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10 <font size=+2>Trimble Palisade Receiver</font>
14 <img SRC="pic/driver29.gif" NOSAVE height=100 width=420></h2>
17 <font size=+1>Synopsis</font></h2>
22 <div align=right><tt>Address: </tt></div>
25 <td><b>127.127.29.<i>u</i></b></td>
30 <div align=right><tt>Reference ID:</tt></div>
33 <td><a NAME="REFID"></a><b>GPS</b></td>
38 <div align=right><tt>Driver ID:</tt></div>
41 <td><b>GPS_PALISADE</b></td>
46 <div align=right><tt>Serial Port:</tt></div>
49 <td><b>/dev/palisade<i>u</i></b></td>
54 <div align=right><tt><font size=+1>Serial I/O:</font></tt></div>
57 <td><b>9600 baud, 8-bits, 1-stop, odd parity</b></td>
62 <font size=+1>Description</font></h2>
63 The <b>refclock_palisade</b> driver supports <a href="http://www.trimble.com/products/ntp">Trimble
64 Navigation's Palisade Smart Antenna GPS receiver</a>.
65 <br>Additional software and information about the Palisade GPS is available
66 from: <a href="http://www.trimble.com/oem/ntp">http://www.trimble.com/oem/ntp</a>.
67 <br>Latest NTP driver source, executables and documentation is maintained
69 <a href="ftp://ftp.trimble.com/pub/ntp">ftp://ftp.trimble.com/pub/ntp</a>
70 <p>This documentation describes version 7.12 of the GPS Firmware and version
71 2.46 (July 15, 1999) and later, of the driver source.
74 <font size=+1>Operating System Compatibility</font></h2>
75 The Palisade driver has been tested on the following software and hardware
80 <td VALIGN=CENTER WIDTH="23%">Platform</td>
82 <td VALIGN=CENTER>Operating System</td>
90 <td VALIGN=CENTER WIDTH="23%">i386 (PC) </td>
92 <td VALIGN=CENTER>Linux</td>
94 <td>NTP Distribution</td>
100 <td>i386 (PC) </td>
104 <td><a href="ftp://ftp.trimble.com/pub/ntp">ftp://ftp.trimble.com/pub/ntp</a></td>
110 <td VALIGN=CENTER WIDTH="23%">SUN</td>
112 <td VALIGN=CENTER>Solaris 2.x</td>
114 <td>NTP Distribution</td>
120 <td VALIGN=CENTER WIDTH="23%">Hewlett-Packard</td>
122 <td VALIGN=CENTER>HPUX 9, 10, 11</td>
124 <td><a href="http://us-support.external.hp.com">http://us-support.external.hp.com</a></td>
134 <td>NTP Distribution</td>
141 <font size=+1>GPS Receiver</font></h2>
142 The Palisade GPS receiver is an 8-channel smart antenna, housing the GPS
143 receiver, antenna and interface in a single unit, and is designed for rooftop
144 deployment in static timing applications.
145 <p>Palisade generates a PPS synchronized to UTC within +/- 100 ns.
146 The Palisade's external event input with 40 nanosecond resolution is utilized
147 by the Palisade NTP driver for asynchronous precision time transfer.
148 <p>No user initialization of the receiver is required. This driver is compatible
149 with the following versions of Palisade:
154 <center>Version</center>
158 <center>Event Input</center>
162 <center>Trimble Part Number</center>
168 <center>7.02</center>
176 <center>26664-00</center>
181 <td ALIGN=CENTER VALIGN=CENTER>
182 <center>7.02E</center>
190 <center>26664-10</center>
196 <center>7.12</center>
204 <center>38158-00</center>
210 <dl>Note: When using Palisade 26664-00, you must set fudge flag2 to 1 in
212 See <a href="#Configuration">configuration</a>.</dl>
216 <font size=+1>GPS <a NAME="Installation"></a>Installation</font></h3>
217 A location with unobstructed view of the horizon is recommended. Palisade
218 is designed to be securely mounted atop standard 3/4 inch threaded pipe.
219 <p>The 12 conductor (dia. 10 mm) power and I/O cable must be routed
220 from the rooftop site to the NTP server and properly strain relieved.
222 <font size=+1>GPS <a NAME="Connection"></a>Connection</font></h3>
223 The Palisade is equipped with dual (A & B) RS-422 serial interfaces
224 and a differential TTL PPS output. An RS-232 / RS-422 Interface Module
225 is supplied with the Palisade NTP Synchronization Kit. Palisade <a href="#PortA">port
226 A</a> must be connected to the NTP host server. Maximum antenna cable length
227 is 500 meters. See the <a href="#Pinouts">pinouts</a> table for detailed
228 connection Information.
229 <p>Palisade's <a href="#PortB">port B</a> provides a TSIP (Trimble Standard
230 Interface Protocol) interface for diagnostics, configuration, and monitoring.
231 Port B and the PPS output are not currently used by the Palisade NTP reference
237 <font size=+1>O/S Serial Port Configuration</font></h2>
238 The driver attempts to open the device <b><tt><a href="#REFID">/dev/palisade<i>u</i></a></tt></b>
240 <b><i>u</i></b> is the NTP refclock unit number as defined by the
241 LSB of the refclock address. Valid refclock unit numbers are 0 -
243 <p>The user is expected to provide a symbolic link to an available serial
244 port device. This is typically performed by a command such as:
245 <blockquote><tt>ln -s /dev/ttyS0 /dev/palisade0</tt></blockquote>
246 Windows NT does not support symbolic links to device files. COM<b>x</b>:
247 is used by the driver, based on the refclock unit number, where unit 1
248 corresponds to COM<b>1</b>: and unit 3 corresponds to COM3:
251 <a NAME="Configuration"></a><font size=+1>NTP Configuration</font></h2>
252 Palisade NTP configuration file <b><tt>"ntp.conf"</tt></b> with event polling:
253 <br><tt>#------------------------------------------------------------------------------</tt>
254 <br><tt># The Primary reference</tt>
255 <br><tt>server 127.127.29.0 # Trimble Palisade GPS Refclock Unit #0</tt>
256 <br><tt>peer terrapin.csc.ncsu.edu # internet server</tt>
257 <br><tt># Drift file for expedient re-synchronization after downtime or
259 <br><tt>driftfile /etc/ntp.drift</tt>
260 <br><tt>#------------------------------------------------------------------------------</tt>
261 <p>Configuration without event polling:
262 <br><tt>#------------------------------------------------------------------------------</tt>
263 <br><tt># The Primary reference</tt>
264 <br><tt>server 127.127.29.0 # Trimble Palisade GPS (Stratum 1).</tt>
265 <br><tt># Set packet delay</tt>
266 <br><tt><a href="#time1">fudge 127.127.29.0 time1 0.020</a></tt>
267 <br><tt># and set flag2 to turn off event polling.</tt>
268 <br><tt><a href="#flag2">fudge 127.127.29.0 flag2 1</a></tt>
269 <br><tt>#------------------------------------------------------------------------------</tt>
272 <a NAME="TimeTransfer"></a><font size=+1>Time Transfer and Polling</font></h2>
273 Time transfer to the NTP host is performed via the Palisade's comprehensive
274 time packet output. The time packets are output once per second, and whenever
275 an event timestamp is requested.
276 <p>The driver requests an event time stamp at the end of each polling interval,
277 by pulsing the RTS (request to send) line on the serial port. The Palisade
278 GPS responds with a time stamped event packet.
279 <p>Time stamps are reported by the Palisade with respect to UTC time. The
280 GPS receiver must download UTC offset information from GPS satellites.
281 After an initial UTC download, the receiver will always start with correct
282 UTC offset information.
285 <font size=+1>Run NTP in Debugging Mode</font></h2>
286 The following procedure is recommended for installing and testing a Palisade
290 Perform initial checkout procedures. Place the GPS receiver outdoors; with
291 clear view of the sky. Allow the receiver to obtain an UTC almanac.</li>
294 Verify presence of timing packets by observing the 1 Hz (PPS) led on the
295 interface module. It should flash once per second.</li>
298 Connect Palisade's port A to the NTP host.</li>
301 Configure NTP and the serial I/O port on the host system.</li>
304 Initially use <tt><a href="#flag2">fudge flag2</a></tt> in <b><a href="#Configuration">ntp.conf</a>,</b>
305 to disable event polling (see configuration).</li>
308 Run NTP in debug mode (-d -d), to observe Palisade_receive events.</li>
311 The driver reports the <a href="#TrackingStatus">tracking status of the
312 receiver</a>. Make sure it is tracking several satellites.</li>
315 Remove fudge flag2 and restart <b>ntpd</b> in debug mode to observe palisade_receive
319 If event polling fails, verify the <a href="#Pinouts">connections</a> and
320 that the host hardware supports RTS control.</li>
324 <font size=+1>Event Logging</font></h2>
325 System and Event log entries are generated by NTP to report significant
326 system events. Administrators should monitor the system log to observe
327 NTP error messages. Log entries generated by the Palisade NTP reference
328 clock driver will be of the form:
330 <pre>Nov 14 16:16:21 terrapin ntpd[1127]: Palisade #0: <i>message</i></pre>
334 <font size=+1>Fudge Factors</font></h2>
338 <a NAME="time1"></a><tt><font size=+1><a href="#Configuration">time1 <i>time</i></a></font></tt></dt>
341 Specifies the time offset calibration factor, in seconds and fraction,
342 with default 0.0. If event capture is not used, time1 should be set to
343 20 milliseconds to correct serial line and operating system delays incurred
344 in capturing time stamps from the synchronous packets.</dd>
347 <tt><font size=+1>stratum <i>number</i></font></tt></dt>
350 Specifies the driver stratum, in decimal from 0 to 15, with default 0.</dd>
353 <tt><font size=+1><a href="#REFID">refid <i>string</i></a></font></tt></dt>
356 Specifies the driver reference identifier, <b>GPS</b>.</dd>
359 <a NAME="flag2"></a><tt><font size=+1><a href="#Configuration">flag2 0
360 | 1</a></font></tt></dt>
363 When set to 1, driver does not use hardware event capture. The synchronous
364 packet output by the receiver at the beginning of each second is time stamped
365 by the driver. If triggering the event pulse fails, the driver falls back
366 to this mode automatically.</dd>
370 <font size=+1>DEFINEs</font></h2>
371 The following constants are defined in the driver source code. These defines
372 may be modified to improve performance or adapt to new operating systems.
374 <center><table BORDER >
376 <td><b>Label</b></td>
380 <td>Default Value</td>
386 <td>The serial port device to be used by the driver</td>
388 <td>/dev/palisade<b><i>u</i></b></td>
394 <td>Accuracy of time transfer</td>
396 <td>1 microsecond</td>
402 <td>Valid GPS - UTC offset</td>
410 <td>Host RS-232 baud rate</td>
416 <td>TRMB_MINPOLL </td>
418 <td>Minimum polling interval</td>
420 <td>5 (32 seconds)</td>
424 <td>TRMB_MAXPOLL</td>
426 <td>Maximum interval between polls</td>
428 <td>7 (128 seconds)</td>
433 <a NAME="DataFormat"></a><font size=+1>Data Format</font></h2>
434 Palisade port A can output two synchronous time packets. The NTP driver
435 can use either packet for synchronization. Packets are formatted as follows:
437 <b><font size=+0>Packet 8F-AD (Primary NTP Packet)</font></b></h3>
453 <td>Sub-Packet ID</td>
457 <td>Subcode 0xAD</td>
467 <td>External event count recorded (0 = PPS)</td>
473 <td>Fractional Second</td>
477 <td>Time elapsed in current second (s)</td>
487 <td>Hour (0 - 23)</td>
497 <td>Minute (0 - 59)</td>
507 <td>Second (0 - 59; 60 = leap)</td>
517 <td>Date (1 - 31)</td>
527 <td>Month (1 - 12)</td>
537 <td>Year (4 digit)</td>
543 <td>Receiver Status</td>
547 <td>Tracking Status</td>
557 <td>Leap Second Flags</td>
567 <td>Contains 0xFF</td>
577 <td>Contains 0xFF</td>
583 Leap Second Flag Definition:</h4>
584 Bit 0: (1) UTC Time is available
585 <br>Bits 1 - 3: Undefined
586 <br>Bit 4: (1) Leap Scheduled: Leap second pending asserted by GPS
588 <br>Bit 5: (1) Leap Pending: set 24 hours before, until beginning
590 <br>Bit 6: (1) GPS Leap Warning: 6 hours before until 6 hours after
592 <br>Bit 7: (1) Leap In Progress. Only set during the leap second.
594 <a NAME="TrackingStatus"></a>Tracking Status Flag Definitions:</h4>
597 <center><table BORDER=0 CELLSPACING=0 WIDTH="712" >
599 <td VALIGN=CENTER WIDTH="5%">Code</td>
601 <td VALIGN=CENTER WIDTH="59%">Meaning</td>
605 <td>Receiver Mode</td>
611 <td>Receiver is Navigating</td>
619 <td VALIGN=CENTER WIDTH="5%">1</td>
621 <td VALIGN=CENTER WIDTH="59%">Static 1 Sat. Timing Mode </td>
629 <td VALIGN=CENTER WIDTH="5%">2</td>
631 <td VALIGN=CENTER WIDTH="59%">Approximate Time</td>
639 <td VALIGN=CENTER WIDTH="5%">3</td>
641 <td VALIGN=CENTER WIDTH="59%">Startup</td>
645 <td>Initialization</td>
649 <td VALIGN=CENTER WIDTH="5%">4</td>
651 <td VALIGN=CENTER WIDTH="59%">Startup</td>
655 <td>Initialization</td>
659 <td VALIGN=CENTER WIDTH="5%">5</td>
661 <td VALIGN=CENTER WIDTH="59%">Dilution of Position too High </td>
669 <td VALIGN=CENTER WIDTH="5%">6</td>
671 <td VALIGN=CENTER WIDTH="59%">Static 1 Sat. Timing: Sat. not usable</td>
679 <td VALIGN=CENTER WIDTH="5%">7</td>
681 <td VALIGN=CENTER WIDTH="59%">No Satellites Usable</td>
689 <td VALIGN=CENTER WIDTH="5%">8</td>
691 <td VALIGN=CENTER WIDTH="59%">Only 1 Satellite Usable</td>
699 <td VALIGN=CENTER WIDTH="5%">9</td>
701 <td VALIGN=CENTER WIDTH="59%">Only 2 Satellite Usable</td>
709 <td VALIGN=CENTER WIDTH="5%">10</td>
711 <td VALIGN=CENTER WIDTH="59%">Only 3 Satellites Usable</td>
719 <td VALIGN=CENTER WIDTH="5%">11</td>
721 <td VALIGN=CENTER WIDTH="59%">Invalid Solution</td>
729 <td VALIGN=CENTER WIDTH="5%">12</td>
731 <td VALIGN=CENTER WIDTH="59%">Differential Corrections </td>
739 <td VALIGN=CENTER WIDTH="5%">13</td>
741 <td VALIGN=CENTER WIDTH="59%">Overdetermined Fixes</td>
745 <td>Timing Steady State</td>
750 <b><font size=+0>Packet 8F-0B (Comprehensive Timing Packet)</font></b></h3>
752 <center><table BORDER=0 CELLSPACING=0 >
754 <td VALIGN=CENTER WIDTH="9%">Byte</td>
756 <td VALIGN=CENTER WIDTH="27%">Item</td>
758 <td VALIGN=CENTER WIDTH="16%">Type</td>
760 <td VALIGN=CENTER WIDTH="48%">Meaning</td>
764 <td VALIGN=CENTER WIDTH="9%">0</td>
766 <td VALIGN=CENTER WIDTH="27%">Sub-Packet ID</td>
768 <td VALIGN=CENTER WIDTH="16%">BYTE</td>
770 <td VALIGN=CENTER WIDTH="48%">Subcode 0x0B</td>
774 <td VALIGN=TOP WIDTH="9%">1 - 2</td>
776 <td VALIGN=TOP WIDTH="27%">Event Count</td>
778 <td VALIGN=TOP WIDTH="16%">INTEGER</td>
780 <td VALIGN=TOP WIDTH="48%">External event count recorded (0 = PPS)</td>
784 <td VALIGN=TOP WIDTH="9%">3 - 10</td>
786 <td VALIGN=TOP WIDTH="27%">UTC / GPS TOW</td>
788 <td VALIGN=TOP WIDTH="16%">DOUBLE</td>
790 <td VALIGN=TOP WIDTH="48%">UTC / GPS time of week (seconds)</td>
794 <td VALIGN=CENTER WIDTH="9%">11</td>
796 <td VALIGN=CENTER WIDTH="27%">Date</td>
798 <td VALIGN=CENTER WIDTH="16%">BYTE</td>
800 <td VALIGN=CENTER WIDTH="48%">Day of Month</td>
804 <td VALIGN=CENTER WIDTH="9%">12</td>
806 <td VALIGN=CENTER WIDTH="27%">Month</td>
808 <td VALIGN=CENTER WIDTH="16%">BYTE</td>
810 <td VALIGN=CENTER WIDTH="48%">Month of Event</td>
814 <td VALIGN=CENTER WIDTH="9%">13 - 14</td>
816 <td VALIGN=CENTER WIDTH="27%">Year</td>
818 <td VALIGN=CENTER WIDTH="16%">INT</td>
820 <td VALIGN=CENTER WIDTH="48%">Year of event</td>
824 <td VALIGN=TOP WIDTH="9%">15</td>
826 <td VALIGN=TOP WIDTH="27%">Receiver Mode</td>
828 <td VALIGN=TOP WIDTH="16%">BYTE</td>
830 <td VALIGN=TOP WIDTH="48%">Receiver operating dimensions:
831 <br>0: Horizontal (2D)
832 <br>1: Full Position (3D)
833 <br>2: Single Satellite (0D)
834 <br>3: Automatic (2D / 3D)
835 <br>4: DGPS reference
836 <br>5: Clock hold (2D)
837 <br>6: Over determined Clock</td>
841 <td VALIGN=CENTER WIDTH="9%">15 - 17</td>
843 <td VALIGN=CENTER WIDTH="27%">UTC Offset</td>
845 <td VALIGN=CENTER WIDTH="16%">INTEGER</td>
847 <td VALIGN=CENTER WIDTH="48%">UTC Offset value (seconds)</td>
851 <td VALIGN=CENTER WIDTH="9%">18 - 25</td>
853 <td VALIGN=CENTER WIDTH="27%">Oscillator Bias</td>
855 <td VALIGN=CENTER WIDTH="16%">DOUBLE</td>
857 <td VALIGN=CENTER WIDTH="48%">Oscillator BIAS (meters)</td>
861 <td VALIGN=TOP WIDTH="9%">26 - 33</td>
863 <td VALIGN=TOP WIDTH="27%">Oscillator Drift Rate</td>
865 <td VALIGN=TOP WIDTH="16%">DOUBLE</td>
867 <td VALIGN=TOP WIDTH="48%">Oscillator Drift (meters / second)</td>
871 <td VALIGN=CENTER WIDTH="9%">34 - 37</td>
873 <td VALIGN=CENTER WIDTH="27%">Bias Uncertainty</td>
875 <td VALIGN=CENTER WIDTH="16%">SINGLE</td>
877 <td VALIGN=CENTER WIDTH="48%">Oscillator bias uncertainty (meters)</td>
881 <td VALIGN=CENTER WIDTH="9%">38 - 41</td>
883 <td VALIGN=CENTER WIDTH="27%">Drift Uncertainty</td>
885 <td VALIGN=CENTER WIDTH="16%">SINGLE</td>
887 <td VALIGN=CENTER WIDTH="48%">Oscillator bias rate uncertainty (m / sec)</td>
891 <td VALIGN=CENTER WIDTH="9%">42 - 49</td>
893 <td VALIGN=CENTER WIDTH="27%">Latitude</td>
895 <td VALIGN=CENTER WIDTH="16%">DOUBLE</td>
897 <td VALIGN=CENTER WIDTH="48%">Latitude in radians</td>
901 <td VALIGN=CENTER WIDTH="9%">50 - 57</td>
903 <td VALIGN=CENTER WIDTH="27%">Longitude</td>
905 <td VALIGN=CENTER WIDTH="16%">DOUBLE</td>
907 <td VALIGN=CENTER WIDTH="48%">Longitude in radians</td>
911 <td VALIGN=CENTER WIDTH="9%">58 - 65</td>
913 <td VALIGN=CENTER WIDTH="27%">Altitude</td>
915 <td VALIGN=CENTER WIDTH="16%">DOUBLE</td>
917 <td VALIGN=CENTER WIDTH="48%">Altitude above mean sea level, in meters</td>
921 <td VALIGN=CENTER WIDTH="9%">66 - 73</td>
923 <td VALIGN=CENTER WIDTH="27%">Satellite ID</td>
925 <td VALIGN=CENTER WIDTH="16%">BYTE</td>
927 <td VALIGN=CENTER WIDTH="48%">SV Id No. of tracked satellites</td>
932 <a NAME="Pinouts"></a><font size=+1>Pinouts</font></h2>
933 <a href="#Connection">The following connections are required when connecting
934 Palisade with a host:</a>
939 <td><u>Description</u></td>
947 <td><b>Palisade </b></td>
955 <td><a NAME="PortA"></a><b>Port A</b></td>
959 <td><u>DB-25</u></td>
963 <td><u>RS-232</u></td>
965 <td><u>RS-422</u></td>
967 <td><u>Palisade Pin</u></td>
971 <td>Receive Data </td>
981 <td>Green / Blue</td>
983 <td>8 (T-) & 10 (T+)</td>
987 <td>Request to Send</td>
997 <td>Gray / White</td>
999 <td>6 (R-) & 7 (R+)</td>
1003 <td>Signal Ground</td>
1035 <td><a NAME="PortB"></a><b>Port B</b></td>
1051 <td>Receive Data </td>
1061 <td>Brown / Yellow</td>
1063 <td>4 (T-) & 5 (T+)</td>
1067 <td>Transmit Data</td>
1077 <td>Orange/ Violet</td>
1079 <td>2 (R-) & 3 (R+)</td>
1083 <td>Signal Ground</td>
1099 <blockquote>Note: If driving the RS-422 inputs on the Palisade single ended,
1100 i.e. using the Green and Gray connections only, does not work on all serial
1101 ports. Use of the Palisade NTP Synchronization Interface Module is recommended.</blockquote>
1103 <blockquote>The 12 pin connector pinout definition:
1104 <br>Face the round 12 pin connector at the end of the cable, with the notch
1106 <br>Pin 1 is to the left of the notch. Pins 2 - 8 wrap around the bottom,
1107 counterclockwise to pin 9 on the right of the notch. Pin 10 is just below
1108 the notch. Pins 10 (top), 11 (bottom left) and 12 (bottom right) form a
1109 triangle in the center of the connector.</blockquote>
1111 <blockquote><a NAME="SIM"></a>Pinouts for the Palisade NTP host adapter
1112 (Trimble PN 37070) DB-25 M connector are as follows:</blockquote>
1114 <center><table BORDER=0 CELLSPACING=0 WIDTH="682" >
1116 <td VALIGN=CENTER WIDTH="12%">DB-25M</td>
1118 <td VALIGN=CENTER WIDTH="31%">Conductor </td>
1120 <td VALIGN=CENTER WIDTH="16%">Palisade</td>
1122 <td VALIGN=CENTER WIDTH="41%">Description</td>
1126 <td VALIGN=CENTER WIDTH="12%">1 </td>
1128 <td VALIGN=CENTER WIDTH="31%">Red</td>
1130 <td VALIGN=CENTER WIDTH="16%">1</td>
1132 <td VALIGN=CENTER WIDTH="41%">Power</td>
1136 <td VALIGN=CENTER WIDTH="12%">7 </td>
1138 <td VALIGN=CENTER WIDTH="31%">Black</td>
1140 <td VALIGN=CENTER WIDTH="16%">9</td>
1142 <td VALIGN=CENTER WIDTH="41%">Ground</td>
1146 <td VALIGN=CENTER WIDTH="12%">9</td>
1148 <td VALIGN=CENTER WIDTH="31%">Black/White</td>
1150 <td VALIGN=CENTER WIDTH="16%">12</td>
1152 <td VALIGN=CENTER WIDTH="41%">PPS -</td>
1156 <td VALIGN=CENTER WIDTH="12%">10 </td>
1158 <td VALIGN=CENTER WIDTH="31%">Green</td>
1160 <td VALIGN=CENTER WIDTH="16%">8</td>
1162 <td VALIGN=CENTER WIDTH="41%">Transmit Port A (T-)</td>
1166 <td VALIGN=CENTER WIDTH="12%">11 </td>
1168 <td VALIGN=CENTER WIDTH="31%">Brown</td>
1170 <td VALIGN=CENTER WIDTH="16%">4</td>
1172 <td VALIGN=CENTER WIDTH="41%">Transmit Port B (T-)</td>
1176 <td VALIGN=CENTER WIDTH="12%">12 </td>
1178 <td VALIGN=CENTER WIDTH="31%">Gray</td>
1180 <td VALIGN=CENTER WIDTH="16%">7</td>
1182 <td VALIGN=CENTER WIDTH="41%">Receive Port A (R+)</td>
1186 <td VALIGN=CENTER WIDTH="12%">13</td>
1188 <td VALIGN=CENTER WIDTH="31%">Orange</td>
1190 <td VALIGN=CENTER WIDTH="16%">3</td>
1192 <td VALIGN=CENTER WIDTH="41%">Receive Port B (R+)</td>
1196 <td VALIGN=CENTER WIDTH="12%">21</td>
1198 <td VALIGN=CENTER WIDTH="31%">Orange/White</td>
1200 <td VALIGN=CENTER WIDTH="16%">11</td>
1202 <td VALIGN=CENTER WIDTH="41%">PPS +</td>
1206 <td VALIGN=CENTER WIDTH="12%">22</td>
1208 <td VALIGN=CENTER WIDTH="31%">Blue</td>
1210 <td VALIGN=CENTER WIDTH="16%">10</td>
1212 <td VALIGN=CENTER WIDTH="41%">Transmit Port A (T+)</td>
1216 <td VALIGN=CENTER WIDTH="12%">23</td>
1218 <td VALIGN=CENTER WIDTH="31%">Yellow</td>
1220 <td VALIGN=CENTER WIDTH="16%">5</td>
1222 <td VALIGN=CENTER WIDTH="41%">Transmit Port B (T+)</td>
1226 <td VALIGN=CENTER WIDTH="12%">24</td>
1228 <td VALIGN=CENTER WIDTH="31%">White</td>
1230 <td VALIGN=CENTER WIDTH="16%">6</td>
1232 <td VALIGN=CENTER WIDTH="41%">Receive Port A (R-)</td>
1236 <td VALIGN=CENTER WIDTH="12%">25</td>
1238 <td VALIGN=CENTER WIDTH="31%">Violet</td>
1240 <td VALIGN=CENTER WIDTH="16%">2</td>
1242 <td VALIGN=CENTER WIDTH="41%">Receive Port B (R-)</td>
1248 <p>Questions or Comments:
1249 <br><a href="mailto:sven_dietrich@trimble.com">Sven Dietrich</a>
1250 <br><a href="http://www.trimble.com/">Trimble Navigation Ltd.</a>
1251 <p>(last updated July 29, 1999)