MAN TECHNOLOGIE AG

GPS/GLONASS NR Navigation System Family

NR-N100
Technical Manual
 G P S / G L O N A S S N R N AV I G AT I O N S Y S T E M FA M I LY

NR-N100 Technical Manual

MAN Technologie AG
Franz-Josef-Strauß-Str. 5
D-86153 Augsburg
Tel.: +49-821-5052817
Fax: +49-821-5052850

MAN Technologie AG I NR-N100 Technical Manual

 NR-N100 Technical Manual

Copyright Notice

 Copyright 2001 by MAN Technologie AG. All rights reserved.

Document-Version: R-010101 V2.01 B07

No part of this manual may be stored in a retrieval system, transmitted, or reproduced by any
means, including, but not limited to photograph, digitizing, or otherwise, without the prior written
permission of MAN Technologie AG.

Trademarks

GPS/GLONASS and the MAN Technologie AG logo are trademarks of MAN Technologie AG.

Microsoft, Windows 95, and Windows NT are registered trademarks of Microsoft Corporation.

Edge Correlator and Strobe Correlator are registered trademarks of Ashtech Corporation.

All other product and brand names are trademarks or registered trademarks of their respective
holders.

Electro-Magnetic Conformity (EMC) Statement

THIS EQUIPMENT HAS BEEN TESTED AND FOUND TO COMPLY WITH THE LIMITS FOR A
CLASS B ITE (INFORMATION TECHNOLOGY EQUIPMENT), PURSUANT THE EUROPEAN
STANDARD EN 55022: 1995. THESE LIMITS ARE DESIGNED TO PROVIDE REASONABLE
PROTECTION AGAINST HARMFUL INTERFERENCE WHEN THE EQUIPMENT IS
OPERATED IN A COMMERCIAL ENVIRONMENT. THIS EQUIPMENT GENERATES, USES,
AND CAN RADIATE RADIO FREQUENCY ENERGY AND, IF NOT INSTALLED AND USED IN
ACCORDANCE WITH THE INSTRUCTION MANUAL, MAY CAUSE HARMFUL
INTERFERENCE TO RADIO COMMUNICATIONS. MANUFACTURER PROVIDED OR
RECOMMENDED SHIELDED INPUT/OUTPUT CABLES MUST BE USED FOR THIS
EQUIPMENT TO COMPLY WITH THE REGULATION LIMITS TESTED.

OPERATION OF THIS EQUIPMENT IN A RESIDENTIAL AREA IS LIKELY TO CAUSE

HARMFUL INTERFERENCE IN WHICH CASE THE USER WILL BE REQUIRED TO CORRECT
THE INTERFERENCE AT HIS OWN EXPENSE.

CHANGES OR MODIFICATIONS TO THE EQUIPMENT OR CABLES NOT SPECIFICALLY

APPROVED, IN WRITING, BY THE MANUFACTURER MAY VOID THE USER’S AUTHORITY
TO OPERATE THIS EQUIPMENT.

MAN Technologie AG II NR-N100 Technical Manual

 Conditions of Exchange / Use / Warranty

1. Customer Service at MAN Technologie AG must be contacted before returns are shipped to
MAN Technologie AG. Customer Service Personnel shall attempt to diagnose and resolve
any equipment problems. If MAN Technologie AG determines the product to be defective, it
must be returned, freight prepaid to the designated MAN Technologie AG Service Center. All
returns must be accompanied by a MAN Technologie AG assigned Return Merchandise
Authorization (RMA) Number. If a valid proof of purchase is provide to MAN Technologie AG
before shipment and the products has been purchase from an authorized MAN Technologie
AG dealer, warranty period may, at the discretion of MAN Technologie AG, be extended to
one year (365 days) from the purchase date.

2. MAN TECHNOLOGIE AG DOES NOT WARRANT DAMAGE DUE TO MISUSE, ABUSE,

IMPROPER INSTALLATION, NEGLECT, LIGHTNING (OR OTHER ELECTRICAL
DISCHARGE) OR FRESH/SALT WATER IMMERSION OR SPRAY OF MAN
TECHNOLOGIE AG PRODUCTS. REPAIR, MODIFICATION OR SERVICE OF MAN
TECHNOLOGIE AG PRODUCTS BY UNAUTHORIZED PERSON(S) OR PARTY(S) SHALL
RENDER THIS WARRANTY NULL AND VOID.

3. MAN TECHNOLOGIE AG DOES NOT WARRANT OR GUARANTEE THE FIT FOR A

PARTICULAR PURPOSE INTENDED BY THE USER, INCLUDING THE PRECISION OR
ACCURACY OF POSITIONS OBTAINED WHEN USING MAN TECHNOLOGIE AG
PRODUCTS. PRODUCTS ACCURACY AS STATED IN MAN TECHNOLOGIE AG
LITERATURE AND/OR PRODUCT SPECIFICATIONS SERVES TO PROVIDE ONLY
ESTIMATE OF ACHIEVABLE ACCURACY BASED ON:

 Specifications provided by the US Department of Defense (US DoD) for GPS Positioning,

 Specifications provided by the Coordinational Scientific Information Center of Russian Space

Forces ( KNITs VKS) for GLONASS Positioning,

 Radiobeacon network performance specifications of the appropriate agency, and

 MAN Technologie AG test results.

4. MAN Technologie AG reserves the right to modify MAN Technologie AG products without
any obligation to notify, supply or install any improvements, modifications or alterations to
existing products.

MAN Technologie AG III NR-N100 Technical Manual

Table of Contents

NR-N100 TECHNICAL MANUAL..................................................................................................................... II

Copyright Notice....................................................................................................................................... II
Trademarks............................................................................................................................................... II
Electro-Magnetic Conformity (EMC) Statement........................................................................................II
Conditions of Exchange / Use / Warranty................................................................................................. III

INTRODUCTION............................................................................................................................................... 1

STANDARD DELIVERY PACKAGE..................................................................................................................... 1

USING THE "SERVICE LEVEL“ MODE................................................................................................................ 1

MOUNTING INSTRUCTIONS.............................................................................................................................. 2
Mounting Bracket...................................................................................................................................... 2
Direct Mounting........................................................................................................................................ 3
Flush Mounting.......................................................................................................................................... 4

CONNECTION WITH EXTERNAL DEVICES.......................................................................................................... 5

Power Supply............................................................................................................................................. 6
Antenna Connection................................................................................................................................... 7
PC - Interface............................................................................................................................................ 8
Alarm- Interface........................................................................................................................................ 9
VGA-Interface............................................................................................................................................ 9
RS422 - Interface..................................................................................................................................... 10

DIALOGUE BETWEEN THE SATNAV CENTER AND NAVIGATOR........................................................................11

System instructions in the Terminal Mode................................................................................................ 11
Process Reports of the Navigator............................................................................................................. 13
System start without Initialization.........................................................................................................................13
System shutdown without memory delete.............................................................................................................13
System start with Initialization..............................................................................................................................14
System shutdown with Memory Delete.................................................................................................................14

DELETING THE MEMORY............................................................................................................................... 15

SHIP PARAMETERS........................................................................................................................................ 17
Why do I need a reference point for the Navigator and where is it?..........................................................17
How can I determine and configure the ship parameters?........................................................................17
Must the base of the antenna always be the ships reference point?...........................................................20

DATUM FORMAT CONVERTING....................................................................................................................... 21

The Standard Molodensky Formula.......................................................................................................... 21
Parameter of the Molodensky Formula.................................................................................................... 22

GAUSS-KRUEGER COORDINATE SYSTEM........................................................................................................ 25

Die Gauss-Krueger Parameters................................................................................................................ 25
Projection in the Gauss-Krueger Level in the Bessel-Reference system....................................................26
Calculation of the Hochwert:................................................................................................................................ 26
Calculation of the Rechtswert:..............................................................................................................................26

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 NMEA AND PROPRIETARY SENTENCE DESCRIPTIONS....................................................................................27
NMEA or Proprietary?............................................................................................................................. 28
The Sentence's.......................................................................................................................................... 28
Navigation and Waypoint Specific Data................................................................................................................29
GPBWC - Bearing & Distance to Waypoint......................................................................................................29
GPXTE - Cross-Track Error, Measured...........................................................................................................30
GPZTG - UTC Time to Destination Waypoint..................................................................................................30
GPVTG - Course Over Ground and Ground Speed............................................................................................31
GPRMB - Recommended Minimum Navigation Information...........................................................................31
GPRMC - Recommended Minimum Specific GPS/TRANSIT Data..................................................................32
Fix Information..................................................................................................................................................... 33
PASHRPOS - Ashtech Proprietary Sentence: Satellite Information...................................................................33
GPGLL - Geographic Position - Latitude/Longitude 1.5/2.1/2.3........................................................................34
GPGGA - Global Positioning System Fix Data.................................................................................................34
GNGNS - GNSS Fix Data.................................................................................................................................35
Syledis - Proprietary Sentence..........................................................................................................................36
GPZDA - Time & Date....................................................................................................................................36
GPSNU - Receiver Update Status.....................................................................................................................37
Gauss Krueger.................................................................................................................................................. 37
Satellite Information............................................................................................................................................. 38
PASHRSAT - Ashtech Proprietary Sentence: Satellite Information...................................................................38
GPGSV - GNSS Satellites in View...................................................................................................................39
GPGSA - GNSS DOP and Active Satellites......................................................................................................39
GPGRS - GNSS Range Residuals.....................................................................................................................40
GPGST - GNSS Pseudorange Noise Statistics...................................................................................................40
Input/Output messages.......................................................................................................................................... 41
__HDT - Heading, True.................................................................................................................................... 41
__ROT - Rate of turn........................................................................................................................................ 41
__ MWD - Wind Direction & Speed.................................................................................................................42
__MWV - Wind Speed and Angle.....................................................................................................................42
Additional Sentences............................................................................................................................................ 43
RTCM IN and RTCM OUT..............................................................................................................................43
Beacon OUT..................................................................................................................................................... 43
END NOTES........................................................................................................................................................ 44
Mode indicator chart:........................................................................................................................................ 44
GPS Quality Indicator:...................................................................................................................................... 44
GPS Mode indicator:........................................................................................................................................ 44
PASHRPOS position type:................................................................................................................................45

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Illustrations

ILLUSTRATION 1 MOUNTING BRACKET ASSEMBLY...............................................................................................2

ILLUSTRATION 2 CUTTING AND DRILLING REQUIREMENTS FOR DIRECT MOUNT....................................................3
ILLUSTRATION 3 CUTTING AND DRILLING REQUIREMENTS FOR FLUSH MOUNT......................................................4
ILLUSTRATION 4 REAR VIEW WITH CONNECTOR DESCRIPTIONS............................................................................5
ILLUSTRATION 5 INSTALLATION DRAWING OF THE COMPOSITE GPS/GLONASS/BEACON ANTENNA........................7
ILLUSTRATION 6 RS232 DIN PIN ASSIGNMENT.................................................................................................. 8
ILLUSTRATION 7 RS232 DIN PIN ASSIGNMENT.................................................................................................. 8
ILLUSTRATION 8 RS422 PIN ASSIGNMENT........................................................................................................ 10
ILLUSTRATION 9 RS422 – RS232 ADAPTER CONFIGURATION............................................................................10
ILLUSTRATION 10 OFFSET OF A BUOY (PART 1)............................................................................................. 17
ILLUSTRATION 11 OFFSET OF A BUOY (PART 2)............................................................................................. 18
ILLUSTRATION 12 OFFSET OF THE WORKPLACE................................................................................................ 19

Tables
TABLE 1 SATNAV CENTER TERMINAL MODE COMMANDS...................................................................................12
TABLE 2 NAVIGATOR DELIVERY PARAMETERS................................................................................................... 15
TABLE 3 MOLODENSKY FORMULA..................................................................................................................... 22
TABLE 4 GLOBAL REFERENCE SYSTEM PARAMETERS.........................................................................................24
TABLE 5 NMEA VERSIONS SUMMARY.............................................................................................................. 27
TABLE 6 GPBWC - BEARING & DISTANCE TO WAYPOINT.................................................................................29
TABLE 7 GPXTE - CROSS-TRACK ERROR, MEASURED......................................................................................30
TABLE 8 GPZTG - TIME TO DESTINATION WAYPOINT......................................................................................30
TABLE 9 GPVTG - COURSE OVER GROUND AND GROUND SPEED.....................................................................31
TABLE 10 GPRMB - RECOMMENDED MINIMUM NAVIGATION INFORMATION.......................................................31
TABLE 11 GPRMC - RECOMMENDED MINIMUM SPECIFIC GPS/TRANSIT DATA...................................................32
TABLE 12 PASHRPOS - ASHTECH PROPRIETARY SENTENCE.............................................................................33
TABLE 13 GPGLL - GEOGRAPHIC POSITION - LATITUDE/LONGITUDE................................................................34
TABLE 14 GPGGA - GLOBAL POSITIONING SYSTEM FIX DATA..........................................................................35
TABLE 15 GNGNS -GNSS FIX DATA.............................................................................................................. 35
TABLE 16 SYLEDIS PROPRIETARY SENTENCE..................................................................................................... 36
TABLE 17 GPZDA - TIME & DATE.................................................................................................................. 36
TABLE 18 GPSNU - RECEIVER UPDATE STATUS...............................................................................................37
TABLE 19 PARAMETER OF THE GAUSS-KRUEGER SENTENCE...............................................................................37
TABLE 20 PASHRSAT - ASHTECH PROPRIETARY SENTENCE..............................................................................38
TABLE 21 GPGSV - SATELLITES IN VIEW......................................................................................................... 39
TABLE 22 GPGSA - GNSS DOP AND ACTIVE SATELLITES................................................................................39
TABLE 23 GPGRS - GNSS RANGE RESIDUALS................................................................................................. 40
TABLE 24 GPGST - GNSS PSEUDORANGE NOISE STATISTICS............................................................................40
TABLE 25 HDT - HEADING TRUE.................................................................................................................... 41
TABLE 26 ROT - RATE OF TURN..................................................................................................................... 41
TABLE 27 MWD - WIND DIRECTION & SPEED................................................................................................. 42
TABLE 28 MWV - WIND SPEED & ANGLE........................................................................................................ 42
TABLE 29 MODE INDICATOR CHART - VALUES.................................................................................................. 44
TABLE 30 GPS QUALITY INDICATOR - VALUES.................................................................................................. 44
TABLE 31 GPS MODE INDICATOR - VALUES..................................................................................................... 44
TABLE 32 GPS MODE INDICATOR - VALUES..................................................................................................... 45

MAN Technologie AG VI NR-N100 Technical Manual

 Introduction
This manual covers unit assembly, basic connections, and additional connections to external
devices for the "NR-N100 GPS/GLONASS Marine Navigator“ – referred to in the remainder
of the text as the "Navigator." The contents are geared towards the technically oriented
person.

Standard Delivery Package

The Navigator is delivered with a custom power supply cable.

The following equipment is optional:

 Antenna cable up to 30m in length

 Antenna amplifier
 RS232 connection cable
 Antenna - GNSS or GNSS/Beacon

Using the "Service Level“ mode

Parameters that have been determined critical to system performance have been password
protected (see Users Manual, SET3 screen). To free access to these critical parameters, the
correct password must be entered in the Service Level portion of the SET3 screen.

The current password is: service

The Password MUST be entered in lower case characters. When the correct password is
entered the Service Level status changes to "Free." ALL parameters can now be modified.
After parameter modification has been completed, the Navigator must be switched off, then
restarted to reset the Service Level back to its normal setting, "Locked", To change critical
parameters again, the password must be again entered.

MAN Technologie AG 1 NR-N100 Technical Manual

Mounting Instructions
The Navigator can be mounted using one of three different methods to satisfy various mounting
requirements.

 Mounting bracket

 Direct Mount

 Flush Mount

Mounting Bracket

The Navigator attaches to the mounting bracket via swivel mount created by two hand screws
with rubber bushings. The rubber bushings are placed between the Navigator and the mounting
bracket both sides to absorb shock.

ILLUSTRATION 1 MOUNTING BRACKET ASSEMBLY

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 Direct Mounting

The following diagram is provided to assist in direct mounting the Navigator into a console:

ILLUSTRATION 2 CUTTING AND DRILLING REQUIREMENTS FOR DIRECT MOUNT

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Flush Mounting

The following diagram is provided to assist in flush mounting the Navigator into a console:

ILLUSTRATION 3 CUTTING AND DRILLING REQUIREMENTS FOR FLUSH MOUNT

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 Connection with External Devices
The back side of the Navigator contains all connections for external devices and accessories.

An external VGA monitor can be used by simply plugging a standard monitor into the VGA port.

Four RS422 type ports (COM1 - COM4) are provided as I/O interfaces for interconnectivity with
other NMEA supported devices.

The Alarm I/O is designed to interface with a ships on-board alarm system

The RS232 port is provided for a direct connection to a PC (or laptop) for use with the SatNav
Center software.

ILLUSTRATION 4 REAR VIEW WITH CONNECTOR DESCRIPTIONS

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Power Supply

The Navigator was developed to operate at 12 or 24 Volts, however, it can operate at any direct
current (DC) voltage between 12 and 36 Volts.

Connection to the power supply is via a water proof, 3-pin DIN plug with a shielded cable. A
custom cable comes with the unit.

Even with the built-in safety mechanisms and the short-circuit prevention capabilities of the
Navigator, it should only be connected to an adequate power supply to ensure the protection of
the connection cable. A fuse should be installed as close as possible to the power source. This
measure doesn't serve for the protection of the Navigator, but primarily the protection of the
power cable (a short circuit in the power supply can the cause heavy damages to the connection
cable if a fuse is not used).

ATTENTION

To avoid damages to the navigator, the

power supply shoud be shut off when it is
unplugged and plugged in.

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 Antenna Connection

The antenna should be mounted in a suitable place free of overhead obstructions. It is

connected to the Navigator via a TNC-coaxial interface attached with a waterproof screw-on plug.
The antenna is powered by 12 volts through the connection cable - a separate power supply is
not required.

ILLUSTRATION 5 INSTALLATION DRAWING OF THE COMPOSITE GPS/GLONASS/BEACON ANTENNA

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PC - Interface

The Navigator is designed to interface directly with a Personal Computer or laptop. To make this
connection, simply plug one end of a null-modem cable into a computers com port and the other
into the RS232 Interface port on the Navigator. The RS232 port is by a standard 9-pin D-
subminiature (D-SUB) connector. The "SatNav Center" configuration software is used to
update/upgrade the Navigator's software and firmware, perform diagnostics, upload/download
databases, etc. See the SatNav Center Manual for a complete description of its capabilities. The
following is a description of the D-SUB connector:

Pin Assignment
1 Ground
2 T1 out
3 R1 in
4 Not used
5 Ground
6 Not used
7 Not used
8 Not used
9 Not used

ILLUSTRATION 6 RS232 DIN PIN ASSIGNMENT

Theoretically, three lines are sufficient for the connection to the PC using the following connection
scheme. The use of a 9-Pin D-SUB null-modem cable is used for direct connection to a free
serial COM port on a PC or laptop.

ILLUSTRATION 7 RS232 DIN PIN ASSIGNMENT

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 Alarm- Interface

The Navigator can be attached to an external Alarm-interface (User I/O) by attaching an optional
cable with an external MOB button. Pressing the external MOB button will trigger the same MOB
function, as if it was pressed directly on the Navigator surface. More information is provided with
the optional connection cable.

VGA-Interface

An external VGA monitor can be used by simply plugging a standard monitor into the VGA port.

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RS422 - Interface

The Navigator comes equipped with four RS422 Interfaces to input and output navigational
information. These COM ports provide connections with various external devices such as a Gyro
compass, ROT sensor, LOG sensors, Chart plotter, etc. The RS422 interface is via 9 D-SUB
connections. The I/O1and I/O2 screens provide complete control of the COM ports.

Depending on the Navigators serial number, the following connections apply:

Pin Serial # 01-32 Serial # over 33

1 Not connected T+
2 R+ Not connected
3 R– R–
4 T+ Not connected
5 Ground Not connected
6 Not connected T–
7 Not connected Not connected
8 T– R+
9 Not connected Not connected

ILLUSTRATION 8 RS422 PIN ASSIGNMENT

By using an adapter, every RS422 interface of the Navigator can be configured to match any
external device with a RS232 Interface type connection plug. The following adapter
configurations exist for the corresponding serial numbers:

Navigator Serial Number 01 – 32:

Navigator Serial Number over 33:

ILLUSTRATION 9 RS422 – RS232 ADAPTER CONFIGURATION

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 Dialogue between the SatNav Center and Navigator
The SatNav Center and the Navigator provide system instructions, dialog reports, and process
reports. There is the possibility to directly influence the hardware operation, to monitor and
control the operational status.

System instructions in the Terminal Mode

ATTENTION!!!
Improper and/or Invalid use of the system
instructions can cause serious problems in
the proper functionality of the Navigator.

With the connection between a Personal Computer and the Navigator in place (see page 8), The
following system instructions are available in the Terminal Mode of the SatNav Center.

Command Parameter Reply Description

HELP Display commands
MD <address> [<length>] [:b|w|l] Display memory
MM <address> <value> [:b|w|l[n]] Modify memory
MF <address> <length> <value> Fill memory
[:b|w|l]
LO <address> Load binary data (X-Modem)
UP <address> <length> Upload data (X-Modem)
ERA [<sector>] Erase flash memory
BAUD <baud rate> Set baudrate
START Start application program
RESET Reset
GO <address> Goto
FID Display flash memory ID
ON Switch power supply on
OFF Switch power supply off
SNCSysStopOD OK SNC-Sys-Stop-OD
SNCSysStopMD OK SNC-Sys-Stop-MD
SNCSysStartOD OK SNC-Sys-Start-OD
SNCSysStartMD OK SNC-Sys-Start-MD
SNCSysDataSave OK SNC-Sys-Data-Save
SNCSysDataDelete OK SNC-Sys-Data-Delete
SNCSysHallo OK SNC-Sys-Hallo (hello)
SNCSysVersion Detailed system information
SNCSysSetLED OK Set LED for analysis
SNCDiagnose OK Start diagnostic mode
SNCDataError OK Transfer error-log record

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Command Parameter Reply Description
SNCDataDelError OK Delete error-log
SNCDataEvent OK Transfer event-log record
SNCDataDelEvent OK Delete error-log
SNCSysDisplayOn OK SNC-Sys-DisplayOn
SNCSysDisplayOff OK SNC-Sys-DisplayOff
SNCSysTransfer TransferTyp (see below) SNC-Sys-Transfer
SNCLoadDCUMTO OK SNC-Load-DCU-MTO
SNCLoadDCUOTO OK SNC-Load-DCU-OTO
SNCLoadBeacMTO OK SNC-Load-Beac-MTO
SNCLoadBeacOTO OK SNC-Load-Beac-OTO
SNCLoadGGXXMTO OK SNC-Load-GGXX-MTO
SNCLoadGGXXOTO OK SNC-Load-GGXX-OTO
SNCTermGGXXA Baudrate (see below) OK SNC-Term-GGXX-A
SNCTermGGXXB Baudrate (see below) OK SNC-Term-GGXX-B
SNCTermRS422 Baudrate Interface (s. below) OK SNC-Term-RS422
SNCTermBeacon Baudrate (see below) OK SNC-Term-Beacon

TABLE 1 SATNAV CENTER TERMINAL MODE COMMANDS

Parameter TransferTyp:

1: Upload WPT
2: Upload ROU
3: Upload Schiff (Ship)
4: Download WPT
5: Download ROU
6: Download Schiff (Ship)

Parameter Baudrate:

1: 1200
2: 2400
3: 4800
4: 9600
5: 19200
6: 38400
7: 57600
8: 115200

Parameter Schnittstelle: (Interface)

1: RS422-1
2: RS422-2
3: RS422-3
4: RS422-4

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 Process Reports of the Navigator

Every time the Navigator is started or shut down a process report is delivered over the
PC/Navigator Interface. If the SatNav Center is in Terminal Mode when the Navigator is started
and shutdown, a detailed report of the programs internal processes is displayed with help from
the process reports. By activating the Protokollfunktion (data recording - see the SNCenter
Manual) a complete report is saved into a file.

The following lists demonstrate what a correct startup or shutdown will look like:

System start without Initialization

MC68332-Loader Version 1.00 17.10.00
Copyright 1995..1997 by Wildmoser electronic
application program found at $00020000
InitSIM()...OK
InitQSM()...OK
InitPIO()...OK
RAM-Test...OK
Init System begin...InitTPU()...OK
InitCan1()...OK
InitSCC()...OK
InitDCU()...OK
InitFlash()...OK
Init DCU Tastatur()...OK
Init GlobaleVars()...OK
Init DcuVars()...OK
Init MenueVars()...OK
Init Wegpunkte()...OK
Init Routen()...OK
Init RouterDisplay()...OK
Init EventLog()...OK
Init ErrorLog()...OK
Init UserData()...OK
init Fensterstatus()...OK
Init UserVars()...OK
Init BecMessages()...OK
Init PosLogGrafic()...OK
Init Read Eprom Data()...OK
Init Set Eprom Data()...OK
Init ComXTask()...OK
Init Alert()...OK
Init Router()...OK
Init Usertask()...OK
Init System Ready()...OK

System shutdown without memory delete

System: shut down begin...
System: save Parameter()...OK
System: shutdown Receiver()...OK
System: shutdown Beacon()...OK
System: shutdown NR-N100()...OK
System: shut down ready

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System start with Initialization
If the Navigator detects an error in a database during the system start or if a memory delete was
made (see page 15) an initialization is made automatically during the next system start.

MC68332-Loader Version 1.00 17.10.00

Copyright 1995..1997 by Wildmoser electronic
application program found at $00020000
InitSIM()...OK
InitQSM()...OK
InitPIO()...OK
RAM-Test...OK
Init System begin...InitTPU()...OK
InitCan1()...OK
InitSCC()...OK
InitDCU()...OK
InitFlash()...OK
Init DCU Tastatur()...OK
Init GlobaleVars()...OK
Init DcuVars()...OK
Init MenueVars()...OK
Init Wegpunkte()...OK
Init Routen()...OK
Init RouterDisplay()...OK
Init EventLog()...OK
Init ErrorLog()...OK
Init UserData()...OK
init Fensterstatus()...OK
Init UserVars()...OK
Init BecMessages()...OK
Init PosLogGrafic()...OK
Init Read Eprom Data()...FAILED
Init Set Eprom Data()...OK
Init ComXTask()...OK
Init Alert()...OK
Init Router()...OK
Init EEPROM()...OK
Init Usertask()...OK
Init System Ready()...OK

System shutdown with Memory Delete

If a memory delete was made (see page 15), the system shuts down in the following way.

System: shut down begin...

System: save Parameter()...FAILED
System: shutdown Receiver()...OK
System: shutdown Beacon()...OK
System: shutdown NR-N100()...OK
System: shut down ready

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 Deleting the Memory
In this section, "Memory" is defined as the "RAM" and temporary parts of the "ROM." All
databases, ship parameters, and user-defined settings will be reset.

It is possible to delete the Navigators memory by pressing a particular key-sequence. This has
the following consequences.

 All Databases (Waypoint and Route databases, and ship parameters) are deleted

 All defaults defined in SET3 – SET10 are cleared and reset to factory installation parameters
as described in SET11

 Individual device settings (e.g. the last active screen that is saved for the startup sequence)
are deleted

 The following parameters are reset to the original delivery values:

Screen Parameter Value

I/O1 & I/O2 Unit Receive Off
Unit Send Off
Set Off
Baud Rate 4800
Baud Data bits 8
Baud Stop bits 1
Baud Parity N
BEAC1 Mode, Depending on the
Frequency, Bps Beacon
Max. Age 30
Check Seq. Off
Check Stat. ID Off
SET1 Name Antenna
Place 1 – Place 10
Vers. Bow +000.00
Vers. Starboard +000.00
Vers. Up +000.00
SET2 Name User A – User J
Pass 00000000
Display --------X--------
Keyboard --------X--------
Kontrast --------X--------
Buzzer On
Key. Buzzer On
Key Time 500

TABLE 2 NAVIGATOR DELIVERY PARAMETERS

The Navigator will be configured as it was upon delivery.

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 ATTENTON –Data can be LOST!!

THE FOLLOWING STEPS ARE MANDATORY.

To avoid loss of critical data, the following steps MUST be taken BEFORE
deleting the memory:
1. The Waypoint and Route databases as well as the ship parameters must first
be manually saved (see the Navigator Users Manual).
2. The databases and ship parameters must be downloaded from the Navigator
to the Personal Computer using the respective menu items in the SatNav Center
(see the SatNav Center Manual).
3. After the memory is deleted and the Navigator is restarted, the databases and
ship parameters can be uploaded to the Navigator using the respective menu
items in the SatNav Center. (see the SatNav Center Manual).

Procedure for deleting the Navigators memory:

 While the Navigator is running, press the ON/OFF switch.

 As described in the Navigator Users Manual, a confirmation request/selection becomes

available with the three softkeys "Cancel“, "Save“ and "Enter“.

 Press the "MOB" function key one time. Then select the "Enter" softkey. NO VISIBLE
INDICATION IS DISPLAYED WHEN SELECTING THE MEMORY DELETE. By pressing the
"MOB" key before the softkey "Enter," the Navigators memory is wiped clean. The Navigator
will APPEAR to simply shut down.

 Switch the Navigator back on by pressing the ON/OFF Key to start it. All parameters will be
set to delivery specifications.

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 Ship Parameters
There seems to be difficulty for most people to understand the logic behind "Ship Parameters."
The following exercise in determining the ship parameters and configuring the Navigator to reflect
these calculations should fully explain the process.

Why do I need a reference point for the Navigator and where is it?

The Navigator receives the satellite signal and all associated information through the Antenna.
Using this information, the Navigator can calculate an exact position (where the signals are
received) for the base of the antenna. So, it obvious to select the antenna base for the reference
of the ship.

Notice: ANY point on the ship can be used as the reference point. The reader should not be too
concerned about choosing the perfect reference point at this time, as it can be changed a later
time. This will be explained further in the following text.

How can I determine and configure the ship parameters?

The ship parameters are measured as Offset "Bow" (Y in meters), Offset " Starboard" (X in
meters), and Offset "UP" (Z in meters).

Example1: The offset of a buoy to the reference point DGPS-Antenna is established.

ILLUSTRATION 10 OFFSET OF A BUOY (PART 1)

MAN Technologie AG 17 NR-N100 Technical Manual

 1) In this case, the base for the Navigator-Antenna is selected as the reference point
2) Using this reference point the Offset "Bow" of the Buoy is now determined. How far is
Buoy located forward from the reference point looking in the direction of the Bow?
Answer: "YT meter." This is our Offset "Bow" for the Buoy.
3) The same procedure for the Offset "Starboard" of the Buoy applies: How far is Buoy
located forward from the reference point looking in the Starboard direction? Answer:
"XT Meter." This is our Offset "Starboard" for the Buoy.

ILLUSTRATION 11 OFFSET OF A BUOY (PART 2)

4) To determine the offset "UP" of the Buoy, you must determine how much higher the
Buoy is from the reference point. This value is the offset "UP" in our example the Buoy
is below the reference point. Since there is no such thing as an offset "down," a
negative "UP" value must be used (A value with a minus sign "-"). A negative value
must be used to express a direction opposite of the three defined axis. What is the
value of the offset "UP" in our example? It is "ZT meter," where the value in this case is
negative.

MAN Technologie AG 18 NR-N100 Technical Manual

 Example 2: A workplace is to be defined. The offset is from the reference point (antenna)
to the workplace (Z1). In addition, the offset from the workplace to the buoy will be
determined.

ILLUSTRATION 12 OFFSET OF THE WORKPLACE

MAN Technologie AG 19 NR-N100 Technical Manual

 1) The base of the antenna is the reference point.
2) Using this reference point the workplace offset is determined
3) The same procedure is used as in example 1. So the following values apply:
The Offset "Starboard“ becomes "X1" meters", the Offset "Bow“ becomes "Y1 meter,"
and the Offset "UP“ becomes "Z1 m meter, where "Z1 " is again a negative value.
4) Now the offset from the workplace to the Buoy can be determined. As in example 1,
the following values apply: The offset "Starboard“ becomes "X T1 meter," the offset
"Bug“ becomes "YT1 meter," and the offset "UP" becomes "ZT1 meter", where "ZT1"
again is a negative value.
5) To configure the Navigator with the ship parameters, these values "Z 1" must be
entered into the SET1 screen. The PC-Program SatNav Center provides an easy-to-
use interface (see the SatNav Center manual for details)

Must the base of the antenna always be the ships reference point?

As explained above the base of the antenna must not necessarily be defined as the reference
point of the ship. Any point on the ship can be defined as the reference point, however:

The antenna location must be defined as an offset point, and all other workplaces on the ship
must be offset to the initial offset of the antenna. This is not a recommended configuration.

MAN Technologie AG 20 NR-N100 Technical Manual

 Datum format converting
The Navigator uses a two step calculation process to convert a data reference system from one
format to another:

Reference system 1  WGS84  Reference system 2

The conversions are essentially based on the "Standard Molodensky Datum Transformation
Formulas.“ By using this formula, the values for latitude, longitude, and altitude can be converted
from one local reference system to the WGS84 format and then back to a local reference system
for display.

It would be beyond the scope of this manual to fully explain the formulas. Therefore, the formulas
are written out with a short explanation of the parameters. A thorough explanation can be found
in the US DoD manual: DMA Technical Report 8350.2 – Department of Defense: World geodetic
System 1984, Its Definition and Relationships with Local Geodetic Systems, 2 nd Edition, 01.
September 1991.

The Standard Molodensky Formula

  = { -  X sin  cos  -  Y sin  sin  +  Z cos  +  a (RN e 2 sin  cos ) / a

+  f [RM (a / b) + RN (b / a) ] sin  cos }

  = { -  X sin  +  Y cos ]  [ (RN + h) cos  sin 1 “ ] –1

 h =  X cos  cos  +  Y cos  sin  +  Z sin  -  a (a / RN) +  f (b / a) RN sin 2 

When the Standard Molodensky Formula is used in the Polar Regions (between 89° Latitude and
the pole) unsatisfactory results appear. Therefore, the Navigator uses an additional three-step
calculation to realize better results.

(, , h) lokal (X, Y, Z) lokal

( X,  Y,  Z)

(, , h) WGS (X, Y, Z) WGS 84

84

MAN Technologie AG 21 NR-N100 Technical Manual

Parameter of the Molodensky Formula

In the following Table the word "Ellipsoid“ always means the "Reference ellipsoid of the local
Reference chart data".

Parameter Description
 Geodetic Latitude. The angle between the plane of the geodetic equator
and the ellipsoidal normal at a point (measured positive north from the
geodetic equator, negative south)
 Geodetic Longitude. The angle between the plane of the Zero Meridian and
the plane of the geodetic meridian of the point (measured in the plane of the
geodetic equator, positive from 0 to 180 E, and negative from 0 180 W).
h Geodetic Height. (ellipsoidal height) The distance of a point from the
ellipsoid measured from the surface of the ellipsoid along the ellipsoidal
normal to the point.
h N+H
N Ellipsoid to geoid separation. The distance of the geoid above (+N) or below
(-N) the ellipsoid.
H Distance of a point from the geoid (or, approximately, elevation of the point
above/below mean sea level); positive above mean sea level, negative
below mean sea level.
 ,  ,  h Corrections to transform local geodetic datum coordinates to WGS 84 , ,
h values. The units of   and   arc seconds ("); the units of  h are
meters (m).
 X,  Y,  Z Shifts between centers of the local geodetic datum and WGS-84 Ellipsoids;
corrections to transform local geodetic system-related rectuangular
coordinates (X,Y,Z) to WGS 84-related X,Y,Z values.
a Semimajor axis of the local geodetic datum ellipsoid.
b Semiminor axis of the local geodetic datum ellipsoid.
b/a =1–f
f Flattening of the local geodetic datum ellipsoid.
a Difference between the semimajor axis of the geodetic datum ellipsoid and
the WGS84 Ellipsoid, (WGS84 minus Local)
f Difference between the flattening of the geodetic datum ellipsoid and the
WGS84 Ellipsoid, (WGS84 minus Local)
e First eccentricity
e2 2f - f2
RN a / (1 - e 2 sin 2 ) 1 / 2
radius of curvature in the prime vertical

RM a (1- e 2 ) / (1 - e 2 sin 2 ) 3 / 2
radius of curvature in the meridian

TABLE 3 MOLODENSKY FORMULA

MAN Technologie AG 22 NR-N100 Technical Manual

 The following values for the basic parameters are used in the Navigator:

Dat-ID a f a invers_f x y z
W84 0 0 1 1 0 0 0
W72 2 0.00031211 6378135.0 298.26 0 0 5
EUR -251 -0.14192702 6378388.0 297 -87 -98 -121
NAS -69.4 -0.37264639 6378206.4 294.9786982 -8 160 176
NAR 0 -0.00000016 6378137.0 298.2572221 0 0 0
ADI -112.145 -0.54750714 6378249.145 293.465 -162 -12 206
AFG -108 0.00480795 6378245.0 298.3 -43 -163 45
AIN -251 -0.14192702 6378388.0 297 -150 -251 -2
ANO -23 -0.00081204 6378160.0 298.25 -491 -22 435
ARF -112.145 -0.54750714 6378249.145 293.456 -143 -90 -294
ARS -112.145 -0.54750714 6378249.145 293.456 -160 -8 -300
ASC -251 -0.14192702 6378388.0 297 -207 107 52
ATF -251 -0.14192702 6378388.0 297 145 75 -272
ast -251 -0.14192702 6378388.0 297 114 -116 -333
SHB -251 -0.14192702 6378388.0 297 -320 550 -494
ASQ -251 -0.14192702 6378388.0 297 124 -234 -25
AUA -23 -0.00081204 6378160.0 298.25 -133 -48 148
AUG -23 -0.00081204 6378160.0 298.25 -134 -48 149
ban 838.444 0.28361368 6377298.556 300.8017 289 734 257
IBE -251 -0.14192702 6378388.0 297 -127 -769 472
BER -112.145 -0.54750714 6378249.145 293.465 -73 213 296
BOO -251 -0.14192702 6378388.0 297.0 307 304 -318
CAI -251 -0.14192702 6378388.0 297.0 -148 136 90
CAO -251 -0.14192702 6378388.0 297.0 298 -304 -375
CAP -112.145 -0.54750714 6378249.145 293.465 -136 -108 -292
CAC -69.4 -0.37264639 6378206.4 294.9786982 -2 150 181
CGE -112.145 -0.54750714 6378249.145 293.465 -263 6 431
CHI -251 -0.14192702 6378388.0 297.0 175 -38 113
CHU -251 -0.14192702 6378388.0 297.0 -134 229 -29
COA -251 -0.14192702 6378388.0 297.0 -206 172 -6
BAT 739.845 0.10037483 6377397.155 299.1528128 -377 681 -50
GIZ -251 -0.14192702 6378388.0 297.0 230 -199 -752
EAS -251 -0.14192702 6378388.0 297.0 211 147 111
ewe -251 -0.14192702 6378388.0 297.0 -87 -96 -120
ecy -251 -0.14192702 6378388.0 297.0 -104 -101 -140
eeg -251 -0.14192702 6378388.0 297.0 -130 -117 -151
eir -251 -0.14192702 6378388.0 297.0 -117 -132 -164
esi -251 -0.14192702 6378388.0 297.0 -97 -88 -135
EUS -251 -0.14192702 6378388.0 297.0 -86 -98 -119
fin -251 -0.14192702 6378388.0 297.0 -78 -231 -97
gan -251 -0.14192702 6378388.0 297.0 -133 -321 50
GEO -251 -0.14192702 6378388.0 297.0 84 -22 209
GUA -69.4 -0.37264639 6378206.4 294.9786982 -100 -248 259
DOB -251 -0.14192702 6378388.0 297.0 252 -209 -751
HJO -251 -0.14192702 6378388.0 297.0 -73 46 -86
HKD -251 -0.14192702 6378388.0 297.0 -156 -271 -189
ivi 860.655 0.28361368 6377276.345 300.8017 214 836 303
iin 860.655 0.28361368 6377276.345 300.8017 289 734 257
IRL 796.811 0.11960023 6377340.189 299.3249646 506 -122 611
IST -251 -0.14192702 6378388.0 297.0 208 -435 -229
JOH -251 -0.14192702 6378388.0 297.0 191 -77 -204
KAN 860.655 0.28361368 6377276.345 300.8017 -97 787 86
KEG -251 -0.14192702 6378388.0 297.0 145 -187 103
KEA 832.937 0.28361368 6377304.063 300.8017 -11 851 5
LCF -69.4 -0.37264639 6378206.4 294.9786982 42 124 147
LIB -112.145 -0.54750714 6378249.145 293.465 -90 40 88
LUZ -69.4 -0.37264639 6378206.4 294.9786982 -133 -77 -51
lzm -69.4 -0.37264639 6378206.4 294.9786982 -133 -79 -72
MIK -112.145 -0.54750714 6378249.145 293.465 41 -220 -134
maa -251 -0.14192702 6378388.0 297.0 -289 -124 60
MAS 739.845 0.10037483 6377397.155 299.1528128 639 405 60
MER -112.145 -0.54750714 6378249.145 293.465 31 146 47
MID -251 -0.14192702 6378388.0 297.0 912 -58 1227
MIN -112.145 -0.54750714 6378249.145 293.465 -92 -93 122
nma -112.145 -0.54750714 6378249.145 293.465 -247 -148 369

MAN Technologie AG 23 NR-N100 Technical Manual

 Dat-ID a f a invers_f x y z
nua -112.145 -0.54750714 6378249.145 293.465 -249 -156 381
nsa -112.145 -0.54750714 6378249.145 293.465 -231 -196 482
NAP -251 -0.14192702 6378388.0 297.0 -2 374 172
nal -69.4 -0.37264639 6378206.4 294.9786982 -5 135 176
nba -69.4 -0.37264639 6378206.4 294.9786982 -4 154 178
nss -69.4 -0.37264639 6378206.4 294.9786982 1 140 165
ncd -69.4 -0.37264639 6378206.4 294.9786982 -10 158 187
ncz -69.4 -0.37264639 6378206.4 294.9786982 0 125 201
ncr -69.4 -0.37264639 6378206.4 294.9786982 -7 152 178
nca -69.4 -0.37264639 6378206.4 294.9786982 0 125 194
ncu -69.4 -0.37264639 6378206.4 294.9786982 -9 152 178
ngl -69.4 -0.37264639 6378206.4 294.9786982 11 114 195
nmx -69.4 -0.37264639 6378206.4 294.9786982 -12 130 190
nob -251 -0.14192702 6378388.0 297.0 -425 -169 81
OEG -63 0.00480795 6378200.0 298.3 -130 110 -13
OHA -69.4 -0.37264639 6378206.4 294.9786982 61 -285 -181
FAH -112.145 -0.54750714 6378249.145 293.465 -346 -1 224
OGB 573.604 0.11960023 6377563.396 299.3249646 375 -111 431
PLN -251 -0.14192702 6378388.0 297.0 -307 -92 127
PIT -251 -0.14192702 6378388.0 297.0 185 165 42
HIT -251 -0.14192702 6378388.0 297.0 16 196 93
PRP -251 -0.14192702 6378388.0 297.0 -288 175 -376
PUR -69.4 -0.37264639 6378206.4 294.9786982 11 75 -101
QAT -251 -0.14192702 6378388.0 297.0 -128 -283 21
QOU -251 -0.14192702 6378388.0 297.0 164 138 -189
REU -251 -0.14192702 6378388.0 297.0 94 -948 -1262
MOD -251 -0.14192702 6378388.0 297.0 -225 -65 9
SAE -251 -0.14192702 6378388.0 297.0 170 42 84
SOA -251 -0.14192702 6378388.0 297.0 -203 141 53
SAP -251 -0.14192702 6378388.0 297.0 -355 16 74
SCK 739.845 0.10037483 6377397.155 299.1528128 616 97 -251
SAN -23 -0.00081204 6378160.0 298.25 -57 1 -41
SOA -18 0.00480795 6378155.0 298.3 7 -10 -26
seb -251 -0.14192702 6378388.0 297.0 -499 -249 314
swb -251 -0.14192702 6378388.0 297.0 -104 167 -38
TIL 860.655 0.28361368 6377276.345 300.8017 -689 691 -46
TOY 739.845 0.10037483 6377397.155 299.1528128 -128 481 664
TDC -251 -0.14192702 6378388.0 297.0 -632 438 -609
MVS -112.145 -0.54750714 6378249.145 293.465 51 391 -36
ENW -133 -0.14192702 6378270.0 297.0 101 52 -39
ZAN -251 -0.14192702 6378388.0 297.0 -265 120 -358

TABLE 4 GLOBAL REFERENCE SYSTEM PARAMETERS

MAN Technologie AG 24 NR-N100 Technical Manual

 Gauss-Krueger Coordinate System

The conversion from WGS84-coordinates (Latitude, Longitude) to the corresponding Gauss-

Krueger-coordinates (Hochwert, Rechtswert) is made by a projection:

WGS84-Level  Gauss-Krueger-Level in the Bessel reference system

It would be beyond the scope of this manual to fully explain the formulas. Therefore, the
parameters are written out with a short explanation of the formulas.

Die Gauss-Krueger Parameters

Semi-major axis of the Bessel-Ellipsoid: a = 6377397.15508 meter

Semi-minor axis of the Bessel-Ellipsoid: b = 6356078.96290 meter

Correction factor: c = 111120.6196 meter/degree

WGS84 Latitude B

WGS84 Longitude L

Gauss-Krueger- reference meridian L0

If "Automatic" is selected (Parameter "GK Me." in the SET7 display screen) , the Navigator
automatically selects the closest main meridian to calculate the Gauss-Krueger position.

To do that, the result of (L / 3°) is rounded (up or down) to the closest integer and then multiplied
by three degrees.

If the Gauss-Krueger reference meridian is selected by the user in SET7 (3°, 6°, 9°, 12°, 15° or
18°), this value will be used as main meridian and the automatic selection of the main meridian
will be de-activated. In this case, the user is responsible to select a suitable main meridian,
corresponding to his current position.

MAN Technologie AG 25 NR-N100 Technical Manual

Projection in the Gauss-Krueger Level in the Bessel-Reference system

Calculation of the Hochwert:

H := X + S meter

With:

X := ½ · N · tt · k2 · I2 + 1/24 · N · tt · (9 · Vq – tt2 – 4) · k4 · I4

S := g · c

Dabei ist:

k := cos (B)

tt := tan (B)

eq := (a2 – b2 ) / b2

Vq := 1 + eq · k2

V:= √Vq

N := a2 / (b · V)

n:= (a – b) / (a + b)

g := B + [ (-3/2 · n + 9/16 · n3) · sin(2۰B) + 15/16 · n2 · sin(4۰B) + (-35/48) · n3 · sin(6۰B)]

Calculation of the Rechtswert:

R := (L0 / 3) · 106 + k + Y meter

With:

Y := N · k · I + 1/6 · N · (Vq – tt2 ) · k3 · I3 + 1/120 · N · (5 – 18 · tt2 + tt4) · k5 · I5

Dabei ist:

k: = 500 000

MAN Technologie AG 26 NR-N100 Technical Manual

 NMEA and Proprietary Sentence Descriptions
The Navigator supports a variety of input and output information in the form of NMEA and
Proprietary sentences. This chapter explains each available sentence in every version: Versions
1.5, 2.1, and 2.3 are currently available. The following section provides information that is
exclusive to the Navigator. Other NMEA producing equipment can produce values that are not
applicable to the Navigator.

The following table provides a condensed view of all supported sentences:

Sentence Handlin v1.5 v2.1 v2.3

g
GPBWC S N/A X X
GPXTE S N/A X X
GPZTG S N/A X 
GPVTG S X X X
GPRMB S N/A X X
GPRMC S N/A N/A X
GPGGA S X X 
GPGLL S X X X
GNGNS S N/A N/A X
GPZDA S X X 
GPSNU S X N/A N/A
GNGSV S N/A X 
GPGSA S N/A X 
GPGRS S N/A X 
GPGST S N/A X 
PASHRPOS S PROP
PASHRSAT S PROP
SYLEDIS S PROP
__HDT S&R X X X
__ROT S&R X X X
__MWD S&R X X X
__MWV S&R X X X
BEAC OUT S N/A N/A N/A
RTCM OUT S N/A N/A N/A
RTCM IN R N/A N/A N/A
Gauss Krueger S PROP

N.A. = Not Available X = version is available

S = Send R = Receive  = same as last version

TABLE 5 NMEA VERSIONS SUMMARY

MAN Technologie AG 27 NR-N100 Technical Manual

NMEA or Proprietary?

The Unit field of the I/O screen contains both NMEA and Proprietary sentences:

 A NMEA sentence is defined by the National Marine Electronics Association (NMEA)

"Standard for Interfacing Marine Electronic Devices" manuals. These manuals set forth
precise requirements in both structure and content for all applicable versions.
 A Proprietary Sentence is defined by the owner (proprietor) of the equipment producing
the sentence. The Navigator produces two Ashtech sentences, the Syledis format, and
the Gauss Krueger format.

NMEA – Versions

The Navigator supports three NMEA versions: 1.5, 2.1, and 2.3. All sentences are not
available in all versions. The RMC sentence, for example, didn't exist in versions 1.5 and
2.1, therefore, only version 2.3 is available for selection in the I/O screen. The GLL
sentence has been available since version 1.5, but has changed in each version. In this
case, all three versions are available and each one produces it's own separate sentence.
The GGA Sentence also has been available since version1.5, but didn't change between
versions 2.1 and 2.3. In this case, only two separate strings are produced - one for version
1.5, one for versions 2.1 & 2.3. If you turn ON version 2.3, version 2.1 is also turned on,
however, only one sentence is output.

Talker ID's

The first two characters of a NMEA sentence are called the Talker ID. The Talker ID
identifies which system is source data of the sentence: GP stands for GPS.

The Sentence's

To simplify the presentation, the NMEA sentence's are grouped into four sections depending
on their content:

 Navigation and Waypoint Specific Data

 Fix Information
 Satellite Information
 Input/Output Data
 Additional Sentences

MAN Technologie AG 28 NR-N100 Technical Manual

 Navigation and Waypoint Specific Data
The following six sentences contain information specific to active navigation.

GPBWC Bearing & Distance to Waypoint

GPXTE Cross Track Error, Measured
GPZTG UTC Time to Destination Waypoint
GPVTG Course Over Ground and Ground Speed
GPRMB Recommended Minimum Navigation Information
GPRMC Recommended Minimum Specific GPS/TRANSIT

GPBWC - Bearing & Distance to Waypoint

Version: 2.1 / 2.3

GPBWC,hhmmss.ss,llll.llllll,D,ttttt.tttttt,D,eee.ee,T,eee.ee,M,dddd.dd,N,xxxx,M*ck

GPBWC,124050.00,5011.368250,N,01116.552080,E, 137.37,T,,M,0120.00,N,3333,D*1F

Parameter Example Description Range

hhmmss.ss 125601.00 UTC of position fix for this 000000.00 - 235959.59
sentence
llll.llllll 4811.368780 Waypoint Latitude 0000.00000 - 8959.999999
D N Waypoint Latitude direction N or S
ttttt.tttttt 01116.551900 Waypoint Longitude 0000.00000 -17959.999999
D E Waypoint Longitude direction E or W
eee.ee 137.37 Bearing degrees, True (TB) 000.00 - 359.99
T T T for True Always "T"
eee.ee Bearing degrees, Magnetic 000.00 - 359.99
M M M for Magnetic Always "M"
dddd.dd 120 Distance, NM (WpD) 0000.00 - 9999.99
N N N for Nautical Mile Always "N"
xxxx 3333 Waypoint ID 0000 - 9999
M D Mode Indicator See End Notes #1
*ck *44 Hexadecimal checksum

TABLE 6 GPBWC - BEARING & DISTANCE TO WAYPOINT

MAN Technologie AG 29 NR-N100 Technical Manual

GPXTE - Cross-Track Error, Measured
Version: 2.1 / 2.3

GPXTE,S,S,xxxx.xxx,D,N,M*ck

GPXTE,A,A,0144.144,L,N,D*44

Parameter Example Description Range

S A Status - A = Valid, V = invalid A or V
S A Status: A= Valid,V = SNR warning when reliable fix is not available
x 0144.14 Magnitude of Cross-Track-Error (XTD) 0 - ±9999.99
4
D L Direction to Steer Left or Right L or R
N N Units, nautical miles Always "N"
M D Mode Indicator See End Notes #1
*ck *44 Hexadecimal checksum

TABLE 7 GPXTE - CROSS-TRACK ERROR, MEASURED

GPZTG - UTC Time to Destination Waypoint

Version: 2.1 / 2.3

GPZTG,hhmmss.ss,hhmmss.ss,xxxx*ck

GPZTG,125449.00,002112.00,2012* 14

Parameter Example Description Range

Hhmmss.ss 125601.0 UTC of observation 000000.00 - 235959.59
0
Hhmmss.ss 002112.0 Time to go hh = 00 to 99
0
xxxx 2012 Destination waypoint 0000-9999
*ck *44 Hexadecimal checksum

TABLE 8 GPZTG - TIME TO DESTINATION WAYPOINT

MAN Technologie AG 30 NR-N100 Technical Manual

 GPVTG - Course Over Ground and Ground Speed
Version: 1.5 / 2.1 / 2.3

GPVTG,ccc.cc,T,ccc.cc,M,sss.ss,N,sss.ss,K,M*ck

GPVTG,000.00,T,359.76,M,000.01,N,000.03,K,A*42

Parameter Example Description Range

ccc.cc 000.00 COG - Course over ground, degrees True 000.00 - 359.99
T T T for True Always "T"
ccc.cc 000.00 COG - degrees Magnetic 000.00 - 359.99
M M M for Magnetic Always "M"
sss.ss 000.03 SOG - Speed over ground, knots 000.00 - 999.99
N N Speed over ground in Knots indicator Always "N"
sss.ss 000.03 SOG - Speed over ground, km/hr 000.00 - 999.99
K K Speed over ground in km/hr indicator Always "K
M D Mode Indicator See End Notes #1
*ck *15 Hexadecimal checksum

TABLE 9 GPVTG - COURSE OVER GROUND AND GROUND SPEED

GPRMB - Recommended Minimum Navigation Information

Version: 2.1 / 2.3

GPRMB,A,00.00,L,xxxx,xxxx,llll.llllll,D,tttt.tttttt,D,rrr.rrr,eee.ee,sss.ss,S,M*ck

GPRMB,A,00.00,L,0137,1021,5011.368250,N,01116.552080,E,022.358,137.37,013.07,V,D
*44

Parameter Example Description Range

S A Status A = Valid, V = invalid A = Valid, V = invalid
x 0144.144 Cross-Track-Error (XTD) 0000.000 -
D L Direction to Steer Left or Right
x 0137 Origin waypoint 0000 - 9999
x 1021 Destination waypoint 0000 - 9999
llll.llllll 5011.368250 Destination Latitude 0000.00000 - 8959.999999
D N Destination Latitude direction N or S
ttttt.tttttt 01116.55208 Destination Longitude 00000.00000 -17959.999999
0
D E Destination Longitude E or W
direction
r 022.358 Range to destination (WpD) Units Nautical Miles 999.999
e 137.37 Bearing to destination (TB) In degrees, 000.00 - 359.99
s 013.07 Destination closing velocity In knots, 000.00 - 999.99
S V Arrival Status - Target Alarm A = passed V = not passed
M D Mode Indicator See End Notes #1

MAN Technologie AG 31 NR-N100 Technical Manual

 *ck *44 Hexadecimal checksum

TABLE 10 GPRMB - RECOMMENDED MINIMUM NAVIGATION INFORMATION

GPRMC - Recommended Minimum Specific GPS/TRANSIT Data

Version: 2.3

GPRMC,hhmmss.ss,S,llll.llllll,D,ttttt.tttttt,D,sss.ss,ccc.cc,ddmmyy,ee.ee,D,M*ck

GPRMC,125601.00,A,4811.368790,N,01116.551880,E,017.37,271.73,050700,,,D*15

Parameter Example Description Range

hhmmss. 125601.00 UTC of position fix for this 000000.00 - 235959.59
ss sentence
S A Validity Status A = Valid Data V = Receiver
Warning - Invalid
Llll.llllll 4811.36878 Latitude 0000.00000 - 8959.999999
0
D N Latitude direction N or S
ttttt.tttttt 01116.5519 Longitude 00000.00000 -
00 17959.999999
D E Longitude direction E or W
sss.ss 017.37 SOG - Speed over ground, knots 000.00 - 999.99
ccc.cc 271.73 COG - Course over ground, 000.00 - 359.99
degree True
ddmmy 050700 Date 010100 - 123199
e 11.02 Magnetic variation, degrees 00.00 - 99.99
D E Direction of magnetic variation E -subtracts from True
Course
W -adds to True Course
M D Mode Indicator See End Notes #1
*ck *15 Hexadecimal checksum

TABLE 11 GPRMC - RECOMMENDED MINIMUM SPECIFIC GPS/TRANSIT DATA

MAN Technologie AG 32 NR-N100 Technical Manual

 Fix Information
The following seven sentences contain specific information about the position, altitude, DOP's
and other receiver specific data.

PASHRPOS Ashtech Proprietary Sentence: Satellite Information

GPGLL Geographic Position Latitude/Longitude
GPGGA Global Positioning System Fix Data
GNGNS GNSS Fix Data
Syledis Proprietary Sentence - position fix
GPZDA Time & Date
GPSNU Receiver Update Status
Gauss Krueger Gauss Krueger

PASHRPOS - Ashtech Proprietary Sentence: Satellite Information

Version: Proprietary

PASHR,POS,x,xx,hhmmss.ss,llll.lllll,D,ttttt.ttttt,D,±AAAAA.AA,,ccc.cc,sss.ss,+vvv.vv,PP.P,
HH.H,VV.V,TT.T,ffff*ck

PASHR,POS,0,13,080640.00,4811.36913,N,01116.55171,E,+00576.10,,137.00,014.14,
+000.21,02.2,01.4,01.7,01.4,GF02*3C

Parameter Example Description Range

x 0 Position type See End Notes #4
xx 13 Number of Satellites used in position 03 - 24
calculation
hhmmss.s 080640.00 UTC of position fix for this sentence 00 - 235959.59
s
llll.lllll 4811.36913 Latitude 00 - 8959.99999
D N Latitude direction N or S
ttttt.ttttt 01116.55171 Longitude 00 -17959.99999
D E Longitude direction E or W
AAAAA.AA +00576.10 Altitude above WGS-84 reference ± 30000.00 in
ellipsoid meters
RESERVED Always blank
c 137.00 COG, True 0 - 359.9
s 14.14 SOG, in Knots 0 - 999.9
v +000.21 Vertical velocity in meters per second ± 999.9
PP.P 02.2 PDOP 0 - 99.9
HH.H 01.4 HDOP 0 - 99.9
VV.V 01.7 VDOP 0 - 99.9
TT.T 01.4 TDOP 0 - 99.9
ffff GF02 Firmware version ID 4 character string
*ck *15 Hexadecimal checksum

TABLE 12 PASHRPOS - ASHTECH PROPRIETARY SENTENCE

MAN Technologie AG 33 NR-N100 Technical Manual

GPGLL - Geographic Position - Latitude/Longitude 1.5/2.1/2.3
Version: 1.5 / 2.1 / 2.3

GPGLL,llll.llllll,D,ttttt.tttttt,D,hhmmss.ss,S,M*ck

GPGLL,4811.378918,N,01116.557539,E,125601.00,A,D*64

Parameter Example Description Range

llll.llllll 4811.368780 Latitude 0000.00000 - 8959.999999
D N Latitude direction - North or N or S
South
Ttttt.tttttt 01116.551900 Longitude 00000.00000 -
17959.999999
D E Longitude direction - East or E or W
West
Hhmmss.s 125601.00 UTC of position fix for this 000000.00 - 235959.59
s sentence
S A Status A = Valid, V = invalid A = Valid, V = invalid
M D Mode Indicator See End Notes #1
*ck *64 Hexadecimal checksum

TABLE 13 GPGLL - GEOGRAPHIC POSITION - LATITUDE/LONGITUDE

GPGGA - Global Positioning System Fix Data

Version: 1.5 / 2.1 / 2.3

GPGGA,hhmmss.ss,llll.llllll,D,ttttt.tttttt,D,Q,sv,HH.HH,±AAAAA.AA,M,±GGG.GG,M,ggg,xxxx
*ck

GPGGA,091700.00,4811.328020,N,01116.544308,E,2,09,01.50,+00685.08,M,
+045.280,M,012,0137*68

Parameter Example Description Range

hhmmss.ss 091700.00 UTC of position fix for this 000000.00 - 235959.59
sentence
llll.llllll 4811.368780 Latitude 0000.00000 -
8959.999999
D N Latitude direction N or S
ttttt.tttttt 01116.55190 Longitude 00000.00000-
0 17959.999999
D E Longitude direction E or W
Q 2 GPS Quality Indicator 0, 1, 2, 6 See End
Notes #2
sv 09 Number of satellites used in calc. 03 - 24
H 01.50 HDOP 00.00 - 99.99
A ,+00685.08 Altitude, in meters above ± 999.9

MAN Technologie AG 34 NR-N100 Technical Manual

 Parameter Example Description Range
reference ellipsoid
M M Altitude units, M = Meters Always "M"
G +045.280 Geoidal separation, meters * ± 999.9
M M Geoidal separation units, Meters Always "M"
g 012 Age of differential GPS data 0 -999 seconds
x 0137 Differential reference station ID 0 - 1023
*ck *68 Hexadecimal checksum

TABLE 14 GPGGA - GLOBAL POSITIONING SYSTEM FIX DATA

GNGNS - GNSS Fix Data

Version: 2.3

GNGNS,hhmmss.ss,llll.llllll,D,ttttt.tttttt,D,M,sv,HH.HH,±AAAAA.AA,±GGG.GG,ggg,xxxx*ck

GNGNS,091700.00,4811.328020,N,01116.544308,E,D,09,00.08,+00685.08,+045.280,012,
0137*68

Parameter Example Description Range

hhmmss.ss 091700.00 UTC of position fix for this 000000.00 - 235959.59
sentence
llll.llllll 4811.328020 Latitude 0000.00000 -
8959.999999
D N Latitude direction North or South
ttttt.tttttt 01116.54430 Longitude 00000.00000 -
8 17959.999999
D E Longitude direction East or West
M D Mode Indicator See End Notes #1
sv 09 Total number of satellites used 03 - 24
H 00.80 HDOP 00.00- 99.99
A +00685.08 Antenna Altitude, meters above ± 999.9
ellipsoid
G +045.280 Geoidal separation, meters ± 999.9
g 012 Age of differential GPS data 0 - 999 seconds
x 0137 Differential reference station ID 0 - 1023
*ck *15 Hexadecimal checksum

TABLE 15 GNGNS -GNSS FIX DATA

MAN Technologie AG 35 NR-N100 Technical Manual

Syledis - Proprietary Sentence
Version: Proprietary

The first character of the Syledis sentence is a blank character.

Lllll.llllllD GtttttttttD
L48112513N G011163686E

Parameter Example Description Range

L L Latitude indicator Always "L"
llll.llllll 48112513 Latitude 00000000 - 959999999
D N Latitude direction N or S
G G Longitude indicator Always "G"
ttttt.tttttt 011163686 Longitude 00000.00000 -17959.999999
D E Longitude direction E or W

TABLE 16 SYLEDIS PROPRIETARY SENTENCE

GPZDA - Time & Date

Version: 1.5 / 2.1 / 2.3

GPZDA,hhmmss.ss,da,mm,yyyy,±xx,±xx*ck

GPZDA,120321.00,05,07,2000,+02,00*4F

Parameter Example Description Range

hhmmss.s 120311.0 UTC of position fix for this sentence 000000.00 - 235959.59
s 0
da 05 Date - day 01 - 31
mo 07 Date - month 01 - 12
yyyy 00 Date - year 0000 - 9999
x 02 Local time zone offset from UTC +or - In hours ± 13
x 00 Local time zone offset from UTC +or - In minutes ± 59
*ck *4F Hexadecimal checksum

TABLE 17 GPZDA - TIME & DATE

MAN Technologie AG 36 NR-N100 Technical Manual

 GPSNU - Receiver Update Status
Version: 1.5

GPSNU,S*ck

GPSNU,A*32

Parameter Example Description Range

S A Status A = GPS updating V = not A or V
updating
*ck *44 Hexadecimal checksum

TABLE 18 GPSNU - RECEIVER UPDATE STATUS

Gauss Krueger

For further information see page 25.

Y+RRRRRRR.RRR X+HHHHHHH.HHH

Y+4446172.820 X+5339215.993

Parameter Example Description

RRRRRRR.RRR 4446172.820 Rechtswert in meter
HHHHHHH.HHH 5339215.993 Hochwert in meter

TABLE 19 PARAMETER OF THE GAUSS-KRUEGER SENTENCE

MAN Technologie AG 37 NR-N100 Technical Manual

Satellite Information
Diverse satellite information is provided through the following sentence's:

PASHRSAT Ashtech Proprietary Sentence: Satellite Information

GPGSV GNSS Satellites in View
GPGSA GNSS DOP and Active Satellites
GPGRS GNSS Range Residuals
GPGST GPS Pseudorange Noise Statistics

PASHRSAT - Ashtech Proprietary Sentence: Satellite Information

Version: Proprietary

PASHR,SAT,xx,sv,azm,el,sn,U*ck

PASHR,SAT,12,27,081,71,50,U,10,303,49,49,U,24,240,32,45,U,19,060,45,46,U,13,083,36,
45,U,04,207,15,42,U,01,086,11,42,-,08,196,64,49,U,43,261,74,44,-,42,040,46,45,-,40,164,3
9,49,-, 33,283,73,50,-*44

Parameter Example Description Range

x 12 Number of satellites locked and in 0 to 24
sentence
sv 27 Satellite PRN number, range 1 to 56 GPS 1-12, Glonass
33 -56
Azm 081 Satellite azimuth angle 000 - 359 degrees
el 11 Satellite elevation angle 00 - 90 degrees
sn 42 Satellite signal strength, Signal to Noise SNR 00 - 99
ratio
U U Satellite usage indicator U - Used, "-" not "U" or "-"
used
sv 10 Satellite PRN number, range 1 to 56 GPS 1-12, Glonass
33 -56
Azm 303 Satellite azimuth angle 000 - 359 degrees
el 49 Satellite elevation angle 00 - 90 degrees
sn 49 Satellite signal strength, Signal to Noise SNR 00 - 99
ratio
U U Satellite usage indicator U - Used, "-" not "U" or "-"
used
sv 24 Satellite PRN number, range 1 to 56 GPS 1-12, Glonass
33 -56
azm 240 Satellite azimuth angle 000 - 359 degrees
el 32 Satellite elevation angle 00 - 90 degrees
sn 45 Satellite signal strength, Signal to Noise SNR 00 - 99
ratio
U U Satellite usage indicator U - Used, "-" not "U" or "-"
used
*ck *44 Hexadecimal checksum

TABLE 20 PASHRSAT - ASHTECH PROPRIETARY SENTENCE

MAN Technologie AG 38 NR-N100 Technical Manual

 GPGSV - GNSS Satellites in View
Version: 2.1 / 2.3

GPGSV,x,x,xx,SV,el,azm,sn*ck

GPGSV,3,1,08,31,20,177,41,29,23,045,41,21,05,065,037,20,52,253,50*4D
GPGSV,3,2,08,15,12,111,34,11,82,122,48,07,18,317,042,02,06,283,35*41
GPGSV,3,3,08,08,52,196,51,,,,,,,,,,,,*45

Parameter Example Description Range

x 3 Total number of messages 1-9
x 1,2, and 3 Message number 1-9
xx 08 and 04 Total number of satellites in view 1 - 12
SV 31 Satellite PRN number, range 1 to 56 GPS 1-32, Glonass 33 -56
el 20 Satellite elevation angle 00 - 90 degrees
azm 177 Satellite azimuth angle, True 000 - 359 degrees
sn 41 Satellite signal strength, Signal to SNR 00 - 99
Noise ratio
*ck *4D Hexadecimal checksum

TABLE 21 GPGSV - SATELLITES IN VIEW

GPGSA - GNSS DOP and Active Satellites

Version: 2.1 and 2.3

GSA,S,x,sv,sv,sv,sv,sv,sv,sv,sv,sv,sv,sv,sv,PP.P,HH.H,VV.V,*ck
$GPGSA,A,3,31,29,,21,20,15,11,07,,02,01,,01.2,00.7,01.0*0F
Parameter Example Description Range
S A Mode: Manual or Automatic M or A
X 3 Mode: 1- Fix not available, 2d, 3d 1,2,3
sv 31 Space Vehicle - PRN number GPS 1-32, GLONASS 33 -56
sv 29 Space Vehicle - PRN number GPS 1-32, GLONASS 33 -56
sv Blank for unavailable satellite GPS 1-32, GLONASS 33 -56
sv 21 Space Vehicle - PRN number GPS 1-32, GLONASS 33 -56
sv 20 Space Vehicle - PRN number GPS 1-32, GLONASS 33 -56
sv 15 Space Vehicle - PRN number GPS 1-32, GLONASS 33 -56
sv 11 Space Vehicle - PRN number GPS 1-32, GLONASS 33 -56
sv 07 Space Vehicle - PRN number GPS 1-32, GLONASS 33 -56
sv Blank for unavailable satellite GPS 1-32, GLONASS 33 -56
sv 02 Space Vehicle - PRN number GPS 1-32, GLONASS 33 -56
sv 01 Space Vehicle - PRN number GPS 1-32, GLONASS 33 -56
sv Blank for unavailable satellite GPS 1-32, GLONASS 33 -56
PP.P 01.2 PDOP 0 - 99.9
HH.H 00.7 HDOP 0 - 99.9
VV.V 01.0 VDOP 0 - 99.9

MAN Technologie AG 39 NR-N100 Technical Manual

 Parameter Example Description Range
*ck *0F Hexadecimal checksum
TABLE 22 GPGSA - GNSS DOP AND ACTIVE SATELLITES

MAN Technologie AG 40 NR-N100 Technical Manual

 GPGRS - GNSS Range Residuals
Version: 2.1 / 2.3

$--GRS,hhmmss.ss,1,±xxx.x,±xxx.x,±xxx.x,±xxx.x,±xxx.x,±xxx.x,±xxx.x,±xxx.x,±xxx.x,,,*ck

$GPGRS,102645.00,1,-000.9,+000.1,-001.8,+000.5,-005.7,+000.5,+003.4,+002.9,-
000.2,,,*4D

Parameter Example Description Range

hhmmss.s 122927.0 UTC of position fix for this sentence 00 - 235959.59
s 0
M 1 Mode See End Notes #3
±xxx.x -010.2 Range residuals for each satellite used ±0 - 999.9
±xxx.x +000.4 Range residuals for each satellite used ±0 - 999.9
±xxx.x +009.9 Range residuals for each satellite used ±0 - 999.9
±xxx.x -001.8 Range residuals for each satellite used
*ck *4D Hexadecimal checksum

TABLE 23 GPGRS - GNSS RANGE RESIDUALS

GPGST - GNSS Pseudorange Noise Statistics

Version: 2.1 / 2.3

$--GST,hhmmss.ss,xx.xx,,,,xx.xx,xx.xx,xx.xx*ck

$GPGST,214015.00,11.16,,,,10.29,04.54,27.51*5F

Parameter Example Description Range

hhmmss.ss 214015.0 UTC of GGA or GNS fix for this sentence 0-
0 235959.59
xx.xx 11.16 RMS value of the standard deviation of the 0.00 - 99.99
range inputs to the navigation process. Range
inputs include pseudoranges and DGNSS
corrections
xx.xx blank Standard deviation of semi-major axis of error Not
ellipse (meters) supported
xx.xx blank Standard deviation of semi-minor axis of error Not
ellipse (meters) supported
xx.xx blank Orientation of semi-major axis of error ellipse Not
(degr true north) supported
xx.xx 10.28 Standard deviation of Latitude error (meters) 0.00 - 99.99
xx.xx 04.53 Standard deviation of Longitude error (meters) 0.00 - 99.99
xx.xx 27.47 Standard deviation of Altitude error (meters) 0.00 - 99.99
*ck *5F Hexadecimal checksum

TABLE 24 GPGST - GNSS PSEUDORANGE NOISE STATISTICS

MAN Technologie AG 41 NR-N100 Technical Manual

Input/Output messages
The Navigator can receive a variety of messages for use in its data processing, namely a
Gyro compass and LOG inputs. It is also capable of routing these message out to other
devices. There is no interaction between the Input string and the Output sentence: The
Navigator only serves to pass the sentence through from one navigational device to another.
All input messages have a Talker ID assigned by the sending NMEA device.

__HDT - Heading, True

Version: 1.5 / 2.1 / 2.3

$--HDT,eee.e,T*ck

$HEHDT,137.70,T*17

Parameter Example Description Range

eee.e 137.70 Heading, degrees True In degrees, 000.00 - 359.99
T T T for True Always "T"
*ck *17 Hexadecimal checksum

TABLE 25 HDT - HEADING TRUE

__ROT - Rate of turn

Version: 1.5 / 2.1 / 2.3

$--ROT,xxx.xx,S*ck

$TIROT,037.42,A*1B

Parameter Example Description Range

xxx.xx 037.42 Rate of Turn, in degree's/minute 0 - 359.99 "-" = to port
S A Status A = Valid, V = Invalid
*ck *1B Hexadecimal checksum

TABLE 26 ROT - RATE OF TURN

MAN Technologie AG 42 NR-N100 Technical Manual

 __ MWD - Wind Direction & Speed
Version: 1.5 / 2.1 / 2.3

$--MWD,eee.e,T,eee.e,M,sss.s,N,sss.s,M*ck

$--MWD,137.70,T,142.00,M,015.30,N,21.12,M*15

Parameter Example Description Range

e 137.70 Wind Direction, in degrees True 000 - 359.9
T T T for True Always "T"
e 142.00 Wind Direction, in degrees Magnetic 000 - 359.9
M M M for Magnetic Always "M"
s 015.30 Wind Speed, knots 000-999.9
N N N for knots Always "N"
s 21.12 Wind Speed, meters/second 000-999.9
M M M for Meters/second Always "M"
*ck *15 Hexadecimal checksum

TABLE 27 MWD - WIND DIRECTION & SPEED

__MWV - Wind Speed and Angle

Version: 1.5 / 2.1 / 2.3

$--MWV,eee.ee,R,sss.ss,U,S*ck

$--MWV,137.70,T,015.30,K,A*15

Parameter Example Description Range

e 137.70 Wind Angle, in degrees 000 - 359.9
R T Reference, R = Relative, T = True R or T
s 015.3 Wind Speed 000-999.9
U K Wind Speed Units - Km/hr, Meters/second or kNots K/M/N
S A Status A = Valid, V = Invalid A or V

TABLE 28 MWV - WIND SPEED & ANGLE

MAN Technologie AG 43 NR-N100 Technical Manual

Additional Sentences

RTCM IN and RTCM OUT

The Navigator can be used to throughput any signal over a RS422 port. The Navigator
does NOT use or manipulate this data line in any way.

Beacon OUT

If there is an active Beacon signal, the Navigator can output the beacon signal to other
navigational devices by selecting the Beacon Out.

MAN Technologie AG 44 NR-N100 Technical Manual

 END NOTES

Mode indicator chart:

MODE INDICATORS
A Autonomous For GPS or GNNS signal, without DGPS
D Differential When DGPS is active
E Estimated In Dead Reconning mode
M Manual input The Navigator does NOT produce this value
S Simulator The Navigator does NOT produce this value
N Data not valid When the Status is INVALID

TABLE 29 MODE INDICATOR CHART - VALUES

GPS Quality Indicator:

Used only by the GGA Sentence.

GRS Mode Indicator

0 Residuals were used to calculate the position given in the matching
GGA line
1 Residuals were recomputed after the GGA Position was computed
TABLE 30 GPS QUALITY INDICATOR - VALUES

GPS Mode indicator:

GPS Quality indicator

May not be a null field
0 Fix not available or invalid
1 Autonomous position
2 Differential GPS, SPS, valid
3 GPS PPS, valid
6 Estimated (Dead Reckoning) Mode
7 Manual Input Mode
8 Simulator Mode

TABLE 31 GPS MODE INDICATOR - VALUES

MAN Technologie AG 45 NR-N100 Technical Manual

PASHRPOS position type:

PASHRPOS Position type

0 Autonomous
1 Position differentially corrected with RTCM code
2 Position differentially corrected with CPD float solution
3 Position is CPD fixed solution

TABLE 32 GPS MODE INDICATOR - VALUES

MAN Technologie AG 46 NR-N100 Technical Manual