Maretron GPS Receiver GPS200 User Manual

GPS200

GPS Antenna/Receiver

User’s Manual

Revision 1.2

Maretron, LLP

9014 N. 23^rdAve #10

Phoenix, AZ 85021-7850

http://www.maretron.com

Maretron Manual Part #: M002501

Revision 1.2

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Table of Contents

Introduction ....................................................................................................................... 1

1.1 Firmware Revision.................................................................................................... 1

1.2 GPS200 Features..................................................................................................... 1

Installation......................................................................................................................... 1

2.1 Unpacking the Box ................................................................................................... 1

2.2 Choosing a Mounting Locatio n ................................................................................. 1

2.3 Mounting the GPS200 .............................................................................................. 2

2.3.1 Mounting the GPS200 to a Horizontal Surface .............................................. 2

2.3.2 Mounting the GPS200 to a Standard Marine Pole Moun t .............................. 3

2.4 Connecting the GPS200........................................................................................... 4

2.4.1 Checking Connection s ................................................................................... 5

Operation .......................................................................................................................... 5

3.1 Magnetic Variation.................................................................................................... 6

Maintenance ..................................................................................................................... 6

Troubleshooting ................................................................................................................ 8

Technical Specifications.................................................................................................... 9

Technical Suppor t ........................................................................................................... 10

Installation Templat e ....................................................................................................... 11

Maretron (2 Year) Limited Warranty................................................................................ 12

Table of Figures

Figure 1 – Mounting the GPS200 to a flat surface..................................................................... 3

Figure 2 – Mounting the GPS200 to a Standard Marine Pole Mount......................................... 3

Figure 3 – GPS200 Interface Connector.................................................................................... 4

Figure 4 – NMEA 2000^®Connector Face Views ....................................................................... 5

Figure 5 – Horizontal Mounting Surface Template .................................................................. 11

Table of Appendices

Appendix A – NMEA 2000 Interfacing ..................................................................................... A1

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GPS200 User’s Manual

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1 Introduction

Congratulations on your purchase of the Maretron GPS200 GPS Antenna/Receiver. Maretron

has designed and built your GPS200 to the highest standards for years of reliable,

dependable, and accurate service.

The Maretron GPS200 is designed to operate within the harsh demands of the marine

environment. However, no piece of marine electronic equipment can function properly unless

installed and maintained in the correct manner. Please read carefully and follow these

instructions for installation and usage of the Maretron GPS200 in order to ensure optimal

performance.

1.1 Firmware Revision

This manual corresponds to GPS200 firmware revision 1.0.1.

1.2 GPS200 Features

The Maretron GPS200 has the following features.

• NMEA 2000^®Interface

• 32 Channel GPS Antenna/Receiver

• Up to 5Hz Position Update Rate

• Satellite Based Augmentation System (SBAS) capable (WAAS, EGNOS and MSAS)

• Accurate Location, COG and SOG Data to Any NMEA 2000^®Device Including Chart

Plotters, Autopilots, and Instrumentation Displays

• Magnetic Variation Output Based on World Magnetic Model

• Waterproof Enclosure and Cable System

2 Installation

2.1 Unpacking the Box

When unpacking the box containing the Maretron GPS200, you should find the following items:

1 - GPS200 GPS Antenna/Receiver

1 - Pole Mount Base

3 - Mounting Screws and Lock Washers

1 - GPS200 User’s Manual

1 - Warranty Registration Card

If any of these items are missing or damaged, please contact Maretron.

2.2 Choosing a Mounting Location

The selection of a suitable mounting location is important for the optimal performance of the

Maretron GPS200. The mounting location and orientation of the GPS200 should be:

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GPS200 User’s Manual

1. Level with the earth’s horizontal plane – This gives the GPS200 antenna the optimal view

of satellites from all directions.

2. High Enough to have a clear view of the sky to the horizon in all directions unblocked by

masts or antennas – The GPS200 provides the best readings when it has access to as

many satellites as possible.

3. As far as possible from VHF, satellite, or radar antennas – Radio frequency transmissions

from these antennas can interfere with the proper reception of GPS satellite signals by the

GPS200.

2.3 Mounting the GPS200

The Maretron GPS200 can be mounted directly on top of a horizontal surface (Section 2.3.1)

or on top of a 1” 14 threads per inch standard marine pole mount (Section 2.3.2).

2.3.1 Mounting the GPS200 to a Horizontal Surface

Attach the GPS200 securely to the vessel using the included brass mounting screws and

included lock washers or other fasteners as shown in Figure 1 (see mounting template in

Section 8 for drill pattern). Do not use threadlocking compounds containing methacrylate ester,

such as Loctite Red (271), as they will cause stress cracking of the plastic enclosure.

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Figure 1 – Mounting the GPS200 to a flat surface

2.3.2 Mounting the GPS200 to a Standard Marine Pole Mount

Screw the included GPS200 antenna mount base to the standard marine mount. Thread the

NMEA 2000^®cable through the standard marine mount and the antenna mount base from the

bottom out through the top and connect it to the GPS200 unit (see Section 2.4 below). Finally,

attach the GPS200 to the antenna mount base using the included brass mounting screws and

lock washers as shown in Figure 2. Do not use threadlocking compounds containing

methacrylate ester, such as Loctite Red (271), as they will cause stress cracking of the plastic

enclosure.

Figure 2 – Mounting the GPS200 to a Standard Marine Pole Mount

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GPS200 User’s Manual

2.4 Connecting the GPS200

The Maretron GPS200 provides a connection to an NMEA 2000^®interface through a

connector that can be found on the bottom of the device (see Figure 3).

NMEA 2000

^®

Connector

Figure 3 – GPS200 Interface Connector

The NMEA 2000^®connector is a five pin male connector (see Figure 4). You connect the

GPS200 to an NMEA 2000^®network using a Maretron NMEA 2000^®cable (or compatible

cable) by connecting the female end of the cable to the GPS200 (note the key on the male

connector and keyway on the female connector). Be sure the cable is connected securely and

that the collar on the cable connector is tightened firmly. Connect the other end of the cable

(male) to the NMEA 2000^®network in the same manner. The GPS200 is designed such that

you can plug or unplug it from an NMEA 2000^®network while the power to the network is

connected or disconnected. The cable should not hang on the GPS200 connector more than a

few feet without some sort of strain relief. For example, you wouldn’t want several feet of cable

hanging straight down within a mast without strain relieving the cable. Please follow

recommended practices for installing NMEA 2000^®network products.

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Figure 4 – NMEA 2000^®Connector Face Views

2.4.1 Checking Connections

Once the NMEA 2000^®connection to the Maretron GPS200 has been completed, check to see

that GPS information is being properly transmitted by observing an appropriate display. Refer

to Section 5, “Troubleshooting”, if no GPS information appears.

3 Operation

As shipped from the factory, the GPS200 automatically provides position, time, SOG, COG,

magnetic variation, and satellite information and requires no user configuration. However,

some of the GPS200 parameters are user configurable as described below:

• Device Instance - If you have more than one GPS on the vessel, you can configure

unique instances so listening devices can distinguish one GPS from another.

• Installation Description - You can configure a couple of special text fields within the

GPS200 with any text you desire. If you do configure these text fields, they will show up

with certain diagnostic tools (e.g., Maretron’s N2KAnalyzer software) and are useful for

things like location or when and who installed the GPS200.

• Periodic Rate of Transmission – As shipped from the factory, the GPS200 transmits

PGNs at a periodic rate. Alternatively, a PGN can be disabled by programming its

periodic rate to zero.

• Label - Labels are useful for identifying particular products on the network. For example

you might have two GPSs, one labeled “Primary GPS” and the other labeled “Backup

GPS”. When you go to build your favorite screens on Maretron’s DSM250 dedicated

display or N2KView software, you can easily identify which GPS you want to use for that

favorite screen.

• Satellite Based Augmentation System (SBAS) – the GPS200 may be programmed to

use differential correction or SBAS (WAAS in USA, EGNOS in Europe, MSAS in the Far

East), which is the factory default. You may disable the SBAS capability if desired.

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GPS200 User’s Manual

These parameters may be configured using a Maretron display (DSM250), or the parameters

can be configured using a Maretron NMEA 2000^®/USB gateway (USB100) and Maretron’s

N2KAnalyzer software.

Users with direct access to the NMEA 2000^®interface may configure these parameters directly

through the NMEA 2000^®interface. Please refer to Appendix A for a description of the NMEA

2000^®messages used to configure these parameters.

3.1 Magnetic Variation

Magnetic variation is the angular difference between the true meridian (great circle connecting

the geographic poles) and the magnetic meridian (direction of the lines of magnetic flux).

Magnetic variation has different values at different locations on the earth with most areas

undergoing change to the magnetic variation over time.

The GPS200 indicates magnetic variation anywhere on Earth using the World Magnetic Model

(WWM). It is important to understand that the WMM geomagnetic model only characterizes

that portion of the Earth’s magnetic field that is generated in the Earth’s fluid outer core (the

main magnetic field). The portions of the geomagnetic field generated by the Earth’s crust and

upper mantle, and by the ionosphere and magnetosphere, are not represented in the WMM.

Consequently, a magnetic sensor such as a compass or magnetometer may observe spatial

and temporal magnetic anomalies when referenced to the WMM. In particular, certain local,

regional, and temporal magnetic declination anomalies can exceed 10 degrees. Anomalies of

this magnitude are not common but they do exist. Declination anomalies of the order of 3 or 4

degrees are not uncommon but are of small spatial extent and are relatively isolated.

On land, spatial anomalies are produced by mountain ranges, ore deposits, ground struck by

lightning, geological faults, and cultural features such as trains, planes, tanks, railroad tracks,

power lines, etc. The corresponding deviations are usually smaller at sea, and decrease with

increasing altitude of an aircraft or spacecraft. In ocean areas, these anomalies occur most

frequently along continental margins, near seamounts, and near ocean ridges, trenches, and

fault zones, particularly those of volcanic origin. Ships and submarines are also sources of

magnetic anomalies in the ocean.

However, from a global main field perspective, the declination (D), inclination (I), and grid

variation (GV) RMS errors of WMM are estimated to be less than 1.0° at the Earth’s surface

over the entire 5-year life span of the model. Also, the RMS errors at the Earth’s surface

horizontal intensity (H), the vertical component (Z), and the total intensity (F) of WMM are

estimated to be well below 200 nT over the entire 5-year life of the model. Thus, the WMM

meets and exceeds the accuracy requirements detailed in MIL-W-89500 (Defense Mapping

Agency, 1993) for the entire life span of the model. To learn more about the WWM, please visit

http://www.ngdc.noaa.gov/geomag/WMM/DoDWMM.shtml.

4 Maintenance

Regular maintenance is important to ensure continued proper operation of the Maretron

GPS200. Perform the following tasks periodically:

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• Clean the unit with a soft cloth. Do not use chemical cleaners as they may remove

paint or markings or may corrode the GPS200 enclosure or seals. Do not use any

cleaners containing acetone, as they will deteriorate the plastic enclosure.

• Ensure that the unit is mounted securely and cannot be moved relative to the mounting

surface. If the unit is loose, tighten the mounting screws.

• Check the security of the cable connected to the NMEA 2000^®interface and tighten if

necessary.

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GPS200 User’s Manual

5 Troubleshooting

If you notice unexpected operation of the Maretron GPS200, follow the troubleshooting

procedures in this section to remedy simple problems.

Symptom

No data output

Troubleshooting Procedure

Check the connections to the NMEA

2000^®connector and tighten if

necessary

Ensure that power is supplied to the

connected NMEA 2000^®cable

Ensure that the GPS200 has a clear

view to the horizon in all directions

Ensure that no VHF, satellite, or radar

antennas have been mounted near the

GPS200

If these steps do not solve your problem, please contact Maretron Technical Support (refer to

Section 7 for contact information).

Warning: There are no user-serviceable components inside the Maretron GPS200. Opening

the GPS200 will expose the sensitive electronic components to adverse environmental

conditions that may render the unit inoperative. Please do not open the GPS200, as this will

automatically void the warranty. If service is required, please return the unit to an authorized

Maretron service location.

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6 Technical Specifications

Specifications

Parameter

Position Accuracy (Autonomous)

Position Accuracy (WAAS)

Channels

Value

<3m

<2.5m

Comment

2D RMS (95% of Data Falls Within 10m)

2D RMS (95% of Data Falls Within 3m)

Simultaneous Tracking of 32 Satellites

Tracking Sensitivity

Position Update Rate

Speed Update Rate

Time Update Rate

Hot Start

Warm Start

Cold Start

Satellite Based Augmentation

System

-159dBm

5 per Second

4 per Second

1 per Second

1 Seconds

33 Seconds

36 Seconds

WAAS

5 Hz Position Fix Calculation Rate

Start Within Hours of Last Power Down

Start Within Days of Last Power Down

Start from Unknown Position

North America

EGNOS

Europe

MSAS

Asia

Acceleration Limit

Altitude Limit

Velocity Limit

Jerk Limit

＜4g

＜18000 m

＜515 m/sec

20 m/sec³

Battery Backup

Lithium (4-5 Days) Holds Position for Hot/Warm Starts

Certifications

Parameter

Comment

NMEA 2000^®

Level A

Maritime Navigation and Radiocommunication Equipment & Systems

FCC and CE Mark

Tested to IEC 60945

Electromagnetic Compatibility

NMEA 2000^®Parameter Group Numbers (PGNs) - See Appendix A for Details

Description

Periodic Data PGNs

PGN #

126992 System Time

128259 Speed

PGN Name

Default Rate

1 Time/Second

Disabled

5 Times/Second

4 Times/Second

1 Time/Second

N/A

129025 Position, Rapid Update

129026 COG and SOG, Rapid Update

129029 GNSS Position Data

129539 GNSS DOPs

129540 GNSS Satellites in View

127258 Magnetic Variation

126464 PGN List (Transmit and Receive)

126996 Product Information

126998 Configuration Information

129538 GNSS Control Status

129541 GPS Almanac Data

059392 ISO Acknowledge

Response to Requested PGNs

Protocol PGNs

N/A

059904 ISO Request

N/A

060416 ISO Transport Protocol, Connection

Management

N/A

060160 ISO Transport Protocol, Data Transfer

060928 ISO Address Claim

065240 ISO Address Command

126206 NMEA

N/A

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GPS200 User’s Manual

Electrical

Parameter

Value

9 to 16 Volts

<100mA

Comment

Operating Voltage

DC Voltage

Power Consumption

Load Equivalence Number (LEN)

Reverse Battery Protection

Load Dump Protection

Average Current Drain

NMEA 2000^®Spec. (1LEN = 50 mA)

Indefinitely

Yes

Energy Rated per SAE J1113

Mechanical

Parameter

Size

Value

Comment

4” Diameter x 1.65” Tall Not Including Antenna Mount Base

Weight

6 oz.

Not Including Antenna Mount Base

Mounting

Deck or Pole

Environmental

Parameter

Value

Exposed

IP67

IEC 60954 Classification

Degree of Protection

Operating Temperature

Storage Temperature

Relative Humidity

Vibration

-25°C to 55°C

-40°C to 70°C

93%RH @40° per IEC60945-8.2

2-13.2Hz @ ±1mm, 13.2-100Hz @ 7m/s2 per IEC 60945-8.7

12.5mm Nozzle @ 100liters/min from 3m for 30min per IEC 60945-8.8

Ultraviolet B, A, Visible, and Infrared per IEC 60945-8.10

Rain and Spray

Solar Radiation

Corrosion (Salt Mist)

Electromagnet Emission

Electromagnetic Immunity

Safety Precautions

4 times 7days @ 40°C, 95%RH after 2 hour Salt Spray Per IEC 60945-8.12

Conducted and Radiated Emission per IEC 60945-9

Conducted, Radiated, Supply, and ESD per IEC 60945-10

Dangerous Voltage, Electromagnetic Radio Frequency per IEC 60945-12

7 Technical Support

If you require technical support for Maretron products, you can reach us in one of the following

ways:

Telephone: 1-866-550-9100

Fax: 1-602-861-1777

E-mail: [email protected]

World Wide Web: http://www.maretron.com

Mail: Maretron, LLC

Attn: Technical Support

9014 N. 23^rdAve Suite 10

Phoenix, AZ 85021 USA

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8 Installation Template

Please check the dimensions before using the following diagram as a template for drilling the

mounting holes; the printing process may have distorted the dimensions.

2.11”

Figure 5 – Horizontal Mounting Surface Template

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GPS200 User’s Manual

9 Maretron (2 Year) Limited Warranty

Maretron warrants the GPS200 to be free from defects in materials and workmanship for two (2) years from the

date of original purchase. If within the applicable period any such products shall be proved to Maretron’s

satisfaction to fail to meet the above limited warranty, such products shall be repaired or replaced at Maretron’s

option. Purchaser's exclusive remedy and Maretron’s sole obligation hereunder, provided product is returned

pursuant to the return requirements below, shall be limited to the repair or replacement, at Maretron’s option, of

any product not meeting the above limited warranty and which is returned to Maretron; or if Maretron is unable to

deliver a replacement that is free from defects in materials or workmanship, Purchaser’s payment for such

product will be refunded. Maretron assumes no liability whatsoever for expenses of removing any defective

product or part or for installing the repaired product or part or a replacement therefore or for any loss or damage

to equipment in connection with which Maretron’s products or parts shall be used. With respect to products not

manufactured by Maretron, Maretron’s warranty obligation shall in all respects conform to and be limited to the

warranty actually extended to Maretron by its supplier. The foregoing warranties shall not apply with respect to

products subjected to negligence, misuse, misapplication, accident, damages by circumstances beyond

Maretron’s control, to improper installation, operation, maintenance, or storage, or to other than normal use or

service.

THE FOREGOING WARRANTIES ARE EXPRESSLY IN LIEU OF AND EXCLUDES ALL OTHER EXPRESS OR

IMPLIED WARRANTIES, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF

MERCHANTABILITY AND OF FITNESS FOR A PARTICULAR PURPOSE.

Statements made by any person, including representatives of Maretron, which are inconsistent or in conflict with

the terms of this Limited Warranty, shall not be binding upon Maretron unless reduced to writing and approved by

an officer of Maretron.

IN NO CASE WILL MARETRON BE LIABLE FOR INCIDENTAL OR CONSEQUENTIAL DAMAGES, DAMAGES

FOR LOSS OF USE, LOSS OF ANTICIPATED PROFITS OR SAVINGS, OR ANY OTHER LOSS INCURRED

BECAUSE OF INTERRUPTION OF SERVICE. IN NO EVENT SHALL MARETRON’S AGGREGATE LIABILITY

EXCEED THE PURCHASE PRICE OF THE PRODUCT(S) INVOLVED. MARETRON SHALL NOT BE SUBJECT

TO ANY OTHER OBLIGATIONS OR LIABILITIES, WHETHER ARISING OUT OF BREACH OF CONTRACT OR

WARRANTY, TORT (INCLUDING NEGLIGENCE), OR OTHER THEORIES OF LAW WITH RESPECT TO

PRODUCTS SOLD OR SERVICES RENDERED BY MARETRON, OR ANY UNDERTAKINGS, ACTS OR

OMISSIONS RELATING THERETO.

Maretron does not warrant that the functions contained in any software programs or products will meet

purchaser’s requirements or that the operation of the software programs or products will be uninterrupted or error

free. Purchaser assumes responsibility for the selection of the software programs or products to achieve the

intended results, and for the installation, use and results obtained from said programs or products. No

specifications, samples, descriptions, or illustrations provided Maretron to Purchaser, whether directly, in trade

literature, brochures or other documentation shall be construed as warranties of any kind, and any failure to conform

with such specifications, samples, descriptions, or illustrations shall not constitute any breach of Maretron’s limited

warranty.

Warranty Return Procedure:

To apply for warranty claims, contact Maretron or one of its dealers to describe the problem and determine the

appropriate course of action. If a return is necessary, place the product in its original packaging together with

proof of purchase and send to an Authorized Maretron Service Location. You are responsible for all shipping and

insurance charges. Maretron will return the replaced or repaired product with all shipping and handling prepaid

except for requests requiring expedited shipping (i.e. overnight shipments). Failure to follow this warranty return

procedure could result in the product’s warranty becoming null and void.

Maretron reserves the right to modify or replace, at its sole discretion, without prior notification, the warranty listed

above. To obtain a copy of the then current warranty policy, please go to the following web page:

http://www.maretron.com/company/warranty.php

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Appendix A – NMEA 2000^®Interfacing

GPS200 NMEA 2000^®Periodic Data Transmitted PGNs

PGN 126992 – System Time

The GPS200 uses this PGN to provide a regular transmission of UTC time and date and to

provide synchronism for measurement data. The factory default for periodic transmission rate

is once per second. The transmission of this PGN can be disabled or the transmission rate of

this PGN can be changed (see PGN 126208 – NMEA Request Group Function – Transmission

Periodic Rate).

Field 1: SID – The sequence identifier field is used to tie related PGNs together. For

example, the GPS200 will transmit identical SIDs for 126992 (System Time), 128259

(Speed), 129026 (COG and SOG, Rapid Update), 129029 (GNSS Position Data),

129539 (GNSS DOPs), and 129540 (GNSS Satellites in View) to indicate that the

readings are linked together (i.e., the data from each PGN was taken at the same

time although they are reported at slightly different times).

2: Source – This field is used to indicate the type of time source, therefore this field

always reads as 0 (GPS).

3: Reserved (4 bits) – This field is reserved by NMEA; therefore, this field always

contains a value of 0xF (the GPS200 sets all reserved bits to a logic 1)

4: Date – This field is used to indicate the UTC Date in resolution of 1 day (the number

of days since January 1, 1970).

5: Time – This field is used to indicate the UTC Time in resolution of 1x10^-4s (24 hour

clock, 0.0000 = midnight).

PGN 127258 – Magnetic Variation

The GPS200 uses this PGN to provide a regular transmission of magnetic variation. The

factory default for periodic transmission rate is once per second. The transmission of this PGN

can be disabled or the transmission rate of this PGN can be changed (see PGN 126208 –

NMEA Request Group Function – Transmission Periodic Rate).

Field 1: SID – The sequence identifier field is used to tie related PGNs together. For

example, the GPS200 will transmit identical SIDs for 126992 (System Time), 128259

(Speed), 129026 (COG and SOG, Rapid Update), 129029 (GNSS Position Data),

129539 (GNSS DOPs), and 129540 (GNSS Satellites in View) to indicate that the

readings are linked together (i.e., the data from each PGN was taken at the same

time although they are reported at slightly different times).

2: Variation Source – The GPS200 uses the WMM2005 for variation, therefore this field

always reads as 5 (WMM2005).

3: Reserved (4 bits) – This field is reserved by NMEA; therefore, this field always

contains a value of 0xF (the GPS200 sets all reserved bits to a logic 1)

4: Age of Service (Date) – This field is used to indicate the UTC Date in resolution of 1

day (the number of days since January 1, 1970).

5: Variation – This field is used to indicate the magnetic variation where positive values

represent Easterly and negative values represent Westerly variation.

PGN 129025 – Position, Rapid Update

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Appendix A – NMEA 2000^®Interfacing

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The GPS200 uses this PGN to provide latitude and longitude referenced to WGS84. The

factory default for periodic transmission rate is 10 times per second. The transmission of this

PGN can be disabled or the transmission rate of this PGN can be changed (see PGN 126208

– NMEA Request Group Function – Transmission Periodic Rate).

Field 1: Latitude – Latitude in 1x10^-7degrees ("-" = south, “+” = north)

2: Longitude – Longitude in 1x10^-7degrees ("-" = west, “+” = east)

PGN 129026 – COG and SOG, Rapid Update

The GPS200 uses this PGN to provide Course Over Ground (COG) and Speed Over Ground

(SOG). The factory default for periodic transmission rate is four times per second. The

transmission of this PGN can be disabled or the transmission rate of this PGN can be changed

(see PGN 126208 – NMEA Request Group Function – Transmission Periodic Rate).

Field 1: SID – The sequence identifier field is used to tie related PGNs together. For

example, the GPS200 will transmit identical SIDs for 126992 (System Time), 128259

(Speed), 129026 (COG and SOG, Rapid Update), 129029 (GNSS Position Data),

129539 (GNSS DOPs), and 129540 (GNSS Satellites in View) to indicate that the

readings are linked together (i.e., the data from each PGN was taken at the same

time although they are reported at slightly different times).

2: COG Reference – This field is used to indicate the direction reference of the course

over ground. This field always reads as 0 (True, not magnetic).

3: Reserved (6 bits) – This field is reserved by NMEA; therefore, this field always

contains a value of 0x3F (the GPS200 sets all reserved bits to a logic 1)

4: Course Over Ground – This field is used to indicate the course over ground (COG)

in resolution of 1x10^-4radians.

5: Speed Over Ground – This field is used to indicate the speed over ground (SOG) in

resolution of 1x10^-2m/s.

6: Reserved (16 bits) – This field is reserved by NMEA; therefore, this field always

contains a value of 0xFFFF (the GPS200 sets all reserved bits to a logic 1)

PGN 129029 – GNSS Position Data

The GPS200 uses this PGN to convey a comprehensive set of Global Navigation Satellite

System (GNSS) parameters, including position information. The factory default for periodic

transmission rate is once per second. The transmission of this PGN can be disabled or the

transmission rate of this PGN can be changed (see PGN 126208 – NMEA Request Group

Function – Transmission Periodic Rate).

Field 1: SID – The sequence identifier field is used to tie related PGNs together. For

example, the GPS200 will transmit identical SIDs for 126992 (System Time), 128259

(Speed), 129026 (COG and SOG, Rapid Update), 129029 (GNSS Position Data),

129539 (GNSS DOPs), and 129540 (GNSS Satellites in View) to indicate that the

readings are linked together (i.e., the data from each PGN was taken at the same

time although they are reported at slightly different times).

2: Position date –UTC Date in resolution of 1 day (The number of days since January

1, 1970).

3: Position time – UTC Time in resolution of 1x10^-4s (24 hour clock, 0.0000 =

midnight).

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4: Latitude – Latitude in 1x10^-16degrees ("-" = south, “+” = north)

5: Longitude – Longitude in 1x10^-16degrees ("-" = west, “+” = east)

6: Altitude – Altitude referenced to WGS-84 in (resolution of 1x10^-6m)

7: Type of System – This field is used to indicate type of GPS system. The GPS200 will

show either 0 (GPS) or 3 (GPS+SBAS, factory default) dependent on whether the

user has enabled SBAS.

8: Method, GNSS – This field is used to indicate the quality of GNSS information. The

GPS200 indicates one of the following values: 0=no GPS, 1=GNSS fix, 2=DGNSS

fix, 6=Estimated (dead reckoning).

9: Integrity – This field always contains a value of 0 (no integrity checking).

10: Reserved (6 bits) – This field is reserved by NMEA; therefore, this field always

contains a value of 0x3F (the GPS200 sets all reserved bits to a logic 1)

11: Number of SVs – This field is used to indicate the number of satellites used in

solution.

12: HDOP – This field is used to indicate the horizontal dilution of precision with a

resolution of 1x10^-2(unitless).

13: PDOP – This field is used to indicate the positional dilution of precision with a

resolution of 1x10^-2(unitless).

14: Geoidal Separation – This field is used to indicate the Geoidal Separation in

resolution of 1x10^-2m.

15: Number of Reference Stations – This field always contains a value of 0

16: Reference Station Type "1" – This field always contains a value of 0xF (Null)

17: Reference Station ID "1" – This field always contains a value of 0xFFF (data not

available)

18: Age of DGNSS Corrections "1" – This field always contains a value of 0xFFFF (data

not available)

PGN 129539 – GNSS DOPs

The GPS200 uses this PGN to provide a single transmission containing GNSS status and

dilution of precision components (DOP) that indicate the contribution of satellite geometry to

the overall positioning error. There are three DOP parameters reported, horizontal (HDOP),

Vertical (VDOP) and time (TDOP). The factory default for periodic transmission rate is once

per second. The transmission of this PGN can be disabled or the transmission rate of this PGN

can be changed (see PGN 126208 – NMEA Request Group Function – Transmission Periodic

Rate).

Field 1: SID – The sequence identifier field is used to tie related PGNs together. For

example, the GPS200 will transmit identical SIDs for 126992 (System Time), 128259

(Speed), 129026 (COG and SOG, Rapid Update), 129029 (GNSS Position Data),

129539 (GNSS DOPs), and 129540 (GNSS Satellites in View) to indicate that the

readings are linked together (i.e., the data from each PGN was taken at the same

time although they are reported at slightly different times).

2: Set Mode – This field is used to indicate the desired mode of operation: 0 = 1D. 1 =

2D, 2 = 3D, 3 = Auto (factory default), 4-5 = Reserved, 6 = Error, 7 = Null. The

GPS200 will always return a value of 3 for this parameter.

3: Op Mode – This field is used to indicate the actual current mode of operation: 0 =

1D. 1 = 2D, 2 = 3D, 3 = Auto (factory default), 4-5 = Reserved, 6 = Error, 7 = Null.

Revision 1.2

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GPS200 User’s Manual

4: Reserved (2 bits) – This field is reserved by NMEA; therefore, this field always

contains a value of 0x3 (the GPS200 sets all reserved bits to a logic 1)

5: HDOP – This field is used to indicate the horizontal dilution of precision with a

resolution of 1x10^-2(unitless).

6: VDOP – This field is used to indicate the vertical dilution of precision with a

resolution of 1x10^-2(unitless).

7: TDOP – This field is used to indicate the time dilution of precision with a resolution of

1x10^-2(unitless).

PGN 129540 – GNSS Satellites in View

The GPS200 uses this PGN to provide the GNSS information on current satellites in view

tagged by sequence ID. Information includes PRN, elevation, azimuth, and SNR. Field 4

defines the number of satellites. Fields 5 through 11 defines the satellite number and the

information. Fields 5 through 11 are sequentially repeated for each satellite to be transmitted.

The factory default for periodic transmission rate is once per second. The transmission of this