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ASCII (NMEA) Protocol

For simple use, the Inertial Sense device supports ASCII based communications protocol, including several common GPS NMEA messages. The ASCII protocol is human readable from in a command line terminal but is less optimal than the binary protocol.

Communications Examples

The ASCII Communications Example Project demonstrates how to implement the ASCII (NMEA) protocol.

Packet Structure

The Inertial Sense ASCII protocol follows the standard NMEA 0183 message structure:

  • 1 byte – Start packet, always the $ byte (0x24)
  • n bytes (usually 4 or 5) – packet identifier
  • 1 byte – a comma (0x2C)
  • n bytes – comma separated list of data, i.e. 1,2,3,4,5,6
  • 1 byte – checksum marker, always the * byte (0x2A)
  • 2 bytes – checksum in hex format (i.e. f5 or 0a), 0 padded if necessary and lowercase
  • 2 bytes – End packet, always carriage return and line feed (\r\n or 0x0D, 0x0A)

The packet checksum is an 8 bit integer and is calculated by calculating the exclusive OR of all bytes in between and not including the $ and * bytes. The packet checksum byte is converted to a 2 byte ASCII hex code, and left padded with 0 if necessary to ensure that it is always 2 bytes. The checksum is always lowercase hexadecimal characters. See NMEA 0183 message structure for more details. The NMEA string checksum is automatically computed and appended to string when using the InertialSense SDK serialPortWriteAscii function or can be generated using an online checksum calculator. For example: MTK NMEA checksum calculator

Persistent Messages

The persistent messages option saves the current data stream configuration to flash memory for use following reboot, eliminating the need to re-enable messages following a reset or power cycle.

Binary persistent messages are also available.

Enabling Persistent Messages - EvalTool

To enable persistent ASCII messages using the EvalTool:

  • Enable the desired ASCII messages in the EvalTool "Data Sets" tab. Select DID_ASCII_BCAST_PERIOD in the DID menu and set the desired ASCII messages period to a non-zero value.
  • Press the "Save Persistent" button in the EvalTool "Data Logs" tab to store the current message configuration to flash memory.
  • Reset the uINS and verify the messages are automatically streaming. You can use a generic serial port program like putty or the EvalTool->Data Logs->Data Log->Messages dialog to view the ASCII messages.

To disable all persistent messages using the EvalTool, click the "Stop Streaming" button and then "Save Persistent" button.

ASCII Input Messages

The following ASCII messages can be received by the uINS.

Message Description
$ASCB*13\r\n Query the broadcast rate of ASCII output messages.
ASCB Set the broadcast rate of ASCII output messages.
$INFO*0E\r\n Query device information.
$PERS*13\r\n Save persistent message to flash.
$STPB*15\r\n Stop broadcast of all messages (ASCII and binary) on all ports.
$STPC*14\r\n Stop broadcast of all messages (ASCII and binary) on current port.

ASCB

Enable ASCII message and set broadcast periods. The period is in milliseconds with no thousands separator character. “xx” is the two-character checksum. Each field can be left blank in which case the existing broadcast period for that field is not modified, or 0 to disable.

 $ASCB,d,d,d,d,d,d,d,d,d,d,d,d,d*xx\r\n
       1 2 3 4 5 6 7 8 9 0 1 2 3
Index Field Units Description
1 options Port selection. Combine by adding options together:
0=current, 1=ser0, 2=ser1, 4=ser2, 8=USB,
512=persistent (remember after reset)
2 PIMU ms Broadcast period for PIMU dual IMU message.
3 PPIMU ms Broadcast period for PPIMU preintegrated dual IMU message.
4 PINS1 ms Broadcast period for PINS1 INS output (euler, NED) message.
5 PINS2 ms Broadcast period for PINS2 INS outpout (quaterion, LLA) message.
6 PGPSP ms Broadcast period for PGPSP GPS position message.
7 - ms Reserved. Leave zero.
8 GPGGA ms Broadcast period for NMEA GPGGA (fix, 3D location, and accuracy) message.
9 GPGLL ms Broadcast period for NMEA GPGLL (2D location and time) message.
10 GPGSA ms Broadcast period for NMEA GPGSA (DOP and active satellites) message.
11 GPRMC ms Broadcast period for NMEA GPRMC (minimum specific GPS/Transit) message.
12 GPZDA ms Broadcast period for NMEA GPZDA (UTC Time/Date) message.
13 PASHR ms Broadcast period for NMEA PASHR (euler) message.

PERS

Send this command to save current persistent messages to flash memory for use following reboot. This eliminates the need to re-enable messages following a reset or power cycle. In order to disable persistent messages, all messages must be disabled and then the 'save persistent messages' command should be sent.

$PERS*14\r\n

STPB

Stop all broadcasts (both binary and ASCII) on all ports by sending the following packet:

$STPB*15\r\n

The hexadecimal equivalent is:

24 53 54 50 42 2A 31 35 0D 0A

STPC

Stop all broadcasts (both binary and ASCII) on the current port by sending the following packet:

$STPC*14\r\n

The hexadecimal equivalent is:

24 53 54 50 43 2A 31 34 0D 0A

ASCII Output Messages

The following ASCII messages can be sent by the uINS.

Message Description
ASCB Broadcast rate of ASCII output messages.
PIMU Dual IMU data (two sets of 3-axis gyros and accelerometers) in the body frame.
PPIMU Preintegrated dual IMU: delta theta (rad) and delta velocity (m/s).
PINS1 INS output: euler rotation w/ respect to NED, NED position from reference LLA.
PINS2 INS output: quaternion rotation w/ respect to NED, ellipsoid altitude.
PGPSP GPS position data.
GPGGA NMEA GPGGA GPS 3D location, fix, and accuracy.
GPGLL NMEA GPGLL GPS 2D location and time.
GPGSA NMEA GSA GPS DOP and active satellites.
GPRMC NMEA Recommended minimum specific GPS/Transit data.
GPZDA NMEA UTC Time/Date message.
PASHR NMEA PASHR (euler) message.
PSTRB Strobe event input time.
INFO Device information.

The field codes used in the message descriptions are: lf = double, f = float, d = int.

PIMU

Dual IMU sensor data (two sets of 3-axis gyros and accelerometers) in the body frame.

$PIMU,lf,f,f,f,f,f,f,f,f,f,f,f,f*xx\r\n
       1 2 3 4 5 6 7 8 9 0 1 2 3
Index Field Units Description
1 time sec Time since system power up
2 IMU1 pqr[0] rad/sec IMU1 angular rate gyro – pitch
3 IMU1 pqr[1] rad/sec IMU1 angular rate gyro – roll
4 IMU1 pqr[2] rad/sec IMU1 angular rate gyro – yaw
5 IMU1 acc[0] m/s2 IMU1 linear acceleration – X
6 IMU1 acc[1] m/s2 IMU1 linear acceleration – Y
7 IMU1 acc[2] m/s2 IMU1 linear acceleration – Z
8 IMU2 pqr[0] rad/sec IMU2 angular rate gyro – pitch
9 IMU2 pqr[1] rad/sec IMU2 angular rate gyro – roll
10 IMU2 pqr[2] rad/sec IMU2 angular rate gyro – yaw
11 IMU2 acc[0] m/s2 IMU2 linear acceleration – X
12 IMU2 acc[1] m/s2 IMU2 linear acceleration – Y
13 IMU2 acc[2] m/s2 IMU2 linear acceleration – Z

PPIMU

Preintegrated dual inertial measurement unit (IMU) sensor data, delta theta in radians and delta velocity in m/s in the body frame. Also known as conning and sculling integrals.

$PPIMU,lf,f,f,f,f,f,f,f,f,f,f,f,f,f*xx\r\n
        1 2 3 4 5 6 7 8 9 0 1 2 3 4
Index Field Units Description
1 time sec Time since system power up
2 theta1[0] rad IMU 1 delta theta integral – roll
3 theta1[1] rad IMU 1 delta theta integral – pitch
4 theta1[2] rad IMU 1 delta theta integral – yaw
5 theta2[0] rad IMU 2 delta theta integral – roll
6 theta2[1] rad IMU 2 delta theta integral – pitch
7 theta2[2] rad IMU 2 delta theta integral – yaw
8 vel1[0] m/s IMU 1 delta velocity integral – X
9 vel1[1] m/s IMU 1 delta velocity integral – Y
10 vel1[2] m/s IMU 1 delta velocity integral – Z
11 vel2[0] m/s IMU 2 delta velocity integral – X
12 vel2[1] m/s IMU 2 delta velocity integral – Y
13 vel2[2] m/s IMU 2 delta velocity integral – Z
14 dt s Integral period for delta theta vel

PINS1

INS output with Euler angles and NED offset from the reference LLA.

$PINS1,lf,d,d,d,f,f,f,f,f,f,lf,lf,lf,f,f,f*xx\r\n
        1 2 3 4 5 6 7 8 9 0  1  2  3 4 5 6
Index Field Units Description
1 timeOfWeek sec Seconds since Sunday morning in GMT
2 GPS week weeks Number of weeks since January 1st of 1980 in GMT
3 insStatus INS Status Flags
4 hdwStatus Hardware Status Flags
5 theta[0] rad Euler angle – roll
6 theta[1] rad Euler angle – pitch
7 theta[2] rad Euler angle – yaw
8 UVW[0] m/s Velocity in body frame – X
9 UVW[1] m/s Velocity in body frame – Y
10 UVW[2] m/s Velocity in body frame – Z
11 Latitude deg WGS84 Latitude
12 Longitude deg WGS84 Longitude
13 HAE Altitude m Height above ellipsoid (vertical elevation)
14 NED[0] m Offset from reference LLA – North
15 NED[1] m Offset from reference LLA – East
16 NED[2] m Offset from reference LLA – Down

PINS2

INS output with quaternion attitude.

$PINS2,lf,d,d,d,f,f,f,f,f,f,f,lf,lf,lf*xx\r\n
        1 2 3 4 5 6 7 8 9 0 1  2  3  4
Index Field Units Description
1 timeOfWeek sec Seconds since Sunday morning in GMT
2 GPS week weeks Number of weeks since January 1st of 1980 in GMT
3 insStatus INS Status Flags
4 hdwStatus Hardware Status Flags
5 qn2b[0] Quaternion rotation (NED to body) – W
6 qn2b[1] Quaternion rotation (NED to body) – X
7 qn2b[2] Quaternion rotation (NED to body) – Y
8 qn2b[3] Quaternion rotation (NED to body) – Z
9 UVW[0] m/s Velocity in body frame – X
10 UVW[1] m/s Velocity in body frame – Y
11 UVW[2] m/s Velocity in body frame – Z
12 Latitude deg WGS84 Latitude
13 Longitude deg WGS84 Longitude
14 HAE altitude m Height above ellipsoid (vertical elevation)

PGPSP

GPS navigation data.

$PGPSP,d,d,d,lf,lf,lf,f,f,f,f,f,f,f,f,f,f*xx\r\n
       1 2 3  4  5  6 7 8 9 0 1 2 3 4 5 6

$PGPSP,337272200,2031,1075643160,40.33057800,-111.72581630,1406.39,1425.18,0.95,0.37,0.55,-0.02,0.02,-0.03,0.17,39.5,337182.4521*4d
Index Field Units Description
1 timeMsOfWeek ms Milliseconds since Sunday morning in GMT
2 GPS week weeks Number of weeks since January 1st of 1980 in GMT
3 status (see eGpsStatus) GPS status: [0x000000xx] number of satellites used, [0x0000xx00] fix type, [0x00xx0000] status flags
4 Latitude deg WGS84 Latitude
5 Longitude deg WGS84 Longitude
6 HAE altitude m Height above WGS84 ellipsoid
7 MSL altitude m Elevation above mean sea level
8 pDOP m Position dilution of precision
9 hAcc m Horizontal accuracy
10 vAcc m Vertical accuracy
11 Velocity X m/s ECEF X velocity
12 Velocity Y m/s ECEF Y velocity
13 Velocity Z m/s ECEF Z velocity
14 sAcc m/s Speed accuracy
15 cnoMean dBHz Average of all satellite carrier to noise ratios (signal strengths) that non-zero
16 towOffset s Time sync offset between local time since boot up to GPS time of week in seconds. Add this to IMU and sensor time to get GPS time of week in seconds.
17 leapS s GPS leap second (GPS-UTC) offset. Receiver's best knowledge of the leap seconds offset from UTC to GPS time. Subtract from GPS time of week to get UTC time of week.

GPGGA

NMEA GPS fix, 3D location and accuracy data (see NMEA GPGGA specification).

$GPGGA,204153,4003.3433,N,11139.5187,W,1,25,0.93,1433.997,M,18.82,M,,*6d\r\n
            1         2 3          4 5 6  7    8     9    0     1 2 3 4
Index Field Units Description Example
1 HHMMSS UTC time (fix taken at 12:39:19 UTC) 123519
2,3 Latitude deg,min WGS84 latitude (DDmm.mmmm,N) 4003.3433,N
4,5 Longitude deg,min WGS84 longitude (DDDmm.mmmm,E) 11139.5187,W
6 Fix quality 0 = invalid, 1 = GPS fix (SPS), 2 = DGPS fix, 3 = PPS fix, 4 = RTK Fix, 5 = RTK Float, 6 = estimated (dead reckoning), 7 = Manual input mode, 8 = Simulation mode 1
7 # Satellites Number of satellites in use 15
8 hDop m Horizontal dilution of precision 0.9
9,10 MSL_altitude m Elevation above mean sea level (MSL) 545.4,M
11,12 Undulation m Undulation of geoid. Height of the geoid above the WGS84 ellipsoid. 46.9,M
13 empty s Time since last DGPS update
14 empty DGPS station ID number

GPGLL

NMEA geographic position, latitude / longitude and time (see NMEA GPGLL specification).

$GPGLL,4916.4512,N,12311.1232,W,225444,A*33\r\n
               1 2          3 4      5 6
Index Field Units Description Example
1,2 Latitude deg,min WGS84 latitude (DDmm.mmmm,N) 4916.4512,N
3,4 Longitude deg,min WGS84 longitude (DDDmm.mmmm,E) 12311.1232,W
5 HHMMSS UTC time (fix taken at 22:54:44 UTC) 225444
6 Valid Data valid (A=active, V=void) A

GPGSA

NMEA GPS DOP and active satellites (see NMEA GPGSA specification).

$GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39\r\n
       1 2  3  4 ...              15  16  17
Index Field Units Description Example
1 Auto selection of 2D or 3D fix (M = manual) A
2 Fix quality Fix quality (1 = none, 2 = 2D, 3 = 3D) 3
3-14 Sat ID Satellite ID (PRNs) 04,05,,09,12,,,24,,,,,
15 pDop m Dilution of precision 2.5
16 hDop m Horizontal dilution of precision 1.3
17 vDop m Vertical dilution of precision 2.1

GPRMC

NMEA GPS recommended minimum specific GPS/Transit data (see NMEA GPRMC specification).

eg1. $GPRMC,081836,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E*62
eg2. $GPRMC,225446,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E*68

           225446       Time of fix 22:54:46 UTC
           A            Navigation receiver warning A = OK, V = warning
           4916.45,N    Latitude 49 deg. 16.45 min North
           12311.12,W   Longitude 123 deg. 11.12 min West
           000.5        Speed over ground, Knots
           054.7        Course Made Good, True
           191194       Date of fix  19 November 1994
           020.3,E      Magnetic variation 20.3 deg East
           *68          mandatory checksum

eg3. $GPRMC,220516,A,5133.82,N,00042.24,W,173.8,231.8,130694,004.2,W*70
              1    2    3    4    5     6    7    8      9     10  11 12

      1   220516     Time Stamp
      2   A          validity - A-ok, V-invalid
      3   5133.82    current Latitude
      4   N          North/South
      5   00042.24   current Longitude
      6   W          East/West
      7   173.8      Speed in knots
      8   231.8      True course
      9   130694     Date Stamp
      10  004.2      Variation
      11  W          East/West
      12  *70        checksum

eg4. $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh
1    = UTC of position fix
2    = Data status (V=navigation receiver warning)
3    = Latitude of fix
4    = N or S
5    = Longitude of fix
6    = E or W
7    = Speed over ground in knots
8    = Track made good in degrees True
9    = UT date
10   = Magnetic variation degrees (Easterly var. subtracts from true course)
11   = E or W
12   = Checksum

GPZDA

NMEA GPS UTC Time and Date (see NMEA GPZDA specification).

$GPZDA,001924,06,01,1980,00,00*41\r\n
          1    2  3   4   5  6
Index Field Units Description Example
1 HrMinSec UTC Time 001924
2 Day Day 06
3 Month Month 01
4 Year Year 2020
16 localHrs Local time zone hours 00
17 localMin Local time zone minutes 00

PASHR

NMEA GPS DOP and active satellites (see NMEA GPGSA specification).

$PASHR,001924.600,95.81,T,+0.60,+1.05,+0.00,0.038,0.035,0.526,0,0*08\r\n
          1         2   3   4      5    6    7      8     9  10 11  
Index Field Units Description Example
1 UTC Time 001924.600
2 Fix quality Heading value in decimal degrees 95.81
3 Sat ID T displayed if heading is relative to true north. T
4 pDop m Roll in decimal degrees. +0.60
5 hDop m Pitch in decimal degrees. +1.05
6 vDop m Instantaneous heave in meters. +0.00
7 Roll standard deviation in decimal degrees. +0.038
8 Pitch standard deviation in decimal degrees. 0.035
9 Heading standard deviation in decimal degrees. 0.526
10 GPS Status 0
11 INS Status 0

PSTRB

Strobe input time. This message is sent when an assert event occurs on a strobe input pin.

$PSTRB,d,d,d,d*xx\r\n
       1 2 3 4
Index Field Units Description
1 GPS week weeks Number of weeks since January 1st of 1980 in GMT
2 timeMsOfWeek ms Milliseconds since Sunday morning in GMT
3 pin Strobe event input pin number
4 count Strobe event serial index number

INFO

Device version information. Query this message by sending $INFO*0E\r\n.

$INFO,d,d.d.d.d,d.d.d.d,d,d.d.d.d,d,s,YYYY-MM-DD,hh:mm:ss.ms,s*xx\r\n
      1 2       3       4 5       6 7 8          9           10
Index Field Units Description
1 Serial number Manufacturer serial number
2 Hardware version Hardware version
3 Firmware version Firmware version
4 Build number Firmware build number
5 Protocol version Communications protocol version
6 Repo revision Repository revision number
7 Manufacturer Manufacturer name
8 Build date Build date:
[1] = year-2000, [2] = month, [3] = day
9 Build time Build date: [0] = hour, [1] = minute,
[2] = second, [3] = millisecond
10 Add Info Additional information

ASCII Examples

This section illustrates common ASCII message strings for configuration.

Note

If the command strings below are altered, their checksum must be recalculated.

Note

All ASCII command strings must be followed with a carriage return and new line character (\r\n or 0x0D, 0x0A).

The NMEA string checksum is automatically computed and appended to string when using the InertialSense SDK serialPortWriteAscii function or can be generated using an online NMEA checksum calculator. For example: MTK NMEA checksum calculator

Stop streams on CURRENT port

$STPB*15                                     

Stop all streams on ALL ports

$ASCB,255,0,0,0,0,0,0,0,0,0,0,0,0*0D

Query device version information

$INFO*0E

Response:

$INFO,30612,3.1.2.0,1.7.0.0,3522,1.2.74.7,6275,Inertial Sense INC,0018-10-16,23:20:38.41,INL2*58

Stream INS1 @25Hz on port 0

$ASCB,1,,,40,,,,,,,,,*0A

Stream INS1 @10Hz on current port

$ASCB,0,,,100,,,,,,,,,*3E

Response:

$PINS1,244272.398,2021,427888998,805306448,0.0468,-0.3830,-0.0909,0.232,-0.083,-0.089,40.05574940,-111.65861580,1438.451,-1.678,-5.086,-9.697*11
$PINS1,244272.498,2021,427888998,805306448,0.0469,-0.3830,-0.0902,0.232,-0.081,-0.089,40.05575000,-111.65861550,1438.451,-1.611,-5.060,-9.697*18
$PINS1,244272.598,2021,427888998,805306448,0.0469,-0.3830,-0.0902,0.232,-0.081,-0.089,40.05575022,-111.65861562,1438.449,-1.587,-5.070,-9.695*1e

Stream INS1 @50Hz on serial port 1

$ASCB,2,,,20,,,,,,,,,*0F

Response:

$PINS1,256270.627,2021,427888998,1073741912,0.1153,-0.1473,-0.1628,0.001,0.001,0.003,40.05569486,-111.65864500,1416.218,-7.738,-7.570,12.536*3d
$PINS1,256270.647,2021,427888998,1073741912,0.1153,-0.1473,-0.1632,0.001,0.001,0.003,40.05569486,-111.65864500,1416.219,-7.738,-7.570,12.535*32
$PINS1,256270.667,2021,427888998,1073741912,0.1153,-0.1473,-0.1631,0.001,0.001,0.003,40.05569486,-111.65864500,1416.220,-7.738,-7.570,12.534*38

Stream PIMU @50Hz and GPGGA @5Hz on current port

$ASCB,0,20,0,0,0,0,0,200,0,0,0,0,0*3F

Response:

$PIMU,3218.543,0.0017,-0.0059,-0.0077,-1.417,-1.106,-9.524,0.0047,0.0031,-0.0069,-1.433,-1.072,-9.585*1f
$GPGGA,231841,4003.3425,N,11139.5188,W,1,29,0.89,1434.16,M,18.82,M,,*59
$PIMU,3218.563,0.0022,-0.0057,-0.0091,-1.416,-1.123,-9.512,0.0061,0.0035,-0.0068,-1.430,-1.091,-9.563*19
$PIMU,3218.583,0.0007,-0.0059,-0.0081,-1.420,-1.125,-9.508,0.0056,0.0047,-0.0086,-1.432,-1.078,-9.591*1e
$PIMU,3218.603,0.0015,-0.0062,-0.0077,-1.419,-1.130,-9.499,0.0069,0.0044,-0.0066,-1.434,-1.079,-9.579*10
$PIMU,3218.623,-0.0001,-0.0052,-0.0097,-1.413,-1.123,-9.529,0.0066,0.0047,-0.0072,-1.427,-1.085,-9.593*39
$PIMU,3218.643,0.0012,-0.0060,-0.0080,-1.423,-1.122,-9.508,0.0071,0.0047,-0.0070,-1.425,-1.083,-9.563*19
$PIMU,3218.663,-0.0004,-0.0065,-0.0088,-1.413,-1.118,-9.540,0.0057,0.0029,-0.0059,-1.430,-1.082,-9.604*3a
$PIMU,3218.683,-0.0001,-0.0064,-0.0096,-1.418,-1.121,-9.511,0.0059,0.0033,-0.0070,-1.431,-1.084,-9.585*39
$PIMU,3218.703,0.0007,-0.0055,-0.0079,-1.417,-1.128,-9.497,0.0046,0.0043,-0.0077,-1.428,-1.085,-9.565*18
$PIMU,3218.723,0.0024,-0.0054,-0.0085,-1.416,-1.106,-9.510,0.0051,0.0033,-0.0079,-1.429,-1.089,-9.588*1b
$PIMU,3218.743,0.0019,-0.0058,-0.0081,-1.430,-1.126,-9.533,0.0063,0.0032,-0.0073,-1.435,-1.093,-9.585*1d
$GPGGA,231841,4003.3425,N,11139.5188,W,1,29,0.89,1434.19,M,18.82,M,,*56
$PIMU,3218.763,0.0019,-0.0062,-0.0086,-1.426,-1.114,-9.509,0.0054,0.0029,-0.0070,-1.431,-1.085,-9.579*13

Using Tera Term App

The example ASCII command strings can be sent using standard serial port terminal that supports sending the line ending characters (carriage return and new line). The Windows desktop app Tera Term can be used for this.

Setup:

  1. Start Tera Term > New connection. Select the correct serial port.

  2. Setup > Terminal... - Receive: CR - Transmit: CR+LF (IMPORTANT - Ensures each ASCII string ends with \r\n or 0x0D, 0x0A) - Local echo: Yes This shows what was sent.

  3. Setup > Serial port... - Speed: 921600 This is the default setting and must match the uINS serial port baudrate. - Data: 8 bit - Parity: none - Stop bits: 1 bit - Flow control: none

  4. menu bar > setup > save setup - This saves time the next time Tera Term is used.

Saving a log:

  1. File > log - Be sure to save as a .txt so it can be viewed in notepad. Controls for the log are in the Logger popup window after starting a log.

Sending an ASCII command:

  1. Copy one of the command messages above to the clipboard.

  2. Use the Tera Term > Edit > Paste<CR> option to send the copied command. This method in conjunction with the above "CR+LF" terminal transmit setting ensures that a carriage return and line feed character terminate the sent string. Only one ASCII string command can be sent at a time.