Honeywell HMR3000 User Manual page 15

$HCHDT,271.1,T*2C
$HCHDT,0.9,T*20
Mil Mode not allowed by NMEA standard
XDR Transducer Measurements
$HCXDR,A,x.x,D,PITCH,A,x.x,D,ROLL,G,x.x,,MAGX,G,x.x,,MAGY,
G,x.x,,MAGZ,G,x.x,,MAGT*hh<cr><lf>
Each of the six possible measurements - pitch; roll; and magnetic x, y, z, and total—can be individually
included in or excluded from the message (see "XDR has ..." parameters). See NMEA 0183 for a detailed
description of the "Type-Data-Units-ID" field encoding. The "Data" field of an included measurement will be
null if its contents cannot be determined due to saturated measurements. Only units of degrees are allowed by
NMEA for pitch and roll measurements.
Magnetic measurements are transmitted in engineering units (milli Gauss) determined by a tunable conversion
factor. MAGX aligns with the compass board north-south axis, and MAGZ is perpendicular to the plane of the
compass board. MAGT is the total magnetic field strength determined by calculating the square root of the sum
of the squares of MAGX, MAGY, and MAGZ.
Eg. In Degree Mode
$HCXDR,A,-0.8,D,PITCH,A,0.8,D,ROLL,G,122,,MAGX,G,1838,,MAGY,G,-
667,,MAGZ,G,1959,,MAGT*11
In Mil Mode
$HCXDR,A,-3,D,PITCH,A,14,D,ROLL,G,1090,,MAGX,G,5823,,MAGY,G,-
20,,MAGZ,G,5924,,MAGT*2B
The following describe the proprietary sentences in detail:
HPR Heading, Pitch, & Roll
$PTNTHPR,x.x,a,x.x,a,x.x,a*hh<cr><lf>
This sentence combines HMR3000's three significant measurements with useful status information. Data fields
represent, in order: heading, magnetic field status, pitch, pitch status, roll, and roll status. Heading, pitch, and
roll measurements are presented in degrees or mils depending on the setting in EEPROM. The heading
measurement is corrected for deviation and variation when these factors are programmed in the EEPROM.
Eg. In Degree Mode
$PTNTHPR,85.9,N,-0.9,N,0.8,N*2C
$PTNTHPR,7.4,N,4.2,N,2.0,N*33
$PTNTHPR,354.9,N,5.2,N,0.2,N*3A
In Mil Mode
$PTNTHPR,90,N,29,N,15,N*1C
Status fields can contain one of six letter indicators:
L = low alarm,
M = low warning,
N = normal,
O = high warning, or
P = high alarm.
C = Tuning analog circuit
If any of the three status fields indicates alarm, then the heading field will be null as well as the corresponding
measurement field. Thresholds for alarm and warning levels can be changed in the EEPROM.
RCD Raw Compass Data
$PTNTRCD,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x*hh<cr><lf>
900240 Rev. B
3/01 page 11