875-0387-0 Vector V123_V133

GNSS Compass
User Guide
Revision: A2
November 7, 2018
 Table of Contents

Device Compliance, License and Patents............................................................................ 4

Terms and Definitions ......................................................................................................... 6
Chapter 1: Introduction .............................................................................................................. 8
Overview ............................................................................................................................. 8
Product Overview ............................................................................................................... 9
Key Features...................................................................................................................... 13
What’s Included in Your Kit............................................................................................... 14
Using PocketMax4 to Communicate with the V123_V133 .............................................. 16
Firmware Upgrades........................................................................................................... 20
Chapter 2: Installing the V123_V133 ........................................................................................ 25
Overview ........................................................................................................................... 25
Mounting the V123_V133................................................................................................. 26
Ports .................................................................................................................................. 43
Selecting Baud Rates and Message Types ........................................................................ 45
Connecting the V123_V133 to External Devices .............................................................. 46
Chapter 3: Understanding the V123_V133............................................................................... 49
Overview ........................................................................................................................... 49
Differential Operation ....................................................................................................... 50
SBAS Tracking .................................................................................................................... 50
GNSS Overview ................................................................................................................. 51
Atlas L-band ...................................................................................................................... 52
Supplemental Sensors....................................................................................................... 53
Time Constants ................................................................................................................. 56
Chapter 4: Operating the V123_V133 ...................................................................................... 58
Overview ........................................................................................................................... 58
Powering the V123_V133 ................................................................................................. 59
Beacon Operation ............................................................................................................. 60
Alarm Functionality ........................................................................................................... 61

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 Appendix A: Troubleshooting ................................................................................................... 62
Overview ........................................................................................................................... 62
Troubleshooting ................................................................................................................ 63
Appendix B: Technical Specifications........................................................................................ 67
Technical Specifications .................................................................................................... 67
V123_V133 Technical Specifications ................................................................................ 68
Appendix C: Commands and Messages .................................................................................... 72
Overview ........................................................................................................................... 72
Commands ........................................................................................................................ 73
Binary Messages ............................................................................................................... 75
NMEA Messages ............................................................................................................... 77
Index.................................................................................................................................. 94
End User License Agreement ............................................................................................ 95
Warranty Notice................................................................................................................ 99

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 Device Compliance, License and Patents

Device Compliance This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:
1. This device may not cause harmful interference, and
2. this device must accept any interference received, including interference that may cause undesired
operation.

This product complies with the essential requirements and other relevant provisions of Directive 2014/53/EU. The
declaration of conformity may be consulted at HTTPS://HEMISPHEREGNSS.COM/ABOUT-US/QUALITY-COMMITMENT.

Copyright Notice Copyright Hemisphere GNSS, Inc. (2018). All rights reserved.
No part of this manual may be reproduced, transmitted, transcribed, stored in a retrieval system or translated into
any language or computer language, in any form or by any means, electronic, mechanical, magnetic, optical,
chemical, manual or otherwise, without the prior written permission of Hemisphere GNSS.

Trademarks Hemisphere GNSS®, the Hemisphere GNSS logo, TRACERTM, Crescent®, EclipseTM, e-Dif®, L-DifTM, PocketMax4TM,
S320TM, SBX-4TM, VectorTM, XF1TM, and XF2TM are proprietary trademarks of Hemisphere GNSS, Inc. Other trademarks
are the properties of their respective owners.

Patents Hemisphere GNSS products may be covered by one or more of the following patents:

Patents
6111549 6876920 7400956 8000381
6397147 7142956 7429952 8018376
6469663 7162348 7437230 8085196
6501346 7277792 7460942 8102325
6539303 7292185 7689354 8138970
6549091 7292186 7808428 8140223
6711501 7373231 7835832 8174437
6744404 7388539 7885745 8184050
6865465 7400294 7948769 8190337
8214111 8217833 8265826 8271194
8307535 8311696 8334804 RE41358

Australia Patents
2002244539 2002325645
2004320401

Continued on next page

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 Device Compliance, License and Patents, Continued

Notice to Customers Contact your local dealer for technical assistance. To find the authorized dealer near you:

Hemisphere GNSS, Inc

8515 East Anderson Drive
Scottsdale, AZ 85255 USA
Phone: (480) 348-6380
Fax: (480) 270-5070
[email protected]
WWW.HGNSS.COM

Technical Support If you need to contact Hemisphere GNSS Technical Support:

Hemisphere GNSS, Inc.

8515 East Anderson Drive
Scottsdale, AZ 85255 USA
Phone: (480) 348-6380
Fax: (480) 270-5070
SUPPORT.HGNSS.COM

Documentation Hemisphere GNSS is committed to the quality and continuous improvement of our products and services. We urge
Feedback you to provide Hemisphere GNSS with any feedback regarding this guide by opening a support case at the following
website: SUPPORT.HGNSS.COM

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 Terms and Definitions

Introduction The following table lists the terms and definitions used in this document.

V123_V133
terms & Term Definition
definitions Activation Activation refers to a feature added through a one-
time purchase.
Atlas Atlas is a subscription-based service provided by
Hemisphere that enables the V123_V133 to achieve
sub-meter accuracy without a base station or datalink.
Beacon Refers to a base station that transmits a DGPS signal
over a radio frequency between 283.5 and 325.0 kHz.
Base Station The Base Station is a receiver placed over a familiar
point, provides real-time observations, and sends
those observations to nearby RTK rovers via UHF radio
or the internet.
BeiDou BeiDou is a Chinese satellite-based navigation system.
DGPS/DGNSS Differential GPS/GNSS refers to a receiver using
Differential Corrections.
Differential A method of improving precision of a GNSS rover. Two
Corrections GNSS receivers placed in a nearby area will have
similar error. A base station is placed over a known
point.
Elevation Mask Elevation Mask is the minimum angle between a
satellite and the horizon for the receiver to use that
satellite in the solution.

Continued on next page

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 Terms and Definitions, Continued

V123_V133
terms & Term Definition
definitions, Firmware Firmware is the software loaded into the receiver that
continued
controls the functionality of the receiver and runs the
GNSS engine.
GALILEO Galileo is a global navigation satellite system
implemented by the European Union and European
Space Agency.
GLONASS Global Orbiting Navigation Satellite System (GLONASS)
is a Global Navigation Satellite System deployed and
maintained by Russia.
Heading The vector created from the primary to secondary
antenna. It points to the direction that the receiver is
facing
Vector Receiver A Hemisphere GNSS receiver capable of providing
heading

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 Chapter 1: Introduction
Overview

Introduction This User Guide provides information to help you quickly set up your
V123_V133. You can download this manual from the Hemisphere GNSS
website at WWW.HGNSS.COM.

Contents
Topic See Page
Product Overview 9
Key Features 13
What’s Included in Your Kit 14
Using PocketMax4 to Communicate with the 16
V123_V133
Firmware Upgrades 20

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 Product Overview

Product The Vector V123_V133™ GNSS Compass supports GPS, GLONASS, Galileo,
overview QZSS, and BeiDou satellites using Hemisphere GNSS’ Crescent Vector H220™
GNSS module. This User Guide is available for download from
www.HGNSS.com.

Note: When referring to both the Vector V123 and V133™ GNSS Compass,
this manual uses the term V123_V133. When referring to either product this
manual uses either V123 or V133, respectively.

The V123_V133 is designed for marine and land applications that require
precise heading and sub-meter position performance. Featuring a Crescent
Vector GNSS receiver and two separate antennas, V123_V133 achieves
heading accuracy of 0.30º RMS.

The V123_V133 tracks single frequency GPS, GLONASS, Galileo, QZSS, and
BeiDou. The V123_V133 can be upgraded via activations to support Atlas L-
band.

The V123_V133 is a complete multi-GNSS compass system for heading and

positioning in a single enclosure that requires only one power/data cable
connection. With its CAN support and ease of installation, the V123_V133 is
the perfect solution for professional, commercial marine, Radar/ARPA, AIS,
ECDIS, scanning sonar and vessel control applications.

Continued on next page

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 Product Overview, Continued

Product There are no mechanical parts such as gimbals or a rotating motor, thus the
overview, V123 and V133 Compass is free from routine maintenance. Heading is
continuedError! determined from GNSS, and there is no need to wait for settling time,
Not a valid gyrocompass calibration and speed corrections. Vector performance is not
bookmark self-
affected by geomagnetism, making it the perfect solution for any marine
reference.
application.

The V123_V133 is an integrated system that houses the following:

• Crescent and Crescent Vector H220 module
• Dual GNSS multipath-resistant antennas
• DGPS beacon module and H-field beacon antenna (V133 only)
• Power supply
• Six-axis sensor

The sensor is present to improve system performance and to provide backup

heading information in the event a GNSS heading is not available due to
signal blockage. The sensor provides a substitute heading, accurate to within
1º per minute for up to three minutes.

The V133 has an internal Beacon antenna capable of receiving these signals,
demodulating them, and applying the differential correction to the GNSS
position

Note: Used as a heading device, the V123 GNSS Compass is identical to the
V133 GNSS Compass. Used as a positioning device, only the V133 GNSS
Compass contains a DGPS beacon module and antenna. If you purchased the
V123 GNSS Compass, disregard the sections of this manual that discuss the
beacon signal, receiver operation, and implications to installation relating to
the beacon signal.

The Crescent Vector H220 module supports multiple RF front ends - enabling
tighter coupling of measurements from separate antennas for use in
heading-based products.

Continued on next page

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 Product Overview, Continued

Product The V123_V133’s GPS antennas are separated by 50.0 cm between phase
overview, centers, resulting in a heading performance better than 0.30° RMS. The
continued V123_V133 can provide heading and positioning updates of up to 50 Hz and
delivers positioning accuracy of 0.6 m 95% of the time when using
differential GPS corrections from Satellite Based Augmentation Systems
(SBAS) or from beacon (V133 only).

The V123_V133 also features Hemisphere GNSS’ exclusive Tracer™

technology, which enables Hemisphere GNSS receivers to use old differential
GPS correction data for 40 minutes or more without significantly affecting
the positioning quality. The V123_V133 is less likely to be affected by
differential signal outages due to signal blockages, weak signals, or
interference when using Tracer.

If you are new to GNSS and SBAS, refer to the Hemisphere GNSS Technical
Reference Manual (for further information on these services and
technologies before proceeding.

Figure 1-1: V123_V133

Continued on next page

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 Product Overview, Continued

Atlas L-band Atlas L-band is Hemisphere's industry leading correction service, which can
be added to the V123_V133 as a subscription. Atlas L-band has the following
benefits:
• Positioning accuracy - Competitive positioning accuracies down to 30 cm
RMS in certain applications
• Positioning sustainability - Cutting edge position quality maintenance in
the absence of correction signals, using Hemisphere’s patented technology

For more For more information about Athena RTK, see:

information HTTP://HGNSS.COM/TECHNOLOGY

For more information about Atlas L-band, see:

HTTP://HGNSS.COM/ATLAS

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 Key Features

V123_V133 Key Key features of the V123_V133 include:

features • Sub-meter positioning
• DGNSS corrections from all SBAS constellations and over beacon
• Position accuracies of 30 cm horizontal RMS without the need of a base
station by using Atlas L-band* (*Requires the purchase of a subscription)
• Heave of 30 cm RMS (DGNSS)
• Heading accuracy of 0.30º RMS
• Pitch and roll < 1° RMS
• Simple menu operations
• 1 PPS output
• Event marker input
• 1 full-duplex RS232, 1 full-duplex RS422, and 1 half-duplex RS422 serial
ports for NMEA 0183 output and serial configuration
• Up to 50 Hz output
• Accurate heading up to 3 minutes during GNSS outages
• Integrated sensor delivers fast startup times and provide heading updates
during temporary loss of GNSS

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 What’s Included in Your Kit

V123_V133 kit Table 1-1 lists the parts included with your V123 or V133. The V123_V133
GNSS Compass and the power/data cable (accessory item) are the only two
required components.

Note: The V123_V133’s parts comply with IEC 60945 Section 4.4: “Exposed to
the weather.”

V123_V133 Table 1-1 V123_V133 Parts list

Parts list
Part No. Description Qty
Vector kit
940-3123-xx • Vector V123 GNSS Compass
940-3131-xx • Vector V123 IMO GNSS Compass
940-3124-xx • Vector V133 GNSS Compass
940-3132-xx • Vector V133 IMO GNSS Compass
Vector receiver model
(one of the following models):
804-0156-xx • V123 1
804-0157-xx • V133 1

Continued on next page

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 What’s Included in Your Kit, Continued

V123_V133 All the following are accessory items available for purchase separately from
Parts list, your V123 or V133.
continued
Part No. Description Qty
880-1042-000 Power/data cable, 15 m 1
880-1043-000 Power/data cable, 30 m 1
Each cable includes:
• Clamp
• Screw
• Washer
710-0113-000# Serial-to-NMEA 2000 adapter, includes the 1
following items:
• Screws
• Washers
602-1113-000# Installation bracket (black) 1
400-0246-000# Replacement connector, 18-pin 1

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 Using PocketMax4 to Communicate with the V123_V133

Using First, power on and connect the receiver to your computer’s com port. A
PocketMax4 to configuration screen appears prompting you to choose the COM port and
communicate baud rate of the receiver.
with the
V123_V133
Choose from the following communications settings options:
• Select COM Port.
• If you do not know the baud rate, select the Auto-Baud feature to
cycle through all possible baud rates, and click Connect.

Continued on next page

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 Using PocketMax4 to Communicate with the V123_V133, Continued

Using
PocketMax4 to
communicate
with the
V123_V133,
continued

Continued on next page

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 Using PocketMax4 to Communicate with the V123_V133, Continued

Using You can monitor your connection status through the message displayed at
PocketMax4 to the bottom of the screen.
communicate
with the If you receive a message “Receiver not found…” check your connections,
V123_V133,
your com port, and your baud rate and try to re-send.
continued

Continued on next page

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 Using PocketMax4 to Communicate with the V123_V133, Continued

Using The Quick Configuration screen allows you to use “PortA” and “PortB” tabs
PocketMax4 to to configure the output messages and baud rates of these two ports.
communicate
with the The Port displaying “[THIS]” is the port currently connected. “[OTHER]” is the
V123_V133,
other port.
continued
Enable all desired messages for PortA and PortB.

Use RxConfig to make basic receiver configurations. To exit the software,

click Save Settings and Disconnect. For all other PocketMax4 questions,
please reference the PocketMax4 User Guide on the HGNSS website.

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 Firmware Upgrades

Overview Periodically, Hemisphere GNSS releases firmware upgrades to improve

performance, fix bugs, or add new features to a product. To update the
firmware on the V123_V133:
1. Download the latest version of Hemisphere GNSS RightArm from the
following link:
HTTPS://HGNSS.COM/RESOURCES-SUPPORT/SOFTWARE.

RightArm Connect the V123_V133 to a computer over serial. Firmware can be loaded
updates over either serial port. Set the baud rate of the serial port you are using to
19200.

Launch RightArm.

Click the Connect button or navigate to Receiver -> Connect.

Continued on next page

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 Firmware Upgrades, Continued

RightArm Choose the COM port connected to the V123_V133 and click OK.
updates,
continued

Note: The baud rate of the serial port should be set to 19200 bps. Select
“Allow Auto Baud” to change the baud rate during the firmware upgrade for
a faster update.

Continued on next page

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 Firmware Upgrades, Continued

RightArm Click the Programming button.

updates,
continued

Select a Program Type.

The V123_V133 has two firmware applications, allowing two different

versions of GNSS firmware. Hemisphere GNSS suggests loading the new
firmware onto both applications.

After the firmware update is completed, check the current GNSS firmware.

If the current firmware is not the same as the newly loaded firmware, the
V123_V133 could be using the other application. You can switch applications
by sending the following command:

$JAPP,OTHER.

Choose the Application, and press Select File to select the firmware file.

Continued on next page

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 Firmware Upgrades, Continued

RightArm
updates,
continued

Choose the firmware, and click Erase and Program.

The Activate Loader checkbox in the Programming View window is selected.

After pressing the Erase and Program button, this checkbox will de-select,
and the Status field indicates the receiver is in loader mode (ready to receive
the new firmware file).

Continued on next page

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 Firmware Upgrades, Continued

RightArm Note: If the Activate Loader check box remains selected, power the receiver
updates, off and on. When the receiver powers back on, the Activate Loader box
continued should be de-selected.

Do not to interrupt the power supply to the receiver, and do not interrupt
the communication link between the PC and the receiver until
programming is complete. Failure to do so may cause the receiver to
become inoperable and will require factory repair.

Note: After completing the firmware update, Hemisphere GNSS suggests

repeating this process for the other application.

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 Chapter 2: Installing the V123_V133
Overview

Introduction This chapter provides instructions on how to mount and install your
V123_V133 receiver.

Contents
Topic See Page
Mounting the V123_V133 26
Ports 43
Selecting Baud Rates and Message Types 45
Connecting the V123_V133 to External Devices 46

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 Mounting the V123_V133

Introduction This section provides information on mounting the V123_V133 in the optimal
location, orientation considerations, environmental considerations, and
other mounting options.

GNSS satellite When considering where to mount the V123_V133, consider the following
reception satellite reception recommendations:
• Ensure there is a clear view of the sky available to the V123_V133 so the
GNSS and L-band satellites are not masked by obstructions that may reduce
system performance
• Mount the V123_V133 in a position in respect to the primary GNSS
antenna (located on the end opposite the recessed arrow on the underside
of the enclosure)
• Locate any transmitting antennas away from the V123_V133 by at least a
few meters to ensure tracking performance is not compromised
• Ensure cable length is adequate to route into the vessel to reach a
breakout box or terminal strip
• Do not locate the antenna where environmental conditions exceed those
specified in Appendix B, Technical Specifications of this document.

Figure 2-1: Recessed arrow

Continued on next page

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 Mounting the V123_V133, Continued

Beacon When using the V133’s internal beacon receiver as the correction source,
reception consider the possible mounting locations from the perspective of ambient
noise within the beacon band.

Keep the following in mind when deciding upon a location with respect to
maximizing beacon performance:
• Ensure that the antenna is as far as possible from all other equipment that
emits electromagnetic interference (EMI), including DC motors, alternators,
solenoids, radios, power cables, display units, and other electronic devices.
• If you are installing the antenna on a vessel, mount the Vector compass as
high as possible, considering maintenance and accessibility. In addition,
ensure that the antenna is higher than the highest metal object on the
vessel.
• If a radar system is present, mount the antenna outside the path of the
radar beam.

The V133’s internal beacon receiver calculates a signal-to-noise ratio (SNR),

measured in decibels (dB), that indicates the receiver’s performance. The
SNR is the height of the signal above the noise floor: the higher the SNR, the
better your beacon receiver demodulates the signal.

The optimum antenna location is a position where your average SNR is

highest. You should turn on all accessories you intend to use during normal
operation when locating the best position for the antenna. By monitoring the
SNR, you can determine the optimum location with respect to beacon
reception. The SNR is available in the $CRMSS NMEA message described in
the Hemisphere GNSS Technical Reference Manual.

Continued on next page

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 Mounting the V123_V133, Continued

VHF VHF interference from such devices as cellular phones and radio transmitters
interference may interfere with GPS operation, however the Vector compass can still
track other constellations, maintaining heading and position.

For example, if installing the V123_V133 near marine radios, consider the
following:
• VHF marine radio working frequencies (Channels 1 to 28 and 84 to 88)
range from 156.05 to 157.40 MHz. The L1 GPS working center frequency is
1575.42 MHz. The bandwidth is +/- 2MHz to +/- 10 MHz, which is
dependent on the GNSS antenna and receiver design.
• VHF marine radios emit strong harmonics. The 10th harmonic of VHF radio,
in some channels, falls into the GPS working frequency band, which may
cause the SNR of GNSS to degrade significantly.
• The radiated harmonic signal strength of different brands/models varies.
• Follow VHF radio manufacturers’ recommendations on how to mount their
radios and what devices to keep a safe distance away.
• Handheld 5W VHF radios may not provide suitable filtering and may
interfere with the V123_V133’s operation if too close.

Before installing the Vector Compass, use the following diagram to ensure
there are no nearby devices that may cause VHF interference.

Figure 2-2: V123_V133 distance from nearby VHF radios

Continued on next page

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 Mounting the V123_V133, Continued

Environmental Hemisphere Vector Smart Antennas are designed to withstand harsh

considerations environmental conditions; however, adhere to the following limits when
storing and using the V123_V133:
• Operating temperature: -30°C to +70°C (-22°F to +158°F)
• Storage temperature: -40°C to +85°C (-40°F to +185°F)
• Humidity: 95% non-condensing

Mounting The V123_V133 outputs heading, pitch, and roll readings regardless of the
orientation orientation of the antennas. The relation of the antennas to the vessel’s axis
determines if you need to enter a heading, pitch, or roll bias.

The primary antenna is used for positioning and the primary and secondary
antennas, working in conjunction, output heading, pitch, and roll values.

Note: Regardless of which mounting orientation you use, the V123_V133

provides the ability to output the heave of the vessel. This output is available
via the $GPHEV message. For more information on this message refer to the
Hemisphere GNSS Technical Reference Manual.

Parallel Parallel installation orients the V123_V133 parallel to, and along the
orientation centerline of, the axis of the vessel. This provides a true heading. In this
orientation:
• If you use a gyrocompass and there is a need to align the Vector smart
antenna, you can enter a heading bias in the V123_V133 to calibrate the
physical heading to the true heading of the vessel.
• You may need to adjust the pitch/roll output to calibrate the measurement
if the Vector is not installed in a horizontal plane.

Continued on next page

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 Mounting the V123_V133, Continued

Perpendicular You can also install the antennae, so they are oriented perpendicular to the
orientation centerline of the vessel’s axis. In this orientation:
• Enter a heading bias of +90° if the primary antenna is on the starboard side
of the vessel and -90° if the primary antenna is on the port side of the
vessel.
• Configure the receiver to specify the GNSS smart antenna is measuring the
roll axis using $JATT,ROLL,YES.
• Enter a roll bias to properly output the pitch and roll values.
• You may need to adjust the pitch/roll output to calibrate the measurement
if the Vector is not installed in a horizontal plane.

Mounting
orientation
example

Figure 2-3: Recommended orientation and resulting signs of HPR values

Continued on next page

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 Mounting the V123_V133, Continued

Mounting
orientation
example,
continuedMoun
ting orientation
example,

Figure 2-4: Alternate orientation and resulting signs of HPR values

Mounting The top of the V123_V133 enclosure incorporates sight design features to
alignment help you align the enclosure on your vessel.

To use the sights, center the small post on the opposite side of the enclosure
from you, within the channel made in the medallion located in the center of
the enclosure top as shown in Figure 2-5 and Figure 2-6.

Alignment accuracy when looking through the long site (Figure 2-5) is
approximately +/- 1°, while alignment through the short site (Figure 2-6) is
approximately +/- 2.5°.

Figure 2-5: Long site alignment

Continued on next page

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 Mounting the V123_V133, Continued

Mounting
alignment,
continued

Figure 2-6: Short site alignment

If you have another accurate source of heading data on your vessel, such as a
gyrocompass, you may use its data to correct for a bias in V123_V133
alignment within the V123_V133 software configuration.

Alternatively, you can physically adjust the heading of the V123_V133 so that
it renders the correct heading measurement or add a software offset.

Mounting The V123_V133 allows for three different mounting options: flush-mount,
options pole-mount, and bracket-mount:
1. Flush-mount - The bottom of the V123_V133 contains eight M8-1.25
holes for flush mounting the unit to a flat surface (see Figure 2-7). The
eight holes comprise two sets of four holes. Flush mounting does not
provide any additional dampening to the receiver. The V123_V133 can
be mounted using an optional mounting bracket. See Table 1-1 for
bracket part information.
2. Pole-mount - The V123_V133 can be mounted using a mounting pole.
The set screws on the long sides of the base (see middle drawing in
Figure 2-7) allow you to secure the V123_V133 in place (3/16" Allen
wrench not included). Hand tighten until snug (do not overtighten).
3. Bracket-mount - You can purchase on optional mounting bracket. See
Table 1-1 for bracket part information.

Note: Hemisphere GNSS does not supply mounting surface hardware or a

mounting pole. You must supply the appropriate mounting hardware
required to complete V123_V133 installation.

Continued on next page

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 Mounting the V123_V133, Continued

V123_V133 Figure 2-7 illustrates the physical dimensions of the V123_V133.

dimensions

Figure 2-7: V123_V133 dimensions

Continued on next page

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 Mounting the V123_V133, Continued

Power/data Before mounting the V123_V133, consider the following regarding

cable power/data cable routing:
considerations
Do Do not
Ensure cable reaches appropriate Run cables in areas of excessive
power source heat
Keep cable away from corrosive Run cables through a door or
chemicals window jams
Connect to a data storage device, Crimp or excessively bend the cable
computer, or other device that
accepts GNSS data
Keep cable away from rotating Place tension on the cable
machinery
Remove unwanted slack from the
cable at the V123_V133 end
Secure along the cable route using
plastic wrapping

Improperly installed cable near machinery can be dangerous.

Continued on next page

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 Mounting the V123_V133, Continued

Connecting the
serial Step Action
power/data 1 Align the cable connector key-way with the V123_V133
cable
connector key.
2 Rotate the cable ring clockwise until it locks. The locking action
is firm; you will feel a positive “click” when it has locked.
3 Attach the power/data cable to the cable clamp.
4 Fasten the clamp to the bottom of the V123_V133 using the
screw and washer.
5 Attach the cable cover.

Continued on next page

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 Mounting the V123_V133, Continued

Connecting the
serial
power/data
cable, continued

Figure 2-8: Connecting the serial power/data cable

Continued on next page

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 Mounting the V123_V133, Continued

Connecting to After you mount the V123_V133, connect either the serial power/data cable,
the serial-to or the serial-to-NMEA 2000 adapter to the V123_V133.
NMEA 2000
adapter Step Action
1 Align the adapter connector keyway with the V123_V133
connector key.
2 Rotate the cable ring clockwise until it locks. The locking action
is firm; you will feel a positive “click” when it has locked.
3 Fasten the adapter to the body of the V123_V133 using the
provided screws and the two slots in the adapter.
4 Attach the cable cover.

Note: For more information on the serial-to-NMEA 2000 adapter see “NMEA
2000 Port”.

Continued on next page

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 Mounting the V123_V133, Continued

Connecting to
the serial-to
NMEA 2000
adapter,
continued

Continued on next page

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 Mounting the V123_V133, Continued

Connecting to
the serial-to
NMEA 2000
adapter,
continued

Figure 2-9: Connecting to the serial-to-NMEA 2000 adapter

Continued on next page

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 Mounting the V123_V133, Continued

Flush-mounting This section describes how to flush-mount or pole-mount the V123_V133.

the V123_V133
Be mindful of the following when planning your installation:
• Hemisphere GNSS does not supply mounting surface hardware or a
mounting pole. You must supply the appropriate hardware or mounting
pole required to complete V123_V133 installation.
• You can enter a software offset to accommodate for a heading
measurement bias due to installation.

The bottom of the V123_V133 contains eight holes (two sets of four holes)
for flush-mounting the unit to a flat surface (Figure 2-10).

The flat surface may be fabricated per your installation, an off-the-shelf item
(such as a radar mounting plate), or an existing surface on your vessel.

Figure 2-10: Flush-mounting holes on bottom of V123_V133

Note: For flush mounting the V123_V133, refer to the dimensions drawing
for mounting specifications.

Continued on next page

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 Mounting the V123_V133, Continued

Flush-mounting Complete the following steps to mount the V123_V133:

the V123_V133,
continued Step Action
1 Determine the desired location and proper orientation for the
V123_V133. See “Mounting Orientation” for information on
determining the desired orientation.
2 Navigate to the HGNSS website Home / Products / Products /
Position & Heading / Vector V123&V133 Smart Antenna
3 Use the supplied drawing or photocopy the section of the
V123_V133 that contains the eight mounting for use as a
template to plan the mounting hole locations. Use the inner
four holes or the outer four holes per your installation.
4 If using a photocopy, make sure it is scaled one-to-one with the
mounting holes on the bottom of the V123_V133.
5 Mark the mounting hole centers on the mounting surface.
6 Place the V123_V133 over the marks to ensure the planned hole
centers align with the true hole centers (adjusting as necessary).
7 Use a center punch to mark the hole centers.
8 Drill the mounting holes with a 9mm bit appropriate for the
surface.
9 Place the V123_V133 over the mounting holes and insert the
mounting screws through the bottom of the mounting surface
into the V123_V133.

When installing the V123_V133, hand-tighten to no more than 20 Ibf.in.

Damage resulting from overtightening is not covered by the warranty.

Continued on next page

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 Mounting the V123_V133, Continued

Pole-mounting If you need the GNSS-assisted roll measurement, install the V123_V133
the V123_V133 perpendicular to the vessel’s axis. If you do not need this measurement,
install the V123_V133 parallel with the vessel’s axis.

Complete the following steps to pole-mount the V123_V133:

Step Action
1 Determine the desired location and proper orientation for
theV123_V133. See “Mounting Orientation” for information on
determining the desired orientation.
2 Hand tighten the V123_V133 on the pole until snug (unit is
stable on pole) while ensuring correct orientation.

Hand tighten to no more than 20 Ibf.in. Damage resulting from

over-tightening is not covered by the warranty.
3 Use the set screws on the long sides of the base to secure the
V123_V133 in place (3/16" Allen wrench not included).

Figure 2-11: Pole-mounting specifications

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 Ports

Overview The V123_V133 offers either serial port or NMEA 2000 functionality.

Serial ports The V123_V133 has three serial ports:

1. Port A can be both full-duplex RS-232 and half-duplex RS-422 (transmit
only)
2. Port B is full-duplex RS-422
3. Port C is for NMEA 2000 and only available via serial-to-NMEA adapter

You can receive external differential corrections via either Port A (full-duplex
RS-232) or Port B (full-duplex RS-422).

You can connect up to three devices at one time using two ports.

One device can receive data via Port A (RS-422 transmit only) while two
devices can transmit and receive data via Ports A and B (one connected to
Port A RS- 232 and one connected to Port B).

Note: Port A (RS-422) or Port B is required for communicating to an IMO-

certified device.

You can update firmware via Port A (RS-232) or Port B.

Note: The V123_V133 has maximum baud rate of 115200.

Continued on next page

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 Ports, Continued

Serial port You may configure Port A or Port B of the GNSS receiver to output any
configuration combination of data.

Port A can have a different configuration from Port B in data message

output, data rates, and the baud rate of the port, and configure the ports
independently based upon your needs. Both RS-232 and RS-422 output
signals may be used simultaneously.

The RS-232 Port A and RS-422 Port A output the same data messages at the
same baud rate. If the baud rate or messages for the RS-422 port need to be
changed, this needs to be commanded through the RS-232 port.

Note: For successful communications, use the 8-N-1 protocol and set the
baud rate of the V123_V133’s serial ports to match that of the devices to
which they are connected. Flow control is not supported.

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 Selecting Baud Rates and Message Types

Baud rates & When selecting your baud rate and message types, use the following formula
Message types to calculate the bits/sec for each message and sum the results to determine
the baud rate for your required data throughput.

Message output rate * Message length (bytes) * bits in byte = Bits/second

(1 character = 1 byte, 8 bits = 1 byte, use 10 bits/byte to account for
overhead).

For information on message output rates refer to the Hemisphere GNSS

Technical Reference Manual.

NMEA 2000 To use the V123_V133 for NMEA 2000, connect the included serial-to-NMEA
port 2000 adapter (P/N 710-0113-000#, see Figure 2-12) to the unit. Insert the 18-
pin connector of the adapter into the male end of the 18-pin connector on
the V123_V133 by aligning the keys.

Attach the adapter to the unit using the supplied screws (machine, 8-32, ½”,
PPHC, SS) and washer (flat, #8, SS). The 5-pin male Micro-C connector
connects to your NMEA 2000 drop cable.

Note: The serial-to-NMEA 2000 adapter is not an IMO requirement and may
not be used in such an application.

Figure 2-12: Serial-to-NMEA adapter

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 Connecting the V123_V133 to External Devices

Recommend- When interfacing with other devices, ensure the transmit data output and
ations for the signal grounds from the V123_V133 is connected to the data input of the
connecting to other device. The signal grounds must also be connected.
other devices
The RS-422 is a balanced signal with positive and negative signals referenced
to ground, ensure you maintain the correct polarity.

When connecting the transmit data output positive signal to the receive line
of the other device, it should be connected to the receive positive terminal.

The negative transmit data signal from the V123_V133 is connected to the
receive data negative input of the other device.

For a list of Hemisphere GNSS commands, please refer to the Hemisphere

GNSS Technical Reference Manual.

Power/data The V123_V133 uses a single 15 m (49 ft) or 30 m (98 ft) cable for power and
cable data input/output.
considerations

Figure 2-13: Power/data cable

Note: Cover drain wire with black shrink tube.

Continued on next page

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 Connecting the V123_V133 to External Devices, Continued

Power/data The receiver end of the cable is terminated with an environmentally-sealed

cable 18-pin connection while the opposite end is unterminated and requires field
considerations, stripping and tinning.
continued
Note: This section refers to a serial connection. For connecting external
NMEA 2000 devices, plug the serial-to-NMEA 2000 adapter into the
V123_V133 and then attach a standard NMEA 2000 dropline cable to the
adapter.

Power/data Depending on the application and installation needs, the cable may need to
cable pin-out be shortened. However, if you require a longer cable run than 30 m, you can
assignments bring the cable into a break-out box that incorporates terminal strips, within
the vessel.

When lengthening the cable keep the following in mind:

• To lengthen the serial lines inside the vessel, use 20-gauge twisted pairs
and minimize the additional wire length.
• When lengthening the power input leads to the V123_V133, ensure the
additional voltage drop is small enough to power the system above the
minimum voltage of the system. Wire of 18-gauge or larger should also be
used.
• Minimize RS-232 cable length to ensure reliable communication.

Figure 2-14 shows the power/data cable pin-out assignments.

Figure 2-14: V123_V133 pin-out assignments

Continued on next page

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 Connecting the V123_V133 to External Devices, Continued

Power/data Table 2-1 shows the cable pin-out specifications.

cable pin-out
specifications Table 2-1: V123_V133 pin-out specifications

Pin Signal Color

1 Power (+) Red
2 Power (-) Black
3 Port A Tx RS-232 Blue
4 Port A Rx RS-232 Black/blue stripe
5 Reserved
6 Port A Tx RS-422(+) Green
7 Port B Rx RS-422(+) Brown
8 Port B Rx RS-422(-) Black/brown stripe
9 Reserved
10 Drain Bare wire
11 Port A Tx RS-422(-) Green/black stripe
12 Signal ground Grey
13 Alarm White
14 Alarm White/red stripe
15 1 PPS(+) Orange
16 Port B Tx RS-422(+) Yellow
17 Port B Tx RS-422(-) Yellow/black stripe
18 1 PPS(-) Orange/black stripe

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 Chapter 3: Understanding the V123_V133
Overview

Introduction The GNSS receiver begins tracking satellites when it powers up and is placed
outside in an open area. Position and heading accuracy vary depending upon
location and environment. Position performance can be improved with RTK
or DGNSS.

The following sections provide the steps to configure your V123_V133 to use
Atlas, Beacon, SBAS, or RTK.

Note: Differential source and RTK status impact only positioning and heave.
There is no impact to heading, pitch, or roll.

Contents
Topic See Page
Differential Operation 50
SBAS Tracking 50
GNSS Overview 51
Atlas L-band 52
Supplemental Sensors 53
Time Constants 56

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 Differential Operation

Differential The V123_V133 delivers positioning accuracies of 2.5 m 95% and provides
(DGNSS) positioning quality to better than 0.6 m 95% using differential corrections
operation received through the internal SBAS demodulator, beacon receiver, Atlas L-
band, or through externally-supplied RTCM corrections.

SBAS Tracking

SBAS tracking The V123_V133 features two-channel tracking that provides an enhanced
ability to maintain a lock on an SBAS satellite when more than one satellite is
in view. This redundant tracking approach results in more consistent tracking
of an SBAS signal in areas where signal blockage of a satellite is possible.

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 GNSS Overview

GNSS operation The GNSS receiver is always operating, regardless of the DGNSS mode of
operation. The following sections describe the general operation of the
V123_V133’s internal GNSS receiver.

Note: Differential source and status have no impact on heading, pitch, or roll.
They only have an impact on positioning and heave.

The V123_V133 provides accurate and reliable heading and position

information at high update rates. To accomplish this task, the V123_V133
uses a high performance GNSS receiver and two antennas for GNSS signal
processing.

One antenna is designated as the primary GNSS antenna and the other is the
secondary GNSS antenna. Positions computed by the V123_V133 are
referenced to the phase center of the primary GNSS antenna. Heading data
references the Vector formed from the primary GNSS antenna phase center
to the secondary GNSS antenna phase center.

The heading arrow located on the bottom of the V123_V133 enclosure

defines system orientation. The arrow points in the direction the heading
measurement is computed (when the antenna is installed parallel to the
fore-aft line of the vessel). The secondary antenna is directly above the
arrow.

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 Atlas L-band

Atlas L-band Atlas L-band corrections are available worldwide. With Atlas, the positioning
accuracy does not degrade as a function of distance to a base station, as the
data content is not composed of a single base station’s information, but an
entire network’s information.

The V123_V133 can calculate a position with 30 cm RMS (horizontal)

accuracy.

To configure the receiver to use Atlas L-band, a subscription must be

purchased.

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 Supplemental Sensors

Overview The V123_V133 has a supplemental sensor integrated into the H220 GNSS
board that is enabled by default. You can enable/disable the sensor.

The sensor acts to reduce the RTK search volume, which improves heading
startup and reacquisition times. This improves the reliability and accuracy of
selecting the correct heading solution by eliminating other possible,
erroneous solutions.

The Hemisphere GNSS Technical Reference Manual describes the commands

and methodology required to recalibrate, query, or change the sensor status.

Tilt aiding The V123_V133’ s internal sensor is factory calibrated and enabled by default
and constrains the RTK heading solution beyond the volume associated with
a fixed antenna separation.

The V123_V133 knows the approximate inclination of the secondary antenna

with respect to the primary antenna. The search space defined by the sensor
is reduced to a horizontal ring on the sphere’s surface by reducing the search
volume and decreases startup and reacquisition times (see Figure 3-1).

Tilt angle

Figure 3-1: V123_V133 tilt aiding

Continued on next page

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 Supplemental Sensors, Continued

Gyro aiding The V123_V133’s internal sensor reduces reacquisition times when a GNSS
heading is lost due to blocked satellite signals.

The sensor provides a relative change in angle since the last computed
heading and defines the search space as a wedge-shaped location (see Figure
3-2).

Figure 3-2: V123_V133 gyro aiding

The gyro aiding accurately smooths the heading output and the ROT. The
sensor also provides an alternate source of heading, accurate to within 1º
per minute for up to three minutes in times of GNSS loss for either antenna.
If the outage lasts longer than three minutes, the sensor will have drifted too
far and the V123_V133 begins outputting null fields in the heading output
messages. There is no user control over the timeout period of the sensor.

The sensor initializes itself at power up and during initialization, or you can
calibrate it as outlined in the Hemisphere GNSS Technical Reference Manual.

For optimal performance, when the sensor is first initializing, the dynamics
the sensor experiences during this warm-up period are similar to the regular
operating dynamics.

Continued on next page

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 Supplemental Sensors, Continued

Gyro aiding, Gyro-aiding updates the post HTAU-smoothed heading. As a result, if the
continued HTAU value is increased while gyro aiding is enabled, there will be little to no
lag in heading output due to vessel maneuvers.

The Hemisphere GNSS Technical Reference Manual includes information on

setting an appropriate HTAU value for the application.

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 Time Constants

Overview The V123_V133 incorporates user-configurable time constants that can

provide a degree of smoothing to the heading, pitch, Rate-of-Turn (ROT),
Course-over-Ground (COG), and speed measurements.

You can adjust these parameters depending on the expected dynamics of the
vessel. For example, increasing the time is reasonable if the vessel is very
large and is not able to turn quickly or would not pitch quickly. The resulting
values would have reduced “noise,” resulting in consistent values with time.

If the vessel is quick and nimble, increasing this value can create a lag in
measurements.

If you are unsure on how to set this value, it is best to be conservative and
leave it at the default setting.

Note: For heading and rate of turn there is no lag once the sensor is
calibrated and enabled.

Formulas for determining the level of smoothing are located in the

Hemisphere GNSS Technical Reference Manual. If you are unsure how to set
this value, it is best to be conservative and leave the default setting.

Heading Use the $JATT,HTAU command to adjust the level of responsiveness of the
true heading measurement provided in the $GPHDT message. The default
value of this constant is 0.1 seconds of smoothing when gyro-aid is enabled.

By disabling gyro-aid, the equivalent default value of the heading time

constant should be 0.5 seconds of smoothing. This is not automatic, and
therefore it must be manually entered.

Note: Increasing the time constant increases the level of heading smoothing
and increases lag (with gyro-aid disabled).

Continued on next page

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 Time Constants, Continued

Pitch Use the $JATT,PTAU command to adjust the level of responsiveness of the
pitch measurement provided in the $PSAT,HPR message. The default value of
this constant is 0.5 seconds of smoothing.

Note: Increasing the time constant increases the level of pitch smoothing
and increases lag.

Rate-of-Turn Use the $JATT,HRTAU command to adjust the level of responsiveness of the
(ROT) ROT measurement provided in the $GPROT message. The default value of
this constant is 2.0 seconds of smoothing.

Note: Increasing the time constant increases the level of ROT smoothing.

Course-Over- Use the $JATT,COGTAU command to adjust the level of responsiveness of the
Ground (COG) COG measurement provided in the $GPVTG message. The default value of
this constant is 0.0 seconds of smoothing.

Note: Increasing the time constant increases the level of COG smoothing.

COG is computed using only the primary GNSS antenna and its accuracy
depends upon the speed of the vessel (noise is proportional to 1/speed).

This value is invalid when the vessel is stationary, as tiny movements due to
calculation inaccuracies are not representative of a vessel’s movement.

Speed Use the $JATT,SPDTAU command to adjust the level of responsiveness of the
speed measurement provided in the $GPVTG message. The default value of
this parameter is 0.0 seconds of smoothing.

Note: Increasing the time constant increases the level of speed

measurement smoothing.

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 Chapter 4: Operating the V123_V133
Overview

Introduction This section provides information on how to power and operate your
V123_V133 receiver.

Contents
Topic See Page
Powering the V123_V133 59
Beacon Operation 60
Alarm Functionality 61

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 Powering the V123_V133

Power For best performance, use a clean and continuous power supply. The
connections V123_V133 power supply features reverse polarity protection but will not
operate with reverse polarity. See Table B-4 for complete power
specifications.

Note: This section refers to powering the unit via serial connection. To power
the unit via NMEA 2000 connection, follow the standard procedure for
powering up via NMEA 2000.

Before you power up the V123_V133 you must terminate the wires of the
power cable as required. There are a variety of power connectors and
terminals on the market from which to choose, depending on your specific
requirements.

Do not apply a voltage higher than 36 VDC. This will damage the receiver
and void the warranty.

To interface the V123_V133 power cable to the power source:

• Connect the red wire of the cable’s power input to DC positive (+)
• Connect the black wire of the cable’s power input to DC negative (-)

The V123_V133 starts when an acceptable voltage is applied to the power

leads of the extension cable.

Electrical The V123_V133’s power supply is isolated from the communication lines and
isolation the PC-ABS plastic enclosure isolates the electronics mechanically from the
vessel (addressing the issue of vessel hull electrolysis).

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 Beacon Operation

V123_V133 Many marine authorities, such as coast guards, have installed networks of
beacon radio- beacons that broadcast DGNSS corrections to system users.

The dual channel beacon receiver in the V133 can operate in manual or
automatic tuning mode, or, using database mode, will select the closest
station in compliance with IEC61108-4 standards.

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 Alarm Functionality

Overview A relay is located on the Transmit Heading Device (THD) circuit board. The
relay contacts are isolated from all circuitry in the THD. The THD is connected
to the coil side of the relay, but not to the contacts that are connected to the
external pins through the main IO connector.

If the THD loses power or heading, the coil voltage is lost, and the relay
opens and activates the notification method employed by the user. When
the heading is output, the relay contacts remain closed, completing the
circuit as an indication that the V123_V133 is operational.

Note: Alarm functionality is only valid for serial communication. Alarm pins
must be connected to an IMO-certified device.

Alarm signal There are two wires (24 AWG multi-strands) on the output cable that are
used for the external alarm function. The color codes for the two wires are
white and white/red stripe and are the output of a relay. When the receiver
has heading, pins 13 and 14 have continuity. When the receiver loses
heading, pins 13 and 14 do not have continuity. The receiver then outputs 4V
of power between pins 14 and signal ground (pin 12), triggering the alarm.

Watchdog The watchdog is a timer controlled by the software which monitors heading
loss. The watchdog software is compliant with IEC 60945.

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 Appendix A: Troubleshooting
Overview

Introduction Appendix A provides troubleshooting for common problems.

Contents
Topic See Page
Troubleshooting 63

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 Troubleshooting

Appendix A Symptom Possible Solution

troubleshooting Receiver fails to • Verify polarity of power leads
power • Check integrity of power cable connectors
• Check power input voltage (9 to 36 VDC)
• Check the voltage coming out of the connector
at the end of the cable
• Check current restrictions imposed by power
source (minimum available should be > 1.0 A)
No data from • Check receiver power status to ensure the
V123_V133 receiver is powered
• Verify desired messages are activated (using
PocketMax4 or $JSHOW command in any
terminal program)
• Ensure the baud rate of the V123_V133 matches
that of the receiving device
• Check integrity and connectivity of power and
data cable connections
Random data from • Verify the RTCM or binary messages are not
V123_V133 output accidentally (send a $JSHOW command)
• Ensure the baud rate of the V123_V133 matches
that of the remote device
• The volume of data requested for output by the
V123_V133 could be higher than the current
baud rate supports. IMO-compliant units require
38400, and 19200 may be necessary for some
non-IMO units (depending on message output
settings).
No GNSS lock • Verify the V123_V133 has a clear view of the sky
• Use PocketMax4 to check how many satellites
are in view and the SNR values

Continued on next page

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 Troubleshooting, Continued

Appendix A Symptom Possible Solution

troubleshooting No SBAS lock • Verify the V123_V133 has a clear view of the
, continued sky
• Set SBAS mode to automatic with the
$JWAASPRN,AUTO command

Note: SBAS lock is only possible if you are in an

appropriate SBAS region; currently, there is
limited SBAS availability in the southern
hemisphere.
No Atlas • First, check to see for an Atlas Basic
subscription by sending $JK,SHOW to see
which commands are listed. Or, connect to
PocketMax4, go to the About tab, and check
the listed activations
• Ensure you are tracking the correct Atlas
satellite, or set the receiver to ‘Auto-Tune’
by sending $JFREQ,AUTO

Continued on next page

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 Troubleshooting, Continued

Appendix A Symptom Possible Solution

troubleshooting No heading or incorrect • Check CSEP value is constant without varying
, continued heading value more than 1 cm (0.39 in)—larger variations
may indicate a high multipath environment
and require moving the receiver location
• Heading is from primary GNSS antenna to
secondary GNSS antenna, so the arrow on
the underside of the V123_V133 is directed
to the bow side
• $JATT,SEARCH command forces the
V123_V133 to acquire a new heading
solution (unless gyro is enabled)
• Enable GYROAID to provide heading for up
to three minutes during GNSS signal loss
• Enable TILTAID to reduce heading search
times
• Monitor the number of satellites and SNR
values for both antennas within
PocketMax4—at least four satellites should
have strong SNR values
• The volume of data requested for output by
the V123_V133 could be higher than the
current baud rate supports. IMO-compliant
units require 38400, and 19200 may be
necessary for some non-IMO units
(depending on message output settings)

Continued on next page

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 Troubleshooting, Continued

Appendix A Symptom Possible Solution

troubleshooting No DGPS position in • Verify the baud rate of the RTCM input port
, continued external RTCM mode matches the baud rate of the external
source
• Verify the pinout between the RTCM source
and the RTCM input port (transmit from the
source must go to receive of the RTCM input
port and grounds must be connected)
• Ensure corrections are being transmitted to
the correct port— using the $JDIFF,PORTB
command on Port A will cause the receiver
to expect the corrections to be input
through Port B

875-0387-0 V123_V133 User Guide Rev A2 Page 66 of 93

 Appendix B: Technical Specifications
Technical Specifications

Introduction Appendix B provides the V123_V133 technical specifications, and the

V123_V133 certification information.

Contents
Topic See Page
V123_V133 Technical Specifications 68

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 V123_V133 Technical Specifications

V123_V133 Table B-1: V123/ 133 sensor

technical
specifications Item Specification
Receiver type GNSS L1
Signals Received GPS, GLONASS, BeiDou, Galileo,
QZSS3, and Atlas
Channels 300
GPS sensitivity -142 dBm
SBAS tracking 2-channel, parallel tracking
Update rate (position and heading) 10 Hz standard, optional 20 Hz
(Non-IMO) and 50 Hz (IMO/Non-
IMO)
Position accuracy 1.2 m RMS (autonomous)
0.3 m RMS (SBAS)
0.3 m RMS (Atlas)
Heading accuracy (GNSS) < 0.30° RMS
Heave accuracy (GNSS) < 30cm RMS1
Pitch accuracy < 1° RMS
Roll accuracy < 1° RMS using accelerometer
Timing (1 PPS) accuracy 20 ns
Rate of turn 145°/s maximum
Cold start < 40 s typical (no almanac or RTC)
Warm start < 20 s typical (almanac and RTC)
Hot start < 1 s typical (almanac, RTC, and
position)
Heading fix < 10 s typical (valid position)
Compass safe distance 75 cm (29.5 in)2
Maximum speed 1,850 kph (999 kts)
Maximum altitude 18,288m (60,000 ft)

Continued on next page

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 V123_V133 Technical Specifications, Continued

V123_V133 Table B-2: Beacon sensor (V133 only)

technical
specifications, Item Specification
continued
Operating modes Manual, automatic, and database
Compliance IEC 61108-4 beacon standard

Table B-3: Communication

Item Specification
Serial ports RS-232 (full-duplex)
RS-422 (1 full duplex, 1 half duplex)
Baud rates 4800, 9600, 19200, 38400, 57600, 115200
Correction I/O RTCM Atlas L-band
protocol
Data I/O protocol NMEA 0183, NMEA 2000

Table B-4: Power

Item Specification
Input voltage 6 to 36 VDC
Power
consumption V123 V133
~ 4.3 W nominal ~ 4.6 W nominal
Current
consumption V123 V133
~ 0.36 A nominal ~ 0.38 A nominal
Power isolation Isolated to enclosure
Reverse polarity Yes
protection

Continued on next page

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 V123_V133 Technical Specifications, Continued

V123_V133 Table B-5: Mechanical

technical
specifications, Item Specification
continued
Enclosure Top Enclosure: ASA/PC Blend
Bottom Enclosure: PC
Dimensions 66.5 L x 20.8 W x 14.6 H (cm)
26.2 L x 8.2 W x 5.8 H (in)
Weight V123 V133
2.1 kg (4.6 lb) 2.4 kg (5.4 lb)
Power/data connector 18-pin, environmentally sealed

Table B-6: Environmental

Item Specification
Operating temperature -30°C to +70°C (-22°F to +158°F)
Storage temperature -40°C to +85°C (-40°F to +185°F)
Humidity 95% non-condensing
Vibration IEC 60945
EMC CE (IEC 60945 Emissions and
Immunity), RED (2014/53/EU)

Continued on next page

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 V123_V133 Technical Specifications, Continued

V123_V133 Table B-7: Certifications

technical
specifications, The following certifications apply to the V123 and V133 models only and do
continued not apply to the V123 Non-IMO and V133 Non-IMO models.

Certification
IMO Resolution MSC.116(73) ISO 22090-3:2014
IMO Resolution A.694(17) IEC 60945 Ed.4.0, 2002 incl. Corr.1,
2008
IMO Resolution MSC.191(79) IEC 61162-1 Ed.4.0 2010
IMO Resolution MSC.302(87) IEC 61162-2 Ed.1.0, 1998
IEC 62288 Ed. 2.0 (2014-07)

IMO wheel marked for MED/4.41 Transmitting heading device THD (GNSS
method). Based on the Directive 2014/90/EU, Regulation (EU) 2017/306
1
Based on a 40 second time constant
2Minimum safe distance measured when the product is placed in the vicinity of the steering magnetic compass. The
ISO 694 defines “vicinity” relative to the compass as within 5 m (16.4 ft) separation.
3 With future firmware upgrade and activation

875-0387-0 V123_V133 User Guide Rev A2 Page 71 of 93

 Appendix C: Commands and Messages
Overview

Introduction Appendix C contains the common commands and messages used by the
V123_V133. Reference the following tables for sending and receiving
commands and messages.

For information on message output rates refer to the Hemisphere GNSS

Technical Reference Manual.

Example Rate Bytes Bits in Bits/sec

message byte
GPHDT 10 20 10 2000
GPROT 5 18 10 900
GPHDG 1 33 10 330
GPGGA 1 83 10 830
GPZDA 1 38 10 380
Total 4440

Contents
Topic See Page
Commands 73
Binary Messages 75
NMEA Messages 77
Index 94
TSP20181178146232_MapTitles 94
End User License Agreement 95
Warranty Notice 99

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 Commands

Commands The V123_V133 has a maximum baud rate of 115200.

Note: When selecting baud rate and message types, use the following
formula and example to calculate the bits/sec for each message and then
sum the results to determine the baud rate for your required data
throughput.

Message length (bytes) * bits in byte = Bits/second

(1 character = 1 byte, 8 bits = 1 byte, use 10 bits/byte to account for
overhead)

Table C-1: Commands

Command Description
$GPMSK Tune beacon to specific frequency
$JAGE Specify maximum DGPS (COAST) correction age
(6 to 8100 seconds)
$JAPP Query or specify receiver application firmware
$JASC Specify ASCII messages to output to specific ports
$JBAUD Specify RS-232, RS-422 (output) communication
rate
$JBIN Specify binary messages to output to specific
ports (see Table 3-4)
$JDIFF Query or specify differential correction mode
$JGEO Query or specify SBAS for current location and
SBAS satellites
$JI Query unit’s serial number and firmware versions
$JOFF Turn off all data messages
$JQUERY,GUIDE Query accuracy suitability for navigation
$JMODE,GPSONLY,YES GPS only mode

Continued on next page

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 Commands, Continued

Commands, Table C-1: Commands (continued)

continued
Command Description
$JMODE,GPSONLY,NO Multi-GNSS mode
$JRESET Reset unit’s configuration to firmware defaults

Note: $JRESET clears all parameters. For the

V123_V133 you will have to issue the $JATT,
FLIPBRD,YES command to properly redefine the
circuitry orientation inside the product once the
receiver has reset. Failure to do so will cause
radical heading behavior.

You can also issue the $JRESET command with an

optional field as follows:
• $JRESET,ALL does everything $JRESET does,
plus it clears almanacs
• $JRESET,BOOT does everything $JRESET,ALL
does, plus clears use of the real-time clock at
startup, clears use of backed-up ephemeris and
almanacs, and reboots the receiver when done
$JSAVE Save session’s configuration changes

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 Binary Messages

Binary Table C-2 lists the Binary messages used by the V123_V133. To log raw binary
messages data to convert to Rinex, turn on Bin 76 (GPS), Bin 66 (GLONASS), Bin 36
(BeiDou), or turn on Bin 16 (all constellations; required for Galileo).

Additionally, enable ephemeris messages: Bin 95 (GPS), Bin 65 (GLONASS),

Bin 35 (BeiDou), and Bin 45 (Galileo).

Enable the time conversion messages: Bin 94 (GPS), Bin 34 (BeiDou), and Bin
44 (Galileo).

Table C-2: Binary messages

$JBIN Description
Message
1 GNSS position
2 GPS DOPs
80 SBAS
93 SBAS ephemeris data
94 Ionosphere and UTC conversion parameters
95 Satellite ephemeris data
96 Code and carrier phase (not needed if using Bin 16, Bin 16
includes information for all constellations)
97 Processor statistics
98 Satellites and almanac
99 GPS diagnostics
16 All constellation code and phase observation data. Use
Bin16 if you need Galileo code and carrier phase
observation. Galileo does not have a separate message
34 BeiDou time conversion
35 BeiDou ephemeris information

Continued on next page

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 Binary Messages, Continued

Binary Table C-2: Binary messages (continued)

messages,
continued $JBIN Description
Message
36 BeiDou code and carrier phase information (not needed if
using Bin 16, Bin 16 includes information for all
constellations)
44 Galileo time conversion
45 Galileo ephemeris
65 GLONASS ephemeris information
66 GLONASS code and carrier phase information (not needed if
using Bin 16, Bin 16 includes information for all
constellations)

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 NMEA Messages

V123_V133 Table C-3: NMEA messages received based on a request

NMEA received
messages

PGN Description Default Freq (Hz)

Update Rate
(msec)
059392 ISO Acknowledgement On Request On Request

Used to acknowledge the status of certain

requests addressed to a specific ECU.
059904 ISO Request On Request On Request

Request the transmission of a specific PGN,

addressed or broadcast.
060928 ISO Address Claim On Request On Request

Used to identify to other ECUs the address

claimed by an ECU.
126996 Product Information On Request On Request

NMEA 2000 database version supported,

manufacturer’s product code, NMEA 2000
certification level, Load Equivalency number,
and other product- specific information.

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-3: NMEA messages received based on a request (continued)

NMEA received
messages,
continued

PGN Description Default Freq (Hz)

Update Rate
(msec)
126464 Receive/Transmit PGNs group function On Request On Request

The Transmit / Receive PGN List Group type

of function is defined by the first field.
129545 GNSS RAIM Output On Request On Request

Used to provide the output from a GNSS

receiver's Receiver Autonomous Integrity
Monitoring (RAIM) process.

The Integrity field value is based on the

parameters set in PGN 129546 GNSS RAIM
Settings.
129546 GNSS RAIM Settings On Request On Request

Used to report the control parameters for a

GNSS Receiver Autonomous Integrity
Monitoring (RAIM) process.

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-3: NMEA transmitted messages

NMEA
transmitted
messages

PGN Description Default Freq (Hz)

Update Rate
(msec)
126992 System Time 1000 1

The purpose of this PGN is twofold:

1) To provide a regular transmission of
UTC time and date, and
2) To provide synchronism for
measurement data
126993 Heartbeat 60000 1/60

Confirms a device is still present on the

network.
127250 Vessel Heading 100 10

Heading sensor value with a flag for True or

Magnetic.

If the sensor value is Magnetic, the deviation

field can be used to produce a Magnetic
heading, and the variation field can be used
to correct the Magnetic heading to produce
a True heading.
127251 Rate of Turn 100 10

Rate of change of heading.

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-3: NMEA transmitted messages (continued)

NMEA
transmitted
messages,
continued

PGN Description Default Freq (Hz)

Update Rate
(msec)
127257 Altitude 1000 1

Provides a single transmission that describes

the position of a vessel relative to both
horizontal and vertical planes.

Altitude can be used for vessel stabilization,

vessel control and onboard platform
stabilization.
127258 Magnetic Variation 1000 1

Message for transmitting variation.

The message contains a sequence number

to synchronize other messages such as
Heading or Course over Ground.

The quality of service and age of service are

provided to determine appropriate level of
service if multiple transmissions exist.

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-3: NMEA transmitted messages (continued)

NMEA
transmitted
messages,
continued

PGN Description Default Freq (Hz)

Update Rate
(msec)
129025 Position, Rapid Update 100 10

Provides latitude and longitude referenced

to WGS84.

A single frame message (opposed to other

PGNs that include latitude and longitude and
are defined as fast or multi- packet), this
PGN lends itself to more frequent
transmission without using excessive
bandwidth.
129026 COG & SOG, Rapid Update 250 4

Single frame PGN that provides Course Over

Ground (COG) and Speed Over Ground
(SOG).

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-3: NMEA transmitted messages (continued)

NMEA
transmitted
messages,
continued

PGN Description Default Freq (Hz)

Update Rate
(msec)
129027 Position Delta, High Precision Rapid Update 100 10

The ‘Position Delta, High Precision Rapid

Update’ Parameter Group is for applications
requiring high precision and very fast update
rates for position data.

This PGN provides delta position changes

down to 1 mm with a delta time period
accurate to 5 msec.

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-3: NMEA transmitted messages (continued)

NMEA
transmitted
messages,
continued

PGN Description Default Update Freq (Hz)

Rate (msec)
129028 Altitude Delta, High Precision Rapid Update 100 10

The ‘Altitude Delta, High Precision Rapid

Update’ Parameter Group is intended for
applications requiring high precision and fast
update rates are needed for altitude and
course over ground data.

This PGN can provide delta altitude changes

down to 1 millimeter, a change in direction
as small as 0.0057°, and with a delta time
period accurate to 5 msec.

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-3: NMEA transmitted messages (continued)

NMEA
transmitted
messages,
continued

PGN Description Default Freq (Hz)

Update Rate
(msec)
129029 GNSS Position Data 1000 1

Conveys a comprehensive set of Global

Navigation Satellite System (GNSS)
parameters, including position information.
129033 Time & Date 1000 1

Single transmission that provides UTC time,

UTC Date, and Local Offset.
129539 GNSS DOPs 1000 1

Provides a single transmission containing

GNSS status and dilution of precision
components (DOP) that indicate the
contribution of satellite geometry to the
overall positioning error.

Three DOP parameters are reported:

horizontal (HDOP), Vertical (VDOP), and time
(TDOP).

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-3: NMEA transmitted messages (continued)

NMEA
transmitted
messages,
continued

PGN Description Default Freq (Hz)

Update Rate
(msec)
129540 GNSS Sats in View 1000 1

GNSS information on current satellites in

view tagged by sequence ID.

Information includes PRN, elevation,

azimuth, SNR, defines the number of
satellites; defines the satellite number and
the information.

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-4 NMEA 0183 and other messages

NMEA 0183 and
other messages

In Table C-4 the Info Type value is one of the following:

• P = Position
• V = Velocity, Time
• H = Heading, Attitude S = Sets, Stats, Quality

Message Info Max Output Description IEC Approved Message

Type Rate

$GPDTM P 1 Hz Datum reference Yes

$GPGGA P 50 Hz GPS position and fix Yes
data
$GPGLL P 50 Hz Geographic position - Yes
lit/long
$GPGNS P 50 Hz GNSS position and fix Yes
data
$GPGRS S 1 Hz GNSS range residual Yes
(RAIM)
$GPGSA S 1 Hz GNSS DOP and active Yes
satellites
$GPGST S 1 Hz GNSS pseudo range Yes
error statistics and
position accuracy
$GPGSV S 1 Hz GNSS satellites in view Yes
*$GPHDG H 50 Hz Provides magnetic Yes
deviation and
variation for
calculating magnetic
or true heading

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-4 NMEA 0183 and other messages (continued)

NMEA 0183 and
other messages,
continued

Message Info Max Output Description IEC Approved Message

Type Rate
*$GPHDM H 50 Hz Magnetic heading No
(based on GNSS-
derived heading and
magnetic declination)
*$GPHDT H 50 Hz GNSS-derived true Yes
heading
$GPHEV H 50 Hz Heave value (in Yes
meters)
$GPRMC P 50 Hz Recommended Yes
minimum specific
GNSS data
*$GPROT H 50 Hz GNSS-derived rate of Yes
turn (ROT)
$GPRRE S 1 Hz Range residual and Yes
estimated position
error
$GPVTG V 50 Hz COG and ground Yes
speed
$GPZDA V 50 Hz Time and date Yes
$HEACK S 1 Hz Acknowledge alarm Yes
$HEACN S 1 Hz Alert command Yes
$HEALF S 1 Hz Alert sentence Yes
$HEALC S 1 Hz Cyclic alert list Yes
$HEALR S 1 Hz Set alarm state Yes
$HEHBT S 1 Hz Heartbeat supervision Yes
sentence

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-4 NMEA 0183 and other messages (continued)

NMEA 0183 and
other messages,
continued

Message Info Max Output Description IEC Approved Message

Type Rate
$HETHS H 50 Hz True heading and Yes
status
$PASHR H 50 Hz Time, heading, roll, No
and pitch data in one
message
$PSAT,GBS S 1 Hz Satellite fault Yes
detection (RAIM)
$PSAT,HPR H 50 Hz Proprietary NMEA No
message that provides
heading, pitch, roll,
and time in single
message
$PSAT,INTLT H 1 Hz Proprietary NMEA Yes
message that provides
the pitch and roll
measurements from
the internal
inclinometers (in
degrees)
$RD1 S 1 Hz SBAS diagnostic Yes
information
$TSS1 H 50 Hz Heading, pitch, roll, No
and heave message in
the commonly used
TSS1 message format

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-4 NMEA 0183 and other messages (continued)

NMEA 0183 and
other messages,
continued

Notes:
• The GP of the message is the talker ID
• You can change the message header for the HDG, HDM, HDT, and ROT messages to
either GP or HE uses the $JATT,NMEAHE command
− To preface these messages with GP, issue the following command:
$JATT,NMEAHE,0<CR><LF>
− To preface these messages with HE, issue the following command:
$JATT,NMEAHE,1<CR><LF>
• GPGRS, GPGSA, GPGST, and GPGSV support external integrity checking; synchronize
with corresponding fix data (GPGGA or GPGNS)
• For information on outputting roll, pitch, and heave data in one message refer to the
Hemisphere GNSS Technical Reference Manual
• HBT is sent every 30 seconds
• After 60 seconds, a heading loss warning is escalated to an alarm
• Silence timeout is 30 seconds
• THS message definition (from IEC61162-1 ed5): THS – True heading and status
• $HETHS,x.x,a*hh<CR><LF>
• x.x Heading, degrees true
• a Mode indicator (This field should not be null): A = Autonomous, E = Estimated (dead
reckoning), V = Data not valid (including standby)
• 50Hz output requires 50Hz-capable firmware plus 50Hz activation

For more information on the $JATT,NMEAHE command refer to the Hemisphere GNSS
Technical Reference Manual.

Continued on next page

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 NMEA Messages, Continued
V123_V133 Table C-5: Parameters specific to the $JATT command
Parameters
specific to the
$JATT command

Parameter Description Query Specify

BALERT Enables Bridge Alert X X
Management
Functionality
COGTAU Set/query COG time X X
constant (0.0 to
3600.0 sec)
CSEP Query antenna X
separation
EXACT Enable/disable X X
internal filter
reliance on the
entered antenna
separation
FLIPBRD Turn the flip feature X X
on/off
GYROAID Enable/disable gyro X X
HBIAS Set/query heading X X
bias (-180.0º to
180.0º)
HELP Show the available X
commands for GNSS
heading operation
and status
HIGHMP Set/query the high X X
multipath setting for
use in poor GNSS
environments

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-5: Parameters specific to the $JATT command (continued)

Parameters
specific to the
$JATT
command,
continued

Parameter Description Query Specify

HRTAU Set/query ROT time X X
constant (0.0 to
3600.0 sec)
HTAU Set/query heading X X
time constant (0.0 to
3600.0 sec)
LEVEL Enable/disable level X X
operation
MSEP Manually set or X X
query antenna
separation
NEGTILT Enable/disable X X
negative tilt
NMEAHE Change the HDG, X X
HDM, HDT, and ROT
message headers
between GP and HE
PBIAS Set/query pitch/roll X X
bias (-15.0º to 15.0º)
PTAU Set/query pitch time X X
constant (0.0 to
3600.0 sec)

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-5: Parameters specific to the $JATT command (continued)

Parameters
specific to the
$JATT
command,
continued

Parameter Description Query Specify

ROLL Configure for roll or X X
pitch GNSS
orientation
SEARCH Force a new GNSS X
heading search
SPDTAU Set/query speed X X
time constant (0.0 to
3600.0 sec)

Continued on next page

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 NMEA Messages, Continued

V123_V133 Table C-5: Parameters specific to the $JATT command (continued)

Parameters
specific to the
$JATT
command,
continued

Parameter Description Query Specify

SUMMARY Display a summary of X
the current Crescent
Vector settings
TILTAID Enable/disable X X
accelerometer, pre-
calibrated
TILTCAL Calibrate X
accelerometers

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Index

Activate Loader ........................................ 23 NMEA 2000 adapter.....15, 37, 38, 39, 45, 47
Activation .................................................... 6 Pitch .............................................. 13, 57, 68
Atlas .......................................... 6, 12, 49, 52 Pole-mount ............................................... 32
Base Station ................................................ 6 Port A ...................................... 43, 44, 48, 66
beacon..............10, 11, 13, 27, 50, 60, 69, 73 Port B....................................... 43, 44, 48, 66
BeiDou ......................................................... 6 Positioning accuracy................................. 12
Bracket-mount.......................................... 32 Positioning sustainability ......................... 12
cable length ......................................... 26, 47 Program Type ........................................... 22
COAST .................................................. 11, 73 radar mounting plate ................................ 40
course-over-ground .................................. 56 Rate-of-Turn .............................................. 56
Course-Over-Ground (COG) ...................... 57 Rate-of-Turn (ROT) .............................. 56, 57
Crescent Vector............................... 9, 10, 93 RightArm ................................................... 20
CSEP value ................................................. 65 RTCM ....................................... 50, 63, 66, 69
DGPS/DGNSS ............................................... 6 RTK .................................6, 12, 49, 53, 55, 68
Differential Corrections .............................. 6 SBAS ...........11, 13, 49, 50, 64, 68, 73, 75, 88
Elevation Mask ............................................ 6 Speed .................................................. 57, 81
environmental..................................... 26, 29 THD............................................................ 61
firmware.......................20, 21, 22, 23, 24, 43 Tilt aiding................................................... 53
Firmware ................................................... 20 tilt sensors ........................................... 10, 53
Flush-mount.............................................. 32 TILTAID ................................................ 65, 93
GPS .............................................................. 6 VHF interference ....................................... 28
gyro ......................................... 54, 56, 65, 90 VHF marine radio ...................................... 28
Heading ............................................... 79, 80 watchdog................................................... 61
HPR values ................................................ 30 WebUI ....................................................... 20
NMEA ........................................................ 77
End User License Agreement

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install any improvements or alterations to existing Software.
4. SUPPORT. Hemisphere may make available directly or through its authorized dealers telephone
and email support for the Software. Contact Hemisphere to find the authorized dealer near you.
As well, Hemisphere may make available user and technical documentation regarding the
Software. Hemisphere reserves the right to reduce and limit access to such support at anytime.

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End User License Agreement, Continued

End User license 5. BACKUPS AND RECOVERY. Licensee shall back-up all data used, created or stored by the
Software on a regular basis as necessary to enable proper recovery of the data and related
agreement, systems and processes in the event of a malfunction in the Software or any loss or corruption of
continued data caused by the Software. Licensee shall assume all risks of loss or damage for any failure to
comply with the foregoing.
6. OWNERSHIP. Hemisphere and its suppliers own all rights, title and interest in and to the
Software and related materials, including all intellectual property rights. The Software is
licensed to Licensee, not sold.
7. TRADEMARKS. "Hemisphere GNSS", "Crescent", "Eclipse" and the associated logos are
trademarks of Hemisphere. Other trademarks are the property of their respective owners.
Licensee may not use any of these trademarks without the consent of their respective owners.
8. LIMITED WARRANTY. Hemisphere warrants solely to the Licensee, subject to the exclusions and
procedures set forth herein below, that for a period of one (1) year from the original date of
purchase of the Product in which it is embedded (the "Warranty Period"), the Software, under
normal use and maintenance, will conform in all material respects to the documentation
provided with the Software and any media will be free of defects in materials and
workmanship. For any Update, Hemisphere warrants, for 90 days from performance or delivery,
or for the balance of the original Warranty Period, whichever is greater, that the Update, under
normal use and maintenance, will conform in all material respects to the documentation
provided with the Update and any media will be free of defects in materials and workmanship.
Notwithstanding the foregoing, Hemisphere does not warrant that the Software will meet
Licensee's requirements or that its operation will be error free.
9. WARRANTY EXCLUSIONS. The warranty set forth in Section (8) will not apply to any deficiencies
caused by (a) the Product not being used as described in the documentation supplied to
Licensee, (b) the Software having been altered, modified or converted in any way by anyone
other than Hemisphere approved by Hemisphere, (c) any malfunction of Licensee's equipment
or other software, or (d) damage occurring in transit or due to any accident, abuse, misuse,
improper installation, lightning (or other electrical discharge) or neglect other than that caused
by Hemisphere. Hemisphere GNSS does not warrant or guarantee the precision or accuracy of
positions obtained when using the Software (whether standalone or embedded in a Product).
The Product and the Software is not intended and should not be used as the primary means of
navigation or for use in safety of life applications. The potential lpositioning and navigation
accuracy obtainable with the Software as stated in the Product or Software documentation
serves to provide only an estimate of achievable accuracy based on specifications provided by
the US Department of Defense for GPS positioning and DGPS service provider performance
specifications, where applicable.
10. WARRANTY DISCLAIMER. EXCEPT AS EXPRESSLY SET OUT IN THIS AGREEMENT, HEMISPHERE
MAKES NO REPRESENTATION, WARRANTY OR CONDITION OF ANY KIND TO LICENSEE,
WHETHER VERBAL OR WRITTEN AND HEREBY DISCLAIMS ALL REPRESENTATIONS, WARRANTIES
AND CONDITIONS OF ANY KIND INCLUDING FITNESS FOR A PARTICULAR PURPOSE,
MERCHANTABILITY, ACCURACY, RELIABILITY OR THAT THE USE OF THE SOFTWARE WILL BE
UNINTERRUPTED OR ERROR-FREE AND HEREBY DISCLAIMS ALL REPRESENTATIONS,
WARRANTIES AND CONDITIONS ARISING AS A RESULT OF CUSTOM, USAGE OR TRADE AND
THOSE ARISING UNDER STATUTE.
11. LIMITS ON WARRANTY DISCLAIMER. Some jurisdictions do not allow the exclusion of implied
warranties or conditions, so some of the above exclusions may not apply to Licensee. In that
case, any implied warranties or conditions which would then otherwise arise will be limited in
duration to ninety (90) days from the date of the license of the Software or the purchase of the
Product. The warranties given herein give Licensee specific legal rights and Licensee may have
other rights which may vary from jurisdiction to jurisdiction.
12. CHANGE TO WARRANTY.No employee or agent of Hemisphere is authorized to change the
warranty provided or the limitation or disclaimer of warranty provisions. All such changes will
only be effective if pursuant to a separate agreement signed by senior officers of the respective
parties.

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End User License Agreement, Continued

End User license 13. WARRANTY CLAIM. In the event Licensee has a warranty claim Licensee must first check for
and install all Updates that are made available. The warranty will not otherwise be honored.
agreement, Proof of purchase may be required. Hemisphere does not honor claims asserted after the end
continued of the Warranty Period.
14. LICENSEE REMEDIES. In all cases which involve a failure of the Software to conform in any
material respect to the documentation during the Warranty Period or a breach of a warranty,
Hemisphere's sole obligation and liability, and Licensee's sole and exclusive remedy, is for
Hemisphere, at Hemisphere's option, to (a) repair the Software, (b) replace the Software with
software conforming to the documentation, or (c) if Hemisphere is unable, on a reasonable
commercial basis, to repair the Software or to replace the Software with conforming software
within ninety (90) days, to terminate this Agreement and thereafter Licensee shall cease using
the Software. Hemisphere will also issue a refund for the price paid by Licensee less an amount
on account of amortization, calculated on a straight-line basis over a deemed useful life of three
(3) years.
15. LIMITATION OF LIABILITY. IN NO EVENT WILL HEMISPHERE BE LIABLE TO LICENSEE FOR ANY
INCIDENTAL, CONSEQUENTIAL, SPECIAL OR INDIRECT DAMAGES INCLUDING ARISING IN
RELATION TO ANY LOSS OF DATA, INCOME, REVENUE, GOODWILL OR ANTICIPATED SAVINGS
EVEN IF HEMISPHERE HAS BEEN INFORMED OFTHE POSSIBILITY OF SUCH LOSS OR DAMAGE.
FURTHER, IN NO EVENT WILL HEMISPHERE'S TOTAL CUMULATIVE LIABILITY HEREUNDER, FROM
ALL CAUSES OF ACTION OF ANY KIND, EXCEED THE TOTAL AMOUNT PAID BY LICENSEE TO
HEMISPHERE TO PURCHASE THE PRODUCT. THIS LIMITATION AND EXCLUSION APPLIES
IRRESPECTIVE OF THE CAUSE OF ACTION, INCLUDING BUT NOT LIMITED TO BREACH OF
CONTRACT, NEGLIGENCE, STRICT LIABILITY, TORT, BREACH OF WARRANTY,
MISREPRESENTATION OR ANY OTHER LEGAL THEORY AND WILL SURVIVE A FUNDAMENTAL
BREACH.
16. LIMITS ON LIMITATION OF LIABILITY. Some jurisdictions do not allow for the limitation or
exclusion of liability for incidental or consequential damages, so the above limitation or
exclusion may not apply to Licensee and Licensee may also have other legal rights which may
vary from jurisdiction to jurisdiction.
17. BASIS OF BARGAIN. Licensee agrees and acknowledges that Hemisphere has set its prices and
the parties have entered into this Agreement in reliance on the limited warranties, warranty
disclaimers and limitations of liability set forth herein, that the same reflect an agreed-to
allocation of risk between the parties (including the risk that a remedy may fail of its essential
purpose and cause consequential loss), and that the same forms an essential basis of the
bargain between the parties. Licensee agrees and acknowledges that Hemisphere would not
have been able to sell the Product at the amount charged on an economic basis without such
limitations.
18. PROPRIETARY RIGHTS INDEMNITY. Hemisphere shall indemnify, defend and hold harmless
Licensee from and against any and all actions, claims, demands, proceedings, liabilities, direct
damages, judgments, settlements, fines, penalties, costs and expenses, including royalties and
attorneys' fees and related costs, in connection with or arising out of any actual infringement of
any third party patent, copyright or other intellectual property right by the Software or by its
use, in accordance with this Agreement and documentation, PROVIDED THAT: (a) Hemisphere
has the right to assume full control over any action, claim, demand or proceeding, (b) Licensee
shall promptly notify Hemisphere of any such action, claim, demand, or proceeding, and (c)
Licensee shall give Hemisphere such reasonable assistance and tangible material as is
reasonably available to Licensee for the defense of the action, claim, demand or proceeding.
Licensee shall not settle or compromise any of same for which Hemisphere has agreed to
assume responsibility without Hemisphere's prior written consent. Licensee may, at its sole cost
and expense, retain separate counsel from the counsel utilized or retained by Hemisphere. 19.
INFRINGEMENT. If use of the Software may be enjoined due to a claim of infringement by a
third party then, at its sole discretion and expense, Hemisphere may do one of the following: (a)
negotiate a license or other agreement so that the Product is no longer subject to such a
potential claim, (b) modify the Product so that it becomes non- infringing, provided such
modification can be accomplished without materially affecting the performance and
functionality of the Product,

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End User License Agreement, Continued

End User (c) replace the Software, or the Product, with non-infringing software, or product, of equal or
better performance and quality, or (d) if none of the foregoing can be done on a commercially
license reasonable basis, terminate this license and Licensee shall stop using the Product and
agreement, Hemisphere shall refund the price paid by Licensee less an amount on account of amortization,
calculated on a straight-line basis over a deemed useful life of three (3) years.
continued 19. The foregoing sets out the entire liability of Hemisphere and the sole obligations of Hemisphere
to Licensee in respect of any claim that the Software or its use infringes any third party rights.
20. INDEMNIFICATION. Except in relation to an infringement action, Licensee shall indemnify and
hold Hemisphere harmless from any and all claims, damages, losses, liabilities, costs and
expenses (including reasonable fees of lawyers and other professionals) arising out of or in
connection with Licensee's use of the Product, whether direct or indirect, including without
limiting the foregoing, loss of data, loss of profit or business interruption. TERMINATION.
Licensee may terminate this Agreement at any time without cause. Hemisphere may terminate
this Agreement on 30 days notice to Licensee if Licensee fails to materially comply with each
provision of this Agreement unless such default is cured within the 30 days. Any such
termination by a party shall be in addition to and without prejudice to such rights and remedies
as may be available, including injunction and other equitable remedies. Upon receipt by
Licensee of written notice of termination from Hemisphere or termination by Licensee, Licensee
shall at the end of any notice period (a) cease using the Software; and (b) return to Hemisphere
(or destroy and provide a certificate of a Senior Officer attesting to such destruction) the
Software and all related material and any magnetic or optical media provided to Licensee. The
provisions of Sections 6), 7), 8), 9), 10), 15), 21), 26) and 27) herein shall survive the expiration
or termination of this Agreement for any reason.
21. EXPORT RESTRICTIONS. Licensee agrees that Licensee will comply with all export control
legislation of Canada, the United States, Australia and any other applicable country's laws and
regulations, whether under the Arms Export Control Act, the International Traffic in Arms
Regulations, the Export Administration Regulations, the regulations of the United States
Departments of Commerce, State, and Treasury, or otherwise as well as the export control
legislation of all other countries.
22. PRODUCT COMPONENTS. The Product may contain third party components. Those third party
components may be subject to additional terms and conditions. Licensee is required to agree to
those terms and conditions in order to use the Product.
23. FORCE MAJEURE EVENT. Neither party will have the right to claim damages as a result of the
other's inability to perform or any delay in performance due to unforeseeable circumstances
beyond its reasonable control, such as labor disputes, strikes, lockouts, war, riot, insurrection,
epidemic, Internet virus attack, Internet failure, supplier failure, act of God, or governmental
action not the fault of the non-performing party.
24. FORUM FOR DISPUTES. The parties agree that the courts located in Calgary, Alberta, Canada
and the courts of appeal there from will have exclusive jurisdiction to resolve any disputes
between Licensee and Hemisphere concerning this Agreement or Licensee's use or inability to
use the Software and the parties hereby irrevocably agree to attorn to the jurisdiction of those
courts. Notwithstanding the foregoing, either party may apply to any court of competent
jurisdiction for injunctive relief.
25. APPLICABLE LAW. This Agreement shall be governed by the laws of the Province of Alberta,
Canada, exclusive of any of its choice of law and conflicts of law jurisprudence.
26. CISG. The United Nations Convention on Contracts for the International Sale of Goods will not
apply to this Agreement or any transaction hereunder.
GENERAL. This is the entire agreement between Licensee and Hemisphere relating to the Product and Licensee's
use of the same, and supersedes all prior, collateral or contemporaneous oral or written representations,
warranties or agreements regarding the same. No amendment to or modification of this Agreement will be binding
unless in writing and signed by duly authorized representatives of the parties. Any and all terms and conditions set
out in any correspondence between the parties or set out in a purchase order which are different from or in
addition to the terms and conditions set forth herein, shall have no application and no written notice of same shall
be required. In the event that one or more of the provisions of this Agreement is found to be illegal or
unenforceable, this Agreement shall not be rendered inoperative but the remaining provisions shall continue in full
force and effect.
Warranty Notice

Warranty notice COVERED PRODUCTS: This warranty covers all products manufactured by Hemisphere GNSS and purchased by the
end purchaser (the "Products"), unless otherwise specifically and expressly agreed in writing by Hemisphere GNSS.
LIMITED WARRANTY: Hemisphere GNSS warrants solely to the end purchaser of the Products, subject to the
exclusions and procedures set forth below, that the Products sold to such end purchaser and its internal
components shall be free, under normal use and maintenance, from defects in materials, and workmanship and will
substantially conform to Hemisphere GNSS's applicable specifications for the Product, for a period of 12 months
from delivery of such Product to such end purchaser (the ”Warranty Period”). Repairs and replacement components
for the Products are warranted, subject to the exclusions and procedures set forth below, to be free, under normal
use and maintenance, from defects in material and workmanship, and will substantially conform to Hemisphere
GNSS's applicable specifications for the Product, for 90 days from performance or delivery, or for the balance of the
original Warranty Period, whichever is greater.
EXCLUSION OF ALL OTHER WARRANTIES. The LIMITED WARRANTY shall apply only if the Product is properly and
correctly installed, configured, interfaced, maintained, stored, and operated in accordance with Hemisphere GNSS
relevant User’s Manual and Specifications, AND the Product is not modified or misused. The Product is provided “AS
IS” and the implied warranties of MERCHANTABILITY and FITNESS FOR A PARTICULAR PURPOSE and ALL OTHER
WARRANTIES,
express, implied or arising by statute, by course of dealing or by trade usage, in connection with the design, sale,
installation, service or use of any products or any component thereof, are EXCLUDED from this transaction and shall
not apply to the Product. The LIMITED WARRANTY is IN LIEU OF any other warranty, express or implied, including
but not limited to, any warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE, title, and non-
infringement.
LIMITATION OF REMEDIES. The purchaser’s EXCLUSIVE REMEDY against Hemisphere GNSS shall be, at Hemisphere
GNSS's option, the repair or replacement of any defective Product or components thereof. The purchaser shall
notify Hemisphere GNSS or a Hemisphere GNSS's approved service center immediately of any defect. Repairs shall
be made through a Hemisphere GNSS approved service center only. Repair, modification or service of Hemisphere
GNSS products by any party other than a Hemisphere GNSS approved service center shall render this warranty null
and void. The remedy in this paragraph shall only be applied in the event that the Product is properly and correctly
installed, configured, interfaced, maintained, stored, and operated in accordance with Hemisphere GNSS's relevant
User’s Manual and Specifications, AND the Product is not modified or misused. NO OTHER REMEDY (INCLUDING,
BUT NOT LIMITED TO, SPECIAL, INDIRECT, INCIDENTAL, CONSEQUENTIAL OR CONTINGENT DAMAGES FOR LOST
PROFITS, LOST SALES, INJURY TO PERSON OR PROPERTY, OR ANY OTHER INCIDENTAL OR CONSEQUENTIAL LOSS)
SHALL BE AVAILABLE
TO PURCHASER, even if Hemisphere GNSS has been advised of the possibility of such damages. Without limiting the
foregoing, Hemisphere GNSS shall not be liable for any damages of any kind resulting from installation, use, quality,
performance or accuracy of any Product.
HEMISPHERE IS NOT RESPONSIBLE FOR PURCHASER’S NEGLIGENCE OR UNAUTHORIZED USES OF THE PRODUCT.
IN NO EVENT SHALL Hemisphere GNSS BE IN ANY WAY RESPONSIBLE FOR ANY DAMAGES RESULTING FROM
PURCHASER’S OWN NEGLIGENCE, OR FROM OPERATION OF THE PRODUCT IN ANY WAY OTHER THAN AS SPECIFIED
IN Hemisphere GNSS's RELEVANT USER’S MANUAL AND SPECIFICATIONS. Hemisphere GNSS is NOT
RESPONSIBLE for defects or performance problems resulting from (1) misuse, abuse, improper installation, neglect
of Product; (2) the utilization of the Product with hardware or software products, information, data, systems,
interfaces or devices not made, supplied or specified by Hemisphere GNSS; (3) the operation of the Product under
any specification other than, or in addition to, the specifications set forth in Hemisphere GNSS's relevant User’s
Manual and Specifications; (4) damage caused by accident or natural events, such as lightning (or other electrical
discharge) or fresh/ salt water immersion of Product; (5) damage occurring in transit; (6) normal wear and tear; or
(7) the operation or failure of operation of any satellite-based positioning system or differential correction service;
or the availability or performance of any satellite-based positioning signal or differential correction signal.
THE PURCHASER IS RESPONSIBLE FOR OPERATING THE VEHICLE SAFELY. The purchaser is solely responsible for the
safe operation of the vehicle used in connection with the Product, and for maintaining proper system control
settings. UNSAFE DRIVING OR SYSTEM CONTROL SETTINGS CAN RESULT IN PROPERTY DAMAGE, INJURY, OR DEATH.

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Warranty Notice, Continued

Warranty The purchaser is solely responsible for his/her safety and for the safety of others. The purchaser is solely
responsible for maintaining control of the automated steering system at all times. THE PURCHASER IS SOLELY
notice, RESPONSIBLE FOR ENSURING THE PRODUCT IS PROPERLY AND CORRECTLY INSTALLED, CONFIGURED, INTERFACED,
continued MAINTAINED, STORED, AND OPERATED IN ACCORDANCE WITH Hemisphere GNSS's RELEVANT USER’S MANUAL
AND SPECIFICATIONS. Hemisphere GNSS does not warrant or guarantee the positioning and navigation precision or
accuracy obtained when using Products. Products are not intended for primary navigation or for use in safety of life
applications. The potential accuracy of Products as stated in Hemisphere GNSS literature and/or Product
specifications serves to provide only an estimate of achievable accuracy based on performance specifications
provided by the satellite service operator (i.e. US Department of Defense in the case of GPS and differential
correction service provider. Hemisphere GNSS reserves the right to modify Products without any obligation to
notify, supply or install any improvements or alterations to existing Products.
GOVERNING LAW. This agreement and any disputes relating to, concerning or based upon the Product shall be
governed by and interpreted in accordance with the laws of the State of Arizona.
OBTAINING WARRANTY SERVICE. In order to obtain warranty service, the end purchaser must bring the Product to
a Hemisphere GNSS approved service center along with the end purchaser's proof of purchase. Hemisphere GNSS
does not warrant claims asserted after the end of the warranty period. For any questions regarding warranty
service or to obtain information regarding the location of any of Hemisphere GNSS approved service center, contact
Hemisphere GNSS at the following address:

Hemisphere GNSS
8515 E. Anderson Drive Scottsdale, AZ 85255, USA
Phone: +1-480-348-6380
Fax: +1-480-270-5070
[email protected]
WWW.HGNSS.COM
 Hemisphere GNSS Inc.
8515 East Anderson Drive, Suite A
Scottsdale, Arizona, US 85255
Phone: 480-348-6380
Fax: 480-270-5070
[email protected]
WWW.HGNSS.COM