81983_TM_TR2600_I
Page 1
EC Declaration of Conformity, available at www.jotron.com
Abbreviations and definitions
ACU
Antenna Changeover Unit
AIS -Automatic Identification System.
A shipborne broadcast transponder system in which ships continually transmit their position, course, speed and other
data to other nearby ships and shoreline authorities on a common VHF radio channel.
ALARM
Message by which the navigator signals the occurrence of an event. The alarm is indicated by an audible tone and/or a
message (or icon) on the display.
ALTITUDE
The height of the antenna over mean sea level.
AMBIENT
Surrounding or encompassing environment.
ANTENNA HEIGHT
The height (over the waterline) in which the antenna is installed.
ASM
AIS Service Management – Controlling entity for the whole AIS service
AUX
Auxiliary Port -A communication port on the AIS transponder, which can be used for NMEA or RTCM, input.
BAUD
Transmission rate unit of measurement for binary coded data (bit per second).
BIT
Short form of Binary Digit. The smallest element of data in a binary-coded value.
bps
Bits Per Second.
BSC
Base Station Controller
CHARACTER STRING
Continuous characters (other than spaces) in a message.
CHECKSUM
The value sent with a binary-coded message to be checked at the receiving end to verify the integrity of the message.
CLICK (KEYBOARD)
The audible tone generated when a key is activated
CLOCK
A precisely-spaced, stable train of pulses generated within an electronic system to synchronize the timing of digital
operations within the system.
CLOCK OFFSET
The differences between the times at the CDU/processor tracking a satellite, the satellite itself, and GPS system time.
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2
COG
See COURSE OVER GROUND
COURSE OVER GROUND
Course made good relative to the sea bed.
CURSOR
A flashing rectangle superimposed on a character position in the display window, indicating that a character may be
entered in that position, or that the existing character may be changed via the keyboard.
DEFAULT
A condition that the navigator assumes automatically if no other condition is initiated by the operator.
DGPS
See DIFFERENTIAL GPS.
DIFFERENTIAL GPS (OOPS)
A method of refining GPS position solution accuracy by modifying
the locally computed position solution with correction signals from an external reference GPS CDU (monitor).
ECDIS
Electronic Chart Display and Information System
EPFS
Electronic Position Fixing System (GPS is mostly used)
ETA
Estimated Time of Arrival. Calculated on basis of the distance to the destination and the current (or estimated) speed.
FATDMA
Fixed Access Time Division Multiple Access -Data link access protocol used by base station transponders to allocate
transmission slots on the data link. These slots are fixed and will thus not change until the base station transponder is reconfigured.
FM
Frequency Modulation -The method by which a signal offsets the frequency in order to modulate it on a data link.
position (latitude, longitude, altitude, and time). See DILUTION OF PRECISION.
GFSK
Gaussian-Filtered-Shift-Keying -A standardised method of modulating digital data prior to transmission on a data link.
GMSK
Gaussian-Minimum-Shift-Keying -GFSK using BT -products and modulation index, which optimises the modulated
signal.
GNSS
Global Navigation Satellite System -A common label for satellite navigation systems (such as GPS and GLONASS).
GLOBAL POSITIONING SYSTEM (GPS)
The NAVSTAR Global Positioning System, which consists of or- biting satellites, a network of ground control stations,
and user positioning and navigation equipment. The system has 24 satellites plus 3 active spare satellites in six orbital
planes about 20,200 kilometres above the earth.
GLONASS
A satellite navigation system developed and operated by Russia.
81983_TM_TR2600_I
3
GMT
Greenwich Mean Time. See also UNIVERSAL TIME COORDINATED.
GPS SYSTEM TIME
Time corrected to Universal Time Coordinated (UTC) and used as the time standard by the user segment of the GPS
system.
HEADING
The direction in which the vessel is pointed, expressed as angular distance from north clockwise through 360 degrees.
HEADING should not be confused with COURSE. The HEADING is constantly changing as the vessel yaws back and
forth across the course due to the effects of sea, wind, and steering error.
IALA
International Association of Marine Aids to Navigation ans Lighthouse Authorities
IEC
International Electro-technical Commission.
IEC 61162-1 Maritime navigation and radiocommunication equipment and systems – Digital interfaces
Single Talker- Multiple listeners: Closely related to NMEA0183 version 2.3, communication at 4800
baud. Definition of both electrical and protocol to be used.
IEC 61162-2 Maritime navigation and radiocommunication equipment and systems – Digital interfaces
Single Talker- Multiple listeners, High speed transmission: Closely related to NMEA0183HS version 2.3,
communication at 34800 baud. Definition of both electrical and protocol to be used.
IEC 61993-2 Maritime navigation and radiocommunication equipment and systems – Automatic Information Systems
(AIS)
Definitions of the sentences used for AIS in addition to those mentioned in IEC 61162-1 and IEC 611622.
IMO
International Maritime Organisation
INTERFACE
Electronic circuits that permit the passage of data between different types of devices; For example, the speed and
heading interface circuit permits data from a speed log and compass to pass to the navigator processor.
IP
Internet Protocol (IP) is the central, unifying protocol in the TCP/IP suite. It provides the basic delivery mechanism for
packets of data sent between all systems on an internet, regardless of whether the systems are in the same room or on
opposite sides of the world. All other protocols in the TCP/IP suite depend on IP to carry out the fundamental function
of moving packets across the internet.
ITDMA
Incremental Time Division Multiple Access -Access protocol for pre-announced transmissions of temporary or nonrepeatable character. It is also used during data link network entry.
ITU
International Telecommunication Union.
LED
Light Emitting Diode.
LSS
Logical AIS Shore Station. A LSS is a software process, which transform the AIS data flow associated with one or
more PSS into different AIS-related data flow. The SW process of a logical AIS station can run on any appropriate
computer at any appropriate place.
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4
MMI
Man Machine Interface
NMEA
National Marine Electronics Association. The NMEA electronics interface specifications have been developed under
the auspices of the Association. The NMEA 0183 is an internationally recognized specification for interfacing marine
electronics. NMEA 0183 version 2.3 is identical to lEC 61162-1.
POLLED MODE
A transponder is in a polled mode during a request-response session only. Distinguish this from a station, which is
polled into certain slots. This station is first polled and then enters assigned mode.
POSITION UPDATE
The redefining of position by analysis of satellite orbital data as referenced to time.
PROCESSOR
The processor circuit card in the console that controls system operations and computes the positioning/navigation
solutions.
PROMPT
A message on the display instructing the operator to make a keyboard entry.
PSS
Physical AIS Shore Station. The PSS is the most basic AIS-related entry, which can exist on its own in a real physical
environment, as opposed to an AIS base station or AIS repeater station.
PULSE SPEED SENSOR
Speed log whose speed output signal is defined by a pulse mte output.
RATDMA
Random Access Time Division Multiple Access -Access protocol for transmissions which have not been preannounced. This is used for the first transmission during data link network entry or for messages of non-repeatable
character.
REFERENCE COMPASS
The compass against which the steering compass (see STEERING COMPASS) may be calibrated.
REFERENCE ELLIPSOID
A mathematical description of the Earth's ellipsoidal shape (see ELLIPSOID), which is the reference frame for
positioning computation.
RESET
To return stored values to either the default value or zero in memory.
RMS
See ROOT MEAN SQUARED.
ROOT MEAN SQUARED (RMS)
A statistical measure of probability, stating that an expected event
will happen 68% of the time. In terms of position update accuracy, 68 position updates out of 100 will be accurate to
within specified system accuracy.
SENSOR
A device that detects a change in a physical stimulus and turns it into a signal that can be measured.
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5
SET AND DRIFT
The direction and the speed of the water over ground (current).
SIGNAL- TO-NOISE RATIO (SIN)
Quantitative relationship between the useful and non-useful part of the received satellite signal. A high SIN indicates a
good receiving condition.
S/N See SIGNAL- TO-NOISE RATIO
SOFTWARE
Values programmed and preloaded into memory. The values represent a permanent set of instructions for running the
automatic functions (computations) of the navigator.
SOG
See SPEED OVER GROUND
SOTMA
Self Organised Time Division Multiple Access -An access protocol, which allows autonomous operation on a data link
while automatically resolving transmission conflicts.
SPEED OVER GROUND
Speed in relation to the seabed.
TCP
Transmission Control Protocol (TCP) provides a reliable byte-stream transfer service between two endpoints on an
internet. TCP depends on IP to move packets around the network on its behalf.
TCP/IP
TCP/IP is a name given to the collection (or suite) of networking protocols that have been used to construct the global
Internet. The protocols are also referred to as the DoD (dee-oh-dee) or Arpanet protocol suite because their early
development was funded by the Advanced Research Projects Agency (ARPA) of the US Department of Defense
(DoD).
TDMA
Time Division Multiple Access. An access scheme for multiple access to the same data link.
UDP
User Datagram Protocol provides a packetized data transfer service between endpoints on an internet. UDP depends on
IP to move packets around the network on its behalf.
UNIVERSAL TIME COORDINATED (UTC)
Greenwich mean time corrected for polar motion of the Earth and seasonal variation in the Earth's rotation.
UPDATE
See POSITION UPDATE.
UTC
See UNIVERSAL TIME COORDINATED.
VDL
VHF Data Link.
VHF
Very High Frequency -A set of frequencies in the MHz region.
VSWR
Voltage standing wave ratio
81983_TM_TR2600_I
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Amendment Record
AMENDMENT
NO.
INCORP.
BY
DATE
PAGE(S)
VERSION
REASON
FOR CHANGE
1
FIT
02.07.2004
24 (All)
A
2
ES
27.10.2004
31
C
3
ES
28.02.2005
38
E
Added design notes, removed
4
ES
08.03.2005
38
F
Removed SW & HW versions
5
ES
06.11.2006
37
G
Kontroll med manualer.doc
6
ES
11.04.2007
Total: 38
H
New company name
New logo
7
ES
04.01.2008
5-12
I
Talker identifier
FIT
8
9
10
11
12
13
14
15
16
17
18
19
20
81983_TM_TR2600_I
7
The information in this book has been carefully checked and is believed to be accurate. However,
no responsibility is assumed for inaccuracies.
Jotron AS reserves the right to make changes without further notice
to any products or modules described herein to improve reliability, function or design.
Jotron AS does not assume any liability arising
out of the application or use of the described product.
SAFETY INSTRUCTIONS
1. Do not place liquid-filled containers on top of the equipment.
2. Immediately turn off the power if water or other liquid leaks into the equipment.
Continued use of the equipment can cause fire or electrical shock. Contact a Jotron AS
agent for service.
3. Immediately turn off the power if the equipment is emitting smoke or fire.
4. Do not operate the equipment with wet hands.
5. CAUTION!
This equipment contains CMOS integrated circuits. Observe handling precautions to
avoid static discharges which may damage these devices.
81983_TM_TR2600_I
8
LIST OF CONTENTS
1 DESIGN NOTES...................................................................................................................................... 1-1
1.1
Scope ..................................................................................................................................... 1-1
1.2
Function ................................................................................................................................. 1-1
1.2.1
General ......................................................................................................................................... 1-1
1.2.2
Own Position................................................................................................................................ 1-1
1.2.3
Message 4 scheduling................................................................................................................... 1-1
1.2.4
Message 16 - Assigned Mode ...................................................................................................... 1-2
1.2.5
Message 17 - Differential GPS data ............................................................................................. 1-2
1.2.6
Message 20 - FATDMA allocation .............................................................................................. 1-2
1.2.7
Message 22 - Channel Management ............................................................................................ 1-2
1.2.8
Sending VDL messages using FATDMA/RATDMA.................................................................. 1-2
1.2.9
System restart ............................................................................................................................... 1-3
1.3
Interfaces ................................................................................................................................. 1-4
1.3.1
Physical Interfaces ....................................................................................................................... 1-4
1.3.2
Sensor ports.................................................................................................................................. 1-4
1.3.3
DGNSS port ................................................................................................................................. 1-5
1.3.4
VDL ITU-R M.1371-1 ................................................................................................................. 1-5
1.4
Alarms and notifications............................................................................................................ 1-6
1.5
Administration ......................................................................................................................... 1-7
1.5.1
User / groups ................................................................................................................................ 1-7
1.5.2
File System Download ................................................................................................................. 1-7
1.5.3
SW download ............................................................................................................................... 1-7
1.5.4
FTP............................................................................................................................................... 1-7
1.5.5
Telnet ........................................................................................................................................... 1-7
2 SPECIFICATIONS.................................................................................................................................. 2-1
2.1
General.................................................................................................................................... 2-1
2.2
Transponder: ............................................................................................................................ 2-1
2.3
Display/ Keyboard.................................................................................................................... 2-1
2.4
Integrated GPS ......................................................................................................................... 2-1
3 INTERFACES.......................................................................................................................................... 3-1
3.1
Interfaces with table of sentences ............................................................................................... 3-1
3.2
Transmission Intervals .............................................................................................................. 3-1
3.3
Load requirements as listener..................................................................................................... 3-1
4 DATA TRANSMISSION......................................................................................................................... 4-1
4.1
Data transmission ..................................................................................................................... 4-1
4.2
Serial interface description ........................................................................................................ 4-1
4.2.1
AIS port 1, 4,5 , I/O description ................................................................................................... 4-1
4.2.2
AIS port 7 , Input port description ............................................................................................... 4-2
5 DESCRIPTION OF SENTENCE FORMAT ........................................................................................ 5-1
5.1
Input........................................................................................................................................ 5-2
5.1.1
ABM - Addressed Binary and safety related Message................................................................. 5-2
5.1.2
ACA - AIS Regional Channel Assignment Message ................................................................... 5-3
5.1.3
ACK - Acknowledge alarm.......................................................................................................... 5-3
5.1.4
ACM - Addressed Channel Management..................................................................................... 5-4
5.1.5
AIR - AIS Interrogation Request................................................................................................. 5-4
5.1.6
ASN - Assignment VDL Message 16 .......................................................................................... 5-5
5.1.7
BBM - Broadcast Binary Message............................................................................................... 5-6
5.1.8
BCF - Base Station Configuration................................................................................................ 5-6
5.1.9
CAB - Control AIS Base Station.................................................................................................. 5-7
5.1.10
CBM Configure Base Station Message Reporting Rates ......................................................... 5-7
5.1.11
DLM Data Link Management slot allocations for base station and mobiles........................... 5-8
5.1.12
DTM Datum reference ............................................................................................................. 5-8
5.1.13
GBS - GNSS satellite fault detection ....................................................................................... 5-9
5.1.14
GGA - Global positioning system (GPS) fix data .................................................................... 5-9
5.1.15
GLL - Geographic position - latitude/longitude ..................................................................... 5-10
81983_TM_TR2600_I
9
5.1.16
GNS - GNSS fix data ............................................................................................................. 5-10
5.1.17
RMC Recommended minimum specific GNSS data ............................................................. 5-11
5.1.18
VDM - VHF Data-link Message ............................................................................................ 5-11
5.2
Output ................................................................................................................................... 5-12
5.2.1
ABK - Addressed and binary broadcast acknowledgement ....................................................... 5-12
5.2.2
ALR - Set alarm state. ................................................................................................................ 5-12
5.2.3
TXT - Text transmission ............................................................................................................ 5-13
5.2.4
VDM .......................................................................................................................................... 5-13
5.2.5
VDO - VHF Data-link Own-vessel message.............................................................................. 5-13
5.3
Proprietary sentences .............................................................................................................. 5-14
5.3.1
Proprietary sentence overview ................................................................................................... 5-14
5.3.2
PJTR,00 - Error message............................................................................................................ 5-14
5.3.3
PJTR,30 - Request info .............................................................................................................. 5-14
5.3.4
PJTR,34 - Answer LAN request................................................................................................. 5-15
5.3.5
PJTR,40 - Request Version ........................................................................................................ 5-15
5.3.6
PJTR,41 - Answer on requested version .................................................................................... 5-15
5.3.7
PJTR,210 - Request system configuration parameters ............................................................... 5-16
5.3.8
PJTR,211 - LAN connection modus .......................................................................................... 5-16
5.3.9
PJTR,212 - How to send msg4 after restart................................................................................ 5-16
81983_TM_TR2600_I
10
1
DESIGN NOTES
The Tron AIS TR-2600, an AIS Base Station, is the most basic AIS-related entity of any AIS Shore
Infrastructure. The AIS Base Station is defined by IMO. It cannot operate on its own, because it
needs commands from an external unit, i.e. a Base Station Controller (BSC), which may be
connected to a Management System.
1.1 Scope
This chapter describes how functionality is implemented in the AIS BS unit – where the
specification does not clearly describes all details. This description is usable for developers of Base
Station Controller (BSC) functionality.
1.2
Function
1.2.1 General
The AIS BS is implemented to AIS “Coast Station” CD 05.2002 as a guide.
1.2.2 Own Position
In the VDL msg. 4 – Base Station Report, the position of the AIS BS is specified.
We define which position source to use in the BCF message. The options are
• External. The AIS Base station will use the same rules as the Class A transponder to monitor
and select position source. If no External GPS is available, the internal is used. The same
TXT and ALR are used as for the Class A. If no position data is available from internal or
external GPS, “no position” is used and an alarm is initiated.
• Internal. Only internal position source is monitored. If no position data is available from
internal GPS, “no position” is used and an alarm is initiated.
• Surveyed. The surveyed position must be specified in the BCF message as well. Other GPS
sources are not monitored if surveyed position is used. The surveyed position is stored, so
the data is available after a restart.
1.2.3 Message 4 scheduling
The unit will start sending message 4 when the CBM message is received from the presentation
interface. The CBM message defines the start slot, but the rate is internally determined by the AIS
BS according to semaphore / not semaphore status.
•
Each time a CBM message is received the startslot will be stored, and the other slots will be
allocated immediately.
•
If the CBM message dictates –1. All message 4 allocations are removed immediately.
81983_TM_TR2600_I
Page 1-1
•
Each time a new rate is determined, the last start slot is used to allocate the other slots in the
frame. Old reserved slots are marked free.
•
Each time a CAB message is received enabling or disabling one of the channels, the current
start slot will be used to calculate the other slots according to schedule.
1.2.4 Message 16 - Assigned Mode
The ASN message is used to send an Assigned Message 16 on VDL. The assignments within this
message can either be soft assigned or hard assigned.
Soft Assignment.
A rate is given in the transmitted message. The specified class A transponder will send VDL
message 2 in free slots.
Hard Assignments
A fixed slot number and an increment is given for where the class A transponder shall send the
VDL message 2. These dedicated slots might be reserved by FATDMA.
Warning: In our current versions, hard assigned slots are not marked in the system. There is a risk
that the hard assigned slots can be used for other FATDMA messages.
1.2.5 Message 17 - Differential GPS data
Own generation of Msg 17 data is not supported. This service must be performed by a higher level
and transmitted by a VDL message via VDM.
1.2.6 Message 20 - FATDMA allocation
The DLM defines when to reserve slots used for FATDMA. Maximum 10 reservations can be
stored for each channel. The slots are reserved internally when the DLM message is received.
Other units gets this information when msg. 20 is distributed. The schedule of msg. 20 is defined in
the CBM msg. The reservations will be transmitted sequentially by order per channel.
1.2.7 Message 22 - Channel Management
Storage of the regional areas follows the same rules as for the Class A transponder. The AIS Base
station can store as much as 8 areas.
When the CBM message defines where to send msg. 22, the defined areas are distributed
sequentially by order. There are no definition on how to clear the defined areas by command, except
overwrite the existing are by a large one. The AIS BS will clear all areas during restart.
It is not possible to decide on which channel the different region definitions shall be transmitted.
1.2.8 Sending VDL messages using FATDMA/RATDMA
All received VDM messages are unwrapped and put in a message queue. Repeating of msg.4, 10,
11 and 20 are not legal, so these messages are silently removed.
81983_TM_TR2600_I
1-2
The messages are then put into the queue by its priority. The queue is common for messages on
both channel A and B.
Algorithm for selecting FATDMA/RATDMA slot: When a message is to be sent, the next 150 slots
are analysed to see if there is any reserved FATDMA slots for the message. If so, the first suitable
reservation is used (The message need more than one slot). If no FATDMA reservation is found, the
message is sent by RATDMA. Then standard slot reuse algorithms are used as for the Class A
transponder if high load. If no channel assignment is specified in the VDM message, the message is
sent on the first available FATDMA slot on either channel.
If not enough FATDMA slots are reserved, the queue might become full. The Jotron BS has a
queue of 20 messages. When the queue becomes full, an MSGQ ALR is set until the queue has
emptied to below a specified threshold.
It is up to the Base Station Controller to clear the communication state for any repeated messages,
to avoid miss-configurations in the slot tables of the listening class A transponders.
If channel is not specified in the received VDM message, the first available FATDMA reservation
in either channel is used for the message.
1.2.9
System restart
1.2.9.1 Storage of data
The AIS BS stores these configuration data during a system restart:
• Own MMSI
• Position source
• Surveyed Position and Position Accuracy
• Rx and Tx channels and power level
• VDL message retries
• Message Repeat Indicator
• Base Station Talker ID
•
•
•
•
•
In addition these configurations are stored:
Configuration of start of message 4
Configuration of LAN connection type for PI
Listening port for UDP/TCP connection
BSC IP address and destination port for UDP connection
1.2.9.2 Configurable start of msg 4
In the Jotron AIS BS there are three options at a system re-start for how to handle msg.4. Normally
the msg. 4 is defined in the CBM message, with a start slot.
After a restart we have three options:
• The msg 4 transmission must be restarted by a CBM message
• The last given CBM definition of msg 4 is stored. Msg 4 transmission is restarted according
to this.
• Msg. 4 is always transmitted after restart. The AIS BS selects a random start slot.
81983_TM_TR2600_I
1-3
1.2.9.3 Configurable LAN interface
The Jotron AIS BS provides PI over either TCP or UDP connection to unit.
UDP, destination can either be another unicast or a multicast address. Configuration by MMI:
• Own IP Address and AIS Receiver listen port
• BSC IP Address and port
TCP server, one client can be connected. Configuration by MMI:
• Own IP Address and AIS Receiver listen port
One serial message is always sent in one TCP/UDP packet. The AIS BS can handle reception of
several serial messages in one TCP/UDP packet.
1.3
Interfaces
1.3.1
Physical Interfaces
RS-232
VDL 1371-1
RS-422
TCP or UDP
The types of physical interfaces are provided for the Presentation Interface. Two serial port and one
Lan port:
• RS-422 Ecdis port
• RS-232 Pilot port
• Lan Tcp or Udp
The AIS BS provides general Lan services, such as telnet and ftp. Own set of MAC addresses are
reserved (00 06 CB 02 xx xx) where xx xx is the serial number of the unit.
1.3.2
Sensor ports
Input
Used when External Position is selected.
For supported messages, see Tron UAIS TR-2500.
Output
Not Applicable.
81983_TM_TR2600_I
1-4
1.3.3 DGNSS port
Input
For supported messages, see Tron UAIS TR-2500.
Output
Not Applicable.
1.3.4 VDL ITU-R M.1371-1
Input
According to specification.
Output
BS generated messages:
Msg
ID
4
6
7
8
10
12
13
14
15
16
17
20
21
22
Description
Base Station static report
Binary Addressed Message
Binary Addressed Ack
Binary Broadcast Message
UTC/Date request
Safety Addressed Message
Safety Addressed Ack
Safety Broadcast Message
Interrogation
Assigned mode command
DGNSS broadcast
Data Link Management
Aids-to-navigation report
Channel Management
81983_TM_TR2600_I
1-5
Alarms and notifications
Alarm condition
threshold exceeded
Alarm condition not
exceeded
alarms description text
alarm ID or text identifier
1.4
reaction of the system to the
alarm condition threshold
exceeded
A
V
001
Stop transmission
AIS: Antenna VSWR exceeds limit
A
V
002
Continue operation
AIS: Rx channel 1 malfunction
A
V
003
Stop transmission on affected
channel
AIS: Rx channel 2 malfunction
A
V
004
Stop transmission on affected
channel
AIS: general failure
A
V
006
Stop transmission
AIS: no sensor position in use
A
V
026
Continue operation
AIS: Frame synchronisation failure
A
V
037
Stop transmission
AIS: FATDM/RATDMA queue
congestion
A
v
050
Allocate FATDMA slots
Text identifier
AIS: Tx malfunction
Text message
reaction of the system
AIS: UTC clock lost
007
Continue operation using indirect or semaphore
synchronisation
AIS: external DGNSS in use
021
Continue operation
AIS: external GNSS in use
022
Continue operation
AIS: internal DGNSS in use (beacon)
023
Continue operation
AIS: internal DGNSS in use (msg 17)
024
Continue operation
AIS: internal GNSS in use
025
Continue operation
AIS: surveyed position in use
041
Continue operation
AIS: UTC clock OK
042
Continue operation
AIS: System Started
051
Continue operation
81983_TM_TR2600_I
1-6
1.5 Administration
The operation system used for the AIS BS is embedded Linux. A small Linux system is configured
specially for our unit. A subset of Linux commands are available.
1.5.1 User / groups
We have defined three users in our system; root, lab and guest. These are initial users, with initial
passwords. If more users are needed, standard Linux commands are available for add and delete of
new users, in addition to change password.
The files where all information about users, groups and passwords are stored, are mirrored to the
directory /flashdisk/etc every time information is updated. This, for keeping the changed
information after reboot. During the boot process these files, which are stored under /flashdisk/etc
are copied back to the /etc directory.
1.5.2 File System Download
Must be performed via terminal cable, Xmodem 1K.
1.5.3 SW download
A upgrade.tar.gz package is stored in directory /flashdisk/ftp. Reboot system and the system will
automatically upgrade.
1.5.4 FTP
A ftp server is provided by the AIS BS. In the initial system you can log in as lab or guest.
1.5.5 Telnet
A telnet server is provided by the system. In the initial system you can log in as lab or guest.
81983_TM_TR2600_I
1-7
2
SPECIFICATIONS
2.1
2.2
General
Supply voltage:
Power consumption:
Operating temperature:
Environmental:
Transponder:
Size:
Weight:
Color:
Enclosure:
Compass safety distance:
24 VDC +30% / -10%
<100W
-15°C to +55°C
IP64
244 x 108 x 146 mm
2.8 kg
Slate Grey (RAL7015)/ Black (RAL 9004)
Polycarbonate/ Aluminium
Standard magnetic:
Steering magnetic:
2.3
Display/ Keyboard
Display:
Keyboard:
LED:
0.9 m
0.65 m
Monochrome STN-LCD, 24 characters x 4 lines
19 keys
4 LED for identification of: Alarm/ OK/ RX /TX
Keyboard and display have backlight that may be adjusted.
2.4
Integrated GPS
No of Channels:
Tracking:
Frequency:
RX code:
Velocity:
Acceleration:
Accuracy:
Horizontal:
3D:
DGPS:
Timing:
12 channels parallel
12 channels simultaneously
L1 - 1575.42 MHz
C/A code
> 500 m/s
Up to 5G
< 3 meters (CEP)
5 meters 2dRMS
< 5 meters (SEP)
< 1 meter (CEP)
< 100 ns (absolute)
< 40 ns (1sigma)
Acquisition/ Reacquisition:
DGPS interface:
81983_TM_TR2600_I
< 23 seconds TTFF (Time to first Fix) with time, position,
ephemeris
< 45 seconds with almanac, time, position
< 120 seconds (Cold start)
RTCM SC-10
Page 2-1
3
INTERFACES
3.1 Interfaces with table of sentences
Input sentences
Sensor 1:
Output sentences
DTM, GBS, GGA, GLL,
GNS, OSD, RMC,
(External GPS)
External Display,
Aux Display/ Pilot
Port, LAN
ABM, ACA, ACK, ACM, ABK, ACA, ALR,
AIR, ASN, BCF, BBM,
TXT, VDM, VDO
CAB, CBM, DLM, DTM,
GBS, GGA, GNS, GLL,
RMC, VDM
All the above ports comply with IEC 61162-1 (Second edition, 2000-07) at 4800 baud
and IEC 61162-2 (First edition, 1998-09) at 38400 baud
Alarm Output:
Lan:
Contact closure
10BaseT
In addition to the above listed sentences, some proprietary sentences are described in paragraph 5.3
3.2
3.3
Transmission Intervals
ABK, ALR, TXT:
At each event
ALR:
30 seconds during alarm,
1 minute otherwise (empty message)
ACA,VDM:
At RX
VDO
At every transmitted message on the VDL
Load requirements as listener
Isolation:
Provided
Maximum voltage:
+/- 14 V to Isolated Ground
Maximum diff. Voltage
(A-B):
+/- 15 V
Threshold:
+/- 0.2 V (A-B)
Input impedance:
232 ohm w/jumper (Termination
Strap) 7680 ohm wo/ jumper
81983_TM_TR2600_I
Page 3-1
4
DATA TRANSMISSION
4.1
Data transmission
Data is transmitted in serial asynchronous form in accordance with the standards referenced in
2.1 of IEC 61162-1/2. The first bit is a start bit and is followed by data bits, least-significantbit first, as illustrated by figure below.
The following parameters are used:
- baud rate:
4 800 / 38 400 1
- data bits:
8 (D7 = 0),
- parity:
none;
- stop bits:
1.
D0 D1
Start
bit
D2
D3 D4
Data bits
D5
D6 D7
Stop
bit
Note: Baudrate is 4800 on IEC 61162-1 interfac and 38400 on IEC 61162-2 interface
4.2
Serial interface description
4.2.1 AIS port 1, 4,5 , I/O description
Port 1 are input only, Port 4-5 are both input/output
All ports have selectable baudrate, 4800/38400.
Simplified diagram of Linear Tech. LTC1535
B
Input2
A
B
Output3
A
Inside TR-2600
External cables
Note 1: The cabling shall be designed in a way that stubs are avoided and kept as short as possible.
81983_TM_TR2600_I
Page 4-1
Note 2: Input:
Input current: (at input voltage (A-B) between –15V to +15V)
Without termination: < 2 mA
With
-“: < 64 mA
Logical high
: A-B < -0.2V,
Logical low
: A-B > +0.2V
Note 3: Output:
Logical high: A-B < -2.0V at output current 50mA (100 ohm load)
Logical low: A-B > +2.0V at output current 50mA (100 ohm load)
The outputs have current limiting at 100 mA.
4.2.2
AIS port 7 , Input port description
This port is used for DGPS data input (Beacon input). This port use Opto-coupler to isolate interface.
B
Input
To UART
(ITU-R M.823-2)
A
GND Isolated
Inside TR-2600
External cables
Input current: (when A-B= +5V)
Without termination strap : 4 mA
With
-“-“- : 28 mA
Logical high
Logical low
81983_TM_TR2600_I
: A-B < (+0.5V to –15V
: A-B > (+2.0V to +15V)
4-2
5
DESCRIPTION OF SENTENCE FORMAT
The following provides a summary explanation of the approved sentence structure according to IEC 61162:
$AACCC, C---C*HH<CR><LF>
ASCII
HEX
Description
"$"
24
Start of sentence: starting delimiter
aaccc
","
Address field: alphanumeric characters identifying type of talker,
and sentence formatter. The first two characters identify the
talker. The last three are the sentence formatter mnemonic code
identifying the data type and the string format of the successive
fields. Mnemonics will be used as far as possible to facilitate
read-outs by users.
2C
c---c
"*"
Data sentence block: follows address field and is a series of data
fields containing all of the data to be transmitted. Data field
sequence is fixed and identified by the third and subsequent
characters of the address field (the sentence formatter). Data
fields may be of variable length and are preceded by delimiters ",".
2A
hh
<CR><LF>
Field delimiter: starts each field except address and checksum
fields. If it is followed by a null field, it is all that remains to
indicate no data in a field.
checksum delimiter: follows last data field of the sentence. It
indicates that the following two alpha-numeric characters show
the HEX value of the checksum.
Checksum field: the absolute value calculated by exclusiveOR'ing the eight data bits (no start bits or stop bits) of each
character in the sentence between, but excluding, "$" and "*".
The hexadecimal value of the most significant and least
significant four bits of the result are converted to two ASCII
characters (0-9, A-F) for transmission. The most significant
character is transmitted first. The checksum field is required in all
cases.
0D 0A
End of sentence: sentence terminating delimiter.
81983_TM_TR2600_I
Page 5-1
5.1
Input
ABM
ACA
ACK
ACM
AIR
ASN
BCF
CAB
CBM
DLM
BBM
VDM
DTM
GBS
GGA
GLL
GNS
RMC
Query messages:
PJTR
PJTR
5.1.1
Addressed Binary and safety related Message
AIS Regional Channel Assignment Message
Acknowledge Alarm
Preparation and initiation of a broadcast of Addressed msg 22
AIS Interrogation Request
Preparation and initiation of a broadcast of Assigned msg 16
Base Station Configuration
Control AIS Base Station
Configure Base Station Message Reporting Rates
Data Link Management slot allocations for base station and mobiles
Broadcast Binary Message
VHF Data – link Message
Datum reference
GNSS satellite fault detection
Global positioning system (GPS) fix data
Geographic position latitude/longitude
GNSS fix data
Recommended minimum specific GNSS data
30, 34
210, 211, 212
ABM - Addressed Binary and safety related Message
Support for ITU-R M.1371 messages 6 & 12.
Provides an external application with a means to exchange data using an AIS.
!--ABM,x,x,x,xxxxxxxxx,x,x.x,s--s,x*hh<CR><LF>
Number of fill-bits, 0-5
Encapsulated data
ITU-R M.1371 message ID
AIS channel for broadcast of the radio message
The MMSI of destination AIS unit for the ITU-R M.1371 message
Sequential Message identifier
Sentence number
Total number of sentences needed to transfer the message
81983_TM_TR2600_I
5-2
5.1.2
ACA - AIS Regional Channel Assignment Message
This sentence is used to both enter and obtain channel management information.
$--ACA,x,llll.ll,a,yyyyy.yy,a,llll.ll,a,yyyyy.yy,a,x,xxxx,x,xxxx,x,x,x,a,x,hhmmss.ss*hh<CR><LF>
Time of “in-use” change
In-Use Flag
Information source
Power level control
Tx/Rx mode control
Channel B bandwidth
Channel B
Channel A bandwidth
Channel A
Transition Zone Size
Region Southwest corner longitude - E/W
Region Southwest corner latitude - N/S
Region Northeast corner longitude - E/W
Region Northeast corner latitude - N/S
Sequence Number, 0 to 9
5.1.3 ACK - Acknowledge alarm
This sentence is used to acknowledge an alarm condition reported by a device.
$--ACK,xxx,*hh<CR><LF>
Identification number of alarm source
81983_TM_TR2600_I
5-3
5.1.4 ACM - Addressed Channel Management
Support for ITU-R M.1371 message 22.
Provides an AIS base station with information it uses to broadcast an “adressed VDL message 22”.
$--ACM,xxxxxxxxx,xxxxxxxxx,xxxx,x,xxxx,x,x,x,x*hh<CR><LF>
6
Broadcast Channel for Base Station
5
Power level control
4
TX/RX mode control
3
Channel B bandwidth
2
Channel B
3
Channel A bandwidth
2
Channel A
1
MMSI of the addressed AIS unit 2
1
MMSI of the first addressed AIS unit 1
1.
Identifies the distant addressed AIS unit(s) intended to receive the ITU-R M.1371 message 22. The
first MMSI field (field 1) identifies the first AIS unit. The second MMSI field (field 2) identifies
the second AIS unit, and may be set to null if only one AIS unit is being addressed.
2.
VHF channel number, see ITU-R M.1084, Annex 4.
3.
Value of 0, bandwidth is specified by channel number, see ITU-R M.1084, Annex 4
Value of 1, bandwidth is 12.5 kHz
4.
Value of 0, transmit on channels A and B, receive on channels A and B
Value of 1, transmit on channel A, receive on channels A and B
Value of 2, transmit on channel B, receive on channels A and B
5.
Value of 0, high power
Value of 1, low power
6. The field identifies the channel that the base station should use to broadcast the ITU-R
M.1371 message 22. A null value in this field indicates no change from previous received
value when this sentence is sent to a base station and indicates unknown when this sentence
is received from a base station. The values and their meanings are:
Value 0 = No broadcast channel preference
Value 1 = broadcast on AIS channel A
Value 2 = broadcast on AIS channel B
Value 3 = broadcast on both AIS channel A and AIS channel B
5.1.5 AIR - AIS Interrogation Request
This sentence supports ITU-R M.1371 message 15. It provides an external application with
the means to initiate a request for specific ITU-R M.1371 messages from distant mobile or
base AIS stations.
$--AIR,xxxxxxxxx,x.x,x,x.x,x,xxxxxxxxx,x.x,x*hh<CR><LF>
Message sub-section (Reserved for future use)
Number of message requested from station-2
MMSI of interrogated station-2
Message sub-section (Reserved for future use)
Number of second message from station-1
Message sub-section (Reserved for future use)
ITU-R M.1371 message requested from station-1
MMSI of interrogated station-1
81983_TM_TR2600_I
5-4
5.1.6 ASN - Assignment VDL Message 16
Support for ITU-R M.1371 message 16.
Provides an AIS base station with information it uses to broadcast an “assignment VDL message
22”.
$--ASN,xxxxxxxxx,x.x,x.x,x,xxxxxxxx,x.x,x.x,x,x*hh<CR><LF>
5
Broadcast Channel for Base Station
4
Increment for AIS unit 2
3
Hard Assigned Reporting Rate for AIS unit 2
2
Soft Assigned Reporting Rate for AIS unit 2
2
MMI of addressed AIS unit 2
4
Increment for AIS unit 1
3
Hard Assigned Reporting Rate for AIS unit 1
2
Soft Assigned Reporting Rate for AIS unit 1
1
MMSI of addressed AIS unit 1
1.
Identifies the distant addressed AIS unit(s) for the VDL assignment. The first set of four fields
apply to a single AIS unit, while the second set of four fields (fields 5 - 8) apply to a second
AIS unit. When only one AIS unit's assignment schedule is being provided, the second set of
four fields (fields 5 - 8) may be set to null.
2.
This field corresponds to the ITU-R M.1371 Message 16 Offset field. The base station will
only use this field if the "Increment for AIS" field (fields 4 and 8 of this sentence) for the same
AIS unit is set to zero. The range of values for this field consists of multiples of 20, between
and including 20 to 600. Values that are less then 600 but are not multiples of 20 will be interpreted as the next higher multiple of 20. Values above 600 will be interpreted as 600. This
field shall be set to null when the "Increment for AIS" field (fields 4 and 8 of this sentence) for
the same AIS unit is set to a non-zero value.
3.
This field corresponds to the ITU-R M.1371 Message 16 Offset field. The base station will
only use this field if the "Increment for AIS" field (fields 4 and 8 of this sentence) for the same
AIS unit is set to a non-zero value. The range of values for this field consists 0 to 2249 in units
of slots. This field shall be set to null when the "Increment for AIS" field (fields 4 and 8 of this
sentence) for the same AIS unit is set to a zero value.
4.
This field identifies the increment parameter in units of slots for the associated values of this
field. The range of values are from 0 to 6. Note that a value of zero does not provide an increment, see note 2 above. This field shall not be set to null, unless the entire four field set for
this AIS unit is not provided, because the base station may invoke two distinctly different assignment methods based on a zero or non-zero value. The values and their meanings are:
Value 0 = Reporting rate is based upon the “ Soft Assigned Reporting Rate for same AIS unit "
(fields 2 and 6) / 10 minutes.
Value 1 = 1125 slots
Value 2 = 375 slots
Value 3 = 225 slots
Value 4 = 125 slots
Value 5 = 75 slots
Value 6 = 45 slots
5.
The field identifies the channel that the base station should use to broadcast the ITU-R M.1371 message 16. A
null value in this field indicates no change from previous received value when this sentence is sent to a base
station and indicates unknown when this sentence is received from a base station. The values and their
meanings for this are:
Value 0 = No broadcast channel preference
Value 1 = broadcast on AIS channel A
Value 2 = broadcast on AIS channel B
81983_TM_TR2600_I
5-5
5.1.7 BBM - Broadcast Binary Message
This sentence supports generation of an ITU-R M.1371 Binary Broadcast Message (message
8) or Safety Related Broadcast Message (message 14). It provides an external application
with a means to broadcast data, as defined by the application only - not the AIS.
!--BBM,x,x,x,x,x.x,s--s,x*hh<CR><LF>
Number of fill-bits , 0 to 5
Encapsulated data
ITU-R M.1371 message ID, 8 or 14
AIS channel for broadcast of the radio message
Sequential message identifier, 0 to 9
Sentence number, 1 to 9
Total number of sentences needed to transfer the message, 1 to 9
5.1.8 BCF - Base Station Configuration
Configure Base station parameters, when initially installed.
$--BCF, xxxxxxxxx,x, llll.ll, a, yyyyy.yy, a, x, xxxx, xxxx, xxxx,xxxx,x,x,x,x,cc*hh<CR><LF>
Base station Talker ID
Msg repeat indicator
VDL message retries
5
Power level channel B
5
Power level channel A
4
Tx channel B
4
Tx channel A
4
Rx channel B
4
Rx channel A
3
Position accuracy
2
Longitude E/W
2
Latitude N/S
1
Position source
MMSI assigned to base station
Notes:
1.
Identifies the source of the position.
Value 0 = surveyed position
Value 1 = internal source
Value 2 = external source
2.
Surveyed position of the base station. The position is only applicable to fixed base stations. Within the base
station, the "electronic position fixing device" parameter is set to a value of 7 indicating a surveyed position.
Mobile or non-fixed base stations receive their position information by another means.
3.
0 = low > 10m.
1 = high < 10m ; differential mode of DGNSS.
4.
VHF channel number, see ITU-R M.1084, Annex 4.
5.
Value of 0, high power
Value of 1, low power
81983_TM_TR2600_I
5-6
5.1.9 CAB - Control AIS Base Station
Turn on or off transmission on channel A and B in AIS base station.
$--CAB,x,x,x*hh<CR><LF>
Restart (1= restart)
Channel B transmission (1=on, 0=off)
Channel A transmission (1=on, 0=off)
5.1.10 CBM Configure Base Station Message Reporting Rates
This sentence configures the broadcast schedule of ITU-R M.1371 messages 4, 17, 20 and 22 that
are to be broadcast from an AIS Base Station.
$--CBM,x.x,x.x,x.x,x,x.x,x.x,x.x,x.x,x.x,x.x,x,x.x,x.x,x.x,x.x*hh<CR><LF>
Msg. 22 Channel "B" Slot Interval (0-1125)
Msg. 22 Channel "B" Starting Slot (-1 to 2249)
Msg. 20 Channel "B" Slot Interval (0-1125)
Msg. 20 Channel "B" Starting Slot (-1 to 2249)
Msg. 17 Channel "B" Number of Slots (Not used)
Msg. 17 Channel "B" Slot Interval (Not used)
Msg. 17 Channel "B" Starting Slot (Not used)
Msg. 22 Channel "A" Slot Interval (0-1125)
Msg. 22 Channel "A" Starting Slot (-1 to 2249)
Msg. 20 Channel "A" Slot Interval (0-1125)
Msg. 20 Channel "A" Starting Slot (-1 to 2249)
Msg. 17 Channel "A" Number of Slots (Not used)
Msg. 17 Channel "A" Slot Interval (Not used)
Msg. 17 Channel "A" Starting Slot (Not used)
Msg. 4 Broadcast Starting Slot (-1 to 374)
81983_TM_TR2600_I
5-7
5.1.11 DLM Data Link Management slot allocations for base station and mobiles
This sentence provides the base station with the slot allocations to be reserved for FATDMA base
station broadcasts. This sentence provides the base station with the information necessary to
broadcast an ITU-R M.1371 Message 20 Data link management message, which informs mobile
AIS units about the reserved FATDMA slots.
The shore station is responsible for filtering out slot reservation conflicts that may exist. These
conflicts in the shore station network must be resolved separately from entering the data. The
base station is not responsible for detecting these conflicts. The AIS Base Station, upon receipt
of a Query for this sentence, will generate a message consisting of multiple DLM sentences
containing all the defined FATDMA reserved slots to the requestor.
$--DLM,x,a,a,x.x,x,x,x.x,a,x.x,x,x,x.x,a,x.x,x,x,x.x,a,x.x,x,x,x.x*hh<CR><LF>
Increment for reservation 4 (0-1125)
Time out for reservation 4 (0-7)
Number of slots for reservation 4 (1-5)
Start slot for reservation 4 (0-2249)
Ownership for reservation 4 (L,R or C)
Increment for reservation 3 (0-1125)
Time out for reservation 3 (0-7)
Number of slots for reservation 3 (1-5)
Start slot for reservation 3 (0-2249)
Ownership for reservation 3 (L,R or C)
Increment for reservation 2 (0-1125)
Time out for reservation 2 (0-7)
Number of slots for reservation 2 (1-5)
Start slot for reservation 2 (0-2249)
Ownership for reservation 2 (L,R or C)
Increment for reservation 1 (0-1125)
Time out for reservation 1 (0-7)
Number of slots for reservation 1 (1-5)
Start slot for reservation 1 (0-2249)
Ownership for reservation 1(L,R or C)
AIS Channel (A or B)
Sequence Number (0- 9)
5.1.12 DTM Datum reference
Local geodetic datum and datum offsets from a reference datum
$--DTM,ccc,a,x.x,a,x.x,a, x.x,ccc*hh<CR><LF>
1
Reference datum
Altitude offset, (meter) (Not used)
Longitude offset, min, E/W (Not used)
Lat offset, min, N/S (Not used)
2
Local datum subdivision code (Not used)
1
Local datum
Note 1: WGS84 =W84
WGS72 = W72
SGS85 = S85
PE90 =
P90
User defined =999 (only available for “Local datum”)
IHO datum code
Note 2: One character subdivision datum code when available or user defined reference character for user defined
datums, null field otherwise. Subdivision character from IHO Publication S-60, Appendices B and C.
81983_TM_TR2600_I
5-8
5.1.13 GBS - GNSS satellite fault detection
This message is used to support receiver autonomous integrity monitoring (RAIM). Given that a
GNSS receiver is tracking enough satellites to perform integrity checks of the positioning
quality of the position solution, a message is needed to report the output of this process to
other systems to advise the system user. With the RAIM in the GNSS receiver, the receiver can
isolate faults to individual satellites and not use them in its position and velocity calculations.
Also, the GNSS receiver can still track the satellite and easily judge when it is back within
tolerance.
This message shall be used for reporting this RAIM information. To perform this integrity
function, the GPS receiver must have at least two observables in addition to the minimum
required for navigation. Normally these observables take the form of additional redundant
satellites.
$--GBS, hhmmss.ss, x.x, x.x, x.x, xx, x.x, x.x, x.x *hh <CR><LF>
Standard deviation of bias estimate (Not used)
Estimate of bias on most likely failed satellite (Not used)
Probability of missed detection for most likely
failed satellite (Not used)
ID number of most likely failed satellite(Not used)
Expected error in altitude (Not used)
Expected error in longitude
Expected error in latitude
UTC time of the GGA or GNS fix associated with this sentence
5.1.14 GGA - Global positioning system (GPS) fix data
Time, position and fix-related data for a GPS receiver.
$--GGA, hhmmss.ss, llll.ll, a, yyyyy.yy, a, x, xx, x.x, x.x, M, x.x, M, x.x, xxxx*hh<CR><LF>
Differential reference station ID
0000-1023 (Not used)
Age of diff. GPS data (Not used)
Units of geoidal separation,m (Not
used)
Geoidal separation (Not used)
Units of antenna altitude, m (Not
used)
Antenna altitude above/below
mean sea level (geoid) (Not used)
Horizontal dilution of precision (Not
used)
No. of satellites in use, 00-12 (Not
used)
GPS quality indicator
Longitude E/W
Latitude N/S
UTC time of position
81983_TM_TR2600_I
5-9
5.1.15 GLL - Geographic position - latitude/longitude
Latitude and longitude of vessel position, time of position fix and status.
$--GLL, llll.ll, a, yyyyy.yy, a, hhmmss.ss, A, a *hh<CR><LF>
Mode indicator
Status: A = data valid V = data invalid
Time of position (UTC)
Longitude , E/W
Latitude, N/S
Note: Positioning system Mode indicator:
A = Autonomous
D = Differential
E = Estimated (dead reckoning)
M = Manual input
S = Simulator
N = Data not valid
5.1.16 GNS - GNSS fix data
Fix data for single or combined satellite navigation systems (GNSS). This sentence provides fix
data for GPS, GLONASS, possible future satellite systems and systems combining these.
$-- GNS, hhmmss.ss, llll.ll, a, yyyyy.yy, a, c--c,xx,x.x,x.x,x.x,x.x,x.x *hh<CR><LF>
Differential reference station ID (Not used)
Age of differential data (Not used)
Geoidal separation, m (Not used)
Antenna altitude, m, re:mean-sea-level (Not
used)
Horizontal dilution of precision (HDOP) (Not
used)
Number of satellites in use, 00-99 (Not used)
Mode indicator
Longitude E/W
Latitude N/S
Time of position (UTC)
81983_TM_TR2600_I
5-10
5.1.17 RMC Recommended minimum specific GNSS data
Time, date, position, course and speed data provided by a GNSS navigation receiver. This
sentence is transmitted at intervals not exceeding 2 s. All data fields must be provided, null fields
used only when
data is temporarily unavailable.
$--RMC, hhmmss.ss, A, llll.ll,a, yyyyy.yy, a, x.x, x.x, xxxxxx, x.x,a, a*hh<CR><LF>
Mode indicator (see note)
Magnetic variation, degrees, E/W (Not
used)
Date: dd/mm/yy (Not used)
Course over ground, degrees true
Speed over ground, knots
Longitude, E/W
Latitude, N/S
Status: A = data valid V = navigation
receiver warning
Time of position fix (UTC)
Note: Positioning system Mode indicator:
A = Autonomous mode
D = Differential mode
E = Estimated (dead reckoning) mode
M = Manual input mode
S = Simulator mode
N = Data not valid
5.1.18 VDM - VHF Data-link Message
This sentence is used to transfer the entire contents of a received AIS message packet, as
defined in ITU-R M.1371 and to be sent on the VHF Data Link (VDL), using the "6-bit" field
type.
!--VDM,x,x,x,a,s--s,x*hh<CR><LF>
Number of fill-bits, 0 to 5
Encapsulated ITU-R M.1371 radio message
AIS Channel, "A" or "B"
Sequential message identifier, 0 to 9
Sentence number, 1 to 9
Total number of sentences needed to transfer the message, 1 to 9
81983_TM_TR2600_I
5-11
5.2 Output
All sentences starts with a delimiter that can be “$” or “!”. followed by the talker identifier
indicated by “- -“. The talker identifier is BS for Base station.
ABK
VDO
VDM
TXT
ALR
Answer on query:
PJTR
PJTR
Addressed and binary broadcast acnowledgement
VHF Data – link Own-vessel message
VHF Data – link Message
Text transmission
Set Alarm state
ACM, ACA, DLM, BCF, CBM, CAB, TXT
34
211, 212
ACM see paragraph 5.1.4
ACA see paragraph 5.1.2
DLM see paragraph 5.1.11
BCF see paragraph 5.1.8
CBM see paragraph 5.1.10
CAB see paragraph 5.1.9
5.2.1 ABK - Addressed and binary broadcast acknowledgement
The ABK-sentence is generated when a transaction, initiated by reception of an ABM, AIR, or
BBM sentence, is completed or terminated.
$--ABK,xxxxxxxxx,a,x.x,x,x*hh<CR><LF>
Type of acknowledgement
Message Sequence Number
ITU-R M.1371 message ID
AIS channel of reception
MMSI of the addressed destination AIS unit
5.2.2 ALR - Set alarm state.
Local alarm condition and status. This sentence is used to report an alarm condition on a
device and its current state of acknowledgement.
$--ALR,hhmmss.ss,xxx,A, A,c--c*hh<CR><LF>
Alarm's description text
Alarm's acknowledge state, A = acknowledged
V = unacknowledged
Alarm condition (A = threshold exceeded, V = not exceeded)
Local alarm number (identifier)
Time of alarm condition change, UTC
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5.2.3 TXT - Text transmission
For the transmission of short text messages. Longer text messages may be transmitted by
using multiple sentences.
$--TXT,xx,xx,xx,c--c*hh<CR><LF>
Text message, ASCII, up to 61 characters
Text identifier, 01-99
Message number, 01 to 99
Total number of messages, 01 to 99
5.2.4 VDM
See “Input “section (4.1.18)
This sentence is used to transfer the entire contents of a received AIS message packet, as
defined in ITU-R M.1371 and as received on the VHF Data Link (VDL), using the "6-bit" field
type.
!--VDM,x,x,x,a,s--s,x*hh<CR><LF>
Number of fill-bits, 0 to 5
Encapsulated ITU-R M.1371 radio message
AIS Channel, "A" or "B"
Sequential message identifier, 0 to 9
Sentence number, 1 to 9
Total number of sentences needed to transfer the message, 1 to 9
5.2.5 VDO - VHF Data-link Own-vessel message
This sentence is used to provide the information assembled for broadcast by the AIS. It uses
the six-bit field type for encapsulation. The sentence uses the same structure as the VDM
sentence formatter.
!--VDO,x,x,x,a,s--s,x*hh<CR><LF>
Number of fill-bits, 0 to 5
Encapsulated ITU-R M.1371 radio message
AIS Channel, "A" or "B"
Sequential message identifier, 0 to 9
Sentence number, 1 to 9
Total number of sentences needed to transfer the message, 1 to 9
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5.3 Proprietary sentences
All proprietary sentence shall start with $P<mnemonic>
Jotrons mnemonic code is “JTR”.
This makes our proprietary sentence like:
$PJTR[,Msg id][,data] "*”<checksum field><CR><LF>
Checksum is required in proprietary sentence.
5.3.1
Proprietary sentence overview
Msg id
00
3x:
30:
34:
4x
40:
41:
5.3.2
Error message (see 1.3)
$PJTR,00,error code,msg.id,key,text*hh<CR><LF>
Own Data
Request AIS info
$PJTR,30,datatype*hh<CR><LF>
AIS Lan request
$PJTR,34,c,c--c,x.x*hh<CR><LF>
Software version
Request Version
$PJTR,40,Func,Idx*hh<CR><LF>
Version information
$PJTR,41,Module Release,Date Time,no,total*hh<CR><LF>
PJTR,00 - Error message
$PJTR,00,xx,x.x,x.x,c--c*hh<CR><LF>
Message code as text. (Max 20 char)
Key parameter from message that generated the error. (E.g. mmsi no.)
The id to the message that generated the error
1
Error code
Note:
00
01
02
03
Undefined error
Not found
Missing data
No answer
5.3.3 PJTR,30 - Request info
Request info about own unit, answer is in “PJTR,34”
$PJTR,30,c*hh<CR><LF>
“L” is own LAN IP port and address, “B” is remote IP port and address
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5.3.4 PJTR,34 - Answer LAN request
$PJTR,34,c,c--c,x.x*hh<CR><LF>
“L” is own LAN IP port and address, “B” is remote BSC IP port and address
Network address: x.x.x.x
Listen PORT number
5.3.5 PJTR,40 - Request Version
Request hardware and software versions from the different modules in TR-2600. Answer in
“PJTR,41”
$PJTR,40,c,x.x*hh<CR><LF>
1
Idx
2
Function
Note 1: Idx
Identifier of version element. Must be used if “Function” is “N”, “P” or “R”, but has no
meaning if “H” or “T”
Note 2: Functions:
H
T
N
P
R
Head. First element
Tail. Last element
Next. Get the next element
Previous. Get the previous element
Refresh current element
These functions will list successive SW versions from the different modules. In the current
version, there are 6 modules, named BS, ECBS, MMI, LINK, RF or HW
5.3.6 PJTR,41 - Answer on requested version
Request hardware and software versions from the different modules in TR-2600. Request in
“PJTR,40”
$PJTR,41,c--c, c--c,x.x,x.x*hh<CR><LF>
Length of list
Position number in the list
Compile date on the format: month date year (feb 21 20003) and
Compile time on the format: hh:mm:ss
Module the version applies to (BS, ECBS, MMI, LINK, RF or HW) and
Release number on the format x.x.x
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5.3.7 PJTR,210 - Request system configuration parameters
Request system parameters from TR-2600.
$PJTR,210,c*hh<CR><LF>
Which data to request
Note:
value = L: LAN connection request.
value = A: Request msg4 handling after restart.
5.3.8 PJTR,211 - LAN connection modus
Configure type of LAN connections for the Presentation Interface. System must be restarted after
configuration. Request in “PJTR,210”
$PJTR,211,x*hh<CR><LF>
Set requested data
Note 1:
value = 0: No LAN connection.
value = 1: TCP connection.
value = 2: UDP connection
Note 2: TCP connection is a TCP server for one client only.
5.3.9 PJTR,212 - How to send msg4 after restart
How to send msg4 after restart. Request in “PJTR,210”
$PJTR,212,x*hh<CR><LF>
How to start sending of msg4
Note:
value = 0: Never start to send msg4 atomatically
value = 1: Start to send msg4 automatically as defined by CBM
value = 2: Start to send msg4 automatically with random select start slot.
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