User Guide. Welcome to the GPS Module. Supported Products. Important Notice

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1 User Guide o Welcome o Overview o Supported Prods. o Safety Notices o Specifications o Installation o Using GPS o Troubleshooting o Service o Contact Us Welcome to the GPS Module Rev 1.2 March 2000 Sierra Wireless offers an optional GPS Module on some products. This User Guide provides information on the installation and use of the module. Sierra Wireless products in current production use the Trimble ACE II GPS module. Earlier production units in use in the field may use the Trimble SVeeSix or SVeeSix-CM3 modules. This document is broadly applicable to all types of modules. The communication methods and meaning of data is the same for all modules unless explicitly noted otherwise. For general background on GPS technology please consult our Primer on GPS Operation (PDF). Supported Products At the time of this writing, the following products support the GPS Module option: AirBooster 350 RF Amplifier MP200 CDPD Modem MP210 Multi-mode Modem Additional Sierra Wireless products may be added to this list. Consult our web site for a complete and current list. o Welcome (top) o Overview o Safety Notices o Regulatory o Trademarks o Specifications Important Notice Because of the nature of wireless communications, transmission and reception of data can never be guaranteed. Data may be delayed, corrupted (i.e., have errors) or be totally lost. Although significant delays or losses of data are rare when wireless devices are used in a normal manner with a well-constructed network, they should not be used in situations where failure to transmit or receive data could result in damage of any kind to the user or any other party, including but not limited to personal injury, death, or loss of property. Sierra Wireless, Inc., accepts no responsibility for damages of any kind resulting from delays or errors in data transmitted or received using this product, or for failure of the product to transmit or receive such data. Regulatory Information The equipment certifications appropriate to your device are marked on the device and the accompanying product specific information. Where appropriate, the use of the equipment is subject to the following conditions:

2 CAUTION - Unauthorized modifications or changes not expressly approved by Sierra Wireless, Inc. could void compliance with regulatory rules, and thereby your authority to use this equipment. WARNING (EMI) - United States FCC Information - This equipment has been tested and found to comply with the limits pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in an appropriate installation. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communication. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: Reorient or relocate the receiving antenna Increase the separation between the equipment and receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio/tv technician for help WARNING (EMI) - Canada - This digital apparatus does not exceed the Class A limits for radio noise emissions from digital apparatus as set out in the interference causing equipment standard entitled "Digital Apparatus", ICES-003 of the Department of Communications. Cet appareil numérique respecte les limites de bruits radioélectriques applicables aux appareils numériques de Classe A prescrites dans la norme sur le matériel brouilleur: "Appareils Numériques", NMB-003 édictée par le ministre des Communications. Trademarks and Copyright 1999 Sierra Wireless, Inc. All rights reserved. The information in this manual is subject to change without notice and does not represent a commitment on the part of Sierra Wireless, Inc. Sierra Wireless, Inc. shall not be liable for incidental or consequential damages resulting from the furnishing, performance, or use of this manual. AirBooster is a trademark of Sierra Wireless, Inc. ACE II GPS, SVeeSix, and SVeeSix-CM3 are trademarks of Trimble Navigation Limited. TAIP is copyright by Trimble Navigation Limited. All other brand or product names, logos, trademarks, etc. mentioned in this manual are owned by their respective companies.

3 o Welcome (top) o Overview o Safety Notices o Specifications o ACE II Modules o SVeeSix Modules o AirBooster Pins o MP200 I/O Port Technical Specifications GPS ACE II Module Specifications GPS Channels: 8 Position Accuracy: Altitude: 15m (2-5m with DGPS) -400 to +18,000m MSL Dynamics: Velocity: 515m/s (max) Acceleration: 4g (39.2m/s 2 ) Pulse/s Accuracy: rising edge within 1 µs UTC rising edge is 20 ns or less pulse width 1 µs Acquisition Time: Warm start: 30 seconds typcial Cold start: 2-5 minutes I/O Ports: 2 Protocols: Input: TSIP, TAIP, RTCM Output: TSIP, TAIP, NMEA 0183 GPS Antenna Interface: SMB RF connector Operating Temp: -40 to +85 C Storage Temp: -55 to +85 C Humidity: 5-95%, non-condensing GPS SVeeSix Module Specifications GPS Channels: 6 Position Accuracy: 15m (2-5m with DGPS) Altitude: -400 to +18,000m MSL Dynamics: Velocity: 515m/s (max) Acceleration: 4g (39.2m/s 2 ) Pulse/s Accuracy: rising edge within 1 µs UTC rising edge is 20 ns or less pulse width 1 µs Acquisition Time: Warm start: 30 seconds typcial Cold start: 2-5 minutes I/O Ports: 2 Protocols: Input: TSIP, TAIP, RTCM Output: TSIP, TAIP, NMEA 0183 GPS Antenna Interface: SMB RF connector Operating Temp: -40 to +85 C Storage Temp: -55 to +85 C Humidity: 5-95%, non-condensing AirBooster 350 GPS DB-9 Connector Pinouts Pin # RS-232 AirBooster Application 1 DCD 1 Pulse/sec output from GPS module 2 RxD RxD (from GPS to host)

4 3 TxD TxD (from host to GPS) 4 DTR Input (reserved, DTR is accepted) 5 GND GND Signal Ground 6 DSR Output (reserved) 7 RTS TxD_2 (from host to GPS secondary port) 8 CTS RxD_2 (from GPS secondary port to host) 9 RI Output (reserved, disregard signal) MP200 Series I/O Connector Pinouts Pin # Application Levels 1 GPS Aux Port Input (RTCM SC-104 DGPS) RS-232C 2 Digital I/O (Panic Button Input) TTL 3 Digital I/O (General Input) TTL 4 Analog to Digital 8-bit Input 0 to +4V 5 Digital to Analog 6-bit Ouput 0 to +4V 6 GPS Aux Port Output (NMEA) TTL 7 Ground GND 8 +5V +5V Document Map Back to Product List Use the document map to jump to a subject of interest or turn the pages to read the full manual. Page Top Next Page 1999,2000 Sierra Wireless, Inc. All rights reserved.

5 o Welcome o Installation o Overview o Antenna o Comm Cable o DGPS Receiver o NMEA Interface o Using GPS o Troubleshooting o Service o Contact Us Installation Overview User Guide This page contains instructions for installing the antenna and local serial connections for both AirBooster and MP products. It also includes information on connecting a differential GPS receiver to the module. Installation of the AirBooster 350 GPS Field Upgrade Kit is covered in a separate section. Installation of Sierra Wireless GPS support software is covered in the separate documents provided with that software. o Installation (top) o Overview o Antenna o Comm Cable o DGPS Receiver o NMEA Interface Installing the Antenna, Cable, and Connector Variation in the users' installation requirements for antenna type and cable lengths prevent inclusion off these components in the product package. GPS Antennas and cables can be ordered separately from Sierra Wireless or other suppliers. The requirements for the antenna are: GPS frequencies. SMB connector (female) to connect to the GPS module. The Primer on GPS Operation (PDF) contains a section on the GPS Option Module with a discussion of antenna types and installation considerations. Please read that section before selecting where to mount the antenna. The steps involved in the installation and connection are: 1. Determine a suitable location for the antenna (outside and with a clear view of the sky) and mount it according to the instructions provided with it. Do not mount behind glass (inside a window). 2. Thread the cable through the vehicle so that the SMB connector is available for connection to the GPS module. 3. Connect the SMB connector to either: the AirBooster 350 GPS connector -- or -- the GPS connector on the back panel of the MP modem.

6 o Installation (top) o Overview o Antenna o Comm Cable o DGPS Receiver o NMEA Interface Communication Cables Communication with the module will depend on the host device being used. MP200 / MP210 AirBooster 350 MP200 / MP210 With the MP200 family, the GPS Module is linked directly to the modem. This makes the GPS unit available both locally through the MP modem's standard host DATA connector and remotely over the CDPD network. For remote access, there is no need to have a computer connected locally to the modem. The modem needs only to be registered on the CDPD network. Local access to the GPS is achieved using a computer connected to the MP modem's DATA port with a standard RS-232 cable. To communicate with the GPS unit, UDP packets are sent to the modem (locally or remotely) to particular IP and port addresses. This is discussed in detail in the next page, Using GPS. AirBooster 350 Connection to the GPS Module in an AirBooster 350 RF amplifier is made only through the DB-9 SERIAL connector. This connector does not use standard RS-232 pin assignments. A standard RS-232 cable can be used but the DTR/DSR, RTS/CTS, DCD, and RI control signals cannot be used. Only TxD and RxD are used. The detailed description of pinouts is defined in the technical specifications. The connection is a simple serial connection, at RS-232C level, directly to the GPS module using the Trimble ASCII Interface Protocol. Making the GPS data available remotely requires that a computer be connected to the SERIAL port of the AirBooster 350 amplifier and a suitable program be running on the computer to relay the data to the remote destination. Sierra Wireless provides an application (AirBooster 350 GPS) to enable IP packet access to the GPS module from both the local computer and remote network computers. Establishing communication is described in detail in the next page, Using GPS.

7 o Installation (top) o Overview o Antenna o Comm Cable o DGPS Receiver o NMEA Interface Differential GPS Receivers For a general discussion of Differential GPS please consult our Primer on GPS Operation (PDF). The GPS unit is capable of automatically applying differential corrections, provided the data is presented in the correct format on the correct port. The data must be in RTCM-SC104 format, delivered at 4800 bps, 8 data, No parity, 1 stop bit, on the auxiliary port of the module. Connection of the receiver to the Sierra Wireless device requires custom cables. The signal ground and transmit data pins of the receiver must be connected to the appropriate ground and receive data pins of the Sierra product. The auxiliary port inputs are found at: Device Connector GND Pin RxD Pin Level MP200/210 I/O 7 1 RS-232C AirBooster 350 SERIAL 5 7 RS-232C CAUTION - Many DGPS receivers require that the GPS module provide the beacon frequency to tune in to. The GPS modules used in Sierra Wireless products do not provide this signal. The DCI RDS3000 receiver does not require the module to provide a beacon frequency and will integrate with the Sierra Wireless products. Installation and Configuration of the differential receiver is up to the user based on the instructions provided with the specific receiver chosen. o Installation (top) o Overview o Antenna o Comm Cable o DGPS Receiver o NMEA Interface NMEA Interface The GPS module is programmed at the factory to automatically deliver NMEA messages once per second on the auxiliary port at 4800 bps, 8 data, No parity, 1 stop bit. Connection of a NMEA listening device to the Sierra Wireless GPS module requires custom cables. The signal ground and receive data pins of the listener must be connected to the appropriate ground and transmit data pins of the Sierra product. The auxiliary port outputs are found at: Device Connector GND Pin TxD Pin Level MP200/210 I/O 7 6 TTL AirBooster 350 SERIAL 5 8 RS-232C CAUTION - The MP provides the signal at TTL level only. The integrator must convert this to RS-232C for connection to most NMEA listening devices. This can be done with a RS-232 to TTL/CMOS converter such as the B&B Electronics Model 232LPTTL.

8 The NMEA messages presented are discussed in the next section on Using the GPS. Integration of a NMEA compliant device is up to the user based on the instructions provided with the specific unit. Document Map Back to Product List Previous Page Page Top Next Page 1999 Sierra Wireless, Inc. All rights reserved.

9 o Welcome o Installation o GPS Field Upgrade o Using AirBooster o Troubleshooting o Service o Contact Us Installing the AirBooster 350 GPS Kit User Guide This page provides detailed instructions for installing the GPS Field Upgrade Kit in the AirBooster 350 RF amplifier. Components in the Kit: ACE II GPS Module 8-pin ribbon cable with connectors Mounting Bracket 3 Spacers (stand-offs) 3 Screws - 7/8" with lock washers 4 Screws - 1/2" with lock washers Tools required (not provided): Phillips #2 screwdriver Nut driver - 3/16" (Pliers or wrench can be used in place of nut driver if necessary.) CAUTION - The installation described below should take place in a static protected area. Procedure A) Open the Case. 1. Disconnect and remove the AirBooster 350 from the vehicle. Place in a static protected work area. 2. Remove the anchor nuts and washers from the DB-9 serial connector. 3. Remove the face plate (four screws). 4. Pop out the plug from the GPS antenna hole in the face plate. 5. Remove the casing by removing the bottom panel (four screws).

10 B) Attach Connector and Mounting Plate to Amplifier Attach the ribbon cable to the circuit board with the strap leading toward the back of the unit. Remove the screw and washer from beside the DB-9 connector. Remove the screw and washer from the left rear corner of the circuit board. Remove the screw and washer from the centre rear of the circuit board (beside the fuse).

11 10. Using the three spacers (stand-offs) and 7/8" screws and lock washers provided, attach the mounting bracket with its posts standing up. Secure in the three holes left empty by the screws just removed from the circuit board. Note that the connector strap lays underneath the tab on the mounting plate. C) Connect and Mount GPS Module Remove the nut and washer from the GPS module's antenna connector. Attach the ribbon cable to the module as illustrated. 13. Attach the module, connector side down, to the bracket posts using the four 1/2" screws and lock washers provided. D) the Case. 14. Reattach the casing to the bottom panel with the original 4 screws. 15. Replace the face plate, careful not to tear the gasket. Secure with the

12 original 4 screws. Replace the anchor nuts and washers on the DB-9 connector. You do not need to replace the washer and nut on the GPS antenna connector. There should be three circuit board screws with washers, the antenna's washer and nut, and the plug from the face plate left over when complete. The AirBooster 350 can now be re-mounted in the vehicle. Document Map Back to Product List Return to GPS Installation Page Top 1999 Sierra Wireless, Inc. All rights reserved.

13 o Welcome o Installation o Using GPS o Communication o Configuration o Scheduling o Differential GPS o NMEA Messages o Troubleshooting o Service o Contact Us Using GPS This section deals with the operation of the GPS module including communication with the module using the Trimble ASCII Interface Protocol (TAIP). User Guide For general background on GPS technology please consult our Primer on GPS Operation (PDF). A detailed TAIP Reference (PDF) is also provided. You should be familiar with the contents of both of these documents. A simple reference to the message identifiers is available within this document as a separate section. This section is divided into the following catagories: Communication - Establishing communication with the module for making settings and getting position information. Configuration - Setting user-controlled characteristics. Scheduling Reports - Controlling automatic reporting options. Differential GPS - Feeding correction data to the module. o Using GPS (top) o Communication o Connecting o Messages o Getting Position o Configuration o Scheduling o Differential GPS o NMEA Messages Communication This section deals with establishing a communication link with the module. It also touches on the basic message qualifiers for requesting reports and making settings. Establishing Communication Communication with the module will depend on the host device being used. Follow the appropriate link below for details on connection and disconnection. MP200 / MP210 CDPD MP210 CSC Mode AirBooster 350 Sierra Wireless has an application available to assist with forming and interpreting TAIP sentences. This program, called SkyWatcher, provides a simple user interface to select queries, form configuration settings, and display the GPS output data. SkyWatcher uses UDP packets for communication, both locally and remotely, using any Windows network connection. Contact sales for details. Messages and Qualifiers For a detailed discussion of the TAIP sentence structure consult the TAIP Reference (PDF). For a quick reference to the specific messages consult the message reference in this guide.

14 A one-character message qualifier is used to indicate the action to be taken on the message. The following describes the valid TAIP qualifiers: Q - Query Q is used to query the module for a report. The format is: >QAA[;ID=BBBB][;*CC]< Where AA is the message identifier being queried. The module will reply with the same message identifier but using the Report (R) qualifier. Note that sentences using this qualifier require only the message identifier and none of the data string. S - Set S is used to configure the GPS module. The format is: >SAA{B}[;ID=CCCC][;*DD]< Where AA is the message identifier and {B} represents the value of the setting. This qualifier is used to send data to the module for several purposes, primarily: port and protocol configuration, initial position, and differential corrections. The content of the data string is described for each of the messages in the reference section of this guide. F - Frequency / D - Distance These message qualifiers are used to configure auto-responses from the module. See the section below on Scheduling Reports for a description. Getting Position Information The time to first fix is described in the Primer on GPS Operation (PDF). When cold starting, it is possible to speed up the process of getting a first fix by entering initial position information using the IP (Initial Position) message. As the unit acquires almanac data from the first satellite, it can apply the initial position to narrow the search criteria for other satellites. When the module has acquired three satellites, it will begin issuing the PV (Position/Velocity Solution) message at five second intervals. When you have a connection to the module, you will receive this message automatically. Other position data can be queried directly or configured for scheduled reporting as described below.

15 o Using GPS (top) o Communication o Configuration o Defaults o Report Format o Vehicle ID o Comm Ports o Scheduling o Differential GPS o NMEA Messages Configuration There are several elements of the GPS module that can be configured to better suit your requirements: Reporting Format Vehicle ID Communication Port Parameters This section discusses the commands and gives some samples. Consult the related TAIP message reference for complete option details. Power-up Default Normal power cycles of Sierra Wireless products do not cause a "deep" power cycle of the GPS module. The settings of the module are normally retained by back-up power within the unit. The Status Report sentence from the module will indicate if there has been a loss of back-up power. On power-up from a deep cycle, the GPS module will use a default configuration. This configuration can be altered by the user for some settings and not others. The table below identifies the settings used by the module as shipped from Sierra Wireless. >SPT4800,8,1,N< TAIP Command Equivalents >SAP4800,8,1,N,1,0< >SPR;TAIP=TF;TSIP=FF;NMEA=FO;RTCM=FI< >SID0000< (See note 1) >SRM;ID_FLAG=F;CS_FLAG=T;EC_FLAG=T ;FR_FLAG=T;CR_FLAG=F< (See note 2) >FPV < This means the module will set both primary and auxiliary ports to 4800 bps, the primary port will use TAIP for input and output, the auxiliary port will use NMEA for output and RTCM (Differential GPS) for input. The vehicle ID defaults to zeroes. The module will use checksums but not vehicle ID and will start issuing PV messages at five-second intervals as soon as a clock is available. The first four sentences in the default configuration (PT, AP, PR, and ID) can be altered by the user. These are changed by setting a new value and using the Reset - Save Configuration command (as described in sections below). Note 1: The Vehicle ID on MP Series modems with firmware version or above will always preserve the user setting without the need of the Reset - Save Configuration command.

16 Note 2: The Reporting Mode settings cannot be saved across cold starts; however, the MP Series modems with firmware version or above do support an alternative setting as the default. The alternative setting is: >SRM;ID_FLAG=T;CS_FLAG=F;EC_FLAG=T ;FR_FLAG=F;CR_FLAG=F< This will prevent the automatic PV messages from being sent; although the module will resume sending them if the flag is later set to True. To use this setting, you must be in CDPD mode and issue the AT command AT+WS225=1. Consult the MP Series AT Command Reference (document ) for additional details. Report Format The data responses from the GPS module can be configured using the RM (Reporting Mode) message to optionally include or exclude the following elements: Vehicle ID [ID] This is a user-configured identification code (four characters). Every response from the GPS module can include this identifier to aid in associating the source unit with received data in cases where a single monitoring system is receiving traffic from multiple units. Checksum [CS] In cases where there could be doubt about the integrity of the data received, a checksum can be included in each response. Consult the complete TAIP Reference (PDF) for details on the algorithm used. Echo Set Commands [EC] This controls whether or not the module will issue a reply (Report sentence) to commands which make settings. By enabling this feature, the user can verify that the GPS unit received the correct command settings. Frequency Reporting [FR] This is a convenient method to disable or enable auto-response messages from the module. This command will affect both Frequency-based reports and Distance-based reports. Carriage Return and Line Feed [CR] If the receiving system (particularly where direct display of replies are used) requires each reply to appear on a new line, this feature will have the module precede each message with <CR><LF> characters. The default settings are: ID_FLAG=False CS_FLAG=True EC_FLAG=True FR_FLAG=True CR_FLAG=False To change a setting, use the RM (Reporting Mode) command with the option flag and desired value. You may set as many options as necessary in a single command line. A semicolon separates each option flag in the line. Sample:

17 To include the Vehicle ID and exclude the Checksum, issue the command: >SRM;ID_FLAG=T;CS_FLAG=F< The reporting mode settings are not included in the configuration saved with the Reset - Save Configuration (RT) command, although they are preserved across warm resets. Vehicle ID A vehicle identification (ID), consisting of a four-character alphanumeric code, may be optionally tagged to all output messages sent from the sensor. This allows one application to receive messages from several vehicles in a fleet and still distinguish which unit is reporting. If the Vehicle ID is included, it appears after the message data and before the checksum. It is delimited with a semicolon. ;ID=AAAA The default setting is: ID set to "0000" and the ID Flag set to "F" (false). The ID is set using the ID sentence. The protocol flag is set using the RM command. The sensor will accept all sentences with a matching ID or with the ID element omitted. Sentences sent to the module with an ID that is different from the one set in the module will be disregarded. This is true even if the ID Flag is turned off (set to false). If stand-by power fails, the vehicle ID will revert to the default. To preserve the setting as the new default, use the Reset - Save Configuration command: >SRTSAVE_CONFIG< Note that older SVeeSix modules do not support saving configuration and will require reconfiguration if the power is fully cycled (including loss of stand-by power). Communication Port Configuration The ports can be configured for both communication characteristics (speed, parity, etc.) and for the protocol the module will use on the port. The port characteristics are set at the factory to default settings of: Baud rate: 4800 bps Data bits: 8 Stop bits: 1 Parity: None This setting should not be changed unless absolutely necessary.

18 CAUTION - Do not change the GPS primary port characteristics on MP200/210 modems. The GPS module communicates with the software within the modem. Changing the GPS primary port characteristics would break this communication link. The parameters on modules in AirBooster 350 RF amplifiers may be reconfigured if desired, unless the AirBooster 350 GPS program is to be used to provide IP access. This application requires the original default port characteristics. To change the settings of the auxiliary port use the AP (Auxiliary Port) message. Settings on the primary port are controlled with the PT (Port Characteristic) message. If stand-by power fails, the settings will revert to the default. To preserve a setting as the new default, use the Reset - Save Configuration command: >SRTSAVE_CONFIG< (not supported on older SVeeSix modules). The primary port is used for communication with a host application that issues settings and queries, and receives reports from the module. This port is configured at the factory to use TAIP for both input and output. Only if your application is capable of supporting one of the other protocols available should this be changed. The auxiliary port is used to receive differential corrections and issue marine navigation messages. At the factory it is configured to use RTCM on the input channel to receive differential corrections and apply them automatically. At the same time, the port is configured to use the output channel for marine navigation messages in NMEA format for use by other electronics onboard vessels or other vehicles. Changing the intended application of a port is possible but should not be undertaken without a thorough understanding of the consequences. The PR (Protocol) message is used to modify these settings. o Using GPS (top) o Communication o Configuration o Scheduling o Frequency o Distance o Disable o Differential GPS o NMEA Messages Scheduling Reports The GPS module can be configured to issue responses based on either time interval or changes in position (auto-responses). By default the module will issue the PV (Position and Velocity) response at five-second intervals. Most message identifiers support the scheduled reporting feature. See the TAIP message reference for details. In order for the module to issue auto-responses it must have: Frequency Reporting enabled (FR_FLAG=T), and A running real-time clock. The clock will not start until the first satellite is acquired. Once started the clock will continue to run as long as there is, at the least, stand-by power. Note that configuration of scheduled reports is not preserved across deep power cycles (including loss of stand-by power) or across cold resets >SRTCOLD<. In these cases the module reverts to the default of reporting PV at 5 second intervals. Set Time Interval (Frequency) Reporting

19 Auto-responses can be configured to be issued at regular time intervals. Any message supporting the Frequency (F) prefix allows this setting. The user selects both the frequency of the response and the epoch - the point from the top of the hour when the frequency count begins. If the epoch is omitted, the modem will use the time at the moment the command is received. The sentence syntax is the same for all frequency setting messages. The message consists of the qualifier (F), the message identifier to be reported, the time interval in seconds, and the epoch. The epoch can be omitted. If the sentence is sent with the time interval set to 0000 (or omitted entirely), the auto-response for the specified message identifier is disabled until re-configured. Sample: To have the GPS report the Long Navigation message at 30 second intervals on the quarter minute you would issue this command: >FLN < This sets the frequency to 0030 seconds and the epoch to 0015 seconds (from the beginning of the hour). Responses will automatically be issued by the GPS twice each minute at 15 seconds and 45 seconds into the minute. In cases where a fleet of vehicles are reporting to a single host application, it is recommended that frequency reporting on each unit use differing epochs to prevent the communication network from being overwhelmed with messages at the same moment. Set Position Change (Distance) Reporting In addition to frequency reports based on time change, the module can be configured to issue automatic responses whenever the receiver's position changes by at least the specified amount. This type of configuration also sets time restrictions on responses. The feature is available for any sentence that allows the Distance (D) prefix. The command includes a minimum time between reports: the reports must not be any more frequent than this regardless of the amount of change in position. An epoch (number of seconds from the beginning of the hour) is used to offset the time-base. If the minimum time is set to 0000 (or all parameters are omitted from the sentence) then the distance auto-response is disabled for the specified message. There is also a setting for the maximum time allowed between reports. If the receiver does not move the specified distance within this time, a new report will be issued anyway. If the maximum

20 time setting is 0 (or is omitted), this test is bypassed and the unit will have to move in order to issue a report. The flowchart to the right illustrates the method the module uses to determine when to issue this type of auto-response. Sample: To have the GPS report the Position and Velocity no more often than every 10 seconds but at least every minute (offset by 8 seconds from the top of the clock) and indicate changes of more than 200 metres, the following command would be used: >DPV < 0010 is the minimum time, 0008 is the epoch, 0200 is the 200-metre limit, and 0060 is the maximum time between reports. Disabling Auto-Response Depending on your purpose, you can disable auto-responses in one of two ways. 1. Suspend All Auto-Responses Temporarily Set the Frequency Reporting flag to False with the sentence: >SRM;FR_FLAG=F< This suspends all auto-responses but leaves the configuration of them intact. This method will simultaneously stop all auto-responses for all message identifiers; no matter how many messages were set for auto-responding at the time. All auto-responding commands will retain the time (Frequency) or position change (Distance) settings; ready to resume when Frequency Reporting is restored. This can be used to temporarily stop the messages while you carry on some specific queries or other activities. When the Frequency Reporting flag is set to True, all suspended reporting will resume, unless they have been explicitly re-configured while suspended. Scheduled reporting is suspended from the module itself and this means that all clients (local and remote) will lose these reports until they are re-enabled. 2. Disable a Specific Message's Auto-Response Issue the specific sentence with a frequency setting of 0: >Fxx0000< where xx is the message identifier. This selectively turns off the auto-responding of the named message (both frequency and distance). If other sentences were set to auto-respond, they will continue to do so. To restore the sentence's auto-responding you will have to re-configure it.

21 o Using GPS (top) o Communication o Configuration o Scheduling o Differential GPS o NMEA Messages Differential GPS Provided you have connected a compatible DGPS Receiver to the auxiliary port, the module will automatically apply the corrections. No additional action is required. When differential corrections are applied, the source indicator in TAIP sentences containing positional data will indicate a value of either 2 (2D DGPS) or 3 (3D DGPS) rather than 0 and 1 for regular GPS fixes. Inverse Differential GPS For users who have specifically ordered the module with the Inverse Differential configuration, you must not connect a DGPS receiver to the module. The data provided from the module is in a form ready for transmission to the user's server for application of correction data there. o Using GPS (top) o Communication o Configuration o Scheduling o Differential GPS o NMEA Messages NMEA Messages The GPS module will automatically issue NMEA messages, at intervals of 1 second, on the auxiliary port output. Messages are sent whenever the GPS module has a running real-time clock. This does not require the module to be actively taking fixes. Provided the module is enabled, just the internal clock (without any satellite reception) is sufficient to initiate output. The messages sent are: GGA - GPS fix data (NMEA Version 2.1) which includes: time, position, and reception quality information. VTG - Track made good and ground speed including: heading in true and magnetic bearings, speed over the ground in knots and kilometers per hour. These messages are output with the "GP" talker ID and checksums. The module does not support a method to configure or modify the NMEA messages sent. These two messages were chosen because they contain the core information likely to be most useful. For additional details of the NMEA protocol please consult the standards documents available via the NMEA web site. Connection to a NMEA compliant device is discussed in the installation section. Document Map Back to Product List Previous Page Page Top Next Page 1999,2000 Sierra Wireless, Inc. All rights reserved.

22 MP200/210 CDPD GPS o Remote o Local o Disconnect Establishing GPS Communication The GPS Module is linked directly to the modem on a UDP port. This makes the GPS unit available both locally through the MP modem's standard host connection and remotely over the CDPD network. o Remote o Local o Disconnect Remote Communication The GPS unit is available for use by sending a TAIP sentence within a UDP packet addressed to the modem's NEI and port The MP (with firmware version or above) supports two methods of remote communication: Standard (+WS225 = 0 or 1) Once a message has been received, the modem opens a UDP session and will route any scheduled reports to the caller's IP and port. This will continue until one the following events: Another valid TAIP sentence arrives from a different caller; in which case the new caller becomes the destination of GPS output messages (new client). Scheduled reports are disabled by flag or reconfiguration. The client disconnects (closes the session) using the null message (><). Directed Reporting (+WS225 = 2 or 3) When a message is received, the next response from the module is delivered to the client. An open session is not established so scheduled reports (unsolicited messages) are not sent to the client. Each query is treated as an independent, temporary, session which is closed when the reply is sent. With Directed Reporting, the scheduled messages are sent to an IP address and Port specifically assigned using the SRA

23 command. This is treated as an open session and remains open until explicitly closed. See the TAIP reference and the MP Series Integration Guide for more details. For an open session (standard client or Directed Reporting assigned client), be aware that the modem will continue to send scheduled reports if the remote client disconnects from the network without closing the session. UDP is unacknowledged, so as long as the GPS is outputting data, the modem will send it to the network. If you do not want this added network traffic then you must close the session before disconnecting the remote client. The MP/GPS will retain the client IP and port number of an open session across resets. Even if the MP/GPS loses all power (including stand-by power), the MP will remember the client IP and port of the open session. When power is restored and the GPS clock started, reporting will resume to the still-open session. o Remote o Local o Disconnect Local Communication The local host computer can access the GPS module using UDP packets addressed to the designated internal IP address port Following the first valid TAIP sentence on port 21000, the MP will open the local session and the GPS will provide scheduled reports to the local client. Local port connection will not interfere with remote port GPS communication. When finished, Closing the local session is highly recommended to reduce the use of bandwidth on the local serial port and the network services. If the session is not closed, the MP/GPS will continue to send UDP packets across the serial connection to the local host's stack where the packets will be dropped. To prevent this, be sure to your session when done. To use SkyWatcher on the local computer, simply start Watcher to provide the network UDP services and configure SkyWatcher to use the remote address port

24 o Remote o Local o Disconnect Disconnecting Both local and remote clients can disconnect by issuing a null TAIP sentence ><. Failure to do so can result in the modem wasting network bandwidth and possibly incurring unnecessary charges for CDPD traffic. The null message is captured by the MP modem and interpreted as a command to close the UDP session. The MP will stop transmitting data to the disconnecting client. The configuration of the GPS module remains unchanged. Any settings to issue scheduled reports will resume as soon as another UDP session starts. Disconnection of either the local or remote client has no impact on the other's session. 1999,2000 Sierra Wireless, Inc. All rights reserved.

25 GPS Communication - CSC Mode MP210 CSC GPS It is possible to locally send and receive TAIP sentences while in CSC mode. This is managed through modem AT commands. Remote connection to the GPS is not available in CSC mode. The command format AT!GPS=taip where taip is a complete TAIP sentence, will send the message to the module. The modem will reply with the TAIP message from the module, stripped of the ">" and "<" delimiters and truncated at the first semi-colon (;). Sample: AT!GPS=>QPT< RPT4800,8,1,N OK The command AT!GPS without parameters is equivalent to the query QPV (Position / Velocity Solution). Scheduled reporting, both frequency and distance, are not supported in CSC mode. There is no need to issue a disconnecting command in this mode. Each command stands alone without needing to open or close a session Sierra Wireless, Inc. All rights reserved.

26 Establishing GPS Communication AirBooster 350 GPS Connection to the GPS Module in an AirBooster 350 RF amplifier is made only through the DB-9 SERIAL connector. This connector does not use standard RS-232 pin assignments. A standard RS-232 cable can be used but the DTR/DSR, RTS/CTS, DCD, and RI control signals cannot be used. Only TxD and RxD are used. The detailed description of pinouts is defined in the technical specifications. The connection is a simple serial connection, at RS-232 level, directly to the GPS module using the Trimble ASCII Interface Protocol. The default settings for the serial connection are: Baud rate: 4800 bps Data bits: 8 Stop bits: 1 Parity: None Making the GPS data available remotely requires that a computer be connected to the SERIAL port of the AirBooster 350 amplifier and a suitable program be running on the computer to relay the data to and from the remote destination. Sierra Wireless provides an application (AirBooster 350 GPS) to enable IP packet access to the GPS module from both the local computer and remote network computers. This application is described in a separate User Guide (document ). To use SkyWatcher on either the local or a remote computer: 1. Start the AirBooster 350 GPS program on the local host computer to establish the serial port connection to the GPS module. 2. Note the IP address displayed in the Local Host box of the AirBooster 350 GPS window. 3. Note the port number displayed in the Query Port box of the AirBooster 350 GPS window. 4. Start SkyWatcher (locally or remotely) and configure it to use the IP address and port just noted.

27 Note that remote network connections will require that the local host computer also be connected to the network. Local connections do not require the host computer to have network connectivity. 1999,2000 Sierra Wireless, Inc. All rights reserved.

28 o Welcome o Installation o Using GPS o TAIP Reference o Troubleshooting o Service o Contact Us GPS TAIP Reference TAIP Reference This section provides access to the detailed references for each TAIP message. The format and conventions used in the detailed reference are provided in the Sample. Sample AL AP CP DC DD ID IP LN PR PT PV RM RT ST TM VR IO RA Reference Format and Conventions explained. TAIP Message Identifiers Altitude / Vertical Velocity Auxiliary Port Characteristics Compact Postion Solution Differential Corrections Delta Differential Corrections Identification Number Initial Position Long Navigation Message Protocol Port Characteristics Position/Velocity Solution Reporting Mode Reset Status Time/Date Version Number Input/Output Port (MP200 Series only) Reporting Address (MP200 Series only) Document Map Back to Product List Previous Page Page Top Next Page 2000 Sierra Wireless, Inc. All rights reserved.

29 Sample Sentence Layout Q S F D R A description of the message purpose, content and particular features appears here. This particular instance is only a sample. At the left is a box indicating which message qualifiers apply to this message type. Note that the Query qualifier (Q) requires only the message identifier and none of the data string. Also note that the Frequency (F) and Delta position (D) qualifiers use a fixed syntax described in the main part of the GPS User Guide. The full syntax below applies to Set (S) and Report (R) qualifiers. The syntax of the message appears below. The lowercase q is a placeholder for the message qualifier. Any of the valid letters indicated in the box on the left can be used in this position. Colour changes are used to indicate the field breaks in the data string. Where the letters change but the colour does not, there is an implied decimal place. This is reinforced in footnotes to the table. Optional elements such as Vehicle ID and Checksum are not shown. If lowercase letters appear inside braces such as "{f}" then the item is of variable length. >qmiaaaaa±bbcccc±dddeeeefg< Item Format Bytes Units Value GPS Time of Day AAAAA 5 Sec Latitude¹ ±BBCCCC 7 Deg North positive, WGS-84 Longitude¹ ±DDDEEEE 8 Deg West positive, WGS-84 Source F 1 N/A 0 = 2D GPS 1 = 3D GPS 2 = 2D DGPS 3 = 3D DGPS 6 = DR 8 = Degraded DR 9 = Unknown Age of data indicator G 1 N/A 0 = No Fix Yet 1 = Old >= 10 Sec 2 = Fresh, < 10 sec ¹ Value is inferred to four decimal places. The table includes value ranges and units where applicable and known. In some cases a list of values is provided with their interpretations. Additional cautions appear in flagged boxes: CAUTION Pay particular attention to units of measure. Some values are metric and some are US! 1999 Sierra Wireless, Inc. All rights reserved.

30 AL Altitude/Vertical Velocity Q S F D R This message, requiring the reception of at least four satellites, reports the altitude relative to mean sea level (in metres) and the vertical velocity (in miles per hour). The Source character (D) should be verified to ensure a three-dimensional reading. However, this message will report data obtained from the last three-dimensional fix and may not be current. If the Age of Data Indicator (E) is equal to 0, the current data is not available. In this case the data in this message is invalid and should not be used. >qalaaaaa±bbbbb±cccde< Item Format Bytes Units Value GPS Time of Day AAAAA 5 Sec N/A Altitude ±BBBBB 6 Metres Relative to mean sea level in WGS-84 Vertical Velocity ±CCC 4 MPH N/A Source D 1 N/A 0 = 2D GPS 1 = 3D GPS 2 = 2D DGPS 3 = 3D DGPS 6 = DR 8 = Degraded DR 9 = Unknown Age of data indicator E 1 N/A 2 = Fresh, < 10 sec 1 = Old >= 10 Sec 0 = No Fix Yet 1999 Sierra Wireless, Inc. All rights reserved.

31 AP Auxiliary Port Characteristics Q S F D R This message defines the characteristics for the auxiliary port. The default settings of the auxiliary port are: Baud rate: 4800 bps Data bits: 8 Stop bits: 1 Parity: None Note that this command uses comma delimiters. >qapaaaa,b,c,d,e,f< Item Format Bytes Units Value Baud Rate AAAA 4 N/A 0300,1200,2400,4800, or 9600¹ Data bits B 1 N/A 7 or 8 Stop bits C 1 N/A 1 or 2 Parity D 1 N/A N = None O = Odd E = Even Auxiliary Port Number E 1 N/A 1 Reserved F 1 N/A 0 ¹ Some units may also support and bps. The auxiliary port must be the RTCM input port for automatic differential GPS operation Sierra Wireless, Inc. All rights reserved.

32 CP Compact Position Solution Q S F D R This message reports on the time, latitude, and longitude only. The GPS time of day is the time of fix rounded to the nearest second. If the Age of Data Indicator (G) is equal to 0, then the data is not available. In this case, the data in this message is invalid and should not be used. >qcpaaaaa±bbcccc±dddeeeefg< Item Format Bytes Units Value GPS Time of Day AAAAA 5 Sec Latitude¹ ±BBCCCC 7 Deg North positive, WGS-84 Longitude¹ ±DDDEEEE 8 Deg West positive, WGS-84 Source F 1 N/A 0 = 2D GPS 1 = 3D GPS 2 = 2D DGPS 3 = 3D DGPS 6 = DR 8 = Degraded DR 9 = Unknown Age of data indicator G 1 N/A 0 = No Fix Yet 1 = Old >= 10 Sec 2 = Fresh, < 10 sec ¹ Value is inferred to four decimal places Sierra Wireless, Inc. All rights reserved.

33 DC Differential Corrections Q S F D R This message provides the sensor with differential corrections from RTCM-104 record types 1 and 9. The numerical values are presented in hex format, thus producing two ASCII characters for each byte of data. The DC TAIP message is provided to enclose differential corrections within the TAIP format. This sentence is for input only. There is no acknowledgement or query/report available. >qdcaaaabbcc{ddeeeeffgg}< Item Format Bytes Units Type Modified Z-count AAAA Sec WORD Station health BB 2 N/A BYTE Number of SV's CC 2 N/A BYTE The next five bytes (10 characters) are repeated for each SV Item Format Bytes Units Type SV PRN and scale factor¹ DD 2 N/A BYTE Range Correction EEEE 4 RTCM-104 WORD Range-rate Correction FF 2 RTCM-104 BYTE IODE GG 2 N/A BYTE The units and scale factors are as defined by RTCM-104 version 2. ¹ The "SV PRN and scale factor" contains the SV PRN in the low order five bits and the scale factor in the high order three bits. The scale factor has only three acceptable values: 0 (0b000) for "use with low scale factor," 4 (0b100) for "use with high scale factor," and 7 (0b111) for "don't use". Range corrections are scaled by 0.02 metres for low scale factor and 0.32 metres for high scale factor Sierra Wireless, Inc. All rights reserved.

34 DD Delta Differential Corrections Q S F D R This message provides the sensor with delta differential corrections from RTCM-104 record type 2. The numerical values are written out in hex format, thus producing a hex number represented by two ASCII characters for each byte of data. The DD TAIP message is provided to enclose differential corrections within the TAIP format. This sentence is for input only. There is no acknowledgement or query/report available. >qddaaaabb{ccdddd}< Item Format Bytes Units Type Modified Z-count AAAA Sec WORD Number of SV's BB 2 N/A BYTE The next three bytes (6 characters) are repeated for each SV Item Format Bytes Units Type SV PRN and scale factor¹ CC 2 N/A BYTE Delta Range Correction DDDD 4 RTCM-104 WORD The units and scale factors are as defined by RTCM-104 version 1. ¹ The "SV PRN and scale factor" contains the SV PRN in the low order five bits and the scale factor in the high order three bits. The scale factor has only three acceptable values: 0 (0b000) for "use with low scale factor," 4 (0b100) for "use with high scale factor," and 7 (0b111) for "don't use". Range corrections are scaled by 0.02 metres for low scale factor and 0.32 metres for high scale factor Sierra Wireless, Inc. All rights reserved.

35 ID Identification Number Q S F D R This message is used to report the unit's user-assigned identification number which consists of a unique combination of four alpha-numeric characters. The sensor will accept all messages with a matching ID or no specified ID. Messages with an ID different from the one set will be disregarded, even if the Reporting Mode ID Flag is set to false. If the ID string is shorter than four characters, the module will prefix the string with zeroes (0). >qidaaaa< Item Format Bytes Units Value Vehicle ID¹ AAAA 4 N/A The default at cold start is "0000" ¹ The semicolon is not permitted in the string. If stand-by power fails the vehicle ID will revert to the default. To preserve the setting, use the Reset - Save Config command: >SRTSAVE_CONFIG< 1999 Sierra Wireless, Inc. All rights reserved.

36 IO Input/Output Port Q S F D R This is a non-standard sentence supported only by the MP200 Series modems. This sentence is available on a separate UDP port (21001) from the normal GPS communication (21000). This message is handled by the MP, not by the GPS module, to query and set the I/O ports. The four 2-character values in the command sentence are all hexadecimal numbers. >qioaabbccdd< Item Format Bytes Units Value I/O_1¹ AA 2 N/A Digital Input I/O_2¹ BB 2 N/A Digital Input I/O_3² CC 2 N/A Analog to Digital Input I/O_4³ DD 2 N/A Digital to Analog Output ¹ Value of FF: switch open. Value of 00: switch closed. ² The range is 00-FF. Each unit represents V (e.g. the value of the hexadecimal 0x0A is equivalent to the decimal number 10, which is in turn equal to V. I/O_3 has a maximum input voltage of 4 V. ³ I/O_4 is used to allow the remote control of a voltage sensitive device. The 6-bit digital to analog converter works on the most significant six bits of the value set. Each step becomes a multiple of (decimal) four. With each step increase, 0.061V is added. I/O_4 has a maximum output voltage of 3.94 V. Example: >SIOxxxxxx36< The hexadecimal number 0x36 is equivalent to b The most significant six bits are retained while zeroes are used to replace the last two bits. The number becomes b This new binary number's hexadecimal equivalent is 0x34, which in turn is equal to the decimal number 52. Steps are in multiples of 4. Therefore, dividing 52 by 4 yields 13, which represents the 13th step. Multiplying 13 by 0.061V will give a result of 0.793V. This is the voltage that sending the command >SIOxxxxxx36< will output Sierra Wireless, Inc. All rights reserved.

37 IP Initial Position Q S F D R This message helps to provide a reference position and altitude, thereby decreasing the amount of time needed to locate the first fix. Reports of this command will provide the values of the last setting. The module does not update it when accurate fixes are available. The default at cold start and any reset is Latitude 0, Longitude 0, Altitude 0. >qip±aa±bbb±cccc< Item Format Bytes Units Value Initial Latitude ±AA 3 Deg Initial Longitude ±BBB 4 Deg Initial Altitude¹ ±CCCC 5 10 metres N/A ¹ Relative to mean sea level Sierra Wireless, Inc. All rights reserved.

38 LN Long Navigation Message Q S F D R This message reports the latitude/longitude/altitude, the horizontal and vertical speed, and heading. Unlike the PV message, LN provides three-dimensional information. The LN message also reports the ID's and IODE's of up to eight satellites currently being tracked. If the Age of Data Indicator (T) is equal to 0, the data is not available. In that case, the information in this message is invalid and should not be used. The total length of the sentence will vary based on the number of satellites (SV's) being tracked. >qlnaaaaabbb±ccddddddd±eeefffffff±gggggghh IIIJKKKKLMMMNOOPPQQRRRRRRRRRRST< Item Format Bytes Units Value GPS Time of Day¹ AAAAABBB 8 Sec Latitude¹ ±CCDDDDDDD 10 Deg North positive, WGS-84 Longitude¹ ±EEEFFFFFFF 11 Deg West positive, WGS-84 Altitude above MSL¹ ±GGGGGGHH 9 Feet N/A Horiz. Speed¹ IIIJ 4 MPH N/A Vertical Speed¹ ±KKKL 5 MPH N/A Heading¹ MMMN 4 Deg Degrees from True North (0) increasing clockwise Number of SV's used OO 2 N/A 0 8 SV ID² PP 2 N/A N/A IODE² QQ 2 N/A 2 char. hex Reserved RRRRRRRRRR 10 N/A N/A Source S 1 N/A 0 = 2D GPS 1 = 3D GPS 2 = 2D DGPS 3 = 3D DGPS 6 = DR 8 = Degraded DR 9 = Unknown Age of data indicator T 1 N/A 0 = No Fix Yet 1 = Old >= 10 Sec 2 = Fresh, < 10 sec ¹ The second letter character represents inferred decimals. ² The SV ID and IODE entries (four characters) are repeated for each SV used Sierra Wireless, Inc. All rights reserved.

39 PR Protocol Q S F D R The protocol message is the method used to control which I/O protocols are active on each of the two GPS ports. Each port can be set to use a protocol for input only, output only, or both. Please note that x denotes a setting for the Primary port and y denotes a setting for the Auxiliary port. Note that data fields are semicolon delimited. Not all elements are required in Set messages, however it is possible to configure a port for more than one protocol at a time. This situation can lead to considerable confusion in communication. It is up to the user to ensure that only one protocol is in use for a given direction on a given port. Note also that RTCM is available as input only. The module cannot provide RTCM output. >qpr[;taip=xy][;tsip=xy][;nmea=xy][;rtcm=xy] [;DCOL=aa]< Item Format Bytes Units Value Primary Port Auxiliary Port x y 1 1 N/A N/A T = Both input and output I = Input only O = Output only F = Off N = Not available DCOL is undocumented. ACE II units always report this as "=aa". The user can ignore this element. If a protocol is not implemented within the application, x and/or y will show the value N, and any Set messages for that protocol are ignored. Example: >SPR;TAIP=TF;TSIP=FF;NMEA=FO;RTCM=FI< This sets the primary port to use TAIP for both input and output and sets the auxiliary port to use NMEA for output but RTCM for input. This is the factory setting. By including all protocol elements in the Set sentence, the user can verify that one port does not get set with two protocols simultaneously. It is possible to turn off all input processing on both ports. If this is done, neither TAIP nor TSIP can be used to change the active protocol. The unit will have to be powered down and stand-by power lost in order to have the unit power up in the default setting to restore communication. If stand-by power fails, all port characteristics will reset to the default. To preserve settings, use the Reset - Save Config command: >SRTSAVE_CONFIG< CAUTION Do not change the GPS primary port protocol on MP 200/210 modems. The GPS module communicates with the software within the modem. Changing the GPS port characteristics would break this communication link. The parameters on modules in AirBooster 350 RF amplifiers may be reconfigured if desired.

40 PT Port Characteristics Q S F D R This message defines the characteristics for the primary serial port. The default settings of the primary port are: Baud rate: 4800 bps Data bits: 8 Stop bits: 1 Parity: None Note that this command uses comma delimiters. >qptaaaa,b,c,d< Item Format Bytes Units Value Baud Rate AAAA 4 N/A 0300,1200,2400,4800, or 9600¹ Data bits B 1 N/A 7 or 8 Stop bits C 1 N/A 1 or 2 Parity D 1 N/A N = None O = Odd E = Even ¹ Some units may also support and bps. The characteristics set by this message will be stored in the sensor's RAM. If the stand-by power fails, all port characteristics will reset to the default after the power is removed. To force the settings to become the default you must issue the Reset - Save Config command: >SRTSAVE_CONFIG< CAUTION Do not change the GPS primary port protocol on MP 200/210 modems. The GPS module communicates with the software within the modem. Changing the GPS port characteristics would break this communication link. The parameters on modules in AirBooster 350 RF amplifiers may be reconfigured if desired Sierra Wireless, Inc. All rights reserved.

41 PV Position/Velocity Solution Q S F D R This message queries and reports the latitude/longitude, speed, and heading. Unlike LN (Long Navigation), the PV message provides 2-dimensional information only. If the Age of Data Indicator (I) is equal to 0, it is indicating that data is not available and therefore, the content in this message is invalid and should not be used. Under normal operating conditions the module will recalculate this solution once per second. Latitude and Longitude are reported with a leading plus (+) or minus (-) sign to indicate direction from the equator and the prime meridian. The Set qualifier is provided to allow more accurate initial position setting when doing a cold or warm start. This capability is rarely used. >qpvaaaaa±bbccccc±dddeeeeefffggghi< Item Format Bytes Units Value GPS Time of Day AAAAA 5 Sec Latitude¹ ±BBCCCCC 8 Deg North positive, WGS-84 Longitude¹ ±DDDEEEEE 9 Deg West positive, WGS-84 Speed FFF 3 MPH N/A Heading GGG 3 Deg Source H 1 N/A 0 = 2D GPS 1 = 3D GPS 2 = 2D DGPS 3 = 3D DGPS 6 = DR 9 = Unknown Age of data indicator I 1 N/A 0 = No Fix Yet 1 = Old >= 10 Sec 2 = Fresh, < 10 sec ¹ Value is inferred to five decimal places Sierra Wireless, Inc. All rights reserved.

42 RA Reporting Address Q S F D R This is a non-standard sentence supported only by the MP200 Series modems using firmware version 2.8.x or above. This message allows a user access to the IP address and port of the remote client a MP200 Series module uses for scheduled (unsolicited) messages. The Query modifier will have the module report the current remote client address. Issuing this query will not change the setting of the address. >qra{aaa.aaa.aaa.aaa}.{bbbbb}< Item Format Bytes Units Value IP Address {A} var N/A Leading zeroes may be omitted Port {B} var N/A 1 to The MP modem maintains, in non-volatile memory, the IP address and port of the current remote client. This Reporting Address is used to forward any messages received from the GPS module which were not solicited by an explicit query. This command allows the user to read and set the address the MP uses as the remote reporting client. In addition, the MP can be set to preserve this address while allowing other remote clients to make individual queries. This can ensure that scheduled reports to a monitoring program are not interrupted when other remote clients query the module. Consult the MP Series Integration Guide ( ) for a detailed discussion Sierra Wireless, Inc. All rights reserved.

43 RM Reporting Mode Q S F D R This message sets report control flags for configuring the protocol. Consult the main GPS User Guide for a description of the various flags. Note that each element is optional so only those flags to be changed need to be included in the command. Each element is delimited with a semicolon. Query and reporting qualifiers will return a message indicating all current settings. >qrm[;id_flag=a][;cs_flag=b][;ec_flag=c] [;FR_FLAG=D][;CR_FLAG=E]< Item Format Bytes Units Value ID Flag A 1 N/A T = True, F = False CS Flag B 1 N/A T = True, F = False EC Flag C 1 N/A T = True, F = False FR Flag D 1 N/A T = True, F = False CR Flag E 1 N/A T = True, F = False The default settings are: ID_FLAG = False CS_FLAG = True EC_FLAG = True FR_FLAG = True CR_FLAG = False The reporting mode settings are not included in the configuration saved with the Reset - Save Configuration (RT) message, although they are preserved across warm resets Sierra Wireless, Inc. All rights reserved.

44 RT Reset Q S F D R This message only supports the Set qualifier. It performs a soft reset of the GPS module approximately equivalent to the power cycle. There are three optional parameters, any one of which can be used. Upper case characters are required. >qrt[cold FACTORY SAVE_CONFIG]< Item Bytes Comments [] 0 (No parameter) Warm start [COLD] 4 Cold start [FACTORY] 7 Reset to Trimble factory settings [SAVE_CONFIG] 15 Save user values and do warm reset. The only valid qualifier is SET. The SAVE_CONFIG data string is the only method of saving the protocol configuration and port settings to become defaults. This option will save the settings of the AP (Auxiliary Port Characteristics), ID (Identification Number), PR (Protocol), and PT (Primary Port Characteristics) messages. The following command will save the protocol and port definitions to non-volatile memory: >SRTSAVE_CONFIG< CAUTION Do not reset to the Trimble factory settings. Issuing >SRTFACTORY< will change the primary port protocol to TSIP. The module must then be returned to Sierra Wireless for reconfiguration to TAIP. This service is not covered under warranty Sierra Wireless, Inc. All rights reserved.

45 ST Status Q S F D R The message queries and reports on the operational status of the GPS sensor. This message includes both numeric codes and bitmapped values. ASCII character pairs are used as hexadecimal representations of single-byte bitmapped values. Status Byte 1 has a valid range from 0x00-0x3F while Status Byte 2 ranges from 0x00-0x0F. The data format and meanings of the bits are represented in the following tables. >qstaabbccddee< Item Format Bytes Units Value Tracking Status Code AA 2 code See Table Below Status Byte 1 BB 2 Bitmap See Table Below Machine ID¹ CC 2 N/A See note 1 below. Status Byte 2 DD 2 Bitmap See Table Below Reserved EE 2 N/A Not currently used ¹ Machine ID is a fixed value used to identify the GPS module type. This value may be ignored by the user. Tracking Status Code Value of AA AA Meaning Comments 00 Doing position fixes Normal operation of the module 01 Do not have GPS time yet 03 DOP is too high Dilution of Precision.² 08 No usable satellites 09 Only 1 usable satellite 0A Only 2 usable satellites 0B Only 3 usable satellites 0C Chosen satellite is unusable SVeeSix units only ² Dilution of Precision occurs when the available satellites are clustered too closely together in the sky to provide an accurate position fix. Status Bytes In the tables below, the items in normal font are not supported in the most current modules (ACE II firmware Version 7.80 and above). In some earlier versions of the modules, some of these bits can be set, though they may not be officially supported. Items in bold are the officially supported ones. Error Codes - Status Byte 1

46 Bit 0 Battery Backup Fail 1 Signal Processor Error Meaning 2 Alignment Error Channel/Chip 1 3 Alignment Error Channel/Chip 2 4 Antenna Feedline Fault 5 Excessive Reference Frequency Error 6 N/A 7 N/A Battery Backup-Fail - The unit has been disconnected from the vehicle battery for too long; therefore, stand-by power has been removed from the RAM and real-time clock. The module can retain RAM and the real-time clock for a limited period while disconnected from the vehicle battery. If this disconnection lasts too long, this status bit will be set upon restart of the module. This message does not indicate a hardware fault. When detected, the bit will remain set until the module receives the Reset message (RT) or the unit is power-cycled without losing stand-by power. Antenna Feedline Fault - The module has detected a short or open on the antenna connector. The status bit will clear immediately upon correction (without needing a reset or power cycle). Error Codes - Status Byte 2 Bit Meaning 0 Synthesizer Fault 1 Real Time Clock not available at power up 2 A/D Converter Fault 3 Almanac Incomplete or Unavailable 4 N/A 5 N/A 6 N/A 7 N/A Real Time Clock not available at power up - This will occur in conjunction with battery back-up failure. The clock will restart as soon as you get a position fix. The error code bit will clear when the clock begins operation. Almanac Incomplete or Unavailable - There may have been a battery back-up failure in which case the RAM could not be retained. Another possibility is that the last time the module was used, it was not on for a sufficient period of time to assemble a complete almanac. The status bit will clear as soon as a complete almanac has been assembled by the module Sierra Wireless, Inc. All rights reserved.

47 TM Time/Date Q S F D R TM reports on the UTC time of day as computed by the GPS sensor. The time is most accurate when the unit is doing fixes, as determined by the Status message (ST). It is less accurate but still usable when the unit is not doing fixes but the Number of Usable SVs (JJ) is one or more. If all satellite reception is lost this message provides the time from the real-time clock. This will continue to operate as long as the unit has power (including stand-by power from internal capacitors). The Set qualifier is not available on units with real-time clocks. Since all modules used by Sierra Wireless have real-time clocks, this qualifier is considered to be unsupported. >qtmaabbccdddeeffgggghhijjklllll< Item Format Bytes Units Value Hours AA 2 Hours 0-23 Minutes BB 2 Min 0-59 Seconds¹ CCDDD 5 Sec Date; Day EE 2 Day 1-31 Date; Month FF 2 Month 1-12 Date; Year GGGG 4 Year GPS/UTC Time Offset² HH 2 Sec N/A Current Fix Source I 1 N/A 0 = 2D GPS 1 = 3D GPS 2 = 2D DGPS 3 = 3D DGPS 6 = DR 8 = Degraded DR 9 = Unknown No. of usable SV's JJ 2 N/A 0-8 GPS/UTC Offset Flag³ K 1 N/A 1 = Valid 0 = Invalid Reserved LLLLL 5 N/A N/A ¹ The value of seconds is inferred to three decimal places. ² GPS UTC Time Offset is the difference between GPS and UTC time standards in seconds. ³ UTC Time of Day is only valid if the GPS UTC Offset Valid Flag is indicating valid Sierra Wireless, Inc. All rights reserved.

48 VR Version Number Q S F D R This message queries or reports the module's hardware and firmware information. The items: Core Version Number, Core Release Date, and Copyright Text; are not supported on ACE II GPS modules but may be included on earlier SVeeSix units. NOTE: The response to the VR is semicolon delimited and the length is variable. >qvr {a}; VERSION B.BB (CC/CC/CC); CORE VERSION D.DD (EE/EE/EE); {f}< Item Format Bytes Units Value Product Name¹ a Variable N/A N/A Major Version No. B.BB 4 N/A N/A Major Release Date CC/CC/CC 8 N/A Month/Day/Year Core Version No.² D.DD 4 N/A N/A Core Release Date EE/EE/EE 8 N/A Month/Day/Year Copyright text f Variable N/A N/A ¹ semicolon delimiter must be used to parse data elements. ² Phrase refers to the signal processing firmware version Sierra Wireless, Inc. All rights reserved.

49 o Welcome o Installation o Using GPS o Troubleshooting o Service o Contact Us Troubleshooting User Guide This section deals with general problems with the GPS module itself. Other sources of troubleshooting help are: AirBooster 350 GPS application troubleshooting ( ). AirBooster 350 RF amplifier troubleshooting ( ). MP200 Series Modem User Guide ( ). Problem No response from module. Suggestion Try sending >QRM< without checksum or vehicle ID. If either of the optional parameters is wrong, the module will not reply. Receive garbled data from the module. Ensure TAIP sentences are in uppercase. The protocol will not respond to lower case letters. Review the connectivity sections of this guide to ensure you have both the correct hardware connection and communication settings, and are addressing the module using the correct method (serial, UDP, etc.) MP Series modems with version 2.8.x or later firmware can restrict remote access to a particular calling IP address and port. Consult the MP Series Integrator's Guide for details. NOTE that MP units running older CDPD firmware have the local connection disabled by default. They require an enabling packet (any data is ignored) to be sent to port Once this has been done, the GPS unit is available on port This is most commonly a communication rate difference between the module and the receiving computer. The module is sending scheduled reports but the receiver is not set to the correct communication rate. 1. Try different communication rate settings on the receiving computer. 2. Deep power-cycle the unit (including loss of stand-by power) to have the unit revert to default settings.

50 Loss of scheduled reports. The unit may have lost network connectivity, been powered off, etc. Unexpected or unsolicited messages. Cannot acquire or track satelites. Module reports Battery back-up fail. Another user may have taken over as the current client and reports are now being routed there. Send >QRM< to establish yourself as a client. Verify that the module is still sending periodic reports by sending the query >QRM< and checking the FR_FLAG. Another client may have switched this flag to false. If the module has been cold started, there will not be scheduled reports until the first satelite is acquired and the clock started. Check the status of the module to determine if the module has acquired any satelites. Re-configure the scheduling of the desired report. Another user has probably issued a query or configured a scheduled report. You may ignore the extra messages. The antenna must be outdoors (not behind glass) and must have a clear view of at least 50% of the sky. Obstructions such as buildings, heavy foliage, etc. can obstruct antenna reception. The module has been cold started. Allow the unit to acquire an updated almanac (about 15 minutes) and then issue a warm reset >SRT< to clear the error flag. Document Map Back to Product List Previous Page Page Top Next Page 1999,2000 Sierra Wireless, Inc. All rights reserved.

51 o Welcome o Installation o Using AirBooster o Troubleshooting o Service o Contact Us o Get Service o Warranty Warranty and Customer Service User Guide For technical support of third-party accessories used with the GPS module, contact the accessory vendor directly. Sierra Wireless, Inc. does not provide support for these components. Customer Service Contacts Help Desk (Canada and US) or (604) (06:00-17:00 Pacific Time) support@sierrawireless.com Sales Desk Web (604) (08:00-17:00 Pacific Time) sales@sierrawireless.com o Service (top) o Contact Us o Get Service o Report Form o Warranty Getting Service In the event of equipment malfunction, Sierra Wireless, Inc., or one of its authorized agents should perform all repairs. It is the responsibility of users requiring service to report the need for service to Sierra Wireless, Inc. or to one of its authorized agents. For warranty service or out-of-warranty repair: 1. Contact the Help Desk to determine the nature of the problem. If return of the product is required they will help you with the rest of this process. 2. Obtain a Return Material Authorization (RMA) number from the Sierra Wireless Help Desk. 3. Print and fill out the Problem Sheet (PDF). A MS Word version is available if you prefer. Remember: the more detailed your description of the problem, the faster your unit can be diagnosed and repaired. 4. Return the equipment, with the Problem Sheet enclosed, shipping pre-paid, to the address specified by the Customer Service Representative.

52 o Service (top) o Contact Us o Get Service o Warranty o Registration Warranty Sierra Wireless, Inc. warrants the GPS module against all defects in materials and workmanship for a period of three (3) years from the date of purchase. The sole responsibility of Sierra Wireless, Inc. under this warranty is limited to either repair or, at the option of Sierra Wireless, Inc., replacement of the GPS module. There are no expressed or implied warranties, including those of fitness for a particular purpose or merchantability, which extend beyond the face hereof. Sierra Wireless, Inc. is not liable for any incidental or consequential damages arising from the use, misuse, or installation of the GPS module. This warranty does not apply if the serial number label has been removed, or if the GPS module has been subjected to physical abuse, improper installation, or modification. Warranty Registration Only Field Upgrade Kits to the AirBooster 350 RF amplifier require registration. All factory installed GPS modules are covered in the registration of the host device. To register the warranty visit our web site and register on-line from the REGISTER option on the main tab. Alternatively, you can complete and mail or fax the registration card provided in the package. Document Map Back to Product List Previous Page Page Top Main Page 1999,2000 Sierra Wireless, Inc. All rights reserved.

53 User Guide Document Map

54 1999,2000 Sierra Wireless, Inc. All rights reserved.