Garmin 16-HVS GPS Receiver

Revision: 2/08

C o p y r i g h t - C a m p b e l l S c i e n t i f i c , I n c.

Warranty and Assistance

The GARMIN 16-HVS GPS RECEIVER is warranted by CAMPBELL SCIENTIFIC, INC. to be free from defects in materials and workmanship under normal use and service for twelve (12) months from date of shipment unless specified otherwise. Batteries have no warranty. CAMPBELL SCIENTIFIC, INC.'s obligation under this warranty is limited to repairing or replacing (at CAMPBELL SCIENTIFIC, INC.'s option) defective products. The customer shall assume all costs of removing, reinstalling, and shipping defective products to CAMPBELL SCIENTIFIC, INC. CAMPBELL SCIENTIFIC, INC. will return such products by surface carrier prepaid. This warranty shall not apply to any CAMPBELL SCIENTIFIC, INC. products which have been subjected to modification, misuse, neglect, accidents of nature, or shipping damage. This warranty is in lieu of all other warranties, expressed or implied, including warranties of merchantability or fitness for a particular purpose. CAMPBELL SCIENTIFIC, INC. is not liable for special, indirect, incidental, or consequential damages. Products may not be returned without prior authorization. The following contact information is for US and International customers residing in countries served by Campbell Scientific, Inc. directly. Affiliate companies handle repairs for customers within their territories. Please visit www.campbellsci.com to determine which Campbell Scientific company serves your country. To obtain a Returned Materials Authorization (RMA), contact CAMPBELL SCIENTIFIC, INC., phone (435) 753-2342. After an applications engineer determines the nature of the problem, an RMA number will be issued. Please write this number clearly on the outside of the shipping container. CAMPBELL SCIENTIFIC's shipping address is:
CAMPBELL SCIENTIFIC, INC. RMA#_____ 815 West 1800 North Logan, Utah 84321-1784
CAMPBELL SCIENTIFIC, INC. does not accept collect calls.
Garmin 16-HVS GPS Receiver Table of Contents
PDF viewers note: These page numbers refer to the printed version of this document. Use the Adobe Acrobat bookmarks tab for links to specific sections.
1. Overview...1 2. Wiring...1 3. GPS Data...4 4. CRBasic Programming..5
4.1 Read GPS Data....5 4.1.1 SerialOpen....5 4.1.2 SerialIn....5 4.1.3 SerialFlush....5 4.1.4 SerialClose...6 4.2 Parsing and Data Storage Options..6 4.2.1 SplitStr....6 4.2.2 Converting Strings to Floating Point Numbers..6

5. Troubleshooting...8

5.1 GPS Setup and Function...8
A. CR23X/CR10X Programs.. A-1
A.1 Programming... A-1 A.1.1 Program Execution Interval.. A-1 A.1.2 Reading GPS Data... A-1 A.1.3 Filters... A-3 A.1.4 Managing the Data... A-3 A.1.5 Program Discussion... A-4 A.1.6 Troubleshooting... A-8
B. CR9000(X) Program Example.. B-1 C. Specifications... C-1
C.1 Replacement Parts...C-1 C.2 Specifications....C-1
D. Garmin 16-HVS Setups.. D-1

Figures

1. 2. 3. 4. Garmin 16-HVS GPS Receiver, Part Number 17215.. 1 RJ45 with Flying Leads, Part Number 17217.. 2 CR1000 to GPS16-HVS Using the 17217 Adapter.. 2 RJ45 to DB9 Serial Adapter, Part Number 17218.. 3

Tables

2-1. Wiring the RJ45 Connector with Flying Leads.. 2 2-2. Wiring without the RJ45 Connector (Garmin Wiring).. 3 2-3. RJ45 to DB9 RS-232 Adapter... 3 3-1. NEMA $GPGGA String Definition... 4 A-1. P15 for NEMA $GPGGA Data String.. A-1 A-2. Filter.... A-3 D-1. PGRMC Setup Sentence... D-2 D-2. PGRMO Output Sentence Enable/Disable.. D-2 D-3. Supported NMEA 0183 Sentences Order and Size.. D-3 D-4. $DGPGGA Global Positioning System Fix Data.. D-3

FIGURE 1. Garmin 16-HVS GPS Receiver, Part Number 17215

1. Overview

The Garmin16-HVS is a complete GPS receiver manufactured by Garmin International, Inc. The Garmin16-HVS has been configured by Campbell Scientific, Inc. (CSI) to work with CSI dataloggers. The CR1000, CR3000, CR800, and CR850 dataloggers use serial input instructions and string handling functions to read, parse and store GPS data. The CR10X, CR23X, and other dataloggers that support P15 or the SDM-SIO4 four channel serial interface can be used with the Garmin16-HVS. The CR510 and CR200-series do not support serial data input. See Appendix A for information regarding the CR10X, CR23X, CR5000, CR9000(X) and SDMSIO4 applications. The Garmin16-HVS includes the GPS receiver and antenna in the same housing with one cable for the power supply and communications. The GPS antenna must have a clear view of the sky. Generally the GPS antenna will not work indoors. The Garmin16-HVS is a 12-channel GPS receiver that supports FAA Wide Area Augmentation System (WAAS) or RTCM differential GPS. Also supported is the 1 Pulse Per Second (PPS) timing signal. The cable connections provided with the Garmin16-HVS do not support differential GPS correction. The cable can be modified by the user if differential correction is required.

2. Wiring

Wiring for the Garmin16-HVS can be done with or without the RJ45 connector. When shipped from Campbell Scientific, the Garmin16-HVS has an RJ45 connector attached to the cable end. The Garmin16-HVS can be purchased with an RJ45 adapter with flying leads, an RJ45 to DB9 RS-232 adapter, and a magnetic mount. Table 2-1 is the wiring description for the RJ45 adapter with flying leads. To use Table 2-2, the RJ45 connector must be cut off the cable.
If the Garmin16-HVS is to be connected to a computer for setups, an RJ45 to DB9 adapter is needed. TABLE 2-1. Wiring the RJ45 Connector with Flying Leads GPS-Garmin16-HVS Blue Orange Black Green Yellow Datalogger Connection 12 volts Ground Ground Data in None Function Power Power Ground Remote on/off RS232 TX out of GPS 1 Pulse Per Second

FIGURE 2. RJ45 with Flying Leads, Part Number 17217
FIGURE 3. CR1000 to GPS16-HVS Using the 17218 Adapter
TABLE 2-2. Wiring without the RJ45 Connector (Garmin Wiring) GPS-Garmin16-HVS Pin Color Function 1 Red Power in, 6.0 to 40 volts DC 2 Black Power ground 3 Yellow Remote power on/off switch, ground for on, float for off 4 Blue Port 1 Data in, RS232 or TTL levels OK 5 White Port 1 Data out, RS232 Levels 6 Gray PPS 7 Green Port 2 Data in, RS232 or TTL levels, DGPS input 8 Violet Port 2, Data out, RS232, reserved for future use
TABLE 2-3. RJ45 to DB9 RS-232 Adapter Pin NA NA NA 2 Color Red Black Yellow NA NA NA Function Power in, 12 volts Ground PPS GPS, power and remote on/off ground GPS data in GPS data out
FIGURE 4. RJ45 to DB9 Serial Adapter, Part Number 17218

3. GPS Data

The Garmin16-HVS has several data formats available. The Garmin16-HVS is configured to output the NEMA $GPGGA time and position string. It is possible to configure the Garmin16-HVS to output other NEMA strings including the $GPVTG track made good and ground speed string. See Appendix D for details. Sample NEMA $GPGGA data string: $GPGGA,hhmmss,llll.lll,a,nnnnn.nnn,b,t,uu,v.v,w.w,M,x.x,M,y.y,zzzz*hh<CR><LF> TABLE 3-1. NEMA $GPGGA String Definition Field Description $GPGGA hhmmss 1111.111 a nnnnn.nnn b t uu v.v w.w M x.x M y.y zzzz * hh <CR><LF>
NEMA string identifier UTC of Position: Hours, minutes, seconds Latitude: Degrees, minutes, thousandths of minutes N (North) or S (South) Longitude: Degrees, minutes, thousandths of minutes E (East) or W (West) GPS Quality Indicator: 0 = No GPS, 1 = GPS, 2 = DGPS Number of Satellites in Use Horizontal Dilution of Precision (HDOP) Antenna Altitude in Meters M = Meters Geoidal Separation in Meters M = Meters. Geoidal separation is the difference between the WGS-84 earth ellipsoid and mean-sealevel. Age of Differential GPS Data. Time in seconds since the last Type 1 or 9 Update Differential Reference Station ID (0000 to 1023) Asterisk, generally used as the termination character Checksum Carriage return, line feed characters.
Sample $GPGGA output strings: Cold Start No satellites acquired, Real Time Clock and Almanac invalid: $GPGGA,,,,,,0,00,,,,,,,*66 Warm Start No satellites acquired, time from Real Time Clock, almanac valid: $GPGGA,235032.0,,,,,0,00,,,,,,,*7D
Warm Start One satellite in use, time from GPS Real Time Clock (not GPS), no position: $GPGGA,183806.0,,,,,0,01,,,,,,,*7D Valid GPS Fix Three satellites acquired, time and position valid: $GPGGA,005322.0,4147.603,N,11150.978,W,1,03,11.9,00016,M,016,M,,*6E If the almanac and ephemeris data are not stored in the non-volatile data, GPS acquisition time is less than 5 minutes. If only the ephemeris data are unknown, acquisition time is less than 45 seconds. If all data are known (warm start), GPS acquisition time is less than 15 seconds.

4. CRBasic Programming

CRBasic is used to write programs for the CR1000, CR3000, CR800, and CR850 dataloggers. These dataloggers use several instructions to read GPS output, which is asynchronous serial data. As shipped from Campbell Scientific, the GPS receiver will output data once a second, 1200 baud, 8 data bits, no parity, and 1 stop bit. Only the GPGGA string is output. See Section 3 for details on the GPGGA string. See Appendix D for specifics on changing the GPS receiver setups, including using higher baud rates, which the CR1000, CR3000, CR800, and CR850 support.

4.1 Read GPS Data

4.1.1 SerialOpen
SerialOpen is used to open the appropriate serial port, specify the baud rate, data format, etc. Any of the six serial ports may be used, but option codes 3, 4 and 5 are not used in this application. Data format is zero, TX delay is zero, buffer size should be about 2000, which is large enough to prevent the GPGGA string from overrunning the buffer before data is read by the SerialIn instruction. If memory is limited, the buffer size can be smaller. Example: SerialOpen (com1,1200,0,0,2000)

4.1.2 SerialIn

The SerialIn instruction removes data from the buffer declared in the SerialOpen instruction and places the data in a variable of type string. Use a timeout of 20, a termination character of 13, and maximum number of characters of 100, or 1 less than the size of the destination variable. Declare a string variable of size 101 before using SerialIn. Example: Public GPSdata as string * 101 Example: SerialIn (GPSData,com1,20,13,100)

4.1.3 SerialFlush

The SerialFlush instruction is used to clear all data from the buffer associated with the serial port.

4.1.4 SerialClose

The SerialClose instruction is used to close the serial port. Once closed, the SerialOpen command must be used before more data can be read.
4.2 Parsing and Data Storage Options
The CR1000, CR3000, CR800, and CR850 can store data as a string or as a number. Every time the datalogger stores a string, the size of the string determines the number of bytes used. If the string was declared to be 101 bytes long, every time the string is written to memory, 101 bytes are used. Depending on the application, the entire GPGGA string can be stored to memory or just specific parts. When storing specific parts, some numbers can be converted to floating data points. To parse the GPGGA string, first read the entire string into 1 large string (see Section 4.1). Next parse the string into a group of smaller strings (see Section 4.2.1). Determine which of the smaller strings to keep and which to convert to floating point number, then store the data.

4.2.1 SplitStr

Use the SplitStr instruction to parse the GPGGA string into an array of strings. Declare an array of 18 strings of 15 characters. Example: ParseStr(18) as string * 15 The SplitStr instruction uses the result string, search string, filter string, number of splits and split option to parse the search string and store the results in the result string. The GPGGA string uses the comma character (chr(44)) between each parameter. The comma makes a nice marker to parse on. Example: SplitStr (ParseStr(1),GPSData ,chr(44),18,5)
4.2.2 Converting Strings to Floating Point Numbers
Strings can be converted to floats with the simple assignment operator, but Latitude and Longitude require more precision than the CR1000, CR3000, CR800, or CR850 will store as a floating point number. ' Sample CR1000 program to read GPS NMEA GPGGA string Public location, bytes public GPSData as string * 101 ' $GPGGA string about 57 characters PUBLIC ParseStr(18) as string * 15 ' Aliases allow proper labels in output data tables, ' and when viewing public variables alias ParseStr(1) = GPGGA alias ParseStr(2) = TIME alias ParseStr(3) = LAT alias ParseStr(4) = HEMINS alias ParseStr(5) = LONGI alias ParseStr(6) = HEMIEW alias ParseStr(7) = QUAL alias ParseStr(8) = NUMSATS alias ParseStr(9) = HDP alias ParseStr(10) = ALTDE
alias ParseStr(11) = ALTUNIT alias ParseStr(12) = GIODAL alias ParseStr(13) = GEOUNIT alias ParseStr(14) = AGE alias ParseStr(15) = DIFFREF alias ParseStr(16) = ASTERISK alias ParseStr(17) = CHCKSUM alias ParseStr(18) = CRLF ' Store the ParseStrd elements of the $GPGGA string as ' short strings. DataTable(Parsed,1,-1) Datainterval (0,1,sec,10) Sample(1,GPGGA,STRING) Sample(1,TIME,STRING) Sample(1,LAT,STRING) Sample(1,HEMINS,STRING) Sample(1,LONGI,STRING) Sample(1,HEMIEW,STRING) Sample(1,QUAL,STRING) Sample(1,NUMSATS,STRING) Sample(1,HDP,STRING) Sample(1,ALTDE,STRING) Sample(1,ALTUNIT,STRING) Sample(1,GIODAL,STRING) Sample(1,GEOUNIT,STRING) Sample(1,AGE,STRING) Sample(1,DIFFREF,STRING) Sample(1,ASTERISK,STRING) Sample(1,CHCKSUM,STRING) Sample(1,CRLF,STRING) endtable ' Store GPS $GPGGA string as a complete string DataTable (GGA,1,-1) DataInterval (0,1,Sec,10) Sample (1, GPSData, string) EndTable 'Main Program BeginProg SerialOpen (com1,1200,0,0,2000) Scan (1,Sec,0,0) bytes = SerialInChk (com1) SerialIn (GPSData,com1,20,13,100) splitstr (ParseStr(1),GPSData,chr(44),18,5) Serialflush (com1) CallTable GGA CallTable Parsed NextScan SerialClose (com1) EndProg

Appendix A. CR23X/CR10X Programs GPS fix. A better approach is to overwrite the GPS quality location with zero before executing P15. Use P30 to overwrite one input location. If the GPS time is used to set the datalogger clock, the GPS time must be parsed into three input locations: Hour, Minutes, Seconds. P114 is used to set the datalogger clock to match values in input locations. Some time will have passed between the GPS fix and when the program table reaches the P114 instruction. Adjustments can be made by adding a second or two. Be careful about setting seconds to a number greater than 59. You can also correct the UTC time to local time. Table based dataloggers require year, day, hour, minute, and seconds to use P114. Only hour, minutes, and seconds are available from the $GPGGA string. The PGRFM string includes the month, day and year, but is difficult to use.

A.1.5 Program Discussion

Wiring when using RJ45 adapter: Function Power in Power ground Power switch TXD PPS Color Blue Orange Black Green Yellow Datalogger Connection 12 volts Ground ground C5 C8
The Garmin16-HVS should be setup for 1200 baud, 8 data bits, 1 stop bit and no parity. The GPGGA string should be output. The 1 pulse per second signal should be output with a pulse duration of 80 milliseconds. The code required to read the GPS information and store it to final storage is in Subroutine 98. Subroutine 98 is interrupt driven and triggered when a rising edge is detected on Control port 8. The Garmin16-HVS has a 1 PPS signal which is wired to control port 8. The transmit data line of serial port 1 on the Garmin16-HVS is wired to control port 5. The Garmin16-HVS serial port 2 generally is not used. When the 1 PPS signal triggers subroutine 98, P15 is executed. P15 is setup to read ASCII serial data. Each data point is separated by a non-numeric character or a decimal point. Fifteen input locations are used as temporary storage for the $GPGGA string. Table 3.1 explains the $GPGGA string. The input locations used for the $GPGGA string are: 1) Raw_Time, Time in hours, minutes, and seconds 2) LatDegMin, Latitude degrees and minutes 3) Lat_Frac, Latitude fractions of minute 4) LngDegMin, Longitude degrees and minutes 5) Lng_Frac, Longitude fractions of minute 6) Quality, GPS quality indicator 7) NumSats, Number of satellites in use 8) HDPWhole, Horizontal Dilution of Precision 9) HDPFrac, Horizontal Dilution of Precision, tenths 10) Elevation, Elevation in meters 11) Geoidal, Geoidal separation in meters 12) Geoidalth, Geoidal separation in meters, tenths 13) Age, Age of differential GPS data 14) Agetenth, Age of differential GPS data, tenths 15) DiffID, Differential reference station ID

Appendix A. CR23X/CR10X Programs Additional input locations used in the example program are: 18) Orig_TM, Copy of original time 19) Int1, Place holder for math 20) Hours, formatted hours 21) Minutes, formatted minutes 22) Seconds, formatted seconds 23) remainder, place holder for math Before writing any datalogger code, its best to enter all the input locations needed. In Edlog, open the input location editor (F5) and enter names for the input locations listed above. When an input location is needed, use the input location pick list (F6). ;{CR23X} ; *Table 1 Program 01: 60 Execution Interval (seconds) ; Instruction to eliminate warning about unused subroutine, not needed 1: If Flag/Port (P91) 1: 11 Do if Flag 1 is High 2: 98 Call Subroutine 98 *Table 2 Program 02: 0.0000 Execution Interval (seconds) *Table 3 Subroutines 1: Beginning of Subroutine (P85) 1: 98 Subroutine 98 ;--- read serial data non-buffered 2: Port Serial I/O (P15) 1: 1 Reps 2: 61 -RS-232 ASCII (decimal delimiter), 1200 Baud 3: 1 Delay (0.01 sec units) before TX 4: 5 No RTS/DTR, C5 TXD/RXD 5: 1 Start Loc for TX [ Raw_Time ] 6: 0 Number of Locs to TX 7: 42 Termination Character for RX 8: 100 RX Buffer Size or Max Chars to RX if Par 2 indexed (--) 9: 80 Time Out for CTS (TX) and/or RX (0.01 sec units) 10: 1 Start Loc for RX [ Raw_Time ] 11: 1.0 Mult for RX 12: 0.0 Offset for RX ;--- filter for $GPGGA 3: Extended Parameters (P63) 1: 36 Option ;$ 2: 71 Option ;G 3: 80 Option ;P 4: 71 Option ;G 5: 71 Option ;G 6: 65 Option ;A 7: 0 Option 8: 0 Option
; Test for valid GPS fix and string read 4: If (X<=>F) (P89) 1: 6 X Loc [ Quality ] 2: 3 >= 3: 1 F 4: 30 Then Do ; Make a copy of time 5: Z=X (P31) 1: 1 X Loc [ Raw_Time ] 2: 18 Z Loc [ Orig_TM ] ; Add 0.45 to time stamp to eliminate complications with ; floating point math, P44, and P45 6: Z=X+F (P34) 1: 18 X Loc [ Orig_TM ] 2: 0.45 F 3: 18 Z Loc [ Orig_TM ] ; Move minutes and seconds right of decimal 7: Z=X*F (P37) 1: 18 X Loc [ Orig_TM ] 2:.0001 F 3: 19 Z Loc [ Int1 ] ; Pluck off hours 8: Z=INT(X) (P45) 1: 19 X Loc [ Int1 ] 2: 20 Z Loc [ Hours ] ; Subtract hours out 9: Z=X-Y (P35) 1: 19 X Loc [ Int1 ] 2: 20 Y Loc [ Hours ] 3: 19 Z Loc [ Int1 ] ; Move decimal left 2 places 10: Z=X*F (P37) 1: 19 X Loc [ Int1 2: 100 F 3: 19 Z Loc [ Int1
; Pluck off minutes 11: Z=INT(X) (P45) 1: 19 X Loc [ Int1 ] 2: 21 Z Loc [ Minutes ] ; Subtract out minutes 12: Z=X-Y (P35) 1: 19 X Loc [ Int1 ] 2: 21 Y Loc [ Minutes ] 3: 19 Z Loc [ Int1 ]

; Move decimal left 2 places 13: Z=X*F (P37) 1: 19 X Loc [ Int1 2: 100 F 3: 19 Z Loc [ Int1
; Pluck of seconds 14: Z=INT(X) (P45) 1: 19 X Loc [ Int1 ] 2: 22 Z Loc [ Seconds ] ; Write data to final storage every time there is ; a valid read of GPS data 15: Do (P86) 1: 10 Set Output Flag High (Flag 0) 16: Set Active Storage Area (P80)^18796 1: 1 Final Storage Area 1 2: 101 Array ID ; Write datalogger based time stamp 17: Real Time (P77) ^27570 1: 0011 Hour/Minute,Seconds (midnight = 0000) ; Write GPS based time stamp 18: Sample (P70) ^6080 1: 3 Reps 2: 20 Loc [ Hours
; Set resolution to high for latitude and Longitude 19: Resolution (P78) 1: 1 High Resolution 20: Sample (P70) ^20303 1: 4 Reps 2: 2 Loc [ LatDegMin ] ; Write elevation in meters 21: Sample (P70) ^32246 1: 1 Reps 2: 10 Loc [ Elevation ] ; Set resolution low 22: Resolution (P78) 1: 0 Low Resolution ; Write the number of satellites in view 23: Sample (P70) ^1910 1: 1 Reps 2: 7 Loc [ NumSats ] ; Reset the the GPS quality number 24: Z=F x 10^n (P30) 1: -1 F 2: 00 n, Exponent of 10 3: 6 Z Loc [ Quality ]
25: End (P95) 26: End (P95) End Program This is a blank page.

A.1.6 Troubleshooting

The first step is to verify that it really does not work. With the Garmin16-HVS running and the datalogger program running, look at the input location for GPS Quality Number. This location will show a one when the Garmin16-HVS output is picked up by the datalogger. The input location for parsed time and position are good locations to check. The location for seconds should update every time the GPS data is updated. If the GPS time and position data are not shown in the input locations, check the communication cable wiring. If the Garmin16-HVS data is not correct every program table execution but correct sometimes, check the P15 time-out. It may need a longer time-out. Also check the P15 maximum number of characters to receive, usually 100 is enough. Check the P15 termination character; it should be set to 42 (*). The termination character should also work if set to 13 or 10. Also check the buffering and filter. Buffering should be turned off. On a CR23X, index parameter 2. The CR10X does not buffer data. For P15 to properly read the $GPGGA string, P15 must be executing while the $GPGGA string starts and finishes. The P15 time-out needs to be long enough to pick up the string. The string is output once a second. If P15 starts to execute while the Garmin16-HVS is sending the string, P15 must wait until the string is sent again plus the amount of time it takes to send the string. It shouldnt need more than 1.5 seconds. P15 time-out is in units of 0.01 seconds, 100 = 1 second. A longer time-out will force the datalogger to wait until the time-out has expired or the termination character is received or the maximum number of characters are received. If the data in input locations seem to move from the proper input location to another input location, P15 is stopping before the entire string has been read. An example is latitude being displayed in the time field, then in the latitude field. P15 works best when P15 quits reading data because the termination character has been read. Using the PPS to trigger subroutine 98 is the best way to start P15 just before the Garmin16-HVS sends the $GPGGA string. If the PPS signal pulls C8 high while the datalogger is in the middle of executing an instruction, it may not be able to run subroutine 98 before the $GPGGA string has started, which will cause the datalogger to miss the data string. Turning on the data buffering (CR23X only) may remedy the problem. Lengthening the serial time-out to allow P15 to execute for 2 cycles of NMEA output may help. Otherwise the SDM-SIO4 may be required or the datalogger program will need to be simplified. The datalogger will not pick up valid data until the Garmin16-HVS has a valid GPS fix, except during a Garmin16-HVS warm start where time can be read before position is known. Dont spend a lot of time trouble shooting a phantom problem just because the GPS receiver does not have a valid GPS fix.

Appendix B. CR9000(X) Program Example
'NEMAGGA_Sio4_030805MGW1.CR9 'This program acquires NMEA GGA data from a GPS receiver using the SDM-SIO4. '_____ 'Notes: '(1) Data is acquired from NMEA0183 $GPGGA string: ' Sio4Fields: GGAFields: Definitions: ' f1 GGA(Field1) GGA_UTC_Time of position ' f2,f3 GGA(Field2) Lattitude ' f4, GGA(Field3) North or South indication letter ' f5,f6 GGA(Field4) Longitude ' f7 GGA(Field5) East or West indication letter ' f8 GGA(Field6) GPS quality,0=NoGPS,1=GPS,2DGPS ' f9 GGA(Field7) Number of satellites in use ' f10 GGA(Field8) HDOP, Horizontal Dilution Of Precision ' f11 GGA(Field9) Antenna altitude in Meters ' GGA(Field10) ' GGA(Field11) Geoidal seperation in Meters ' GGA(Field12) ' GGA(Field13) Age of differential GPS data ' GGA(Field14) Differential reference station '(2) SIO4 programming: ' fltst 1 "t[$GPGGA,]xFt[,]Dt[.]Dt[,]b1t[,]Dt[.]Dt[,]b1t[,]Ft[,]Ft[,]Ft[,]FX" '_ Const OneRep=1 Const NoValues=0 Const OneValue=1 Const ElevenGGAValues=11 '. Const UnityMultiplier=1.0 Const NoOffset=0.0 '. Const Sio4Address0=0 Const Port2=2 '. 'SDM-Sio4 command codes: Const UnusedParameter = 0000 Const PollForData0001 = 0001 Const SendDataToLgr = 0004 Const Sio4COMSetUpCmd = 2049 Const StartRxFilter = 2054 Const Port2ComCode = 9147 '9=NoHandshaking; 1=1StopBitNoParity; 4=8DataBits; 7=19200Baud Const RxFilt9001 = 9001 'Command parameter for user defined fltst #1. Dim DataPoll,NotUsed '. Public RawGGAData(ElevenGGAValues) Alias RawGGAData(1)=GGA_UTC_Time Alias RawGGAData(2)=Latt_Int : Units Latt_Int=Deg Alias RawGGAData(3)=Latt_Frac : Units Latt_Frac=Deg Alias RawGGAData(4)=LattH_NS Alias RawGGAData(5)=Longit_Int : Units Longit_Int=Deg
Appendix B. CR9000(X) Program Example Alias RawGGAData(6)=Longit_Frac : Units Longit_Int=Deg Alias RawGGAData(7)=LongH_EW Alias RawGGAData(8)=GPSQuality Alias RawGGAData(9)=Satilites Alias RawGGAData(10)=HDOP Alias RawGGAData(11)=Altitude : Units Altitude=Meters '_ DataTable(GPSData,True,-1) DataInterval(0,0,0,0) Sample(ElevenGGAValues,RawGGAData(),IEEE4) EndTable '_________ BeginProg '... 'Configure SDM-Sio4 Port#2 for communications with GPS port: SIO4(NotUsed,OneRep,Sio4Address0,Port2,Sio4COMSetUpCmd,Port2ComCode,UnusedParameter,NoValues,U nityMultiplier,NoOffset) Delay(100,mSec) '.. 'Start GGA data filter on SDM-Sio4 port: SIO4(NotUsed,OneRep,Sio4Address0,Port2,StartRxFilter,RxFilt9001,UnusedParameter,NoValues,UnityMultiplie r,NoOffset) Delay(20,mSec) '____________________________ Scan(50,mSec,0,0) 'Main Scan: '. SIO4(DataPoll,OneRep,Sio4Address0,Port2,PollForData0001,UnusedParameter,UnusedParameter,OneValue,Unit yMultiplier,NoOffset) If DataPoll>0 Then Delay(10,mSec) SIO4(RawGGAData(),OneRep,Sio4Address0,Port2,SendDataToLgr,UnusedParameter,UnusedParameter,ElevenG GAValues,UnityMultiplier,NoOffset) Delay(10,mSec) CallTable(GPSData) EndIf '. NextScan '_______ EndProg
Appendix C. Specifications

C.1 Replacement Parts

CSI part number Description Garmin16-HVS GPS receiver w/antenna, 15 ft cable Garmin16-HVS magnetic mount Garmin16-HVS RJ45 interface cable w/pigtails, 8 inch Garmin16-HVS RJ45 to DB9 RS232 adapter w/8 inch power leads

C.2 Specifications

Physical Color: Size: Weight: Cable: Black with white logos 3.39 (86 mm) diameter, 1.65 (42 mm) high 6.4 oz. (181 g) without cable, 11.7 oz. (332 g) with 5 meter cable Black PVC-jacketed, 5 meter, foil-shielded, 8-condictor, 28 AWG with RJ45 termination
Electrical Characteristics Input Voltage: Current: GPS Receiver Sensitivity: 6.0 Vdc to 40 Vdc unregulated 65 mA @ 12 Vdc -165 dbW minimum
GPS Performance Receiver WAAS Enabled; 12 parallel channel GPS receiver continuously tracks and uses up to 12 satellites, 11 if PPS is active Acquisition Times (Approximate) Reacquisition: Less than 2 seconds Warm: 15 seconds (all data known) Cold: 45 Seconds (initial position, time and almanac known, ephemeris unknown SkySearch: 5 minutes (no data known) Sentence Rate: 1 second default; NMEA 0183 output interval configurable from 1 to 900 seconds in one second increments Accuracy: Position: Velocity: GPS Standard Positioning Service (SPS) Less than 15 meters, 95% typical (100 meters with Selective Availability on) 0.1 knot RMS steady state
Appendix C. Specifications DGPS (USCG/RTCM) Position: 3-5 meters, 95% typical Velocity: 0.1 knot RMS steady state DGPS (WAAS) Position: Less than 3 meters Velocity: 0.1 knot RMS steady state PPS Time: 1 microsecond at rising edge of PPS pulse (subject to Selective Availability) Dynamics: 999 knots velocity (limited above 60,000 feet, 6g dynamics) Interfaces True RS232 output, asynchronous serial input compatible with RS-232 or TTL voltage levels, RS-232 polarity. Selectable baud rates (300, 600, 1200, 2400, 4800, 9600, 19200) Port 1 NMEA 0183 version 2.00 and 3.00 ASCII output sentences GPALM, GPGGA, GPGLL, GPGSA, GPGSV, GPRMC, GPVTG; Garmin proprietary sentences PGRMB, PGRME, PGRMF, PGRMM, PGRMT, PGRMV NMEA 0183 Output: Position, velocity and time Receiver and satellite status Differential Reference Station ID and RTCM Data age Geometry and error estimates NMEA 0183 Inputs: Initial position, data and time (not required) Earth datum and differential mode configuration command, PPS Eanble, GPS satellite almanac Configurable for binary data output including GPS carrier phase data Port 2 Real Time Differential Correction input (RTCM SC-104 messages types 1, 3, 3, 7 and 9), no output PPS 1 Hz pulse, programmable width, 1 microsecond accuracy Power Control Off: Open circuit On: Ground or pull to low logic level < 0.3 volts Environmental Characteristics Temperature: -30C to +80C operational, -40C to +80C storage

Appendix D. Garmin16-HVS Setups
As configured by Campbell Scientific, the Garmin16-HVS will output the NMEA 0183 $GPGGA data string once a second, the PPS signal is enabled with a duration of 80 milliseconds and the baud rate is set to 1200 baud. Special software (SNRSRCFG.EXE) is available from Garmin International for system setup. The Garmin16-HVS user manual available from Garmin International provides technical details beyond the scope of the Campbell Scientific user manual. Settings used by Campbell Scientific for Garmin16-HVS setup: GPS Base Model = GPS 16/17 Fix Mode = Automatic Baud Rate = 1200 Dead Reckon Time = 30 sec NMEA output time = 1 sec Position pinning = off NMEA 2.30 mode = off Power Save Mode = off (Normal mode) PPS mode = 1 Hz PPS Length = 80 mS Phaze output Data = off DGPS Mode = WAAS only Differential mode = Automatic Earth Datum Index = NGS 84 Selected Sentences = GPGGA Common changes would be baud rate and selected sentences. The CR1000, CR3000, CR800, CR850, and CR23X dataloggers can support baud rates above 1200, which can be beneficial in some applications. The NMEA 0183 GPVTG data sentence gives ground speed and direction, which may be required for some applications. Changes can be made with the Garmin software, or with a terminal emulator and the Garmin technical user manual. Contact Garmin International (www.garmin.com) for either resource. NMEA Commands for System Setup Received NMEA strings are commands to the Garmin16-HVS which change some operating parameter. Null fields in the configuration sentence indicate no change. All sentences are terminated with the carriage return and line feed characters (CRLF). The CRLF can occur anywhere in the string. The *hh indicates a checksum which is not required.
TABLE D-1. PGRMC Setup Sentence $PGRMC,1,2,3,4,5,6,7,8,9,10,11,12,13,14*hhCRLF Fix mode, A = Automatic, 2 = 2D, 3 = 3D Altitude above or below sea level Earth Datum User Earth datum semi-major axis User Earth datum inverse flattening factor User Earth datum delta x earth centered coordinate User Earth datum delta y earth centered coordinate User Earth datum delta z earth centered coordinate differential mode, A = automatic, D = differential only NMEA 0183 baud rate, 1=1200, 2=2400, 3=4800, 4=9600, 5=19200, 6=300, 7=600 Velocity filter, 0 = no filter, 1 = Automatic filter, 2-255 = filter time constant PPS mode, 1 = no pps, 2 = 1 Hz PPS pulse length, 0-48 = (n+1)*20 mS. Example: n=4 corresponds to a 100 ms wide pulse width Dead reckoning valid time (1-30 seconds)

PGRMC Notes: All configuration changes take effect after receipt of a valid value except baud rate and PPS mode, which take effect on the next power cycle or an external reset event. TABLE D-2. PGRMO Output Sentence Enable/Disable $PGRMO,1,2,*hhCRLF Target Sentence description (e.g., GPVTG) Target Sentence Mode, where: 0 = disable specified sentence 1 = enable specified sentence 2 = disable all output sentence (except PSLIB) 3 = enable all output sentences (except GPALM) 4 = restore factory default output sentences
PGRMO Notes: 1. If the target sentence mode is 2 (disable all) , 3 (enable all) or 4 (restore defaults), the target sentence description is not checked for validity. In this case, an empty field is allowed (e.g., $PGRMO,,3), or the mode field may contain from 1 to 5 characters. If the target sentence mode is 0 (disable) or 1 (enable), the target sentence description field must be an identifier for one of the sentences that can be output by the GPS sensor. If either the target sentence mode field or the target sentence description field is not valid, the PGRMO sentence will have no effect. $PGRMO,GPALM,1 will cause the GPS sensor to transmit all stored almanac information. All other NMEA 0183 sentence transmission will be temporarily suspended.
Appendix D. Garmin16-HVS Setups 5. $PGRMO,,G will cause the COM 1 port to change to GARMIN data Transfer format for the duration of the power cycle. The GARMIN mode is required for GPS 16/17 series product software updates. TABLE D-3. Supported NMEA 0183 Sentences Order and Size Sentence GPRMC GPGGA GPGSA GPGSV PGRME GPGLL GPVTG PGRMV PGRMF PGRMB PBRMM PGRMT Default Output Yes Yes Yes Yes Yes No No No No Yes Yes Once per minute Maximum Characters 32 50
In Table D-3 default Output indicates NMEA sentences that are Garmin16HVS defaults. CSI turns off all output except the GPGGA sentence. The time required to output a NMEA sentence can be determined by multiplying the maximum number of characters by 10 then dividing the result by the baud rate. Selected sentences will be transmitted at a periodic rate based on the selected baud rate and the selected output sentences. The sentences will be output contiguously. Regardless of the baud rate, the sentences are reference to the PPS signal immediately preceding the GPRMC sentence, or whichever sentence is output first. TABLE D-4. $GPGGA Global Positioning System Fix Data $GPGGA,1,2,3,4,5,6,7,8,9,M,10,M,11,12*hhCRLF <1> <2> <3> <4> <5> <6> <7> <8> <9> <10> <11> <12> UTC time of position fix, hhmmss format Latitude, ddmm.mmmm format (leading zeros will be transmitted) (5 digits of precision on GPS 16A) Latitude hemisphere, N or S Longitude, ddmm.mmmm format (leading zeros will be transmitted) (5 digits of precision on GPS 16A) Longitude hemisphere, E or W GPS quality indication, 0 = fix not available, 1 = Non-differential GPS fix available, 2 = Differential GPS (DGPS) fix available, 6 = Estimated Number of satellites in use, 00 to 12 (leading zeros will be transmitted) Horizontal dilution of precision, 0.5 to 99.9 Antenna height above/below mean sea level, -9999.9 to 99999.9 meters Geoidal height, -999.9 to 9999.9 meters Differential GPS (RTCM SC-104) data age, number of seconds since last valid RTCM transmission (null if not an RTCM DGPS fix) Differential Reference Station ID, 0000 to 1023 (leading zeros will be transmitted, null if not an RTCM DGPS fix)

GPS 16/17 SERIES TECHNICAL SPECIFICATIONS
Garmin International, Inc. 1200 E. 151st Street Olathe, KS 66062 USA 190-00228-21, Revision A July 2005
2005 Garmin Ltd. or its subsidiaries Garmin International, Inc. 1200 East 151st Street, Olathe, Kansas 66062, U.S.A. Tel. 913/397.8200 or 800/800.1020 Fax 913/397.8282 Garmin (Europe) Ltd. Unit 5, The Quadrangle, Abbey Park Industrial Estate, Romsey, SO51 9DL, U.K. Tel. 44/0870.8501241 Fax 44/0870.8501251 Garmin Corporation No. 68, Jangshu 2nd Road, Shijr, Taipei County, Taiwan Tel. 886/2.2642.9199 Fax 886/2.2642.9099 All rights reserved. Except as expressly provided herein, no part of this manual may be reproduced, copied, transmitted, disseminated, downloaded, or stored in any storage medium, for any purpose without the express prior written consent of Garmin. Garmin hereby grants permission to download a single copy of this manual onto a hard drive or other electronic storage medium to be viewed and to print one copy of this manual or of any revision hereto, provided that such electronic or printed copy of this manual must contain the complete text of this copyright notice and provided further that any unauthorized commercial distribution of this manual or any revision hereto is strictly prohibited. Information in this document is subject to change without notice. Garmin reserves the right to change or improve its products and to make changes in the content without obligation to notify any person or organization of such changes or improvements. Visit the Garmin Web site (www.garmin.com) for current updates and supplemental information concerning the use and operation of this and other Garmin products. Garmin, AutoLocate, and MapSource are registered trademarks and WAAS Enabled is trademark of Garmin Ltd. or its subsidiaries and may not be used without the express permission of Garmin. Web site address: www.garmin.com

RECORD OF REVISIONS

Revision A

Revision Date 7/8/05

Description Initial Release

ECO # --

190-00228-21
GPS 16/17 Technical Specifications Page ii

Rev. A

TABLE OF CONTENTS 1 Introduction....1
1.1 Caution.....1 1.2 FCC Compliance....1 1.3 Limited Warranty....2 1.4 Overview....3 1.5 Features.....3 1.6 GPS 16/17 Series....4 1.6.1 GPS 16LVS & 16HVS....4 1.6.2 GPS 17HVS.....4 1.7 Technical Specifications....5 1.7.1 Physical Characteristics....5 1.7.1.1 Size....5 1.7.1.2 Weight....5 1.7.1.3 Cable....5 1.7.1.4 Color....5 1.7.1.5 Case Material....5 1.7.1.6 GPS 17HVS Thread Specifications...5 1.7.2 Electrical Characteristics...5 1.7.2.1 Input Voltage....5 1.7.2.2 Input Current....5 1.7.2.3 Standby Current...5 1.7.2.4 GPS Receiver Sensitivity....5 1.7.3 Environmental Characteristics....5 1.7.4 GPS Performance....6 1.7.4.1 Receiver....6 1.7.4.2 Acquisition Times....6 1.7.4.3 Sentence Rate....6 1.7.4.4 Accuracy....6 1.7.5 Interfaces.....6 1.7.5.1 Port 1....6 1.7.5.2 Port 2....6 1.7.5.3 PPS....6 1.7.5.4 Power Control....6
2 GPS 16/17 Wiring and Pinouts...7
2.1 GPS 16/17 Pinout....7 2.2 GPS 16/17 Wiring Diagrams....8
3 Mechanical Characteristics & Mounting..9
3.1 GPS 16 and GPS 17 Flush Mount....9 3.2 GPS 17.....10 3.3 GPS 16 Optional Magnetic Mount...11
4 Software Interface...12
4.1 Received NMEA 0183 Sentences....12 4.1.1 Almanac Information (ALM)....12 4.1.2 Sensor Initialization Information (PGRMI)...13 4.1.3 Sensor Configuration Information (PGRMC)...13 4.1.4 Additional Sensor Configuration Information (PGRMC1)..14 4.1.5 Output Sentence Enable/Disable (PGRMO)..14 4.1.6 Tune DGPS Beacon Receiver (PSLIB)...15 4.2 Transmitted NMEA 0183 Sentences....15 4.2.1 Sentence Transmission Rate...15 190-00228-21 GPS 16/17 Technical Specifications Page iii Rev. A

4.2.2 Transmitted Time.....16 4.2.3 Global Positioning System Almanac Data (ALM)..16 4.2.4 Global Positioning System Fix Data (GGA)..16 4.2.5 GPS DOP and Active Satellites (GSA)...17 4.2.6 GPS Satellites in View (GSV)...17 4.2.7 Recommended Minimum Specific GPS/TRANSIT Data (RMC)..17 4.2.8 Track Made Good and Ground Speed (VTG)...17 4.2.9 Geographic Position (GLL)....18 4.2.10 Estimated Error Information (PGRME)...18 4.2.11 GPS Fix Data Sentence (PGRMF)....18 4.2.12 Map Datum (PGRMM)....18 4.2.13 Sensor Status Information (PGRMT)....18 4.2.14 3D Velocity Information (PGRMV)...19 4.2.15 DGPS Beacon Information (PGRMB)...19 4.3 Baud Rate Selection....19 4.4 One-Pulse-Per-Second (PPS) Output....19 4.5 Received RTCM Data....19
Appendix A: Earth Datums...20 Appendix B: Binary Phase Output Format..23
Position Record....23 Receiver Measurement Record...24 Sample C Code.....25
Appendix C: Ephemeris Data download (Programming Example)..26
Synopsis.....26 Garmin Binary Format Review...26 Ephemeris Download Procedure....27 TX Packet: Ephemeris Data Request...27 RX Packet: Acknowledgement....27 RX Packet: Number of Data Packets to Expect..27 TX Packet: Acknowledgement....27 RX Packet: Ephemeris Data....28 TX Packet: Download Complete....30
Appendix D: Sensor Configuration Software..31
Downloading the Sensor Configuration Software...31 Selecting a Model....31 Connecting to the Sensor.....31 File Menu.....32 Comm Menu....32 Config Menu.....32 View Menu....33 Help Menu.....33
LIST OF TABLES AND FIGURES
GPS 16LVS & 16HVS.....4 GPS17HVS with Pole Mount.....4 GPS 17HVS Flush Mount.....4 Table 1: GPS 16/17 Wire Pinout.....7 Figure 1: Computer Serial Port Interconnection...8 Figure 2: PDA Serial Port Interconnection....8 Figure 3: Basic NMEA Device Interconnection...8 Figure 4: GPS 16 & GPS 17 Flush Mount Dimensions....9 Figure 5: GPS 17 Dimensions.....10 Figure 6: GPS 17 Attaching to the Included Pole Mount....11 Figure 7: Optional GPS 16 Magnetic Mount....11 Table 2: NMEA 0183 Output Sentence Order and Size....15 Table 3: Characters per Second for Available Baud Rates...15

GPS 16/17 Technical Specifications Page 2

Overview

The GPS 16/17 series products are complete GPS sensors including embedded receiver and antenna, designed for a broad spectrum of OEM (Original Equipment Manufacture) system applications. Based on the proven technology found in other Garmin 12-channel GPS receivers, the GPS 16/17 tracks up to 12 satellites at a time while providing fast time-to-first-fix, one-second navigation updates, and low power consumption. This generation of GPS sensors adds the capability of FAA Wide Area Augmentation System (WAAS) differential GPS. The GPS 16/17s farreaching capability meets the sensitivity requirements of land navigation as well as the dynamics requirements of high-performance aircraft. The GPS 16/17 design uses the latest technology and high-level circuit integration to achieve superior performance while minimizing space and power requirements. All critical components of the system including the RF/IF receiver hardware and the digital baseband are designed and manufactured by Garmin to ensure the quality and capability of the GPS. The hardware capability combined with software intelligence makes the GPS 16/17 easy to integrate and use. The GPS 16/17 series products are designed to withstand rugged operating conditions and are waterproof to IEC 60529 IPX7, immersion in 1 meter of water for 30 minutes. These complete GPS receivers require minimal additional components to be supplied by an OEM or system integrator. A minimum system must provide the GPS with a source of power and a clear view of the GPS satellites. The system may communicate with the GPS via two full-duplex communication channels. Internal FLASH memory allows the GPS to retain critical data such as satellite orbital parameters, last-known position, date, and time. End user interfaces such as keyboards and displays are the responsibility of the application designer.

Features
12-channel GPS receiver tracks and uses up to 12 satellites for fast, accurate positioning and low power consumption. Differential DGPS capability using real-time WAAS or RTCM corrections yielding 3 to 5 meter position accuracy (see Section 1.7 Technical Specifications). Compact, rugged design ideal for applications with minimal space. May be remotely mounted in an out-of-the-way location. Receiver position information can be displayed directly on a chartplotter or PC. User initialization is not required. Once the unit is installed and has established a location fix, the unit automatically produces navigation data. User-configurable navigation mode (2-dimensional or 3-dimensional fix). Highly accurate one-pulse-per-second (PPS) output for precise timing measurements. Pulse width is configurable in 20 millisecond increments from 20 ms to 980 ms with 1 s accuracy. Configurable for binary format carrier phase data output on COM 1 port. Flexible input voltage levels of 3.3 VDC to 6.0 VDC with over-voltage protection in the GPS 16LVS, and 8.0 VDC to 40 VDC in the GPS 16HVS and GPS 17HVS. FLASH-based program and non-volatile memory. New software revisions available through Web site download. Non-volatile memory does not require battery backup. Waterproof design allows continuous exposure to the prevailing weather conditions at most locations. GPS 17HVS can be flush mounted or pole mounted on the enclosed 1 marine mast mount.

GPS 16/17 Technical Specifications Page 7
GPS 16/17 Wiring Diagrams
Figure 1: Computer Serial Port Interconnection
Figure 2: PDA Serial Port Interconnection
Figure 3: Basic NMEA Device Interconnection
GPS 16/17 Technical Specifications Page 8
MECHANICAL CHARACTERISTICS & MOUNTING GPS 16 and GPS 17 Flush Mount

1.65 inches [42 mm]

120 Degrees

M4 Thread

3.58 inches [91 mm]

2.44 inches [62 mm]

Figure 4: GPS 16 & GPS 17 Flush Mount Dimensions
GPS 16/17 Technical Specifications Page 9

GPS 17

3.60 inches (91.5 mm)

0.27 inches [7 mm]

Fits on a standard oneinch, 14 threads-per-inch marine mount.
Figure 5: GPS 17 Dimensions
GPS 16/17 Technical Specifications Page 10
Figure 6: GPS 17 Attaching to the Included Pole Mount
GPS 16 Optional Magnetic Mount

Magnetic Mount

M4 Flat Head Screws (3 each) Figure 7: Optional GPS 16 Magnetic Mount
GPS 16/17 Technical Specifications Page 11

SOFTWARE INTERFACE

The GPS 16/17 series products interface protocol design on COM 1 is based on the National Marine Electronics Associations NMEA 0183 ASCII interface specification. The COM 2 port can receive differential GPS (DGPS) correction data using the Radio Technical Commission for Maritime Services RTCM SC-104 standard. These standards are fully defined in NMEA 0183, Version 3.0 (copies may be obtained from NMEA, www.nmea.org) and RTCM Recommended Standards For Differential Navstar GPS Service, Version 2.2, RTCM Special Committee No. 104 (copies may be obtained from RTCM, www.rtcm.org). The GPS 16/17 series products interface protocol, in addition to transmitting navigation information as defined by NMEA 0183, transmits additional information using the convention of Garmin proprietary sentences. Binary phase data information can alternatively be output on the COM 1 port; see Appendix B: Binary Phase Output Format for details. The following sections describe the NMEA 0183 data format of each sentence transmitted and received by the GPS 16/17 series products. The baud rate selection, one-pulse-per-second output interfaces and RTCM differential GPS input are also described.

The $PGRMI sentence provides information used to initialize the GPS sensors set position and time used for satellite acquisition. Receipt of this sentence by the GPS sensor causes the software to restart the satellite acquisition process. If there are no errors in the sentence, it will be echoed upon receipt. If an error is detected, the echoed PGRMI sentence will contain the current default values. Current PGRMI defaults (with the exception of the Receiver Command, which is a command rather than a mode) can also be obtained by sending $PGRMIE to the GPS sensor. $PGRMI,<1>,<2>,<3>,<4>,<5>,<6>,<7>*hh<CR><LF> <1> <2> <3> <4> <5> <6> <7> Latitude, ddmm.mmm format (leading zeros must be transmitted) Latitude hemisphere, N or S Longitude, dddmm.mmm format (leading zeros must be transmitted) Longitude hemisphere, E or W Current UTC date, ddmmyy format Current UTC time, hhmmss format Receiver Command, A = Auto Locate, R = Unit Reset
Sensor Configuration Information (PGRMC)
The $PGRMC sentence provides information used to configure the GPS sensors operation. Configuration parameters are stored in non-volatile memory and retained between power cycles. The GPS sensor will echo this sentence upon its receipt if no errors are detected. If an error is detected, the echoed PGRMC sentence will contain the current default values. Current default values can also be obtained by sending $PGRMCE to the GPS sensor. $PGRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>,<14>*hh<CR><LF> <1> <2> <3> Fix mode, A = automatic, 2 = 2D exclusively (host system must supply altitude), 3 = 3D exclusively Altitude above/below mean sea level, -1500.0 to 18000.0 meters Earth datum index. If the user datum index (96) is specified, fields <4> through <8> must contain valid values. Otherwise, fields <4> through <8> must be null. Refer to Appendix A: Earth Datums for a list of earth datums and the corresponding earth datum index. User earth datum semi-major axis, 6360000.000 to 6380000.000 meters (.001 meters resolution) User earth datum inverse flattening factor, 285.0 to 310.0 (10-9 resolution) User earth datum delta x earth centered coordinate, -5000.0 to 5000.0 meters (1 meter resolution) User earth datum delta y earth centered coordinate, -5000.0 to 5000.0 meters (1 meter resolution) User earth datum delta z earth centered coordinate, -5000.0 to 5000.0 meters (1 meter resolution) Differential mode, A = automatic (output DGPS data when available, non-DGPS otherwise), D = differential exclusively (output only differential fixes) NMEA 0183 Baud rate, 1 = 1200, 2 = 2400, 3 = 4800, 4 = 9600, 5 = 19200, 6 = 300, 7 = 600, 8 = 38400 Velocity filter, 0 = No filter, 1 = Automatic filter, 2 to 255 = Filter time constant (e.g., 10 = 10 second filter)

Output Sentence Enable/Disable (PGRMO)
The $PGRMO sentence provides the ability to enable and disable specific output sentences. The following sentences are enabled at the factory: GPGGA, GPGSA, GPGSV, GPRMC, and PGRMT. This sentence is not intended for turning on and off sentences as a means of polling while the receiver is in use; instead, it is intended to allow systems integrators to initialize the GPS receiver so it produces only the sentences required by the target application. $PGRMO,<1>,<2>*hh<CR><LF> Target sentence description (e.g., PGRMT, GPGSV, etc.) Target sentence mode, where: 0 = disable specified sentence 1 = enable specified sentence 2 = disable all output sentences 3 = enable all output sentences (except GPALM) 4 = restore factory default output sentences The following notes apply to the PGRMO input sentence: 1. If the target sentence mode is 2 (disable all), 3 (enable all), or 4 (restore defaults), the target sentence description is not checked for validity. In this case, an empty field is allowed (e.g., $PGRMO,,3), or the mode field may contain from 1 to 5 characters. If the target sentence mode is 0 (disable) or 1 (enable), the target sentence description field must be an identifier for one of the sentences that can be output by the GPS sensor. If either the target sentence mode field or the target sentence description field is not valid, the PGRMO sentence will have no effect. $PGRMO,GPALM,1 will cause the GPS sensor to transmit all stored almanac information. All other NMEA 0183 sentence transmission will be suspended temporarily. $PGRMO,,G will cause the COM port to change to Garmin Data Transfer format for the duration of the power cycle. You must enable Garmin Data Transfer format to update the GPS 16/17 series products. GPS 16/17 Technical Specifications Page 14 Rev. A <1> <2>

2. 3. 4. 5.

Tune DGPS Beacon Receiver (PSLIB)
The $PSLIB sentence provides the ability to tune a Garmin GBR 21, GBR 23 or equivalent beacon receiver. $PSLIB,<1>,<2>*hh<CR><LF> <1> Beacon tune frequency, 0.0, 283.5325.0 kHz in 0.5 kHz steps <2> Beacon bit rate, 0, 25, 50, 100, or 200 bps If valid data is received, the GPS sensor will store it in the EEPROM and echo the PSLIB command to the beacon receiver. If the GPS sensor is using any stored beacon frequency other than 0.0, it will tune the beacon receiver once immediately after power up or external reset.

Transmitted NMEA 0183 Sentences
The subsequent paragraphs define the sentences that can be transmitted on COM 1 by the GPS sensor.
Sentence Transmission Rate
Sentences are transmitted with respect to the user selected baud rate. The GPS sensor will transmit each sentence (except where noted in particular transmitted sentence descriptions) at a periodic rate based on the user selected baud rate and user selected output sentences. The GPS sensor will transmit the selected sentences contiguously. The length of the transmission can be determined by the following equation and Tables 2 and 3: length of transmission = total characters to be transmitted --------------------------------------------characters transmitted per second
Sentence Output by Default? Maximum Characters GPRMC 74 GPGGA 82 GPGSA 66 GPGSV 70 PGRME 35 GPGLL 44 GPVTG 42 PGRMV 32 PGRMF 82 PGRMB 40 PGRMM 32 PGRMT Once per minute 50 Table 2: NMEA 0183 Output Sentence Order and Size Baud Characters per Second Table 3: Characters per Second for Available Baud Rates The maximum number of fields allowed in a single sentence is 82 characters including delimiters. Values in the table include the sentence start delimiter character $ and the termination delimiter <CR><LF>. The factory set defaults will result in a once-per-second transmission at the NMEA 0183 specification transmission rate of 4800 baud. Regardless of the selected baud rate, the information transmitted by the GPS sensor is referenced to the one-pulseper-second output pulse immediately preceding the GPRMC sentence, or whichever sentence is output first in the burst (see Table 2 above). 190-00228-21 GPS 16/17 Technical Specifications Rev. A Page 15

Transmitted Time

The GPS sensor outputs UTC (Coordinated Universal Time) date and time of day in the transmitted sentences. Before the initial position fix, the on-board clock provides the date and time of day. After the initial position fix, the date and time of day are calculated using GPS satellite information and are synchronized with the one-pulse-persecond output. The GPS sensor uses information obtained from the GPS satellites to add or delete UTC leap seconds and correct the transmitted date and time of day. The transmitted date and time of day for leap second correction follow the guidelines in National Institute of Standards and Technology Special Publication 432 (Revised 1990). This document is for sale by the Superintendent of Documents, U.S. Government Printing Office, Washington, D.C., 20402, U.S.A. When a positive leap second is required, one second is inserted at the beginning of the first hour (0h 0m 0s) of the day that the positive leap is occurring. The minute containing the leap second is 61 seconds long. The GPS sensor would have transmitted this information for the leap second added December 31, 1998 as follows: $GPRMC,235959,A,3851.3651,N,09447.9382,W,000.0,221.9,071103,003.3,E*69 $GPRMC,000000,A,3851.3651,N,09447.9382,W,000.0,221.9,081103,003.3,E*67 $GPRMC,000000,A,3851.3651,N,09447.9382,W,000.0,221.9,081103,003.3,E*67 $GPRMC,000001,A,3851.3651,N,09447.9382,W,000.0,221.9,081103,003.3,E*66 If a negative leap second should be required, one second will be deleted at the end of some UTC month. The minute containing the leap second will be only 59 seconds long. In this case, the GPS sensor will not transmit the time of day 0h 0m 0s (the zero second) for the day from which the leap second is removed. $GPRMC,235959,A,3851.3650,N,09447.9373,W,000.0,000.0,111103,003.3,E*69 $GPRMC,000001,A,3851.3650,N,09447.9373,W,000.0,000.0,121103,003.3,E*6A $GPRMC,000002,A,3851.3650,N,09447.9373,W,000.0,000.0,121103,003.3,E*69

Global Positioning System Almanac Data (ALM)
Almanac sentences are not normally transmitted. Almanac transmission can be initiated by sending the GPS sensor a $PGRMO,GPALM,1 command. Upon receipt of this command, the GPS sensor will transmit available almanac information on GPALM sentences. During the transmission of almanac sentences, other NMEA 0183 data output will be suspended temporarily. $GPALM,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>,<14>,<15>*hh<CR><LF> <field information> can be found in Section 4.1.1 Almanac Information (ALM).
<1> <2> <3> <4> <5> <6> <7> <8> <9> <10> <11> <12>
Global Positioning System Fix Data (GGA)
UTC time of position fix, hhmmss format Latitude, ddmm.mmmm format (leading zeros will be transmitted) Latitude hemisphere, N or S Longitude, dddmm.mmmm format (leading zeros will be transmitted) Longitude hemisphere, E or W GPS quality indication, 0 = fix not available, 1 = Non-differential GPS fix available, 2 = Differential GPS (DGPS) fix available, 6 = Estimated Number of satellites in use, 00 to 12 (leading zeros will be transmitted) Horizontal dilution of precision, 0.5 to 99.9 Antenna height above/below mean sea level, -9999.9 to 99999.9 meters Geoidal height, -999.9 to 9999.9 meters Differential GPS (RTCM SC-104) data age, number of seconds since last valid RTCM transmission (null if not an RTCM DGPS fix) Differential Reference Station ID, 0000 to 1023 (leading zeros will be transmitted, null if not an RTCM DGPS fix)
$GPGGA,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,M,<10>,M,<11>,<12>*hh<CR><LF>
GPS 16/17 Technical Specifications Page 16
<1> <2> <3> <4> <5> <6>
GPS DOP and Active Satellites (GSA)
Mode, M = manual, A = automatic Fix type, 1 = not available, 2 = 2D, 3 = 3D PRN number, 01 to 32, of satellite used in solution, up to 12 transmitted (leading zeros will be transmitted) Position dilution of precision, 0.5 to 99.9 Horizontal dilution of precision, 0.5 to 99.9 Vertical dilution of precision, 0.5 to 99.9
$GPGSA,<1>,<2>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<4>,<5>,<6>*hh<CR><LF>

Baud Rate Selection

Baud rate selection can be performed by sending the appropriate configuration sentence to the GPS sensor as described in the $PGRMC Section 4.1.3 Sensor Configuration Information (PGRMC), field <10>.
One-Pulse-Per-Second (PPS) Output
The highly accurate one-pulse-per-second (PPS) output is provided for applications requiring precise timing measurements. The signal is generated after the initial position fix has been calculated and continues until power down. The rising edge of the signal is synchronized to the start of each GPS second. Regardless of the selected baud rate, the information transmitted by the GPS sensor is referenced to the pulse immediately preceding the NMEA 0183 RMC sentence. The accuracy of the one-pulse-per-second output is maintained only while the GPS sensor can compute a valid position fix. To obtain the most accurate results, the one-pulse-per-second output should be calibrated against a local time reference to compensate for cable and internal receiver delays and the local time bias. The default pulse width is 100 ms, however; it may be programmed in 20 ms increments between 20 ms and 980 ms as described in $PGRMC Section 4.1.3 Sensor Configuration Information (PGRMC), field <13>.

Received RTCM Data

Position accuracy of less than 5 meters can be achieved with the GPS 16/17 series products by using Differential GPS (DGPS) real-time pseudo-range correction data in RTCM SC-104 format, with message types 1, 2, 3, 7, and 9. These corrections can be received by the GPS 16/17 series products on COM 2. The RTCM data must be received at the same baud rate as the COM 1 port. For details on the SC-104 format, refer to RTCM Paper 134-89/SC 104-68 by the Radio Technical Commission for Maritime Services.
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APPENDIX A: EARTH DATUMS

The following is a list of the Garmin GPS 16/17 Earth datum indices and the corresponding earth datum name (including the area of application): ADINDAN - Ethiopia, Mali, Senegal, Sudan AFGOOYE - Somalia AIN EL ABD 1970 - Bahrain Island, Saudi Arabia ANNA 1 ASTRO 1965 - Cocos Island ARC 1950 - Botswana, Lesotho, Malawi, Swaziland, Zaire, Zambia, Zimbabwe ARC 1960 - Kenya, Tanzania ASCENSION ISLAND 1958 - Ascension Island ASTRO BEACON E - Iwo Jima Island AUSTRALIAN GEODETIC 1966 - Australia, Tasmania Island AUSTRALIAN GEODETIC 1984 - Australia, Tasmania Island ASTRO DOS 71/4 - St. Helena Island ASTRONOMIC STATION 1952 - Marcus Island ASTRO B4 SOROL ATOLL - Tern Island BELLEVUE (IGN) - Efate and Erromango Islands BERMUDA 1957 - Bermuda Islands BOGOTA OBSERVATORY - Colombia CAMPO INCHAUSPE - Argentina CANTON ASTRO 1966 - Phoenix Islands CAPE CANAVERAL - Florida, Bahama Islands CAPE - South Africa CARTHAGE - Tunisia CHATHAM 1971 - Chatham Island (New Zealand) CHUA ASTRO - Paraguay CORREGO ALEGRE - Brazil DJAKARTA (BATAVIA) - Sumatra Island (Indonesia) DOS 1968 - Gizo Island (New Georgia Islands) EASTER ISLAND 1967 - Easter Island EUROPEAN 1950 - Austria, Belgium, Denmark, Finland, France, Germany, Gibraltar, Greece, Italy, Luxembourg, Netherlands, Norway, Portugal, Spain, Sweden, Switzerland EUROPEAN 1979 - Austria, Finland, Netherlands, Norway, Spain, Sweden, Switzerland FINLAND HAYFORD 1910 - Finland GANDAJIKA BASE - Republic of Maldives GEODETIC DATUM 1949 - New Zealand ORDNANCE SURVEY OF GREAT BRITAIN 1936 - England, Isle of Man, Scotland, Shetland Islands, Wales GUAM 1963 - Guam Island GUX 1 ASTRO - Guadalcanal Island HJORSEY 1955 - Iceland GPS 16/17 Technical Specifications Page 20 Rev. A

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APPENDIX C: EPHEMERIS DATA DOWNLOAD (PROGRAMMING EXAMPLE)

Synopsis

This section describes, using an example, how to download ephemeris information from a Garmin 15, 16, 17 or 18 family GPS unit with the exception of the GPS 15-W and the GPS 15-F.
Garmin Binary Format Review
To download the ephemeris data, you must first command the unit to output information in Garmin Binary Format (Garmin mode) instead of the default NMEA output format. To put the unit in Garmin mode, connect to the unit using a terminal program and send the following NMEA sentence: $PGRMO,,G*hh<CR><LF> The checksum *hh is used for parity checking data and generally is not required in normal PC environments, but is recommended for use in environments containing high electromagnetic noise. When used, the parity bytes (hh) are the ASCII representation of the exclusive-or (XOR) sum of all the characters between the $ and * characters, non-inclusive. Sentences may be truncated by <CR><LF> after any data field and valid fields up to that point will be acted on by the GPS sensor. See Section 4 Software Interface. The unit will stay in Garmin mode until the next power cycle. Now that unit is in Garmin binary format, transmitted and received packets are structured as follows: Byte Description Packet Delimiter Packet ID (type) Data Size Data bytes. Checksum Name DLE ID SIZE DATA. CHKSUM Notes 0x10 Packet type Number of bytes in data portion(not including escaped DLEs. See below) Not to exceed 256 bytes. 2s complement of the arithmetic sum of all the bytes from the Packet ID byte to the last DATA byte(inclusive) not counting escaped DLEs. See below DLE 0x10 ETX 0x03
Packet Delimiter End of Packet
The DLE (0x10) is a delimiter byte used in conjunction with the ETX byte to determine beginning and ending of a packet. However, a 0x10 could appear in the data itself; if this occurs, the byte is escaped with another DLE byte (sometimes referred to as DLE stuffing). In other words, if a DLE occurs in the data, another DLE is transmitted immediately after to indicate that it is a data byte and it is not being used as a delimiter. Note that the size byte of the packet does not count the second DLE byte in an escaped DLE pair in the data field. Since a DLE that is a part of the data will have a second DLE to escape it, a single DLE followed by an ETX byte means that the end of a packet has been reached. In order to interpret these packets properly, one must remove the escaped DLE bytes. This can be achieved using an algorithm similar to the Sample C Code fragment on the previous page.

GPS 16/17 Technical Specifications Page 26
Ephemeris Download Procedure
The following is the sequence of events that occurs when downloading ephemeris. Send a packet containing the command that requests ephemeris data (IOP_DOWN_LOAD_EPH). The packet should look like this: TX Packet: Ephemeris Data Request Byte Description Name HEX Value Delimiter DLE 0x10 Command Data ID IOP_CMND_DATA 0x0A Number of bytes in data SIZE 0x02 Request to D/L ephemeris IOP_DOWN_LOAD_EPH 0x5D Pad to 2 bytes DATA 0x00 Checksum calculation CHKSUM 0x97* Delimiter DLE 0x10 End ETX 0x03 * From now on, checksum calculation will not be shown for every packet example The unit will return an acknowledgement packet that will look like this: RX Packet: Acknowledgement Byte Description Delimiter Acknowledgement ID Number of bytes in data Request to D/L ephemeris Pad Checksum calculation Delimiter End of packet Name DLE IOP_ACK_BYTE SIZE IOP_CMND_DATA DATA CHKSUM DLE ETX HEX Value 0x10 0x06 0x02 0x0A 0x00 ---0x10 0x03
Then, the unit will immediately send a packet communicating how many data packets to expect for the ephemeris download (a maximum of twelve): RX Packet: Number of Data Packets to Expect Byte Description Delimiter Record ID Number of bytes in data Number of records Pad Checksum calculation Delimiter End of packet Name DLE IOP_RECORDS SIZE NUM_SV DATA CHKSUM DLE ETX HEX Value 0x10 0x1B 0x02 0x0C 0x00 ---0x10 0x03
This packet requires acknowledgement, as shown below (note that the data field contains the IOP_RECORDS ID to indicate the acknowledgement of the IOP_RECORDS packet): TX Packet: Acknowledgement Byte Description Delimiter Record ID Number of bytes in data Pad ID of packet being ACKd Checksum calculation Delimiter End of packet Name DLE IOP_ACK_BYTE SIZE DATA IOP_RECORDS CHKSUM DLE ETX HEX Value 0x10 0x06 0x02 0x00 0x1B ---0x10 0x03
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Next, the unit will send the specified number of packets containing the ephemeris information. An example packet is shown below. Each packet should be acknowledged as before (be sure to modify the ACK packet to indicate what type of packet being acknowledgedfor ephemeris data, the ID is 0x35). RX Packet: Ephemeris Data Byte Description Delimiter Ephemeris data ID Number of bytes in data Ephemeris data. Checksum calculation Delimiter End of packet Name DLE IOP_SPC_EPH_DATA SIZE DATA. CHKSUM DLE ETX HEX Value 0x10 0x35 0x78 ---. ---0x10 0x03

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Each data member of the ephemeris data structure is indexed into the data array of the ephemeris packet and cast as the appropriate data type. The indices are as follows (note that they correlate to the data members of the structure respectively):
#define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define #define IDX_EPH_WN IDX_EPH_TOC IDX_EPH_TOE IDX_EPH_AF0 IDX_EPH_AF1 IDX_EPH_AF2 IDX_EPH_URA IDX_EPH_E IDX_EPH_SQRTA IDX_EPH_DN IDX_EPH_M0 IDX_EPH_W IDX_EPH_OMG0 IDX_EPH_I0 IDX_EPH_ODOT IDX_EPH_IDOT IDX_EPH_CUS IDX_EPH_CUC IDX_EPH_CIS IDX_EPH_CIC IDX_EPH_CRS IDX_EPH_CRC IDX_EPH_IOD 116
The last packet will be a download complete packet that will look like this: TX Packet: Download Complete Byte Description Delimiter Download Complete ID Number of bytes in data Ephemeris Download ID Pad Checksum calculation Delimiter End of packet Name DLE IOP_DL_CMPLT SIZE IOP_DOWN_LOAD_EPH DATA CHKSUM DLE ETX HEX Value 0x10 0x0c 0x02 0x5D 0x00 ---0x10 0x03
After properly acknowledging this packet (ACK the IOP_DL_CMPLT ID), the ephemeris download is complete.
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APPENDIX D: SENSOR CONFIGURATION SOFTWARE
SNSRCFG configures the GPS sensors based on user-selected parameters. Some application features include the ability to download GPS sensor configuration, maintain different configurations in files, and perform GPS sensor configurations quickly with the use of one function key. This section provides a brief overview of the Sensor Configuration Software. Refer to this section when using the software to configure your Garmin sensor.
Downloading the Sensor Configuration Software
The Garmin Sensor Configuration Software (SNSRCFG.exe) is available from the Garmin Web site. To download the software, start at http://www.garmin.com/oem, select the GPS 16/17, and then select Software Updates. The Garmin Sensor Configuration Software (SNSRCFG.exe) is included in the software update download.

Selecting a Model

After opening the program (snsrcfg.exe), the following screen appears. Select the radio button next to the type of Garmin sensor you are configuring.

Connecting to the Sensor

After selecting the type of sensor, the following window opens. This is the Main Interface Screen for the program. To configure your sensor, you must first connect to the sensor. 1. 2. 3. Select Config > Switch to NMEA Mode (or press the F10 key). Select Comm > Setup to open the Comm Setup Window. Select the Serial Port to which the sensor is connected. Select Auto to have the program automatically determine the Baud Rate, or select Manual to manually select the Baud Rate of the GPS 16/17. Click OK when done. Click the Connect icon Comm > Connect. , or select
To view the current programming of the sensor, select Config > Get Configuration from GPS (or press the F8 key). The current programming of the sensor is displayed in the window shown to the right.
GPS 16/17 Technical Specifications Page 31

File Menu

The File Menu allows you to open, save, and print sensor configurations. The items in the File Menu work like most Windows-based programs.

Comm Menu

The Comm (Communication) Menu allows you to set the port number, baud rate, and then connect and disconnect from the sensor. Setup: Opens the Comm Setup Window, shown to the left. Select the Serial Port to which the sensor is connected from the drop-down list. Then select Auto (the program determines the baud rate on its own) or Manual (you then enter the baud rate) for the Baud Rate entry. Connect: Select Connect to connect to the sensor to change or view the configuration. Disconnect: Select Disconnect to disconnect from the sensor.

Config Menu

The Config (Configuration) Menu allows you configure the sensor as it is connected. Sensor Configuration (F6): Opens the Sensor Configuration Window, shown to the right. Many of the fields in this window should be left alone. Refer to the beginning of this manual for clarification about some of these fields. For the most part, this window is used to enter a new Latitude, Longitude, and Altitude for the sensor. This is especially helpful when you are programming the sensor for use in a particular geographic location. Resetting the Unit (Reset Unit) performs a reset on the unit, much like cycling the power. Resetting the non-volatile memory (Reset NonVol) will clear all of the data from the non-volatile memory. NMEA Sentence Selections (F7): Displays the NMEA Sentence Selections Window. If the sentence is enabled, a check mark appears in the box to the left of the sentence name. Click the box to enable or disable to the sentence.