Hemisphere GPS V101 Quick Reference Manual

NMEA 0183 and other messages

Info
Message Description
Type
$GPDTM P Datum reference
$GPGGA P GPS position and fix data
$GPGLL P Geographic position - lat/
long
$GPGNS P GNSS position and fix data
$GPGRS S GNSS range residual
(RAIM)
$GPGSA S GNSS DOP and active
satellites
$GPGST S GNSS pseudo range error
statistics and position
accuracy
$GPGSV S GNSS satellites in view
$GPHDG H Provides magnetic
deviation and variation for
calculating magnetic or
true heading
$GPHDM H Magnetic heading (based
on GPS-derived heading
and magnetic declination)
$GPHDT H GPS-derived true heading
$GPHEV H Heave value (in meters)
$GPRMC P Recommended minimum
specific GNSS data
$GPROT H GPS-derived rate of turn
(ROT)
$GPRRE S Range residual and
estimated position error
message
$GPVTG V COG and ground speed
$GPZDA V Time and date
$PCSI,1 S Beacon status
$PSAT,GBS S Satellite fault detection
(RAIM)
$PSAT,HPR H Proprietary NMEA
message that provides
heading, pitch, roll, and
time in single message
$PSAT,INTLT H Proprietary NMEA
message that provides the
pitch and roll
measurements from the
internal inclinometers (in
degrees)
$RD1 S SBAS diagnostic
information

Binary messages

IEC $JBIN
Description
Approved Message
Message
1 GPS position
Yes
Yes 2 GPS DOPs
Yes
80 SBAS
Yes
93 SBAS
Yes
ephemeris data
94 Ionosphere and
Yes
UTC conversion
parameters
Yes

Parameters specific to $JATT command

Yes
Parameter Description
Yes
COGTAU Set/query COG time
constant (0.0 to 3600.0 s)
CSEP Query antenna separation
No
GYROAID Enable/disable gyro
HBIAS Set/query heading bias
(-180.0º to 180.0º)
Yes
HIGHMP Set/query the High
Yes
Multipath setting for use in
poor GPS environments
Yes
HRTAU Set/query time constant (0.0
to 3600.0 s)
Yes
HTAU Set/query heading time
constant (0.0 to 3600.0 s)
Yes
LEVEL Query or enable/disable
level operation
Yes
MSEP Manually set or query
antenna separation
Yes
NEGTILT Query or enable/disable
No
negative tilt
Yes
NMEAHE Query for the message
headers or change the HDG,
No
HDM, HDT, and ROT
message headers between
GP and HE
PBIAS Set/query pitch/roll bias (-
Yes
15.0º to 15.0º)
PTAU Set/query pitch time
constant (0.0 to 3600.0 s)
ROLL Query or configure for roll
or pitch GPS orientation
Yes
SEARCH Force a new GPS heading
search
SPDTAU Set/query speed time
constant (0.0 to 3600.0 s)
TILTAID Query or enable/disable
accelerometer, pre-
calibrated
TILTCAL Calibrate accelerometers
$JBIN
Description
Message
95 Satellite
ephemeris data
96 Code and
carrier phase
97 Processor
statistics
98 Satellites and
almanac
99 GPS
diagnostics
Query Specify
X X
X
X X
X X
X X

Installation Considerations

X X
Proper location is important to obtain a high-precision
X X
GPS reading. Choose an installation location using either
the pole or fixed mount where the V101/111:
X X
X X
X X
X X
Refer to the V101 and V111 GPS Compass User Guide for
detailed installation instructions.
X X
X X
X X
X
X X
X X
X
V101 and V111 GPS Compass
Quick Reference Guide
Part Number: 875-0251-000 Rev A1
• Has a clear view of the sky
• Is away from other electronics and antennas
• Has enough cable to reach a power source
• Is on a level plane