Congratulations on your purchase of the Maretron
GPS100 GPS/WAAS Antenna/Receiver.
Maretron has designed and built your GPS100 to the highest standards for
years of reliable, dependable, and accurate service.
The Maretron GPS100 is designed to operate within
the harsh demands of the marine environment.
However, no piece of marine electronic equipment can function properly
unless installed and maintained in the correct manner. Please read carefully and follow these
instructions for installation and usage of the Maretron GPS100 in order to
ensure optimal performance.
This manual corresponds to GPS100 firmware revision 1.5.
The Maretron GPS100 has the following features.
- NMEA
2000® Interface
- 12
Channel GPS Antenna/Receiver
- Satellite
Based Augmentation System (SBAS) capable (WAAS, EGNOS and MSAS)
- Accurate
Location, COG and SOG Data to Any NMEA 2000® Device Including
Chart Plotters, Autopilots, and Instrumentation Displays
- Magnetic
Variation Output Based on World Magnetic Model (WMM2005)
- Waterproof
Enclosure and Cable System
When unpacking the box containing the Maretron
GPS100, you should find the following items:
1 - GPS100
GPS/WAAS Antenna/Receiver
1 - Pole
Mount Base
3 -
Mounting Screws and Lock Washers
1 - GPS100
User’s Manual
1 -
Warranty Registration Card
If any of these items are missing or damaged, please
contact Maretron.
The selection of a suitable
mounting location is important for the optimal performance of the Maretron
GPS100. The mounting location and
orientation of the GPS100 should be:
1. Level
with the earth’s horizontal plane – This gives the GPS100 antenna the
optimal view of satellites from all directions.
2. High
Enough to have a clear view of the sky to the horizon in all directions
unblocked by masts or antennas – The GPS100 provides the best readings when
it has access to as many satellites as possible.
3. As
far as possible from VHF, satellite, or radar antennas – Radio frequency
transmissions from these antennas can interfere with the proper reception of
GPS satellite signals by the GPS100.
The Maretron GPS100 can be
mounted directly on top of a horizontal surface (Section 2.3.1)
or on top of a 1” 14 threads per inch standard marine pole mount (Section 2.3.2).
Attach the GPS100 securely to the
vessel using the included brass mounting screws and included lock washers or
other fasteners as shown in Figure 1
(see mounting template in Section 8
for drill pattern).
Figure 1 – Mounting the GPS100 to a flat surface
Screw the included GPS100 antenna
mount base to the standard marine mount.
Thread the NMEA 2000® cable through the standard marine mount
and the antenna mount base from the bottom out through the top and connect it
to the GPS100 unit (see Section 2.4 below). Finally, attach the GPS100 to the antenna
mount base using the included brass mounting screws and lock washers as shown
in Figure 2.
Figure 2 – Mounting the GPS100 to a Standard Marine
Pole Mount
The Maretron GPS100 provides a
connection to an NMEA 2000® interface through a connector that can
be found on the bottom of the device (see Figure 3).
Figure 3 – GPS100 Interface Connector
The NMEA 2000® connector is a five pin male connector (see Figure 4).
You connect the GPS100 to an NMEA 2000® network using a Maretron
NMEA 2000® cable (or compatible cable) by connecting the female end
of the cable to the GPS100 (note the key on the male connector and keyway on
the female connector). Be sure the cable is connected securely and that the
collar on the cable connector is tightened firmly. Connect the other end of the
cable (male) to the NMEA 2000® network in the same manner. The
GPS100 is designed such that you can plug or unplug it from an NMEA 2000®
network while the power to the network is connected or disconnected. Please
follow recommended practices for installing NMEA 2000® network
products.
Figure 4 – NMEA 2000® Connector Face
Views
Once the NMEA 2000®
connection to the Maretron GPS100 has been completed, check to see that heading
information is being properly transmitted by observing an appropriate display.
Refer to Section 5,
“Troubleshooting”, if no heading information appears.
As shipped from the factory, the GPS100
automatically provides position, time, SOG, COG, magnetic variation, and
satellite information and requires no user configuration. However, some of the
GPS100 parameters are user configurable as described below:
- Desired Operating Mode – the GPS100 may be programmed
to operate in 2D mode, 3D mode, or the best available operating mode
(factory default)
- SBAS (WAAS) – the GPS100 may be programmed to use
SBAS (WAAS) using the best available SBAS satellite (factory default). A specific SBAS satellite may be
specified, or SBAS may be disabled altogether.
- SV Elevation Mask – as shipped from the factory, the
GPS100 uses all visible satellites in its position solution, regardless of
the elevation (angle above the horizon).
A user may specify a SV Elevation Mask, such that only satellites
with an elevation greater than this value will be used in the position
solution.
- PDOP Mask – as shipped from the factory, the GPS100
will report a GPS fix whenever possible, regardless of the value of
position dilution of precision (PDOP). A user may specify a PDOP Mask,
such that whenever the PDOP is above the specified value, the GPS100 will
report that no GPS fix is available.
- SNR Mask – As shipped from the factory, the GPS100
will use all detectable satellites in its position solution, regardless of
the signal-to-noise ratio (SNR). A user may specify a SNR mask, such that
such that only satellites with an SNR greater than this value will be used
in the position solution.
- Antenna Altitude – A user may specify an antenna
altitude for use when the GPS100 is operating in 2D mode. As shipped from
the factory, the GPS100 will use the altitude calculated when it was last
operating in 3D mode.
- Periodic Rate of Transmission – As shipped from the
factory, the GPS100 transmits PGNs at a periodic rate. Alternatively, a
PGN can be disabled by programming its periodic rate to zero.
These parameters may be
configured using a Maretron instrumentation display, such as the Maretron
DSM200, or other NMEA 2000® chartplotters or instrumentation
displays with GPS configuration capability. Please refer to your
chartplotter/display manual for details.
Users with direct access to the NMEA 2000®
interface may configure these parameters directly through the NMEA 2000®
interface. Please refer to Appendix A
for a description of the NMEA 2000® messages used to configure these
parameters.
Magnetic variation is the angular
difference between the true meridian (great circle connecting the geographic
poles) and the magnetic meridian (direction of the lines of magnetic flux).
Magnetic variation has different values
at different locations on the earth with most areas undergoing change to the
magnetic variation over time.
The
GPS100 indicates magnetic variation anywhere on Earth using the World Magnetic
Model (WWM2005). It is important to understand that the WMM2005 geomagnetic
model only characterizes that portion of the Earth’s magnetic field that
is generated in the Earth’s fluid outer core (the main magnetic field). The
portions of the geomagnetic field generated by the Earth’s crust and upper
mantle, and by the ionosphere and magnetosphere, are not represented in the
WMM2005. Consequently, a magnetic sensor such as a compass or magnetometer may
observe spatial and temporal magnetic anomalies when referenced to the WMM2005.
In particular, certain local, regional, and temporal magnetic declination
anomalies can exceed 10 degrees. Anomalies of this magnitude are not common but
they do exist. Declination anomalies of the order of 3 or 4 degrees are not
uncommon but are of small spatial extent and are relatively isolated.
On land, spatial anomalies are produced by
mountain ranges, ore deposits, ground struck by lightning, geological faults,
and cultural features such as trains, planes, tanks, railroad tracks, power
lines, etc. The corresponding deviations are usually smaller at sea, and
decrease with increasing altitude of an aircraft or spacecraft. In ocean areas,
these anomalies occur most frequently along continental margins, near
seamounts, and near ocean ridges, trenches, and fault zones, particularly those
of volcanic origin. Ships and submarines are also sources of magnetic anomalies
in the ocean.
However, from a global main field perspective,
the declination (D), inclination (I), and grid variation (GV) RMS errors of
WMM2005 are estimated to be less than 1.0° at the Earth’s surface over the
entire 5-year life span of the model. Also, the RMS errors at the Earth’s
surface horizontal intensity (H), the vertical component (Z), and the total
intensity (F) of WMM2005 are estimated to be well below 200 nT over the entire
5-year life of the model. Thus, the WMM2005 meets and exceeds the accuracy
requirements detailed in MIL-W-89500 (Defense Mapping Agency, 1993) for the
entire life span of the model. To learn more about the WWM2005, please visit
http://www.ngdc.noaa.gov/seg/WMM/DoDWMM.shtml.
Regular maintenance is important to ensure continued
proper operation of the Maretron GPS100.
Perform the following tasks periodically:
- Clean the unit with a soft cloth. Do not use chemical cleaners as they may
remove paint or markings or may corrode the GPS100 enclosure or seals.
- Ensure that the unit is mounted securely and cannot
be moved relative to the mounting surface.
If the unit is loose, tighten the mounting screws.
- Check the security of the cable connected to the NMEA
2000® interface
and tighten if necessary.
If you notice unexpected operation of the Maretron GPS100,
follow the troubleshooting procedures in this section to remedy simple
problems.
|
Symptom
|
Troubleshooting Procedure
|
|
No data output
|
Check the connections to the NMEA 2000® connector and tighten if necessary
Ensure that power is supplied to the connected NMEA 2000® cable
Ensure that the GPS100 has a clear view to the horizon in
all directions
Ensure that no VHF, satellite, or radar antennas have been
mounted near the GPS100
|
If these steps do not solve your problem, please contact
Maretron Technical Support (refer to Section 7
for contact information).
Warning: There are no user-serviceable components inside
the Maretron GPS100. Opening the GPS100
will expose the sensitive electronic components to adverse environmental
conditions that may render the unit inoperative. Please do not open the GPS100,
as this will automatically void the warranty. If service is required, please
return the unit to an authorized Maretron service location.
Specifications
|
Parameter
|
Value
|
Comment
|
|
Position Accuracy
(Autonomous)
|
<10m
|
2D RMS (95% of Data
Falls Within 10m)
|
|
Position Accuracy
(WAAS)
|
< 3m
|
2D RMS (95% of Data
Falls Within 3m)
|
|
Channels
|
|
Simultaneous Tracking
of 12 Satellites
|
|
Position Update Rate
|
10 per Second
|
|
|
Speed Update Rate
|
4 per Second
|
|
|
Time Update Rate
|
1 per Second
|
|
|
Hot Start
|
8 Seconds
|
Start Within Hours of
Last Power Down
|
|
Warm Start
|
38 Seconds
|
Start Within Days of
Last Power Down
|
|
Cold Start
|
45 Seconds
|
Start from Unknown
Position
|
|
Satellite Based
Augmentation System
|
WAAS
EGNOS
MSAS
|
North America
|
|
Europe
|
|
Asia
|
|
Battery Backup
|
Lithium (4-5 Days)
|
Holds Position for
Hot/Warm Starts
|
Certifications
|
Parameter
|
Comment
|
|
NMEA 2000
|
Level A
|
|
Maritime Navigation
and Radiocommunication Equipment & Systems
|
Tested to IEC 60945
|
|
FCC and CE Mark
|
Electromagnetic
Compatibility
|
NMEA 2000® Parameter Group Numbers (PGNs) -
See Appendix A for Details
|
Description
|
PGN #
|
PGN Name
|
Default Rate
|
|
Periodic Data PGNs
|
126992
|
System Time
|
1 Time/Second
|
|
128259
|
Speed
|
Disabled
|
|
129025
|
Position, Rapid Update
|
10 Times/Second
|
|
129026
|
COG and SOG, Rapid Update
|
4 Times/Second
|
|
129029
|
GNSS Position Data
|
1 Time/Second
|
|
129539
|
GNSS DOPs
|
1 Time/Second
|
|
129540
|
GNSS Satellites in View
|
1 Time/Second
|
|
127258
|
Magnetic Variation
|
1 Time/Second
|
|
Response to Requested PGNs
|
126464
|
PGN List (Transmit and
Receive)
|
N/A
|
|
126996
|
Product Information
|
N/A
|
|
126998
|
Configuration Information
|
N/A
|
|
129538
|
GNSS Control Status
|
N/A
|
|
129541
|
GPS Almanac Data
|
N/A
|
|
Protocol PGNs
|
059392
|
ISO Acknowledge
|
N/A
|
|
059904
|
ISO Request
|
N/A
|
|
060416
|
ISO Transport Protocol,
Connection Management
|
N/A
|
|
060160
|
ISO Transport Protocol,
Data Transfer
|
N/A
|
|
060928
|
ISO Address Claim
|
N/A
|
|
065240
|
ISO Address Command
|
N/A
|
|
126206
|
NMEA
|
N/A
|
Electrical
|
Parameter
|
Value
|
Comment
|
|
Operating Voltage
|
9 to 16 Volts
|
DC Voltage
|
|
Power Consumption
|
<150mA
|
Average Current Drain
|
|
Load Equivalence
Number (LEN)
|
|
NMEA 2000®
Spec. (1LEN = 50 mA)
|
|
Reverse Battery
Protection
|
Yes
|
Indefinitely
|
|
Load Dump Protection
|
Yes
|
Energy Rated per SAE
J1113
|
Mechanical
|
Parameter
|
Value
|
Comment
|
|
Size
|
4” Diameter x 1.65”
Tall
|
Not Including Antenna
Mount Base
|
|
Weight
|
6 oz.
|
Not Including Antenna
Mount Base
|
|
Mounting
|
|
|
Environmental
|
Parameter
|
Value
|
|
IEC 60954
Classification
|
Exposed
|
|
Degree of Protection
|
IP67
|
|
Operating Temperature
|
-25°C to 55°C
|
|
Storage Temperature
|
-40°C to 70°C
|
|
Relative Humidity
|
93%RH @40° per
IEC60945-8.2
|
|
Vibration
|
2-13.2Hz @ ±1mm,
13.2-100Hz @ 7m/s2 per IEC 60945-8.7
|
|
Rain and Spray
|
12.5mm Nozzle @
100liters/min from 3m for 30min per IEC 60945-8.8
|
|
Solar Radiation
|
Ultraviolet B, A,
Visible, and Infrared per IEC 60945-8.10
|
|
Corrosion (Salt Mist)
|
4 times 7days @ 40°C,
95%RH after 2 hour Salt Spray Per IEC 60945-8.12
|
|
Electromagnet Emission
|
Conducted and Radiated
Emission per IEC 60945-9
|
|
Electromagnetic
Immunity
|
Conducted, Radiated,
Supply, and ESD per IEC 60945-10
|
|
Safety Precautions
|
Dangerous Voltage,
Electromagnetic Radio Frequency per IEC 60945-12
|
If you require technical support for Maretron products, you
can reach us in one of the following ways:
Telephone: 1-866-550-9100
Fax: 1-602-861-1777
E-mail: support@maretron.com
World
Wide Web: http://www.maretron.com
Mail: Maretron, LLC
Attn:
Technical Support
9034
N. 23rd Ave Suite 13
Phoenix,
AZ 85021 USA
Appendix A – NMEA 2000® Interfacing
GPS100 NMEA 2000®
Periodic Data Transmitted PGNs
PGN 126992 – System Time
The GPS100 uses this PGN to provide
a regular transmission of UTC time and date and to provide synchronism for
measurement data. The factory default for periodic transmission rate is once
per second. The transmission of this PGN can be disabled (see PGN 126208 – NMEA
Request Group Function – Transmission Periodic Rate).
Field 1: SID – The sequence identifier field is used
to tie related PGNs together. For example, the GPS100 will transmit identical
SIDs for 126992 (System Time), 128259 (Speed), 129026 (COG and SOG, Rapid
Update), 129029 (GNSS Position Data), 129539 (GNSS DOPs), and 129540 (GNSS
Satellites in View) to indicate that the readings are linked together (i.e.,
the data from each PGN was taken at the same time although they are reported at
slightly different times).
2: Source – This field is used to indicate the
type of time source, therefore this field always reads as 0 (GPS).
3: Reserved (4 bits) – This field is reserved
by NMEA; therefore, this field always contains a value of 0xF (the GPS100 sets
all reserved bits to a logic 1)
4: Date – This field is used to indicate the
UTC Date in resolution of 1 day (the number of days since January 1, 1970).
5: Time – This field is used to indicate the
UTC Time in resolution of 1x10-4 s (24 hour clock, 0.0000 =
midnight).
PGN 127258 – Magnetic Variation
The GPS100 uses this PGN to
provide a regular transmission of magnetic variation. The factory default for
periodic transmission rate is once per second. The transmission of this PGN can
be disabled (see PGN 126208 – NMEA Request Group Function – Transmission
Periodic Rate).
Field 1: SID – The sequence identifier field is used
to tie related PGNs together. For example, the GPS100 will transmit identical
SIDs for 126992 (System Time), 128259 (Speed), 129026 (COG and SOG, Rapid
Update), 129029 (GNSS Position Data), 129539 (GNSS DOPs), and 129540 (GNSS
Satellites in View) to indicate that the readings are linked together (i.e.,
the data from each PGN was taken at the same time although they are reported at
slightly different times).
2: Variation Source – The GPS100 uses the
WMM2005 for variation, therefore this field always reads as 5 (WMM2005).
3: Reserved (4 bits) – This field is reserved
by NMEA; therefore, this field always contains a value of 0xF (the GPS100 sets
all reserved bits to a logic 1)
4: Age of Service (Date) – This field is used
to indicate the UTC Date in resolution of 1 day (the number of days since
January 1, 1970).
5: Variation – This field is used to indicate
the magnetic variation where positive values represent Easterly and negative
values represent Westerly variation.
PGN 128259 – Speed
The GPS100 uses this PGN to
provide a regular transmission that describes the motion of a vessel. The
factory default for periodic transmission rate is disabled. The PGN can be transmitted
at a periodic rate of once per second (see PGN 126208 – NMEA Request Group
Function – Transmission Periodic Rate).
Field 1: SID
– The sequence identifier field is used to tie related PGNs together. For
example, the GPS100 will transmit identical SIDs for 126992 (System Time),
128259 (Speed), 129026 (COG and SOG, Rapid Update), 129029 (GNSS Position
Data), 129539 (GNSS DOPs), and 129540 (GNSS Satellitess in View) to indicate
that the readings are linked together (i.e., the data from each PGN was taken
at the same time although they are reported at slightly different times).
2: Speed Water Referenced – Since the GPS100
does not provide this data, this field always reads as 0xFFFF (data not
available).
3: Speed Ground Referenced – This field is used
to indicate the speed over ground (SOG) in resolution of 1x10-2 m/s.
4: Reserved (24 bits) – This field is reserved
by NMEA; therefore, this field always contains a value of 0xFFFFFF (the GPS100
sets all reserved bits to a logic 1)
PGN 129025 – Position,
Rapid Update
The GPS100 uses this PGN to
provide latitude and longitude referenced to WGS84. The factory default for
periodic transmission rate is 10 times per second. The transmission of this PGN
can be disabled (see PGN 126208 – NMEA Request Group Function – Transmission
Periodic Rate).
Field 1: Latitude – Latitude in 1x10-7
degrees ("-" = south, “+” = north)
2: Longitude – Longitude in 1x10-7
degrees ("-" = west, “+” = east)
PGN
129026 – COG and SOG, Rapid Update
The GPS100 uses this PGN to
provide Course Over Ground (COG) and Speed Over Ground (SOG). The factory
default for periodic transmission rate is four times per second. The
transmission of this PGN can be disabled (see PGN 126208 – NMEA Request Group
Function – Transmission Periodic Rate).
Field 1: SID – The sequence identifier field is used
to tie related PGNs together. For example, the GPS100 will transmit identical
SIDs for 126992 (System Time), 128259 (Speed), 129026 (COG and SOG, Rapid
Update), 129029 (GNSS Position Data), 129539 (GNSS DOPs), and 129540 (GNSS
Satellites in View) to indicate that the readings are linked together (i.e.,
the data from each PGN was taken at the same time although they are reported at
slightly different times).
2: COG Reference – This field is used to indicate
the direction reference of the course over ground. This field always reads as 0
(True, not magnetic).
3: Reserved (6 bits) – This field is reserved
by NMEA; therefore, this field always contains a value of 0x3F (the GPS100 sets
all reserved bits to a logic 1)
4: Course Over Ground – This field is used to
indicate the course over ground (COG) in resolution of 1x10-4
radians.
5: Speed Over Ground – This field is used to
indicate the speed over ground (SOG) in resolution of 1x10-2 m/s.
6: Reserved (16 bits) – This field is reserved
by NMEA; therefore, this field always contains a value of 0xFFFF (the GPS100
sets all reserved bits to a logic 1)
PGN 129029 – GNSS Position
Data
The GPS100 uses this PGN to
convey a comprehensive set of Global Navigation Satellite System (GNSS)
parameters, including position information. The factory default for periodic
transmission rate is once per second. The transmission of this PGN can be
disabled (see PGN 126208 – NMEA Request Group Function – Transmission Periodic
Rate).
Field 1: SID – The sequence identifier field is used
to tie related PGNs together. For example, the GPS100 will transmit identical
SIDs for 126992 (System Time), 128259 (Speed), 129026 (COG and SOG, Rapid
Update), 129029 (GNSS Position Data), 129539 (GNSS DOPs), and 129540 (GNSS
Satellites in View) to indicate that the readings are linked together (i.e.,
the data from each PGN was taken at the same time although they are reported at
slightly different times).
2: Position date –UTC Date in resolution of 1
day (The number of days since January 1, 1970).
3: Position time – UTC Time in resolution of
1x10-4 s (24 hour clock, 0.0000 = midnight).
4: Latitude – Latitude in 1x10-16
degrees ("-" = south, “+” = north)
5: Longitude – Longitude in 1x10-16
degrees ("-" = west, “+” = east)
6: Altitude – Altitude referenced to WGS-84 in
(resolution of 1x10-6 m)
7: Type of System – This field is used to
indicate type of GPS system. The GPS100 will show either 0 (GPS) or 3
(GPS+SBAS, factory default) dependent on whether the user has enabled SBAS.
8: Method, GNSS – This field is used to
indicate the quality of GNSS information. The GPS100 indicates one of the
following values: 0=no GPS, 1=GNSS fix, 2=DGNSS fix, 6=Estimated (dead
reckoning).
9: Integrity – This field always contains a
value of 0 (no integrity checking).
10: Reserved (6 bits) – This field is reserved
by NMEA; therefore, this field always contains a value of 0x3F (the GPS100 sets
all reserved bits to a logic 1)
11: Number of SVs – This field is used to
indicate the number of satellites used in solution.
12: HDOP – This field is used to indicate the
horizontal dilution of precision with a resolution of 1x10-2 (unitless).
13: PDOP – This field is used to indicate the
positional dilution of precision with a resolution of 1x10-2 (unitless).
14: Geoidal Separation – This field is used to
indicate the Geoidal Separation in resolution of 1x10-2 m.
15: Number of Reference Stations – This field
always contains a value of 0
16: Reference Station Type "1" – This
field always contains a value of 0xF (Null)
17: Reference Station ID "1" – This
field always contains a value of 0xFFF (data not available)
18: Age of DGNSS Corrections "1" –
This field always contains a value of 0xFFFF (data not available)
PGN 129539 – GNSS DOPs
The GPS100 uses this PGN to
provide a single transmission containing GNSS status and dilution of precision
components (DOP) that indicate the contribution of satellite geometry to the
overall positioning error. There are three DOP parameters reported, horizontal
(HDOP), Vertical (VDOP) and time (TDOP). The factory default for periodic
transmission rate is once per second. The transmission of this PGN can be
disabled (see PGN 126208 – NMEA Request Group Function – Transmission Periodic
Rate).
Field 1: SID – The sequence identifier field is used
to tie related PGNs together. For example, the GPS100 will transmit identical
SIDs for 126992 (System Time), 128259 (Speed), 129026 (COG and SOG, Rapid
Update), 129029 (GNSS Position Data), 129539 (GNSS DOPs), and 129540 (GNSS
Satellites in View) to indicate that the readings are linked together (i.e.,
the data from each PGN was taken at the same time although they are reported at
slightly different times).
2: Set Mode – This field is used to indicate
the desired mode of operation: 0 = 1D. 1 = 2D, 2 = 3D, 3 = Auto (factory
default), 4-5 = Reserved, 6 = Error, 7 = Null.
3: Op Mode – This field is used to indicate the
actual current mode of operation: 0 = 1D. 1 = 2D, 2 = 3D, 3 = Auto (factory
default), 4-5 = Reserved, 6 = Error, 7 = Null.
4: Reserved (2 bits) – This field is reserved
by NMEA; therefore, this field always contains a value of 0x3 (the GPS100 sets
all reserved bits to a logic 1)
5: HDOP – This field is used to indicate the
horizontal dilution of precision with a resolution of 1x10-2
(unitless).
6: VDOP – This field is used to indicate the
vertical dilution of precision with a resolution of 1x10-2
(unitless).
7: TDOP – This field is used to indicate the
time dilution of precision with a resolution of 1x10-2 (unitless).
PGN 129540 – GNSS
Satellites in View
The GPS100 uses this PGN to
provide the GNSS information on current satellites in view tagged by sequence
ID. Information includes PRN, elevation, azimuth, and SNR. Field 4 defines the
number of satellites. Fields 5 through 11 defines the satellite number and the
information. Fields 5 through 11 are sequentially repeated for each satellite
to be transmitted. The factory default for periodic transmission rate is once
per second. The transmission of this PGN can be disabled (see PGN 126208 – NMEA
Request Group Function – Transmission Periodic Rate).
Field 1: SID – The sequence identifier field is used
to tie related PGNs together. For example, the GPS100 will transmit identical
SIDs for 126992 (System Time), 128259 (Speed), 129026 (COG and SOG, Rapid
Update), 129029 (GNSS Position Data), 129539 (GNSS DOPs), and 129540 (GNSS
Satellites in View) to indicate that the readings are linked together (i.e.,
the data from each PGN was taken at the same time although they are reported at
slightly different times).
2: Mode – This field always reads as 3 (Null),
indicating that range residuals are used to calculate position, and not
calculated after the position.
3: Reserved (6 bits) – This field is reserved
by NMEA; therefore, this field always contains a value of 0x3F (the GPS100 sets
all bits to a logic 1)
4: Number of SVs – This field is used to
indicate the number of current satellites in view. Fields 5-11 are repeated the
number of times specified by this field’s value.
5: PRN "1" – This field is used to
indicate the Satellite ID Number of the satellite (1-32=GPS, 33-64=SBAS,
65-96=GLONASS).
6: Elevation "1" – This field is used
to indicate the Elevation of the satellite.
7: Azimuth "1" – This field is used
to indicate the Azimuth of the satellite.
8: SNR "1" – This field is used to
indicate the Signal to Noise Ratio (SNR) of the satellite.
9: Range Residuals “1” – The GPS100 always sets
this field to a value of 0x7FFFFFFF (data not available)
10: PRN Status "1" – This field is
used to indicate the status of the first satellite in the list. (0=Not Tracked,
1=Tracked but not used in solution, 2=Used in solution without Differential
corrections, 3=Differential Corrections available, 4=Tracked with Differential
Corrections, 5=used with Differential Corrections)
11: Reserved (4 bits) – This field is reserved
by NMEA; therefore, this field always contains a value of 0xF (the GPS100 sets
all bits to a logic 1)
If Field 4 contains a value
greater than one, then the group of fields 5 through 11 is repeated until this
group appears the number of times indicated by the value of Field 4.
GPS100 NMEA 2000®
Non-Periodic Data Transmitted PGNs
PGN 129538 – GNSS Control
Status
The GPS100 uses this PGN to provide
the GNSS common satellite receiver parameter status. GPS100 sends this PGN only
when requested by PGN 059904 (ISO Request).
Field 1: SV
Elevation Mask – If the elevation of a satellite (angle above the horizon) is
below this value, the GPS100 will not use that satellite in the solution. Units
are 1x10-4 radians. The factory default for this value is 0.1309
radians , which corresponds to 7.5°.
2: PDOP Mask – If the PDOP exceeds this value,
the GPS100 will indicate “No GNSS fix” or “Dead Reckoning Mode” in PGN 129029.
Units are 1x10-2 (unitless). The factory default is to report a fix
whenever possible, regardless of PDOP.
3: PDOP Switch – If the PDOP exceeds this
value, a GPS receiver will switch from 3D to 2D mode. For the GPS100, this
field always contains a value of 0x7FFF, indicating that the GPS100 will always
attempt to operate in 3D mode. Units are 1x10-2 (unitless). The
factory default is to report a fix whenever possible, regardless of PDOP.
4: SNR Mask – If the SNR of a satellite is
below this value, the GPS100 will not use that satellite in the solution. Units
are 1x10-2 dB. The factory default is to use all available
satellites. The factory default setting for the SNR Mask is 28 dB.
5: GNSS Mode – This field is used to indicate
the desired mode of operation: 0 = 1D, 1 = 2D, 2 = 3D, 3 = Auto (factory
default), 4-5 = Reserved, 6 = Error, 7 = Null.
6: DGNSS Mode – This field is used to indicate
the desired mode of operation of DGNSS (0=do not use SBAS, 1 and 3=Use SBAS
when available). The factory default value for this field is 1 (use SBAS when
available).
7: Position / Velocity Filter – This field
always contains a value of 0x3, indicating that the GPS100 does not allow
configuration of the position / velocity filter.
8: Max Correction Age – This field always
contains a value of 0xFFFF, indicating that the GPS100 does not allow
configuration of the maximum age of SBAS correction data to be used.
9: Antenna Altitude for 2D Mode – This field is
used to indicate the antenna altitude for the GPS100 to use when operating in
2D mode in units of 1x10-2 m. The
factory default for this field is 0.0 m.
10: Use Antenna Altitude for 2D Mode – This
field is used to indicate whether the GPS100 will use Antenna Altitude (Field
9) when operating in 2D mode. The factory
default for this field is 0 (do not use the antenna altitude; rather, use the
altitude calculated when the GPS100 was most recently in 3D mode).
PGN 129541 – GPS Almanac
Data
The GPS100 uses this PGN to
provide a single transmission that contains relevant almanac data for the GPS.
The almanac contains satellite vehicle course orbital parameters. This
information is not considered precise and is only valid for several months at a
time. GPS100 receive almanac data directly from the satellites. GPS100 sends
this PGN only when requested by PGN 059904 (ISO Request).
Field 1: PRN – PRN of the satellite for which almanac
data is being provided.
2: GPS Week Number – The number of weeks since
Jan 6, 1980.
3: SV Health Bits – Bits 17-24 of each almanac
page. Refer to ICD-GPS-200 paragraph 20.3.3.5.1.3, Table 20-VII and Table
20-VIII.
4: Eccentricity – Reference ICD-GPS-200 Table
20-VI.
5: Almanac Reference Time – Reference
ICD-GPS-200 Table 20-VI.
6: Inclination Angle – Reference ICD-GPS-200
Table 20-VI.
7: Rate of Right Ascension – The OMEGADOT
parameter. Reference ICD-GPS-200 Table 20-VI.
8: Root of Semi-major Axis – Reference
ICD-GPS-200 Table 20-VI.
9: Argument of Perigee – Reference ICD-GPS-200
Table 20-VI.
10: Longitude of Ascension Mode – Reference
ICD-GPS-200 Table 20-VI.
11: Mean Anomaly – Reference ICD-GPS-200 Table
20-VI.
12:
Clock Parameter 1 – Reference
ICD-GPS-200 Table 20-VI.
13: Clock Parameter 2 – Reference ICD-GPS-200
Table 20-VI.
14: Reserved (2 bits) – This field is reserved
by NMEA; therefore, this field always contains a value of 0x3 (the GPS100 sets
all bits to a logic 1)
GPS100
NMEA 2000® Received PGNs
PGN 126208 – NMEA Command Group Function – GNSS
Control Status
This will change the configuration of the GPS100.
Field 1: Complex Command Group Function Code (8 bits)
– set this field’s value to 0x01, which denotes a command PGN.
2: Commanded
PGN (24 bits) – set this field’s value to 129538, which denotes the GNSS
Control Status PGN.
3: Priority
Setting (4 bits) – set this field’s value to 0x8, which indicates to leave
priority settings unchanged.
4: Reserved
(4 bits) – set this field’s value to 0xF, which is the value for a reserved
field of this size.
5: Number
of Pairs of Commanded Parameters to Follow (8 bits) – set this field’s value to
the number of configurations to be changed.
6: Field
number of first commanded parameter (8 bits).
Please refer to the table below for valid values for this field.
7: Value
of first command parameter (size depends on the field number specified in field
6 of this PGN) – please refer to the description of PGN 129538 above for
details.
|
Field Number of
Commanded Parameter
|
Name of Commanded
Parameter
|
Size (Bytes)
|
|
1
2
4
5
6
9
10
|
SV Elevation Mask
PDOP Mask
SNR Mask
GNSS Mode
DGNSS Mode
Antenna Altitude
Use Antenna Altitude
|
2
2
2
1
1
4
1
|
Fields
6 and 7 are repeated pair wise until all parameters to be modified have been
specified.
PGN 126208 – NMEA Command Group Function – Maretron
Proprietary Restart GPS Engine
This will force the GPS100 to restart its GPS engine without
performing a full reset of the unit.
Field 1: Complex Command Group Function Code (8 bits)
– set this field’s value to 0x01, which denotes a command PGN
2: Commanded
PGN (24 bits) – set this field’s value to 126720, which denotes the Maretron
proprietary PGN
3: Priority
Setting (4 bits) – set this field’s value to 0x8, which indicates to leave
priority settings unchanged
4: Reserved
(4 bits) – set this field’s value to 0xF, which is the value for a reserved
field of this size
5: Number
of Pairs of Commanded Parameters to Follow (8 bits) – set this field’s value to
0x4, indicating that four parameters will follow
6: Number
of First Commanded Parameter (8 bits) – set this field’s value to 0x1
7: Maretron
Vendor ID and Industry Code (16 bits) – set this field’s value to 0x9889
8: Number
of Second Commanded Parameter (8 bits) – set this field’s value to 0x02
9: Product
Code (16 bits) – set this field’s value to 0x6F0, which is the NMEA 2000® product
code for the GPS100.
10: Number
of Third Commanded Parameter (8 bits) – set this field’s value to 0x03
11: Software
Code (16 bits) – set this field’s value to 0x0001, which is the identifier for
this version of the Maretron proprietary protocol
12: Maretron
Command (8 bits) – set this field’s value to 0x30, which will force the GPS
Engine to restart as selected by the following field.
13: Restart
mode (8 bits) – set this field’s value to select the restart mode, 0=Factory
restart, 1=Cold start.
PGN 126208 – NMEA Command Group Function – Maretron
Proprietary SBAS Parameter
This PGN will configure usage of SBAS (WAAS) satellite data.
Field 1: Complex Command Group Function Code (8 bits)
– set this field’s value to 0x01, which denotes a command PGN
2: Commanded
PGN (24 bits) – set this field’s value to 126720 decimal (0x1EF00 hexadecimal),
which denotes the Maretron proprietary PGN
3: Priority
Setting (4 bits) – set this field’s value to 0x8, which indicates to leave
priority settings unchanged
4: Reserved
(4 bits) – set this field’s value to 0xF, which is the value for a reserved
field of this size
5: Number
of Pairs of Commanded Parameters to Follow (8 bits) – set this field’s value to
0x4, indicating that four parameters will follow
6: Number
of First Commanded Parameter (8 bits) – set this field’s value to 0x1
7: Maretron
Vendor ID and Industry Code (16 bits) – set this field to 0x9889, which is a
combination of Maretron’s vendor ID and the marine industry code
8: Number
of Second Commanded Parameter (8 bits) – set this field’s value to 0x02
9: Product
Code (16 bits) – set this field’s value to 0x6F0, which is the NMEA 2000® product
code for the GPS100.
10: Number
of Third Commanded Parameter (8 bits) – set this field’s value to 0x03
11: Software
Code (16 bits) – set this field’s value to 0x0001, which is the identifier for
this version of the Maretron proprietary protocol
12: Maretron
Command (8 bits) – set this field’s value to 0x33, which will change the SBAS
parameter as selected by the following fields.
13: SBAS
parameter (24 bits) – this field includes 3 parameters:
|
23 16
|
15 8
|
7 0
|
|
Timeout
|
FlgBits
|
PRN
|
Timeout: Maximum age in seconds (1-250) of
differential corrections (factory default=18). A value of 0 will restore the
timeout values to the factory default value.
FlgBits:
Status of SBAS operation
(default=0x00)
Bit
0: SBAS Timeout: 0 = default,
1 = user. If this field is set to 0, then the
default value of 18 seconds is used. If
this field is set to 1, then the value of the Timeout field is used.
Bit
1: Reserved. This field should always be programmed to 0.
Bit
2: Reserved. This field should always be programmed to 0.
Bit
3: SBAS PRN: 0 = AutoScan; 1 =
Manual (user). If this field is set to 0, then the GPS100 will use the SBAS
satellite with the strongest signal. If
this field is set to 1, then the GPS100 will only use the SBAS satellite whose
PRN is programmed into the PRN field.
Bit
4: Reserved. This field should always be programmed to 0.
PRN:
This causes the GPS to use a particular
SBAS satellite by specifying the PRN of the desired SBAS satellite if Bit 3 of FlgBits
= 1. A programmed value of 0 for the PRN will force the GPS to auto scan
(factory default) while programmed values of 120-138 use the SBAS
satellite with the corresponding PRN.
PGN 126208 – NMEA Request Group Function –
Transmission Periodic Rate
This PGN will enable or disable the periodic transmission of
specific PGNs.
Field 1: Complex Command Group Function Code (8 bits)
– set this field’s value to 0x00, which denotes a request PGN
2: Requested
PGN (24 bits) – set this field’s value to the corresponding PGN for which you
wish to change the periodic rate.
3: Transmission
Interval (32 bits) – set this field’s value to 0x0 to disable the periodic
transmission of the PGN identified in field 2 above. Otherwise, program in the
default periodic rate to restore periodic transmission of the PGN identified in
field 2 above. The resolution of this field is 1 millisecond.
4: Transmission
Interval Offset (16 bits) – set this field’s value to 0xFFFF; all other values
will cause the request to be rejected.
5: Number
of Pairs of Commanded Parameters to Follow (8 bits) – set this field’s value to
0x0.
