900240 Rev. B
3/01
page 12
This sentence provides raw tilt and magnetic measurements for diagnostic use. Contents of each field represent
A/D readings for, in order: TiltAp, TiltAm, TiltBp, TiltBm, MagA, MagB, MagC, MagAsr, MagBsr, MagCsr.
All values represent the actual A/D readings from the most recent conversions, except that tilt readings are
adjusted if low gain was used for the conversion. Mag_sr values represent the sum of the most recent calibration
Set and Reset pulse measurements for each sensor. There are never any null fields in this sentence.
Eg.
In Degree Mode
$PTNTRCD,1509,1551,1548,1553,15199,16146,17772,17055,16176,17059*42
In Mil Mode
$PTNTRCD,1435,1512,1497,1453,16776,14066,9477,17403,16073,17225*7F
CCD
Conditioned Compass Data
$PTNTCCD,x.x,x.x,x.x,x.x,x.x,x.x,x.x*hh<cr><lf>
This sentence provides conditioned tilt and magnetic measurements for diagnostic use. The fields are, in order:
TiltX
32768 times tangent of angle between compass board north-south axis and level plane. This
value is the difference between the raw tilt measurements normalized, linearized, and
filtered according to parameter settings. The pitch measurement is determined by taking the
arctan of TiltX/32768.
TiltY
same as TiltX but for the compass board east-west axis (roll).
MagX
normalized and filtered magnetic field strength along the north-south axis of the compass
board. This value has been adjusted for any hard-iron offset determined during calibration
(or tuned manually).
MagY
same as MagX but along the compass board east-west axis.
MagZ
same as MagX and MagY, but along the axis perpendicular to the plane of the board. This
value has been adjusted both for gain variation with the X-Y sensor pair and for hard-iron.
MagT
Total magnetic field strength
Heading
calculated heading based on the magnetometer and inclinometer data in this sentence.
Presented in degrees or mils depending on the setting in EEPROM. This field will be null if
the heading cannot be calculated.
Eg.
In Degree Mode
$PTNTCCD,522,-472,109,1841,677,1964,86.3*44
In Mil Mode
$PTNTCCD,-25187,351,-3909,1899,-4394,6180,1838*58
ASCII Message
The special ASCII display message normally consists of a string of 4 digits that represent the heading in degrees
and tenths, followed by a terminating carriage return character. Heading is corrected for deviation and variation
when these factors are programmed in the EEPROM. When the heading cannot be transmitted due to a
magnetometer or tilt signal out of range, then 4 minus signs are transmitted instead.
Eg.
In Degree Mode
86.1
