Equipment in/out protocols' description
The following describes the sensor transmission protocols used in marine engineering survey. The protocols are mainly for navigation and magnetometry.
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11 Kongsberg Maritime (USBL/HiPAP) 12 Protocols from general manuals |
NMEA 0183 protocol description
| File | Comments |
| Nmea_rev2_30.pdf | NMEA 0183, Standard For Interfacing Marine Electronic Devices, Version 2.30, March 1, 1998. NMEA |
| Nmea_rev3_01.pdf | NMEA 0183, Standard For Interfacing Marine Electronic Devices, Version 3.01, January 1, 2002. NMEA |
| Nmea_garmin_revC.pdf | Garmin Proprietary NMEA 0183 Sentences TECHNICAL SPECIFICATIONS. Garmin
Garmin proprietary: PGRMI PGRMC PGRMC1 PGRMO PGRMW PGRME PGRMF PGRMH PGRMM PGRMT PGRMV PGRMZ PGRMB |
| Nmea_0183.pdf | The NMEA 0183 Protocol. Klaus Betke, May 2000. Revised August 2001.
AAM ALM APA APB BEC BOD BWC BWR BWW DBK DBS DBT DPT FSI GGA GLC GLL GSA GSV GTD HDG HDM HDT HSC LCD MSK MSS MTW MWV OSD ROO RMA RMB RMC ROT RPM RSA RSD RTE SFI STN TTM VBW VDR VHW VLW VPW VTG VWR WCV WNC WPL XDR XTE XTR ZDA ZFO ZTG
Garmin proprietary sentence: $PGRMC $PGRME $PGRMF $PGRMI $PGRMM $PGRMO $PGRMT $PGRMV $PGRMZ
Starlink, Inc. proprietary sentence: $PSLIB |
| Nmea_0183not.pdf | The NMEA 0183 sentences not recommended for new designs. Approved by the NMEA 0183 Standard Committee as of October 1, 2000. Link |
| Nmea_RTKNav_User_Guide.pdf | NMEA-RTK messages // RTKNav 4.00 User Guide Rev 2, Copyright 2008 NovAtel Inc. Link:
GPGGA RTSOL GPAVL RTVEC RTSLE RTUTM RTSIO RTSAT RTBIN GPVTG RTSTC FUGTAR RTVECEX |
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SiRF (Qualcom) protocols description (GNSS)
| File | Comments |
| SiRF_Nmea_rev2_2.pdf | NMEA Reference Manual SiRF Technology, Inc. Part Number: 1050-0042, Revision 2.2, November 2008.
SiRF proprietary: $PSRF140 $PSRF150 $PSRF151 $PSRF152 $PSRF154 $PSRF155 (input: 100 101 102 103 104 105 106 107 108 110 112 200) |
| SiRF_Nmea_rev3_0.pdf | NMEA Reference Manual SiRF Technology, Inc. Issue 3, 29 Feb 2012. |
| SiRF_Binary_Protocol..2.4.pdf | SiRF Binary Protocol Reference Manual, Revision 2.4, November 2008. |
| SiRF_One_Socket_Protocol...pdf | One Socket Protocol Interface Control Document, Issue 15, April 2013. |
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Trimble protocols description (GNSS: HIPO, TAIP, TSIP)
| File | Comments |
| Trimble_HIPO_DR_GPS_ Manual_58059-00_RevA.pdf | HIPO // User guide reference manual Lassen DR+GPS starter kit, Revision A, Part Number 58059-00, March 2007. |
| Trimble_TAIP_LassenBook.pdf | TAIP // Lassen SQ GPS Receiver Trimble ASCII Interface Protocol (TAIP). |
| Trimble_TAIP_sv8_app_c.pdf | TAIP // Trimble ASCII Interface Protocol (TAIP), SVeeEight Plus GPS. |
| Trimble_TSIP_Binary InterfaceControlDoc.pdf | TSIP // Trimble OEM BD9xx GNSS Receiver Family Interface Control Document, Version 4.85, Revision B, October 2014. |
| Trimble_TSIP_sv8_app_a.pdf | TSIP // Trimble Standard Interface Protocol, SVeeEight Plus GPS. |
| Trimble_TSIP_tsip_ reference_revC.pdf | TSIP // TSIP Reference, Part Number: 34462-00, Revision: C, April 1999. |
| Trimble_OEM_Reference_ Manuals.zip | Containe follow Reference_Manuals:
- ACE II GPS System Designer Reference Manual, June 1999;
- Copernicus GPS Receiver Reference Manual, July 2006;
- Copernicus GPS Receiver For Modules with Firmware Version 3.02 (or later)..., July 2008;
- Lassen iQ GPS Receiver System Designer Reference Manual, February 2005;
- Lassen iQ GPS Receiver System Designer Reference Manual, April 2005;
- Lassen LP GPS System Designer Reference Manual, August 1999;
- Lassen PT GPS Timing Receiver System Designer Reference Manual, October 2003;
- Lassen SQ GPS Receiver System Designer Reference Manual, June 2002;
- Lassen-SK8 Embedded GPS Module System Designer Reference Manual, August 1997;
- SVeeEight Plus GPS System Designer Reference Manual, April 2000. |
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Topcon GRIL protocol/language description (GNSS)
| File | Comments |
| Topcon_GRIL_rm.pdf | GRIL, GNSS Receiver Interface Language, Reference Manual, Topcon Positioning Systems Inc., Rev.A, June 2008. |
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Trimble protocols description -- CMR packets 0,1,2,3 (GNSS RTK)
| File | Comments |
| cmr_PatentUS20100085249A1.pdf | CMR // United States Patent Application Publication, Compact transmission of GPS information using compressed measurement record format, Apr.8, 2010. |
| cmr_Talbot.pdf | CMR // Dr. Nicholas C. Talbot, Compact Data Transmission Standard for High-Precision GPS, 1990(?). |
| cmr_GLONASS_Observation _Message_Specification.pdf | CMR // Leica Geosystems AG, A GLONASS Observation Message Compatible With The Compact Measurement Record Format. |
| cmr_HeavyHighway_CMRx_rev1.pdf | CMR // CMRx: A new correction format from Trimble, Trimble, June 2009. |
| cmr_022543-130_ NetworkInfras_WP_0605.pdf | Support of network formats by Trimble GPSNet network RTK solution, Trimble, 2005. |
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RTCM protocols description (GNSS RTK)
| File | Comments |
| RTCM_heo_etal2009b.pdf | Thomas Yan, Samsung Lim, Chris Rizos. International standard GNSS real-time data formats and protocols. IGNSS Symposium 2009. |
| RTCM_SC-104_v2.3.pdf | RTCM messages, v2.3, 20 August 2001, Pages4.7-4.13,4.27. |
| RTCM_SC-104_v3.1.pdf | RTCM messages v3.1, 27 October 2006. |
| RTCM_SC-104_v3.2.pdf | RTCM messages v3.2, 1 February 2013. |
| RTCM_Basics_RTCM31.pdf | Mohamed Eleiche, Basics of RTCM 3.1 transformation messages standard for GNSS positioning services, Geomatics, 2009. |
| RTCM_NtripDocumentation.pdf | Networked Transport of RTCM via Internet Protocol (Ntrip) Version 1.0 |
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Teledyne protocols description (IMU/MRU)
| File | Comments |
| TeledyneTSS.pdf | TSS1 ; TSS HHRP2 ; TSS3 ; Simrad EM1000 ; Simrad EM3000 ; BMT2 ; Honeywell HMR3000 ; TSS Binary ; TSS Euler Binary ; TSS HiRes Binary ; TSS HiRes Euler Binary ; TSS IMU Raw ; NMEA 0183 PRDID ; NMEA 0183 PSXN ; IEC 61162 HDT ; IEC 61162 ROT ; IEC 61162 GGA ; IEC 61162 VTG ; IEC 61162 ZDA ; IEC 61162 THS ; NMEA 0183 VTG ; IEC 61162 VTG ; IEC 61162 GGA ; NMEA 0183 VBW ; IEC 61162 VBW |
| TeledyneTSS1&TSS3.pdf | TSS1 ; TSS3 |
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Smc protocol description (IMU/MRU)
| File | Comments |
| Smc.pdf | $PSMCR ; $PSMCS ; $PSMCT ; $PSMCA ; $PSMCF ; TSS1/DMS ; $PSXN,10 ; $PSXN,23 |
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Protocols description from Drivers and interfacing manual paper
Links: www.qps.nl/
Files: Qinsy_F.pdf
// QINSy Drivers And Interfacing Manual, 29 September, 2004.
___PPS___: $PASHR,PPS ; $IMRPY ; $IMLLH (IMU) ; $PMVXG (Magnavox) ; POS1B ; TM1B ; #T ; !M ; UTC
___POSITION___: $GPRMC $GPGLL $GPGGK $GPGGA $GPGST $GPGSA $GPGNS $PSIMLBP (NMEA-0183) ; $PDAS,QUAL ; $PDAS,FIXMODE ; $PDAS,DGPS,MODE ; $GPLRKA ; $GQLRKA ; $GPLRKR ; $GQLRKR ; $PASHR,CBN ; $PASHR,POS ; $GPRRE ; $GLRRE ; AUXCOM3 string ; NaviPac string ; FUGRO MRDGPS ; $PTSAG ; AR XA ap SE po at (Javad) ; NP NAVPOS (Javad) ; ^ (Naval) ; $GPLLQ ; GPGGA (Ashtech) ; GPGGA (Western) ; $CARXD ; 0 Message (RWSLod, Sercel Axyle) ; ZDA GLL (Sercel) ; $SW ; FXT TRACV NAVCO (Sonardyne) ; $Gn $Hn ; Syledis SR3 messages ; Trimble 4000 (ASCII Printout) ; TSIP forma ; UDI-NAV Header telegrams ; SURFACE POSITION TELEGRAM ; ACOUSTIC POSITION TELEGRAM
___GYRO'S AND COMPASSES SYSTEM DRIVERS___: $HEHCC $HEHDT (NMEA-0183) ; Digilog ASCII ; STX (Digilog Modified Anschutz) ; $HEHDT $PHTRH $PHTRO $PHSPD (Octans MRU) ; AR XA ap SE po at (Javad) ; KVH ROV GyroTrac ; SeaEye Boxer ROV ; SG-Brown 1000-A Gyrocompass (ASCII Heading) ; Sperry Gyrocompass (ASCII Heading)
___PITCH, ROLL AND HEAVE SENSOR___: Standard Atlas binary message ; Hippy Datawell Piro MRU ; $HEHDT ; $PHTRH ; $PHTRO ; $PHSPD ; $PIXSE,ATITUD ; $PIXSE,SPEED ; $PIXSE,POSITI ; $PIXSE,STDPOS ; $PIXSE,STATUS ; Litef Gyro LFK95 (Binary) ; EM1000 ; EM3000 ; $PSXN,10 ; $PSXN,23 ; Sounder Sentence protocol ; $PSER,ATT ; $A ; TSS1 ; TSS3
___USBL SYSTEM___: #QATT ; #QXYZ ; #QD ; VanDerLeun format ; Dredging Tool ; $PIHC ; $PTSAX ; Nautronics ATS (ASCII) ; $PSIMSSB ; Simrad HiPAP (400 Format) ; Simrad HPR300 (ASCII) ; Simrad Binary HPR ; Sonardyne USBL (Surveyors Output) ; STANDARD STANDARD-EC NUWC NUWC-EC
___SINGLEBEAM ECHOSOUNDER___: EM, TX, VS (Deso 25) ; STX (Odom Echotrac) ; $INATS (Simrad) ; $INATS (NMEA) ; EN, IN (Klein 595) ; $PKLA (Klein 2000) ; $PKEL02 $PKEL03 $PKEL13 EG&G Text Out (Knudsen) ; EVE MES DASHED $@01 (EPC GSP-1086 annotation); DA DB (Deso 15 / 20 / 25 Echosounder) ; Bathy UK94 ; EG&G Sonar System ; $SDDBK ; Elac STG 721 Echosounder ; Kaijo Denki PS20R Echosounder ; $PKEL LF HF ; Marimatech E-Sea Sound Echosounder ; FETEC FETEH FETEB ; NMEA DPT DBT DBS ; D# D1 D2 D3 (Simrad Ping Based ASCII Telegram) ATS
___MULTI-TRANSDUCER ECHOSOUNDER___: $F $G (Navitronic DPP 2000)
___MULTIBEAM ECHOSOUNDER___: Marimatech E-Sea Swath 501 (5 Channel echosounder) ; Odom Echoscan XTF ; EM1000 EM3000 EM3000D EM3000F EM3000C ; Simrad Mesotech MS 971 / MS 990 ; Simrad Mesotech SM2000 ; $ROV (SMD ROV) ; STN Atlas Fansweep ; TSS 340 T record I record ; TSS 350 S record F record ; Tritech SeaKing SCU ; SC1 SD (Ulvertech Profiler) ; Ulvertech Enhanced Format
___SIDESCAN SONAR___: Q# RAW0 (Simrad EA-Series Sidescan)
___UNDERWATER SENSOR___: $--DPT ; $Draught01 ; Hyspec OSP Bathy ; ISIS ROV ; $PKLA,SD ; K (Klein595 SSS) ; Geometrics G880 ; Smart SV ; Tritech SCU-3 ; Bathy Plus O.S.P. Telegram (Ulvertech Bathy) ; SC1 SD (Ulvertech Profiler)
___SOUND VELOCITY PROFILE SYSTEM___:
___SPEED LOG___: EDO 3050 Dopplerlog ; $VMVHW ; $PHSPD (Octans MRU) ; PD0 PD6 (RDI Doppler BottomTrack Speed) ; Remote Cherry (RDI Doppler BottomTrack)
___TIDE GAUGE___: DCI SBU92 Radio Tide Gauges 'Snelpeilbericht' Output Format ; DCI SBU92 Radio Tide Gauges 'Geselecteerde Data' Output Format ; Digitrans Radio Tide Gauge ; Bild 4 Bild 9 (Kuhnt Pegel Tide Gauge) ; Pacific Crest Tide Gauge ; Sonar Research LPM23 Tide Gauge ; Valeport 700 Tide Gauge ; Van Essen RGC920 Tide Gauge ; Vyner Medway Radio Tide Gauge MK
___SURFACE NAVIGATION SYSTEM___: KA-BCD(0.1) KA-BCD(0.01) ASCII-16 ASCII-17 (Artemis Range & Bearing) ; AUV/Buoy Tracking (PARADIGM) ; Cable Counter (Dynapar, Sidescan Winch) ; Cable Counter (Red Lion) ; Cable Counter (MD Totco) ; DCI Minilir-Fennel ; Geodimeter 600 ; Geodimeter Aga 140T ; MDL STANDARD SIMRAD BINARY ARTEMIS FB Mk.II (MDL Fanbeam Mk III R & B) ; GECO Trinav rGPS ; $ANLG ; ParkerPDFX Stepping ; $PSIMLBM ; SI/FS format LB format (Sonardyne PAN) ; $WAGO
___SATELLITE NAVIGATION SYSTEM___:
___DIFFERENTIAL CORRECTIONS SYSTEM___: $DGPRC $DGDDC $DGREF (NMEA RTCM)
___OUTPUT SYSTEM DRIVERS___: $GHR (ADCP X/Y Position) ; $SNGLL (ADCP Lat/Lon Position) ; Anchor Output ; Atlas Deso 15 Annotator ; $1AO (AutoPilot Euro500) ; $DNRTR (AutoPilot RobTrack/STS500) ; AUXCOM3 ; Bennex Left Right Indicator ; CODA (Coda Navigation) ; CorrOcean ; $SDDPT $SDDBT $SONDEP $DBS (NMEA) ; $QPS_OUT (Ballast Nedam) ; $GCX (GeoCom X-Start) ; GeoLab ESP Annotator ; Geomap (Fish Positions) ; HDAS-A HDAS-B (HOV) ; STX (LAMs Gyro Position) ; VOACZ Video Eventing ; ISIS ; ISIS (Vessel and Fish Positions) ; REDAS (Vessel and Fish Positions) ; SMD ROV Format ; DOWTY Format ; ^ (Naval GPS Data Link) ; BBXX (Meteo Report Generator) ; $--APA $--APB $--VWH $--BWW $--XTE (NMEA Autopilot Strings) ; $PESSA $PESSD $PESSX (EMRI SEM200 Autopilot specific messages) ; $GPGGA $GPVTG (NMEA) ; PGS NAV Header ; KA-BCD(0.1) KA-BCD(0.01) ASCII-16 ASCII-17 (Pseudo Artemis) ; $UTC (Seabat 8000 Series UTC) ; 000 ( Sercel Axyle UTC) ; POSITION TELEGRAM 11 WAYPOINT TELEGRAM 04 (Simrad ADP70X) ; $PQPSC (Simrad DP Force) ; $G (Statoil Data Server) ; Syledis Y/X Position ; Syntrak 480 ; $PQTUG $PQTUC $PQRIG $PQANC (Tug Manager); VisualWorks Event ; WinFrog Decoder
___MAGNETOMETER___: Geometrics G880 ; SeaSPY
___MISCELLANEOUS SYSTEM___: Airpax Tachtrol RPM ; $--ROT $--MWD $--MWV $--XDR $--MTW $--MTR (NMEA 0183) ; Nortek Aquadopp ; OISTAR FieldBus TimeMaster ; $DBMMINE ; RWS Directional Waverider ; STDDDD (Standard RMI) ; Stappenbaak (RWS) ; $PSTSUR (Seatools Grab Excavation) |
Links: www.Marine Magnetics.com
Files: SeaSpy2_..._v5.02.pdf
Marine Magnetics // SeaSPY Operation Manual Revision 5.02. Includes follow SeaSPY-magnetometers messages description: Standard Format, Compact Format, SIS-1000 Compatible Format, Gradiometer Format. |
Links: www.Geometrics.com
Files: G-882Manual_RevF.pdf
Geometrics // G-882 Cesium marine magnetometer 25919-OM REV.F. CM-221 Counter Data Format and Command Structure. |
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