Trimble Outdoors GPS Receiver 58052 00 User Manual

REFERENCE MANUAL  
Copernicus GPS Receiver  
For Modules with firmware version 2.01 (or later)  
Part Number 58052-00  
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Corporate Office  
Hardware Limited Warranty  
Trimble Navigation Limited  
935 Stewart Drive  
Trimble warrants that this Trimble hardware product (the  
“Product”) shall be free from defects in materials and  
workmanship and will substantially conform to Trimble’s  
applicable published specifications for the Product for a period  
of one (1) year, starting from the date of delivery. The warranty  
set forth in this paragraph shall not apply to software/firmware  
products.  
Sunnyvale, CA 94085  
U.S.A.  
Phone: +1-408-481-8000, 1-800-827-8000  
www.trimble.com  
Support  
Software and Firmware License, Limited Warranty  
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+1-913-338-8225 (International)  
This Trimble software and/or firmware product (the  
“Software”) is licensed and not sold. Its use is governed by the  
provisions of the applicable End User License Agreement  
(“EULA”), if any, included with the Software. In the absence  
of a separate EULA included with the Software providing  
different limited warranty terms, exclusions, and limitations,  
the following terms and conditions shall apply. Trimble  
warrants that this Trimble Software product will substantially  
conform to Trimble’s applicable published specifications for  
the Software for a period of ninety (90) days, starting from the  
date of delivery.  
Copyright and Trademarks  
© 2007 Trimble Navigation Limited. All rights reserved. No  
part of this manual may be copied, reproduced, translated, or  
reduced to any electronic medium or machine-readable form  
for any use other than with the Copernicus™ GPS Receiver.  
The Globe & Triangle logo, Trimble, Colossus, FirstGPS, and  
Lassen, are trademarks of Trimble Navigation Limited.  
The Sextant logo with Trimble is a trademark of Trimble  
Navigation Limited, registered in the United States Patent and  
Trademark Office.  
Warranty Remedies  
Trimble's sole liability and your exclusive remedy under the  
warranties set forth above shall be, at Trimble’s option, to  
repair or replace any Product or Software that fails to conform  
to such warranty (“Nonconforming Product”), or refund the  
purchase price paid by you for any such Nonconforming  
Product, upon your return of any Nonconforming Product to  
Trimble in accordance with Trimble’s standard return material  
authorization procedures.  
All other trademarks are the property of their respective  
owners.  
Release Notice  
This is the October 2007 release (Revision B) of the  
Copernicus™ GPS Receiver System Designer Reference  
Manual, part number 58052-00.  
Warranty Exclusions and Disclaimer  
The following limited warranties give you specific legal rights.  
You may have others, which vary from state/jurisdiction to  
state/jurisdiction.  
These warranties shall be applied only in the event and to the  
extent that: (i) the Products and Software are properly and  
correctly installed, configured, interfaced, maintained, stored,  
and operated in accordance with Trimble’s relevant operator's  
manual and specifications, and; (ii) the Products and Software  
are not modified or misused.  
Waste Electrical and Electronic Equipment (WEEE)  
Notice  
This Trimble product is furnished on an OEM basis. By  
incorporating this Trimble product with your finished goods  
product(s) you shall be deemed the “producer” of all such  
products under any laws, regulations or other statutory scheme  
providing for the marking, collection, recycling and/or  
disposal of electrical and electronic equipment (collectively,  
“WEEE Regulations”) in any jurisdiction whatsoever, (such as  
for example national laws implementing EC Directive 2002/96  
on waste electrical and electronic equipment, as amended), and  
shall be solely responsible for complying with all such  
applicable WEEE Regulations.  
The preceding warranties shall not apply to, and Trimble shall  
not be responsible for defects or performance problems  
resulting from (i) the combination or utilization of the Product  
or Software with products, information, data, systems or  
devices not made, supplied or specified by Trimble; (ii) the  
operation of the Product or Software under any specification  
other than, or in addition to, Trimble's standard specifications  
for its products; (iii) the unauthorized modification or use of  
the Product or Software; (iv) damage caused by accident,  
lightning or other electrical discharge, fresh or salt water  
immersion or spray; or (v) normal wear and tear on  
consumable parts (e.g., batteries).  
Restriction on Hazardous Substances  
As of July 1, 2006, the Product is compliant in all material  
respects with DIRECTIVE 2002/95/EC OF THE EUROPEAN  
PARLIAMENT AND OF THE COUNCIL of 27 January 2003  
on the restriction of the use of certain hazardous substances in  
electrical and electronic equipment (RoHS Directive) and  
Amendment 2005/618/EC filed under C(2005) 3143, with  
exemptions for lead in solder pursuant to Paragraph 7 of the  
Annex to the RoHS Directive applied. The foregoing is limited  
to Product placed on the market in the Member States of the  
European Union on or after 1 July 2006. Trimble has relied on  
representations made by its suppliers in certifying this Product  
as RoHS compliant.  
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THE WARRANTIES ABOVE STATE TRIMBLE'S ENTIRE  
LIABILITY, AND YOUR EXCLUSIVE REMEDIES, RELATING  
TO PERFORMANCE OF THE PRODUCTS AND SOFTWARE.  
EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN,  
THE PRODUCTS, SOFTWARE, AND ACCOMPANYING  
DOCUMENTATION AND MATERIALS ARE PROVIDED AS-  
ISAND WITHOUT EXPRESS OR IMPLIED WARRANTY OF  
ANY KIND BY EITHER TRIMBLE NAVIGATION LIMITED OR  
ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION,  
PRODUCTION, INSTALLATION, OR DISTRIBUTION,  
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED  
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A  
PARTICULAR PURPOSE, TITLE, AND NONINFRINGEMENT.  
THE STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL  
OBLIGATIONS OR LIABILITIES ON THE PART OF TRIMBLE  
ARISING OUT OF, OR IN CONNECTION WITH, ANY  
PRODUCTS OR SOFTWARE. SOME STATES AND  
JURISDICTIONS DO NOT ALLOW LIMITATIONS ON  
DURATION OR THE EXCLUSION OF AN IMPLIED  
WARRANTY, SO THE ABOVE LIMITATION MAY NOT APPLY  
TO YOU.  
TRIMBLE NAVIGATION LIMITED IS NOT RESPONSIBLE FOR  
THE OPERATION OR FAILURE OF OPERATION OF GPS  
SATELLITES OR THE AVAILABILITY OF GPS SATELLITE  
SIGNALS.  
Limitation of Liability  
TRIMBLES ENTIRE LIABILITY UNDER ANY PROVISION  
HEREIN SHALL BE LIMITED TO THE GREATER OF THE  
AMOUNT PAID BY YOU FOR THE PRODUCT OR SOFTWARE  
LICENSE OR U.S.$25.00. TO THE MAXIMUM EXTENT  
PERMITTED BY APPLICABLE LAW, IN NO EVENT SHALL  
TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY  
INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL  
DAMAGES WHATSOEVER UNDER ANY CIRCUMSTANCE OR  
LEGAL THEORY RELATING IN ANY WAY TO THE  
PRODUCTS, SOFTWARE, AND ACCOMPANYING  
DOCUMENTATION AND MATERIALS, (INCLUDING,  
WITHOUT LIMITATION, DAMAGES FOR LOSS OF BUSINESS  
PROFITS, BUSINESS INTERRUPTION, LOSS OF BUSINESS  
INFORMATION, OR ANY OTHER PECUNIARY LOSS),  
REGARDLESS OF WHETHER TRIMBLE HAS BEEN ADVISED  
OF THE POSSIBILITY OF ANY SUCH LOSS AND  
REGARDLESS OF THE COURSE OF DEALING WHICH  
DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND  
TRIMBLE. BECAUSE SOME STATES AND JURISDICTIONS  
DO NOT ALLOW THE EXCLUSION OR LIMITATION OF  
LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL  
DAMAGES, THE ABOVE LIMITATION MAY NOT APPLY TO  
YOU.  
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Table of Contents  
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Copernicus GPS Receiver  
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Copernicus GPS Receiver  
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Table of Contents  
Command Packet 0x32 - Accurate Initial Position,  
Copernicus GPS Receiver  
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Table of Contents  
Command Packet 8E-18 - Request Last Position or Auto Report Position in UTM  
Command Packet 8E-4A - Set/Request Lassen iQ GPS Cable Delay  
B
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C H A P T E R  
1
STARTER KIT  
1
In this chapter:  
The Copernicus GPS module is a drop-in  
receiver solution that provides position,  
velocity, and time data in a choice of three  
protocols.  
This chapter provides a detailed description of  
the starter kit components and instructions for  
getting started with interface, hardware setup,  
and configuration procedures.  
Copernicus GPS Receiver  
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1
STARTER KIT  
Receiver Overview  
Trimble's Copernicus™ GPS receiver delivers proven performance and Trimble  
quality for a new generation of position-enabled products. The Copernicus GPS  
features the Trimble revolutionary TrimCore™ software technology enabling  
extremely fast startup times and high performance in foliage canopy, multipath and  
urban canyon environments.  
Designed for the demands of automated, pick and place, high-volume production  
processes, the Copernicus is a complete 12-channel GPS receiver in a 19mm x 19mm  
x 2.54mm, thumbnail-sized shielded unit. The small, thin, single-sided module is  
packaged in tape and reel for pick and place manufacturing processes; 28 reflow-  
solderable edge castellations provide interface to your design without costly I/O and  
RF connectors. Each module is manufactured and factory tested to Trimble's highest  
quality standards.  
The ultra-sensitive Copernicus GPS receiver can acquire GPS satellite signals and  
generate fast position fixes with high accuracy in extremely challenging  
environments and under poor signal conditions. The module consumes less than  
94mW typically at full power with continuous tracking. It has been designed to meet  
restrictions on the use of hazardous substances under the RoHS European Directive.  
The Copernicus GPS receiver provides position, velocity and time data in a choice of  
three protocols: TSIP, TAIP, and NMEA. Trimble's TSIP protocol offers complete  
control over receiver operation and provides detailed satellite information. The TAIP  
protocol is an easy-to-use ASCII protocol designed specifically for track and trace  
applications. The bi-directional NMEA 0183 v3.0 protocol offers industry-standard  
data messages and a command set for easy interface to mapping software.  
Compatible with active or passive antenna designs, the Copernicus GPS receiver is  
perfect for portable handheld, battery-powered applications. The receiver's small size  
and low power requirement make it ideal for use in Bluetooth appliances, sport  
accessories, personal navigators, cameras, computer and communication peripherals,  
as well as vehicle and asset tracking, navigation, and security applications.  
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STARTER KIT  
1
Starter Kit  
The Copernicus GPS Starter Kit provides everything you need to get started  
integrating state-of-the-art GPS capability into your application. The reference board  
provides a visual layout of the Copernicus GPS receiver on a PCB including the RF  
signal trace, the RF connector, and the I/O connections of the 28 signal pins. In  
addition, the starter kit contains a power converter, power adapter, a GPS antenna,  
and software to evaluate the ease with which you can add Copernicus GPS to your  
application.  
Starter Kit Components  
The RoHS compliant (lead-free) Copernicus GPS Starter Kit includes the following:  
Interface unit with reference board and Copernicus GPS receiver  
AC/DC power supply converter  
Universal power adapters for the major standard wall outlets  
Magnetic-mount GPS antenna, 3.3 V, MCX connector, 5 meter cable  
USB cable  
Cigarette lighter adapter power cable  
Copernicus GPS SMT receivers (3 pieces)  
14 Jumpers  
Quick Start Guide  
CD containing the SW tools and the Copernicus GPS Reference Manual  
Copernicus GPS Receiver  
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1
STARTER KIT  
Interface Unit  
Inside the starter kit interface unit, the Copernicus GPS reference board sits on a shelf  
supported by 4 standoffs above the motherboard. The antenna transition cable is  
mounted to the outside of the unit and connects to the MCX connector on the  
reference board. An 8-wire ribbon cable interfaces the power and I/O between the  
reference board and motherboard.  
Figure 1.1  
Starter Kit Interface Unit  
Figure 1.2  
AC/DC Power Supply Converter  
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STARTER KIT  
1
Figure 1.3  
USB Cable  
Copernicus GPS Receiver  
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1
STARTER KIT  
Serial Port Interface  
The Copernicus GPS interface unit has a dual port USB interface that is available  
through a single A-type USB connection. Before the starter kit can be used with a  
USB 2.0-equipped Microsoft Windows (2000, XP)-based PC, the appropriate USB  
2.0 drivers must be installed on the PC.  
Loading the FTDI Driver  
The Copernicus GPS uses a USB 2.0 interface chip from Future Technology Devices  
International Ltd. (FTDI). The FTDI driver must be downloaded and installed on  
your PC before you can run the Trimble GPS Monitor (TGM) application used to  
communicate with the Copernicus GPS.  
1. Use the following URL to access the FTDI drivers:  
2. Download and install the appropriate VCP (Virtual COM Port) driver for your  
operating system (Win'98 / ME /2000 / XP). Select the option with FT2232C  
series support. Follow the instructions provided on the Web site and with the  
driver. (http://www.ftdichip.com/Documents/InstallGuides.htm)  
3. Use the supplied USB cable to connect the Copernicus GPS interface unit to  
your PC. The FTDI driver automatically assigns two (2) virtual COM ports to  
the USB port. Use the Windows Device Manager to determine which COM  
Ports have been assigned to the USB port.  
Default Settings  
The default settings on the interface unit USB Port are provided in Table 1.1.  
Table 1.1  
Serial Port Default Settings  
Virtual Port  
Protocol  
Baud Rate  
Data Bits  
Parity  
Stop Bits Flow  
Control  
Ports  
Direction  
A
TXD-A  
RXD-A  
TSIP-Out  
TSIP-IN  
38.4 K  
38.4 K  
8
8
None  
None  
1
1
NO  
NO  
B
TXD-B  
RXD-B  
NMEA-Out  
NMEA-IN  
4800  
4800  
8
8
None  
None  
1
1
NO  
NO  
10 Copernicus GPS Receiver  
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STARTER KIT  
1
Interface Connections  
Following is a description of the Copernicus GPS interface unit (numbered references  
correlate to numbers in the image below).  
Figure 1.4  
Front side of the Interface Unit  
1. Antenna Connector  
The antenna connector is an MCX type connector that is intended to be used  
with the supplied 3.0V antenna. This interfaces to the Copernicus GPS  
reference board antenna connector.  
2. USB Connector  
The USB connector is an A-type USB connector that is USB 2.0 and 1.1  
compatible. This connection can also be used to power the starter kit and GPS  
receiver.  
When using the USB connection for power, the PC should be running on AC  
power (not battery power) to ensure proper voltage levels to the interface unit.  
3. Port A-TX LED  
When blinking red, user is transmitting data to the Copernicus GPS receiver on  
port A.  
4. Port A-RX LED  
When blinking red, the Copernicus GPS receiver is transmitting data to the  
user device on port A.  
5. Port B-TX LED  
When blinking red, user is transmitting data to the Copernicus GPS receiver on  
port B.  
6. Port B-RX LED  
When blinking red, the Copernicus GPS receiver is transmitting data to the  
user device on port B.  
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1
STARTER KIT  
7. Power Connector  
The power connector (barrel connector) is located on the front right side of the  
starter kit. The power connector connects to the AC/DC power converter  
supplied with the starter kit. The power converter converts 100 -240 VAC To  
12 or 24VDC. The power connector can accept 9 to 32 VDC.  
8. Power LED  
The Power LED indicates when main power, VCC, is available to the receiver.  
Main power is controlled by the Power Switch (#8). When the switch is in the  
ON position the LED illuminates Green and VCC is supplied to the receiver.  
When the switch is in the OFF position the LED is not lit and the receiver is  
powered only by the standby regulator or battery.  
Note – For the Copernicus GPS receiver to operate with standby power, the power  
source must be from the main power connector (#6) (not from the USB connector).  
9. Power Switch  
The power switch is used to enable or disable VCC to the receiver.  
10. PPS BNC (located on the backside of the interface unit)  
The BNC connector provides a 5V TTL level PPS pulse output by the receiver.  
The output configuration is controlled by the receiver, not the starter kit driver  
circuit. This output is able to drive a 50ohm load.  
Note – The Copernicus GPS receiver reference board contains a number of  
configuration jumpers for use with various Trimble GPS receivers. Jumpers JP5 and  
JP15 must be in place for use with Copernicus GPS receiver.  
12 Copernicus GPS Receiver  
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STARTER KIT  
1
Removing the Reference Board from the Interface Unit  
Follow this procedure to remove the Copernicus GPS reference board from the  
interface unit:.  
1. Before disassembling the interface unit, disconnect the unit from any external  
power source and confirm that both you and your work surface are properly  
grounded for ESD protection.  
2. Remove the four screws, which secure the bottom plate of the interface unit to  
the base of the metal enclosure. Set the bottom plate aside.  
3. Remove the two screws securing the Copernicus GPS reference board to the  
standoffs. These screws are located at opposite ends of the receiver module.  
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1
STARTER KIT  
Antenna  
The Copernicus GPS Starter Kit comes with an active mini magnetic mount 3.0 V  
GPS antenna. This antenna mates with the MCX connector on the interface unit. The  
reference board supplies power to the active antenna through the RF transition cable.  
Using a Passive Antenna  
To test performance with a passive antenna (not supplied in the Copernicus GPS  
Starter Kit) the passive antenna should be connected directly to the MCX connector  
on the reference board, to ensure minimal signal loss. Since the passive antenna has  
no LNA, the antenna detection and short circuit will not report a true antenna  
condition. If the passive antenna is a (DC open) patch antenna, the FW reports an  
antenna open condition. If the antenna power jumper is removed, the antenna is  
reported as shorted.  
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STARTER KIT  
1
Quick Start Guide  
1. Confirm that you have the following:  
The Copernicus GPS Starter Kit.  
Windows desktop or laptop computer with a USB port.  
2. Connect the computer’s power cable to the power converter.  
3. Plug the power cable into the interface unit.  
Figure 1.5  
Connecting Power  
4. Plug the power cable into a wall outlet.  
5. Connect the magnetic mount GPS antenna to the interface unit.  
Figure 1.6  
Antenna Connection  
6. Place the antenna on the window sill or put the antenna outside.  
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STARTER KIT  
7. Connect the USB cable to the USB connector on the interface unit.  
Figure 1.7  
Connecting the PC  
8. Power-on your computer.  
9. Insert the CD found in the starter kit box into your computer CD drive.  
10. Install the Trimble GPS Monitor Program from the supplied CD. (see Trimble  
11. Download and install the appropriate FTDI driver on your PC (see Install the  
12. Execute the Trimble GPS Monitor Program.  
13. Select one of the USB virtual COM ports. Either the TSIP or NMEA data  
stream is visible on your monitor. To view the other protocol, select a different  
USB virtual COM port.  
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STARTER KIT  
1
Trimble GPS Monitor Toolkit  
The Trimble GPS Monitor Tookit is designed to assist you in configuring your  
Trimble GPS receiver. The application works with a standard RS-232 serial interface  
or the USB interface supplied in the Copernicus GPS starter kit.  
TGM includes helpful features such as “Detect Receiver” to test a GPS receiver port  
for protocol and baud rate in the event that these settings are lost, the ability to log the  
output of multiple GPS devices simultaneously, and the ability send and view  
received raw data.  
Prior to using the TGM application with a USB interface, you must first download  
and install the FTDI USB serial driver software (see instructions below).  
Note – The Trimble GPS Monitor application (TGM) replaces many of the previous  
“monitor” and “chat” programs used for Trimble Embedded and Resolution T  
products.  
Install the FTDI USB/Serial Driver Software  
The Copernicus GPS starter kit uses a USB 2.0 dual serial port emulator interface  
chip from Future Technology Devices International Ltd. (FTDI). Prior to using the  
TGM application with a USB interface, you must first download and install the FTDI  
USB serial driver software on your PC.  
1. Confirm that you have the following:  
A PC with Windows Vista, Windows XP Service Pack 2, or Windows  
2000 Service Pack 4 installed and a free USB port.  
Internet access to complete the installation  
2. Download the software for your Trimble product from the Trimble Support  
web site http://www.trimble.com/support.shtml, and select the relevant product  
link and then the Software Tools option.  
3. Select and Save all files to a directory on the hard drive.  
4. Install the FTDI driver on your PC.  
5. Locate the file called “CDM_Setup.exe” you just saved, and double click it. If  
properly installed you should see a FTDI CDM Driver Installation popup  
window with the message “FTDI CDM Drivers have been successfully  
installed”. Click the OK button.  
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1
STARTER KIT  
Connect the PC via the USB Cable  
1. Right-click the MyComputer icon.  
2. Select the Properties option to view the System Properties Window.  
3. Select the Hardware tab.  
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STARTER KIT  
1
4. Click the Device Manager button.  
5. Open the Ports (Com & LPT) section and note down the two USB Serial Port  
COM numbers. In the example above they are COM5 and COM6. In general  
Port A of the GPS device will be on the lower COM number and Port B will be  
on the higher.  
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1
STARTER KIT  
Start the TGM Application  
1. Go to the directory in which the Trimble GPS Monitor application is stored and  
open the application. The main window displays.  
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STARTER KIT  
1
Connect to the GPS Receiver  
1. Select Initialize > Detect Receiver  
2. Select the port and protocol being used on the module.  
If you do not know which protocol is being used you can select TSIP, TAIP and  
NMEA. TGM will try each in turn at different baud rates.  
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1
STARTER KIT  
3. Click on Yes to accept the discovered connection parameters.  
22 Copernicus GPS Receiver  
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STARTER KIT  
1
Configure GPS Ports  
1. Select the Configure pull down menu from the main screen, and select  
Receiver Configuration.  
2. Select the Port Configuration tab.  
3. Select the required receiver port, baud rate, parity, data bits and stop bits.  
4. Select one input and one output protocol.  
5. Click the Set button.  
6. If the configuration is to be permanent, click Save Configuration.  
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1
STARTER KIT  
Configure Output Formats  
1. Select the Configure pull down menu from the main screen.  
2. Select Receiver Configuration.  
3. Select the Outputs tab.  
4. After selecting the required setup options, click on Set.  
5. If the configuration is to be permanent, click Save Configuration.  
Configure GPS  
1. Select the Configure pull down menu from the main screen.  
2. Select Receiver Configuration.  
3. Select the GPS Configuration tab.  
4. After selecting the required setup options, click on Set.  
5. If the configuration is to be permanent, click Save Configuration.  
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STARTER KIT  
1
Configure PPS Output  
1. Select the Configure pull down menu from the main screen.  
2. Select Receiver Configuration.  
3. Select the PPS Configuration tab.  
Note – Always ON – the PPS is present even without a GPS fix, it will free run until  
fix is obtained. Fixed-based – the PPS will only be output when the receiver has a fix.  
4. After selecting the required setup options, click on Set.  
5. If the configuration is to be permanent, click Save Configuration.  
Configure NMEA Output  
1. Select the Configure pull down menu from the main screen.  
2. Select Receiver Configuration.  
3. Select the NMEA tab.  
4. After selecting the required setup options, click on Set.  
5. If the configuration is to be permanent, click Save Configuration.  
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1
STARTER KIT  
Configure TAIP Output  
1. Select the Configure pull down menu from the main screen.  
2. Select Receiver Configuration.  
3. Select the TAIP tab.  
4. After selecting the required setup options, click on Set.  
5. If the configuration is to be permanent, click Save Configuration.  
Note – This screen can only be edited if TAIP is enabled as a port output.  
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STARTER KIT  
1
Creating a Log  
Follow these steps to log the output of the GPS receiver.  
1. Select Configure > Data Logging  
2. From the available ports select the com port that connects to your device.  
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1
STARTER KIT  
3. Create a filename and path in the file field. Use standard file naming if  
appropriate with the Unit ID and Test Case number  
4. Select the correct protocol and logging options.  
5. Click Start Logging.  
Sending Raw Data to device  
1. From the Tools Menu select the Generic Packets option.  
2. Select the required protocol to send the raw data.  
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STARTER KIT  
1
3. Select one of the provided messages from the Presets pull down, or enter your  
own data in the Packet Data field.  
Note – If entering your own message in the Packet Data, the TGM only requires the  
user data not the surrounding start and end bytes. In the example above TSIP user  
data is being entered, but TGM already adds the starting DLE and ending DLE/ETX.  
4. Click View Raw Data.  
5. To view the sent and received data, select the Show Sent Data box.  
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STARTER KIT  
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C H A P T E R  
2
PRODUCT DESCRIPTION  
2
In this chapter:  
This chapter describes the Copernicus GPS  
Receiver features and performance  
specifications.  
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2
PRODUCT DESCRIPTION  
Key Features  
The Copernicus module is a complete 12-channel GPS receiver in a 19mm x 19mm x  
2.54mm, thumbnail-sized shielded unit. The small, thin, single-sided module is  
packaged in tape and reel for pick and place manufacturing processes; 28 reflow-  
solderable edge castellations provide interface to your design without costly I/O and  
RF connectors. Each module is manufactured and factory tested to Trimble's highest  
quality standards.  
Thumbnail-sized, 19 mm W x 19 mm L (0.75" W x 0.75" L)  
Ultra-thin design, 2.54 mm H (0.1")  
Fast manufacturing: Pick & place assembly, Tape & reel packaging, Reflow  
solderable  
No I/O or RF connector; 28 Edge castellations  
Ultra-low power usage, less than 94 mW (typical)  
Highly sensitive:  
150 dBm Tracking Sensitivity  
142 dBm Acquisition Sensitivity  
Fast TTFF (cold start): 39.7 sec  
Supports active or passive antenna designs  
12-channel simultaneous operation  
Supports SBAS  
Supports NMEA 0183, TSIP and TAIP protocols  
Reference board and starter kit available  
RoHS compliant (lead-free)  
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PRODUCT DESCRIPTION  
2
Block Diagram  
Figure 2.1  
Copernicus GPS Block Diagram  
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2
PRODUCT DESCRIPTION  
Specifications  
Performance  
Performance Specifications  
L1 (1575.42 MHz) frequency, C/A code, 12-channel, continuous  
tracking receiver  
Update Rate  
TSIP  
1 Hz  
1 Hz  
1 Hz  
NMEA  
TAIP  
Accuracy (24 hour static)  
Horizontal (without SBAS)  
Horizontal (with SBAS)  
Altitude (without SBAS)  
Altitude (with SBAS)  
Velocity  
<2.5 m 50%, <5 m 90%  
<2.0 m 50%, <4 m 90%  
<5 m 50%, <8 m 90%  
<3 m 50%, <5 m 90%  
0.06 m/sec  
PPS (static)  
±100 ns RMS  
Acquisition (Autonomous Operation)  
Reacquisition  
Hot Start  
2 sec  
3.1 sec  
35.4 sec  
39.4 sec  
41 sec  
Warm Start  
Cold Start  
Out of the Box  
Sensitivity  
Tracking  
-150 dBm  
-142 dBm  
Acquisition  
Operational  
Speed Limit  
515 m/s  
Interface  
Interface Characteristics  
Connectors  
Serial Port  
PPS  
28 surface mount edge castellations  
2 serial ports (transmit/receive)  
3.0 V CMOS-compatible TTL-level pulse, once  
per second  
Protocols  
Supports the Trimble Standard Interface  
Protocol (TSIP), the Trimble ASCII Interface  
Protocol (TAIP), and the National Marine  
Electronics Association (NMEA) 0183 v3.0  
Bi-directional NMEA Messages  
34 Copernicus GPS Receiver  
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PRODUCT DESCRIPTION  
2
Electrical  
Electrical Specifications  
Prime Power  
+2.7 VDC to 3.3 VDC  
Power Consumption  
(typ.) 30.7 mA (82.9 mW) @ 2.7 V  
(typ.) 31.3 mA (93.9 mW) @ 3.0 V  
Backup Power  
Ripple Noise  
+2.7 VDC to +3.3 VDC  
Max 50 mV, peak-to-peak from 1 Hz to 1 MHz  
Physical  
Physical Specifications  
Enclosure  
Metal shield  
Dimensions  
19 mm W x 19 mm L x 2.54 mm H (0.75" W x  
0.75" L x 0.1" H)  
Weight  
1.7 grams (0.06 ounce) including shield  
Environmental  
Environmental Specifications  
Operating Temperature  
-40° C to +85° C  
-55° C to +105° C  
Storage Temperature  
Vibration  
2
0.008 g /Hz 5 Hz to 20 Hz  
2
0.05 g /Hz 20 Hz to 100 Hz  
-3 dB/octave 100 Hz to 900 Hz  
Operating Humidity  
5% to 95% R.H. non-condensing, at +60° C  
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2
PRODUCT DESCRIPTION  
MTBF  
The Mean Time Between Failures (MTBF) of the GPS receiver module was  
calculated based on parts count - serial reliability using Telecordia Analysis and  
Industry field data for the PCB and Trimble Navigation's field return data (i.e. similar  
product or technology parts). This is generally referred to as the Trimble Navigation  
Reliability Database, and it consists of the following components:  
Repair Center Data and Field Assessment Analysis  
Supplier FIT goals collected through Commodities Engineering  
Commercial Databases (i.e. Telecordia and MIL-STD-217)  
Trirnble Navigation's Internal Qualification Test Data  
Assumed Duty Cycle, 8760 hours per year  
MTBF at Rated Duty Cycle, 819050 hours MTBF  
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PRODUCT DESCRIPTION  
2
Absolute Minimum and Maximum Limits  
Absolute maximum ratings indicate conditions beyond which permanent damage to  
the device may occur. Electrical specifications shall not apply when operating the  
device outside its rated operating conditions.  
Parameter  
Min  
Max  
Unit  
Power Supply  
Power Supply Voltage (VCC) on -0.3  
3.6  
3.6  
V
V
Pin 12  
STANDBY Voltage (VCC) on Pin -0.3  
12 *  
Antenna  
Input Power at RF Input  
+10  
36  
dBm  
dB  
Input Gain at RF Input  
0 (passive  
antenna)  
Note – See Copernicus Standby Current, page 55 for information on the standby  
current.  
Input / Output Pin Threshold Levels  
Input Pin Voltage (RXD-A, RXD-B, Open, Short, Reserved Pins, Xreset, Xstandby)  
Status  
High  
Min  
2.0  
0
Max  
3.6  
Unit  
V
Low  
0.8  
V
Output Pin Voltage (TXD-A, TXD-B, LNA_XEN)  
Status  
Min  
Max  
Unit  
V
High (loh = 1 mA)  
Low (lol = 1 mA)  
0.8 * VCC  
0
VCC  
0.22 * VCC  
V
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2
PRODUCT DESCRIPTION  
Normal Operating Conditions  
Minimum and maximum limits apply over full operating temperature range unless  
otherwise noted.  
Parameter  
Conditions  
Min  
Typ  
34.8  
93.9  
Max  
Unit  
Primary Supply Voltage *  
The rise time to VCC MUST 2.7  
be greater than 140 μsecs  
3.3 *  
V
Current Draw  
Continuous Tracking,  
Max: 85° C, 3.3 V  
Min: -40° C, 2.7V  
Typ: 25° C, 3.0 V  
23.9  
38.3  
115  
mA  
Power Consumption  
Continuous Tracking,  
Max: 85° C, 3.3 V  
Min: -40° C, 2.7V  
Typ: 25° C, 3.0 V  
79  
mW  
Power Consumption  
Absolute Maximum  
50  
mA  
165  
mW  
Current Draw **  
Standby Mode  
Max: 85° C,  
7.1  
8.5  
60  
uA  
Min: -40° C  
Typ: 25° C, 3.0 V  
Current Draw Standby  
Mode RTC Service  
30  
mA  
Please see section  
Serial Port Activity  
Supply Ripple Noise  
1Hz to 1MHz  
50  
mVpp  
mVpp  
us  
GPS TCXO  
Frequency ±5kHz  
1
Hardware RESET  
Assert XRESET pin to clear 100  
STANDBY memory  
* The rise time to VCC MUST be greater than 140 μsecs. The user can use one source of power on Pin 12 (VCC) for both  
main and Standby power.  
** If using two sources of power, the Main and Standby power must be connected to VCC via an external diode-pair.  
During the Standby Mode, the main power can be removed so the unit can be run on Standby power. Standby power  
must be at least 0.3V less than main power. The voltage at Pin 12 must be 2.7V to 3.3V including the diode voltage drop.  
(See Chapter 5 for information on application circuits.)  
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PRODUCT DESCRIPTION  
2
Power Consumption Over Temperature and Voltage  
Run Mode  
(Tracking with Almanac Complete): < 90 mW average @ 2.7 VDC, -40 to 85° C  
Standby Mode: < 30 μW @ 3.0 VDC, typical at 25° C, < 200 μW under all  
conditions except during service time for the 18-hour real time clock roll over.  
At 2.7 volts  
-40° C  
Avg Current (mA)  
Avg power consumption (mW)  
29.7  
80.2  
Room Temp  
85° C  
30.7  
82.9  
31.5  
85.1  
At 3.0 volts  
-40° C  
Avg Current (mA)  
Avg power consumption (mW)  
30.3  
90.9  
Room Temp  
85° C  
31.3  
93.4  
34.9  
104.7  
At 3.3 volts  
-40° C  
Avg Current (mA)  
Avg power consumption (mW)  
31.5  
31.4  
31.9  
104  
104  
105  
Room temp  
85 v  
ESD Protection  
ESD testing was performed using JDEC test standard JESD-A114C.01. All inputs  
and outputs are protected to ±500 volts ESD level. The RF IN pin is protected up to  
1kV.If a higher level of compliance is required, additional electrostatic and surge  
protection must be added.  
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2
PRODUCT DESCRIPTION  
Ordering Information  
Ordering Information  
Copernicus GPS Receiver Module  
Reference Board  
Single module in metal enclosure  
P/N 58048-10  
P/N 58054-10  
Copernicus GPS module mounted on a carrier  
board with I/O and RF connectors for evaluation  
purposes, including the RF circuitry with the  
antenna open detection, as well as antenna  
short detection and protection.  
Starter Kit  
RoHS (Lead-free version): P/N 58050-20  
Includes Copernicus Reference Board mounted  
on interface motherboard in a durable metal  
enclosure, AC/DC power converter, compact  
magnetic-mount GPS antenna, serial interface  
cable, cigarette lighter adapter, TSIP, NMEA,  
and TAIP protocols.  
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C H A P T E R  
3
INTERFACE CHARACTERISTICS  
3
In this chapter:  
This chapter provides a detailed description of  
the Copernicus GPS Receiver interface.  
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3
INTERFACE CHARACTERISTICS  
Pin Assignments  
Reserved  
Figure 3.1  
Copernicus Pin Assignments  
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INTERFACE CHARACTERISTICS  
3
Pin Description  
Table 3.1  
Pin Description  
Pin  
1
Name  
GND  
GND  
Description  
Function Note  
Ground  
G
G
Signal ground. Connect to common ground.  
2
RF Ground  
One of two RF grounds adjacent to RF input.  
Connect to RF ground system.  
3
4
RF Input  
GND  
GPS RF input  
RF Ground  
I
50-ohm unbalanced (coaxial) RF input.  
G
One of two RF grounds adjacent to RF input.  
Connect to RF ground system.  
5
LNA_XEN  
LNA Enable  
O
Can be used with active antennas only. Active  
low logic level signal to control external LNA.  
6
7
Reserved  
OPEN  
Reserved  
I/O  
I
Do not connect.  
Antenna OPEN  
Logic level from external antenna detection  
circuit. See “Antenna Detect Truth Table”.  
8
SHORT  
Antenna SHORT  
I
Logic level from external antenna detection  
circuit. See “Antenna Detect Truth Table”.  
9
Reserved  
Reserved  
XRESET  
Reserved  
Reserved  
Reset  
I
I
I
Connect to VCC.  
Connect to VCC.  
10  
11  
Active low logic level reset. Connect to VCC  
with or without a pullup resistor, if not used.  
12  
13  
14  
15  
16  
VCC  
Supply voltage  
Ground  
P
G
G
G
I
Module power supply 2.7 - 3.3 VDC  
GND  
Signal ground. Connect to common ground.  
Signal ground. Connect to common ground.  
Signal ground. Connect to common ground.  
GND  
Ground  
GND  
Ground  
XSTANDBY  
Run/Standby  
Selects “RUN” or “STANDBY” mode. Connect  
to VCC if not used (run only).  
17  
18  
19  
Reserved  
Reserved  
PPS  
Reserved  
I/O  
I/O  
O
Do not connect.  
Do not connect.  
Reserved  
Pulse per second  
Logic level timing signal at 1 Hz. Do not  
connect if not used.  
20  
21  
22  
23  
24  
25  
26  
27  
28  
RXD_B  
RXD_A  
Reserved  
TXD_A  
TXD_B  
Reserved  
Reserved  
GND  
Serial port B receive  
Serial port A receive  
Reserved  
I
Logic level secondary serial port receive.  
Logic level primary serial port receive.  
Do not connect.  
I
I/O  
O
O
I/O  
I/O  
G
G
Serial port A transmit  
Serial port B transmit  
Reserved  
Logic level primary serial port transmit.  
Logic level secondary serial port transmit.  
Do not connect.  
Reserved  
Do not connect.  
Ground  
Signal ground. Connect to common ground.  
Signal ground. Connect to common ground.  
GND  
Ground  
G: Ground; I: Input; O: Output; P: Power  
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INTERFACE CHARACTERISTICS  
Detailed Pin Descriptions  
RF Input  
The RF input pin is the 50 ohm unbalanced GPS RF input, and can be used with  
active or passive antennas.  
Passive antennas: The RF input pin may be connected by a low-loss 50 ohm  
unbalanced transmission system to the passive GPS antenna if loss is minimal  
(< 2 dB). It is recommend that you use an external LNA with a passive antenna.  
Active Antennas: The RF input pin can also be connected to the output of an external  
low-noise amplifier, which is amplifying GPS signals from the antenna. The gain of  
the LNA must be great enough to overcome transmission losses from the LNA output  
to this pin. The specification for noise figure for the module is < 3 dB at room  
temperature and < 4 dB over the specified temperature range, -40 to +85 C. The  
external LNA must be located such that the loss from the GPS antenna connection to  
the LNA input is minimized, preferably < 1 dB. The noise figure of the LNA should  
be as low as possible, preferably< 2 dB. This specification is provided to enable a  
cascaded noise figure design calculation. Active antennas must be powered with a  
single bias-Tee circuit.  
LNA_XEN  
This logic level output can be used to control power to an external LNA or other  
circuitry. The logic of this signal is such that when the module is running (not in  
standby), this signal is low. During “STANDBY” mode, this signal is high. This pin  
may be used to control the gate of a p-channel FET used as a switch.  
Open/Short Pins  
When using an active antenna, it is recommended that you implement an antenna  
detection circuit with short circuit protection. There are two pins provided for  
reporting the antenna status: OPEN and SHORT.  
The logic level inputs outlined in Table 3.2 may be used with a detection circuit (with  
or without protection) to monitor the status of the external LNA of an active antenna  
by the module.  
The truth table for the logic of these signals is provided in Table 3.2. These input pins  
conform to the Input / Output Pin threshold levels specified in.  
A typical active antenna draws between 10 to 20mA.The antenna Protect/Detect  
circuit will trip as a short circuit at around 100mA. It is best to keep the antenna  
current below 75mA. An open circuit will be determined if the antenna current falls  
below approximately 2mA.  
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INTERFACE CHARACTERISTICS  
3
Table 3.2  
Antenna Status Truth Table  
Condition of logic signals  
SHORT  
ANTENNA REPORTS  
Antenna Open Reported  
Antenna Normal Reported  
Antenna Shorted Reported  
Undefined  
OPEN  
1
1
0
0
1
0
0
1
When using a passive antenna with the SHORT and OPEN pins floating, the receiver  
will report an open condition. If a normal condition from the receiver is desired when  
using a passive antenna, set the logic levels of the SHORT pin High and the OPEN  
pin Low.  
XRESET  
This logic-level, active low input is used to issue hardware or power-on reset to the  
module. It may be connected to external logic or to a processor to issue reset. To reset  
the module, take this pin low for at least 100 microseconds. This pin must be tied to  
VCC with a resistance of less than 10 K Ohms if not used.  
The hardware reset deletes all the information saved in SRAM (position time,  
almanac, ephemeris and customers' user set configurations if not previously saved in  
non-volatile Flash memory) and restarts the Copernicus receiver. See Absolute  
Minimum and Maximum Limits, page 37 for pin threshold values.  
VCC  
This is the primary voltage supply pin for the module. This pin also provides power  
during Standby Mode (Backup Mode). To setup separate power supplies for main  
power and Standby Mode (Backup Mode) power, an external diode-pair must be  
provided.  
XSTANDBY  
This logic level input is used to control the RUN/STANDBY state of the module. If  
this signal is High, the unit will run normally. If this signal is Low, the unit will go to  
“STANDBY” mode. See Absolute Minimum and Maximum Limits, page 37 for pin  
threshold values.  
PPS  
Pulse-per-second. This logic level output provides a 1 Hz timing signal to external  
devices. The positive going 4.2 usec pulse width is controllable by TSIP packet 0x8E-  
4F. The cable delay and polarity is controllable by TSIP packet 0x8E-4A. The PPS  
mode is set by TSIP packet 0x35. This output meets the input/output pin threshold  
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3
INTERFACE CHARACTERISTICS  
RXD_A and RXD_B  
These logic level inputs are the primary (A) and secondary (B) serial port receive  
lines (data input to the module). This output meets the input/output pin threshold  
specifications (see Absolute Minimum and Maximum Limits, page 37.) The baud rate  
for the two ports is under software control.  
TXD_A and TXD_B  
These logic level outputs are the primary (A) and secondary (B) serial port transmit  
lines (data moving away from the module). This output meets the input/output pin  
threshold specifications (see Absolute Minimum and Maximum Limits, page 37.)  
The baud rate for the two ports is under firmware control.  
Reserved Pins  
There are 8 reserved pins on the Copernicus GPS Receiver. For the recommended pin  
connections for these reserved pins, see Table 3.1.  
Protocols  
Table 3.3  
Copernicus GPS Receiver Available protocols  
Protocols  
Specification  
Direction  
Serial Port  
Support  
NMEA  
NMEA 0183 v3.0; Bi-  
directional with extended  
NMEA sentences  
Input / Output  
Input / Output  
Input / Output  
Both Serial Ports  
Both Serial Ports  
Both Serial Ports  
TSIP (Trimble  
Standard Interface  
Protocol)  
Trimble propriety binary  
protocol  
TAIP (Trimble ASCII  
Interface Protocol)  
Trimble propriety ASCII  
protocol  
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INTERFACE CHARACTERISTICS  
3
Serial Port Default Settings  
The Copernicus GPS Receiver supports two serial ports. The default settings are  
provided in the table below.  
Table 3.4  
Copernicus GPS Receiver Serial Port Default Settings  
Port Port  
Pin #  
Protocol  
Characteristics  
Direction  
Baud Rate Data Bits Parity  
Stop Bits FlowControl  
A
B
TXD-A  
RXD-A  
23  
21  
TSIP-Out  
TSIP-IN  
38.4 K  
38.4 K  
8
8
None  
None  
1
1
NO  
NO  
TXD-B  
RXD-B  
24  
20  
NMEA-Out  
NMEA-IN  
4800  
4800  
8
8
None  
None  
1
1
NO  
NO  
Note – Data Bits, Parity, Stop Bits and Flow Control are not configurable. Only  
Protocol and Baud rates are configurable. Detailed descriptions of these protocols  
are defined in the Appendices.  
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3
INTERFACE CHARACTERISTICS  
GPS Timing  
In many timing applications, such as time/frequency standards, site synchronization  
systems, and event measurement systems, GPS receivers are used to discipline local  
oscillators.  
The GPS constellation consists of 24 orbiting satellites. Each GPS satellite contains a  
highly-stable atomic (Cesium) clock, which is continuously monitored and corrected  
by the GPS control segment. Consequently, the GPS constellation can be considered a  
set of 24 orbiting clocks with worldwide 24-hour coverage.  
GPS receivers use the signals from these GPS clocks to correct their internal clock  
which is not as stable or accurate as the GPS atomic clocks. GPS receivers like the  
Copernicus GPS output a highly accurate timing pulse (PPS) generated by an internal  
clock which is constantly corrected using the GPS clocks. This timing pulse is  
synchronized to UTC within ±100 ns rms.  
In addition to serving as a highly accurate stand-alone time source, GPS receivers are  
used to synchronize distant clocks in communication or data networks. This  
synchronization is possible since all GPS satellite clocks are corrected to a common  
master clock. Therefore, the relative clock error is the same, regardless of which  
satellite or satellites are used. For timing applications requiring a common clock, GPS  
is the ideal solution.  
Position and time errors are related by the speed of light. Therefore, a position error  
of 100 meters corresponds to a time error of approximately 333 ns. The hardware and  
software implementation affects the GPS receiver's PPS accuracy level. The  
receiver's clocking rate determines the PPS steering resolution.  
Serial Time Output  
Time must be taken from the timing messages in the TSIP, TAIP, or NMEA protocols  
because position messages contain a timestamp which is usually 1 to 2 seconds in the  
past.  
Table 3.5  
Serial Time Output  
Protocol  
TSIP  
Timing Message  
Report packets 41 and 8F-21  
TM message  
TAIP  
NMEA  
ZDA message  
Note – GPS time differs from UTC (Universal Coordinated Time) by a variable,  
integer number of seconds UTC=(GPS time)-(GPS UTC offset).  
As of January 2006, the GPS UTC offset was 14 seconds. The offset has historically  
increased by 1 second about every 18 months. System designers should plan to read  
the offset value as a part of the timing interface to obtain UTC. The GPS week  
number is in reference to a base week (Week #0), starting January 6, 1980.  
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INTERFACE CHARACTERISTICS  
3
Acquiring the Correct Time  
To acquire the correct time:  
1. Confirm that the almanac is complete and the receiver is generating 3D fixes.  
This will eliminate the UTC offset jump.  
2. Confirm that the receiver is configured for the late PPS option (i.e., it is only  
outputting a PPS on a 3D fix).  
3. Capture the time from TSIP packet 0x41 or TSIP packet 0x8F-20 (if using  
TSIP).  
4. Once time is acquired, on the next PPS add 1 to the whole second to read the  
correct time.  
Note – The minimum time resolution is 1 second.  
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3
INTERFACE CHARACTERISTICS  
A-GPS  
The Copernicus GPS Receiver is equipped with assisted GPS (A-GPS), which  
enables the receiver to obtain a position fix within seconds using almanac, ephemeris,  
time, and position data. This position data can be uploaded to the device via TSIP  
packets or the Trimble GPS Monitor (TGM) application. When A-GPS is enabled, the  
Copernicus GPS Receiver can achieve fast start-up times characteristic of a hot start.  
Follow the procedures below to download current almanac, ephemeris, time, and  
position information, and then upload this data to the starter kit module via TGM or  
TSIP (to upload position data within the customer application).  
Warning – To ensure proper format of the ephemeris file and almanac file, a Trimble receiver must  
be used to gather this data. Almanac files from non-Trimble receivers may not be in proper format  
and thus may not work, (i.e. almanac files downloaded from the Internet).  
C
Enabling A-GPS with the Trimble GPS Monitor Application (TGM)  
1. Attach the Copernicus GPS interface unit to your PC.  
2. Place the GPS antenna where there is a clear view of sky.  
3. Allow the starter kit to run and calculate fixes.  
4. On the main screen, wait for the almanac indicator to turn green confirming  
that the receiver has collected a current almanac.  
Note – It takes 12,5 minutes of uninterrupted Copernicus operation to collect  
almanac from the satellites.  
5. Click on the initialized pull-down menu and use the download features on the  
bottom of the pull-down to download the almanac, position, time and  
ephemeris files on your PC.  
6. Now that you have collected these files, you can upload them using the upload  
features on the initialize pull-down window in TGM.  
Note – The collected ephemeris is only good for approximately 2 hours.  
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INTERFACE CHARACTERISTICS  
3
Enabling A-GPS with TSIP  
1. Allow the receiver to run long enough to collect a current almanac.  
Note – It takes 12,5 minutes of uninterrupted Copernicus operation to collect  
almanac from the satellites.  
2. Use packet 0 x 26 to request the health of the receiver. The response packets  
0x46 and 0x4B indicate when the almanac is complete and current.  
3. Use packet 0x38 to request the almanac and the ephemeris. The receiver  
responds with packet 0 x 58.  
4. Use packet 0 x 21 to request time from the receiver. The receiver responds with  
packet 0x 41. This data can be used to set your own off-board clock.  
5. Use packets 0x42, 0x4A, 0x83 0r 0x84 to request a position from the receiver.  
To upload this information back to the receiver, follow this procedures in the  
specified order:  
1. Upload the time using TSIP packet 0x2E. Wait for upload confirmation report  
packet 0x41.  
2. Upload position using TSIP packet 0x31 or 0x32. No confirmation report  
packet available.  
3. Upload the ephemeris using TSIP packet 0x38. Wait for the upload  
confirmation report TSIP packet 0x58.  
Note – See Appendix A for details on the TSIP protocol.  
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3
INTERFACE CHARACTERISTICS  
Pulse-Per-Second (PPS)  
The Copernicus GPS receiver provides a CMOS compatible TTL level Pulse-Per-  
Second (PPS). The PPS is a positive pulse available on pin 19 of the Copernicus GPS  
Receiver. The rising edge of the PPS pulse is synchronized with respect to UTC. The  
timing accuracy is ±100 rms when valid position fixes are being reported.  
The precise UTC or GPS time is reported in TSIP message 0x41 and NMEA message  
EDA. The line reports are sent within 500ms after the corresponding PPS.  
The rising edge of the pulse is typically less than 6 nanoseconds. The distributed  
impedance of the attached signal line and input circuit can affect the pulse shape and  
rise time. The PPS can drive a load up to 1mA without damaging the module. The  
falling edge of the pulse should not be used.  
The Copernicus' default PPS output mode is Always On, sometimes called or “Early  
PPS”. In Always On mode, PPS is output immediately after main power is applied.  
The PPS is driven by the Real Time Clock (RTC) until the receiver acquires GPS time  
from the satellite and begins outputting fixes. In Always On mode, the PPS continues  
even if the receiver loses GPS lock. The drift of the PPS, when the Copernicus GPS  
receiver is not tracking satellites, is unspecified and should not be used for  
synchronization.  
The PPS output modes can be controlled with TSIP packet 0x35 and NMEA “PS”  
Packet. The modes are Always On (default), Fix Based, or Always Off. Cable delay  
compensation is available through the use of TSIP packet 0x8E-4A and NMEA “PS”  
Packet. PPS pulse width is controlled by TSIP packet 0x8E-4F and the NMEA “PS”  
Packet.  
After a specific mode is selected, it can be stored in non-volatile memory (FLASH)  
using TSIP command 0x8E-26.  
Note – PPS can be configured as positive or negative polarity; factory default is  
positive. The PPS pulse width is also configurable; factory default is 4.2  
microseconds.  
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C H A P T E R  
4
OPERATING MODES  
4
In this chapter:  
This chapter describes the primary Copernicus  
GPS Receiver operating modes and provides  
guidelines for receiver operation.  
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4
OPERATING MODES  
Copernicus Receiver Operating Modes  
Table 4.1  
Copernicus GPS Receiver Operating Modes  
Operating Modes  
Description  
Run Mode  
Continuous tracking or  
normal mode  
Standby Mode  
Monitor Mode  
Backup power or low  
power mode  
Flash upgrading mode  
Run Mode  
The RUN mode is the continuous tracking or the normal mode.  
Standby Mode  
The Copernicus GPS Receiver provides a Standby Mode in which the module's RAM  
memory is kept alive and the real-time clock is running while the rest of the receiver  
is turned off. RAM memory is used to store the GPS almanac, ephemeris, and last  
position.  
Using this information, together with the time information provided by the real-time  
clock, the receiver normally provides faster startup times. The type of start-up after  
Standby Mode depends on the state of the receiver prior to entering Standby Mode  
and on the length of time the receiver spent in the Standby Mode.  
If the receiver has almanac, ephemeris, and position information before entering  
Standby Mode, and the time spent in Standby Mode is less than two hours, the  
receiver will typically perform a hot start.  
If the receiver has all of the information listed above, but the time spent in Standby  
Mode is more than two hours, the receiver will typically perform a warm start.  
The GPS almanac, ephemeris and recent position are automatically stored in non-  
volatile Flash memory. Even without time, the receiver can use the information stored  
in Flash memory to shorten the start-up time. In all cases, the receiver will use all of  
the available information to do the fastest start-up possible.  
Note – In the Standby Mode, the power consumption of the unit is very low. See  
Monitor Mode  
Monitor Mode is the operating mode for upgrading the firmware stored in the Flash  
memory. See Chapter 11 for the firmware upgrade procedure.  
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OPERATING MODES  
4
Changing the Run/Standby Modes  
There are two methods you can follow to switch the receiver between the Run Mode  
and the Standby Mode. Only one of these methods may be used at a time.  
1. Using the XSTANDBY pin or  
2. Using the serial ports under user control  
Note – If you are using the XSTANDBY pin, do not use the serial ports for controlling  
the modes. If you are using the serial port option, the XSTANDBY pin should always  
be held high. You cannot use serial ports to switch to RUN mode if the XSTANDBY  
pin was used to enter STANDBY mode.  
Copernicus Standby Current  
When the Copernicus GPS Receiver is sent a command to go into Standby Mode,  
there is a period of time between 10 and 200 ms (milli seconds) when the power  
supply still has to supply almost full operating current. Only after this period has  
elapsed will the current draw go down to the specified standby current which is  
typically 8.5 uA (micro Amps).  
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4
OPERATING MODES  
Using the XSTANDBY Pin to Switch Modes  
The first method for putting the receiver into Standby Mode or exiting this mode back  
to the Run Mode is through the pin XSTANDBY, pin #16. As long as the pin is held  
high, the receiver will operate normally in Run Mode.  
Entering Standby Mode  
When the pin is taken low, the receiver will go to the STANDBY mode.  
Exiting Standby Mode  
When the pin is taken high again, the receiver will perform a hot or warm restart and  
return to normal operation. The receiver will hot start if the ephemeris is still valid.  
Note – Excessive noise on the XSTANDBY pin could trigger the receiver to reset.  
Using Serial Ports to Switch Modes  
The second method for putting the receiver into Standby Mode is with TSIP packet  
0xC0 or NMEA packet RT.  
There are two possible conditions that would trigger the receiver to exit Standby  
Mode and reset to normal operations:  
1. Serial port activity  
2. Exit after X elapsed seconds  
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OPERATING MODES  
4
Serial Port Activity  
When the receiver enters Standby Mode through the software protocol commands,  
the first condition for exiting Standby Mode is using serial port A activity or serial  
port B activity. The condition is identical for both ports A and B.  
To ensure the receiver detects and responds to serial port activity, issue a NULL  
character on the selected serial port to bring the unit out of Standby Mode. In Standby  
Mode, the receiver samples for serial port activity at a rate of 32.768 kHz. A NULL  
character will bring the selected RX line low for 9 bits so even at the highest baud rate  
of 115200, a NULL character should be detectable at the sample rate.  
There are two exceptions where serial activity may not trigger the unit to exit Standby  
Mode:  
During the 3 seconds following the command to enter Standby Mode.  
The Copernicus GPS receiver may not detect serial port activity during the 3  
seconds immediately after receiving a software command to enter Standby  
Mode. During that 3 seconds, the unit is processing the shut-down command  
and will ignore serial port activity. Therefore the minimum time between  
issuing the shut-down command and the use of serial port activity to return the  
unit to Run Mode is 3 seconds. Standby time cannot be less than 3 seconds.  
During the 10 msec RTC service time.  
During the 10 msec RTC service time, there exists a 91.6 μsec window where  
the receiver cannot detect serial port activity. Using a series of three NULL  
characters in a row should ensure that the unit responds. (See 18-Hour RTC  
Roll Over, page 58 for an explanation of the RTC service time.)  
Exit after X elapsed seconds.  
The second condition that will trigger the receiver to exit Standby Mode is the elapse  
of a pre-defined time. When the receiver is placed into the Standby Mode using  
protocol commands, the receiver can be made to exit the Standby Mode after a  
defined elapsed time using TSIP command Packet 0xC0 or NMEA packet RT. In this  
case, the user specifies the number of seconds the receiver should stay in Standby  
Mode. After this time has elapsed, the unit will perform a reset and start operating  
normally.  
Note – These conditions are provided to the receiver in the serial command packet,  
and the user can specify any combination of these conditions as desired. For exiting  
the Standby Mode, either of the 2 methods can be applied. The first one that occurs  
will bring the receiver to the RUN Mode to start normal operations.  
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OPERATING MODES  
18-Hour RTC Roll Over  
If the Standby Mode lasts longer than 18 hours, a special condition will occur. The  
real-time clock has a maximum time count of 18 hours, so that every 18 hours the  
receiver must briefly power on the processor and read the elapsed time before the  
real-time clock rolls over.  
The Diagram below describes the Copernicus GPS Receiver current draw levels after  
initiating a Standby command, as well as the service time for the 18-hour real time  
clock roll over.  
Figure 4.1  
Current Draw Levels in Standby Mode  
During the 10 msec RTC service is time, there exists a 91.6 μsec window where the  
receiver cannot detect state transitions on the RX pins. If NULL characters are being  
used to bring the unit out of Standby as described earlier, using three NULL  
characters in a row should ensure that one of the NULL characters happens outside of  
the vulnerable window so that the serial port activity is detected.  
3 Null  
91.6 μsec  
= 70 μsec  
Figure 4.2  
Issuing three (3) NULL Characters for Exiting Standby Mode  
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OPERATING MODES  
4
Saving Almanac, Ephemeris and Position to Flash Memory  
The Almanac, Ephemeris, and recent Position data contained in RAM is  
automatically saved to Flash memory.  
Graceful Shutdown  
The Graceful Shutdown command is issued using TSIP packet 0xC0 or NMEA  
command RT with the store RAM to flash flag enabled. The reset type will depend on  
the Graceful Shutdown command parameters. On start-up, the unit will use the  
almanac, ephemeris, and position from RAM first. If RAM is not available, the unit  
will use the almanac from the Flash Memory.  
SBAS  
The Satellite Based Augmentation System (SBAS) includes implementation of the  
current standard for WAAS and the European Geostationary Navigation Overlay  
Service (EGNOS) operated by the European Space Agency and other compatible  
systems that will come online in the future.  
WAAS  
Wide Area Augmentation System (WAAS) is an extremely accurate navigation  
system developed for civil aviation by the Federal Aviation Administration (FAA).  
The system augments GPS to provide the additional accuracy, integrity, and  
availability necessary to enable users to rely on GPS for all phases of flight for all  
qualified airports within the WAAS coverage area.  
The worst-case accuracy is within 7.6 meters of the true position 95% of the time.  
This is achieved via a network of ground stations located throughout North America,  
which monitor and measure the GPS signal. Measurements from the reference  
stations are routed to two master stations, which generate and send the correction  
messages to geostationary satellites. Those satellites broadcast the correction  
messages back to Earth, where WAAS-enabled GPS receivers apply the corrections to  
their computed GPS position.  
Number of channels  
The Copernicus GPS Receiver tracks one WAAS satellite at a time. When acquiring  
and tracking a WAAS satellite, one tracking channel is set aside for this purpose,  
leaving eleven tracking channels which are used for the GPS satellites.  
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4
OPERATING MODES  
Acquisition  
The Copernicus GPS Receiver will acquire a WAAS satellite after it has a GPS-based  
position fix. After a two minute position fix outage, the Copernicus module will stop  
tracking and acquiring the WAAS satellite. The WAAS satellite will be re-acquired  
after a GPS-based position fix is re-established.  
Usage  
The Copernicus GPS Receiver will only use the data from a WAAS satellite for  
position fix corrections. It shall not use a WAAS satellite for the position solution  
computation.  
Almanac collection  
The Copernicus GPS Receiver collects WAAS almanac data and automatically stores  
the WAAS Satellite location, and abbreviated almanac and health data to BBRAM  
and NVS storage.  
Ephemeris collection  
The Copernicus GPS Receiver will NOT collect or store WAAS ephemeris data. The  
module stores 1 set of WAAS corrections.  
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C H A P T E R  
5
APPLICATION CIRCUITS  
5
In this chapter:  
This chapter describes the Copernicus GPS  
Receiver passive and active antenna  
connections.  
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5
APPLICATION CIRCUITS  
Passive antennaMinimum Connections  
Figure 5.1 Passive Antenna - Minimum Connections  
The minimum connection set for the Copernicus GPS Receiver is illustrated in  
Figure 5.1. Following is a description of the schematic.  
A passive antenna is used. The Copernicus GPS Receiver has an on-board  
LNA and an Automatic Gain Control circuit.  
The Pin LNA_XEN is not necessary and not connected.  
No Antenna open and short detection or protection is provided.  
If the Open (Pin 7) and Short (Pin 8) are kept unconnected (floating), the  
Copernicus GPS Receiver reports an open antenna condition. If a normal  
condition report is desired, tie Open low and Short high. (See Table 3.2).  
There is no HW reset ability through the pin XRESET, since XRESET pin is  
tied High to VCC.  
There is no HW initiated Standby Mode through the Pin XSTANDBY, since  
XSTANDBY pin is tied High to VCC. The software serial command to  
Standby Mode will still apply.  
There is no separate power for STANDBY power.  
One serial port is utilized.  
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APPLICATION CIRCUITS  
5
Figure 5.2 Passive antenna - HW Activated Standby Mode Available  
Following is a description of the schematic:  
Passive Antenna is used. The Copernicus GPS Receiver has an on-board LNA  
and an Automatic Gain Control circuit.  
The Pin LNA_XEN is not necessary and not connected.  
There is no HW reset ability through the pin XRESET, since XRESET pin is  
tied High to VCC.  
HW initiated Standby Mode through the Pin XSTANDBY is possible, since  
XSTANDBY pin is not tied High to VCC. The software serial command to  
Standby Mode can still be used as a second method to force the module into  
Standby Mode.  
There is no separate power for STANDBY power.  
One serial port is utilized.  
No Antenna open and short detection or protection is provided. When Open  
(Pin 7) and Short (Pin 8) are kept unconnected (floating), the Copernicus GPS  
Receiver reports an open antenna condition. If a normal condition is desired, tie  
Open Low and Short High. See Table 3.2.  
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APPLICATION CIRCUITS  
Active AntennaFull Connection  
Figure 5.3 Active antenna - Full connection  
Following is a description of the schematic with antenna detection, when using a  
second source to power the unit when in Standby Mode.  
An active antenna is used.  
The Pin LNA_XEN is connected.  
HW reset ability through the pin XRESET is possible, since XRESET pin is  
not tied High to VCC.  
HW initiated Standby Mode through the Pin XSTANDBY is possible, since  
XSTANDBY pin is not tied High to VCC. Serial Command to Standby Mode  
can still apply as the second method to force the module to Standby Mode.  
A second power source for the standby voltage is applied (see the note below).  
Both serial ports are utilized.  
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APPLICATION CIRCUITS  
5
Antenna open and short detection and protection is provided. The combination  
of the two pins Open (Pin 7) and Short (Pin 8) report the antenna status (see  
Note – When using two power sources, main and standby, an external diode pair must  
be used to OR the Vcc and Vbackup power to ensure that the voltage at the module  
VCC pin is always 2.7-3.3 VDC.  
Table 5.2  
Component Information  
Component Description  
Manufacturer  
Part Number  
C1  
C2  
18 PF, 0402 capacitor,  
C0G  
KEMET  
C0402C180J5GAC  
0.1 uF, 0402 capacitor,  
X7R  
CAL-CHIP  
GMC04X7R104K16NTLF  
J1  
MCX Connector  
Johnson Components  
Coil Craft  
133-3711-312  
L1  
100 nH, 0603 inductor,  
surface mount  
0603CS - R10XJLU  
Q2  
PNP Transistor  
Central Semiconductor  
CMPT404A  
(MMBTA70LT1 may be  
used if 12 Volt back  
voltage tolerance is not  
required)  
Q3  
Q4  
Q5  
U1  
DI  
NPN Transistor  
PNP Transistor  
Philips  
MMBT3904  
MMBT3906  
MMBT3906  
BAT 54 CT  
Philips  
PNP Transistor  
Philips  
Dual schottky diode  
Switching Diode  
Diodes Inc.  
ON Semiconductor  
MMBD914LTIG  
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APPLICATION CIRCUITS  
Active AntennaNo Antenna Status  
Figure 5.4  
Active antenna - No Antenna Status  
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APPLICATION CIRCUITS  
5
Following is a description of this schematic without antenna detection or a separate  
power source for Standby Mode:  
An active Antenna is used.  
The Pin LNA_XEN is not connected.  
There is no HW reset ability through the pin XRESET, since XRESET pin is  
tied High to VCC.  
HW initiated Standby Mode through the Pin XSTANDBY is possible, since  
XSTANDBY pin is not tied High to VCC. Serial Command to Standby Mode  
can still apply as the second method to force the module to Standby Mode.  
There is no separate power for STANDBY power.  
Both serial ports are utilized.  
Antenna open and short detection or protection is not provided. If pins 7 and 8  
are left floating, they will cause the unit to report an antenna open condition  
(see Table 3.2).  
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APPLICATION CIRCUITS  
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C H A P T E R  
6
RF LAYOUT CONSIDERATIONS  
6
In this chapter:  
This chapter outlines RF design considerations  
for the Copernicus GPS Receiver.  
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6
RF LAYOUT CONSIDERATIONS  
General Recommendations  
The design of the RF transmission line that connects the GPS antenna to the  
Copernicus GPS Receiver is critical to system performance. If the overall RF system  
is not implemented correctly, the Copernicus GPS Receiver performance may be  
degraded.  
The radio frequency (RF) input on the Copernicus GPS module is a 50 ohm,  
unbalanced input. There are ground castellations, pins 2 and 4, on both sides of the  
RF input castellation, on pin 3. This RF input may be connected to the output of an  
LNA which has a GPS antenna at its input or to a passive antenna via a low-loss 50  
ohm, unbalanced transmission line system.  
In the case where the GPS antenna must be located any significant distance from the  
Copernicus GPS Receiver, the use of an LNA at the antenna location is necessary to  
overcome the transmission losses from the antenna to the Copernicus GPS module. It  
is recommended that in the case of a passive antenna, the transmission line losses  
from the antenna to the module be less than 2 dB. Otherwise an LNA should be added  
to the system.  
The specifications for the external LNA required can be determined as follows. The  
specification of noise figure for the Copernicus GPS module is 3 dB at room  
temperature and 4 dB over the temperature range 40 C to ±85 C. The noise figure for  
this external LNA should be as low as possible, with a recommended maximum of  
1.5 dB. It is recommended that the gain of this LNA exceed the loss as measured from  
the LNA output to the module input by 10 dB. For example, if the loss from the  
external LNA output is 10 dB, the recommended minimum gain for the LNA is 20  
dB. In order to keep losses at the LNA input to a minimum, it is recommended that  
the antenna be connected directly to the LNA input, with as minimum loss as  
possible.  
Connections to either the LNA output or to a passive antenna must be made using a  
50 ohm unbalanced transmission system. This transmission system may take any  
form, such as microstrip, coaxial, stripline or any 50 ohm characteristic impedance  
unbalanced, low-loss system.  
It is important to keep any noise sources with frequencies at or near 1575 MHz away  
from the RF input. In the case of a passive antenna, it is important that the antenna is  
not placed in a noisy location (such as too close to digital circuitry) or performance  
may be degraded. Shielded transmission line systems (stripline, coaxial) may be used  
to route this signal if noise ingress is a concern.  
If an active antenna is used and it is desired to power this antenna from the RF  
transmission line, a bias-tee will be required at the Copernicus GPS module end. A  
simple series inductor (that is parallel resonant at 1575 MHz) and shunt capacitor  
(series resonant at 1575 MHz) to which the bias voltage is supplied is sufficient. An  
open/short detection and over current protection circuit may also be employed. Please  
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RF LAYOUT CONSIDERATIONS  
6
In the printed circuit board (PCB) layout, it is recommended to keep the copper layer  
on which the Copernicus GPS Receiver is mounted clear of solder mask and copper  
(vias or traces) under the module. This is to insure mating of the castellations between  
the Copernicus GPS module and the board to which it is mounted, and that there is no  
interference with features beneath the Copernicus GPS Receiver causing it to lift  
during the re-flow solder process.  
For a microstrip RF transmission line topology, it is recommended that the layer  
immediately below the one to which the Copernicus GPS Receiver is mounted be  
ground plane. Pins 2 and 4 should be directly connected to this ground plane with low  
inductance connections. Pin 3, the RF input, can be routed on the top layer using the  
proper geometry for a 50 ohm system.  
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RF LAYOUT CONSIDERATIONS  
Design considerations for RF Track Topologies  
The following items need to be considered for the Copernicus GPS Receiver RF  
layout:  
PCB track connection to the RF antenna input must have impedance of 50  
ohms.  
PCB track connection to the RF antenna input must be as short as possible.  
If an external antenna is used, PCB track connection to the RF antenna input  
must transition from the circuit board to the external antenna cable, which is  
typically a RF connector.  
If there are any ground planes on the same layer as the microstrip trace, please  
refer to the Coplaner Waveguide design. Not covered in this manual.  
PCB track connection to the RF antenna input must be routed away from  
potential noise sources such as oscillators, transmitters, digital circuits,  
switching power supplies and other sources of noise.  
RF and bypass grounding must be direct to the ground plane through its own  
low-inductance via  
Active or passive antennas may be used. If using a passive antenna the  
connection to the antenna input shall be very short. It is possible to mount the  
patch antenna on the same PCB as the Copernicus GPS module. Designers  
must be aware of noise generating circuitry and proper design precautions  
taken (shielding,.).  
The PCB track connection to the RF antenna input must not have:  
Sharp bends.  
Components overlaying the track.  
Routing between components to avoid undesirable coupling.  
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RF LAYOUT CONSIDERATIONS  
6
PCB Considerations  
The minimum implementation is a two-layer PCB substrate with all the RF signals on  
one side and a solid ground plane on the other. Multilayer boards can also be used.  
Two possible RF transmission line topologies include microstrip and stripline.  
Microstrip Transmission Lines  
Figure 6.1  
Microstrip Transmission Lines  
Ground Plane Design Recommendation  
Use a complete ground plane immediately under the PCB layer on which the  
Copernicus module is mounted. Around the signal tracks on the same layer as the  
module, flood or “copper pour” and connect to the ground plane using low inductance  
vias. A single ground plane is adequate for both analog and digital signals.  
Design of Microstrip Transmission Line  
Connections to either the LNA output or to a passive antenna must be made using a  
50 ohm unbalanced transmission system. The PCB parameters that affect impedance  
are:  
Track width (W)  
PCB substrate thickness (H)  
PCB substrate permittivity (εr)  
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6
RF LAYOUT CONSIDERATIONS  
To a lesser extent, PCB copper thickness (T) and proximity of same layer  
ground plane.  
Figure 6.2  
PCB Microstrip Topology  
Table 6.1 shows typical track widths for an FR4 material PCB substrate (permittivity  
εr of 4.6 at 1.5 GHz) and different PCB thickness. One ounce copper is assumed for  
the thickness of the top layer. If a Multi layer PCB is used, the thickness is the  
distance from signal track to nearest ground plane.  
Table 6.1  
Typical Track Widths for an FR4 material PCB Substrate in Microstrip  
Topology  
Substrate Material  
Permittivity  
Substrate Thickness  
H (mm)  
Track Width  
W (MM)  
1.6  
1.2  
1.0  
0.8  
0.6  
0.4  
0.2  
2.91  
2.12  
1.81  
1.44  
1.07  
0.71  
0.34  
FR4  
4.6  
Microstrip Design Recommendations  
It is recommended that the antenna connection PCB track be routed around the  
outside of the module outline, kept on a single layer and have no bends greater than  
45 degrees. It is not recommended, for production reasons, to route the track under  
the module.  
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RF LAYOUT CONSIDERATIONS  
6
Stripline Transmission Lines  
.
Figure 6.3  
Stripline Transmission Lines  
Ground plane design in stripline topology  
The stripline topology requires three PCB layers: two for ground planes and  
one for signal. One of the ground plane layers may be the layer to which the  
Copernicus GPS module is mounted. If this is the case,  
The top layer must be flooded with ground plane and connected to all ground  
castellations on the Copernicus GPS module.  
The RF input should be connected to the signal layer below using a via.  
The layer below the signal layer is the second ground plane.  
Connect the two ground planes with vias typically adjacent to the signal trace.  
Other signals of the Copernicus GPS module may be routed to additional layer  
using vias.  
For the symmetric stripline topology where the signal trace is equal distance from  
each ground plane, the following table applies:.  
Table 6.2  
Typical track widths for an FR4 material PCB substrate in Stripline topology  
Substrate Material  
Permittivity  
Substrate Thickness  
H (mm)  
Track Width  
W (MM)  
1.6  
1.2  
1.0  
0.8  
0.6  
0.4  
0.2  
0.631  
0.438  
0.372  
0.286  
0.2  
FR4  
4.6  
0.111  
N/A  
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6
RF LAYOUT CONSIDERATIONS  
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C H A P T E R  
7
MECHANICAL SPECIFICATIONS  
7
In this chapter:  
This chapter provides product drawings and  
instructions for soldering the Copernicus GPS  
Receiver to a PCB.  
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7
MECHANICAL SPECIFICATIONS  
Mechanical Outline Drawing  
Top View  
Bottom View  
Figure 7.1  
Copernicus GPS Receiver, Footprint  
Figure 7.2  
Copernicus GPS Receiver, Outline Dimensions  
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MECHANICAL SPECIFICATIONS  
7
Soldering the Copernicus GPS Receiver to a PCB  
Solder mask  
When soldering the Copernicus GPS Receiver to a PCB, keep an open cavity  
underneath the Copernicus module (i.e., do not place copper traces or solder mask  
underneath the module). The diagram below illustrates the required user solder mask.  
The units in brackets, [ ], are in millimeters.  
No solder mask  
or copper traces  
under the unit.  
Figure 7.3  
Solder Mask Diagram  
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7
MECHANICAL SPECIFICATIONS  
Pad Pattern  
Below is the required user pad pattern. The units in brackets, [ ], are in millimeters.  
No solder mask  
or copper traces  
under the unit.  
Figure 7.4  
Pad Pattern Diagram  
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MECHANICAL SPECIFICATIONS  
7
Paste Mask  
To ensure good mechanical bonding with sufficient solder to form a castellation  
solder joint, use a solder mask ratio of 1:1 with the solder pad. When using a 5 ±1 Mil  
stencil to deposit the solder paste, we recommend a 4 Mil toe extension on the stencil.  
The units in brackets, [ ], are in millimeters.  
Figure 7.5  
Paste Mask Diagram  
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7
MECHANICAL SPECIFICATIONS  
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C H A P T E R  
8
PACKAGING  
8
In this chapter:  
Follow the instructions in this chapter to ensure  
the integrity of the packaged and shipped  
Copernicus GPS Receiver modules.  
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8
PACKAGING  
Introduction  
The Copernicus GPS modules is packaged in tape and reel for mass production. The  
reel is sealed in a moisture proof Dry Pack bag. Please follow all the directions  
printed on the package for handling and baking.  
The Copernicus GPS modules are packaged in two quantities: reel with 100 pieces  
and reel with 500 pieces.  
Figure 8.1  
Copernicus GPS Receiver Packaged in Tape  
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PACKAGING  
8
Reel  
The 13-inch reel that can be mounted in a standard feeder for the surface mount pick  
and place machine. The reel dimensions are the same regardless of the quantity on the  
reel.  
Figure 8.2  
Reel Diagram  
Weight  
100 pcs with reel packaging + desiccant + humidity indicator = approximately  
0.79Kg (1.74 lbs.)  
500 pcs with reel packaging + desiccant + humidity indicator = approximately  
1.47Kg (3.24 lbs.)  
100 pcs with reel packaging + desiccant + humidity indicator + white pizza box =  
approximately 1.02Kg (2.24 lbs.)  
500 pcs with reel packaging + desiccant + humidity indicator + white pizza box =  
approximately 1.70Kg (3.74 lbs.)  
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8
PACKAGING  
Tapes  
The tape dimensions illustrated in the diagram below are in inches. The metric units  
appear in brackets [ ].  
Figure 8.3  
Tape Diagram  
a n i h C i n d e M a  
ROUND HOLE  
1 1 2 3 4 S / N 0 5 0  
D 0 - 0 - 9 7 9 5 2  
a n i  
h
C n  
a d M e  
i
a n i  
h
C n  
a d M e  
i
a
i n h C i e n d M a  
a n i  
h
C n  
a d M e  
i
a n i  
h
C n  
a d M e  
i
2 3 4 0 1 1 0 N 5 /  
S
4
1 2 3 5 0 0 1 N /  
S
3 4 1 1 2 0 N 5 / 0  
S
2 3 4 0 1 1 0 N 5 /  
S
4
1 2 3 5 0 0 1 N /  
S
D - 0 0 9 - 2 9 5 7  
D 0 - 0 - 7 9 5 2 9  
D
0 - 0 - 9 7 9 5 2  
D - 0 0 9 - 2 9 5 7  
D 0 - 0 - 7 9 5 2 9  
Feeding direction  
Figure 8.4  
Feeding Direction Diagram  
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C H A P T E R  
9
SHIPPING and HANDLING  
9
In this chapter:  
This chapter provides detailed guidelines for  
shipping and handling the Copernicus GPS  
Receiver to ensure compliance with the product  
warranty.  
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9
SHIPPING and HANDLING  
Shipping and Handling Guidelines  
Handling  
The Copernicus GPS module is shipped in tape and reel for use with an automated  
surface mount machine. This is a lead-free module with silver plating. Do not allow  
bodily fluids or lotions to come in contact with the bottom of the module.  
WARNING – The Copernicus GPS module is packed according to ANSI/EIA-481-B and J-  
STD-033A. All of the handling and precaution procedures must be followed. Deviation  
from following handling procedures and precautions voids the warranty.  
C
Shipment  
The reel of Copernicus GPS modules is packed in a hermetically sealed moisture  
barrier bag (DryPac) then placed in an individual carton. Handle with care to avoid  
breaking the moisture barrier.  
Storage  
The shelf life for the sealed DryPac is 12 months and it must be stored at <40 °C and  
<90% relative humidity.  
Moisture Indicator  
A moisture indicator is packed individually in each DryPac to monitor the  
environment. All five indicating spots are shown blue from the factory. If the  
indicator shows pink, follow the instructions printed on the indicator and bake as  
necessary. See Baking Procedure, page 90 for baking instructions.  
Floor Life  
The reel of Copernicus GPS modules is vacuum sealed in a moisture barrier bag  
(DryPac). Once the bag is opened, moisture will bond with the modules. In a  
production floor environment, an open reel needs to be processed within 72 hours,  
unless it is kept in a nitrogen purged dry chamber. If the moisture indicator has  
changed to pink, follow the baking instructions printed on the moisture barrier.  
The Copernicus GPS is a lead free component for RoHS compliance. This unit is also  
plated with immersion silver for better solderability. The silver may tarnish over time  
and show yellow in color, but tarnish should not affect the solderability.  
WARNING – Operators should not touch the bottom silver solder pads by hand or with  
contaminated gloves. No hand lotion or regular chlorinated faucet water can be in  
contact with this module before soldering.  
C
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SHIPPING and HANDLING  
9
Moisture Precondition  
Precautions must be taken to minimize the effects of the reflow thermal stress on the  
module. Plastic molding materials for integrated circuit encapsulation are  
hygroscopic and absorb moisture dependent on the time and the environment.  
Absorbed moisture will vaporize during the rapid heating of the solder reflow  
process, generating pressure to all the interface areas in the package, followed by  
swelling, delamination, and even cracking of the plastic. Components that do not  
exhibit external cracking can have internal delamination or cracking which affects  
yield and reliability.  
Figure 9.1  
Moisture Precondition Label  
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9
SHIPPING and HANDLING  
Baking Procedure  
If baking is necessary, Trimble recommends baking in a nitrogen purge oven.  
Temperature:  
Duration:  
125 °C  
24 Hours.  
After Baking:  
Store in a nitrogen-purged cabinet or dry box to prevent  
absorption of moisture.  
WARNING – Do not bake the units within the tape and reel packaging.Repeated baking  
processes will reduce the solderablity.  
C
Soldering Paste  
The Copernicus GPS module itself is not hermetically sealed, Trimble strongly  
recommends using the “No Clean” soldering paste and process. The castellation  
solder pad on this module is plated with silver plating. Use Type 3 or above soldering  
paste to maximize the solder volume. An example is provided below.  
Solder paste:  
Kester EM909  
Alloy composition: Sn96.5Ag3Cu.5 (SAC305) 96.5% Tin/ 3%Silver/ 0.5%  
Copper  
Liquidus Temperature:221 °C  
Stencil Thickness:  
5 Mil (0.005")  
Stencil opening requires 4-mil toe over paste in the X and Y directions.  
Note – Consult solder paste manufacturer and the assembly process for the approved  
procedures.  
Solder Reflow  
A hot air convection oven is strongly recommended for solder reflow. For the lead-  
free solder reflow, we recommend using a nitrogen-purged oven to increase the solder  
wetting. Reference IPC-610D for the lead free solder surface appearance.  
WARNING – Follow the thermal reflow guidelines from the IPC-JEDEC J-STD-020C.  
C
The size of this module is 916.9 mm3. According to J-STD-020C, the peak  
component temperature during reflow is 245 +0 °C.  
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SHIPPING and HANDLING  
9
Recommended Soldering Profile  
Figure 9.2  
Recommended Soldering Profile  
Select the final soldering thermal profile very carefully. The thermal profile depends  
on the choice of the solder paste, thickness and color of the carrier board, heat  
transfer, and size of the penalization.  
WARNING – For a double-sided surface-mount carrier board, the unit must be placed on  
the secondary side to prevent falling off during reflow.  
C
Optical Inspection  
After soldering the Copernicus GPS module to the carrier board, follow IPC-610  
specification to visually inspect using 3X magnification lens to verify the following:  
Each pin is properly aligned with mount pad.  
Pads are properly soldered.  
No solder is bridged to the adjacent pads. X-ray the bottom pad if necessary.  
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9
SHIPPING and HANDLING  
Cleaning  
When the Copernicus GPS module is attached to the user board, a cleaning process  
voids the warranty. Please use a “no-clean” process to eliminate the cleaning process.  
The silver plated Copernicus GPS module may discolor with cleaning agent or  
chlorinated faucet water. Any other form of cleaning solder residual may cause  
permanent damage and will void the warranty.  
Soldering Guidelines  
Repeated Reflow Soldering  
The Copernicus GPS lead-free silver plated module can withstand two-reflow solder  
processes. If the unit must mount on the first side for surface-mount reflow, add glue  
on the bottom of the module to prevent falling off when processing the second side.  
Wave Soldering  
The Copernicus GPS module cannot soak in the solder pot. If the carrier board is  
mixed with through-hole components and surface mount devices, it can be processed  
with one single lead-free wave process. The temperature of the unit will depend on  
the size and the thickness of the board. Measure the temperature on the module to  
ensure that it remains under 180 °C.  
Hand Soldering  
For the lead-free Copernicus GPS module, use a lead-free solder core, such as Kester  
275 Sn96.5/Ag3/Cu0.5. When soldering the module by hand, keep the soldering iron  
below 260 °C.  
Rework  
The Copernicus GPS module can withstand one rework cycle. The module can heat  
up to the reflow temperature to precede the rework. Never remove the metal shield  
and rework on the module itself.  
Conformal Coating  
Conformal coating on the Copernicus GPS module is not allowed. Conformal coating  
will void the warranty.  
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SHIPPING and HANDLING  
9
Grounding the Metal Shield  
The Copernicus GPS Receiver is designed with numerous ground pins that, along  
with the metal shield, provide the best immunity to EMI and noise. Any alteration by  
adding ground wires to the metal shield is done at the customer's own risk and may  
void the warranty.  
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9
SHIPPING and HANDLING  
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C H A P T E R  
10  
COPERNICUS REFERENCE BOARD  
10  
In this chapter:  
This chapter provides schematics for the  
Copernicus GPS Receiver board.  
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10 COPERNICUS REFERENCE BOARD  
Introduction  
The Copernicus surface-mount GPS receiver is installed on a carrier board defined as  
the Copernicus Reference Board. This board can also be used as a design reference,  
providing a visual layout of the Copernicus module on a PCB including the RF signal  
trace, RF connector, and the I/O connections of the 28 signal pins. The reference  
board demonstrates how an 8-pin header connector can be connected to the I/O and  
power sections of Copernicus, and how an RF connector can be attached to the RF  
section. An antenna open and short detection and protection application circuit has  
also been included on the reference board. The Copernicus GPS reference board is  
RoHS compliant (lead-free).  
Figure 10.1 Copernicus Reference Board, Frontside  
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COPERNICUS REFERENCE BOARD 10  
Figure 10.2 Copernicus GPS Reference Board, Backside  
The Copernicus GPS reference board is installed on the starter kit motherboard to  
facilitate testing and evaluation of the Copernicus GPS Receiver. It provides  
everything the user needs to get started integrating state-of-the-art GPS capability  
into an application.  
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10 COPERNICUS REFERENCE BOARD  
Reference Board Block Diagram  
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COPERNICUS REFERENCE BOARD 10  
Reference Board Schematic (page 1 of 3)  
2
2
1
1
2
1
3
4
3
2
5
Note – Reference board schematics may differ from the recommendations outlined in  
Table 3.1 due to the test mode requirements for Trimbles internal use.  
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10 COPERNICUS REFERENCE BOARD  
Reference Board Schematic (page 2 of 3)  
2
1
3
3
3
2
2
2
1
1
1
2
1
3
2
1
1
3
2
2
1
1
3
2
2
1
3
2
1
2
1
3
2
1
3
2
1
2
1
3
2
1
3
2
1
2
1
3
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COPERNICUS REFERENCE BOARD 10  
Reference Board Schematic (page 3 of 3)  
2
3
2
1
2
3
2
3
1
3
Figure 10.3 Copernicus Reference Board Schematic (Page 3)  
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10 COPERNICUS REFERENCE BOARD  
Reference Board I/O and Power Connector  
The Copernicus GPS reference board power and data I/O functions are integrated into  
a single 8-pin header connector designated J7. The J7 connector uses 0.15 inch (3.8  
mm) high pins on 0.0787 inch (2 mm) spacing. See the Copernicus GPS reference  
board schematics, earlier in this chapter.  
Table 10.1  
Copernicus Reference Board Pin Description.  
Pin #  
Function  
TXD-B  
VCC  
Description  
1
2
3
4
Port B transmit, CMOS/TTL  
3.0 VDC to 3.6 VDC  
TXD-A  
VBack  
Port A transmit, CMOS/TTL  
3.0 VDC to 3.3 VDC  
The STANDBY supply shall be at least 0.3V less than  
VCC.  
5
6
7
8
RXD-A  
1 PPS  
RXD-B  
GND  
Port A receive, CMOS/TTL  
Pulse-Per-Second, CMOS/TTL  
Port B receive, CMOS/TTL  
Ground, Power and Signal  
Reference Board Power Requirement  
The Copernicus GPS reference board requires +3.0 VDC to 3.6 VDC. The receiver  
power is supplied through pin 2 of the I/O connector.  
The Copernicus GPS reference board also provides an input for back-up power used  
when Copernicus is put in Standby mode and prime power is turned off. Back-up  
power is used to keep the Copernicus RAM memory alive and to power the real-time  
clock. RAM memory is used to store the GPS almanac, ephemeris, last position, and  
user configuration data, including port parameters.  
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COPERNICUS REFERENCE BOARD 10  
Reference Board Jumper Table  
Table 10.2  
Copernicus Reference Board Jumper Table  
Reference Designator Name  
Description  
J1  
RF Input  
MCX Jack (Female Connector)50 Ohms  
unbalanced  
J4  
XRESET  
Normal Operation: Jumper in place (connects  
XRESET to VCC)  
Reset Operation: Removing the Jumper and  
asserting pin 2 of J4 low for greater than 100 usec  
resets the unit. *Switch SW1 can also reset the  
unit. Please see below.  
SW1  
J5  
Reset Switch  
VCC  
Press the button resets the unit.  
Normal Operation: Jumper in place (Applies  
VCC to unit)  
Test Mode: Jumper may be removed and ampere  
meter may be inserted for current measurement.  
J6  
Vback  
Normal Operation: Jumper in place.(Applies  
VBack to unit). The user can use VCC as the  
STANDBY Supply.  
J7  
J8  
8-Pin Header  
PPS  
See Table 10 for Reference Board pin Description.  
Normal Operation: Jumper in place.(It outputs  
PPS at pin 9 of both DB9 connectors of the Starter  
Kit through J7 pin 6 of the Reference Board).  
J9-J21  
J25  
Reserved  
Reserved  
Reserved  
Reserved  
Normal Operation: No Jumper (Run Mode).  
J27  
J28  
Reserved  
Reserved  
XSTANDBY  
Normal Operation: Jumper between pins 1 and  
2 of the jumper J28 (Run Mode). *  
Standby Mode: Jumper between pins 2 and 3 of  
J28. *For external control, Jumper may be  
removed and pin 2 of the jumper can be  
externally controlled, e.g. via a host processor.  
J22-24  
J26  
Spare  
Spare driver transistor  
Antenna  
Power  
Normal Operation: Jumper in place.(Active  
antenna powered from VCC).If a separate power  
supply is desired for active antenna, jumper may  
be removed and an external antenna power can  
be applied to pin 2 of J26. *  
* See Copernicus Reference Board Schematics in this chapter.  
Note – See Table 3.1 for pin numbers. indicates pin 1.  
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10 COPERNICUS REFERENCE BOARD  
Reference Board Component Locations Drawing  
Figure 10.4 Copernicus Reference Board, Top Side  
Figure 10.5 Copernicus Reference Board Schematic, Bottom Side  
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C H A P T E R  
11  
FIRMWARE UPGRADE  
11  
In this chapter:  
This chapter describes an interface for  
programming (loading) firmware into the  
Copernicus GPS receiver. The interface can be  
used to develop a tool to upgrade firmware in the  
field. Sample source code of a tool for  
Microsoft® Windows is available to  
demonstrate implementation of the interface  
described in this document.  
This chapter describes an  
interface for programming  
(loading) firmware into the  
Copernicus GPS receiver.  
The interface can be used  
to develop a tool to  
upgrade firmware in the  
field. Sample source code  
of a tool for Microsoft®  
Windows is available to  
demonstrate  
implementation of the  
interface described in this  
document.  
The information contained in this chapter is  
applicable only to the Copernicus GPS receiver  
developed by the Advanced Devices group of  
Trimble Navigation Ltd. It may not be relevant  
to other products.  
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11 FIRMWARE UPGRADE  
Software Architecture  
The Flash memory chip of the GPS receiver is divided into several functional  
sections. The Boot ROM section is loaded during production and cannot be changed  
or erased without special packets with password protection. The User Data section is  
maintained by the application. The Copernicus GPS Receiver Firmware section holds  
the main software application, and can be erased and loaded with a newer version  
through the GPS receiver’s serial port.  
Table 11.1  
Functional Software Components and Memory Map  
Word Address  
Software Component/Section  
0x3FC000 – 0x3FFFFF  
Boot ROM  
0x3F8000 – 0x3FBFFF  
0x3E0000 – 0x3F7FFF  
0x360000 – 0x3DFFFF  
0x300000 – 0x35FFFF  
<reserved>  
User Data  
Copernicus GPS Firmware  
<reserved>  
Boot Monitor  
The boot monitor module is a part of the Boot ROM section. It provides facilities to  
perform checksum verification and RAM tests, and to read/write data from/to a  
specified location in RAM or Flash, thus allowing the user to update the firmware.  
The GPS receiver will enter the boot monitor mode if either of the following  
conditions occurs:  
Application firmware checksum verification failed at power-up;  
RAM test failed at power-up;  
A special protocol packet is issued by the user.  
Once the system is in the monitor mode, a special Monitor protocol is used to  
communicate with the Copernicus GPS Receiver (here after referred as the Target).  
The necessary details about this protocol are presented in Appendix A.  
To return from the monitor to the normal GPS operating mode (i.e. execute the  
application firmware), either  
Cycle the main power or  
Toggle the reset pin, or  
Send a “Restart Target” packet described on page 115.  
The default settings for the Copernicus GPS receiver’s serial ports in the monitor  
mode are:  
Serial port A: 38400 baud, 8 data bits, 1 stop bit, and no parity  
Serial port B: 4800 baud, 8 data bits, 1 stop bit, and no parity  
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FIRMWARE UPGRADE 11  
Firmware Binary File Format  
The firmware is distributed as a 16 Mbit binary file that includes the whole Flash  
image, i.e. the Copernicus GPS Firmware, Boot ROM, and all the other Flash  
sections. The Monitor protocol requires that the actual loadable raw data bytes be sent  
to the target to program into Flash. The loadable data is expected to be sent in a  
sequential manner, in the order from the lowest to the highest loading address. Data  
will be programmed starting at the base address specified when initiating firmware  
loading. Therefore, the GPS Firmware portion of the binary file must be extracted  
prior to sending it to the target. Appendix A provides a reference to example source  
code that shows how to extract data from the binary file.  
Firmware Loading Procedure  
This section describes the procedure for loading firmware into the Flash chip of the  
Copernicus GPS receiver (referred to as “target” throughout this document).  
The following pseudo-code shows the general sequence of steps. The details of each  
step are provided later in this section.Appendix A provides a reference to the sample  
C source code that shows how to implement this pseudo-code.  
Pseudo-code  
Load Firmware to Target:  
{
Read the firmware BIN file, extract the application firmware, and  
load into a memory buffer.  
Set local serial port settings depending on serial port used.  
For Port A, set 38400-8-none-1; for Port B, set 4800-8-none-1;  
If using TSIP, establish connection using the TSIP protocol:  
Send TSIP version request packet 0x1F;  
Wait for TSIP version response packet 0x45;  
If TSIP version response packet not received:  
Exit/power-cycle target and repeat from beginning;  
If using NMEA, establish connection using NMEA protocol:  
Send NMEA version request packet VR;  
Wait for NMEA version response packet VR;  
If NMEA version response packet not received:  
Exit/power-cycle target and repeat from beginning;  
Force target into Monitor mode;  
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Send “force-to-monitor” command (TSIP or NMEA depending on the  
port used);  
Wait 0.5 secs to let the target switch to the monitor mode;  
Establish connection to target using Monitor mode protocol:  
Send hand-shaking packet ENQ;  
Wait for response packet ACK;  
If ACK packet not received:  
Exit/power-cycle target and repeat from beginning;  
If the local host’s hardware can support it, change Monitor mode  
baud rate and local serial port settings to 115200 baud for faster  
loading:  
Send “Change Baud” packet 0x86;  
Wait 0.5 secs  
Change local serial port settings;  
Send hand-shaking packet ENQ;  
Wait for response packet ACK;  
If ACK packet not received:  
Exit/power-cycle target and repeat from beginning;  
Send “Erase Firmware” packet 0x8F;  
Wait for response packet ACK;  
If ACK packet not received:  
Exit/power-cycle target and repeat from beginning;  
Send “Start Firmware Programming” packet 0x8B;  
Wait for response packet ACK;  
If ACK packet not received:  
Exit/power-cycle target and repeat from beginning;  
Send firmware data bytes, one word (2 bytes) at a time. For faster loading, data  
can be sent up to 200 bytes at a time (must be a multiple of 2 bytes).  
Wait for response packet ACK after all data has been sent;  
If NAK packet received:  
Try again starting with the “Erase Firmware” step;  
If ACK packet not received at all:  
Power-cycle target and repeat from beginning;  
If ACK packet received:  
Send “Restart Target” packet 0x8C;  
Loading was successful;  
}
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Pseudo-Code Explanation  
The following provides details about the steps shown in the above pseudo-code for  
the firmware loading procedure.  
1. Read firmware BIN file and load into a memory buffer.  
(See Appendix A for an example function that shows how this is achieved.)  
2. Establish a serial port connection to the target in the TSIP or NMEA mode.  
Communication with the target over its serial port must be established first.  
Change the local host’s port settings to match those of the target. Refer to the  
GPS receiver’s user manual for details.  
If using TSIP, issue a TSIP version request (packet 0x1F) and wait for the  
response (packet 0x45). The receipt of the packet 0x45 shows that the host port  
settings and the target port settings match and the host is communicating with  
the target. If the packet 0x45 is not received, the host and target port settings  
are not in agreement.  
If using NMEA, issue NMEA version request (packet VR) and wait for the  
response. The user manual includes the TSIP and NMEA protocol  
specification. The receipt of the response of the packet VR shows that the host  
port settings and the target port settings match and the host is communicating  
with the target. If the response of the packet VR is not received, the host and  
target port settings are not in agreement.  
In some cases, the target may enter the monitor mode automatically when  
power is applied. For example, if the previous firmware loading process has  
not been finished, the firmware checksum won’t match, and the target will  
automatically start up in the monitor mode. In such cases, Step 2 will fail, and  
the loading procedure should continue at Step 4 as described below.  
3. Force the target into the monitor mode.  
Assuming the communication has been established, issue the “Force to  
Monitor” command. If using TSIP, the following byte string (hex values) must  
be sent to the target to force it into the monitor mode:  
10 1E 4D 10 03  
If using NMEA, the following character string must be sent to the target to  
force it into the monitor mode:  
$PTNLSEM*  
Once the system is in the monitor mode, a special Monitor protocol is used to  
communicate with the Copernicus GPS Receiver.  
See the Appendices in this manual for detailed information on both TSIP and  
NMEA Force to Monitor commands.  
After issuing the command, wait 0.5 seconds before proceeding with the next  
step to allow the target to switch to the monitor mode and be ready to accept  
Monitor mode commands.  
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4. Establish a serial port connection to the target in the Monitor mode.  
Once the target enters the monitor mode, it changes the GPS receiver’s serial  
port settings to 38400 baud (port A) or 4800 baud (port B), 8 data bits, 1 stop  
bit, and no parity. To establish communication to the target in the monitor  
mode, the local host’s settings must be changed to the same value, and the ENQ  
packet sent to the target. The target will respond with ACK to indicate the  
communication has been established. Refer to Section ENQ, ACK, NAK for  
details on this packet.  
5. Change baud rate for faster loading.  
If the local host’s hardware can support higher baud rates, it is better to change  
the baud rate to maximum possible for the fastest loading time. First send  
“Change Baud” Monitor Mode packet 0x86 to the target with the desired baud  
rate. See page 113 for details on this packet. Wait 0.5 seconds to let the packet  
be transmitted, change the local baud rate to the same settings, and send ENQ  
packet to the target. The target will respond with ACK at the new baud rate to  
indicate the communication has been established.  
6. Erase firmware section.  
Before the firmware can be programmed, the GPS firmware section in Flash  
must be erased. The “Erase Firmware Section” Monitor Mode packet 0x8F  
must be sent to the target. The target will respond with ACK when the section  
is erased. See page page 113 for details on this packet.  
7. Send size and start address of the firmware.  
In this step, the size and start (base) address of the firmware is sent to the target  
using the “Start Firmware Programming” Monitor Mode packet 0x8B. This  
packet initiates the firmware loading process. The target will respond with  
ACK as soon as this packet is received. See page 114 for details on this packet.  
8. Send firmware data.  
Once the “Start Firmware Programming” packet is sent, the target expects a  
stream of 2-byte words. The host must send this data one word at a time, with  
the most significant byte of each word sent first. There is no protocol  
formatting for this data stream. For faster loading, data can be sent up to 200  
bytes at a time. Note that whatever the size, it must be a multiple of 2 bytes.  
See Appendix A for example source code, which shows how this is done. Once  
the target received and programmed all of the data into Flash, it will send ACK  
to indicate success. If NAK is received, an error occurred, and the process must  
be repeated from Step 6.  
9. Restart the target.  
Once firmware loading is complete, the “Restart Target” Monitor Mode packet  
0x8C should be issued to reset the GPS receiver. Upon reset, the new firmware  
will start up. See page 115 for details on this packet.  
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Error Recovery  
The GPS receiver is designed in such way that the system will not be damaged during  
a firmware update. When there is an unexpected error while loading firmware, the  
target can always be restarted by cycling the main power. At power-up, the target will  
automatically enter the monitor mode if the firmware loading process has not  
completed successfully. In such a case, the host will able to repeat the firmware  
loading procedure as described above.  
If the Boot Code in the Flash memory is inadvertently overwritten, the module can  
become unusable. See Warning at the end of the description of the Monitor Mode  
Packet ID – 0x8B.  
Monitor Interface Protocol  
Protocol Format  
The following packet structure is used by the Monitor Mode Protocol:  
Table 11.2  
Monitor Mode Protocol  
BYTE 0  
BYTE 1  
BYTE 2  
BYTE 3 BYTES 4 … N  
LEN DATA  
BYTE N+1  
BYTE N+2  
STX  
NULL_C  
0x00  
ID  
CHKSM  
ETX  
0x02  
0x03  
Byte 0 – start of new packet (value: 0x02)  
Byte 1 – delimiter byte (value: 0x00)  
Byte 2 – packet ID  
Byte 3 – size (in bytes) of packet data (DATA field only)  
Bytes 4 … N – packet data  
NOTE 1  
Byte N+1 – packet checksum  
.
Byte N+2 – end of packet (value: 0x03)  
Note – The checksum is computed as the sum of all bytes from the packet ID to the  
end of the packet data truncated to an 8-bit value, i.e.:  
CHKSM = (unsigned char)(ID + LEN + DATA[0] + … + DATA[N-1]);  
Data Transmission  
Data values are transmitted with the most significant byte of the value sent first. For  
example, transmitting a 4-byte memory address 0x004101F0 means sending byte  
0x00 first, 0x41 second, 0x01 third, and 0xF0 last.  
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Monitor Mode Packet Descriptions  
ENQ, ACK, NAK  
ENQ, ACK, and NAK are special bytes that are sent out without being formatted as  
described in Protocol Format, page 111.  
The target responds to a formatted packet with either ACK (hex byte: 0x06) or NAK  
(hex byte: 0x15) unless specified otherwise. ACK indicates a successful operation.  
NAK indicates a failure in executing the command.  
ENQ (hex byte: 0x05) provides a simple hand-shaking mechanism to verify that the  
target is alive and running in the Monitor Mode. The target sends ACK for every  
ENQ received.  
Packet ID – 0x76 (Boot ROM Version Query)  
This packet requests the boot ROM version information. Upon receiving this packet,  
the target replies with packet 0x96.  
Table 11.3  
Boot ROM Version Query  
BYTE 0  
BYTE 1  
0x00  
BYTE 2  
BYTE 3 BYTE 4  
0x00 0x76  
BYTE 5  
0x02  
0x76  
0x03  
Packet ID – 0x96 (Boot ROM Version Report)  
This packet is sent by the target in response to packet 0x76. It returns Boot ROM  
version information.  
Note – The field “Year” is 2 bytes long with the most significant byte sent first.  
Table 11.4  
Boot ROM Version Report  
BYTE 5 BYTE 6 BYTE 7 BYTES 8-9 BYTE 10 BYTE 11  
BYTE 0 BYTE 1 BYTE 2 BYTE 3 BYTE 4  
0x02  
0x00  
0x96  
0x06  
Major  
Ver  
Minor Month Day  
Ver  
Year  
CHKSM  
0x03  
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Packet ID – 0x86 (Change Baud Rate)  
This packet forces the target system to change the serial baud rate to the specified  
rate. The valid baud rate values are listed in the table below. The target system returns  
ACK in the old baud rate before the change and another ACK in the new baud rate if  
the change succeeds. If the baud rate change fails, the unit returns NAK in the old  
baud rate.  
Table 11.5  
Change Baud Rate  
BYTE 0  
BYTE 1  
0x00  
BYTE 2  
BYTE 3 BYTE 4  
Baud CHKSM  
BYTE 5  
0x02  
0x86  
0x03  
Table 11.6  
Change Baud Rate  
Data Type  
Byte  
Parameter  
Description  
Baud Rate  
Baud Rate:  
5 – 2400 bps  
6 – 4800 bps  
7 – 9600 bps  
8 – 19200 bps  
9 – 38400 bps  
10 – 57600 bps  
11 – 115200 bps  
Packet ID – 0x8F (Erase Firmware Section)  
This packet initiates the erase operation on the target. It only erases the firmware  
portion of the Flash chip. The target returns either ACK or NAK indicating the result  
of the operation.  
Table 11.7  
Erase Firmware Section  
BYTE 0  
BYTE 1  
0x00  
BYTE 2  
BYTE 3 BYTE 4  
0x00 0x8F  
BYTE 5  
0x02  
0x8F  
0x03  
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Packet ID – 0x8B (Start Firmware Programming)  
This packet initiates firmware loading. It has two parameters. The first parameter (4-  
byte value) contains the size of the firmware in bytes. This is the actual number of  
bytes that will be written to Flash. The second parameter contains the starting address  
in Flash where the data will be written.  
Once the target receives this packet, it will respond with ACK and wait for the actual  
data, one word at a time. Each word must be sent with the most significant byte first.  
All data from the host will be written to the target in the order in which it is received.  
The target will not recognize any other packets until the loading is completed. If  
successful, the target will return ACK upon completion, or NAK if an error has  
occurred.  
WARNING – The target does not check validity of the starting address nor the size. It is  
the host’s responsibility to ensure that all parameters are within the system specification.  
If incorrect specification of the starting address overwrites Boot Code, the module will be  
unusable.  
C
Table 11.8  
Start Firmware Programming  
BYTE 0  
BYTE 1  
0x00  
BYTE 2  
BYTE 3 BYTES 4-7 BYTES 8-11 BYTE 12 BYTE 13  
0x08 Size Address CHKSM 0x03  
0x02  
0x8B  
Table 11.9  
Start Firmware Programming  
Parameter  
Size  
Data Type  
Description  
unsigned long  
unsigned long  
Size of loadable data in bytes.  
Address  
Starting physical address  
where data will be written to.  
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Packet ID – 0x8C (Restart Target)  
This packet returns the target from the monitor to the normal operating mode. As at  
startup, the target will initialize all system resources and perform all system tests. The  
target returns ACK to acknowledge the received packet before the execution.  
This packet is designed to bring the receiver from the monitor mode to the normal  
mode after a firmware update.  
Note – This packet also clears all BBRAM sections to guarantee a cold start after a  
firmware update.  
Table 11.10 Restart Target  
BYTE 0  
BYTE 1  
BYTE 2  
BYTE 3 BYTE 4  
0x00 0x8C  
BYTE 5  
0x02  
0x00  
0x8C  
0x03  
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FlashLoader Tool Reference Guide  
Introduction  
Flash Loader is a tool for Microsoft Windows that loads firmware into the Flash chip  
of the GPS receiver. This tool is used to upload new firmware into the Copernicus  
GPS Receiver mounted on the Reference Board installed in the Copernicus Starter  
Kit.  
The source code of the tool is documented to provide an example of how to develop a  
custom application to perform firmware updates. It shows how to use the Monitor  
protocol to implement the firmware loading procedure (see Firmware Loading  
Procedure, page 107). It can be used, for example, to develop a program to update  
firmware remotely over a network connection.  
FlashLoader has been created using the Microsoft Visual C++® v6.0 development  
environment. It uses the MFC framework to implement the graphical user interface.  
While the compiled executable of the tool is provided together with the source code,  
Microsoft Visual C++ v6.0 or .NET is required to re-compile the source files and  
generate a fresh executable if desired.  
File and Folder Structure  
The FlashLoader tool directory contains the following 3 sub-directories:  
bin – contains the FlashLoader binary executable file;  
mak – contains the project files for Microsoft Visual C++ v6.0 and .NET  
development environments;  
src – contains the C++ source and header files.  
Source Code Reference  
All source code files referenced in this section are located in the src directory of the  
FlashLoader tool distribution. The source files are fully commented throughout.  
Parsing Firmware BIN File  
The function LoadBinFile() defined in Util.cpp shows how to parse the firmware BIN  
file, extract the loadable data, and store into a local buffer for sending to the target.  
Creating Packets in the Monitor Protocol Format  
The functions GetXxxxxPkt() defined in Util.cpp show how to format various packets  
using the monitor interface protocol.  
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Loading Firmware to the Target  
The function FlashProgrammingThread() defined in FlashLoaderDlg.cpp shows how  
to implement the firmware loading procedure described above.  
Compiling and Generating the Executable  
The FlashLoader tool can be re-compiled using the provided project make files.  
If using Microsoft Visual C++ v6.0, open the workspace file FlashLoader.dsw located  
in the mak directory of the tool distribution. From the main menu, select Build Æ  
Rebuild All. This will compile the source files, generate the executable, and place it in  
the bin directory.  
If using Microsoft Visual C++ .NET, open the solution file FlashLoader.sln located in  
the mak directory of the tool distribution. From the main menu, select Build Æ  
Rebuild Solution. This will compile the source files, generate the executable, and  
place it in the bin directory.  
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A P P E N D I X  
A
TRIMBLE STANDARD INTERFACE  
PROTOCOL (TSIP)  
A
In this appendix:  
The Trimble Standard Interface Protocol (TSIP)  
provides the system designer with over 20  
commands that may be used to configure a GPS  
receiver for optimum performance in a variety of  
applications. TSIP enables the system designer  
to customize the configuration of a GPS module  
to meet the requirements of a specific  
application.  
This appendix provides the information needed  
to make judicious use of the powerful features  
TSIP has to offer, to greatly enhance overall  
system performance, and to reduce the total  
development time. The provided reference tables  
will help you determine which packets apply to  
your application. See page 129 for a detailed  
description of key setup parameters. Application  
guidelines are provided for each TSIP Command  
Packet, beginning on page 131.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Interface Scope  
The Trimble Standard Interface Protocol is used extensively in Trimble receiver  
designs. The protocol was originally created for the Trimble Advanced Navigation  
Sensor (TANS) and is colloquially known as the TANS protocol even though the  
protocol applies to many other devices.  
The Lassen IQ GPS Receiver has two serial I/O communications ports. These are bi-  
directional control and data ports. The data I/O port characteristics, protocol  
definitions, and other options are user programmable and can be stored in non-  
volatile FLASH memory.  
The TSIP protocol is based on the transmission of packets of information between the  
user equipment and the unit. Each packet includes an identification code (1 byte,  
representing 2 hexadecimal digits) that identifies the meaning and format of the data  
that follows. Each packet begins and ends with control characters.  
This document describes in detail the format of the transmitted data, the packet  
identification codes, and all available information over the output channel to allow  
the user to choose the data required for his particular application. As will be  
discussed, the receiver transmits some of the information (position and velocity  
solutions, etc.) automatically when it is available, while other information is  
transmitted only on request. Additional packets may be defined for particular  
products and these will be covered in the specifications for those products as  
necessary.  
The Copernicus Monitor included in the Tool Kit is designed to exercise many of the  
TSIP packets.  
Run Mode Packet Structure  
TSIP packet structure is the same for both commands and reports. The packet format  
is:  
<DLE> <id> <data string bytes> <DLE> <ETX>  
Where:  
<DLE> is the byte 0x10  
<ETX> is the byte 0x03  
<id> is a packet identifier byte, which can have any value excepting <ETX>  
and <DLE>.  
The bytes in the data string can have any value. To prevent confusion with the frame  
sequences <DLE> <ID> and <DLE> <ETX>, every <DLE> byte in the data string is  
preceded by an extra <DLE> byte ('stuffing'). These extra <DLE> bytes must be added  
('stuffed') before sending a packet and removed after receiving the packet. Notice that  
a simple <DLE> <ETX> sequence does not necessarily signify the end of the packet,  
as these can be bytes in the middle of a data string. The end of a packet is <ETX>  
preceded by an odd number of <DLE> bytes.  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Multiple-byte numbers (integer, float, and double) follow the ANSI/IEEE Std. 754  
IEEE Standard for binary Floating-Point Arithmetic. They are sent most-significant  
byte first. This may involve switching the order of the bytes as they are normally  
stored in Intel based machines. Specifically:  
UINT8 = Byte: An 8 bit unsigned integer.  
UINT16 = Word: A 16 bit unsigned integer.  
INT16 = Integer: A 16 bit integer.  
INT32 = Long: A 32 bit integer.  
UINT32 = ULong: A 32 bit unsigned integer.  
Single — Float, or 4 byte REAL has a precision of 24 significant bits, roughly  
6.5 digits.  
Double — 8 byte REAL has a precision of 52 significant bits. It is a little better  
than 15 digits.  
Automatic Output Packets  
The Lassen IQ GPS Receiver is configured to automatically output the following  
packets. For minimal system implementations, these output packets provide all of the  
information required for operation including time, position, velocity, and receiver and  
satellite status and health. Position and velocity are reported using one or more of the  
packets listed below, depending on the selected I/O options. While there are other  
packets automatically output, the following packets provide the information most  
commonly used. No input packets are required.  
Table A.1  
Automatic Output Packets  
Output Packet ID  
Description  
Reporting  
Interval  
0x41  
GPS time  
1 second  
1 second  
0x42, 0x83, 0x4A, 0x84, 0x8F- position (choose packet with I/O options)  
20  
0x43, 0x56, 0x8F-20  
velocity (choose packet with I/O options)  
health of receiver  
1 second  
1 second  
1 second  
0x46  
0x4B  
machinecode/status (includes antenna fault  
detect)  
0x6D  
0x82  
all-in-view satellite selection, DOPs, Fix Mode 1 second  
SBAS fix mode (always the last packet of the 1 second  
fix information)  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Automatic Position and Velocity Reports  
The receiver automatically outputs position and velocity reports at set intervals.  
Automatic report packets are controlled by Packet 35. Setting the control bits as  
indicated in the table below allows you to control which position and velocity packets  
are output.  
Table A.2  
Automatic Position and Velocity Reports  
Packet 0x35, Byte 0  
Packet 0x35, Byte 1  
Report  
Packet ID  
Request  
Settings  
Bit 9  
Bit 1  
Bit 4  
Bit 5  
Bit 0  
Bit 1  
0x42  
0x83  
0x4A  
0x84  
0x43  
single precision  
XYZ position  
1
1
0
1
0
1
double-precision  
XYZ position  
single-precision  
LLA position  
1
double-precision  
LLA position  
1
(default)  
velocity fix (XYZ,  
ECEF)  
1
0x56  
velocity fix (ENU)  
LLA and ENU  
1(default)  
0x8F-20  
1
Note – In packets 0x42, 0x83, 0x4A, 0x84, 0x43, 0x56, 0x8F-17 and 0x8F-18 when  
the Time of Fix parameter is reported as -1, this means that the fix information is not  
calculated by the Copernicus GPS Receiver, but comes from another source such as  
SRAM, Flash Memory or user input. In Packet 8F-20, this information is denoted by  
the Invalid Fix parameter: being set to 1 denotes that the fix comes from another  
source besides the Copernicus GPS Receiver.  
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A
Initialization Packets to Speed Start-up  
If you are not supplying the receiver with battery power when main power is off, you  
can still “warm-start” the receiver by sending the following sequence of commands  
after the receiver has completed its internal initialization and has sent Packet 82. Hot  
start times can be achieved using packet 0x38-06 to upload the ephemeris. Only time  
and position are necessary for the hot start since the almanac and ephemeris are  
stored in flash. Position is also stored in flash which improves first fix accuracy.  
Table A.3  
Initialization Packets to Speed Start-up  
Description  
Input Byte  
0x2E  
Initial Time  
0x38  
Almanac (for each SV)  
Ephemeris  
0x38  
0x38  
Ionosphere Page  
UTC Corrections  
Almanac Health  
Initial Position  
0x38  
0x38  
0x2B  
Packets Output at Power-Up  
The following table lists the messages output by the receiver at power-up. After  
completing its self-diagnostics, the receiver automatically outputs a series of packets  
which indicate the initial operating condition of the receiver. Messages are output as  
listed in the table below. After Packet 82 is output, the sequence is complete and the  
receiver is ready to accept commands.  
Table A.4  
Packets Output at Power-up  
Output ID  
0x45  
Description  
Notes  
software version  
receiver health  
machine code/status  
--  
--  
--  
0x46  
0x4B  
As chosen, default: 0x84,  
0x56  
position/velocity output  
As chosen, see  
0x41  
0x82  
GPS time  
SBAS fix mode  
See command  
0xBB to  
enable/disable  
SBAS  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Timing Packets  
If you are using the Lassen IQ GPS Receiver as a timing reference, you may need to  
implement the following TSIP control commands.  
Table A.5  
Timing Packets  
Input ID  
0x21  
Description  
Output ID  
0x41  
get the current GPS time  
request UTC parameters  
0x38-05  
0x58-05  
Satellite Data Packets  
The following packets contain a variety of GPS satellite data.  
Table A.6  
Satellite Data Packets  
Input ID  
0x27  
Description  
Output ID  
0x47  
request signal levels  
0x38  
request/load satellite system data  
request tracking status  
0x58  
0x3C  
0x5C  
Backwards Compatibility to Lassen iQ  
The following General Packets and Differences between TSIP Used in Lassen iQ/SQ  
and Copernicus GPS Receiver  
0x41, 0x46, 0x4B automatic packets are output every 1 second instead of every  
5 seconds.  
DGPS is not supported in the Copernicus GPS Receiver. Thus, the following  
packets are not supported:  
0x60 /0x61  
0x65/0x85  
0x69 / 0x89 not available. The Lassen IQ GPS Receiver is a high sensitivity  
receiver.  
0x70 packet is not supported in the Copernicus GPS Receiver. The Copernicus  
GPS Receiver supports only Kalman Filter and it can not be turned off. No PV  
filter is available in Copernicus Module.  
Packet 0xC0 – Graceful Shutdown and Go To Standby Mode is supported in  
the Copernicus GPS Receiver.  
In “Key Setup Parameters of Packet BB”, BB packet is still the same, but:  
Cannot set signal mask.  
Fix mode/DOP mask/DOP switch/DGPS correction age are not supported.  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
The dynamic modes are Land, Sea and Air  
In packet description of 0xBB, Navigation Configuration:  
Byte 1, only value 0, automatic is supported  
Byte 2, is now used for SBAS  
Byte 3, only values 1, 2, and 3 are supported  
Bytes 9-12, change AMU mask (not supported)  
Bytes 13-21 are changed to reserved.  
In packet 0x1E:  
byte 0 - add 0x4D for enter Monitor Mode. The response packet is 0x5F-FF-  
‘*’-‘*’-‘*’-‘ ‘-‘M’-‘O’-‘N’-‘I’-‘T’-‘O’-‘R’-‘ ‘-‘*’-‘*’-‘*’.  
0x35/0x55 packets – “Filtered PR’s in 5A” is not supported.  
0x3A/0x5A packets, Raw Measurement diagnostic packets have been added to  
the Copernicus GPS Receiver.  
0x45 packet, Byte 9, “Year number minus 1900” instead of “Year number  
minus 2000.  
In the 0x7A packet of the Copernicus GPS Receiver, the NMEA sentences TF  
and BA have been added.  
0xBC, Protocol Configuration:  
Byte 1, Two new baud rates have been added: value 10 (57600 baud), and  
value 11 (115200 baud)  
Byte 3, only value 3 (8 data bits) is supported.  
Byte 4, only value 0 (No Parity) is supported.  
Byte 5, only value 0 (1 Stop Bit) is supported.  
8E-4A, PPS Configuration:  
Byte 3, Polarity, BYTE, 0 = Positive, 1 = Negative  
0x8E-17/0x8E-18, Set/Request UTM output are supported in Copernicus GPS  
Receiver.  
The new packet 0x1C has been added to the Copernicus GPS Receiver. Lassen  
iQ FW v1.16 also supports this packet.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Recommended TSIP Packets  
Table A.7  
Recommended TSIP Packets  
Function  
Description  
Input  
0xBC  
0x7A  
0x35  
Output  
0xBC  
Protocol and port setup set/query port configuration  
set/query NMEA configuration  
0x7B  
set/query I/O options (autoreport and  
format options)  
0x55  
Navigation  
GPS time  
0x21  
0x41  
position & velocity (superpacket)  
0x8E-20 or 0x8F-20  
0x37 or  
auto  
double-precision LLA  
double-precision XYZ ECEF  
ENU velocity  
0x37/auto  
0x37/auto  
0x37/auto  
0x37/auto  
0x26  
0x84  
0x83  
0x56  
0x43  
XYZ ECEF velocity  
Satellite and tracking  
information  
query receiver state (health)  
0x46,  
0x4B  
query current satellite selection  
query signal levels  
0x24  
0x27  
0x3C  
0x6D  
0x47  
0x5C  
query satellite information (azimuth,  
elevation, etc.)  
Receiver settings  
query software version  
0x1C  
0x26  
0x1C-81  
query receiver ID & error status  
0x4B,  
0x46  
set/query receiver configuration  
query/load GPS system data  
0xBB  
0x38  
0x1E  
0xBB  
0x58  
GPS System  
Initialization  
full reset (clear battery backup and/or  
non-volatile settings)  
soft reset  
0x25  
0x2E  
0x2B  
0x23  
0x32  
0x31  
set GPS time  
0x4E  
set approx. LLA  
set approx. XYZ ECEF  
set exact LLA  
set exact XYZ ECEF  
Note – Automatic output is determined by packet 0x35. See Table A.4 to determine  
messages output at startup.  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Command Packets Sent to the Receiver  
The table below summarizes the command packets sent to the receiver. The table  
includes the input Packet ID, a short description of each packet, and the associated  
response packet. In some cases, the response packets depend on user-selected options.  
These selections are covered in the packet descriptions beginning on page 131  
Table A.8  
Command Packets Sent to the Receiver  
Input ID  
0x1C  
0x1E  
Packet Description  
Output ID  
0x1C-81  
See Note 1  
0x45  
Hardware and firmware versions numbers  
clear battery back-up/reset  
software version  
0x1F  
0x21  
current time  
0x41  
0x23  
initial position (XYZ ECEF)  
request receiver position fix mode  
soft reset & self-test  
--  
0x24  
0x6D  
0x25  
See Note 1  
0x46, 0x4B  
0x47  
0x26  
receiver health  
0x27  
signal levels  
0x2B  
0x2D  
0x2E  
initial position (LLA)  
--  
oscillator offset  
0x4D  
set GPS time  
0x4E  
0x31  
accurate initial position (XYZ ECEF)  
accurate initial position  
--  
0x32  
--  
0x35  
I/O options  
0x55  
0x37  
status and values of last position and velocity  
load or request satellite system data  
tracking status  
0x57  
0x38  
0x58  
0x3C  
0x7A  
0x8E-20  
0x8E-26  
0x8E-4A  
0xBB  
0xBC  
0xC0  
0xC1  
0xC2  
0x5C, see Note 2  
0x7B  
set/request NMEA output configuration  
last fix with extra information (fixed point)  
store settings in Flash memory.  
Set Copernicus GPS Cable Delay and PPS Polarity  
set receiver configuration  
set port configuration  
0x8F-20  
0x8F-26  
0x8F-4A  
0xBB  
0xBC  
go to BBRAM backup state and/or store BBRAM to flash  
Bit mask for GPIOs in Standby Mode  
SBAS SV Mask  
0xC1  
0xC2  
Note – Automatic output is determined by packet 0x35. See Table A.4 to determine  
which messages are output at power-up. No response sent if data is not available.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Report Packets Sent by the Receiver to the User  
The table below summarizes the packets output by the receiver. The auto response  
and power-up packets may depend on user-selected options (see Table A.22).  
Table A.9  
Report Packets Sent by the Receiver to the User  
Output ID  
0x1C-81  
0x41  
Packet Description  
Input ID  
0x1C  
Hardware and firmware version numbers  
GPS time  
0x21, auto  
0x37, auto  
0x37, auto  
0x1F, power-up  
0x26, auto, power-up  
0x27  
0x42  
single-precision XYZ position  
velocity fix (XYZ ECEF)  
0x43  
0x45  
software version information  
health of Receiver  
0x46  
0x47  
signal level for all satellites  
single-precision LLA position  
machine code/status  
0x4A  
0x4B  
0x37, auto  
0x26, auto, power-up  
0x2D  
0x4D  
0x4E  
oscillator offset  
response to set GPS time  
0x2E  
0x55  
I/O options  
0x35  
0x56  
velocity fix (ENU)  
0x37, auto  
0x37  
0x57  
information about last computed fix  
GPS system data/acknowledge  
satellite tracking status  
0x58  
0x38  
0x5C  
0x3C  
0x6D  
0x82  
all-in-view satellite selection  
SBAS position fix mode  
0x24, auto  
0x62, auto  
auto, 0x37  
auto, 0x37  
auto, 0x37, 0x8E-20  
0x8E-2A  
0x83  
double-precision XYZ  
0x84  
double-precision LLA  
0x8F-20  
0x8F-2A  
0x8F-2B  
0x8F-4A  
0xBB  
last fix with extra information (fixed point)  
Request Fix and Channel Tracking info, Type 1  
Request Fix and Channel Tracking info, Type 2  
Set Copernicus GPS Cable Delay and PPS polarity  
GPS navigation configuration  
receiver port configuration  
Bit Mask for GPIOs in Standby Mode  
SBAS SV Mask  
0x8E-2B  
0x8E-4A  
0xBB  
0xBC  
0xBC  
0xC1  
0xC1  
0xC2  
0xC2  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Key Setup Parameters or Packet BB  
Selecting the correct operating parameters has significant impact on receiver  
performance. Packet 0xBB (set receiver configuration) controls the key setup  
parameters.  
The default operating parameters allow the receiver to perform well in almost any  
environment. The user can optimize the receiver to a particular application if the  
vehicle dynamics and expected level of obscuration are understood. If the receiver is  
then taken out of this environment, the specifically tuned receiver may not operate as  
well as a receiver with the default options  
Table A.10 Key Setup Parameters or Packet BB.  
Parameter  
Factory Default  
Dynamics code  
Elevation mask  
SBAS on/off  
Land  
5°  
WAAS_Auto  
The default values in Table A.10 allow the receiver to operate well under the most  
varied and demanding conditions. A user may choose to change the default  
parameters if the receiver is only required to perform in a specific or limited  
environment. The user should be warned that when the receiver is exposed to  
operating conditions which are different from the conditions described by the user  
setup, then the performance may be degraded.  
Initially, the user must consider the environment in which the receiver is expected to  
operate. There is a trade-off between how frequently a position fix is output versus  
the absolute accuracy of the fix. The user must decide which takes priority and then  
make the appropriate selections. This becomes increasingly important when frequent  
satellite blockages are expected, as in downtown “urban canyon” environments and  
heavily foliated areas.  
Following is a description of the key fields in Packet 0xBB.  
Dynamics Code  
The feature default is LAND mode, where the receiver assumes a moderate dynamic  
environment. In this case, the satellite search and re-acquisition routines are  
optimized for vehicle type environments. In SEA mode, the search and re-acquisition  
routines assume a low acceleration environment. In AIR mode, the search and re-  
acquisition routines are optimized for high acceleration conditions.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Elevation Mask  
This is the minimum elevation angle for satellites to be used in a solution output by  
the receiver. Satellites which are near the horizon are typically more difficult to track  
due to signal attenuation, and are also generally less accurate due to higher variability  
in the ionospheric and tropospheric corruption of the signal. When there are no  
obstructions, the receiver can generally track a satellite down to near the horizon.  
The benefit of a low elevation mask is that more satellites are available for use in a  
solution resulting in a better PDOP. The current mask is set to five degrees and  
provides a reasonable trade-off of the benefits and drawbacks. High accuracy users  
may prefer a mask angle around ten degrees, where the ionosphere and troposphere  
begin to be more predictable  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Packet Descriptions  
Packet Descriptions Used in Run Mode  
Command Packet 0x1C - Firmware Version 01  
The command packet 0x1C: 01 may be issued to obtain the firmware version. The  
product name is “Copernicus GPS Receiver”. The packet format is defined in the  
following table.  
Table A.11 Command Packet 0x1C  
Byte  
Item  
Type  
Value  
Definition  
0
Packet ID  
U8  
0x1C  
Packet ID 0x1C  
1
Sub-code  
U8  
0x01  
Sub-code 0x01 for  
software component  
version information  
request  
Table A.12 Report Packet 0x1C: 81  
Byte  
Item  
Type  
U8  
Value  
Definition  
0
1
Packet ID  
Sub-code  
0x1C  
0x81  
Packet ID 0x1C  
U8  
Sub-code 0x81 for software  
component version  
information report  
2
Reserved  
Major version  
Minor version  
Build number  
Month  
U8  
U8  
U8  
U8  
U8  
U8  
U16  
Any  
Any  
Any  
Any  
1-12  
1-31  
Any  
Any  
Reserved  
3
Firmware major version  
Firmware minor version  
Firmware build number  
Firmware build month  
Firmware build Day  
Firmware build Year  
4
5
6
7
Day  
8…9  
10  
Year  
Length of first U8  
module name  
The length of the product  
name (L1)  
11… (10+L1)  
Product name U8  
String  
Product name in ASCII  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Command Packet 0x1C: 03 - Hardware Component Version Information  
The command packet 0x1C: 03 may be issued to obtain the hardware  
component version information.  
The report packet is of variable length, depending on the length of the  
hardware ID.  
The serial number, build date fields, and the hardware ID are programmed into  
the Copernicus GPS at production.  
The hardware code for Copernicus GPS Receiver is 1002.  
ID for Copernicus GPS Receiver is COPERNICUS GPS RECEIVER.  
The packet format is defined below.  
Table A.13 Command Packet 0x1C:03  
Byte  
Item  
Type  
U8  
Value  
0x1C  
0x03  
Definition  
0
1
Packet ID  
Sub-code  
Packet ID 0x1C  
U8  
Sub-code 0x03 for hardware  
component version information  
request  
Report Packet 0x1C: 83 - Hardware Component Version Information  
Table A.14 Report Packet 0x1C:83  
Byte  
Item  
Type  
U8  
Value  
0x1C  
0x83  
Definition  
0
1
Packet ID  
Sub-code  
Packet ID 0x1C  
U8  
Sub-code 0x83 for hardware  
component version information  
report  
2…5  
Serial  
U32  
Any  
Board serial number  
number  
6
7
Build day  
U8  
U8  
1-31  
1-12  
Day of the board's build date  
Build  
Month of the board's build date  
month  
8…9  
10  
Build year  
Build hour  
U16  
U8  
Any  
0-23  
Any  
Year of the board's build date  
Hour of the board's build date  
11…12  
Hardware  
Code  
U16  
Hardware Code associated with  
Hardware ID  
13  
Length of  
Hardware  
ID  
U8  
U8  
Any  
The length of the Hardware ID (L)  
14... (13+L)  
Hardware  
ID  
String  
Hardware ID string in ASCII  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Command Packet 0x1E - Clear Battery Backup, then Reset  
This packet commands the GPS receiver to clear all battery back-up data and to  
perform a software reset. This packet contains one data byte.  
Table A.15 Command Packet 0x1E  
Byte  
Item  
Type  
Value  
Definition  
0
Reset mode UINT 8  
0x4B  
Cold start: Erase BBRAM and  
restart  
0x46  
0x4D  
Factory reset: Erase BBRAM and  
Flash and restart  
Enter Monitor Mode  
WARNING – All almanac, ephemeris, current position, mode, and communication port  
setup information are reset to the default values when executing the “Factory Reset”  
command. In normal use this packet should not be sent.  
C
Command Packet 0x1F - Request Software Versions  
This packet requests information about the version of software running in the  
Navigation and Signal Processors. This packet contains no data. The GPS receiver  
returns Packet 0x45.  
Command Packet 0x21 - Request Current Time  
This packet requests current GPS time. This packet contains no data. The GPS  
receiver returns Packet 0x41.  
Command Packet 0x23 - Initial Position (XYZ ECEF)  
This packet provides the GPS receiver with an approximate initial position in XYZ  
coordinates. This packet is useful if the user has moved more than about 1,000 miles  
since the previous fix. (Note that the GPS receiver can initialize itself without any  
data from the user; this packet merely reduces the time required for initialization.)  
This packet is ignored if the receiver is already calculating positions. The data  
format is shown below.  
Note – To initialize using the Latitude-Longitude-Altitude representation, use  
Command Packet 0x2B.  
Table A.16 Command Packet 0x23  
Byte  
0-3  
Item  
Type  
Units  
X
Y
Z
Single  
Single  
Single  
Meters  
Meters  
Meters  
4-7  
8-11  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Command Packet 0x24 - Request GPS Receiver Position Fix Mode  
This packet requests current position fix mode of the GPS receiver. This packet  
contains no data. The GPS receiver returns Packet 0x6D.  
Command Packet 0x25 - Initiate Soft Reset & Self Test  
This packet commands the GPS receiver to perform a software reset. The GPS  
receiver performs a self-test as part of the reset operation. This packet contains no  
data. Following completion of the reset, the receiver will output the start-up messages  
(see Table A.4). The GPS receiver sends Packet 0x45 only on power-up and reset (or  
on request); thus if Packet 0x45 appears unrequested, then either the GPS receiver  
power was cycled or the GPS receiver was reset.  
Command Packet 0x26 - Request Health  
This packet requests health and status information from the GPS receiver. This packet  
contains no data. The GPS receiver returns Packet 0x46 and 0x4B.  
Command Packet 0x27 - Request Signal Levels  
This packet requests signal levels for all satellites currently being tracked. This packet  
contains no data. The GPS receiver returns  
Packet 0x47.  
Command Packet 0x2B - Initial Position (Latitude, Longitude, Altitude)  
This packet provides the GPS receiver with an approximate initial position in latitude  
and longitude coordinates (WGS-84). This packet is useful if the user has moved  
more than about 1,000 miles since the previous fix. (Note that the GPS receiver can  
initialize itself without any data from the user; this packet merely reduces the time  
required for initialization.) This packet is ignored if the receiver is already  
calculating positions. The data format is shown in the table below.  
Table A.17 Command Packet 0x2B  
Byte  
0-3  
Item  
Type  
Units  
Latitude  
Longitude  
Altitude  
Single  
Single  
Single  
Radians, north  
Radians, east  
Meters  
4-7  
8-11  
Note – To initialize with ECEF position, use Command Packet 0x23.  
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A
Command Packet 0x2D - Request Oscillator Offset  
This packet requests the calculated offset of the GPS receiver master oscillator. This  
packet contains no data. The GPS receiver returns Packet 0x4D. This packet is used  
mainly for service. The permissible oscillator offset varies with the particular GPS  
receiver unit.  
Command Packet 0x2E - Set GPS Time  
This packet provides the approximate GPS time of week and the week number to the  
GPS receiver. The GPS receiver returns Packet 0x4E. The data format is shown  
below. The GPS week number reference is Week # 0 starting January 6, 1980. The  
seconds count begins at the midnight which begins each Sunday morning. This packet  
is usually not required when the battery back-up voltage is applied as the internal  
clock keeps time to sufficient accuracy. This packet is ignored if the receiver has  
already calculated the time from tracking a GPS satellite.  
Note – See report Packet 41 for information on the Extended GPS week number.  
Table A.18 Command Packet 0x2E Data Formats  
Byte  
0-3  
Item  
Type  
Units  
GPS time of week  
Single  
Seconds  
Weeks  
4-5  
Extended GPS week number INT16  
Command Packet 0x31 - Accurate Initial Position (XYZ ECEF)  
This packet is identical in content to Packet 0x23. This packet provides an initial  
position to the GPS receiver in XYZ coordinates. However, the GPS receiver assumes  
the position provided in this packet to be accurate. This packet is used for satellite  
acquisition aiding in systems where another source of position is available. For  
acquisition aiding, the position provided by the user to the GPS receiver in this packet  
should be accurate to a few kilometers. For high-accuracy time transfer, position  
should be accurate to a few meters.  
Table A.19 Command Packet 0x31 Data Format  
Byte  
0-3  
Item  
X-axis  
Y-axis  
Z-axis  
Type  
Units  
Single  
Single  
Single  
Meters  
Meters  
Meters  
4-7  
8-11  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Command Packet 0x32 - Accurate Initial Position,  
(Latitude, Longitude, Altitude)  
This packet is identical in content to Packet 0x2B. This packet provides the GPS  
receiver with an accurate initial position in latitude, longitude, and altitude  
coordinates. However, the GPS receiver assumes the position provided in this packet  
to be accurate. This packet is used for satellite acquisition aiding in systems where  
another source of position is available. For acquisition aiding, the position provided  
by the user to the GPS receiver in this packet should be accurate to a few kilometers.  
For high-accuracy time transfer, position should be accurate to a few meters.  
Table A.20 Command Packet 0x32 Data Format  
Byte  
0-3  
Item  
Type  
Units  
Latitude  
Longitude  
Altitude  
Single  
Single  
Single  
Radians, North  
Radians, East  
Meters  
4-7  
8-11  
Command Packet 0x35 - Set Request I/O Options  
This packet requests the current I/O options and allows the I/O options to be set. To  
request the options settings without any changes, send the packet with no data bytes.  
To change the options settings, include four data bytes with the values. The I/O  
options, their default settings, and the byte values for all possible configurations are  
shown below.  
The Set/Request I/O options are stored in battery-backed memory. To store them in  
non-volatile RAM (Flash), use the 0x8E-26 command. The GPS receiver returns  
Packet 0x55.  
These abbreviations are used in the following table:  
ALT  
Altitude  
ECEF  
XYZ  
LLA  
Earth-centered, Earth-fixed  
Coordinates  
Latitude, Longitude, Altitude  
Height Above Ellipsoid  
Earth Model (ellipsoid)  
HAE  
WGS-84  
MSL Geoid Mean Sea Level  
UTC Coordinated Universal Time  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
This packet can also be used to set the Automatic output to 1/second for packets 0x47  
and 0x5A.  
Table A.21 Command Packet 0x35 Data Format  
Byte  
Position  
0
Bit  
Item  
Type  
Value  
Definition  
0 (LSB)  
XYZ ECEF  
Bit  
Bit  
Bit  
0
1
XYZ ECEF output off  
XYZ ECEF output on  
1
2
LLA Output  
0
1
LLA output off  
LLA output on  
LLA ALT  
Output  
0
1
HAE (See Note)  
MSL geoid  
3
4
Reserved  
Precision-of- Bit  
position  
output  
0
1
Send single-precision packet  
Send double-precision packet  
5
Super Packet Bit  
Output  
0
1
Output no Super Packets  
Output all enabled Super  
Packets  
6-7  
Reserved  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Byte  
Velocity  
1
Bit  
Item  
Type  
Value  
Definition  
0
XYZ ECEF  
ENU Output  
Reserved  
Bit  
Bit  
0
1
XYZ ECEF output off  
XYZ ECEF output on  
1
0
1
ENU output off  
ENU output on  
2-7  
Timing  
2
0
Time Type  
Bit  
0
1
GPS Time  
UTC  
1-4  
5-6  
Reserved  
PPS Mode  
Bits  
00  
01  
10  
11  
Always On  
Fix Based  
Always Off  
Reserved  
7
Reserved  
Auxiliary/Pseudo Range Measurements  
3
0
Raw  
Measurement  
Bit  
0
1
Raw measurements off  
Raw measurements on  
1
2
3
Reserved  
Reserved  
Signal Level  
Unit  
Bit  
Bit  
0
1
Output AMUs  
Output dB Hz  
4
5
Reserved  
Signal levels  
for all  
satellites  
0
1
Signal levels Off  
Signal levels On  
6-7  
Reserved  
Note – Packet 8E must be used to specify which Superpackets are output.  
The Lassen iQ GPS supports automatic output of 0x5A messages for backwards  
compatibility with older TSIP applications.  
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A
Command Packet 0x37 - Request Status and Values of Last Position and  
Velocity  
This packet requests information regarding the last position fix and should only be  
used when the receiver is not automatically outputting positions. The GPS receiver  
returns Report Packet 0x57 followed by the position/velocity packets specified in  
Command Packet 0x35.  
Command Packet 0x38 - Request/Load Satellite System Data  
This packet requests current satellite data (almanac, ephemeris, etc.) or permits  
loading initialization data from an external source (for example, by extracting  
initialization data from an operating GPS receiver unit via a data logger or computer  
and then using that data to initialize a second GPS receiver unit). The GPS receiver  
returns Packet 0x58. (Note that the GPS receiver can initialize itself without any data  
from the user; it merely requires more time.)  
To request data without loading data, use only bytes 0 through 2; to load data, use all  
bytes. Before loading data, observe the caution notice below. The data formats are  
located in Report Packet 0x58.  
Table A.22 Command Packet 0x38 Data Formats  
Byte  
Item  
Type  
Value Definition  
0
Operation  
UINT8  
1
2
Request data from Lassen IQ  
GPS Receiver; Load data into  
Lassen IQ GPS Receiver  
1
2
Type of data UINT8  
2
3
4
5
6
Almanac  
Health page, T_oa, WN_oa  
Ionosphere  
UTC  
Ephemeris  
Sat PRN#  
UINT8  
0
Data that is not satellite - ID  
specific  
1 - 32  
Satellite PRN number  
3
Length (n)  
Data  
UINT8  
UINT8  
Number of bytes of data to be  
loaded  
4 to n+3  
Satellite data  
WARNING – Loading all satellite data at once sends a lot of bytes to the unit, which  
could overwhelm the unit’s serial receive buffer. Always wait for the acknowledge packet  
before sending the next data block.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Command Packet 0x3A - Request Last Raw Measurement  
This packet requests the most recent raw measurement data for one specified satellite.  
The GPS receiver returns packet 0x5A if data is available.  
.
Table A.23 Command Packet 0x3C Data Format  
Byte  
Item  
Type  
Value  
Definition  
0
Satellite # UINT8  
0
All satellites in the current track  
set.  
1 - 32  
Desired satellite.  
Command Packet 0x3C - Request Current Satellite Tracking Status  
This packet requests the current satellite tracking status. The GPS receiver returns  
Packet 0x5C if data is available.  
Table A.24 Command Packet 0x3C Data Format  
Byte  
Item  
Type  
Value  
Definition  
0
Satellite # UINT8  
0
All satellites in the current track  
set.  
1 - 32  
Desired satellite.  
Report Packet 0x41 - GPS Time  
This packet provides the current GPS time of week and the week number. The GPS  
receiver sends this packet in response to Packet 0x21 and during an automatic packets  
update cycle. The data format is shown below.  
Table A.25 Report Packet 0x41 Data Formats  
Byte  
0-3  
Item  
Type  
Units  
GPS time of week  
Extended GPS week number  
GPS UTC offset  
Single  
INT16  
Single  
seconds  
weeks  
4-5  
6-9  
seconds  
Note – UTC time lags behind GPS time by an integer number of seconds; UTC =  
(GPS time) - (GPS UTC offset).  
WARNING – GPS week number runs from 0 to 1023 and then cycles back to week #0.  
week # 0 began January 6, 1980. The first cycle back to week #0 was on August 22, 1999.  
The extended GPS week number however, does not cycle back to 0. For example: the  
week # for August 22, 1999 = 1024; the Week # for April 1, 2002 = 1160.  
C
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
The seconds count begins with “0” each Sunday morning at midnight GPS time. A  
negative indicated time-of-week indicates that time is not yet known; in that case, the  
packet is sent only on request. The following table shows the relationship between the  
information in Packet 0x41, and the Packet 0x46 status code.  
Table A.26 Packets 0x41 and 0x46 Status Code Relationships  
Approximate  
Time Accuracy  
Time Source  
Sign (TOW) Packet 46  
Status Code  
none  
no time at all  
-
0x01  
0x01  
unknown  
approximate time from  
real-time clock or Packet  
2E  
+
20-50 msec + clock time from satellite  
drift  
+
+
0x02 - 0x0C  
0x00  
full accuracy  
time from GPS solution  
Note – Before using the GPS time from Packet 0x41, verify that the Packet 0x46  
status code is 00 (“Doing position fixes”). This will ensure the most accurate GPS  
time.  
Report Packet 0x42 - Single-Precision Position Fix, XYZ ECEF  
This packet provides current GPS position fix in XYZ ECEF coordinates. If the I/O  
“position” option is set to XYZ ECEF  
(byte 0: bit 0, Packet 0x35)and the I/O Precision-of-Position Output (byte 0: bit 4,  
Packet 0x35) is set to single-precision, then the GPS receiver sends this packet each  
time a fix is computed. The data format is shown below.  
Table A.27 Report Packet 0x42 Data Formats  
Byte  
0-3  
Item  
Type  
Units  
X
Single  
Single  
Single  
Single  
meters  
meters  
meters  
seconds  
4-7  
Y
8-11  
12-15  
Z
Time-of-fix  
The time-of-fix is in GPS time or UTC as selected by the I/O “timing” option. Packet  
83 provides a double-precision version of this information.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Report Packet 0x43 - Velocity Fix, XYZ ECEF  
This packet provides current GPS velocity fix in XYZ ECEF coordinates. If the I/O  
velocity option is set to XYZ ECEF (byte 1, bit 0, Packet 0x35), then the GPS  
receiver sends this packet each time a fix is computed. The data format is shown  
below.  
Table A.28 Report Packet 0x43 Data Formats  
Byte  
0-3  
Item  
Type  
Units  
X velocity  
Y velocity  
Z velocity  
bias rate  
time-of-fix  
Single  
Single  
Single  
Single  
Single  
meters/second  
meters/second  
meters/second  
meters/second  
seconds  
4-7  
8-11  
12-15  
16-19  
The time-of-fix is in GPS time or UTC as selected by the I/O “timing” option (byte 2,  
bit 0, Packet 0x35).  
Report Packet 0x45 - Software Version Information  
This packet provides information about the version of software in the Navigation and  
Signal Processors. The GPS receiver sends this packet after power-on and in response  
to Packet 0x1F.  
Table A.29 Report Packet 0x45 Data Formats  
Byte  
Item  
Type  
0
1
2
3
4
5
6
7
8
9
Major version number  
Minor version number  
Month  
UINT8  
UINT8  
UINT8  
UINT8  
UINT8  
UINT8  
UINT8  
UINT8  
UINT8  
UINT8  
Day  
Year number minus 1900  
Major revision number  
Minor revision number  
Month  
Day  
Year number minus 2000  
The first 5 bytes refer to the Navigation Processor and the second 5 bytes refer to the  
Signal Processor.  
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A
Report Packet 0x46 - Health of Receiver  
This packet provides information about the satellite tracking status and the  
operational health of the receiver. The receiver sends this packet after power-on or  
software-initiated resets, in response to Packet 0x26 and, every second. Packet 0x4B  
is always sent along with this packet.  
Table A.30 Report Packet 0x46 Data Formats  
Byte  
Bit  
Item  
Type  
Value  
Definition  
0
Status code UINT8 0x00  
Doing position fixes  
Don't have GPS time yet  
Reserved  
0x01  
0x02  
0x03  
0x04  
0x08  
0x09  
0x0A  
0x0B  
PDOP is too high  
The chosen SV is unusable  
No usable satellites  
Only 1 usable satellite  
Only 2 usable satellites  
Only 3 usable satellites  
Fix criteria not met  
0x0C and above  
1
1
1
0
4
5
Battery  
backup  
Bit  
Bit  
0
1
OK  
BBRAM was not available at  
start-up  
Antenna  
feedline  
fault  
0
1
OK  
Short or open detected  
Type of fault Bit  
0
1
Open detected  
Short detected  
The error codes in Byte 1 of Packet 0x46 are encoded into individual bits within the  
byte. The bit positions are shown below.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Report Packet 0x47 - Signal Levels for all Satellites  
This packet provides received signal levels for all satellites currently being tracked or  
on which tracking is being attempted (i.e., above the elevation mask and healthy  
according to the almanac). The receiver sends this packet only in response to Packet  
0x27. The data format is shown below.  
Table A.31 Report Packet 0x47 Data Formats  
Byte  
0
Item  
Type  
Count  
UINT8  
UINT8  
Single  
UINT8  
Single  
(etc.)  
1
Satellite number 1  
Signal level 1  
Satellite number 2  
Signal level 2  
(etc.)  
2- 5  
6
7-10  
(etc.)  
Up to 12 satellite number/signal level pairs may be sent, indicated by the count field.  
Signal level is normally positive. If it is zero then that satellite has not yet been  
acquired. If it is negative then that satellite is not currently in lock. The absolute value  
of signal level field is the last known signal level of that satellite.  
Note – The signal level provided in this packet is a linear measurement of the signal  
strength after correlation or de-spreading. Units, either AMU or dBHz, are controlled  
by Packet 0x35.  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Report Packet 0x4A - Single Precision LLA Position Fix  
This packet provides current GPS position fix in LLA (latitude, longitude, and  
altitude) coordinates. If the I/O Position option is set to LLA and the I/O Precision-of-  
Position Output is set to single-precision (all controlled by Packet 35), then the  
receiver sends this packet each time a fix is computed. Command Packet 35 controls  
position output (XYZ or LLA) and (single or double) output precision. The data  
format is shown in below.  
Table A.32 Report Packet 0x4A Data Formats  
Byte  
0-3  
Item  
Type  
Units  
Latitude  
Longitude  
Altitude  
Clock Bias  
Time-of-Fix  
Single  
Single  
Single  
Single  
Single  
radians; + for north, - for south  
radians; + for east, - for west  
meters (HAE or MSL)  
meters  
4-7  
8-11  
2-15  
6-19  
seconds (GPS or UTC)  
The default datum is WGS-84. Altitude is referred to the datum ellipsoid or the MSL  
Geoid, depending on which I/O “LLA altitude” option is selected. The time-of-fix is  
in GPS time or UTC, depending on which I/O “timing” option is selected. This packet  
is also sent at start-up with a negative time-of-fix to report the current known  
position. Packet 0x84 provides a double-precision version of this information  
WARNING – When converting from radians to degrees, significant and readily visible  
errors will be introduced by use of an insufficiently precise approximation for the  
constant PI). The value of the constant PI as specified in ICD-GPS-200 is 3.1415926535898.  
Single precision LLA has a quantization of approximately 2 meters.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Report Packet 0x4B - Machine/Code ID and Additional Status  
The receiver transmits this packet in response to packets 0x25 and 0x26 and following  
a change in state. In conjunction with Packet 0x46, “health of receiver,” this packet  
identifies the receiver and may present status messages. The machine ID can be used  
by equipment communicating with the receiver to determine the type of receiver to  
which the equipment is connected. Then the interpretation and use of packets can be  
adjusted accordingly.  
Table A.33 Report Packet 0x4B Data Formats  
Byte  
Item  
Type/  
UINT8  
UINT8  
UINT8  
Definition  
0
1
2
Machine ID  
Status 1  
Status 2  
96  
Bit 0 set = Superpackets supported  
The status codes are encoded into individual bits within the bytes. The bit positions  
and their meanings are listed in the table below.  
Table A.34 Report Packet 0x4B Bit Positions and Descriptions  
Status 1 Bit  
Positions  
Meaning if bit value = 1  
0 (LSB)  
Not used  
1
2
3
Real-time Clock was not available at power-up.  
Not used  
The almanac stored in the receiver is not complete and  
current.  
4-7  
Not used  
Report Packet 0x4D - Oscillator Offset  
This packet provides the current value of the receiver master oscillator offset in Hertz  
at carrier. This packet contains one single precision number. The receiver sends this  
packet in response to Packet 0x2D. The permissible offset varies with the receiver  
unit.  
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A
Report Packet 0x4E - Response to Set GPS Time  
Indicates whether the receiver accepted the time given in a Set GPS time packet. the  
receiver sends this packet in response to Packet 0x2E. This packet contains one byte.  
Table A.35 Report Packet 0x4E Data Formats  
Value  
Meaning  
ASCII “Y”  
The receiver accepts the time entered via Packet 2E. The  
receiver has not yet received the time from a satellite.  
ASCII “N”  
The receiver does not accept the time entered via Packet  
2E. The receiver has received the time from a satellite and  
uses that time. The receiver disregards the time in Packet  
0x2E.  
Report Packet 0x55 - I/O Options  
These abbreviations apply to the following table: ALT (Altitude), ECEF (Earth-  
centered, Earth-fixed), XYZ (coordinates), LLA (latitude, longitude, altitude), HAE  
(height above ellipsoid), WGS-84 (Earth model (ellipsoid)), MSL geoid (Earth (mean  
sea level) mode), and UTC (coordinated universal time).  
Table A.36 Command Packets 0x55 and 0x35 Data Descriptions  
Byte  
Position  
0
Bit  
Item  
Type  
Value  
Definition  
0
1
2
XYZ ECEF  
Bit  
Bit  
Bit  
0
1
XYZ ECEF output off  
XYZ ECEF output on  
0
0
LLA Output  
LLA ALT Output  
Reserved  
0
1
LLA output off  
LLA output on  
0
1
HAE (WGS-84 datum)  
MSL geoid  
0
0
3
4
Precision-of-  
position output  
Bit  
Bit  
0
1
Send single-precision packet.  
Send double-precision packet.  
0
5
Super Packet  
Output  
0
1
Output no Super Packets.  
Output all enabled Super  
Packets.  
0
6-7  
Reserved  
Velocity  
1
0
XYZ ECEF  
ENU output  
Reserved  
Bit  
Bit  
0
1
XYZ ECEF output off  
XYZ ECEF output on  
1
1
0
1
ENU output off  
ENU output on  
1
2-7  
Timing  
2
0
Time Type  
Bit  
0
1
GPS Time  
UTC  
1-4  
5-6  
Reserved  
PPS Mode  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Table A.36 Command Packets 0x55 and 0x35 Data Descriptions (continued)  
Byte  
Bit  
Item  
Type  
Value  
Definition  
7
Reserved  
Auxiliary/Pseudo Range Measurements  
3
0
Raw Measurement Bit  
0
1
Raw measurements off  
Raw measurements on  
1
2
3
Reserved  
Reserved  
Signal Level Unit  
Bit  
Bit  
0
1
Output AMUs  
Output dB Hz  
4
5
Reserved  
Sig levels for SVs  
0
1
Signal levels Off  
Signal levels On  
6-7  
Reserved  
Notes – See the associated superpacket output, described later in this appendix.  
Packet 8E must be used to specify which superpacket is to be output.  
Automatic output of 0x5A raw measurement messages is supported in the Lassen IQ  
GPS Receiver for backwards compatibility with older TSIP applications.  
Report Packet 0x56 - Velocity Fix, East-North-Up (ENU)  
If East-North-Up (ENU) coordinates have been selected for the I/O “velocity” option  
(see Packet 0x35), the receiver sends this packet under the following conditions:  
Each time that a fix is computed  
In response to Packet 0x37 (last known fix)  
The data format is shown below.  
Table A.37 Report Packet 0x56 Data Formats  
Byte  
0-3  
Item  
Type  
Units  
East Velocity  
North Velocity  
Up Velocity  
Clock Bias Rate  
Time-of-Fix  
Single  
Single  
Single  
Single  
Single  
m/s; + for east, - for west  
m/s; + for north, - for south  
m/s; + for up, - for down  
m/s  
4-7  
8-11  
12-15  
16-19  
seconds (GPS or UTC)  
The time-of-fix is in GPS or UTC time as selected by the I/O “timing” option.  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Report Packet 0x57 - Information About Last Computed Fix  
This packet provides information concerning the time and origin of the previous  
position fix. The receiver sends this packet, among others, in response to Packet 0x37.  
The data format is shown below.  
Table A.38 Report Packet 0x57 Data Formats  
Byte  
Item  
Type  
Units  
Byte 0 Value/Velocity  
0
Source of  
information  
UINT8  
--  
00 temporary no fix  
01 good current fix  
1
Mfg. diagnostic  
Time of last fix  
Week of last fix  
UINT8  
Single  
INT16  
--  
2-5  
6-7  
seconds, GPS time  
weeks, GPS time  
Report Packet 0x58 - Satellite System Data/Acknowledge from Receiver  
This packet provides GPS data (almanac, ephemeris, etc.). The receiver sends this  
packet in response to Packet 0x38 (acknowledges the loading of data). The data  
format is shown below..  
Table A.39 Report Packet 0x58 Data Formats  
Byte  
Item  
Type  
Value  
Definition  
0
Operation  
UINT8  
1
2
Request data from receiver;  
Load data into receiver  
1
Type of data UINT8  
2
3
4
5
6
Almanac  
Health page, T_oa, WN_oa  
Ionosphere  
UTC  
Ephemeris  
2
Sat PRN#  
UINT8  
UINT8  
0
Data that is not satellite - ID specific  
satellite PRN number  
1 - 32  
3
Length (n)  
Data  
Number of bytes of data to be loaded  
4 to n+3  
Table A.40 Report Packet 0x58 Almanac Data  
Byte  
4
Item  
Type  
Definition / ICD-GPS-200  
t_oa_raw  
SV_HEALTH  
e
UINT8  
UINT8  
Single  
Single  
Single  
Single  
Single  
Single  
Single  
Single  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
5
6-9  
10-13  
14-17  
18-21  
22-25  
26-29  
30-33  
34-37  
t_oa  
i_o  
OMEGADOT  
sqrt_A  
OMEGA_0  
omega  
M_0  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Table A.40 Report Packet 0x58 Almanac Data  
38-41  
42-45  
46-49  
50-53  
54-57  
58-61  
62-65  
66-67  
68-69  
a_f0  
Single  
Single  
Single  
Single  
Single  
Single  
Single  
INT16  
INT16  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2. see Note 2.  
Sec 20.3.3.5.1.2  
Sec 20.3.3.5.1.2  
a_f1  
Axis  
n
OMEGA_n  
ODOT_n  
t_zc  
weeknum  
wn_oa  
Note – All angles are in radians. If data is not available, t_zc is set to -1.0.  
Table A.41 Report Packet 0x58 Almanac Health Data  
Byte  
Item  
Type  
Definition/ ICD-GPS-200  
4
week # for  
health  
UINT8  
Sec 20.3.3.5.1.3  
5-36  
37  
SV_health  
UINT8  
Sec 20.3.3.5.1.3  
t_oa for health UINT8  
current t_oa UINT8  
current week # INT16  
Sec 20.3.3.5.1.3  
38  
units = seconds/2048  
39-40  
Table A.42  
Byte  
4-11  
Item  
Type  
Definition / IDC-GPS-200  
not used  
---  
---  
12-15  
16-19  
20-23  
24-27  
28-31  
32-35  
36-39  
40-43  
alpha_0  
alpha_1  
alpha_2  
alpha_3  
beta_0  
beta_1  
beta_2  
beta_3  
Single  
Single  
Single  
Single  
Single  
Single  
Single  
Single  
Sec 20.3.3.5.1.9  
Sec 20.3.3.5.1.9  
Sec 20.3.3.5.1.9  
Sec 20.3.3.5.1.9  
Sec 20.3.3.5.1.9  
Sec 20.3.3.5.1.9  
Sec 20.3.3.5.1.9  
Sec 20.3.3.5.1.9  
Table A.43  
Byte  
4-16  
Item  
---  
Type  
Definition / IDC-GPS-200  
not used  
---  
17-24  
25-28  
29-30  
31-34  
35-36  
A_0  
Double  
Single  
Integer  
Single  
Integer  
Sec 20.3.3.5.1.8  
Sec 20.3.3.5.1.8  
Sec 20.3.3.5.1.8  
Sec 20.3.3.5.1.8  
Sec 20.3.3.5.1.8  
A_1  
delta_t_LS  
t_ot  
WN t  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Table A.43  
Byte  
37-38  
39-40  
41-42  
Item  
Type  
Definition / IDC-GPS-200  
Sec 20.3.3.5.1.8  
WN_LSF  
DN  
Integer  
Integer  
Integer  
Sec 20.3.3.5.1.8  
delta_t_LSF  
Sec 20.3.3.5.1.8  
Table A.44  
Byte  
4
Item  
Type  
Definition / IDC -GPS-200  
sv_number  
t_ephem  
UINT8  
Single  
SV PRN number  
5-8  
time of collection (note, if data is  
missing or invalid, t_ephem will be  
negative)  
9-10  
weeknum  
codeL2  
L2Pdata  
SVacc_raw  
SV_health  
IODC  
INT16  
Sec 20.3.3.3, Table 20-I  
Sec 20.3.3.3, Table 20-I  
Sec 20.3.3.3, Table 20-I  
Sec 20.3.3.3, Table 20-I  
Sec 20.3.3.3, Table 20-I  
Sec 20.3.3.3, Table 20-I  
Sec 20.3.3.3, Table 20-I  
Sec 20.3.3.3, Table 20-I  
Sec 20.3.3.3, Table 20-I  
Sec 20.3.3.3, Table 20-I  
Sec 20.3.3.3, Table 20-I  
Sec 20.3.3.3, Table 20-I  
Sec 20.3.3.4  
11  
UINT8  
UINT8  
UINT8  
UINT8  
INT16  
12  
13  
14  
15-16  
17-20  
21-24  
25-28  
29-32  
33-36  
37-40  
41  
T_GD  
Single  
Single  
Single  
Single  
Single  
Single  
UINT8  
UINT8  
Single  
Single  
Double  
Single  
Double  
Single  
Double  
Single  
Single  
Double  
Single  
Double  
Single  
Double  
Single  
Single  
Double  
t_oc  
a_f2  
a_f1  
a_f0  
SVacc  
IODE  
42  
fit_interval  
C_rs  
Sec 20.3.3.4  
43-46  
47-50  
51-58  
59-62  
63-70  
71-74  
75-82  
83-86  
87-90  
91-98  
99-102  
103-110  
111-114  
115-122  
123-126  
127-130  
131-138  
Sec 20.3.3.4  
delta_n  
M_0  
Sec 20.3.3.4  
Sec 20.3.3.4  
C_uc  
Sec 20.3.3.4, radians  
Sec 20.3.3.4  
e
C_us  
Sec 20.3.3.4, radians  
Sec 20.3.3.4  
sqrt_A  
t_oe  
Sec 20.3.3.4  
C_ic  
Sec 20.3.3.4, radians  
Sec 20.3.3.4  
OMEGA_0  
C_is  
Sec 20.3.3.4, radians  
Sec 20.3.3.4  
i_0  
C_rc  
Sec 20.3.3.4  
omega  
OMEGADOT  
IDOT  
Sec 20.3.3.4  
Sec 20.3.3.4  
Sec 20.3.3.4  
2
Axis  
= (sqrt_A)  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Table A.44  
(continued)  
Item  
Byte  
Type  
Definition / IDC -GPS-200  
139-146  
147-154  
155-162  
n
Double  
Double  
Double  
derived from delta_n  
2
r1me2  
OMEGA_n  
= sqrt(1.0-e )  
derived from OMEGA_0,  
OMEGADOT  
163-170  
ODOT_n  
Double  
derived from OMEGADOT  
Report Packet 0x5A - Raw Measurement Data  
This packet provides raw GPS measurement data. If the I/O Auxiliary options has  
been selected, the receive sends this data automatically as measurements are taken.  
The data format is shows in the table below.  
Table A.45 Report Packet 0x5A Data Formats  
Byte  
0
Item  
Type  
Units  
Satellite PRN number  
reserved  
UINT8  
----  
1-3  
4
Integer msec of pseudo-  
range  
UINT 8  
msec  
If Bit 7 =1, pseudo-range is  
out of bounds  
5
Signal level  
Single  
Single  
Single  
Double  
AMU or dBHz  
1/16th chip  
hertz  
9
Code phase  
13  
17  
Doppler  
Time of Measurement  
sec  
Note – Packet 0x5A provides the raw satellite signal measurement information used  
in computing a fix.  
Satellite PRN (Byte 0) is a unique identification number for each of the 32 GPS  
satellites. The integer millisecond of the pseudo-range has valid values of 0 to 19  
milliseconds. If the pseudo-range is out of bounds, this is indicated by setting Bit 7 of  
Byte 4 to 1.  
The codephase (Byte 9) value is the average delay over the sample interval of the  
received C/A code and is measured with respect to the receiver’s millisecond timing  
reference. Thus, it includes all receiver satellite, and propagation biases and errors. It  
is expressed in 1/16th of a C/A code chip.  
The Doppler (Byte 13) value is apparent carrier frequency offset averaged over the  
sample interval. It is measured with respect to the nominal GPS L1 frequency of  
1575.42 MHz, referenced to the receiver’s internal oscillator. Thus int includes all  
receiver and satellite clock frequency errors. It is expressed in Hertz at the L1 carrier.  
The time of measurement (Byte 17) is the center of the sample interval adjusted by  
adding the receiver supplied codephase (module mS) to a user determined integer  
number of mS between user and satellite.  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
The receiver codephase is expressed in 1/16th of a C/A code chip. This corresponds  
to:  
1/16 x C/A code chip = 977.517ns/16 = 61.0948 ns  
= 61.0948 x speed of light, m/s  
= 18.3158 meter  
Note – The receiver occasionally adjusts its clock to maintain time accuracy within 1  
msec. At this time, all pseudo-range values for all satellites are adjusted upward or  
downward by one millisecond. Report packet 0x5A checks packet 0x83 or 0x84 for  
clock bias.  
Report Packet 0x5F  
For Trimble diagnostic use only, please ignore.  
Report Packet 0x5C - Satellite Tracking Status  
This packet provides tracking status data for a specified satellite. Some of the  
information is very implementation-dependent and is provided mainly for diagnostic  
purposes. The receiver sends this packet in response to Packet 0x3C. The data format  
is shown below.  
Table A.46 Report Packet 0x5C Data Formats  
Byte  
Bit  
Item  
Type  
Value  
Definition  
0
Satellite  
PRN  
UINT8  
number  
1 - 32  
number  
1
1
2
0-2  
3-7  
reserved  
Channel  
Bits  
Bits  
reserved  
0-11  
Acquisition UINT8  
flag  
0
1
2
Never acquired  
Tracking  
Re-opened search  
3
Ephemeris UINT8  
flag  
0
1
Flag not set  
Ephemeris is decoded  
4-7  
8-11  
Signal  
level  
Single  
Same as in Packet 0x47  
GPS time  
of last  
measurem  
ent  
Single  
<0  
>0  
No measurements have been taken.  
Center of the last measurement  
taken from this satellite.  
12-15  
Elevation  
Singles  
radians  
Approximate elevation of this  
satellite above the horizon.  
Updated about every 15 sec.s. Used  
for searching and computing  
measurement correction factors.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Table A.46 Report Packet 0x5C Data Formats (continued)  
Byte  
Bit  
Item  
Type  
Value  
Definition  
16-19  
Azimuth  
Single  
radians  
Approximate azimuth from true  
north to this satellite. Updated  
typically about every 3 to 5  
minutes. Used for computing  
measurement correction factors.  
20-23  
reserved  
UINT8  
0
Report Packet 0x6D - All-In-View Satellite Selection  
This packet provides a list of satellites used for position fixes by the GPS receiver.  
The packet also provides the PDOP, HDOP, and VDOP of that set and provides the  
current mode (automatic or manual, 3-D or 2-D). This packet has variable length  
equal to 16+nSVs where “nSVs” is the number of satellites used in the solution.  
The GPS receiver sends this packet in response to Packet 0x24. The data format is  
shown below.  
Table A.47 Report Packet 0x6D Data Formats  
Byte  
Bit  
Item  
Type  
Value  
Definition  
0
0-2  
Dimension  
UINT8  
3
4
2D  
3D  
0
3
0
1
Auto  
Manual  
0
4-7  
-
nSVs  
1-4  
PDOP  
HDOP  
VDOP  
TDOP  
SV PRN  
Single  
Single  
Single  
Single  
UINT8  
PDOP  
HDOP  
VDOP  
TDOP  
5-8  
9-12  
13-16  
(16+nSVvs)  
Note – The Lassen IQ GPS Receiver sends this packet automatically after a position  
fix or every second if no position fix occurs.  
Command Packet 0x7A  
The NMEA message determines whether or not a given NMEA message will be  
output. If the bit for a message is set, the message will be sent every “interval”  
second. Use the values shown below to determine the NMEA interval and message  
mask. While fixes are being generated, the output order is: ZDA, GGA, GLL, VTG,  
GSA, GSV, RMC.  
Table A.48 Command Packet 0x7A and Report Packet 0x7B Data Formats  
Byte  
Bit  
Item  
Type  
Value  
0
Definition  
0
1
Subcode  
Interval  
UINT8  
UINT8  
1-255  
Fix interval in seconds  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Table A.48 Command Packet 0x7A and Report Packet 0x7B Data Formats  
Byte  
Bit  
Item  
Type  
Value  
Definition  
2
3
4
Reserved  
Reserved  
RMC  
D
1
5
Bit  
Bit  
Bit  
0
1
Off  
On  
4
4
TF  
0
1
Off  
On  
BA  
0
1
Off  
On  
4
5
6-7  
0
Reserved  
GGA  
Bit  
Bit  
Bit  
Bit  
Bit  
Bit  
0
1
Off  
On  
5
5
5
5
5
5
1
GLL  
0
1
Off  
On  
2
VTG  
0
1
Off  
On  
3
GSV  
0
1
Off  
On  
4
GSA  
0
1
Off  
On  
5
ZDA  
0
1
Off  
On  
6-7  
Reserved  
Report Packet 0x7B  
This packet provides the NMEA settings and interval.  
Command Packet 0x7E - TAIP Message Output  
TSIP packet 0x7E is used to setup the output configuration for TAIP messages. This  
packet expands the features similar to what have been provided by packet 0x8E-40  
found in some older generation Trimble receiver products.The settings provided by  
the packet can be divided into 4 groups:  
1. Reporting Flags – byte 1.  
2. The Top-of-Hour Offset – byte 2,3. This setting applies to all eight messages  
included in this packet. (If different values have to be applied to each message  
individually, use the Time-Distance feature from TAIP protocol.)  
3. Automatic Output Intervals for the 8 commonly used messages – bytes 4 - 19  
4. Device ID – bytes 20-23.  
This packet provides the capability to set the output frequencies for the eight  
commonly used messages individually. This is the same as the F<message  
type><output interval> command in TAIP. In contrast to packet 0x8E-40, the settings  
in this packet are not just for the so-called Heartbeat messages, meaning the output  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
frequency settings are not only applied when the receiver is not generating a position  
fix. In practice, this packet provides a comprehensive but straightforward means to  
set up the TAIP output configuration. It can also be used to reset the output  
configuration. For example, if any of these eight messages was set up as Time-  
Distance mode from the TAIP protocol, this packet would reset any such message  
back to plain periodic output mode or no automatic output mode (frequency=0).  
For customization, the settings in this packet can be stored into the Flash by either  
TSIP packet 0x8E-26 or TAIP command SRTSAVE_CONFIG. The flash storage  
commands store the latest output configuration which may be set up by either this  
packet or any other commands from the TAIP protocol. For example, if this packet  
was executed first from the TSIP protocol and then the Lassen iQ GPS was switched  
to TAIP protocol and the output settings were changed (e.g. changed to Time-  
Distance mode), or vise-versa, then the latest settings would be stored into the Flash  
(when the flash storage command is used).  
Note – See Appendix D for a full explanation of the TAIP protocol messages.  
Byte  
Bit Item  
Type  
Value  
Definition  
Defaul  
t
0
1
Subcode  
UINT8  
Bit  
0
Setting the packet  
On/Off  
0
0
1
1
1
0
0
ID Flag  
CS Flag  
EC Flag  
FR Flag  
CR Flag  
0/1  
0/1  
0/1  
0/1  
0/1  
1
Bit  
On/Off  
2
Bit  
On/Off  
3
Bit  
On/Off  
4
Bit  
On/Off  
5-7  
Reserved  
2,3  
4,5  
TOH  
UINT16  
0-3599  
0-3599  
Top of hour offset  
0
AL output UINT16  
period  
Auto output period for AL  
(sec)  
0 (see  
note)  
6.7  
CP output UINT16  
period  
0-3599  
0-3599  
0-3599  
0-3599  
0-3599  
0-3599  
0-3599  
Auto output period for CP  
(sec)  
0
8,9  
ID output UINT16  
period  
Auto output period for ID (sec) 0  
10,11  
12,13  
14,15  
16,17  
18,19  
20-23  
LN output UINT16  
period  
Auto output period for LN  
(sec)  
0
0
PV output UINT16  
period  
Auto output period for PV  
(sec)  
ST output UINT16  
period  
Auto output period for ST (sec) 0  
TM output UINT 16  
period  
Auto output period for TM  
(sec)  
0
VR output UINT 16  
period  
Auto output period for VR  
(sec)  
0
Veh ID  
String  
See TAIP ID Vehicle ID  
“0000”  
Note – 0 second period means the corresponding message is not to be output at all.  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Command Packet 0x82 - SBAS Correction Status  
This packet provides the SBAS position fix mode of the receiver. This packet  
contains only one data byte to specify the mode. If SBAS is enabled in packet 0xBB,  
Copernicus will acquire a SBAS satellite after it has a GPS-based position fix. The  
packet is sent in response to Packet 0x62.  
Table A.49 Command Packet 0x82 - SBAS Correction Status  
Byte Bit  
0 (LSB)  
Item  
Type  
Value Definition  
0
Last fix status  
Bit  
0
1
0 not corrected, 1 SBAS  
corrected  
1
2
Reserved  
Bit  
Bit  
0
Reserved  
Last fix  
correction  
source  
0
1
0 is no correction, 1 is  
SBAS corrected  
3
4
5
6
7
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
Bit  
Bit  
Bit  
Bit  
Bit  
0
0
0
0
0
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
* To allow the user to disable/enable individual SBAS SVs:  
TSIP - new packet, 0xC2, bytes 0-4 for SBAS SV bit masks  
NMEA - new packet, SV, field 0 is for GPS SV bit masks, field 1 is for SBAS SV bit  
masks  
$PTNLRSV, xxxxxxxx,xxxxxxxx  
10 C2 00 04 80 00 10 03  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Report Packet 0x83 - Double-Precision XYZ Position Fix and Bias  
Information  
This packet provides current GPS position fix in XYZ ECEF coordinates. If the I/O  
Position option is set to XYZ ECEF and the I/O Precision of Position option is set to  
Double (see Packet 0x35), the receiver sends this packet each time a fix is computed.  
The data format is shown below.  
Table A.50 Report Packet 0x83 Data Formats  
Byte  
0-7  
Item  
Type  
Units  
X
Double  
Double  
Double  
Double  
Single  
meters  
meters  
meters  
meters  
seconds  
8-15  
Y
16-23  
24-31  
32-35  
Z
clock bias  
time-of-fix  
The time-of-fix is in GPS time or UTC, as selected by the I/O “timing” option.  
Packet 42 provides a single-precision version of this information.  
Report Packet 0x84 - Double-Precision LLA Position Fix and Bias  
Information  
This packet provides current GPS position fix in LLA coordinates. If the I/O Position  
option is set to LLA and the Precision of Position option is set to Double (see Packet  
0x35), the receiver sends this packet each time a fix is computed. The data format is  
shown below.  
Table A.51 Report Packet 0x84 Data Formats  
Byte  
Item  
Type  
Units  
0-7  
latitude  
Double  
radians; + for north,  
- for south  
8-15  
longitude  
Double  
radians; + for east,  
- for west  
16-23  
24-31  
32-35  
altitude  
Double  
Double  
Single  
meters  
meters  
seconds  
clock bias  
time-of-fix  
The time-of-fix is in GPS time or UTC, as selected by the I/O “timing” option.  
WARNING – When converting from radians to degrees, significant and readily visible  
errors will be introduced by use of an insufficiently precise approximation for the  
constant p (PI). The value of the constant PI as specified in ICD-GPS-200 is  
3.1415926535898.  
C
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Packets 0x8E and 0x8F - Superpacket  
See page 159 for information on Packets 0x8E and 0x8F.  
Command Packet 0xBB - Navigation Configuration  
In query mode, Packet 0xBB is sent with a single data byte and returns Report Packet  
0xBB.  
Note – This Command Packet replaces Packets 0x2C, 0x62, 0x75, and 0x77.  
Table A.52 Command Packet 0xBB Query Mode Data Format  
Byte # Item  
Subcode  
Type  
Value  
Definition  
Default  
0
UINT8  
0x00  
Query mode  
TSIP Packet 0xBB is used to set GPS Processing options. The table below lists the  
individual fields within the 0xBB Packet.  
Table A.53 Command and Report Packet 0xBB Field Descriptions  
Byte #  
Item  
Type  
Value  
Definition  
Default  
0
1
2
Subcode  
Reserved  
SBAS  
UINT8  
0x00  
Query mode  
0x03  
UINT8  
UINT8  
0
1
WAAS_OFF  
WAAS_AUTO  
WAAS_AUT  
O
3
Dynamics Code  
1
2
3
Land  
Sea  
Air  
Land  
4
Reserved  
o
5-8  
Elevation Mask  
Single  
0.0 - 1.57  
(radian)  
Lowest satellite  
elevation for fixes  
0.0873 (5 )  
9-12  
13-16  
17-20  
21  
Reserved  
Reserved  
Reserved  
Reserved  
Reserved  
22-39  
Note – The dynamic limits for Dynamics Codes are:  
2
Land: acceleration < 10m/s ; velocity < 120m/s; altitude < 9000m  
2
Sea: acceleration < 10m/s ; velocity < 45m/s; altitude < 9000m  
2
Air: acceleration < 10m/s ; velocity < 515m/s; altitude < 50000m  
Note – Byte #2 is for all SBAS, not just WAAS.  
Command Packet 0xBC - Protocol Configuration  
TSIP Packet 0xBC is used to query the port characteristics. In query mode, Packet  
0xBC is sent with a single data byte and returns Report Packet 0xBC. (See Table A.4  
for information on saving the settings to non-volatile memory.)  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
TSIP Packet 0xBC is used to set the communication parameters on port A. The table  
below lists the individual fields within the Packet 0xBC and provides query field  
descriptions. The BC command settings are retained in battery-backed RAM.  
Table A.54 Command Packet 0xBC Port Characteristics  
Byte  
0
Bit  
Item  
Type  
Value  
Definition  
Port to Set  
UINT 8  
0
Port A  
1
Port B  
0xFF  
Current port  
1
Input Baud Rate  
UINT 8  
2
Reserved  
3
Reserved  
4
Reserved  
5
Reserved  
6
7
8
9
10  
11  
4800 baud  
9600 baud  
19200 baud  
38400 baud  
57600 baud  
115200 baud  
2
3
4
5
6
7
Output Baud Rate  
# Data Bits  
Parity  
UINT 8  
UINT 8  
UINT 8  
UINT 8  
UINT 8  
Bit  
As above  
As above (Note 1)  
8 bits  
3
0
0
0
None  
# Stop Bits  
Flow Control  
TAIP  
1 bit  
0 = none  
0
0
1
Off  
On  
1
2
TSIP input  
Bit  
Bit  
0
1
Off  
On  
NMEA input  
0
1
Off  
On  
3
Reserved  
Reserved  
TAIP  
4-7  
0
8
Bit  
0
1
Off  
On  
1
TSIP output  
Bit  
Bit  
0
1
Off  
On  
2
NMEA output  
0
1
Off  
On  
3-7  
Reserved  
Reserved  
9
Note – The Copernicus GPS receiver requires that the input and output baud rates be  
identical.  
Command Packet 0xC0 - Graceful Shutdown and Go To Standby Mode  
TSIP Packet 0xC0 is used to issue a reset or graceful shutdown to the unit and/or  
command the unit into Standby Mode.  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
The table below lists the individual fields within the Packet 0xC0 and provides query  
field descriptions. Any combination of conditions in byte 2 can be specified for  
starting up the unit from standby mode. The condition that happens first will trigger  
the unit to start up. If byte 2, bit 2 is set to 1, then byte 3 must be greater than 0.  
Byte  
Bit  
Item  
Type  
Value  
Definition  
0
Reset type or  
go to standby  
mode  
BYTE  
'H'  
‘W’  
‘C’  
‘S’  
hot start  
warm start  
cold start  
standby mode  
factory reset  
‘F’  
1
Store BBRAM  
to Flash flag  
BYTE  
0
1
2
Reserved  
Reserved  
Store user configuration to  
Flash Memory  
3
4
Store user configuration to  
Flash memory  
Erase Almanac, ephemeris  
and last position from Flash  
Memory  
5
6
Erase user configuration  
from Flash Memory  
Erase Almanac, ephemeris,  
last position and user  
configuration from Flash  
Memory  
2
0
Start-up from  
Standby Mode  
condition flags  
BYTE  
0
1
1=start up on serial port A  
activity  
1
2
0
1
1=start up on serial port B  
activity  
0
1
1=start up after RTC alarm  
elapsed  
3-4  
Number of  
seconds to stay  
in Standby  
mode  
UINT32  
0 to 2147483647  
or  
seconds  
31  
0 to (2 - 1)  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Command Packet 0xC1 - Set Bit Mask for GPIOs in Standby Mode  
Users may designate individual pins for pull-down and pull-up while the unit is in  
Standby Mode. This allows the user to select external pull-down or pull-up resistors  
to suit their application.  
Examples:  
In serial port configuration, one option would be to power down the serial port  
during standby in which case the corresponding GPIOs would be pull-downs.  
To keep the serial port running during standby, the corresponding GPIOs would  
be set to pull-ups.  
Note – The pins that are not connected should remain in their default state, pull-  
down.  
Use bit 5 of byte 1 to select the pull-down or pull-up resistor for the XTANDBY pin  
as appropriate for the application. Unlike the other GPIOs, the selection of the pull-  
down or pull-up resistor is applied during Run Mode.  
Examples:  
When the XSTANDBY pin is tied to main power, as shown in the reference  
design, select the pull-down resistor for the XTANDBY pin so when main  
power is removed, XTANDBY is immediately pulled low to go into Standby  
Mode.  
When the XTANDBY pin is controlled with GPIO on the user’s processor, the  
pull-down or pull-up resistor may be selected depending on the GPIO state.  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Table A.55 Command Packet 0xC1  
Byte  
Position  
0
Bit  
Item  
Type  
Value  
Definition  
0 (LSB) Pin 6,  
Reserved  
Bit  
Bit  
0
Reserved  
1
Pin 7, OPEN  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
2
Pin 8, SHORT Bit  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
3
Pin 17,  
Reserved  
Bit  
Bit  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
4
Pin 18,  
Reserved  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
5
Bit 5, Pin 19, Bit  
PPS  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
6
Pin 20, RxDB Bit  
Pin 21, RxDA Bit  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
7
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
1
0
Pin 22,  
Reserved  
Bit  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
1
Pin 23, TxDA Bit  
Pin 24, TxDB Bit  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
2
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
3
Pin 25,  
Reserved  
Bit  
Bit  
Bit  
Bit  
0
0 is pull-down, 1  
is pull-up, default  
is pull-down  
4
Pin 26,  
Reserved  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
5
Pin 16,  
XSTANDBY  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-up  
6-7  
Reserved  
Reserved  
The settings will be saved to flash when the user issues the command to “Save User  
Configuration to Flash”.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Command Packet 0xC2 - SBAS SV Mask.  
This packet provides the SBAS SV bit mask in four bytes. The user data packet  
contains four bytes to specify 19 possible SBAS prn numbers. Bit 0 represents PRN  
120.  
Available WAAS PRN numbers are 135 and 138.  
Message format is:  
<DLE> <id> <byte 3> <byte 2> <byte 1> <byte 0> <DLE> <ETX>  
To disable WAAS PRN 135 send 10 C2 00 00 80 00 10 03  
To disable WAAS PRN 138 send 10 C2 00 04 00 00 10 03  
To enable all WAAS send 10 C2 00 00 00 00 10 03  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
TSIP Superpackets  
Several packets have been added to the core TSIP protocol to provide additional  
capability for OEM receivers. In OEM Packets 0x8E and their 0x8F responses, the  
first data byte is a sub-code which indicates the superpacket type. For example, in  
Packet 0x8E-15, 15 is the sub-code that indicates the superpacket type. Therefore the  
ID code for OEM packets is 2 bytes long followed by the data. Command packet  
0x35 is used to enable superpackets.  
Command Packet 8E-15 - Set/Request Datum  
This packet allows the user to change the default datum from WGS-84 to one of 180  
selected datums. The datum is a set of 5 parameters which describe an ellipsoid to  
convert the GPS receiver’s internal coordinate system of XYZ ECEF into Latitude,  
Longitude, and Altitude (LLA). This affects all calculations of LLA in packets 0x4A  
and 0x84.  
The datum can be changed to match coordinates with another system such as a map.  
Most maps are marked with the datum used. In the US, the most popular datum for  
maps is NAD-27. You may choose a datum optimized for the local shape of the earth,  
however optimized datums are truly local and provide very different results when  
used outside of the area for which they are intended. WGS-84 is an excellent general  
ellipsoid valid around the world. To request the current datum setting, one data byte is  
sent. Report Packet 0x8F is returned.  
Table A.56 Command Packet 8E-15  
Byte  
Type  
Meaning  
0
Superpacket  
0x15  
To change to one of the internally held datums, the packet must contain exactly 2  
bytes representing the integer value of the index of the desired datum.  
Table A.57 Command Packet 8E-15  
Byte  
0
Type  
Meaning  
0x15  
Superpacket ID  
INT16  
1-2  
Datum index  
Note – To request the current datum, send Packet 8E015 with no data bytes.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Command Packet 0x8E-17 - Request Last Position or Auto-Report Position  
in UTM Single Precision Format  
This packet requests Packet 0x8F-17 or marks it for automatic output. If only the first  
byte (packet sub-code 0x17) is sent, an 0x8F-17 report containing the last available  
data will be sent immediately. If two bytes are sent, the packet is marked/unmarked  
for auto report according to the value of the second byte as shown in the table below.  
To retain the auto-report setting for this packet, first set the setting accordingly and  
then save to non-volatile memory by issuing the packet 0x8E-26.  
Table A.58 Command Packet 0x8E-17  
Byte Item  
Type  
Value  
0x17  
0,1  
Definition  
0
1
Packet sub-code  
UINT8  
UINT8  
Packet sub-code  
Mark for auto-  
report  
0=do not mark for auto-  
report  
1=mark for auto-report  
Command Packet 8E-18 - Request Last Position or Auto Report Position in  
UTM Double Precision Format  
This packet requests Packet 0x8F-18 or marks it for automatic output. If only the first  
byte (packet sub-code 0x18) is sent, an 0x8F-18 report containing the last available  
data will be sent immediately. If two bytes are sent, the packet is marked/unmarked  
for auto report according to the value of the second byte as shown in below. To retain  
the auto-report setting for this packet, first set the setting accordingly and then save to  
non-volatile memory by issuing the packet 0x8E-26.  
Table A.59 Command Packet 8E-18  
Byte Item  
Type  
Value  
0x18  
0,1  
Definition  
0
1
Packet sub-code  
UINT8  
UINT8  
Packet sub-code  
Mark for auto-  
report  
0=do not mark for auto-  
report  
1=mark for auto-report  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Command Packet 0x8E-20 - Request Last Fix with Extra Information  
This packet requests Packet 0x8F-20 or marks it for automatic output. If only the first  
byte (20) is sent, an 0x8F-20 report containing the last available fix will be sent  
immediately. If two bytes are sent, the packet is marked/unmarked for auto report  
according to the value of the second byte as shown in below. 0x37 can also be used  
for requesting 0x8F-20 if the 0x8F-20 is scheduled for auto output.  
Table A.60 Command Packet 0x8E-20 Field Descriptions  
Byte  
Item  
Type  
Definition  
0
1
Sub-packet id  
UINT8 0x20  
Mark for Auto-report (See Packet UINT8 0 = do not auto-  
35 byte 0 bit 5)  
report  
1 = mark for auto-  
report  
Note – Auto-report requires that superpacket output is enabled. Refer to Command  
Packet 35.  
Command Packet 0x8E-26 - Non-Volatile Memory Storage  
The 0x8E-26 command is issued with no data to cause the current settings to be saved  
to non-volatile memory. The 0x8F-26 report is generated after the values have been  
saved.  
Table A.61 Command Packet 0x8E-26 Definitions  
Byte #  
Item  
Type  
Value  
Definition  
0
Subcode  
UINT8  
0x26  
Save Settings  
Command Packet 0x8E-2A - Request Fix and Channel Tracking Info, Type 1  
This packet requests Packet 0x8F-2A or marks it for automatic output. If only the first  
byte (packet sub-code 0x2A) is sent, an 0x8F-2A report containing the last available  
data will be sent immediately. If two bytes are sent, the packet is marked/unmarked  
for auto report according to the value of the second byte as shown in below.  
To retain the auto-report setting for this packet, first set the setting accordingly and  
then save to non-volatile memory by issuing the packet 0x8E-26.  
Table A.62 Command Packet 0x8E-2A  
Byte  
Item  
Type  
Value  
0x2A  
0,1  
Definition  
0
1
Packet sub-code  
UINT8  
UINT8  
Packet sub-code  
Mark for Auto-  
report  
0 = do not auto-report  
1 = mark for auto-report  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Command Packet 0x8E-2B - Request Fix and Channel Tracking Info, Type 2  
This packet requests Packet 0x8F-2B or marks it for automatic output. If only the first  
byte (packet sub-code 0x2B) is sent, an 0x8F-2B report containing the last available  
data will be sent immediately. If two bytes are sent, the packet is marked/unmarked  
for auto report according to the value of the second byte as shown in below.  
To retain the auto-report setting for this packet, first set the setting accordingly and  
then save to non-volatile memory by issuing the packet 0x8E-26.  
Table A.63 Command Packet 0x8E-2B  
Byte  
Item  
Type  
Value  
0x2B  
0,1  
Definition  
0
1
Packet sub-code  
Mark for Auto-report  
UINT8  
UINT8  
Packet sub-code  
0 = do not auto-report  
1 = mark for auto-report  
Command Packet 8E-4A - Set/Request Lassen iQ GPS Cable Delay  
and PPS Polarity  
Using this packet, you can query and control the Lassen iQ GPS cable delay  
characteristics. The receiver responds to a query or control command with packet 8F-  
4A. The packet contains 16 bytes.  
Table A.64 Command Packet 8E-4A  
Byte  
Item  
Type  
Meaning  
0
1
2
3
Sub-packet ID  
Reserved  
Reserved  
Polarity  
BYTE  
Always 0x4A  
BYTE  
0 Positive  
1 Negative  
4-11  
PPS Offset of Cable Delay  
Reserved  
DOUBLE  
Seconds (default=0.0)  
12-15  
Command Packet 0x8E-4F - Set PPS Width  
This command packet sets the PPS width to a value in the range of 100 microseconds  
to 500 milliseconds. The receiver returns packet 0x8F-4F. The current PPS width can  
be requested by sending this packet with no data bytes except the subcode byte.  
Table A.65 Command Packet 0x8E-4F  
Byte  
0
Item  
Type  
Value  
Meaning  
Subcode  
PPS width  
BYTE  
0x4F  
1-8  
DOUBLE  
Seconds  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Report Packet 0x8F-15 - Current Datum Values  
This packet contains 43 data bytes with the values for the datum currently in use, and  
is sent in response to Packet 0x8E-15. Both the datum index and the 5 double  
precision values for that index will be returned.  
Table A.66 Report Packet 0x8F-15  
Byte  
Type  
Meaning  
0
UINT8  
ID for this sub-packet  
(always x15)  
1-2  
INT16  
Datum index  
3-10  
Double  
Double  
Double  
Double  
Double  
DX  
11-18  
19-26  
27-34  
35-42  
DY  
DZ  
A=axis  
Eccentricity Squared  
Note – A complete list of datums is provided at the end of this appendix. Eccentricity  
Squared is related to flattening by the following equation: e2=2p-p2.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Report Packet 8F-17 - UTM Single Precision Output  
This packet reports position in UTM (Universal Transverse Mercator) format. The  
UTM coordinate system is typically used for U.S. and international topographical  
maps.  
The UTM coordinate system lays out a world-wide grid consisting of the following:  
60 North/South zones in 6° increments, extending eastward from the  
International Data Line.  
10 East/West zones in 8° increments, extending above and below the equator.  
Coordinates within these boundaries cover all surface locations from 80° South to 84°  
North and encircle the earth. Locations are indicated by offset from the equator and in  
the zones east of the International Date Line. These offsets are known as Northing  
and Easting, and are expressed in meters. UTM is not usable in polar regions.  
Table A.67 Report Packet 8F-17  
Byte  
0
Item  
Type  
Value  
Subcode  
0x17  
1
Gridzone Designation  
Gridzone  
Northing  
Char  
2-3  
INT16  
Single  
Single  
Single  
Single  
Single  
4-7  
Meters  
Meters  
Meters  
Meters  
Seconds  
8-11  
12-15  
16-19  
20-23  
Easting  
Altitude  
Clock Bias  
Time of Fix  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Report Packet 8F-18 - UTM Double Precision Output  
This packet reports position in UTM (Universal Transverse Mercator) format. The  
UTM coordinate system is typically used for U.S. and international topographical  
maps.  
The UTM coordinate system lays out a world-wide grid consisting of the following:  
60 North/South zones in 6° increments, extending eastward from the  
International Data Line.  
10 East/West zones in 8° increments, extending above and below the equator.  
Coordinates within these boundaries cover all surface locations from 80° South to 84°  
North and encircle the earth. Locations are indicated by offset from the equator and in  
the zones east of the International Date Line. These offsets are known as Northing  
and Easting, and are expressed in meters. UTM is not usable in polar regions.  
Table A.68 Report Packet 8F-18  
Byte  
0
Item  
Type  
Value  
Subcode  
0x17  
1
Gridzone Designation  
Gridzone  
Northing  
Char  
2-3  
INT16  
4-7  
Double  
Double  
Double  
Double  
Single  
Meters  
Meters  
Meters  
Meters  
Seconds  
8-11  
12-15  
16-19  
20-23  
Easting  
Altitude  
Clock Bias  
Time of Fix  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Report Packet 0x8F-20 - Last Fix with Extra Information  
(binary fixed point)  
This packet provides complete information about the current position velocity fix in a  
compact, fixed-length 56-byte packet. The fields are fixed-point with precision  
matched to the receiver accuracy. It can be used for automatic position/velocity  
reports. The latest fix can also be requested by 0x8E-20 or 0x37 commands.The data  
format is shown below.  
Table A.69 Report Packet 0x8F-20 Data Formats  
Byte  
Bit  
Item  
Type  
Value  
Definition  
0
Sub-packet id  
UINT8  
Id for this sub-packet (always  
0x20)  
1
Reserved  
UINT8  
INT16  
Reserved  
2-3  
East velocity  
0.005 m/s or 0.020 m/s  
See Note 1.  
4-5  
6-7  
North velocity  
Up velocity  
INT16  
INT16  
0.005 m/s or 0.020 m/s  
See Note 1.  
0.005 m/s or 0.020 m/s  
See Note 1.  
8-11  
Time Of Week  
Latitude  
UINT32  
INT32  
GPS Time in milliseconds  
30  
30  
-31  
12-15  
-2 to 2  
WGS-84 latitude, 2  
semicircle (-90° - 90°)  
32  
-31  
16-19  
20-23  
24  
Longitude  
UINT32  
INT32  
0 to 2  
WGS-84 longitude, 2  
semicircle (0° - 360°)  
Altitude  
Altitude above WGS-84  
ellipsoid, mm.  
2
0
Velocity Scaling  
0
1
0.005 m/s  
0.020 m/s  
2
1-7  
reserved  
reserved  
Datum  
25  
26  
27  
Datum index + 1, 0=unknown  
0
Invalid Fix  
Bit  
0
1
No (Valid Fix)  
Yes (Invalid Fix)  
1
2
Reserved  
Bit  
Bit  
0
Reserved  
Fix Dimension  
0
1
3D  
2D  
3
Alt Hold  
Filtered  
Bit  
Bit  
0
1
Last 3D Altitude  
User-entered altitude  
4
0
1
Unfiltered  
Filtered  
5-7  
reserved  
NumSVs  
28  
UINT8  
UINT8  
INT16  
Number of satellites used for  
fix. Will be zero if no fix avail.  
29  
UTC Offset  
Week  
Number of leap seconds  
between UTC and GPS time.  
30-31  
GPS time of fix, weeks.  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Table A.69 Report Packet 0x8F-20 Data Formats (continued)  
Byte  
Bit  
0-5  
6-7  
Item  
Type  
Value  
Definition  
32  
PRN 1  
UINT8  
1-32  
PRN of first satellite  
reserved  
IODE 1  
PRN 2  
33  
34  
UINT8  
UINT8  
IODE of first satellite  
PRN of second satellite  
0-5  
6-7  
1-32  
1-32  
1-32  
1-32  
1-32  
1-32  
1-32  
1-32  
1-32  
1-32  
1-32  
reserved  
IODE 2  
PRN 3  
35  
36  
UINT8  
UINT8  
IODE of second satellite  
PRN of third satellite  
0-5  
6-7  
reserved  
IODE 3  
PRN 4  
37  
38  
UINT8  
UINT8  
IODE of third satellite  
PRN of fourth satellite  
0-5  
6-7  
reserved  
IODE 4  
PRN 5  
39  
40  
UINT8  
UINT8  
IODE of fourth satellite  
PRN of fifth satellite  
0-5  
6-7  
reserved  
IODE 5  
PRN 6  
41  
42  
UINT8  
UINT8  
IODE of fifth satellite  
PRN of sixth satellite  
0-5  
6-7  
reserved  
IODE 6  
PRN 7  
43  
44  
UINT8  
UINT8  
IODE of sixth satellite  
PRN of seventh satellite  
0-5  
6-7  
reserved  
IODE 7  
PRN 8  
45  
46  
UINT8  
UINT8  
IODE of seventh satellite  
PRN of eighth satellite  
0-5  
6-7  
reserved  
IODE 8  
PRN 9  
47  
48  
UINT8  
UINT8  
IODE of eighth satellite  
PRN of ninth satellite  
0-5  
6-7  
reserved  
IODE 9  
PRN 10  
reserved  
IODE 10  
PRN 11  
reserved  
IODE 11  
PRN 12  
reserved  
IODE 12  
49  
50  
UNIT8  
UINT8  
IODE of ninth satellite  
PRN of tenth satellite  
0-5  
6-7  
51  
52  
UNIT8  
UINT8  
IODE of tenth satellite  
0-5  
6-7  
PRN of eleventh satellite  
53  
54  
UNIT8  
UINT8  
IODE of eleventh satellite  
PRN of twelfth satellite  
0-5  
6-7  
55  
UINT8  
IODE of twelfth satellite  
56-63  
Ionospheric parameters  
Note – Velocity scale controlled by byte 24, bit 1. Overflow = 0x8000.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Report Packet 0x8F-26 - Non-Volatile Memory Status  
This report will be issued after an 0x8E-26 command.  
Table A.70 Report Packet 0x8F-26  
Byte Item  
Type  
Value  
Definition  
0
Subcode  
Reserved  
UINT8  
0x26  
Save settings  
1-4  
Report Packet 0x8F-2A - Fix and Channel Tracking Info, Type 1  
This packet provides compact fix and channel tracking information. This packet can  
be requested or set up for automatic output by 0x8E-2A. Total packet length  
(including header DLE, packet ID 0x8F, packet data as described below and trailing  
DLE/ETX bytes): 168 bytes.  
Table A.71 Report Packet 0x8F-2A  
Byte Offset  
Item  
Type  
Value  
0x2A  
0x00  
Definition  
0
1
2
3
Packet sub-code  
<reserved>  
<reserved>  
UINT8  
UINT8  
UINT8  
Packet sub-code (always 0x2A).  
Reserved for future use.  
Reserved for future use.  
0x00  
GPS Week Number UINT16  
0 to  
10-bit GPS week number of  
measurement (in weeks).  
1023  
5
9
GPS Millisecond  
UINT32  
INT32  
0 to  
GPS time of week of  
measurement (in milliseconds).  
603799999  
Fractional GPS  
Nanosecond  
-500000 to Fractional part of the GPS  
millisecond (in nanoseconds).  
See Note 1.  
500000  
13  
17  
Altitude  
INT32  
UINT8  
Any  
Altitude above WGS-84  
ellipsoid (in millimeters).  
Receiver Status  
Code  
Any  
0x00 - Doing position fixes  
0x01 - Don't have GPS time yet  
0x03 - PDOP is too high  
0x08 - No usable satellites  
0x09 - Only 1 usable satellite  
0x0A - Only 2 usable satellites  
0x0B - Only 3 usable satellites  
Other values indicate internal  
status codes when the receiver  
is not generating valid position  
fixes.  
174 Copernicus GPS Receiver  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Byte Offset  
Item  
Type  
Value  
Definition  
18  
Receiver Health  
UINT8  
Bit-masks  
Bit 0 - if set, antenna line fault  
is detected.  
Bit 1 - if set, antenna line is  
shorted; if not set, antenna line  
is open. This bit is valid only if  
Bit 0 is set.  
Bit 2 - if set, the current fix is 2-  
D; if not set, the fix is 3-D. This  
bit is valid only if Receiver  
Status Code byte is 0x00.  
Bit 3 - if set, the current fix is  
SBAS-corrected. This bit is valid  
only if Receiver Status Code  
byte is 0x00.  
Bit 4 - if set, BBRAM was not  
available at power-up.  
Bit 5 - if set, Real-Time Clock  
was not available at power-up.  
Bit 6 - if set, the almanac stored  
in the receiver is not complete  
and current.  
Bit 7 - if set, the measurement  
clock bias is unknown.  
19  
<reserved>  
UINT 8  
0x00  
Reserved for future use  
NOTE2  
Channel Tracking information for Channels 0...11 (N)  
20+N*12  
Satellite ID  
UINT8  
1 to 32, or Satellite PRN (GPS or SBAS).  
120 to 138  
21+N*12  
22+N*12  
Signal Strength  
UINT8  
0 to 55  
Signal strength (in dB-Hz).  
Acquisition Status UINT16  
Bit-masks  
Bit 0 - if set, Doppler is valid.  
Bit 1 - if set, code phase is valid.  
Bit 2 - if set, time ambiguity is  
resolved.  
Bit 3 - if set, measurement is  
valid.  
Other bits are reserved.  
Pseudo range (in cm).  
24+N*12  
28+N*12  
Pseudo Range  
Range Rate  
UINT32  
INT32  
any  
any  
Range rate (in millimeters/sec).  
Note – This value is valid only if Bit 7 of the Receiver Health byte is not set. To  
compute the complete GPS time of measurement to 1 ns resolution, use the following  
formula:  
GPS Time of Measurement (nanosec) = GPS Millisec*1000000 + Fractional GPS  
Nanosec  
Note – The channel tracking block (12 bytes in length) is repeated for all 12 channels.  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Report Packet 0x8F-2B - Fix and Channel Tracking Info, Type 2  
This packet provides compact fix and channel tracking information. This packet can  
be requested or set up for automatic output by 0x8E-2B. Total packet length  
(including header DLE, packet ID 0x8F, packet data as described below and trailing  
DLE/ETX bytes): 88 bytes.  
Table A.72 Report Packet 0x8F-2B  
Byte Offset Item  
Type  
Value  
Definition  
0
Packet sub-code  
UINT8  
0x2B  
Packet sub-code (always  
0x2B).  
1
2
3
<reserved>  
UINT8  
UINT8  
0x00  
0x00  
0 to  
Reserved for future use.  
Reserved for future use.  
<reserved>  
GPS week number  
UINT16  
1023  
10-bit GPS week number of  
measurement (in weeks).  
5
GPS millisecond  
UINT32  
0 to  
603799999  
GPS time of week of  
measurement (in  
milliseconds).  
9
Latitude  
INT32  
-230 to 230  
0 to 232  
Latitude (WGS-84), 2-31  
semicircle (-90° - 90°). See  
Note 1.  
13  
Longitude  
UINT32  
Longitude (WGS-84), 2-31  
semicircle (0° - 360°). See  
Note 1.  
17  
21  
Altitude  
INT32  
INT32  
any  
any  
Altitude above WGS-84  
ellipsoid (in millimeters).  
East/West Velocity  
East/West velocity (in mm/s).  
Positive value - East velocity;  
negative - West.  
25  
29  
North/South  
Velocity  
INT32  
INT32  
any  
any  
North/South velocity (in  
mm/s). Positive value - North  
velocity; negative - South.  
Up/Down Velocity  
Up/Down velocity (in mm/s).  
Positive value - Up velocity;  
negative - Down.  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Byte Offset Item  
33 Receiver Status  
Type  
Value  
Definition  
UINT8  
Any  
0x00 - Doing position fixes  
Code  
0x01 - Don't have GPS time  
yet  
0x03 - PDOP is too high  
0x08 - No usable satellites  
0x09 - Only 1 usable satellite  
0x0A - Only 2 usable  
satellites  
0x0B - Only 3 usable  
satellites  
Other values indicate  
internal status codes when  
the receiver is not  
generating valid position  
fixes.  
34  
Receiver Health  
UINT8  
Bit-masks  
Bit 0 - if set, antenna line  
fault is detected.  
Bit 1 - if set, antenna line is  
shorted; if not set, antenna  
line is open. This bit is valid  
only if Bit 0 is set.  
Bit 2 - if set, the current fix is  
2-D; if not set, the fix is 3-D.  
This bit is valid only if  
Receiver Status Code byte is  
0x00.  
Bit 3 - if set, the current fix is  
SBAS-corrected. This bit is  
valid only if Receiver Status  
Code byte is 0x00.  
Bit 4 - if set, BBRAM was not  
available at power-up.  
Bit 5 - if set, Real-Time Clock  
was not available at power-  
up.  
Bit 6 - if set, the almanac  
stored in the receiver is not  
complete and current.  
Bit 7 - if set, the  
measurement clock bias is  
unknown.  
35  
<reserved>  
UINT8  
0x00  
Reserved for future use.  
NOTE 2  
Channel Tracking information for Channels 0…11 (N)  
36+N*4  
Satellite ID  
UINT8  
1 to 32, or 120 Satellite PRN (GPS or SBAS).  
to 138  
37+N*4  
Signal Strength  
UINT8  
0 to 55  
Signal strength (in dB-Hz).  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Byte Offset Item  
Type  
Value  
Definition  
38+N*4  
Measurement  
Status  
UINT8  
Bit-masks  
Bit 2 - if set, time ambiguity  
is resolved (channel is  
acquired).  
Bit 4 - if set, ephemeris is  
decoded.  
Other bits are reserved.  
39+N*4  
Fix Mode / Rejection UINT8  
Code  
Any  
0x00 - SV is used in  
computing the current  
position fix.  
0x01…0xFF - SV is not used  
in fix. The value indicates  
the internal “rejection”  
code.  
Note – To convert to radians, multiply the received latitude or longitude value by  
(PI/231). For longitude, if the converted value is greater than PI, subtract 2*PI (PI =  
3.1415926535898) to bring the final value to the (-PI…+PI) range.  
The channel tracking block (4 bytes in length) is repeated for all 12 channels.  
Report Packet 0x8F-4F - Set PPS Width  
Note – This report packet is output after the command packet 0x8E-4E has been  
executed. See the corresponding command packet for information about the data  
formats.  
178 Copernicus GPS Receiver  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Datums  
Reference: DMA TR 8350.2 Second Edition, 1 Sept. 1991. DMA Technical Report,  
Department of Defense World GEodetic System 1984, Definition and Relationships  
with Local Geodetic Systems.  
Trimble Datum  
Local Geodetic Datum  
Name  
Index  
0
WGS-84  
6
WGS-72  
7
NAD-83  
8
NAD-02  
9
Mexican  
10  
11  
12  
Hawaii  
Astronomic  
U.S. Navy  
Trimble Datum Local Geodetic Datum  
Index  
15  
16  
17  
18  
19  
20  
23  
24  
25  
26  
27  
28  
29  
30  
31  
32  
33  
45  
47  
82  
87  
88  
90  
94  
118  
Name  
Code  
ADI-M  
ADI-A  
ADI-C  
ADI-D  
ADI-B  
AFG  
Adindan Mean Solution (Ethiopia and Sudan)  
Adindan Ethiopia  
Adindan Mali  
Adindan Senegal  
Adindan Sudan  
Afgooye Somalia  
ARC 1950 Mean Solution  
ARC 1950 Botswana  
ARC 1950 Lesotho  
ARF-M  
ARF-A  
ARF-B  
ARF-C  
ARF-D  
ARF-E  
ARF-F  
ARF-G  
ARS  
ARC 1950 Malawi  
ARC 1950 Swaziland  
ARC 1950 Zaire  
ARC 1950 Zambia  
ARC 1950 Zimbabwe  
ARC 1960 Mean Solution  
ARC 1960 Kenya  
ARS  
ARC 1960 Tanzania  
Cape South Africa  
ARS  
CAP  
Carthage Tunisia  
CGE  
Liberia 1964 Liberia  
Massawa Eritrea (Ethiopia)  
Merchich Morocco  
Minna Nigeria  
LIB  
MAS  
MER  
MIN-B  
SCK  
Schwarzeck Namibia  
Old Egyptian 1907 Egypt  
OEG  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Trimble Datum Local Geodetic Datum  
Index Name  
Tokyo  
Code  
1
21  
Ain El Abd 1970 Bahrain Island  
Djakarta (Batavia) Sumatra (Indonesia)  
Hong Kong 1963 Hong Kong  
Indian 1975 Thailand  
AIN-A  
BAT  
51  
71  
HKD  
72  
INH -A  
IND-I  
KAN  
73  
Indian India and Nepal  
77  
Kandawala Sri Lanka  
79  
Kertau 1948 West Malaysia and Singapore  
Nahrwan Masirah Island (Oman)  
Nahrwan United Arab Emirates  
Nahrwan Saudi Arabia  
KEA  
91  
NAH-A  
NAH-B  
NAH-C  
FAH  
92  
93  
124  
143  
161  
164  
165  
166  
167  
176  
179  
Oman Oman  
Quatar National Qatar  
QAT  
South Asia Singapore  
SOA  
Timbalai 1948 Brunei and East Malaysia (Sarawak and Sabah) TIL  
Tokyo Mean Solution (Japan, Okinawa and South Korea)  
Tokyo South Korea  
TOY-M  
TOY-B  
TOY-C  
HTN  
Tokyo Okinawa  
Hu-Tzu-Shan Taiwan  
Tokyo GIS Coordinates  
TOY-B  
Trimble Datum Local Geodetic Datum  
Index  
5
Name  
Code  
AUA  
AUG  
AUA  
Australian Geodetic 1966 Australia and Tasmania  
Australian Geodetic 1984 Australia and Tasmania  
Australian Geodetic 1966 Australia and Tasmania  
14  
39  
Trimble Datum  
Local Geodetic Datum  
Name  
Index  
4
Code  
European 1950 Mean Solution  
European 1950 Mean Solution  
European 1950 Mean Solution  
European 1950 Cyprus  
European 1950 Egypt  
EUR-M  
EUR-M  
EUR-M  
EUR-E  
EUR-F  
13  
54  
55  
56  
57  
58  
59  
60  
61  
62  
63  
European 1950 England, Ireland, Scotland, Shetland Islands EUR-G  
European 1950 England, Ireland, Scotland, Shetland Islands EUR-K  
European 1950 Greece  
European 1950 Iran  
EUR-B  
EUR-H  
EUR-I  
EUR-J  
EUR-C  
European 1950 Sardinia  
European 1950 Sicily  
European 1950 Norway and Finland  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Trimble Datum  
Local Geodetic Datum  
Name  
Index  
64  
Code  
European 1950 Portugal and Spain  
European 1979 Mean Solution  
EUR-D  
EUS  
65  
74  
Ireland 1965 Ireland  
IRL  
125  
126  
127  
128  
Ordnance Survey of Great Britain Mean Solution  
Ordnance Survey of Great Britain England  
Ordnance Survey of Great Britain Isle of Man  
OGB-M  
OGB-M  
OGB-M  
OGB-M  
Ordnance Survey of Great Britain Scotland and Shetland  
Islands  
129  
145  
Ordnance Survey of Great Britain Wales  
Rome 1940 Sardinia  
OGB-M  
MOD  
Trimble Datum Local Geodetic Datum  
Index  
0
Name  
Code  
WGS-84  
2
North American 1927 Mean Solution (CONUS)  
Alaska Canada  
NAS-C  
3
46  
Cape Canaveral Mean Solution (Florida and Bahamas)  
NAD 27 Western United States  
NAD 27 Eastern United States  
NAD 27 Alaska  
CAC  
96  
NAS-B  
NAS-A  
NAS-D  
NAS-Q  
NAS-R  
NAS-E  
NAS-F  
NAS-G  
NAS-H  
NAS-I  
97  
98  
99  
NAD 27 Bahamas  
100  
101  
102  
103  
104  
105  
106  
107  
108  
109  
110  
111  
112  
113  
114  
115  
116  
NAD 27 San Salvador  
NAD 27 Canada  
NAD 27 Alberta BC  
NAD 27 East Canada  
NAD 27 Manitoba Ontario  
NAD 27 Northwest Territories Saskatchewan  
NAD 27 Yukon  
NAS-J  
NAS-O  
NAS-P  
NAS-N  
NAS-T  
NAS-U  
NAS-V  
NAR-A  
NAR-B  
NAR-C  
NAR-D  
NAD 27 Canal Zone  
NAD 27 Caribbean  
NAD 27 Central America  
NAD 27 Cuba  
NAD 27 Greenland  
NAD 27 Mexico  
NAD 83 Alaska  
NAD 83 Canada  
NAD 83 CONUS  
NAD 83 Mexico and Central America  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Trimble Datum  
Local Geodetic Datum  
Index  
42  
Name  
Code  
BOO  
CAI  
Bogota Observatory Columbia  
Compo Inchauspe 1969 Argentina  
Chua Astro Paraguay  
Corrego Alegre Brazil  
43  
49  
CHU  
COA  
50  
132  
133  
Provisional South Chilean 1963 Southern Chile (near 53ºS) HIT  
Provisional South American 1956 Mean Solution (Bolivia,  
Chile, Columbia, Ecuador, Guyana, Peru, Venezuela)  
PRP-M  
134  
135  
Provisional South American 1956 Bolivia, Chile  
PRP-A  
PRP-B  
Provisional South American 1956 Northern Chile (near  
19ºS)  
136  
Provisional South American 1956 Southern Chile (near  
43ºS)  
PRP-C  
137  
138  
139  
140  
141  
149  
Provisional South American 1956 Columbia  
Provisional South American 1956 Ecuador  
Provisional South American 1956 Guyana  
Provisional South American 1956 Peru  
Provisional South American 1956 Venezuela  
PRP-D  
PRP-E  
PRP-F  
PRP-G  
PRP-H  
SAN-M  
South American 1969 Mean Solution (Argentina, Bolivia,  
Brazil, Chile, Columbia, Ecuador, Guyana, Paraguay, Peru,  
Trinidad Tobago, Venezuela)  
150  
151  
152  
153  
154  
155  
South American 1969 Argentina  
South American 1969 Bolivia  
South American 1969 Brazil  
South American 1969 Chile  
South American 1969 Columbia,  
SAN-A  
SAN-B  
SAN-C  
SAN-D  
SAN-E  
SAN-F  
South American 1969 Ecuador (Excluding Galapagos  
Islands)  
156  
157  
158  
159  
160  
171  
South American 1969 Guyana  
South American 1969 Paraguay  
South American 1969 Peru  
SAN-G  
SAN-H  
SAN-I  
SAN-K  
SAN-L  
ZAN  
South American 1969 Trinidad and Tobago  
South American 1969 Venezuela  
Zanderij Surinam  
Trimble Datum  
Local Geodetic Datum  
Index  
34  
Name  
Code  
ASC  
SHB  
BER  
Ascension Island 1958 Ascension Island  
Astro Dos 71 /4 St. Helena Island  
Bermuda 1957 Bermuda Islands  
Hjorsey 1955 Iceland  
37  
41  
70  
HJO  
LCF  
81  
L.C.5 Astro 1961 Cayman Brac Island  
Selvagem Grande 1938 Salvage Islands  
86  
SGM  
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TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
A
Trimble Datum  
Local Geodetic Datum  
Name  
Index  
95  
Code  
Naparima, BWI Trinidad and Tobago  
NAP  
117  
Observatorio Meteorologico 1939 Corvo and Flores Islands FLO  
(Azores)  
130  
142  
144  
146  
148  
162  
163  
Pico De Las Nieves Canary Islands  
PLN  
PUR  
QUO  
SAO  
SAP  
POS  
GRA  
Puerto Rico Puerto Rico and Virgin Islands  
Qornoq South Greenland  
Santa Braz Sao Miguel, Santa Maria Islands (Azores)  
Sapper Hill 1943 East Falkland Islands  
Porto Santo 1936 Porto Santo and Madera Islands  
Graciosa Base Southwest 1948 Faial, Graciosa, Pico, San  
Jorg, and Terceira Islands (Azores)  
168  
Tristan Astro 1968 Tristan Da Cunha  
TDC  
Trimble Datum  
Local Geodetic Datum  
Index  
22  
Name  
Code  
ANO  
GAA  
IST  
Anna 1 Astro 1965 Cocos Islands  
Gan 1970 Republic of Maldives  
ISTS 073 Astro 1969 Diego Garcia  
Kerguelen Island 1949 Kerguelen Island  
Reunion Mascarene Island  
Mahe 1971 Mahe Island  
66  
75  
78  
KEG  
REU  
MIK  
80  
85  
Trimble Datum  
Local Geodetic Datum  
Index  
35  
Name  
Code  
ATF  
Astro Beacon E 1945 Iwo Jima  
Astro Tern Island (FRIG) 1961 Tern Island  
Astronomical Station 1952 Marcus Island  
Bellevue (IGN) Efate Erromango Island  
Canton Astro1966 Phoenix Island  
36  
TRN  
TRN  
IBE  
38  
40  
44  
CAO  
48  
Chatham Island Astro 1971 Chatham Island (New Zealand) CHI  
52  
Dos 1968 Gizo Island (New Georgia Islands)  
Easter Island 1967 Easter Island  
Geodetic Datum 1948 New Zealand  
Guam 1963 Guam  
GIZ  
53  
EAS  
67  
GEO  
68  
GUA  
DOB  
69  
Gux 1 Astro Guadalcanal Islands  
Johnstone Island 1961 Johnstone Island  
Luzon Philippines  
76  
83  
JOH  
LUZ-A  
LUZ-B  
MID  
84  
Luzon Mindanao Island  
89  
Midway Astro 1961 Midway Islands  
Old Hawaiian Mean Solution  
Old Hawaiian Hawaii  
119  
120  
OHA-M  
OHA-A  
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A
TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)  
Trimble Datum  
Local Geodetic Datum  
Index  
121  
122  
123  
131  
147  
169  
170  
Name  
Code  
OHA-B  
OHA-C  
OHA-D  
PIT  
Old Hawaiian Kauai  
Old Hawaiian Maui  
Old Hawaiian Oahu  
Pitcairn Astro 1967Pitcairn Island  
Santo (DOS) 1952 Espirito Santo Island  
Viti Levu 1916 Viti Levu Island (Fiji Islands)  
Wake Eniwetok 1960 Marshall Islands  
SAE  
MVS  
ENW  
Trimble Datum Local Geodetic Datum  
Index  
172  
Name  
Code  
BUR  
CAZ  
GSE  
Bukit Rimpah Bangka and Belitung Islands (Indonesia)  
Camp Area Astro Camp McMurdo Area, Antarctica  
Gunung Segara Kalimantan (Indonesia)  
Herat North Afghanistan  
173  
174  
175  
HEN  
This report will be issued after an 0x8E-26 command.  
Table A.73 Report Packet 0x8F-26—Non-Volatile Memory Status  
Byte  
0
Item  
Type  
Value Definition  
0x26 Save Settings  
Subcode  
reserved  
UINT8  
1-4  
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A P P E N D I X  
B
TRIMBLE ASCII INTERFACE PROTOCOL  
(TAIP)  
B
In this appendix:  
This appendix describes the Trimble ASCII  
Interface Protocol (TAIP), Trimble’s digital  
communication interface.  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
Protocol Overview  
Trimble ASCII Interface Protocol (TAIP) is a Trimble-specified digital  
communication interface based on printable ASCII characters over a serial data link.  
TAIP was designed specifically for vehicle tracking applications but has become  
common in a number of other applications because of its ease of use. TAIP supports  
both scheduled and polled responses.  
TAIP messages may be scheduled for output at a user specified rate starting on a  
given epoch from top of the hour. For communication robustness, the protocol  
optionally supports checksums on all messages. It also provides the user with the  
option of tagging all messages with the unit's user specified identification number  
(ID). This greatly enhances the functional capability of the unit in a network  
environment. Additionally, given the printable ASCII format of all communication,  
TAIP is ideal for use with mobile data terminals, modems, and portable computers.  
Although, receivers incorporating this protocol are shipped from the factory with a  
specific serial port setting, the port characteristics are fully programmable through  
TAIP messages.  
The Copernicus GPS Receiver supports the following TAIP messages.  
Message  
AL  
Description  
Altitude/Up Velocity  
Compact Position Solution  
Identification Number  
Initial Position  
CP  
ID  
IP  
LN  
Long Navigation Message  
Protocol  
PR  
PT  
Port Characteristic  
Position/Velocity Solution  
Reporting Mode  
Reset Mode  
PV  
RM  
RT  
ST  
Status  
TM  
VR  
Time/Date  
Version Number  
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TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
B
Message Format  
All TAIP communication uses printable, uppercase ASCII characters. The interface  
provides the means to configure the output of various sentences in response to queries  
or on a scheduled basis. Each sentence has the following general format:  
>ABB{C}[;ID=DDDD][;*FF]<  
where:.  
Message  
Description  
>
Start of new message  
Message qualifier  
A
BB  
C
Two character message identifier  
Data string  
DDDD  
FF  
Optional 4 character vehicle ID  
Optional 2 character checksum  
Delimiting character  
<
{x}  
Signifies that x can occur any number  
of times  
[x]  
Signifies that x may optionally occur  
once  
Start of a New Message  
The > character (ASCII code 62 decimal) is used to specify the start of a new  
sentence.  
Message Qualifier  
A one character message qualifier is used to describe the action to be taken on the  
message. The following table lists the valid qualifiers.  
Qualifier  
Action  
Q
R
Query for a single sentence (sent to GPS receiver)  
Response to a query or a scheduled report (from the  
receiver)  
F
S
Schedule reporting frequency interval in seconds  
Enables equipment to be initialized, and sets various  
message types  
D
Specify a minimum distance traveled and a minimum and  
maximum time interval for the next report  
Note – All TAIP message characters must be in uppercase.  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
Message Identifier  
A unique two character message identifier consisting of alphabetical characters is  
used to identify type messages. For example: PR for Protocol or VR for Version  
Number.  
Data String  
The format and length of a data string is dictated by the message qualifier and the  
message identifier. The data string may contain any printable ASCII character with  
the exception of the >, <, and ; characters. Detailed descriptions of each message  
format are provided in the specific message sections of this Appendix. Most messages  
are length sensitive and unless otherwise specified, field separators, including spaces  
are not used.  
Vehicle ID  
A vehicle identification (ID) may optionally be used in all the communications with  
the receiver. Each receiver in the fleet may be assigned a four character alpha-  
numeric ID and be forced to output that ID in all messages. The default is: ID set to  
0000 and the ID Flag set to F (false). The receiver will check all incoming messages  
for ID. If no ID is specified, the receiver will accept the message. If the ID is included  
in messages but does not compare with the ID previously set, the message will be  
ignored. This applies even when the ID Flag is turned off.  
Checksum  
The checksum field provides for an optional two digit hex checksum value, which is  
computed as XOR of all characters from the beginning of the sentence up to and  
including the * character. If provided, the checksum is always the last element of the  
sentence before the message delimiter. The default mode of operation is to include  
checksum in sentences. The use of checksums can help in instances where the  
communication channel is noisy.  
Example  
The following message used to set the vehicle ID flag includes checksum.  
>SRM;ID_FLAG=T;*6F<  
In this example, the checksum (6F) was generated by XOR'ing the ASCII codes for >  
and S then XOR'ing that result with the ASCII code for R and so forth, up to and  
including the * character.  
Message Delimiter  
The < character signifies end of a sentence and is used as the message delimiter.  
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TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
B
Sample PV Message  
The Position/Velocity Solution (PV) message is one of the more commonly used  
TAIP messages and most receivers using TAIP are set by default to output the PV  
message once every 5 seconds.  
The following analysis of a typical PV message is provided to further explain the  
TAIP message protocol.  
>RPV15714+3739438-1220384601512612;ID=1234;*7F<.  
ID  
Meaning  
>
Start of message delimiter  
Response qualifier  
PV message identifier  
GPS time of day  
Latitude  
R
PV  
15714  
+3739438  
-12203846  
Longitude  
015  
Speed  
126  
Heading  
1
Source of data  
Age of data  
2
;ID=1234  
Vehicle ID  
;*7F  
<
Checksum  
End of message delimiter  
Note – See PV Position/Velocity Solution, page 200, for more detail on the  
interpretation of this message.  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
Time and Distance Reporting  
The ’D’ message qualifier allows you to specify a minimum distance traveled as well  
as a minimum and maximum time interval for the next report. Units that are stationed  
at a fixed location can be programmed to report only when the unit moves “off  
station” or after a certain elapsed time since last report, but no more often than the  
specified minimum time interval.  
The message format used with the ’D’ qualifier is shown below:  
>DAABBBBCCCCEEEEFFFF[;ID=GGGG][;*HH]<  
The distance ‘D’ in the message refers to the radial distance. A message would be  
issued if the receiver has moved farther than a radius of ‘D’ away from where it was  
previously reported. If the accumulated distance traveled is longer than ‘D’ but the  
final location is still within the radius of ‘D’ (e.g. circling many times around a closed  
perimeter of radius smaller than ‘D’), then no message would be issued.  
ID  
Meaning  
>
Start of message delimiter  
D
Distance message qualifier  
AA  
BBBB  
Message to report (i.e. PV means Position Velocity message)  
Minimum time (seconds) interval between reports  
T
( interval)  
CCCC  
EEEE  
FFFF  
GGGG  
HH  
Report epoch (number of seconds from top of the hour)  
Delta distance (meters) from last reported distance  
T
Maximum time (seconds) interval between reports ( max)  
Optional vehicle identification number (user selected)  
Optional checksum  
<
End of message delimiter  
Note – If BBBB = 0, then the message output is disabled. If FFFF = 0, maximum time  
feature is disabled (the unit will only report if current position is greater than or equal  
to the delta distance specified in EEEE).  
Example  
When the message: >DPV0030000505000900;ID=0105< is sent to the GPS receiver,  
it specifies that vehicle number 105 (GGGG = 0105) is to report the Position Velocity  
message (AA = PV) whenever its current position differs from the previously reported  
position by at least 500 meters (EEEE = 0500), but no more often than every 30  
seconds (BBBB = 0030) or less often than every 15 minutes (FFFF = 0900 seconds).  
The minimum and maximum time-out reports are to be issued with a 5 second offset  
(CCCC = 0005) from the top of the hour. The optional checksum was not used in this  
example. The square brackets, [...], shown in the format description above are used to  
indicate optional data. The brackets themselves are never included in the actual TAIP  
message string.  
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TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
B
Latitude and Longitude Conversion  
The TAIP protocol reports latitude as positive north decimal degrees and longitude as  
positive east decimal degrees, using the WGS-84 datum. For your application, you  
may wish to convert to degrees, minutes and seconds. The following example  
illustrates the conversion of decimal degrees to degrees, minutes and seconds.  
Example  
Given latitude and longitude in decimal degrees,  
Latitude: +37.39438o  
Longitude: -122.03846o  
Convert latitude by multiplying the decimal fraction of degrees by 60 to convert to  
minutes,  
0.39438 x 60 = 23.6628 minutes  
Retain the integer (23) portion as the minutes then multiply the decimal fraction by 60  
to convert to seconds,  
0.6628 x 60 = 39.768 seconds  
Since the sign of the latitude in this example is positive the result is,  
Latitude: N 37o 23' 39.77"  
The longitude is converted in the same fashion,  
Longitude: W 122o 02' 18.46"  
Note – At the earth's equator, one degree of latitude and longitude represents 68.7  
miles; therefore, 0.00001 degrees represents approximately 3.6 feet or 1.1 meters. Each  
second represents approximately 100.76 ft.  
(30.7 m).  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
Message Data Strings  
The following table lists all the TAIP messages currently defined and comments  
regarding their application. The data string format of each message is described in the  
following pages.  
Identifie Message Format  
r
Frequency  
and Distance  
Query  
Response  
Report  
Set  
AL  
Altitude/Vertical Velocity  
X
X
X
X
*AP  
Auxiliary Port  
Characteristic  
n/a  
n/a  
n/a  
n/a  
CP  
*DC  
ID  
Compact Position Solution X  
X
X
X
Differential Corrections  
Vehicle ID  
n/a  
n/a  
X
n/a  
X
n/a  
X
X
X
X
IP  
Initial Position  
Long Navigation Message  
Protocol  
X
X
X
LN  
PR  
PT  
X
X
X
X
X
X
X
X
X
Port Characteristic  
Position/Velocity Solution  
Reporting Mode  
Reset  
X
X
X
X
X
PV  
RM  
RT  
ST  
X
X
X
X
Status  
X
X
X
X
X
X
X
X
X
TM  
VR  
Time/Date  
Version Number  
X
Note – The Lassen PT GPS does not support these (*) TAIP messages.  
All TAIP message characters must be in uppercase.  
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TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
B
AL  
Altitude/Up Velocity  
Note – The first character of altitude or vertical velocity (S) is “+” or “-”.  
Data String Format:  
AAAA(S)BBBBB(S)CCCDE  
.
Item  
# of Char Units  
Format  
AAAAA  
(S)BBBBB  
(S)CCC  
D
Value  
GPS Time of Day  
Altitude  
5
6
4
1
Sec  
Meter  
MPH  
n/a  
Vertical Velocity  
Fix Mode  
0=2D GPS  
1=3D GPS  
2-8 reserved  
9=no fix avail.  
Age of Data  
Indicator  
1
n/a  
E
2=Fresh,<10 sec.  
1=Old,>10 sec.  
0=Not available  
Total # of Characters is 17  
Altitude is above mean sea level in WGS-84. The GPS time of day is the time of fix  
rounded to the nearest second. This message contains data obtained from the last 3  
dimensional fix and may not be current.  
Note – The data in this message is to be considered invalid and should not be used if  
the Age of Data Indicator is equal to 0 (signifying data not available).  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
CP  
Compact Position Solution  
Note – The first character of latitude or longitude “(S)” is “+” or “-”.  
Data String Format:  
AAAAA(S)BBCCCC(S)DDDEEEEFG  
Item  
# of Char Units  
Format  
AAAAA  
(S)BBCCCC  
(S)DDDEEEE  
F
Value  
GPS Time of Day  
Latitude  
5
7
8
1
Sec  
Deg  
Deg  
n/a  
Longitude  
Fix Mode  
0=2D GPS  
1=3D GPS  
2-8 reserved  
9=no fix avail.  
Age of Data  
Indicator  
1
n/a  
G
2=Fresh,<10 sec.  
1=Old,>10 sec.  
0=Not available  
Total number of characters is 22  
Position is in latitude (positive north) and longitude (positive east) WGS-84. The GPS  
time of day is the time of fix rounded to the nearest second.  
Note – The data in this message is to be considered invalid and should not be used, if  
the Age of Data Indicator is equal to 0 (signifying that data is not available).  
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TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
B
ID  
Identification Number  
Data String Format:  
AAAA  
Item  
# of Char  
Units  
Format  
Vehicle ID  
4
n/a  
AAAA  
Total number of characters is 4  
This message is used to report or set the vehicle's (or receiver’s) unique, four  
character, alpha-numeric, user assigned ID. The default at cold start is 0000.  
Example  
The following message will set the vehicle ID to 101.  
>SID0101<  
The following is simply a response to a query for vehicle ID.  
>RID0101<  
Note – The receiver will always check incoming messages for ID and compare with the  
vehicle ID set in the receivers memory. If no ID is included in the message, the  
receiver will assume a match and accept the message. If the message sent to the receiver  
does contain a vehicle ID but that ID does not match the ID previously set in the receiver, the  
message will be ignored. This process is followed even when the ID_Flag is turned off (refer to  
the message RM).  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
IP  
Initial Position  
Data String Format:  
(S)AA(S)BBB(S)CCCC  
Item  
# of Char  
Units  
Deg  
Format  
(S)AA  
Initial Latitude  
Initial Longitude  
Initial Altitude  
3
4
5
Deg  
(S)BBB  
(S)CCCC  
10 meters  
Total number of characters is 12  
This is a very coarse initial position that can be used to aid the receiver in obtaining  
its first fix. This is particularly useful with a receiver that does not have battery  
backup enabled. In such cases, every time the unit is powered up, it goes through a  
complete cold-start and it has absolutely no knowledge of where it is. Providing this  
message improves performance by decreasing the time to first fix and enhances the  
accuracy of the initial two dimensional navigation solutions by providing a reference  
altitude. In case of units with battery backed memory, sending this message is only  
helpful if the unit has moved more than 1,000 miles since its previous fix. In either  
case, the receiver can initialize itself appropriately without any data from the user; it  
merely requires more time.  
Note – For all the above values, the first character (S) specifies the sign  
“+” or “-”.  
Example:  
The following message will set the initial position to 37o North, 122o West, altitude  
10 meters.  
>SIP+37-122+0001<  
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TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
B
LN  
Long Navigation Message  
Note – The first character of latitude, longitude, altitude or vertical speed (S) is“+” or “-”.  
Data String Format:  
AAAAA.BBB(S)CCDDDDDDD(S)EEEFFFFFFF(S)GGGGGGHHIIIJ(S)KKKLM  
MMNOOPPQQPPQQ...PPQQRRRRRRRRRRXT  
Item  
# of  
Units Format  
Value  
Char  
GPS Time of Day  
Latitude  
8
Sec  
Deg  
Deg  
Ft  
AAAAA.BBB  
10  
11  
9
(S)CC.DDDDDDD  
(S)EEE.FFFFFFF  
(S)GGGGGG.HH  
Longitude  
Altitude above  
MSL  
Horizontal speed  
Vertical speed  
Heading  
4
5
4
2
MPH lll.J  
MPH (S)KKK.L  
Deg  
n/a  
MMM.N  
OO  
Number of SVs  
used  
SV ID (see note)  
IODE (see note)  
Reserved  
2
n/a  
n/a  
n/a  
n/a  
PP  
2
QQ  
10  
1
RRRRRRRRRR  
X
Fix Mode  
0=2D GPS  
1=3D GPS  
2-8 reserved  
9=no fix avail.  
Age of Data  
indicator  
1
n/a  
T
2=fresh,<10 sec.  
1=old,>10 sec.  
0=not available  
Total number of characters is 65 + 4x (number of SVs used)  
Note – At least 2 satellites are required to get the LN Message.  
Position is in degrees, minutes, and decimal minutes. Latitude is (positive north);  
longitude is (positive east) WGS-84. Heading is in degrees from True North  
increasing eastwards. The GPS time of day is the time of fix rounded to the nearest  
second.  
Note – The data in this message is to be considered invalid and should not be used if  
the Age of Data Indicator is equal to 0 (signifying data not available).  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
PR  
Protocol  
The protocol message (PR) is the method used to control which I/O protocols are  
active on the serial ports.  
Off  
Input only  
Output only  
Both input and output  
The PR data string format is:  
[;TAIP=xy] [;TSIP=xy] [;NMEA=xy]  
Item  
# of Char Units  
Format  
Value  
Port A protocol  
1
1
n/a  
n/a  
X
T = Both in and out  
I = Input only  
O = Output only  
F = Off  
N = Not available  
Port B protocol  
y
T = Both in and out  
I = Input only  
O = Output only  
F = Off  
N = Not available  
Sending the following message will set the receiver to TAIP-IN and TAIP-OUT on  
PORT A and NMEA-OUT on Port B.  
>SPR;TAIP=TF;TSIP=FF;NMEA=FO  
Note – Bi-directional TSIP, TAIP and NMEA are supported on Ports 1 and 2.  
If a protocol is not implemented within the application, x and/or y will have the value  
N, and any set message for that protocol is ignored.  
It is possible to turn off all input processing on a port. If this is done, neither TAIP nor  
TSIP can be used to change the active protocols.  
If you do not use battery back-up and you do not have the settings saved in FLSAH  
memory, all port characteristics will reset to the default after power is removed.  
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TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
B
PT  
Port Characteristic  
This message defines the characteristics for the TAIP port.  
Data String Format:  
AAAA,B,C,D  
Item  
# of Char Units  
Format  
Value  
Baud Rate  
4
n/a  
AAAA  
4800 - 4800 bps  
9600 - 9600 bps  
1920 - 19200 bps  
3840 - 38400 bps  
5760 - 57600 bps  
1152 - 115200 bps  
# of data bits  
# of stop bits  
Parity  
1
1
1
n/a  
n/a  
n/a  
B
C
D
1
“N” = None  
Total number of characters is 10 (includes commas)  
Most TAIP using receivers use the following default port characteristics  
4800 baud  
8 data bits  
1 stop bit  
No parity  
Note – The characteristics set by this message will be stored in the receivers battery backed  
ram. The Lassen iQ receiver family of receivers do not include an internal battery but  
provide a battery back-up input line that may be used to retain memory when main  
power is removed.  
If you do not use battery back-up, all port characteristics will reset to either the  
default settings after power is removed, or to the settings previously stored in Flash.  
The PT command uses commas between data fields.  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
PV  
Position/Velocity Solution  
Note – The first character of latitude or longitude “(S)” is “+” or “-”.  
Data String Format:  
AAAAA(S)BBCCCCC(S)DDDEEEEEFFFGGGHI  
Item  
# of Char Units  
Format  
Value  
GPS Time of Day  
Latitude  
5
8
Sec  
AAAAA  
Deg  
(S)BBCCCCC  
BB=degrees  
CCCC=decimal  
degrees  
Longitude  
8
Deg  
(S)DDDEEEEE  
DDD=degrees  
EEEE=decimal  
degrees  
Speed  
3
3
1
MPH  
Deg.  
n/a  
FFF  
GGG  
H
Heading  
Fix Mode  
0=2D GPS  
1=3D GPS  
2-8 reserved  
9=no fix avail.  
Age of Data  
Indicator  
1
n/a  
I
2=fresh,<10 sec.  
1=old,>10 sec.  
0=not available  
Total number of characters is 30  
Position is in latitude (positive north) and longitude (positive east) WGS-84. Heading  
is in degrees from True North increasing eastwards. The GPS time of day is the time  
of fix rounded to the nearest second.  
Note – The data in this message is to be considered invalid and should not be used if the Age  
of Data Indicator is equal to 0 (signifying data not available).  
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TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
B
RM  
Reporting Mode  
Data String Format:  
[;ID_FLAG= A][;CS_FLAG= B][;EC_FLAG= C] [;FR_FLAG= D]  
[;CR_FLAG=E]  
Item  
# of Char Units  
Format  
Value  
ID Flag  
1
1
1
1
1
n/a  
n/a  
n/a  
n/a  
n/a  
A
T = True  
F = False  
CS Flag  
EC Flag  
FR Flag  
CR Flag  
B
C
D
E
T = True  
F = False  
T = True  
F = False  
T = True  
F = False  
T = True  
F = False  
ID Flag determines whether the unit is to include the vehicles ID with each report.  
CS Flag determines whether the unit is to include a checksum as part of each  
message.  
EC Flag, when set, will cause the unit to echo back all complete and properly  
formatted set commands with a response qualifier. This provides an easy way to  
verify that the unit did in fact receive the intended data.  
FR Flag indicates whether the unit is to report messages automatically per their  
individually scheduled frequency. When set to false, the unit will only respond when  
queried for a specific message.  
CR Flag, when set to True, will cause the receiver to append a carriage return and line  
feed [CR] [LF] to the end of each message output. This is useful when viewing the  
unencoded receiver responses on a terminal or a PC.  
The default value at start-up for ID flag and the CR flag is false; the default for CS,  
EC and FR flags is true.  
Example  
The following command will turn checksums off and carriage return on:  
>SRM;CS_FLAG=F;CR_FLAG=T<  
Note – Notice the use of semicolon before the flag name.  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
RT  
Reset Mode  
Data String Format:  
Any one of the following data strings can be set. Upper case characters are required.  
[ ]  
[COLD]  
[FACTORY]  
[SAVE_CONFIG]  
Message  
Description  
>SRT<  
Warm Start  
>SRTCOLD<  
>SRTFACTORY<  
>SRTSAVE_CONFIG<  
Cold Start  
Factory Reset  
Save settings to Flash memory  
The following procedure is used to change the Lassen iQ receiver protocol from TSIP  
to TAIP:  
1. Use the TSIP 0x7E command to setup the TAIP output configuration.  
2. Change the protocol to TAIP using TSIP command 0xBC.  
3. Save the TAIP settings to Flash memory using the TAIP command  
>SRTSAVE_CONFIG<.  
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TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
B
ST  
Status  
Data String Format:  
AABCDDEFGG  
Note – This message provides information about the satellite tracking status and the  
operational health of the receiver. This information is contained in five status bytes  
which are output as five 2 digit hexadecimal values. The data format and the  
meanings of the hex characters are given in the following tables.  
Item  
# of Char Units  
Format Definition  
Tracking Status Code  
Error Codes - Nibble 1  
Error Codes - Nibble 2  
Machine ID  
2
1
1
2
1
n/a  
n/a  
n/a  
n/a  
n/a  
AA  
B
(see table below)  
(see table below)  
(see table below)  
C
DD  
E
Error Code - Nibble 3  
(not currently  
used)  
Error Code - Nibble 4  
Reserved  
1
2
n/a  
n/a  
F
(see table below)  
(see table below)  
GG  
Value  
00  
AA Meaning  
Doing position fixes  
Don’t have GPS time yet  
Not used  
01  
02  
03  
PDOP is too high  
08  
No usable satellites  
Only 1 usable satellite  
Only 2 usable satellites  
Only 3 usable satellites  
Chosen satellite is unusable  
09  
OA  
OB  
OC  
Value  
B Meaning  
0
2
6
No problems reported  
Antenna feedline open fault  
Antenna feedline short fault  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
Value  
C Meaning  
0
1
No problems reported  
Battery-back-up failed; RAM not available at  
power-up (see Note below).  
Value  
DD Meaning  
DD  
Displays the machine ID  
Value  
E Meaning  
Not used  
Not used  
Value  
F Meaning  
0
2
No problems reported  
RTC not available at power-up (see Note  
below)  
8
Stored almanac not complete and current  
A
RTC not available; stored almanac not  
complete and current  
Value  
GG Meaning  
Not used  
Reserved  
Note – After the status is detected, this bit remains set until the receiver is reset.  
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TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
B
TM  
Time/Date  
Data String Format:  
AABBCCDDDEEFFGGGGHHIJJKLLLLL  
.
Item  
# of Char Units  
Format  
AA  
Value  
Hours  
2
2
5
2
2
4
2
Hour  
Min  
Minutes  
Seconds  
Date; Day  
Date; Month  
Date; Year  
BB  
Sec  
CC.DDD  
EE  
Day  
Month  
Year  
Sec  
FF  
GGGG  
HH  
GPS UTC Time  
Offset  
Fix Mode  
1
n/a  
f
0=2D GPS  
1=3D GPS  
2-8 reserved  
9=no fix avail.  
Number of  
usable satellites  
2
1
5
n/a  
n/a  
n/a  
JJ  
GPS UTC Offset  
flag  
K
(1 = valid)  
(0 = invalid)  
Reserved  
LLLLL  
Total number of characters is 28  
This message outputs the time and date as computed by the GPS receiver. The time is  
most accurate when the unit is doing fixes. It is less accurate but still usable when the  
unit is not doing fixes but the Number of Usable SVs is one or more. If the GPS UTC  
offset is available, the time will be in UTC. If not, the time will be in GPS.  
Note – GPS UTC Time Offset is the difference between GPS and UTC time standards  
in seconds. The UTC time of Day is only valid if the GPS UTC Offset Valid Flag is  
indicating valid.  
Note – The TM message is not supported under the Set qualifier.  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
VR  
Version Number  
Data String Format:  
XXXXXXX; VERSION A.AA (BB/BB/BB);  
.
Item  
# of Char  
Units  
n/a  
Format  
n/a  
Product Name  
Major version number  
Major release date  
variable  
4
8
n/a  
A.AA  
n/a  
BB/BB/BB  
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TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
B
X1  
Extended Status  
The Lassen iQ receiver does not support this message.  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
Communication Scheme for TAIP  
Communication with the unit takes place in four different ways. Message qualifiers  
are used to differentiate between these.  
Query for Single Sentence  
The query (Q) message qualifier is used to query the GPS receiver to respond  
immediately with a specific message. The format is:  
>QAA[;ID=BBBB][;*CC]<  
where AA is the requested message identifier. Messages supported by this qualifier  
are  
AL, AP, CP, ID, IP, LN, PT, PV, RM, ST, TM, and VR.  
Scheduled Reporting Frequency Interval  
The scheduled reporting frequency interval (F) message qualifier is used to tell the  
unit how often and when to report a specific message. The format is:  
>FAABBBBCCCC[;ID=DDDD][;*FF]<  
where sending this sentence tells the unit to report message specified by the two digit  
identifier AA at the time interval of BBBB seconds with time epoch at CCCC  
seconds from top of the hour. Specifying time interval of 0000 stops scheduled  
reporting of the message. The default is 0000 time interval for all messages except  
PV. The output frequency for PV at cold-start is set at once every five seconds, zero  
seconds from top of the hour. Messages supported by this qualifier are AL, AP, CP,  
ID, IP, LN, PT, PV, RM, ST, TM, and VR.  
Note – The Copernicus GPS Receiver does not support the AP TAIP message.  
The data specified by this qualifier is the timing of the message output and may be different  
from the time tag of the data in the message.  
The Response to Query or Scheduled Report  
The response (R) qualifier carry various types of data between the unit and the user  
equipment. The format is:  
>RAA[{B}][;ID=CCCC][;*DD]<  
where AA is the two character message identifier and {B} specifies the data string  
within the message. For the format of {B}, please refer to the message definitions in  
the previous section. Messages supported by the response qualifier are AL, AP, CP,  
ID, IP, LN, PT, PV, RM, ST, TM, and VR.  
Note – The Lassen PT GPS does not support the AP TAIP message.  
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TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
B
The Set Qualifier  
The set (S) qualifier enables the user equipment to initialize/set-up various types of  
data in the GPS unit. The format is:  
>SAA[{B}][;ID=CCCC][;*DD]<  
where AA is the two character message identifier and {B} specifies the data string  
within the message. For the format of {B}, please refer to the message definitions in  
the previous section. Note that all the messages have very specific formats and are  
length dependent.  
Messages normally supported by the set qualifier are AL, AP, CP, DC, DD, ID, IP,  
LN, PT, PV, and RM.  
The set qualifier may be used with the AL, CP, LN, or PV message to set more precise  
initial position data into the GPS receiver than can be set with the IP message.  
Note – The Lassen PT GPS does not support the AP TAIP message.  
Sample Communication Session  
The following is a sample communication session to illustrate how message qualifiers  
are used. Query the receiver for version number for the TAIP firmware:  
>QVR<  
The receiver responds with a message in the following form:  
>RVR CT COPERNICUS APP; VERSION 01.05 (05/23/06);*6E<  
Note – The receiver identified its product name, firmware version number, core signal  
processing version number, and release dates, then included the checksum for the  
message (the default for the CS Flag is TRUE). Also notice that the receiver did  
respond to our query even though we did not send a checksum.  
Query the receiver for its ID number:  
>QID<  
The receiver will respond (assuming factory default settings):  
>RID0000;*70<  
Set the ID to match the number for a vehicle in your fleet and then tell the receiver to  
include the Vehicle ID in its responses:  
>SID1234<  
>SRM;ID_FLAG=T<  
The Lassen iQ receiver receiver is set by default to report the PV message once every  
5 seconds. To schedule the PV message from vehicle 1234 to respond once every 10  
seconds, starting at 5 seconds after the top of the hour, use the following command:  
>FPV00100005;ID=1234<  
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B
TRIMBLE ASCII INTERFACE PROTOCOL (TAIP)  
The receiver will check the ID included in the message for a match with its own and  
then reschedule the PV message. At the next scheduled time, the receiver will  
respond with:  
>RPV15714+3739438-1220384601512612;ID=1234;*7F<  
Note – The Lassen PT GPS does not support the AP TAIP message.  
The time given in the message is the time of the last GPS fix  
(04:21:54 GPS), not necessarily the time of the message response. If the time of last  
fix is 10 or more seconds old, the age flag will be set  
to 1.  
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A P P E N D I X  
C
NMEA 0183  
C
In this appendix:  
This appendix provides a brief overview of the  
NMEA 0183 protocol, and describes both the  
standard and optional messages offered by the  
Copernicus GPS Receiver.  
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C
NMEA 0183  
Overview  
NMEA 0183 is a simple, yet comprehensive ASCII protocol which defines both the  
communication interface and the data format. The NMEA 0183 protocol was  
originally established to allow marine navigation equipment to share information.  
Since it is a well established industry standard, NMEA 0183 has also gained  
popularity for use in applications other than marine electronics. The Copernicus GPS  
receiver supports the latest release of NMEA 0183, Version 3.0 (July 1, 2000). The  
primary change in release 3.0 is the addition of the mode indicators in the GLL,  
RMC, and VTG messages. In addition, the Copernicus GPS supports bi-directional  
NMEA with the description of the Trimble proprietary NMEA sentences found in this  
Appendix  
For those applications requiring output only from the GPS receiver, the standard  
NMEA 0183 sentences are a popular choice. Many standard application packages  
support the standard NMEA output messages. With the addition of the Trimble  
proprietary bi-directional NMEA, the user can now gain complete control of the  
Copernicus module including configuration and program control.  
The standard NMEA output only messages are: GGA, GLL, GSA, GSV, RMC, VTG,  
and ZDA.  
NMEA National Office  
7 Riggs Ave.,  
Severna Park, MD 21146  
+1-410-975-9425  
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NMEA 0183  
C
The NMEA 0183 Communication Interface  
The Copernicus GPS receiver can be configured for NMEA on either port A or port  
B, at any baud rate. Below are the default NMEA characteristics for Port B of the  
Copernicus GPS receiver.  
Table C.1  
Signal Characteristics  
Signal Characteristic  
Baud Rate  
NMEA Standard  
4800  
Data Bits  
8
Parity  
None (Disabled)  
1
Stop Bits  
NMEA 0183 Message Format  
The NMEA 0183 protocol covers a broad array of navigation data. The entire  
protocol encompasses over 50 messages, but only a sub-set of these messages apply  
to a GPS receiver like the Copernicus GPS Receiver. The NMEA message structure is  
described below.  
$IDMSG,D1,D2,D3,D4,.......,Dn*CS[CR][LF]  
“$”  
ID  
The “$” signifies the start of a message.  
The identification is a two letter mnemonic which describes the  
source of the navigation information. The GP identification signifies  
a GPS source.  
MSG  
The message identification is a three letter mnemonic which  
describes the message content and the number and order of the data  
fields.  
“,”  
Dn  
Commas serve as delimiters for the data fields.  
Each message contains multiple data fields (Dn) which are delimited  
by commas. The length of the fields can be variable.  
“*”  
CS  
The asterisk serves as a checksum delimiter.  
The checksum field contains two ASCII characters which indicate  
the hexadecimal value of the checksum.  
[CR][LF]  
The carriage return [CR] and line feed [LF] combination terminate  
the message.  
NMEA 0183 standard messages vary in length, but each message is limited to 79  
characters or less. This length limitation excludes the “$” and the [CR][LF]. The  
standard message data field block, including delimiters, is limited to 74 characters or  
less.  
Note – Trimble proprietary messages can exceed 79 characters and the data field  
block of these messages can exceed 74 characters.  
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C
NMEA 0183  
Field Definitions  
Many of the NMEA data fields are of variable length, and the user should always use  
the comma delimiter to parse the NMEA message date field. The table below  
specifies the definitions of all field types in the NMEA messages supported by  
Trimble.  
Table C.2  
Field Definitions  
Type  
Symbol  
Definition  
Status  
A
Single character field:  
A=Yes, data valid, warning flag clear  
V=No, data invalid, warning flag set  
Special Format Fields  
Latitude  
Longitude  
Time  
llll.lll  
Fixed/variable length field:  
Degreesminutes.decimal-2 fixed digits of degrees, 2 fixed  
digits of minutes and a variable number of digits for  
decimal-fraction of minutes. Leading zeros always included  
for degrees and minutes to maintain fixed length. The  
decimal point and associated decimal-fraction are optional if  
full resolution is not required.  
yyyyy.yyy  
hhmmss.ss  
Fixed/Variable length field:  
Degreesminutes.decimal-3 fixed digits of degrees, 2 fixed  
digits of minutes and a variable number of digits for  
decimal-fraction of minutes. Leading zeros always included  
for degrees and minutes to maintain fixed length. The  
decimal point and associated decimal-fraction are optional if  
full resolution is not required.  
Fixed/Variable length field:  
hoursminutesseconds.decimal-2 fixed digits of minutes, 2  
fixed digits of seconds and a variable number of digits for  
decimal-fraction of seconds. Leading zeros always included  
for hours, minutes, and seconds to maintain fixed length.  
The decimal point and associated decimal-fraction are  
optional if full resolution is not required.  
Defined  
Some fields are specified to contain pre-defined constants,  
most often alpha characters. Such a field is indicated in this  
standard by the presence of one or more valid characters.  
Excluded from the list of allowable characters are the  
following that are used to indicated field types within this  
standard:  
“A”, “a”, “c”, “hh”, “hhmmss.ss”, “llll.ll”, “x”, “yyyyy.yy”  
Numeric Value Fields  
Variable  
x.x  
Variable length integer or floating numeric field. Optional  
leading and trailing zeros. The decimal point and associated  
decimal-fraction are optional if full resolution is not  
required (example: 73.10=73.1=073.1=73).  
Fixed HEX  
hh  
Fixed length HEX numbers only, MSB on the left  
Information Fields  
Fixed Alpha aa  
Fixed length field of upper-case or lower-case alpha  
characters  
Fixed number xx  
Fixed length field of numeric characters  
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NMEA 0183  
C
Note – Spaces are only used in variable text fields.  
Units of measure fields are appropriate characters from the Symbol column (see  
Table C.2), unless a specified unit of measure is indicated.  
Fixed length field definitions show the actual number of characters. For example, a  
field defined to have a fixed length of 5 HEX characters is represented as hhhhh  
between delimiters in a sentence definition.  
Invalid Command Set  
In the case that a command is sent with incorrect data, the NMEA sentence  
$PTNLRxx,V*xx is a generic response.  
Checksum  
The checksum is the last field in an NMEA sentence and follows the checksum  
delimiter character “*”. The checksum is the 8 bit exclusive OR (no start or stop bits)  
of a character in the sentence including “,” between but not including the “$” and the  
“*” delimiters. The hexadecimal value of the most significant and less significant 4  
bits of the result is converted to two ASCII characters (0-9, A0F (upper case)) for  
transmission. The most significant character is transmitted first. Examples of the use  
of the checksum field are:  
$GPGLL,5057.970,N,00146,110,E,142451,A*27<CR><LF>  
$GPVTG,089,0,T,,,15,2,N,,*7F<CR><LF>  
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C
NMEA 0183  
Exception Behavior  
When no position fix is available, some of the data fields in the NMEA messages will  
be blank. A blank field has no characters between the commas. There are three  
general cases when no fix is available: at power-up without back-up data on SRAM  
(cold start); at power-up with without back-up data on SRAM (warm start); and when  
the GPS signal is temporarily blocked. These three cases have different NMEA  
output behavior in the Copernicus GPS Receiver. This section describes the behavior  
for the current product. The specification for this behavior may change in future  
products.  
Power-up with No Back-up Data on SRAM  
In this case, no previous fix is available in battery-backed memory. If the output  
message list and output rate has been customized (using TSIP command packet  
0x7A) and stored in Flash memory, then at power-up the receiver will output the  
messages according to the customized setting. Otherwise, GGA and VTG messages  
are output every second. Before fixes are available, the message fields will be empty.  
Power-up with Back-up Data on SRAM  
In this case, a previous fix is available in battery-backed memory at power-up. If the  
output message list and output rate has been customized (using TSIP command  
packet 0x7A) and stored in Flash memory, then at power-up the receiver will output  
the messages according to the customized setting. Otherwise, GGA and VTG  
messages are output every second. Before fixes are available, the message fields will  
be empty except for the Time field, assuming the back-up battery power is present so  
that time can be tracked continuously by the RTC (Real Time Clock).  
Interruption of GPS Signal  
If the GPS signal is interrupted temporarily, the NMEA will continue to be output  
according to the user-specified message list and output rate. Position and velocity  
fields will be blank until the next fix, but most other fields will be filled.  
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NMEA 0183  
C
General NMEA Parser Requirements  
When no position fix is available, some of the data fields in the NMEA  
messages will be blank (i.e., no characters between commas), but selected  
messages will output every second.  
Trimble varies the number of digits of precision in variable length fields, so  
customer parsers should be able to handle variable lengths.  
NMEA parsers should be built to be forward-compatible. Future versions of a  
standard message may have more fields or more choices per field.  
Checksum matching is strongly recommended.  
9600 baud may be required if GSV messages are output.  
When multiple NMEA settings are implemented, save them to Flash memory.  
For GGA, GLL, RMC messages, time is GPS time (not UTC) until leap second  
parameter is known. There is no way to tell which time your are running in,  
until the time output suddenly decreases by 14 seconds (or by the current  
offset).  
For GGA, GLL, RMC messages, if the datum is changed, there is no regular  
DTM warning of non-WGS-84 datum as required by NMEA 2.1. You must  
query the datum for this information.  
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C
NMEA 0183  
NMEA 0183 Message Options  
The Copernicus GPS Receiver can output any or all of the messages listed in  
Table C.3 and Table C.4. In its default configuration (as shipped from the factory), the  
Copernicus GPS Receiver outputs two messages: GGA and VTG. These messages are  
output at a 1 second interval with the “GP” ID and checksums. These messages are  
output at all times during operation, with or without a fix. If a different set of  
messages has been selected (using Packet 0x7A), and this setting has been stored in  
Flash memory (using Packet 0x8E-26), the default messages are permanently  
replaced until the receiver is returned to the factory default settings.  
Another methodology for changing NMEA output messages is using the Trimble  
proprietary NMEA commands listed in Table C.4. Use the NM command to select the  
NMEA message, and the RT command to store the message in Flash Memory.  
Note – The user can configure a custom mix of the messages listed in Table C.4. See  
command packets 0xBC, 0x7A, and 8E-26 in Appendix A, and the NM and RT  
command descriptions in this Appendix for details on configuring NMEA output.  
WARNING – If too many messages are specified for output, you may need to increase the  
unit’s baud rate.  
C
Table C.3  
Copernicus GPS Receiver NMEA 0183 Messages  
Message  
Description  
Default  
Output  
GGA  
GPS fix data  
GLL  
Geographic position - Latitude/Longitude  
GPS DOP and active satellites  
GSA  
GSV  
RMC  
VTG  
GPS satellites in view  
Recommended minimum specific GPS/Transit data  
Track made good and ground speed  
Default  
Output  
ZDA  
Time & Date  
.
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NMEA 0183  
C
Table C.4  
Copernicus GPS Receiver Proprietary NMEA Messages  
Message  
AH  
Description  
Query or set Almanac Health  
AL  
Query or set almanac data for a specific satellite  
Query or set almanac status  
AS  
BA  
Query and response to antenna status  
Query or set GPS receiver configuration information  
Set receiver into Monitor Mode. Set only.  
Query or set ephemeris data for a specific satellite  
Query or set ionosphere data.  
CR  
EM  
EP  
IO  
KG  
Set initial position and time info data for to aid  
navigation startup  
NM  
Query or set NMEA automatic message output  
control  
PS  
PT  
RT  
TF  
Query or set PPS configuration  
Query or set serial port configuration  
Set Reset type (cold  
Query or set receiver status and position fix  
information  
UT  
VR  
Query or set UTC data  
Query and response to version information  
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C
NMEA 0183  
NMEA 0183 Message Formats  
GGA - GPS Fix Data  
The GGA message includes time, position and fix related data for the GPS receiver.  
$GPGGA,hhmmss.ss,llll.lllll,a,nnnnn.nnnnn,b,t,uu,  
v.v,w.w,M,x.x,M,y.y,zzzz*hh <CR><LF>  
Table C.5  
GGA - GPS Fix Data Message Parameters  
Field # Description  
1
UTC of Position (when UTC offset has been decoded by the receiver)  
2,3  
4,5  
6
Latitude, N (North) or S (South)  
Longitude, E (East) or W (West)  
GPS Quality Indicator: 0=invalid fix, 1=GPS fix, no SBAS correction, 2=SBAS  
corrected fix  
7
Number of Satellites in Use  
8
Horizontal Dilution of Precision (HDOP)  
Antenna Altitude in Meters, M = Meters  
9, 10  
11, 12  
Geoidal Separation in Meters, M=Meters. Geoidal separation is the difference  
between the WGS-84 earth ellipsoid and mean-sea-level. “-” = mean-sea-level  
surface below WG-84 ellipsoid surface  
13  
14  
hh  
Age of Differential GPS Data. Time in seconds since the last Type 1 or 9 Update  
Differential Reference Station ID (0000 to 1023)  
Checksum  
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NMEA 0183  
C
GLL - Geographic Position - Latitude/Longitude  
The GLL message contains the latitude and longitude of the present vessel position,  
the time of the position fix and the status.  
$GPGLL,llll.lllll,a,yyyyy.yyyyy,a,hhmmss.ss,A,i*hh<CR>  
<LF>  
Table C.6  
GLL - Geographic Position - Latitude / Longitude Message Parameters  
Field  
1,2  
3,4  
5
Description  
Latitude, N (North) or S (South)  
Longitude, E (East) or W (West)  
UTC of position (when UTC offset has been decoded by the  
receiver)  
6
7
Status: A = Valid, V= Invalid  
Mode Indicator  
A=Autonomous Mode  
D=Differential Mode  
E=Estimated (dead reckoning) Mode  
M=Manual Input Mode  
S=Simulated Mode  
N-Data Not Valid  
hh  
Checksum  
GSA - GPS DOP and Active Satellites  
The GSA messages indicates the GPS receiver's operating mode and lists the  
satellites used for navigation and the DOP values of the position solution.  
$GPGSA,a,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,  
xx,x.x,x.x,x.x*hh<CR><LF>  
Table C.7  
GSA - GPS DOP and Active Satellites Message Parameters  
Field #  
Description  
1
Mode: M = Manual, A = Automatic. In manual mode, the receiver  
is forced to operate in either 2D or 3D mode. In automatic mode,  
the receiver is allowed to switch between 2D and 3D modes  
subject to the PDOP and satellite masks.  
2
Current Mode: 1 = fix not available, 2 = 2D, 3 = 3D  
3 to 14  
PRN numbers of the satellites used in the position solution. When  
less than 12 satellites are used, the unused fields are null  
15  
16  
17  
hh  
Position dilution of precision (PDOP)  
Horizontal dilution of precision (HDOP)  
Vertical dilution of precision (VDOP)  
Checksum  
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C
NMEA 0183  
GSV - GPS Satellites in View  
The GSV message identifies the GPS satellites in view, including their PRN number,  
elevation, azimuth and SNR value. Each message contains data for four satellites.  
Second and third messages are sent when more than 4 satellites are in view. Fields #1  
and #2 indicate the total number of messages being sent and the number of each  
message respectively.  
$GPGSV,x,x,xx,xx,xx,xxx,xx,xx,xx,xxx,xx,xx,xx,  
xxx,xx,xx,xx,xxx,xx*hh<CR><LF>  
Table C.8  
GSV - GPS Satellites in View Message Parameters  
Field #  
Description  
1
Total number of GSV messages  
2
Message number: 1 to 3  
3
Total number of satellites in view  
Satellite PRN number  
4
5
Satellite elevation in degrees (90° Maximum)  
Satellite azimuth in degrees true (000 to 359)  
Satellite SNR (C/No), null when not tracking  
PRN, elevation, azimuth and SNR for second satellite  
6
7
8,9,10,11  
12,13,14,15 PRN, elevation, azimuth and SNR for third satellite  
16,17,18,19 PRN, elevation, azimuth and SNR for fourth satellite  
hh  
Checksum  
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NMEA 0183  
C
RMC - Recommended Minimum Specific GPS/Transit Data  
The RMC message contains the time, date, position, course, and speed data provided  
by the GPS navigation receiver. A checksum is mandatory for this message and the  
transmission interval may not exceed 2 seconds. All data fields must be provided  
unless the data is temporarily unavailable. Null fields may be used when data is  
temporarily unavailable.  
$GPRMC,hhmmss.ss,A,llll.lllll,a,yyyyy.yyyyy,a,  
x.x,x.x,xxxxxx,x.x,a,i*hh<CR><LF>  
Table C.9  
RMC - Recommended Minimum Specific GPS / Transit Data Message  
Parameters  
Field #  
Description  
1
UTC of Position Fix (when UTC offset has been decoded by the  
receiver).  
2
Status: A = Valid, V = navigation receiver warning  
Latitude, N (North) or S (South).  
3,4  
5,6  
7
Longitude, E (East) or W (West).  
Speed over the ground (SOG) in knots  
Track made good in degrees true.  
Date: dd/mm/yy  
8
9
10,11  
12  
Magnetic variation in degrees, E = East / W= West  
Position System Mode Indicator; A=Autonomous,  
D=Differential, E=Estimated (Dead Reckoning), M=Manual  
Input, S=Simulation Mode, N=Data Not Valid  
hh  
Checksum (Mandatory for RMC)  
VTG - Track Made Good and Ground Speed  
The VTG message conveys the actual track made good (COG) and the speed relative  
to the ground (SOG).  
$GPVTG,x.x,T,x.x,M,x.x,N,x.x,K,i*hh<CR><LF>  
Table C.10  
VTG - Track Made Good and Ground Speed Message Parameters  
Field #  
Description  
1
Track made good in degrees true.  
Track made good in degrees magnetic.  
Speed over the ground (SOG) in knots.  
Speed over the ground (SOG) in kilometer per hour.  
2
3,4  
5,6  
7
Mode Indicator: A=Autonomous Mode, D=Differential Mode,  
E=Estimated (dead reckoning) Mode, M=Manual Input Mode,  
S=Simulated Mode, N-Data Not Valid  
hh  
Checksum  
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C
NMEA 0183  
ZDA - Time & Date  
The ZDA message contains Time of Day in UTC: the day, the month, the year and the  
local time zone.  
$GPZDA,hhmmss.ss,xx,xx,xxxx,,*hh<CR><LF>  
Table C.11  
ZDA - Time & Date Message Parameters  
Field #  
Description  
1
UTC (when UTC offset has been decoded by the receiver)  
2
Day (01 to 31)  
Month (01 to 12)  
Year  
3
4
5
Null (empty)  
Null (empty)  
Checksum  
6
hh  
Note – Fields #5 and #6 are null fields in the Copernicus GPS Receiver output. A  
GPS receiver cannot independently identify the local time zone offsets.  
WARNING – If UTC offset is not available, time output will be in GPS time until the UTC  
offset value is collected from the GPS satellites. When the offset becomes available, the  
time will jump to UTC time.  
C
Note – The time can be used as a timetag for the 1PPS. The ZDA message comes out  
100-500 msec after the PPS.  
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NMEA 0183  
C
AH - Almanac Health  
This sentence can be used to query or set almanac health data. Since the maximum  
number of bytes that can be contained in a single NMEA sentence is less than the  
total almanac health length, the almanac health must be sent in two sentences. The  
two sentences have to be sent or received together in correct sequence. After  
receiving the query, the receiver sends out two messages.  
Message 1  
$PTNLaAH,1,hh,hhhhhhhh,hhhhhhhh,hhhhhhhh,hhhhhhhh,  
hh,hh,x.x*hh<CR><LF>  
Table C.12  
Almanac Health, Message 1  
Field  
Description  
a
Mode (Q = query; S = set; R = Response)  
Week number for health, variable length integer, 4 digits maximum  
hh  
hhhhhhhh  
Satellite 1 - 4 health, one byte for each satellite, HEX data conforming to  
GPS ICD 200.  
hhhhhhhh  
hhhhhhhh  
hhhhhhhh  
hh  
Satellite 5 - 8 health, one byte for each satellite, HEX data conforming to  
GPS ICD 200.  
Satellite 9 - 12 health, one byte for each satellite, HEX data conforming  
to GPS ICD 200.  
Satellite 13 - 16 health, one byte for each satellite, HEX data conforming  
to GPS ICD 200.  
t_oa, HEX data conforming to GPS ICD 200.  
Message 2  
$PTNLaAH,2,hh,hhhhhhhh,hhhhhhhh,hhhhhhhh,hhhhhhhh,hh,hh,x.x*hh<CR><LF>  
Table C.13  
Almanac Health, Message 2  
Field  
Description  
a
Mode (Q = query; S = set; R = Response)  
Week number for health, variable length integer, 4 digits maximum  
hh  
hhhhhhhh  
Satellite 17 - 20 health, one byte for each satellite, HEX data conforming  
to GPS ICD 200.  
hhhhhhhh  
hhhhhhhh  
hhhhhhhh  
hh  
Satellite 21 - 24 health, one byte for each satellite, HEX data conforming  
to GPS ICD 200.  
Satellite 25 - 28 health, one byte for each satellite, HEX data conforming  
to GPS ICD 200.  
Satellite 29 - 32 health, one byte for each satellite, HEX data conforming  
to GPS ICD 200.  
t_oa, HEX data conforming to GPS ICD 200.  
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C
NMEA 0183  
AL - Almanac Page  
This sentence can be used to query or set almanac data for a specific satellite.  
Following is the query format:  
$PTNLQAL,xx*hh<CR><LF>  
Table C.14  
Almanac Page  
Field  
Description  
xx  
Satellite ID  
Following is the set or response format.  
$PTNLaAL,xx,x.x,hh,hhhh,hh,hhhh,hhhh,hhhhhh,hhhhhh,hhhhhh,hhhhhh,hhh,hhh*  
hh<CR><LF>  
Table C.15  
Almanac Page, Set or Response Format  
Field  
a
Description  
Mode (S = set; R = Response).  
xx  
Satellite ID, 01-32.  
x.x  
GPS week number, variable length integer, 4 digits maximum.  
SV health, HEX data conforming to GPS ICD 200.  
Eccentricity, HEX data conforming to GPS ICD 200.  
t_oa, almanac reference time, HEX data conforming to GPS ICD 200.  
sigma_I,HEX data conforming to GPS ICD 200.  
OMEGADOT, HEX data conforming to GPS ICD 200.  
root_a, HEX data conforming to GPS ICD 200.  
Omega, HEX data conforming to GPS ICD 200.  
Omega_0, HEX data conforming to GPS ICD 200.  
M_O, HEX data conforming to GPS ICD 200.  
a_fO, HEX data conforming to GPS ICD 200.  
a_fl, HEX data conforming to GPS ICD 200.  
hh  
hhhh  
hh  
hhhh  
hhhh  
hhhhhh  
hhhhhh  
hhhhhh  
hhhhhh  
hhh  
hhh  
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NMEA 0183  
C
AS - Almanac Status  
This sentence can be used to query or set almanac status. The format is:  
$PTNLaAS,hh,xxxx,hh,hh,hh,hh,hh*hh<CR><LF>  
Table C.16  
Query Almanac Status  
Field  
a
Description  
Mode (Q = query; S = Set)  
TimeOfAlm. Time of almanac.  
Week number of almanac  
HaveTimeOfAlm  
Hh  
xxxx  
hh  
hh  
HaveAlmHealth  
hh  
NeedAlmHealth. Need Almanac Health.  
NeedIonUtc.  
hh  
hh  
HaveAlm  
The corresponding response for the Set is:  
$PTNLRAS,a*hh<CR><LF>  
where 'a' means action status: A = success; V= failure  
BA - Antenna Status  
This sentence can be used to query the antenna connection status. This sentence  
should only be issued when the antenna detection circuit is implemented.  
The Query sentence format is:  
$PTNLQBA*hh<CR><LF>  
The Response to query sentence format is:  
$PTNLARBA,a,b*hh<CR><LF>  
Table C.17  
Antenna Status  
Field  
Description  
a
b
Status (0 = status unavailable, 1 = status available)  
Antenna feedline fault:  
0 = normal  
1 = open  
2 = short  
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C
NMEA 0183  
CR - Configure Receiver  
This sentence can query or set NMEA receiver configuration information.  
$PTNLaCR,x.x,x.x,x.x,x.x,x.x,a,a,a,a*hh<CR><LF>  
Table C.18  
Configure Receiver  
Field  
a
Description  
Mode (Q = query; S = set; R = Response)  
x.x  
x.x  
x.x  
x.x  
x.x  
a
Reserved  
Elevation mask in degrees (default = 5 degrees)  
Reserved  
Reserved  
Reserved  
Constellation Mode, default is 0  
0 - AUTO  
a
Dynamics, default is 1  
1=land  
2=sea  
3=air  
a
a
Reserved.  
0=WAAS_OFF, 1=WAAS_AUTO  
(this applies to all SBAS)  
EM - Enter Monitor Mode  
This sentence is used to set the Copernicus GPS Receiver into Monitor Mode. This is  
Set only, no query supported.  
The sentence format is:  
$PTNLSEM*hh<CR><LF>  
This sentence will be used by the Firmware Uploading Program.  
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NMEA 0183  
C
EP - Ephemeris  
This sentence can be used to query or set ephemeris data for a specific satellite. Since  
the maximum number of bytes that can be contained in a single NMEA sentence is  
less than the total ephemeris data length, the ephemeris data must be sent in three  
sentences. The three sentences have to be sent or received together in correct  
sequence.  
Following is the query format:  
$PTNLQEP,xx*hh<CR><LF>  
Table C.19  
Ephemeris Query Format  
Field  
Q
Description  
Query  
xx  
Satellite  
After receiving the query, the receiver should send out three messages. Following is  
the first message of ephemeris format:  
$PTNLaEP,1,xx,x.x,x.x,hh,hh,hh,hh,hhh,hh,hhhh,hh,h  
hhh,hhhhhh,x.x*hh<CR><LF>  
Table C.20  
Ephemeris Message Format  
Field  
Description  
a
1
Mode (S = set; R = Response)  
Message number for EP, message 1 must be sent or received before  
message 2, and message 2 must be sent or received before message 3,  
and all three messages must be sent together with correct sequence  
xx  
Satellite id  
x.x  
T_ephem, This is a double precision floating point number.  
Week number for health, variable length integer, 4 digits maximum.  
CodeL2, HEX data conforming to GPS ICD 200.  
L2Pdata, HEX data conforming to GPS ICD 200.  
Svacc_raw, HEX data conforming to GPS ICD 200.  
SV_health, HEX data conforming to GPS ICD 200.  
IODC, HEX data conforming to GPS ICD 200.  
T_GD, HEX data conforming to GPS ICD 200.  
T_oc, HEX data conforming to GPS ICD 200.  
A_f2, HEX data conforming to GPS ICD 200.  
A_f1, HEX data conforming to GPS ICD 200.  
A_f0, HEX data conforming to GPS ICD 200.  
x.x  
hh  
hh  
hh  
hh  
hhh  
hh  
hhhh  
hh  
hhhh  
hhhhhh  
Following is the second sentence of ephemeris format:  
$PTNLaEP,2,xx,hh,hh,hhhh,hhhh,hhhhhhhh,hhhh,hhhhhhhh,hhhh,hhhhhhhh,hhhh*  
hh<CR><LF>  
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C
NMEA 0183  
Table C.21  
Ephemeris Message Format  
Field  
Description  
a
2
Mode (S = set; R = Response)  
Sentence number for EP, sentence 1 must be sent or received before  
sentence 2, and sentence 2 must be sent or received before sentence 3,  
and all three sentences must be sent together  
xx  
Satellite id  
hh  
IODE, Hex data conforming to GPS ICD 200  
Fit_interval, Hex data conforming to GPS ICD 200  
C_rs, Hex data conforming to GPS ICD 200  
Delta_n, Hex data conforming to GPS ICD 200  
M_0, Hex data conforming to GPS ICD 200  
C_uc, Hex data conforming to GPS ICD 200  
E, Hex data conforming to GPS ICD 200  
C_us, Hex data conforming to GPS ICD 200  
hh  
hhhh  
hhhh  
hhhhhhhh  
hhhh  
hhhhhhhh  
hhhh  
Following is the third sentence of ephemeris format  
$PTNLaEP,3,xx,hhhh,hhhhhhhh,hhhh,hhhhhhhh,hhhh,hhhhhhhh,hhhhhh,hhhh*hh<  
CR><LF>  
Table C.22  
Ephemeris Message Format  
Field  
Description  
a
3
Mode (S = set; R = Response)  
Sentence number for EP, sentence 1 must be sent or received before  
sentence 2, and sentence 2 must be sent or received before sentence 3,  
and all three sentences must be sent together  
xx  
Satellite id  
hh  
C_ic, Hex data conforming to GPS ICD 200  
OMEGA_0, Hex data conforming to GPS ICD 200  
C_ri, Hex data conforming to GPS ICD 200  
I_O, Hex data conforming to GPS ICD 200  
C_rc, Hex data conforming to GPS ICD 200  
OMEGA, Hex data conforming to GPS ICD 200  
OMEGA_DOT, Hex data conforming to GPS ICD 200  
IDOT, Hex data conforming to GPS ICD 200  
hh  
hhhh  
hhhh  
hhhhhhhh  
hhhh  
hhhhhhhh  
hhhh  
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NMEA 0183  
C
IO Ionosphere  
This sentence can be used to query or set ionosphere data.  
$PTNLaIO,hh,hh,hh,hh,hh,hh,hh,hh*hh,<CR><LF>  
Table C.23  
Ionosphere  
Field  
a
Description  
Mode (Q = query; S = set; R = Response)  
Alpha_0, HEX data conforming to GPS ICD 200.  
hh  
hh  
hh  
hh  
hh  
Alpha_1, HEX data conforming to GPS ICD 200.  
Alpha_2, HEX data conforming to GPS ICD 200.  
Alpha_3, HEX data conforming to GPS ICD 200.  
Beta_0, HEX data conforming to GPS ICD 200.  
hh  
hh  
hh  
Beta_1, HEX data conforming to GPS ICD 200.  
Beta_2, HEX data conforming to GPS ICD 200.  
Beta_3, HEX data conforming to GPS ICD 200.  
KG - Set Initial Position  
This sentence can be used to set initial position or time info data or both for  
accelerating navigation startup. To set time only, send valid time fields and NULL  
position fields. To set position only, send valid position fields and NULL time fields.  
Query is not supported.  
$PTNLaKG,x.x,x.x,llll.lllll,a,yyyyy.yyyyy,a,x.x*hh  
<CR><LF>  
Table C.24  
Set Initial Position  
Field  
Description  
a
Mode (S = set; R = Response)  
x.x  
GPS week number, maximum 4 digits  
x.x  
GPS time of week in milliseconds  
llll.lllll  
Latitude  
a
N | S  
yyyyy.yyyyy  
Longitude  
a
E | W  
x.x  
Altitude from the sea level in meters (maximum 5 digits)  
Note – When uploading a position, it should be within 100 Km of the actual position  
and time within 5 minutes of UTC.  
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C
NMEA 0183  
NM - Automatic Message Output  
This sentence may be issued by the user to configure automatic message output.  
The Query sentence format is:  
$PTNLQNM*hh<CR><LF>  
The Response to query sentence or Set sentence format is:  
$PTNLaNM,hhhh,xx*hh<CR><LF>  
Table C.25  
Automatic Message Output  
Field  
a
Description  
Mode (Q = query; S = set; R = Response)  
hhhh  
Bit 0 - GGA  
Bit 1 - GLL  
Bit 2 - VTG  
Bit 3 - GSV  
Bit 4 - GSA  
Bit 5 - ZDA  
Bit 8 - RMC  
Bit 9 - TF  
Bit 13 - BA  
xx  
Automatic Report Interval (1 - 99)  
Examples  
GGA Only 0001  
GLL Only0002  
VTG Only0004  
GSV Only0008  
GSA Only0010  
ZDA Only0020  
RMC Only0100  
TF Only0200  
BA Only2000  
GGA and GLL0003  
GGA and TF0201  
RMC and TF0300  
GGA, GLL and TF0203  
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NMEA 0183  
C
PS - PPS Configuration  
This sentence can query or set PPS configuration data.  
$PTNLaPS,b,x...x,6,x...x*hh<CR><LF>  
Table C.26  
PPS Configuration  
Field  
Description  
a
b
Mode (Q = query; S = set; R = Response)  
PPS mode, default is 1:  
0 - PPS_OFF (Always Off)  
1 - PPS_ON (Always On or Early PPS)  
2 - PPS_FIX_BASED  
x...x  
c
Output pulse length in 100 nanoseconds, default is 42  
corresponding to 4200 nanoseconds. Pulse length range is  
100ns to 500ms. Field value range is 1 to 5000000.  
Output pulse polarity, default is 1:  
0 - output pulse is active low  
1 - output pulse is active high  
x...x  
Antenna Cable Length Compensation. Default = 0, Units in  
nanoseconds. Can be positive or negative. Negative value will  
mean PPS comes out earlier, e.g. to compensate for cable delay.  
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C
NMEA 0183  
PT - Serial Port Configuration  
This sentence may be issued by the user for configuring the current serial port.  
The Query sentence format is:  
$PTNLQPT*hh<CR><LF>  
The Response to query or Set sentence format is:  
$PTNLRPT,xxxxxx,b,b,b,h,h*hh<CR><LF>  
When the Set is issued, the first Response sentence will be sent using the old  
parameters and the second response sentence will be sent using the new parameters. If  
there is an error, there will be an error response sent. If there is no error, no additional  
response is sent.  
Table C.27  
Serial Port Configuration  
Field  
a
Description  
Mode (Q = query; R = Response; S = Set)  
xxxxxx  
Baud rate (4800, 9600, 19200, 38400). Default baud  
rate is 4800.  
h
h
input protocol, hex value (bit 0: TAIP, bit1: TSIP, bit2:  
NMEA). Bits can be combined to enable multiple input  
protocols. This field may not be 0.  
output protocol, hex value (bit 0: TAIP, bit1: TSIP, bit2:  
NMEA). It is not recommended to combine multiple  
output protocols.  
b
b
b
Reserved  
Reserved  
Reserved  
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NMEA 0183  
C
RT - Reset  
This sentence can be used to Set the reset type. No query is supported.  
$PTNLaRT,b,c,d..x*hh<CR><LF>  
Table C.28  
Reset Type  
Field  
Description  
a
Mode (S = set; R = Response)  
b
Command  
C
Cold software reset, Erase SRAM including the  
customer configuration in SRAM and restarts.  
W
Warm software reset. Erases the ephemeris information  
in SRAM and restarts.  
H
F
Hot software reset. Uses the entire SRAM data.  
Factory software reset. Erases the customer  
configuration, the almanac, ephemeris and last  
position in Flash Memory and in SRAM  
S
Set the receiver into Standby Mode.  
c
Flash operation  
0
1
2
3
4
reserved  
reserved  
store user configuration to Flash Memory  
store user configuration to Flash Memory  
Erase Almanac, ephemeris and last position from Flash  
Memory  
5
6
Erase user configuration from Flash Memory  
Erase Almanac, ephemeris, last position and user  
configuration from Flash Memory  
d
Wakeup from Standby Mode flags:  
001 Wakeup with serial Port A activity  
010 Wakeup with serial Port B activity  
011 Wakeup with serial Port A or B activity  
100 Wakeup after elapsed time specified in the next  
field  
101 Wakeup after elapsed time specified in the next  
field or serial Port A activity  
110 Wakeup after elapsed time specified in the next  
field or serial Port B activity  
111 Wakeup after elapsed time specified in the next  
field or serial Port A or B activity  
x..x  
If command is 'S', this field specifies time to stay in Backup  
31  
(Standby) Mode in seconds. Maximum value 2  
.
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C
NMEA 0183  
SG - Set Bit Mask for GPIOs in Standby Mode.  
Users may designate individual pins for pull-down and pull-up while the unit is in  
Standby Mode. This allows the user to select external pull-down or pull-up resistors  
to suit their application.  
Examples:  
In serial port configuration, one option would be to power down the serial port  
during standby in which case the corresponding GPIOs would be pull-downs.  
To keep the serial port running during standby, the corresponding GPIOs would  
be set to pull-ups.  
Note – The pins that are not connected should remain in their default state, pull-  
down.  
Use bit 5 of byte 1 to select the pull-down or pull-up resistor for the XTANDBY pin  
as appropriate for the application. Unlike the other GPIOs, the selection of the pull-  
down or pull-up resistor is applied during Run Mode.  
Examples:  
When the XSTANDBY pin is tied to main power, as shown in the reference  
design, select the pull-down resistor for the XTANDBY pin so when main  
power is removed, XTANDBY is immediately pulled low to go into Standby  
Mode.  
When the XTANDBY pin is controlled with GPIO on the user’s processor, the  
pull-down or pull-up resistor may be selected depending on the GPIO state.  
$PTNLxSG,hhhh*hh, <CR><LF>  
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NMEA 0183  
C
Table C.29  
SG - Set Bit Mask for GPIOs in Standby Mode  
Byte  
Position  
0
Bit  
Item  
Type  
Value  
Definition  
0 (LSB) Pin 6,  
Bit  
Bit  
0
Reserved  
Reserved  
1
Pin 7, OPEN  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
2
Pin 8, SHORT Bit  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
3
Pin 17,  
Reserved  
Bit  
Bit  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
4
Pin 18,  
Reserved  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
5
Bit 5, Pin 19, Bit  
PPS  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
6
Pin 20, RxDB Bit  
Pin 21, RxDA Bit  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
7
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
1
0
Pin 22,  
Reserved  
Bit  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
1
Pin 23, TxDA Bit  
Pin 24, TxDB Bit  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
2
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
3
Pin 25,  
Reserved  
Bit  
Bit  
Bit  
Bit  
0
0 is pull-down, 1  
is pull-up, default  
is pull-down  
4
Pin 26,  
Reserved  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-down  
5
Pin 16,  
XSTANDBY  
0
1
0 is pull-down, 1  
is pull-up, default  
is pull-up  
6-7  
Reserved  
Reserved  
Note – The settings will be saved to Flash memory when the user issues the command  
to “Save User Configuration to Flash”.  
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NMEA 0183  
SV - Set Bit Mask for SBAS SV  
This packet provides the SBAS SV bit mask. The user data packet contains four bytes  
to specify 19 possible SBAS prn numbers. Bit 0 represents PRN 120.  
$PTNLSSV, xxxxxxxx, xxxxxxxx, <CR><LF>  
This packet provides the SBAS SV bit mask in four bytes. The user data packet  
contains four bytes to specify 19 possible SBAS prn numbers. Bit 0 represents PRN  
120.  
Available WAAS PRN numbers are 135 and 138.  
To disable WAAS PRN 135 send $PTNLSSV,00000000,00008000*58  
To disable WAAS PRN 138 send $PTNLSSV,00000000,00048000*5C  
To enable all WAAS send $PTNLSSV,00000000,00000000*50  
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NMEA 0183  
C
TF - Receiver Status and Position Fix  
This sentence may be issued by the user to get receiver status and position fix.  
The Query sentence format is:  
$PTNLQTF*hh<CR><LF>  
The Response to query sentence format is:  
$PTNLaTF,b,c,xxxxxx,xx,x,llll.lllll,d,yyyyy.yyyyy,  
e,xxxxx,x.x,x.x,x.x*hh<CR><LF>  
Table C.30  
Receiver Status and Position Fix  
Field  
Description  
a
Mode (Q = query; R = Response)  
b
BBRAM status on startup (A = valid; V = invalid)  
Almanac completion status (A = complete; V = incomplete)  
GPS time of week (in seconds)  
c
xxxxxx  
xx  
Number of satellites in use, 00 - 12, may be different from  
the number in view.  
x
Position fix source (0 = no fix; 2 = 2D fix; 3 = 3D fix)  
Latitude of the current position fix  
N | S  
llll.lllll  
d
yyyyy.yyyyy  
Longitude of the current position fix  
E | W  
e
xxxxx  
x.x  
x.x  
x.x  
Antenna altitude re: mean-sea-level (MSL geoid, meters)  
'East' component of ENU velocity (m/s)  
'North' component of ENU velocity (m/s)  
'Up' component of ENU velocity (m/s)  
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C
NMEA 0183  
UT - UTC  
This sentence can be used to query or set UTC data.  
$PTNLaUT,hhhhhhhh,hhhhhh,hh,hh,hhhh,hhhh,hh,hh*hh<  
CR><LF>  
Table C.31  
UTC  
Description  
Field  
a
Mode (Q = query; S = set; R = Response)  
hhhhhhhh  
hhhhhh  
hh  
A_0, HEX data conforming to GPS ICD 200.  
A_1, HEX data conforming to GPS ICD 200.  
Delta_t_ls, HEX data conforming to GPS ICD 200.  
T_oa, HEX data conforming to GPS ICD 200.  
Wn_t, HEX data conforming to GPS ICD 200.  
Wn_LSF, HEX data conforming to GPS ICD 200.  
DN, HEX data conforming to GPS ICD 200.  
Delta_t_LSF, HEX data conforming to GPS ICD 200.  
hh  
hhhh  
hhhh  
hh  
hh  
240 Copernicus GPS Receiver  
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NMEA 0183  
C
VR - Version  
This sentence may be issued by the user to get version information.  
The Query sentence format is:  
$PTNLQVR,a*hh<CR><LF>  
where a is S = Application firmware, H=Hardware and N=Nav  
The Response to query sentence format is:  
$PTNLRaVR,b,c..c,xx.xx.xx,xx,xx,xxxx*hh<CR><LF>  
Table C.32  
Version  
Field  
a
Description  
Mode (Q = query; R = Response)  
Reserved  
b
c..c  
xx  
Receiver Name  
Major version  
Minor version  
Build version  
Month  
xx  
xx  
xx  
xx  
Day  
xxxx  
Year  
Copernicus GPS Receiver 241  
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C
NMEA 0183  
242 Copernicus GPS Receiver  
Download from Www.Somanuals.com. All Manuals Search And Download.  

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