Bin 80; Bin 93; Table 7-2 Bin 1 Message; Table 7-3 Bin 2 Message - CSI Wireless Vector Sensor Reference Manual

7.1.1 Bin 1
This message has a BlockID of 1 and is 52 bytes excluding the header and epilogue. It consists of
GPS position and velocity data. It is the only binary message that can be output at a rate of 5 Hz.
The following table describes the content of this message.

Table 7-2 Bin 1 Message

Name Components
AgeOfDiff Age of differential, seconds.
Use Extended AgeOfDiff first.
If both = 0 then no
differential
NumOfSats Number of satellites used in
the GPS solution
GPSWeek GPS week associated with
this message
GPSTimeOfWeek GPS tow (sec) associated
with this message
Latitude Latitude in degrees North
Longitude Longitude in degrees East
Height Altitude above the ellipsoid in
meters
VNorth Velocity north in m/s
VEast Velocity East in n/s
VUp Velocity up in m/s
NavMode Navigation mode:
0 = No fix
1 = 2D no diff
2 = 3D no diff
3 = 2D with diff
4, 5, or 6 = 3D with diff
If bit 7 is set (left-most bit),
then this is a manual mark
position
Extended Extended age of differential,
AgeOfDiff seconds.
If 0, use 1 byte AgeOfDiff
listed above
7.1.2 Bin 2
This message has a BlockID of 2 and is 16 bytes excluding the header and epilogue. This message
contains various quantities that are related to the GPS solution. The following table describes the
details of this message in order.

Table 7-3 Bin 2 Message

Name Components
MaskSatsTracked A mask of satellites tracked by
the GPS. Bit 0 corresponds to
the GPS satellite with PRN 1.
MaskSatsUsed A mask of satellites used in the
Vector Sensor Reference Manual
Type Byte Value
s
Byte 1 0 to 255
Byte 1 0 to 12
Unsigned 2 0 to 65536
short
Double 8 0.0 to 604800.0
Double 8 -90.0 to 90.0
Double 8 -180.0 to 180.0
Float 4
Float 4
Float 4
Float 4 Positive
Unsigned 2 Bits 0 through 6
short = Navmode
Bit 7 = Manual
mark
Unsigned 2 0 to 65536
short
Type Bytes Value
Unsigned 4 Individual bits
long represent
satellites
Unsigned 4 Individual bits
103