Stand: 21.10.2023
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Stand: 21.10.2023 |
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00 02 YZ XX XX Depth below
transducer:
XXXX/10 feet
Flags in Y: Y&8 = 8: Anchor Alarm is active
Y&4 = 4: Metric display units or
Fathom display units if followed by command 65
Y&2 = 2: Used, unknown meaning
Flags in Z: Z&4 = 4: Transducer defective
Z&2 = 2: Deep Alarm is
active
Z&1 = 1: Shallow Depth Alarm is active
Corresponding NMEA sentences: DPT, DBT
01 05 XX XX XX XX XX XX Equipment ID,
sent at power on, reported examples:
01 05 00 00 00 60 01 00 Course Computer 400G
01 05 04 BA 20 28 01 00 ST60 Tridata
01 05 70 99 10 28 01 00 ST60 Log
01 05 F3 18 00 26 0F 06 ST80 Masterview
01 05 FA 03 00 30 07 03 ST80 Maxi Display
01 05 FF FF FF D0 00 00 Smart Controller Remote
Control Handset
05 03 0X YY ZZ PP
Engine RPM and PITCH:
X = 0: RPM & PITCH
X = 1: RPM & PITCH starboard
X = 2: PRM & PITCH port
YY*256+ZZ = RPM Value (signed value, example: YYZZ=0x0110=272
RPM, YYZZ=0xfef0= -272 RPM)
PP = % Pitch (signed value -128%...+127%, example 0x03=3%, 0xFD= -3%)
10 01 XX YY Apparent Wind Angle:
XXYY/2
degrees right of bow
Used for autopilots Vane Mode (WindTrim)
Corresponding NMEA sentence: MWV
11 01 XX 0Y Apparent Wind Speed:
(XX
& 0x7F) + Y/10 Knots
Units flag: XX&0x80=0 => Display value in Knots
XX&0x80=0x80 => Display value in Meter/Second
Corresponding NMEA sentence: MWV
20 01 XX XX Speed through water:
XXXX/10
Knots
Corresponding NMEA sentence: VHW
21 02 XX XX 0X Trip Mileage: XXXXX/100 nautical miles
22 02 XX XX 00 Total Mileage: XXXX/10 nautical miles
23 Z1 XX YY Water temperature
(ST50):
XX deg Celsius, YY deg Fahrenheit
Flag Z&4: Sensor defective or not connected (Z=4)
Corresponding NMEA sentence: MTW
24 02 00 00 XX Display units
for Mileage & Speed
XX: 00=nm/knots, 06=sm/mph, 86=km/kmh
25 Z4 XX YY UU VV AW
Total
& Trip Log
total= (XX+YY*256+Z0* 4096)/ 10 [max=104857.5] nautical miles
trip = (UU+VV*256+0W*65536)/100 [max=10485.75] nautical miles
26 04 XX XX YY YY DE
Speed
through water:
XXXX/100 Knots, sensor 1, current speed, valid if
D&4=4
YYYY/100 Knots, average speed (trip/time) if D&8=0
or data from sensor 2 if D&8=8
E&1=1: Average speed calulation stopped
E&2=2: Display value in
MPH
Corresponding NMEA
sentence: VHW
27 01 XX XX Water temperature:
(XXXX-100)/10
deg Celsius
Corresponding NMEA sentence: MTW
30 00 0X Set
lamp
Intensity; X=0: L0, X=4: L1, X=8: L2, X=C: L3
(only sent once when setting the lamp intensity)
36 00 01 Cancel MOB (Man Over Board) condition
38 X1 YY yy Codelock data
50 Z2 XX YY YY LAT position:
XX degrees, (YYYY & 0x7FFF)/100 minutes
MSB of Y = YYYY & 0x8000 = South if set, North if cleared
Z= 0xA or 0x0 (reported for Raystar 120 GPS),
meaning unknown
Stable filtered position, for raw data use command 58
Corresponding NMEA sentences: RMC, GAA, GLL
51 Z2 XX YY YY LON position:
XX degrees, (YYYY & 0x7FFF)/100 minutes
MSB of Y = YYYY & 0x8000 = East if set, West if cleared
Z= 0xA or 0x0 (reported for Raystar 120
GPS), meaning unknown
Stable filtered position, for raw data use command 58
Corresponding NMEA sentences: RMC, GAA, GLL
52 01 XX XX Speed over Ground:
XXXX/10
Knots
Corresponding NMEA sentences: RMC, VTG
53 U0 VW Course
over Ground (COG) in degrees:
The two lower bits of U * 90 +
the six lower bits of VW * 2 +
the two higher bits of U / 2 =
(U & 0x3) * 90 + (VW & 0x3F) * 2 + (U & 0xC) / 8
The Magnetic Course may be offset by the Compass Variation (see
datagram 99) to get the Course Over Ground (COG).
Corresponding NMEA sentences: RMC, VTG
54 T1 RS HH GMT-time: HH hours,
6
MSBits of RST = minutes = (RS & 0xFC) / 4
6 LSBits of RST = seconds = ST & 0x3F
Corresponding NMEA sentences: RMC, GAA, BWR, BWC
55 X1 YY yy TRACK keystroke on GPS
unit
keycodes identical with autopilot (command 86)
56 M1 DD YY Date: YY year, M
month,
DD day in month
Corresponding NMEA sentence: RMC
57 S0 DD Sat
Info:
S number of sats, DD horiz. dillution of position, if S=1 -> DD=0x94
Corresponding NMEA sentences: GGA, GSA
58 Z5 LA XX YY LO QQ RR LAT/LON
LA Degrees LAT, LO Degrees LON
minutes LAT = (XX*256+YY) / 1000
minutes LON = (QQ*256+RR) / 1000
Z&1: South (Z&1 = 0: North)
Z&2: East (Z&2 = 0: West)
Raw unfiltered position, for filtered data use commands 50&51
Corresponding NMEA sentences: RMC, GAA, GLL
59 22 SS MM XH Set Count Down Timer
MM=Minutes ( 00..3B ) ( 00 .. 63 Min ), MSB:0 Count up start flag
SS=Seconds ( 00..3B ) ( 00 .. 59 Sec )
H=Houres ( 0..9 ) ( 00 .. 09 Houres )
X= Counter Mode: 0 Count up and start if MSB of MM set
4 Count down
8 Count down and start
( Example 59 22 3B 3B 49 -> Set Countdown Timer to 9.59:59 )
59 22 0A 00 80 Sent by ST60 in countdown
mode when counted down to 10 Seconds.
61 03 03 00 00 00 Issued by E-80
multifunction display at initialization
65 00 02 Select
Fathom (feet/3.33) display units for depth display (see command 00)
66 00 XY Wind
alarm as indicated by flags in XY:
X&8 = 8: Apparent Wind angle low
X&4 = 4: Apparent Wind angle high
X&2 = 2: Apparent Wind speed low
X&1 = 1: Apparent Wind speed high
Y&8 = 8: True Wind angle low
Y&4 = 4: True Wind angle high
Y&2 = 2: True Wind speed low
Y&1 = 1: True Wind speed high (causes Wind-High-Alarm on ST40 Wind
Instrument)
XY =00: End of wind alarm (only sent once)
68 X1 01 00 Alarm acknowledgment
keystroke (from ST80 Masterview)
68 X1 03 00 Alarm acknowledgment keystroke
(from ST80 Masterview)
68 41 15 00 Alarm acknowledgment keystroke
(from ST40 Wind Instrument)
X:
1=Shallow Shallow Water Alarm, 2=Deep Water Alarm, 3=Anchor Alarm
4=True Wind High Alarm, 5=True Wind Low Alarm, 6=True Wind Angle high
7=True Wind Angle low, 8=Apparent Wind high Alarm, 9=Apparent Wind low
Alarm
A=Apparent Wind Angle high, B=Apparent Wind Angle low
6C 05 XX XX XX XX XX XX Second equipment-ID
datagram (follows 01...), reported examples:
6C 05 04 BA 20 28 2D 2D ST60 Tridata
6C 05 05 70 99 10 28 2D ST60 Log
6C 05 F3 18 00 26 2D 2D ST80 Masterview
6E 07 00 00 00 00 00 00 00 00 MOB (Man
Over
Board), (ST80), preceded
by a Waypoint 999 command: 82 A5 40 BF 92 6D 24 DB
70 10 XY
Keystroke
on Raymarine A25006 ST60 Maxiview Remote Control
X=0 => Single keypress; X=2 => Two keys pressed;
X=4 => Single key: Press,hold&release; X=6 => Two keys:
Press,hold&release
Y=0 => Key 1 "Depth"; Y=1 => Key 2 "Speed" or Keys 1+2;
Y=2 => Key 3 "HDG" or Keys 2+4; Y=3 => Key 4 "Wind" or Keys 1+3;
Y=4 => Keys 3+4 "Nav"
80 00 0X Set Lamp Intensity: X=0 off, X=4: 1, X=8: 2, X=C: 3
81 01 00 00 Sent by course
computer
during setup when going past USER CAL.
81 00 00 Sent by
course computer immediately after above.
82 05 XX xx YY yy ZZ zz
Target
waypoint name
XX+xx = YY+yy = ZZ+zz = FF (allows error detection)
Takes the last 4 chars of name, assumes upper case only
Char= ASCII-Char - 0x30
XX&0x3F: char1
(YY&0xF)*4+(XX&0xC0)/64: char2
(ZZ&0x3)*16+(YY&0xF0)/16: char3
(ZZ&0xFC)/4: char4
Corresponding NMEA sentences: RMB, APB, BWR, BWC
83 07 XX 00 00 00
00
00 80 00 00 Sent by course computer.
XX = 0 after clearing a failure condition, also sent once after
power-up.
XX = 1 failure, auto release error. Repeated once per second.
XX = 8 failure, drive stopped.
84 U6 VW XY 0Z 0M RR SS TT Compass
heading Autopilot course and
Rudder position (see also command 9C)
Compass heading in degrees:
The two lower bits of U * 90 +
the six lower bits of VW * 2 +
number of bits set in the two higher bits of U =
(U & 0x3)* 90 + (VW & 0x3F)* 2 + (U & 0xC ? (U & 0xC ==
0xC ? 2 : 1): 0)
Turning direction:
Most significant bit of U = 1: Increasing heading, Ship turns right
Most significant bit of U = 0: Decreasing heading, Ship turns left
Autopilot course in degrees:
The two higher bits of V * 90 + XY / 2
Z & 0x2 = 0 : Autopilot in Standby-Mode
Z & 0x2 = 2 : Autopilot in Auto-Mode
Z & 0x4 = 4 : Autopilot in Vane Mode (WindTrim), requires regular
"10"
datagrams
Z & 0x8 = 8 : Autopilot in Track Mode
M: Alarms + audible beeps
M & 0x04 = 4 : Off course
M & 0x08 = 8 : Wind Shift
Rudder position: RR degrees (positive
values steer right,
negative values steer left. Example: 0xFE = 2° left)
SS & 0x01 : when set, turns off heading display on 600R control.
SS & 0x02 : always on with 400G
SS & 0x08 : displays “NO DATA” on 600R
SS & 0x10 : displays “LARGE XTE” on 600R
SS & 0x80 : Displays “Auto Rel” on 600R
TT : Always 0x08 on 400G computer, always 0x05 on 150(G) computer
85 X6 XX VU ZW ZZ YF 00 yf
Navigation
to waypoint information
Cross Track Error: XXX/100 nautical miles
Example: X-track error 2.61nm => 261 dec => 0x105 => X6XX=5_10
Bearing to destination: (U & 0x3) * 90° + WV / 2°
Example: GPS course 230°=180+50=2*90 + 0x64/2 => VUZW=42_6
U&8: U&8 = 8 -> Bearing is true, U&8 = 0 -> Bearing
is magnetic
Distance to destination: Distance 0-9.99nm: ZZZ/100nm, Y & 1 = 1
Distance >=10.0nm: ZZZ/10 nm, Y & 1 = 0
Direction to steer: if Y & 4 = 4 Steer right to correct error
if Y & 4 = 0 Steer left to correct error
Example: Distance = 5.13nm, steer left: 5.13*100 = 513 = 0x201 => ZW
ZZ
YF=1_ 20 1_
Distance = 51.3nm, steer left: 51.3*10 = 513 = 0x201 => ZW ZZ
YF=1_
20 0_
F contains four flags which indicate the available data fields:
Bit 0 (F & 1): XTE present
Bit 1 (F & 2): Bearing to destination present
Bit 2 (F & 4): Range to destination present
Bit 3 (F & 8): XTE >= 0.3nm
These bits are used to allow a correct translation from for instance an
RMB sentence which
contains only an XTE value, all other fields are empty. Since SeaTalk
has no special value
for a data field to indicate a "not present" state, these flags are
used to indicate the
presence of a value.
In case of a waypoint change, sentence 85, indicating the new bearing
and
distance,
should be transmitted prior to sentence 82 (which indicates the
waypoint
change).
Corresponding NMEA sentences: RMB, APB, BWR, BWC, XTE
86 X1 YY yy Keystroke
X=1: Sent by Z101 remote control to increment/decrement
course of autopilot
11 05
FA
-1
11 06 F9
-10
11 07
F8
+1
11 08 F7
+10
11 20
DF
+1 & -1
11 21
DE
-1 & -10
11 22
DD
+1 & +10
11 28 D7
+10 & -10
11 45
BA
-1 pressed longer than 1
second
11 46 B9
-10 pressed longer than 1
second
11 47
B8
+1 pressed longer than 1
second
11 48 B7
+10 pressed longer than 1
second
11 60
DF
+1 & -1 pressed longer than 1 second
11 61
9E
-1 & -10 pressed longer than 1 second
11 62
9D
+1 & +10 pressed longer than 1 second
11 64 9B
+10 & -10 pressed longer than 1 second (why not 11 68 97 ?)
Sent by autopilot (X=0: ST 1000+, X=2: ST4000+ or ST600R)
X1 01 FE
Auto
X1 02 FD
Standby
X1 03 FC
Track
X1 04 FB
disp (in display mode or page in auto chapter = advance)
X1 05
FA
-1 (in auto mode)
X1 06 F9
-10 (in auto mode)
X1 07
F8
+1 (in auto mode)
X1 08 F7
+10 (in auto mode)
X1 09
F6
-1 (in resp or rudder gain mode)
X1 0A
F5
+1 (in resp or rudder gain mode)
X1 21
DE
-1 & -10 (port tack, doesn´t work on ST600R?)
X1 22
DD
+1 & +10 (stb tack)
X1 23 DC
Standby & Auto (wind mode)
X1 28 D7
+10 & -10 (in auto mode)
X1 2E
D1
+1 & -1 (Response Display)
X1 41 BE
Auto pressed longer
X1 42 BD
Standby pressed longer
X1 43 BC
Track pressed longer
X1 44 BB
Disp pressed longer
X1 45
BA
-1 pressed longer (in auto mode)
X1 46 B9
-10 pressed longer (in auto mode)
X1 47
B8
+1 pressed longer (in auto mode)
X1 48 B7
+10 pressed longer (in auto mode)
X1 63 9C
Standby & Auto pressed longer (previous wind angle)
X1 68 97
+10 & -10 pressed longer (in auto mode)
X1 6E
91
+1 & -1 pressed longer (Rudder Gain Display)
X1 80
7F
-1 pressed (repeated 1x per second)
X1 81
7E
+1 pressed (repeated 1x per second)
X1 82 7D
-10 pressed (repeated 1x per second)
X1 83 7C
+10 pressed (repeated 1x per second)
X1 84
7B
+1, -1, +10 or -10 released
87 00
0X
Set Response level
X=1 Response level 1: Automatic Deadband
X=2 Response level 2: Minimum Deadband
88 03 WW XX YY ZZ
Autopilot
Parameter: Sent by AP every
second while in parameter setting mode.
(User or Dealer Calibration Mode)
WW Parameter Number
XX Current Setting
YY Max Parameter Value
ZZ Min Parameter Value
Known Paramters: Parameter (min-max)
[default]
Number
rudder gain (1-9)
[2]
1
counter rudder (1-9)
[2]
2
rudder limit (10-40)
[30]
3
turn rate limit (1-30)
[off]
4
speed (4-60)
[8]
5
off course limit (15-40)
[20]
6
auto trim (0-4)
[1]
7
power steer [Joy Stick] ON/OFF (not on new
400G)
9
drive type (3,4,5)
[3]
A
rudder damping (1-9)
[2]
B
variation: (full degrees)(-30 to +30)
[0]
C
auto adapt: 0=Off,1=North,2=South
[1]
D
auto adapt latitude (0-80)
[0]
E
auto release (only for stern drive)
ON/OFF
F
rudder alignment (-7 to +7)
[0]
10
Wind Trim (Wind Response) (1-9) [5] (only for
sail)
11
Response (1-9)
[5]
12
Boat type:1=displ,2=semi-displ,3=plan,4=stern,5=work,6=sail 13
Cal Lock: 0=OFF, 1=ON
[0]
15
Auto Tack Angle (40-125) [100] (only for
sail)
1d
89 U2 VW XY 2Z Compass
heading
sent by ST40 compass instrument
(it is read as a compass heading by the ST1000(+) or ST2000(+)
autopilot)
Compass heading in degrees:
The two lower bits of U * 90 +
the six lower bits of VW * 2 +
the two higher bits of U / 2 =
(U & 0x3) * 90 + (VW & 0x3F) * 2 + (U & 0xC) / 8
Locked stear reference (only send by the ST40 compass):
The two higher bits of V * 90 + XY / 2
Z & 0x2 = 0 : St40 in Standby mode
Z & 0x2 = 2 : St40 in Locked stear mode
Corresponding NMEA sentences: HDM, HDG, HDT, VHW
90 00
XX
Device Indentification
XX=02 sent by ST600R ~every 2 secs
XX=05 sent by type 150, 150G and 400G course computer
XX=A3 sent by NMEA <-> SeaTalk bridge ~every 10 secs
91 00 0X Set Rudder gain to X
92 02 XX YY 00 Set Autopilot
Parameter:
Sent by the remote head
(e.g. ST600R) to set a particular parameter.
XX Parameter Number (see 88)
YY Value to set to.
93 00
00
Enter AP-Setup: Sent by course computer before
finally entering the dealer setup. It is repeated
once per second, and times out after ten seconds.
While this is being sent, command 86 X1 68 97 is
needed for final entry into Setup. (600R generates
this when –1 & +1 are pressed simultaneously in this
mode).
95 U6 VW XY 0Z 00 RR 00 0T
Replaces
command 84 while autopilot is in value setting mode
e.g. lamp intensity or response level
99 00
XX
Compass variation sent by ST40 compass instrument
or ST1000, ST2000, ST4000+, E-80 every 10 seconds
but only if the variation is set on the instrument
Positive XX values: Variation West, Negative XX values: Variation East
Examples (XX => variation): 00 => 0, 01 => -1 west, 02 =>
-2 west ...
FF => +1 east, FE => +2 east ...
Corresponding NMEA sentences: RMC, HDG
9A 09 L11 L12 L13 L14
L21 L22 L23 00 00 00 Version String:
L11 means line 1 char 1. There are two lines, line 1
Can have 4 characters and line two can have 3
Characters. Char: “A”= 0x00, “B”= 0x01,……..
Char: “0”= 0x25, “1”= 0x26, ……….
Some special characters are mapped to the range
Between alphas and numeric chars. It seems modulo
masked at 0x36, and wraps around from there.
9C U1 VW RR Compass
heading
and Rudder position (see also command 84)
Compass heading in degrees:
The two lower bits of U * 90 +
the six lower bits of VW * 2 +
number of bits set in the two higher bits of U =
(U & 0x3)* 90 + (VW & 0x3F)* 2 + (U & 0xC ? (U & 0xC ==
0xC ? 2 : 1): 0)
Turning direction:
Most significant bit of U = 1: Increasing heading, Ship turns right
Most significant bit of U = 0: Decreasing heading, Ship turns left
Rudder position: RR degrees (positive values steer right,
negative values steer left. Example: 0xFE = 2° left)
The rudder angle bar on the ST600R uses this record
9E FC 49 49 03 XX AA BB YY OO PP GG HH
II
JJ Waypoint definition
XX: Degrees LAT, YY: Degrees LON
min&sec LAT= AA+(BB&0x1F)*256, BB&0x80 = 0: North,
BB&0x80
= 0x80: South
min&sec LON= OO+(PP&ßx1F)*256, PP&0x80 = 0:
West,
PP&0x80 = 0x80: East
GG HH II JJ: Last four characters of waypoint name
A1 XD 49 49 GG HH II JJ C1 C2 C3 C4 C5
C6
C7 C8 Destination Waypoint Info
GG HH II JJ: Last four characters of waypoint name
C1...C8: Up to 8 characters of WP name, unused are 0
Longer names (> 8 chars) create an additional record:
X=0: single record (short name)
X=1: 1st record, more follows
X=3: last record
Corresponding NMEA sentences: RMB, APB, BWR, BWC
A2 X4 00 WW XX YY ZZ Arrival Info
X&0x2=Arrival perpendicular passed, X&0x4=Arrival circle
entered
WW,XX,YY,ZZ = Ascii
char's of waypoint id. (0..9,A..Z)
Takes the last 4 chars of name,
assumes upper case only
Corresponding NMEA sentences: APB, AAM
A4 02 00 00 00 Broadcast query to
identify all devices on the bus, issued e.g. by C70 plotter
A4 06 00 00 00 00 00 Termination of request for
device identification, sent e.g. by C70 plotter
A4 12 II VV WW Device answers identification
request
II: Unit ID (01=Depth, 02=Speed, 03=Multi,
04=Tridata, 05=Tridata repeater,
06=Wind, 07=WMG, 08=Navdata GPS, 09=Maxview, 0A=Steering compas,
0B=Wind Trim, 0C=Speed trim, 0D=Seatalk GPS, 0E=Seatalk radar ST50,
0F=Rudder angle indicator, 10=ST30 wind, 11=ST30 bidata, 12=ST30 speed,
13=ST30 depth, 14=LCD navcenter, 15=Apelco LCD chartplotter,
16=Analog speedtrim, 17=Analog depth, 18=ST30 compas,
19=ST50 NMEA
bridge, A8=ST80 Masterview)
VV: Main Software Version
WW: Minor Software Version
A5
GPS and DGPS Info
A5 57 QQ HH ?? AA GG ZZ YY
DD
GPS and DGPS Fix Info
Signal Quality= QQ&0xF, QQ&0x10: Signal Quality available flag
HDOP= HH&0x7C, HH&0x80: HDOP available flag
Antenna Height= AA
Number of Sats= (QQ&0xE0)/16+(HH&0x1), HH&0x2: NumSats
available
flag
GeoSeperation= GG*16 (-2048....+2047 meters)
Differential age=(ZZ&0xE0)/2+(YY&0xF), YY&0x10: Diff. age
available
flag
Differential Station ID=(YY&0xC0)*4+DD, YY&0x20: Diff.St.ID
available
flag
Corresponding NMEA sentences: GGA, RMC, GSV, GLL, GGA
A5 61 04 E2 , A5 8D ..., A5
98 ..., A5 B5 ..., A5 0C... Unknown meaning
A5 74 ID ID ID ID ID GPS
Info:
ID numbers of satellites
A5 XD NN AA EE SS MM BB FF GG OO CC DD
XX YY ZZ GPS Info: Sat Position and Signal
Data of up to three sattelites [1,2,3] per datagram
Satellite number: [1] NN&0xFE, [2] (MM&0x70)/2+(BB&0x7),
[3]
CC&0x3F
Satellite azimuth:[1] AA*2+(EE&0x1), [2]
(BB&0xF8)*2+(FF&0xF),
[3] (CC&0xC0)*2+DD&0x7F
Satellite elevation:[1] (EE&0xFE)/2, [2]
(FF&0xF0)/2+GG&0x7,
[3] XX&0x7F
Satellite signal: [1] (SS&0xFE)/2, [2] (GG&0x80)/2+OO&0x3F,
[3] (YY&0xFC)/2+ZZ&0x1
Corresponding NMEA sentences: GSV, GSAIt seems that there will be 4 sat info datagrams generated, the first with X=0 carries the position and signal data of the 1st 3 satellites. The second also with X=0, but NN&0x1 set and a length of 0x0C carries the data of the next 2 satellites and then the ID numbers of the 1st 4 sats. A datagram like the 1st one, but with X=2 carries data of 3 more sats [6,7,8]. It was not possible to get more than 8 sats mapped to SeaTalk. Finally a datagram with X=7 carries the next 5 ID numbers.