C-Nav 1000 R4, Installation Manual

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SERIAL COMMUNICATION INTERFACES Page 37
7.4 Output Sentences
The serial interfaces of the R4 Navigation System supports transmission of
the sentences described in Table 7-2 and Table 7-3 below. All sentences can
be transmitted on User Port 1 and 2, while User Port 3 supports a limited set
of sentences.
The user can configure which sentences to output on each serial interface
and the output rate, as described in section “Output Config” in the
Reference chapter of the Operator’s Manual, Ref. [1].
Sentences marked with a transmission rate of “0.2 – 5 Hz” can be
transmitted 0.2, 0.5, 1, 2 and 5 times per second. Sentences marked with “1
Hz” can be transmitted once per second only. Messages marked with “-“ are
not supported on that port. Transmission of each sentence can also be
disabled.
Table 7-2. Supported GPS output sentences
Sentence Description Port 1 & 2 Port 3
GGA GPS fix data 0.2 – 5 Hz 1 Hz
GLL Geographic position, latitude/longitude 0.2 – 5 Hz -
GLL2 (NMEA
1.5) Geographic position, latitude/longitude
(Position with only 2 decimals) 1 Hz 1 Hz
GLL2
(NMEA 2.3) Geographic position, latitude/longitude
(Position with only 2 decimals) 1 Hz 1 Hz
GNS GNSS fix data 0.2 – 5 Hz 1 Hz
RMC Recommended minimum specific GNSS
data 0.2 – 5 Hz 1 Hz
VTG Course over ground and ground speed 0.2 – 5 Hz 1 Hz
ZDA UTC time and date 0.2 – 5 Hz 1 Hz
DTM Datum reference 0,033 Hz 0,033 Hz
GBS GNSS satellite fault detection 1 Hz 1 Hz
GRS GNSS range residuals 1 Hz -
GSA GNSS DOP and active satellites 1 Hz -
GST GNSS pseudorange error statistics 1 Hz -
GSV GNSS satellites in view 1 Hz -
PSTT,501 RAIM Status (proprietary message) 1 Hz 1 Hz