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ComNav G2 & G2B Installation & Operation

Appendices

Document PN 29010093 V1.5

- 64 -

16 December 2016

Appendix 3

NMEA 0183 Configuration Commands

If you are not using ComNav’s G Series tools and devices, you can still control your G2 using
a general serial port communication tool to configure G2. In such case you need to know the
commands G2 recognizes; they are listed from Table 18 to Table 22

All commands must end with an END OF LINE sequence (i.e., ASCII <CR><LF> codes).

Some of the commands have optional parameters (shown in square brackets in the tables).
The optional parameters, if used, should be entered with the comma shown below, but
without the square brackets.
In many cases, it is possible to query the current value, or status, of one of the G2’s operating
parameters or sensors, by sending the associated command without a value for the
parameter (e.g., send $PCMNATT,HBIAS to query the Heading Bias value).

•

Some of these commands enable or disable the G2’s output sentences. The G2
responds by beginning to output the specified sentence at the specified update rate
on the specified port (or by ceasing to output the sentence, if you specify that).
– When an output sentence can be set to different update rates, the range of valid

update rates is shown in parentheses in the Description column. A rate of “0”
disables output of a sentence. All rates are in Hz.

– For output sentences which can only be enabled or disabled, the control

parameter is either “0/1” (where 0 disables output of the sentence, and 1 enables
it), or the specific words (e.g., “NO/YES”) to be used.

– The units of the various “value” parameters depend on the affected function or

setting in the G2 (e.g., rates in Hz, time in seconds, angles in degrees, and so
on). All the units are implicit, and are not required in the command.

•

Other commands control some aspect of the G2’s operation – for example, the Baud
rate that the specified port will run at. The G2 responds by making the specified
change, and (in most cases) outputs a reply (e.g., “$>PCMNaaa,OK”).

•

Other commands request some specific information from the G2. The G2 responds
with that information – but it only does so one time … i.e., the reply does not “update”
on a repeated basis, unlike the NMEA & other outputs.

All changes that you make are “temporary”, unless you send a $PCMNSAVE
command to the G2. If you power-cycle the G2 before doing that, all your
changes will be lost, and the G2 will power-up with the configuration that was
last Saved.

On the other hand, if you

send a $PCMNSAVE while the G2 has some

changes in settings that you meant to be “temporary” (for example, shutting off
all normal data output, so you can query & inspect status more easily), then
those changed settings will be the “permanent” power-up settings (until you
change things again, and do another $PCMNSAVE).

Caution!

You

MUST

wait until the G2 responds with a “SAVE OK” reply, after

sending a $PCMNSAVE, before you power-down the G2.

Caution

Many of the commands in the tables below will affect the performance of the G2.

Improper settings may result in degradation of system output, which can affect

the overall safety of the vessel and personnel.