDW sDWord;
} SUnionMsgHeader;
/****************************************************/
/* SBinaryMsg1 */
/****************************************************/
typedef struct
SUnionMsgHeader m_sHead;
unsigned char m_byAgeOfDiff; /* age of differential, seconds (255 max)*/
unsigned char m_byNumOfSats; /* number of satellites used (12 max) */
unsigned short m_wGPSWeek; /* GPS week */
double m_dGPSTimeOfWeek; /* GPS tow */
double m_dLatitude; /* Latitude degrees, -90..90 */
double m_dLongitude; /* Longitude degrees, -180..180 */
float m_fHeight; /* (m), Altitude ellipsoid */
float m_fVNorth; /* Velocity north m/s */
float m_fVEast; /* Velocity east m/s */
float m_fVUp; /* Velocity up m/s */
float m_fStdDevResid; /* (m), Standard Deviation of Residuals */
304
unsigned short m_wNavMode;
unsigned short m_wAgeOfDiff; /* age of diff using 16 bits */
unsigned short m_wCheckSum; /* sum of all bytes of the header and data */
unsigned short m_wCRLF; /* Carriage Return Line Feed */
} SBinaryMsg1; /* length = 8 + 52 + 2 + 2 = 64 */
/****************************************************/
/* SBinaryMsg2 */
/****************************************************/
typedef struct
unsigned long m_ulMaskSatsTracked; /* SATS Tracked, bit mapped 0..31 */
unsigned long m_ulMaskSatsUsed; /* SATS Used, bit mapped 0..31 */
unsigned short m_wGpsUtcDiff; /* GPS/UTC time difference (GPS minus UTC) */
unsigned short m_wHDOPTimes10; /* HDOP (0.1 units) */
unsigned short m_wVDOPTimes10; /* VDOP (0.1 units) */
unsigned short m_wWAASMask; /* Bits 0-1: tracked sats, Bits 2-3:
used sats, Bits 5-9 WAAS PRN 1 minus
120, Bits 10-14 WAAS PRN 1 minus 120 */
//-****************************************************
//-* SBinaryMsg3
//-* Lat/Lon/Hgt, Covariances, RMS, DOPs and COG, Speed, Heading
//-****************************************************
typedef struct
SUnionMsgHeader m_sHead; // [8]
double m_dGPSTimeOfWeek; // GPS tow [8 bytes]
unsigned short m_wGPSWeek; // GPS week [2 bytes]
unsigned short m_wNumSatsTracked; // SATS Tracked [2 bytes]
305
unsigned short m_wNumSatsUsed; // SATS Used [2 bytes]
unsigned char m_byNavMode; // Nav Mode (same as message 1) [1 byte ]
unsigned char m_bySpare00; // Spare [1 byte ]
double m_dLatitude; // Latitude degrees, -90..90 [8 bytes]
double m_dLongitude; // Longitude degrees, -180..180 [8 bytes]
float m_fHeight; // (m), Altitude ellipsoid [4 bytes]
float m_fSpeed; // Horizontal Speed m/s [4 bytes]
float m_fVUp; // Vertical Velocity +up m/s [4 bytes]
float m_fCOG; // Course over Ground, degrees [4 bytes]
float m_fHeading; // Heading (degrees), Zero unless vector[4 bytes]
float m_fPitch; // Pitch (degrees), Zero unless vector [4 bytes]
float m_fSpare01; // Spare [4 bytes]
unsigned short m_wAgeOfDiff; // age of differential, seconds [2 bytes]
// m_wAttitudeStatus: bit {0-3} = sStatus.eYaw
// bit {4-7} = sStatus.ePitch
// bit {8-11} = sStatus.eRoll
// where sStatus can be 0 = INVALID, 1 = GNSS, 2 = Inertial, 3= Magnetic
unsigned short m_wAttitudeStatus; // Attitude Status, Zero unless vector [2 bytes]
float m_fStdevHeading; // Yaw stdev, degrees, 0 unless vector [4 bytes]
float m_fStdevPitch; // Pitch stdev, degrees, 0 unless vector[4 bytes]
float m_fHRMS; // Horizontal RMS [4 bytes]
float m_fVRMS; // Vertical RMS [4 bytes]
float m_fHDOP; // Horizontal DOP [4 bytes]
float m_fVDOP; // Vertical DOP [4 bytes]
float m_fTDOP; // Time DOP [4 bytes]
float m_fCovNN; // Covaraince North-North [4 bytes]
float m_fCovNE; // Covaraince North-East [4 bytes]
float m_fCovNU; // Covaraince North-Up [4 bytes]
float m_fCovEE; // Covaraince East-East [4 bytes]
float m_fCovEU; // Covaraince East-Up [4 bytes]
float m_fCovUU; // Covaraince Up-Up [4 bytes]
unsigned short m_wCheckSum; // sum of all bytes of the header and data
unsigned short m_wCRLF; // Carriage Return Line Feed
} SBinaryMsg3; // length = 8 + 116 + 2 + 2 = 128 (108 = 74 hex)
306
//-****************************************************
//-* SBinaryMsg5
//-* Base Location and Base ID
//-****************************************************
typedef struct
double m_dLatitude; // Base Latitude degrees, -90..90 [8 bytes]
double m_dLongitude; // Base Longitude degrees, -180..180 [8 bytes]
float m_fHeight; // Base Altitude ellipsoid, (m) [4 bytes]
unsigned short m_wBaseID; // BaseID [2 bytes]
unsigned short m_wSpare; // Spare [2 bytes]
char m_szDiffFormat[16]; // String giving format of Differential [16 bytes]
unsigned short m_awSpare[16]; // 32 bytes of spare [32 bytes]
/*****************************************************/
/* SBinaryMsg6 Manual Mark Tag Preceding MM messages*/
/*****************************************************/
typedef struct
double m_dTow; /* Time in seconds */
unsigned short m_wWeek; /* GPS Week Number */
unsigned short m_wSpare1; /* 16 bit spare word */
} SBinaryMsg6; /* length = 8 + (12) + 2 + 2 = 24 */
/****************************************************/
/* SChannelData */
/****************************************************/
typedef struct
307
unsigned char m_byChannel; /* channel number */
unsigned char m_bySV; /* satellite being tracked, 0 == not tracked */
unsigned char m_byStatus; /* Status bits (code carrier bit frame...) */
unsigned char m_byLastSubFrame; /* last subframe processed */
unsigned char m_byEphmVFlag; /* ephemeris valid flag */
unsigned char m_byEphmHealth; /* ephemeris health */
unsigned char m_byAlmVFlag; /* almanac valid flag */
unsigned char m_byAlmHealth; /* almanac health */
char m_chElev; /* elevation angle */
unsigned char m_byAzimuth; /* 1/2 the Azimuth angle */
unsigned char m_byURA; /* User Range Error */
unsigned char m_byDum; /* Place Holder */
unsigned short m_wCliForSNR; /* code lock indicator for SNR divided by 32 */
short m_nDiffCorr; /* Differential correction * 100 */
short m_nPosResid; /* position residual * 10 */
short m_nVelResid; /* velocity residual * 10 */
short m_nDoppHz; /* expected doppler in HZ */
short m_nNCOHz; /* track from NCO in HZ */
} SChannelData; /* 24 bytes */
/****************************************************/
/* SChannelL2Data */
/****************************************************/
//#if defined(_DUAL_FREQ_)
typedef struct
unsigned char m_byChannel; /* channel number */
unsigned char m_bySV; /* satellite being tracked, 0 == not tracked */
unsigned char m_byL2CX; /* Status bits for L2P (code carrier bit frame...) */
unsigned char m_byL1CX; /* Status bits for L1P (code carrier bit frame...) */
unsigned short m_wCliForSNRL2P; /* code lock indicator for SNR divided by 32 */
unsigned short m_wCliForSNRL1P; /* code lock indicator for L1P SNR divided by 32 */
short m_nC1_L1; /* C1-L1 in meters * 100 */
308
short m_nP2_C1; /* P2-C1 in meters * 100 */
short m_nP2_L1; /* P2-L1 in meters * 100 */
short m_nL2_L1; /* L2-L1 in meters * 100 */
short m_nP2_P1; /* P2-P1 in meters * 100 */
short m_nNCOHz; /* track from NCO in HZ */
} SChannelL2Data; /* 20 bytes */
//#endif
/****************************************************/
/* SChannelL2CData for USING_GPSL2CL */
/****************************************************/
typedef struct
unsigned char m_byChannel; // channel number
unsigned char m_bySV; // satellite being tracked, 0 == not tracked
unsigned char m_byL2CX; // Status bits for L2P (code carrier bit frame...)
unsigned char spare1;
unsigned short m_wCliForSNRL2C; // code lock indicator for SNR divided by 32
unsigned short spare2;
short m_nL2C_L1Ca; //L2CL - CA code error meters * 100
short m_nL2C_L2P; //L2CL - L2P code error meters * 100
short m_nL2_L1; //L2CL - L1CA phase error meters * 100
short m_nL2_L2P; //L2CL - L2P phase error meters * 100
short spare3;
short m_nNCOHz; // track from NCO in HZ
} SChannelL2CData; // 20 bytes
/****************************************************/
/* SBinaryMsg99 */
/****************************************************/
typedef struct
unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D (high bit =has_diff) */
char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS */
309
SChannelData m_asChannelData[CHANNELS_12]; /* channel data */
short m_nClockErrAtL1; /* clock error at L1, Hz */
unsigned short m_wSpare; /* spare */
#define CHANNELS_SBAS_E 3
/****************************************************/
/* SBinaryMsg89 * Supports 3 SBAS Satellites */
/****************************************************/
typedef struct
long m_lGPSSecOfWeek; /* GPS tow integer sec */
unsigned char m_byMaskSBASTracked; /* SBAS Sats Tracked, bit mapped 0..3 */
unsigned char m_byMaskSBASUSED; /* SBAS Sats Used, bit mapped 0..3 */
SChannelData m_asChannelData[CHANNELS_SBAS_E]; /* SBAS channel data */
/****************************************************/
/* SBinaryMsg100 */
/****************************************************/
//#if defined(_DUAL_FREQ_)
typedef struct
unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D (high bit =has_diff) */
char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS */
unsigned long m_ulMaskSatsUsedL2P; /* L2P SATS Used, bit mapped 0..31 */
310
SChannelL2Data m_asChannelData[CHANNELS_12]; /* channel data */
//#endif
/****************************************************/
/* SBinaryMsg59 for USING_GPSL2CL */
/****************************************************/
typedef struct
unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D (high bit =has_diff) */ //1 byte
char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS */ //1 byte
unsigned short m_wGPSWeek; /* GPS week */ //2 bytes
unsigned long m_ulMaskSatsUsedL2P; /* L2P SATS Used, bit mapped 0..31 */ //4 bytes
double m_dGPSTimeOfWeek; /* GPS tow */ //8 bytes
SChannelL2CData m_asChannelData[CHANNELS_12]; /* channel data */ //20*12 bytes
//-****************************************************
//-* SSVSNRData
//-****************************************************
typedef struct
unsigned short m_wStatus_SYS_PRNID; // status, GNSS system, PRN ID
// Bit 0-5 PRNID (for SBAS , PRNID = PRN-120)
// Bit 6-8 SYS: 0 = GPS, 1 = GLONASS, 2 = GALILEO, 3 = BEIDOU, 4=QZSS, 7 = SBAS
// Bit 9 = code and Carrier Lock on L1,G1,B1
// Bit 11 = code and Carrier Lock on L5,E5,B3
// Bit 12 = Bit Lock and Frame lock (decoding data)
// Bit 13 = Ephemeris Available
311
// Bit 14 = Health OK
// Bit 15 = Satellite used in Navigation Solution
// m_wStatus_SYS_PRNID = 0 ==> unfilled data
char m_chElev; // Elevation angle, LSB = 1 deg
unsigned char m_byAzimuth; // 1/2 the Azimuth angle, LSB = 2 deg
unsigned long m_ulSNR3_SNR2_SNR1; // 3 SNRs, 2 @ 11 bit & 1 @ 10 bits, each SNR = 10.0*log10(
0.8192*SNR_value)
// Bits 0-10 SNR1 (L1,G1,B1, etc) 11 bits => Max SNR = 32.2 dB
// Bits 22-31 SNR3 (L5,E5,B3, etc) 10 bits => Max SNR = 29.2 dB
} SSVSNRData; // 8 bytes
//-****************************************************
//-* SBinaryMsg209
//-* SNR and status for all GNSS tracks
//-****************************************************
typedef struct
char m_cUTCTimeDiff; // Whole Seconds between UTC and GPS [1 byte]
unsigned char m_byPage; // Bits 0-1 = Antenna: 0 = Master, 1 = Slave, 2 = Slave2 [1 byte]
// Bits 2-4 = Page ID: 0 = page 1, 1 = page 2, etc
// Bits 5-7 = Max page ID: 0 = only 1 page, 1 = 2 pages
SSVSNRData m_asSVData[40]; // SNR data [320 bytes]
} SBinaryMsg209; // length = 8 + 332 + 2 + 2 = 344
/****************************************************/
/* SSVAlmanData */
/****************************************************/
typedef struct
short m_nDoppHz; /* doppler in HZ for stationary receiver */
312
unsigned char m_byCountUpdate; /* count of almanac updates */
unsigned char m_bySVindex; /* 0 through 31 (groups of 8)*/
unsigned char m_byAlmVFlag; /* almanac valid flag */
unsigned char m_byAlmHealth; /* almanac health */
} SSVAlmanData; /* 8 bytes */
/****************************************************/
/* SBinaryMsg98 */
/****************************************************/
typedef struct
SSVAlmanData m_asAlmanData[8]; /* SV data, 8 at a time */
unsigned char m_byLastAlman; /* last almanac processed */
unsigned char m_byIonoUTCVFlag; /* iono UTC flag */
} SBinaryMsg98; /* length = 8 + (64+1+1+2) + 2 + 2 = 80 */
/****************************************************/
/* SBinaryMsg97 */
/****************************************************/
typedef struct
unsigned long m_ulCPUFactor; /* CPU utilization Factor (%=multby 450e-6) */
unsigned short m_wMissedSubFrame; /* missed subframes */
unsigned short m_wMaxSubFramePend; /* max subframe pending */
unsigned short m_wMissedAccum; /* missed accumulations */
unsigned short m_wMissedMeas; /* missed measurements */
unsigned long m_ulSpare1; /* spare 1 (zero)*/
313
unsigned short m_wSpare4; /* spare 4 (zero)*/
unsigned short m_wCheckSum; /* sum of all bytes of the headerand data */
/****************************************************/
/* SObservations */
/****************************************************/
typedef struct
unsigned long m_ulCS_TT_SNR_PRN; /* Bits 0-7 PRN (PRN is 0 if no data) */
/* Bits 8-15 SNR_value
SNR = 10.0*log10( 0.8192*SNR_value) */
/* Bits 16-23 Phase Track Time in units
of 1/10 second (range = 0 to 25.5
seconds (see next word) */
/* Bits 24-31 Cycle Slip Counter
Increments by 1 every cycle slip
with natural roll over after 255 */
unsigned long m_ulDoppler_FL; /* Bit 0: 1 if Valid Phase, 0 otherwise
Bit 1: 1 if Track Time > 25.5 sec,
0 otherwise
Bits 2-3: unused
Bits 4-32: Signed (two's compliment)
doppler in units of m/sec x 4096.
(i.e., LSB = 1/4096). Range =
+/- 32768 m/sec. Computed as
phase change over 1/10 sec. */
double m_dPseudoRange; /* pseudo ranges (m) */
double m_dPhase; /* phase (m) L1 wave len = 0.190293672798365*/
} SObservations; /* 24 bytes */
/****************************************************/
/* SBinaryMsg96 */
/****************************************************/
314
typedef struct
double m_dTow; /* Predicted GPS Time in seconds */
SObservations m_asObvs[CHANNELS_12];/* 12 sets of observations */
/****************************************************/
/* SBinaryMsg95 */
/****************************************************/
/* sent only upon command or when values change */
typedef struct
unsigned short m_wSV; /* The satellite to which this data belongs. */
unsigned short m_wSpare1; /* spare 1 (chan number (as zero 9/1/2004)*/
unsigned long m_TOW6SecOfWeek; /* time at which this arrived (LSB = 6sec) */
unsigned long m_SF1words[10]; /* Unparsed SF 1 message words. */
/* Each of the subframe words contains
one 30-bit GPS word in the lower
30 bits, The upper two bits are ignored
Bits are placed in the words from left to
right as they are received */
// -
// SBinaryMsg94
// I think we will need similar binary messages for Galileo and BeiDou
315
// Or maybe not, it seems that much of this is optional for RINEX
// -
// sent only upon command or when values change
typedef struct
/* Iono parameters. */
double m_a0,m_a1,m_a2,m_a3; /* AFCRL alpha parameters. */
double m_b0,m_b1,m_b2,m_b3; /* AFCRL beta parameters. */
/* UTC conversion parameters. */
double m_A0,m_A1; /* Coeffs for determining UTC time. */
unsigned long m_tot; /* Reference time for A0 & A1, sec of GPS week. */
unsigned short m_wnt; /* Current UTC reference week number. */
unsigned short m_wnlsf; /* Week number when dtlsf becomes effective. */
unsigned short m_dn; /* Day of week (1-7) when dtlsf becomes effective. */
short m_dtls; /* Cumulative past leap seconds. */
short m_dtlsf; /* Scheduled future leap seconds. */
/****************************************************/
/* SBinaryMsg93 */
/****************************************************/
/* sent only upon command or when values change */
/* WAAS ephemeris */
typedef struct
unsigned short m_wWeek; /* Week corresponding to m_lTOW*/
unsigned long m_lSecOfWeekArrived;/* time at which this arrived (LSB = 1sec) */
unsigned short m_wIODE;
unsigned short m_wURA; /* See 2.5.3 of Global Pos Sys Std Pos Service Spec */
316
long m_lTOW; /* Sec of WEEK Bit 0 = 1 sec */
long m_lXG; /* Bit 0 = 0.08 m */
long m_lYG; /* Bit 0 = 0.08 m */
long m_lZG; /* Bit 0 = 0.4 m */
long m_lXGDot; /* Bit 0 = 0.000625 m/sec */
long m_lYGDot; /* Bit 0 = 0.000625 m/sec */
long m_lZGDot; /* Bit 0 = 0.004 m/sec */
long m_lXGDotDot; /* Bit 0 = 0.0000125 m/sec/sec */
long m_lYGDotDot; /* Bit 0 = 0.0000125 m/sec/sec */
long m_lZGDotDot; /* Bit 0 = 0.0000625 m/sec/sec */
short m_nGf0; /* Bit 0 = 2**-31 sec */
short m_nGf0Dot; /* Bit 0 = 2**-40 sec/sec */
/****************************************************/
/* SBinaryMsg80 */
/****************************************************/
typedef struct
unsigned short m_wPRN; /* Broadcast PRN */
unsigned short m_wSpare; /* spare (zero) */
unsigned long m_ulMsgSecOfWeek; /* Seconds of Week For Message */
unsigned long m_aulWaasMsg[8]; /* Actual 250 bit waas message*/
unsigned short m_wCheckSum; /* sum of all bytes of the headerand data */
/****************************************************/
/* SMsg91Data */
/****************************************************/
typedef struct
unsigned char bySV; /* satellite being tracked, 0 == not tracked */
317
unsigned char byStatus; /* Status bits (code carrier bit frame...) */
unsigned char byStatusSlave; /* Status bits (code carrier bit frame...) */
unsigned char byChannel; /* Not used */
unsigned short wEpochSlew; /* 20*_20MS_EPOCH_SLEW + _1MS_EPOCH_SLEW */
unsigned short wEpochCount; /* epoch_count */
unsigned long codeph_SNR; /* 0-20 = code phase (21 bits), 28-32 = SNR/4096, upper 4 bits */
unsigned long ulCarrierCycles_SNR; /* 0-23 = carrier cycles, 24-32 = SNR/4096 lower 8 bits */
unsigned short wDCOPhaseB10_HalfWarns; /* 0-11 = DCO phase, 12-14 = Half Cycle Warn
15 = half Cycle added */
unsigned short m_wPotentialSlipCount; /* potential slip count */
/* SLAVE DATA */
unsigned long codeph_SNR_Slave; /* 0-20 = code phase (21 bits), 28-32 = SNR/4096, upper 4 bits */
unsigned long ulCarrierCycles_SNR_Slave; /* 0-23 = carrier cycles, 24-32 = SNR/4096 lower 8 bits */
unsigned short wDCOPhaseB10_HalfWarns_Slave; /* 0-11 = DCO phase, 12-14 = Half Cycle Warn
unsigned short m_wPotentialSlipCount_Slave; /* potential slip count */
} SMsg91Data; /* 32 bytes */
/****************************************************/
/* SBinaryMsg91 */
/* Comment: Transmits data from Takemeas.c */
/* debugging structure. */
/* Added by bbadke 7/07/2003 */
/****************************************************/
typedef struct
SUnionMsgHeader m_sHead; /* 8 */
double m_sec; /* 8 bytes */
int m_iWeek; /* 4 bytes */
unsigned long m_Tic; /* 4 bytes */
long lTicOfWeek; /* 4 bytes */
long lProgTic; /* 4 bytes */
SMsg91Data s91Data[CHANNELS_12]; /* 12*32= 384 bytes */
318
/****************************************************/
/* SObsPacket */
/****************************************************/
typedef struct
unsigned long m_ulCS_TT_W3_SNR; /* Bits 0-11 (12 bits) =SNR_value
For All signals except GPS L2, SNR = 10.0*log10( 0.1024*SNR_value)
For GPS L2, SNR = 10.0*log10( 0.1164*SNR_value) */
/* Bits 12-14 (3 bits) = 3 bits of warning
for potential 1/2 cycle slips. A warning
exists if any of these bits are set. */
/* bit 15: (1 bit) 1 if Track Time > 25.5 sec,
0 otherwise */
/* Bits 16-23 (8 bits): Track Time in units
of 1/10 second (range = 0 to 25.5 seconds) */
/* Bits 24-31 (8 bits) = Cycle Slip Counter
Increments by 1 every cycle slip
with natural roll-over after 255 */
unsigned long m_ulP7_Doppler_FL; /* Bit 0: (1 bit) 1 if Valid Phase, 0 otherwise
Bit 1-23: (23 bits) =Magnitude of doppler
LSB = 1/512 cycle/sec
Range = 0 to 16384 cycle/sec
Bit 24: sign of doppler, 1=negative, 0=pos
Bits 25-31 (7 bits) = upper 7 bits of the
23 bit carrier phase.
LSB = 64 cycles, MSB = 4096 cycles */
unsigned long m_ulCodeAndPhase; /* Bit 0-15 (16 bits) lower 16 bits of code
pseudorange
LSB = 1/256 meters
MSB = 128 meters
Note, the upper 19 bits are given in
m_aulCACodeMSBsPRN[] for CA code
319
Bit 16-31 lower 16 bits of the carrier phase,
7 more bits are in m_ulP7_Doppler_FL
LSB = 1/1024 cycles
MSB = 32 cycles */
} SObsPacket; /* 12 bytes , note: all zero if data not available */
/* A NOTE ON DECODING MESSAGE 76
* Notation: "code" -- is taken to mean the PseudoRange derived from code phase.
* "phase" -- is taken to mean range derived from carrier phase.
* This will contain cycle ambiguities.
* Only the lower 16 bits of L1P code, L2P code and the lower 23 bits of
* carrier phase are provided. The upper 19 bits of the L1CA code are found
* in m_aulCACodeMSBsPRN[]. The upper 19 bits of L1P or L2P must be derived
* using the fact that L1P and L2P are within 128 meters of L1CA. To
* determine L1P or L2P, use the lower 16 bits provided in the message and
* set the upper bits to that of L1CA. Then add or subtract one LSB of the
* upper bits (256 meters) so that L1P or L2P are within 1/2 LSB (128 meters)
* of the L1CA code.
* The carrier phase is in units of cycles, rather than meters,
* and is held to within 1023 cycles of the respective code range. Only
* the lower 16+7=23 bits of carrier phase are transmitted in Msg 76.
* In order to determine the remaining bits, first convert the respective
* code range (determined above) into cycles by dividing by the carrier
* wavelength. Call this the "nominal reference phase". Next extract the 16
* and 7 bit blocks of carrier phase from Msg 76 and arrange to form the lower
* 23 bits of carrier phase. Set the upper bits (bit 23 and above) equal to
* those of the nominal reference phase. Then, similar to what was done for
* L1P and L2P, add or subtract the least significant upper bit (8192 cycles)
* so that carrier phase most closely agrees with the nominal reference phase
* (to within 4096 cycles).
*/
#define CHANNELS_12_PLUS (CHANNELS_12+2) /* up to two SBAS satellites */
320
#define CHANNELS_L1_E (CHANNELS_12+CHANNELS_SBAS_E) /* All L1 (including SBAS satellites) */
/****************************************************/
/* SBinaryMsg76 */
/****************************************************/
typedef struct
double m_dTow; /* GPS Time in seconds */
SObsPacket m_asL2PObs[CHANNELS_12]; /* 12 sets of L2(P) observations */
SObsPacket m_asL1CAObs[CHANNELS_L1_E]; /* 15 sets of L1(CA) observations */
unsigned long m_aulCACodeMSBsPRN[CHANNELS_L1_E]; /* array of 15 words.
bit 7:0 (8 bits) = satellite PRN, 0
if no satellite
bit 12:8 (5 bits) = spare
bit 31:13 (19 bits) = upper 19 bits
of L1CA LSB = 256 meters
MSB = 67108864 meters */
unsigned long m_auL1Pword[CHANNELS_12]; /* array of 12 words relating to L1(P) code.
Bit 0-15 (16 bits) lower 16 bits of the
L1P code pseudo range.
LSB = 1/256 meters
MSB = 128 meters
Bits 16-27 (12 bits) = L1P SNR_value
SNR = 10.0*log10( 0.1164*SNR_value)
If Bits 16-27 all zero, no L1P track
Bits 28-31 (4 bits) spare */
/****************************************************/
/* SMsg71DataL1 */
321
/****************************************************/
typedef struct
unsigned char bySV; /* satellite being tracked, 0 == not tracked */
unsigned char byStatus; /* Status bits (code carrier bit frame...) */
unsigned char byStatusL1P; /* 0-8 lower 8 bits of L1P SNR/32768, if zero and
if upper two bits of m_wSNR_codeph_L1P are zero
then L1P is not tracking */
unsigned char byStatusL2P; /* Status bits (code carrier phase ...) */
unsigned short wEpochSlew; /* 20*_20MS_EPOCH_SLEW + _1MS_EPOCH_SLEW */
unsigned short wEpochCount; /* epoch_count */
unsigned long codeph_SNR; /* 0-20 = code phase (21 bits), 28-32 = SNR/4096, upper 4 bits */
unsigned long ulCarrierCycles_SNR; /* 0-23 = carrier cycles, 24-32 = SNR/4096 lower 8 bits */
unsigned short wDCOPhaseB10_HalfWarns; /* 0-11 = DCO phase, 12-14 = Half Cycle Warn
unsigned short m_wPotentialSlipCount; /* potential slip count */
} SMsg71DataL1; /* 20 bytes */
/****************************************************/
/* SMsg71DataL1PL2P */
/****************************************************/
typedef struct
/* L1P and L2P Data */
// unsigned long codeph_SNR_L1P; NOT USED YET /* 0-22 = L1 code phase (23 bits), 28-32 = SNR/8192, upper 4
bits */
unsigned long codeph_SNR_L2P; /* 0-22 = L2P code phase (23 bits), 28-32 = SNR/8192, upper 4 bits */
unsigned long ulCarrierCycles_SNR_L2P; /* 0-23 = carrier cycles, 24-32 = SNR/8192 lower 8 bits */
unsigned short wDCOPhaseB10_L2P; /* 0-11 = DCO phase, 12-15 = Spare */
unsigned short m_wSNR_codeph_L1P; /* 0-13 = lower 14 bits of L1P code, 14-15 SNR/32768 Upper 2 bits */
/* To get full L1P code, use upper bits form L2P and adjust by
+/- 2**14 if necessary */
} SMsg71DataL1PL2P; /* 12 bytes */
/****************************************************/
322
/* SBinaryMsg71 */
/* Comment: Transmits data from Takemeas.c */
/* debugging structure for Dual Freq. */
/****************************************************/
typedef struct
double m_sec; /* 8 bytes */
int m_iWeek; /* 4 bytes */
long lTicOfWeek; /* 4 bytes */
long lProgTic; /* 4 bytes */
SMsg71DataL1PL2P s91L2PData[CHANNELS_12]; /* 12*12 = 144 bytes */
SMsg71DataL1 s91Data[CHANNELS_12_PLUS]; /* 14*20 = 280 bytes */
/////////////////////////////////////////////////////
// SBinaryMsg10
// Comment: Transmits scatter plot data from
// buffacc.c
//
/////////////////////////////////////////////////////
//-- maxes out 16 types, you have to expand some fields if you add any more types
enum eBIN10_TYPE {eBIN10_GPSL1CA = 0,
eBIN10_GPSL1P = 1,
eBIN10_GPSL2P = 2,
eBIN10_GLONASSL1 = 3,
eBIN10_GPSL2CL = 5,
eBIN10_GPSL5Q = 6,
eBIN10_GALILEO_E1BC = 7,
eBIN10_GALILEO_E5A = 8,
eBIN10_GALILEO_E5B = 9,
323
eBIN10_BEIDOU_B1 = 10,
eBIN10_GPSL1C = 13,
eBIN10_QZSS_L1CA = 14,
eBIN10_QZSS_L1C = 15,
eBIN10_QZSS_L5 = 17,
eBIN10_BEIDOU_B1BOC = 18, // USING_BEIDOU_PHASE3
eBIN10_BEIDOU_B2A = 19, // USING_BEIDOU_PHASE3
eBIN10_BEIDOU_B2B = 20, // USING_BEIDOU_PHASE3
eBIN10_BEIDOU_B3C = 21, // USING_BEIDOU_PHASE3
eBIN10_BEIDOU_ACEBOC = 22,
eBIN10_GALILEO_E6 = 23,
eBIN10_GALILEO_ALTBOC= 24,
eBIN10_GLONASS_G1OC = 26,
eBIN10_QZSS_LEX = 29
};
typedef struct
SUnionMsgHeader m_sHead; // 8 bytes
short m_anScatterPlotDataI[cBPM_SCAT_MEMSIZE]; //100*2 = 200 bytes
short m_anScatterPlotDataQ[cBPM_SCAT_MEMSIZE]; //100*2 = 200 bytes
unsigned short m_wChannel;
unsigned short m_wSigType; // one of eBIN10_TYPE
} SBinaryMsg10; // length = 8 +200 +200 +2 +2 +2 +2 = 416
/////////////////////////////////////////////////////
// SBinaryMsg12
// Comment: Transmits power detector data from
324
// buffacc.c
//
/////////////////////////////////////////////////////
//-- maxed out 16 types, you have to expand some fields if you add any more types
eBIN12_GPSL1P = 1,
eBIN12_GPSL2P = 2,
eBIN12_GPSL2CL = 5,
eBIN12_GPSL5Q = 6,
eBIN12_GPSL1C = 13,
eBIN12_QZSS_L5 = 17,
eBIN12_BEIDOU_B1BOC = 18, // USING_BEIDOU_PHASE3
eBIN12_BEIDOU_B2A = 19, // USING_BEIDOU_PHASE3
eBIN12_BEIDOU_B2B = 20, // USING_BEIDOU_PHASE3
eBIN12_BEIDOU_B3C = 21, // USING_BEIDOU_PHASE3
eBIN12_BEIDOU_ACEBOC = 22,
eBIN12_GALILEO_E6 = 23,
eBIN12_GALILEO_ALTBOC = 24,
eBIN12_QZSS_LEX = 29
};
325
typedef struct
int m_aiPowerDetectData[cBPM_STRIP_MEMSIZE]; //100*4 = 400 bytes //HACK for

dumpIRQBufferToPort (CrLI can go negative)
int m_iThresh_Acq; //RFR_140829
int m_iThresh_Loss; //RFR_140829
float m_fCarrierNCO; //RFR_140902
float m_fCodeNCO; //RFR_140902
unsigned short m_wCarrierBin; //RFR_140902 [7:0]CarrierBinNum RFR_160506 (break status out to its own
field)
unsigned short m_wStatus; //RFR_160506 [15:0]CXBF RFR_160506 added 2-bytes <****
long m_lDelayCodeLossIfFramSyn; //RFR_160506 added 4-bytes
unsigned short m_wCodeMovement; //RFR_140902
} SBinaryMsg12; // length = 8 +200 +4 +4 +2 +2 +2 +2= 224
#if defined(ENABLE_PLOT_PERFMETER)
/////////////////////////////////////////////////////
// SBinaryMsg13
// Comment: Transmits Performance Numbers
/////////////////////////////////////////////////////
enum eBIN13_TYPE {eBIN13_IDLE = 0,
eBIN13_GPISR = 1,
eBIN13_BUFFACCUM = 2,
eBIN13_TASK_00 = 3,
eBIN13_TASK_01 = 4,
eBIN13_SPARE =5
};
typedef struct
326
int m_aiPerformanceMetric[cBPM_STRIP_MEMSIZE]; //100*4 = 400 bytes
int m_iMetricMaxScale; //maximum possible value for m_aiPowerDetectData (allows plotting percentage)
unsigned int m_uNumDataPointsInPkt; //num points in m_aiPowerDetectData (might not be the max
cBPM_STRIP_MEMSIZE because could be too slow for some metrics)
int m_iMetricFiltered;
int m_iMetricPeak;
unsigned short m_wSpare3;
unsigned short m_wStatType; // one of eBIN13_TYPE
} SBinaryMsg13; // length = 8 +200 +4 +4 +2 +2 +2 +2= 224
#endif //ENABLE_PLOT_PERFMETER
/////////////////////////////////////////////////////
// SBinaryMsg11
// Comment: Transmits scatter plot data for RXGNSS_AIF statistics
//
/////////////////////////////////////////////////////
enum eBIN11_TYPE {eBIN11_COUNTS=0,eBIN11_VALUES};
typedef struct
unsigned short m_awScatterPlotDataValues[cBPM_AIFSCAT_MEMSIZE]; //16*2 = 32 bytes
unsigned short m_awScatterPlotDataCntMag[cBPM_AIFSCAT_MEMSIZE]; //16*2 = 32 bytes
unsigned short m_awScatterPlotDataCntDCoff[cBPM_AIFSCAT_MEMSIZE]; //16*2 = 32 bytes
unsigned short m_wChannel; // aif_sel 0: AIF_A, 1: AIF_B, ...
} SBinaryMsg11; // length = 8 +32 +32 +32 +2 +2 +2 +2 = 112
327
/////////////////////////////////////////////////////
// SBinaryMsg17
// Comment: Transmits spectrum analyzer plot data
// We may change this notation a bit when
// we get the channelizer working
//
/////////////////////////////////////////////////////
//-- maxes out 16 types, you have to expand some fields if you add any more types
eBIN17_GPSL1P = 1,
eBIN17_GPSL2P = 2,
eBIN17_GPSL2CL = 5,
eBIN17_GPSL5Q = 6,
eBIN17_GPSL1C = 13,
eBIN17_QZSS_L5 = 17};
typedef struct
float m_aiSpecAnPlotData[cBPM_SPEC_AN_MEMSIZE]; //128*4 = 512 bytes
float m_wSampleFreq;
328
unsigned short m_wStage; //Index so you know what frequencies are in the message
} SBinaryMsg17; // length = 8 + 512 + 4 +2 +2 +2 +2 +2 +2 +2 +2 = 540
//#endif
/****************************************************/
/* SGLONASSChanData */
/****************************************************/
typedef struct
unsigned char m_bySV; /* Bit (0-6) = SV slot, 0 == not tracked
* Bit 7 = Knum flag
* = KNum+8 if bit 7 set
*/
unsigned char m_byAlm_Ephm_Flags;/* ephemeris and almanac status flags */
/* bit 0: Ephemeris available but timed out
* bit 1: Ephemeris valid
* bit 2: Ephemeris health OK
* bit 3: unused
* bit 4: Almanac available
* bit 5: Almanac health OK
* bit 6: unused
* bit 7: Satellite doesn't exist
*/
329
unsigned char m_byStatus_L1; /* Status bits (code carrier bit frame...) */
unsigned char m_byLastMessage; /* last message processed */
unsigned char m_bySlip01; /* cycle slip on chan 1 */
unsigned short m_wCliForSNR_L1; /* code lock indicator for SNR divided by 32 */
short m_nDiffCorr_L1; /* Differential correction * 100 */
short m_nDoppHz; /* expected doppler in HZ at glonass L1 */
short m_nNCOHz_L1; /* track from NCO in HZ */
short m_nPosResid_1; /* position residual 1 * 1000 */
} SGLONASSChanData; /* 24 bytes */
/****************************************************/
/* SBinaryMsg69 */
/****************************************************/
typedef struct
long m_lSecOfWeek; /* tow */
unsigned short m_wL1usedNavMask; /* mask of L1 channels used in nav solution */
SGLONASSChanData m_asChannelData[CHANNELS_12]; /* channel data 12X24 = 288 */
unsigned short m_wWeek; /* week */
unsigned char m_bySpare01; /* spare 1 */
330
//Need to add to this for E1B and E1C.
/****************************************************/
/* SGALILEOChanData */
/****************************************************/
typedef struct
unsigned char m_bySV; /* Bit (0-6) = SV slot, 0 == not tracked
* Bit 7 = Knum flag
* = KNum+8 if bit 7 set
*/
unsigned char m_byAlm_Ephm_Flags;/* ephemeris and almanac status flags */
/* bit 0: Ephemeris available but timed out
* bit 1: Ephemeris valid
* bit 2: Ephemeris health OK
* bit 3: unused
* bit 4: Almanac available
* bit 5: Almanac health OK
* bit 6: unused
* bit 7: Satellite doesn't exist
*/
unsigned char m_byLastMessage; /* last message processed */
unsigned char m_bySlip01; /* cycle slip on chan 1 */
short m_nDiffCorr_L1; /* Differential correction * 100 */
short m_nDoppHz; /* expected doppler in HZ at glonass L1 */
331
} SGALILEOChanData; /* 24 bytes */
/****************************************************/
/* SBinaryMsg49 (Galileo E5A, E1B, E1C) */
/****************************************************/
typedef struct
SGALILEOChanData m_asChannelData[CHANNELS_12]; /* channel data 12X24 = 288 */
unsigned short m_wWeek; /* week */
// -
// SBinaryMsg36 BeiDou observations (see notes on mesage 76)
// Indivdual pages for B1I, B2I, B3I, etc ... to allow for BeiDou Phase III
// Allows for a maximum of 20 channels
// -
typedef struct
SUnionMsgHeader m_sHead; // (8 bytes)
double m_dTow; // Time in seconds (8 bytes)
unsigned short m_wWeek; // GPS Week Number (2 bytes)
unsigned short m_wSpare1; // spare 1 (zero) (2 bytes)
unsigned long m_uFreqPage; //[0-19] Spare bits
//[20,21,22,23] Number of Pages
//[24,25,26,27] Page Number
332
//[28,29,30,31] Signal ID (B1I, B2I, B3I, etc)
SObsPacket m_asObs[CHANNELS_20]; // 20 sets of BeiDou observations (20*12=240 bytes)
unsigned long m_aulCodeMSBsPRN[CHANNELS_20]; // array of 20 words (20*4=80 bytes)
// bit 7:0 (8 bits) = satellite PRN, 0
// if no satellite
// bit 12:8 (5 bits) = spare
// bit 31:13 (19 bits) = upper 19 bits
// of B1/B2/B3 LSB = 256 meters
// MSB = 67108864 meters
unsigned short m_wCheckSum; /// sum of all bytes of the header and data (2 bytes)
unsigned short m_wCRLF; // Carriage Return Line Feed (2 bytes)
} SBinaryMsg36; // length = 8 + (8+2+2+4+240+80=336) + 2 + 2 = 348
// -
// SBinaryMsg16 Generic GNSS observations (see notes on mesage 76)
// 12 observations per message, multiple pages of messages, See BIN_MSG_HEAD_TYPE16
// -
typedef struct
unsigned long m_uPageCount; //[0-15] Spare bits
//[16,17,18,19,20,21] Number of Pages = N
//[22,23,24,25,26,27] Page Number [0...N-1]
//[28,29,30,31] Spare bits
// Bit mask of all signals included in the set of pages
unsigned long m_uAllSignalsIncluded_01; // bit 0 = GPS:L1CA included
// bit 1 = GPS:L2P included
// bit 2 = GPS:L2C included
333
// bit 3 = GPS:L5 included
// bit 7:4 = spare
// bit 8 = GLO:G1C or GLO:G1P included
// bit 10 = Spare
// bit 11 = Spare
// bit 12 = GLO:G10C included
// bit 15 = spare
// bit 16 = GAL:E1BC included
// bit 17 = GAL:E5A included
// bit 18 = GAL:E5B included
// bit 19 = GAL:E6 included
// bit 20 = GAL:ALTBOC included
// bit 23:21 = spare
// bit 24 = BDS:B1I included
// bit 27 = BDS:B1BOC included
// bit 28 = BDS:B2A included
// bit 29 = BDS:B2B included
// bit 30 = BDS:B3C included
// bit 31 = BDS:ACEBOC included
unsigned long m_uAllSignalsIncluded_02; // bit 0 = QZS:L1CA included
// bit 1 = spare
// bit 2 = QZS:L2C included
// bit 3 = QZS:L5 included
// bit 5 = QZS:LEX included
// bit 31:6 = spare
SObsPacket m_asObs[CHANNELS_gen]; // 16 sets of observations (16*12=192 bytes)
unsigned long m_aulCodeMSBsPRN[CHANNELS_gen]; // array of 16, 32 bit words (16*4=64 bytes)
// bit 7:0 (8 bits) = satellite PRN,
334
// = 0 if no satellite
// bit 12:8 (5 bits) = Log_Base_2(X+1)
// where X = Time, in units of 1/100th sec,
// since carrier phase tracking was last stressed
// or cycle slipped
// of code pseudorange LSB = 256 meters
// MSB = 67108864 meters
unsigned short m_awChanSignalSYS[CHANNELS_gen]; // Array of 16, 16 bit words (32 bytes)
//[15,14] spare bits
//[13] = 1 if GLONASS P-Code
//[12,11,10,9,8] = Channel (0 is the first channel)
//[7,6,5,4] = Signal ID (L1CA, L5, G1, B1I, B2I, B3I, etc)
// GPS Signal ID: L1CA=0, L2P=1, L2C=2, L5=3
// GLO Signal ID: G1C/G1P=0, G2C/G2P=1, G10C=4, G20C=5, G30C=6
// GAL Signal ID: E1BC=0, E5A=1, E5B=2, E6=3, ALTBOC=4
// BDS Signal ID: B1I=0, B2I=1, B3I=2,B1BOC=3,B2A=4,B2B=5,B3C=6,ACEBOC=7
// QZS Signal ID: L1CA=0, L2C=2, L5=3, L1C=4
//[3,2,1,0] = GNSS System, 0=GPS,1=GLO,2=GAL,3=BDS,4=QZS
} SBinaryMsg16; // length = 8 + (8+2+2+4+4+4+192+64+32=312) + 2 + 2 = 324
//=====================================================================
// SGENERICchanData (was called SBEIDOUChanData)
//
// Note: Currently we have some redundant stuff in all 3 pages
// perhaps we should eliminate the redundant stuff
// and only put in page 1 and not 2 & 3???
//=====================================================================
typedef struct
335
unsigned char m_bySV; // Bit (0-6) = SV slot, 0 == not tracked
unsigned char m_byAlm_Ephm_Flags; // ephemeris and almanac status flags
// bit 0: Ephemeris available but timed out
// bit 1: Ephemeris valid
// bit 2: Ephemeris health OK
// bit 3: unused
// bit 4: Almanac available
// bit 5: Almanac health OK
// bit 6: unused
// bit 7: Satellite doesn't exist
unsigned char m_byStatus; // Status bits (code carrier bit frame...)
char m_chElev; // elevation angle
unsigned char m_byAzimuth; // 1/2 the Azimuth angle
unsigned char m_byLastMessage; // last message processed
unsigned char m_bySlip; // cycle slip on chan 1
char m_cFlags; // RFR_150501 was m_cSpare1;
// [0] bChanEnabled
// [1] bUsedInSolution
unsigned short m_wCliForSNR; // code lock indicator for SNR divided by 32
short m_nDiffCorr; // Differential correction * 100
short m_nDoppHz; // expected doppler in HZ at B1 frequency
short m_nPosResid; // position residual * 1000
unsigned short m_wAllocType; //RFR_150501 was m_nSpare2
} SGENERICchanData; //Changed to generic B1/B2/B3 message 3/18/2013 (20 bytes)
// -
// SBinaryMsg39
// Populates SLXMON window
336
// Indivdual pages for B1I, B2I, B3I, etc ... to allow for BeiDou Phase III
// Allows for a maximum of 20 channels
// -
typedef struct
SUnionMsgHeader m_sHead; //8 bytes
long m_lSecOfWeek; //tow (4 bytes)
unsigned long m_uMaskFreqPage; //[0-19] Mask of channels used in nav solution
//[24,25,26,27] Page Number
SGENERICchanData m_asChannelData[CHANNELS_20]; //channel data 20x20 = 400
unsigned short m_wWeek; // week
unsigned short m_wSpare; // spare
} SBinaryMsg39; // length = 8+(4+4+400+2+2)+2+2 = 8 + (412) + 2 + 2 = 424
// -
// SBinaryMsg19
// Generic GNSS message for populating SLXmon windows
// -
typedef struct
long m_lSecOfWeek; // tow (4 bytes)
unsigned short m_wGPSWeek; // GPS Week Number (2 bytes)
unsigned char m_byNavMode; // Nav Mode FIX_NO, FIX_2D, FIX_3D (high bit =has_diff)
char m_cUTCTimeDiff; // whole Seconds between UTC and GPS
unsigned long m_uPageCount; // [0-15] Spare bits (4 bytes)
337
// [16,17,18,19,20,21] Number of Pages = N
// [22,23,24,25,26,27] Page Number [0...N-1]
// [28,29,30,31] Spare bits
// bit 7:4 = spare
// bit 10 = Spare
// bit 11 = Spare
// bit 15 = spare
// bit 1 = spare
338
// bit 31:6 = spare
short m_nClockErrAtL1;// clock error at L1, Hz (2 bytes)
unsigned short m_wSpare1; // spare (2 bytes)
SGENERICchanData m_asChannelData[CHANNELS_gen]; // channel data 16x20 = 320
// GPS Signal ID = 0:L1CA, 1:L2P, 2:L2C, 3:L5
// GLO Signal ID = 0:G1C/G1P, 1:G2C/G2P, 4:G10C, 5:G20C, 6:G30C
// GAL Signal ID = 0:E1BC, 1:E5A, 2:E5B, 3:E6, 4:ALTBOC
// BDS Signal ID = 0:B1I, 1:B2I, 2:B3I, 3:B1BOC,4:B2A, 5:B2B, 6:B3C, 7:ACEBOC
// QZS Signal ID = 0:L1CA, 1:xxx, 2:L2C, 3: L5, 4: L1C
} SBinaryMsg19; // length = 8+(4+2+1+1+4+4+4+2+2+320+32)+2+2 = 8 + (376) + 2 + 2 = 388
#if defined(_USING_BEIDOU_TIME_OFFSETS_)
// -
// SBinaryMsg34 --- BeiDou -> GPS, ->GLO, -> GAL, ->UTC time offset parameters
// Information is in both D1 and D2, but we are only going to use D1 because
// it is the same data as in D2
// -
typedef struct
int m_A0UTC; //BDT clock bias relative to UTC
339
int m_A1UTC; //BDT clock rate relative to UTC
short m_A0GPS; //BDT clock bias relative to GPS time
short m_A1GPS; //BDT clock rate relative to GPS time
short m_A0GAL; //BDT clock bias relative to Galileo system time
short m_A1GAL; //BDT clock rate relative to Galileo system time
short m_A0GLO; //BDT clock bias relative to GLONASS time
short m_A1GLO; //BDT clock rate relative to GLONASS time
unsigned char m_toa; //Almanac reference time (assuming this is also correct for the time offsets)
unsigned char m_Wna; //almanac week number (assuming this is also correct for the time offsets)
char m_dtls; //Delta time due to leap seconds before the new leap second effective
unsigned char m_wnlsf; //Week number of the new leap second
unsigned char m_dn; //Day number of week of the new leap second
char m_dtlsf; //Delta time due to leap seconds after the new leap second effective
short m_spare1;
short m_spare2;
short m_spare3;
unsigned short m_wCheckSum; //sum of all bytes of the header and data
} SBinaryMsg34; // length = 8+(4+4+2+2+2+2+2+2+1+1+1+1+1+1+2+2+2=32)+2+2 = 8 + (32) + 2 + 2 = 44
#endif
// -
// SBinaryMsg44
// Galileo Time Conversion Parameters
// -
typedef struct
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
SUnionMsgHeader m_sHead; // Header of message.
// -------------------------------------------------------- (8 bytes)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Galileo Time to UTC conversion parameters (32 bytes).
double m_A0; // Constant term of polynomial to
// determine UTC from Galileo Time.
double m_A1; // 1st order term of polynomial to
340
unsigned long m_tot; // Reference time for A0 & A1, sec of
// Galileo week.
unsigned short m_wnt; // Current Galileo reference week.
unsigned short m_wnlsf; // GST Week number when m_dtlsf
// becomes effective.
unsigned short m_dn; // Day of the week 1 (= Sunday) to
// 7 (= Saturday) when m_dtlsf
short m_dtls; // Cumulative past leap seconds.
short m_dtlsf; // Scheduled future (past) leap
// seconds.
unsigned short m_wSpare1; // Spare (zero).
// ------------------------------------------------------- (32 bytes)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// GPS Time to Galileo Time conversion parameters (GGTO Parameters).
//
// dTsys = Tgal - Tgps = m_A0G + m_A1G [TOW - m_t0G + 604800*(WN - m_WN0G)]
//
// where,
// dTsys = The time difference between systems
// Tgal = Galileo Time
// Tgps = GPS Time
// TOW = Galileo Time of Week
// WN = Galileo Week Number
// remaining parameters follow.
double m_A0G; // Constant term of GGTO polynomial.
double m_A1G; // 1st order term of GGTO polynomial.
unsigned long m_t0G; // Reference time of week for GGTO.
unsigned short m_WN0G; // Reference week for GGTo.
unsigned short m_wGGTOisValid; // Coded: 0 == GGTO Invalid,
// 1 == GGTO Valid.
// The Galileo OS-SIS-ICD indicates
// that when satellite broadcasts
341
// all 1 bit values for A0G, A1G,
// t0G, and WN0G then "the GGTO is
// considered as not valid."
// ------------------------------------------------------- (24 bytes)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Message Tail
unsigned short m_wCheckSum; // Sum of all bytes of the header and
// data.
unsigned short m_wCRLF; // Carriage Return Line Feed.
// -------------------------------------------------------- (4 bytes)
} SBinaryMsg44; // length = 8 + (32+24) + 2 + 2 = 68.
/****************************************************/
/* SBinaryMsg35 */
/****************************************************/
typedef SBinaryMsg95 SBinaryMsg35; //BeiDou ephemeris
/****************************************************/
/* SBinaryMsg30 */
/****************************************************/
typedef SBinaryMsg95 SBinaryMsg30; //BeiDou iono and correctors
/****************************************************/
/* SBinaryMsg45 */
/****************************************************/
typedef SBinaryMsg95 SBinaryMsg45; //Galileo ephemeris
/****************************************************/
/* SMsg61Data */
/****************************************************/
typedef struct
unsigned char bySV; /* satellite slot 0 == not tracked */
unsigned char byStatusL1; /* Status bits (code carrier bit frame...) */
342
unsigned char byStatusL2; /* Status bits (code carrier bit frame...) */
unsigned char byL1_L2_DCO; /* 0-3 = upper 4 bits of L1 carrier DCO Phase
* 4-7 = upper 4 bits of L2 carrier DCO Phase
*/
unsigned short wEpochSlewL1; /* 0-9 = slew, 0 to 1000 count for ms of sec
* 10-15 = 6 bits of L1 slip count */
unsigned short wEpochCountL1; /* 0-9 = epoch_count, 0 to 1000 count for ms of sec
* 10-15 = 6 bits of L2 slip count */
unsigned long codeph_SNR_L1; /* 0-20 = L1 code phase (21 bits = 9+12),
* 21-32 = L1 SNR/4096 (upper 11 of 12 bits) */
unsigned long ulCarrierCycles_L1; /* 0-23 = L1 carrier cycles,
* 24-32 = L1 Carrier DCO lower 8 bits */
unsigned long codeph_SNR_L2; /* 0-20 = L2 code phase (21 bits = 9+12),
* 21-32 = L2 SNR/4096 (upper 11 of 12 bits) */
unsigned long ulCarrierCycles_L2; /* 0-23 = L2 carrier cycles,
* 24-32 = L2 Carrier DCO lower 8 bits */
} SMsg61Data; /* 24 bytes */
/****************************************************/
/* SBinaryMsg61 */
/* Comment: Transmits data from TakemeasGLONASS.c */
/* debugging structure for Dual Freq. */
/****************************************************/
typedef struct
unsigned long ulSpare; /* 4 bytes */
unsigned short awHalfWarns[CHANNELS_12]; /* 12*2 = 24 bytes */
/* each word is
* bit 0-2 L1 Half Cycle Warn
* bit 3 = L1 half cycle added
* bit 4-6 L2 Half Cycle Warn
* bit 7 = L2 half cycle added
343
* 8 = LSB of 12 bit L1 SNR/4096
* 9 = LSB of 12 bit L2 SNR/4096
* bit 10-15 Ktag of the SV */
SMsg61Data as61Data[CHANNELS_12]; /* 12*24 = 288 bytes */
/****************************************************/
/* SBinaryMsg66 GLONASS OBS (see notes on mesage 76) */
/****************************************************/
typedef struct
unsigned long m_ulP_Code; /* Bit [31,24] spare bits */
/* Bit [23,12] Pcode On for m_asL2Obs Obs 0-11, Bit 12 = channel 0*/
/* Bit [11,0] Pcode On for m_asL1Obs Obs 0-11 Bit 0 = channel 0*/
SObsPacket m_asL1Obs[CHANNELS_12]; /* 12 sets of L1(Glonass) observations */
SObsPacket m_asL2Obs[CHANNELS_12]; /* 12 sets of L2(Glonass) observations */
unsigned long m_aulL1CodeMSBsSlot[CHANNELS_12]; /* array of 12 words.
bit 7:0 (8 bits) = satellite Slot, 0
if no satellite
bit 12:8 (5 bits) = spare
of L1 LSB = 256 meters
MSB = 67108864 meters */
344
/****************************************************/
/* SGLONASS_String, added for glonass strings */
/****************************************************/
typedef struct
unsigned long m_aul85Bits[3]; /* holds bits 9-85 of the GLONASS string */
/*
* bit order in message 65
* MSB LSB
* m_aul85Bits[0]: 85 84 .......... 54
* m_aul85Bits[1]: 53 52 .......... 22
* m_aul85Bits[2]: 21 20..... 9
*/
} SGLONASS_String; /* 12 bytes (max of 96 bits) */
/****************************************************/
/* SBinaryMsg65, added by JL for glonass subframe immediate data + string_5 */
/****************************************************/
/* sent only upon command or when values change (not including changes in tk) */
typedef struct
unsigned char m_bySV; /* The satellite to which this data belongs. */
unsigned char m_byKtag; /* The satellite K Number + 8. */
unsigned short m_wSpare1; /* Spare, keeps alignment to 4 bytes */
unsigned long m_ulTimeReceivedInSeconds; /* time at which this arrived */
SGLONASS_String m_asStrings[5]; /* first 5 Strings of Glonass Frame (60 bytes) */
345
/*********************************************************************/
/* SBinaryMsg62, Glonass almanac data. Containing string
* 5 and the two string pair for each satellite after string 5.
* String 5 contains the time reference for the glonass almanac
* and gps-glonass time differences.
*********************************************************************/
typedef struct
unsigned char m_byKtag_ch; /* Proprietary data */
unsigned short m_wSpare1; /* Spare, keeps alignment to 4 bytes */
SGLONASS_String m_asStrings[3]; /* glonass almanac data (36 bytes)
0 & 1 = Two almanac SFs, 3= SF 5*/
/****************************************************/
/* SBinaryMsg42 Galileo(42), BeiDou(32), GPS(92) or QZSS(22) Almanac */
/****************************************************/
typedef struct
unsigned char m_bySV; // The satellite to which this data belongs.
unsigned char m_bySpare; // Spare, keeps alignment to 4 bytes
346
unsigned short m_wSpare1; // Spare, keeps alignment to 4 bytes
long alAlmwords[12]; // Almanac words (different for different GNSS)
} SBinaryMsg42; // length = 8 + (4+48=52) + 2 + 2 = 64
typedef SBinaryMsg42 SBinaryMsg22; //QZSS Almanac
typedef SBinaryMsg42 SBinaryMsg32; //BeiDou Almanac
typedef SBinaryMsg42 SBinaryMsg92; //GPS Almanac
typedef struct
unsigned char m_ucPRN; /* PRN number */
// For m_ucSatUpperX, m_ucSatUpperY, or m_ucSatUpperZ, the following bit definitions hold:
// [B1,B0] = [B33,B32] of 34 bit absolute value of m_ulSatX, m_ulSatX, or m_ulSatX.
// LSB = [B32] = 33554432 meter
// [B2] = sign bit for m_ulSatX, m_ulSatY, or m_ulSatZ, If set, pos is negative.
// [B6..B3] = [B19,B18,B17,B16] of 20 bit absolute value of m_wSatVx, m_wSatVy, or m_wSatVz.
// LSB = [B16] = 512 meter/sec
// [B7] = sign bit for m_wSatVx, m_wSatVy, or m_wSatVz. If set, vel is negative.
unsigned char m_ucSatUpperX; /* [B7..B0], see above */
unsigned char m_ucSatUpperY; /* [B7..B0], see above */
unsigned char m_ucSatUpperZ; /* [B7..B0], see above */
unsigned short m_wSpare;
unsigned short m_wSatVx; /* [B15..B0] lower 16 Bits of 20 bit absolute value, LSB = 1/128 meter/sec */
unsigned short m_wSatVy; /* [B15..B0] lower 16 Bits of 20 bit absolute value, LSB = 1/128 meter/sec */
unsigned short m_wSatVz; /* [B15..B0] lower 16 Bits of 20 bit absolute value, LSB = 1/128 meter/sec */
unsigned long m_ulSatX; /* [B31..B0] lower 32 Bits of 34 bit absolute value, LSB = 1/128 meter */
347
unsigned long m_ulSatY; /* [B31..B0] lower 32 Bits of 34 bit absolute value, LSB = 1/128 meter */
unsigned long m_ulSatZ; /* [B31..B0] lower 32 Bits of 34 bit absolute value, LSB = 1/128 meter */
} SSatXYZ; // 24 bytes
typedef struct
double m_dTow; /* GPS Time in seconds of the receiver clock when the m_asSatXYZ is calculated */
SSatXYZ m_asSatXYZ[CHANNELS_L1_E]; /* 20*15 = 360 bytes */
unsigned short m_wWeek; /* GPS Week Number, */
unsigned char m_ucSysID; /* GPS=0, GLONASS=1, GALILEO=2, BEIDOU=3 */
unsigned char m_ucSpare01; /* padding to 4-byte align */
} SBinaryMsg108; /* length = 8 + (8+360+4) + 2 + 2 = 8 + (372) + 2 + 2 = 384 */
/****************************************************/
/* SBinaryMsg122 */
/****************************************************/
typedef struct
unsigned char m_byPhxPosType; // Phoenix position type [1 bytes]
unsigned char m_byCorSource; // Phoenix correction source [1 byte ]
unsigned short m_wBaseStationId; // Base station ID [2 bytes]
unsigned char m_bySatUsedCount[6]; // Satellites used per system [6 bytes]
// [GPS GLN GAL BDS SBAS QZSS]
float m_fAgeOfDiff; // age of differential, seconds [4 bytes]
float m_fVNorth; // North-South Velocity +North m/s [4 bytes]
348
float m_fVEast; // East-West Velocity +East m/s [4 bytes]
float m_fCovNN; // Covariance North-North [4 bytes]
float m_fCovNE; // Covariance North-East [4 bytes]
float m_fCovNU; // Covariance North-Up [4 bytes]
float m_fCovEE; // Covariance East-East [4 bytes]
float m_fCovEU; // Covariance East-Up [4 bytes]
float m_fCovUU; // Covariance Up-Up [4 bytes]
//xx #if defined(WIN32) || ( ARMCC_VERSION>=300441) // all compilers that we use today
#pragma pack(pop)
//xx #endif
#ifdef cplusplus
#endif
#endif // BinaryMsg_H_
Last updated: v1.11/ November 15, 2018
349
Bin1 Message
Message Type:
Binary
Description:
GNSS position message (position and velocity data)
$JBIN,1,r<CR><LF>
where:
'1' = Bin1 message
'r' = message rate in Hz (20, 10, 2, 1, 0, or .2)
Message Format:
Message Description Type Bytes Values

Component
AgeOfDiff Age of differential, seconds. Use Byte 1 0 to 255

Extended AgeOfDiff first. If both = 0,
then no differential
NumOfSats Number of satellites used in the GPS Byte 1 0 to 255

solution
GPSWeek GPS week associated with this Unsigned 2 0 to 65535

message short
GPSTimeOfWeek GPS tow (sec) associated with this Double 8 0.0 to

message 604800.0
Latitude Latitude in degrees north Double 8 -90.0 to 90.0
Longitude Longitude in degrees East Double 8 -180.0 to

180.0
Height Altitude above the ellipsoid in meters Float 4
VNorth Velocity north in m/s Float 4
VEast Velocity east in m/s Float 4
Vup Velocity up in m/s Float 4
StdDevResid Standard deviation of residuals in Float 4 Positive

meters
350
NavMode Navigation mode: Unsigned 2 Bits 0

short through 6 =
0 = No fix Navmode
1 = Fix 2d
no diff 2 = Bit 7 =
Fix 3d Manual
no diff 3 = mark
Fix 2D with
diff 4 = Fix
3D with diff
5 = RTK
float
6 = RTK integer fixed
When
$JDISNAVMODE,PHOENIX
Is enabled
7 = RTK float (SureFix

enabled)
8 = RTK integer fixed
(SureFix enabled)
9 = RTK SureFixed
10 = aRTK
integer fixed 11 =
aRTK float
12 = aRTK Atlas converged
13 = aRTK Atlas un-

converged 14 = Atlas
converged
15 = Atlas un-converged
If bit 7 is set (left-most

bit), then this is a manual
position
Extended Extended age of differential, Unsigned 2 0 to 65535
AgeOfDiff seconds. If 0, use 1 byte short
AgeOfDiff listed above
Structure:
typedef struct
unsigned char m_byAgeOfDiff; /* age of differential, seconds
(255 max)*/
unsigned char m_byNumOfSats; /* number of satellites used
351
double m_dLatitude; /* Latitude degrees, -90..90 */
double m_dLongitude; /* Longitude degrees, -180..180 */
float m_fHeight; /* (m), Altitude ellipsoid */
float m_fVNorth; /* Velocity north m/s */
float m_fVEast; /* Velocity eastm/s */
float m_fVUp; /* Velocity up m/s */
float Residuals */ m_fStdDevResid; /* (m), Standard Deviation of
unsigned short m_wNavMode;
unsigned short m_wAgeOfDiff; /* age of diff using 16

bits */
unsigned short m_wCheckSum; /* sum of all bytes of the
datalength */
Message has a BlockID of 1 and is 52 bytes, excluding the header and epilogue
Related Commands:
JBIN
352
Bin2 Message
Message Type:
Binary
Description:
GPS DOPs (Dilution of Precision)
This message contains various quantities that are related to the GNSS solution, such as satellites tracked, satellites used,
and DOPs.
$JBIN,2,r<CR><LF>
where:
• '2' = Bin2 message
• 'r' = message rate in Hz (1 or 0)
Message Format:
Message Component Description Type Bytes Values
MaskSatsTracked Mask of satellites tracked by the Unsigned long 4 Individual bits represent
GPS. Bit 0 corresponds to the GPS satellites
satellite with PRN 1.
MaskSatsUsed Mask of satellites used in the GPS Unsigned long 4 Individual bits represent
solution. Bit 0 corresponds to the satellites
GPS satellite with PRN 1.
GpsUtcDiff Whole seconds between UTC and Unsigned short 2 Positive

GPS time (GPS minus UTC)
HDOPTimes10 Horizontal dilution of precision Unsigned short 2 Positive

scaled by10 (0.1 units)
VDOPTimes10 Vertical dilution of precision scaled Unsigned short 2 Positive

by 10 (0.1 units)
WAASMask PRN and tracked or used status Unsigned short 2 See following
masks
353
• Bit 00 - Mask of satellites tracked by first WAAS satellite
• Bit 01 - Mask of satellites tracked by second WAAS satellite
• Bit 02 - Mask of satellites used by first WAAS satellite
• Bit 03 - Mask of satellites used by second WAAS satellite
• Bit 04 - Unused
• Bit 05 – Bit 09-first WAAS satellite PRN minus 120

• Bit 10- Bit 14-second WAAS satellite PRN minus 120
Structure:
typedef struct
unsigned long m_ulMaskSatsTracked; /* SATS Tracked, bit mapped 0..31 */
unsigned long m_ulMaskSatsUsed; /* SATS Used, bit mapped 0..31 */
unsigned short UTC) */
m_wGpsUtcDiff; /* GPS/UTC time difference (GPS minus
unsigned short m_wHDOPTimes10; /* HDOP (0.1 units) */ unsigned short m_wVDOPTimes10; /* VDOP (0.1 units)
*/
unsigned short m_wWAASMask; /* Bits 0-1: tracked sats, Bits 2-3:
used sats, Bits 5-9 WAAS PRN 1 minus
120, Bits 10-14 WAAS PRN 1 minus 120
*/
unsigned short m_wCheckSum; /* sum of all bytes of the datalength
*/
Related Commands:
JBIN
354
Bin3 Message
Message Type:
Binary
Description:
Lat/Lon/Hgt, Covariances, RMS, DOPs and COG, Speed,Heading
$JBIN,3,r<CR><LF>
where:
· '3' = Bin3 message
· 'r' = message rate in Hz
Message Message Description Type Bytes Values

Format Component
GPSTimeOfWeek GPS tow (sec) associated with this Double 8 0.0 to 604800.0
message
GPSWeek GPS week associated with this Unsigned 2 0 to 65535

message short
SATS Tracked Number of satellites tracked in the Unsigned 2

GPS solution short
NumOfSats Number of satellites used in the GPS Byte 2

solution
NAV Mode Navigation mode: 0 = No fix unsigned char 1 Bits 0
1 = Fix 2d no diff 2 = Fix 3d through 6 =

no diff 3 = Fix 2D with diff 4 = Fix Navmode
3D with diff 5 = RTK float
6 = RTK integer fixed When

Bit 7 =
$JDISNAVMODE,PHOENIX Manual mark
enabled
7 = RTK float (SureFix enabled)
8 = RTK integer fixed (SureFix

enabled)
9 = RTK SureFixed
10 = aRTK integer fixed 11 =

aRTK float
12 = aRTK Atlas converged
355
13 = aRTK Atlas un-converged

14 = Atlas converged
15 = Atlas un-converged
If bit 7 is set (left-most bit), then

this is a manual position
Spare unsigned char 1
Longitude Longitude in degrees East Double 8 -180.0 to
180.0
Height Altitude above the ellipsoid in meters Float 4
Horizontal Speed Velocity horizontal in m/s Float 4
Vup Velocity up in m/s Float 4
COG Course over Ground, degrees Float 4
Heading Heading(degrees), Zero unless Float 4

vecto
Pitch Pitch (degrees), Zero unless vector Float 4
Roll Roll (degrees), Zero unless vector Float 4
AgeOfDiff Age of differential, seconds. Use Unsigned short 2

Extended AgeOfDiff first. If both =
0, then no differential
Attitude Status Attitude Status, zero unless vector Unsigned short 4
Bits 0 – 3 = status.eYaw
356
Bits 4 – 7 = status.ePitch
Bits 8 – 11 = status.eRoll
Where status can be 0=INVALID,

1=GNSS, 2=Inertial, 3=Magnetic
StdDevHeading Yaw stddev (degrees), zero unless Float 4

vector
StdDevPitch Pitch stddev (degrees), zero unless Float 4

vector
HRMS Horizontal RMS Float 4
VRMS Vertical RMS Float 4
HDOP Horizontal DOP Float 4
VDOP Vertical DOP Float 4
TDOP Time DOP Float 4
CovNN Covaraince North-North Float 4
CovNE Covaraince North-East Float 4
CovNU Covaraince North-Up Float 4
CovEE Covaraince East-East Float 4
CovEU Covaraince East-Up Float 4
CovUU Covaraince Up-Up Float 4
Structure:
typedef struct
SUnionMsgHeader m_sHead; //
Double m_dGPSTimeOfWeek; //GPS tow unsigned short m_wGPSWeek; // GPS week

unsigned short m_wNumSatsTracked; // SATS Trackedunsigned
short m_wNumSatsUsed; // SATS Used
unsigned char m_byNavMode; // Nav Mode (same as message 1) unsigned char m_bySpare00; //
Spare
double m_dLatitude; // Latitude degrees, -90..90 doublem_dLongitude; // Longitude degrees, -180..180
float m_fHeight; // (m), Altitude ellipsoid float m_fSpeed; //Horizontal Speed m/s
357
float m_fVUp; // Vertical Velocity +up m/s float m_fCOG; // Course over Ground,
degrees
float m_fHeading; // Heading (degrees), Zero unlessvector float m_fPitch; // Pitch (degrees), Zero
unless vector float
m_fSpare01; // Roll
unsigned short m_wAgeOfDiff; // Age of differential (s).
unsigned short m_wAttitudeStatus; // Attitude Status, zero unless vector
// bit {0-3} = status.eYaw
// bit {4-7} = status.ePitch
// bit {8-11} = status.eRoll
// where status can be 0=INVALID,
// 1=GNSS, 2=Inertial, 3=Magnetic
float m_fStdDevHeading_d; // Yaw stddev (degrees), zero unless vector
float m_fStdDevPitch_d; // Pitch stddev (degrees), zero unless vector
float m_fHRMS; // Horizontal RMS
float m_fVRMS; //Vertical RMS
float m_fHDOP; // Horizontal DOP
float m_fVDOP; // Vertical DOP
float m_fTDOP; // Time DOP
float m_fCovNN; // Covaraince North-North
float m_fCovNE; // Covaraince North-East
float m_fCovNU; // Covaraince North-Up
float m_fCovEE; // Covaraince East-East
float m_fCovEU; // Covaraince East-Up
float m_fCovUU; // Covaraince Up-Up
unsigned short m_wCheckSum; // sum of all bytes of the header and data unsigned short m_wCRLF; //
Carriage Return Line Feed
} SBinaryMsg3; // length = 8 + 116 + 2 + 2 = 128 (108 =74 hex)
Related Commands:
JBIN
358
359
Bin5 Message
Message Type:
Binary
Description:
Base station information
$JBIN,5,r<CR><LF>
where:
• 'r' = message rate in Hz
Message Message Description Type Bytes Values

Format Component
Latitude Latitude of base station in degrees Double 8 -90.0 to 90.0

north
Longitude Longitude of base station in Double 8 -180.0 to 180.0

degrees east
Height Base station altitude in meters Float 4
BaseID Base station ID Unsigned short 2 0 to 65535
Spare Unsigned short 2
DiffFormat String giving the format of the Char array 16*1 = 16

differential (i.e. RTCM3)
Spare Unsigned short 16*2 = 32

array
Structure:
typedef struct
double m_dLatitude; // Base Latitude degrees, -90..90 [8 bytes]
double m_dLongitude; // Base Longitude degrees, -180..180 [8 bytes]
float m_fHeight; // Base Altitude ellipsoid, (m) [4 bytes]
unsigned short m_wBaseID; // BaseID [2 bytes]
unsigned short m_wSpare; // Spare [2 bytes]
char m_szDiffFormat[16]; // String giving format of Differential [16 bytes]
360
unsigned short m_awSpare[16]; // 32 bytes of spare [32 bytes]
Related Commands:
JBIN
361
Bin 6 Message
Message Type:
Binary
Description:
Manual Mark Tag
Message Format:
The message is output when the manual mark is triggered.
Time of Week GPS tow (sec) associated with this Double 8 0.0 to 604800.0
message
GPS Week GPS week associated with this message Unsigned short 2 0 to 65535
Spare Spare Unsigned short 2
Structure:
/*****************************************************/
/* SBinaryMsg6 Manual Mark Tag Preceding MM messages*/
/*****************************************************/
typedef struct
Related Commands:
Topic Last Updated: June 1, 2018
362
Bin16 Message
Message Type:
Binary
Description:
Generic GNSS observations (see notes on message 76)
$JBIN,16,r<CR><LF>
where:
• 'r' = message rate in Hz (1 or 0)
Message Format:
Tow Time in seconds double 8
Week GPS week number Unsigned short 2

0-65535
Spare1 Not used at this time Unsigned short 2 Future Use
PageCount Page information Unsigned long 4 See following
· [0-15] Spare bits
· [16,17,18,19,20,21] Number of Pages =N
· [22,23,24,25,26,27] Page Number [0...N-1]
· [28,29,30,31] Spare bits
AllSignalsIncluded_ Bit mask of all signals included in Unsigned long 4 See following
01 the set of pages
bit 0 = GPS:L1CA included
bit 1 = GPS:L2P included
bit 2 = GPS:L2C included
363
bit 3 = GPS:L5 included
bit 7:4 = spare
bit 8 = GLO:G1C or GLO:G1P included
bit 9 = GLO:G2C or GLO:G1P included it 15:10 = spare
bit 16 = GAL:E1BC included
bit 17 = GAL:E5A included
bit 18 = GAL:E5B included
bit 23:19 = spare
bit 24 = BDS:B1I included

AllSignalsInclude Bit mask of all signals included Unsigned long 4 See following
d_02 in the set of pages
· bit 0 = QZS:L1CA included
· bit 1 = spare
• ϒϒϒϒbit 2 = QZS:L2C included
· bit 3 = QZS:L5 included
· bit 4 = QZS:L1C included
· bit 31:5 = spare
Obs[16] 16 sets of observations Structure array 16*12 =
192
CodeMSBsPRN Array of 16 32-bit words Array of unsigned 16*4=64

longs
bit 7:0 (8 bits) = satellite PRN,= 0 if no satellite
· bit 12:8 (5 bits) = Log_Base_2(X+1)
where X = Time, in units of 1/100th sec, since carrier phase tracking was last stressed or cycle slipped
364
of code pseudorange LSB = 256 meters
MSB = 67108864 meter
[15,14] spare bits

[13] = 1 if GLONASS P-Code
[12,11,10,9,8] = Channel (0 is the first channel)
[7,6,5,4] = Signal ID (L1CA, L5, G1, B1I, B2I, B3I, etc)
GPS Signal ID: L1CA=0, L2P=1, L2C=2, L5=3
GLO Signal ID: G1C/G1P=0, G2C/G2P=1, G10C=4, G20C=5, G30C=6
GAL Signal ID: E1BC=0, E5A=1, E5B=2, E6=3, ALTBOC=4
BDS Signal ID: B1I=0, B2I=1, B3I=2,B1BOC=3,B2A=4,B2B=5,B3C=6,ACEBOC=7
QZS Signal ID: L1CA=0, L2C=2, L5=3, L1C=4
[3,2,1,0] = GNSS System, 0=GPS,1=GLO,2=GAL,3=BDS,4=QZS
• [3,2,1,0] = GNSS System, 0=GPS,1=GLO,2=GAL,3=BDS,4=QZS
CheckSum Sum of all bytes of header and Unsigned short 2

data
CRLF Carriage return line feed Unsigned short 2
Structure:
typedef struct
//[16,17,18,19,20,21] Number of Pages = N
//[22,23,24,25,26,27] Page Number [0...N-1]
//[28,29,30,31] Spare bits
// bit 7:4 = spare
// bit 8 = GLO:G1C or GLO:G1P

365
included
included
// bit 9 = GLO:G2C or GLO:G1P
// bit 1 = spare
// bit 31:5 = spare
PRN,
satellite
Log_Base_2(X+1) units of 1/100th sec,
// bit 7:0 (8 bits) = satellite
// = 0 if no
// bit 12:8 (5 bits) =
// where X = Time, in
tracking was last stressed
bits meters
366
67108864 meters
// since carrier phase
// or cycle slipped
// bit 31:13 (19 bits) = upper 19
// of code pseudorange LSB = 256
// MSB =
first channel)
G1, B1I, B2I, B3I, etc) L2C=2, L5=3

G2C/G2P=1 E5B=2
L5=3, L1C=4 0=GPS,1=GLO,2=GAL,3=BDS,4=QZS

//[12,11,10,9,8] = Channel (0 is the
//[7,6,5,4] = Signal ID (L1CA, L5,

// GPS Signal ID: L1CA=0, L2P=1,
// GLO Signal ID: G1C/G1P=0,
// GAL Signal ID: E1BC=0, E5A=1,
// BDS Signal ID: B1I=0, B2I=1, B3I=2
// QZS Signal ID: L1CA=0, L2C=2,
//[3,2,1,0] = GNSS System,

unsigned short and data m_wCheckSum; /// sum of all bytes of the header
(2 bytes)
unsigned short (2 bytes) m_wCRLF; // Carriage Return Line Feed
} SBinaryMsg16; // length = 8 +
(8+2+2+4+4+4+192+64+32=312) + 2 + 2 = 324
Related Commands:
JBIN
367
Bin19 Message
Message Type:
Binary
Description:
GNSS diagnostic information
$JBIN,19,r<CR><LF>
where:
· 'r' = message rate in Hz (1 or 0)
Message Format:
SecOfWeek Time of Week long 4
GPSWeek GPS Week Number unsigned short 2
NavMode Nav Mode unsigned char 1 0-255
UTCTimeDiff Whole seconds char 1

between UTC and
GPS time
PageCount Information about the unsigned long 4 Bits [16,17,18,19,20,21] Number of Pages = N
paging of the BIN19 Bits [22,23,24,25,26,27] Page Number [0...N-1]
message.
AllSignalsIncludes01 Bitmask of all signals unsigned long 4 bit 0 = GPS:L1CA included

includes in this set of bit 1 = GPS:L2P included
pages bit 2 = GPS:L2C included
bit 3 = GPS:L5 included
bit 7:4 = spare
bit 10 = Spare
bit 11 = Spare
bit 12 = GLO:G10C included
bit 15 = spare
bit 16 = GAL:E1BC included
bit 17 = GAL:E5A included
bit 18 = GAL:E5B included
bit 19 = GAL:E6 included
bit 20 = GAL:ALTBOC included
bit 23:21 = spare
bit 27 = BDS:B1BOC included
bit 28 = BDS:B2A included
bit 29 = BDS:B2B included
bit 30 = BDS:B3C included
bit 31 = BDS:ACEBOC included
368
bit 1 = spare
AllSignalsIncluded02 Continued bitmask of unsigned long 4
all signals included in
bit 2 = QZS:L2C included

this set of pages.
bit 3 = QZS:L5 included

bit 4 = QZS:L1C included
bit 5 = QZS:LEX included
bit 31:6 = spare
369
Spare unsigned short 2
ChannelData[16] Detailed data for SGENERICchanData[] 320

each signal included.
ChanSignalSYS Information about the unsigned short[] 32
[15,14] spare bits

type of signal
represented by each
[13] = 1 if GLONASS P-Code

entry in ChannelData
[12,11,10,9,8] = Channel (0 is
the first channel)
[7,6,5,4] = Signal ID (L1CA, L5,
G1, B1I, B2I, B3I, etc)
GPS Signal ID: L1CA=0, L2P=1,
L2C=2, L5=3
GLO Signal ID: G1C/G1P=0,
G2C/G2P=1, G10C=4, G20C=5,
G30C=6
GAL Signal ID: E1BC=0, E5A=1,
E5B=2, E6=3, ALTBOC=4
BDS Signal ID: B1I=0, B2I=1,
B3I=2,B1BOC=3,B2A=4,B2B=5,
B3C=6,ACEBOC=7
QZS Signal ID: L1CA=0, L2C=2,
L5=3, L1C=4
[3,2,1,0] = GNSS System,
0=GPS,1=GLO,2=GAL,3=BDS,4
=QZS
370
CheckSum Sum of all bytes of Unsigned short 2
header and data
CRLF Carriage return line Unsigned short 2

feed
Structure:
//=====================================================================
// SGENERICchanData
//=====================================================================
typedef struct
unsigned char m_bySV; // Bit (0-6) = SV slot, 0 == not trackedunsigned char m_byAlm_Ephm_Flags; // ephemeris
and almanac status flags
// bit 3: unused
// bit 6: unused
// bit 7: Satellite doesn't exist unsigned char m_byStatus; // Status bits (code carrier bit frame...) char
m_chElev; // elevation angle
unsigned char m_byAzimuth; // 1/2 the Azimuth angleunsigned char m_byLastMessage; // last message
processedunsigned char m_bySlip; // cycle slip on chan 1 char m_cFlags; //
// [0] bChanEnabled
371
unsigned short m_wCliForSNR; // code lock indicator for SNR divided by 32 short m_nDiffCorr; // Differential
correction * 100
short m_nDoppHz; // expected doppler in HZ at B1 frequency short m_nNCOHz; // track from NCO
in HZ
short m_nPosResid; // position residual * 1000 unsignedshort m_wAllocType; //
} SGENERICchanData; // (20 bytes)
// -
// SBinaryMsg19
// Generic GNSS message for signal tracking status
// -
typedef struct
long m_lSecOfWeek; // tow (4 bytes)
unsigned short m_wGPSWeek; // GPS Week Number (2 bytes)
unsigned char m_byNavMode; // Nav Mode FIX_NO, FIX_2D, FIX_3D (high bit =has_diff)
char m_cUTCTimeDiff; // whole Seconds between UTC and GPS unsigned long m_uPageCount; //
[0-15] Spare bits (4 bytes)
// [16,17,18,19,20,21] Number of Pages = N
// [22,23,24,25,26,27] Page Number [0...N-1]
// [28,29,30,31] Spare bits
// Bit mask of all signals included in the set of pages unsigned long m_uAllSignalsIncluded_01; // bit 0 = GPS:L1CA
included
// bit 7:4 = spare
372
// bit 31:27 = spare unsigned long m_uAllSignalsIncluded_02; // bit 0 = QZS:L1CA included
// bit 1 = spare
// bit 31:5 = spare
short m_nClockErrAtL1;// clock error at L1, Hz (2 bytes)unsigned short m_wSpare1; // spare (2

bytes)
SGENERICchanData m_asChannelData[CHANNELS_gen]; // channel data 16x20 = 320
// GPS Signal ID = 0: L1CA, 1: L2P, 2: L2C, 3: L5
// GLO Signal ID = 0: G1C/G1P, 1: G2C/G2P
// GAL Signal ID = 0: E1BC, 1: E5A, 2:E5B
// BDS Signal ID = 0: B1I, 1: B2I, 2:B3I
// QZS Signal ID = 0: L1CA, 1: xxx, 2:L2C, 3: L5,
4: L1C
} SBinaryMsg19; // length = 8+(4+2+1+1+4+4+4+2+2+320+32)+2+2 = 8 + (376) + 2 + 2 =
373
Related Commands:
374
Bin22 Message
Message Type:
Binary
Description:
QZSS Almanac
$JBIN,22,r<CR><LF>
where:
'22' = Bin22 message
'r' = 1 to turn on the message, 0 to turn off the message
Message Format:
Message Description Type Bytes

Component
PRN Satellite PRN Unsigned 1

char
Spare1 Spare Unsigned 1

char

char
Almwords Almanac Words Long[12] 12*4 = 48
alAlmwords[0] toa
alAlmwords[1]
alAlmwords[2] e
alAlmwords[3] ω
alAlmwords[4] M0
alAlmwords[5]
alAlmwords[6]
alAlmwords[7]
alAlmwords[8] SV Health
alAlmwords[9] WNa
375
All of the scalefactors, number of bits, and units can be found in

the BeiDou ICD on page 37:
http://en.beidou.gov.cn/SYSTEMS/ICD/201806/P020180608523308843290.pdf
Structure:
//-----------------------------------------------------------------------------
// SBinaryMsg22
// QZSS Almanac
//-----------------------------------------------------------------------------
typedef struct
long alAlmwords[12]; // Almanac words
Related Commands:
Topic Last Updated: v2.0 / April 30, 2019
376
Bin32 Message
Message Type:
Binary
Description:
BeiDou Almanac
$JBIN,32,r<CR><LF>
where:
Message Format:

Component

char

char

char
alAlmwords[0] toa
alAlmwords[1]
alAlmwords[2] e
alAlmwords[3] ω
alAlmwords[4] M0
alAlmwords[5]
alAlmwords[6]
alAlmwords[7]
[a0 |a1 |Health]

alAlmwords[8]
Bits [30:20|19:9|8:0]
alAlmwords[9] WNa
377
All of the scalefactors, number of bits, and units can be found in

the BeiDou ICD on page 37:
http://en.beidou.gov.cn/SYSTEMS/ICD/201806/P020180608523308843290.pdf
Structure:
// -
// SBinaryMsg32
// BeiDou Almanac
// -
typedef struct
Related Commands:
Topic Last Updated: v2.0 April, 30, 2019
378
Bin 34 Message
Message Type:
Binary
Description:
BeiDou -> GPS, ->GLO, -> GAL, ->UTC time offset parameters
$JBIN,34,r<CR><LF>
where:
'r' = message rate in Hz (1 or 0)
Message Format:
A0UTC, A1UTC BDT clock bias Int 4 x 2=8

relative to UTC
A0GPS, A1GPS BDT click bias Unsigned short 2 x 2=4

relative to GPS
time
A0GAL, A1GAL BDT clock bias Unsigned short 2 x 2=4

relative to Galileo
system time
A0GLO, A1GLO BDT clock bias Unsigned short 2 x 2=4

relative to
GLONASS time
Toa Unsigned char 1
Almanac
reference time
Wna Almanac week Unsigned char 1

number
Dtls Char 1
Delta time due to
leap seconds
before the new
leap second
effective
Wnlsf Week number of Unsigned char 1

the new leap
second
379
Dn Day number of Unsigned char 1

week of the new
leap second
Dtslf Delta time due to Char 1

leap seconds
after the new leap
second effective
Spare1 Short 2 Future use
Structure:
//
// SBinaryMsg34 --- BeiDou -> GPS, ->GLO, -> GAL, ->UTC time offset parameters
// Information is in D1
// -
typedef struct
int m_A0UTC; //BDT clock bias relative to UTC
int m_A1UTC; //BDT clock rate relative to UTC
short m_A0GPS; //BDT clock bias relative to GPS time
short m_A1GPS; //BDT clock rate relative to GPS time
short m_A0GAL; //BDT clock bias relative to Galileo system time
short m_A1GAL; //BDT clock rate relative to Galileo system time
short m_A0GLO; //BDT clock bias relative to GLONASS time
short m_A1GLO; //BDT clock rate relative to GLONASS time
unsigned char m_toa; //Almanac reference time (assuming this is also correct for the time offsets)
unsigned char m_Wna; //Almanac week number (assuming this is also correct for the time offsets)
char m_dtls; //Delta time due to leap seconds before the new leap second effective
unsigned char m_wnlsf; //Week number of the new leap second
380
unsigned char m_dn; //Day number of week of the new leap second
char m_dtlsf; //Delta time due to leap seconds after the new leap second effective
short m_spare1;
short m_spare2;
short m_spare3;
unsigned short m_wCheckSum; //sum of all bytes of the header and data
} SBinaryMsg34; // length = 8+(4+4+2+2+2+2+2+2+1+1+1+1+1+1+2+2+2=32)+2+2 = 8 + (32) + 2 + 2

= 44
Related Commands:
Topic Last Updated: v1.10 June 1, 2018
381
Bin35 Message
Message Type:
Binary
Description:
BeiDou ephemeris information
$JBIN,35,r<CR><LF>
where:
''r' = 1 (on) or 0 (off),
When set to on the message is sent once (one message for each tracked satellite at 1 second intervals) and then sent
again whenever satellite information changes
Message Format:

Component
SV Satellite to which this data belongs Unsigned short 2
Spare1 Not used at this time Unsigned short 2 Future use
SecOfWeek Time at which this arrived (LSB=6) Unsigned long 4
BeiDouNav[30] Unparsed BeiDou Navigation See following 4 x 30 =

message
120
382
Elements correspond to the ephemeris values as defined in the BeiDou ICD:
1. Element 00, BDS_tow, Unsigned (4 bytes)
2. Element 01, BDS_toc, Unsigned (4 bytes)
3. Element 02, BDS_a0, Signed (4 bytes)
4. Element 03, BDS_a1,Signed (4 bytes)
5. Element 04, BDS_a2, Signed (4 bytes)
6. Element 05, BDS_toe, Unsigned (4 bytes)
7. Element 06, BDS_Root_A, Unsigned (4 bytes)
8. Element 07, BDS_Eccentricity, Unsigned (4 bytes)
9. Element 08, BDS_omega_perigee, Signed (4 bytes)
10. Element 09, BDS_DeltaN_MeanMotionDiff, Signed (4 bytes)
11. Element 10, BDS_M_MeanAnomaly, Signed (4 bytes)
12. Element 11, BDS_OMEGA0_Lon_Ascending, Signed (4 bytes)
13. Element 12, BDS_OMEGA_DOT, Signed (4 bytes)
14. Element 13, BDS_io_InclinationAngle, Signed (4 bytes)
15. Element 14, BDS_IDOT_RateInclination, Signed (4 bytes)
16. Element 15, BDS_Cuc_AmpCosHarmonicLat, Signed (4 bytes)
17. Element 16, BDS_Cus_AmpSinHarmonicLat, Signed (4 bytes)
18. Element 17, BDS_Crc_AmpCosHarmonicRadius, Signed (4bytes)
19. Element 18, BDS_Crs_AmpSinHarmonicRadius, Signed (4bytes)
20. Element 19, BDS_Cic_AmpCosHarmonicInclination, Signed (4 bytes)
21. Element 20, BDS_Cir_AmpSinHarmonicInclination, Signed (4 bytes)
22. Element 21, BDS_TGD1_TGD2, Unsigned (4 bytes) TGD1 in lower 10 bits (bits 0-9)
TGD2 in next 10 bits (10-19)
23. Element 22, BDS_WN, Unsigned (4 bytes)
24. Element 23, BDS_alpha_0_1_2_3, Unsigned (4 bytes)
Packed with 4, 8-bit words, exactly as defined in the BeiDou ICD Alpha3 in lower 8 bits (bits 0-7)
Alpha2 in next 8 bits (bits 8-15) Alpha1 in next 8 bits (bits 16-23) Alpha0 in upper 8 bits (bits 24-31)
25. Element 24, BDS_beta_0_1_2_3, Unsigned (4 bytes)
Packed with 4, 8-bit words, exactly as defined in the BeiDou ICD Beta3 in lower 8 bits (bits 0-7)
Beta2 in next 8 bits (bits 8-15) Beta1 in next 8 bits (bits 16-23) Beta0 in upper 8 bits (bits 24-31)
383
26. Element 25, BDS_SatH1_IODC_URA1_IODE, Unsigned (4 bytes) IODE in lower 5 bits (bits 0-4)
URA1 in next 4 bits (bits 5-8) IODC in next 5 bits (bits 9-13) SatH1in next 1 bit (bit 14)
27. Element 26, spare (4 bytes)
Structure:
typedef struct
unsigned short m_wSV; /* The satellite to which this data belongs*/
unsigned short m_wSpare1; /* spare 1 (chan number (as zero 9/1/2004) */
unsigned long m_TOW6SecOfWeek; /* time at which this arrived (LSB= 6sec)
*/
unsigned long m_BeidouNav[30]; /* Unparsed BeiDou navigation words.
*/
Read needed. */
/* Each of the BeiDou nav words contains one 32- bit signed or unsigned word.
as a signed or unsigned long as
unsigned short m_wCheckSum; /* sum of all bytes of the header and
data */
Related Commands:
JBIN
384
Bin36 Message
Message Type:
Binary
Description:
BeiDou code and carrier phase information (all frequencies)
$JBIN,36,r<CR><LF>
where:
• ϒϒ'36' = Bin36 message
• 'r' = message rate in Hz (20, 10, 2, 1, or 0)
Message Format:
Tow Time in seconds Double 2
Spare1 Spare 1 (zero) Unsigned short 2
FreqPage See following Unsigned long 4
31. Bits 0-19 (20 bits) Spare bits
32. Bits 20-23 (4 bits) Number of pages
33. Bits 24-27 (4 bits) Page number
34. Bits 28-31 (4 bits)
Signal ID (0 = B1I, 1 = B2I, 2 = B3I)
Obs[CHANNELS_20] 20 sets of BeiDou SObsPacket 20 x 12

observations
= 240
1CodeMSBsPRN[CHANNELS_20] See following Unsigned long 20 x 4 =
80
385
• Bits 0-7 (8 bits)
Satellite PRN, 0 if no satellite
• Bits 8-12 (5 bits) Spare bits
• Bits 13- 31 (19 bits)
Upper 19 bits of B1/B2/B3, LSB = 256 meters, MSB = 67108864 meters
Structure:
typedef struct
unsigned long m_uFreqPage; //[0-19] Spare bits
//[24,25,26,27] Page Number
SObsPacket m_asObs[CHANNELS_20]; // 20 sets of BeiDou observations (20*12=240 bytes)
unsigned long m_aulCodeMSBsPRN[CHANNELS_20]; // array of 20 words (20*4=80 bytes)
// bit 7:0 (8 bits) = satellite PRN, 0
// if no satellite
// bit 12:8 (5 bits) = spare
// of B1/B2/B3 LSB = 256 meters
// MSB = 67108864 meters
} SBinaryMsg36; // length = 8 + (8+2+2+4+240+80=336) + 2 + 2 = 348
// -
386
// SBinaryMsg16 Generic GNSS observations (see notes on mesage 76)
// 12 observations per message, multiple pages of messages, See BIN_MSG_HEAD_TYPE16
// -
typedef struct
//[16,17,18,19,20,21] Number of Pages = N
//[22,23,24,25,26,27] Page Number [0...N-1]
//[28,29,30,31] Spare bits
// bit 7:4 = spare
// bit 10 = Spare
// bit 11 = Spare
// bit 15 = spare
387
// bit 1 = spare
// bit 31:6 = spare
// bit 7:0 (8 bits) = satellite PRN,
// = 0 if no satellite
// bit 12:8 (5 bits) = Log_Base_2(X+1)
// where X = Time, in units of 1/100th sec,
// since carrier phase tracking was last stressed
// or cycle slipped
// of code pseudorange LSB = 256 meters
// MSB = 67108864 meters
388
// QZS Signal ID: L1CA=0, L2C=2, L5=3, L1C=4
} SBinaryMsg16; // length = 8 + (8+2+2+4+4+4+192+64+32=312) + 2 + 2 = 324
//=====================================================================
// SGENERICchanData (was called SBEIDOUChanData)
//
// Note: Currently we have some redundant stuff in all 3 pages
// perhaps we should eliminate the redundant stuff
// and only put in page 1 and not 2 & 3???
//=====================================================================
typedef struct
unsigned char m_bySV; // Bit (0-6) = SV slot, 0 == not tracked
unsigned char m_byAlm_Ephm_Flags; // ephemeris and almanac status flags
// bit 3: unused
// bit 6: unused
// bit 7: Satellite doesn't exist
unsigned char m_byStatus; // Status bits (code carrier bit frame...)
char m_chElev; // elevation angle
unsigned char m_byAzimuth; // 1/2 the Azimuth angle
unsigned char m_byLastMessage; // last message processed
unsigned char m_bySlip; // cycle slip on chan 1
char m_cFlags; // RFR_150501 was m_cSpare1;
// [0] bChanEnabled
389
unsigned short m_wCliForSNR; // code lock indicator for SNR divided by 32
short m_nDiffCorr; // Differential correction * 100
short m_nDoppHz; // expected doppler in HZ at B1 frequency
short m_nPosResid; // position residual * 1000
unsigned short m_wAllocType; //RFR_150501 was m_nSpare2
} SGENERICchanData; //Changed to generic B1/B2/B3 message 3/18/2013 (20 bytes)
Related Commands:
JBIN
390
Bin42 Message
Message Type:
Binary
Description:
Galileo Almanac
$JBIN,42r<CR><LF>
where:
Message Format:

Component

char

char

char
alAlmwords[0] WNa
alAlmwords[1] toa
alAlmwords[2]
alAlmwords[3] e
alAlmwords[4]
alAlmwords[5]
alAlmwords[6]
alAlmwords[7] ω
alAlmwords[8] M0
alAlmwords[9] af0
alAlmwords[10] af1
391
[E5aHS | E5bHS | E1BHS]

alAlmwords[11]
Bits [2|2|2]
All of the scalefactors, number of bits, and units can be found

in the Galileo ICD on page 53:
https://www.gsc-europa.eu/system/files/galileo_documents/Galileo-OS-SIS-ICD.pdf
Structure:
// -
// SBinaryMsg42
// Galileo Almanac
// -
typedef struct
Related Commands:
392
Bin44 Message
Message Type:
Binary
Description:
Galileo time conversion parameters
$JBIN,44,r<CR><LF>
where:
'r' = 1 (on) or 0 (off)
When set to on the message is sent once and then sent again whenever satellite information changes
Message Format:

Component
A0, A1 Coefficients for determining UTC time Double 8 x 2 = 16
tot Reference time for A0 and A1, second of Unsigned long 4

Galileo week
wnt Current Galileo reference week Unsigned short 2
wnlsf Week number when dtlsf becomes Unsigned short 2

effective
dn Day of week (1-7) when dtlsf becomes Unsigned short 2

effective
dtls Cumulative past leap seconds Short 2
dtlsf Scheduled future leap seconds Short 2
Spare Not used at this time Short 2 Future use
A0G, A1G Coefficients of GGTO polynomial Double 8 x 2 = 16
T0G Reference time of week for GGTO Unsigned long 4
WN0G Reference week for GGTO Unsigned short 2
GGTOisValid Indicates if GGTO is valied Unsigned short 2 0 = GGTO Invalid
1 = GGTO Valid.
393
CheckSum Sum of all bytes of header and data Unsigned short 2
CRLF Carriage return line feed Unsigned short 2
Structure:
typedef struct
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
SUnionMsgHeader m_sHead; // Header of message.
// ---------------------------------------------------------(8 bytes)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Galileo Time to UTC conversion parameters (32 bytes).
double m_A0; // Constant term of polynomial to
double m_A1; // 1st order term of polynomial to
// determine UTC from Galileo Time.unsigned long m_tot; // Reference time for A0 & A1, sec of
// Galileo week.
unsigned short m_wnt; // Current Galileo reference week. unsigned short m_wnlsf; // GST Week number
when m_dtlsf
unsigned short m_dn; // Day of the week 1 (= Sunday) to
// 7 (= Saturday) when m_dtlsf
short m_dtls; // Cumulative past leapseconds. short m_dtlsf; // Scheduled futre (past) leap
// seconds. unsigned short m_wSpare1; // Spare (zero).
// -------------------------------------------------------- (32 bytes)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// GPS Time to Galileo Time conversion parameters (GGTO Parameters).
//
// dTsys = Tgal - Tgps = m_A0G + m_A1G [TOW - m_t0G + 604800*(WN - m_WN0G)]
//
// where,
// dTsys = The time difference between systems
394
// Tgal = Galileo Time
// Tgps = GPS Time
// TOW = Galileo Time of Week
// WN = Galileo Week Number
// remaining parameters follow.
double m_A0G; // Constant term of GGTOpolynomial. double m_A1G; // 1st order term of GGTO
polynomial. unsigned long m_t0G; // Reference time of week for GGTO.
unsignedshort m_WN0G; // Reference week for GGTo.
unsigned short m_wGGTOisValid; // Coded: 0 == GGTO Invalid,
// 1 == GGTO Valid.
// The Galileo OS-SIS-ICD indicates
// that when satellite broadcasts
// all 1 bit values for A0G, A1G,
// t0G, and WN0G then "the GGTO is
// considered as not valid."
// -------------------------------------------------------- (24 bytes)
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Message Tail
unsigned short m_wCheckSum; // Sum of all bytes of the header and
// data.
unsigned short m_wCRLF; // Carriage Return Line Feed.
// -------------------------------------------------------- (4 bytes)
} SBinaryMsg44; // length = 8 + (32+24) + 2 + 2 = 68.
R elated Commands:
JBIN
395
Bin45 Message
Message Type:
Binary
Description:
Galileo ephemeris information
$JBIN,45,r<CR><LF>
where:
''r' = 1 (on) or 0 (off),
Message Format:

Component
SV Satellite to which this data Unsigned short 2

belongs
SecOfWeek Time at which this arrived Unsigned long 4

(LSB = 6)
SF1words[10] Unparsed SF 1 message Unsigned long 4 x 10 = 40
Structure:
typedef struct
unsigned short m_wSV; /* The satellite to which this data belongs.
396
unsigned long m_TOW6SecOfWeek; /* time at which this arrived (LSB = 6sec)
unsigned long m_SF1words[10]; /* Unparsed SF 1 message words. */ unsigned long m_SF2words[10]; /*

Unparsed SF 2 message words. */ unsigned long m_SF3words[10]; /* Unparsed SF 3 message words.*/
30 bits, The upper two bits are ignored Bits

are placed in the words from left to
right as they are received */
unsigned short m_wCheckSum; /* sum of all bytes of the datalength */

unsigned short m_wCRLF; Carriage Return Line Feed */
} SBinaryMsg95; length = 8 + (128) + 2 + 2 = 140 */

/*
/*
Related Commands:
JBIN
397
Bin62 Message
Message Type:
Binary, GLONASS
Description:
GLONASS almanac information
$JBIN,62,r<CR><LF>
where:

Component
SV Satellite to which this data belongs Byte 1
Ktag_ch Proprietary data Byte 1
Spare1 Spare, keeps alignment to 4 bytes Unsigned short 2
Strings[3] GLONASS almanac data (36 bytes) SGLONASS string 36
• 0 & 1 = Two almanac SFs
• 3= SF 5
Structure:
typedef struct
unsigned char m_byKtag_ch; /* Proprietary data */
unsigned short m_wSpare1; /* Spare, keeps alignment to 4 bytes */ SGLONASS_String m_asStrings[3]; /*

glonass almanacdata (36 bytes)
0 & 1 = Two almanac SFs, 3= SF 5*/ unsigned short m_wCheckSum; /* sum of all bytes of the datalength */
398
Related Commands:
JBIN
399
Bin65 Message
Message Type
Binary, GLONASS
Description:
GLONASS ephemeris information
$JBIN,65,r<CR><LF>
where:
''r' = 1 (on) or 0 (off),
Message Format:
SV Satellite to which this data Byte 1

belongs
Ktag Satellite K Number + 8 Byte 1
Spare1 Spare, keeps alignment to 4 Unsigned short 2

bytes
TimeReceivedInSeconds Time at which this arrived Unsigned long 4
Strings[5] First five strings of GLONASS SGLONASS string 60

frame (60 bytes)
Structure:
typedef struct
400
unsigned char m_byKtag; /* The satellite K Number + 8. */ unsignedshort m_wSpare1; /* Spare, keeps
alignment to 4 bytes*/ unsigned long m_ulTimeReceivedInSeconds; /* time at which this arrived */
SGLONASS_String m_asStrings[5]; /* first 5 Strings of Glonass Frame (60 bytes)
*/
Related Commands:
JBIN
401
Bin66 Message
Message Type:
Binary, GLONASS
Description:
GLONASS L1/L2 code and carrier phase information
$JBIN,66,r<CR><LF>
where:
'r' = message rate in Hz (20, 10, 2, 1, or 0)
Message Format:
Tow Time in seconds Double
Week GPS week number Unsigned short
Spare1 Spare 1 (zero) Unsigned short
Spare2 Spare 2 (zero) Unsigned long
L1Obs[CHANNELS_12] 12 sets of L1 SObsPacket

(GLONASS)
observations
L2Obs[CHANNELS_12] 12 sets of L2 SObsPacket

(GLONASS)
observations
L1CodeMSBsSlot[CHANNELS_12] See following Unsigned long
Satellite slot, 0 if no satellite
• Bits 8-12 (5 bits) Spare bit
• Bits 13- 31 (19 bits)
Upper 19 bits of L1, LSB = 256 meters, MSB = 67108864 meters
Structure:
402
typedef struct
unsigned short m_wSpare1; /* spare 1 (zero)*/ unsigned long m_ulSpare2; /* spare 2 (zero)*/
SObsPacket m_asL1Obs[CHANNELS_12]; /* 12 sets of L1(Glonass)
observations */ SObsPacket m_asL2Obs[CHANNELS_12]; /* 12 sets of L2(Glonass)
observations */ unsigned long m_aulL1CodeMSBsSlot[CHANNELS_12]; /* array of 12 words.
bit 7:0 (8 bits) =
satellite Slot, 0 if no satellite
spare
*/
bit 12:8 (5 bits) =
bit 31:13 (19 bits) = upper 19 bits of L1 LSB
= 256 meters
MSB = 67108864 meters
unsigned short m_wCheckSum; /* sum of all bytes of thedatalength */ unsignedshort m_wCRLF; /*

Carriage Return Line Feed */
Related Commands:
JBIN
403
Bin69 Message
Message Type:
Binary, GLONASS
Description:
GLONASS L1/L2diagnostic information
$JBIN,69,r<CR><LF>
where:
Message Format:
SecOfWeek Tow Long
L1usedNavMask Mask of L1 channels Unsigned short

used in nav solution
L2usedNavMask Mask of L2 channels Unsigned short

used in nav solution
ChannelData[CHANNELS_12] Channel data 12X24 = SGLONASSChanData

288
Week Week Unsigned short
Spare01 Spare 1 Unsigned char
Spare02 Spare 2 Unsigned char
Structure:
typedef struct
404
SGLONASSChanData m_asChannelData[CHANNELS_12]; /* channel data 12X24 = 288
*/
unsigned short m_wWeek; /* week */ unsignedchar m_bySpare01; /* spare 1 */

unsignedchar m_bySpare02; /* spare 2 */
unsigned short m_wCheckSum; /* sum of all bytes of the datalength */ unsigned short
m_wCRLF; /* Carriage Return Line Feed */
Related Commands:
JBIN
405
Bin76 Message
Message Type:
Binary
Description:
GPS L1/L2 code and carrier phase information
Note:
"Code" means pseudo range derived from code phase. "Phase" means range derived from carrier phase. This will
contain cycle ambiguities.
Only the lower 16 bits of L1P code, L2P code and the lower 23 bits of carrier phase are provided. The upper 19 bits of the
L1CA code are found in m_aulCACodeMSBsPRN[]. The upper 19 bits of L1P or L2P must be derived using the fact L1P
and L2P are within 128 m (419.9 ft) of L1CA.
To determine L1P or L2P:
1. Use the lower 16 bits provided in the message.
2. Set the upper bits to that of L1CA.
3. Add or subtract on LSB of the upper bits (256 meters (839.9 feet)) so that L1P or L2P are with in 1/2 LSB (128 m
(419.9ft))
The carrier phase is in units of cycles, rather than meters, and is held to within 1023 cycles of the respective code range.
Only the lower 16+7 = 23 bits of carrier phase are transmitted in Bin 76.
To determine the remaining bits:
1. Convert the respective code range (determined above) into cycles by dividing by the carrier wave length. This is
the nominal reference phase.
2. Extract the 16 and 7 bit blocks of carrier phase from bin 76 and arrange it to form the lower 23 bits of carrier
phase.
3. Set the upper bits (bit 23 and above) equal to those of the nominal reference phase
4. Add or subtract the least significant upper bit (8192 cycles) so that carrier phase most closely agrees with the
nominal reference phase (to within 4096 cycles).
$JBIN,76,r<CR><LF>
where:
'76' = Bin76message
Message Format:
TOW Predicted GPS time in seconds Double 8
Spare1 Unsigned long 2
406
Spare2 Unsigned long 4
L2PSatObs[12] L2 satellite observation data Structure array 12 x 12 =
(array for next 3 fields) 144
CS_TT_W3_SNR See following Unsigned long 4
• Bits 0-11 (12 bits)
SNR; 10.0 X log10(0.1164xSNR_value)
• Bits 12-14 (3 bits)
Cycle Slip Warn (warning for potential 1/2 cycle slips); a warning exists if any of these bits are
set
• Bit 15 (1 bit)
Long Track Time;1 if Track Time > 25.5 sec (0 otherwise)
• Bits 16-23 (8 bits)
Track Time (signal tracking time in seconds); LSB = 0.1 seconds; Range = 0 to 25.5
seconds
• Bits 24-31 (8 bits)
Cycle Slips; increments by 1 every cycle slip with natural roll-over after 255
P7_Doppler_FL See following Unsigned long 4
• Bit 0 (1 bit)
Phase Valid (Boolean);1 if valid phase (0 otherwise)
• Bits 1-23 (23 bits)
Doppler (magnitude of Doppler);LSB = 1/512 cycle/sec; Range = 0 to 16384 cycle/sec
• Bit 24 (1 bit)
Doppler Sign (sigh of Doppler);1 = negative, 0 = positive
• Bits 25-31 (7 bits)
Carrier Phase (High part) (Upper 7 bits of the 23 bit carrier phase): LSB = 64 cycles, MSB
= 4096 cycles
CodeAndPhase See following Unsigned long 4
407
• Bits 0-15 (16 bits)
Pseudorange (lower 16 bits of code pseudorange);LSB = 1/256 meters, MSB = 128 meters
Note: For CA code, the upper 19 bits are given in L1CACodeMSBsPRN[] below
• Bits 16-31 (16 bits)
Carrier Phase (lower 16 bits of the carrier phase); LSB = 1/1024 cycles, MSB = 32 cycles
Note: The 7 MSBs are given in P7_Doppler_FL (see preceding row in this table)
L1CASatObs[15] L1 satellite code observation Structure array 15 x 12 =

data
(array for next 3 fields) 180
CS_TT_W3_SNR See following Unsigned long 4
• Bits 0-11 (12 bits)
SNR; 10.0 X log10(0.1024xSNR_value)
• Bits 12-14 (3 bits)
Cycle Slip Warn (warning for potential 1/2 cycle slips); a warning exists if any of these bits
are set
• Bit 15 (1 bit)
Long Track Time;1 if Track Time > 25.5 sec (0 otherwise)
• Bits 16-23 (8 bits)
Track Time (signal tracking time in seconds); LSB = 0.1 seconds; Range = 0 to 25.5
seconds
• Bits 24-31 (8 bits)
Cycle Slips; increments by 1 every cycle slip with natural roll-over after 255
P7_Doppler_FL See following Unsigned long 4
• Bit 0 (1 bit)
Phase Valid (Boolean);1 if valid phase (0 otherwise)
• Bits 1-23 (23 bits)
Doppler (magnitude of Doppler);LSB = 1/512 cycle/sec; Range = 0 to 16384 cycle/sec
• Bit 24 (1 bit)
Doppler Sign (sigh of Doppler);1 = negative, 0 = positive
• Bits 25-31 (7 bits)
408
Carrier Phase (High part) (Upper 7 bits of the 23 bit carrier phase): LSB = 64 cycles,
MSB = 4096 cycles
CodeAndPhase See following Unsigned long 4
• Bits 0-15 (16 bits)
Pseudorange (lower 16 bits of code pseudorange);LSB = 1/256 meters, MSB = 128

meters
Note: For CA code, the upper 19 bits are given in L1CACodeMSBsPRN[] below
• Bits 16-31 (16 bits)
Carrier Phase (lower 16 bits of the carrier phase); LSB = 1/1024 cycles, MSB = 32
cycles
Note: The 7 MSBs are given in P7_Doppler_FL (see preceding row in this table)
L1CACodeMSBsPRN[15] L1CA code observation Array of 15 15 x 4 = See following

Unsigned long
60
PRN (space vehicle ID);PRN = 0 if no data
• Bits 8-12 (5 bits) Unused
• Bits 13-31 (19 bits)
L1CA Range (upper 19 bits of L1CA); LSB = 256 meters, MSB = 67,108,864 meters
L1PCode[12] L1(P) code observation Array of 12 12 x 4 = See following

data Unsigned long
48
• Bits 0-15 (16 bits)
L1P Range (lower 16 bits of the L1P code pseudorange);LSB = 1/256 meters, MSB =
128 meters
• Bits 16-27 (12 bits)
L1P SNR (L1P signal-to-noise ratio); SNR = 10.0 x log(0.1164 x SNR_value), if 0, then
L1P channel not tracked
409
wCeckSum Sum of all bytes of header Unsigned short 2

and data
wCRLF Carriage return line feed Unsigned short 2
Structure:
typedef struct
double m_dTow; /* GPS Time in seconds */
unsigned short m_wWeek; /* GPS Week Number */ unsigned short m_wSpare1; /* spare 1
(zero)*/ unsigned long m_ulSpare2; /* spare 2 (zero)*/
SObsPacket m_asL2PObs[CHANNELS_12]; /* 12 sets of L2(P) observations
*/
SObsPacket m_asL1CAObs[CHANNELS_L1_E]; /* 15 sets of L1(CA) observations
*/
nsigned long
u m_aulCACodeMSBsPRN[CHANNELS_L1_E]; /* array of 15words.
satellite
spare
upper
bit 7:0 (8 bits) =
PRN, 0 if no satellite bit 12:8 (5 bits) =
bit 31:13 (19 bits) =
19 bits of L1CA LSB
= 256 meters
MSB = 67108864 meters */
unsigned long m_auL1Pword[CHANNELS_12]; /* array of 12 words relating to L1(P)
16 range.
SNR_value
code. Bit 0-15 (16 bits) lower bits of the L1P code pseudo
LSB = 1/256 meters MSB
= 128 meters
410
Bits 16-27 (12 bits) = L1P
SNR = 10.0*log10(
0.1164*SNR_value)
If Bits 16-27 all zero, no L1P
track
Bits 28-31 (4 bits) spare */

Related Commands:
JBIN
411
Bin80 Message
Message Type:
Binary
Description:
SBAS data frame information

Message Format:
Component
PRN Broadcast PRN Unsigned short 2
Spare Not used at this time Unsigned short 2 Future use
MsgSecOfWeek Seconds of week for message Unsigned long 4
WaasMsg[8] 250-bit WAAS message (RTCA DO0229). Unsigned long 4x8=

8 unsigned longs, with most significant bit
received first. 32
$JBIN,80,r<CR><LF>
where:
Structure typedef struct
unsigned short m_wPRN; unsigned short /* Broadcast PRN */

m_wSpare;
unsigned long m_ulMsgSecOfWeek;

long m_aulWaasMsg[8]; short /* spare (zero) */
m_wCheckSum;
unsigned short m_wCRLF;

/* Seconds of Week For Message */ unsigned
/* Actual 250 bit waas message*/ unsigned
/* sum of all bytes of the datalength */
412
/* Carriage Return Line Feed */

Component
PRN Broadcast PRN Unsigned short 2
MsgSecOfWeek Seconds of week for message Unsigned long 4
WaasMsg[8] 250-bit WAAS message (RTCA DO0229). Unsigned long 4x8=

8 unsigned longs, with most significant bit
received first. 32
Related Commands:
JBIN
413
Bin89 Message
Message Type:
Binary
Description:
SBAS satellite tracking information (supports three SBAS satellites)
Message Format:
$JBIN,89,r<CR><LF>
where:
GPSSecOfWeek GPS tow integer sec Long
MaskSBASTracked SBAS satellites tracked, bit Byte

mapped 0..3
MaskSBASUSED SBAS satellites used, bit Byte

mapped 0..3
Spare Spare Unsigned short
ChannelData[CHANNELS_SBAS_E] SBAS channel data SChannelData
Structure:
typedef struct
{
SUnionMsgHeader long
m_sHead;
m_lGPSSecOfWeek; /* GPS tow integer sec */
unsigned char m_byMaskSBASTracked; /* SBAS Sats Tracked, bit mapped 0..3 */
unsigned char unsigned short
m_byMaskSBASUSED; /* SBAS Sats Used, bit mapped 0..3 */ m_wSpare; /* spare */
SChannelData unsigned short unsigned short
} SBinaryMsg89;
414
m_asChannelData[CHANNELS_SBAS_E]; /* SBAS channel data */ m_wCheckSum; /* sum of all bytes of

thedatalength */ m_wCRLF; /* Carriage Return Line Feed */
/* length = 8 + 80 + 2 + 2 = 92 */
Related Commands:
JBIN
415
Bin92 Message
Message Type:
Binary
Description:
QPS Almanac
$JBIN,92,r<CR><LF>
where:
· 'r' = 1 to turn on the message, 0 to turn off the message

Component

char

char

char
Refer to GPS ICD Almanac page 36.
alAlmwords[0] toa
alAlmwords[1]
alAlmwords[2] e
alAlmwords[3] ω
alAlmwords[4] M0
alAlmwords[5]
alAlmwords[6]
alAlmwords[7]
alAlmwords[8] SV Health
alAlmwords[9] WNa
..
416
Structure:
//-----------------------------------------------------------------------------
// SBinaryMsg92
// QPS Almanac
//-----------------------------------------------------------------------------
typedef struct
Related Commands:
417
Bin93 Message
Message Type:
Binary
Description:
SBAS ephemeris information
Message Format:
$JBIN,93,r<CR><LF>
where:

Component
TOWSecOfWeek Time at which this arrived (LSB = 1 sec) Unsigned long 4
IODE Unsigned short 2
URA Consult the ICD-GPS-200 for definition in Unsigned short 2

Appendix A
TO Bit 0 = 1 sec Long 4
XG Bit 0 = 0.08 m Long 4
YG Bit 0 = 0.08 m Long 4
ZG Bit 0 = 0.4 m Long 4
XGDot Bit 0 = 0.000625 m/sec Long 4
YXDot Bit 0 = 0.000625 m/sec Long 4
ZGDot Bit 0 = 0.004 m/sec Long 4
XGDotDot Bit 0 = 0.0000125 m/sec/sec Long 4
YGDotDot Bit 0 = 0.0000125 m/sec/sec Long 4
ZGDotDot Bit 0 = 0.0000625 m/sec/sec Long 4
Gf0 Bit 0 = 2**-31 sec Unsigned short 2
Gf0Dot Bit 0 = 2**-40sec/sec Unsigned short 2
418
Structure:
typedef struct
unsigned short m_wWeek; /* Week corresponding to m_lTOW*/
unsigned long m_lSecOfWeekArrived; /* time at which this arrived (LSB= 1sec)
*/
unsigned short m_wIODE;
unsigned short m_wURA; /* See 2.5.3 of Global Pos Sys Std Pos Service Spec
*/
long m_lTOW; /* Sec of WEEK Bit 0 = 1 sec */
long m_lXG; /* Bit 0 = 0.08 m */
long m_lYG; /* Bit 0 = 0.08 m */
long m_lZG; /* Bit 0 = 0.4 m */
long m_lXGDot; /* Bit 0 = 0.000625 m/sec */
long m_lYGDot; /* Bit 0 = 0.000625 m/sec */
long m_lZGDot; /* Bit 0 = 0.004 m/sec */
long m_lXGDotDot; /* Bit 0 = 0.0000125 m/sec/sec */ long m_lYGDotDot; /* Bit 0 = 0.0000125 m/sec/sec */ long
m_lZGDotDot;
/* Bit 0 = 0.0000625 m/sec/sec */ short m_nGf0; /* Bit 0 = 2**-31 sec */
short m_nGf0Dot; /* Bit 0 = 2**-40 sec/sec */
unsigned short m_wCheckSum; /* sum of all bytes of the datalength */ unsigned short m_wCRLF; /*
Related Commands:
JBIN
419
420
Bin94 Message
Message Type:
Binary
Description:
Ionospheric and UTC conversion parameters
Message Format:
$JBIN,94,r<CR><LF>
where:
'r' = 1 (on) or 0 (off)

Component
a0, a1,a2, a3 AFCRL alpha parameters Double 8 x 4 = 32
b0, b1,b2, b3 AFCRL beta parameters Double 8 x 4 = 32
A0, A1 Coefficients for determining UTC time Double 8 x 2 = 16
tot Reference time for A0 and A1, second of Unsigned long 4

GPS week
wnt Current UTC reference week Unsigned short 2
wnlsf Week number when dtlsf becomes Unsigned short 2

effective
dn Day of week (1-7) when dtlsf becomes Unsigned short 2

effective
dtls Cumulative past leap Short 2
dtlsf Scheduled future leap Short 2
Spare Not used at this time Short 2 Future use
When set to on the message is sent once and then sent again whenever satellite information changes
Structure:
typedef struct
421
/* Iono parameters. */
double m_a0,m_a1,m_a2,m_a3; /* AFCRL alpha parameters. */
double m_b0,m_b1,m_b2,m_b3; /* AFCRL beta parameters. */
/* UTC conversion parameters. */
double m_A0,m_A1; /* Coeffs for determining UTC time. */
unsigned long m_tot; /* Reference time for A0 & A1, sec of GPSweek. */ unsigned short m_wnt; /*
Current UTC reference week number. */
unsigned short m_wnlsf; /* Week number when dtlsf becomes effective. */
unsigned short m_dn; /* Day of week (1-7) when dtlsf becomes effective.
*/
short m_dtls; /* Cumulative past leap seconds.*/ short m_dtlsf; /* Scheduled future leap seconds. */ unsigned shortm_wSpare1; /* spare 4 (zero)*/
unsigned short m_wCheckSum; /* sum of all bytesof the datalength */ unsigned short m_wCRLF; /*
Related Commands:
JBIN
422
Bin95 Message
Message Type:
Binary
Description:
GPS ephemeris information
Message Format:
$JBIN,95,r<CR><LF>
where:
'r' = 1 (on) or 0 (off)

Component
SecOfWeek Time at which this arrived (LSB = 6) Unsigned long 4
Structure:
typedef struct
unsigned short m_wSV; /* The satellite to which this data belongs.
*/
unsigned long m_TOW6SecOfWeek; /* time at which this arrived (LSB = 6sec)
*/
423
unsigned long m_SF1words[10]; /* Unparsed SF 1 messagewords. */ unsignedlong m_SF2words[10]; /*

Unparsed SF 2 message words. */ unsigned long m_SF3words[10]; /* Unparsed SF 3 message words.*/
30 bits, The upper two bits are ignored Bits

are placed in the words from left to right as
they are received */

unsigned short m_wCRLF; Carriage Return Line Feed */
} SBinaryMsg95; length = 8 + (128) + 2 + 2 = 140 */

/*
/*
Related Commands:
JBIN
424
Bin96 Message
Message Type:
Binary
Description:
GPS L1 code and carrier phase information
Message Format:
$JBIN,96,r<CR><LF>
where:
TOW Predicted GPS time in seconds Double 8
UNICS_TT_SNR_PRN[12] See following Unsigned long 4
Pseudorandom noise; PRN is 0 if no data
Signal-to noise ratio (SNR); SNR=10.0 *log10* (0.8192*SNR)
• Bits 16-23 (8 bits)
PhaseTrackTime (PTT); in units of 1/10 sec; range=0 to 25 sec (if greater than 25 see UIDoppler_FL[12]
below)
• Bits 24-31 (8 bits)
CycleSlip Counter (CSC); increments by 1 every cycle with natural rollover after 255
UIDoppler_FL[12] See following Unsigned long 4
425
• Bit 0 (1 bit)
Phase; Location 0; 1 if valid (0 otherwise)
• Bit 1 (1 bit)
TrackTime; 1 if track time > 25.5 seconds (0 otherwise)
• Bits 4-31 (28 bits)
Doppler; Signed (two’s compliment) Doppler in units of m/sec x 4096. (i.e., LSB=1/4096), range
= +/- 32768 m/sec. Computed as phase change over 1/10 sec.
PseudoRange[12] Pseudorange Double 8
'r' = message rate in Hz (20, 10, 2, 1, or 0)
Phase[12] Phase (m) L1 wave = Double 8

0.190293672798365
Structure:
typedef struct
double m_dTow; /* Predicted GPS Time in seconds */
SObservations m_asObvs[CHANNELS_12];/* 12 sets of observations */
426
Related Commands:
JBIN
427
Bin97 Message
Message Type
Binary
Description:
Processor statistics
Message Format:
$JBIN,97,r<CR><LF>
where:
CPUFactor CPU utilization factor Multiply by 450e- Unsigned long 4 Positive

06 to get
percentage of spare CPU that is

available
Note: This field is only relevant on the

old SLX platforms and Eclipse platform.
It is not relevant for the Crescent
receivers.
MissedSubFrame Total number of missed sub frames in Unsigned short 2 Positive

the navigation message since power on
MaxSubFramePnd Max sub frames queued for processing Unsigned short 2 Positive
at any one time
MissedAccum Total number of missed code Unsigned short 2 Positive

accumulation measurements in the
channel tracking loop
MissedMeas Total number missed pseudorange Unsigned short 2 Positive

measurements
Spare 1 Not used at this time Unsigned long 4 Future use
Spare 4 Not used at this time Unsigned short 2 Future use
Spare 5 Not used at this time Unsigned short 2 Future use
428
Structure:
typedef struct
unsigned long m_ulCPUFactor; /* CPU utilization Factor (%=multby 450e-6)
*/
unsigned short m_wMissedSubFrame; /* missed subframes */ unsigned short m_wMaxSubFramePend; /* max

subframe pending */ unsigned short m_wMissedAccum; /* missed accumulations */ unsigned short
m_wMissedMeas; /* missed measurements */ unsigned long m_ulSpare1; /* spare 1 (zero)*/ unsigned
long m_ulSpare2; /* spare 2 (zero)*/ unsigned long m_ulSpare3; /* spare 3 (zero)*/
unsigned short m_wSpare4; /* spare 4 (zero)*/ unsigned short m_wSpare5; /* spare 5 (zero)*/
unsigned short m_wCheckSum; /* sum of all bytes of the datalength */ unsignedshort

Related Commands:
JBIN
429
Bin98 Message
Message Type:
Binary
Description:
GPS satellite and almanac information
$JBIN,98,r<CR><LF>
where:

Component
AlmanData[8] SV data, 8 at a time SSVAlmanData See following
LastAlman Last almanac processed Byte 1 0 to 31
IonoUTCVFlag Flag that is set when ionosphere Byte 1 0 = not logged 2 = valid
modeling data is extracted from the
GPS sub frame 4
Message Format:
typedef struct
Structure
SSVAlmanData m_asAlmanData[8]; /* SV data, 8 at a time */
unsigned char m_byLastAlman; /* last almanac processed */
unsigned char unsigned m_byIonoUTCVFlag; /* iono UTC flag */ spare */

short m_wSpare;
sum of all bytes of the datalength */
unsigned short m_wCheckSum;
/*
430
/*
} SBinaryMsg98; /* length = 8 + (64+1+1+2) + 2 + 2 = 80 */
Related Commands:
JBIN
431
Bin99 Message
Message Type:
Binary
Description:
GPS L1 diagnostic information
$JBIN,99,r<CR><LF>
where:
NavMode Navigation mode data Byte 1 Lower 3 bits
(lower 3 bits hold the take on the
GPS mode, upper bit values:
set if differential is 0 = time not
available) valid
1 = No fix
2 = 2D fix
3 = 3D fix
Upper bit (bit
7) is 1 if
differential is
available
UTCTimeDiff Whole seconds between Byte 1 Positive

UTC and GPS time (GPS
minus UTC)
GPSWeek GPS week associated with Unsigned short 2 0 to 65536

this message
GPSTimeofWeek GPS tow (sec) associated Double 8 0.0 to 604800.0

with this message
sChannelData[CHANNELS_12] Channel data SChannelData 12 x 24 =
288
432
ClockErrAtL1 Clock error of the GPS Short 2 -32768 to

clock oscillator at L1
frequency in Hz 32768
Structure:
typedef struct
unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D
(high bit =has_diff) */
char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS */ unsigned

shortm_wGPSWeek; /* GPS week */
SChannelData m_asChannelData[CHANNELS_12]; /* channel data*/ short m_nClockErrAtL1; /* clock error at

L1, Hz */
unsigned shortm_wSpare; /* spare */
unsigned short m_wCheckSum; /* sum of all bytes of the datalength */ unsignedshort

Related Commands:
JBIN
433
Bin100 Message
Message Type:
Binary
Description:
GPS L2 diagnostic information
Message Format:
$JBIN,100,r<CR><LF>
where:
NavMode Navigation mode data Byte 1 Lower 3 bits
(lower 3 bits hold the take on the
GPS mode, upper bit values:
set if differential is 0 = time not
available) valid
1 = No fix
2 = 2D fix
3 = 3D fix
Upper bit (bit
7) is 1 if
differential is
available
UTCTimeDiff Whole seconds between Byte 1 Positive

UTC and GPS time (GPS
minus UTC)
434

this message
MaskSatsUsedL2P L2P satellites used, bit Unsigned long

mapped 0..31

with this message
MaskSatsUsedL1P L1P satellites used, bit Unsigned long

mapped 0..31
sChannelData[CHANNELS_12] L2 channel data SChannelData 12 x 24 =
288
Structure typedef struct
unsigned char m_byNavMode; /* Nav Mode FIX_NO, FIX_2D, FIX_3D
(high bit =has_diff) */
char m_cUTCTimeDiff; /* whole Seconds between UTC and GPS */ unsigned

short m_wGPSWeek; /* GPS week */
unsigned long m_ulMaskSatsUsedL2P /* L2P SATS Used, bit mapped0..31 */


SChannelL2Data m_asChannelData[CHANNELS_12]; /* channel data */
unsigned short m_wCheckSum; /* sum of all bytes of the datalength */ unsigned short
Related Commands:
JBIN
435
Bin122 Message
Message Type:
Binary
Description:
Alternate position solution data
$JBIN,122,r<CR><LF>
where:
• '122' = Bin122message
• 'r' = message rate in Hz
Message Format Message Component Description Type Bytes Values
GPSTimeOfWeek GPS tow (sec) associated with this Double 8 to 604800.0

message
GPSWeek GPS week associated with this message Unsigned short 2 0 to 65535
PosType Type of position Unsigned char 1
0: Autonomous
1: SBAS
2: Differential phase solution
3: Differential code solution
4: RTK (fixed vs. float is not specified)
5: RTK Fixed
6: RTK Float
7: Tracer
8: Manual
9: Atlas (fixed vs. float not specified)
10: SureFix
11: FastFix
Correction source Source of corrections Unsigned char 1
0: No correction
1: SBAS
2: eDif
3: Atlas
436
6: RTCM unspecified version
7: RTCM 2.3
8: RTCM 3
9: ROX
11: CMR
BaseID Base station ID Unsigned short 2 0 to 65535
SatUsedCount Sats used in each system Unsigned char 6*1 = 6

array
[GPS, GLN, GAL, BDS, SBAS, QZSS]
Longitude Longitude in degrees east Double 8 -180.0 to 180.0
Height Altitude above ellipsoid in meters Float 4
AgeOfDiff Age of differential, in seconds Float 4
VNorth North-South velocity, +North m/s Float 4
VEast East-West velocity, +East m/s Float 4
VUP Vertical velocity, +up m/s Float 4
CovNN Covariance North-North Float 4
CovNE Covariance North-East Float 4
CovNU Covariance North-Up Float 4
CovEE Covariance East-East Float 4
CovEU Covariance East-Up Float 4
CovUU Covariance Up-Up Float 4
Structure:
typedef struct
437
unsigned char m_byPhxPosType; // Phoenix position type [1 bytes]
unsigned char m_byCorSource; // Phoenix correction source [1 byte ]
unsigned short m_wBaseStationId; // Base station ID [2 bytes]
unsigned char m_bySatUsedCount[6]; // Satellites used per system [6 bytes]
// [GPS GLN GAL BDS SBAS QZSS]
float m_fAgeOfDiff; // age of differential, seconds [4 bytes]
float m_fVNorth; // North-South Velocity +North m/s [4 bytes]
float m_fVEast; // East-West Velocity +East m/s [4 bytes]
float m_fCovNN; // Covariance North-North [4 bytes]
float m_fCovNE; // Covariance North-East [4 bytes]
float m_fCovNU; // Covariance North-Up [4 bytes]
float m_fCovEE; // Covariance East-East [4 bytes]
float m_fCovEU; // Covariance East-Up [4 bytes]
float m_fCovUU; // Covariance Up-Up [4 bytes]
Related Commands:
JBIN
438
Bin209 Message
Message Type:
Binary
Description:
SNR and status for all GNSS tracks
Message Format:
$JBIN,209,r<CR><LF>
where:
'r' = message rate in Hz

with this message

this message
UTCTimeDiff Whole Seconds char 1

between UTC and GPS
Page Bits 0-1 = Antenna: 0 = Unsigned char 1

Master, 1 = Slave, 2 =
Slave2
Bits 2-4 = Page ID: 0 =

page 1, 1 =
page 2, etc
Bits 5-7 = Max page ID: 0

= only 1
page, 1 = 2 pages
sSVData SNR data
Structure:
439
typedef struct
{
double m_dGPSTimeOfWeek; // GPS tow
unsigned short m_wGPSWeek; // GPS week
char m_cUTCTimeDiff; // Whole Seconds between UTC and GPS
unsigned char m_byPage;
// Bits 0-1 = Antenna: 0 = Master, 1 = Slave, 2 = Slave2
// Bits 2-4 = Page ID: 0 = page 1, 1 = page 2, etc
// Bits 5-7 = Max page ID: 0 = only 1 page, 1 = 2 pages
SSVSNRData m_asSVData[40]; // SNR data
Related Commands:
JBIN
440
SSVSNRData209
Message Type:
Binary
Description:
Satellite Data for Bin 209
Message Format:
Message Component Description Type Bytes
Status_SYS_PRNID status, GNSS system, PRN ID Unsigned Short 2
0-5 PRNID (for SBAS , PRNID = PRN-120)
Bit 6-8 SYS: 0 = GPS, 1 = GLONASS, 2 = GALILEO, 3 =

BEIDOU, 4=QZSS, 7 = SBAS
Bit 9 = code and Carrier Lock on L1,G1,B1
Bit 10 = code and Carrier Lock on L2,G2,B2
Bit 11 = code and Carrier Lock on L5,E5,B3
Bit 12 = Bit Lock and Frame lock (decoding data)
Bit 13 = Ephemeris Available
Bit 14 = Health OK
Bit 15 = Satellite used in Navigation Solution
m_wStatus_SYS_PRNID = 0 ==> unfilled data
m_chElev Elevation angle, LSB = 1 deg char 1
m_byAzimuth 1/2 the Azimuth angle, LSB = 2 deg Unsigned char 1
m_ulSNR3_SNR2_SNR1 Bits 0-10 SNR1 (L1,G1,B1, etc) 11 bits => Max SNR = Unsigned long 4
32.2 dB
Bits 11-21 SNR2 (L2,G2,B2, etc) 11 bits => Max SNR =

32.2 dB
Bits 22-31 SNR3 (L5,E5,B3, etc) 10 bits => Max SNR =

29.2 dB
441
Structure:
typedef struct
unsigned short m_wStatus_SYS_PRNID; // status, GNSS system, PRN ID
// Bit 0-5 PRNID (for SBAS , PRNID = PRN-120)
// Bit 6-8 SYS: 0 = GPS, 1 = GLONASS, 2 = GALILEO, 3 = BEIDOU, 4=QZSS, 7 = SBAS
// Bit 11 = code and Carrier Lock on L5,E5,B3
// Bit 12 = Bit Lock and Frame lock (decoding data)
// m_wStatus_SYS_PRNID = 0 ==> unfilled data
unsigned long m_ulSNR3_SNR2_SNR1; // 3 SNRs, 2 @ 11 bit & 1 @ 10 bits, each SNR = 10.0*log10( 0.8192*SNR_value)
// Bits 22-31 SNR3 (L5,E5,B3, etc) 10 bits => Max SNR = 29.2 dB
} SSVSNRData; // 8 bytes
Related Commands:
JBIN
442
Bin309 Message
Message Type:
Binary
Description:
SNR and status for all GNSS tracks
$JNIN,309,r<CR><LF>
where:
'r'=message rate in Hz
Message Format:

with this message

this message
UTCTimeDiff Whole Seconds char 1

between UTC and GPS
Page Bits 0-1 = Antenna: 0 = Unsigned char 1

Master, 1 = Slave, 2 =
Slave2
Bits 2-4 = Page ID: 0 =

page 1, 1 =
page 2, etc
Bits 5-7 = Max page ID: 0 =

only 1
page, 1 = 2 pages
sSVData309 SNR data SSVSNRData309 30 * 16 = 480
Structure:
typedef struct
unsigned shortm_wSYS_PRNID; // GNSS system, PRN ID
443
// Bit 0-6 PRNID (For SBAS , PRNID =

PRN-120. For QZSS, PRNID = PRN-192)
// Bit 7-10 SYS: 0 = GPS, 1 = GLONASS, 2

= GALILEO, 3 = BEIDOU, 4=QZSS, 7 = SBAS, 8 = IRNSS
// Bit 11-15 Spare
// m_wSYS_PRNID = 0 ==> unfilled data
unsigned shortm_wStatus; // status
// Bit 0 = code and Carrier Lock on

Signal 0

Signal 1

Signal 2

Signal 3

Signal 4

Signal 5

Signal 6

Signal 7
// GPS Signal ID: L1CA=0, L2P=1,

L2C=2, L5=3
// GLO Signal ID: G1C/G1P=0,

G2C/G2P=1, G10C=4, G20C=5, G30C=6
// GAL Signal ID: E1BC=0, E5A=1,

E5B=2, E6=3, ALTBOC=4
// BDS Signal ID: B1I=0, B2I=1,

B3I=2,B1BOC=3,B2A=4,B2B=5,B3C=6,ACEBOC=7
// QZS Signal ID: L1CA=0, L2C=2,

L5=3, L1C=4, LEX=5
// Bit 8 = Bit Lock and Frame lock

(decoding data) on Signal 0


444
// Bit 11 = spare
// Bit 12 = spare
// Bit 15 = Satellite used in Navigation

Solution
unsigned shortm_wLower2BitsSNR7_6_5_4_3_2_1_0; // Lower 2 bits of 10 bit SNR

for channel 7-0
// Bit 0-1, lower two bits of SNR on

Signal 0

Signal 1

Signal 2

Signal 3

Signal 4

Signal 5

Signal 6

Signal 7
unsigned char m_abySNR8Bits[8]; // 8 SNRs, Upper 8 bits of 10 bit SNR, SNR

= 10.0*log10( 0.8192*SNR_value),
// Max
SNR = 29.2 dB
// SNR_value for i'th SNR = ((unsigned

long)m_abySNR8Bits[i] << 2) + Lower2Bits
// Lower2Bits =
(m_wLower2BitsSNR7_6_5_4_3_2_1_0 >> (2*i)) & 0x3;
// m_abySNR8Bits[0] 8 bits of SNR on

signal 0
445

signal 1

signal 2

signal 3

signal 4

signal 5

signal 6

signal 7
} SSVSNRData309; // 16 bytes
//-****************************************************
//-* SBinaryMsg309
//-* SNR and status for all GNSS tracks
//-****************************************************
typedef struct
[8]
double m_dGPSTimeOfWeek; // GPS

tow [8 bytes]
unsigned short m_wGPSWeek; // GPS

week [2 bytes]
char m_cUTCTimeDiff; // Whole Seconds between UTC and

GPS [1 byte]
unsigned char m_byPage; // Bits 0-1 = Antenna: 0 = Master, 1 =

Slave, 2 = Slave2 [1 byte]
// Bits 2-4 = Page ID: 0 = page 1, 1 =

page 2, etc
// Bits 5-7 = Max page ID: 0 = only 1

page, 1 = 2 pages
446
SSVSNRData309 m_asSVData309[30]; // SNR

data [480 bytes]
unsigned short m_wCheckSum; // sum of all bytes of the header and

data
Related Commands:
JBIN
Topic Last Updated: 3.0 / December 30, 2019
447
SSVSNRData309
Message Type:
Binary
Description:
Satellite Data for Bin309
N/A
Message Format:
Message Component Description Type Bytes
m_wSYS_PRNID status, GNSS system, PRN ID Unsigned Short 2
0-6 PRNID (for SBAS , PRNID = PRN-120)
Bit 7-10 SYS: 0 = GPS, 1 = GLONASS, 2 = GALILEO, 3

= BEIDOU, 4=QZSS, 7 = SBAS, 8 = IRNSS
Bit 11 – 15 Spare
M_wSYS_PRNID = 0 ==> unfilled data
m_wStatus Bit 0 = code and Carrier Lock on Signal 0
Bit 1 = code and Carrier Lock on Signal 1
GPS Signal ID: L1CA=0, L2P=1, L2C=2, L5=3
GLO Signal ID: G1C/G1P=0, G2C/G2P=1, G10C=4,

G20C=5, G30C=6
GAL Signal ID: E1BC=0, E5A=1, E5B=2, E6=3,

ALTBOC=4
BDS Signal ID: B1I=0, B2I=1,

B3I=2,B1BOC=3,B2A=4,B2B=5,B3C=6,ACEBOC=7
QZS Signal ID: L1CA=0, L2C=2, L5=3, L1C=4, LEX=5
Bit 8 = Bit Lock and Frame lock (decoding data) on

Signal 0

Signal 1

Signal 2
448
Bit 11 = spare
Bit 12 = spare
Bit 13 = Ephemeris Available
Bit 14 = Health OK
Bit 15 = Satellite used in Navigation Solution
m_chElev Elevation angle, LSB = 1 deg char 1
m_byAzimuth 1/2 the Azimuth angle, LSB = 2 deg Unsigned char 1
m_wLower2BitsSNR7_6_5_ Lower 2 bits of 10 bit SNR for channel 7-0 Unsigned short 2
4_3_2_1_0
Bit 0-1, lower two bits of SNR on Signal 0
m_abySNR8Bits[8] 8 SNRs, Upper 8 bits of 10 bit SNR, SNR = 10.0*log10(

0.8192*SNR_value),
Max SNR = 29.2 dB
SNR_value for i'th SNR = ((unsigned

long)m_abySNR8Bits[i] << 2) + Lower2Bits
449
Lower2Bits = (m_wLower2BitsSNR7_6_5_4_3_2_1_0 >>

(2*i)) & 0x3;
m_abySNR8Bits[0] 8 bits of SNR on signal 0
m_abySNR8Bits[1] 8 bits of SNR on signal 1
// m_abySNR8Bits[2] 8 bits of
SNR on signal 2
SNR on signal 3
SNR on signal 4
SNR on signal 5
SNR on signal 6
SNR on signal 7
Structure:
typedef struct
unsigned short m_wSYS_PRNID; // GNSS system, PRN ID
// Bit 0-6 PRNID (For SBAS , PRNID = PRN-120. For QZSS, PRNID = PRN-192)
// Bit 7-10 SYS: 0 = GPS, 1 = GLONASS, 2 = GALILEO, 3 = BEIDOU, 4=QZSS, 7 =

SBAS, 8 = IRNSS
// Bit 11-15 Spare
// m_wSYS_PRNID = 0 ==> unfilled data
unsigned short m_wStatus; // status
// Bit 0 = code and Carrier Lock on Signal 0
450
// QZS Signal ID: L1CA=0, L2C=2, L5=3, L1C=4, LEX=5
// Bit 8 = Bit Lock and Frame lock (decoding data) on Signal 0
// Bit 9 = Bit Lock and Frame lock (decoding data) on Signal

1
// Bit 10 = Bit Lock and Frame lock (decoding data) on Signal 2
// Bit 11 = spare
// Bit 12 = spare
unsigned short m_wLower2BitsSNR7_6_5_4_3_2_1_0; // Lower 2 bits of 10 bit SNR for channel 7-

0
// Bit 0-1, lower two bits of SNR on Signal 0
unsigned char m_abySNR8Bits[8]; // 8 SNRs, Upper 8 bits of 10 bit SNR, SNR = 10.0*log10(
0.8192*SNR_value),
// Max SNR = 29.2 dB
// SNR_value for i'th SNR = ((unsigned long)m_abySNR8Bits[i] << 2) +

Lower2Bits
// Lower2Bits = (m_wLower2BitsSNR7_6_5_4_3_2_1_0 >> (2*i)) & 0x3;
// m_abySNR8Bits[0] 8 bits of SNR on signal 0
451
} SSVSNRData309; // 16 bytes
Related Commands:
JBIN
452
NMEA 0183 Supported Messages

NMEA 0183 Message Format
NMEA 0183 messages (sentences) have the following format:
$XXYYY,ZZZ,ZZZ,ZZZ...*CC<CR><LF>
where:
Element Description
$ Message header character
XX NMEA 0183 talker field (GP = GPS, GL = GLONASS, GA = GALILEO, GB =

BEIDOU, GN = All constellations)
YYY Type of GPS NMEA 0183 message
ZZZ Variable length message fields

*CC Checksum
<LF> Line feed
Null (empty) fields occur when there is no information for that field. You can use the JNP command to specify the number
of decimal places output in the GPGGA and GPGLL messages.
The literal translation means "Carriage Return, Line Feed." These are terms used in computer programming languages to
describe the end of a line or string of text. If you are writing your own communication software for a receiver, see some of
the examples below. If you are already using a program such as Hemisphere GNSS' PocketMax, when you click to send a
command to the receiver, the program adds the carriage return and line feed to the end of the text string for you. If you
are using HyperTerminal or other terminal software, typically the Enter key on your keyboard is set to send the <CR><LF>
pair. You may need to define this in the setup section of the terminal software. Some software may treat the Enter key on
your numeric keypad differently than the main Enter key in the main QWERTY section of the keyboard – use the main
Enter key for best results.
Electronics use different ways to represent the <CR><LF> characters. In ASCII numbers, <CR> is represented as 13 in
decimal, or 0D in hexadecimal. ASCII for <LF> is 10 decimal, or 0A hexadecimal. Some computer languages use different
ways to represent <CR><LF>. Unix and C language can use “\x0D\x0A". C language can also use “\r\n” in some
instances. Java may use CR+LF. In Unicode, carriage return is U+000D, and line feed is U+000A. It is advised to clearly
understand how to send these characters if you are writing your own interface software.
453
GLMLA Message
GLMLA Message
Message Type:
GLONASS
Description:
GLONASS almanac data
Contains complete almanac data for one GLONASS satellite. Multiple sentences may be transmitted, one for each
satellite in the GLONASS constellation.
$JASC,GLMLA,r[,OTHER]<CR><LF>
where:
'r' = 1 (on) or 0 (off) When set to on the message is sent once (one message for each tracked satellite at 1 second
intervals) and then sent again whenever satellite information changes
',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the
Message Format:
$GLMLA,A.A,B.B,CC,D.D,EE,FFFF,GG,HHHH,IIII,JJJJJJ,KKKKKK,MMMMMM, NNNNNN,PPP,QQQ*hh<CR><LF>
where:
Message Description
Component
A.A Total number of sentences
B.B Sentence number
CC Satellite ID (satellite slot) number
D.D Calendar day count within the four year period beginning with the previous leap year
EE Generalized health of the satellite and carrier frequency number respectively
FFFF Eccentricity
GG DOT, rate of change of the draconitic circling time
HHHH Argument of perigee
IIII 16 MSB of system time scale correction
JJJJJJ Correction to the average value of the draconitic circling time
KKKKKK Time of the ascension node, almanac reference time
MMMMMM Greenwich longitude of the ascension node
NNNNNN Correction to the average value of the inclination angle
PPP LSB of system time scale correction
454
QQQ Course value of the time scale shift
Example:
Similar to the GPS message GPALM
Related Commands:
JASC,GL
455
GPALM Message
GPALM Message
Message Type
Data
Description:
Message number (individual and total),week number, satellite health, and the almanac data for each satellite in the
GPS constellation up to a maximum of 32 messages
$JASC,GPALM,r[,OTHER]<CR><LF>
where
'r' = 1 (on) or 0 (off)
When set to on the message is sent once (one message for each tracked satellite at 1 second intervals) and
then sent again whenever satellite information changes
',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without
the brackets) and enacts a change on the other port when you send the command with it (without the brackets)
Message Format:
$GPALM,A,B,C,D,E,F,G,H,J,K,L,M,N,P,Q*CC<CR><LF>
where:
Response Description As Displayed in First Full Line of

Component Example Below This Table
A Total number of messages 31
B Message number 1
C Satellite PRN number 02
D GPS week number (0-1023) 1617
E Satellite health (bits 17-24 of message) 00
F Eccentricity 50F6
G Reference time of almanac (TOA) 0F
H Satellite inclination angle (sigma) FD98
J Rate of right ascension (omega dot) FD39
K Square root of semi-major axis (root A) A10CF3
L Perigee (omega) 81389B
M Ascending node longitude (omega O) 423632
N Mean anomaly (mo) BD913C
P Clock parameter 0 (af0) 148
Q Clock parameter 1 (af1) 001
*CC Checksum
456
As Displayed in
Response First Full Line of
Description
Component Example Below
This Table
Total Number of
A 31
Messages
B Message number 1
C Satellite PRN number 02
Example:
$>
$GPALM,31,1,02,1617,00,50F6,0F,FD98,FD39,A10CF3,81389B,423632,BD913C,148
,001*
$GPALM,31,2,03,1617,00,71B9,0F,F6C2,FD45,A10C96,2B833C,131DB4,BA69EE,2B1, 001*
$GPALM,31,3,04,1617,00,4F01,0F,FD03,FD39,A10BFC,1C6C35,42EDB1,35B537,112, 003*
$GPALM,31,4,05,1617,00,121B,0F,08C8,FD61,A10C5C,09CA99,6D7257,021B32,79F, 7FE*
$GPALM,31,5,06,1617,00,337F,0F,FB6B,FD49,A10CC2,DBE103,161127,10CD11,18C, 7FE*.
$GPALM,31,29,30,1617,00,6A85,0F,0ADD,FD5C,A11A83,3F6243,EBCC46,E8548D,145, 001
$GPALM,31,30,31,1617,00,4037,0F,1778,FD3E,A10C28,D62817,C32ADF,781125,01B, 001
$GPALM,31,31,32,1617,00,65B5,0F,0956,FD65,A10DD0,DD74BA,71125D,985AE3,751, 7FE
Similar to the GLONASS message GLMLA
Related Commands:
JASC,GP
457
GPDTM Message
GPDTM Message
Message Type:
Data
Description:
Datum reference
$JASC,GPDTM,r[,OTHER]<CR><LF>
where:
• 'r' = message rate (in Hz) of (1 or 0)
Message Format:
$GPDTM,CCC,A,X.X,K,X.X,L,X.X,CCC*CC<CR><LF>
where:
Message Description
Component
CCC Local datum (normally W84, but could be NAD83 when using beacon in North
America)
A Local datum subdivision code
X.X Latitude offset, in minutes
K Latitude indicator; value is N (North latitude) or S (South latitude)
X.X Longitude offset, in minutes
L Longitude indicator; value is E (East longitude) or W (West longitude)
X.X Altitude offset, in meters
CCC Reference datum (always W84)
*CC Checksum
<LF> Line feed
Example:
$GPDTM,W84,,0.0,N,0.0,E,0.0,W84*CC<CR><LF>
458
Related Commands:
JASC,GP
Topic Last Updated:
459
GPGGA Message
GPGGA Message
Message Type:
Data
Description:
Detailed GNSS position information (most frequently used NMEA 0183 data message)
$JASC,GPGGA,r[,OTHER]<CR><LF>
where:
• ϒϒϒ 'r' = messager ate (in Hz) of 20, 10, 5, 4, 2, 1, 0, or .2 (0 turns off the message)
• ϒϒϒ ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and withoutthe
Message Format:
$GPGGA,HHMMSS.SS,DDMM.MMMMM,K,DDDMM.MMMMM,L,N,QQ,PP.P,AAAA.AA,M,±XX.XX,M,
SSS,RRRR*CC<CR><LF>
where:
Message Component Description
HHMMSS.SS UTC time in hours, minutes, and seconds of the position
DDMM.MMMMM Latitude in degrees, minutes, and decimal minutes (you can set the number of
decimal places using the JNP command)
DDDMM.MMMMM Longitude in degrees, minutes, and decimal minutes (you can set the number
of decimal places using the JNP command)
N Quality indicator; value is:
• 0 = no position
• 1 = no differentialcorrections(autonomous)
• 2 = differentially corrected position (SBAS, DGPS,Atlas

DGPSservice, L- Dif and e-Dif)
• 4 = RTK fixed or,Atlas high precision services converged
• 5 = RTK float,Atlas high precision services converging
460
QQ Number of satellites used in position solution
P.P Horizontal dilution of precision (HDOP)
A.A Antenna altitude, in meters, re: mean-sea-level (geoid)
M Units of antenna altitude (M = meters)
G.G Geoidal separation (in meters)
M Units of geoidal separation (M = meters)
SSS Age of differential corrections, in seconds
RRRR Differential reference station ID
*CC Checksum
<LF> Line feed
Example:
$GPGGA,001038.00,3334.2313457,N,11211.0576940,W,2,04,5.4,354.682,M,- 26.574,M,7.0,0138*79
This message provides information specific to the satellite system identified by the first two characters of the message.
GPGGA - GPS information
The JNMEA,GGAALLGNSS command significantly affects the output of the GGA message. If you are tracking more than
GNSS signals, Hemisphere GNSS highly recommends that you review this command.
Related Commands:
JASC,GP, JASC,GN, JASC,GL, JNMEA,GGAALLGNSS
461
GPGLL Message
GPGLL Message
Message Type:
Data
Description:
Latitude and longitude data
$JASC,GPGLL,r[,OTHER]<CR><LF>
where:
• ϒϒϒϒϒϒϒ 'r' = message rate in Hz of 20, 10, 2, 1, 0, or .2 (0 turns off the message)
• ϒϒϒϒϒϒϒ ',OTHER' = optional field, enacts a change on the current port when you send the command without it(and
without the brackets) and enacts a change on the other port when you send the command with it (without thebrackets)
Message Format:
$GPGLL,DDMM.MMMMM,S,DDDMM.MMMMM,S,HHMMSS.SS,S*CC<CR><LF>
where:
DDMM.MMMMM Latitude in degrees, minutes, and decimal minutes
S S = N (North latitude ) or S (South latitude)
DDDMM.MMMMM Longitude in degrees, minutes, and decimal minutes
S S = E (East longitude) or W (West longitude)
HHMMSS.SS UTC time in hours, minutes, and seconds of GNSS position
S Status, S = A (valid) or V (invalid)
*CC Checksum
<LF> Line feed
GPGLL - GPS information GNGLL - GNSS information GLGLL - GLONASS information
The JNMEA,GGAALLGNSS command significantly affects the output of the GLL message. If you are tracking more than
GNSS signals, Hemisphere GNSS highly recommends that you review this command.
Related Commands:
462
463
GPGNS Message
GPGNS Message
Message Type:
Data
Description:
Fixes data for single or combined (GPS, GLONASS, possible future satellite systems, and systems combining these)
satellite navigation systems
$JASC,GPGNS,r[,OTHER]<CR><LF>
where:
• ϒϒϒϒϒϒϒ 'r' = message rate (in Hz) of 20, 10, 2, 1, 0, or .2 (0 turns off the message)
Message Format:
$GPGNS,HHMMSS.SS,DDMM.MMMMM,K,DDDMM.MMMMM,L,MM,QQ,H.H,A.A,G.G,D.D,R.R,NS*CC<C
where:
DDMM.MMMMM Latitude in degrees, minutes, and decimal minutes (you can set the number
of decimal places using the JNP command)
DDDMM.MMMMM Longitude in degrees, minutes, and decimal minutes (you can set the
number of decimal places using the JNP command)
464
MM Mode indicator
Variable length valid character field type with the first two characters
currently defined.
• First character indicates the use of GPS satellites
• Second character indicates the use of GLONASS satellites
If another satellite system is added to the standard, the mode indicator will
be extended to three characters. New satellite systems shall always be
added on the right, so the order of characters in the Mode Indicator is: GPS,
GLONASS, other satellite systems in the future.
The characters shall take one of the following values:
• N = No fix. Satellite system not used in position fix, or fix not valid
• A = Autonomous. Satellite system used in non-differential mode in

positionfix
• D = Differential. Satellite system used in differential mode in positionfix
• P = Precise. Satellite system used in precision mode. Precision mode is

defined as no deliberate degradation (such as Selective Availability) and
higher resolution code (P-code) is used to compute position fix.
• R = Real Time Kinematic. Satellite system used in RTK mode with fixed
integers
• F = Float RTK. Satellite system used in real time kinematic mode with
floating integers
• E = Estimated (dead reckoning) mode
• M = Manual input mode
• S = Simulator mode
The mode indicator shall not be a null field.
QQ Number of satellites used in position solution
P.P Horizontal dilution of precision (HDOP)
A.A Antenna altitude, in meters, re: mean-sea-level (geoid)
G.G Geoidal separation (in meters)
RRRR Differential reference station ID
465
NS Navigational status; options are:
• S = Safe
• C = Caution
• U = Unsafe
• V = Not valid for navigation
*CC Checksum
<LF> Line feed
Example:
$GPGNS,224749.00,3333.4268304,N,11153.3538273,W,D,19,0.6,406.110,- 26.294,6.0,0138,S,*6A
GPGNS - GPS information
GNGNS - GNSS information GLGNS - GLONASS information GAGNS – GALILEO information
The JNMEA,GGAALLGNSS command significantly affects the output of the GNS message. If you are tracking more than
GNSS sign Hemisphere GNSS highly recommends that you review this command.
Related Commands:
466
GPGRS Message
GPGRS Message
Message Type:
Data
Description:
Supports Receiver Autonomous Integrity Monitoring (RAIM)
Command Format to Request Message
$JASC,GPGRS,r[,OTHER]<CR><LF>
where:
• 'r' = message rate in Hz of 1, 0, or .2 (0 turns off the message)
• ϒϒ ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without
Message Format:
$GPGRS,HHMMSS.SS,M,X.X ... X.X,GSID,SID*CC<CR><LF>
where:
Message Description
Component
HHMMSS.SS UTC time
M Mode:
0 = residuals used to calculate the position given in the GPGGA or GPGNS

message
1 = residuals were recomputed after the GPGGA or GPGNS message position

was computed
X.X ... X.X Range residuals, in meters, for satellites used in the navigation solution. Order
must match order of satellite ID numbers in GPGSA message. When GPGRS
message is used, the GPGSA and GPGSV messages are generally required with
this message.
GSID GNSS system ID, value is 1 (GPS)
SID Signal ID, value is 1 (L1 C/A)
*CC Checksum
<LF> Line feed
467
Related Commands:
JASC,GP
468
GNGSA Message
GNGSA Message
Message Type:
Data
Description:
DOP and active satellite information
Only satellites used in the position computation are present in this message. Null fields are present when data is
unavailable due to the number of satellites tracked.
$JASC,GNGSA,r[,OTHER]<CR><LF>
where:
• 'r' = message rate in Hz of 1 or 0 (0 turns off the message)
Message Format:
$GNGSA,A,B,CC ... OO,P.P,Q.Q,R.R,GSID*CC<CR><LF>
where:
Message Description
Component
A Satellite acquisition mode (M = manually forced to 2D or 3D, A = automatic swap

between 2D and 3D)
B Position mode (1 = fix not available, 2 = 2D fix, 3 = 3D fix)
CC to OO Satellites used in the position solution, a null field occurs if a channel is unused
P.P Position Dilution of Precision (PDOP) = 1.0 to 9.9
Q.Q Horizontal Dilution of Precision (HDOP) 1.0 to 9.9
R.R Vertical Dilution of Precision (VDOP) = 1.0 to 9.9
GSID GNSS system ID, value is 1 (GPS), 2 (GLONASS), 3 (GALILEO), 5 (BEIDOU)
*CC Checksum
<LF> Line feed
This message provides information specific to the satellite system(s) identified by the first two
characters of the message.
469
GNGSA - GNSS
information (all
constellations)
GPGSA - GPS
information GLGSA -
GLONASS information
Related Commands:
JASC,GP, JASC,GN, JASC,GL
470
GPGST Message
GPGST Message
Message Type:
Data
Description:
GNSS pseudorange error statistics and position accuracy
Message Format:
$JASC,GPGST,r[,OTHER]<CR><LF>
where:
$GPGST,HHMMSS.SS,A.A,B.B,C.C,D.D,E.E,F.F,G.G*CC<CR><LF>
where:
Message Description
Component
HHMMSS.SS UTC time in hours, minutes, and seconds of the GPS position
A.A Root mean square (rms) value of the standard deviation of the range inputs to the
navigation process. Range inputs include pseudoranges and differential GNSS
(DGNSS) corrections.
B.B Standard deviation of semi-major axis of error ellipse, in meters
C.C Standard deviation of semi-minor axis of error ellipse, in meters
D.D Error in Eclipse’s semi major axis origination, in decimal degrees, true north
E.E Standard deviation of latitude error, in meters
F.F Standard deviation of longitude error, in meters
G.G Standard deviation of altitude error, in meters
*CC Checksum
<LF> Line feed
Related Command:
471
JASC,GP
Topic Last Updated: v1.01 / September 23, 2010
472
GPGSV Message
GPGSV Message
Message Type:
Data
Description:
GPS satellites in view
Null fields occur where data is unavailable due to the number of satellites tracked.
$JASC,GPGSV,r[,OTHER]<CR><LF>
where:
• 'r' = message rate in Hz of 05, .1, .5, .2, 1, 2, 5, 10, 20
the brackets)and enacts a change on the other port when you send the command with it (without the brackets)
Message Format:
$GPGSV,T,M,N,II,EE,AAA,SS,…II,EE,AAA,SS,SID*CC<CR><LF>
where:
Message Description
Component
T Total number of messages
M Message number (1 to 3)
N Total number of satellites in view
II Satellite number
EE Elevation, in degrees (0 to 90)
AAA Azimuth (true), in degrees (0 to 359)
SS Signal strength, in dB-Hz (0 - 99)
To compare with SNR values found in Bin messages (such as Bin96) subtract 30
from this signal strength value for an approximate SNR value
SS - 30 = SNR (from Bin message)
*CC Checksum
<LF> Line feed
473
GPGSV – GPS information GLGSV – GLONASS information
GBGSV-BeiDou information
GAGSV – GALILEO information GQGSV – QZSS information
If you request GNGSV the receiver will respond with GPGSV messages only.
Related Command:
JASC,GP, JASC,GL, BEIDOU
474
GLGSV Message
GLGSV Message
Message Type:
Data
Description:
GLONASS satellites in view
$JASC,GLGSV,r[,OTHER]<CR><LF>
where:
• 'r' = message rate in Hz of 05, .1, .5, .2, 1, 2, 5, 10, 20
• ϒϒ(and without the brackets) and enacts a change on the other port when you send the command with it (without the
brackets)
Message Format:
$GLGSV,T,M,N,II,EE,AAA,SS,…II,EE,AAA,SS,SID*CC<CR><LF>
where:
Message Description
Component
II Satellite number
*CC Checksum
<LF> Line feed
474
Related Commands:
475
GAGSV Message
GAGSV Message
Message Type:
Data
Description:
Galileo satellites in view
$JASC,GAGSV,r[,OTHER]<CR><LF>
where:
• ϒϒϒϒϒϒϒ 'r' = message rate in Hz of
without the brackets)and enacts a change on the other port when you send the command with it (without the brackets)
Message Format:
$GAGSV,T,M,N,II,EE,AAA,SS,…II,EE,AAA,SS,SID*CC<CR><LF>
where:
Message Description
Component
II Satellite number
*CC Checksum
<LF> Line feed
476
• GPGSV – GPS information
• GLGSV – GLONASS information
• ϒϒϒGBGSV- BeiDou information
• GAGSV – GALILEO information
• GQGSV – QZSS information
Related Commands:
477
GBGSV Message
GBGSV Message
Message Type:
Data
Description:
BeiDou satellites in view
$JASC,GBGSV,r[,OTHER]<CR><LF>
where:
· 'r' = message rate in Hz of 05, .1, .5, .2, 1, 2, 5, 10, 20•
Message Format:
$GBGSV,T,M,N,II,EE,AAA,SS,…II,EE,AAA,SS,SID*CC<CR><LF>
where:
Message Description
Component
II Satellite number
*CC Checksum
<LF> Line feed
478
Related Commands:
479
GPHDG/HEHDG Message
GPHDG/HEHDG Message
Message Type:
Data
Description:
Magnetic deviation and variation for calculating magnetic or true heading. The message simulates data from a magnetic
sensor although it does not actually contain one. The purpose of this message is to support older systems that may not be
able to accept the HDT message that is recommended for use.
$JASC,GPHDG,r[,OTHER]<CR><LF>
where:
· 'r' = message rate in Hz of 20, 10, 2, 1, 0 or .2 (0 turns off the message)
Message Format:
$GPHDG,s.s,d.d,D,v.v,V*CC<CR><LF>
or
$HEHDG,s.s,d.d,D,v.v,V*CC<CR><LF>
where:
Message Description
Component
s.s Magnetic sensor reading, in degrees
d.d Magnetic deviation, in degrees
D E = Easterly deviation, W = Westerly deviation
v.v Magnetic variation, in degrees
V E = Easterly deviation, W = Westerly deviation
*CC Checksum
<LF> Line feed
You can change the HDG message header to either GP or HE using the JATT,NMEAHE command.
Related Commands:
JASC,GP
480
481
GPHEB Message
GPHEB Message
Description:
Heave value in meters
$JASC,GPHEV,1<CR><LF>
Message Format:
$GPHEV,H,*CC<CR><LF>
where:
Message Description
Component
H Heave value, in meters
*CC Checksum
<LF> Line feed
Related Commands:
JASC,GP
482
GPRMC Message
GPRMC Message
Message Type:
Data
Description:
Contains recommended minimum specific GNSS data
$JASC,GPRMC,r[,OTHER]<CR><LF>
where:
· 'r' = message rate in Hz of 10, 2, 1, 0, or .2 (0 turns off the message)
· ',OTHER' = optional field,enacts a change on the current port when you send the command without it (and without the
Message Format:
$GPRMC,HHMMSS.SS,A,DDMM.MMM,N,DDDMM.MMM,W,Z.Z,Y.Y,DDMMYY,D.D,V,M,NS*CC<CR><LF
where:
Message Description
Component
HHMMSS.SS UTC time in hours, minutes, and seconds of the GPS position
A Status (A = valid, V = invalid)
DDMM.MMM Latitude in degrees, minutes, and decimal minutes
N Latitude location (N = North latitude, S = South latitude)
DDDMM.MMM Longitude in degrees, minutes, and decimal minutes
W Longitude location (E = East longitude, W = West longitude)
Z.Z Ground speed, in knots
Y.Y Track made good, reference to true north
DDMMYY UTC date of position fix in day, month, and year
D.D Magnetic Variation, in degrees
V Variation sense (E = East, W = West)
483
M Mode indicator
Variable length valid character field type with the first two characters currently defined.
• First character indicates the use of GPS satellites
If another satellite system is added to the standard, the mode indicator will be
extended to three characters. New satellite systems shall always be added on the
right, so the order of characters in the Mode Indicator is: GPS, GLONASS, other
satellite systems in the future.
The characters shall take one of the following values:
• N = No fix. Satellite system not used in position fix, or fix not valid
• A = Autonomous. Satellite system used in non-differential mode in positionfix
• D = Differential. Satellite system used in differential mode in position fix
• P = Precise. Satellite system used in precision mode. Precision mode is defined

as no deliberate degradation (such as Selective Availability) and higher resolution code
(P-code) is used to compute position fix.
• R = Real Time Kinematic. Satellite system used in RTK mode with fixed integers
• F = Float RTK. Satellite system used in real time kinematic mode with floating
integers
• E = Estimated (dead reckoning) mode
• M = Manual input mode
• S = Simulator mode
The mode indicator shall not be a null field.
NS Navigational status; options are:
• S = Safe
• C = Caution
• U = Unsafe
• V = Not valid for navigation
*CC Checksum
<LF> Line feed
484
Related Commands:
JASC,GP
485
GPHDT/HEHDT Message
GPHDT/HEHDT Message
Description:
True heading of the vessel. This is the direction that the vessel (antennas) is pointing and is not necessarily the direction
of vessel motion (the course over ground).
$JASC,GPHDT,r[,OTHER]<CR><LF>
where:
Message Format:
$GPHDT,X.X,T*CC<CR><LF>
or
$HEHDT,X.X,T*CC<CR><LF>
where:
Message Description
Component
X.X Current heading, in degrees
T Indicates true heading
*CC Checksum
<LF> Line feed
You can change the HDT message header to either GP or HE using the JATT,NMEAHE command.
Related Commands:
JASC,GP
486
GPHDM/HEHDM Message
GPHDM/HEHDM Message
Message Type:
Data
Description:
Magnetic heading of the vessel derived from the true heading calculated
$JASC,GPHDM,r[,OTHER]<CR><LF>
where:
· ',OTHER' = optional field, enacts a change on the currentport when you send the command without it (and without
Message Format:
$GPHDM,X.X,M*CC<CR><LF>
or
$HCHDM,X.X,M*CC<CR><LF>
where:
Message Description
Component
X.X Current heading, in degrees
M Indicates magnetic heading
*CC Checksum
<LF> Line feed
You can change the HDM message header to either GP or HE using the JATT,NMEAHE command.
Related Commands:
JASC,GP
487
GPROT/HEROT Message
GPROT/HEROT Message
Message Type:
Data
Description:
Vessel’s rate of turn (ROT) information
$JASC,GPROT,r[,OTHER]<CR><LF>
where:
· 'r' = messagerate in Hz of 20, 10, 2, 1, 0 or .2 (0 turns off the message)
Message Format:
$GPROT,X.X,A*CC<CR><LF>
or
$HEROT,X.X,A*CC<CR><LF>
where:
Message Description
Component
X.X Rate of turn in °/min (negative when the vessel bow turns to port)
A Flag indicating the data is valid
*CC Checksum
<LF> Line feed
You can change the ROT message header to either GP or HE using the JATT,NMEAHE command.
Related Commands:
JASC,GP
488
GPRRE Message
GPRRE Message
Message Type:
Data
Description:
Satellite range residuals and estimated position error
$JASC,GPRRE,r[,OTHER]<CR><LF>
where:
· 'r' = message rate in Hz of 1 or 0 (0 turns off the message)
Message Format:
$GPRRE,N,II,RR ... II,RR,HHH.H,VVV.V*CC<CR><LF>
where:
Message Description
Component
N Number of satellites used in position computation
II Satellite number
RR Range residual, in meters
HHH.H Horizontal position error estimate, in meters
VVV.V Vertical position error estimate, in meters
*CC Checksum
<LF> Line feed
Related Commands:
JASC,GP
489
GPVTG Message
GPVTG Message
Message Type:
Data
Description:
Course over ground and ground speed
$JASC,GPVTG,r[,OTHER]<CR><LF>
where:
· 'r' = messager ate in Hz of 20, 10, 2, 1, 0, or .2 (0 turns off the message)
Message Format:
$GPVTG,TTT,T,MMM,M,NNN.NN,N,KKK.KK,K,X*CC<CR><LF>
where:
Message Description
Component
TTT True course over ground (COG) in degrees (000 to 359)
T True course over ground indicator (always 'T')
MMM Magnetic course over ground in degrees (000 to 359)
M Magnetic course over ground indicator (always 'M')
NNN.NN Speed over ground in knots
N Speed over ground in knots indicator (always 'N')
KKK.KK Speed over ground in km/h
K Speed over ground in km/h indicator (always 'K')
X Mode
A = Autonomous mode D = Differential mode
E = Estimated (dead reckoning) mode M = Manual input mode
S = Simulator mode N = Data not valid
*CC Checksum
<LF> Line feed
490
Sample message output:
$GPVTG,103.85,T,92.79,M,0.14,N,0.25,K,D*1E
Related Commands:
JASC,GP
491
GPZDA Message
GPZDA Message
Message Type:
Data
Description:
UTC time and date information
$JASC,GPZDA,r[,OTHER]<CR><LF>
where:
· 'r' = message rate in Hz of 20, 10, 2, 1, 0, or .2 (0 turns off the message)
Message Format:
$GPZDA,HHMMSS.SS,DD,MM,YYYY,XX,YY*CC<CR><LF>
where:
Message Description
Component
HHMMSS.SS UTC time in hours, minutes, and seconds of the GPS unit
DD Day (0 to 31)
MM Month (1 to 12)
YYYY Year
XX Local zone description in hours (-13 to 13)
YY Local zone description in minutes (0 to 59)
*CC Checksum
<LF> Line feed
Related Commands:
JASC,GP
492
PASHR Message
PASHR Message
Message Type:
Vector, Data
Description:
Time, true heading, roll, pitch, and heave data in one message
$JASC,PASHR,r[,OTHER]<CR><LF>
where:
· 'r' = message rate (in Hz) of 20, 10, 5, 4, 2, 1, 0, or .2 (0 turns off the message)
the brackets) and enacts a change on the other port when you send the command with it (without the brackets). See
Message Format:
$PASHR,hhmmss.ss,HHH.HH,T,RRR.RR,PPP.PP,heave,rr.rrr,pp.ppp,hh.hhh,QF*CC<CR><
where:
Message Description
Component
hhmmss.ss UTC time
HHH.HH Heading value in decimal degrees
T True heading (T displayed if heading is relative to true north)
RRR.RR Roll in decimal degrees (- sign will be displayed when applicable)
PPP.PP Pitch in decimal degrees (- sign will be displayed when applicable)
heave Heave, in meters
rr.rrr Roll standard deviation in decimal degrees
pp.ppp Pitch standard deviation in decimal degrees
hh.hhh Heading standard deviation in decimal degrees
QF Quality Flag
• 0 = No position
• 1 = All non-RTK fixed integer positions
• 2 = RTK fixed integer position
*CC Checksum
493
<LF> Line feed
Related Commands:
JASC,PASHR
494
HGNSS Proprietary Messages
495
PSAT, ATTSTAT Message

PSAT,ATTSTAT Message
Message Type:
Data
Description: Heading diagnostic information
$JASC,PSAT,ATTSTAT,r[,OTHER]<CR><LF>
where:
• ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and brackets)
and enacts a change on the other port when you send the command with it (without the brackets)
Message Format:
$PSAT,ATTSTAT,S,MSEP,CSEP,Heading,TYPE,Pitch,Roll,Q,N,SYS,NUMTRACKED,SNR,NUMUSED,*CC
where:
Message Description
Component
S ID of the secondary antenna
MSEP custom separation between antennas manually entered (when the value is MOV,
it means MOVEBASE is on)
CSEP auto GPS antenna separation
Heading Heading
TYPE Heading indicator, value is: N= Heading used GNSS
G=Heading used gyroscope
Pitch pitch
Roll roll
Q The current setting of antenna directivity, value is P= antennas placed front and
back, output pitch R= antennas placed left and right, output roll
N The number of satellite used by the secondary antenna
496
SYS Systems in use:
• GPS: L1, L2, L5
• GLONASS: G1, G2
• BDS: B1,B2 B3
• Galileo: E5a, E5b, E5a+b, E6
NUMTRACKED Number of satellites tracked for each system
• A is > 20 dB
• B is > 18 dB
• C is > 15 db
• D is <= 15 dB
NUMUSED Number of satellites used by each system
*CC Checksum
<LF> Line feed
Example:
$PSAT,ATTSTAT,1,MOV,0.504,334.75,N,1.71,8.0,P,30,(,L1,L2,G1,G2,B1,B2,B3,)(,12,10,9,9,10,10,0,)(,
A,A,C,B,B,B,D,)(,12,10,8,8,9,9,0)*22
Issuing the JSAVE command after setting JASC,PSAT,ATTSTAT to 1 (message on at 1Hz) does not save this setting. You
must JASC,PSAT,ATTSTAT (set it to 1) each time you power on the receiver.
JASC,PSAT,ATTSTAT
497
PSAT, GBS Message

PSAT,GBS Message
Message Type
Data
Description:
Used to support Receiver Autonomous Integrity Monitoring (RAIM)
$JASC,GPGBS,r[,OTHER]<CR><LF>
where:
· 'r' = message rate in Hz of 1 or 0 (0 turns off the message)
Message Format:
$PSAT,GBS,HHMMSS.SS,KK.K,LL.L,AA.A,ID,P.PPPPP,B.B,S.S,FLAG,GSID,SID*CC<CR><LF
where:
Message Description
Component
HHMMSS.SS UTC time in hours, minutes, and seconds of the GGA or GNS fix
associated with this sentence
KK.K Expected error in latitude
LL.L Expected error in longitude
AA.A Expected error in altitude
ID ID number of most likely failed satellite
P.PPPPP Probability of HPR fault
B.B Estimate of range bias, in meters, on most likely failed satellite
S.S Standard deviation of range bias estimate
FLAG Based on horizontal radius: 0 = Good
1 = Warning
2 = Bad or Fault
GSID GNSS system ID, value is 1 (GPS)
*CC Checksum
498
<LF> Line feed
Related Commands:
JASC,GP
499
PSAT, HPR Message

PSAT,HPR Message
Message Type:
Data
Description:
Proprietary NMEA message that provides the true heading,pitch, roll, and time in a single message
This message provides heading, pitch and roll. Heading is derived from GNSS. If $JATT,ROLL,YES is set roll will be
derived from GNSS and pitch will come from the inertial sensor. If $JATT,ROLL,NO is set, pitch will be derived from
GNSS and roll will come from the inertial sensor. While coasting heading is based on gyro and pitch/roll are from the
inertial sensor. To know when the receiver is coasting, see the TYPE field below.
$JASC,GPHPR,r[,OTHER]<CR><LF>
where:
• ϒϒϒϒϒϒϒ 'r' = message rate in Hz of 20, 10, 2, 1, 0 or .2 (0 turns off the message)
without the brackets) and enacts a change on the other port when you send the command with it (without the brackets)
Message Format:
$PSAT,HPR,TIME,HEADING,PITCH,ROLL,TYPE*CC<CR><LF>
where:
Message Description
Component
TIME UTC time (HHMMSS.SS)
HEADING Heading (degrees)
PITCH Pitch (degrees)
ROLL Roll (degrees)
TYPE N = GNSSS derived heading G = gyro heading
*CC Checksum
<LF> Line feed
Related Commands:
JASC,GP
$JATT,ROLL
500
PSAT, INTLT Message

PSAT,INTLT Message
Message Type:
Data
Description:
Proprietary NMEA message that provides the tilt measurements from the internal inclinometers in degrees. It delivers an
output of crude accelerometer measurements of pitch and roll with no temperature compensation or calibration for GPS
heading/pitch/roll.
Pitch and roll are factory calibrated over temperature to be accurate to ±3°C.
CAUTION: User calibration will clear out precise factory

calibration.
$JASC,INTLT,r[,OTHER]<CR><LF>
where:
• ϒ ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the
Message Format:
$PSAT,INTLT,PITCH,ROLL*CC<CR><LF>
where:
Message Description
Component
PITCH Pitch (degrees)
ROLL Roll (degrees)
*CC Checksum
<LF> Line feed
dditional Information:
A
Related Commands:
JASC,GP
501
PSAT, BLV Message

PSAT, BLV Message
Message Type:
Data, Local Differential and RTK
Description:
Contains RTK fix progress information
$JASC,PSAT,BLV,r[,OTHER]<CR><LF>
where:
• ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the
Message Format:
$PSAT,BLV,HHMMSS.SS,DATE,A.A,B.B,C.C,ID,STATE,number,pdop*CC<CR><L F>
where:
Message Description
Component
HHMMSS.SS UTC time (HHMMSS.SS)
DATE Date (day-month-year)
A.A North component of base to rover vector ( m )
B.B East component of base to rover vector ( m )
C.C Up component of base to rover vector ( m )
ID Base station ID
STATE Quality indicator; value is:
• 0 = no position
• 1 = not differentially corrected position (autonomous)
• 2 = differentially corrected position (SBAS, DGPS, Atlas DGPS

service, L-Dif and e-Dif)
• 4 = RTK fixed integer ,Atlas high precision services converged
5 = RTK float, Atlas high precision services converging
NUMBER Number of used satellite
502
PDOP PDOP
*CC Checksum
<LF> Line feed
Example:
$PSAT,BLV,000151.00,051115,-0.001,0.002,-0.003,0333,4,20,1.2*52
Related Commands:
JASC, PSAT, BLV
Topic Last Updated: v4.0/ June 30, 2020
503
PSAT, FVI Message

PSAT,FVI Message
Message Type:
Description:
Position, attitude and standard deviations.
$JASC,PSAT,FVI,r[,OTHER]<CR><LF>
where:
• 'r' = message rate in Hz of 0,1,2,5,10,20 (0 turns off the message)
Message Format:
$PSAT,FVI,HHMMSS.SS, DDMM.MMMM, DDDMM.MMMM, AA.AAA,
E.E,F.F,G.G,HHH.HHH,hh.hhh,PP.PP,pp.ppp,RR.RRR,rr.rrr,ve.eee,v
n.nnn,vu.uuu,vv.vvv,LE.EEE,LN.NNN,LU.UUU,ZONE,UEEE.EEEE,UNNN.N NNN,PN,SN,p,h,L,sss*CC<CR><LF>
where:
Message
Component
Description
HHMMSS.SS UTC time
DDMM.MMMM Latitude in degrees and decimal minutes
DDMM.MMMM Longitude in degrees, and decimal minutes
AA.AAA altitude
E.E Standard deviation of latitude error, in meters
F.F Standard deviation of longitude error, in meters
G.G Standard deviation of altitude error, in meters
HHH.HHH Heading (degrees)
hh.hhh. Standard deviation of heading error, in degrees
PP.PP Pitch (degrees)
pp.ppp Standard deviation of pitch error, in degrees
RR.RRR Roll (degrees)
rr.rrr Standard deviation of roll error, in degrees
504
Ve.eee East to speed（m/s）
Vn.nnn North to speed (m/s)
Vu.uuu Vertical speed (m/s)
Vv.vvv Speed over ground (m/s)
LE.EEE East component of master to slave vector ( m )
LN.NNN North component of master to slave vector ( m )
LU.UUU Up component of master to slave vector ( m )
ZONE projection area
UEEE.EEEE East to positon of projection area
UNNN.NNNN North to position of projection area
PN Number of satellites used by the primary antenna
SN Number of satellites used by the secondary antenna
P Position indicator; value is:
• 0 = no position
• 1 = not differentially corrected position (autonomous)
• 2 = differentially corrected position (SBAS, DGPS ,Atlas DGPS

service, L-Dif ande-Dif)
• 4 = RTK fixed integer Atlas high precision services converged
• 5 = RTK float, Atlas high precision services converging
H Heading indicator; value is:
• 0 = no heading or heading is invalid
• 1 = heading is valid
L Distance between base and rover in meter
*CC Checksum
<LF> Line feed
Example:
505
$PSAT,FVI,011657.00,40.071345258,116.326680384,51.2922,0.001,0.003,0.003,28.358,0.106,-5.306,0.087,,,0.030,-
0.001,-0.062,0.030,-0.001,0.001,-0.002,117.0,442562.296,4437668.138,25,26,4,1,4.759,1*6B
JASC,PSAT,FVI
Bin3
506
PSAT, RPTKPROG Message

Message Type:
Description:
Contains RTK fix progress information
$JASC,PSAT,RTKPROG,r[,OTHER]<CR><LF>
where:
Message Format:
$PSAT,RTKPROG,,R,F,N,SS1,SS2,SS3,MASK*CC<CR><LF>
where:
Message Description
Component
R 1 = Ready to enter RTK ambiguity fix
0 = Not ready to enter RTK ambiguity fix
F 1 = Receiver running in RTK ambiguity fix mode
0 = Receiver not running in RTK ambiguity fix mode
N Number of satellites used to fix
SS1 summer-1
SS1 must be significantly larger than SS2 and SS3 to enter R=1 mode
SS2 summer-2
SS3 summer-3
MASK Bit mask; bits identify which GNSS observables are being received from base
recently (1 = GPS, 3 = GPS + GLONASS)
*CC Checksum
<LF> Line feed
Example:
$PSAT,RTKPROG,1,1,24,243.0,0.0,0.0,3*4F<CR><LF>
507
• Ready to enter RTK ambiguity fix
• Receiver running in RTK ambiguity fix mode
• 24 satellites used to fix summer-1 is 243.0, summer-2 is 0, summer-3 is 0
• Bit mask is 3 (GPS + GLONASS)
Issuing the JSAVE command after setting JASC,PSAT,RTKPROG to 1 (message on at 1Hz) does not save this setting. You
must enable JASC,PSAT,RTKPROG (set it to 1) each time you power on the receiver.
Related Commands:
JASC,PSAT,RTKPROG
508
PSAT, RTKSTAT Message

PSAT,RTKSTAT Message
Message Type
Description:
Contains the most relevant parameters affecting RTK
$JASC,PSAT,RTKSTAT,r[,OTHER]<CR><LF>
where:
• ϒ ',OTHER' = optional field, enacts a change on the current port when you send the command without it (and brackets)
and enacts a change on the other port when you send the command with it (without the brackets)
Message Format:
$PSAT,RTKSTAT,MODE,TYP,AGE,SUBOPT,DIST,SYS,NUM,SNR,RSF,BSF,HAG,ACCSTAT,SNT*CC
where:
Message Description
Component
MODE Mode (FIX,FLT,DIF,AUT,NO)
TYP Correction type (DFX,ROX,CMR,RTCM3,CMR+,...)
AGE Age of differential corrections, in seconds
SUBOPT Subscription code (see Interpreting the $JK 'Date'/Subscription Codes to determine the
meaning of the subscription code)
DIST Distance to base in kilometers
SYS Systems in use:
• GPS: L1, L2, L2C, L5
• GLONASS: G1, G2
• BDS: B1,B2, B3, B1C, B2A,B2B,B2AB
• Galileo: E1B, E5A, E5B, E5AB E6
• QZSS: QL1, QL2, QL5

NUM Number of satellites used by each system
509
• A is > 20 dB
• B is > 18 dB
• C is > 15 db
• D is <= 15 dB
RSF Rover slip flag (non zero if parity errors in last 5 minutes, good for detecting
jamming and TCXO issues)
BSF Base slip flag
HAE Horizontal accuracy estimation
ACCSTAT RTK accuracy status (hex), where:
• 0x8 = HDOP high, poor satellite geometry
• 0x10 = fewer than 6 L1 sats used
• 0x20 = poor L1 SNRs
• 0x80 = not in RTK mode or RTK only recently solved (< 10 secs ago)
• 0x100 = RTK solution compromised, may fail
The status message can be any of the above or any combination of the above. For
example, a status message of '047' indicates the following:
SNT Ionospheric scintillation, values are:
• 0 (little or no scintillation - does not adversely affect RTK solution)
• 1-100 (scintillation detected - adversely affects RTK solution)
*CC Checksum
510
<LF> Line feed
Example:
$PSAT,RTKSTAT,FIX,ROX,1,007F,9.5,(,L1,L2,G1,G2,)(,14,11,9,9,)(,A,A,A,A,),0,1,0.011,000
· Fixed mode
· ROX corrections
· Diff age = 1 second
· Subscribed options = 7F (see Understanding Additive Codes for information on subscriptions)
· Distance to base = 9.5 km
· L1,L2,G1,G2 are the systems in use
· Satellites used: L1 = 14, L2 = 11, G1 = 9, G2 = 9
· SNR quality is (> 20 dB), (> 20 dB), (> 20 dB), (> 20dB)
· Rover slip flag = 0
· Base slip flag = 1
· Horizontal accuracy estimation = 0.011
· RTK accuracy status = 000 (no issues or errors)
· Little or no ionospheric scintillation
Issuing the JSAVE command after setting JASC,PSAT,RTKSTAT to 1 (message on at 1Hz) does not save this setting. You
must e JASC,PSAT,RTKSTAT (set it to 1) each time you power on the receiver.
JASC,PSAT,RTKSTAT command
JQUERY,RTKSTAT message
Topic Last Updated: v4.0 / June 30,2020
511
PSAT, VCT Message

PSAT,VCT Message
Message Type:
Description:
Provides the vector from the primary to the secondary antenna
$JASC,PSAT,VCT,r[,OTHER]<CR><LF>
where:
'r' =0,1,2,5,10,20HZ (0 turns off the message)
',OTHER' = optional field, enacts a change on the current port when you send the command without it (and without the
Message Format:
$PSAT,VCT,ID,HHMMSS.SS,A.A,B.B,C.C,D,E.E,F.F,G.G,H.H*CC<CR><LF>
where:
Message Description
Component
ID antenna pair ID (always 1 for now)
A.A Heading in degree
B.B Pitch in degree
C.C Roll in degree
N Normal, not coasting
E.E distance between antennas ( m )
F.F North component of master to slave vector ( m )
G.G East component of master to slave vector ( m )
H.H Up component of master to slave vector ( m )
*CC Checksum
<LF> Line feed
Example:
$PSAT,VCT,1,011657.00,28.358,-5.306,,N,4.7591,4.1530,2.2823,- 0.4401*1F
512
Related Command:
JASC,PSAT,VCT
513
TSS1 Message
TSS1 Message
Message Type
Vector, Data
Description:
Heave, pitch,and roll message in the commonly used TSS1 message format
$JASC,PTSS1,r[,OTHER]<CR><LF>
where:
• ϒϒϒϒϒϒϒ 'r' = message rate (in Hz) of 0 (off), 0.25,0.5, 1, 2, 4, 5, 10, or 20 (if subscribed)
without the brackets) and enacts a change on the other port when you send the command with it (without the brackets).
See Configuring the Data Message Output for detailed information on 'THIS' and 'OTHER' port terminology.
Message Format:
:XXAAAASMHHHHQMRRRRSMPPPP<CR><LF>
where:
Message Description
Component
XX Horizontal acceleration (hex value), in 3.83 cm/s², with a range of zero to 9.81 m/s²
AAAA Vertical acceleration (hex value - 2’s complement), in 0.0625 cm/s², with a range of –
20.48 to
+20.48 m/s²
S Space character
HHHH Heave, in centimeters, with a range of –99.99 to +99.99 meters
Q Status flag
Value Description
h Heading aided mode (settling) - The System is receiving heading aiding

signals from a gyrocompass but is still awaiting the end of the three minutes settling
period after power-on or a change of mode or heave bandwidth.
The gyrocompass takes approximately five minutes to settle after it has been
powered on. During this time, gyrocompass aiding of the System will not be perfect.
The status flag does NOT indicate thiscondition.
F Full aided mode (settled condition) - The System is receiving and using
aiding signals from a gyrocompass and from a GNSS receiver or a Doppler log.
514
RRRR Roll, in units of 0.01 degrees (ex: 1000 = 10°), with a range of –99.99° to +99.99°
S Space character
PPPP Pitch, in units of 0.01 degrees (ex: 1000 = 10°), with a range of –99.99° to +99.99°
<LF> Line feed
Example:
:020010 -0001F 0023 -0169
where:
• XX = 02, horizontal acceleration, which is 7.66 cm/s²
• (XX = 02 (hex) = decimal 2, multiplied by 3.83 cm/s² yields 7.66 cm/s²)
• AAAA = 0010, vertical acceleration, which is 1 cm/s²
• (AAAA = 0010 (hex), which = decimal 16, multiplied by 0.0625 cm/s² yields 1 cm/s²)
• S = (space)
• M = (minus), meaning following heave value is negative
• HHHH = 0001, heave, which is 1 cm (-1 cm based on the M value)
• Q = F, status flag, which is full aided mode
• M = (space),meaning following roll value is positive
• RRRR = 0023, roll, which is 0.23°
• S = (space)
• M = (minus), meaning following pitch value is negative
• PPPP = 0169, pitch, which is 1.69°
Related Commands
JASC,PTSS1
515
RTCM SC-104 Protocol
RTCM SC-104 is a standard that defines the data structure for differential correction information for a variety of differential
correction applications. It was developed by the Radio Technical Commission for Maritime services (RTCM) and has
become an industry standard for communication of correction information. RTCM is a binary data protocol and is not
readable with a terminal program. Because it is a binary format and not ASCII text, it appears as "garbage" data on
screen.
See Reference Documents for RTCM contact information to purchase a copy of the RTCM SC-104 specifications.
517
Hemisphere GNSS Proprietary Binary Interface
Hemisphere GNSS proprietary binary messages may be output from the receiver simultaneously with NMEA 0183
messages.
Binary messages are inherently more efficient than NMEA 0183 and would be used when maximum communication
efficiency is required. Some receiver-specific pieces of information are only available through binary messages, such as
raw data for post processing.
519
Subscriptions Codes
This section covers:
o Finding the serial number and inputting a subscription code (e-Dif, RTK, 20 Hz or 10Hz, etc.) into a Hemisphere GNSS
receiver
o Viewing the status and interpreting the $JI subscription date codes
o The difference between the receiver’s response to the $JK and $JI commands
520
Subscription codes enable GNSS differential correction sources on your receiver. When discussing them it is important to
understand the following.
The YYYY component of a MM/DD/YYYY formatted date—returned by the JK command—is not always just the year
component of that date. When a date’s year starts with 30, only the 30 represents the year - and that year is 3000. A
subscription expiration date of 01/01/3000 effectively means there is no expiration date.
The last two digits of the 30YY 'date' represent the data output rate and the GNSS differential correction sources that
have been subscribed to and are therefore enabled on your receiver. Hemisphere GNSS refers to these two digits as the
Additive Code (see Understanding Additive Codes).
The 30 and the 00 in the 'year' 3000, then, represents "Expires 3000 (so effectively does not expire), the data rate is 10
Hz, and SBAS is enabled." The 'year' 3015 indicates "Expires 3000, the data rate is 20 Hz and differential correction
sources SBAS/e-Dif/RTK and L-Dif have been subscribed to and are enabled."
Below is an example of the $JK command response, part of which is the subscription start and expiration dates (the Date
Code is shaded).
$>JK,01/01/3000,0
521
Understanding Additive Codes

There are several ways to check which activations and subscriptions are on your receiver. Activations and subscriptions
are typically shown as a bitmask. The definition of the bitmask is as follows:
Hex Subscription/ Description

Value Activation
0x01 20HZ Add the ability to output some messages at rates up to 20Hz
0x02 EDif Allow for eDif capability
0x04 RTK Allow for RTK capability
0x08 LDiff Allows for 15cm RTK (if you do not have a 0x4 activation)
0x10 RAW Allow for the output of raw binary GNSS observations for converting to
Rinex
0x20 mFreq Allow for multi-frequency GNSS
0x40 mGNSS Allow for multi-constellation GNSS
If mGNSS is activated without mFreq, the receiver can use L1, G1, E1BC,
B1; if the receiver has an mFreq activation without mGNSS, the receiver
will be activated for L1, L2, L5; if the receiver has both activations, the
receiver can use every signal
0x100 Heading Allow the output of heading messages on Vega boards
0x400 Atlas L-Band Track the signal and use aRTK; an H10, H30, or Atlas Basic subscription is
tracking required to output an Atlas position solution
0x800 Atlas H10 Allow the use of Atlas H10. Atlas H10 codes are provided with 0x800,
0x400, 0x40, and 0x20 as temporary subscriptions.
0x1000 Atlas H30 Allow the use of Atlas H30. Atlas H30 codes are provided with 0x1000,
0x400, 0x40, and 0x20 as temporary subscriptions.
0x2000 Atlas Basic Allows the use of Atlas Basic. Atlas Basic codes are provided with 0x2000,
0x400, and 0x40 as temporary subscriptions.
0x4000 Atlas Atlas H10, Atlas H30, and Atlas Basic are geofenced to within 20km of
Offshore major landmasses. The Atlas Offshore bit, ordered in conjunction with
Atlas H10, H30, or Atlas Basic, removes the geofence and allows for the
use of Atlas globally.
0x8000 50Hz Add the ability to output some messages at rates up to 50Hz
522
The less common downgrade codes are listed below:
Hex Subscription/ Description

Value Activation
0x01 1HZ Restrict the output of messages to 1Hz
0x02 5HZ Restrict the output of messages to 5Hz
0x04 0HZ Restrict the output of all messages
0x08 China Prevent Atlas from working outside of China
geofence
0x10 Beidou only Restrict the solution to only Beidou
0x20 Low Low Performance Heading (artificially adds noise to heading solution)
Performance
Send the $JK,SHOW command to check which activation and subscriptions are on your receiver.
$>JK,SHOW,475,C60,12/31/2025,0,OPT=,20Hz,RTK,RAW_DATA,L2_L5,MULTI_GNSS,ATLAS_LBAND,ATLAS_10cm
This command lists the receiver activations, subscriptions, and downgrades. In the example above, the receiver is
activated and/or subscribed for 20Hz, RTK, raw data output, mFreq (L2_L5), mGNSS, Atlas tracking, and H10.
However, some are permanent activations and others are temporary subscriptions. To distinguish one from another,
check the 3rd, 4th, and 6th fields.
The 3rd field (475 in this case) is a hexadecimal bitmask showing what your receiver is activated for permanently.
0x475 = 0x01 | 0x04 | 0x10 | 0x20 | 0x40 | 0x400. Match those with the above, and we have 20Hz, RTK, raw data,
mFreq, mGNSS, and Atlas tracking that will never expire.
Next, the following field (C60) is a hexadecimal bitmask of what will expire (the expiration date is in the following field,
31st of December 2025).
0xC60 = 0x800 | 0x400 | 0x40 | 0x20. This receiver has a temporary subscription for Atlas H10, L-band tracking,
mGNSS, and mFreq. Those subscriptions will expire. However, please note that even after the subscription expires, the
receiver will still have mGNSS, mFreq, and Atlas L-band tracking since those are also permanent activations.
The field after the date (0 in this case) is the downgrade bit field. This receiver doesn’t have any downgrade bits.
The $JK command response:
$>JK,12/31/2025,C75
C75 is a hexadecimal bitmask of subscriptions and activations, but it does not specify what will expire on the 31st of
December, 2025. Therefore, this command is less desirable.
0xC75 = 0xC60 | 0x475.
Another option is the $JI response. This response gives you a decimal bitmask + 3000. In the example below, the
bitmask is 6189. 6189 – 3000 = 3189 = 0xC75.
$>JI,21000380,20,1,04092019,01/01/1900,01/01/6189,6.0Aa01,0
523
Comparing the JI and JK Responses

Example 1:
In the following examples, the Date Code is shaded. JI query
date code example:
$>JI,311077,1,7,04102005,01/01/1900,01/01/3000,6.8Hx,46
JK query date code example:
$>JK,01/01/3000,0,(1, 2, 5 or no number)
In the JK example the last two digits ('00') of the Date Code ('3000') represent the Hex Code (the second column of Table
2 above).
The last digit to the right (1, 2, 5 or no number) is the Downgrade Code...this is the output rate in Hertz indicating a
downgrade from the default of 10 Hz. So if 1, 2 or 5 does not appear (no number), the output rate is the default 10 Hz.
The Date Codes are identical in either query and are directly related to each other. Also, the last digit in the JK query is
the hexadecimal equivalent of the last two digits in the Date Code. The following example further illustrate this (Date Code
is shaded).
Note: The JI response provides the decimal Date Code while the JK response provides both the decimal Date Code and
the hex Date Code (the Hex Code).
Example 2:
$>JI,311077,1,7,04102005,01/01/1900,01/01/3015,6.8Hx,46
JK query date code example:
$>JK,01/01/3015,F
In this example the last two digits ('15') of the Date Code ('3015') is the decimal equivalent of the last value ('F'), which is
the Hex Code (see the last row in Table 1 above). Example shows no downgrade code.
524
Ethernet Configuration
Some receivers have support for Ethernet. It is disabled by default but may be enabled with the $JETHERNET serial
command.
Enabling and Disabling Ethernet

To start, the full current state of Ethernet configuration may be checked with the command “$JETHERNET”. When ethernet
is disabled, the following is displayed:
$JETHERNET
$>JETHERNET,MAC,8C-B7-F7-F0-00-01
$>JETHERNET,MODE,OFF
$>JETHERNET,PORTI,OFF
$>JETHERNET,PORTUDP,OFF
$>JETHERNET,NTRIPCLIENT,OFF
$>JETHERNET,IPADDRESS,NONE
To enable Ethernet, you first need to know if you are going to allow the receiver to be assigned an IP address
automatically via DHCP, or statically assigned. If you are unsure, please contact the administrator of the network you wish
to connect it to.
To enable Ethernet support with a DHCP-assigned IP address, simply use the command “$JETHERNET,MODE,DHCP”. The
receiver will attempt to get an address from the DHCP server on the network. You should be able to see the current IP
address reported by a “$JETHERNET” query change.
To enable Ethernet support with a statically assigned IP address, use the command
“$JETHERNET,MODE,STATIC,ip,subnet,gateway,dns” where ip/subnet/gateway/dns are each replaced with the
relevant IP address. The gateway and dns parameters are optional, and only useful for allowing outgoing connections
from the P328, which are not currently supported anyway. An example command would be
“$JETHERNET,MODE,STATIC,192.168.0.42,255.255.255.0”
If one wishes to disable Ethernet use the command “$JETHERNET,MODE,OFF”
Enabling Network Services

With Ethernet enabled, it should be possible to send an ICMP ping to the receiver from a PC on the same network if one
wishes to test that. No actual services are enabled on Ethernet by default however though, so to make practical use of
Ethernet support, one must also enable a service.
As of the v6.0.0 firmware, the only services implemented the PORTI virtual serial port, PORTUDP, and NTRIPCLIENT.
Additional types of network services may be implemented in future firmware versions.
For details regarding these services, please reference the relevant $JETHERNET,* command documentation for the
service in question.
For sake of example, it is possible to enable the PORTI virtual serial port as a TCP server. Once a connection to it is
made, it will act just like a local serial port of the receiver would. Only one TCP client may be connected to it at a time.
Important Note: Enabling PORTI as a TCP server should only be done when the network the receiver is connected to is
considered to be a trusted network, since it gives full access to the receiver just as a local serial port would, and has no
authentication mechanism.
539
Ethernet Configuration
To enable the PORTI service as a TCP server, use the command “$JETHERNET,PORTI,port” where port is replaced
with the TCP port number which one wishes to use. Any port in the range 1 to 65535 is allowable, but it is recommended
one consider which TCP port numbers are typically reserved for various common protocols and avoid those port numbers.
To disable the PORTI service, use the command “$JETHERNET,PORTI,OFF”.
As an additional note, when the connected to a network, the receiver can be accessed with a hostname of
“hgnss########.local” where ######## is replaced with the receiver’s electronic serial number as is reported by the $JI
command. This can make it easier to connect to a receiver on a local network that was assigned an IP address by DHCP,
so you do not need to check which IP address it was assigned.
Topic Last Updated: v3.0/December 30, 2019
540
Enabling Ethernet Services
With Ethernet enabled, it should be possible to send an ICMP ping to the P328 receiver from a PC on the same network,
if one wishes to test that. No actual services are enabled on Ethernet by default however though, so to make practical use
of Ethernet support, one must also enable a service.
As of the writing of this document, the only Ethernet service implemented is the PORTI virtual serial port. Additional types
of Ethernet services may be implemented in future firmware versions.
The PORTI virtual serial port allows a listening TCP port to be opened, which will act just like a local serial port of the
receiver would. Only one TCP client may be connected at a time.
Important Note: Enabling “PORTI” on Ethernet should only be done with the P328 connected to a trusted network, since
it gives full access to the receiver just as a local serial port would, and has no authentication or security mechanisms.
To enable the PORTI service, use the command:
$JETHERNET,PORTI,port
where port is replaced with the TCP port number which one wishes to use. Any port in the range 1 to 65535 is allowable,
but it is recommended one consider which TCP port numbers are typically reserved for various common protocols and
avoid those port numbers.
To disable the PORTI service, use the command:
$JETHERNET,PORTI,OFF
541
Resources
Resources
Resources
Reference Documents
National Marine Electronics Association, National Marine Electronics Association (NMEA) Standard for Interfacing
Marine Electronic Devices
Version 2.1, October 15, NMEA 1995
7 Riggs Avenue
Severna Park, MD 21146
Tel:+1-410-975-9425
Tel Toll Free: +1-800-808-6632
http://www.nmea.org/
Radio Technical Commission for Maritime Services, RTCM Recommended Standards for Differential NAVSTAR
GPS Service
Version 2.2
Developed by Special Committee No. 104, RTCM
1998 1800 N Kent St, Suite 1060
Arlington, VA 22209, USA

Tel: +1-703-527-2000
http://www.rtcm.org/
Radio Technical Commission for Aeronautics, Minimum Operational Performance Standards (MOPS) for Global
Positioning System/Wide Area Augmentation System Airborne Equipment
Document RTCA D0-229A, Special Committee No. 159, RTCA 1998
71828 L Street, NW, Suite 805
Washington, D.C. 20036 USA

Tel:+1-202-833-9339
http://www.rtca.org/
ARIC Research Corporation,Interface Control Document, Navstar GPS Space Segment/Navigation User Interfaces
ICD-GPS-200, April 12, 2000
2250 E. Imperial Highway,
Suite 450 El Segundo, CA
90245-3509
http://www.navcen.uscg.gov/
540
Websites
Hemisphere GNSS
http://www.hemispheregnss.com
FAA WAAS
This site offers general information on the WAAS service provided by the U.S. FAAS.
http://www.faa.gov/about/office_org/headquarters_offices/ato/service_units/techops/navservices/gnss/waas/
ESA EGNOS System Test Bed
This site contains information relating to past performance, real-time performance, and broadcast schedule
of EGNOS.
http://www.esa.int/esaNA/egnos.html
Solar and Ionosphereic Activity
The following sites are useful in providing details regarding solar and ionospheric activity.
http://iono.jpl.nasa.gov
http://www.spaceweather.com
543

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Hemisphere

Introduction and Quick Start

Resources provides resources for additional information.

Troubleshooting provides troubleshooting advice for common questions.

What is my receiver type? Send the JHTYPE,SHOW command.

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

What is my current receiver configuration?

What is my Vector receiver configuration?

What commands are supported by my receiver?

Overview topic for commands supported by that GNSS engine.

How do I send a command to my receiver?

How do I turn on data messages (such as GPGGA) for a receiver?

Topic Last Updated: v1.11 / November 15, 2018

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

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

Topic Last Updated: v1.11 / November 15, 2018

Higher update rates are valuable for applications where:

• Higher speeds are present such as in aviation

• You have manual navigational tasks such as in agricultural guidance

Keep the following in mind regarding message rates:

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

Use the following guidelines:

To log once Use

Note 2: Faster than 1Hz, if subscribed.

Topic Last Updated: v1.11 / November 15, 2018

Hemisphere GNSS Hardware Platforms

Hemisphere GNSS offers many hardware platforms, some of which include:

• Positioning OEM boards and receivers

• Heading OEM boards and receivers

• Beacon OEM boards

Topic Last Updated: v1.11 / November 15, 2018

Universal Development Kit

• Main carrier board

• Power cable and AC power supply

cable null modem, USB-C to USB-A cable-

Last Updated: v4.0 / June 30, 2020

DGNSS and RTK Solutions

SBAS Automatic Tracking

WAAS Signal Information

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

SBAS Automatic Tracking

Topic Last Updated: v1.11 / November 15, 2018

Topic Last Updated: v.1.11/November 15, 2018

Specifically, WAAS calculates separate errors for the following:

• GPS satellite timing errors

• GPS satellite orbit errors

• Broadcast WAAS ionospheric correction map

• Extrapolated WAAS ionospheric correction map

Topic Last Updated: v1.11/November 15, 2018

WAAS Signal Information

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

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

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

Topic Last Updated: v1.11/November 15, 2018

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

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

Topic Last Updated: v1.11/November 15, 2018

• Free space loss

A radio beacon transmission has three components: