ComNav P4 Installation and Operation Appendices
Document PN 29010100 V1r0 - 174 -
• If only HDM is received, then the autopilot will use Magnetic Heading (indicated by an
‘M’), from that sentence.
Messages Transmitted
The P4 outputs NMEA 0183 compliant data (at 4800 Baud, on the OUT A/B pins of the J9 –
NAV I/O connector), which may be used by NMEA 0183 compliant LISTENERS, or may be
used to observe and/or record various P4 parameters, for diagnostic purposes, while the
system is running.
The P4 outputs 3 sentences:
*HDG Heading, Deviation and Variation
*HDT Heading, True
*PCMNS (ComNav Proprietary Sentence)
HDG and HDT are output at 9 times per second.
The TALKER Identifier is AP, in all cases. All messages have valid checksums.
The PCMS sentence is output, once per second, if the Vessel Type in the Dockside Setup
menu is set to Sail.
Example:
$PCMNS,PS,340.0,339.6,M,0.1,0.4,,,*2C
1) $ ⇒ the symbol that starts all NMEA 0183 sentences
2) P ⇒ identifies a proprietary sentence
3) CMN ⇒ the identifier assigned to ComNav Marine Ltd. by NMEA
4) S ⇒ status type sentence
5) Mode: SB ⇒ STANDBY mode, PS ⇒ POWER STEER mode,
AP = AUTO mode, NA = NAV mode
6) Commanded Heading, degrees
7) Actual heading, degrees
8) Units of heading: M ⇒ Degrees Magnetic, T ⇒ Degrees True
9) Commanded Rudder Angle
10) Actual Rudder Angle
11) ALC corrected heading
12) W ⇒ mode active (field is blank if not)
13) L ⇒ ALC active
14) Checksum, as per NMEA 0183 standard
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