Vincotech A1035 firmware/NMEA PDF
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1. Tyco Electronics GPS Firmware A1080 A description of the standard NMEA GPS firmware provided on Tyco Electronics GPS module A1080 User s Manual Version 3 0 Tyco Electronics This page was intentionally left blank Revision History Revision History Tyco Electronics Rev Date Description 1 0 10 18 06 Initial draft 2 0 04 02 07 New design 3 0 07 03 07 Reworked manual NMEA only mm dd yy V3 0 07 07 User s Manual Page 3 of 23 Disclaimer Tyco Electronics Disclaimer THIS DOCUMENT CONTAINS PROPRIETARY INFORMATION OF TYCO ELEC TRONICS CORPORATION POWER SYSTEMS TYCO ELECTRONICS IT MAY NOT BE COPIED OR TRANSMITTED BY ANY MEANS PASSED TO OTHERS OR STORED IN ANY RETRIEVAL SYSTEM OR MEDIA WITHOUT PRIOR CONSENT OF TYCO ELECTRONICS OR ITS AUTHORIZED AGENTS THE INFORMATION IN THIS DOCUMENT IS TO THE BEST OF OUR KNOWLEDGE ENTIRELY CORRECT HOWEVER TYCO ELECTRONICS CAN NEITHER ACCEPT LIABILITY FOR ANY INACCURACIES OR THE CONSEQUENCES THEREOF NOR FOR ANY LIABILITY ARISING FROM THE USE OR APPLICATION OF ANY CIRCUIT PRODUCT OR EXAMPLE SHOWN IN THE DOCUMENT THE PRODUCT HARD AND SOFTWARE DESCRIBED IN THIS DOCUMEN TATION IS NOT AUTHORIZED FOR USE IN LIFE SUPPORT DEVICES OR SYSTEMS WITHOUT THE EXPRESS WRITTEN APPROVAL OF TYCO ELEC TRONICS THIS DOCUMENT MAY PROVIDE LINKS TO OTHER WORLD WIDE WEB SITES OR RESOURCES BECAUSE TYCO ELECTRONICS HAS2. 11 0 0 Magnetic variation degrees 1 W West ae E East A Autonomous mode 13 IA D Differential Mode E Estimated dead reckoning 14 7B Checksum 1 SIRF Technology Inc does not support magnetic declination All course over ground data are geodetic WGS84 directions Table 2 2 RMC example and description V3 0 07 07 User s Manual Page 11 of 23 Tyco Electronics GPS Receiver Firmware A1080 2 2 4 GSA GPS DOP and Active Satellites e g GPGSA A 3 03 20 14 31 3 7 2 5 2 8 3D 1 GPGSA Vendor and message identifier 2 A A 2D automatic allowed to automatically switch 2D 3D M Manual forced to operate in 2D or 3D mode 1 Fix not available 3 3 2 2D fix lt 4 SVs used 3 3D fix gt 3 SVs used 4 103 ID of satellite used in 1 channel 5 120 ID of satellite used in 2 channel 23 lt empty gt ID of satellite used in 12 channel 24 3 7 PDOP in meters 25 2 5 HDOP in meters 26 2 8 VDOP in meters 27 3D Checksum Page 12 of 23 Table 2 3 GSA example and description User s Manual V3 0 07 07 GPS Receiver Firmware A1080 Tyco Electronics 2 2 5 GSV GPS Satellites in View e g GPGSV 1 1 04 03 27 159 45 14 43 095 48 20 17 231 40 31 60 190 42 7F 1 GPGSV Vendor and message identifier 2 1 Total numbers of messa
3. UTC Universal Time Coordinated 16h 12m 29 487s A Data valid ee V Data not valid A Autonomous mode 8 IA D DGPS mode E DR mode 21 41 Checksum Page 14 of 23 Table 2 6 GLL example and description User s Manual V3 0 07 07 GPS Receiver Firmware A1080 Tyco Electronics 3 Proprietary NMEA Sentences NMEA input messages enable you to control the receiver while in NMEA protocol mode By default the receiver is configured for NMEA mode on port 0 Messages can be send by using a terminal program by using Tyco Electronics GPS Cockpit software or the SiRF demo software If the receiver is in SIRF binary mode all NMEA input messages are ignored Once the receiver is put into NMEA mode the following messages may be used to command the module 3 1 Transport Message Device manufacturer define extensions of the standard NMEA protocol or sentences thereof e The general format is lt vendor gt lt MID gt lt parameters gt lt cksum gt lt CR gt lt LF gt Vendor A1080 is using PSRF MID Message identifier consisting of three numeric characters Input Messages begin at MID 100 Parameters Message specific parameters refer to a specific section for lt data gt lt data gt definition Cksum Two hex character checksum as defined in the NMEA specification Use of checksum is required on all input messages Note1 All fields in all proprietary NMEA messages are required none are op
4. NMEA Baud 9600 4800 9600 19200 38400 57600 115200 DataBits 8 8 7 StopBits 1 0 1 Parity 0 0 none 1 odd 2 even Checksum 0C End of message termination 1 Sirf protocol is only valid for 8 data bits 1 stop bit and no parity Table 3 2 Serial Port Set up Page 16 of 23 User s Manual V3 0 07 07 GPS Receiver Firmware A1080 Tyco Electronics 3 4 Reset Configuration S RF s original NavigationInitialization This command is used to configure various reset situations Hot Start Warm Start and Cold Start e PSRF101 0 0 0 0 0 0 12 4 10 Name Example Units Description Message ID PSRF101 PSRF101 protocol header ECEF X meters X coordinate position ECEF Y meters Y coordinate position ECEF Z meters Z coordinate position ClkOffset Hz Clock Offset of the A1080 A TimeOfWeek seconds GPS Time Of Week WeekNo GPS Week Number ChannelCount 12 Range 1 to 12 ResetCfg 4 Reset configurations See Table 3 4 and Table 3 5 Checksum 10 End of message termination 1 Use 0 for last saved value if available If this is unavailable a default value of 96 000 is used Table 3 3 Navigation Initialization Hex Description 0x01 Hot Start All data valid 0x02 Warm Start Ephemeris cleared 0x04 Cold Start Clears all data in memory 0x08 Clear Memory Clears all data in memory and resets the receiver back to factory defaul
5. NO CONTROL OVER SUCH SITES AND RESOURCES TYCO ELECTRONICS SHALL NOT BE RESPONSIBLE FOR THE AVAILABILITY OF SUCH EXTERNAL SITES OR RESOURCES AND DOES NOT ENDORSE AND IS NOT RESPONSIBLE OR LIABLE FOR ANY CONTENT ADVERTISING PRODUCTS OR OTHER MATERIALS ON OR AVAILABLE FROM SUCH SITES OR RESOURCES TYCO ELECTRONICS SHALL NOT BE RESPONSIBLE OR LIABLE DIRECTLY OR INDIRECTLY FOR ANY DAMAGE OR LOSS CAUSED OR ALLEGED TO BE CAUSED BY OR IN CONNECTION WITH USE OF OR RELIANCE ON ANY SUCH CONTENT GOODS OR SERVICES AVAILABLE ON OR THROUGH ANY SUCH SITE OR RESOURCE TYCO ELECTRONICS RESERVES THE RIGHT TO CHANGE MODIFY OR IMPROVE THIS DOCUMENT OR THE PRODUCT DESCRIBED HEREIN AS SEEN FIT BY TYCO ELECTRONICS WITHOUT FURTHER NOTICE Page 4 of 23 User s Manual V3 0 07 07 Table of Contents Tyco Electronics Table of Contents DDE GUI GUNN sais scsi E E cnacenuncnnnnans seacdauncnnseauienscdannesedeanssnentecnetensanbeneniasndazne 7 1 1 Serial Port Configuration ccc taictsdicaidicdepid cided chess edaicemaltinctrdnesdeddettins 7 2 Standard NMEA SenienGes ccissvcssscsiscssscccccvsscesccssscesccwsncetccwsncuscswsncesccwsncuswewsnceontes 8 Pay ll gi gore Ble 019 permeererererererceerereaeenrer reece rer ere ete rer rere Tt rer Terre Ter SEAE Te errr Terre tT 8 2 2 Supported NMEA Sentences 2cccccecccceeeeeeeeeeeeeeeaeeeeeeeeeeeeeseecaaeeeeeeeeeeeeeeees 8 2 2 1 GGA Global Positioning System Fix Data ceeceeceeeeeeece
6. 18 of 23 User s Manual V3 0 07 07 GPS Receiver Firmware A1080 Tyco Electronics Note please consider max transfer rate depending on baud rate setting before activating additional NMEA sentences Note In TricklePower mode update rate is specified by the user When switching to NMEA protocol the message update rate is also required The resulting update rate is the product of the TricklePower update rate and the NMEA update rate i e TricklePower update rate 2 seconds NMEA update rate 5 seconds resulting update rate is every 10 seconds 2 x 5 10 V3 0 07 07 User s Manual Page 19 of 23 GPS Receiver Firmware A1080 Tyco Electronics 3 6 Development Data On Off Use this command to enable development data information if you are having trouble getting commands accepted Invalid commands generate debug information that enables you to determine the source of the command rejection Common reasons for input command rejection are invalid checksum or parameter out of specified range Table 3 10 contains the input values for the following examples 1 Debug On e PSRF105 1 3E 2 Debug Off e PSRF105 0 3F Name Example Description Message ID PSRF105 PSRF105 protocol header Debug 1 0 Off 1 On Checksum 3E End of message termination Table 3 10 Development Data On Off Data Format Page 20 of 23 User s Manual V3 0 07 07 GPS Receiver Firmware A1080 Tyco
7. 9 835 mailto gos tycoelectronics com http www tycoelectronics com gps Further contact addresses Info mailto gos tycoelectronics com support mailto gos tycoelectronics com sales mailto gos tycoelectronics com 4 2 Related Documents Manual T E GPS Receivers A1080 TYCO Manual T E GPS Demo Kit EVA1080A TYCO Manual NMEA Reference Manual SiRF Manual SiRF Binary Protocol Reference Manual SiRF Page 22 of 23 User s Manual V3 0 07 07 List of Tables i and Figures Tyco Electronics 5 List of Tables Table 2 1 GGA example and description ssssssssssssssennrnrnnneserenrnnnnnneserrrnrnnnnneeene 9 Table 2 1 VTG example and GeSCIiption ccccceeeeeeeeeeeeeneeeeeeeeeeeeeeeeenneeeeeeeees 10 Table 2 2 RMC example and description cccceeeeeeeeeeeeeeneeeeeeeeeeeeeeeeteteeeeeeees 11 Table 2 3 GSA example and GeSCriptiOn cccccceeeeeeeeeeeeeneeeeeeeeeeeeeeeesnneeeeeeeees 12 Table 2 4 GSV example and deSCription ccccceeeeeeeeeseeeeeceeeeeeeeeeeesesseeeeeeeeeees 13 Table 2 6 GLL example and description c cccceeeeeeeeeeeeeecceeeeeeeeeeeeeeneeeeeeeeeees 14 Table 3 1 NMEA Input Messages 2 0ccesss 22 c00cseneteeeteesseecconeeeeeeeeesnysceceenneneenens 16 Table 3 2 Serial Port SQrup sicccicastecrsncheetientitieach etivetentiereletiienedevbiee Meher arias 16 Table 3 3 Navigation Initialization cceeeeceeeeceeeeeeeeeeeeeeeeeaeeeeeeeeeeeeeeeene
8. Electronics 3 7 Select Datum The A1080 GPS receiver performs initial position and velocity calculations using an earth centered earth fixed ECEF coordinate system Results may be converted to an earth model geoid defined by the selected datum The default datum is WGS84 World Geodetic System 1984 which provides a worldwide common grid system that may be translated into local coordinate systems or map datums Local map datums are a best fit to the local shape of the earth and not valid worldwide Table 3 11 contains the input values for the following examples 1 Datum select TOKYO_MEAN e PSRF106 178 32 Name Example Description Message ID PSRF106 PSRF106 protocol header Datum 178 21 WGS84 178 TOKYO_MEAN 179 TOKYO_JAPAN 180 TOKYO_KOREA 181 TOKYO_OKINAWA Checksum 32 End of message termination Table 3 11 Select Datum Data Format V3 0 07 07 User s Manual Page 21 of 23 GPS Receiver Firmware A1080 Tyco Electronics 4 Related Information 4 1 Contact This manual was created with due diligence We hope that it will be helpful to the user to get the most out of the GPS module Anyway inputs about errors or mistakable verbalizations and comments or proposals to TYCO Electronics Power Systems in Munich Germany for further improvements are highly appreciated Tyco Electronics Power Systems Finsinger Feld 1 85521 Ottobrunn Germany Tel 49 89 6089 838 Fax 49 89 608
9. eeeeeeeeeeeeeneeeeeeensneeeeneenaes 9 2 2 2 VTG Course Over Ground and Ground Speed ccccceececeeeeeeeeeeeeeeneeeeseeeeeeeeeeees 10 2 2 3 RMC Recommended Minimum Specific GPS Data eee ceeecceeeeeeeeeteeeeeeeeeeeeeeeees 11 2 2 4 GSA GPS DOP and Active Satellites 2 00 0 eeeccceessseeeeeeeeceeeeeeeeeeeeeeeeeeeeeennaeeeenenas 12 2 2 5 GSV GPS Satellites in View oco 2i 23 228s te essectiaeasadecederss teenie cave teedeeeiiessticetes 13 2 2 6 GLL Latitude Longitude UTC and status 0 cceccssssseeeeeeeeeeeeeeeeeeeeeeeeeeeeseesnaaes 14 3 Proprietary NMEA Sentences sccsseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneees 15 3 1 Transport Message sreiceiccat ed ciscntcccieeatascboceueddencetadabedeuasdnnea tid vndsveddbacadevadneade 15 3 2 NMEA Input Messages cccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeeeeeeeeeeeneeeeeeeeeeeeeneees 16 3 3 Serial Port SONU iscsi eee edesectscdetecscedapesctadeenctcsdapeetdederasttadenedadedsscseerseeeueedenesies 16 3 4 Reset Configuration SiRF s original NavigationInitialiZation cccccceeeee 17 3 5 Query Rate control sisi cseseucsenadciieelesanensclenaatadliiededeunsndsvadetadenmdeandanadedndanniedenensetelene 18 3 6 Development Data On Off eee eeeeeceeenece cette eeeeeeeeeeeeeeeeeeeeeeeseenaaeeeeeeeeeeeeneees 20 3 7 Select DatUM e es cesarean ia catia niacin hao va A A AE TANER 21 4 Related Information onnnunnnnnnunnnnnnnnnnnnnn
10. eeeeeeeees 17 Table 3 4 Reset configurations 20 00 00 cccceeeeecseeccceeeeeeeeeeeeeeaeeeeeeeeeeeeeeessnsaaeeeeeeeees 17 Table 3 6 Query Rate Control Data Format See example 1 eeeeeeeeeees 18 Table 3 7 NMEA Messages cccccceeeeeeeeeeeeceeeeeeeeeeeeeeeaaaaeeeeeeeeeeessseanaaeeeeeeeees 18 Table 3 10 Development Data On Off Data Format essesssseseeeseeeeeeeeees 20 Table 3 11 Select Datum Data Format cccceccceeeeeeeeeeeeeeeeeeeeeeeeeeeeneenneeeeeeeees 21 V3 0 07 07 User s Manual Page 23 of 23
11. ges 3 1 Number of current message 4 04 Satellites in view 5 103 Satellite number of 1 satellite 6 27 Elevation in degrees of 1 satellite 7 159 Azimuth in degrees to true of 1 satellite 8 45 SNR signal to noise ratio in dB of 1st satellite 00 when not tracking 9 114 Satellite number of 2 satellite 10 143 Elevation in degrees of 2 satellite 11 095 Azimuth in degrees to true of 2 satellite 12 48 SNR signal to noise ratio in dB of 2 satellite 00 when not tracking 13 20 Satellite number of 3 satellite 14 17 Elevation in degrees of 3 satellite 15 231 Azimuth in degrees to true of 3 satellite 16 40 SNR signal to noise ratio in dB of 3rd satellite 00 when not tracking 17 31 Satellite number of 4 satellite 18 60 Elevation in degrees of 4 satellite 19 190 Azimuth in degrees to true of 4 satellite 20 42 SNR signal to noise ratio in dB of 4th satellite 00 when not tracking 21 7F Checksum Table 2 4 GSV example and description V3 0 07 07 User s Manual Page 13 of 23 Tyco Electronics GPS Receiver Firmware A1080 2 2 6 GLL Latitude Longitude UTC and status e g GPGLL 3723 2475 N 12158 3416 W 161229 487 A A 41 1 GPGSV Vendor and message identifier 2 3723 2475 Latitude 37deg 23 2475min N North cP S South 4 12158 3416 Longitude 121deg 58 3416min W West i e E East 6 161229 487
12. ial reference station ID null field when DGPS is not used 16 67 Checksum Table 2 1 GGA example and description V3 0 07 07 User s Manual Page 9 of 23 GPS Receiver Firmware A1080 Tyco Electronics 2 2 2 VTG Course Over Ground and Ground Speed e g GPVTG 169 31 T M 0 31 N 0 5 K A 6B 1 GPVTG Vendor and message identifier 2 169 31 Track degrees 3 IT True 4 lt empty gt Track degrees 5 M Magnetic 6 0 31 Horizontal speed knots 7 N Knots 8 0 5 Horizontal speed kilometers per hour 9 K Kilometers per hour A Autonomous mode 10 IA D Differential mode E Estimated dead reckoning 11 6B Checksum Table 2 1 VTG example and description Page 10 of 23 User s Manual V3 0 07 07 GPS Receiver Firmware A1080 Tyco Electronics 2 2 3 RMC Recommended Minimum Specific GPS Data e g GPRMC 092516 000 A 4805 8021 N 01132 2243 E 1 91 183 81 270302 0 0 W A 7B 1 GPRMC Vendor and message identifier 2 092516 000 UTC Universal Time Coordinated 09h 25m 16 000s A Fix valid ais V for invalid or no fix 4 4805 8021 Latitude 48deg 05 8021 min N North ula S South 6 01132 2243 Longitude 011deg 32 2243min E East al W West 8 1 91 Speed over ground in knots 9 183 81 Course over ground degrees true 10 270302 Date ddmmyy 27 March 2002
13. mea html 2 2 Supported NMEA Sentences The Tyco Electronics GPS firmware currently supports 6 NMEA sentences GPGGA default ON GPVTG default OFF GPRMC default ON GPGSA default ON GPGSV default ON 0 2Hz GPGLL default OFF Note please consider max transfer rate depending on baud rate setting before activating additional NMEA sentences The following paragraphs give an overview of NMEA messages with example strings and short explanation Page 8 of 23 User s Manual V3 0 07 07 GPS Receiver Firmware A1080 Tyco Electronics 2 2 1 GGA Global Positioning System Fix Data e g GPGGA 152145 000 4805 8193 N 01132 2317 E 1 04 2 5 607 5 M 47 6 M 67 1 GPGGA Vendor and message identifier 2 152145 000 Universal time coordinated 15h 21m 45 000s 3 4805 8193 Latitude 48deg 05 8193min N North a S South 5 01132 2317 Longitude 011deg 32 2317min E East so Ble W West Fix quality 0 fix not valid or invalid 7 1 1 GPS SPS mode fix valid 2 Differential GPS SPS mode fix valid 8 04 Four satellites in use min 00 max 12 9 2 5 Horizontal dilution of precision 10 607 5 MSL altitude 11 M Unit of antenna altitude meters 12 47 6 Geoidal separation 13 M Unit of geoidal separation meters 14 lt empty gt Age of differential GPS data null field when DGPS is not used 15 lt empty gt Different
14. nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nennen 22 A 9 0 ieee e E E E EE 22 4 2 Related DOCUIN GINS sasicinisinnianainainisanadcnittandiienteuaiininiunaditnniaiaibiiliusdtiaicaiierndiiulaiihandituinietantuaninnies 22 5 List of Tables casctacusandtasnta usacecanudeansa usaeasasuauansa ucusnsasutuantanusuantasutuante utvauteutuansandes 23 V3 0 07 07 User s Manual Page 5 of 23 Table of Contents Tyco Electronics Page 6 of 23 User s Manual V3 0 07 07 GPS Receiver Firmware A1080 Tyco Electronics 1 Introduction This document contains a description of NMEA output sentences and NMEA commands which are implemented in the standard GPS firmware used in the GPS modules A1080 Only fully available commands are described For more details of the original SiRF firmware please see chapter 5 2 Related Documents The purpose of this paper is the explanation of the behavior of the NMEA inter face i e a description of the outputs coming from this interface and a summary of the commands that can be issued to this interface This will allow easy and full adjustment and control of the module 1 1 Serial Port Configuration The firmware supports the bi directional serial interface of Tyco Electronics GPS module It is implemented by use of the full duplex UART Universal Asynchronous Receiver Transmitter interface of the GPS processor e For the communication with UART the use of a kind of terminal program or ano
15. ther appropriate method is necessary e NMEA communication is always on port 0 pin Tx0 and Rx0 of the module or on the serial USB port of the EVA1080 A Demo Kit respectively e The default configuration of this serial port is 4800 baud 8 data bits no parity 1 stop bit no flow control This interface is bi directional i e on the one side the output of the GPS modules NMEA sentences etc is sent to the UART interface on the other side the UART interface can be used to send commands to Tyco Electronics GPS modules V3 0 07 07 User s Manual Page 7 of 23 GPS Receiver Firmware A1080 Tyco Electronics 2 Standard NMEA Sentences 2 1 Introduction The National Marine Electronics Association created a uniform interface standard for digital data exchange between different marine electronic products back in the early nineteen eighties e NMEA information is transmitted from a vendor in sentences with a maximum length of 80 characters e The general format is lt vendor gt lt message gt lt parameters gt lt checksum gt lt CR gt lt LF gt e The combination of lt vendor gt lt message gt is called address field e The vendor code for the Global Positioning System is GP e In this document NMEA sentences refer to the NMEA 0183 Standard For details see http www nmea org http www nmea org pub index html For an introduction into GPS NMEA sentences see http nome mira net gps n
16. tional All NMEA messages are comma delimited Note2 Both GPS Cockpit and SIRF demo software support the calculation of a checksum V3 0 07 07 User s Manual Page 15 of 23 GPS Receiver Firmware A1080 Tyco Electronics 3 2 NMEA Input Messages The following NMEA input messages are supported Message MID Description Set serial port 100 Set Port 0 parameters and protocol Reset Configuration 101 Initialize various start up behaviors Query rate control 103 Query standard NMEA message and or set output rate Development data On Off 105 Development Data messages On Off Select Datum 106 Selection of datum to be used for coordinate transformting 1 Message Identification MID Table 3 1 NMEA Input Messages Note NMEA input messages 100 to 106 are SiRF proprietary NMEA messages 3 3 Serial Port Set up This command message is used to set the protocol SiRF binary or NMEA and or the communication parameters baud rate data bits stop bits and parity Generally this command is used to switch the module back to SIRF binary protocol mode where a more extensive command message set is available When a valid message is received the parameters are stored in battery backed SRAM and the A1080 restarts using the saved parameters e PSRF100 0 9600 8 1 0 0C Name Example Description Message ID PSRF100 PSRF100 protocol header Protocol 0 0 SIRF binary 1
17. ts Table 3 4 Reset configurations V3 0 07 07 User s Manual Page 17 of 23 GPS Receiver Firmware A1080 Tyco Electronics 3 5 Query Rate control This command is used to control the output of standard NMEA messages GGA GLL GSA GSV RMC and VTG Using this command message standard NMEA messages may be polled once or setup for periodic output Checksums may also be enabled or disabled depending on the needs of the receiving program NMEA message settings are saved in battery backed memory for each entry when the message is accepted Table 3 6 contains the input values for the following examples 1 Query the GGA message with checksum enabled e PSRF103 00 01 00 01 25 2 Enable VTG message for a 1 Hz constant output with checksum enabled e PSRF103 05 00 01 01 20 3 Disable VTG message e PSRF103 05 00 00 01 21 Name Example Units Description Message ID PSRF103 PSRF103 protocol header Msg 00 See Table 3 7 Mode 01 0 SetRate 1 Query Rate 00 seconds Output rate 0 off Max 255 CksumEnable 01 0 Disable Checksum 1 Enable Checksum Checksum 25 End of message termination Table 3 6 Query Rate Control Data Format See example 1 Value Description 0 GGA 1 GLL 2 GSA 3 GSV 4 RMC 5 VTG 6 MSS If internal beacon is supported 7 Not defined 8 ZDA if 1PPS output is supported 9 Not defined Table 3 7 NMEA Messages Page
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