VBOX Sigma - CAN Output Format

VBOX Sigma has a CAN output which is present on the 6-way hirose connector on the bottom of the unit.
 

• Data format: Motorola
• Baud rate: Configurable - 125 kbit/s, 250 kbit/s, 500 kbit/s or 1000 kbit/s via the Wi-Fi hotspot configuration.
   

**Default Identifiers. The identifier values can be changed using the configuration software.
 

1. If <3 satellites in view, then only Identifier 0x301 transmitted and bytes 2 to 8 are set to 0x00.
2. Time since midnight. This is a count of 10 ms intervals since midnight UTC. (5383690 = 53836.90 seconds since midnight or 14 hours, 57 minutes and 16.90 seconds).
3. Position, Latitude * 100,000 (311924579 = 51 Degrees, 59.24579 Minutes North). This is a true 32 bit signed integer, North being positive.
4. Position, Longitude * 100,000 (11882246 = 0 Degrees, 58.82246 Minutes West). This is a true 32 bit signed integer, West being positive.
5. Speed, 0.01 kts per bit.
6. Heading, 0.01° per bit.
7. Altitude above mean sea level based on the WGS 84 model of the earth, 0.01 m per bit, signed.
8. Vertical Velocity, 0.01 m/s per bit, signed.
9. Longitudinal Acceleration, 0.01 g per bit, signed.
10. Lateral Acceleration, 0.01 g per bit, signed.
11. Position, latitude 48 bit signed integer, latitude * 10,000,000 (min). North being positive.
12. Solution Type, 8 bit unsigned integer, 0=No solution,1= Stand alone, 2= Code differential, 3=RTK Float, 4=RTK Fixed.
13. Position, longitude 48 bit signed integer, longitude * 10,000,000 (min). East being positive.
14. GPSDayH, unsigned char, most sig byte day number since 6th Jan 1980.
15. GPSDayL, unsigned char, least sig byte day number since 6th Jan 1980.
16. Diff Age, unsigned char, (s) differential age (0xFF = invalid).
17. Serial Number, 20 bit, VBOX serial number.