Ap
pen
di
x
E.
iG
C
Mo
de
Li
sti
ng
-
Sp
eci
al
Mo
des
Pro
to
co
l typ
e
- [o
ff]
=
iG
C
Pro
pri
etary,
[o
n]
=
In
du
stry
Stan
dard
Tel
eg
ram
Co
de
Mo
de
Co
de
SW 1
SW 2
SW 3
SW 4
SW 5
SW 6
SW 7
SW 8
Tel
eg
ram
Descri
pti
on
Pro
to
co
l
Bau
d
Rate
Params
Rate (Hz)
No
tes
Ap
pl
icab
le
Fi
rmw
are
4
64
of
f
of
f
of
f
of
f
of
f
of
f
O
N
of
f
Mode
not
available
5
65
O
N
of
f
of
f
of
f
of
f
of
f
O
N
of
f
TS
S1
on
RS
485,
HE
HDT
on
RS
232
232
&
485
19200
n,
8,
1
bot
h
20
TS
S1
heave,
pit
ch
&
roll
(modif
ied)
on
RS
485
port
. NME
A
HE
HDT
on
RS
232
port
1.
03
6
66
of
f
O
N
of
f
of
f
of
f
of
f
O
N
of
f
W
at
son
AS
CI
I A
HRS
-E
304
for
Perry
- T
ype
1
RS
232
9600
n,
8,
1
10
I HHH.
H
+rr.
r +
pp.
p
+hh.
h
+RR.
R
+P
P.
P
+T
T<
cr>
42
chars
pit
ch
+
is
bow
UP
>=
1.
06
7
67
O
N
O
N
of
f
of
f
of
f
of
f
O
N
of
f
W
at
son
AS
CI
I A
HRS
-E
304
for
Perry
- T
ype
2
RS
232
9600
n,
8,
1
10
I HHH.
H
+rr.
r +
pp.
p
+hh.
h
+RR.
R
+P
P.
P
+T
T<
cr>
42
chars
pit
ch
+
is
bow
DO
W
N
>=
1.
06
8
68
of
f
of
f
O
N
of
f
of
f
of
f
O
N
of
f
TCM2
Dat
a
St
ring
RS
232
9600
n,
8,
1
10
$Cxxx.
xP
xx.
xRxx.
x*6C<
CR>
<LF
>
>=
2.
02
9
69
O
N
of
f
O
N
of
f
of
f
of
f
O
N
of
f
iG
C
Expanded
O
EM
Dat
a
RS
485
115200
n,
8,
1
40
Hnnn.
nnnr+
n.
nnnnP
-nnn.
nq-n.
nnnnR-nnn.
np+
n.
nnnnX
-nn.
nnnY
+nn.
nnnZ
nnnZ
nn.
nnnf
w<
CR>
<LF
>
H
is
a
'H'
charact
er,
nnn.
nnn
is
AS
CI
I heading
in
degrees
*
1000,
packed
wit
h
leading
zero(es)
r is
a
'r'
charact
er,
+
or
- sign,
n.
nnnn
is
heading
rat
e
in
rad/
s
* 10000
P
is
a
'P
' charact
er,
+
or
- sign,
nnnn
is
pit
ch
angle
in
degrees
* 10
q
is
a
'q'
charact
er,
+
or
- sign,
nnnnn
is
pit
ch
rat
e
in
rad/
s
* 10000
R
is
a
'R'
charact
er,
+
or
- sign,
nnnn
is
roll
angle
in
degrees
* 10
p
is
a
'p'
charact
er,
+
or
- sign,
nnnnn
is
roll
rat
e
in
rad/
s
* 10000
X
is
an
‘X
' charact
er,
+
or
- sign,
nnnnn
is
X
accel.
in
ms-2
* 1000
(0
at
rest
)
Y
is
an
'Y
' charact
er,
+
or
- sign,
nnnnn
is
Y
accel.
in
ms-2
* 1000
(0
at
rest
)
Z
is
an
'Z
' charact
er,
+
or
- sign,
nnnnn
is
heave
accel.
in
ms-2
* 1000
(-0981
at
rest
)
f is
flag
'E
' is
O
K,
'N'
is
invalid
dat
a;
w
is
W
IA
st
at
us
'D'
for
dry,
'W
' f
or
wet
.
>=
2.
05
70
of
f
O
N
O
N
of
f
of
f
of
f
O
N
of
f
71
O
N
O
N
O
N
of
f
of
f
of
f
O
N
of
f
72
of
f
of
f
of
f
O
N
of
f
of
f
O
N
of
f
73
O
N
of
f
of
f
O
N
of
f
of
f
O
N
of
f
74
of
f
O
N
of
f
O
N
of
f
of
f
O
N
of
f
75
O
N
O
N
of
f
O
N
of
f
of
f
O
N
of
f
76
of
f
of
f
O
N
O
N
of
f
of
f
O
N
of
f
77
O
N
of
f
O
N
O
N
of
f
of
f
O
N
of
f
78
of
f
O
N
O
N
O
N
of
f
of
f
O
N
of
f
79
O
N
O
N
O
N
O
N
of
f
of
f
O
N
of
f
80
of
f
of
f
of
f
of
f
O
N
of
f
O
N
of
f
81
O
N
of
f
of
f
of
f
O
N
of
f
O
N
of
f
82
of
f
O
N
of
f
of
f
O
N
of
f
O
N
of
f
83
O
N
O
N
of
f
of
f
O
N
of
f
O
N
of
f
84
of
f
of
f
O
N
of
f
O
N
of
f
O
N
of
f
85
O
N
of
f
O
N
of
f
O
N
of
f
O
N
of
f
86
of
f
O
N
O
N
of
f
O
N
of
f
O
N
of
f
87
O
N
O
N
O
N
of
f
O
N
of
f
O
N
of
f
88
of
f
of
f
of
f
O
N
O
N
of
f
O
N
of
f
All
ot
hers
undef
ined
- f
or
fut
ure
expansion
