V101 and V111 GPS Compass
Quick Reference Guide
Part Number: 875-0251-000 Rev A1
Installation Considerations
Proper location is important to obtain a high-precision
GPS reading. Choose an installation location using either
the pole or fixed mount where the V101/111:
• Has a clear view of the sky
• Is away from other electronics and antennas
• Has enough cable to reach a power source
• Is on a level plane
Refer to the V101 and V111 GPS Compass User Guide for
detailed installation instructions.
NMEA 0183 and other messages
Message
Info
Type
Description
IEC
Approved
Message
$GPDTM
P
Datum reference
Yes
$GPGGA
P
GPS position and fix data
Yes
$GPGLL
P
Geographic position - lat/
long
Yes
$GPGNS
P
GNSS position and fix data
Yes
$GPGRS
S
GNSS range residual
(RAIM)
Yes
$GPGSA
S
GNSS DOP and active
satellites
Yes
$GPGST
S
GNSS pseudo range error
statistics and position
accuracy
Yes
$GPGSV
S
GNSS satellites in view
Yes
$GPHDG
H
Provides magnetic
deviation and variation for
calculating magnetic or
true heading
Yes
$GPHDM
H
Magnetic heading (based
on GPS-derived heading
and magnetic declination)
No
$GPHDT
H
GPS-derived true heading
Yes
$GPHEV
H
Heave value (in meters)
Yes
$GPRMC
P
Recommended minimum
specific GNSS data
Yes
$GPROT
H
GPS-derived rate of turn
(ROT)
Yes
$GPRRE
S
Range residual and
estimated position error
message
Yes
$GPVTG
V
COG and ground speed
Yes
$GPZDA
V
Time and date
Yes
$PCSI,1
S
Beacon status
No
$PSAT,GBS
S
Satellite fault detection
(RAIM)
Yes
$PSAT,HPR
H
Proprietary NMEA
message that provides
heading, pitch, roll, and
time in single message
No
$PSAT,INTLT
H
Proprietary NMEA
message that provides the
pitch and roll
measurements from the
internal inclinometers (in
degrees)
Yes
$RD1
S
SBAS diagnostic
information
Yes
Binary messages
$JBIN
Message
Description
$JBIN
Message
Description
1
GPS position
95
Satellite
ephemeris data
2
GPS DOPs
96
Code and
carrier phase
80
SBAS
97
Processor
statistics
93
SBAS
ephemeris data
98
Satellites and
almanac
94
Ionosphere and
UTC conversion
parameters
99
GPS
diagnostics
Parameters specific to $JATT command
Parameter
Description
Query
Specify
COGTAU
Set/query COG time
constant (0.0 to 3600.0 s)
X
X
CSEP
Query antenna separation
X
GYROAID
Enable/disable gyro
X
X
HBIAS
Set/query heading bias
(-180.0º to 180.0º)
X
X
HIGHMP
Set/query the High
Multipath setting for use in
poor GPS environments
X
X
HRTAU
Set/query time constant (0.0
to 3600.0 s)
X
X
HTAU
Set/query heading time
constant (0.0 to 3600.0 s)
X
X
LEVEL
Query or enable/disable
level operation
X
X
MSEP
Manually set or query
antenna separation
X
X
NEGTILT
Query or enable/disable
negative tilt
X
X
NMEAHE
Query for the message
headers or change the HDG,
HDM, HDT, and ROT
message headers between
GP and HE
X
X
PBIAS
Set/query pitch/roll bias (-
15.0º to 15.0º)
X
X
PTAU
Set/query pitch time
constant (0.0 to 3600.0 s)
X
X
ROLL
Query or configure for roll
or pitch GPS orientation
X
X
SEARCH
Force a new GPS heading
search
X
SPDTAU
Set/query speed time
constant (0.0 to 3600.0 s)
X
X
TILTAID
Query or enable/disable
accelerometer, pre-
calibrated
X
X
TILTCAL
Calibrate accelerometers
X
