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Garmin 15L GPS Receiver User Manual

1. 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 18 4 2 13 Sensor Status Information PGRMT The Garmin Proprietary sentence SPGRMT gives information concerning the status of the GPS sensor 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 lt 9 gt hh lt CR gt lt LF gt Product model and software version variable length field e g GPS 15H amp 15L VER 2 05 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 collecting null if not collecting GPS sensor temperature Use for a reference only but could be null GPS sensor configuration data R retained L lost P pass Antenna is NOT shorted F fail Antenna is shorted Note This field is only available on units whose serial numbers are in the range listed below 010 00240 01 GPS 15H W serial number between 27700000 through 27799999 010 00240 02 GPS 15L W serial number between 27800000 through 27899999 010 00240 11 GPS 15H F serial number between 27900000 through 27999999 010 00240 12 GPS 15L F serial number between 28000000 through 28099999 4 2 14 3D velocity Information PGRM
2. Mode indicator only output if NMEA 0183 version 2 30 active A Autonomous D Differential E Estimated N Data not valid 4 2 8 Track Made Good and Ground Speed VTG GPVTG lt 1 gt T lt 2 gt M lt 3 gt N lt 4 gt K lt 5 gt hh lt CR gt lt LF gt True course over ground 000 to 359 degrees leading zeros are transmitted Magnetic course over ground 000 to 359 degrees leading zeros are transmitted Speed over ground 000 0 to 999 9 knots leading zeros are transmitted Speed over ground 0000 0 to 1851 8 kilometers per hour leading zeros are transmitted Mode indicator only output if NMEA 0183 version 3 00 active A Autonomous D Differential E Estimated N Data not valid 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 17 4 2 9 Geographic Position GLL GPGLL 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 Latitude ddmm mmmm format leading zeros are transmitted Latitude hemisphere N or S Longitude dddmm mmmm format leading zeros are transmitted Longitude hemisphere E or W UTC time of position fix hhmmss format Status A Valid position V NAV receiver warning Mode indicator only output if NMEA 0183 version 3 00 active A Autonomous D Differential E Estimated N Data not valid 4 2 10 Estimated Error Information PGRME PGRME lt 1 gt M lt 2 gt M lt 3 gt M
3. The status bit field represents a set of booleans described below Meaning when bit is one 1 The unit has ephemeris data for the specified satellite The unit has a differential correction for the specified satellite The unit is using this satellite in the solution This pattern is repeated for all 12 channels for a total of 12 X 7 bytes 84 0x54 bytes typedef struct cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_sat_data cpo_all_sat_data The RS 232 Packet for the Satellite Record looks like 0x10 DLE is first byte 0x72 Record ID single byte 0x54 Number of data bytes single byte cpo all sat data Ox 2 s complement of the arithmetic sum of the bytes between the delimiters 0x10 DLE 0x03 ETX is last byte 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 25 Position Record The Position Record has a record identifier of typedef struct float alt float epe float eph float epv int fix double gps tow double lat double lon Float lon vel Float lat vel float alt vel Float msi hght int leap sec long grmn days cpo pyt data alt Ellipsoid altitude meters epe Est pos error meters eph Pos err horizontal meters epv Pos err vertical meters fix 0 no fix 1 no fix 2 2D 3 3
4. pTemp EphStruct sqrta double amp m TempArray IDX EPH SQRTA cnvt ieee double long amp m pTemp EphStruct dn double amp m TempArray IDX EPH DN TempArray IDX EPH DN cnvt ieee double long amp m TempArray IDX EPH MO pTemp EphStruct m0 double amp m TempArray IDX EPH M0 cnvt ieee double long amp m TempArray IDX EPH W pTemp EphStruct w double amp m TempArray IDX EPH W cnvt ieee double long amp m TempArray IDX EPH OMGO pTemp EphStruct omg0 double amp m TempArray IDX EPH OMGO0 cnvt ieee double long amp m TempArray IDX EPH I0 pTemp EphStruct i0 double amp m TempArray IDX EPH I0 pTemp EphStruct odot float amp m TempArray IDX EPH ODOT pTemp EphStruct idot float amp m TempArray IDX EPH IDOT pTemp EphStruct cus float amp m TempArray IDX EPH CUS pTemp EphStruct cuc float amp m TempArray IDX EPH CUC pTemp EphStruct cis float amp m TempArray IDX EPH CIS pTemp EphStruct cic float amp m TempArray IDX EPH CIC pTemp EphStruct crs float amp m TempArray IDX EPH CRS pTemp EphStruct crc float amp m TempArray IDX EPH CRC pTemp EphStruct iod unsigned char amp m TempArray IDX EPH IOD return copyData y 190 00266 01 GPS 15H amp 15L Technical Specifica
5. The second byte identifies the record type 33 hex for a position record and 34 hex for a receiver measurement The third byte indicates the size of the data The fourth byte is the first byte of data The data is then followed by a checksum byte a delimiter byte 10 hex and an end of transmission character 03 hex Additionally any DLEs 0x10 that appear between the delimeters are escaped with a second DLE Refer to the end of this section for sample code that strips off the DLEs and ETXs RS232 Packet 0x10 DLE is first byte Ox Record ID single byte Ox Number of data bytes single byte data bytes See descriptions below Ox 2 s complement of the arithmetic sum of the bytes between the delimiters 0x10 DLE 0x03 ETX is last byte The data bytes of each packet contain the record specified by the record ID A description of each record follows Satellite Data Record The satellite data has a record ID of 0x72 with 84 0x54 data bytes The data bytes contain the data for the 12 channels as described below For each satellite the following data is available typedef struct uint8 svid space vehicle identification 1 32 and 33 64 for WAAS uint16 snr signal to noise ratio uint8 elev satellite elevation in degrees uint16 azmth satellite azimuth in degrees uint8 status status bit field cpo sat data 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 24
6. 0x10 Ox1B 0x02 Ox0C 0x00 0x10 0x03 This packet requires acknowledgement as shown below note that the data field contains the IOP RECORDS ID to indicate the acknowledgement of the TOP RECORDS packet TX Packet Acknowledgement Byte Description Name Delimiter DLE Record ID IOP ACK BYTE Number of bytes in data SIZE Pad DATA ID of packet being ACK d IOP RECORDS Checksum calculation CHKSUM Delimiter DLE End of packet ETX 190 00266 01 GPS 15H amp 15L Technical Specifications Page 30 HEX Value 0x10 0x06 0x02 0x00 Ox1B Ox10 0x03 Rev D Next the unit sends the specified number of packets containing the ephemeris information An example packet is shown below Each packet should be acknowledged as before be sure to modify the ACK packet to indicate what type of packet being acknowledged for ephemeris data the ID is 0x35 RX Packet Ephemeris Data Byte Description Name HEX Value Delimiter DLE 0x10 Ephemeris data ID IOP SPC EPH DATA 0x35 Number of bytes in data SIZE 0x78 Ephemeris data DATA Ie Checksum calculation CHKSUM te Delimiter DLE 0x10 End of packet ETX 0x03 The data portion of each packet can then be parsed into an instance of the following structure Each of these structures represents data from a single satellite typedef struct ephemeris data record for SPC Ry sint16 wn week number weeks X7 float toc reference time of clo
7. 9373 W 000 0 000 0 121103 003 3 E 6A GPRMC 000002 A 385 1 3650 N 09447 9373 W 000 0 000 0 121 103 003 3 E 69 4 2 3 Global Positioning System Almanac Data ALM Almanac sentences are not normally transmitted Almanac transmission can be initiated by sending the GPS sensor a PGRMO GPALM 1 command Upon receipt of this command the GPS sensor transmits available almanac information on GPALM sentences During the transmission of almanac sentences other NMEA 0183 data output is suspended temporarily 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 lt field information gt can be found in section 4 1 1 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 UTC time of position fix hhmmss format Latitude ddmm mmmm format leading zeros are transmitted Latitude hemisphere N or S Longitude dddmm mmmm format leading zeros are transmitted Longitude hemisphere E or W GPS quality indication 0 fix not available 1 Non differential GPS fix available 2 differential GPS fix available 6 estimated only if NMEA 0183 version 2 30 mode is enabled in field 7 of the PGRMCI sentence see section 4 1 4 Number of satellites in use 00 to 12 leading zer
8. COM 1 port to change to Garmin Data Transfer format for the duration of the power cycle The Garmin mode is required for GPS 15H amp 15L product software updates 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 13 4 1 6 Tune DGPS Beacon Receiver PSLIB The PSLIB sentence provides the ability to tune a Garmin GBR 21 GBR 23 or equivalent beacon receiver PSLIB lt 1 gt lt 2 gt hh lt CR gt lt LF gt If valid data is received the GPS sensor stores it in the EEPROM and echoes the PSLIB command to the beacon receiver If the GPS sensor is using any stored beacon frequency other than 0 0 it will tune the beacon receiver once immediately after power up or external reset 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 14 4 2 TRANSMITTED NMEA 0183 SENTENCES The subsequent paragraphs define the sentences that can be transmitted on COM 1 by the GPS sensor 4 2 1 Sentence Transmission Rate Sentences are transmitted with respect to the user selected baud rate Regardless of the selected baud rate the information transmitted by the GPS sensor is referenced to the one pulse per second output pulse immediately preceding the GPRMC sentence or whichever sentence is output first in the burst see Table 3 below The GPS sensor transmits each sentence except where noted in particular transmitted sentence descriptions at a periodic rate based on the user selected baud rate and user selected out
9. Satellite PRN number 01 to 32 leading zeros are transmitted Satellite elevation 00 to 90 degrees leading zeros are transmitted Satellite azimuth 000 to 359 degrees true leading zeros are transmitted Signal to noise ratio C No 00 to 99 dB null when not tracking leading zeros are transmitted Note Items lt 4 gt lt 5 gt lt 6 gt and lt 7 gt 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 bursts of NMEA 0183 data 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 lt 12 gt hh lt CR gt lt LF gt UTC time of position fix hhmmss format Status A Valid position V NAV receiver warning Latitude ddmm mmmm format leading zeros are transmitted Latitude hemisphere N or S Longitude dddmm mmmm format leading zeros are transmitted Longitude hemisphere E or W Speed over ground 000 0 to 999 9 knots leading zeros are transmitted Course over ground 000 0 to 359 9 degrees true leading zeros are transmitted UTC date of position fix ddmmyy format Magnetic variation 000 0 to 180 0 degrees leading zeros are transmitted Magnetic variation direction E or W westerly variation adds to true course
10. The COM 2 port can receive differential GPS DGPS correction data using the Radio Technical Commission for Maritime Services RTCM SC 104 standard These standards are fully defined in NMEA 0183 Version 3 0 copies may be obtained from NMEA www nmea org and RTCM Recommended Standards For Differential Navstar GPS Service Version 2 2 RTCM Special Committee No 104 copies may be obtained from RTCM www rtcm org The GPS 15H amp 15L interface protocol in addition to transmitting navigation information as defined by NMEA 0183 transmits additional information using the convention of Garmin proprietary sentences These proprietary sentences begin with the characters SPGRM instead of the characters SG that are typical of the standard NMEA 0183 sentences The characters P indicate that the sentence is a proprietary implementation and the characters and the characters GRM indicate that it is Garmin s proprietary sentence The letter or letters that follow the characters SPGRM uniquely identifies that particular Garmin proprietary sentence Binary phase data information can alternatively be output on the COM 1 port see Appendix B Binary Phase Output Format for details The following sections describe the NMEA 0183 data format of each sentence transmitted and received by the GPS 15H amp 15L 4 1 RECEIVED NMEA 0183 SENTENCES The following paragraphs define the sentences that can be received on the GPS
11. ee ee eene ee ee ee ee ee ee ee ee nn 18 4 2 11 GPS Fix Data Sentence PGRMD sker ee ses NAA ER hara NAGA NG IN IB ANA INANG 18 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page iii 4 2 12 Map Datum PGRMM 5 EE hen ene oe ere E Reo 18 4 2 13 Sensor Status Information PGRMT ees sees ee Aa 19 4 2 14 3D velocity Information PGRMV cccsccessesessceseceseesecseeeseesecesecseceaesseceseeseceaesaececeeseceaeeaeeeseeaeeeaees 19 4 2 15 DGPS Beacon Information PGRMB senienas ei ERT E E N ETE 19 4 3 Baud Rate Selection cede eee ui KNA RENNE e 20 4 4 One Pulse Per Second PPS Output ee ee ee ee Ge GR ee AR ee AR ee RA ee ennn ene 20 4 5 Received RFCM Data KINANA NA ANAN teo eR I BAE PLA NANG Re NAN 20 Appendix A Earth Datums sesse esse sesse ese ee eene Ge ee ee Ge Ge Ge ee ee ao ese es sees see se 2L Appendix B Binary Phase Output Format esse ssseessoesssoe sae ese es see sa oe Ge ee see sea ss sees 24 Satellite Data RECOM EE GE OE D A ie NALNG BG OON 24 Position Record EE ee ees eee etre ee ined os eee eee eee uito ee 26 Receiver Measurement Record AGANG NBA NAAN ANGIN NOH e e LEGO RR 26 Sample C Code sree EE MR RE RE RE 27 Appendix C Changing the Baud Rate in Garmin Mode 28 Appendix D Ephemeris Data Download Programming Example 29 NAA OR Ee s29 Garmin Binary Format R
12. 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 equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Reorient or relocate the receiving antenna e Increase the separation between the equipment and receiver e Connect the equipment into an outlet on a circuit different from that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help The GPS 15H amp 15L sensors do not contain any user serviceable parts Unauthorized repairs or modifications could result in permanent damage to the equipment and void your warranty and your authority to operate these devices under Part 15 regulations 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 1 1 2 LIMITED WARRANTY This Garmin product is warranted to be free from defects in materials or workmanship for one year from the date of purchase Within this period Garmin will at its sole option repair or replace any components that fail in normal use Such repairs or replacement will be made at no charge to the customer for parts or labor provided that the customer shall be resp
13. gain between 10 and 30 dB If cost constraints prevent the use of an active antenna a well matched efficient passive antenna attached by a short cable can be used instead The system may communicate with the GPS 15H amp 15L via two RS 232 compatible receive channels and one transmit channel The GPS 15H amp 15L internal FLASH memory allows the GPS to retain critical data such as satellite orbital parameters last known position date and time End user interfaces such as keyboards and displays are the responsibility of the application designer 1 4 FEATURES e 2 channel GPS receiver tracks and uses up to 12 satellites for fast accurate positioning and low power consumption e Differential DGPS capability utilizing real time WAAS or RTCM corrections yielding 3 5 meter position accuracy see section 1 5 4 4 e Compact rugged design ideal for applications with minimal space e May be remotely mounted in an out of the way location e Receiver status information can be displayed directly on a chartplotter or PC e User initialization is not required Once installed and a fix is obtained the unit automatically produces navigation data e User configurable navigation mode 2 dimensional or 3 dimensional fix e Highly accurate one pulse per second PPS output for precise timing measurements Pulse width is configurable in 20 millisecond increments from 20 ms to 980 ms e Configurable for binary format carrier phase data output on C
14. hh lt CR gt lt LF gt Estimated horizontal position error HPE 0 0 to 999 9 meters Estimated vertical position error VPE 0 0 to 999 9 meters Estimated position error EPE 0 0 to 999 9 meters 4 2 11 GPS Fix Data Sentence PGRMF 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 GPS week number 0 1023 GPS seconds 0 604799 UTC date of position fix ddmmyy format UTC time of position fix hhmmss format GPS leap second count Latitude ddmm mmmm format leading zeros are transmitted Latitude hemisphere N or S Longitude dddmm mmmm format leading zeros are 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 1851 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 0 to 9 rounded to nearest integer value 4 2 12 Map Datum PGRMM The Garmin Proprietary sentence PGRMM gives the name of the map datum currently in use by the GPS sensor This information is used by the Garmin MapSource real time plotting application PGRMM lt 1 gt hh lt CR gt lt LF gt Name of map datum currently in use variable length field e g WGS 84
15. is required as the proof of purchase for warranty repairs Garmin International Inc 1200 E 151st Street Olathe Kansas 66062 U S A Tel 913 397 8200 or 800 800 1020 Fax 913 397 8282 Garmin Europe Ltd Unit 5 The Quadrangle Abbey Park Industrial Estate Romsey SO51 9DL U K Tel 44 0870 8501241 Fax 44 0870 8501251 Online Auction Purchases Products sold through online auctions are not eligible for rebates or other special offers from Garmin Online auction confirmations are not accepted for warranty verification To obtain warranty service an original or copy of the sales receipt from the original retailer is required Garmin will not replace missing components from any package purchased through an online auction International Purchases A separate warranty is provided by international distributors for units purchased outside the United States This warranty is provided by the local in country distributor and this distributor provides local service for your unit Distributor warranties are only valid in the area of intended distribution Units purchased in the United States or Canada must be returned to the Garmin service center in the United Kingdom the United States Canada or Taiwan for service 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 2 1 3 OVERVIEW The GPS 15H amp 15L are part of Garmin s latest generation of GPS sensor boards designed for a broad spectrum of OEM Original Equipment Manufact
16. sensor s port Null fields in the configuration sentence indicate no change in the particular configuration parameter All sentences received by the GPS sensor must be terminated with lt CR gt lt LF gt the ASCII characters for carriage return 0D hexadecimal and line feed 0A hexadecimal respectively The checksum hh is used for parity checking data and is recommended for use in environments containing high electromagnetic noise It is generally not required in normal PC environments When used the parity bytes hh are the ASCII representation of the upper and lower nibbles of the exclusive or XOR sum of all the characters between the and characters non inclusive The hex representation must be a capital letter such as 3D instead of 3d Sentences may be truncated by lt CR gt lt LF gt after any data field and valid fields up to that point will be acted on by the sensor 4 1 1 Almanac Information ALM The SGPALM sentence can be used to initialize the GPS sensor s stored almanac information in the unlikely event of non volatile memory loss or after storage of greater than six months without tracking GPS satellites 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 Total number of ALM sentences to be transmitted by the GPS sensor during almanac download This field can be null or any num
17. successfully changed upon receiving the above packet If the GPS unit does not receive these two IOP CMND DATA packets within two seconds it will reset its baud rate to 9600 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 28 APPENDIX D EPHEMERIS DATA DOWNLOAD PROGRAMMING EXAMPLE Synopsis This section describes using an example how to download ephemeris information from a Garmin 15 16 17 or 18 family GPS unit with the exception of the GPS 15 W and the GPS 15 F Garmin Binary Format Review In order to download the ephemeris data you must first command the unit to output information in Garmin Binary Format Garmin mode instead of the default NMEA output format To put the unit in Garmin mode connect to the unit using a terminal program and send the following NMEA sentence PGRMO G hh lt CR gt lt LF gt The checksum hh is used for parity checking data and is not required but is recommended for use in environments containing high electromagnetic noise It is generally not required in normal PC environments When used the parity bytes hh are the ASCII representation of the exclusive or XOR sum of all the characters between the and characters non inclusive Sentences may be truncated by lt CR gt lt LF gt after any data field and valid fields up to that point are acted on by the GPS sensor The unit stays in Garmin mode until the next power cycle Now that unit is in Garmin binary format t
18. to BNC Adapter Cable between the connector on the end of the antenna cable and the connector on the GPS 15H amp 15L 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 6 Noise Figure Gain The total noise figure on the external antenna must be lt 7 dB Refer to the table below ha m m om om m 2 m ao SNR dB s e ee 10 0 15 0 20 0 25 0 30 0 35 0 40 0 Gain dB NF 1 30B NF 2 3dB NF 3 3dB NF 4 3dB NF 5 3dB NF 6 3dB NF 7 3dB Table 1 Gain vs SNR for Given Noise Figure Properly bias the antenna from an on board source or an external source Bias voltage from on board source GPS 15H supplies 3 3 VDC to the center conductor of the MCX female relative to the connector shell ground GPS 15L supplies 3 0 VDC to the center conductor of the MCX female relative to the connector shell ground In both the GPS 15H and 15L the source resistance of the DC supply to the center conductor of the Bias voltage from external source connector is approximately 10 Ohms which is included as a current limiting resistance This resistance allows the receiver to survive momentary shorting of the antenna port The GPS 15H and 15L sensors with serial numbers between 27700000 and 28099999 can detect if the antenna is shorted GPS 15H and 15L sensors no in the serial number range listed above do not have a provision to protect again
19. to JST Part Number SSH 003T P0 2 Refer to the JST Web site at www jst com 1 5 1 4 Antenna Connector The GPS 15H amp 15L sensors provide a MCX female connector for connection to an active GPS antenna so the antenna s cable should be terminated in MCX male A suitable antenna is Garmin s GA 27C Antenna Garmin Part Number 010 10052 05 Other antennas that are terminated in male BNC connectors may be adapted via a Garmin MCX to BNC Adapter Cable Garmin Part Number 010 10121 00 1 5 2 Electrical Characteristics 1 5 2 1 Input Voltage e GPS 15H 8 0 VDC to 40 VDC unregulated e GPS 15L 3 3 VDC to 5 4 VDC must have less than 100 mV peak to peak ripple 1 5 2 2 Input Current e GPS I5H 60 mA peak 50 mA nominal 8 0 VDC 40 mA peak 33 mA nominal 12 VDC 15 mA peak 12 mA nominal 40 VDC e GPS ISL 100 mA peak 85 mA nominal 3 3 to 5 0 VDC 1 5 2 3 GPS Receiver Sensitivity 165 dBW minimum 1 5 3 Environmental Characteristics e Operating Temperature 30 C to 80 C e Storage Temperature 40 C to 90 C 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 4 1 5 4 GPS Performance 1 5 4 1 Receiver WAAS Enabled 12 parallel channel GPS receiver continuously tracks and uses up to 12 satellites up to 11 with PPS active to compute and update your position 1 5 4 2 Acquisition Times Reacguisition Less than 2 seconds Warm Approx 15 seconds all data known Cold Approx 45 seconds initial posi
20. 76 010 00240 11 GPS 15H F serial no 81901632 010 00240 12 GPS 15L F serial no 82001471 PPS One Pulse Per Second Output Typical voltage rise and fall times are 100 ns Impedance is 250 Q The open circuit output voltage toggles between the low 0 V and the high 3 3 V for 15H and 3 0 V for 15L The default format is a 100 ms wide active high pulse at a 1 Hz rate with the pulse width configurable in 20 ms increments Rising edge is synchronized to the start of each GPS second This output provides a nominal 450 mVp p signal into a 50 Q load The pulse time measured at the 50 voltage point will be approximately 15 ns earlier with a 50 load than with no load PORT2 Second Serial Asynchronous Input DATA IN This input may be used to receive serial differential GPS data formatted per RTCM SC 104 Recommended Standards For Differential Navstar GPS Service Version 2 2 see section 4 5 for more details Table 2 GPS 15H amp 15L Wire Descriptions 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 8 2 2 GPS 15H amp 15L WIRING DIAGRAMS Power Source Fuse 1A 1 WHITE BACKUP POWER PIN 5 GROUND 2 BLACK GROUND PINS DATA OUT 4 YELLOW PORT 1 DATA OUT 6 ORANGE RF BIAS DB 9 7 GRAY PPS Serial Connector 8 GREEN PORT 2 DATA IN Female Pin Contacts GPS 15H amp 15L Power Data Cable Figure 1 Computer Serial Port Interconnection 1 W
21. A OUT RS 232 compatible output normally provides serial data which is formatted per NMEA 0183 Version 2 0 This output is also capable of outputting phase data information see Appendix B Binary Phase Output Format for details The NMEA 0183 baud rate is selectable in the range of 300 to 38400 baud The default baud rate is 4800 PORT 1 First Serial Asynchronous Input DATA IN RS 232 compatible with maximum input voltage range of 25 V 25 This input may also be directly connected to standard 3 to 5 VDC CMOS logic that utilizes RS 232 polarity The low signal voltage requirement is 0 6 V and the high signal voltage requirement is gt 2 4 V Minimum load impedance is 500 Q This input may be used to receive serial initialization configuration data as specified in section 4 1 Received NMEA 0183 Sentences RF BIAS This input allows the user to supply an external RF bias voltage in the range of 4 VDC to 8 VDC to the active antenna The voltage should be from a clean regulated supply and should be well isolated from potential sources of interference The supply should not share RF current paths with other system devices such as microprocessors or other RF circuits By default the unit uses an internal voltage to power the active antenna Note This pin is only operational on units whose serial numbers are higher than the serial numbers given below 010 00240 01 GPS 15H W serial no 81301857 010 00240 02 GPS 15L W serial no 814089
22. D 4 2D differential 5 3D differential 6 and greater not defined gps tow GPS time of week sec lat Latitude radians lon Longitude radians lon vel Longitude velocity meters second lat vel Latitude velocity meters second alt vel Altitude velocity meters second msl hght Mean sea level height meters leap sec UTC leap seconds grmn days Garmin days days since December 31 1989 Receiver Measurement Record typedef struct f unsigned long cycles double pr unsigned int phase char slp dtct unsigned char snr dbhz char svid char valid cpo rcv sv data typedef struct f double int cpo rcv sv data rcvr tow rcvr wn sv 12 cpo rcv data rcvr_tow Receiver time of week seconds rcvr_wn Receiver week number cycles Number of accumulated cycles pr Pseudorange meters phase To convert to 0 359 999 multiply by 360 0 and divide by 2048 0 slp_dtct 0 no cycle slip detected non zero cycle slip detected snr dbhz Signal strength db Hz 190 00266 01 GPS 15H amp 15L Technical Specifications Page 26 Rev D svid Satellite number 0 31 and 119 138 for WAAS Note Add 1 to offset to current svid numbers valid 0 information not valid non zero information valid Sample C Code DLE and ETX bytes Sample C code to receive the two records should filter DLE and ETX bytes as described below typedef enum f DAT DLE ETX rx state type
23. Declare and initialize static variables static char in que 256 static int in que ptr 0 static rx state type rx state DAT void add to que char data f define DLE BYTE 0x10 define ETX BYTE 0x03 if rx state DAT f if data DLE BYTE f rx state DLE else in que in_que_ptr data else if rx_state DLE if data ETX_BYTE rx_state ETX else rx_state DAT in que in_que_ptr data else if rx_state ETX if data DLE_BYTE rx_state DLE if in que ptr gt 255 in que ptr 0 190 00266 01 GPS 15H amp 15L Technical Specifications Page 27 Rev D APPENDIX C CHANGING THE BAUD RATE IN GARMIN MODE In certain cases you may need to change the default baud rate of your Garmin GPS receiver while in Garmin mode Follow these steps to temporarily change the baud rate Refer to the Garmin Device Interface Specification for details on how to form and parse Garmin packets At the time of this printing these specs are available from the technical suppport section of our Web site http www garmin com support commProtocol html Turn off all requests by transmitting packet id zIOP ROST DATA 0x1C data 0 16 bit unsigned integer 2 The GPS unit will respond by sending a packet with id IOP ACK BYTE 0x06 3 After you receive
24. EEE floating point standard In this example the array m TempArray contains the data portion of the ephemeris packet with DLE stuffing removed KK KK KK RR A A A A A A A A A A A A A KK A A A A A A A Kk kCk ck ck k ck ok kkk kkk ek He PROCEDURE NAME copyData ephemeris data unpacker DESCRIPTION unpacks data from ephemeris packet DATA field after extraneous DLI have been removed Note that sintl6 refers to a signed 16 bit integer type Ins 0 xo x Ro F X X X KOKCKCKCKCKCKCKCKCkCKCkCkCkCkCKCkCk kCKCkCkCkCKCkCKCkCKCkCKCkCKCkCKCkCKCKCKCKCKCKCKCkCkCKCKCkCkCKCk KC Kk kCk k Ck k ck k ck k RE RE RE sk ok Kok e e RE x f void GPM ephList copyData ephemeris data unpacker xj GPM_ephData pTemp pointer to ephemeris data array Ey pTemp EphStruct wn sintl6 amp m TempArray IDX EPH WN pTemp EphStruct toc float amp m TempArray IDX EPH TOC pTemp EphStruct toe float amp m TempArray IDX EPH TOE pTemp EphStruct af0 float amp m TempArray IDX EPH AFO0 pTemp EphStruct afl float amp m TempArray IDX EPH AF1 pTemp EphStruct af2 float amp m TempArray IDX EPH AF2 plemp gt EphStruct ura float amp m TempArray IDX EPH URA cnvt ieee double long amp m TempArray IDX EPH E pTemp PEphStruct e double amp m TempArray IDX EPH E cnvt ieee double long amp m TempArray IDX EPH SQRTA
25. HITE BACKUP POWER 2 BLACK GROUND Bas 4 YELLOW PORT 1 DATA OUT 6 ORANGE RF BIAS 7 GRAY PPS 8 GREEN PORT 2 DATA IN PIN 2 DATA OUT ems OATA N ja PIN 5 GROUND DB 9 Serial Connector Male Pin Contacts GPS 15H 8 15L Power Data Cable Figure 2 PDA Serial Port Interconnection Fuse 1 WHITE BACKUP POWER GROUND 2 BLACK GROUND DATA OUT 4 YELLOW PORT 1 DATA OUT oaan Ss 6 ORANGE RF BIAS 7 GRAY PPS 8 GREEN PORT 2 DATA IN Host Application NMEA Device LX GPS 15H amp 15L Power Data Cable Figure 3 Basic NMEA Device Interconnection 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 9 3 MECHANICAL CHARACTERISTICS amp MOUNTING 057 1 44 142 3 60 047 1 19 327 8 31 DETAIL A SCALE 3 1 1 Dimensions in millimeters inches 2 Dimension tolerance 0 25 mm 0 017 3 Use M2 mounting screws Figure 4 GPS 15H F amp 15L F Dimensions PIN 1 o EST IC 1 Dimensions identical to GPS 15H F and GPS 15L F 2 Use M2 mounting screws Figure 5 GPS 15H W amp 15L W Outline Drawin 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 10 4 GPS 15H amp 15L SOFTWARE INTERFACE The GPS 15H amp 15L interface protocol design on COM 1 is based on the National Marine Electronics Association s NMEA 0183 ASCII interface specification
26. N BENE Gee Ee N Ge Ee GR DE Eo ERE Eg ee 4 1 5 21 Input Voltage AE EE EE OE eto aet t E eec 4 le Input Current 04 doni GESE tet ae o de bat nG ba b vto ese ist Aina 4 1 5 2 3 GPS Receiver Sensitivity ce e Ree e ee ee eter ena 4 1533 Environmental Characteristics foie oto RUE EE EER RED HR Iu RD Ee ee eek 4 1 54 GPS Performance ee oe RN RA RI ERR RES Ee Ee GE NE GE De E EIER EB Ne GE GE es 5 1 5 4 1 Receiver PES 1 5 4 2 Acquisition Times D 1 54 35 Update Rates eS roe emen PROSEGUE ER ete AA aa ce See 5 DA NA GN a AA AA AA 5 1 5 5 Interfaces EER GE bom DER RT RE 6 1 5 5 1 GPS 15H amp 15L Electrical CharacteristicS esse esse esse esse ee ee ee ee ee eene 6 1 5 5 2 Port 1 Protocols 1 5 5 3 Port 2 Protocols vim 1 55 ds GRP S355 cco oe ci anes REISEN UNEINRGUE AG 1 5 6 Antenna Specifications 2 GPS 15H amp 15L Wire Descriptions and Wiring Diagrams 4 8 2 1 2 2 GPS 15H amp 15L Wire Descriptions esse sesse se ese sk ee Ge a iais GR entere trennen a be rennen 8 GPS 15H amp 15L Wiring Diagram sesse sesse see se se ee se ee Ge ee ennie iri GRA Ge Re Ge Re GR ee GRA be rennen 9 3 Mechanical Characteristics amp Mounting eere ee see se gee eene sees ee eessseess s L 4 GPS15H amp 15L Software Interface esesesesesesesesesesasasasasasasasasasasasasasas L 4 1 Received NMEA 0183 Sentences a hae Dd
27. OM 1 port e Flexible input voltage levels of 3 3 to 5 4 VDC GPS 15L or 8 0 to 40 VDC GPS 15H e Built in backup battery to maintain real time clock for up to 21 days Provision for external power to maintain the real time clock for longer intervals e FLASH based program and non volatile memory New software revisions upgradeable through Web site download and serial interface Non volatile memory does not require battery backup 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 3 1 5 TECHNICAL SPECIFICATIONS Specifications are subject to change without notice 1 5 1 Physical Characteristics 1 5 1 1 Size 1 400 35 56 mm wide x 1 805 45 85 mm long x 0 327 8 31 mm high 1 5 1 2 Weight e GPS 15H 0 53 oz 15 0 g e GPS 15L 0 50 oz 14 1 g 1 5 1 3 Available Connector Options e GPS I5H F amp 15L F 8 pin LIF Low Insertion Force flex connector 1 millimeter pitch For use with common 1 mm pitch 8 conductor flex cable available as Garmin Part Number 310 00040 01 This flex cable mates with common 1 mm pitch 8 pin flex connectors such as Garmin Part Number 330 00346 08 or Molex Part Number 52793 0890 Refer to the Molex Web site at www molex com e GPS 15H amp 15L W 8 pin JST connector 1 millimeter pitch Mating wire harness included Garmin Part Number 325 00118 01 The connector housing used on this harness is equivalent to JST Part Number SHR 08V S B The 8 wire crimp socket is equivalent
28. OOYE Somalia 2 AIN EL ABD 1970 Bahrain Island Saudi Arabia 3 ANNA 1 ASTRO 1965 Cocos Island 4 ARC 1950 Botswana Lesotho Malawi Swaziland Zaire Zambia Zimbabwe 5 ARC 1960 Kenya Tanzania 6 ASCENSION ISLAND 1958 Ascension Island 7 ASTRO BEACON F Iwo Jima Island 8 AUSTRALIAN GEODETIC 1966 Australia Tasmania Island 9 AUSTRALIAN GEODETIC 1984 Australia Tasmania Island 10 ASTRO DOS 71 4 St Helena Island 11 ASTRONOMIC STATION 1952 Marcus Island 12 ASTRO B4 SOROL ATOLL Tern Island 13 BELLEVUE IGN Efate and Erromango Islands 14 BERMUDA 1957 Bermuda Islands 15 BOGOTA OBSERVATORY Colombia 16 CAMPO INCHAUSPE Argentina 17 CANTON ASTRO 1966 Phoenix Islands 18 CAPE CANAVERAL Florida Bahama Islands 19 CAPE South Africa 20 CARTHAGE Tunisia 21 CHATHAM 1971 Chatham Island New Zealand 22 CHUA ASTRO Paraguay 23 CORREGO ALEGRE Brazil 24 DJAKARTA BATAVIA Sumatra Island Indonesia 25 DOS 1968 Gizo Island New Georgia Islands 26 EASTER ISLAND 1967 Faster Island 27 EUROPEAN 1950 Austria Belgium Denmark Finland France Germany Gibraltar Greece Italy Luxembourg Netherlands Norway Portugal Spain Sweden Switzerland 28 EUROPEAN 1979 Austria Finland Netherlands Norway Spain Sweden Switzerland 29 FINLAND HAYFORD 1910 Finland 30 GANDAJIKA BASE Republic of Maldives 31 GEODETIC DATUM 1949 New Zealand 32 ORDNANCE SURVEY OF GREAT BRITAIN 1936 E
29. ORTH AMERICAN 1927 Mexico 65 NORTH AMERICAN 1927 San Salvador Island 66 NORTH AMERICAN 1983 Alaska Canada Central America CONUS Mexico 67 NAPARIMA BWI Trinidad and Tobago 68 NAHRWAN Masirah Island Oman 69 NAHRWAN Saudi Arabia 70 NAHRWAN United Arab Emirates 71 OBSERVATORIO 1966 Corvo and Flores Islands Azores T2 OLD EGYPTIAN Egypt 73 OLD HAWAIIAN Mean Value T4 OMAN Oman 190 00266 01 GPS 15H amp 15L Technical Specifications 39O RD Page 22 75 PICO DE LAS NIEVES Canary Islands 76 PITCAIRN ASTRO 1967 Pitcairn Island 71 PUERTO RICO Puerto Rico Virgin Islands 78 OATAR NATIONAL Oatar 79 QORNOQ South Greenland 80 REUNION Mascarene Island 81 ROME 1940 Sardinia Island 82 RT 90 Sweden 83 PROVISIONAL SOUTH AMERICAN 1956 Bolivia Chile Colombia Ecuador Guyana Peru Venezuela 84 SOUTH AMERICAN 1969 Argentina Bolivia Brazil Chile Colombia Ecuador Guyana Paraguay Peru Venezuela Trinidad and Tobago 85 SOUTH ASIA Singapore 86 PROVISIONAL SOUTH CHILEAN 1963 South Chile 87 SANTO DOS Espirito Santo Island 88 SAO BRAZ Sao Miguel Santa Maria Islands Azores 89 SAPPER HILL 1943 East Falkland Island 90 SCHWARZECK Namibia 91 SOUTHEAST BASE Porto Santo and Madeira Islands 92 SOUTHWEST BASE Faial Graciosa Pico Sao Jorge and Terceira Islands Azores 93 TIMBALAI 1948 Brunei and East Malaysia Sarawak and Sabah 94 TOKYO Japan Korea Okinawa 95
30. TRISTAN ASTRO 1968 Tristan da Cunha 96 User defined earth datum 97 VITI LEVU 1916 Viti Levu Island Fiji Islands 98 WAKE ENIWETOK 1960 Marshall Islands 99 WORLD GEODETIC SYSTEM 1972 100 WORLD GEODETIC SYSTEM 1984 101 ZANDERIJ Surinam 102 CH 1903 Switzerland 103 Hu Tzu Shan 104 Indonesia 74 105 Austria 106 Potsdam 107 Taiwan modified Hu Tzu Shan 108 GDA Geocentric Datum of Australia 109 Dutch 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 23 APPENDIX B BINARY PHASE OUTPUT FORMAT In binary phase output mode GPS 15H amp 15L series products transmit two types of packets once per second One record contains primarily post process information such as position and velocity information The second record contains receiver measurement information For the GPS 15H amp 15L the records are sent at a default baud rate of 9600 baud 8 data bits and no parity To turn these records on use the SPURMC1 NMEA sentence as described in section 4 GPS 15H amp 15L Software Interface Refer to the Garmin GPS Interface Specification for details on how to form and parse Garmin packets At the time of this printing these specs are available from the technical support section of our Web site http www garmin com support commProtocol html Note The satellite data information is also enabled when the position record is enabled Records sent over RS232 begin with a delimiter byte 10 hex
31. V PGRMV lt 1 gt lt 2 gt lt 3 gt hh lt CR gt lt LF gt True east velocity 514 4 to 514 4 meters second True north velocity 514 4 to 514 4 meters second Up velocity 999 9 to 9999 9 meters second 4 2 15 DGPS Beacon Information PGRMB PGRMB lt 1 gt lt 2 gt lt 3 gt lt 4 gt lt 5 gt K lt 6 gt lt 7 gt hh lt CR gt lt LF gt Beacon tune frequency 0 0 283 5 325 0 kHz in 0 5 kHz steps Beacon bit rate 0 25 50 100 or 200 bps Beacon SNR 0 to 31 Beacon data quality 0 to 100 Distance to beacon reference station in kilometers Beacon receiver communication status 0 Check Wiring 1 No Signal 2 Tuning 3 Receiving 4 Scanning DGPS fix source R RTCM W WAAS N Non DGPS Fix DGPS mode A Automatic W WAAS Only R RTCM Only N None DGPS disabled 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 19 4 3 BAUD RATE SELECTION Baud rate selection can be performed by sending the appropriate configuration sentence to the GPS sensor as described in the SPGRMC section 4 1 3 field 10 4 4 ONE PULSE PER SECOND PPS OUTPUT The highly accurate one pulse per second PPS output is provided for applications requiring precise timing measurements The signal is generated after the initial position fix has been calculated and continues until power down The rising edge of the signal is synchronized to the start of each GPS second Rega
32. ap aas a ad SBH amp BL amp GARMIN Garmin International Inc 1200 E 151 Street Olathe KS 66062 USA 190 00266 01 Revision D February 2006 Copyright 2004 2006 Garmin Ltd or its subsidiaries Garmin International Inc 1200 East 151 Street Olathe Kansas 66062 U S A Tel 913 397 8200 or 800 800 1020 Fax 913 397 8282 Garmin Europe Ltd Unit 5 The Quadrangle Abbey Park Industrial Estate Romsey SO51 9DL U K Tel 44 0870 8501241 Fax 44 0870 8501251 Garmin Corporation No 68 Jangshu 9nd Road Shijr Taipei County Taiwan Tel 886 2 2642 9199 Fax 886 2 2642 9099 All rights reserved Except as expressly provided herein no part of this manual may be reproduced copied transmitted disseminated downloaded or stored in any storage medium for any purpose without the express prior written consent of Garmin Garmin hereby grants permission to download a single copy of this manual onto a hard drive or other electronic storage medium to be viewed and to print one copy of this manual or of any revision hereto provided that such electronic or printed copy of this manual must contain the complete text of this copyright notice and provided further that any unauthorized commercial distribution of this manual or any revision hereto is strictly prohibited Information in this document is subject to change without notice Garmin reserves the right to change or improve its products and to make changes in the c
33. ber when sending almanac to the GPS sensor Number of current ALM sentence This field can be null or any number when sending almanac to the GPS sensor Satellite PRN number 01 to 32 GPS week number SV health bits 17 24 of each almanac page Eccentricity Almanac reference time Inclination angle Rate of right ascension Root of semi major axis Omega argument of perigee Longitude of ascension node Mean anomaly af0 clock parameter af1 clock parameter 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 11 4 1 2 Sensor Initialization Information PGRMI The PGRMI sentence provides information used to initialize the GPS sensor s set position and time used for satellite acquisition Receipt of this sentence by the GPS sensor causes the software to restart the satellite acquisition process If there are no errors in the sentence it is echoed upon receipt If an error is detected the echoed PGRMI sentence will contain the current default values Current PGRMI defaults with the exception of the Receiver Command which is a command rather than a mode can also be obtained by sending SPGRMIE to the GPS sensor 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 Latitude ddmm mmm format leading zeros must be transmitted Latitude hemisphere N or S Longitude dddmm mmm format leading zeros must be transmit
34. ck parameters s x7 float toe reference time of ephemeris parameters s ae float af0 clock correction coefficient group delay s x float afl clock correction coefficient s s J4 float af2 clock correction coefficient s s s x float ura user range accuracy m T double eccentricity 7 double sqrta square root of semi major axis a m 1 2 double dn mean motion correction r s double m0 mean anomaly at reference time r double w argument of perigee x if double omg0 right ascension r double i0 inclination angle at reference tim r float odot rate of right ascension r s 7 float idot rate of inclination angle r s x float cus argument of latitude correction sine r float cuc argument of latitude correction cosine xr float cis inclination correction sine r xi float GIG inclination correction cosine x t float crs radius correction sine m Bf float crc radius correction cosine m unsigned char iod issue of data x SDM spo eph type 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 31 An example function to complete the parsing is shown below Note that the double data types are converted by the function cnvt ieee double This function merely swaps the upper and lower words of the double This is necessary on GPS 15 16 17 series sensors due to a compatibility issue with the I
35. d declares that this GPS 15H 15L is in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC amp GARMIN Issued 08 03 2005 Revised 08 03 2005 Page lof DECLARATION of CONFORMITY Application of Council Directive 89 336 EEC 1999 5 EC Standard to which Conformity is Declared EN 55022 1998 CISPR 22 Electromagnetic Emissions Interference EN 60950 1 2001 Safety of Information Technology Equipment EN 61000 6 1 2001 Electromagnetic Compatibility Generic Immunity Standard EN 61000 6 3 200 Electromagnetic Compatibility Generic Emissions Standard Manufactured by GARMIN International amp GARMIN Corporation Manufacture s Address 1200 E 151 Street No 68 Jangshu 2 Rd Olathe Kansas 66062 Shijr Taipei County USA TAIWAN R O C Authorised Representative GARMIN Europe Ltd The Quadrangle Abbey Park Ind Estate Romsey Hampshire SOSI 9DL UK Type of Equipment Information Technology Equipment Global Positioning System Receiver Model Number s GPS I5 L H The undersigned does hereby declare that the equipment complies to the above Directives Paul Morrov aul Morrow 4 AN Quality Manager NG GARMIN Europe Ltd Date 8 March 2005 For the latest free software updates excluding map data throughout the life of your Garmin products visit the Garmin Web site at www garmin com GARMIN Copyright 2004 2006 Garmin Ltd or its subsidia
36. decimal 4 1 5 Output Sentence Enable Disable PGRMO The PGRMO sentence provides the ability to enable and disable specific output sentences The following sentences are enabled at the factory GPGGA GPGSA GPGSV GPRMC PGRMB PGRME PGRMM PGRMT and PSLIB PGRMO lt 1 gt lt 2 gt hh lt CR gt lt LF gt Target sentence description e g PGRMT GPGSV etc Target sentence mode where 0 disable specified sentence 1 enable specified sentence 2 disable all output sentences except PSLIB 3 enable all output sentences except GPALM 4 restore factory default output sentences The following notes apply to the PGRMO input sentence 1 If the target sentence mode is 2 disable all 3 enable all or 4 restore defaults 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 O disable or 1 enable the target sentence description field must be an identifier for one of the sentences that can be output by the GPS sensor 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 GPALM I causes the GPS sensor to transmit all stored almanac information All other NMEA 0183 sentence transmission is suspended temporarily 5 SPGRMO G causes the
37. eview sees i20 Ephemeris Download Procedure 30 TX Packet Ephemeris Data Request s30 RX Packet Acknowledgement ere eq boe Ene eer E Rr Ee NUN v bte nies eva 30 RX Packet Number of Data Packets to Expect nennen 30 TX Packet Acknowledgement Hs RX Packet Ephemeris Data nee OG EE E enne nui tenni udo eis EX Packet Download Complete ices ca EE GE Ge o Nr ge Gee ee 33 Appendix E Declaration of Conformity sae ee ee eese eee eere een seen seen se ese IG LIST OF TABLES AND FIGURES Table 1 Gain vs SNR for Given Noise FIgUT snoer eaa E rennen enne eke Ge rennen enne trennt 7 Table 2 GPS SH amp 15LEWare Descriptions nice pte p ERE e e p perds 8 Figure 1 Computer Serial Port InterconnectHONn iese sesse ses see Ge ee Ge ee GR Ge GR Ge Re ener ennt ener ennt 9 Figure 2 PDA Serial Port Interconnection sesse sesse se se ee ee Ge ee Ge ee SA ee ee NONONG Ge ee ede ee Ge ee Ge ee de 9 Figure 3 Basic NMEA Device Interconnection esses ener eke Ge Ge Re GR ee Re 9 Figure 4 GPS 15H F amp 15L F Dimensions sesse esse sesse see se ee Ge ek Ge ee GR ek Ge ee GR ee GRA Ge ee Ge Re GR Re ek ee ee 10 Figure 5 GPS 15H W amp 15L W Outline Drawing ese see se ek ee ee saaan Ge GR ee GRA Ge Ge RA Ge GR Ge Re Ge ee 10 Table 3 NMEA 0183 Output Sentence Order and Size 15 Table 4 Characters per Second for Available Baud Ra
38. ngland Isle of Man Scotland Shetland Islands Wales 33 GUAM 1963 Guam Island 34 GUX 1 ASTRO Guadalcanal Island 35 HJORSEY 1955 Iceland 190 00266 01 GPS 15H amp 15L Technical Specifications 39O Re D Page 21 36 HONG KONG 1963 Hong Kong 37 INDIAN Bangladesh India Nepal 38 INDIAN Thailand Vietnam 39 IRELAND 1965 Ireland 40 ISTS O73 ASTRO 1969 Diego Garcia 41 JOHNSTON ISLAND 1961 Johnston Island 42 KANDAWALA Sri Lanka 43 KERGUELEN ISLAND Kerguelen Island 44 KERTAU 1948 West Malaysia Singapore 45 L C 5 ASTRO Cayman Brac Island 46 LIBERIA 1964 Liberia 47 LUZON Mindanao Island 48 LUZON Phillippines excluding Mindanao Island 49 MAHE 1971 Mahe Island 50 MARCO ASTRO Salvage Islands 51 MASSAWA Eritrea Ethiopia 52 MERCHICH Morocco 53 MIDWAY ASTRO 1961 Midway Island 54 MINNA Nigeria 55 NORTH AMERICAN 1927 Alaska 56 NORTH AMERICAN 1927 Bahamas excluding San Salvador Island 57 NORTH AMERICAN 1927 Central America Belize Costa Rica El Salvador Guatemala Honduras Nicaragua 58 NORTH AMERICAN 1927 Canal Zone 59 NORTH AMERICAN 1927 Canada including Newfoundland Island 60 NORTH AMERICAN 1927 Caribbean Barbados Caicos Islands Cuba Dominican Republic Grand Cayman Jamaica Leeward Islands Turks Islands 61 NORTH AMERICAN 1927 Mean Value CONUS 62 NORTH AMERICAN 1927 Cuba 63 NORTH AMERICAN 1927 Greenland Hayes Peninsula 64 N
39. nsor 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 in National Institute of Standards and Technology Special Publication 432 Revised 1990 This document is 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 one second is inserted at the beginning of the first hour Oh Om Os of the day that the positive leap is occurring The minute containing the leap second is 61 seconds long The GPS sensor would have transmitted this information for the leap second added December 31 1998 as follows GPRMC 235959 A 385 1 3651 N 09447 9382 W 000 0 221 9 071103 003 3 E 69 GPRMC 000000 A 385 1 365 1 N 09447 9382 W 000 0 221 9 081103 003 3 E 67 GPRMC 000000 A 385 1 3651 N 09447 9382 W 000 0 221 9 081103 003 3 E 67 SGPRMC 000001 A 3851 3651 N 09447 9382 W 000 0 221 9 081103 003 3 E 66 If a negative leap second should be required one second is 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 sensor will not transmit the time of day Oh Om Os the zero second for the day from which the leap second is removed SGPRMC 235959 A 385 1 3650 N 09447 9373 W 000 0 000 0 1 11103 003 3 E 69 SGPRMC 000001 A 3851 3650 N 09447
40. onsible for any transportation cost This warranty does not cover failures due to abuse misuse accident or unauthorized alteration or repairs THE WARRANTIES AND REMEDIES CONTAINED HEREIN ARE EXCLUSIVE AND IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED OR STATUTORY INCLUDING ANY LIABILITY ARISING UNDER ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE STATUTORY OR OTHERWISE THIS WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS WHICH MAY VARY FROM STATE TO STATE IN NO EVENT SHALL GARMIN BE LIABLE FOR ANY INCIDENTAL SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES WHETHER RESULTING FROM THE USE MISUSE OR INABILITY TO USE THIS PRODUCT OR FROM DEFECTS IN THE PRODUCT Some states do not allow the exclusion of incidental or consequential damages so the above limitations may not apply to you Garmin retains the exclusive right to repair or replace the unit or software or offer a full refund of the purchase price at its sole discretion SUCH REMEDY SHALL BE YOUR SOLE AND EXCLUSIVE REMEDY FOR ANY BREACH OF WARRANTY To obtain warranty service contact your local Garmin authorized dealer or call Garmin Product Support at one of the numbers listed below for shipping instructions and an RMA tracking number The unit should be securely packed with the tracking number clearly written on the outside of the package The unit should then be sent freight charges prepaid to any Garmin warranty service station A copy of the original sales receipt
41. ontent without obligation to notify any person or organization of such changes or improvements Visit the Garmin Web site www garmin com for current updates and supplemental information concerning the use and operation of this and other Garmin products Garmin AutoLocate and MapSource are registered trademarks and WAAS Enabled is trademark of Garmin Ltd or its subsidiaries and may not be used without the express permission of Garmin Web site address www garmin com RECORD OF REVISIONS Revision Revision Description ECO Date 8 16 02 Initial Release B 10 22 04 Revised and Redrawn 28110 EM GM 4 Revi 2 c 5 mme pn CT 858G EE 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page ii TABLE OF CONTENTS 1 TnfroduEtiOn s EAGER GAL BE TREE EE EE ER EE RE GR 1 1 2 Lamited Warranty 4 5 arredi eres EE E ende lee eae eade vee ab eret ee edes 2 ESONI CA 3 1 AY Features Naina Rp Lee boe Memmi ANA Kaha etenim 3 1 5 Technical Specifications t ee He Hee qe bui ee e o c ten Oo boe o dne 4 1 5 1 Physical Characteristics N OR e tb p mee ic na ecc ted an gite 4 a AN sene EE EE OG EE uS EE OE IM LL LIA PRIK 4 1 5 1 2 Weiehi EE GER eet dates ete ee Rer eben dri ee ede ee eter in io ie EE tes 4 1 5 1 3 Available Connector Options i ert tette ete E ERE P e POS PO Sr CERES 4 LSTA Antenna Connector sac N SANGGRE NGA 4 1 5 2 Electrical Characteristics oo RE ER EROR ERN COR
42. os are transmitted Horizontal dilution of precision 0 5 to 99 9 Antenna height above below mean sea level 9999 9 to 99999 9 meters Geoidal height 999 9 to 9999 9 meters Differential GPS RTCM SC 104 data age number of seconds since last valid RTCM transmission null if not an RTCM DGPS fix Differential Reference Station ID 0000 to 1023 leading zeros are transmitted null if not an RTCM DGBPS fix 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 16 4 2 5b 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 Mode M 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 are transmitted Position dilution of precision 0 5 to 99 9 Horizontal dilution of precision 0 5 to 99 9 Vertical dilution of precision 0 5 to 99 9 4 2 6 GPS Satellites in 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 Total number of GSV sentences to be transmitted Number of current GSV sentence Total number of satellites in view 00 to 12 leading zeros are transmitted
43. put sentences The GPS sensor transmits the selected sentences contiguously The contiguous transmission starts at a GPS second boundary Determine the length of the transmission with the following equation and Tables 3 and 4 total characters to be transmitted length of transmission characters transmitted per second Sentence Output by Default Maximum Characters 4 4 Once per minute Table 3 NMEA 0183 Output Sentence Order and Size Baud Characters per Second Table 4 Characters per Second for Available Baud Rates The maximum number of fields allowed in a single sentence is 82 characters including delimiters Values in the table include the sentence start delimiter character S and the termination delimiter lt CR gt lt LF gt The factory set defaults result in a once per second transmission at the NMEA 0183 specification transmission rate of 4800 baud 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 15 4 2 Transmitted Time The GPS sensor outputs UTC Coordinated Universal Time date and time of day in the transmitted sentences Before the initial position fix the on board clock provides the date and time of day After the initial position fix the date and time of day are calculated using GPS satellite information and are synchronized with the one pulse per second output The GPS se
44. r earth datum delta x earth centered coordinate 5000 0 to 5000 0 meters 1 meter resolution User earth datum delta y earth centered coordinate 5000 0 to 5000 0 meters 1 meter resolution User earth datum delta z earth centered coordinate 5000 0 to 5000 0 meters 1 meter resolution Differential mode A automatic output DGPS data when available non DGPS otherwise D differential exclusively output only differential fixes NMEA 0183 Baud rate 1 1200 2 2400 3 4800 4 9600 5 19200 6 300 7 600 8 38400 Velocity filter 0 No filter 1 Automatic filter 2 255 Filter time constant e g 10 10 second filter PPS mode 1 No PPS 2 1 Hz PPS pulse length 0 48 n 1 20 ms Example n 4 corresponds to a 100 ms wide pulse Dead reckoning valid time 1 30 sec All configuration changes take effect after receipt of a valid value except baud rate and PPS mode Baud rate and PPS mode changes take effect on the next power cycle or an external reset event 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 12 4 1 4 Additional Sensor Configuration Information PGRMC1 The PGRMC I sentence provides additional information used to configure the GPS sensor operation Configuration parameters are stored in non volatile memory and retained between power cycles The GPS sensor echoes this sentence upon its receipt if no errors are detected If an error i
45. ra at Woe BAYANING E RE GA NGA 11 41 1 Almanac Information ALM ie Ese eto E y eR coe ee eR Nee RE SERE REX EOR EG Ge EN ESSE a NE Ee ee TR 11 4 1 2 Sensor Initialization Information PGRMID ees ees ee ee Re RR nennen enini 12 4 1 3 Sensor Configuration Information PGRMC ee sesse ee ee RA RA ee ee Re ee Re ee ee ee 12 4 1 4 Additional Sensor Configuration Information PGRMC1 ee se ee ee Re AA Re Re ee 13 4 1 5 Output Sentence Enable Disable PGRMO esses ee Re AR ee Re ee Re ee ee ee 13 4 1 6 Tune DGPS Beacon Receiver PSLIB 4 2 Transmitted NMEA 0183 Sentences 42 1 Sentence Transmission Rate 28 ESE ER EE E re ee es 49 2 Transmitted Time o E RUNE EUER ERA E CS 4 2 3 Global Positioning System Almanac Data ALM see see se ese se se se ke Ge ee ee Re Re Ge ee Re ke ee 16 4 2 4 Global Positioning System Fix Data GGA iese se see se se ee ee Re SR GR Ge ee ee Re Ge Re Ge ee ee ee ee 16 4 2 5 GPS DOP and Active Satellites GSA 1 1111171111 Re E Re Re Re ee Re ee ee ee ee ee ee 17 42 06 GPS Satellitesan View GS V EE EE EE ee RE ER EE Ee EE OD RN 17 4 2 7 Recommended Minimum Specific GPS TRANSIT Data RMC seen 17 4 2 8 Track Made Good and Ground Speed VTG essent Re RA RR 17 42 9 Geographic Position GLE ee RC RR EUREN ae HER THE Gee ee ae ean Ee 18 4 2 10 Estimated Error Information PGRME iese esse ese ee se ee ee ee ee ee
46. ransmitted and received packets are structured as follows Byte Description Name Notes Packet Delimiter DLE 0x10 Packet ID type ID Packet type Data Size SIZE Number of bytes in data portion not including escaped DLEs See below Data bytes DATA Not to exceed 256 bytes Checksum CHKSUM 2 s complement of the arithmetic sum of all the bytes from the Packet ID byte to the last DATA byte inclusive not counting escaped DLEs See below Packet Delimiter DLE 0x10 End of Packet ETX 0x03 The DLE 0x10 is a delimiter byte used in conjunction with the ETX byte to determine beginning and ending of a packet However a 0x10 could appear in the data itself so if this occurs the byte is escaped with another DLE byte sometimes referred to as DLE stuffing In other words if a DLE occurs in the data another DLE is transmitted immediately after to indicate that it is a data byte and it is not being used as a delimiter Note that the size byte of the packet does not count the second DLE byte in an escaped DLE pair in the data field Since a DLE that is a part of the data will have a second DLE to escape it a single DLE followed by an ETX byte means that the end of a packet has been reached In order to interpret these packets properly one must remove the escaped DLE bytes This can be achieved using an algorithm similar to the Sample C Code fragment on the previous page 190 00266 01 GPS 15H amp 15L Technical Specification
47. rdless of the selected baud rate the information transmitted by the GPS 15H amp ISL is referenced to the pulse immediately preceding the NMEA 0183 RMC sentence The accuracy of the one pulse per second output is maintained only while the GPS 15H amp 15L can compute a valid position fix To obtain the most accurate results the one pulse per second output should be calibrated against a local time reference to compensate for cable and internal receiver delays and the local time bias The default pulse width is 100 ms however it may be programmed in 20 ms increments between 20 ms and 980 ms as described in SPGRMC section 4 1 3 field 13 4 5 RECEIVED RTCM DATA Position accuracy of less than 5 meters can be achieved with the GPS 15H amp 15L by using Differential GPS DGPS real time pseudo range correction data in RTCM SC 104 format with message types 1 2 3 7 and 9 These corrections can be received by the GPS 15H amp 15L on COM 2 The RTCM data must be received at the same baud rate as the COM 1 port For details on the SC 104 format refer to RTCM Paper 134 89 SC 104 68 by the Radio Technical Commission for Maritime Services 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 20 APPENDIX A EARTH DATUMS The following is a list of the Garmin GPS 15H amp 15L Earth datum indices and the corresponding earth datum name including the area of application 0 ADINDAN Ethiopia Mali Senegal Sudan 1 AFG
48. ries iili Garmin International Inc 1200 East 151 Street Olathe Kansas 66062 U S A Garmin Europe Ltd Unit 5 The Quadrangle Abbey Park Industrial Estate Romsey SO51 9DL U K Garmin Corporation No 68 Jangshu om Road Shijr Taipei County Taiwan www garmin com Part Number 190 00266 01 Rev D
49. rietary sentences NMEA 0183 Outputs see section 4 2 for full protocol specifications Position velocity and time Receiver and satellite status Differential Reference Station ID and RTCM Data age Geometry and error estimates NMEA 0183 Inputs see section 4 1 for full protocol specifications Initial position date and time not required Earth datum and differential mode configuration command PPS Enable GPS satellite almanac Configurable for binary data output including GPS carrier phase data Port 2 Protocols Real time Differential Correction input RTCM SC 104 message types 1 2 3 7 and 9 1 5 5 4 PPS 1 Hz pulse programmable width 1 us accuracy 1 5 6 Antenna Specifications Should be an active antenna with the following specifications Gain Antenna should provide between 10 dB to 30 dB net gain between the antenna feed point and the connection to the GPS 15H amp 15L Consider all amplifier gains filter losses cable losses etc when calculating the gain RF Connection GPS 15H amp 15L RF Connection MCX Female connector on the GPS 15H amp 15L board Antenna Connection MCX Male connector on the end of the antenna cable Garmin Antenna GPS 27C Garmin Part Number 010 10052 05 provides the required MCX Male connector Other Garmin antennas terminated in a BNC Male connector may also be used if a Garmin MCX to BNC Adapter Cable Garmin Part Number 010 10121 00 is used Place the MCX
50. s Rev D Page 29 Ephemeris Download Procedure The following is the sequence of events that occurs when downloading ephemeris data Send a packet containing the command that requests ephemeris data TOP DOWN LOAD EPH The packet should look like this TX Packet Ephemeris Data Request Byte Description Name Delimiter DLE Command Data ID IOP CMND DATA Number of bytes in data SIZE Request to D L ephemeris IOP DOWN LOAD EPH Pad to 2 bytes DATA Checksum calculation CHKSUM Delimiter DLE End ETX HEX Value 0x10 OXOA 0x02 Ox5D 0x00 Ox97 0x10 0x03 From now on checksum calculation will not be shown for every packet example The unit returns an acknowledgement packet that looks like this RX Packet Acknowledgement Byte Description Name Delimiter DLE Acknowledgement ID IOP_ACK_BYTE Number of bytes in data SIZE Request to D L ephemeris IOP_CMND_DATA Pad DATA Checksum calculation CHKSUM Delimiter DLE End of packet ETX Then the unit immediately sends a packet communicating how many data packets to expect for the ephemeris download a maximum of twelve RX Packet Number of Data Packets to Expect Byte Description Name Delimiter DLE Record ID IOP RECORDS Number of bytes in data SIZE Number of records NUM SV Pad DATA Checksum calculation CHKSUM Delimiter DLE End of packet ETX HEX Value 0x10 0x06 0x02 OXOA 0x00 0x10 0x03 HEX Value
51. s detected the echoed PGRMCI sentence will contain the current default values Current default values can also be obtained by sending SPGRMCIE to the GPS sensor PGRMCI1 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 hh lt CR gt lt LF gt NMEA 0183 output time 1 900 sec Binary Phase Output Data 1 Off 2 On Automatic Position Averaging when Stopped Off 2 On DGPS beacon frequency 0 0 283 5 325 0 kHz in 0 5 kHz steps DGPS beacon bit rate 0 25 50 100 or 200 bps DGPS beacon scanning 1 Off 2 On NMEA 0183 version 2 30 mode indicator 1 Off 2 On DGPS mode A Automatic W WAAS Only R RTCM Only N None DGPS disabled Power Save Mode P Power Save mode N Normal At power up or external reset a stored beacon frequency other than 0 0 causes the GPS sensor to tune the beacon receiver Configuration changes take effect immediately with the exception of Binary Phase Output Data which takes effect on the next power cycle or a reset event A reset can be commanded by sending the sentence SPGRMI R refer to section 4 1 2 If the GPS sensor is in the Binary data mode it is necessary to send the following eight byte data stream to the COM 1 input to temporarily change the data format to NMEA 0183 Then send a PGRMCI sentence that turns off the Binary Phase Output Data format 10 0A 02 26 00 CE 10 03 Hexa
52. st a continuously shorted antenna port The antenna must not draw more than 60 mA 4 0 to 8 0 VDC bias through the series combination of an on board 10 Ohm current limiting resistance and a Schottky diode The antenna must not draw more than 60 mA 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 7 2 GPS 15H amp 15L WIRE DESCRIPTIONS AND WIRING DIAGRAMS The GPS 15H F amp 15L F use an eight contact flex circuit LIF low insertion force connector The GPS 15H W amp 15L W use an eight pin JST connector mating wire harness included See section 1 5 1 3 2 1 GPS 15H amp 15L WIRE DESCRIPTIONS 1 BACKUP This input provides external power to maintain the real time clock This enables POWER the user to provide backup power if needed for longer than the on board backup battery provides roughly 21 days Input voltage must be between 42 8 and 43 4 VDC 3 POWER GPS 15L 43 3 to 45 4 VDC 100 mV ripple input Peak operating current is 100 mA Nominal operating current is 85 mA This voltage drives an LDO with a nominal 3 0 VDC output GPS 15H Unregulated 8 0 to 40 VDC input Peak operating current is 40 mA 12 VDC input Nominal operating current is 33 mA 12 VDC input This voltage drives a switching regulator with a nominal 3 3 VDC output Although a regulated supply is not required the peak to peak voltage ripple on this line should be kept to less than 100 mV PORT 1 Serial Asynchronous Output DAT
53. ted Longitude hemisphere E or W Current UTC date ddmmyy format Current UTC time hhmmss format Receiver Command A Auto Locate R Unit Reset 4 1 3 Sensor Configuration Information PGRMC The PGRMC sentence provides information used to configure the GPS sensor s operation Configuration parameters are stored in non volatile memory and retained between power cycles The GPS sensor echoes 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 GPS sensor 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 lt 12 gt lt 13 gt lt 14 gt hh lt CR gt lt LF gt Fix mode A automatic 2 2D exclusively host system must supply altitude 3 3D exclusively Altitude above below mean sea level 15H amp 15L00 0 to 18000 0 meters 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 Earth Datums for a list of earth datums and the corresponding earth datum index User earth datum semi major axis 6360000 000 to 6380000 000 meters 001 meters resolution User earth datum inverse flattening factor 285 0 to 310 0 10 resolution Use
54. tes seen 15 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page iv 1 INTRODUCTION 1 1 CAUTIONS The GPS system is operated by the government of the United States which is solely responsible for its accuracy and maintenance Although the GPS 15H amp 15L sensors are precision electronic NAVigation AIDs NAVAID any NAVAID can be misused or misinterpreted and therefore become unsafe Use these products at your own risk To reduce the risk carefully review and understand all aspects of these Technical Specifications before using the GPS 15H amp 15L When in actual use carefully compare indications from the GPS to all available navigation sources including the information from other NAVAIDs visual sightings charts etc For safety always resolve any discrepancies before continuing navigation FCC Compliance The GPS 15H amp 15L sensors comply with Part 15 of the FCC interference limits for Class B digital devices FOR HOME OR OFFICE USE These limits are designed to provide reasonable protection against harmful interference in a residential installation and are more stringent than outdoor requirements Operation of this device is subject to the following 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 equipment generates uses and can radiate radio frequency
55. the above packet transmit packet id IOP BAUD RQST DATA 0x30 data baud rate to change to 32 bit unsigned integer for example 38400 4 The GPS unit will respond by sending a packet id IOP BAUD ACPT DATA 0x31 data highest acceptable baud rate closest to what was requested 32 bit unsigned integer for example 38361 decimal 5 Determine the actual baud rate value from the data sent in step 4 This value will be within 5 of the actual baud rate For example the GPS unit might send a baud rate of 38361 which correlates to a baud rate of 38400 6 If the baud rate in step 5 is acceptable transmit packet id 2 IOP ACK BYTE 0x06 data IOP BAUD ACPT DATA 0x31 7 Sleep for a small amount of time about 100 milliseconds to make sure the packet in 6 was successfully transmitted to the GPS unit 8 Close the current connection to the GPS unit and immediately open a new connection with the new baud rate obtained in step 5 9 Immediately after establishing a connection transmit packet id TOP CMND DATA 0x0A data IOP ACK PING 0x3A 10 The GPS will respond by sending a packet id IOP ACK BYTE 0x06 data IOP CMND DATA 0x0A 11 After you receive the above packet transmit the same packet in step 9 again id TOP CMND DATA 0x0A data IOP ACK PING 0x3A 12 The GPS will respond again with the same packet in step 10 id IOP ACK BYTE 0x06 data IOP CMND DATA 0x0A 13 The baud rate has been
56. tion time and almanac known ephemeris unknown AutoLocate 5 minutes almanac known initial position and time unknown SkySearch 5 minutes no data known 1 5 4 3 Update Rate 1 second default NMEA 0183 output interval configurable from 1 to 900 seconds in 1 second increments 1 5 4 4 Accuracy GPS Standard Positioning Service SPS Position 15 meters 95 typical Velocity 0 1 knot RMS steady state DGPS USCG RTCM Position 3 5 meters 95 typical Velocity 0 1 knot RMS steady state DGPS WAAS Position 3 meters 9596 typical Velocity 0 1 knot RMS steady state PPS Time 1 microsecond at rising edge of PPS pulse subject to Selective Availability Dynamics 999 knots velocity only limited at altitude greater than 60 000 feet 6g dynamics 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 5 1 5 5 1 5 5 1 1 5 5 2 1 5 5 3 Interfaces GPS 15H amp 15L Electrical Characteristics True RS 232 output Port 2 output not used at time of publication asynchronous serial input compatible with RS 232 or TTL voltage levels RS 232 polarity User selectable NMEA 0183 baud rate 300 600 1200 2400 4800 9600 19200 38400 Factory setting is 4800 baud Port 1 Protocols Configurable between NMEA 0183 Versions 2 00 and 3 00 ASCII output sentences GPALM GPGGA GPGLL GPGSA GPGSV GPRMC and GPVTG NMEA approved sentences and PGRMB PGRME PGRMF PGRMM PGRMT and PGRMV Garmin prop
57. tions Rev D Page 32 Each data member of the ephemeris data structure is indexed into the data array of the ephemeris packet and cast as the appropriate data type The indices are as follows note that they correlate to the data members of the structure respectively define IDX EPH WN 0 define IDX EPH TOC 4 define IDX EPH TOE 8 define IDX EPH AFO 12 define IDX EPH AF1 16 define IDX EPH AF2 20 define IDX EPH URA 24 define IDX EPH F 28 define IDX EPH SQRTA 36 define IDX EPH DN 44 define IDX EPH MO 52 define IDX EPH W 60 define IDX EPH OMGO 68 define IDX EPH IO 76 define IDX EPH ODO 84 define IDX EPH IDO 88 define IDX EPH CUS 92 define IDX EPH CUC 96 define IDX EPH CIS 100 define IDX EPH CIC 104 define IDX EPH CRS 108 define IDX EPH CRC 112 define IDX EPH IOD 116 The last packet is a download complete packet that looks like this TX Packet Download Complete Byte Description Name HEX Value Delimiter DLE 0x10 Download Complete ID IOP DL CMPLT 0x0c Number of bytes in data SIZE 0x02 Ephemeris Download ID IOP DOWN LOAD EPH Ox5D Pad DATA 0x00 Checksum calculation CHKSUM xum Delimiter DLE 0x10 End of packet ETX 0x03 After properly acknowledging this packet ACK the TOP DL CMPLT ID the ephemeris download is complete 190 00266 01 GPS 15H amp 15L Technical Specifications Rev D Page 33 APPENDIX E DECLARATION OF CONFORMITY Hereby Garmin Lt
58. ure system applications Based on the proven technology found in other Garmin 12 channel GPS receivers the GPS 15H amp 15L track up to 12 satellites at a time while providing fast time to first fix one second navigation updates and low power consumption The GPS 15H amp 15L also provide the capability of FAA Wide Area Augmentation System WAAS differential GPS Their far reaching capabilities meet the sensitivity requirements of land navigation the timing requirements for precision timing applications as well as the dynamics requirements of high performance aircraft The GPS 15H amp 15L designs utilize the latest technology and high level circuit integration to achieve superior performance while minimizing space and power requirements Critical components of the system such as the digital baseband processor were designed by Garmin to ensure that the GPS 15H amp 15L provide the quality performance and capabilities that you have grown to expect from Garmin GPS receivers The elegant hardware design combined with software intelligence makes the GPS 15H amp 15L easy to integrate and use Because they are complete GPS receivers the GPS 15H amp 15L require minimal additional components from an OEM or system integrator A minimum system must provide the GPS receiver with a source of power a GPS antenna and a clear view of GPS satellites within the 1 5 GHz band For optimum performance the GPS antenna should be an active antenna with a

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