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Value Description GPIO Function Type
35 Linkquest USBL Input GPIO2
38 GNSS Receiver Passthrough GPIO1, GPIO2
39 TSS1 Output
GPIO1
40 Simrad 1000 Output
41 Simrad 3000 Output
42 Serial Port Passthrough
GPIO1, GPIO2
43 Gimbal Encoder Phase A
44 Gimbal Encoder Phase B
45 Odometer Direction, Forward Low
46 Odometer Direction, Forward High
51 Nortek DVL Input GPIO2
53 Reverse Alignment, Forward Low
GPIO1, GPIO2
54 Reverse Alignment, Forward High
55 Zero Angular Velocity Input
Table 137: GPIO functions
11.5.6.2 Auxiliary Functions
Value Description Auxiliary Function Type
0 Inactive Transmit, Receive
1 1PPS Output Transmit
2 GNSS Fix Output
3 Odometer Input
Receive
4 Zero Velocity Input
5 Pitot Tube Input
6 NMEA Input
7 NMEA Output Transmit
8 Novatel GNSS Input
Receive
9 Topcon GNSS Input
11 ANPP Input
12 ANPP Output Transmit
v1.2 Page 164 11 Oct 2022
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