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1. 38 Chapter 6 Utilities Menu GPS Data Upload Download 4 Extended Format ata tiles etai tod eines i EIU cuvsaeamnaanacesadestsa ac 4 Chapter 7 Sending GPS NMEA Commands 45 Chapter 8 GPSyLinks to DeLorme Street Atlas iPC 47 Street tas 4 GPSybink Quick Directions mnsine eiea 47 Sy LIBE oec destitit Net nr eee ea eee e ES ee eee 49 Chapter 9 GPSyLinkcAppleEvent Support o Dieser Ha Em P Pan 51 Appendix A Hooking Your GPS Unit to Your Mac xen tiu capta Ead Dia tetas 53 Mini Din 8 DB 25 DB 9 Connector Schematics and Signal 55 Appendix A Global Positioning Systems GPS Tutorial esee 59 Appendix C Almost Everything You Wanted to Know about NMEA 0183 65 NMEA OIS S DILE SEUCLUEG emerat ouest ease etse dou eite ete ect M Taste REDI esu ner eect 65 NMEA ne ee Dr eR MI MIN M d 66 Appendise DA Warning o0 cetus OSEE Ep ee entities tad 69 NGS orin CS MUS MESE AS es 71 EE o LAEE T 85 GPSy Pro Operations Manual amp File Edit Displays Utilities GPSylink Help e C4007251
2. 40 33 40 2 N AN 73 39 32 0 W Altitude 126 m ietxE 135368 one GOOOSH wey T ne a penna eh Pree a Location AE i EM c P ul fes Au Ee A 7 CXLB en re 2 6 Heading 131 2 troe SOG 110 0 kmh VM 110 01 kmh Navigation Bearing 13 1 0 true DTG km ETE 0 0 km From INWOOD to RECON 40 33 28 2 M 73 39 13 8 W k GPSy Pro displaying a USGS topographic map on CD ROM Introduction W elcome to GPSy Pro a Macintosh Global Positioning Systems GPS communications and GIS mapping program GPSy Pro connects to practically any data output capable GPS unit and displays your current location speed heading navigational data satellite visibility status and other information e GPSy Pro has the broadest support for GPS units of any Macintosh program on the market GPSy Pro displays your position in any of 125 defined datums using any number of available coordinate systems GPSy Pro supports the NOAA BSB NDI ChartKit digital nautical chart format letting you use high resolution nautical charts on CD ROM must be purchased separately GPSy Pro supports the GeoTIFF and TFW map calibration standards allowing it to be used seamlessly with topographic DRG maps and orthophotos from the USGS and other sources GPSy Pro allows you to scan in your own maps or use downloaded raster image maps in PIC
3. ASTRAL initialize 06 praagi Dutput Query Device DIA File Directory Information LFS Loop Tracking ME Text PHA Heceiper Farameieri Phatiagrammesiryg Edge Pull Query Battery PPS 1 PPS Dutput PAT Port Baud hate Date Parameters Ail ideniirfication ATC Differential Mode Parameters SEL Si Tracking Status SES Session Program Parameters STR Si Lack Status Sil ALT Hndenaa ANH Hnienna Cis Clear External Memory DSC Store firing s Configure Serial Daisy Chan Bit Date Fievaiion Mirik EPG to Gi Fil Cote ar Delete File Habd Position HOP HOOF ask iON lanaspheric initialization string ASTRAL or a Hayes compat ible modem dialing string ATDT you will definite not want checksums enabled as they will confuse non NMEA devices GPSy Pro Operations Manual 45 GPSy Pro Operations Manual All command responses appear in the NMEA Sentence Data panel Adding Custom Commands If you can use ResEdit or Resorcerer you can easily add your own custom command sentences to GPSy Pro s list You need to edit three resources MENU 4110 This is the menu pop up listing all of the commands STR 4110 This is the string ES Send GPS Command listing the command paradigms STR 4111 This i
4. to DeLormes StreetAtlas 3 0 4 0 for the USA and iPC MapFan II for Japan StreetAtlas or IPC MapFan II must be purchased separately GPSy Pro Operations Manual GPSy Pro Operations Manual Sidebar This list merely represents those units tested with GPSy Pro and is not exclusive GPSy Pro is compatible with any device that speak the NMEA 0183 or 0182 protocols such as LORAN C DECCA and other marine navigational systems GPSy System Requirements GPSy Pro runs on MacOS compatible systems that have a 68020 or higher CPU or PowerPC and that are running System 7 5 5 or higher GPSy Pro is MacOS 8 5 savvy GPSy Pro is PowerPC optimized and is distributed as fat binary We recommend that you have at least 8 megabytes of available system memory more if you are using DRG topo maps or BSB nautical charts Scanned map support requires Apple QuickTime 3 02 or above to be installed Internet Map Server links require Internet Config part of QuickTime 3 and a working WWW browser to be installed StreetAtlas and 1PC MapFan II links require their respective applications to be installed Compatible GPS Units GPSy Pro requires a NMEA 0183 NMEA 0182 Rockwell NavCore Rockwell Zodiac Sony IPS or Trimble TSIP protocol compatible GPS unit and a working data connection to your Macintosh The following nonexclusive list of units have been tested to work with GPSy Pro Apelco GPo 15 7 6700 Ashtec SC
5. EPE See Note 1 Fix Quality GPS DGPS Receiver Channel Info Climb Rate Water Temperature Depth Below Transducer PHVGT PHVGT Est Est WGS 84 WGS 84 PH HVP PGRMF PGRMZ HDM HDT VIG PGRMF VTG PGRMF WCV APB BOD BWC BWR BWC BWR APA APB XTE XTR BWC BWR AAM APA APB ZIG BOD or BWC or VTG PGRMM GSA PGRMF GSV GSA PGRME PGRMZ PRWIZCH PGMRV MTW DBT Note 1 P Position H Horizontal V Vertical G Geometric T Time v Horizontal Velocity E Expected Est Estimated or Extrapolated 36 Chapter 5 Utilities Menu Time Synchronization The Utilities menu contains three different sets of commands The first allows you to synchronize your Macintosh system clock and location informa tion to the GPS system time location The second allows you to upload and download almanac track route and waypoint data and will be discussed in Chapter 6 Finally GPSy Pro allows you to send commands to high end computer controllable GPS units such as the Ashtec SCA 12 This is discussed in Chapter7 Sending GPS NMEA Commands The Global Positioning System uses extremely accurate atomic clocks on board the satellites in order to locate your position on the earth The pleasant side effect of this is that every GPS receiver is in effect a clock synchronized to GPS time Most GPS receivers send the current UTC time along with their positional and navigational information in their
6. GPdy 2 Macintosh GPS and GIS Mapping Version 1 05 Documentation Global Mapping Systems New Haven CT New York NY Tokyo Japan Software License Agreement PLEASE READ THIS SOFTWARE LICENSE AGREEMENT LICENSE CAREFULLY BEFORE USING THE SOFTWARE BY USING THE SOFTWARE YOU ARE AGREEING TO BE BOUND BY THE TERMS OF THIS LICENSE IF YOU DO NOT AGREE TO THE TERMS OF THIS LICENSE PROMPTLY RETURN THE SOFTWARE TO THE PLACE WHERE YOU OBTAINED IT FOR A REFUND 1 Reservation of Ownership and Grant of License The software accompanying this License whether on disk on compact disc in read only memory printed form or any other media the related documentation and other materials collectively the GPSy Pro Software are licensed not sold to you by Global Mapping Systems and Karen Nakamura Global Mapping Systems Global Mapping Systems and its third party licensor s retain exclusive rights title and ownership of the copy of the GPSy Pro Software and hereby grants to Licensee a personal nonexclusive nontransferable license to use the GPSy Pro Software based on the terms and conditions of this agreement The GPSy Pro Software in this package and any copies modifications and distributions which this License authorizes you to make are subject to this license 2 Permitted Uses and Restrictions This License allows you to use the number of copies of the GPSy Software for which license fees have been paid on the computer syste
7. 1 WN DB 25 DB 25 DB 25 DB 25 DB 25 Pin 8 Pin 3 Pin 2 Pin 20 Pin 7 DB 9 DB 9 DB 9 DB 2 Pin Pin Pin Pin lt lt lt gt DB Z5 Pin 7 lt gt DB 25 Pin 4 lt gt DB 25 Pin 5 Not Connected Mini Din 8 DB 25 DB 9 Connector Schematics and Signal Functions Mini Din 8 Pins and Signal Functions Pin 1 HSKo Handshake Output from Zilog 8530 DTR pin Pin 2 Handshake Input CTS or TrxC Porn TxD Transmit Data Pin 4 SG Signal Ground Pin gt RxD Receive Data Pin EXE Transmit Data Pin 7 GPi General purpose Input Pin 8 RxD Receive Data ground to emulate RS 232 DB 25 Pins and Signal Functions Pin 1 Shield EMI Shield Pin 2 TxD Transmit Data Pin 3 RxD Receive Data Pin 4 RTS Ready to Send Pin 5 CTS Clear to Send Pin 7 GND Signal Ground Pin 8 DCD Detect Carrier Detect Pin 20 DTR Data Terminal Ready DB 9 Pins and Signal Functions Pin 1 DCD Detect Carrier Detect Pin 2 TxD Transmit Data Pin 3 RxD Receive Data Pin 4 DTR Data Terminal Ready Pin 5 GND Signal Ground Pin 7 RIS Ready to Send Pin 8 5 Clear to Send Note Pins 2 amp 3 RxD TxD and other signal lines may be reversed in DB 25 and DB 9 connectors depending on device GPS Custom Connectors and Cabling Garmin Power Data Cable Magellan Power Data Cable ul e Black gt GND Black GND J Red gt V
8. PDF documents I think so otherwise I would have never had a chance to write this short editorial GPSy Pro Operations Manual Appendix D A Warning on Datums Yo should read this section even if you know all about geodetic datums since GPSy Pro s interaction with some GPS units can be unpredictable Skip to the bottom if youre already a pro and just need the facts First a tutorial on geodetic datums Since I m studying to be a professor here s a quick pop quiz The world is shaped like A a flat sheet of paper duh B a perfect sphere C an Apple Macintosh complete with stem D an ellipsoid E None of the above this is obviously a trick question The answer is E none of the above Although we learned in grade school that the earth was round and then in high school or college that it s actually an ellipsoid that bulges at the centers due to rota tional forces in actuality it s something that looks allilllImost like an ellipsoid but is just slightly imperfect Geologists have come up with different mathematical models of the earth s shape slowly refining it until its now fairly close to reality but even as we learn more about the earth it changes shape beneath our feet so we will always have differ ent ellipsoidal models of the earth Cartography itself is imperfect and maps have been based on several assumptions The first major as sumption is the shape of the earth The first simple maps used a s
9. cases Note If your GPS unit delivers a RS 422 compliant differential signal it has both TXD and TXD lines then youre all set Simply follow Schematic lb above 57 Useful Part Numbers Radio Shack 276 1427 9 Position Male D Submini Connector Crimp Type 0 99 276 1537C 9 Position Male D Submini Connector Solder type 0 99 276 1428 9 Position Female D Submini Connector Crimp Type 0 99 276 1539C D Submini Connector Hood for 9 Position Connectors 1 98 276 1426 Pin Insertion Extraction Tool for Crimp Pins 2 99 Belkin F2L087 DB 25 Male to DB 9 Male Serial Adaptor 12 99 F2V004 06 Macintosh Mini Din8 to Mini Din 8 Straight Thru 9 99 Useful Documents Apple Inside Macintosh Volume III Hardware http devworld apple com Zilog z85C30 SCC Chip http www zilog com serial serial html 58 Appendix B A Global Positioning Systems GPS Tutorial This chapter originally appeared as an article by Karen Nakamura titled Feeling Lost An Overview of Global Positioning Systems in the newsletter TidBits 388 Until about five years ago the Global Posi tioning System GPS existed in the realm of high tech military thrillers Fictional spies would tote hand held units that precisely displayed their locations or that of their objectives anywhere on earth with street maps and 3D topographic representations to boot Reality imitates art In the past ten years three amazing things h
10. selecting Copy Map Point under the Edit menu This will export a copy of the map points coordi nates in as a GPSy Extended Format record Paste this into a text editor spreadsheet or database to create a GPSy extended format waypoint file If you have MacOS 8 installed you can use the control click Contextual Menu shortcut to access this feature GPSy Pro Operations Manual GPS Log Files GPSy Pro can record and playback NMEA 0183 logfiles A NMEA logfile is a raw ASCII version of the NMEA 0183 sentences commands normally sent from your GPS unit to your Macintosh There are two main reasons why you would want to record a logfile e For later playback revisiting a trip you made at an earlier date e For data analysis with a GIS program plotter or spreadsheet Due to their binary nature raw logging of NMEA 0182 Rockwell Sony and Garmin protocols is only provided as a debugging aid for developers and cannot be played back Condensed NMEA 0183 compatible logs of these formats are supported GPSy Pro supports several other logging formats including eNMEA 0183 RMC Sentences easier to parse e Tab delimited ASCII database import eHTML web file for real time vehicle position tracking over the Internet using Personal Web Sharing eDeLorme track file for playback in SA4 eMapFan TRK format for playback in MapFan eDMAPWin POT format send to PC users 15 16 Recording To start recording
11. signal standard which is slightly different than the RS 232 422 signal your Macintosh expects The adaptor Mac Modem Cablee Mac Serial Port lack of available GPS cables designed for Macs makes connections a bit frustrating at times This is the simplest solution that doesn t involve any ldering or making cables It works only in cases If you wish to buy pre made Mac GPS cables that 5 de solves the cabling issues see the GPSy web site page GPS CS E 2 atible E http www gpsy com cables We strongly recom 108 units Garmin e arent fully mend that people who aren t comfortable with R5232 atible t doesnt work without modifica soldering irons and multimeters purchase pre tested oe such Pp ung p in 8 Some ovid M cable since Global Mapping Systems is not able to MiniDin8 Macintosh adaptor provided with digita cameras and some modems successfully with their PC provide technical support for third party or user CPS data cables constructed cables since the issues are too various and difficult to solve over e mail or phone If you arent seeing any data from your GPS unit remember to turn on NMEA 0183 output on For cable hackers If you ve read this far you are your GPS going to try to make your own cable Well it s your some GPS units such as Magellans only transmit own time wasted First we ll try to make a NMEA data when they have a positional fix Take conne
12. NMEA data With the proper program such as GPSy Pro you can set your Macintosh system clock to this time and get a very reliable highly accurate time source However there are three caveats 1 GPS units produce UTC time and do not correct for local time time zone daylight savings etc 2 Most GPS units assign a very low priority to their serial ports therefore timing data is likely to be late and slightly inaccurate 3 The Macintosh system clock can only be set to second accuracy Problem 1 is easy we just need our current time zone information Can we work around problem 2 The quick answer is Yes but because of 3 the Mac system clock will always be accurate to only 1 second at best However most of us are more worried about clock drift over a month we wouldn t want to be seconds late for our favorite episode of ER rather than absolute clock accuracy in milliseconds To alleviate these problems 1 Before you adjust the system clock you should verify your Macintosh location time zone and daylight savings adjustment in the Set Mac Location window The correct time zone and DST setting will ensure that GPSy Pro can convert the UTC time to local time 2 GPSy Pro works at a very low system level to grab the GPS data as soon as possible Nevertheless it can unfortunately be too late by several hundred milliseconds GPSy Pro allows you to manually add a small correction factor to the clock adjust
13. NavStar 79 New Zealand Map Grid 29 NMEA 65 79 NMEA log file 32 NMEA 0182 6 23 NMEA 0183 6 22 65 NMEA 0183 Data Structure 65 NOAA National Oceanic and Atmospheric Administrat 63 north See magnetic north North Display 21 NVRAM 24 GPSy Pro Operations Manual 87 GPSy Pro Operations Manual 88 O Omega 32 Open Scripting Architecture OSAX 51 OSGB datum 19 P Code 80 parallel multi channel GPS unit 61 PCMCIA serial and GPS cards 22 Peter Bennet s GPS FAQ 66 pinging sound 25 PortJuggler 22 PortShare 22 PRAM 38 pre made Mac GPS cable 53 precalibrated maps 13 Precise Position Service PPS 80 Primary Coordinate System 21 Printing 13 PRN See Pseudo Random Number PRN Pseudo Random Number PRN 30 81 Pseudo range 81 Q Quit 13 R rate of ascent 33 Realtime Display 19 Realtime Display Datum 20 Realtime Display Protocol 22 reference correction 69 Reported Time Deviation 38 Require NMEA 0183 Checksum 24 ResEdit 46 Reset GPSy 35 Reset Static Position 35 Resorcerer 46 Rockwell Channel Information 31 Rockwell NavCore 6 22 38 Rockwell NavCore V Protocol 23 30 Rockwell Zodiac 6 Rockwell Zodiac GPS chipset 31 Rockwell Zodiac Protocol 23 30 route 41 RS 232 RS 422 65 S SA See Selective Availability SA satellite See Space Vehicle satellite display 30 satellite strength 30 Secondary Coordinate System 22 Selective Availability SA 26 34 49 59 82 Sending GPS NME
14. an external antenna connection or audible beeper for about 150 but otherwise sport ing the same handheld form factor The GPS III and on the other hand are designed for vehicular use and sit on a dashboard or console They have built in digital maps and dedi cated zoom buttons which make it easier for one handed use while piloting though not recom mended while driving Garmin also sells a nifty handlebar mount I have an GPS III mounted on my Honda CX500 Custom motorcycle and it s my constant companion when I tour New England In my car I use Garmins latest StreetPilot which is a dashboard size unit with a 3 screen and built in highway maps With a MetroPilot map cartridge installed it gives street level maps as well The display is bright and clear the only minuses of the unit are the high price and lack of geek features that the handhelds have The greatest thing about Garmin units is that they have a bidirectional serial port that allows them to hook up to your computer Though many GPS units can only transmit their current positional information the Garmin units also allow you to transfer their waypoint databases route tables and other useful information The wide availability of programs supporting the Garmin transfer protocol makes the Garmin units good choices for computer based use Lowrance Eagle Lowrance sells an inexpensive twelve channel unit called the Global Map 100 approximately 2
15. and tons of memory switch to thousands or millions of colors for best display quality 13 GPSy Pro Operations Manual Tip Rightangle and isoceles triangles work well as calibration vertices TIP If you create a QuickTime preview for the map file when opening it the calibration file will copy over the preview data Since the calibration file doesn t have to be in the same directory or have the same name as the original file this is a quick and easy way to create a link folder to your favorite maps complete with previews TIP Use the SPACE bar drag scroll feature to navigate quickly inside a map and the Locate Once GPSyLink to quickly center the map on your current position 14 for the map zone and datum information if unavail able from the calibration file More information can be found at http www gpsy com pro maps Manual Map Calibration Maps without calibration data need to be calibrated manually After the map opens hold down the option key while clicking on a point with known coordinates in your map Many maps indicate latitude longitude markings either alongside the edge of the map or using grid lines graticules At least three points must be known to calibrate a map and the points should ideally be as spaced as far away from each other as possible GPSy Pro uses a sophis ticated georeferencing algorithm that improves with the number of reference points inputted If your map
16. brings up a full color world map and locates your position using a flashing red cross symbol Open Map GPSy Pro can open a wide variety of image formats for use as scanned maps GPSy uses Apple QuickTimes native imaging routines to provide ultra fast performance with BSB PICT TIFE GIF GeoTIFF JPEG PhotoShop and other formats Global Mapping Systems maintains a resource library for digital map data at http www gpsy com pro maps Precalibrated Maps GPSy Pro supports pre calibrated MapTech NDI ChartKit nautical charts as well as pre calibrated GeoTIFF maps such as those issued by the United States Geological Survey USGS in their Digital Raster Graphics DRG CD ROM series of the entire United States GPSy Pro also supports TFW TIFF World File calibration data such as provided by non USGS topo maps orthophotos and ArcView compatible map viewers TFW files must be supplemented by the UTM zone information GPSy Pro will ask you GPSy Pro Operations Manual NOTE GPSy Pro caches the map image into memory for faster performance Allocating more memory to GPSy Pro quitting other applications or adjusting the Memory Preferences allows a higher resolution cache image to be stored TIP Most Geo TIFFs in 256 color format Change your monitor bit depth to 256 colors to save image cache memory and speed performance However smoother dithering is possible at higher bit depths so if you have the processor speed
17. fields All database and spreadsheet programs support a tab delimited ASCII input Date time UTC position velocity and DOP values are written out to the file The HTML Web File option saves the current GPS position and velocity information as a HTML web file with GPSyLinks to map data If you use Personal Web Sharing available in MacOS8 to share this file onto the Internet using a Ricochet Internet wireless modem or PCS GSM PFIAS Cellular PPP connection other people can view your position using any web browser from any location on the Internet This feature was designed specifically for multiple vehicle and remote position tracking NMEA 0183 Log Comments You can enter comments into NMEA 0183 type log files see below for the proprietary tag by hitting the RETURN key while recording This will open a small dialog box asking for the tag comment the default is the current time and date and a record number You can hit return again or type in your own comment To view comments during playback keep the NMEA Sentence Data window open and look for the Notes field to appear Log Comments are only supported in raw NMEA 0183 and NMEA 0183 RMC log files NMEA 0183 Playback You can playback a NMEA 0183 logfile by choos ing the option Start NMEA Playback You will be asked for a file to playback The file will play back in GPSy Pro just as if it were being received live You c
18. forests urban jungles deep canyons inside automobiles and boats and in heavy snowfall among other things These environmental obstacles degrade positional accuracy or make it impossible to get a fix on your location GPS Receiver Technology The core of GPS receivers come in two major varia tions sequential single channel and parallel multi channel Single channel GPS units have only one radio receiver unit and they must step sequentially through all possible satellites This takes time and degrades their accuracy since they may lose a lock each time they switch channels Parallel units have from between four and twelve receivers each dedi cated to one particular satellite signal so strong locks can be maintained on all the satellites There are some two channel units out there but in practice these are only slightly better than single channel units Parallel channel units are up to 15 times faster in satellite acquisition times and they are unparalleled sorry for the pun in their ability to lock 61 GPSy Pro Operations Manual NOTE A new and updated GPS buying guide can be found at http www gpsy com faq gps units html http www gpsy comlapsinfo index html resellers 62 onto the satellite signals even in difficult situations like heavy foliage or urban skyscraper canyons Boaters however may be content with single or dual channel sequential units since there are few environmental obstacles on
19. iapnheeures 4 a Ik 48 Manual GPSyLink Quick Start cont EPEC i e Emil n Genrsies genrcsties serinips cnm inet cnm lger tigerzenses SEFUE parc deese nim Jlapai LOIR MIELE ee Web Bub ero nim Lee Lorie Piro 30 IP bidet Se 1 1 In the GPSyLink menu select the type of GPSyLink that you want StreetAtlas 3 StreetAtlas 4 iPC Map Fan Internet Map Server etc 2 If you are using the StreetAtlas or Internet Map Server databases make sure your primary datum display is set to WGS 84 If you are using iPC MapFan II within Japan make sure your primary map datum is set to TOKYO Please read the Appen dix D warning on the vagaries of GPS units NMEA 0183 and geodetic datums in order to ensure you are getting the proper datum display in GPSy 3 Go to the GPSyLink menu and select Locate Once If it isnt already running StreetAtlas MapFanll or your web browser should launch and link up with GPSy Pro If your application is hidden it may update invisibly so be sure that its in the back but not hidden If you had been previously working with a map StreetAtlas may ask you whether you want to save It Or not 4 Once GPSyLinked the third party program will display a map with
20. is skewed or distorted try to align your refer ence points to match the skew distortion Informa tion about the referencing accuracy can be found in the information box in the lower lefthand corner of the map window After calibrating the map save the calibration points to a file Opening the calibration file will automati cally open the associated image file which may be on a CD ROM or network However do not delete or move the image file to a different server or volume or the calibration file will not be able to automati cally locate and open it In these cases you will need to manually locate the appropriate image file Navigating and Using Digital Maps You can zoom in and out of the map using the Command Arrow keys Command LeftArrow is Zoom Out Command RightArrow is Zoom In or using Command Scrolling can be done using the standard scrollers or using the arrow keys Alternately you can hold down the SPACE key while inside the map to drag and scroll in real time Your current position will be displayed using a red cross graticule and a track record will be overlaid on the map as you move To center the map on your current position go to the GPSyLink menu and select GPSy Pro Digital Map as the GPSyLink option The Locate Once and Locate Repeat options under the GPSyLink menu will then allow you to center the map on the current position either once or in real time Switch off the Locate Repea
21. on the data struc ture of the NMEA sentences themselves Some GPSy users who are interested in GIS work may want to log GPS data and analyze it post facto This is quite simple using GPSy s logging feature A basic GIS utility might be a short AppleScript program that strips the NMEA sentences you are interested in such as GLL for latitude longitude and then plugs that data into a spreadsheet or GIS application such as MapInfo for further analysis NMEA 0183 Data Structure NMEA 0183 is delivered as standard 7 bit print able ASCII characters Each sentence begins with the character following by a 2 character device identifier or talker type The defined talker types are AG AUTOPILOT General AP AUTOPILOT Magnetic CD COMMUNICATIONS Digital Selective Call ing DSC CS COMMUNICATIONS Satellite CT COMMUNICATIONS Radio Telephone MF HF CV COMMUNICATIONS Radio Telephone VHF CX COMMUNICATIONS Scanning Receiver DE DECCA Navigation DF Direction Finder EC Electronic Chart Display amp Information System ECDIS EP Emergency Position Indicating Beacon EPIRB ER Engineroom Monitoring Systems GP Global Positioning System GPS HC HEADING SENSORS Compass Magnetic HE HEADING SENSORS Gyro North Seeking HN HEADING SENSORS Gyro Non North Seeking II Integrated Instrumentation IN Integrated Navigation LA Loran A LC Loran C OM OMEGA Nav
22. or consequential damages related to Licensee s use of the GPSy Pro Software even if Global Mapping Systems is advised of the possibility of such damage 5 Governing Law This agreement is governed by the laws of the United States of America and the State of Connecticut without reference to conflict of laws principles 6 Entire Agreement The parties agree that this constitutes the sole and entire agreement of the parties as to the matter set forth herein and supersedes any previous agreements understandings and arrangements between the parties relating hereto and is effective valid and binding upon the parties Liability Disclaimer GPSy Pro is a not a professional navigational aid and should not be used as a primary means of navigation or in any situations where damage to life or property is possible Please be very careful in using this product since IN NO EVENT SHALL SOFTWARE AUTHOR BE LIABLE TO USER FOR ANY SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGE INCLUDING BUT NOT LIMITED TO LOSS OF REVENUE AND LOSS OF PROFITS OR LOSS OF LIFE OR PROPERTY EVEN IF AUTHOR HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES The maximum liability accepted will be the refund of the purchase price of this software Your use of GPSy GPSy Pro or GPSyLink signifies your agreement with these conditions If you do not agree to these conditions or if these limitations to liability are illegal in your jurisdiction you must not use the software and must
23. shows a bird s eye view of the satellites The outer circle is the horizon and the middle circle is 45 elevation above the horizon The center of the circle indicates directly above you The satellites are de scribed with their PRN identifying numbers above the colored dot marking their location and below their strength in dBHz The position dot is color coded red for weak orange for moderate yellow for medium strong and green for very strong On the left side of the panel you can see how many satellites the GPS unit is using and how many satel lites are theoretically visible You can also see a list of the satellite PRNs that the GPS unit is using to locate its fix This is useful for example if you find that your fix is being blocked or weakened by an obstruc tion You can use the satellite display to find the location of the obstruction and either move it or move to a more visible location The GPS system depends on triangulating your position using three or more satellites It requires three satellite locks at minimum for a 2D fix and four for a three dimensional fix with altitude However if the satellites that you are using to triangulate your location are located close together the GPS fix may not be accurate since the angle of separation is not wide enough This can happen for example if you re trying to locate yourself inside a canyon or among high rise buildings the only satellites visible are straight
24. the market In order to use GPSyLink with a commercial CD ROM map database you must have a copy of DeLormes Street Atlas 3 0 or 4 0 iPC MapFan II Both DeLorme StreetAtlas USA and iPC MapFan Japan can be purchased through most major retailers and mail order catalogues If you are GPSyLinking to Internet Map Servers you must have a working Internet connection PPP Ricochet Packet Radio PFIAS Cellular Modem etc and the free InternetConfig program Setting GPSyLink to GPSy Digital Maps makes GPSyLink control the auto map centering features of GPSy Pro s scanned maps Lax afinn 412113 72 54 48 W UTH it 45g 0i E 1 Once Letaie Hepeal Update time TET e iz StreetAtlas 3 4 map support is optional and must be purchased separately Check your invoice to see if you have StreetAtlas support StreetAtlas 4 GPSyLink Quick Directions 2 Make sure that your copy of StreetAtlas iPC MapFan II or your Internet browser are launched and working Connect your GPS unit to your Macintosh 0 Launch GPSy Pro and open the Location and Satellite displays Wait until you see that GPSy Pro is correctly receiving data from your GPS unit GPSy Pro will not let you GPSyLink if it doesn t have a locational fix 47 GPSy Pro Operations ap tui Let ditt ncs xL Leet ote amp 3gnificetiun 2i F F amp
25. the open ocean These models are now considered outmoded technology so you may be able to pick one up cheaply But for others don t settle for anything less than a full 12 channel parallel system especially since the price differential has closed greatly in the past six months Reviewing Some Receivers Let s take a quick peek at a few low end consumer GPS units in the 150 to 300 range All these units have parallel 12 channel receivers They also all have the same 100 meter accuracy because the U S government reduces all civilian GPS units in a similar fashion If the government were to remove the SA interference the units would be accurate to about 15 meters If you re shopping for a unit pay attention to features like form factor handheld versus mounted external antennas mapping computer controllabil ity and availability of compatible software GPSy is compatible with all of the units mentioned I ve included on our Web site a list of resellers where you can buy these GPS units For local shop ping try your neighborhood boating stores or outdoor sports stores they often carry the lower end units Garmin My favorite GPS receivers are from Garmin Inc Their main handheld unit the Garmin GPS 12XL is about 200 The 12XL is designed for handheld use and fits in your palm It runs on 4 AA batteries for about 12 hours and has a backlight for night use Garmin also sells the lower end GPS 12 a 12XL without
26. using balanced lines for optimal noise resis tance unfortunately most GPS units are not built to this standard RS 232 Devices If Pin 8 is grounded as with most Macintosh modem cables then pin 5 must go significantly above ground to be detected as and significantly below ground to be detected as Since pin 5 is connected to the 12V TxD of a RS 232 device most modems the 12V difference between pin 5 and GND is enough to drive the Mac serial port If your GPS receiver emits true RS 232 then grounding pin 8 should work fine Most GPS units arent RS 232 compliant either NMEA TTL The NMEA TTL standard used on the majority of GPS units has only 5V 0V on the TxD line Connected to the RxD Pin 5 of the Mac this signal isnt really enough to drive the Macintosh Sidebar EIA 422 is substantially the same as and supersedes RS 422 The author uses RS 422 for sentimental reasons serial port on its own especially since the voltage on Pin 5 never goes below 0V and so Pin 5 appears high all the time Setting the Mac s Pin 8 RxD to a fixed 2V or so would make it work with the NMEA TTL level But it turns out that in most cases this is unnecessary If Pin 8 is simply left unconnected either the RxD input floats to about that level on its own or it floats to the average voltage on the RxD input Anyway it may be a fluke or it may be design but leaving Pin 8 unconnected seems to work in most
27. your NMEA data go to the File menu and select Start GPS DataLogging You will be asked for the name and location of a file to save to as well as the data format If you are going to be replaying the data in GPSy Pro select either the Raw NMEA data format or the NMEA 0183 data format Data log files are usually saved as a standard Macintosh text files file type TEXT creator GPSy that can be opened in any word processor spreadsheet or data analysis program The Raw NMEA format can be extremely bulky and difficult to process since it captures all of the device s NMEA 0183 data Interval logging is not available with this option The data format is the standard raw NMEA data format which is easily editable or data extractable For more information on the NMEA 0183 format see Appendix C The Raw NMEA format requires that the current real time position communications protocol be set to NMEA 0183 The NMEA 0183 data format writes only NMEA 0183 GPRMC data sentences at timed intervals The RMC sentence contains most of the information needed for later GIS processing in a comma delimited format The NMEA 0183 RMC sentences are generated by GPSy internally so that you can use this format regardless of the GPS posi tion communication protocol in use GPSy Pro Operations Manual The Tab delimited ASCII option allows you to save the GPS data as a series of tab delimited
28. 00 The GM100 has a strong 12 channel GPS receiver but unfortunately the user interface is harder to use than the Garmins On the other hand Eagle Lowrance have publicly released their software protocol so you can expect strong support for these units in the coming future The GM100 also has uploadable maps Unfortunately Lowrance hasn t released the proto col specs on the map features so it s difficult for third parties such as ourselves to develop Macintosh support for it DeLorme DeLorme Mapping publishes CD ROM and paper maps of the United States Their most famous product is StreetAtlas a street level map of the entire U S on CD ROM But they also manufacture a small 12 channel unit called the DeLorme Earthmate The Earthmate has no display or controls of its own and is designed strictly to be used with a computer Although for 150 it s a good deal we d recommend a low cost Garmin GPS 12 instead if you are at all interested in using your GPS unit offline Data Cables The biggest problem facing Macintosh GPS users is the unavailability of data cables Most data cables come in PC style DB 9 connectors not the Macintosh style DIN 8 Currently the only com mercial source for GPS cables for the Macintosh appears to be my company However you can make your own cables if you re handy with a soldering iron or wire crimps Our GPS Cable Page provides details GPSy Pro Operations Manual Finding Your Way
29. 3 Edit Menu Preferences The Edit menu contains the usual copy paste commands but it also includes the various Prefer ences panels that control how GPSy Pro works Display Preferences controls the display of information in the various Display panels see Chapter 4 for information on the individual panels Serial Preferences controls which serial port GPSy Pro expects to find your GPS the bps rate at which GPSy Pro reads the NMEA data and other protocol information Memory Preferences controls the location and amount of memory that GPSy Pro uses to cache its offscreen map images Static Position Calculation Mode controls the algorithm by which GPSy calculates your Static Position anti SA feature See the next chapter for more information about this feature Keyboard Commands allows you to view the current keyboard command settings License Key allows you to enter your GPSy Pro license key thus enabling use of GPSy Pro Display Preferences Display Preferences allows you to control how information is displayed in the various Display panels Some options may seem quite complex but it is worth learning what they signify as they directly affect the accuracy of your position data Datum Translation Maps are built on assumptions about the curvature of the earth and assumed fixed starting points These assumptions are called datums and as cartography advances we develop new datums that fit the earth or o
30. 4 Route Spaces between the words not tabs Then if your route has more than one STOP you ll need to rename the stops to give them unique names Feel free to rename START and FINISH to have unique names as well You can also insert comments into the second field after the name These will NS DOL DOIT W O N43 42 792 W70 14 003 6 4 N43 44 948 W70 12 748 llo N43 20 292tf WTUT 11 7531 appear in the waypoint comment field in supported GPS units Upload the data to your GPS unit using GPSy Pros Send Data command Your route and waypoints will appear as listed Note that GPSy Pro will upload to Route 0 in GPS units that use route numbers this will erase any previous route stored at that location MAPGEN MATLAB Vector Maps GPSy Pro can also upload vector maps stored in the MAPGEN or MATLAB format as track files Many users have used this to upload the USGS World Coastline Extractor to their handheld GPS units providing a coastal background map to units with out built in map data Note that most handheld GPS units have only a very limited track memory usually 500 1000 track points This means that you must usually use the lowest resolution vector data possible keeping the number of points to a minimum Visit our web site to find sources of vector map data http www gpsy com pro maps Chapter 7 Sending GPS NMEA Commands Certain GPS units such as the Ashtec SCA 12 and G
31. 98 253 3 M 94 37 48 P E yoy 1629 14 190 OU 0s 99 1 51 UE SGEGSV 3 1 10 22 63 045 43 29 56 194 43 03 47 156 43 18 36 306 42 0 SECOURS 25 22 102 20 16 19 259 37 31 1451975 94 19 11 288 12 POPGOV poroz Orla D14229 94 L17502 072 93 72 SCPRYC 181817 4 4122 3506 N 07255 2026 W 0 000 0 0 310197 14 4 W 4A SETSWDATT 22 172576 oly 1 12 0 00 0 06 7 16 1 11 6 29 1 00 0 14 1 18 7862 Standard NMEA Tags These are some of the most important NMEA tags taken from Peter Bennets GPS FAQ ftp sundae triumf ca pub peter index html See his FAQ for information on other tags that may appear in the raw output Overview of NMEA Sentences NMEA 0183 Standard Sentences APA Autopilot Format A APB Autopilot Sentence B BOD Bearing Origin to Destination Waypoint BWC Bearing and Distance to Waypoint Great Circle GGA Global Positioning System Fix Data GLL Geographic Position Latitude Longitude GSA GPS DOP and Satellites in Use GSV GPS Satellites in View RMB Recommended Minimum Navigation Information RMC Recommended minimum specific GPS Transit data RTE Waypoints in active route VTG Actual Track and Ground Speed SOG WPL Waypoint Location XTE Cross track error measured GPSy Pro Operations Manual GGA Global Positioning System Fix Data GPGGA 123519 4807 038 N 01131 324 E 1 08 0 9 545 4 M 46 9 M 42 123519 Fix t
32. A 12 125 DeLorme EarthMate Track n Go Tripmate Eagle AccuMap 12 AccuMap Sport AccuNav Sport AccuTrail Expedition Explorer II UltraNav GPS View Garmin Lowrance Magellan Motorola Novatel Panasonic Rockwell Sony Toshiba Trimble GPS LI III GPS 17 GPS 12XL GPS 20 205 GPS 305 316 3065 GPS 40 45 45XL 48 CPS 30 GPS 557 75 69 GPS 90 92 GPS 95XL GPS 120 GPS 135 GPS 175 GPSMap 195 GPSMap 210 GPSMap 220 GPSMap 230 StreetPilot StreetPilot Color AirMap GlobalMap 100 GlobalMap Sport GlobalNav 200 212 310 GlobalNav Sport seaNav ColorTrak Trakker GPS 3000 GPS 4000 GPS 2000XL 3000XL 4000XL Meridian Meridian XL ProMark X Trailblazer XL PVT 6 NavCard KX G93 KX G5700 NavCard IPS 3000 5000 5100 IPS760 PACY CNV10O Noteworthy GPS PC Card NWGPSOI ocoutMaster PElightPro Mobile GPSCard GPS PCMCIA Card 4000SSi GPS II III LICK An updated version of this list may be found at http www gpsy com compatibility html GPSy Pro Software Updates GPSy Pro is updated quite often with new features and bug fixes The latest version of GPSy Pro documentation and FAQs can be downloaded from the GPSy Pro world wide web site http www gpsy com pro Registered Users Web Site As part of your registration package you should have received instructions on how to access the GPSy Pro registered users web site If you did not receive this information pleas
33. A Commands 45 serial port 22 serial port latency 38 Serial Preferences 19 22 Set Macintosh Location 37 38 Set Macintosh Time 38 single channel GPS unit 61 SOG See Speed Over Ground SOG Sony IPS Protocol 6 23 30 31 Sony IPS 5000 23 Sony PACY CNV10 23 Space Vehicle 59 83 Speed Units 21 Standard Positioning Service SPS 83 Starlink Differential GPS 45 Start NMEA Logging 13 Start NMEA Playback 13 Static Position Anti SA 19 34 Static Position Calculation Mode 19 25 statute miles 21 STR 4110 46 STR 4111 46 StreetAtlas See DeLorme StreetAtlas SV 59 See Space Vehicle System Requirements 6 T talker types 65 TDOP 83 16 Text to Speech 26 text to speech TTS 26 TIGER Census data 49 Time Synchronization 37 Tokyo Datum 48 topographic maps 19 track data 41 43 TracPak See Garmin TracPak Trimble TSIP Protocol 6 23 24 Tripmate See DeLorme Tripmate true north 30 49 TTG 83 TTL level output 65 U Universal Polar Stereographic UPS 20 Universal Transverse Mercator UTM 20 Userland Frontier 51 offset 38 UTC time 37 Utilities Menu 37 41 UTM UPS 20 29 V Velocity Made Good VMG 84 Vertical Dilution of Precision VDOP 84 View Map 13 W waypoint data 41 WGS 84 19 21 30 49 X XTE See Cross Track Error XTE Z Zodiac See Rockwell Zodiac Protocol Zodiac GPS chipset See Rockwell Zodiac GPS chipset GPSy Pro Operations Manual 89
34. Cable 5 ne 1 Shield Ground tj 5 NMEA In Brown ME EUN Pin 3 White TxD NMEA Pin 4 Green RxD NMEA 13 Pin 5 Brown TxD RS232 Pin 6 Blue RxD RS232 56 Should I Remove Pin 8 The NMEA standard dictates that the electrical signals be either single pair 5 0 TTL or comply to the differential 5 EIA 422 standard Most NMEA vendors have chosen to implement their devices using the single pair unbalanced TTL signal option Mean while Mac serial port expects either differential 5V RS 422 serial levels or 12 RS 232 We ll discuss how the Macintosh serial port is configured for RS 232 devices with Pin 8 grounded and how to fool the Mac with TTL devices by removing Pin 8 Most users will find that their GPS units are neither EIA 422 compliant with differential signals nor are they RS 232 compliant If the electrical signals of your TTL level NMEA port are not totally compatible with the serial port on your Mac you will have to either have to build a cable that fools the Mac into accepting TTL or convert the T TL level NMEA into proper RS 232 This appendix will discuss building cables that fool the Mac first and then de scribes how you can buy or build TTL to RS 232 adaptor RS 422 Devices With 5V RS 422 devices both Pin 5 and Pin 8 are connected to their respective pairs on the receiver end pin 3 amp and the 10V differential voltage between the two is used This is the preferred method
35. Error Electro Magnetic EMCON Emission Control GPSy Pro Operations Manual 75 GPSy Pro Operations Manual 76 ERA Estimated Range Error The estimated amount of error in each pseudorange calculation given by each GPS satellite When Selective Availability is on this value is set to 32 meters by default ETA Estimated Time of Arrival The local or UTC time of arrival at the selected waypoint ETE Estimated Time Error See EPE Also Estimated Time Enroute the estimate time spent enroute to the destination ESGN Electrically Suspended Gyro Navigator FAA Federal Aviation Administration FOM Figure Of Merit FRPA Fixed Radiation Pattern Antenna FRPA GP FRPA Ground Plane FUD Fear Uncertainty and Doubt A marketting technique pioneered by IBM and later put to great use by Microsoft This technique involes injecting fear uncretainty and doubt into your customers who are thinking of switching sys tems by use of false or misleading marketting statements ie no one ever got fired for buying an IBM mainframe GaAs Gallium Arsenide GDOP Geometric Dilution of Precision GMT Greenwich Mean Time The former name for what is now known as UTC Universal Coordi nated Time See UTC GPS Global Positioning System A multi billion project by the Department of Defense to create a satellite based navigational system for military use Later opened up for civilian use with accuracy
36. File Format route waypoints are stored using a tab delimited record Each record encodes the name comment location coordinate system and datum used Altitude and proximity waypoint radii are always listed using metric meters The icon format is proprietary to each manufacturer For Garmin units the icon number is listed first followed by the icon visibility state Note that icon numbers are not compatible between GPS units even between some of the same brands GPSy Pro automatically detects the features of each GPS unit when uploading data and will not try to upload data that the unit does not support How ever you may find it necessary to strip the icon format field when uploading data between units of different manufacture Unlike other formats the GPSy Extended Format encodes the datum used and data format Use the extended format when mixing and matching data from various sources Route Data The route data consists of a series of R lines specifying route names and then W lines consist ing of the waypoints that make up that route See the waypoint file format above for information on waypoint records The route line lists the route number and name The waypoint lines specify the way name com ment and location in descending order through the route With Garmin StreetPilots the comment field is used in routes as the link to field specifying which route is used to link two route segments An
37. GPS receivers arent yet standard equipment in cars but with price drops and improvements it s only a matter of time Ubiquitous availability of GPS devices will help eliminate the angst of finding yourself in at least one sense For more information about GPS check out resources from the U S Coast Guard NOAA Na tional Oceanic and Atmospheric Administration Iowa State University and my own Web site lt http www navcen uscg mil gt lt http www ngs noaa gov GPS GPS html gt lt http www cnde iastate edu gps html gt lt http www gpsy com gpsinfo gt 63 GPSy Pro Operations Manual This page was left blank for a reason but I forgot why 64 GPSy Pro Operations Manual Appendix C Almost Everything You Wanted to Know about NMEA 0183 NMEA stands for the National Maritime Electronics Association They govern standards for things like maritime radar systems Loran C auto pilots depth sounders and of course GPS units They ve defined a communications protocol called NMEA 0183 that is the basis for almost all stan dard GPS data output NMEA 0183 is a simple protocol At the electrical level it is defines a TTL level output of 5V 0V with a timing signal compatible to RS 232 RS 422 at 4800 bps 1 stop bit no parity no flow control Because NMEA is so similar to RS 232 RS 422 it s often possible to connect your Macintosh to your GPS unit the subject of Appendix A This chapter instead will focus
38. GPSy Pro Location panel shows your location information using a large primary location spot and a smaller secondary spot The primary coordi nate system also affects how data is shown in the Navigation display as well as how it 1s read aloud GPSy Pro Operations Manual 21 GPSy Pro Operations Manual 22 using text to speech You can switch from any of the coordinate system options listed on the previous page The primary coordinate system selection also affects the coordinate system used when transferring data Secondary Coordinate System Same as the primary coordinate system but affects the smaller display portion of the Location panel Display Altitude The GPS system is notoriously atrociously bad at calculating altitude information It s often simpler to not have altitude displayed This turns off altitude in all display panels and prevents it from being spoken in text to speech Serial Preferences Serial Port Printer Modem Port Realtime Display Protocol Rockwell MavCore al al bal Protocol BPS Rate 9600 801 NavCore V Data Transfer Protocol 1 Annoying warning when switching modes Require NMEA 0183 Checksums Initialize Garmin TracPak Serial Preferences See Appendix A for general information on connect ing your GPS unit to your Mac Serial Port Default Modem Port GPSy Pro allows you to set which serial port your GPS unit is connected to GPSy P
39. Location Panel needs the location information provided in the NMEA 0183 GLL or RMC data sentences so if your GPS doesnt send those packets GPSy Pro cant display location information with the NMEA 0183 protocol Other data protocols use different packets to send data See the Display Panels chapter for more information GPS Date Mion thor Devico GP Positianing Sven EMEL Sentences GCA CLL CIA GY MT EHE RIE EFL PGRME HFHH SPREE 21 IPGEMM W eisi 1 SCP WPL 4132 222 TOPEMC Z1 eth 128 332 B EGPEME A REL Ie vn in 92mm ETE al j 2 MOTE DO W 00s 7 021 5040 a vy EPH 43 0517 0406 3412234 5 Ve BEP SE PE 2 33141 12 DE CR DO 77 io PO E 2 EE IBI 7 E PLEME n7 LM SS MDC 27834 17 2 GPSy Pro Operations Manual Sidebar Ifyou have a Macintosh with nonstandard serial ports or if youre already using your modem port for another active connection then GPSy Pro may warn you it was not able to open the port Either switch ports or make a port available By default GPSy Pro is set to use the NMEA 0183 serial communications protocol See Chapter 3 on how to set GPSy Pro to use alternative serial ports or communica tions protocols See Appendix A ifyou are having trouble physically connecting your GPS unit to your Macintos
40. Red gt V Fi Brown gt XD Yellow gt TxD E a Co White gt RxD Orange RxD a w Fi L 4 r GAD vw e f Eagle Explorer Lowrance Sea Nav ER eae Pin 1 V Power 5 15V EE fuetom 6 Fin GF5 Sida Front Vire Pin 2 RxD Data TxD Pin 3 GND Signal Power Ground n Pin 4 TxD Transmit Data x i Pin RC1 Recharger o d a E Pin 6 RC2 Recharger LES a Pin 8 Crs Clear to Send Garmin Handheld 4 Pin Custom Global Boort NMEA Interface Cable Male GPS Side Front View Garmin Handhelds 38 45 45 XL 48 II H 12 12XL III StreetPilot TN as Pin 1 Signal Power Ground Pin 2 TxD Transmit Data pum 3 V Power see manual F EU Pin 4 RxD Receive Data y Note Voltage requirements of Garmin handhelds vary widely See your user s manual before connecting to any V source to prevent your unit going up in smoke Check amperage limitations before drawing power from the ADB or Geoport of your Macintosh to prevent m MN nm your Macintosh from going up in smoke 8 S EERI rd p 1 Garmin GPSMap 19 2 e 2 E z 5 2 GND Signal Ground 5 C f A B 1 2 4 Transmit Data GARMIN GPSMAP 195 tec o um PAD fab View Garmin GPSMap 195 diagram courtesy of Dennis Fraser of LaserType Inc a Viewed From Rear of Case Ground Black a i s m iy Global Map Sport NMEA Interface
41. T GIF JPEG format These maps can be cali brated and displayed and overlaid with track and waypoint information GPSy Pro has a highly optimized graphics engine which allows it to display high resolu tion images at blazing speeds GPSy Pro supports real time links to Internet Map Servers such as the Xerox PARC map server MapFan StreetMap MapBlast and Census TIGER e GPSy Pro synchronizes your Macintosh time and location information to the highly accurate data provided by the GPS satellite system GPSy Pro connects to compatible Garmin brand GPS units and can upload and download waypoint route track and almanac information GPSy Pro supports the Garmin extended proto col for waypoint icons proximity waypoint user configuration data and downloadable screen images GPSy Pro can also upload and download waypoints from compatible Lowrance Eagle and Magellan brand GPS units GPSy Pro controls high end GPS units such as the Ashtec SCA 12 with its Send GPS NMEA com mand feature A Macintosh GPSy exclusive GPSy Pro supports multiple export formats including raw NMEA NMEA 0183 RMC sentences StreetAtlas tracks MapFan format POT format tab delimited ASCII and HTML web files The GPSyLink AppleEvent suite allows users and third party software to poll GPSy Pro for positional and navigational data This allows GPSy Pro to integrate into advanced third party and end user GIS solutions Exclusive GPSyLink
42. View Map Data Logging The File menu contains several different com mands A brief description will be followed by more detail in this chapter View Map brings up full color overview map of the world and locates you on it This can be used as a quick way of verifying GPS operation Open Map opens a pre calibrated map or imports a new map image for calibration Save Map Calibration File allows you to save your manual map calibration data out to a file Export Map allows you to export your maps with overlays to other programs for printing or navigating Start NMEA Logging allows you to record incoming NMEA data to a text logfile Start NMEA Playback allows you to playback a NMEA logfile that you ve recorded or that someone has sent you You can also playback GPSy extended format track files Demo Mode makes GPSy Pro run a short demonstration of its capabilities reading sample NMEA data from an internal resource Print prints the current map to the selected printer GPSy Pro will attempt to scale the map optimally for the selected paper size or you can print just the map window section by holding down the option key Quit will of course make GPSy Pro quit View Map Although in most cases you will want to use a high resolution scanned map or a GPSyLink to a CD ROM GIS mapping software program or Internet Map Server GPSy Pro has a built in map function which
43. You can also get magnetic declination information as well Moving the mouse to the information square in the bottom left corner will bring up more data about the image While the global resolution of the World Map is high it s not adequate for local navigating You ll most probably want to purchase or download high resolution digital maps of your local area 15949 MM E 193499 HE Y BENZ Dh File Dimensions 1090 x 540 Incompreasased Size 1 1 Hb 16 bite thousands 16 bits thougarnd2 screen Depth Cache Depth Cache Dimensions 1080 x 940 1 1 Hb 100 0 1 1 Cache ITemorv Cache Resolution ET 38548 im Howe j 45 PPM eU i e GPSy Pro supports a wide variety of digital map formats Boaters will most probably be interested in the NOAA BSB NDI ChartKit digital nautical charts of U S and Canadian territorial waters These are commercial charts sold on CD ROM and floppy More information is available at http www gpsy com pro maps People living in the U S have access to the broadest variety of maps since the U S Federal Government has waived its copyrigh on federally produced map data This means you can obtain high resoution topographic maps off the Internet or on inexpen sive CD ROMs See our Map Resouces home page for more information http www gpsy com pro maps The topographic map on page 4 of this manual gives a good idea of the resolution of the USGS topo map series GPSy Pro also s
44. above GPSy Pro calculates how much error can be intro duced by the satellite geometry and presents this to you as two numbers Dilution of Precision DOP and Estimated Position Error EPE The two numbers are related to each other mathematically DOP is given as a unitless number between 1 co where 1 is no DOP error EPE is given in feet or meters and specifies the amount of estimated error in the location data EPE is the product of the DOP error and the individual satellites range errors GPSy Pro will display this information if it is made available to it and can calculate the EPE error if it has the DOP error values When GPSy Pro calculates the EPE error rather than relying on the GPS unit to transmit it it places a small 95 accuracy calculation note next to the calculated EPE error GPSy Pro Operations Manual GPS Satellite Data GPS Data Type Standard GPS Fix Satellites In Use View 7 9 Active PENs 361416222529 PD P 7 EPE 1 7 7 359 1 ftrosns HD DOP HPE 10 199 5ftrosn VD P VPE 1 4 2968 2 ftiost Fir Type Automatic 3D fix Kockwell Channel Info a9 NET aa NEI 16 NET 14 NET a NET 06 NET Ig E Rockwell Sony Channel Information GPS units that use the Rockwell International Zodiac GPS chipset Rockwell NavCore V chipset or Sony IPS Protocol send detailed channel informa tion on each of their parallel channels On the left of the channel information is the satellite PRN c
45. additional class subclass identifier is appended to the end of route waypoint records to indicate waypoints located in ROM Track Data The track data consists of a series of track data lines Each line gives the date time of the track point and the location A gap in the track data file indicates a new track was started Track files are stored in the same format as waypoint files GPSy Pro Operations Manual Screen Download GPSy Pro can download the screen image from Garmin GPS III IIL StreetPilot StreetPilot Color and late revision 12XL units as a TIFF file Classic Data File Format The Classic Format GPS data file is the same format used by a variety of Mac UNIX and Windows GPS software based on John Waer s original MacGPS freeware program In the Classic Format GPSy Pro appends a short 4 6 line file header that indicates the file type the current coordinate system format UTC offset geodetic datum in use GPSy Pro version and software proto col information When managing your waypoints in FileMaker Pro or other database program you ll often want to remove the header before importing the waypoints You ll need to reattach the header after exporting out of FileMaker In particular the coordinate system and geodetic datum information is extremely important when GPSy Pro reuploads the file to your GPS unit You will also need to make sure you always use the same coordinate system and datum for all transferred waypoi
46. aken at 12 35 19 UTC 4807 038 N Latitude 48 deg 07 038 N 01131 324 E Longitude 11 deg 31 324 E 1 Fix guality O invalid GPS fix 2 DGPS fix 08 Number of satellites being tracked 0 9 Horizontal dilution of position 545 4 M Altitude Meters above mean sea level 46 9 M Height of geoid mean sea level above WGS84 ellipsoid empty field time in seconds since last DGPS update empty field DGPS station ID number GLL Geographic position Latitude and Longitude SGPGLL 4916 45 N 12311 12 W 225444 4916 46 N Latitude 49 deg 16 45 min North 12311 12 W Longitude 123 deg 11 12 min West 225444 Fix taken at 22 54 44 UTC A Data valid Garmin 65 does not include time and status RMC Recommended minimum specific GPS Transit data SGPRMC 225446 A 4916 45 N 12311 12 W 000 5 054 7 191194 020 3 E 68 225446 Time of fix 22 54 46 UTC A Navigation receiver warning A OK V warning 4916 45 N Latitude 49 deg 16 45 min North TS LS LN Longitude 123 deg 11 12 min West 000 5 Speed over ground Knots 054 7 Course Made Good True 191194 Date of fix 19 November 1994 020 3 E Magnetic variation 20 3 deg East 68 mandatory checksum 67 GPSy Pro Operations Manual 68 This page left blank on purpose Have you ever wondered about these blank pages in documentation They exist so that the pagination works smoothly 1 e Chapters always begin on odd number pages on the right hand side But does this make any sense in the day and age of
47. an users SPS is limited by SA to 100 meters 95 probability accuracy Without SA SPS s nominal accuracy is about 15 meters 95 STDCDU Standard CDU SV Space Vehicle Also known as satellites to non space heads Since a satellite is any object in orbit around another including our moon a distinction must be made between artificial satellites and natural ones However no distinc tion is made here between manned SVs and unmanned TACAN Tactical Air Navigation TAI International Atomic Time TBD To Be Determined A common line used by software developers when asked about ship schedules and feature support TDOP Time Dilution of Precision See Dilution of Precision GPSy Pro Operations Manual TFOM Time Figure Of Merit TIFF Time to First Fix Time from when the GPS receiver equipment is turned on until it acquires a position lock Cold is when the receiver is turned on without having a current satellite almanac and thus much acquire an almanac before position lock Warm T TFF is when the receiver has a current almanac but no satellite ephemeris data and must acquire that Hot TTEFEF is when the receiver has both current satellite and ephemeris data TDOP Time Dilution of Precision See DOP TIG Time Io Go Amount of time until the next waypoint or destination is reached User Equipment UERE User Equivalent Range Error Also User Esti mated Range Error The est
48. an also drag and drop a log file onto GPSy Pro to play it back GPSy Pro can read back its own log files of course but you can also read back log files created by telecommunications programs including those created on DOS machines However log files must be in TEXT format use ResEdit or FileTyper to change the type to GPSy Pro will skip over unknown data and blank lines However each NMEA sentence must be on its own line with a carriage return after each line and each sentence beginning with the marker GPSy Pro can also playback track files downloaded from GPS units as long as they are saved in the GPSy native track file format either classic or extended formats Proprietary lags In order to make log files more useful GPSy Pro adds two proprietary tags to the NMEA datafile format SPGPSyC This is a comment Comments are displayed in the Additional Device Info panel SPGPSyP 60 T GPSy Pro Operations Manual Sidebar If you are a nerd you can edit the demo mode log at STR resource 6000 Note that demo mode ignores NMEA checksums regardless of the serial protocol preference setting This is a The first line shows how a comment is used You can see the comments in the sample data file by opening the GPS Data Monitor Command 6 panel The second line changes the playback speed of a logfile By default GPSy reads one line every 30 ticks there are 60 ticks per second You can
49. and third lines describes which NMEA sentences have been received and parsed by GPSy Pro If GPSy Pro recognizes but doesnt parse a sentence it lists it between angle brackets In the above example the lt RTE gt sentence was seen by GPSy Pro but not parsed since it doesnt contain information GPSy Pro is interested in GPSy Pro recognizes all of the major NMEA 0183 sentences and most of the minor ones as well You can see Appendix C for more information about the data contained in NMEA sentences GPSy Pro displays the last eleven 11 data sentences in a scrolling buffer If GPSy Pro does not recognize a sentence or a checksum is invalid it will list chat sentence as a Note below the parsing line It will also note when GPSy Pro initializes a DeLorme ripmate or Garmin TracPak A short beep sound Is emitted when a new entry is placed in the Note area If you are playing back a NMEA log file and it has an embedded comment in it see the previous chapter on NMEA playback files the comment information will also be shown in the Notes section of this panel This display panel is still in the design stage since the author does not have access to any devices which speak the sentences required The Misc Maritime Panel gives information on the mean water temperature and the depth below transducer information provided by the NMEA device usu ally not a GPS unit Misc Aviation Data This display panel is still in the
50. ange of Garmin TracPaks 20 20SL 30 31 35 36 in their native NMEA 0183 modes However some of these units require initialization when starting up The 20 20SL 30 and 31 units do not have any NVRAM to store their last position and current time date after power has been removed They require this information to be provided to them for a fast warm initialization otherwise they must autolocate which takes up to 30 minutes The Initialize TracPak option should be turned on if you have one of these units hooked to GPSy Pro The 35 and 36 however store their last position and have a real time clock with battery backup They only require initialization if the GPS unit has moved more than 300 miles since its last fix Since your Mac clock location are usually not set as accurately as the 35 365 last fix time you should leave this option off unless you have moved position signifi cantly When the initialization string is sent to the TracPak GPSy Pro will emit a small pinging sound to let you know the TracPak is initializing It usually takes less than a few minutes for TracPaks to acquire its first fix after being initialized if the Mac system time location is set accurately Because GPSy Pro uses the Macintosh s time and location data stored in PRAM to initialize the racPak it s very important to have these set prop erly In order to have speed future TracPak acquisi tion times set the Macintosh system time and l
51. armin Protocol Garmin Inc s proprietary bidirectional GPS serial communications protocol used for transferring routes waypoints almanacs and tracks with their handheld GPS units HDOP Horizontal Dilution of Precision See Dilution of Precision Heading The compass direction in which you are travel ling HOW Hand Over Word The portion of the C A code that allows the L 2 PPS receiver to switch from C A code to the more complex precise P Code HPE Horizontal Position Error See EPE HSI Horizontal Situation Indicator HV Host Vehicle 77 GPSy Pro Operations Manual 78 HQ USAF Headquarters US Air Force ICD Interface Control Document ICS Initial Control System IF Intermediate Frequency IFF Identification Friend or Foe Equipment in military vehicles that allows them to detect if other vehicles are allies or the enemy I Level Intermediate Level ILS Instrument Landing System INS Inertial Navigation System ION Institute of Navigation IOT amp E Initial Operational Test and Evaluation IP Instrumentation Port ITS Intermediate Level Test Set JPO Joint Program Office Js Jamming to Signal Ratio JTIDS Joint Tactical Information Distribution System L1 Frequency GPS signals broadcast at the L1 1227 6Mhz are unencrypted Coarse Acquisition C A code and are part of the SPS Standard Positioning System component of the GPS L1 SPS signals are degrade
52. armin TracPaks allow computer control through the serial port Often this computer control takes the form of proprietary NMEA sentences GPSy Pro allows you to send both pre formatted and arbitrary NMEA sentences to computer control lable GPS units This feature also lets you control remote GPS units connected via modems Rico chet or TNCs GPSy and GPSy Pro are the only programs to support all 53 PASHQ PASHS command sen tences for the Ashtec SCA 12 12S Garmin TracPak series the DeLorme Tripmate command sentences Starlink Differential GPS command sentence and even Hayes compatible modem dialing string You can easily add your own custom commands using ResEdit The command interface is quite simple Select Send GPS NMEA Command from the Utilities menu and the window to your right will pop up You will find it useful to open up the GPS Data Monitor window ahead of time to see your com mand results Select a command fill out the parameters and send it to the unit If you would like GPSy Pro to calculate and append the NMEA checksum on your commands you can check the Calculate and send NMEA checksum option In most cases this is not necessary If you are sending a non NMEA command such as the DeLorme Tripmate wakeup uszilitios Palink fal e Lustbm Generi Lamiral ATOT Dial dodem Hemale GE Xr prm Ember your ru peleri a pom
53. assume altitude to be a known constant e g sea level since we can only solve for three variables using three satellites X Y and time But if we have four visible satellites we can solve for all four variables X longitude Y latitude Z alti tude and t precision time The pleasant side effect is that not only do we have our precision location but we also have precision time which makes GPS valuable technology not only for geophiles but chronophiles as well Many people are now synchronizing their systems or network clocks to GPS signals since it s a cheap and highly accurate source However thinking back to our example there are some important caveats Our friends or the satellites must be spaced well apart If they re too close together the timing difference between their signals isn t enough to calculate our location precisely In GPS parlance this is your dilution of GPSy Pro Operations Manual precision and it greatly affects your accuracy Also there must be a clear path between us and them we can t have anything blocking our signals or a large reflective object causing unwanted echoes multipath signals These errors can further de grade the accuracy of our location GPS signals work in the microwave band They can pass through glass but are absorbed by water molecules wood heavy foliage and reflect off con crete steel and rock This means that GPS units have trouble operating in rain
54. ate to convert back to a DateTimeRec HDOP real r o of the GPS fix PDOP real r o PDOP Position Dilution of Precision of the GPS fix VDOP teal r o VDOP Vertical Dilution of Precision of the GPS fix TDOP real r o VDOP Time Dilution of Precision of the GPS fix GDOP real r o GDOP Geometric Dilution of Precision of the GPS fix GPSy Suite GPSy Control Events stop logging Stop data logging stop logging start logging to start logging data to named file start logging to file specification File to log to default behavior is to append to files with frequency integer log frequency in seconds as type raw RMC POT SA4 MapFan HTML ASCH file type of log file synchronize the system clock with latency of Synchronize the system clock to the current GPS time synchronize the system clock with latency of real latency of sync in msecs GPSy Pro AppleEvent Dictionary 52 GPSy Pro Operations Manual Appendix A Hooking Your GPS Unit to Your Mac Hooking a GPS unit to a Mac can sometimes bea Do we have enough connectors bit more complex than you might think First If your GPS data cable comes out with a DB 9 d en data cables 7 vendors and f connector for PCs then try this series of connectors manufacturers come wit 9 type connectorfor non solder solution PCs and not the Mini DIN 8 that Macintoshes use Second many GPS units use an electrical GPS data cable to DB 9 DB 9 to DB25
55. atellite Accuracy Page to verify current GPS satellite accuracy and drift information 34 H Static Positior 41 22 080 N 72 54 853 W Altitude 202 15 ft BOP 2 50 Normal Length of reading 0 33 min r 2 ad 0 0 Lat r 3 20 356 65 ft Lon r 3 szdz13 08 ft lt n 1 2d 0 00 ft STATIC POSITION ANTI SA The U S government designed and built the Global Positioning System primarily for military purposes There was concern when the system was opened up to civilian use that the GPS system might be used against the U S In order to prevent this the De partment of Defense decided that the civilian L1 GPS signal would be slightly degraded so that only the military would have access to a high degree of position accuracy This degradation of the signal goes by the euphemism Selective Availability SA Also civilian GPS users do not have access to a second encrypted GPS signal broadcast at a differ ent frequency L2 P Code which allows 2 fre quency receivers to calculate and remove iono spheric interference Selective Availability introduces a slight noise in the L1 GPS signal so that civilian GPS units cannot precisely locate a fix The noise is calibrated that 95 of the time the GPS unit will find itself within 100 meters of the actual position In reality the government seems to limit the noise so that your GPS unit is only about 50 meters off of the target This is precise
56. ations Manual 82 RNAV Area Navigation RSS Root Sum Square RT Remote Terminal RTCA Radio Technical Commission for Aeronautics RTCM Ratio Technical Commission for Maritime Services S A Selective Availability The US DoD policy of degrading the position accuracy of the civilian GPS signal SAMSO Space and Missile Systems Organization SBB Smart Buffer Box Many of our friends who later when to law school Selective Availability SA A military euphemism for the reduction of accuracy of civilian GPS units by the introduc tion of a small amount of random errors into the C A GPS data stream The errors are calibrated such that the actual position should be within 100 meters of the reported position 95 of the time SC Special Committee SEP Spherical Error Probable SI International System of Units SIL System Integration Labratory SINS Shipborne INS Shipborne Inernational Naviga tion System See Dead Reckoning Spoofing Spoofing is when the enemy generates a radio transmission that you mistakenly believe is your own sides Often utilized by adroit football and basketball coaches Anti spoofing is commonly achieved by encrypting your signal so that the enemy cannot imitate spoof it SPS See Standard Positioning Service SRU Shop Replacable Unit Standard Positioning Service SPS The standard single frequency unencrypted Selectively Available signal available to civili
57. ave happened First the U S military opened up the Global Positioning System for civilian use Then the price of receivers plum meted from the 1 000 10 000 range to 100 200 making them widely affordable And last advanced computer controllable units have ap peared making integration with personal comput ers a reality With your Macintosh and about 300 in additional hardware and software you can do things that were science fiction just a little while ago In this article I explain the technology behind the Global Positioning System and discuss some receiver units currently available Your Tax Dollars at Work The Global Posi tioning System is truly amazing Developed by the U S military at a cost of several billion dollars GPS is based on 24 orbiting satellites space heads call them SVs which is short for Space Ve hicles These satellites broadcast a precise data signal that allow GPS receivers to locate themselves any where on the planet A receiver can calculate its position latitude and longitude altitude velocity heading and precise time of day Most units also have a built in mapping feature that displays their positions relative to waypoints you ve pre programmed into them and a plot trail that shows where you ve trav elled Advanced models have built in street or water way maps plus serial ports for computer connections Military and high end survey grade models are accurate to the millimet
58. be PageMaker 6 52 and exported directly to PDF format where Adobe Acrobat Exchange munged on it further Table of Contents IE cia aE NR PRE AE UE 5 Chapter Te 9 Chapter 2 File Menu View Data Logging 13 ne P 13 OPE Wap 13 Chapter 9x Edit Men E E ea RUMOR LANE 19 IDS play PEEL HO 19 Ser Ed 22 Keyboard Corada tois iba 26 License 27 hterne eS aaa 27 Chaptra Displays Mem T 29 CUT 29 Headings and SpeedoDauele qoot atte 29 desta ens 29 GPS ca Po Mee EE 30 RE Msn NEN Cr 32 Chapter 5 Utilities Menu Time Synchronization eese 37 Ser WVIAC I tile osi
59. cation Strike System P 3 Pre Planned Product Improvement Also known as planned obsolesence C f Pentium Pro Pseudo Random Number PRN Also Pseudo Random Noise In order to prevent enemy detection acquisi tion or spoofing of the GPS signal each GPS satellite SV encodes its data stream using a unique PRN The PRN number is used to identify the SV used for positional calcula tions Each SV is also assigned an SV number that is separate from the PRN number and is rarely used except to identify a particular SV while PRN numbers can and are reassigned as SVs move in and out of service each SV number is unique and is assigned at the time of launch GPSy and GPS units display satellite PRN numbers in their satellite almanac dis plays PPM Parts Per Million 10 PPS See Precise Positioning System GPSy Pro Operations Manual PPS SM PPS Security Module PRN See Pseudo Random Number Pseudo range Based on the timing signals and known position of each satellite the GPS receiver can estimate the distance or range to each satellite However because there may be errors caused by interfer ence faulty calculations Selective Availability or other sources these range estimates are called pseudo ranges PTTI Precise Time and Time Interval PVT Position Velocity and Time RAM Reliability and Maintainability RCVR Receiver RF Radio Frequency RMS Root Mean Square 81 GPSy Pro Oper
60. change this using the PGPSyP tag Units are in ticks T or seconds S The smaller the delay number of ticks the faster GPSy will read the log file Demo Mode GPSy Pro cannot function without an attached GPS unit If you wanted to demo GPSy to a friend youd either have to attach it to a GPS unit outdoors or find a NMEA log file to playback feature not a bug In order to make it easier to demo GPSy Pro a short NMEA log file is embedded in the resource fork of GPSy and can be played back by selecting the Demo feature The embedded demo log was chosen to have as many NMEA sentences as possible so that GPSy Pro could show off all of its features However if you map the route using GPSyLink you will notice that the vehicle marker is travelling straight through buildings since it was recorded while I was beta testing the latest LSD Systems TrippingMate C est la vie 17 GPSy Pro Operations Manual 18 Display Preferences Data Transfer Datum No translation Primary Display Datum No translation Secondary Display Datum No translation Primary Coords Secondary Coords Measurement Units STATUTE Feet Mil North MAGNETIC Speed Units P ah Display Altitude Please read the documentation on datum translation and north declination since interaction with some GPS units may produce unintuitive results The Display Preferences Panel Chapter
61. ction using simple off the shelf adaptors that a walk outdoors or use simulator mode you can find at any computer superstore or through add a null modem adaptor mail order If that doesnt work then you can also your GPS device may not be fully RS 232 try making your own cable from parts compatible Try pulling Pin 8 of the MiniDin connector see below for details see the list of frequently encountered hardware cabling issues at http www gpsy com faq hardware html serial 53 I am solder hear me rosin Making your own cable is not as difficult as our words of caution may indicate If you cut a standard Apple printer cable MiniDin8 to MiniDin8 in half and use DB 9 crimp connectors from Radio Shack you may not have to even heat up your soldering iron If you feel confident enough to make your own cables then try these direct connection methods See the next page for cable con nector schematics and pin descriptions In terms of cable designs you can choose from the following options NMEA raw data cable to the Mac s Mini Din 8 directly Sche matic 1 e NMEA raw data cable to DB 25 then DB 25 to Mini Din 8 Schematic 2 e DB 9 GPS data cable to Mini Din 8 Schematic 3 Schematic la Raw Unbalanced NMEA to Mini Din 8 Direct NMEA TxD gt Mini Din Pin 5 RxD NMEA RxD lt Mini Din Pin 3 TxD NMEA Gnd lt gt Mini Din Pin 4 GND Schematic 1 works well with Magellan and Garmin GPS data cabl
62. d A military base in the United States where much of the GPS develop ment and testing occurs Symbols PASHQ PASHS 45 A Adding Custom Commands 46 Additional Adjustment field 38 Additional Device Data Panel 30 38 AETE resource 51 almanac 41 42 60 altimeter 33 altitude 22 33 61 anti SA feature See Static Position Anti SA AppleEvent 51 Area 51 59 Ashtec SCA 12 12S 37 45 atomic clocks 30 37 atomic time 60 Australian Map Grid 29 B bearing 49 72 BNG See British National Grid BNG British National Grid BNG 20 29 C C A Code 72 Celsius 21 climb rate 33 clock drift 37 Coast Guard 60 63 CodeWarrior Pro 2 GPSy Pro Operations Manual Index comments 16 Communications Toolbox CTB 22 Compatible GPS Units 6 Copyright and Trademark Information 2 crosstrack error XTE 29 CTB See Communications Toolbox CTB D Data Provided by GPS Sentence Types 36 Data Transfer Datum 21 Datum Translation 19 Daylight Savings Time DST 37 38 DB 25 Pins and Signal Functions 55 DB 9 Pins and Signal Functions 55 dBHz 30 DDDDDD 20 DDMMM 20 DDMMSS 20 Decca 32 degrees 21 29 DeLorme StreetAtlas 44 47 63 DeLorme StreetAtlas 4 Route Format 44 DeLorme Tripmate 24 32 38 45 66 Demo Mode 13 depth below transducer 33 development environment 2 DGPS 34 DGPS broadcast companies 60 Differential GPS DGPS 59 73 Dilution of Precision DOP 26 31 61 74 Display Altitude 22 Display Prefere
63. d determine how far away she was by the timing delay of 0 333 seconds Estimating the speed of sound at around 300 meters per second you can guess she s about 100 meters away from you or that you re 100 meters away from the far right cornerpost Suppose you had another friend at the far left cornerpost and he shouted the same message at the same time and you calculated him to be 150 meters away Could you tell where you were Pretty much You know that you re 100 meters away from your first friend so you could take a diagram of the field and draw a circle with a 100 meter radius around her known position Then you could draw a circle with a 150 meter radius around your second friend s known position The two circles should intersect at two points one of which should be your real position With three friends you d have no ambiguity Draw this on a piece of paper if it doesnt make sense as a written example Shouting from the Stars The Global Positioning System works on this principle although it uses much more precise clocks and the speed of light There s a hitch though The above example required that each person had precision synchronized clocks If each GPS unit had to have an atomic clock it would be outrageously expensive With three friends or three satellites we can solve three of these four variables X Y horizontal position Z altitude t time With only three satellites and an imprecise clock we have to
64. d per Selective Availability such that uncorrected signals are only accurate to within 100 meters 9596 of the time L2 Frequency GPS signals broadcast at the L2 frequency 1575 42Mhz are for the PPS Precise Position ing System military authorized users only and are encrypted using the P Code and A S anti spoofing code However some civilian surveying and high end GPS units use advanced carrier wave matching to synchronize the L2 P Code allowing for millimeter accuracy with a DGPS reference station LEP Linear Error Probable LRIP Low Rate Initial Production LRU Line Replaceable Unit LO Local Oscillator mB Millibar MCS Master Control Station MCT Mean Corrective Maintenance Time MHz Megahertz 10 Hz MLV Medium Launch Vehicle MmaxCT Maximum Corrective Maintenance Time GPSy Pro Operations Manual MOU Memorandum of Understanding M S Meters per Second A measurement of speed velocity MSL Mean Sea Level Mean Time Between Failure MTBM Mean Time Between Maintenance N A Not Applicable NAV msg Navigation Message NavStar The original military name for the Global Posi tioning System see GPS NMEA The National Marine Electronics Association an organization that governs standards for marine equipment NMEA came up with a standard that allows GPS and other electronic maritime naviga tional aid units to communicate with devices such as marine autopilots
65. depth finders and so forth 79 80 The NMEA 0183 standard describes a simple serial protocol and message structure for all electronic marine equipment GPS units that have some sort of data output usually support the NMEA 0183 standard as well as their own proprietary protocols since mariners were early adopters of GPS equipment More information about NMEA 0183 can be found in Appendix C of this manual NOSC Naval Ocean Systems Center NRL Naval Research Labratory NS Nanosecond 10 second NSA National Security Agency The top secret depart ment of the United States government that no one is quite sure what they re responsible for but were all scared of nonetheless NTDS Navy Tactical Data System NTS Navigation Technology Satellite GPSy Pro Operations Manual OBS Omni Bearing Select OCS Operational Control System O Level Organization Level OTHT Over The Horizon Targeting PC Personal Computer Not a Mac P Code P Code Precise or Protected Code The GPS signal broadcast at 1575 42Mhz L2 for use by the U S military and selected civilians The P Code is broadcast at a chip rate of 10 23 Mhz and repeats every 267 days PDOP Position Dilution of Precision Precise Positioning Service PPS The military level of access to GPS PPS pro vides the highest accuracy of GPS ranging by using both L1 and L2 frequencies without the SA inaccuracies of course PLSS Precision Lo
66. design stage and current displays altitude and climb rate Rate of ascent is currently provided by only the Garmin GPS 35 or 36 using the proprietary PGRMV sentence or by GPS units using the Rockwell NavCore protocol NMEA being a maritime protocol does not have a standard sentence for rate of ascent Uncorrected GPS is notoriously bad for reporting altitude Please be careful and use a properly calibrated altimeter FLIR or other system in lieu of GPS altitude readings You and your passengers will be happy you did so when you fly over the mountain instead of into it GPSy Pro is not certified for use as an airplane or boat navigational aid Maritime Data Water Temp 11 0 celsius Depth Below Transducer 17 60 feet Depth NH Aviation Data Altitude 16 m Climb Pate 000 0000 m sec Suggestions for additions and changes to the Maritime Data and Aviation Data panels are more than welcome at pro support gpsy com GPSy Pro Operations Manual 33 GPSy Pro Operations Manual Sidebar Civilian GPS units also have maximum speed and altitude restrictions which also obviate their use in cruise missiles but cant be achieved in civilian aircraft The government takes the fun out of everything eh Note however that while the center of the error cloud is usually the right location in fact the government makes no promise that this is the case and it may change in the future At best check the MIT S
67. dy constructed with landmarks etc It currently only displays one land mark waypoint the one that the GPS unit is using We have signed a license agreement with DeLorme that will give GPSy Pro further access to the map features in the near future 49 GPSy Pro Operations Manual THIS PAGE DELIBERATELY LEFT BLANK 50 GPSy Pro Operations Manual Chapter 9 GPSyLink AppleEvent Support GPSy Pro allows access to key GPS data and application control through its AppleEvent sup port This allows third party software and user written scripts to easily poll for GPS data without having to deal with the intricacies of the Macintosh serial port or GPS communications protocols GPSy Pro supports the standard required and core AppleEvent suites and data is polled using the standard GET AppleEvent Any Open Scripting Architecture OSAX compatible application or scripting system including Userland Frontier and AppleScripts can access GPS data easily Included with the standard GPSy Pro CD ROM distribution are sample scripts showing how to poll the application for data and control time synchro nization and logging functions Third party soft ware developers who want to link into GPSy Pro may contact us for a OEM development kit This information is also available online at http www gpsy com solutions sdk html Potential uses of the AppleEvent support are to create custom data logs remote synchronization of the system clock
68. e contact Order Support mailto pro orders gpsy com Please include your registration license key number and or invoice date with your inquiry GPSy Pro CD ROM GPSy Pro is available on CD ROM The disc includes the MapTech ChartKit Region 1 Planning CD ROM a 199 value full documentation Adobe Acrobat and Apple QuickTime installers sample USGS topo maps and demo software To order the CD ROM visit the web site or contact mailto pro orders gpsy com Contact Information Technical support for GPSy Pro may be reached through e mail at mailto pro support gpsy com Order and license key related questions should be addressed to mailto pro orders gpsy com Our sales office is located at Global Mapping Systems 499 12th Street Brooklyn NY 11215 1 815 371 4029 fax GPSy Pro Operations Manual GPSy Pro Operations Manual E www dgpgy com Garmin GPS II with background coastal map uploaded through GPSy Pro See Mapgen Matlab uploading Chap 6 for details Chapter 1 Getting Started OK you ve already hooked up your GPS unit to your Mac with the proper cables and you re ready to go If you havent connected your GPS yet see Appendix A on how to connect things up Start GPSy Pro by double clicking on its icon If you havent registered the program you will be asked to The legal disclaimer screen will then appear Click on this splash screen to acknowledge it and dismiss it After the splash screens the L
69. eading towards your waypoint your Location Panel V MG will be less than your SOG E Location The location panel displays your current location in 41720 785 E two separate areas A larger 72 56 000 W Heading is given in compass degrees where 0 is due North 90 is due East 180 due South and 270 is due West North be given as true north or mag dip p des or ing n is x netic north Headings can also be listed in grades Vow can ser rdi E mE 45702 is for Francophone users You can change the heading exdeand longitude UTM display settings in the Display Preferences panel UPS Australian Map Grid French GRADs Irish Navissdcs Panel Grid British National Grid BNG Maidenhead Navigation Grid New Zealand Map Grid Swiss Grid or The Navigation panel displays the bearing direction ECEF X Y Z format The panel optionally dis towards the waypoint from your current location plays your altitude as well distance to go DTG and crosstrack error XTE Bearing and distance to go are not hard to under You can control how the information is displayed stand Cross track error is defined as the distance by using the Display Preferences panel perpendicular to the course created from the origin waypoint to the destination waypoint OK that Heading and Speed Panel wasnt too good Imagine a line drawn from the The Heading panel shows your current heading o
70. enough for a boat or person to navigate with but not for a cruise missile to find a hidden bunker or a space alien fleet to bombard the top secret Area 51 with their Death Ray However some people need to know where they are to a much higher degree than 50 meters There are two solutions The expensive one is to buy a 500 differential GPS DGPS receiver and connect it to your GPS unit The DGPS receiver will take signal correction information transmitted by Coast Guard beacons for free along the US coastline or from satellites on FM paging frequencies for a monthly service fee from commercial DGPS vendors and applies this to the GPS data The end result is a 1 10 meter positional solution in real time Some commercial DGPS services offer sub meter accuracy See the GPS Resource Library for links to DGPS providers The cheap solution is to use GPSy Pro Unfortu nately theres a hitch and it s not only your registra tion payment GPSy Pro uses a statistical method to get by the SA error As we mentioned before the government introduces noise into the system that makes your position wrong by up to 100 meters in any horizontal direction 150 meters wrong verti cally If you were to sit down with your GPS and leave the plotter window open in maximum zoom you would slowly see your current location wan der across the plot window After an hour or two you would see a cloud or bubble created by the traci
71. er level less than one six teenth of an inch However standard over the counter civilian models are nominally accurate to only about 100 meters roughly a city block This is due to military induced Selective Availability a euphemism for scrambling the GPS signal just enough to reduce the accuracy to sub military levels Such scrambling leaves the signal accurate enough to find your favorite fishing hole but prevents you from accurately dropping a cruise missile into the government s classified Area 51 base in Nevada One amusing consequence is that many car navigation systems that use GPS will put you slightly off the road making it seem as though you re driving into a river or building If you need better accuracy than 100 meters an FM radio receiver called a Differential GPS unit DGPS used in conjunction with your GPS receiver can provide three to ten meter accuracy The U S GPSy Pro Operations Manual 59 GPSy Pro Operations Manual 60 Coast Guard broadcasts DGPS signals for free along the entire coastline of the United States and inland for a small subscription cost from various DGPS broadcast companies The inland cost should go away soon because the Federal Aviation Administra tion FAA wants to use GPS for all aircraft and plans to begin wide scale broadcasting of free DGPS signals around the year 2000 DGPS receivers currently go for about 500 but once the FAA plan goes into action GPS units should
72. es terminated in raw cable strands Schematic 1b Differential EIA 422 NMEA to Mini Din 8 Direct NMEA TxD gt Mini Din Pin 5 RxD NMEA TxD gt Mini Din Pin 8 RxD NMEA RxD lt Mini Din Pin 3 TxD NMEA RxD lt Mini Din Pin 6 TxD NMEA Gnd lt gt Mini Din Pin 4 GND 54 Schematic 2 Raw NMEA to DB 25 for later connection to Mac gt Modem Cable NMEA TxD gt DB 25 Pin 3 RxD NMEA RxD lt DB 25 Pin 2 TxD NMEA Gnd DB 25 Pin 7 GND gt MiniDin Pin 5 RxD lt MiniDin Pin 3 TxD lt gt MiniDin Pin 4 GND Schematic 3 GPS Data Cable Male DB 9 to Male Mini Din 8 5 RxD 3 TxD l Aono 2 HSKi DB 9 DB 9 DB 9 DB 9 DB 9 Pin Pin Pin Pin Pin 2 TXD 3 RxD 4 DIR gt UIS 5 GND MiniDin Mini Din MiniDin Mini bin lt gt MiniDin Pin 4 GND Pin Pin Pin Pin gt MiniDin Pan 8 RxD read below before connecting Note Pins labelled in RED are optional except for connection to the DeLorme Tripmate which requires DB 9 Pin 8 to be asserted in order to turn on Only ground MiniDin Pin 8 labelled in green if your GPS device is truly RS 232 compatible most arent Some adaptors connect Mini Din 8 Pin 1 HSKO DTR to DB 9 Pin 7 RTS this won t work for the Tripmate which needs it connected as above Check with your multitester to be sure Schematic 4 Male DB 9 to Female DB 25 Adaptor DB 9 Pin DB 9 Pin DB 9 Pin DB 9 Pin DB 9 Pin
73. for network time purposes or to pass the data to other GIS applications for further processing A sample script would look something like although much more complex of course tell application GPSy Pro Fat copy latitude to lat copy longitude to lon set x to The current latitude is amp lat amp and the longitude is amp Lon display dialog x end tell Since we continually improve GPSy Pro you should poll the applications AppleEvent dictionary AETE resource for all of the supported methods and classes Listed on the next page is the current GPSy class configuration and supported methods We welcome developer input on how to improve our AppleEvent OSAX support Several applications are already shipping with GPSyLink support including HourWorld from Paul Engineering Please do not hesitate to contact us on application usage 51 GPSy Pro Operations Manual Class GPS GPS variables through GPSyLink Properties latitude real r o Latitude of the GPS unit decimal degrees N positive S negative datum is GPSy primary datum longitude real r o Longitude of the GPS unit decimal degrees W positive E negative datum is GPSy primary datum altitude real r o Altitude of the GPS unit meters depth real r o Depth from the depthranger meters track real r o Track of the GPS degrees speed real r o Speed of the GPS kph utctime integer r o UTC time of last fix in seconds Use Seconds ToD
74. for the extended format header layout Extended Format Almanac Data The almanac data downloaded from your GPS unit is useful to geeks geekettes and other people inter ested in satellite orbital information such as the famed Space Aliens that came visited us inJuly Downloading satellite almanac data is a sure way to win at least one womans heart and will make you the envy of the town Really Normally you will not want to upload an almanac since you do not want to risk corrupting your GPS unit with a stale almanac However there are occa sions when you might want to upload an almanac This might occur if you have to hard reset your GPS unit or if you want to transfer a new almanac to a unit that has lain dormant for a while The almanac data format is one line per each pos sible satellite slot 32 in total Almanac upload and downloads are currently only supported using the Garmin protocol Almanac Format Its assumed that if youre looking at this data you actually know what it means or can pretend to Week GPS system week 1 means satellite unhealthy or data invalid TOA Time of applicability seconds since GPS week init Af0 s Af0 s Afl s Afl s Eccent Eccentricity SORT A Sqrt A m 1 2 M Anom Mean Anom rad Perigee Argument of Perigee rad R Asc Right Ascent at TOA rad Rate Rate of Right Ascent r s Orbit Orbital Inclination Waypoint Data In the GPSy Extended
75. gh Note that many GPS units dont allow you to change the comm port rate higher than 4800 bps Poops GPS units with 1 PPS accuracy such as the Trimble Scoutmaster 1PPS or Ashtec SCA 12 assign higher priority to the serial ports and will yield more accurate results The latency delays with the Rockwell and Garmin protocols has not been analyzed fully yet but I suspect the Rockwell will be on par with NMEA 0183 while the Garmin may introduce some addi tional processing overhead and protocol delays 39 GPSy Pro Operations Manual Almanac Wet Wx Trk Num T 0 40 Week 886 Number 0 319488 AWAY Comment 10 BROADWAY Comment lt BLANK gt ATO s 0 000010 0 000000 Afl 5 Date Time 12 31 1996 00 00 00 Date Time 12 31 1996 00 00 00 Eccent 0 003432 SQRT A 5153 632812 M Anom 2 461164 Perigee 1 543206 Latitude 34 40 02 8 Longitude 19539955405 9 Latitude 34 40 02 8 Longitude 1335540573 Extended Format Records R ASC 1 118660 Datum WGS 84 Datum WGS 84 Rate 0 000000 Icon 7 0 Icon 0 0 954204 Chapter 6 Utilities Menu GPS Data Upload Download GPSy Pro allows you to download almanac route track and waypoint data from your Garmin GPS unit and waypoint and routes from your Lowrance Eagle and supported Magellan units Since the GPS handheld GPS units can only store a few hundred waypoints per un
76. gh the default NMEA 0183 protocol speed is 4800 BPS 8 data bits 1 stop bit no parity some GPS units allow you to change the BPS rate usually to a higher speed This allows more data to be transferred in a smaller amount of time Only the speed for NMEA 0183 is changeable since the speed for NMEA 0182 is fixed at 1200 801 Rockwell NavCore at 9600 801 Garmin at 9600 8N1 and Trimble TSIP at 9600 801 Data Transfer Protocol Default Garmin The current version of GPSy Pro supports the Garmin GRMN protocol Lowrance Eagle Soft ware Interface LSI 100 protocol and Magellan protocol for waypoint data upload and downloads Annoying Warning Message Default On When uploading or downloading data GPSy Pro must switch from its real time positional protocol to its data transfer protocol You the user must also switch your GPS unit between the two if 23 GPSy Pro Operations Manual 24 applicable GPSy Pro will normally alert you of this protocol switch with an annoying warning mes sage Require NMEA 0183 Checksum Default Off The NMEA 0183 transfer protocol specifies an optional 2 byte checksum on each sentence The checksum follows an asterisk at the end of each sentence Some units do not send a checksum such as Magellan GPS 4000s You might want to just this option turned off unless you are sure your unit sends checksum data Initialize Garmin TracPak Default On GPSy Pro fully supports the full r
77. h or the online FAQ on hardware problems Garmin Units When setting up Garmin GPS units use the NMEA 0163 communications protocol for real time data NMEA 0183 is stabler and provides more information than the Garmin protocol for real time navigating Switch to the Garmin protocol when uploading and downloading data such as waypoints routes or tracks GPSy Pro Operations Manual 10 You ve now started to receive data from the GPS unit GPSy Pro is now acting as the conduit between your Global Positioning Systems receiver and your Macintosh There is no limit what you can do with this data from trip planning with nautical charts and digital mapping to Geographic Information Systems GIS from land surveying to simply finding your way home GPSy Pro provides the high end GPS communications and GIS mapping solutions you need Back to the tutorial Select View World Map from the File Menu to open up the World Map window below The World Map is provided as a quick way to determine your GPS current position Your current position 15 indicated by the red cross inside a circle icon Your current track head ing is indicated by the green circle If your GPS unit is sending navigation information about your next way point that information may be displayed as well Drag the mouse inside the map you ll notice how it will give the distance bearing and great circle routing from your startng point to destination
78. hz Also used by military users to synchronize to the P code since the C A code is designed to be easily acquired The C A code is a sequence of 1023 bits sent at 1 023 Mhz See also Pseudo Random Number and P Code CADC Central Air Data Computer CDMA Code Division Multiplex Access Sending more than one signal on a single carrier wave by multiplexing the signals at the code level GPS L1 and L2 signals are CDMA respectively since they both combine all 24 GPS satellite signals into each of their code frequencies In compari son the Soviet GLOSNASS positioning system is FDMA frequency division multiple access since each SV has its own designated frequency slot CDU Control Display Unit CEP Circular Error Probable Probability that the actual location is within a circular area CMOS Complementary Metal Oxide Semiconductor A common semiconductor IC manufacturing method C No Carrier to Noise Ratio CRPA Controlled Radiation Pattern Antenna CSOC Consolidated Space Operations Center CW Continuous Wave DAC Digital to Analog Converter dB Decibel X 10 Log X dB Degree A system of measuring angles where a right angle is 90 degrees Accordingly in compass measurements 0 is due North 90 is due East 180 grades is due South 270 or 90 is due West See also Grades GPSy Pro Operations Manual DGPS See Differential GPS Differential GPS DGPS Since errors caused by Selective Avai
79. igation System P Proprietary Code RA Radar and or ARPA SD Sounder depth SS Sounder scanning TI Turn Rate Indicator TR Electronic positioning system other general VD VELOCITY SENSORS Doppler other general VM VELOCITY SENSORS Speed Log Water Magnetic VW VELOCITY SENSORS Speed Log Water Mechanical WI Weather Instruments YX Transducer ZA TIMEKEEPER Atomic Clock ZC TIMEKEEPER Chronometer ZO TIMEKEEPER Quartz ZV TIMEKEEPER Radio Update WWV or WWVH 65 GPSy Pro Operations Manual 66 As you can tell from your GPS unit s NMEA output most GPS sentences beginning with GP al though the Garmin proprietary sentences begin with the proprietary P marker and then the GRM Garmin identifier to make up PGRM For nonproprietary sentences the next three charac ters identify the NMEA sentence itself So a sentence that begins with GPGLL indicates a GLL sen tence coming from a GPS device The data in the sentence then follows in a comma delimited format Unavailable data is usually either left blank or zeroed Most GPS units calculate an optional checksum that follows an optional asterisk ending the sentence Others such as the Magellan simply terminate the sentence with a carriage return V Here is a sample paragraph of NMEA sentences emitted by a DeLorme Tripmate SGPGGA 181817 4122 3506 N 07255 2026 W 1 07 0
80. imated error in the range distance from GPS satellite to receiver calculation 83 84 UHF Ultra High Frequency Ultimate A high paced field sport played using Frisbees Ultimate is one of the most aerobic sports and has been described as a mix between soccer football and basketball USA United States of America USNO US Naval Observatory UT Universal Time UTO UTO is an atomic time standard that does not involve coordination synchronization with the slowing of the earth s rotation An offset is applied to UTO to obtain UTC UTC Universal Coordinated Time The time standard formerly known as Greenwich Mean Time GMT UTC is deliberately neither an acronym for the French CTU or English UCT UTC is coordinated with the rotational slowing of the earth through the periodic use of leap seconds See UTO GPSy Pro Operations Manual VDOP Vertical Dilution of Precision See DOP Velocity Made Good VMG The velocity at which you are approaching your next waypoint VHSIC Very High Speed Integrated Circuit VLSIC Very Large Scale Integrated Circuit VOR Very High Frequency VHF Omnidirectional Range VPE Vertical Position Error See EPE WGS 84 World Geodetic System 1984 A geodetic datum developed by the U S military that achieves a very good fit for the ellipsoidal shape of the earth The WGS 84 datum is the basis of the Global Positioning System YPG Yuma Proving Groun
81. ion before setting the system time If the Mac location more accurately the UTC offset time zone and DST setting is incorrect your Macintosh will be set to the wrong time so this is a necessary step before setting the time In the left hand column are your PRAM or current values for your location DST and UTC offset time zone The right hand columns are filled out by GPSy Pro GPSy Pro fills in the location data from your current GPS location The DST value is copied over from the Mac s current setting GPSy Pro will make a best guess at your UTC offset time zone using your longitude But global geopolitics often overrides logical time zones so be sure to set this accurately Alternately you can also set the location DST and time zone in the Map control panel which comes with most Macintoshes but that isn t as cool In addition if you have a Garmin TracPak DeLorme Tripmate or Rockwell NavCore receiver it is very important that you set the location zone time using GPSy These units depend on the system clock location setting to be very precise in order to per form a warm start acquisition in minimal time Set Macintosh Time This panel is fairly simple and self explanatory GPSy Pro is continually monitoring the time deviation between the system clock and GPS time You can view the deviation in the Additional Device Data window When you open the window this value is copied over into the Rep
82. it internally this allows you to keep a library of your routes or waypoints You can also use your downloaded track log file for later editing or analysis with your GIS program Garmin models 12 12XL 12CX 38 40 45 48 II IT I StreetPilot Color and StreetPilot are known to support the Garmin GRMN protocol used by GPSy Pro and other units may as well You can edit the route track and waypoint data as text files and upload them back to your unit Most Eagle Lowrance GPS units should support the LSI 100 Lowrance Software Interface proto col used by GPSy Pro Magellan 3000XL and 4000XL units support the Magellan protocol used by GPSy Pro Garmin units must be manually switched between NMEA 0183 for real time navigating and the GRMN protocol for transfering waypoints Re member to set your Garmin unit to the GRMN protocol before selecting any upload download 920 COORD DATUM ICON NUMBERNAME PROX GPSy3 Waypoint ALT COMMENT menu options Magellan and Eagle Lowrance units do not require switching to a different mode Although Garmin units do have a real time mode PVT protocol it is not stable responsive or infor mative enough for full time use We strongly recom mend switching Garmin units back to NMEA 0183 when real time navigating GPSy 3 0 and above and GPSy Pr use a new GPSy Extended Data Format for data transfers as well as retaining the option to read and write the older Classic F
83. k GPS 35 See Garmin TracPak GPS 36 See Garmin TracPak GPS Data Monitor 32 GPS data type 30 GPS Satellite Data 30 GPSy 76 GPSy 16 GPSyLink 77 GPSyLink AppleEvent Support 51 GRAD See grades GRAD grades GRAD 21 29 GRMN GRMN host protocol 23 30 41 H half zones setting 38 Hayes compatible modem 45 heading 49 77 health bit 60 Horizontal Dilution of Precision HDOP 49 HPE 77 Hustler serial ports 22 I Initialize Garmin TracPak 24 Internet Map Servers 47 InternetConfig 47 iPC MapFan II 47 Irish Transverse Mercator 20 29 J Japan 48 K Keyboard Commands 19 26 L latitude and longitude 29 Liability Disclaimer 2 License Agreement 2 License Key 19 27 local time 37 Loran C 32 Lowrance 63 Lowrance Sea Nav 56 Lowrance Eagle Software Interface LSI 100 23 LSI 100 See Lowrance Eagle Software Interface LSI 100 M Magellan Power Data Cable 56 Magellan protocol 23 magnetic north 30 49 Maidenhead Grid 20 29 manual map calibration 14 Map control panel 38 MapInfo 65 mean water temperature 33 Measurement Units 21 MENU 4110 46 millimeter accuracy 59 Mini Din 8 DB 25 DB 9 Connector Schematics and S 55 Mini Din 8 Pins and Signal Functions 55 Misc Aviation Data 33 multi channel GPS unit 61 multi port PCI cards 22 multipath 61 N NAD 27 datum 19 70 National Maritime Electronics Association 65 nautical miles 21 NavCore V chipset 31 Navigation panel 29
84. lability and ionospheric interference tend to be the same for GPS units operating in the same relative area 100km placing one GPS unit at a known fixed location enables one to calculate the pseudorange errors If you were to broadcast this data to other GPS units in the area they would be able to correct for the SA and ionospheric errors and obtain a much more accurate often sub meter navigational solution DGPS signals are broadcast along the U S coastline by the U S Coast Guard gradually replacing LORAN Inland DGPS signals are broadcast by several commercial services In the future the FAA may broadcast DGPS for the entire U S as a way to phase out the obsolete navigational beacons used by aircraft as part of the WAAS and LAAS systems Because any primary navigational aid should have built in redundancy and error checking we believe the DGPS will always be a required 73 GPSy Pro Operations Manual component of the Global Positioning System for professional and commercial use regardless of the status of Selective Availability Distance to Go DTG The distance from the current position until the next waypoint Dilution of Precision DOP A dimensionless variable that accounts for the degree of imprecision caused by satellite geom etry Closely spaced satellites will cause a high DOP as the angle between them will not be enough to triangulate your position precisely Multiply DOP by the User Estimated Range Err
85. limited by Selective Availability see entry for SA GPSye pronounced gypsy GPSye is an advanced Macintosh GPS commu nications and mapping software program It allows you to connect your Macintosh to almost any computer capable GPS unit GPSy is a registered trademark of Karen Nakamura GPSy Pro GPSy Pro is an enhanced version of GPSy designed for use with nautical charts large topographic maps or complex map images It features support for BSB format nautical charts improved algorithm for map calibration improved waypoint and planning support and more printing options GPSyLink GPSyLink provides the conduit through which GPSy can communicate with other applications on the Macintosh The push side of GPSy currently pushes data to DeLormes StreetAtlas and 1PC MapFan as well as Internet Map Servers providing a real time street level mapping system The pull side of GPSyLink Is its AppleEvent support allowing third party programs and user written scripts to easily access GPS data GPSyLink M is a trademark of Karen Naka mura Grade GRAD A system of measuring angles where a right angle is 100 grades Accordingly in compass measurements 0 grade is due North 100 GPSy Pro Operations Manual grades is due East 200 grades is due South 300 or 100 grades is due West The grade system is predominantly used by decimal loving Franco phone counties See also Degrees GRMN Protocol G
86. load your route waypoint data into your GPS units Notes on the SA4 GPSyLink Heading and bearing information given in the maps in True North not magnetic north That is because third party maps display up as True north If you don t like this behavior please tell me For trivia buffs StreetAtlas and all other digital US maps based on the TIGER Census data uses the WGS 84 datum All Japanese maps are based on the TOKYO datum You dont really have to have a location win dow open but it makes switching into GPSy Pro easier Since Selective Availability reduces the accuracy of GPS units to about 25 100 meters dont be surprised if your car occasionally seems like it s off the road a bit or under water as in the above example Velocity information at slow speeds is notoriously bad under SA Your estimated position error changes as a function of your Horizontal Dilution of Precision which is visible in your Satellite Data panel in GPSy Pro Any DOP gt 3 should be suspect If the GPSyLink menu is grayed out it s either because 1 GPSy Pro is not receiving position information or 2 your 15 minute non license experimental period has expired Note that the DeLorme Tripmate does not store waypoints and only provides real time navigation information GPSy Pro Operations Manual Current Limitations Future Directions GPSyLink currently can t work with map database files that you might have alrea
87. m s and or specific computer network s for the Licensee s own internal use Except as expressly permitted in this License you may not decompile reverse engineer disassemble modify rent lease loan sublicense distribute or create derivative works based upon the GPSy Software in whole or part or transmit the Software over a network or from one computer to another Your rights under this License will terminate automatically without notice from Global Mapping Systems if you fail to comply with any term s of this License 3 Term The license granted by this Agreement shall commence upon Licensee s receipt of the GPSy Pro Software and shall continue upon such time that 1 Licensee elects to discontinue use of the GPSy Pro Software and terminates this Agreement or 2 Global Mapping Systems terminates for Licensee s material breech of this Agreement Upon termination of this Agreement in either instance Licensee shall return to Global Mapping Systems the GPSy Pro Software and any whole or partial copies codes modifications and merged portions in any form The parties hereby agree that all provisions which operate to protect the rights of Global Mapping Systems shall remain in force should breach occur 4 Limitation of Liability Global Mapping System s entire liability and Licensee s exclusive remedy shall be the return of the license fee paid for the GPSy Pro Software Global Mapping Systems shall not be liable for indirect special incidental
88. m time see the section on setting your Macintosh system clock As you most probably know I certainly hope you do magnetic north deviates slightly from true north Magnetic north is the location of the mag netic poles while true north is the axis along which the earth spins and they deviate slightly from each other GPSy Pro uses the U S Department of Defense World Magnetic Model WMM 1995 to calculate the local magnetic deviation for display Geoidal separation is the amount of deviation from the mathematical ellipsoidal model to the geoidal model In English the GPS uses a mathematical model called WGS 84 World Geodetic System 1984 which describes the earth as an ellipsoid The earth isn t actually an ellipsoid and the geoidal separation describes the amount of deviation the ellipsis has from the geoidal model which represents average sea level This may still not reflect actual ground level and is partially why many GPS units report altitude seemingly incorrectly The last bit of information displayed is the current datum being used by the GPS unit Only Garmin and Sony IPS units send this information in a proprietary sentences WGS 84 is the standard datum for GRMN and Rockwell NavCore Zodiac protocols GPS Satellite Data The GPS data type tells you if you re using standard GPS or differential GPS The fix type tells you if youre using a 3D fix or a 2D fix Now for the satellite display The graphic display
89. ment which should cancel out the delay 3 The third problem be solved The Mac system clock is only accurate to 1 second You can lessen the problem by often synchronizing the system clock GPSy Pro Operations Manual Sidebar GPS time is more or less the same thing as UTC universal coordinated time the new politi cally correct name for and equiva lent of the euro centric GMT Greenwich Mean Time GPS time doesn t have UTC times leap seconds and is set relative to the 55 epoch in 1980 but when the GPS units sends NMEA data they correct GPS time into UTC time so you never know the difference 37 GPSy Pro Operations Manual Sidebar You can set the UTC offset time zone to a half hour setting for half zones however the Macintosh system clock appears to ignore half zone settings despite the fact that the UTC offset is actually stored in the PRAM as a seconds offset Write to Apple and ask them to respect their own zone offsets GPSy will allow any decimal offset in the zone setting and will calculate and store it accordingly 38 Set Mac Location This will set the Macintosh geographical location daylight savings and UIC offset PRAM Value GF Value 54 542556 7N 41 434641 7 N 2 911019 72 9533553 Ll Latitude Longitude Daylight Savings DST C OST est UTC Offset a Set Macintosh Location You ll first want to verify and set the Mac system locat
90. n Internet Maps GPSy Pro also supports Internet Map Links through its unique GPSyLink feature If you have a live internet connection select an internet map server under the GPSyLink menu to connect to The Internet Map Server feature requires a working Internet connection direct PPP Ricochet etc InternetConfig and an installed WWW browser A World of Possibilities GPSy Pro opens up a whole world of possibilities You can open scanned map files or push the GPS data to GIS software programs through the GPSyLink menu item You can log the NMEA data for later processing or playback with the log feature Or your can poll GPSy Pro through the GPSyLink AppleEvents protocol from other applications opening up GPS data to a whole world of GIS and mapping applications This ends the quick basic tutorial please see the following chapters for more information Chapter 2 View Map Data Playback Chapter 3 Preferences Chapter 4 Displays Menu Chapter 5 Synchronizing Macintosh time location data Chapter 6 Data upload downloads Chapter 7 Sending GPS NMEA commands Chapter 8 GPSyLinking to Digital Maps StreetAtlas MapFan Internet Map Servers Chapter 9 GPSyLink AppleEvents e Appendix A Hooking your GPS up to your Macintosh e Appendix B A Global Positioning System Tutorial e Appendix C Everything you wanted to know about NMEA 0183 e Appendix D A Warning on Datums Chapter 2 File Menu
91. nces 19 85 GPSy Pro Operations Manual 86 Displays Menu 29 Distance To Go DTG 29 74 DOP See Dilution of Precision DST See Daylight Savings Time DST DTG See Distance To Go DTG E Eagle Accunav Sport 21 Eagle Explorer 56 Eagle Lowrance 63 Earth Centered Earth Fixed x y z Coordinate Sys See ECEF 2 ECEP x y z 20 29 echolocation 60 EHVE See Estimated Horizontal Velocity Error EHVE ellipsoidal models 69 embedded comment 32 EPE See Estimated Position Error EPE ERA See Estimated Range Error Estimated Horizontal Velocity Error EHVE 75 Estimated Position Error EPE 31 75 Estimated Range Error 76 Estimated Time Enroute ETE 76 Estimated Time of Arrival 76 ETA See Estimated Time of Arrival ETE See Estimated Time Enroute ETE F Fahrenheit 21 FAQ See Frequently Asked Questions FAQ fat binary 6 Federal Aviation Administration FAA 60 feet 21 fix type 30 FM radio receiver 59 Forcing the serial port closed 35 Francophone 21 29 G Garmin 62 Garmin GPS 12 12XL 38 40 45 GPS 41 Garmin GPS III 41 Garmin GPSMap 195 56 Garmin GRMN protocol See GRMN GRMN host protocol Garmin Power Data Cable 56 Garmin Real Time Protocol 23 Garmin TracPak 24 32 38 45 geodetic datums 69 Global Map Sport 56 Global Positioning System GPS 59 GPS 20 See Garmin TracPak GPS 20SL See Garmin TracPak GPS 30 See Garmin TracPak GPS 31 See Garmin TracPa
92. ngs of your plot window Your actual position is usually near the center of the error cloud GPSy Pro automates this process by continually listening to the GPS stream and calculating the average location and altitude data Our estimates show that after three hours the calculated solution is within 10 meters of the actual location however this may vary with your own usage and with continuing government policy on Selective Avail ability Note that the nominal accuracy of civilian GPS receivers without SA error is about 15 meters Remember that SA is not the only source of error Satellite geometry can also cause an error from dilution of precision DOP In fact if your DOP Is greater than three or four DOP gt 3 4 the error from that source may be greater than that from SA GPSy shows your average DOP in the display window In order to help alleviate the degree to which DOP errors cause problems GPSy Pro has several options in the Static Position Calculation preferences panel See the documentation on that panel for more information GPSy Pro Operations Manual Reset Static Position The static position window normally resets to zero when you open it You will need to remain in the same position for the duration of the data sample If you find however that you need to move and re sample you can reset the counters back to zero by either closing the window and opening it back up or by selecting Reset Static Position fr
93. nts since the current database format has no way to tell what each individual record is TIP For these reasons we recommend the Extended Format for data mining GPSy Pros classic data format is compatible with that produced by GPSy MacGPS MacGPS Pro and other derivative products However you may find that you need to modify the header format to match the simpler format used by these products Furthermore GPSy Pros almanac format is not compatible with older software as it renders the data parsed and human readable 43 GPSy Pro Operations Manual StreetAtlas 4 Route Format After modifications 44 DeLorme SA4 Route Start Stopi Stop2 Lets go N Rest stop NE Are we there yet Are we THERE yet NE N43 48 417 W70 09 845 Stop3 Finish There StreetAtlas 4 Route Format Uploads GPSy Pro can upload route files created using DeLorme StreetAtlas 4 This is an easy way to export waypoints and routes out of StreetAtlas and into your GPS unit First create a route in StreetAtlas using the standard SA4 route tools Then select Copy Route under the File Menu in SA4 Switch to a text editor such as SimpleText or BBEdit and paste the route into a new document Youll need to make two changes so GPSy Pro can upload the route file First you ll need to add a data file header so that GPSy Pro can recognize the file as a SA4 route file Type the following at the top of the file DeLorme SA
94. ocation Panel and GPS Data Monitor panel should open automatically and GPSy Pro will open the default serial port modem port for NMEA 0183 input First you want to make sure GPSy Pro is communicating properly with your GPS unit Basic Location Information If your unit is successfully communicating with GPSy Pro the Location Panel should fill with information and the GPS Data panel should display data packets from your GPS unit If you arent receiving any data check your Serial Prefer Displays Location 1 Heading and Speed 3 2 ences to verify Navigation Bearing x3 GPSy Pro IS Set Additional Device Data 34 to the right serial port and speed Check your hardware cable connec GPS Satellite Status 9 GPS Data Monitor Misc Maritime Data dE f Misc Aviation Data 8 tions as well as your GPS unit settings Static Position Anti SA Reset Static Position Reset GPSy The various menu Location options under the Displays menu bringup 41 18 954 N panels that show data 73 54 656 W gleaned from the GPS 24 6 26 ft unit More information about the Displays menu can be found in Chapter 4 Display Panels 41 18 59 1 N TA 54 30 4 W The GPS Data Monitor is important since it shows the data sentences or packets your Macintosh is receiv ing from the GPS unit Each data display depends on information provided in these sentences For example the
95. ocation using GPSy Pro after the Iripmate has made an accurate fix See Chapter 5 Time Synchroniza tion for details This setting also controls initialization of Trimble TSIP devices at startup as well Some TSIP devices work better without initialization try the setting both ways with your particular unit A Special Note on DeLorme Tripmates The DeLorme Tripmate also requires a special initialization string since it does not have any NVRAM or real time clock While other non DeLorme GPS programs on the PC send a simple wakeup message to the Tripmate GPSy Pro will auto sense when a TripMate is attached and perform the full initialization sequence giving it the current location of the Macintosh and UTC time When the initialization string is sent to the Tripmate GPSy Pro will emit a small pinging sound to let you know the Tripmate is initializing It usually takes less than a minute for the Tripmate to acquire its first fix after being initialized if the Mac system time location is set accurately In order to have speed future Tripmate acquisition times set the Macintosh system time and location using GPSy Pro after the Tripmate has made an accurate fix See Chapter 5 Time Synchronization for details Memory Preferences Create map cache in System memory then app memory Default Default map cache memory behavior is to create the cache using available system memory If system memory is not available u
96. ode number corresponding to the PRN numbers in the satellite display To the right 1s the 4 letter status code N Satellite used in Navigation solution E Acquiring satellite Ephemeris Zodiac Only Tracking satellite signal Differential GPS data available for this satellite Zodiac Only T J 31 GPSy Pro Operations Manual 32 Device Type GPS Data Monitor GP Global Positioning Svetem GPS NMEA Sentences GGA GLL GSA GSV RMB EMC ETE WPL PGRME PGEMM PGEMZ HMEA Data PGRMZ 21 1 3 05 PGRMM WGS 64406 6GPB D 068 8 T 083 7 M TR CTC 32 TGPETE 1 1 5 0 TR CTC 54 TGPWPL 4132 726 N 0 7204 700 97 TR CTC 27 GPRMC 212746 4 4125 9392 N07207 005 0 052 4 001 3 200697 015 0 97 47D TGPEMB A 3 485 L TR CTC 4132 7Z6 N 07204 700 004 7021 5 049 4 v 59 TGPGZA A 3 06 17 24 265 4 1 2 2 3 amp 94 65PGSV z2 1 07 04 09 114 00 06 52 278 54 17 16 300 41 19 06 043 00 77 GPGSV 2 207 24 38 108 51 26 44 181 55 27 15 080 0D B iPGEME 50 7 M 81 0 M 95 5 M 1C GPS Data Monitor The GPS Data Monitor displays the information currently being sent by your GPS unit to your Macintosh The first line of the panel shows which type of device 1s sending the data GPSy Pro usually is used with GPS units but other types of devices such as Loran C Decca Omega etc are also supported If you are using the default NMEA 0183 commu nications protocol the second
97. om the menu Reset GPSy Pro GPSy Pro is designed to deal with most anomalous situations automatically If however you find that GPSy Pro is displaying incorrect strange or out of date data in its windows you may wish to reset it Resetting GPSy Pro with this menu option will 1 reset all stored device data to zero 2 reset static position data and 3 re initialize the serial ports and renegotiate any necessary GPS communications protocols Forcing the serial port closed Holding down the option key while selecting Reset GPSy Pro will force a blocked serial port to close Serial ports can be stuck open if the program controlling it like GPSy Pro happens to exit anomalously crash You should not force the serial port closed if it is being used by a legitimate running application such as fax soft ware LocalTalk or so forth You should always quit those applications to free up the serial port since they will not appreciate it being stolen by GPSy Pro 35 GPSy Pro Operations Manual Data Provided by GPS Protocol Sentence Types Rockwell Rockwel Garmin Trimble NMEA 0183 NavCore Zodiac Real Time TSIP GGA GLL RMB RMC Location Altitude Heading SOG Speed VMG Bearing DTG XTE Waypoint Arrival Circle Device Time Declination Geoidal Separation Datum Name GPS 2D 3D Satellites in Use Satellies in View Active PRNs Visual Satellite Display DOP See Note 1
98. or to get the EPE DOP ranges from 1 to with 1 being the best DOP possible Usual DOP values range from 1 0 to 5 0 in normal circumstances and can be much higher when satellite visibility is lim ited such as in canyons or urban jungles D Level Depot Level DLM Data Loader Module DLR Data Loader Receptable 74 DLS Data Loader System DMA Defense Mapping Agency The official mapping agency of the U S Department of Defense Developer of such wonderful gifts to human kind as the Universal Transverse Mercator UTM UPS system and WGS 84 DoD Department of Defense The department of the United States government responsible for protecting the U S again foreign threats and blowing them to smithereens Also the sugar daddy of the Global Positioning System DOP See Dilution of Precision dRMS Distance Root Mean Square DRS Dead Reckoning System Navigation estimates using the vehicles current speed and bearing to guesstimate its position Le if I know where I am now and walk 10 miles due North I should be 10 miles North of here Called dead reckon ing since current speed distance and bearing are hard to estimate and you often ended up dead by walking off a cliff or into the Bermuda Triangle Note that before GPS most naviga tion methods involved a component of dead reckoning DT amp E Development Test and Evaluation ECEF Earth Centered Earth Fixed A positioning system that uses the geome
99. ormat used by previous versions as well as some other GPS software The GPSy Extended Format was designed specifically for use with database programs spreadsheets GIS software and other data management products Unlike the Classic Format which stored much of the vital info in the data file header the Extended format stores datum and coordi nate system info inside the waypoint record itself while allowing for icon proximity waypoint altitude and other information not available in the older format Extended Format Datafiles GPSy Pro prepends a short data file header to the beginning of each downloaded file This header should be included when reuploading the data via GPSy Pro although the only key piece of information DATE LAT NORTHINGLON EASTING ZONE Extended Format Header GPSy Pro Operations Manual TIP Global Mapping Systems has produced a FileMaker Pro template that allows you to manage your waypoint files more easily We have also produce a database of 5402 public use airports in the United States for use with GPSy Pro Please visit the registered users web site for more information 41 GPSy Pro Operations Manual 42 in it is the data file format field 2 If the header is not included GPSy will attempt to autodetect the file type Using the extended format the record layout is described in the Extended Format header which eases importing into spreadsheets databases or other GIS software See below
100. orted Time Devia tion As noted above most GPS units assign a low prior ity to the serial ports Together with the latency introduced by the serial port there can be up to 300 2000 msecs latency between actual GPS time and the time data GPSy Pro receives You can manually adjust for this in the Additional Adjust ment field A value of 300 msecs appears to be a good proximal value on most PowerPC machines Set Macintosh Time Because of NMEA device serial and GPS latency reported NMEA time is approximately GPSy Pro Operations Manual 300 2000 msec behind actual BP5 atomic time Heported Time Deviation 7893 Additional Adjustment 400 Note Apple system clock only accurate to seconds level Note Because of the GPS serial latency you will want your Macintosh to be approximately 300 500 msec ahead of GPS time as displayed in the Additional Device Data window This will yield the closest to actual coordinated time as possible How can you make this more accurate The limiting factor is the serial communications protocol At 4800 bps the NMEA standard comm rate a full paragraph of NMEA sentences can take over a second to deliver If the GPS device pre computes a paragraph at a time then inaccuracies can be introduced The best solution to this is to crank up the serial communications rate to as fast as your GPS unit and GPSy Pro can handle GPSy Pro can handle up to 38 400 bps which should be more than enou
101. ow resolution of this format we do not recommend uploading data to GPS units using Maidenhead 20 DDMMSS DDMMM DDDDDD UTM UPS Normal Grid 1000m Grid 10 000m Grid AMG Australian Map Grid 41 15 23 latitude longitude degrees minutes seconds 55 63 15 latitude longitude degrees decimal minutes 120 9853 latitude longitude decimal degrees Universal Transverse Mercator UTM Universal Polar Stereographic UPS All 7 UTM digits displayed in large digits 1234567 Middle digits highlighted for use with 1 25 000 maps 1234567 Middle digit highlighted for use with 1 250 000 maps 1234567 BNG British National Grid Use OSGB Datum Grads French style grads 100 grads 90 degrees Irish Irish Transverse Mercator Use Irish Datum NZMG Swedish SWD Swiss SUI BCEP yz Maidenhead MGRS New Zealand Map Grid Swedish Grid System Swiss Map Grid Realtime Display is when GPSy Pro takes its data from the NMEA data stream and shows it on its display panels and in text to speech Data Transfer is when GPSy Pro is transferring waypoint route or track data to a GPS unit and is what is saved in the track route waypoint data files Realtime Display Datum GPS units vary as to whether they send the datum correction information Earth Centered Earth Fixed x y z Coordinate System for GIS Geodesy Amateur Radio Maidenhead Grid US Military Grid Reference System to the computer or not Garmin GPS unit
102. pherical model then quickly were revised to use ellipsoids Secondly before satellite navigation allowed precise positioning it was very difficult to get a highly accurate fix on a location So when the first cartographers were creating the first precise charts of the Americas for example they not assumed the shape of the earth but they also assumed a certain starting reference point By assum ing that a USGS marker point is at a certain lati tude longitude it became much easier to chart the area around it relative to that marker Unfortunately if the original reference point was incorrect you would also need a reference correction The assumed ellipsoidal model combined with the assumed reference point make up the geodetic datum For example the current and most highly accurate datum available for the entire world is the World Geodetic System 1984 datum WGS 84 WGS 84 is the fundamental model built into the GPS system as well as the default datum for most handheld GPS units If youre using your handheld GPS receiver for navigating and you never look at a published map the WGS 84 datum will work just great for you Unfortunately many published maps use older datums For example many USGS topographic maps use the much older NAD 27 that s 1927 datum In some cases the difference or error 69 GPSy Pro Operations Manual 70 between WGS 84 and NAD 27 can be several hundred meters When you tell your GPS
103. r that license key here in order to enable GPSy to run without any limitations If you should lose or misplace your license key contact orders gpsy com through e mail Internet Preferences If you have InternetConfig installed this option will automatically open the InternetConfig or Internet panel in MacOS 8 5 preferences panel and allow you to change your Internet settings GPSyLink uses your system Internet preferences to open your default web browser to the correct location on the Internet as well as when selecting the Send us e mail option under the Apple menu GPSy Pro Operations Manual Pu GPSy Pro Operations Manual THIS PAGE WAS LEFT BLANK FOR THE SAKE OF PAGINATION 28 GPSy Pro Operations Manual Chapter 4 Displays Menu GPSy Pro displays information sent from your GPS Speed Over Ground SOG reflects ground speed and unit using eight different display panels GPSy Pros does not include a vertical component This is of capability to display information 1s of course interest only if you are climbing or falling very rapidly contingent on your GPS actually sending the skydiving etc Velocity Made Good VMG re correct data See the chart at the end of this chapter quires a quick explanation While your speed over for information on the data provided in data ground is your physical speed VMG is the speed at sentences for each protocol which you re approaching your waypoint So if you re not quite h
104. return it for a full refund In other words use common sense don t use GPSy Pro for mission life critical or plain stupid purposes e g flying at night with only a GPS unit and GPSy Pro to guide you delivering pizzas in a bad neighborhood driving while looking at a laptop using it for IFR flights climbing K2 walking into trees unless you are willing to acknowledge that it may produce miscalculations with unforeseen or grave results or may cause you to navigate in a potentially dangerous fashion Common sense dictates that you should have sole responsibility for your own actions so please please be responsible Good navigators never rely on only one source of navigational information and always look where they are going don t crash that car into a tree looking at your laptop The author has seen handheld GPS units give erroneous positional information that was more than 200 miles off course Please be very careful and please don t sue us I hate disclaimers don t you It s sad that we need them Copyright and Trademark Information GPSy Pro and its documentation are Copyright 1996 1999 by Global Mapping Systems and Karen Nakamura All rights reserved GPSy amp and GPSy COM are registered trademarks and GPSy Pro and GPSyLink are trademarks of Karen Nakamura All other trademarks are the property of their respective owners GPSy Pro may not be redistributed placed in any CD ROM or on any software archive without the prior wri
105. rigin to your destination VPTUPTIT the direction you re heading towards speed over Crosstrack error is the amount l sha Le Note Distance to Go is limited by a bug ground SOG and your of deviation distance left or Bearing 120 2 mag in NMEA 0183 to a maximum of 999 9 right from that line It s useful UTS 52 0 mi boaters tav eaaa 115 nautical miles GPSy Pro will attempt to h eas 5 From GHSHOW to detect this situation and will indicate 40 38 647 73 20 400 Vf DTG gt 999 9 nm or the metric Arrival Circle entered equivalent when this is detected velocity made good VMG towards your next waypoint Heading 193 9 SOG 535 1 mph YMG 54 65 mph 29 GPSy Pro Operations Manual 30 Additional Device Data NMEA Device Time 1997 1 12 18 28 57 UTC Mac System Time Deviation 6 59 sec approx ahead of device time Declination from True North 14 200 east calculated Geoidal Separation 110 59 ft Datum VGS 54 Additional Device Data Panel The Additional Device Data panel displays miscella neous data from the GPS unit First it displays the GPS system time reported by the GPS unit The GPS system time is synchronized to extremely precise atomic clocks and GPSy Pro displays the amount of deviation your Macintosh system clock has from GPS system time specifically UTC time If you want to set your Mac to GPS syste
106. ro recognizes all Communications Toolbox CTB compliant real and virtual serial ports including PortJuggler Hustler serial ports USB to Serial Port converters PortShare multi port PCI cards and PCMCIA serial and GPS cards NMEA 0183 Trimble TSIP or Rockwell NavCore compliant Realtime Display Protocol Default NMEA 0183 GPSy Pro normally uses the NMEA 0183 protocol for real time positional data your location speed heading bearing etc You can also optionally select the older NMEA 0182 protocol or manufacturer specific protocols such as the Rockwell protocols Sony Protocol Trimble TSIP or Garmin Real Time protocol NMEA 0183 is the preferred protocol since it usually contains the most data sentences and is a standard protocol among most GPS units GPSy Pro has the most extensive support for NMEA 0183 on any computer platform GPSy Pro supports all versions of NMEA 0183 in general later versions of NMEA 0183 2 0 and above include more information than earlier ones for GPS units with that option NMEA 0182 is an older predecessor of 0183 that is still used with some ancient marine equipment You should only select this if you have no other choice since it only provides a very limited amount of navigational information Garmin Real Time Protocol is a manufacturer specific communications protocol that allows you to leave your Garmin GPS unit in GRMN GRMN mode while navigating thus ending the frustrating s
107. s the more accurate the reading you can use the inverse of DOP as a statistical weighting factor Rather than each sample having a weight of 1 the sample is weighted 1 DOP So a sample whose DOP is 4 1s only 0 25 the value of a sample whose DOP is 1 You can calculate your own static position by also recording the NMEA data to logfile and post processing it with a spreadsheet or GIS program This is left as an exercise to the reader my favorite words in CS textbooks Another method is to cutoff or ignore samples with a Command high DOP These options will omit from the calcula ee There are several keyboard commands in GPSy Pro that dont require the command key They are the text to speech navigational features and the log comment feature This version of GPSy Pro allows you to view but not edit the keyboard commands tions any samples with DOPs greater than specified Static Position Calculation Mode SP Calculation Mode v Normal non weighted Weighted 1 D0P Text to Speech GPSy Pro has a text to speech TTS navigational This controls whether Cutoff DOP gt 2 capability Type one of the five TTS commands latitude longitude alt Cutoff DOP gt 5 listed in the keyboard commands panel to explore dilution of precision J Cutoff gt 4 these options Cutoff OOP gt 5 Cutoff 00 gt 6 26 License Key When you purchased GPSy Pro you should have received a license key number You can ente
108. s all send corrected data so you can set GPSy Pro to the correct datum without worrying about datum problems For other manufacturers you will need to run a quick test Put the GPS unit in simulator mode and make sure your current simulated speed is 0 zero Launch GPSy Pro and note the current location Go back to the GPS and switch datums If the position in GPSy Pro changes then your GPS unit is not sending the proper correction information In that case change the datum setting in the GPS unit to the one you want and set GPSy Pro s Realtime Display Datum to no translation Some GPS units such as the Eagle Accunav Sport only have a few datums and might not have one that you want such as the OSGB datum for the British National Grid For these units set the GPS unit to the WGS 84 datum and let GPSy Pro handle the real time datum conversion Please read Appendix D on datum translations before changing the Display Datum setting Data Transfer Datum When performing a data transfer Garmin GPS units use the WGS 84 datum regardless of what is chosen in the GPS unit settings If you wish to save your track waypoint routes in a different datum than WGS 84 then choose a different datum in the Data Transfer Datum popup North Display Hopefully you know that there is a difference between magnetic north and true north Magnetic north is where your compass points while true north is the axis around which the ear
109. s pending further processing AFB Air Force Base AFI Automatic Fault Indication Ability of equip ment to indicate faults or the inability of the equipment to operate properly Usually part of the self test process Also ability of equipment to detect signals that are malformed due to equip ment failure source failure or enemy spoofing AFS Air Force Station AHRS Attitude and Heading Reference System AIMS Airspace Traffic Control Radar Beacon System IFF Mark XII System A J Anti Jamming Ability to prevent or overcome enemy jamming of your signal AOC Auxilliary Output Chip A S Anti Spoofing See spoofing ASIC Application Specific Integrated Circuit ATE Automatic Test Equipment 71 GPSy Pro Operations Manual 72 BCD Binary Code Decimal Coding digits in the computer as decimal floating point rather than as binary floating point This requires more memory space but prevents binary floating point anomalies such as 1 0 2 0 2 0 0 9999999 which can occur on some systems such as early Pentiums gratuitous example Dearing The compass direction towards your next way point BIH Bureau International de L Heure BIPM International Bureau of Weights and Measures BIT Built In Test BPSK Bi Phase Shift Keying C A Code Coarse Acquisition Code Course Acquistion or Civilian Code The unencrypted L1 sequence available to all civilian users broadcast at 1227 6M
110. s the string Command listing all of the command descrip tions PRSHS POS ddmm mmmmmmm u ddmm mmmmmm IT lj SHHHHH HH If you edit the resources be sure to edit all three at the same time for example if you add a command to MENU 4110 you must also add it in the same place in STR 4110 and 4111 Please send any custom commands you ve built to the author at pro support gpsy com We ll add them to future versions of GPSy Pro Position of the Antenna ddmm mmmmmmm latitude degrees N North or 5 South ddmm mmmmmmm longitude East or W West SHHHHH HH altitude s meters Calculate and send NMEA checksum Sending GPS Commands 46 GPSy Pro Operations Manual Chapter 8 GPSyLinks to DeLorme Street Atlase iPC MapFanII Internet Map Servers amp File rdi spaus E GPSyLink connects GPSy Pro with DeLorme StreetAtlas 3 0 4 0 a CD ROM street database of the entire United States iPC MapFan a CD ROM street database of Japan and to various Internet Map Servers which cover the entire world such as the U S Census Tiger MapBlast MapsOnUs MapFan Web and Xerox PARC Linked to these third party mapping sys tems you can view your position at various zoom levels from the street level to entire continents In conjunction with your GPS unit this provides accurate auto mapping rivalling some of the 1000 2000 dedicated car navigation units on
111. se application memory Limit map cache resoalutian size to Full Resolution 100 Default resolution is limited by available memory Cache image quality Normal Quality Default gt Higher quality caching turns on image dithering Improving overall image quality at the cost of speed Enable Palette Manager The Palette Manager forcibly matches screen colors to map file calars Best on 16 256 color displavs Memory Preferences GPSy Pro lets you control the location size and quality of the off screen memory cache that it uses to achieve its high speed map imaging First you should decide where GPSy Pro stores the off screen caches To conserve application memory GPSy Pro can request cache memory from the system stack However depending on your memory require ments you may want GPSy Pro to allocate the cache within its application memory space instead Older applications and extensions are more supsceptible to corrupt system memory so you may find the system to be stabler with all of the caches within GPSy Pro s memory space As applications are rewritten to the new system memory rules this will improve Limiting the resolution of the map cache either by size percentage or memory space is another way to conserve memory so that you can load multiple images or run other applications at the same time On slower machines you may want to use a faster but lower quality caching algo rithm while conver
112. sely on a faster G3 machine you can safely use high quality caching The Palette Manager tries to match the screen colors to the map file colors This is especially effective on 16 256 color display machines ie laptops GPSy Pro Operations Manual 25 GPSy Pro Operations Manual Static Position Calculation Mode GPSy Pro normally takes the straight average of your location and altitude when trying to cancel out This works well as long as you have some readings coming in with low DOPs Some Thoughts on DOP Cutoffs Selective Availability error in the Static Position display panel This usually produces very good results if your Dilution of Precision DOP the error estimate provided by the GPS unit is low However if your DOP is high because satellite visibility is being obstructed by cliffs buildings rain snow or forest cover you may wish to tell GPSy Pro to take DOP into account There are several ways GPSy Pro can do this Normal mode works best when the DOP is consistently low Weighted mode works best if you dont know the DOP variance or if there is a lot of variance and you dont want to miss any samples Cutoff mode works best if you wish to get the most accurate sample and are willing to have to wait to get it since your data sample will be much smaller than normal Cutoff 2 will give The first is to use the DOP value as a weighting the bese results factor Since the smaller DOP i
113. start to have built in DGPS receivers Behind the Scenes The 24 satellites have a staggered orbit designed so four satellites will be visible from any location on earth 95 percent of the time This number four is important as we will see Each satellite broadcasts a repeating message indicating the position and orbital parameters of itself and the other satellites almanac a bill of health for the satellites health bit and the precise atomic time The information is encrypted into a signal with strict timing characteristics In order to understand how the GPS system works we re going to jump into a bit of simple algebra Remember echolocation from high school physics If we send out a pulse of sound or radio waves and wait for them to bounce off something and come back we can determine the distance to the object by dividing the time it took for the reply by the speed of sound or light Distance Speed Time Time Distance Speed GPS works on much the same principle except that unlike RADAR SONAR where the transmitter is also the receiver of the signal GPS satellites only transmit the timing data pulses GPS receiver units only receive So how does the system work Imagine you and a friend had precision synchronized watches and were standing in a football field If she shouted I m at the far right cornerpost and it s now 5 00 and 0 0000 seconds and you heard this message at 5 00 and 0 333 seconds you coul
114. t mode if you need to scroll manually Moving the mouse inside the calibrate maps will display the position of the point The primary coordinate system and primary datum are used when displaying the map location point Most digital maps are too large to fit in available system memory GPSy Pro reduces the resolution of the image when caching to retain the best speed performance To refresh the screen using the high resolution screen data select high resolution refresh from the Mapping menu Uploading a Map Waypoint to the GPS You can upload a map position to your GPS unit by clicking on the waypoint position in the map then selecting the Send map waypoint command under the Utilities Send to GPS menu You will be asked for the waypoint name and then GPSy Pro will upload it using the current data transfer proto col If you have MacOS 8 installed you can use the control click Contextual Menu shortcut to access this feature Alternately use the Copy Waypoint feature in the Edit Menu or Contextual Menu to copy a bunch of waypoints to a separate text file in SimpleText or other text editor Arrange and edit the waypoints individually or as a route and upload the file using GPSy Pro Note that most GPS units will overwrite waypoints with the same name or waypoint number for Eagle Lowrance Copying the Current Map Position You can copy the coordinates of this point to the clipboard by clicking on a position and then
115. t be applying a correction factor twice producing an inaccurate result In order to prevent this either 1 Set your GPS unit to the WGS 84 datum and then set your desired datum in GPSy Pro s Display Preferences dialog or 2 Set your GPS unit to your desired datum and set GPSy Pro to no datum translation There are some minor points to note For non Garmin units GPSy Pro will assume that the positional data provided by the con nected GPS unit is in the WGS 84 datum All datum translations done by GPSy Pro will convert from the WGS 84 datum to your desired datum So if your GPS changes datums on the outgoing NMEA stream then set GPSy Pros datum preference to No translation For Garmin units GPSy Pro will attempt to use the PGRMM sentence to determine the input datum and correct for it However since differ ent Garmin units spell datums different ways this is unreliable at best The safest is to set GPSy Pro to No translation and to let the GPS handle the translation GPSy Pro Operations Manual Glossary 1 PPM 1 Pulse Per Minute A signal electronic or otherwise sent once per minute usually to synchronize timing equipment 1 PPS 1 Pulse Per Second A signal electronic or otherwise sent once per second usually to synchronize timing equipment AE Antenna Electronics A D Analog to Digital converter Part of the electronic equipment that converts analog signals into digital signal
116. th spins They are close but not close enough and the declination or difference varies depending on where you are on earth It s confusing when you navigate since you and your map must agree on either true or magnetic north GPSy Pro uses the World Magnetic Model WMM 1995 to calculate the magnetic declination at your present position or any location on your map WMM 1995 is standard model of the world s magnetic field developed by the US Military and is nominally accurate to 0 5 degrees over water Using WMM 1995 GPSy Pro can display your bearings in either true north or magnetic north Normally coordinates are displayed in degrees 0 is due North 90 East 180 South 270 West however users in Francophone countries may prefer the grades GRAD option 0G is due North 100G East 200G West 300G West Speed Units You can specify your speed units here as kilometers per hour km h statute miles per hour mph nautical miles per hour knots or Keanu Reeves per hour krvh KRVH may not be available in non Hollywood versions of GPSy Pro Measurement Units You can specify your measurement units here as metric meters kilometers statute feet statute miles or nautical feet nautical miles Why speed units and measurement units arent simply col lapsed into one panel is a good question This setting also affects the use of Fahrenheit or Celsius in the Maritime Data Panel Primary Coordinate System
117. tric center of the earth as the starting point with x y z axes ECP Engineering Change Proposal EDM Electronic Distance Measurement EFIS Electronic Flight Instrument System EHVE Estimated Horizontal Velocity Error See EPE Estimated Position Error EPE Also Expected Position Error The radius of the sphere of probability in which you are located When the GPS reports your position it reports an X Y Z altitude coordinates and the EPE Draw a sphere with a radius of your EPE around the X Y Z coordinates Your actual position is somewhere within that sphere of probability It s often easier to ignore altitude and to use X Y coordinates and EPE as a circle The probability figure varies If you have a 50 EPE 50 of the time you should be within the circle A 95 EPE figure will locate you within the circle 95 of the time GPSy and most GPS units display and output 95 EPE figures although Garmin units are reported to give the more optimistic and smaller 50 figure EPE is directly related to the Dilution of Precision DOP see separate entry You reach the 50 EPE figure by multiplying the DOP by the User Estimated Range Error see VERE nomi nally held at 32 meters SA non corrected Multi ply by 2 to get the 95 confidence level EPE has related variants HPE Horizontal Position Error VPE Vertical Position Error ETE Estimated Expected Time Error and EHVE Estimate Expected Horizontal Velocity
118. tten consent of the author This manual and its contents may not be reproduced in any format without the express written permission of Karen Nakamura DeLorme StreetAtlas USA and Tripmate are registered trademarks of DeLorme Mapping Inc Tripmate communication protocols and StreetAtlas links are used under license from DeLorme Mapping Inc All technical support questions related to GPSy Pro and DeLorme products should be referred to technical support pro support gpsy com Development Environment and Acknowledgments GPSy Pro was developed in C C using CodeWarrior Pro on a PowerBook 3400c and Yosemite G3 Minitower Portions of the source code were inspired by the EasyApp programming framework by James E Trudeau Garmin protocol code was initially derived from the free source code for MacGPS 0 1 by John Waers and substantially altered hence The author would like to thank her parents for giving her a great education her cat for not walking on the keyboard her business partners Yuka Suzuki Kiyoshi Suzuki Eun Suk Joo Gunjeong Lee Rita Melendez DeLorme Mapping Company Dave Martindale Garmin Technical Support Pete Lindsley Allory Deiss anonymous Eagle engineer FGPS MacTech magazine numerous alpha and beta testers and the letter Q iPC MapFan II inspired by Naoya Shindo Sony IPS Protocol with help from Takao Shimizu Geodetic gurus Chuck Gantz and Don Stierman Thank you This documentation was typeset in Adobe Garamond 10 12 using Ado
119. unit or GPSy Pro to use the NAD 27 datum it performs a calculation that takes the ellipsoidal model and correctional factor for NAD 27 and applies it to its positional data The result is that you get a latitude longitude or UTM etc that matches the topo map Any map that is worth its price will have its datum listed somewhere Otherwise you may have to do a bit of guessing If you re in a foreign country you can try one of the country specific datums For example the Tokyo datum covers maps created in Japan and South Korea before the end of the War The OSGB datum covers Great Britain Note that most electronic maps such as TIGER or StreetAtlas now use the WGS 84 datum so ask if you re not sure GPSy Pro and Datums A Caveat GPSy Pro has the ability to perform datum transla tions within the application itself This is useful if you have a GPS unit or other navigational unit that doesn t have datum translations or doesnt have the datum you want You can select from a list of 124 available datums in the Display Preferences panel By default no datum translation correction is used However there is a very important caveat Since either GPSy Pro or your GPS unit can both do datum translations very bad things can happen if you set both of them to a non WGS84 datum at the same time although this problem doesn t occur with Garmin GPS units which report the correct datum data at all times You would in effec
120. upports calibrated orthophotos high resolution photographs taken from air planes or satellites such as the photograph of Boston to the right Orthophoto archives can also be found at the link above You can also scan in your own maps using atlases charts topo maps or other map data Calibrating them in GPSy Pro simply requires knowing the position of three or more points on the map Please note that both topographic maps and orthophotos are quite large file sizes of 6 10 megabytes are not unusual GPSy Pro prefers to have enough system memory to load a map in its GPSy Pro Operations Manual Digital Orthophoto of Boston downloaded from the Internet entirety although it can work with less memory by reducing map resolution Enhance mapping perfor mance by installing as much physical memory as possible quitting other applications and turning on virtual memory when using GPSy Pro with huge map files If you download waypoints or tracks while a digital map is open the waypoints and tracks will be overlaid onto the map window 11 GPSy Pro Operations Manual 12 In addition you can create waypoints by clicking on a calibrated map and copying the waypoint data to an editing program or uploading it by selecting Send map waypoint under the Utilities Send to GPS menu Both of these commands are also avail able using the control click Contextual Menu feature in MacOS 8 See Chapter 2 for more informatio
121. ur mapping requirements more appropriately No one datum is a perfect fit for all mapping applications The Global Positioning System uses the WGS 84 datum which is designed to approximate the entire earth using the latest mapping data However many topographic maps use other national datums which produce smaller errors for the local geographic region For example many USGS topo maps are in the NAD 27 datum and most British maps use the OSGB datum Like the GPS system GPSy Pro also uses the WGS 84 datum internally and automatically translates to the proper display datums Appendix D A Warning on Datums includes more information on why knowing what your datum is so important Most maps will include the map datum in the index or corner of the map Look for something like NAD 1927 WGS 84 OSGB etc Set your GPS device to this datum and then read the instructions to see if GPSy Pro also needs to be set to correct datum or if your GPS unit automatically sends the datum correction GPSy performs datum translations during Realtime Display mode and when performing Data Transfers GPSy Pro Operations Manual Garmin units can be set to any datum since they report datum information back to GPSy Pro Set both the Garmin unit and GPSy Pro to the datum you wish to use 19 GPSy Pro Operations Manual Available Coordinate Systems Tip Maidenhead support is provided for ham radio operators However due to the l
122. witch between GRMN and NMEA data modes Unfortunately the GRMN protocol only provides limited navigational information on position speed and bearing and use of this protocol in real time mdoe can cause GPSy Pro to slow down For full time navigating switching to NMEA 0183 mode is recommended Rockwell NavCore V Protocol is a manufacturer specific protocol Rockwell GPS chips are used in many popular off the shelf GPS units GPS PC Cards and embedded GPS systems The Rockwell NavCore protocol provides highly accurate naviga tional information The DeLorme TrackNGo and Rockwell NavCards are two examples of units that use the Rockwell NavCore V format Rockwell Zodiac Protocol is a newer manufacturer specific protocol from Rockwell used in their Zodiac Jupiter GPS chipsets The DeLorme ripmate and EarthMate are two examples of GPS unit that usesthe Zodiac Protocol Sony IPS Protocol is a manufacturer specific proto col from Sony for their OEM and brand name GPS units The Sony IPS 5000 and PACY CNV10 are two examples of Sony IPS format GPS units GPSy Pro Operations Manual Trimble TSIP Protocol is a manufacturer specific protocol from Trimble for their GPS units The Trimble Mobile GPS Card and Trimble Scoutmas ter are two examples of Trimble TSIP format GPS units Use NMEA 0183 if you have the choice as the Trimble protocol does not provide all the data that NMEA 0183 does Protocol BPS Rate Default 4800 8NI Althou
123. your current location In StreetAtlas your position is indicated by a blue car Your current heading and speed are indicated by the green arrow The direction to the next waypoint as entered into your GPS is indicated by the blue arrow Your waypoint is indicated by a red star In iPC MapFan II your position is located with a red cross inside a circle The MapFan II protocol doesn t allow for waypoint heading displays within the program itself use the GPSy Pro display panels for these features With the Internet Map Servers the supported data varies from server to server 5 Once you are sure that the link works you can select Locate Repeat in order to get a continu ously updating display You can change the update rate in the GPSyLink menu Dont select 1 or 3 seconds unless you have a very fast computer or have most of the map features turned off 15 and 30 seconds are good choices If you wish to zoom in or out in StreetAtlas switch back to GPSy Pro and select Zoom from the GPSyLink menu Dont use the zoom or map features in StreetAtlas when GPSyLinked since it will confuse SA If you do make any changes in SA it may ask you if you want to save them the next time you make a change through GPSyLink You are free to zoom using the controls in MapFan II and the Internet Map Servers since these controls are independent of GPSy 7 See the section on StreetAtlas 4 Route Up loads for info on how to up

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