134.1.2 Sensor Initialization Information (PGRMI)The PGRMI sentence provides information used to initialize the GPS sensor’s set position and time used for satelliteacquisition. Receipt of this sentence by the GPS sensor causes the software to restart the satellite acquisition process.If there are no errors in the sentence, it will be echoed upon receipt. If an error is detected, the echoed PGRMIsentence will contain the current default values. Current PGRMI defaults (with the exception of the ReceiverCommand, which is a command rather than a mode) can also be obtained by sending the sentence “$PGRMIE” tothe GPS sensor.$PGRMI,<1>,<2>,<3>,<4>,<5>,<6>,<7>*hh<1> Latitude, ddmm.mmm format for GPS 19x HVS (leading zeros must be transmitted)<2> Latitude hemisphere, N or S<3> Longitude, ddmm.mmm format for GPS 19x HVS (leading zeros must be transmitted)<4> Longitude hemisphere, E or W<5> Current UTC date, ddmmyy format<6> Current UTC time, hhmmss format for GPS 19x HVS<7> Receiver Command, A = Cold Start, R = Unit Reset4.1.3 Sensor Configuration Information (PGRMC)The PGRMC sentence provides information used to configure the GPS sensor’s operation. Configuration parametersare stored in non-volatile memory and retained between power cycles. The GPS sensor will echo this sentence uponits receipt if no errors are detected. If an error is detected, the echoed PGRMC sentence will contain the currentdefault values. Current default values can also be obtained by sending the sentence “$PGRMCE” to the GPS sensor.$PGRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>,<13>,<14>*hh<1> Fix mode, A = Automatic, 3 = 3D exclusively<2> Altitude above/below mean sea level, -1500.0 to 18000.0 meters<3> Earth datum index. If the user datum index (96) is specified, fields <4> through <8> must containvalid values. Otherwise, fields <4> through <8> must be null. Refer to Appendix A: Earth Datum Listfor a list of earth datum and the corresponding earth datum index.<4> User earth datum semi-major axis, 6360000.000 to 6380000.000 meters (.001 meters resolution)<5> User earth datum inverse flattening factor, 285.0 to 310.0 (10-9 resolution)<6> User earth datum delta x earth centered coordinate, -5000.0 to 5000.0 meters (1 meter resolution)<7> User earth datum delta y earth centered coordinate, -5000.0 to 5000.0 meters (1 meter resolution)<8> User earth datum delta z earth centered coordinate, -5000.0 to 5000.0 meters (1 meter resolution)<9> Differential mode, A = Automatic (output DGPS data when available, non-DGPS otherwise), D =Differential exclusively (output only differential fixes)<10> NMEA 0183 Baud rate, 1 = 1200, 2 = 2400, 3 = 4800, 4 = 9600, 5 = 19200, 6 = 300, 7 = 600, 8 =38400<11> Velocity filter, 0 = No filter, 1 = Automatic filter, 2 to 255 = Filter time constant (e.g. 10 = 10 secondfilter)<12> Measurement Pulse Output, 1 = Disabled, 2 = Enabled<13> Measurement Pulse Output pulse length, (n+1)*20 msn = 0 through 48 (max. 980 ms)Example: n = 4 corresponds to a 100 ms wide pulse<14> Dead reckoning valid time 1 to 30 sec. for the GPS 19x HVSAll configuration changes take effect after receipt of a valid value except baud rate. Baud rate changes take effect onthe next power cycle or an external reset event.
