GPS.G2 X 01003 B

GPS RECEIVER MACRO-COMPONENT
RECEIVER PROTOCOL SPECIFICATION

NEW: WITH U-BLOX EXTENSIONS
TIM
u-blox ag Zuercherstrasse 68 CH-8800 Thalwil Switzerland Phone +41 1 722 74 44 Fax +41 1 722 74 47 www.u-blox.com
TIM GPS receivers protocol specification - Application Note
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Title Doc Type Doc Id Author : Date :
TIM GPS receivers protocol specification

APPLICATION NOTE GPS.G2-X-01003-B BW, GzB 22. March 02 Released
For most recent documents, please visit www.u-blox.com

We reserve all rights in this document and in the information contained therein. Reproduction, use or disclosure to third parties without express authority is strictly forbidden.
All trademarks mentioned in this document are property of their respective owners. SiRF and the SiRF logo are registered trademarks of SiRF Technology, Inc. SiRF Powered, SiRFstar, SiRFLoc, SiRFDRive, SiRFNav, SiRFWare, SingleSat, SnapLock, SnapStart, FoliageLock, Push-to-Fix, TricklePower and WinSiRF are trademarks of SiRF Technology, Inc Copyright 2002, u-blox ag THIS DATASHEET CONTAINS INFORMATION ON U-blox PRODUCTS IN THE SAMPLING AND INITIAL PRODUCTION PHASES OF DEVELOPMENT. THE SPECIFICATIONS IN THIS DATASHEET ARE SUBJECT TO CHANGE AT u-blox' DISCRETION. u-blox ASSUMES NO RESPONSIBILITY FOR ANY CLAIMS OR DAMAGES ARISING OUT OF THE USE OF THIS DATASHEET, OR FROM THE USE OF MODULES BASED ON THIS DATASHEET, INCLUDING BUT NOT LIMITED TO CLAIMS OR DAMAGES BASED ON INFRINGEMENT OF PATENTS, COPYRIGHTS OR OTHER INTELLECTUAL PROPERTY RIGHTS. u-blox MAKES NO WARRANTIES, EITHER EXPRESSED OR IMPLIED WITH RESPECT TO THE INFORMATION AND SPECIFICATIONS CONTAINED IN THIS DATASHEET. PERFORMANCE CHARACTERISTICS LISTED IN THIS DATASHEET ARE ESTIMATES ONLY AND DO NOT CONSTITUTE A WARRANTY OR GUARANTEE OF PRODUCT PERFORMANCE.
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CONTENTS
1 Introduction..................................................................................................................7
1.1 Information on Document Revisions ................................................................................................. 7 Document Revision A ............................................................................................................... 7 Document Revision B................................................................................................................ 7
1.1.1 1.1.2
NMEA Protocol .............................................................................................................8

2.1 Protocol Layer ................................................................................................................................. 8 NMEA Checksum ..................................................................................................................... 8 Transport Message (NMEA Input) .............................................................................................. 8
2.1.1 2.1.2 2.2
NMEA Output messages.................................................................................................................. 9 NMEA Output message GGA, Global Positioning System Fixed Data...........................................10 NMEA Output message GLL, Geographic Position, Latitude/Longitude .......................................11 NMEA Output message GSA, GNSS DOP and Active Satellites....................................................12 NMEA Output message GSV, GNSS Satellites in View................................................................13 NMEA Output message MSS, MSK Receiver Signal ....................................................................13 NMEA Output message RMC, Recommended Minimum Specific GNSS Data ..............................14 NMEA Output message VTG, Course Over Ground and Ground Speed ......................................14 NMEA Output message ZDA, Date and Time (u-blox) ................................................................15 NMEA Output message 150, OK-To-Send (u-blox).....................................................................16 NMEA Output message 161, Hardware Status (u-blox)..............................................................17
2.2.1 2.2.2 2.2.3 2.2.4 2.2.5 2.2.6 2.2.7 2.2.8 2.2.9 2.2.10 2.3
NMEA Input Messages....................................................................................................................18 NMEA Input message 100, Set Serial Port .................................................................................19 NMEA Input message 101, Navigation Initialisation ...................................................................20 NMEA Input message 102, Set DGPS Port.................................................................................21 NMEA Input message 103, Query Rate Control .........................................................................22 NMEA Input message 104, LLA Navigation Initialisation.............................................................23 NMEA Input message 105, Development Data On/Off...............................................................24 NMEA Input message 106, Set Datum (u-blox)..........................................................................24 NMEA Input message 107, TricklePower Mode (u-blox)..........................................................25 NMEA Input message 108, Flash Update (u-blox) ......................................................................25 NMEA Input message MSK, MSK Receiver Interface ..................................................................26
2.3.1 2.3.2 2.3.3 2.3.4 2.3.5 2.3.6 2.3.7 2.3.8 2.3.9 2.3.10
SiRF Binary protocol..................................................................................................27
3.1
Protocol Layers...............................................................................................................................27 Transport Message ..................................................................................................................27 Transport ................................................................................................................................27 Message Validation .................................................................................................................27 Payload Length .......................................................................................................................28
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3.1.1 3.1.2 3.1.3 3.1.4
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TIM GPS receivers protocol specification - Application Note 3.1.5 3.1.6 3.2
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Payload Data...........................................................................................................................28 Checksum...............................................................................................................................28
Output Messages for SiRF Binary Protocol ......................................................................................29 SiRF Binary Output message I.D. 2, Measure Navigation Data ...................................................30 SiRF Binary Output message I.D. 4, Measured Tracker Data ......................................................32 SiRF Binary Output message I.D. 5, Raw Tracker Output...........................................................34 SiRF Binary Output message I.D. 6, Software Version String......................................................35 SiRF Binary Output message I.D. 7, Clock Status Data ..............................................................35 SiRF Binary Output message I.D. 8, 50 BPS Data ......................................................................36 SiRF Binary Output message I.D. 9, CPU Throughput................................................................37 SiRF Binary Output message I.D. 10, Error ID ...........................................................................38 SiRF Binary Output message I.D. 11, Command Ack. ...............................................................47 SiRF Binary Output message I.D. 12, Command NAck. .............................................................48 SiRF Binary Output message I.D. 13, Visible List .......................................................................48 SiRF Binary Output message I.D. 14, Almanac Data..................................................................49 SiRF Binary Output message I.D. 15, Ephemeris Data ...............................................................50 SiRF Binary Output message I.D. 16, Test Mode 1 ....................................................................51 SiRF Binary Output message I.D. 17, Differential Corrections ....................................................52 SiRF Binary Output message I.D. 18, OkToSend .......................................................................52 SiRF Binary Output message I.D. 19, Navigation Parameters .....................................................53 SiRF Binary Output message I.D. 20, Test Mode 2 ....................................................................55 SiRF Binary Output message I.D. 28, Navigation Library Measurement Data...............................56 SiRF Binary Output message I.D. 29, Navigation Library DGPS Data...........................................58 SiRF Binary Output message I.D. 30, Navigation Library SV State Data.......................................59 SiRF Binary Output message I.D. 31, Navigation Library Initialisation Data..................................59 SiRF Binary Output message I.D. 98, Extended Measured Navigation (u-blox) ............................61 SiRF Binary Output message I.D. 100, Hardware Status (u-blox) ................................................63 SiRF Binary Output message I.D. 255, Development Data .........................................................64

3.2.1 3.2.2 3.2.3 3.2.4 3.2.5 3.2.6 3.2.7 3.2.8 3.2.9 3.2.10 3.2.11 3.2.12 3.2.13 3.2.14 3.2.15 3.2.16 3.2.17 3.2.18 3.2.19 3.2.20 3.2.21 3.2.22 3.2.23 3.2.24 3.2.25 3.3
Input Messages for SiRF Binary Protocol. ........................................................................................65 SiRF Binary Input message I.D. 128, Initialize Data Source.........................................................66 SiRF Binary Input message I.D. 129, Switch To NMEA Protocol..................................................67 SiRF Binary Input message I.D. 130, Set Almanac .....................................................................69 SiRF Binary Input message I.D. 132, Software Version ..............................................................69 SiRF Binary Input message I.D. 133, DGPS Source ....................................................................70 SiRF Binary Input message I.D. 134, Set Main Serial Port...........................................................71 SiRF Binary Input message I.D. 135, Set Protocol......................................................................72 SiRF Binary Input message I.D. 136, Mode Control...................................................................73 SiRF Binary Input message I.D. 137, DOP Mask Control ............................................................74 SiRF Binary Input message I.D. 138, DGPS Control ...................................................................75 SiRF Binary Input message I.D. 139, Elevation Mask .................................................................75 SiRF Binary Input message I.D. 140, Power Mask .....................................................................76
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3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 3.3.6 3.3.7 3.3.8 3.3.9 3.3.10 3.3.11 3.3.12
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TIM GPS receivers protocol specification - Application Note 3.3.13 3.3.14 3.3.15 3.3.16 3.3.17 3.3.18 3.3.19 3.3.20 3.3.21 3.3.22 3.3.23 3.3.24 3.3.25 3.3.26
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SiRF Binary Input message I.D. 143, Static Navigation...............................................................76 SiRF Binary Input message I.D. 144, Poll Clock Status ...............................................................77 SiRF Binary Input message I.D. 145, Set DGPS Serial Port..........................................................77 SiRF Binary Input message I.D. 146, Poll Almanac.....................................................................78 SiRF Binary Input message I.D. 147, Poll Ephemeris ..................................................................78 SiRF Binary Input message I.D. 148, Flash Update (u-blox) ........................................................79 SiRF Binary Input message I.D. 149, Set Ephemeris...................................................................79 SiRF Binary Input message I.D. 150, Switch Operating Modes ...................................................80 SiRF Binary Input message I.D. 151, Set TricklePowerTM Mode ...................................................81 SiRF Binary Input message I.D. 152, Poll Navigation Parameters ................................................82 SiRF Binary Input message I.D. 165, Set UART Configuration ....................................................83 SiRF Binary Input message I.D. 166, Set Message Rate..............................................................84 SiRF Binary Input message I.D. 167, Low Power Acquisition Parameters ....................................84 SiRF Binary Input message I.D. 196, Set Datum (u-blox)............................................................85

User Parameters Block ...............................................................................................86

4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 4.10 4.11 Port Settings ..................................................................................................................................86 SiRF Settings.................................................................................................................................86 NMEA Settings...............................................................................................................................87 RTCM Settings ...............................................................................................................................87 User Settings..................................................................................................................................88 Navigation Settings ........................................................................................................................88 DOP Settings..................................................................................................................................89 Tracking Settings............................................................................................................................89 DGPS Settings................................................................................................................................89 General Settings .........................................................................................................................90 Low Power Settings ....................................................................................................................90
Additional Information..............................................................................................91
A.1 A.2 GPS Week Reporting ......................................................................................................................91 Low Power Operation.....................................................................................................................91 Overview ................................................................................................................................91 TricklePower Mode ..............................................................................................................91 Push-To-Fix Mode ................................................................................................................92 Message Rates ........................................................................................................................93 Synchronizing Serial Communication in TricklePowerTM ..............................................................93 TricklePowerTM Operation in DGPS Mode...................................................................................93 TricklePowerTM Mode in NMEA Protocol ....................................................................................93
A.2.1 A.2.2 A.2.3 A.2.4 A.2.5 A.2.6 A.2.7 A.3
Switch to SiRF Protocol..................................................................................................................94

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TIM GPS receivers protocol specification - Application Note A.4
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Hardware Status State Machine ......................................................................................................94
B C D E
Map Datums ...............................................................................................................95 Glossary ....................................................................................................................101 Related Documents..................................................................................................101 Contact......................................................................................................................101
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1 INTRODUCTION
This application note describes the format of the available protocols of u-blox TIM GPS receivers. These receivers support the SiRF binary and the standard NMEA protocol. In addition, the RTCM protocol is supported to feed differential GPS data to the GPS receiver to enhance accuracy.
1.1
Information on Document Revisions
1.1.1 Document Revision A

Revision A contains additional NMEA and SiRF Binary Messages which access u-blox specific features. These features are augmentations of the Firmware Release provided by SiRF. These functions are available in the release "Firmware Release 2.1 UBX 1.0" or later.
1.1.2 Document Revision B

Title page and chapter 1 updated
Added OTS message (described in NMEA PSRF150, referenced NMEA 103 and SiRF Binary 129)
Clarified tables on "Active Antenna Status" (Table 2-15, Table 3-69)

SiRF Binary message I.D. 98: DOP mask information corrected
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2 NMEA PROTOCOL
In default configuration the TIM GPS receiver outputs data in NMEA- 0183 format (Port A) as defined by the National Marine Electronics Association (NMEA), Standard For Interfacing Marine Electronic Devices, Version 2.20, January 1, 1997.
2.1
Protocol Layer
2.1.1 NMEA Checksum

All NMEA sentences have an optional checksum. The Checksum can be enabled/disabled when setting up the NMEA Protocol. The optional checksum field consists of a "*" and two hex digits representing the exclusive OR of all characters between, but not including, the $ and *. The following pseudo code calculates a checksum of an array of characters line. The first character in the array is line[0]:
1: 2: 3: 4: 5: 6: 7: 8: 9: line = getline() index = 1 checksum = 0 while line[ index] <> * do checksum = checksum EXOR line[ index] index = index+ 1 end while
2.1.2 Transport Message (NMEA Input)

Start Sequence $GPxxx 1 $PSRF<MID>
Table 2-1: Transport Message
Payload Data
2
Checksum *CKSUM
3
End Sequence <CR> <LF>4
1. Message Identifier consisting of three numeric characters. Input messages begin at MID 100. 2. Message specific data. Refer to a specific section for <data>...<data> definition. 3. CKSUM is a two-hex character checksum as defined in the chapter in the NMEA specification. Use of checksums is required on all input messages. 4. Each message is terminated using Carriage Return (CR = ASCII 13 = \r) Line Feed (LF = ASCII 10 = \n). Because \r\n are not printable ASCII characters, they are omitted from the example strings, but must be sent to terminate the message and cause the receiver to process that input message.
Important Notice All fields in all proprietary NMEA messages are required, none are optional. All NMEA messages are comma delimited.
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2.2 NMEA Output messages

The following table lists each of the NMEA output messages supported by the TIM GPS Unit and a brief description. A full description and definition of the listed NMEA messages are provided in the following sections of this chapter. Option GGA GLL GSA GSV MSS RMC VTG ZDA PSRF150 PSRF161 Time, position and fix type data. Latitude, longitude, UTC time of position fix and status. GPS receiver operating mode, satellites used in the position solution and DOP values. The number of GPS satellites in view, satellite ID numbers, elevation, azimuth, and SNR values. Signal-to-noise ratio, signal strength, frequency, and bit rate from a radio-beacon receiver. Time, date, position, course and speed data. Course and speed information relative to the ground Date and time (u-blox) OK-to-send (used in Trickle power mode to indicate begin / end of active phase) (u-blox) Hardware Status: Active antenna and Automatic Gain Control (AGC) (u-blox) Description
Table 2-2: NMEA Output Messages
Important Notice The shaded fields in the table above relate to messages which are supported by u-blox firmware, but not by the original SiRF firmware.
Important Notice Some NMEA messages, such as GGA (Position Fix Indicator), GLL (Status) and RMC (Status) provide information on validity of position fix. Position fix is valid if solution is validated if (a) Solution validated ((Mode 1 byte 0) and (Mode 2 byte: Solution validated) or (b) (nav. mode = 3D fix and PDOP < 10) or (nav. mode = 2D fix and PDOP < 20)
Mode 1 byte is described in table Table 3-6. Mode 2 byte is described in Table 3-8. The 'solution validated' should not be confused with a valid fix. if the receiver reports a fix validated (in SiRF binary mode, or indirectly through the NMEA valid calculation), it has used more than 4 SVs for the fix, and therefore performed some consistency checks on the range measurements that succeeded.
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2.2.1 NMEA Output message GGA, Global Positioning System Fixed Data
The following table contains the values for the following example:
$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18
Name Message ID UTC Time Latitude N/S Indicator Longitude E/W indicator Position Fix Indicator Satellites Used HDOP MSL Altitude1 Units Geoid Separation1 Units Age of Differential Corrections Diff. Reference Station ID Checksum <CR> <LF>
1
ASCII String Format Example string $GPGGA hhmmss.sss 161229.487 dddmm.mmmm 3723.2475 character N dddmm.mmmm 12158.3416 character W 1 digit 1 numeric 07 numeric 1.0 numeric character blank blank numeric numeric hexadecimal 9.0 M M
Units
Description GGA protocol header Current time Degrees + minutes N=north or S=south Degrees + minutes E=east or W=west See Table 2-4. Range 0 to 12 Horizontal Dilution of Precision
meters Stands for "meters" Not used stands for "meters Blank (Null) fields when DGPS is not used
second 0000 *18
End of message
u-blox ag does not support geodic corrections. Values are WGS-84 heights.
Table 2-3: GGA Data Format
Value 0 1 2 3
Description Fix not available or invalid GPS SPS Mode. Fix Valid Differential GPS. GPS SPS Mode. Fix Valid GPS PPS Mode. Fix Valid
Table 2-4: GGA Position Fix Indicator
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2.2.2 NMEA Output message GLL, Geographic Position, Latitude/Longitude

$GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C
Name Message ID Latitude N/S Indicator Longitude E/W indicator UTC Time Status Checksum <CR> <LF>
Table 2-5: GLL Data Format
ASCII String Format Example string $GPGLL dddmm.mmmm 3723.2475 character N dddmm.mmmm 12158.3416 character W hhmmss.sss 161229.487 character A hexadecimal *2C
Units
Description GLL protocol header Degrees + minutes N=north or S=south Degrees + minutes E=east or W=west Current time A=data valid or V=data invalid End of message
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2.2.3 NMEA Output message GSA, GNSS DOP and Active Satellites
$GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
Name Message ID Mode 1 Mode 2 Satellites Used1 Satellites Used1 Satellites Used1 PDOP HDOP VDOP Checksum <CR> <LF>
1
ASCII String Format Example string $GPGSA character A 1 digit 3 numeric 07 numeric 02 numeric numeric numeric numeric hexadecimal
Units
Description GSA protocol header See Table 2-7 See Table 2-8 SV on Channel 1 SV on Channel 2 SV on Channel 12 Position Dilution of Precision Horizontal Dilution of Precision Vertical Dilution of Precision End of message
1.8 1.0 1.5 *2C
Satellite used in navigation solution.
Table 2-6: GSA Data Format
Value M A
Description Manual forced to operate in 2D or 3D mode 2D Automatic allowed to automatically switch 2D/3D
Table 2-7: GSA Mode 1
Value 1 2 3
Description Fix not available 2D position fix 3D position fix
Table 2-8: GSA Mode 2
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2.2.4 NMEA Output message GSV, GNSS Satellites in View

$GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71 $GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41
Name Message ID Number of Messages Messages Number Satellites in View Satellite ID Elevation Azimuth SNR (C/No) Satellite ID Elevation Azimuth SNR (C/No) Checksum <CR> <LF>
Table 2-9: GSV Data Format
Format string 1 digit 1 digit numeric numeric numeric numeric numeric
ASCII String Example $GPGSV 2 1 07 07 79 048 42
Units
Description GSV protocol header Range 1 to 3 Range 1 to 3 Channel 1 (Range 1 to 32) Channel 1 (Maximum 90) Channel 1 (True, Range 0 to 359) Range 0 to 99, null when not tracking Channels 2, 3: Same format Channel 4 (Range 1 to 32) Channel 4 (Maximum 90) Channel 4 (True, Range 0 to 359) Range 0 to 99, null when not tracking End of message
degree degree dBHz
numeric numeric numeric numeric hexadecimal
27 27 138 42 *71
degree degree dBHz
2.2.5 NMEA Output message MSS, MSK Receiver Signal

$GPMSS,55,27,318.0,100,*66
Name Message ID Signal Strength Signal to Noise Ratio Beacon Frequency Beacon Rate Checksum <CR> <LF>
Table 2-10: MSS Data Format
ASCII String Format Example string $GPGSS numeric 55 numeric 27 numeric 318.0 numeric 100 hexadecimal *66
Units
Description GSS protocol header
dB dB kHz bps
Bits per second End of message
Important Notice The MSS NMEA message can only be polled or scheduled using the MSK NMEA input message. See MSKMSK Receiver Interface on page 152.
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2.2.6 NMEA Output message RMC, Recommended Minimum Specific GNSS Data
$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10
Name Message ID UTC Time Status Latitude N/S Indicator Longitude E/W indicator Speed Over Ground Course Over Ground Date Magnetic Variation1 Checksum <CR> <LF>
1
ASCII String Format Example string $GPRMC hhmmss.sss 161229.487 character A ddmm.mmmm ddmm.mmmm character numeric numeric ddmmyy blank hexadecimal 3723.2475 N 12158.3416 W 0.13 309.62 120598 *10
Units
Description RMC protocol header Current time A=data valid or V=data invalid Degrees + minutes N=north or S=south Degrees + minutes E=east or W=west
knots degrees degrees
True Current date Not used End of message
u-blox ag does not support magnetic declination. All Course Over Ground data are geodetic WGS-84 directions.
Table 2-11: RMC Data Format
2.2.7 NMEA Output message VTG, Course Over Ground and Ground Speed
$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E
Name Message ID Course (True) Reference Course (Magnetic) Reference Speed Units Speed Units Checksum <CR> <LF>
1
ASCII String Format Example string $GPVTG numeric 309.62 character T Blank character M numeric 0.13 character N numeric 0.2 character K hexadecimal *6E
Units
Description VTG protocol header Measured heading True Measured heading Magnetic1 Knots
degrees
knots km/h Kilometers per hour End of message
u-blox ag does not support magnetic declination. All Course Over Ground data are geodetic WGS-84 directions.
Table 2-12: VTG Data Format
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2.2.8 NMEA Output message ZDA, Date and Time (u-blox)

Important Notice This is a u-blox proprietary message. The following table contains the values for the following example:
Format: $GPZDA,hhmmss.ss,dd,mm,yyyy,(-)xx,zz*CC<CR><LF> Example: $GPZDA,201530.00,04,07,2002,00,00*6E<CR><LF>
Name Message ID UTC time: hours UTC time: minutes UTC time: seconds 1 UTC time: day UTC time: month UTC time: year Local zone hours Local zone minutes Checksum <CR><LF>
1
ASCII String Format Example string $GPZDA hh 20 mm 15 ss.ss 30.00 dd 04 mm 07 yyyy 2002 xx or -xx 00 zz 00 hexadecimal *6E
Units
Description ZDA Protocol header 00 23 00 59 00.00 59.99 01 31 01 12 4 digit year Not used (= 00) Not used (= 00) End of message
hour minutes seconds day month year
The u-blox firmware issues seconds with two digits after decimal point. Please note that the NMEA standard also allows seconds to be given out without digits after decimal point. Table 2-13: ZDA Data Format
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2.2.9 NMEA Output message 150, OK-To-Send (u-blox)

Important Notice This is a u-blox proprietary message. In a power cycling mode (TricklePower or Push-To-Fix mode), the GPS receiver will only be fully active during time fragments where messages are transmitted or received. Outside these active phases, the TIM will neither transmit either data nor listen to incoming messages. In order to provide some orientation to an external host, this message indicates the beginnings and ends of the active phases. At the beginning, this message is issued with OK-to-Send indicator = 1 At the end, this message is issued with OK-to-Send indicator = 0 If a switchover to continuous is made, or during start-up, this message is sent once with OK-to-Send = 1 and Continuous = 1.
Output Rate: Depends on settings in Firmware User Parameters

Format: $PSRF150,o,c*CC<CR><LF> Example: $PSRF150,1,0*6E<CR><LF>
Name Message ID OK-to-send Indicator Continuous Mode
ASCII String Format Example string $PSRF150 numeric digit 1 numeric digit 0
Units
Description PSRF150 protocol header 1= OK, 0 = No longer OK 1 = continuous 0 = TricklePower or Push-To-Fix mode. End of message
Checksum <CR><LF>
hexadecimal
*6E
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2.2.10 NMEA Output message 161, Hardware Status (u-blox)

Important Notice This is a u-blox proprietary message. The firmware provides a support for controlling and monitoring active antennas. Details on the active antenna supervisor is described in the TIM data sheet [2] Output Rate: Depends on settings in Firmware User Parameters
Format: $PSRF161,s,a*CC<CR><LF> Example: $PSRF161,01,63*6E<CR><LF>
Name Message ID Antenna status AGC Checksum <CR><LF>

Table 2-14: Hardware Status
ASCII String Format Example string $PSRF161 numeric 01 numeric 63 hexadecimal *6E
Units
Description PSRF161 protocol header See Table 2-15 Range: 063 End of message
Byte Value 0 1 2 3 4
Description See appendix A.4 for details. Active antenna on and OK Open circuit in antenna Short circuit in antenna Active antenna off (due to short circuit) Passive antenna
Table 2-15: Active Antenna Status
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2.3
NMEA Input Messages
NMEA input messages are provided to allow you to control the Evaluation Receiver while in NMEA protocol mode. The Evaluation Receiver may be put into NMEA mode by sending the SiRF Binary protocol message "Switch To NMEA Protocol - Message I.D. 129" on page 103 using a user program or using the -center software and selecting Switch to NMEA Protocol from the Action menu. If the receiver is in SiRF Binary mode, all NMEA input messages are ignored. Once the receiver is put into NMEA mode, the following messages may be used to command the module. Option 100 101 102 103 104 105 106 107 108 MSK Set Serial Port A parameters and protocol XYZ Navigation Initialization: WGS84 Parameters for start using X, Z and Z coordinates Set DGPS Port: Set Port B parameters for DGPS input Query Rate Control: Set or query output rates LLA Navigation Initialization: Parameters for start using Latitude, Longitude and Altitude 2 Development Data messages on/off Set Datum (u-blox) Configure TricklePower Mode (u-blox) Enter download mode to allow updating flash (u-blox) MSK receiver interface: Command messages for radio-beacon receiver Description
Table 2-16: NMEA Input Messages
Important Notice NMEA input messages 100 to 105 are SiRF proprietary NMEA messages. The MSK NMEA string is as defined by the NMEA 0183 standard. The shaded fields in the table above relate to messages which are supported by u-blox firmware, but not by the original SiRF firmware.
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2.3.1 NMEA Input message 100, Set Serial Port

This command message is used to set the protocol (SiRF Binary or NMEA) and/or the communication parameters (baud, data bits, stop bits, parity). Generally, this command is used to switch the module back to SiRF Binary protocol mode where a more extensive command message set is available. When a valid message is received, the parameters are stored in battery-backed SRAM and then the Evaluation Receiver restarts using the saved parameters.
The following table contains the input values for the following example: Switch to SiRF Binary protocol at 9600,8,N,1
$PSRF100,0,9600,8,1,0*0C
Name Message ID Protocol Baud Data Bits Stop Bits Parity Checksum <CR> <LF>
1
ASCII String Format Example string $PSRF100 1 digit 0 numeric 9600 1 digit 8 1 digit 1 1 digit 0 hexadecimal *0C
Units
Description PSRF100 protocol header 0=SiRF Binary, 1=NMEA 4800, 9600, 19200, 38400 7, 8 0, 1 0=None, 1=Odd, 2=Even End of message
SiRF Binary is only valid for 8 data bits, 1 stop bit and 0 parity.
Table 2-17: Set Serial Port Data Format
Important Notice Only one protocol (e.g. SiRF or NMEA) can be assigned to a single port. Before using this command, make sure, the receiver is not running the protocol you wish to use on Port A, already on port B.
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2.3.2 NMEA Input message 101, Navigation Initialisation

This command is used to initialize the Evaluation Receiver by providing current position (in X, Y, Z coordinates), clock offset, and time. This enables the Evaluation Receiver to search for the correct satellite signals at the correct signal parameters. Correct initialization parameters enable the Evaluation Unit to acquire signals quickly.
The following table contains the input values for the following example: Start using known position and time.
$PSRF101,-2686700,-4304200,3851624,96000,497260,921,12,3*1C
Name Message ID ECEF X ECEF Y ECEF Z Clock Offset Time Of Week Week No Channel Count Reset Cfg Checksum <CR> <LF>
1
Format string numeric numeric numeric numeric
ASCII String Example $PSRF101 -2686700 -4304200 3851624 96000 497260 921 12 3 *1C
Units
Description PSRF101 protocol header X coordinate position Y coordinate position Z coordinate position Clock Offset of GPS receiver1 GPS time of week GPS week number Range 1 to 122 See Table 2-19. End of message
meters meters meters Hz Seconds
numeric numeric numeric numeric hexadecimal
Use 0 for last saved value if available. If this is unavailable, a default value of 96000 will be used. 2 Use always 12 channels. Table 2-18: Navigation Initialization Data Format
Number 1 2 3 4 8
Description Hot Start All data valid Warm Start Ephemeris cleared Warm Start (with Init) Ephemeris cleared, initialization data loaded Cold Start Clear all data in memory Clear Memory Clears all data in memory and resets receiver back to factory defaults
Table 2-19: Reset Configuration
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2.3.3 NMEA Input message 102, Set DGPS Port

This command is used to control the serial port used to receive RTCM differential corrections. Differential receivers may output corrections using different communication parameters. If a DGPS receiver is used which has different communication parameters, use this command to allow the receiver to correctly decode the data. When a valid message is received, the parameters are stored in battery-backed SRAM and then the receiver restarts using the saved parameters.
The following table contains the input values for the following example: Set DGPS Port to be 9600,8,N,1.
$PSRF102,9600,8,1,0*12
Name Message ID Baud Data bits Stop bits Parity Checksum <CR> <LF>
Table 2-20: Set DGPS Port Data Format
ASCII String Format Example string $PSRF102 numeric 9600 1 digit 8 1 digit 1 1 digit 0 hexadecimal *12
Units
Description PSRF102 protocol header 4800,9600,19200,38400 7, 8 0, 1 0=None, 1=Odd, 2=Even End of message
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2.3.4 NMEA Input message 103, Query Rate Control

This command is used to control the output of standard NMEA messages GGA, GLL, GSA, GSV, RMC, and VTG. Using this command message, standard NMEA messages may be polled once, or setup for periodic output. Checksums may also be enabled or disabled depending on the needs of the receiving program. NMEA message settings are saved in battery-backed memory for each entry when the message is accepted. The following table contains the input values for the following example: 1. Query the GGA message with checksum enabled
$PSRF103, 00,01,00,01*25
Other examples could be (Note the following examples are not show in a table form); 2. Enable VTG message for a 1 Hz constant output with checksum enabled
$PSRF103,05,00,01,01*20
3. Disable VTG message

$PSRF103,05,00,00,01*21
Name Message ID code of message to configure Mode Rate Cksum Enable Checksum <CR> <LF> Format string numeric numeric numeric numeric
ASCII String Example $PSRF103 00 01 00 01 *25
Units
Description PSRF103 protocol header See Table 2-22. 0=SetRate, 1=Query Output - off=0, max=255 0=Disable Checksum, 1=Enable Checksum End of message termination
seconds
hexadecimal
Table 2-21: Query Rate Control Data Format
Value 0 1 2 3 4 5 6 7 8 9
Code GGA GLL GSA GSV RMC VTG MSS ZDA Reserved PSRF161
Description Time, position and fix type data. Latitude, longitude, UTC time of position fix and status. GPS receiver operating mode, satellites used in the position solution and DOP values. The number of GPS satellites in view, satellite ID numbers, elevation, azimuth, and SNR values. Signal-to-noise ratio, signal strength, frequency, and bit rate from a radio-beacon receiver. Time, date, position, course and speed data. Course and speed information relative to the ground Date and time (u-blox) Not used Hardware Status: Active antenna and Automatic Gain Control (AGC) (u-blox)
Table 2-22: Configurable Messages
Important Notice In TricklePowerTM mode, the update rate is specified by the user. When you switch to NMEA protocol, TM message update rate is also required. The resulting update rate is the product of the TricklePower TM Update rate and the NMEA update rate (i.e. TricklePower update rate = 2 seconds, NMEA update rate = 5 seconds, resulting update rate is every 10 seconds, (2 X 5 = 10)).
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2.3.5 NMEA Input message 104, LLA Navigation Initialisation

This command is used to initialize the Evaluation Receiver by providing current position (in latitude, longitude, and altitude coordinates), clock offset, and time. This enables the receiver to search for the correct satellite signals at the correct signal parameters. Correct initialization parameters enable the receiver to acquire signals quickly.
The following table contains the input values for the following example: Start using known position and time.
$PSRF104,37.3875111,-121.97232,0,96000,237759,1946,12,1*07
Name Message ID Latitude Longitude Altitude Clock Offset Time Of Week Week No Channel Count Reset Cfg Checksum <CR> <LF>
1 2
ASCII String Format Example string $PSRF104 numeric 37.3875111 numeric numeric numeric numeric numeric numeric numeric hexadecimal -121.97232 0 96000 237759 1946 12 1 *07
Units
Description PSRF104 protocol header Latitude position (Range 90 to +90) Longitude position (Range 180 to +180) Altitude position Clock Offset of GPS receiver1 GPS time of week Extended GPS week number (1024 added) Range 1 to 122 See Table 2-19. End of message
degrees degrees meters Hz seconds
Use 0 for last saved value if available. If this is unavailable, a default value of 96000 will be used. Use always 12 channels.
Table 2-23: LLA Navigation Initialization Data Format
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2.3.6 NMEA Input message 105, Development Data On/Off

Use this command to enable development data information if you are having trouble getting commands accepted. Invalid commands generate debug information that enables the user to determine the source of the command rejection. Common reasons for input command rejection are invalid checksum or parameter out of specified range. The following table contains the input values for the following examples: 1. Debug On
$PSRF105,1*3E
2. Debug Off
$PSRF105,0*3F
Name Message ID Debug Checksum <CR> <LF>
ASCII String Format Example string $PSRF105 1 digit 0 hexadecimal *3E
Units
Description PSRF105 protocol header 0=Off, 1=On End of message
Table 2-24: Development Data On/Off Data Format
2.3.7 NMEA Input message 106, Set Datum (u-blox)

Important Notice This is a u-blox proprietary message. This message is available to change map datum (geoid reference). The default initial value is WGS-84 (map datum code 216). Table B-1 lists up all geoidic references. Please note that selecting another map datum affects all navigation outputs given in latitude, longitude and altitude. The following table contains the values for the following example:
Format: $PSRF106,d*CC<CR><LF> Example: $PSRF106,43*3F<CR><LF>
Name Message ID Map Datum (Geoidic Reference). See table B-1. Checksum <CR><LF>
Table 2-25: Map Datum Selection
ASCII String Format Example string $PSRF106 numeric 43 hexadecimal *3F
Units
Description PSRF106 Protocol header 43 = Cape_Canaveral_43_ Bahamas_Florida Checksum End of message
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2.3.8 NMEA Input message 107, TricklePower Mode (u-blox)

Important Notice This is a u-blox proprietary message. This message sets the receiver into low power mode: TricklePower mode or Push-To-Fix mode. Details on configuring TricklePower and Push-To-Fix modes are described in section A.2 and in more detail in the ublox application note on low power operation [6]. The following table contains the values for the following example:
Format: $PSRF107,p,d,o*CC<CR><LF> Example: $PSRF107,0,200,200*3E<CR><LF>
Name Message ID Push-To-Fix Mode Duty Cycle
ASCII String Format Example string $PSRF107 numeric (p) 0 numeric (d) 200 ( = 20 %) numeric (o) hexadecimal 200 *3E
Units
Description PSRF107 Protocol header ON = 1, OFF = 0 % Time ON. A duty cycle of 1000 (100%) means continuous operation. range 200 - 900 ms Checksum End of message
% / 10
Milli Seconds On Time Checksum <CR><LF>
ms
Table 2-26: TricklePower Mode Control
Important Notice When TricklePower Mode is active, a high baud rate (min. 19200 baud) is required for transmission of NMEA messages due to limited time frames for transmission of navigation data.
2.3.9 NMEA Input message 108, Flash Update (u-blox)

Important Notice This is a u-blox proprietary message. This message will reset the GPS receiver and force it into download mode. New code can be downloaded to the target via serial port A. The following table contains the values for the following example:
Format: $PSRF108*2E<CR><LF>
Name Message ID ( No payload data) Checksum <CR><LF>

Table 2-27: Flash Update Control
Format string
ASCII String Example $PSRF108 *2E
Units
Description PSRF108 Protocol header
hexadecimal
End of message
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2.3.10 NMEA Input message MSK, MSK Receiver Interface

$GPMSK,318.0,A,100,M,2*45
Name Message ID Beacon Frequency Auto/Manual Frequency1 Beacon Bit Rate Auto/Manual Bit Rate1 Interval for Sending $--MSS2 Checksum <CR> <LF>
1 2
ASCII String Format Example string $GPMSK numeric 318.0 character A numeric 100 character M numeric 2 hexadecimal *45
Units
Description GPMSK protocol header Frequency to use A=Auto, M=Manual Bits per second A=Auto, M=Manual Sending of MSS message for status End of message
KHz
seconds
If Auto is specified, the previous field value is ignored. When status data is not to be transmitted, this field is null.
Table 2-28: MSK Data Format
Important Notice The NMEA messages supported by the Evaluation Receiver does not provide the ability to change the DGPS source. If you need to change the DGPS source to internal beacon, then this must be done using the SiRF Binary protocol and then switched to NMEA.
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3 SIRF BINARY PROTOCOL

The TIM GPS receivers can also be switched to SiRF Binary protocol using a NMEA input message 100. SiRF binary protocol is standard on port B of the TIM receivers. The SiRF Binary serial communication protocol is designed to include:

Reliable transport of messages Ease of implementation Efficient implementation Independence from payload
Using the SiRF Binary protocol offers extensive control and output possibilities not offered in the NMEA protocol.
3.1 Protocol Layers

3.1.1 Transport Message
Start Sequence 0xA01, 0xA2
1
Payload Length Two-bytes (15-bits)
Payload Up to 210-1 (<1023)
Message Checksum Two-bytes (15-bits)
End Sequence 0xB0, 0xB3
OxYY denotes a hexadecimal byte value. 0xA0 equals 160.
Table 3-1: Transport Message
3.1.2 Transport
The transport layer of the protocol encapsulates a GPS message in two start characters and two stop characters. The values are chosen to be easily identifiable and unlikely to occur frequently in the data. In addition, the transport layer prefixes the message with a two-byte (15-bit) message length and a two-byte (15-bit) checksum. The values of the start and stop characters and the choice of a 15-bit value for length and checksum ensure message length and checksum can not alias with either the stop or start code.
3.1.3 Message Validation

The validation layer is of part of the transport, but operates independently. The byte count refers to the payload byte length. The checksum is a sum on the payload.
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3.1.4 Payload Length

The payload length is transmitted high order byte first followed by the low byte. High Byte < 0x80 Low Byte Any value
Table 3-2: Payload Length
Even though the protocol has a maximum length of (215-1) bytes, practical considerations require the SiRF GPS module implementation to limit this value to a smaller number. The receiving programs (e.g., -center) may limit the actual size to something less than this maximum.
3.1.5 Payload Data

The payload data follows the payload length. It contains the number of bytes specified by the payload length. The payload data may contain any 8-bit value. Where multi-byte values are in the payload data neither the alignment nor the byte order are defined as part of the transport although SiRF Binary payloads will use the big-endian order.
3.1.6 Checksum
The checksum is transmitted high order byte first followed by the low byte. This is the so-called big-endian order. High Byte < 0x80
Table 3-3: Checksum
Low Byte Any value
The checksum is 15-bit checksum of the bytes in the payload data. The following pseudo code defines the algorithm used. Let message to be the array of bytes to be sent by the transport. Let msgLen be the number of bytes in the message array to be transmitted.
Index = first Checksum = 0 while index < msgLen checkSum = checkSum + message[index] checkSum = checkSum AND (215-1).
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3.2 Output Messages for SiRF Binary Protocol

*Hex 0x02 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F 0x10 0x11 0x12 0x13 0x14 0x1C 0x1D 0x1E 0x1F 0x62 0x64 0xFF ASCII 2 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 28 29 30 31 98 100 255 Name Measured Navigation Data Measured Tracking Data Raw Track Data - Not used Firmware Version Clock Status 50 BPS Subframe Data Throughput Error ID Command Acknowledgement Command Not Acknowledgement Visible List Almanac Data Ephemeris Data Test Mode 1 Differential Corrections Ok to Send Navigation Parameters Test Mode 2 Navigation Library Measurement Data Navigation Library DGPS Data Navigation Library SV State Data Navigation Library Initialization Data Extended Measured Navigation Data (u-blox) Hardware Status (u-blox) Development Data
Description Position, Velocity, and Time Satellite and C/No Information Obsolete, do not use anymore Receiver Firmware (Response to Poll from Message 132) Current Clock Status Standard ICD Format. See [1] Navigation Complete Data Error coding for Message Failure Successful Request Unsuccessful Request Auto Output Response to Poll (from Message I.D. 146) Response to Poll (from Message I.D. 147) SiRF Test information Received from DGPS Broadcast CPU ON / OFF (TricklePower Mode) Response to Poll (from Message I.D. 152) SiRF Test information Measurement Data Differential GPS Data Satellite State Data Initialization Data Position (Latitude / Longitude / Altitude), Velocity, and Time, DOPs Status information on AGC and active antenna Various Status Messages

Page 30 32 34 35 35 36 37 38 47 48 48 49 50 51 52 52 53 55 56 58 59 59 61 63 64
Table 3-4: Output Messages for SiRF Binary
Important Notice All output messages are received in BINARY format. Our evaluation software -Center interprets the binary data. The shaded fields in the table above relate to messages which are supported by u-blox firmware, but not by the original SiRF firmware.
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3.2.1 SiRF Binary Output message I.D. 2, Measure Navigation Data

Output Rate: 1 Hz The following table lists the binary and ASCII message data format for the measured navigation data. Example: A0A20029Start Sequence and Payload Length 02FFD6F78CFFBE536E003AC00400000003000104A00036B039780E3 0612190E160F04000000000000Payload 09BBB0B3Message Checksum and End Sequence Name Message ID X-Position Y-Position Z-Position X-Velocity Y-Velocity Z-Velocity Mode 1 (see Table 3-6) HDOP Mode 2 (See Table 3-8) GPS Week GPS TOW SVs in Fix CH1 PRN CH2 PRN CH3 PRN CH4 PRN CH5 PRN CH6 PRN CH7 PRN CH8 PRN CH9 PRN CH10 PRN CH11 PRN CH12 PRN Payload length: 41 bytes
Table 3-5: Measured Navigation Data Out - Binary & ASCII Message Data Format
Bytes 1 4 4 4 2 2 2 1 1 1 2 4 1 1 1 1 1 1 1 1 1 1 1 1 1
Binary (Hex) Scale Example 02 FFD6F78C FFBE536E 003AC004 *8 0000 *8 0003 *8 0001 04 *5 A 00 036B *100 039780E3 06 12 19 0E 16 0F 04 00 00 00 00 00 00
Units
m m m m/sec m/sec m/sec Bitmap Bitmap week # seconds
ASCII (Decimal) Scale Example 2 -2689140 -4304018 3850244 0 Vx8 0.375 Vy8 0.125 Vz8 4 2.0 5 0 875 602605.79 100 6 18 25 14 22 15 4 00 00 00 00 00 00
Important Notice Binary units scaled to integer values need to be divided by the scale value to receive true decimal value (i.e., decimal Xvel = binary Xvel 8).
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Bit Bit(s) Name
7 DGPS
6 DOPMask
5 4 ALTMODE
3 TPMODE
1 PMODE
Table 3-6: Mode 1
Bit(s) Name PMODE
Name Position mode
Value 0 1 2 3 4 5 6 7 0 1 0 1 2 3 0 1 0 1
TPMODE ALTMODE
TricklePower mode Altitude mode
DOPMASK DGPS
DOP mask status DGPS status
Description No navigation solution 1 satellite solution (altitude hold, direction hold, time hold) 2 satellite solution (altitude hold and direction or time hold) 3 satellite solution (altitude hold) 4 satellite solution 2D point solution (least square) 3D point solution (least square) Dead reckoning Full power mode TricklePower mode No altitude hold Altitude used from filter Altitude used from user Forced Altitude from user DOP mask not exceeded DOP mask exceeded No DGPS position DGPS position
Table 3-7: Interpretation of Mode 1
Mode 2 Description Hex ASCII 0x00 0 Solution not validated 0x01 1 DR Sensor Data 0x02 2 Validated (1) 1, Unvalidated (0) 0x04 4 If set, Dead Reckoning (Time Out) 0x08 8 If set, output edited by UI (i.e. DOP Mask exceeded) 0x10 16 Reserved 0x20 32 Reserved 0x40 64 Reserved 0x80 128 Reserved Combinations of multiple values are possible, e.g. 3 = 1 + 2.
A validated fix is, if your receiver has 5 or more satellites that it uses to calculate the position fix. Since the navigation solution needs 4 or more satellites, the equations are overdetermined by 5 or more. This can be used to calculate some validation on the range measurements. If this has succeeded, the fix is considered validated. If the receiver continues to navigate in a degraded mode (3D, 2D, 1SV, or DR), then the validated status will remain. If navigation is lost completely, a unvalidated status will result. Consider 'Validated' as the best fix quality you can get. Table 3-8: Mode 2
1
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3.2.2 SiRF Binary Output message I.D. 4, Measured Tracker Data

Output Rate: 1 Hz The following table lists the binary and ASCII message data format for the measured tracker data. Example: A0A200BCStart Sequence and Payload Length 04036C0000937F0C0EAB46003F1A1E1D1D191D1A1A1D1F1D59423F1A1A...Payload ssssB0B3Message Checksum and End Sequence Name Message ID GPS Week GPS TOW Channels 1st SV ID Azimuth Elevation State (See Table 3-10) C/No 1 (See 1) C/No 2 C/No 3 C/No 4 C/No 5 C/No 6 C/No 7 C/No 8 C/No 9 C/No 10 2nd SV ID Azimuth Elevation State C/No 1 (See 1) C/No 2
1
Bytes 1 2 4 1 1 1 1 2 1 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1
Binary (Hex) Scale Example 04 036C s*100 0000937F 0C 0E Az*[2/3] AB El*2 46 003F 1A 1E 1D 1D 19 1D 1A 1A 1D 1F 1D Az*[2/3] 59 El*2 42 003F 1A 1B
Units
week # seconds
deg deg Bitmap dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz deg deg Bitmap 1 dBHz dBHz
ASCII (Decimal) Scale Example 4 876 377.59 s 100 12 14 256.5 [2/3] 35 2 0x3F (hex) 26 30 29 29 25 29 26 26 29 31 29 89 [2/3] 66 2 63 26 27
C/No 1 C/No 10 represent C/No readings during every 1/10s time slice in a second
Payload length: 188 bytes

Table 3-9: Measured Tracker Data Out
Important Notice Message length is fixed to 188 bytes with non-tracking channels reporting zero values.
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Field Definition ACQ_SUCCESS DELTA_CARPHASE_VALID BIT_SYNC_DONE SUBFRAME_SYNC_DONE CARRIER_PULLIN_DONE CODE_LOCKED ACQ_FAILED GOT_EPHEMERIS
Hex Value 0x0001 0x0002 0x0004 0x0008 0x0010 0x0020 0x0040 0x0080
Description Set, if acq/reacq is done successfully Set, Integrated carrier phase is valid Set, Bit sync completed flag Set, Subframe sync has been done Set, Carrier pullin done Set, Code locked Set, Failed to acquire S/V Ephemeris data available
Table 3-10: TrktoNAVStruct.trk_status Tracking Status Field Definition.
Achieved Tracking Stage Tracking Status (Hex) 00 01 03 21 23 25 27 2D 33 37 3F 8D AD AF BF 40 CC CD

Table 3-11: Tracking Status Definitions Acquisition Success DeltaPhase Valid Bit-Sync Done SubFrame Sync. Done Carrier Pull-in Done Code Locked Ephemeris Data Available Acquisition Failed
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3.2.3 SiRF Binary Output message I.D. 5, Raw Tracker Output

Important Notice This Message is obsolete, even if it is still operational. Use of this message is strongly discouraged. Consider message I.D. 28 instead if raw tracker information is needed. This section describes the necessary steps to compute the GPS pseudo-range, pseudo-range rate, and integrated carrier phase data that can be used for post processing applications such as alternative navigation filters. This data enables the use of third-party software to calculate and apply differential corrections based on the SiRF binary protocol. Additionally, description and example code is supplied to calculate the measurement data and decode the broadcast ephemeris required for post processing applications. This is the raw data message required to compute the pseudo-range and carrier data. Output Rate: 1Hz or less frequently if enabled Example: A0A20033Start Sequence and Payload Length 05000000070013003F00EA1BD4000D039200009783000DF45E 000105B5FF90F5C200002428272723272424272905000000070013003FPayload 0B2DB0B3Message Checksum and End Sequence Name Message ID Channel SV ID State (See Table 3-10) Bit Number Millisecond Number Chip Number Code Phase Carrier Doppler Receiver Time Tag Delta Carrier (See 1) Search Count C/No 1 (See 2) C/No 2 C/No 3 C/No 4 C/No 5 C/No 6 C/No 7 C/No 8 C/No 9 C/No 10 Power Bad Count Phase Bad Count Accumulation Time Track Loop Time
1 2 16
Bytes Scale 1 4 2 2 4 2 2 4 4 4 4 2 1 1 1 1 1 1 1 1 1 1 1 1 2 2
216 210 210
Binary (Hex) Example 05 0000007 0013 003F 00EA1BD4 000D 0392 00009783 000DF45E 000105B5 FF90F5C2 0000 24 28 27 27 23 27 24 27 29 29 05 07 0013 003F
Units
bitmap bit ms chip chip

radians/2ms
ms cycles dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz
ms
ASCII (Decimal) Scale Example 5 7 19 3F 15342548 13 914 -16 2 38787 2-10 914526 66997 2-10 -7277118 0 36 40 39 39 35 39 36 36 41 41 5 7 19 63
Multiply by (1000 / 4)2 C/No 1 C/No 10 represent C/No readings during every 1/10s time slice in a second

Table 3-12: Raw Tracker Data Out
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3.2.4 SiRF Binary Output message I.D. 6, Software Version String

Output Rate: Response to poll from message I.D. 132 (refer to page 69) Example: A0A20015Start Sequence and Payload Length 06322E312E30523031323634204257204100000000Payload 035EB0B3Message Checksum and End Sequence Name Message ID Character
1 2
Bytes Scale 1 20
Binary (Hex) Example 06 See 1
Units
ASCII (Decimal) Scale Example 6 See 2
Hexadecimal: ASCII string:
06322E312E30523031323634204257204100000000 2.1.0R01264 BW A (Example data, a newer firmware version has a different code)

Table 3-13: Software Version String
Important Notice Convert to symbol to assemble message (i.e., 0 x 4E is N). These are low priority task and are not necessarily output at constant intervals.
3.2.5 SiRF Binary Output message I.D. 7, Clock Status Data

Output Rate: 1 Hz or response to poll from message I.D. 144 (refer to page 77) Example: A0A20014Start Sequence and Payload Length 0703BD021549240800012231000472814D4DAEFPayload 0598B0B3Message Checksum and End Sequence Name Message ID GPS Week GPS TOW SVs Clock Drift Clock Bias Estimated GPS Time Payload length: 20 bytes
Table 3-14: Clock Status Data Message
Bytes 1 2 4 1 4 4 4
Scale
Binary (Hex) Example 07 03BD *100 02154924 08 00012231 0004728 14D4DAEF
Units
s Hz ns ms
ASCII (Decimal) Scale Example 7 957 349494.12 100 8 74289 128743715 349493999
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3.2.6 SiRF Binary Output message I.D. 8, 50 BPS Data

Output Rate: As available (6 seconds for every subframe. 12.5 minute full download time). In order to obtain these messages, the update rate of this message must be set to 1s using Message I.D. 166. Example: A0A2002BStart Sequence and Payload Length 08001900C0342A9B688AB0113FDE2D714FA0A7FFFACC5540157EFFEEDFFFA 80365A867FC67708BEB5860F4Payload 15AAB0B3Message Checksum and End Sequence Name Message ID Channel SV I.D. Word[10] Bytes Scale 1 1 1 40 Binary (Hex) Example 08 00 19 Units ASCII (Decimal) Scale Example 8 0 25 50bps data
Payload length: 43 bytes per subframe (5 subframes per page)

Table 3-15: CPU Throughput
Important Notice Data is logged in ICD format (available from www.navcen.uscg.mil, see also [1] and [5]). The ICD specification is 30-bit words. The output above has been stripped of parity to give a 240 bit frame instead of 300 bits. Each Word in Message 8 is 32 bit wide and represents a 30 bit word of the 50 BPS data stream. The LSB of each 30 bit word of the 50 bps data stream is aligned to the LSB of a 32 bit Word in Msg 8. Unfortunately, the polarity of the data is not guaranteed. Both statements contain the same data: Message 8 word: Message 8 word: 50 bps data: 00100010 11000000 00110010 00010000 11011101 00111111 11001101 11101111 100010 11000000 00110010 00010000
The polarity can be identified by checking the most significant bits (e.g. bit 30) so the software can decide whether inverting the whole word is necessary to get the right data or not.
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3.2.7 SiRF Binary Output message I.D. 9, CPU Throughput

Output Rate: 1 Hz Example: A0A20009Start Sequence and Payload Length 09003B0011001601E5Payload 0151B0B3Message Checksum and End Sequence Name Message ID SegStatMax SegStatLat AveTrkTime 1 Last MS
1
Bytes 1 2 2 2 2
Binary (Hex) Scale Example 09 *186 003B *186 0011 *186 0016 01E5
Units
ms ms ms ms
ASCII (Decimal) Scale Example 9 .3172 186 .0914 186 186 .1183 485
Duration of the last calculation of navigation solution

Table 3-16: CPU Throughput
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3.2.8 SiRF Binary Output message I.D. 10, Error ID

Output Rate: Every measurement cycle ( Full power / continuous: 1 Hz )
Error ID 2: Code Define Name: Error ID Description: Example: A0A2000D Start Sequence and Payload Length 0A000200020000000100000002 Payload 0011B0B3 Message Checksum and End Sequence Name Message ID Error ID Count Satellite ID Subframe No Payload length: 13 bytes
Table 3-17: Error ID 2 Message
ErrId_CS_SVParity Satellite subframe # failed parity check.
Bytes 1 2 2 4 4
Binary (Hex) Scale Example 0A 0002 0002 00000001 00000002
Units
ASCII (Decimal) Scale Example 10 2 2 1 2
Name Message ID Error ID Count Satellite ID Subframe No
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message. Satellite or Space Vehicle (SV) I.D. number or Pseudo-random Noise (PRN) number. The associated subframe number that failed the parity check. Valid subframe number is 1 through 5.
Table 3-18: Error ID 2 Message Description
Error ID 9: Code Define Name: Error ID Description: Example: A0A20009 Start Sequence and Payload Length 0A0009000100000001 Payload 0015B0B3 Message Checksum and End Sequence ErrId_RMC_GettingPosition Failed to obtain a position for acquired satellite ID.
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Name Message ID Error ID Count Satellite ID Payload length: 9 bytes

Bytes 1 2 2 4
Binary (Hex) Scale Example 0A 0009 0002 00000001
Units
ASCII (Decimal) Scale Example 10 9 2 1
Name Message ID Error ID Count Satellite ID
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message. Satellite or Space Vehicle (SV) I.D. number or Pseudo-random Noise (PRN) number.
Error ID 10: Code Define Name: Error ID Description: ErrId_RXM_TimeExceeded Conversion of Nav Pseudo Range to Time of Week (TOW) for tracker exceeds limits: Nav Pseudo Range > 6.912e5 (1 week in seconds) || Nav Pseudo Range < -8.64e4.
ON, 1 second time interval Example: A0A20009 Start Sequence and Payload Length 0A000A000100001234 Payload 005BB0B3 Message Checksum and End Sequence Name Message ID Error ID Count Pseudo range Payload length: 9 bytes
Bytes Scale 1 2 2 4
Binary (Hex) Example 0A 000A 0001 00001234
Units
Name Message ID Error ID Count Pseudo range
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message. Pseudo range
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TIM GPS receivers protocol specification - Application Note Error ID 11: Code Define Name: Error ID Description: Example: A0A20009 Start Sequence and Payload Length 0A000B0001xxxxxxxx Payload ssssB0B3 Message Checksum and End Sequence Name Message ID Error ID Count Doppler Frequency Payload length: 9 bytes
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ErrId_RXM_TDOPOverflow Convert pseudo range rate to Doppler frequency exceeds limit.
Bytes 1 2 2 4
Binary (Hex) Scale Example 0A 000B 0001 xxxxxxxx
Units
ASCII (Decimal) Scale Example 10 11 1 xxxxxxxx
Name Message ID Error ID Count Doppler Frequency
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message. Doppler Frequency
Error ID 12: Code Define Name: Error ID Description: Example: A0A2000D Start Sequence and Payload Length 0A000C0002xxxxxxxxaaaaaaaa Payload ssssB0B3 Message Checksum and End Sequence Name Message ID Error ID Count Satellite ID Age of Ephemeris Payload length: 13 bytes
ErrId_RXM_ValidDurationExceeded Satellites ephemeris age has exceeded 2 hours (7200 s).
Bytes Scale 1 2 2 4 4
Binary (Hex) Example 0A 000C 0002 xxxxxxxx aaaaaaaa
Units
seconds
ASCII (Decimal) Scale Example 10 12 2 xxxxxxxx aaaaaaaa
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Name Message ID Error ID Count Satellite ID Age of Ephemeris
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message. Satellite or Space Vehicle (SV) I.D. number or Pseudo-random Noise (PRN) number. The Satellites Ephemeris Age in seconds.
Error ID 13: Code Define Name: Error ID Description: Example: A0A20011 Start Sequence and Payload Length 0A000D0003xxxxxxxxyyyyyyyyzzzzzzzz Payload ssssB0B3 Message Checksum and End Sequence Name Message ID Error ID Count X Y Z Payload length: 17 bytes
ErrId_STRTP_BadPostion SRAM position is bad during a cold start.
Bytes 1 2 2 4 4 4
Binary (Hex) Scale Example 0A 000D 0003 xxxxxxxx yyyyyyyy zzzzzzzz
Units
ASCII (Decimal) Scale Example 10 13 3 xxxxxxxx yyyyyyyy zzzzzzzz
Name Message ID Error ID Count X Y Z
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message. X position in ECEF. Y position in ECEF. Z position in ECEF.
Error ID 4097 (or 0x1001): Code Define Name: Error ID Description: Example: A0A20009 Start Sequence and Payload Length 0A1001000100000001 Payload 001DB0B3 Message Checksum and End Sequence ErrId_MI_VCOClockLost VCO lost lock indicator.
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Name Message ID Error ID Count VCOLost Payload length: 9 bytes

Bytes 1 2 2 4
Units
Name Message ID Error ID Count VCOLost
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message. VCO lock lost indicator. If VCOLost != 0, then send failure message.
Error ID 4099 (or 0x1003): Code Define Name: Error ID Description: Example: A0A20009 Start Sequence and Payload Length 0A1003000100000001 Payload 001FB0B3 Message Checksum and End Sequence Name Message ID Error ID Count InTrkCount Payload length: 9 bytes
ErrId_MI_FalseAcqReceiverReset Nav detect false acquisition, reset receiver by calling NavForceReset routine.
Bytes 1 2 2 4
Units
Name Message ID Error ID Count InTrkCount
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message. False acquisition indicator. If InTrkCount <= 1, then send failure message and reset receiver.
Error ID 4104 (or 0x1008): Code Define Name: Error ID Description: ErrId_STRTP_SRAMCksum Failed SRAM checksum during startup.
Four field message indicates receiver control flags had checksum failures. Three field message indicates clock offsets checksum failure or clock offset value is out of range. Two field message indicates position and time checksum failure forces a cold start.
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TIM GPS receivers protocol specification - Application Note Example: A0A2xxxx Start Sequence and Payload Length 0A10080004xxxxxxxaaaaaaaa00000000cccccccc Payload ssssB0B3 Message Checksum and End Sequence Name Message ID Error ID Count Bytes 1 2 2 Binary (Hex) Scale Example 0A 1008 0004 or 0003 or 0002 xxxxxxxx aaaaaaaa 00000000 cccccccc xxxxxxxx Units
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Computed Receiver Control Checksum Battery-Backed Receiver Control Checksum Battery-Backed Receiver Control OpMode Battery-Backed Receiver Channel Control Count Battery-Backed Receiver Compute Clock Offset Checksum Battery-Backed Clock Offset Checksum Battery-Backed Clock Offset Computed Checksum Battery-Backed Position Time Checksum Payload length: 21, 17 or 11 bytes
4 4 4 4 4
ASCII (Decimal) Scale Example 10 4104 4 or 3 or 2 xxxx aaaa 0 cccc xxxx
4 4 4 4
aaaaaaaa bbbbbbbb xxxxxxxx aaaaaaaa
aaaa bbbb xxxx aaaa
Name Message ID Error ID Count Computed Receiver Control Checksum Battery-Backed Receiver Control Checksum Battery-Backed Receiver Control OpMode
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message. Computed receiver control checksum of SRAM.Data.Control structure Battery-backed receiver control checksum stored in SRAM.Data.DataBuffer.CntrlChkSum. Battery-backed receiver control checksum stored in SRAM.Data.Control.OpMode. Valid OpMode values are as follows: OP_MODE_NORMAL = 0, OP_MODE_TESTING = 0x1E51, OP_MODE_TESTING2 = 0x1E52, OP_MODE_TESTING3 = 0x1E53. Battery-backed receiver control channel count in SRAM.Data.Control.ChannelCnt. Valid channel count values are 0-12. Computed clock offset checksum of SRAM.Data.DataBuffer.clkOffset.
Battery-Backed Receiver Channel Control Count Compute Clock Offset Checksum
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TIM GPS receivers protocol specification - Application Note Battery-Backed Clock Offset Checksum Battery-Backed Clock Offset Computed Position Time Checksum Battery-Backed Position Time Checksum
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Battery-backed clock offset checksum of SRAM.Data.DataBuffer.clkChkSum. Battery-backed clock offset value stored in SRAM.Data.DataBuffer,clkOffset. Computed position time checksum of SRAM.Data.DataBuffer.postime[1]. Battery-backed position time checksum of SRAM.Data.DataBuffer.postimeChkSum[1].
Error ID 4105 (or 0x1009): Code Define Name: Error ID Description: ErrId_STRTP_RTCTimeInvalid Failed RTC SRAM checksum during startup. If one of the double buffered SRAM.Data.LastRTC elements is valid and RTC days is not 255 days, then GPS time and week number computed from the RTC is valid. If not, this RTC time is invalid.
Example: A0A2000D Start Sequence and Payload Length 0A10090002xxxxxxxaaaaaaaa Payload ssssB0B3 Message Checksum and End Sequence Name Message ID Error ID Count Bytes 1 2 2 Binary (Hex) Scale Example 0A 1009 0002 Units ASCII (Decimal) Scale Example 10 4105 4 or 3 or 2 xxxx aaaa
TOW Week Number Payload length: 13 bytes

4 4
xxxxxxxx aaaaaaaa
seconds
Name Message ID Error ID Count TOW Week Number
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message. GPS time of week in seconds. Range 0 to 604800 seconds. GPS week number.
Error ID 4106 (or 0x100A): Code Define Name: Error ID Description: Example: A0A20005 Start Sequence and Payload Length 0A100A0000 Payload 0024B0B3 Message Checksum and End Sequence ErrId_KFC_BackupFailed_Velocity Failed battery-backing position because of ECEF velocity sum was greater than equal to 3600.
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Name Message ID Error ID Count Payload length: 5 bytes

Bytes 1 2 2
Binary (Hex) Scale Example 0A 100A 0000
Units
ASCII (Decimal) Scale Example 10 4106 0
Name Message ID Error ID Count
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message.
Error ID 4107 (or 0x100B): Code Define Name: Error ID Description: Example: A0A20005 Start Sequence and Payload Length 0A100B0000 Payload 0025B0B3 Message Checksum and End Sequence Name Message ID Error ID Count Payload length: 5 bytes
ErrId_KFC_BackupFailed_NumSV Failed battery-backing position because current navigation mode is not KFNav and not LSQFix.
Bytes Scale 1 2 2
Binary (Hex) Example 0A 100B 0000
Units
Error ID 8193 (or 0x2001): Code Define Name: Error ID Description: Example: A0A20009 Start Sequence and Payload Length 0A2001000100000001 Payload 002DB0B3 Message Checksum and End Sequence ErrId_MI_BufferAllocFailure Buffer allocation error occurred. Does not appear to be active because uartAllocError variable never gets set to a non-zero value in the code.
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TIM GPS receivers protocol specification - Application Note Name Message ID Error ID Count uartAllocError Payload length: 9 bytes
u-blox ag Units ASCII (Decimal) Scale Example 10 8193 1 1
Bytes 1 2 2 4
Name Message ID Error ID Count uartAllocError
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message. Contents of variable used to signal UART buffer allocation error.
Error ID 8194 (or 0x2002): Code Define Name: Error ID Description: Example: A0A2000D Start Sequence and Payload Length 0A200200020000000100000064 Payload 0093B0B3 Message Checksum and End Sequence Name Message ID Error ID Count Number of in process errors Millisecond errors Payload length: 13 bytes
ErrId_MI_UpdateTimeFailure PROCESS_1SEC task was unable to complete upon entry. Overruns are occurring.
Bytes Scale 1 2 2 4 4
Binary (Hex) Example 0A 2002 0002 00000001 00000064
Units
ASCII (Decimal) Scale Example 10 8194 2 1 100
Name Message ID Error ID Count Number of in process errors Millisecond errors
Description Message ID number. Error ID (see Error ID description above). Number of 32 bit data in message. Number of one second updates not complete on entry. Millisecond errors caused by overruns.
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TIM GPS receivers protocol specification - Application Note Error ID 8195 (or 0x2003): Code Define Name: Error ID Description: Example: A0A20005 Start Sequence and Payload Length 0A20030000 Payload 002DB0B3 Message Checksum and End Sequence Name Message ID Error ID Count Payload length: 5 bytes
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ErrId_MI_MemoryTestFailed Failure of hardware memory test. Does not appear to be active because MemStatus variable never gets set to a non-zero value in the code.
Bytes 1 2 2
Binary (Hex) Scale Example 0A 2003 0000
Units
3.2.9 SiRF Binary Output message I.D. 11, Command Ack.

Output Rate: Response to successful input message This is successful almanac (message ID 0x92) request example: A0A20002 Start Sequence and Payload Length 0B92 Payload 009DB0B3 Message Checksum and End Sequence Name Message ID Ack. I.D. Payload length: 2 bytes
Table 3-47: Command Acknowledgement
Bytes 1 1
Binary (Hex) Scale Example 0B 92
Units
ASCII (Decimal) Scale Example 11 146
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3.2.10 SiRF Binary Output message I.D. 12, Command NAck.

Output Rate: Response to rejected input message (NAck = "negative acknowledgement")
This is an unsuccessful almanac (message ID 0x92) request example: A0A20002Start Sequence and Payload Length 0C92Payload 009EB0B3Message Checksum and End Sequence Name Message ID NAck. I.D. Payload length: 2 bytes
Table 3-48: Command NAcknowledgement
Bytes 1 1
Binary (Hex) Scale Example 0C 92
Units
3.2.11 SiRF Binary Output message I.D. 13, Visible List

Output Rate: Updated approximately every 2 minutes Important Notice This is a variable length message. Only the number of visible satellites is reported. Example: A0A2002A Start Sequence and Payload Length 0D081D002A00320F009C0032.... Payload ssssB0B3 Message Checksum and End Sequence Name Message ID Visible SVs CH1 - SV I.D. CH1 - SV Azimuth CH1 - SV Elevation CH2 - SV I.D. CH2 - SV Azimuth CH2 - SV Elevation etc Bytes 1 1 1 2 2 1 2 2 Binary (Hex) Scale Example 0D 08 10 002A 0032 0F 009C 0032 Units ASCII (Decimal) Scale Example 13 8 16 42 50 15 156 50
degrees degrees degrees degrees
Payload length: Variable ( depends on number of visible SV's )

Table 3-49: Visible List
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3.2.12 SiRF Binary Output message I.D. 14, Almanac Data

Output Rate: Response to poll from message I.D. 146 (refer to page 78) Example: A0A2001E Start Sequence and Payload Length 0E0111014128FF630D51FD5900A10CC111B454B909098C6CE7 14............... Payload 09E5B0B3 Message Checksum and End Sequence Name Message ID SV I.D. Almanac Week & Status Almanac Data Bytes Scale 1 1 2 24 Binary (Hex) Example 0E 01 1101 Notes
Page Checksum
4AC1
Satellite PRN Number1 First 10 bits is the Almanac week. Next 5 bits have a zero value. Last bit is 1. This information is taken from the 50BPS navigation message broadcast by the satellite. This information is the last 8 words in the 5th subframe but with 2 the parity removed. This is the checksum of the preceding data in the payload. It is calculated by arranging the previous 26 bytes as 13 3 half-words and then summing them.
Each satellite almanac entry is output in a single message.
There are 25 possible pages in subframe 5. Pages 1 through 24 contain satellite specific almanac information which is output as part of the almanac data. Page 25 contains health status flags and the almanac week number. This checksum is not used for serial I/O data integrity. It is used internally for ensuring that almanac information is valid.

Table 3-50: Almanac Data
The data is actually packed and the exact format of this representation and packing method can be extracted from the ICD-GPS-2000 document. The ICD-GPS-2000 document [5] describes the data format of each GPS navigation sub-frame and is available on the web at http://www.arinc.com/gps.
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3.2.13 SiRF Binary Output message I.D. 15, Ephemeris Data

Output Rate: Response to poll from message I.D. 147 (refer to page 78) The ephemeris data that is polled from the receiver is in a special SiRF format based on the ICD-GPS-200 format for ephemeris data. Refer to GPS Standard Positioning Service Signal Specification [1] and ICD-GPS-200 [5] for further information. The ephemeris data in the SiRF binary format consists of 90 Bytes (or 45 16-bit) words. Word 1 to 15 represent subframe 1 of the 50 bit/s data stream, word 16 to 30 represent subframe 2 and word 31 to 45 subframe 3. The data is compressed by packing each subframe from 10 subframe words (32 bits/word) into 15 words (16 bits/word) with the TLM and parity words stripped off. Example: A0A2005C Start Sequence and Payload Length 0F 1E 001E 007D 0FA7 2010 0060 D855 23C4 BB8F BAE7 ADBD EE10 5EEC 0001 7539 6A3B 001E 007D 1029 1000 2C39 3F2F 5FBB 12FF E103 2F17 0B0E 0BA1 0CAD 955E EC7F 001E 007D 0E2C FFC2 32D6 813C FFF5 2666 9C14 1E48 369E 6CD5 FFA4 F010 F26C Payload 23 02 B0 B3 Message Checksum and End Sequence Name Message ID SV I.D. Subframe 1 / Word 1 : Subframe 1 / Word 15 Subframe 2 / Word 1 : Subfrme 2 / Word 15 Subframe 3 / Word 1 : Subfrme 3 / Word 15
1
Bytes Scale 1 1 2 2 2 2 2 2
Binary (Hex) Example 0F 01 001E 6A3B 001E EC7F 001E F26C
Units
ASCII (Decimal) Scale Example 15 Satellite PRN Number1 All ephemeris data consist of signed 16-bit integers.
Each satellite almanac entry is output in a single message.

Table 3-51: Ephemeris Data
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3.2.14 SiRF Binary Output message I.D. 16, Test Mode 1

Output Rate: Variable - set by the period as defined in message ID 150 Example: A0A20011Start Sequence and Payload Length 100015001E000588B800C81B5800040001Payload 02D8B0B3Message Checksum and End Sequence Name Message ID SV ID Period Bit Sync Time Bit Count Poor Status Good Status Parity Error Count Last VCO Count Payload length: 17 bytes
Table 3-52: Test Mode 1 Message
Bytes Scale 1 2 2 2 2 2 2 2 2
Binary (Hex) Example 10 0015 001E 0005 88B8 00C8 1B58 0004 0001
Units
seconds seconds
ASCII (Decimal) Scale Example 16 21 30 5 35000 200 7000 4 1
Name Message ID SV ID Period Bit Sync Time Bit Count
Poor Status
Good Status
Parity Error Count Last VCO Count
Description Message ID number. The number of the satellite being tracked. The total duration of time (in seconds) that the satellite is tracked. The time it takes for channel 0 to achieve the status of 37. The total number of data bits that the receiver is able to demodulate during the test period. As an example, for a 20 second test period, the total number of bits that can be demodulated by the receiver is 12000 (50BPS x 20sec x 12 channels). This value is derived from phase accumulation time. Phase accumulation is the amount of time a receiver maintains phase lock. Every 100msec of loss of phase lock equates to 1 poor status count. As an example, the total number of status counts for a 60 second period is 7200 (12 channels x 60 sec x 10 sec). This value is derived from phase accumulation time. Phase accumulation is the amount of time a receiver maintains phase lock. Every 100msec of phase lock equates to 1 good status count. The number of word parity errors. This occurs when the transmitted parity word does not match the receivers parity check. The number of 1 msec VCO lost lock was detected. This occurs when the PLL in the RFIC loses lock. A significant jump in crystal frequency and / or phase causes a VCO lost lock.
Table 3-53: Detailed Description of Test Mode 1 Data
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3.2.15 SiRF Binary Output message I.D. 17, Differential Corrections

Message I.D. 17 provides the RTCM data received from a DGPS source. The data is sent as a SiRF Binary message and is based on the RTCM SC-104 format. For more information see RTCM Recommended Standards for Differential GNSS by the Radio Technical Commission for Maritime Services.
3.2.16 SiRF Binary Output message I.D. 18, OkToSend

Output Rate: TricklePowerTM CPU on/off indicator In a power cycling mode (TricklePower or Push-To-Fix mode), the GPS receiver will only be fully active during time fragments where messages are transmitted or received. Outside these active phases, the TIM will neither transmit either data nor listen to incoming messages. In order to provide some orientation to an external host, this message indicates the beginnings and ends of the active phases. At the beginning, this message is issued with OK-to-Send indicator = 1 At the end, this message is issued with OK-to-Send indicator = 0
Example: A0A20002Start Sequence and Payload Length 1200Payload 0012B0B3Message Checksum and End Sequence Name Message ID Send Indicator1
1
Bytes 1 1
Binary (Hex) Scale Example 12 00
Units
0 implies that CPU is about to go OFF, OkToSend==No, 1 implies CPU has just come ON, OkToSend==Yes

Table 3-54: OK-to-Send Message
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3.2.17 SiRF Binary Output message I.D. 19, Navigation Parameters

Output Rate: Response to Poll from message I.D. 152 (refer to page 82) Important Notice The SiRFstar I (used in u-blox 1st generation products like GPS-MS1(E) / PS1(E) modules) and SiRFstar II architectures (used in u-blox 2nd generation products like TIM modules) provide different message formats for binary message I.D. 19. Example for SiRFstar I architecture (u-blox 1st generation products like GPS-MS1(E), GPS-PS1(E) ): A0A20018Start Sequence and Payload Length 130100000000011E3C0104001E004B1E2710050501640000Payload 01A1B0B3 Message Checksum and End Sequence Name Message ID Altitude Constraint Altitude Hold Mode (See 1) Altitude Hold Source (See 1) Altitude Source Input Degraded Mode (See Table 3-84) Degraded Timeout DR Timeout (See 1) Track Smoothing (See 1) DOP Mask mode (See Table 3-86) DGPS Mode (See Table 3-88) DGPS Timeout Navigation Elevation Mask Navigation Power Mask Editing Residual Steady-State Navigation Static Navigation Low Power Mode Low Power Duty Cycle Low Power On Time
1
Bytes 1 1 1 1 2 1 1 1 1 1 1 1 2 1 2 1 1 1 1 2
Binary (Hex) Scale Example 13 00 00 0000 01 1E 3C 01 04 00 1E 009B 14 *10 *10 05 04
Units
ASCII (Decimal) Scale Example 19 0 0 0 1 30 60 1 4 0 30 15.5 20 10 10 0.5 0.4
meters
seconds seconds
*10
seconds deg dBHz m/s2
10
% ms
See corresponding entries in table Table 3-83, "Mode Control"

Table 3-55: Navigation Parameters (SiRFstar I architecture, applicable to GPS-MS1, but not TIM)
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TIM GPS receivers protocol specification - Application Note Example for SiRFstar II architecture (u-blox 2nd generation products like TIM): A0A20041Start Sequence and Payload Length 1301000 Payload 022DB0B3Message Checksum and End Sequence Name Message ID Reserved Altitude Hold Mode (See 1) Altitude Hold Source (See 1) Altitude Source Input Degraded Mode (See Table 3-84) Degraded Timeout DR Timeout (See 1) Track Smoothing (See 1) Static Navigation 3SV Least Squares Reserved DOP Mask mode (See Table 3-86) Navigation Elevation Mask Navigation Power Mask Reserved DGPS Source (See Table 3-79) DGPS Mode (See Table 3-88) DGPS Timeout Reserved LP Push-to-Fix (See 3) LP On-Time LP Interval LP User Tasks Enabled (See 3) LP User Task Interval LP Power Cycling Enabled (See 3) LP Max. Acq. Search Time (See 2) LP Max. Off Time (See 2) Reserved Reserved
1 2 3
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Bytes Scale 1 4 1 1 2 1 1 1 1 1 1 4 1 2 1 4 1 1 1 4 1 4 4 1 4 1 4 4 4 4 *10
Binary (Hex) Example 13 00 00 0000 01 1E 3C 01 04 00 04 009B 14 02 00 1E 00 000000C8 000003E8 00 00000000 00 0001D4C0 00007530 00000000 00000000
Units
ASCII (Decimal) Scale Example 19 0 0 0 1 30 60 1 4 0 4
meters
seconds seconds
deg dBHz
10
15.5 20 2 0 30 0 200 1000 0 0 0 120000 30000
seconds
ms ms ms ms ms
See corresponding entries in table Table 3-83, "Mode Control" See corresponding entries in Table 3-106, "Set Low Power Acquisition Parameters" 0=Disabled 1=Enabled

Table 3-56: Navigation Parameters (SiRFstar II architecture, applicable to TIM)
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3.2.18 SiRF Binary Output message I.D. 20, Test Mode 2

Output Rate: Variable - set by the period as defined in message ID 150 Example: A0A20033Start Sequence and Payload Length 140001001E00023F70001F0D2900000000000601C600051B0E000EB41A0000000000000 0000000000000000000000000000000Payload 0316B0B3Message Checksum and End Sequence Name Message ID SV ID Period Bit Sync Time Bit Count Poor Status Good Status Parity Error Count Last VCO Count Frame Sync C/No Mean C/No Sigma Clock Drift Clock Offset Reserved Reserved Reserved Reserved Reserved Reserved Payload length: 51 bytes
Table 3-57: Test Mode 2 Message
Bytes Scale 1 2 2 2 2 2 2 2 2 2 2 2 2 4 2 4 4 4 4 4
* 10 * 10 * 10 * 10
Binary (Hex) Example 14 0001 001E 0002 3F70 001F 0D29 0000 0000 000C 01C6 0005 1B0E 000EB41A 0000 00000000 00000000 00000000 00000000 00000000
Units
seconds seconds
Hz Hz
ASCII (Decimal) Scale Example 20 1 30 2 13680 31 3369 0 0 6 45.4 10 0.5 10 692.6 10 96361.0 10
Name Message ID SV ID Period Bit Sync Time Bit Count Poor Status Good Status Parity Error Count Last VCO Count Frame Sync C/No Mean C/No Sigma Clock Drift Clock Offset
Description Message ID number. The number of the satellite being tracked. Same data structure as in Message 16 (0x10)
The time it takes for channel 0 to reach a 3F status. Calculated average of reported C/No by all 12 channels during the test period. Calculated sigma of reported C/No by all 12 channels during the test period. Difference in clock frequency from start and end of the test period. The internal clock offset.
Table 3-58: Detailed Description of Test Mode 2 Data
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3.2.19 SiRF Binary Output message I.D. 28, Navigation Library Measurement Data
Output Rate: Every measurement cycle (full power / continuous: 1Hz)
Example: A0A20038Start Sequence and Payload Length 1C00000660D015F143F62C4113F42FF3FBE95E417B235C468C6964B8FBC5824 15CF1C375301724.....03E801F400000000Payload 1533B0B3Message Checksum and End Sequence Name Message ID Channel Time Tag Satellite ID GPS Software Time Pseudo-Range Carrier-Frequency Carrier-Phase Time in Track Sync Flags (See Table 3-60) C/No 1 C/No 2 C/No 3 C/No 4 C/No 5 C/No 6 C/No 7 C/No 8 C/No 9 C/No 10 Delta Range Interval Mean Delta Range Time Extrapolation Time Phase Error Count Low Power Count Payload length: 56 bytes
Table 3-59: Measurement Data
Bytes 1 1 4 1 8 8 4 8 2 1 1 1 1 1 1 1 1 1 1 1 2 2 2 1 1
Binary (Hex) Scale Example 1C 00 000660D0 15 F143F62C 4113F42F F3FBE95E 417B235C 468C6964 B8FBC582 415CF1C3 7530 17 24 24 24 24 24 24 24 24 24 24 03E8 01F4 0000 00 00
Units
ms ms m m/sec m ms bitmap dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz dBHz m ms ms
ASCII (Decimal) Scale Example 28 0 135000 21 2.4921113 696e+005 2.1016756 638e+007 1.6756767 578e+004 4.4345542 262e+004 10600 23 36 36 36 36 36 36 36 36 36 36 1000 500 0 0 0
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Bit Fields [0]
[2:1]
[4:3]
Description Coherent Integration Time 0 = 2ms 1 = 10ms Synch State 00 = Not aligned 01 = Consistent code epoch alignment 10 = Consistent data bit alignment 11 = No millisecond errors Autocorrelation Detection State 00 = Verified not an autocorrelation 01 = Testing in progress 10 = Strong signal, autocorrelation detection not run 11 = Not used
Table 3-60: Sync Flag Fields
Name Message ID Channel Time Tag Satellite ID GPS Software Time Pseudo-Range Carrier-Frequency
Carrier-Phase Time in Track
Sync Flags
C/No 1
C/No 2 C/No 10
Description Message I.D. Number Receiver channel number for a given satellite being searched or tracked. This is the Time Tag in milliseconds of the measurement block in the receiver software time. Satellite or Space Vehicle (SV) I.D. number or Pseudo-random Noise (PRN) number. This is GPS Time or Time of Week (TOW) estimated by the software in milliseconds. This is the generated pseudo range measurement for a particular SV. This is can be interpreted in two ways: 1. The delta-pseudo range normalized by the reciprocal of the delta pseudo range measurement interval. 2. The frequency from the AFC loop. If, for example, the delta pseudo range interval computation for a particular channel is zero, then it can be the AFC measurement, otherwise it is a delta-pseudo range computation. This is the integrated carrier phase given in meters. The Time in Track counts how long a particular SV has been in track. For any count greater than zero (0), a generated pseudo range is present for a particular channel. The length of time in track is a measure of how large the pull-in error may be. This byte contains two a two bit fields that report the integration interval and sync value achieved for a particular channel. 1) Bit 0: Coherent Integration Interval (0 = 2 milliseconds, 1 = 10 milliseconds) 2) Bits: (1 2) = Synchronization 3) Bit: (2 1) Value: {0 0} Not Aligned Value: {0 1} Consistent Code Epoch Alignment Value: {1 0} Consistent Data Bit Alignment Value: {1 1} No Millisecond Errors This array of Carrier To Noise Ratios is the average signal power in dBHz for each of the 100-millisecond intervals in the previous second or last epoch for each particular SV being track in a channel. 1st 100 millisecond measurement 2nd through 10th 100 millisecond measurements
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TIM GPS receivers protocol specification - Application Note Delta Range Interval
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Mean Delta Range Time Extrapolation Time Phase Error Count Low Power Count
This is the delta-pseudo range measurement interval for the preceding second. A value of zero indicated that the receiver has an AFC measurement or no measurement in the Carrier Frequency field for a particular channel. This is the mean calculated time of the delta-pseudo range interval in milliseconds measured from the end of the interval backwards This is the pseudo range extrapolation time in milliseconds, to reach the common Time tag value. This is the count of the phase errors greater than 60 Degrees measured in the preceding second as defined for a particular channel. This is the low power measurements for signals less than 28 dB-Hz in the preceding second as defined for a particular channel
Table 3-61: Detailed Description of Measurement Data
3.2.20 SiRF Binary Output message I.D. 29, Navigation Library DGPS Data
Output Rate: Every measurement cycle (full power / continuous: 1Hz) Example: A0A2001AStart Sequence and Payload Length 1D000F00B501BFC97C673CAAAAAB3FBFFE1240A0000040A00000Payload 0956B0B3Message Checksum and End Sequence Name Message ID Satellite ID IOD (Issue of Data) Source 1 Pseudo-Range Correction Pseudo-Range Rate Correction Correction Age Reserved Reserved
1
Bytes 1 2 2 1 4 4 4 4 4
Binary (Hex) Scale Example 1D 000F 00B5 01 BFC97C67 3CAAAAAB 3FBFFE12
Units
m m/sec sec
ASCII (Decimal) Scale Example 29 15 181 1 3217652839 1017817771 1069547026
Valid values:
0 = Use no corrections 3 = Use Internal Beacon
1 = Use WAAS channel 4 = Set DGPS Corrections
2 = Use external source,

Table 3-62: Navigation Library DGPS Data
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3.2.21 SiRF Binary Output message I.D. 30, Navigation Library SV State Data
Output Rate: Every measurement cycle (full power / continuous: 1Hz) Example: A0A20053Start Sequence and Payload Length 1E15....2C64E99D01....408906C8Payload 2360B0B3Message Checksum and End Sequence Name Message ID Satellite ID GPS Time X-Position Y-Position Z-Position X-Velocity Y-Velocity Z-Velocity Clock Bias Clock Drift Ephemeris Flag 1 Reserved Reserved Ionospheric Delay
1
Bytes Scale 1 1 8 8 8 8 8 8 8 8 4 1 4 4 4
Binary (Hex) Example 1E 15
Units
2C64E99D 01
sec m m m m/s m/s m/s sec sec/sec
744810909 1
408906C8
1 = SV state calculated from ephemeris
1082721992
2 = Satellite state calculated from almanac
Valid values:
0 = no valid SV state

Table 3-63: Navigation Library DGPS Data
3.2.22 SiRF Binary Output message I.D. 31, Navigation Library Initialisation Data
Output Rate: Every measurement cycle (full power / continuous: 1Hz)
Example: A0A20054Start Sequence and Payload Length 1F....00000000000001001E000F....00....000000000F....00....02....043402.... ....02Payload 0E27B0B3Message Checksum and End Sequence
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Name Message ID Reserved Altitude Mode 1 Altitude Source Altitude 2 Degraded Mode Degraded Timeout Dead-Reckoning Timeout Reserved Track Smoothing Mode 3 Reserved Reserved Reserved Reserved DGPS Selection 4 DGPS Timeout Elevation Navigation Mask Reserved Reserved Reserved Reserved Reserved Static Navigation Mode 5 Reserved Position X Position Y Position Z Position Init Source 6 GPS Time GPS Week Time Init Source 7 Drift Drift Init Source 8
1 2
Bytes 1 1 1 1 4 1 2 2 2 1 1 2 2 2 1 2 2 2 1 2 1 2 1 2 8 8 8 1 8 2 1 8 1
Binary (Hex) Scale Example 1F 00 00 00000000 01 001E 000F 00
Units
ASCII (Decimal) Scale Example 31 0 0 0 1 30 15 0
m sec sec
00 0000 000F
sec
0 0 15
00 m m m 02 0434 02 02
2 1076 2 2
0 = Use last known altitude, 1 = Use user input altitude 2 = Use dynamic input from external source 0 = Use direction hold and then time hold, 1 = Use time hold and then direction hold 2 = Only use direction hold 3 = Only use time hold 4 = Degraded mode is disabled 0 = True 1 = False 0 = Use DGPS if available 1 = Only navigate if DGPS corrections are available 2 = Never use DGPS corrections 0 = True 1 = False 0 = ROM position 1 = User position 2 = SRAM position 3 = Network assisted position (Not supported) 0 = ROM time 1 = User time 2 = SRAM time 3 = RTC time 4 = Network assisted time (Not supported) 0 = ROM clock 1 = User clock 2 = SRAM clock 3 = Calibration clock 4 = Network assisted clock (Not supported)
3 4 5 6 7 8

Table 3-64: Navigation Library Initialization Data
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3.2.23 SiRF Binary Output message I.D. 98, Extended Measured Navigation (u-blox)
Important Notice This is a u-blox proprietary message.
In contrast to the NMEA protocol, the original SiRF Binary protocol outputs position in a Cartesian coordinate frame called Earth-Centered, Earth-Fixed (ECEF). For many applications, geodetic mapping coordinates of Latitude, Longitude and Altitude similar to NMEA are desired. In the SiRF binary protocol, time is sent as GPS week number and Time of Week (TOW). But in many applications, the Universal Time Coordinated (UTC) is the best time format.
By default, the geodetic position is based on WGS-84 map datum. The datum can be modified with the "Set Datum" message 196 (0xC4), or, in NMEA format is activated, by NMEA $PSRF106. Output Rate: 1 Hz Example: A0A20027Start Sequence and Payload Length 6204EDBB4F00E3C83E0007C298000000FA0000006607FB9FB9 6407CF091E0712B0C20B06090507 Payload 0C73B0B3Message Checksum and End Sequence Name Message ID Latitude Longitude Altitude Speed over Ground Climb Rate Course over Ground Mode 1 UTC Year UTC Month UTC Day UTC Hour UTC Minute UTC Second GDOP (geometric DOP) HDOP (horizontal DOP) PDOP (position DOP) TDOP (time DOP) VDOP (vertical DOP)
1 2
Bytes 1 4 4 4 4 4 4 1 2 1 1 1 1 2 1 1 1 1 1
Binary (Hex) Scale Example 62 *108 04EDBB4F *108 00E3C83E *1000 0007C298 *1000 000000FA *1000 00000066 8 *10 07FB9FB9 64 07CF 09 1E 07 12 *1000 B0C2 *5 0B *5 06 *5 09 *5 05 *5 07
Units
rad rad m m/s m/s rad bit map 1 years months days hours minutes seconds
ASCII (Decimal) Scale Example 98 8 /10 0x82688847 /108 0x14927934 /1000 508.568 /1000 0.250 /1000 0.102 8 /10 1.33930937 100 2 1999 9 30 7 12 /1000 45.250 /5 2.2 /5 1.2 /5 1.8 /5 1.0 /5 1.4
See Table 3-66 and Table 3-67 Example indicates L 4 satellite solution (3D), validated, UTC leap seconds corrected

Table 3-65: Extended Measured Navigation
Bit Bit(s) Name
7 DGPS
6 LEAPSEC
5 VALIDATION
4 DOPMASK
3 DRTMO
1 PMODE
Table 3-66: Mode Byte
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Bit(s) Name PMODE
Name Position mode
Value 0 1 2 3 4 5 6 7 0 1 0 1 0 1 0 1 0 1
DRTMO DOPMASK VALIDATION LEAPSEC DGPS
Dead Reckoning timed out DOP mask status Fix Quality UTC Leap Seconds DGPS status
Description No navigation solution 1 satellite solution (altitude hold, direction hold, time hold) 2 satellite solution (altitude hold and direction or time hold) 3 satellite solution (altitude hold) 4 satellite solution 2D point solution (least square) 3D point solution (least square) Dead reckoning No Yes DOP mask not exceeded DOP mask exceeded Unvalidated Validated Leap seconds not corrected Leap seconds corrected No DGPS position DGPS position
Table 3-67: Interpretation of Mode Byte
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3.2.24 SiRF Binary Output message I.D. 100, Hardware Status (u-blox)
Important Notice This is a u-blox proprietary message. The firmware provides a support for controlling and monitoring active antennas. Details on the active antenna supervisor is described in the TIM data sheet [2] Output Rate: Depends on settings in Firmware User Parameters Example: A0A20003 Start Sequence and Payload Length 64013FPayload ccccB0B3Message Checksum and End Sequence Name Message ID Antenna status AGC Payload length: 3 bytes Bytes Scale 1 1 1 Binary (Hex) Example 64 01 3F Units ASCII (Decimal) Scale Example 100 See table below 63 Range: 0..63
Table 3-68: Hardware Status
Description See appendix A.4 for details. Active antenna on and OK Open circuit in antenna Short circuit in antenna Active antenna off (due to short circuit) Passive antenna
Table 3-69: Active Antenna Status
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3.2.25 SiRF Binary Output message I.D. 255, Development Data

Output Rate: Receiver generated Example: A0A2....Start Sequence and Payload Length FF....Payload ....B0B3Message Checksum and End Sequence Name Message ID Payload of choice Payload length: Variable
Table 3-70: Development Data
Bytes 1
Variable
Binary (Hex) Scale Example FF
Units
ASCII (Decimal) Scale Example 255
Important Notice MID 255 is output when SiRF Binary is selected and development data is enabled. The data output using MID 255 is essential for support.
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3.3 Input Messages for SiRF Binary Protocol.

The following table lists the message list for the SiRF Binary input messages. Hex 0x80 0x81 0x82 0x84 0x85 0x86 0x87 0x88 0x89 0x8A 0x8B 0x8C 0x8F 0x90 0x91 0x92 0x93 0x94 0x95 0x96 0x97 0x98 0xA5 0xA6 0xA7 0xC4 ASCII 128 129 130 132 133 134 135 136 137 138 139 140 143 144 145 146 147 148 149 150 151 152 165 166 167 196 Name Initialize Data Source Switch to NMEA Protocol Set Almanac Poll Software Version DGPS Source Control Set Main Serial Port Switch Protocol Mode control DOP Mask Control DGPS Control Elevation Mask Power Mask Static Navigation Poll Clock Status Set DGPS Serial Port Poll Almanac Poll Ephemeris Flash Update Set Ephemeris Switch Operating Mode Set TricklePower Mode Poll Navigation Parameters Set UART Configuration Set Message Rate Low Power Acquisition Parameters Set Datum
Description ECEF and time information at start-up for warm start Enable NMEA messages, output rate and baud rate Sends an existing almanac file to the receiver Software version replied with Message ID 6 (0x06) Select source for DGPS corrections UART configuration like baud rate, stop bits, etc. Switch to other protocol - obsolete Sets mode like 3D/2D, dead reckoning, etc. Sets DOP mask range to select satellites for navigation Selects DGPS and timeout Elevation masks for tracking and navigation Power masks for qualifying satellites for navigation Configuration for static operation Clock status is replied with Message ID 7 (0x07) DGPS port baud rate, data bits, stop bits, and parity Almanac is replied with Message ID 14 (0x0E) Ephemeris is replied with Message ID 15 (0x0F) Enters download mode to update Flash EPROM (u-blox) Upload Ephemeris File to receiver Test mode or normal mode TricklePower and Push-to-Fix Navigation is replied with Message ID 19 (0x13) Sets protocol, baud rates, etc. for all ports Set rate for individual SiRF output messages Set max. off and search times for reacquisition Chooses a map datum as specified in table B-1 (u-blox)
Page 66 67 69 69 70 71 72 73 74 75 75 76 76 77 77 78 78 79 79 80 81 82 83 84 84 85
Table 3-71: Output Messages for SiRF Binary
Important Notice All input messages are sent in BINARY format. The shaded fields in the table above relate to messages which are supported by u-blox firmware, but not by the original SiRF firmware.
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3.3.1 SiRF Binary Input message I.D. 128, Initialize Data Source
The following table contains the input values for the following example: Warm start the receiver with the following initialization data: ECEF XYZ (-2686727 m, -4304282 m, 3851642 m), Clock Offset (75,000 Hz), Time of Week (86,400 s), Week Number (924), Channels (12) Raw track data enabled, Debug data enabled. Example: A0A20019Start Sequence and Payload Length 80FFD700F9FFBE5266003AC57A000124F80083D600039C0C33Payload 0A91B0B3Message Checksum and End Sequence Name Message ID ECEF X ECEF Y ECEF Z Clock Offset Time of Week Week Number Channels (Range 112) Reset Config. (See Table 3-73) Payload length: 25 bytes
Table 3-72: Initialize Data Source
Bytes 1
4 4 4 4 4 2 1 1
Binary (Hex) Example 80 FFD700F FFBE5266 003AC57A 000124F8 *100 0083D600 Scale 039C 0C 33
Units
ASCII (Decimal) Scale Example ASCII 128
meters meters meters Hz seconds
100 12
Bit 0 1 2 3 4 5 6 7
Description Data valid flagset warm/hot start Clear ephemerisset warm start Clear memoryset cold start Factory Reset Enable raw track data (YES=1, NO=0) Enable debug data for SiRF binary protocol (YES=1, NO=0) Enable debug data for NMEA protocol (YES=1, NO=0) Reserved (must be 0)
Table 3-73: Reset Configuration Bitmap
Important Notice If "Raw Track Data" is enabled, then the following messages are enabled at update rate of 1 Hz and baud rate is automatically set to 38400 baud. MID 07: MID 17: MID 28: MID 31: Clock Status Raw DGPS DGPS Data Navigation Library Initialization Data MID 08: 50 BPS Data MID 28: Navigation Library Measurement Data MID 30: SV State Data
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3.3.2 SiRF Binary Input message I.D. 129, Switch To NMEA Protocol
The following table contains the input values for the following example:
Request the following NMEA data at 4800 baud: GGA - ON, 1 second time interval GLL - OFF GSA - ON, 5 seconds time interval GSV - ON, 5 seconds time interval RMC - OFF VTG - OFF MSS - OFF ZDA - ON, 1 second time interval PSRF161 - ON, 1 second time interval
Example: A0A20018Start Sequence and Payload Length 8102010100010501050100010001000100010001000112C0Payload 016AB0B3Message Checksum and End Sequence
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Name Message ID Mode GGA Message 1 Checksum 2 GLL Message Checksum GSA Message Checksum GSV Message Checksum RMC Message Checksum VTG Message Checksum MSS Message Checksum ZDA Message (u-blox) Checksum PSRF150 OK-to-Send (u-blox) Checksum PSRF161 HW Status (u-blox) Checksum Baud rate 3
1
Bytes 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2
Binary (Hex) Scale Example 81 02 01 01 00 01 05 01 05 01 00 01 00 01 00 01 01 01 00 01 05 01 9600
Units
Description ASCII 129 2 (Must always be 2!) 1 0 (no msg) 5 5 0 (no message) 0 (no message) 0 (no message) 1 0 (no message) 5 0x9600 = 38400 baud
sec sec sec sec sec sec sec sec sec sec baud
A value of 0x00 implies NOT to send message, otherwise data is sent at 1 message every X seconds requested (i.e., to request a message to be sent every 5 seconds, request the message using a value of 0x05.) Maximum rate is 1/255s.
A value of 0x00 implies the checksum NOT transmitted with the message (not recommended). A value of 0x01 will have a checksum calculated and transmitted as part of the message (recommended). Valid values: 4800, 9600, 19200, 38400

Table 3-74: Switch to NMEA Protocol
Important Notice In TricklePowerTM mode, the update rate is specified by the user. When you switch to NMEA protocol, TM message update rate is also required. The resulting update rate is the product of the TricklePower TM Update rate and the NMEA update rate (i.e. TricklePower update rate = 2 seconds, NMEA update rate = 5 seconds, resulting update rate is every 10 seconds, (2 X 5 = 10)).
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3.3.3 SiRF Binary Input message I.D. 130, Set Almanac

This command enables the user to upload an almanac file from a host computer to the GPS unit. Example: A0A20380 Start Sequence and Payload Length 82xx. Payload ssssB0B3 Message Checksum and End Sequence Name Message ID Almanac Payload length: 897 bytes
Table 3-75: Set Almanac
Bytes Scale 1 896
Binary (Hex) Example 82 xx
Units
Description ASCII 130 xx
The almanac data is stored in the code as a 448 element array of INT16 values. These 448 elements are partitioned as 32 x 14 elements where the 32 represents the satellite number minus 1 and the 14 represents the number of INT16 values associated with this satellite. The data is actually packed and the exact format of this representation and packing method can be extracted from the ICD-GPS-2000 document. The ICD-GPS-2000 document describes the data format of each GPS navigation sub-frame and is available on the web at http://www.arinc.com/gps.
3.3.4 SiRF Binary Input message I.D. 132, Software Version

The following table contains the input values for the following example: Poll the software version Example: A0A20002Start Sequence and Payload Length 8400Payload 0084B0B3Message Checksum and End Sequence Name Message ID Control Payload length: 2 bytes
Table 3-76: Software Version
Bytes Scale 1
1
Binary (Hex) Example 84 00
Units
Description ASCII 132 Not used
Response:
refer to page 35, section 3.2.4 SiRF Binary Output message I.D. 6, Software Version String
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3.3.5 SiRF Binary Input message I.D. 133, DGPS Source

This command allows the user to select the source for DGPS corrections. Options available are: External RTCM Data (any serial port) WAAS (subject to WAAS satellite availability) Internal DGPS beacon receiver Example 1: Set the DGPS source to External RTCM Data A0A200007Start Sequence and Payload Length 85020000000000Payload 0087B0B3Checksum and End Sequence Name Message ID DGPS Source Internal Beacon Frequency Internal Beacon Bit Rate Payload length: 7 bytes
Table 3-77: DGPS Source Selection (Example 1)
Bytes 1
1 4 1
Binary (Hex) Scale Example 85 02 00000000 0
Units
Description ASCII 133 2 / See Table 3-79 See Table 3-80 See Table 3-80
Hz Bps
Example 2: Set the DGPS source to Internal DGPS Beacon Receiver Search Frequency 310000, Bit Rate 200 A0A200007Start Sequence and Payload Length 85030004BAF0C802Payload 02FEB0B3Checksum and End Sequence Name Message ID DGPS Source Internal Beacon Frequency Internal Beacon Bit Rate Payload length: 7 bytes
Table 3-78: DGPS Source Selection (Example 2)
Bytes 1 1 4 1
Binary (Hex) Scale Example 85 03 0004BAF0 C8
Units
Description ASCII 133 3 / See Table 3-79 31000 / See Table 3-80 200 / See Table 3-80
Hz Bps
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DGPS Source None WAAS External RTCM Data Internal DGPS Beacon Receiver User Software
Table 3-79: DGPS Source Selections
Hex 00 01 02 03 04
Decimal 0 1 2 3 4
Description DGPS corrections are not used (even if available). Uses WAAS Satellite (subject to availability). External RTCM input source (i.e., Coast Guard Beacon). Internal DGPS beacon receiver. Corrections provided using a module interface routine in a custom user application.
Search Type Auto Scan Full Frequency Scan Full Bit Rate Scan Specific Search
1 2
Frequency 1 zero zero nonzero nonzero
Bit Rate zero nonzero zero nonzero
Description Auto scanning of all frequencies and bit rates are performed. Auto scanning of all frequencies and specified bit rate are performed. Auto scanning of all bit rates and specified frequency are performed Only the specified frequency and bit rate search are performed.
Frequency Range is 283500 to 325000 Hz. Bit Rate selection is 25, 50, 100 and 200 BPS.
Table 3-80: Internal Beacon Settings
3.3.6 SiRF Binary Input message I.D. 134, Set Main Serial Port
The following table contains the input values for the following example: Set Main Serial port to 9600,n,8,1. Example: A0A20009Start Sequence and Payload Length 860000258008010000Payload 0134B0B3Message Checksum and End Sequence Name Message ID Baud rate 1 Data bits Stop bit Parity Pad
1
Bytes 1 4 1 1 1 1
Binary (Hex) Scale Example 86 00002580 08 01
Units
Description ASCII 134 9600 (example) 8 (choice: 7 or 8) 1 (choice: 0 or 1) 0=None, 1=Odd, 2=Even Reserved
Valid values: 1200, 2400, 4800, 9600, 19200, 38400

Table 3-81: Set main Serial Port
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3.3.7 SiRF Binary Input message I.D. 135, Set Protocol

This is a simple message to change the protocol. Please note that the default or last baud rate setting configured for NMEA protocol is selected. This may result to a baud rate change. Example: A0A20002Start Sequence and Payload Length 8701 Payload 0088B0B3Message Checksum and End Sequence Name Message ID Protocol (See 1)
1
Bytes Scale 1
Units
Description ASCII 134 NMEA
0 = SiRF Binary, 1 = NMEA, 2 = ASCII, 3 = RTCM, 4 = User1

Table 3-82: Set Protocol
Important Notice This Message is obsolete, even if it is still operational. Use of this message is strongly discouraged. Consider message I.D. 129 (Switch to NMEA Protocol) or message I.D. 165 (Change UART) instead. This message is subject to change without prior notice!
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3.3.8 SiRF Binary Input message I.D. 136, Mode Control

The following table contains the input values for the following example: 3D Mode = Always, Alt Constraining = Yes, Degraded Mode = clock then direction, TBD=1, DR Mode = Yes, Altitude = 0, Alt Hold Mode = Auto, Alt Source =Last Computed, Coast Time Out = 20, Degraded Time Out=5, DR Time Out = 2, Track Smoothing = Yes Example: A0A2000EStart Sequence and Payload Length 88010101010100000002140501Payload 00A9B0B3Message Checksum and End Sequence Name Message ID 3D Mode Alt Constraint Degraded Mode TBD DR Mode Altitude Altitude Hold Mode Altitude Source Coast Time Out Degraded Time Out DR Time Out Track Smoothing Payload length: 14 bytes
Table 3-83: Mode Control
Bytes Scale 1 1 1 1 1 1 2 1 1 1 1 1 1
Binary (Hex) Example 88 01 01 01 01 0000 00 02
Units
Description ASCII 136 1 (always true=1) Not used See Table 3-84 Reserved YES=1, NO=0 range -1,000 to 10,000 Auto=0, Always=1, Disable=2 Last Computed=0, Fixed to=1 Not Used 0 to 120 0 to 120 YES=1, NO=0
meters
05 01 01
seconds seconds
Description Use Direction then Clock Hold Use Clock then Direction Hold Direction (Curb) Hold Only Clock (Time) Hold Only Disable Degraded Modes
Table 3-84: Degraded Mode Byte Value
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3.3.9 SiRF Binary Input message I.D. 137, DOP Mask Control
The following table contains the input values for the following example: Auto PDOP / HDOP, GDOP =8 (default), PDOP HDOP Example: A0A20005Start Sequence and Payload Length 8900080808Payload 00A1B0B3Message Checksum and End Sequence Name Message ID DOP Selection GDOP Value PDOP Value HDOP Value Payload length: 5 bytes
Table 3-85: DOP Mask Control
Geometric ( 3 position coordinates plus clock offset in the solution) Position DOP (3 coordinates) Horizontal DOP
=8, =8
Bytes 1 1 1 1 1
Binary (Hex) Scale Example 89 00 08 08 08
Units
Description ASCII 137 See Table 3-86 Range 1 - 50 Range 1 - 50 Range 1 - 50
Description Auto PDOP/HDOP PDOP HDOP GDOP Do not use
Table 3-86: DOP Selection
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3.3.10 SiRF Binary Input message I.D. 138, DGPS Control

The following table contains the input values for the following example: Set DGPS to exclusive with a time out of 30 seconds. Example: A0A20003Start Sequence and Payload Length 8A011EPayload 00A9B0B3Message Checksum and End Sequence Name Message ID DGPS Selection DGPS Timeout Payload length: 3 bytes
Table 3-87: DGPS Control
Bytes 1 1 1
Binary (Hex) Scale Example 8A 01 1E
Units
Description ASCII 138 See Table 3-88 Range 0 = disabled, 1 255 [s]
seconds
Byte Value 0 1 2
Description Auto Exclusive Never use
Table 3-88: DGPS Selection
Important Notice Configuration of the DGPS mode using MID 138 only applies to RTCM corrections received from an external RTCM source or internal or external beacon. It does not apply to WAAS operation.
3.3.11 SiRF Binary Input message I.D. 139, Elevation Mask

The following table contains the input values for the following example: Set Navigation Mask to 15.5 degrees (Tracking Mask is defaulted to 5 degrees). Example: A0A20005Start Sequence and Payload Length 8B0032009BPayload 0158B0B3Message Checksum and End Sequence Name Message ID Tracking Mask Navigation Mask Payload length: 5 bytes
Table 3-89: Elevation Mask
Bytes Scale 1 2 2 *10 *10
Binary (Hex) Example 8B 0032 009B
Units
Description ASCII 139 Not implemented Range -20+90 (values -200 +900)
degrees degrees
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3.3.12 SiRF Binary Input message I.D. 140, Power Mask

The following table contains the input values for the following example: Navigation mask to 33 dBHz (tracking default value of 28)
Example: A0A20003Start Sequence and Payload Length 8C1C21Payload 00C9B0B3Message Checksum and End Sequence Name Message ID Tracking Mask Navigation Mask Payload length: 3 bytes
Table 3-90: Power Mask
Bytes Scale 1 1 1
Binary (Hex) Example 8C 1C 21
Units
Description ASCII 140 Not implemented Range 2050
dBHz dBHz
3.3.13 SiRF Binary Input message I.D. 143, Static Navigation

This command allows the user to enable or disable static navigation to the Evaluation Receiver. Example: A0A20002 Start Sequence and Payload Length 8F01 Payload xxxxB0B3 Message Checksum and End Sequence Name Message ID Static Navigation Flag Payload length: 2 bytes
Table 3-91: Static Navigation
Bytes Scale 1 1
Binary (Hex) Example 8F 01
Units
Description ASCII 143 ASCII 1
Name Message ID Static Navigation Flag
Description Message ID number. Valid values: 1 enable static navigation 0 disable static navigation
Table 3-92: Message ID 143 Description
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3.3.14 SiRF Binary Input message I.D. 144, Poll Clock Status
The following table contains the input values for the following example: Poll the clock status. Example: A0A20002Start Sequence and Payload Length 9000Payload 0090B0B3Message Checksum and End Sequence Name Message ID Control Payload length: 2 bytes
Table 3-93: Clock Status
Bytes 1 1
Binary (Hex) Scale Example 90 00
Units
Response:
refer to page 35 3.2.5 SiRF Binary Output message I.D. 7, Clock Status Data
3.3.15 SiRF Binary Input message I.D. 145, Set DGPS Serial Port
The following table contains the input values for the following example: Set DGPS Serial port to 9600,n,8,1. Example: A0A20009Start Sequence and Payload Length 910000258008010000Payload 013FB0B3Message Checksum and End Sequence Name Message ID Baud rate 1 Data bits Stop bit Parity Pad
1
Bytes Scale 1 4 1 1 1 1
Binary (Hex) Example 91 00002580 08 01
Units
Description ASCII 145 9600 (example) 8 (choice: 7 or 8) 1 (choice: 0 or 1) 0=None, 1=Odd, 2=Even Reserved
Valid values: 1200, 2400, 4800, 9600, 19200, 38400

Table 3-94: Set DGPS Serial Port
Important Notice Setting the DGPS serial port using MID 145 will affect Com B only regardless of the port being used to communicate with the Evaluation Receiver.
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3.3.16 SiRF Binary Input message I.D. 146, Poll Almanac

The following table contains the input values for the following example: Poll for the Almanac.
Example: A0A20002Start Sequence and Payload Length 9200Payload 0092B0B3Message Checksum and End Sequence Name Message ID Control Payload length: 2 bytes
Table 3-95: Almanac
Bytes Scale 1 1
Units
Response:
refer to page 49, 3.2.12 SiRF Binary Output message I.D. 14, Almanac Data
3.3.17 SiRF Binary Input message I.D. 147, Poll Ephemeris

The following table contains the input values for the following example: Poll for Ephemeris Data for all satellites.
Example: A0A20003Start Sequence and Payload Length 930000Payload 0092B0B3Message Checksum and End Sequence Name Message ID SV I.D. 1 Control
1
Bytes 1 1 1
Binary (Hex) Scale Example 93 00 00
Units
Description ASCII 147 Range 0 to 32 Not used
A value of 0 requests all available ephemeris records, otherwise the ephemeris of the SV I.D. is requested.

Table 3-96: Ephemeris
Response:
refer to page 50, 3.2.13 SiRF Binary Output message I.D. 15, Ephemeris Data
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3.3.18 SiRF Binary Input message I.D. 148, Flash Update (u-blox)
Important Notice This is a u-blox proprietary message. It only compatible to the u-blox Firmware Update Utility (Configuration Manager / Udownloader)
This message will reset the GPS receiver and force it into download mode. New code can be downloaded to the target via serial port A. Serial port B is not needed. Example: 0A020001 Start Sequence and Payload Length 94 Payload 0094B0B3 Message Checksum and End Sequence Name Message ID No payload data Payload length: 1 byte
Table 3-97: Flash Update
Bytes 1
Binary (Hex) Scale Example 94
Units
Description ASCII 149
3.3.19 SiRF Binary Input message I.D. 149, Set Ephemeris

This command enables the user to upload an ephemeris file to the Evaluation Receiver. Example: A0A2005B Start Sequence and Payload Length 95. Payload ssssB0B3 Message Checksum and End Sequence Name Message ID Ephemeris Data Payload length: 91 bytes
Table 3-98: Set Ephemeris
Bytes Scale 1 90
Units
Description ASCII 149 Reserved
The ephemeris data for each satellite is stored as a two dimensional array of [3][15] UNIT16 elements. The 3 represents three separate sub-frames. The data is actually packed and the exact format of this representation and packing method can be extracted from the ICD-GPS-2000 document. The ICD-GPS-2000 document describes the data format of each GPS navigation sub-frame and is available on the web at http://www.arinc.com/gps.
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3.3.20 SiRF Binary Input message I.D. 150, Switch Operating Modes
The following table contains the input values for the following example: Sets the receiver to track a single satellite on all channels.
Example: A0A20007Start Sequence and Payload Length 961E510006001EPayload 0129B0B3Message Checksum and End Sequence Name Message ID Mode Bytes Scale 1 2 Binary (Hex) Example 96 1E51 Units Description ASCII 150 0=normal, 1E51=Testmode1, 1E52=Testmode2, 1E53=Not Supported Satellite to Track Duration of Track
SV I.D. Period Payload length: 7 bytes

Table 3-99: Switch Operating Modes
2 2
0006 001E
seconds
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3.3.21 SiRF Binary Input message I.D. 151, Set TricklePower
Mode
This message sets the receiver into low power mode: TricklePower mode or Push-To-Fix mode. Details on configuring TricklePower and Push-To-Fix modes are described in section A.2 and in more detail in the ublox application note on low power operation [6]. The following table contains the input values for the following example:
Example: Set receiver into TricklePower at 1 hz update and 200 msec On Time. A0A20009Start Sequence and Payload Length 97000000C8000000C8Payload 0227B0B3Message Checksum and End Sequence If an update rate of 1 second is selected, then the on-time greater than 600ms is invalid. Name Message ID Push-To-Fix Mode Duty Cycle Bytes Scale 1 2 2 Binary (Hex) Example 97 0000 00C8 Units Description ASCII 151 ON = 1, OFF = 0 % Time ON. A duty cycle of 1000 (100%) means continuous operation. range 200 - 900 msec
*10
Milliseconds On Time Payload length: 9 bytes
000000C8
ms
Table 3-100: Set TricklePower Parameters
On-times of 700, 800, and 900 msec are invalid if an update rate of 1 second is selected. 3.3.21.1 Computation of Duty Cycle and On Time The Duty Cycle is the desired time to be spent tracking. The On Time is the duration of each tracking period TM (range is 200 - 900 ms). To calculate the TricklePower update rate as a function of Duty Cycle and On Time, use the following formula: Off_Time = ( On_Time - (Duty_Cycle * On_Time) ) / Duty_Cycle Update_Rate = Off_Time + On_Time Important Notice On Time inputs of > 900 ms will default to 1000 ms. Following are some examples of selections: Mode Continuous TricklePower TricklePower TricklePower TricklePower On Time (ms) 1000 200 200 300 500 Duty Cycle (%) 100 20 10 10 5 Update Rate (1/Hz) 1 1 2 3 10
Table 3-101: Example of Selections for TricklePower Mode of Operation
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On Time (ms) 1 200 300 400 500 600 700 800 900
Table 3-102: TricklePower Mode Support
Update Rate (seconds) 4 5 6 7 8
10
Important Notice For Update Intervals of less than 2 seconds, the upper limit for "On Time" is 600 ms. Limiting the update rate to 10 seconds is strongly recommended. 3.3.21.2 Push-to-Fix
TM
In this mode the receiver will turn on every 30 minutes to perform a system update consisting of a RTC calibration and satellite ephemeris data collection if required (i.e., a new satellite has become visible) as well as all software tasks to support SnapStart in the event of an NMI. Ephemeris collection time in general takes 18 to 30 seconds. If ephemeris data is not required then the system will re-calibrate and shut down. In either case, the amount of time the receiver remains off will be in proportion to how long it stayed on:
Off_Period = ( On_Period * (1 - Duty_Cycle) ) / Duty_Cycle Off Period is limited to 30 minutes. The duty cycle will not be less than approximately On Period/1800, or about TM 1%. Push-to-Fix keeps the ephemeris for all visible satellites up to date so position/velocity fixes can generally be computed within SnapStart times (when requested by the user) on the order of 3 seconds.
3.3.22 SiRF Binary Input message I.D. 152, Poll Navigation Parameters
The following table contains the input values for the following example: Example: Poll receiver for current navigation parameters. A0A20002Start Sequence and Payload Length 9800Payload 0098B0B3Message Checksum and End Sequence Name Message ID Reserved Payload length: 2 bytes
Table 3-103: Poll Receiver for Navigation Parameters
Bytes Scale 1 1
Units
Description ASCII 152 Reserved
Response:
refer to page 53, 3.2.17 SiRF Binary Output message I.D. 19, Navigation Parameters
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3.3.23 SiRF Binary Input message I.D. 165, Set UART Configuration
The following table contains the input values for the following example: Example: Set port A (UART 0) to NMEA with 9600 baud, 8 data bits, 1 stop bit, no parity. Set port B (UART 1) to SiRF binary with 57600 baud, 8 data bits, 1 stop bit, no parity. Do not configure ports 2 and 3. A0A20031Start Sequence and Payload Length A50001010000258008010000000100000000E1000801000000FF050500000000000 0000000FF0505000000000000000000Payload 0452B0B3Message Checksum and End Sequence Name Message ID Port: Identifies UART 0 UART 0: In Protocol 1 UART 0: Out Protocol 2 UART 0: Baud Rate UART 0: Data Bits UART 0: Stop Bits UART 0: Parity UART 0: Reserved UART 0: Reserved Port: Identifies UART 1 1 UART 1: In Protocol UART 1: Out Protocol 2 UART 1: Baud Rate UART 1: Data Bits UART 1: Stop Bits UART 1: Parity UART 1: Reserved UART 1: Reserved Port: Identifies UART 2 UART 2: In Protocol 1 UART 2: Out Protocol UART 2: Baud Rate 2 UART 2: Data Bits UART 2: Stop Bits UART 2: Parity UART 2: Reserved UART 2: Reserved Port: Identifies UART 3 UART 3: In Protocol 1 UART 3: Out Protocol UART 3: Baud Rate 2 UART 3: Data Bits UART 3: Stop Bits UART 3: Parity UART 3: Reserved UART 3: Reserved
1 2
Bytes 1 1 1 1 4 1 1 1 1 1 1 1 1 4 1 1 1 1 1 1 1 1 4 1 1 1 1 1 1 1 1 4 1 1 1 1 1
Binary (Hex) Scale Example A5 00 01 01 00002580 08 01 00 00 00 01 03 03 00002580 08 01 00 00 00 FF 05 05 00000000 00 00 00 00 00 FF 05 05 00000000 00 00 00 00 00
Units
Description ASCII 165 For UART 0 (Port A) " " " (Here: 9600 baud) "; 8 (choose 7 or 8) "; 1 (choose 0 or 1) "; 0=none,1=odd,2=even " " For UART 1 (Port B) " " " (Here: 9600 baud) "; 8 (choose 7 or 8) "; 1 (choose 0 or 1) "; 0=none,1=odd,2=even " " UART 2 kept inactive No protocol No protocol
UART 3 kept inactive No protocol No protocol
0 = SiRF Binary, 1 = NMEA, 2 = ASCII, 3 = RTCM, 4 = User1, 5 = No Protocol. Valid values are 1200, 2400, 4800, 9600, 19200, 38400, and 57600.
Payload length: 49 bytes ( 4 x 12 + 1 for Message ID)

Table 3-104: Set UART Configuration
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3.3.24 SiRF Binary Input message I.D. 166, Set Message Rate
The following table contains the input values for the following example: Set message ID 2 to output every 5 seconds starting immediately.
Example: A0A20008Start Sequence and Payload Length A601020500000000Payload 00AEB0B3Message Checksum and End Sequence Name Message ID Send Now 1 MID to be set Update Rate Reserved Reserved Reserved Reserved
1
Bytes Scale 1 1 1 1 1 1 1 1
Binary (Hex) Example A6 01 02 05 00 00 00 00
Units
Description ASCII 166 Poll message Valid Message ID (0127) Range 1-30 Not used Not used Not used Not used
seconds
0 = No, 1 = Yes, if no update rate the message will be polled.

Table 3-105: Set Message Rate
3.3.25 SiRF Binary Input message I.D. 167, Low Power Acquisition Parameters
Table B-30 contains the input values for the following example: Set maximum off and search times for re-acquisition while receiver is in low power.
Example: A0A2000DStart Sequence and Payload Length A7000075300001D4C00000003CPayload 031DB0B3Message Checksum and End Sequence Name Message ID Max Off Time Max Search Time Push-to-Fix Period Payload length: 13 bytes
Table 3-106: Set Low Power Acquisition Parameters
Bytes 1 4 4 4
Binary (Hex) Scale Example A7 00007530 0001D4C0 0000003C
Units
Description ASCII 167 Maximum time for sleep mode Max. satellite search time Push-to-Fix cycle period
ms ms seconds
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3.3.26 SiRF Binary Input message I.D. 196, Set Datum (u-blox)
Important Notice This is a u-blox proprietary message. This message is available to change map datum (geoid reference). The default initial value is WGS-84 (map datum code 216). Table B-1 lists up all geoidic references. Please note that selecting another map datum affects all navigation outputs given in latitude, longitude and altitude. The following table contains the values for the following example:
Example: A0A20002Start Sequence and Payload Length C401Payload 00EFB0B3Message Checksum and End Sequence Name Message ID Map Datum code See table B-1 Payload length: 2 bytes
Table 3-107: Map Datum Control
Bytes Scale 1 1
Binary (Hex) Example C4 2B
Units
Description ASCII 196 43 = Cape_Canaveral_ Bahamas_Florida
ms
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4 USER PARAMETERS BLOCK

4.1 Port Settings
Meaning Protocol on COM Port A See important notice below! Protocol on COM Port B See important notice below! Values / Range Choice of SiRF, NMEA ASCII, RTCM User none Related Messages Control with NMEA Msg 100 2.3.1 3.3.2 SiRF Msg 129 3.3.23 SiRF Msg 165 Variable Name ProtocolA ProtocolB
Table 4-1: Port Settings
Important Notice Never configure the same protocol (like SiRF, NMEA, RTCM etc.) to both serial ports.
4.2
SiRF Settings
Meaning Serial port transmission speed Values / Range 1200, 2400, 4800, 9600, 19200, 38400, 57600 [bps] 0 15 Value corresponds bit combination 0 = disabled, 1 255 [s] Related Messages Control with 3.3.6 SiRF Msg 134 3.3.23 SiRF Msg 165 Control with 3.3.1 SiRF Msg 128 Control with SiRF Msg 166
Variable Name BaudRate
MsgCfg
Message configuration, see Table 4-3 Sets the output rate of the SiRF binary output messages 0127. See important notice below.
OutputRate0 OutputRate127
Table 4-2: SiRF Settings
3.3.24
Important Notice Though the entire theoretical range of output messages 0 through 127 can be configured, only a fraction of them are actually implemented or supported. Keep the remaining output rates disabled (set to 0). See section 3.2 for details on SiRF output messages. Bit Value Description 0 0x01 Enable raw track data output 1 0x02 Enable debug data output 2 0x04 Enable 50bps data output 3 0x08 Enable Debug NMEA data output Bit combinations are possible
Table 4-3: Message Configuration Settings
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4.3
NMEA Settings
Meaning Serial port transmission speed Values / Range 1200, 2400, 4800, 9600, 19200, 38400, 57600 [bps] ALL OFF, ALL ON 0 = disabled, 1 255 [s] Related Messages Control with NMEA Msg 100 2.3.1 3.3.2 SiRF Msg 129 3.3.23 SiRF Msg 165 Control with NMEA Msg 103 2.3.4
CheckSum OutputRateGGA OutputRateGLL OutputRateGSA OutputRateGSV OutputRateRMC OutputRateVTG OutputRateMSS OutputRateZDA OutputRateOTS OutputRateHWS
Turn the checksum ON or OFF for all NMEA messages Sets the output rate of the GGA message (See 2.2.1) Sets the output rate of the GLL message (see 2.2.2) Sets the output rate of the GSA message (see 2.2.3) Sets the output rate of the GSV message (see 2.2.4) Sets the output rate of the RMC message (see 2.2.6) Sets the output rate of the VTG message (see 2.2.7) Sets the output rate of the MSS message (see 2.2.5) Sets the output rate of the ZDA message (see 2.2.5) Sets the output rate of the OTS message (PSRF150) Sets the output rate of the HWS message (PSRF161) (see 2.2.9) Sets the output rate of the message 10 15
Control with NMEA Msg 103 2.3.4 3.3.2 SiRF Msg 129
0 = disabled, 1 255 [s] 0 = disabled, 1 255 [s] 0 = disabled, 1 255 [s] 0 = disabled, 1 255 [s] Reserved for future use Not implemented
OutputRate10 OutputRate 15
Table 4-4: NMEA Settings
4.4
RTCM Settings
Meaning Serial port transmission speed Values / Range 1200, 2400, 4800, 9600, 19200, 38400, 57600 [bps] 7, 8 none, odd, even 1, 2 Related Messages Control with 3.3.15 SiRF Msg 145 3.3.23 SiRF Msg 165
DataBits Parity StopBits

Table 4-5: RTCM Settings
# of data bits sent per packet Kind of parity check # of stop bits sent per packet
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4.5
User Settings
The settings will only apply if a user-specific protocol other than NMEA, SiRF and RTCM is implemented. Variable Name BaudRate Meaning Serial port transmission speed Values / Range 1200, 2400, 4800, 9600, 19200, 38400, 57600 [bps] Related Messages Control with 3.3.23 SiRF Msg 165
Table 4-6: User Settings
4.6
Navigation Settings
Meaning If AltitudeSource=Fixed is selected, this value is valid Values / Range -1000 10000 [m] Related Messages Control with NMEA Msg 104 2.3.5 Monitor with 3.2.22 SiRF Msg 31 Control with 3.3.11 SiRF Msg 139 Monitor with 3.2.17 SiRF Msg 19 3.2.22 SiRF Msg 31 Monitor with 3.2.17 SiRF Msg 19
Variable Name InitialAltitude
ElevationMask
Elevation mask above horizon
-200 900 [1/10 degree steps]
CommandedMode
Commanded Navigation Mode. KFNav = Kalman Filter Navigation

(Incremental positioning calculation based on previous position fixes and new measurements)
LSQFix = Least Squares (Complete positioning calculation from latest measurement only) Enable3SVLSQ Static = Static Navigation Mode Enables / disables allowing startup when only three satellites are available Sets altitude hold mode Enables / disables track smoothing Enables / disables static navigation Degraded Mode values: See Table 3-84 for details Abbreviations: d = "Direction" t = "clock (Time)" Degraded Timeout Dead Reckoning Timeout DGPS Selection
NoNav, VisSat, TimeXfr, Static, LSQFix, KFNav, (default) SiRFDRive, DGPSBase Yes (checked), no
AltitudeHoldMode TrackSmoothMode StaticMode DegradedMode
Disabled, Auto, Always Yes (checked), no Yes (checked), no Disabled d only t only d then t t then d 1 120 [s] 1 120 [s] Auto, Exclusive, Never
Control with 3.3.8 SiRF Msg 136 Monitor with 3.2.17 SiRF Msg 19 3.2.22 SiRF Msg 31
DegradedTimeout DRTimeout DGPSSelection
Control with 3.3.10 SiRF Msg 138 Monitor with SiRF Msg 19 3.2.17 3.2.22 SiRF Msg 31
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TIM GPS receivers protocol specification - Application Note AltitudeSource Choices: Altitude hold uses KF altitude Altitude hold uses fixed, user input value Altitude hold uses dynamic input from external source supplied via messages Power Mask for Navigation KF, Fixed, Dynamic
u-blox ag Control with SiRF Msg 136 3.3.8 Monitor with SiRF Msg 19 3.2.17 3.2.22 SiRF Msg 31
PowerMask
20 50 [dBHz]
EditResTh
Editing Residual Threshold
0 = disabled, 1 30000
Control with 3.3.12 SiRF Msg 140 Monitor with SiRF Msg 19 3.2.17 Not Implemented Keep at zero
Table 4-7: Navigation Settings
4.7
DOP Settings
Meaning See Table 3-86 Sets Geometric DOP Sets Position DOP Sets Horizontal DOP Values / Range Auto P/H, PDOP, HDOP, GDOP, Never 1 50 1 50 1 50 Related Messages Control with 3.3.9 SiRF Msg 137
Variable Name Mode GDOPThreshold PDOPThreshold HDOPThreshold

Table 4-8: DOP Settings
4.8
Tracking Settings
Meaning Sets elevation mask above horizon for tracking 1 Not implemented (see ) Values / Range -200 900 [1/10 degree steps] Related Messages Control with 3.3.11 SiRF Msg 139
Variable Name ElevationMask
Elevation mask is implemented for navigation (see section 4.6), but not for tracking.
Table 4-9: Tracking Settings
4.9
DGPS Settings
Meaning Selects the source of DGPS signal. See table Table 3-79 for details. Values / Range None, WAAS Serial, Internal Beacon, Software 0 15 0 83 Related Messages Control with 3.3.5 SiRF Msg 133 3.2.20 SiRF Msg 29 Control with SiRF Msg 133
Variable Name Source
Mode BeaconFreq
TimeOut
DGPS Mode Flags See Table 4-11 for details Beacon frequency in steps of 500 Hz from 283.5 kHz (step = 0) to 325 kHz (step 83) DGPS Timeout (Timeout after loss of DGPS signal like the RTCM input)
3.3.5
1 120 [s]
Control with NMEA Msg MSK 2.3.10 3.3.5 SiRF Msg 133 Control with 3.3.10 SiRF Msg 187
Table 4-10: DGPS Settings
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Bit Value Description 0 0x01 Auto Beacon Frequency 1 0x02 Auto Beacon Rate Bit combinations are possible
Table 4-11: DGPS Mode Flags
4.10 General Settings

Variable Name Datum Meaning Date format. See appendix B for valid values. Example: 216 = WGS84 Enables / disables active antenna control and monitoring Values / Range 0 max 255, must denote to valid datum Yes (checked), no Related Messages Control with 3.3.26 SiRF Msg 196 NMEA Msg 106 2.3.7 Monitor with 3.2.24 SiRF Msg 100 NMEA Msg 161 2.2.9
ActiveAntenna
Table 4-12: General Settings
4.11 Low Power Settings

Variable Name PowerCycling PushToFix OnTime Meaning Enable / Disable Trickle Power mode Enable / Disable 1 Push-To-Fix mode. See . Milliseconds On-Time
(must be multiple of 100 ms, otherwise it will be rounded up) (Not used in Push-To-Fix mode)
Values / Range Yes (checked), no Yes (checked), no 200 2'147'483'600 [ms] 1'000 2147483647 [ms] 1'000 2147483000 [ms] 1000 1800000 [ms] 10 7200s [2]
Related Messages Control with 3.3.21 SiRF Msg 151 NMEA 107 2.3.8 Monitor with 3.2.17 SiRF Msg 19
Interval MaxAcqTime MaxOffTime PushToFixPeriod
Output Cycling period

(In messages, the period is specified with duty cycle instead)
Maximum satellite search time (must be multiple of 1000 ms) Maximum time for sleep mode Update period during Push-ToFix operation, default: 1800 seconds
SiRF Msg 167
3.3.25
Required settings fro Push-To-Fix mode: PowerCycling = Yes, OnTime = 200, Interval = 1000.
Table 4-13: Low Power Settings
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A ADDITIONAL INFORMATION
A.1 GPS Week Reporting
Since August 22, 1999, the GPS week roll from 1023 weeks to 0 weeks is in accordance with the ICD-GPS-200 specifications. To maintain roll over compliance, SiRF reports the ICD GPS week between 0 and 1023. If the user needs to have access to the Extended GPS week (ICD GPS week + 1024) this information is available through the Clock Status Message (007) under the Poll menu.
A.2 Low Power Operation

A.2.1 Overview
The SiRF chip set provides two forms of low power operation: TricklePower Mode Push-To-Fix Mode
In TricklePower mode, the power to the SiRF chipset is cycled periodically, so that it operates only a fraction of the time. In Push-to-Fix mode, the receiver is generally off, but turns on frequently enough to collect ephemeris and maintain real-time clock calibration so that, upon user request, a position fix can be provided quickly after power-up. The u-blox application note on low power operation [6] discusses TricklePower and Push-To-Fix mode in more detail.
A.2.2 TricklePower Mode

This is a power-saving mode during which GPS is operational, and a position is output at a user-specified rate. During inactive periods, the various SiRF hardware components are either powered down or unclocked to reduce power consumption to very low levels. There are three TricklePower states: Measurement (Tracking State) Navigation Computation (CPU State). The RF front has been disabled to conserve power. Inactive (Trickle State)
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Supply current
Tracking State CPU + RF on

Ttrack
CPU State CPU on, RF off

Tcpu
Trickle State (Sleep)
On_Time (200-900ms, multiple of 100ms)
Ttrickle (Off_Time)
LP Interval alias Update Rate, (min 1000ms) Duty Cycle = Ratio: On_Time / Update Rate
< MaxAcqTime (min 1000ms, multiple of 1000ms)
Obstructed view to satellites
Default MaxAcqTime: 120'000ms MaxOffTime: min 1000ms, max 1'800'000ms eqv. 30 min
Figure 4-1: TricklePower Mode
A.2.3 Push-To-Fix Mode

In Push-To-Fix mode, the receiver automatically awakens every Push-to-Fix period (default is every 30 minutes) to obtain a position fix, collect ephemeris (if needed), and calibrate the real-time clock (RTC) (if needed). This GPS functionality allows a quick navigation solution to obtained when the user requests it by invoking a reset. Upon activation, it searches for up to the Maximum Acquisition Time (MaxAcqTime) to obtain a GPS solution. If a solution is not obtained during that time, the receiver deactivates until the Push-to-Fix is reached. There is no duty cycle in Push-to-Fix mode as there is in TricklePower. The receiver reactivates and tries again, and this cycle repeats until a successful GPS solution is computed. Once that has happened, the receiver deactivates for another Push-to-Fix period and the process repeats itself.
Get Ephemeris, position fix, and calibrate RTC (if needed)
Reset "pushed"
PTF Period 30 min default (10s 2h adjustable)
Navigation available
< MaxAcqTime (min 1000ms, multiple of 1000ms)
Obstructed view to satellites
Default MaxAcqTime: 120'000ms MaxOffTime: min 1000ms, max 1'800'000ms eqv. 30 min
Figure 4-2: Push-To-Fix Mode
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A.2.4 Message Rates

During TricklePower operation, the message rate (e.g. 1 Msg every 5 seconds) is multiplied by the chosen update interval. For an interval rate of 3 seconds, the message mentioned above is given out at every 15 seconds.
A.2.5 Synchronizing Serial Communication in TricklePower
TM
The CPU goes into sleep mode but will wake up in response to any interrupt. This includes UART interrupts. TM Messages received during the TricklePower off period are buffered and processed when the receiver awakens TM for the next TricklePower cycle. Its therefore not necessary to synchronize the serial communication.
A.2.6 TricklePowerTM Operation in DGPS Mode

When in TricklePowerTM mode, serial port DGPS corrections are supported. The CPU goes into sleep mode but TM will wake up in response to any interrupt. This includes UARTs. Messages received during the TricklePower TM off period are buffered and processed when the receiver awakens for the next TricklePower cycle.
A.2.7 TricklePowerTM Mode in NMEA Protocol

The NMEA standard is generally used in continuous update mode at some predefined rate. This mode is perfectly TM TM compatible with all TricklePower and Push-to-Fix modes of operations. There is no mechanism in NMEA that indicates to a host application when the receiver is on or in standby mode. If the receiver is in standby mode (chip set OFF, CPU in standby), then no serial communication is possible for output of NMEA data or receiving SiRF proprietary NMEA input commands. To establish reliable communication, the user must repower the receiver and send commands while the unit is in full-power mode (during start-up) and prior to reverting to TM TricklePower operation. Alternatively, the host application could send commands (i.e., poll for position) repeatedly until the request has been completed. The capability to create communication synchronization TM messages in NMEA mode is available through the System Development Kit (SDK). In TricklePower mode, the user is required to select an update rate (seconds between data output) and On Time (milliseconds the chipset is on). When the user changes to NMEA mode, the option to set the output rate for each of the selected NMEA TM messages is also required. These values are multiplied by the TricklePower update rate value as shown in TableA- 1.
Power Mode Update Rate On Time NMEA Update Rate Message Update Rate
Continuous 1 every second 1000 1 every second 1 every second
Trickle Power 1 every second 200 1 every 5 second 1 every 5 second
TricklePower 1 every 5 second 400 1 every 2 second 1 every10 second
TricklePower 1 every 8 second 600 1 every 5 second 1 every 40 second
Table-A- 1, NMEA Date Rates Under TricklePower Mode Operation
Important Notice The On Time of the chip set has no effect on the output data rates.
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A.3 Switch to SiRF Protocol

To switch to the SiRF Binary protocol, you must send a SiRF NMEA message to revert to SiRF Binary mode. A corresponding SiRF Binary message exists to switch back to NMEA output.
Start-up
Depends on User Parameters use SiRF 129 (0x81)
NMEA Output
use $PSRF100 message
Figure A-1: Switchover between SiRF Binary and NMEA Output
SiRF Binary Output
A.4 Hardware Status State Machine

The following state machine illustrates the output behavior of the HWStatus messages (NMEA 161, SiRF 100 / 0x64).
Reset / Power Up Short * Off
Check User Parameters
Passive
== 0
Ant_ActiveAntenna ?
== 1
OK
Open
* Shuts off power to antenna

Figure A-1: Switchover between SiRF Binary and NMEA Output
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B MAP DATUMS
Important Notice This table of map data is supported by u-blox firmware, but not by the original SiRF firmware.
The codes are used as parameters for SiRF Binary message 196 (0xC4) and proprietary NMEA message $PSRF106. Changing the map datum will affect all measured navigation outputs in latitude, longitude and altitude, e.g. through SiRF binary message 98 or NMEA GGA, GLL, etc.
Code 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
Geoid Reference Adindan_Burkina_Faso Adindan_Ethiopia Adindan_Ethiopia_Sudan Adindan_Mali Adindan_Regional_Mean Adindan_Senegal Adindan_Sudan Adindan_Cameroon Afgooye_Somalia Ain_el_Abd_1970_Bahrain Ain_el_Abd_1970_Saudi_Arabia American_Samoa_1962_Samoa_Islands Anna_1_Astro_1965_Cocos_Islands Antigua_Island_Astro_1965_Leward_Islands Arc_1950_Botswana Arc_1950_Burundi Arc_1950_Lesotho Arc_1950_Malawi Arc_1950_Regional_Mean Arc_1950_Swaziland Arc_1950_Zaire Arc_1950_Zambia Arc_1950_Zimbabwe Arc_1960_Kenya Arc_1960_Kenya_Tanzania Arc_1960_Tanzania Ascension_Island_1958 Astro_Beacon_E_1945_Iwo_Jima Astro_DOS_71_4_St_Helena_Island Astro_Tern_Island_FRIG_1961 Astronomical_Station_1952_Marcus_Island Australian_Geodetic_1966 Australian_Geodetic_1984 Ayabelle_Lighthouse_Djibouti Bellevue_IGN Bermuda_1957_Bermuda Bissau_Guinea_Bissu Bogota_Observatory_Colombia Bukit_Rimpah_Indonesia Camp_Area_Astro_Antarctica
Geoidic Reference Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Krassovsky_1940 International International Clarke_1866 Australian_National Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 International International International International International Australian_National Australian_National Clarke_1880 International Clarke_1866 International International Bessel_1841 International
dX -118 -165 -166 -123 -166 -128 -161 -134 -43 -150 -143 -115 -491 -270 -138 -153 -125 -161 -143 -134 -169 -147 -142 -157 -160 -175 -191 145 -320 114 124 -133 -134 -79 -127 -73 -173 307 -384 -104
dY -14 -11 -15 -20 -15 -18 -14 -2 -163 -251 -236 118 -22 13 -105 -5 -108 -73 -90 -105 -19 -74 -96 -2 -6 -23 103 75 550 -116 -234 -48 -48 -129 -769 213 253 304 664 -129
dZ 218 206 204 220 204 224 205 210 45 -2 7 426 435 62 -289 -292 -295 -317 -294 -295 -278 -283 -293 -299 -302 -303 51 -272 -494 -333 -25 148 149 145 472 296 27 -318 -48 239
Page 95
GPS.G2-X-01003-B
TIM GPS receivers protocol specification - Application Note 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 Campo_Inchauspe_Argentina Canton_Astro_1966_Phoenix_Islands Cap_South_Africa Cape_Canaveral_Bahamas_Florida Carthage_Tunisia Chatham_Island_Astro_1971_New_Zealand Chua_Astro_Paraguay Corrego_Alegre_Brazil Dabola_Guinea Deception_Island_Deception_Island Djakarta_Batavia DOS_1968_New_Georgia_Islands Easter_Island_1967_Easter_Island Estonia_Coordinate_System_1937 European_1950_Cyprus European_1950_Eastern_Regional_Mean European_1950_Egypt European_1950_Finland_Norway European_1950_Greece European_1950_Iran European_1950_Italy_Sardinia European_1950_Italy_Sicily European_1950_Malta European_1950_Northern_Regional_Mean European_1950_Portugal_Spain European_1950_Southern_Regional_Mean European_1950_Tunisia European_1950_Western_Regional_Mean European_1979_Central_Regional_Mean Fort_Thomas_1955_Nevis_St_Kitts Gan_1970_Republic_of_Maldives Geodetic_Datum_1949_New_Zealand Graciosa_Base_SW_1948_Azores Guam_1963_Guam Gunung_Segara_Indonesia GUX_1_Astro_Guadalcanal_Island Herat_North_Afganistan Hermannskogel_Datum_Croatia_Serbia Hjorsey_1955_Iceland Hong_Kong_1963_Hong_Kong Hu_Tsu_Shan_Taiwan Indian_Bangladesh Indian_India_Nepal Indian_Pakistan Indian_1954_Thailand_Vietnam Indian_1960 Indian_1960_Vietnam_Con_Son_Islands Indian_1975_Thailand Indonesian_1974_Indonesia International International Clarke_1880 Clarke_1866 Clarke_1880 International International International Clarke_1880 Clarke_1880 Bessel_1841 International International Bessel_1841 International International International International International International International International International International International International International International International Clarke_1880 International International International Clarke_1866 Bessel_1841 International International Bessel_1841 International International International Everest_1830 Everest_1956 Everest_1830 /* Everest_Pakistan*/ Everest_1830 Everest_1830 Everest_1830 Everest_1830 International /*Indonesian_1974 */ -148 298 -136 -2 -263 175 -134 -206 -83 260 -377 230 211 374 -104 -87 -130 -87 -84 -117 -97 -97 -107 -86 -84 -103 -112 -87 -86 -7 -133 84 -104 -100 -403 252 -333 653 -73 -156 -637 282 295 283 218 198 182 209 -24
u-blox ag 136 90 304 -375 108 -292 151 181 6 431 -38 113 229 -29 172 -6 37 124 12 -147 681 -50 -199 -752 147 111 150 588 -101 -140 -96 -120 -117 -151 -95 -120 -95 -130 -132 -164 -103 -120 -88 -135 -88 -149 -96 -120 -107 -120 -106 -141 -77 -145 -98 -121 -98 -119 215 225 -321 50 -22 209 167 -38 -248 259 684 41 -209 -751 -222 114 -212 449 46 -86 -271 -189 -549 -203 726 254 736 257 682 231" 816 881 915 818 -15 297 317 344 290 5
GPS.G2-X-01003-B
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TIM GPS receivers protocol specification - Application Note 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 Ireland_1965_Ireland ISTS_061_Astro_1968_South_Georgia_Islands ISTS_073_Astro_1969_Diego_Garcia Johnston_Island_1961_Johnston_Island Kandawala_Sri_Lanka Kerguelen_Island_1949 Kertau_1948_West_Malaysia_And_Singapore Korean_Geodetic_System_South_Korea Kusaie_Astro_1951_Caroline_Islands L_C_5_Astro_1961_Cayman_Brac_Islands Legion_Ghana Liberia_1964_Liberia Luzon_Philippines Luzon_Philippines_Mindanao Mahe_1971_Mahe_Island Massawa_Ethiopia_Eritrea Merchich_Morocco Midway_Astro_1961_Midway_Islands _7_Minna_Cameroon Minna_Nigeria Montserrat_Island_Astro_1958 M_Poraloko_Gabon Nahrwan_Oman_Masirah_Island Nahrwan_Saudi_Arabia Nahrwan_United_Arab_Emirates Naparima_BWI_Trinidad_And_Tobago North_American_1927_Alaska North_American_1927_Alaska_Aleutian_Islands_E North_American_1927_Alaska_Aleutian_Islands_W North_American_1927_Bahamas North_American_1927_Bahamas_San_Salvador North_American_1927_Canada_Yukon North_American_1927_Canal_Zone North_American_1927_Central_America North_American_1927_Central_Canada North_American_1927_Cuba North_American_1927_East_Canada North_American_1927_East_of_Mississippi North_American_1927_Greenland North_American_1927_Gulf_of_Mexico North_American_1927_Mean_for_Canada North_American_1927_Mean_for_Conus North_American_1927_Mexico North_American_1927_Northwest_Canada North_American_1927_West_Canada North_American_1927_West_of_Mississippi North_American_1983_Alaska_Canada_Conus North_American_1983_Aleutian_Islands North_American_1983_Central_America_Mexico North_American_1983_Hawaii North_Sahara_Algeria Airy_Modified International International International Everest_1830 International Everest_1948 GRS_1980 International Clarke_1866 Clarke_1880 Clarke_1880 Clarke_1866 Clarke_1866 Clarke_1880 Bessel_1841 Clarke_1880 International Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 Clarke_1880 International Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 GRS_1980 GRS_1980 GRS_1980 GRS_1980 Clarke_1880 506 -794 208 189 -97 145 -11 0 647 42 -130 -90 -133 -133 41 639 31 912 -81 -92 174 -74 -247 -243 -249 -10 -5 -2 2 -4 1 -7 0 0 -9 -9 -22 -9 11 -3 -10 -8 -12 4 -7 -8 0 -2 0 1 -186 -122 119 -435 -79 787 -187 851 0 1777 124 29 40 -77 -79 -220 405 146 -58 -84 -93 359 -130 -148 -192 -156 375 135 152 204 154 140 139 125 125 157 152 160 161 114 142 158 160 130 159 162 159 0 0 0 1 -93
u-blox ag 611 -298 -229 -202 86 103 5 0 -1124 147 364 88 -51 -72 -134 60 47 122 115 122 365 42 369 477 381 165 172 149 105 178 165 181 201 194 184 178 190 179 195 183 187 176 190 188 188 175 0 4 0 -1 310
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GPS.G2-X-01003-B
TIM GPS receivers protocol specification - Application Note 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 Observatorio_Metereo_1939_Azores Old_Egyptian_1907_Egypt Old_Hawaiian_Hawaii Old_Hawaiian_Kauai Old_Hawaiian_Maui Old_Hawaiian_Oahu Old_Hawaiian_Regional_Mean Oman_Oman Ord_Survey_Great_Britain_1936_England Ord_Survey_Great_Britain_1936_Isle_of_Man Ord_Survey_Great_Britain_1936_Regional_Mean Ord_Survey_Great_Britain_1936_Scotland_Shetland Ord_Survey_Great_Britain_1936_Wales Pico_de_las_Nieves_Canary_Islands Pitcairn_Astro_1967_Pitcairn_Island Point_58_Mean_for_Burkina_Faso_And_Niger Pointe_Noire_1948_Congo Porto_Santo_1936_Maderia_Islands Provisional_South_American_1956_Bolivia Provisional_South_American_1956_Chile_Northern Provisional_South_American_1956_Chile_Southern Provisional_South_American_1956_Colombia Provisional_South_American_1956_Ecuador Provisional_South_American_1956_Guyana Provisional_South_American_1956_Peru Provisional_South_American_1956_Regional_Mean Provisional_South_American_1956_Venezuela Provisional_South_Chilean_1963_Chile Puerto_Rico_Virgin_Islands Pulkovo_1942_Russia Qatar_National_Qatar Qornoq_Greenland_South Reunion_Mascarene_Islands Rome_1940_Italy_Sardinia S_42_Pulkovo_1942_Albania S_42_Pulkovo_1942_Czechoslovakia S_42_Pulkovo_1942_Hungary S_42_Pulkovo_1942_Kazakhstan S_42_Pulkovo_1942_Latvia S_42_Pulkovo_1942_Poland S_42_Pulkovo_1942_Romania Santo_DOS_1965_Espirito_Santo_Island Sao_Braz_Azores Sapper_Hill_1943_East_Falkland_Island Schwarzeck_Namibia Selvagem_Grande_Salvage_Islands SGS_85_Soviet_Geodetic_system_1985 Sierra_Leone_1960_Sierra_Leone S_JTSK_Czechoslovakia_prior_to_Jan_1993 South_American_1969_Argentina South_American_1969_Bolivia International Helmert_1906 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1866 Clarke_1880 Airy Airy Airy Airy Airy International International Clarke_1880 Clarke_1880 International International International International International International International International International International International Clarke_1866 Krassovsky_1940 International International International International Krassovsky_1940 Krassovsky_1940 Krassovsky_1940 Krassovsky_1940 Krassovsky_1940 Krassovsky_1940 Krassovsky_1940 International International International Bessel_1841_Namibia International SGS_85 Clarke_1880 Bessel_1841 South_American_1969 South_American_1969 -425 -130 89 45 65 58 61 -346 371 371 375 384 370 -307 185 -106 -148 -499 -270 -270 -305 -282 -278 -298 -279 -288 -295 16 11 28 -128 164 94 -225 24 26 28 15 24 23 28 170 -203 -355 616 -289 3 -88 589 -62 -61 -169 110 -279 -290 -290 -283 -285 -1 -112 -111 -111 -111 -108 -92 165 -129 51 -249 188 183 243 169 171 159 175 175 173 196 72 -130 -283 138 -948 -65 -130 -121 -121 -130 -124 -124 -121 42 141 21 97 -124 9 4 76 -1 2
u-blox ag 81 -13 -183 -172 -190 -182 -181 224 434 434 431 425 434 127 42 165 -291 314 -388 -390 -442 -371 -367 -369 -379 -376 -371 93 -101 -95 22 -189 -1262 9 -92 -78 -77 -84 -82 -82 -77 84 53 72 -251 60 -9 101 480 -37 -48
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GPS.G2-X-01003-B
TIM GPS receivers protocol specification - Application Note 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 South_American_1969_Brazil South_American_1969_Chile South_American_1969_Colombia South_American_1969_Ecuador South_American_1969_Ecuador_Baltra_Galapagos South_American_1969_Guyana South_American_1969_Paraguay South_American_1969_Peru South_American_1969_Regional_Mean South_American_1969_Trinidad_And_Tobago South_American_1969_Venezuela South_Asia_Singapore Tananarive_Observatory_1925_Madagascar Timbalai_1948_Brunei_East_Malaysia Tokyo_Japan Tokyo_Korea Tokyo_Okinawa Tokyo_Regional_Mean Tokyo_South_Korea Tristan_Astro_1968_Tristan_da_Cunha Viti_Levu_Fiji Voirol_1960_Algeria Wake_Island_Astro_1952_Wake_Atoll Wake_Eniwetok_1960_Marshall_Islands WGS_1972_Global_Definition WGS_1984_Global_Definition (Default setting) Yacare_Uruguay Zanderij_Suriname South_American_1969 South_American_1969 South_American_1969 South_American_1969 South_American_1969 South_American_1969 South_American_1969 South_American_1969 South_American_1969 South_American_1969 South_American_1969 Fischer_1960_Modified International Everest_Sabah_And_Sar awak Bessel_1841 Bessel_1841 Bessel_1841 Bessel_1841 Bessel_1841 International Clarke_1880 Clarke_1880 International Hough WGS_72 WGS_84 International International -60 -75 -44 -48 -47 -53 -61 -58 -57 -45 -45 7 -189 -679 -148 -146 -158 -148 -147 -632 51 -123 276 102 0 0 -155 -265 -2 -1 6 3 27 3 2 0 1 12 8 -10 -242 669 507 507 507 507 506 438 391 -206 -57 52 0 0 171 120
u-blox ag -41 -44 -36 -44 -42 -47 -33 -44 -41 -33 -33 -26 -91 -48 685 687 676 685 687 -609 -36 219 149 -38 0 0 37 -358
Table B-1: Geoidic References
GPS.G2-X-01003-B
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u-blox ag
Datum Reference Airy Airy_Modified Australian_National Bessel_1841 Bessel_1841_Namibia Clarke_1866 Clarke_1880 Everest_Sabah_And_Sarawak Everest_1830 Everest_1948 Everest_1956 Everest_1969 Fischer_1960 Fischer_1960_Modified Fischer_1968 GRS_1980 Helmert_1906 Hough International Krassovsky_1940 SGS_85 South_American_1969 WGS_60 WGS_66 WGS_72 WGS_84
Table B-2: Datum References
MajorA 6377563.396 6377340.189 6378160.000 6377397.155 6377483.865 6378206.400 6378249.145 6377298.556 6377276.345 6377304.063 6377301.243 6377295.664 6378166.000 6378155.000 6378150.000 6378137.000 6378200.000 6378270.000 6378388.000 6378245.000 6378136.000 6378160.000 6378165.000 6378145.000 6378135.000 6378137.000
Inverse Flattening 299.324965 299.324965 298.250000 299.152813 299.152813 294.978698 293.465000 300.801700 300.801700 300.801700 300.801700 300.801700 298.300000 298.300000 298.300000 298.257222 298.300000 297.000000 297.000000 298.300000 298.257000 298.250000 298.300000 298.250000 298.260000 298.257224
GPS.G2-X-01003-B
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u-blox ag
C GLOSSARY
Please refer to the GPS dictionary from u-blox [3].
D RELATED DOCUMENTS
[1] [2] [3] [4] [5] [6] Navstar GPS: GPS Standard Positioning Service Signal Specification http://www.u-blox.ch/restricted/gps/gpssps1.pdf Low Power Application note (available soon) The GPS Dictionary http://www.u-blox.ch/restricted/gps/GPS-X-00001.pdf TIM Data Sheet, GPS.G2-MS2.01001 ICD-GPS-200 - Interface Control Document, Arinc Research Corporation. http://www.u-blox.ch/restricted/gps/icd200c.pdf TIM Low Power Modes - Application Mode, GPS.G2-X-02003
All u-blox documents are available on our homepage http://www.u-blox.com
E CONTACT
For further info, please contact us: Headquarters u-blox ag Zuercherstrasse 68 CH-8800 Thalwil Switzerland Phone: +41 1 722 74 44 Fax: +41 1 722 74 47 E-mail: info@u-blox.com www.u-blox.com Subsidiaries u-blox Deutschland Gmbh Berliner Ring 89 D-64625 Bensheim Germany Phone: +49 (0) 6251 17566-0 Fax: +49 (0) 6251 17566-11 E-mail: info_de@u-blox.de www.u-blox.de Tech. Support: Phone: +41 1 722 74 74 support_de@u-blox.de u-blox Asia Pacific Ltd. 22/F., City Landmark I 68 Chung On Street Tsuen Wan, Hong Kong Phone: +852-2941-8877 Fax: +852-2615-2285 E-mail: info_ap@u-blox.com www.u-blox.com Tech. Support: Phone: +41 1 722 74 74 support_ap@u-blox.com
u-blox Europe Ltd. Barham Court Maidstone, Kent ME18 5BZ United Kingdom Phone: +44 1622 618628 Fax: +44 1622 618629 E-mail: info_uk@u-blox.co.uk www.u-blox.co.uk Tech. Support: Phone: +44 1622 618628 support_uk@u-blox.co.uk
u-blox America, Inc. 13800 Coppermine Road Herndon, VA 20171 USA Phone: +1 (703) 234 5290 Fax: +1 (703) 234 5770 E-mail: info_us@u-blox.com www.u-blox.com Tech. Support: Phone: +41 1 722 74 74 support_us@u-blox.com
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GPS RECEIVER MACRO-COMPONENT

RECEIVER PROTOCOL SPECIFICATION

TIM GPS receivers protocol specification - Application Note

Title Doc Type Doc Id Author : Date :

TIM GPS receivers protocol specification

For most recent documents, please visit www.u-blox.com

TIM GPS receivers protocol specification - Application Note

NMEA Protocol .............................................................................................................8

2.1.1 2.1.2 2.2

SiRF Binary protocol..................................................................................................27

3.1.1 3.1.2 3.1.3 3.1.4

Payload Data...........................................................................................................................28 Checksum...............................................................................................................................28

User Parameters Block ...............................................................................................86

A.2.1 A.2.2 A.2.3 A.2.4 A.2.5 A.2.6 A.2.7 A.3

Switch to SiRF Protocol..................................................................................................................94

TIM GPS receivers protocol specification - Application Note A.4

Hardware Status State Machine ......................................................................................................94

TIM GPS receivers protocol specification - Application Note

Information on Document Revisions

1.1.1 Document Revision A

1.1.2 Document Revision B

Clarified tables on "Active Antenna Status" (Table 2-15, Table 3-69)

TIM GPS receivers protocol specification - Application Note

2.1.1 NMEA Checksum

2.1.2 Transport Message (NMEA Input)

End Sequence <CR> <LF>4

TIM GPS receivers protocol specification - Application Note

2.2 NMEA Output messages

Table 2-2: NMEA Output Messages

TIM GPS receivers protocol specification - Application Note

second 0000 *18

Table 2-3: GGA Data Format

Table 2-4: GGA Position Fix Indicator

TIM GPS receivers protocol specification - Application Note

2.2.2 NMEA Output message GLL, Geographic Position, Latitude/Longitude

TIM GPS receivers protocol specification - Application Note

1.8 1.0 1.5 *2C

Satellite used in navigation solution.

Table 2-6: GSA Data Format

Table 2-7: GSA Mode 1

Description Fix not available 2D position fix 3D position fix

Table 2-8: GSA Mode 2

TIM GPS receivers protocol specification - Application Note

2.2.4 NMEA Output message GSV, GNSS Satellites in View

Format string 1 digit 1 digit numeric numeric numeric numeric numeric

ASCII String Example $GPGSV 2 1 07 07 79 048 42

degree degree dBHz

numeric numeric numeric numeric hexadecimal

degree degree dBHz

2.2.5 NMEA Output message MSS, MSK Receiver Signal

Description GSS protocol header

Bits per second End of message

TIM GPS receivers protocol specification - Application Note

knots degrees degrees

True Current date Not used End of message

Table 2-11: RMC Data Format

knots km/h Kilometers per hour End of message

Table 2-12: VTG Data Format

TIM GPS receivers protocol specification - Application Note

2.2.8 NMEA Output message ZDA, Date and Time (u-blox)

hour minutes seconds day month year

TIM GPS receivers protocol specification - Application Note

2.2.9 NMEA Output message 150, OK-To-Send (u-blox)