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Zima USBL - underwater acoustic navigation system Communication protocol specification |
Zima USBL
Communication protocol specification
Contents
- 1. Introduction
- 2. ZMA command system
- 2.1. IC_D2H_ACK - device response
- 2.2. IC_H2D_FLD_GET - field value request
- 2.3. IC_H2D_FLD_SET - set field value
- 2.4. IC_D2H_FLD_VAL - field value
- 2.5. IC_H2D_LOC_DATA_GET - local parameter request
- 2.6. IC_H2D_LOC_DATA_SET - set local parameter value
- 2.7. IC_D2H_LOC_DATA_VAL - local parameter value
- 2.8. IC_H2D_LOC_INVOKE - service function
- 2.9. IC_D2H_LD - navigation data
- 2.10. IC_D2H_BASE_REQ - base station request received
- 2.11. IC_H2D_REM_REQ - remote responder-beacon request
- 2.12. IC_D2H_REM_TOUT - remote responder-beacon timeout
- 2.13. IC_D2H_REM_RESP - remote responder-beacon response
- 2.14. IC_D2H_SYS_STATE - system state
- 2.15. IC_D2H_INC_DATA - built-in inclinometer readings
- 2.16. IC_H2D_REM_REQ_EX - remote responder-beacon request
- 2.17. IC_D2H_DEV_INFO - device information
- 2.18. IC_D2H_BASE_REQ - base station request received
- 3. Identifier tables
1. Introduction
1.1. Physical layer protocol
Devices of the Zima USBL system exchange data via the RS-232 physical layer standard for an asynchronous interface (UART) with a data line voltage of 3.3 V. The connection uses a four-wire cable with the wires Tx (transmitter), Rx (receiver), Vcc (power) and GND (ground). Without additional repeaters or interface converters, correct operation of the interface is guaranteed for a data bus length of up to 2 m.
Default connection port settings1:
Baudrate: 9600 bit/s
Data bits: 8
Stop bits: 1
Parity: No
Hardware flow control: No
CAUTION! For devices without interface converters, the data line voltage is 3.3 V.
1.2. NMEA0183 dialog layer protocol standard
The NMEA0183 standard describes the format of dialog layer text (ASCII) sentences.
Sentence example: $PZMA0,0*hh<CR><LF>
The main elements of an NMEA0183 sentence:
- ’$’ - sentence start,
- ‘P’ - Proprietary code
- ‘ZMA’ - three-letter manufacturer ID
- ‘0’ - sentence ID
- ’,’ - comma (parameter delimiter)
- ‘*’ - checksum delimiter
- ‘hh’ - checksum in hexadecimal format (e.g. FF, 01). Calculated as the bitwise XOR of all bytes between ‘$’ and ‘*’.
- <CR><LF> - end of sentence (line break) ____ 1 The specified parameters can be changed on request
2. ZMA command system
The D2H prefix in a sentence name means that the sentence is sent from the Device to the Host (control system). The H2D prefix in a sentence name means that the sentence is sent from the Host (control system) to the Device.
2.1. IC_D2H_ACK
The IC_D2H_ACK sentence is the device’s response to a request received from the control system.
Sentence format: $PZMA0,xx*hh<CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| 0 | Sentence ID |
| Error code | Error code (see 3.2.) |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.2. IC_H2D_FLD_GET
Reads the value of a field. In response to this command, the device sends the sentence IC_D2H_FLD_VAL containing the value of the requested field if the assignment is successful, or the sentence IC_D2H_ACK with an error code if an error occurs.
Sentence format: $PZMA1,xx,00*hh <CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| 1 | Sentence ID |
| Field ID | Field identifier |
| Reserved | Must always be ‘00’, reserved |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.3 IC_H2D_FLD_SET
Sets the value of a field. In response to this command, the device sends the sentence IC_D2H_FLD_VAL containing the value of the requested field if the assignment is successful, or the sentence IC_D2H_ACK with an error code if an error occurs.
Sentence format: $PZMA2,x,x*hh<CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| 2 | Sentence ID |
| Field ID | Field identifier |
| Field value | Field value (0..99) |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.4 IC_D2H_FLD_VAL
Value of the configuration field.
Sentence format: $PZMA3,xx,xx,00*hh<CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| 3 | Sentence ID |
| Requested field ID | Field identifier |
| Value | Field value |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.5 IC_H2D_LOC_DATA_GET
Reads the value of a local parameter.
Sentence format: $PZMA4,xx,00*hh<CR><LF
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| 4 | Sentence ID |
| LocDataID | Parameter identifier (see 3.3.) |
| Reserved | Reserved - ‘00’ |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.6 IC_H2D_LOC_DATA_SET
Sets the value of a local parameter.
Sentence format: $PZMA5,xx,x.x*hh<CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| 5 | Sentence ID |
| LocDataID | Parameter identifier (see 3.3.) |
| LocDataValue | Parameter value |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.7 IC_D2H_LOC_DATA_VAL
Value of a local parameter.
Sentence format: $PZMA6,xx,x.x*hh <CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| 6 | Sentence ID |
| LocDataID | Parameter identifier (see 3.3.) |
| LocDataValue | Parameter value |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.8 IC_H2D_LOC_INVOKE
Performs an operation.
Sentence format: $PZMA7,xx,xx*hh <CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| 7 | Sentence ID |
| ActionID | Action identifier (see 3.4.) |
| ActionParam | Parameter |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.9 IC_D2H_LD
Navigation data (responder-beacon).
Sentence format: $PZMAA,x.x,x.x,x.x,x.x*hh <CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| A | Sentence ID |
| Azimuth | Azimuth to the base station, ° |
| Distance | Distance to the base station, m |
| SNR | Signal-to-noise ratio, dB |
| Dpl | Doppler frequency shift, Hz |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.10 IC_D2H_BASE_REQ
Base station request (responder-beacon).
Sentence format: $PZMAB,x,x.x,x.x*hh <CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| B | Sentence ID |
| CommandID | Command identifier (see 3.5.) |
| SNR | Signal-to-noise ratio, dB |
| Dpl | Doppler frequency shift, Hz |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.11 IC_H2D_REM_REQ
Remote responder-beacon request
Sentence format: $PZMAC,x,x*hh <CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| C | Sentence ID |
| TargetID | Address of the requested responder-beacon |
| RequestID | Request identifier (see 3.5.) |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.12 IC_D2H_REM_TOUT
Remote responder-beacon timeout.
Sentence format: $PZMAD,x, x*hh <CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| D | Sentence ID |
| TargetID | Address of the requested responder-beacon |
| RequestID | Request identifier (see 3.5.) |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.13 IC_D2H_REM_RESP
Remote responder-beacon response.
Sentence format: $PZMAE, x,x,x,x.x,x.x,x.x,x.x,x.x*hh <CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| E | Sentence ID |
| TargetID | Address of the requested responder-beacon |
| RequestID | Request identifier (see 3.5.) |
| dFlag | Reserved |
| Azimuth | Horizontal angle to the responder-beacon, ° |
| Distance | Distance to the responder-beacon, m |
| DataValue | Value of the requested parameter |
| SNR | Signal-to-noise ratio, dB |
| DPL | Doppler shift, Hz |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.14 IC_D2H_SYS_STATE
System state.
Sentence format: $PZMAF, x.x,x.x,x.x*hh <CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| F | Sentence ID |
| Temperature | Water temperature, °C |
| Depth | Depth of the base station below the surface, m |
| isAHRSEnabled | AHRS state |
| TRX_State | Transceiver state |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.15 IC_D2H_INC_DATA
Built-in inclinometer readings*
Sentence format: $PZMAG, x.x,x.x*hh <CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| G | Sentence ID |
| Roll | Roll, °. 0 - vertical position, 0..+90 - tilt to starboard, 0..-90 - tilt to port |
| Pitch | Pitch, °. 0 - vertical position, 0..+90 - tilt toward the bow, 0..-90 - tilt toward the stern |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
* For systems released after September 2019
2.16 IC_H2D_REM_REQ_EX
Remote responder-beacon request with transmission of the reverse azimuth.
Sentence format: $PZMAH,x,x,x*hh <CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| H | Sentence ID |
| TargetAddress | Address of the requested responder-beacon |
| RequestID | Command (must always be CDS_DPT_GET, (see 3.5.) |
| ReverseAzimuthToTheBase | Reverse azimuth[ The value of the reverse azimuth from the responder-beacon to the base station must be calculated in advance. When ZLibrary and the ZHost application are used, this is done automatically, provided that a system for determining the heading and position of the Zima-Base antenna is connected.] from the responder-beacon to the base station |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
2.17 IC_D2H_DEV_INFO
Device information.
Sentence format: $PZMA!, c--c,x,c--c,x,x,c--c*hh <CR><LF>
| Field/Parameter | Description |
|---|---|
| $ | Sentence start ‘$’ |
| PZMA | ZMA command system |
| ! | Sentence ID |
| Sys_moniker | System name |
| Sys_version | System version |
| Device_Type | Device type |
| Core_moniker | Acoustic core name |
| Core_version | Core version |
| Serial number | Device serial number |
| * | NMEA checksum delimiter |
| hh | NMEA checksum |
| <CR><LF> | End of sentence |
3. Identifier tables
3.1 Device types
| Value | Name | Description |
|---|---|---|
| ‘0’ | DEV_BASE | Base station |
| ‘1’ | DEV_NODE | Responder-beacon |
3.2 Error codes
| Value | Name | Description |
|---|---|---|
| ‘0’ | NO_ERROR | Request accepted |
| ‘1’ | INVALID_SYNTAX | Syntax error |
| ‘2’ | UNSUPPORTED | Command not supported |
| ‘3’ | TRANSMITTER_BUSY | Transmitter is busy |
| ‘4’ | ARGUMENT_OUT_OF_RANGE | Argument/parameter is outside the range of valid values |
| ‘5’ | INVALID_OPERATION | The operation cannot be performed at the moment |
| ‘6’ | UNKNOWN_FIELD_ID | Unknown/unsupported field |
| ‘7’ | VALUE_UNAVAILIBLE | The requested value is not available |
| ‘8’ | RECEIVER_BUSY | Receiver is busy |
| ‘9’ | WAKE_UP | Power-saving mode control. The responder-beacon sends an error message with this parameter immediately after waking up |
| ‘10’ | STAND_BY | Power-saving mode control. The responder-beacon sends an error message with this parameter before entering sleep mode |
3.3 Local data identifiers
| Value | Name | Description |
|---|---|---|
| ‘0’ | DEVICE_INFO | Device information |
| ‘1’ | LOC_DATA_MAX_REMOTE_TIMEOUT | Maximum remote response waiting time, ms |
| ‘2’ | LOC_DATA_MAX_SUBSCRIBERS | Maximum number of responder-beacons |
| ‘3’ | LOC_DATA_PTS_PRESSURE | Built-in pressure sensor readings, mbar |
| ‘4’ | LOC_DATA_PTS_TEMPERATURE | Built-in temperature sensor readings, °C |
| ‘5’ | LOC_DATA_PTS_DEPTH | Depth of the antenna below the surface |
| ‘6’ | LOC_DATA_CORE_TEMPERATURE | Processor core temperature, °C |
| ‘7’ | LOC_DATA_BAT_CHARGE | Battery charge |
| ‘8’ | LOC_DATA_PRESSURE_RATING | Maximum external pressure, bar |
| ‘9’ | LOC_DATA_ZERO_PRESSURE | Pressure at the water surface, mbar |
| ‘10’ | LOC_DATA_WATER_DENSITY | Water density, kg/m3 |
| ‘11’ | LOC_DATA_SALINITY | Water salinity, PSU |
| ‘12’ | LOC_DATA_SOUNDSPEED | Speed of sound, m/s |
| ‘13’ | LOC_DATA_GRAVITY_ACC | Acceleration due to gravity, m/s2 |
3.4 Service action identifiers
| Value | Name | Description |
|---|---|---|
| ‘0’ | LOC_INVOKE_FLASH_WRITE | Saving the configuration fields to the internal flash memory |
| ‘1’ | LOC_INVOKE_DPT_ZERO_ADJUST | Take the current pressure sensor readings as the pressure at the water surface |
| ‘2’ | LOC_INVOKE_SYSTEM_RESET | ‘Warm’ reboot of the device |
| ‘3’ | LOC_INVOKE_STAND_BY | Switching the device to sleep mode |
| ‘4’ | LOC_INVOKE_UART_OFF | Turning off the UART transceiver |
3.5 Remote command identifiers
| Value | Name | Description |
|---|---|---|
| CDS_PING | 361 | Ping request |
| CDS_DPT_GET | 362 | Depth of the remote responder-beacon |
| CDS_STY_SET_0 | 363 | Set salinity to 0 PSU |
| CDS_STY_SET_1 | 364 | … |
| CDS_STY_SET_2 | 365 | … |
| CDS_STY_SET_3 | 366 | … |
| CDS_STY_SET_4 | 367 | … |
| CDS_STY_SET_5 | 368 | … |
| CDS_STY_SET_6 | 369 | … |
| CDS_STY_SET_7 | 370 | … |
| CDS_STY_SET_8 | 371 | … |
| CDS_STY_SET_9 | 372 | … |
| CDS_STY_SET_10 | 373 | … |
| CDS_STY_SET_11 | 374 | … |
| CDS_STY_SET_12 | 375 | … |
| CDS_STY_SET_13 | 376 | … |
| CDS_STY_SET_14 | 377 | … |
| CDS_STY_SET_15 | 378 | … |
| CDS_STY_SET_16 | 379 | … |
| CDS_STY_SET_17 | 380 | … |
| CDS_STY_SET_18 | 381 | … |
| CDS_STY_SET_19 | 382 | … |
| CDS_STY_SET_20 | 383 | … |
| CDS_STY_SET_21 | 384 | … |
| CDS_STY_SET_22 | 385 | … |
| CDS_STY_SET_23 | 386 | … |
| CDS_STY_SET_24 | 387 | … |
| CDS_STY_SET_25 | 388 | … |
| CDS_STY_SET_26 | 389 | … |
| CDS_STY_SET_27 | 390 | … |
| CDS_STY_SET_28 | 391 | … |
| CDS_STY_SET_29 | 392 | … |
| CDS_STY_SET_30 | 393 | … |
| CDS_STY_SET_31 | 394 | … |
| CDS_STY_SET_32 | 395 | … |
| CDS_STY_SET_33 | 396 | … |
| CDS_STY_SET_34 | 397 | … |
| CDS_STY_SET_35 | 398 | … |
| CDS_STY_SET_36 | 399 | … |
| CDS_STY_SET_37 | 400 | … |
| CDS_STY_SET_38 | 401 | … |
| CDS_STY_SET_39 | 402 | … |
| CDS_STY_SET_40 | 403 | Set salinity to 40 PSU |
| CDS_SLP_SET_59_60 | 404 | Set sleep mode: 59 out of 60 seconds |
| CDS_SLP_SET_58_60 | 405 | Set sleep mode: 58 out of 60 seconds |
| CDS_SLP_SET_56_60 | 406 | Set sleep mode: 56 out of 60 seconds |
| CDS_SLP_SET_52_60 | 407 | Set sleep mode: 52 out of 60 seconds |
| CDS_SLP_SET_50_60 | 408 | Set sleep mode: 50 out of 60 seconds |
| CDS_SLP_SET_40_60 | 409 | Set sleep mode: 40 out of 60 seconds |
| CDS_SLP_SET_30_60 | 410 | Set sleep mode: 30 out of 60 seconds |
| CDS_SLP_SET_20_60 | 411 | Set sleep mode: 20 out of 60 seconds |
| CDS_SLP_SET_10_60 | 412 | Set sleep mode: 10 out of 60 seconds |
| CDS_SLP_SET_NEVER | 413 | Set sleep mode: always on |
| CDS_BAT_CHG_GET | 414 | Battery charge |
| CDS_PTS_TMP_GET | 415 | Temperature |
| CDS_PTS_PRS_GET | 416 | Pressure |
| CDS_CRE_TMP_GET | 417 | Processor core temperature |
| CDS_SLP_GET | 418 | Sleep mode |
| CDS_STY_GET | 419 | Salinity |
| CDS_CMD_RSV_0 | 420 | Reserved |
| CDS_CMD_RSV_1 | 421 | Reserved |
| CDS_CMD_RSV_2 | 422 | Reserved |
| CDS_CMD_RSV_3 | 423 | Reserved |
| CDS_CMD_RSV_4 | 424 | Reserved |
| CDS_CMD_RSV_5 | 425 | Reserved |
| CDS_CMD_ZDPT_ADJ | 426 | Setting the depth zero for the responder-beacon |
| CDS_USR_CMD_0 | 427 | User command 0 |
| CDS_USR_CMD_1 | 428 | User command 1 |
| CDS_USR_CMD_2 | 429 | User command 2 |
| CDS_USR_CMD_3 | 430 | User command 3 |
| CDS_USR_CMD_4 | 431 | User command 4 |
| CDS_USR_CMD_5 | 432 | User command 5 |
| CDS_USR_CMD_6 | 433 | User command 6 |
| CDS_USR_CMD_7 | 434 | User command 7 |
| CDS_USR_CMD_8 | 435 | User command 8 |
| CDS_USR_CMD_9 | 436 | User command 9 |
| CDS_USR_CMD_10 | 437 | User command 10 |
| CDS_USR_CMD_11 | 438 | User command 11 |
| CDS_USR_CMD_12 | 439 | User command 12 |
| CDS_USR_CMD_13 | 440 | User command 13 |
| CDS_USR_CMD_14 | 441 | User command 14 |
| CDS_USR_CMD_15 | 442 | User command 15 |
| CDS_USR_CMD_16 | 443 | User command 16 |
| CDS_USR_CMD_17 | 444 | User command 17 |
| CDS_USR_CMD_18 | 445 | User command 18 |
| CDS_USR_CMD_19 | 446 | User command 19 |
| CDS_USR_CMD_20 | 447 | User command 20 |
| CDS_USR_CMD_21 | 448 | User command 21 |
| CDS_USR_CMD_22 | 449 | User command 22 |
| CDS_USR_CMD_23 | 450 | User command 23 |
| CDS_USR_CMD_24 | 451 | User command 24 |
| CDS_USR_CMD_25 | 452 | User command 25 |
| CDS_USR_CMD_26 | 453 | User command 26 |
| CDS_USR_CMD_27 | 454 | User command 27 |
| CDS_USR_CMD_28 | 455 | User command 28 |
| CDS_USR_CMD_29 | 456 | User command 29 |
| CDS_USR_CMD_30 | 457 | User command 30 |
| CDS_USR_CMD_31 | 458 | User command 31 |
| CDS_USR_CMD_32 | 459 | User command 32 |
| CDS_RESERVED_0 | 460 | Reserved |
| CDS_RESERVED_1 | 461 | Reserved |
| CDS_RESERVED_2 | 462 | Reserved |
| CDS_RESERVED_3 | 463 | Reserved |
| CDS_RESERVED_4 | 464 | Reserved |
| CDS_RESERVED_5 | 465 | Reserved |
| CDS_RESERVED_6 | 466 | Reserved |
| CDS_RESERVED_7 | 467 | Reserved |
| CDS_SET_ADDR_01 | 468 | Set address 1 |
| CDS_SET_ADDR_02 | 469 | Set address 2 |
| CDS_SET_ADDR_03 | 470 | Set address 3 |
| CDS_SET_ADDR_04 | 471 | Set address 4 |
| CDS_SET_ADDR_05 | 472 | Set address 5 |
| CDS_SET_ADDR_06 | 473 | Set address 6 |
| CDS_SET_ADDR_07 | 474 | Set address 7 |
| CDS_SET_ADDR_08 | 475 | Set address 8 |
| CDS_SET_ADDR_09 | 476 | Set address 9 |
| CDS_SET_ADDR_10 | 477 | Set address 10 |
| CDS_SET_ADDR_11 | 478 | Set address 11 |
| CDS_SET_ADDR_12 | 479 | Set address 12 |
| CDS_SET_ADDR_13 | 480 | Set address 13 |
| CDS_SET_ADDR_14 | 481 | Set address 14 |
| CDS_SET_ADDR_15 | 482 | Set address 15 |
| CDS_SET_ADDR_16 | 483 | Set address 16 |
| CDS_SET_ADDR_17 | 484 | Set address 17 |
| CDS_SET_ADDR_18 | 485 | Set address 18 |
| CDS_SET_ADDR_19 | 486 | Set address 19 |
| CDS_SET_ADDR_20 | 487 | Set address 20 |
| CDS_SET_ADDR_21 | 488 | Set address 21 |
| CDS_SET_ADDR_22 | 489 | Set address 22 |
| CDS_SET_ADDR_23 | 490 | Set address 23 |
| CDS_______0 | 491 | Reserved |
| CDS_______1 | 492 | Reserved |
| CDS_______2 | 493 | Reserved |
| CDS_______3 | 494 | Reserved |
| CDS_______4 | 495 | Reserved |
| CDS_______5 | 496 | Reserved |
| CDS_______6 | 497 | Reserved |
| CDS_______7 | 498 | Reserved |
| CDS_______8 | 499 | Reserved |
| CDS_ERR_NSUPP | 500 | Error - request is not supported |
| CDS_ERR_NAVAIL | 501 | Error - data is not available at the moment |
| CDS_ERR_RES_0 | 502 | Error - reserved |
| CDS_ERR_RES_1 | 503 | Error - reserved |
| CDS_ERR_RES_2 | 504 | Error - reserved |
| CDS_ERR_RES_3 | 505 | Error - reserved |
| CDS_ERR_RES_4 | 506 | Error - reserved |
| CDS_ERR_RES_5 | 507 | Error - reserved |
| CDS_ERR_RES_6 | 508 | Error - reserved |
| CDS_ERR_BAT_LOW | 509 | Battery charge is minimal |