Garmin 35 GPS Receiver User Manual
Contents
1. V OPTIONAL TRUNK LIP x MOUNTING BRACKET SPACER SET SCREW ia en OF TRUNK GPS 35 ONLY 12 3 2 3 Suction Cup Mount The suction cup bracket provides a removable mounting surface attached to the inside of a vehicle s windshield GPS SENSOR x SUCTION CUP MOUNT M3 F HD SCREWS 4 Q GPS 35 ONLY 13 3 2 4 Flange Mount The flange mount allows for a permanent installation ona flat surface This mounting configuration is ideal in applications in which the far side of the mounting surface is inaccessible GPS SENSOR MOUNTING HOLE 4 PLACES M3 FLT HD SCREW 4 273 MOUNTING SCREW POSITION 4 PLACES MOUNTING SURFACE GPS 35 ONLY 14 3 3 CONNECTION WIRING DESCRIPTION The GPS 35 36 features a stripped and pre tinned cable assembly for the greatest connection flexibility The following is a functional description of each wire inthe cable assembly Red Black White Blue Purple Green Gray VIN Unregulated 10 30VDC 200 mA maximum Typical operating current is 150 mA GND Power and Signal Ground TXD1 First Serial Asynchronous Output RS 232 compatible electrical specification This output normally provides serial data which is formatted per NMEA 0183 Version 2 0 Switchable to 1200 2400 4800 and9600 BAUD This output functions in parallel with the NMEA output RXD1 First2. 1 2 Features 1 3 Technical Specifications 1 4 Application Operational Characteristics 2 1 Self Test 2 2 Initialization 2 3 Navigation 2 4 Satellite Data Collection Hardware Interface 3 1 Mechanical Dimensions 3 2 Mounting Configurations and Options 3 3 Connection Wiring Description Software Interface 4 1 NMEA Received Sentences 4 2 NMEA Transmitted Sentences 4 3 Baud Rate Selection 4 4 RTCM Received Data Earth Datums Ci C gt N c 15 17 17 21 28 29 1 INTRODUCTION 1 1 OVERVIEW The GARMIN GPS 35 36 is a complete GPS receiver including an embedded antenna designed for a broad spectrum of OEM Original Equipment Manufacturer system applications Based on the proven technology found in other GARMIN 12 channel GPS receivers the GPS 35 36 will track up to 12 satellites at a time while providing fast time to first fix one second navigation updates and low power consumption Its far reaching capability meets the sensitivity requirements of land navigation as well as the dynamics requirements of high performance aircraft The GPS 35 36 design utilizes the latest technology and high level circuit integration to achieve superior performance while minimizing space and power requirements All critical components of the system including the RF IF receiver hardware and the digital baseband are designed and manufactured by GARMIN to ensure the quality and capability o
3. CONUS Mexico NAPARIMA BWI Trinidad and Tobago NAHRWAN Masirah Island Oman NAHRWAN Saudi Arabia NAHRWAN United Arab Emirates OBSERVATORIO 1966 Corvo and Flores Islands Azores OLD EGYPTIAN Egypt OLD HAWAIIAN Mean Value OMAN Oman PICO DE LAS NIEVES Canary Islands PITCAIRN ASTRO 1967 Pitcairn Island PUERTO RICO Puerto Rico Virgin Islands QATAR NATIONAL Qatar QORNOQ South Greenland REUNION Mascarene Island ROME 1940 Sardinia Island RT 90 Sweden PROVISIONAL SOUTH AMERICAN 1956 Bolivia Chile Colombia Ecuador Guyana Peru Venezuela A3 84 85 86 101 102 103 104 SOUTH AMERICAN 1969 Argentina Bolivia Brazil Chile Colombia Ecuador Guyana Paraguay Peru Venezuela Trinidad and Tobago SOUTH ASIA Singapore PROVISIONAL SOUTH CHILEAN 1963 South Chile SANTO DOS Espirito Santo Island SAO BRAZ Sao Miguel Santa Maria Islands Azores SAPPER HILL 1943 East Falkland Island SCHWARZECK Namibia SOUTHEAST BASE Porto Santo and Madeira Islands SOUTHWEST BASE Faial Graciosa Pico Sao Jorge and Terceira Islands Azores TIMBALAI 1948 Brunei and East Malaysia Sarawak and Sabah TOKYO Japan Korea Okinawa TRISTAN ASTRO 1968 Tristan da Cunha User defined earth datum VITI LEVU 1916 Viti Levu Island Fiji Islands WAKE ENIWETOK 1960 Marshall Islands WORLD GEODETIC SYSTEM 1972 WORLD GEODETIC SYSTEM 1984 ZANDERIJ Surinam CH 1903 Sw
4. be transmitted lt 3 gt Latitude hemisphere N or S lt 4 gt Longitude dddmm mmmm format leading zeros will be transmitted lt 5 gt Longitude hemisphere E or W lt 6 gt GPS quality indication 0 fix not available 1 Non differential GPS fix available 2 Differential GPS DGPS fix available lt 7 gt Number of satellites in use 00 to 12 leading zeros will be transmitted lt 8 gt Horizontal dilution of precision 1 0 to 99 9 lt 9 gt Antenna height above below mean sea level 9999 9 to 99999 9 meters 10 Geoidal height 999 9 to 9999 9 meters 11 Differential GPS RTCM SC104 data age number of seconds since last valid RTCM transmission null if non DGPS 12 Differential Reference Station ID 0000 to 1023 leading zeros will be transmitted null ifnon DGPS 4 2 5 GPS DOP and Active Satellites GSA GPGSA lt 1 gt lt 2 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt hh lt CR gt lt LF gt 1 0 3 4 6 Mode manual A automatic Fix type 1 not available 2 2D 3 3D PRN number 01 to 32 of satellite used in solution up to 12 transmitted leading zeros will be transmitted Position dilution of precision 1 0 to 99 9 Horizontal dilution of precision 1 0 to 99 9 Vertical dilution of precision 1 0 to 99 9 24 4 2 6 GPS Satellites i
5. except GPALM The following notes apply to the PGRMO input sentence 20 1 If the target sentence mode is 2 disable all or 3 enable all the target sentence description is not checked for validity In this case an empty field is allowed e g PGRMO 3 or the mode field may contain from 1 to 5 characters 2 If the target sentence mode is 0 disable or 1 enable the target sentence description field must be an identifier for one of the sentences being output by the GPS 35 36 3 If either the target sentence mode field or the target sentence description field is not valid the PGRMO sentence will have no effect 4 PGRMO GPLAM 1 will cause the sensor board to transmit all stored almanac information All other NMEA sentence transmission will be temporarily suspended 4 2 NMEA TRANSMITTED SENTENCES The subsequent paragraphs define the sentences which can be transmitted on TXD1 by the GPS 35 36 4 2 1 Sentence Transmission Rate Sentences are transmitted with respect to the user selected baud rate The GPS 35 36 will transmit each sentence except where noted in particular transmitted sentence descriptions at a periodic rate based on the user selected baud rate and user selected output sentences The GPS 35 36 willtransmitthe selected sentences contiguously The contiguous transmission starts at a GPS second boundary The length of the transmission can be determined by the following eq
6. minutes to calculate a navigation solution AutoLocate unlike search the sky does not require that the GPS 35 36 continue to operate after a fix has been obtained SECTION 3 HARDWARE INTERFACE 3 1 MECHANICAL DIMENSIONS The GPS 35 is acomplete GPS receiver including antenna a uniquely styled waterproof package 3 1 1 GPS 35 Dimensions General Tolerance 0 50 mm R 375 9 52 3 796 96 42 Gig T EM 2 1 047 26 60 M3x0 5 THREAD 4 PLCS 0 85 21 59 B 1 580 40 13 0 25mm N EE Sg 0 65 16 46 2 500 163 0 3 1 2 GPS 36 Dimensions General Tolerance 0 50 mm 2 32 58 99 157 39 93 105 26 59 lt 3 80 196 42 4 N gt cigs 2 23 156 641 GPS SENSOR MARINE POLE MOUNT 3 2 MOUNTING CONFIGURATIONS AND OPTIONS The following mounting options are available for the GPS 35 Mounting is user configurable 3 2 1 Magnetic Mount The magnetic mount provides a firm removable mounting attachment to any ferrous metal surface GPS SENSOR i lt a 5 MAGNETIC MOUNT M3 FLT HD SCREW 42 amp GPS 35 ONLY 11 3 2 2 Trunk Lip Mount The trunk lip mount provides a semi permanent attachment to the trunk lip of most automobiles GPS SENSOR TRUNK LIP MOUNT SENSOR
7. 6 Longitude hemisphere E or W lt gt Speed over ground 0 0 to 999 9 knots lt 8 gt Course over ground 000 0 to 359 9 degrees true leading zeros will be transmitted 25 9 UTC date of position fix ddmmyy format 10 Magnetic variation 000 0 to 180 0 degrees leading zeros will be transmitted 11 Magnetic variation direction E or W westerly variation adds to true course 4 2 8 Track Made Good and Ground Speed with GPS Talker ID GPVTG The GPVTG sentence reports track and velocity information with a checksum GPVTG lt 1 gt T lt 2 gt M lt 3 gt N lt 4 gt K hh lt CR gt lt LF gt lt 1 gt course over ground 000 to 359 degrees leading zeros will be transmitted lt 2 gt Magnetic course over ground 000 to 359 degrees leading zeros will be transmitted lt 3 gt Speed over ground 00 0 to 99 9 knots leading zeros will be transmitted 4 Speed over ground 00 0 to 99 9 kilometers per hour leading zeros will be transmitted 4 2 9 Geographic Position with LORAN Talker ID LCGLL The LCGLL sentence reports position information LCGLL lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt CR gt lt LF gt 1 Latitude ddmm mm format leading zeros will transmitted 2 Latitude hemisphere or S 3 Longitude dddmm mm format leading zeros will be transmitted 4 Longitude hemisphere E or W 5 UTC time of position fix hhmmss format 4 2 10 Track Made
8. Mobile AL 36605 U S A and the Radio Technical Commission for Maritime Services RTCM Recommended Standards For Differential Navstar GPS Service Version 2 0 RTCM Special Committee No 104 copies may be obtained from RTCM P O Box 19087 Washington D C 20036 U S A The GPS 35 36 interface protocol in addition to transmitting navigation information as defined by NMEA 0183 transmits additional information using the convention of GARMIN proprietary sentences The following sections describe the data format of each sentence transmitted and received by the GPS 35 36 The baud rate selection and RTCM differential GPS input are also described 4 1 NMEA RECEIVED SENTENCES The subsequent paragraphs define the sentences which can be received on RXD1 by the GPS 35 36 These sentences are echoed upon receiptto provide handshaking that the appropriate information was received by the GPS 35 36 hh 1 byte checksum 4 1 1 Almanac Information ALM GPALM lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt 10 gt lt 11 gt lt 12 gt lt 13 gt lt 14 gt lt 15 gt hh lt CR gt lt LF gt The GPALM sentence can be used to initialize the sensor 17 board s stored almanac information if battery back up has failed lt 1 gt Total number of ALM sentences to be transmitted by the sensor board during almanac download This field can be null or any number when sending almanac to the sen
9. above tests the GPS 35 36 will report software version information Oscillator check 2 2 INITIALIZATION After the initial self test is complete the GPS 35 36 will begin the process of satellite acquisition and tracking The acquisition process is fully automatic and under normal circumstances will take approximately 45 seconds to achieve a position fix 15 seconds if ephemeris data is known After a position fix has been calculated valid position velocity and time information will be transmitted over the output channel s Like all GPS receivers the GPS 35 36 utilizes initial data such as last stored position date and time as well as satellite orbital data to achieve maximum acquisition performance If significant inaccuracy exists in the initial data or ifthe orbital data is obsolete it may take 5 0 minutes to achieve anavigation solution The GPS 35 36 Autolocate feature is capable of automatically determining a navigation solution without intervention from the host system However acquisition performance can be improved ifthe host system initializes the GPS 35 36 following the occurrence of one or more of the following events 1 Transportation over distances further than 1500 kilometers 2 Failure of the internal memory battery without system standby power 3 Stored date time off by more than 30 minutes See Section 4 for more information on initializing the GPS 35 36 2 3 NAVIGATION After the acquisition proce
10. leap second is 61 seconds long The GPS 35 36 would have transmitted this information for the leap second added December 31 1989 as follows Date Time 311289 235959 311289 235960 010190 000000 If negative leap second should be required one second will be deleted at the end of some UTC month The minute containing the leap second will be only 59 seconds long In this case the GPS 35 36 will not transmit the time of day 23h 59m 59s for the day from which the leap second is removed 4 2 3 Global Positioning System Almanac Data ALM GPALM lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt 10 gt lt 11 gt lt 12 gt lt 13 gt lt 14 gt lt 15 gt hh lt CR gt lt LF gt Almanac sentences are not normally transmitted Almanac transmission can be initiated by sending the sensor board a PGRMO GPALM 1 command Upon receipt of this command the sensor board will transmit available almanac information on GPALM sentences During the transmission of almanac sentences other NMEA data output will be temporarily suspended lt field information gt can be found in section 4 1 1 23 4 2 4 Global Positioning System Fix Data GGA GPGGA lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt M lt 10 gt M lt 11 gt lt 12 gt hh lt CR gt lt LF gt lt 1 gt UTC time of position fix hhmmss format 2 Latitude ddmm mmmm format leading zeros will
11. only mode When navigating in the differential only mode the GPS 35 36 will output a position only when a differential solution is available 2 4 SATELLITE DATA COLLECTION The GPS 35 36 will automatically update satellite orbital data as it operates The intelligence of the GPS 35 36 combined with its hardware capability allows these data to be collected and stored without intervention from the host system A few key points should be considered regarding this process 1 Ifthe GPS 35 36 is not operated for a period of six 6 months or more the unit will search the sky in order to collect satellite orbital information This process is fully automatic and under normal circumstances will take about 5 minutes to achieve a navigation solution However the host system should allow the GPS 35 36 to remain on for at least 12 5 minutes after the first satellite is acquired see Section 4 for more information on status indications If the internal memory backup battery fails or is not installed while the host system power is off and not connected to standby power the GPS 35 36 will search the sky as described above The system designer should be aware of the availability of standby power inputto the GPS 35 36 to prevent this situation If the initial data is significantly inaccurate the GPS 35 36 will perform an operation known as AutoLocate This procedure is fully automatic and under normal circumstances will require about 5
12. 0183 Version 2 0 ASCII output GPALM GPGGA GPGSA GPGSV GPRMC GPVTG PGRME PGRMT PGRMV PGRMF LCGLL LCVTG Inputs Initial position date and time not required Earth datum and differential mode configuration command almanac Outputs Position velocity and time Receiver and satellite status Differential Reference Station ID and RTCM Data age Geometry and error estimates Real time Differential Correction input RTCM format 1 4 APPLICATION Differentiol Corrections ie Beacon Receiver RTCM 104 GREEN RED 10 32 Power RxDe GARMIN Source BLACK GPS 35 36 WHITE TXDi BLUE BLACK RXD1 NMEA BLACK V x Ground 8 3 NMEA NMEA Listening Device Listening Device RS232 levels 0 5 level TYPICAL APPLICATION ARCHITECTURE 2 OPERATIONAL CHARACTERISTICS This section describes the basic operational characteristics of the GPS 35 36 Additional information regarding input and output specifications are contained in Section 4 2 1 SELF TEST After input power has been applied to the GPS 35 36 and periodically thereafter the unit will perform critical self test functions and report the results over the output channel s The following tests will be performed 1 RAM check ROM test gt Receiver test Real time clock test 5 In addition to the results of the
13. 8 19 20 21 22 23 24 25 ADINDAN Ethiopia Mali Senegal Sudan AFGOOYE Somalia AIN EL ABD 1970 Bahrain Island Saudi Arabia ANNA 1 ASTRO 1965 Cocos Island ARC 1950 Botswana Lesotho Malawi Swaziland Zaire Zambia Zimbabwe ARC 1960 Kenya Tanzania ASCENSION ISLAND 1958 Ascension Island ASTRO BEACON E Iwo Jima Island AUSTRALIAN GEODETIC 1966 Australia Tasmania Island AUSTRALIAN GEODETIC 1984 Australia Tasmania Island ASTRO DOS 71 4 St Helena Island ASTRONOMIC STATION 1952 Marcus Island ASTRO B4 SOROL ATOLL Tern Island BELLEVUE IGN Efate and Erromango Islands BERMUDA 1957 Bermuda Islands BOGOTA OBSERVATORY Colombia CAMPO INCHAUSPE Argentina CANTON ASTRO 1966 Phoenix Islands CAPE CANAVERAL Florida Bahama Islands CAPE South Africa CARTHAGE Tunisia CHATHAM 1971 Chatham Island New Zealand CHUA ASTRO Paraguay CORREGO ALEGRE Brazil DJAKARTA BATAVIA Sumatra Island Indonesia DOS 1968 Gizo Island New Georgia Islands A1 26 27 28 29 30 31 32 EASTER ISLAND 1967 Easter Island EUROPEAN 1950 Austria Belgium Denmark Finland France Germany Gibraltar Greece Italy Luxembourg Netherlands Norway Portugal Spain Sweden Switzerland EUROPEAN 1979 Austria Finland Netherlands Norway Spain Sweden Switzerland FINLAND HAYFORD 1910 Finland GANDAJIKA BASE Republic of Maldives GEODETIC DATUM 1949 New Zealand ORDNANCE SU
14. GPS 35 36 TracPak GPS SMART ANTENNA TECHNICAL SPECIFICATION GARMIN 7200 E 151st Street Olathe Kansas 66062 913 397 8200 913 397 8282 FAX 1999 GARMIN Corporation 1200 E 151st Street Olathe KS 66062 Allrights reserved No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of GARMIN Information in this document is subject to change without notice GARMIN reserves the right to change or improve their products and to make changes in the content without obligation to notify any person or organization of such changes or improvements January 1999 190 00104 00 Rev D CAUTION The GPS system is operated by the government of the United States which is solely responsible for its accuracy and maintenance Although the GPS 35 36 is a precision electronic NAVigation AID NAVAID any NAVAID can be misused or misinterpreted and therefore become unsafe Use the GPS 35 36 at your own risk To reduce the risk carefully review and understand all aspects of this Technical Manual before using the GPS 35 36 When in actual use carefully compare indications from the GPS 35 36 to all available navigation sources including the information from other NAVAIDs visual sightings charts etc For safety always resolve any discrepancies before continuing navigation NOTE This devi
15. Good and Ground Speed with LORAN Talker ID LCVTG TheLCVTG sentence reports track and velocity information 26 LCVTG lt 1 gt T lt 2 gt M lt 3 gt N lt 4 gt K lt CR gt lt LF gt 1 True course over ground 000 to 359 degrees leading zeros will be transmitted lt 2 gt Magnetic course over ground 000 to 359 degrees leading zeros will be transmitted lt 3 gt Speed over ground 00 0 to 99 9 knots leading zeros will be transmitted lt 4 gt Speed over ground 00 0 to 99 9 kilometers per hour leading zeros will be transmitted 4 2 11 Estimated Error Information SPGRME GARMIN proprietary format The PGRME sentence reports estimated position error information PGRME lt 1 gt M lt 2 gt M lt 3 gt M hh lt CR gt lt LF gt lt 1 gt Estimated horizontal position error 0 0 to 9999 9 meters lt 2 gt Estimated vertical position error VPE 0 0 to 9999 9 meters 3 Estimated position error EPE 0 0 to 9999 9 meters 4 2 12 GPS Fix Data Sentence PGRMF GARMIN proprietary format PGRMF lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt 10 gt lt 11 gt lt 12 gt lt 13 gt lt 14 gt lt 15 gt hh lt CR gt lt LF gt lt 1 gt GPS week number 0 1023 lt 2 gt GPS seconds 0 604799 lt 3 gt UTC date of position fix ddmmyy format lt 4 gt UTC time of position fix hhmmss format lt 5 gt GPS leap second count lt 6 gt Latitude ddmm
16. RVEY OF GREAT BRITAIN 1936 England Isle of Man Scotland Shetland Islands Wales GUAM 1963 Guam Island GUX 1 ASTRO Guadalcanal Island HJORSEY 1955 Iceland HONG KONG 1963 Hong Kong INDIAN Bangladesh India Nepal INDIAN Thailand Vietnam IRELAND 1965 Ireland ISTS O73 ASTRO 1969 Diego Garcia JOHNSTON ISLAND 1961 Johnston Island KANDAWALA Sri Lanka KERGUELEN ISLAND Kerguelen Island KERTAU 1948 West Malaysia Singapore L C 5 ASTRO Cayman Brac Island LIBERIA 1964 Liberia LUZON Mindanao Island LUZON Phillippines excluding Mindanao Island MAHE 1971 Mahe Island MARCO ASTRO Salvage Islands MASSAWA Eritrea Ethiopia MERCHICH Morocco MIDWAY ASTRO 1961 Midway Island MINNA Nigeria NORTH AMERICAN 1927 Alaska NORTH AMERICAN 1927 Bahamas excluding San Salvador Island A2 57 58 59 60 NORTH AMERICAN 1927 Central America Belize Costa Rica El Salvador Guatemala Honduras Nicaragua NORTH AMERICAN 1927 Canal Zone NORTH AMERICAN 1927 Canada including Newfoundland Island NORTH AMERICAN 1927 Caribbean Barbados Caicos Islands Cuba Dominican Republic Grand Cayman Jamaica Leeward Islands Turks Islands NORTH AMERICAN 1927 Mean Value CONUS NORTH AMERICAN 1927 Cuba NORTH AMERICAN 1927 Greenland Hayes Peninsula NORTH AMERICAN 1927 Mexico NORTH AMERICAN 1927 San Salvador Island NORTH AMERICAN 1983 Alaska Canada Central America
17. Serial Asynchronous input RS 232 compatible with maximum input voltage range 25 lt V lt 25 This input may be used to receive serial initialization configuration data as specified in Section 4 1 TXD2 Second Serial Asynchronous Output Electrically identical to TXD1 RXD2 Second Serial Asynchronous Input Electrically identical to RXD1 This input may be used to receive serial differential GPS data formatted per RTCM Recommended Standards For Differential Navstar GPS Service Version 2 0 see Section 4 for more details NMEA NMEA0183 Version 1 5 electrical specification compatible serial output This output is also CMOS compatible with 15 Yellow anoload voltage swing of 0 2Vdc to 4 8Vdc This output normally provides ASCII sentences formatted per NMEA 0183 Version 2 0 User selectable baud rates of 1200 2400 4800 and 9600 are available The data output on this pin is identical to the data output on TXD1 VAUX Optional External Backup Power Connection This is an optional connection Internal battery capacity is 180 mA hour Typical current requirement is 65 uA 5VDC If used a4VDC to 30 VDC power source is required 4 SOFTWARE INTERFACE The GPS 35 36 interface protocol design is based on the National Marine Electronics Association s NMEA 0183 ASCII interface specification which is fully defined in NMEA 0183 Version 2 0 copies may be obtained from NMEA P O Box 50040
18. ce has been tested and found to comply with the limits for a Class B digital device pursuant to Part 15 of the FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation This device generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this device does cause harmful interference to radio or television reception which can be determined by turning the device off and on you are encouraged to try to correct the interference by one or more of the following measures Reorient or relocate the receiving antenna Increase the separation between this device and the receiver Connect this device to an outlet on a different circuit than that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help This device contains no user serviceable parts Repairs should only be performed by an authorized GARMIN service center Unauthorized repairs or modifications to this device could void your warranty and your authority to operate this device under Part 15 regulations TABLE OF CONTENTS Introduction 1 1 Overview
19. f the GPS 35 36 This hardware capability combined with software intelligence makes the GPS 35 36 easy to integrate and use The GPS 35 36 is designed to withstand rugged operating conditions and is completely water resistant The GPS 35 36 is a complete GPS receiver that requires minimal additional components be supplied by an OEM or system integrator minimum system must provide the GPS 35 36 with a source of power and a clear view of the GPS satellites The system may communicate with the GPS 35 36 via a choice of two RS 232 compatible full duplex communication channels Internal memory backup allows the GPS 35 36 to retain critical data such as satellite orbital parameters last position date andtime Enduser interfaces 1 such as keyboards and displays are added by the application designer 1 2 FEATURES The GPS 35 36 provides a host of features that make it easy to integrate and use 1 3 Full navigation accuracy provided by Standard Positioning Service SPS Compact design ideal for applications with minimal space High performance receiver tracks up to 12 satellites while providing fastfirst fix and low power consumption Differential capability utilizes real time RTCM corrections producing 3 10 meter position accuracy Internal clock and memory are sustained by a memory backup battery or optional external standby power User initialization is not required Navigation mode 2D or 3D may be configured by the
20. ing almanac null if almanac is current Unit temperature in degrees C Board configuration data R retained L lost 4 2 14 3D velocity information SPGRMV GARMIN proprietary format The PGRMV sentence reports three dimensional velocity information 28 PGRMV lt 1 gt lt 2 gt lt 3 gt hh lt CR gt lt LF gt lt 1 gt True east velocity 999 9 to 9999 9 meters second lt 2 gt True north velocity 999 9 to 9999 9 meters second 3 Up velocity 999 9 to 9999 9 meters second 4 3 BAUD RATE SELECTION Baud rate selection can be performed by sending the appropriate configuration sentence to the GPS 35 36 as described in the NMEA Received Sentences Section sentence PGRMC 4 4 RTCM RECEIVED DATA Position accuracy of 3 10 meters can be achieved with the GPS 35 36 by using Differential GPS DGPS real time pseudo range correction data RTCM SC 104 format These corrections can be received by the GPS 35 36 on RXD2 Correction data at speeds of 300 600 1200 2400 4800 or 9600 baud can be utilized as the GPS 35 36 automatically detects the incoming baud rate For details on the SC 104 format referto RTCM Paper 134 89 SC 104 68 by the Radio Technical Commission for Maritime Services 29 APPENDIX EARTH DATUMS The following is a list of the GARMIN GPS 35 36 earth datum indexes and the corresponding earth datum name including the area of application ROMO CONDO 10 11 12 13 14 15 16 17 1
21. itzerland Hu Tzu Shan Indonesia 74 GPS 35 36 Rev 2 08 or later 105 106 107 Austria Potsdam Taiwan modified Hu Tzu Shan A4 1200 151st Street Olathe KS 66062 1 800 800 1020 913 397 8200 190 00104 00 Rev D
22. lta x earth centered coordinate 5000 0 to 5000 0 meters 1 meter resolution 19 lt 7 gt User earth datum delta y earth centered coordinate 5000 0 to 5000 0 meters 1 meter resolution lt 8 gt User earth datum delta z earth centered coordinate 5000 0 to 5000 0 meters 1 meter resolution lt 9 gt Differential mode A automatic output DGPS data when available non DGPS otherwise D differential exclusively output only differential fixes 10 NMEA Baud Rate 1 1200 2 2400 3 4800 4 9600 11 Velocity filter 1 Automatic filter 2 255 Filter time constant 10 10 second filter 12 Notused Null field All configuration changes take effect after receipt of a valid value except baud rate which takes effect on the next power cycle or external reset event Null fields in the configuration sentence indicate not change in the particular configuration parameter 4 1 4 Output Sentence Enable Disable SPGRMO GARMIN proprietary format The PGRMO sentence provides the ability to enable and disable specific output sentences The following sentences are enabled at the factory GPGSA GPGSV GPRMC PGRME PGRMT and PGRMV PGRMO lt 1 gt lt 2 gt hh lt CR gt lt LF gt 1 Target sentence description e g PGRMT etc lt 2 gt Target sentence mode where 0 disable specified sentence 1 enable specified sentence 2 disable all output sentences 3 enable all output sentences
23. mmmm format leading zeros will be transmitted lt 7 gt Latitude hemisphere or S 27 8 9 10 11 12 13 14 15 Longitude dddmm mmmm format leading zeros will be transmitted Longitude hemisphere E or W Mode M manual A automatic Fix type 0 no fix 1 2D fix 2 3D fix Speed over ground 0 to 999 kilometers hour Course over ground 0 to 359 degrees true Position dilution of precision 0 to 9 rounded to nearest integer value Time dilution of precision Oto 9 rounded to nearest integer value 4 2 13 Sensor Status Information SPGRMT GARMIN proprietary format The PGRMT sentence gives information concerning the status of the GPS 35 36 This sentence is transmitted once per minute regardless of the selected baud rate PGRMT lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt hh lt CR gt lt LF gt 1 2 3 4 lt 5 gt lt 6 gt lt gt lt 8 gt lt 9 gt Product model and software version this is a variable length field NOTE Since the GPS 35 36 utilizes a GPS 25 sensor board the GPS 25 model description will appear in this field Rom checksum test P pass F fail Receiver failure discrete P pass F fail Stored data lost R retained L lost Real time clock lost R retained L lost Oscillator drift discrete P pass F excessive drift detected Data collection discrete C collect
24. n View GSV GPGSV lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt hh lt CR gt lt LF gt 1 Totalnumber of GSV sentences to be transmitted 2 Number of current GSV sentence 3 Totalnumber of satellites in view 00 to 12 leading zeros will be transmitted 4 Satellite PRN number 01 to 32 leading zeros will be transmitted lt 5 gt Satellite elevation 00 to 90 degrees leading zeros will be transmitted lt 6 gt Satellite azimuth 000 to 359 degrees true leading zeros will be transmitted lt 7 gt Signal to noise ratio C No 00 to 99 dB null when not tracking leading zeros will be transmitted NOTE Items lt 4 gt lt 5 gt lt 6 gt and 7 repeat for each satellite in view to a maximum of four 4 satellites per sentence Additional satellites in view information must be sent in subsequent sentences These fields will be null if unused 4 2 7 Recommended Minimum Specific GPS TRANSIT Data RMC GPRMC lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt 10 gt lt 11 gt hh lt CR gt lt LF gt lt 1 gt UTC time of position fix hhmmss format lt 2 gt Status A Valid position receiver warning 3 Latitude ddmm mmmm format leading zeros will be transmitted lt 4 gt Latitude hemisphere N or S lt 5 gt Longitude dddmm mmmm format leading zeros will be transmitted
25. sor board lt 2 gt Number of current ALM sentence This field can be null or any number when sending almanac to the sensor board lt 3 gt Satellite PRN number 01 to 32 lt 4 gt GPS week number lt 5 gt SV health bits 17 24 of each almanac page lt 6 gt Eccentricity lt 7 gt Almanac reference time lt 8 gt Inclination angle 9 Rate of right ascension lt 10 gt Root of semi major axis lt 11 gt Omega argument of perigee lt 12 gt Longitude of ascension node lt 13 gt Mean anomaly 14 afo clock parameter 15 afi clock parameter 4 1 2 Initialization Information SPGRMI GARMIN proprietary format The PGRMI sentence provides information used to initialize the GPS 35 36 set position and time used for satellite acquisition Receipt of this sentence by the GPS 35 36 causes the software to restart the satellite acquisition process If there are no errors in the sentence it will be echoed upon receipt If an error is detected the echoed PGRMI sentence will contain the current default values Current PGRMI defaults can also be obtained by sending PGRMIE to the board PGRMI lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt hh lt CR gt lt LF gt lt 1 gt Latitude ddmm mmm format leading zeros must be transmitted 2 Latitude hemisphere N or S 3 Longitude dddmm mmm format leading zeros must be transmitted lt 4 gt Longitude hemisphere E or W lt 5 gt C
26. ss is complete the GPS 35 36 will begin sending valid navigation information over its output channels These data include 1 Latitude longitude altitude Velocity gt Date time Error estimates 5 Satellite and receiver status Normally the GPS 35 36 will select the optimal navigation mode 2D or 3D based on available satellites and geometry considerations The hostsystem atits option may command the GPS 35 36 to choose a specific mode of navigation such as 2D The following modes are available 1 2D exclusively with altitude supplied by the host system altitude hold mode 2 3D exclusively with altitude computed by the GPS 35 36 3 Automatic mode in which the board set determines the desired mode based on satellite availability and geometry considerations When navigating in the 2D mode either exclusive or automatic the GPS 35 36 utilizes the last computed altitude or the last altitude supplied by the host system whichever is newer The host system must ensure that the altitude used for 2D navigation is accurate since the resulting position error may be as large as the altitude error See Section 4 for more information on altitude control The GPS 35 36 will default to automatic differential corrections attempting to apply them to the satellite data in order to produce a differential DGPS solution The host System at its option may also command the GPS 35 36 to choose differential
27. uation and tables 21 total characters to be transmitted Length of transmission characters transmitted per sec Baud characters_transmitted_per_sec 1200 120 2400 240 4800 480 9600 960 Sentence max_characters GPGGA 72 GPGSA 73 GPGSV 210 GPRMC 70 GPVTG 34 PGRME 36 PGRMT 47 PGRMV 26 PGRMF 79 LCGLL 36 LCVTG 34 The factory set defaults will result in a once per second transmission atthe NMEA specification transmission rate of 4800 baud 4 2 2 Transmitted Time The GPS 35 36 outputs UTC Coordinated Universal Time date and time of day in the transmitted sentences Prior to the initial position fix the date and time of day are provided by the on board clock After the initial position fix the date and time of day are calculated using GPS satellite information The GPS 35 36 uses information obtained from the GPS satellites to add or delete UTC leap seconds and correct the transmitted date and time of day The transmitted date and time of day for leap second correction follow the guidelines 22 in National Institute of Standards and Technology Special Publication 432 Revised 1990 for sale by the Superintendent of Documents U S Government Printing Office Washington D C 20402 U S A When a positive leap second is required the second is inserted beginning at 23h 59m 60s of the last day of a month and ending at Oh Om Os of the first day of the following month The minute containing the
28. urrent UTC date ddmmyy format lt 6 gt Current UTC time hhmmss format lt 7 gt Acquisition Reset A begin autolocate restart acquisition 4 1 3 Configuration Information SPGRMC GARMIN proprietary format The PGRMC sentence provides information used to configure the GPS 35 36 operation Configuration parameters are stored in non volatile memory and retained between power cycles The GPS 35 36 will echo this sentence upon its receipt if no errors are detected If an error is detected the echoed PGRMC sentence will contain the current default values Current default values can also be obtained by sending PGRMCE to the board PGRMC lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt 8 gt lt 9 gt lt 10 gt lt 11 gt hh lt CR gt lt LF gt 1 Fix mode A automatic 2 20 exclusively host system must supply altitude 3 3D exclusively lt 2 gt Altitude above below mean sea level 1500 0 to 18000 0 meters lt 3 gt Earth datum index If the user datum index 96 is specified fields lt 4 gt through lt 8 gt must contain valid values Otherwise fields lt 4 gt through lt 8 gt must be null Refer to Appendix A for a list of earth datums and the corresponding earth datum index lt 4 gt User earth datum semi major axis 6360000 0 to 6380000 0 meters 001 meters resolution lt 5 gt User earth datum inverse flattening factor 285 0 to 310 0 10 resolution lt 6 gt User earth datum de
29. user Two communication channels and user selectable baud rates allow maximum interface capability and flexibility TECHNICAL SPECIFICATIONS Specifications are subject to change without notice 1 3 1 Physical Characteristics Single construction integrated antenna receiver Weight 4 4 oz 124 5 g not including cable Size 2 230 w x 3 796 I x 1 047 h 56 64 mm x 96 42 mm x 26 60 mm 2 1 3 2 Environmental Characteristics Operating temperature 30 C to 85 internal temperature Storage temperature 40 C to 90 C Electrical Characteristics Input voltage 10 to 30 VDC unregulated Typically draws 150 mA 12 VDC Backup power Internal 3V Lithium coin cell battery up to 10 year life Performance Tracks up to 12 satellites Update rate 1 second Acquisition time 15 seconds warm all data known 45 seconds cold initial position time and almanac known ephemeris unknown 5 0 minutes AutoLocate almanac known initial position and time unknown 5 minutes search the sky no data known Position accuracy Differential GPS DGPS 5 meters RMS Non differential GPS 15 meters RMS 100 meters with Selective Availability on Velocity accuracy 0 2 m s RMS steady state subject to Selective Availability Dynamics 999 knots velocity 6g dynamics 1 3 5 Interfaces 1 2 3 Dual channel RS 232 compatible with user selectable baud rate 1200 2400 4800 9600 NMEA
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