F.SigernesandJ.

Holmes,TransmittingGPSpositionbyanIridiumphone

TransmittingGPSpositionbyanIridiumphone
F.SIGERNESANDJEFFHOLMES
UniversityCentreinSvalbard(UNIS),Box156,N9170Longyearbyen,Norway

Abstract
ThisdocumentdescribeshowtosendGPSinformationusinganIridiumportablephone.
ThecorecomponentinthesystemisaBasicStampIImicrocontrollerfromthecompany
Parallax,Inc.PositionisextractedfromtheNMEAsentencesoftheGPSbythe
controllerandtranslatedtoaPDUformattedSMS.Themessageissubmittedtothe
iridiumphonebyusingstandardATcommands.TheSMSmessagecontainsanemail
addresswhichisgatedbytheIridiumsatellitenetworktotheaddresseeviainternet.

1.Motivation
Theratherharshenvironmentofthearctic
requiresustokeeptrackofourstudentsout
inthefield.Ifanemergencysituation
occurs,theexactlocationofourstudentsis
reportedautomaticallytothelogistical
departmentatUNIS.Fig.1showsatypical
experimentwhereoneofourstudentsisout
inthefieldtosamplesnowtemperatures.It
illustratesthatitisimportanttoactquickly
andrespondwithaccurateinformationto
Figure1.Snowtemperaturerecording.
anydeployedrescueteam.
Thisisthemainmotivationforthisproject.

2.Systemlayout
ThesystemcontainsanIridium9505AportablephonewithanAT Command
compatiblemodemconnectedtoaStampII(BS2IC) microcontrollerfromParallax,Inc.
TheStampIIchipitself ismountedontoaBasicStamp2programboardwhichprovides
easyaccesstotheprogramming portandtheconnectedcomponents.ARS232Serial
LCDscreenisconnectedtotheStamptoprovidestatusinformation.Thewholesystemis
designedtorunona+9Voltbattery.TheGPS(GarmineTrex)issetuptotransmitthe
NMEAprotocolataRS232serialspeedof4800baud,8databits,1stopbitandno
parity. Correspondingly,theStampcommunicateswiththeIridiummodem butata
higherspeed(19200baud).ApushbuttonisconnectedtosendtheSMSandaswitchis
includedtooptionally providecontinuoustransmissionsatapreselectedinterval(~15
minutes).Fig.2showshowthesystemisconnectedtogether.

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F.SigernesandJ.Holmes,TransmittingGPSpositionbyanIridiumphone

Figure2.Themodulesofthesystemconnectedtogether.Theunitsarereadyforoperation.

Figure3.Theinternallayoutofthesystem.(1)SerialprogramporttoPC,(2)BasicStampIIprototype
board,(3)BasicStampII,(4)batterycompartment,(5)serialporttoIridium,(6)serialporttoGPS,(7)
statusLCD,(8)sendbutton,(9)activityLED,(10)powerswitch,and(11)intervalswitch.

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F.SigernesandJ.Holmes,TransmittingGPSpositionbyanIridiumphone

TheinternallayoutandwiringoftheblackboxthatcontainstheStampIImoduleis
showninFig.3. Eachofthekeypartsislabelledwithnumbers.Thecorresponding
schematicisshowninFig.4.

Figure4. SchematicsoftheblackboxconnectingtheGPSandtheIridiumphonetotheBasicStampII
microcontroller.AbatterycompartmentisaddedtotheunitandaserialLCDscreenisusedtogetstatus
information.

3.ProgrammingtheBasicStampII
TheprogramrequirestheBasicStampIItocommunicatewiththreedifferentdevices
usingstandardserialRS232ports.
3.1InterfacingtheGPSandtheLCDwiththeBS2IC

TheprocedureistofirstextractpositiondatafromtheNMEAsentencesthattheGPS
transmits.ThisisdonebytheSERINcommandusingtheWAITcommandtopickout
therightNMEAsentences.Weusethesentencesstartingwith$GPGSA,$GPRMCand

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F.SigernesandJ.Holmes,TransmittingGPSpositionbyanIridiumphone

$PGRMZ(GARMIN)forvalidation,positionandaltitude,respectively. Belowisan
exampleonhowtoextractaltitude.
$PGRMZ,707,f,3*1B
SERIN0,16572,[WAIT("$PGRMZ"),SKIP1,DEC3ALTITUDE]

NMEAsentence
BS2ICcommand

TheStampwaitsforthe$PGRMZconditiontooccur,thenitskipsthecommaandreads
thealtitudeasa3digitdecimaltext(707feet).
Next,thestatusoftheprocessisdisplayedontheserialLCDconnectedtopin15ofthe
Stamp.ThecommunicationwiththeLCDisstraightforward.Forexample,
SEROUT15,32,25,[12,"STATUS"].
3.2CommunicationwiththeIridiummodem

ThelaststepintheprocedureinvolvesinterfacingwiththeIridiummodem. TheStamp
needstoemulateahyperterminalinordertocommunicatewiththemodem. Thisisdone
bysettingtheDTR(DataTerminalReady)high(Iridium RS232pin4).Inaddition,the
DCD(DataCarrierDetect)linecanbeusedtosignaltotheStampthatthemodemison
lineandreadytotalk. DCDispin1ontheIridiumRS232portandisconnectedtopin2
ontheStamp.TheStampis nowreadytosendandreceiveATcommandsthroughports
1and3,respectively(seeFig.4).
TheIridiummodemneedstobeininitializedbysendingthefollowingATcommands
SEROUT1,16416,25,["AT",CR]
SERIN3,16416,[WAIT("OK")]
SEROUT1,16416,25,["AT&F&C1",CR]
SERIN3,16416,[WAIT("OK")]

Checkcommunicationwithmodem
Waitforresponse
BringupfactorydefaultsandenableDCD
Waitforhandshake

ThetextformatoftheSMSmessagewewanttosendcontainsanemailaddressandthe
extractedGPSinformation. Belowisatypicalexample.
TRACKGPS@unis.no
STRK001
2316UT
N79508459
E014042661
01335500062

Emailaddress
Trackunitidentifier
Universaltime
Latitude
Longitude
Speed,courseandaltitude

ThismessageneedstobetransformedtothePDU(ProtocolDescriptionUnit)format,
sincetheIridiumphonedoesnotsupporttextmode. ThePDUstringcontainsnotonlythe
message,butalsoaheaderwhichincludeskeyparametersaboutwhereandhowthe
messagewillbesenttotheSMSC(ShortMessageServiceCenter). Eachcharacterinthe
stringisallofhexadecimaloctetsordecimalsemioctets.Theuserdataortheactual
messageconsistsofhexadecimal8bit octets,buttheseoctetsrepresent7bitdata.

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F.SigernesandJ.Holmes,TransmittingGPSpositionbyanIridiumphone

Asseenabove,ourmessagesallhaveanemailaddressandaunitidentifierstringinthe
firstlineTRACKGPS@unis.noSTRK001.Ifweforsimplicitysendonlythe
usernameoftheemail,themessagewillinPDUmodelooklike
00110002912a0000AA08546970B83C42A7.

Thereare32charactersinthismessage,or16octets.Thefirstoctet00doesnotcount.
Thebluepartofthestringrepresentstheheaderandtheredpartistheusermessage,
respectively. ThebelowtablebelowshowsthecontentofthePDUstring.
Octet(s)
Description
Example
00
LengthofSMSCinformation
00Informationissetbyphone
11
FirstSMSSUBMIToctet
PDUFormatindicator(layout)
00
MessageReference
00Referencenumberissetbyphone
02
Lengthofphonenumber
2
91
Formatofphonenumber
International
2a
Phonenumber
*2Usesnumberstoredinphone
00
Protocolidentifier
Type0
00
Datacodingscheme
7bit
AA
Validityperiod
AAMeans4days
08
Lengthofmessage
8
546970B83C42A7 Usersdata
TRACKGPS
Table1.SimplePDUSUBMITmessagefortheIridiumphone.

Themessagecontains8characters.Thesearecalledseptetsinthe7bitalphabet.The
transformationbytheBS2ICtooctetsisdonebyshiftingbitsof8septetssequentially.A
simpleBS2ICprogrambelow demonstratestheprocess.
'{$STAMPBS2}
'{$PORTCOM1}
'StampIIprogramtoConvertASCIItoPDUformat
'F.SigernesUniversityCentreonSvalbard(UNIS)
Variables
PDUVARBYTE(7)
CHVARBYTE(8)
AssignASCIIstringtoconvert:TRACKGPS
CH(0)=T:CH(1)=R
CH(2)=A:CH(3)=C
CH(4)=K:CH(5)=G
CH(6)=P:CH(7)=S
PDUshiftroutine
PDU(0)=(CH(1)<<7)+(CH(0)>>0)
PDU(1)=(CH(2)<<6)+(CH(1)>>1)
PDU(2)=(CH(3)<<5)+(CH(2)>>2)
PDU(3)=(CH(4)<<4)+(CH(3)>>3)
PDU(4)=(CH(5)<<3)+(CH(4)>>4)
PDU(5)=(CH(6)<<2)+(CH(5)>>5)
PDU(6)=(CH(7)<<1)+(CH(6)>>6)
PDUoutput:546970B83C42A7
DEBUGHEX2PDU(0),HEX2PDU(1),HEX2PDU(2),HEX2PDU(3),HEX2PDU(4),HEX2
PDU(5),HEX2PDU(6)
END

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Inthisway,thetrickistomakesurethatwewritemessagesthathaveblocksof8septets.
Thenextblockintheprocedurewouldthenbethestring@unis.no,andsoon.
TheBS2ICsendstheSMSmessageinPDUmodebythefollowingATcommands
SEROUT1,16416,25,["AT+CMGF=0",CR]
SERIN3,16416,[WAIT("OK")]
SEROUT1,16416,25,["AT+CMGS=16",CR]
SEROUT1,16416,25,[00110002912a0000AA08]
SEROUT1,16416,25,[546970B83C42A7]
PAUSE2500
SEROUT1,16416,25,[26]

SetphonetoPDUmode
WaitforOK
SendSMSmessageof16octets
Sendtheheader
Transfertheuserdata
Waitasecond
Terminatesessionwith<ctrlZ>

Acompletelistingofthemainprogramisgiveninthesection6.

4.Testoftheassembledsystem
Afieldtriparoundthearchipelagoof
SvalbardwasconductedbyshipinJuly
2005.Fig.5showsthesystemin
operation. Thelocationis79o 5050.8
Northand14o 416East.Themain
limitationisthestartuptimeoftheGPS,
whichincantakeupto2minutes.As
soonasboththeIridiumphoneandthe
GPSareready,thesystemtakesabout5
10secondstosendtheSMS.Atotalof18
messagesweresent.Allwerereceivedby
theIridiumShortMessageServiceCenter
Figure5. H.F.FlandF.Sigernesoutinthefield
(SMSC),andportedsuccessfullytothe
testingtheGPSSMSIridiumsystem,08.07.2005
UNISmailserver.
Thereceiverorthehomebaseusesasimplemailclienttoreadeachmailandplotthe
positiononamap. TheprogramchecksthemailaccountonthePOP3serverforanynew
messagesautomatically.Theidentifierstringinthemessagesortsoutwhichunitthatis
trackedbytheprogram.Thatway,severalunitscanbedeployedouttodifferentgroups
inthefield.
Fig.6showsasnapshotofthemailclient.Notethatthepositiononthemapmarkedwith
yellowcolourcorrespondstotheStatusboxinthemainprogrammodule.Thisisthe
samelocationasseeninFig.5.Themailclienthasalsobeentestedusingalaptopandthe
iridiumdatakittoconnecttotheinternet.Inotherwords,thehomebasedoesnot
necessarilyhavetobelocatedatafixedpositionitmaybemobileaswell.

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F.SigernesandJ.Holmes,TransmittingGPSpositionbyanIridiumphone

Figure6. Asnapshotofthemailclient:IridiumSms2Map.exe.TheprogramiswritteninBorlandDelphi5
Pascalandiswin9x,NTandXPcompatible.

5.Finalremark
TheBasicStampII (BS2IC)isindeedcapableof retrievingpositionfromNMEA
sentencestransmittedby aGPS.Furthermore,iteasilytransformstheinformationtoa
SMS PDUformattedmessage.TheStampalsocommunicatesreliably withtheIridium
modeminordertosendtheSMSmessage. TheBS2ICisthekeyelementforour
trackingsystem.

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6.BasicStampIIprogramlisting:IridiumSMSGPS.bs2
'{$STAMPBS2}
'{$PORTCOM1}
'StampIIprogramtoreadGPSandsendSMSbyIridium
'F.SigernesUniversityCentreonSvalbard(UNIS)
'GPSvariables
LATDEGVARWord
LATDECVARWord
LONDEGVARWord
LONDECVARWord
SPDVARWord
CRSVARWord
ALTVARWord
TMPVARByte
DIRLATVARByte
DIRLONVARByte
TVARByte(4)
Iridiumandmainloopvariables
CVARByte
DVARByte
PDUVARByte
SATVARByte
InitializationofloopvariablesandIridiummodem
P2ChecksDataCarrierDetect(DCD)onIridiumRS232pin1
IridiumRS232pin2and3isconnectedtoP3andP1,respectively
INPUT2
P4issethightosignalDataTerminalReady(DTR)toIridiumRS232pin4
OUTPUT4
OUT4=1
D=0
C=1
PAUSE3000
ShowstartupmessageonLCD(P15)
SEROUT15,32,5,[22]
SEROUT15,32,5,[12,"SMSGPSIRIDIUM"]
SEROUT15,32,5,[148,"INITIALIZING...."]
MAIN:
OUTPUT8'P8isactivityLEDindicator
INPUT7'SendsSMSbyIridiumbypushingbuttonifP7=1
INPUT6'SendsSMSperiodicallyifP6=1
'GetPositionandvalidationfromNMEAstrings$GPRMC,$PGRMZ(GARMIN)and$GPGSA
'GPSisconnectedtoP0andVSSRS232Pin2and5,respectively
SERIN0,16572,[WAIT("$GPGSA"),SKIP3,SAT]
IF(SAT=1)THENNoFix:
SERIN0,16572,1000,NoFix,[WAIT("$GPRMC"),TMP,STRT\4,SKIP3,
DEC4LATDEG,TMP,DEC4LATDEC,TMP,DIRLAT,TMP,DEC5LONDEG,TMP,
DEC4LONDEC,TMP,DIRLON,TMP,DEC3SPD,TMP,TMP,TMP,DEC3CRS]
IFT(0)=","THENNoFix:
SERIN0,16572,1000,NoFix,[WAIT("$PGRMZ"),TMP,DEC5ALT]

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ShowGPSinformationonLCD
SEROUT15,32,5,[12,DEC4LATDEG,".",DEC4LATDEC,DIRLAT,"",T(0),T(1),":",T(2),T(3)]
SEROUT15,32,5,[148,DEC5LONDEG,".",DEC4LONDEC,DIRLON,"C",DEC3C]
Checksstatusofintervalswitchandpushbutton
IF(IN7=0)AND(D=0)THENco:
STARTOFSMSMESSAGE(P7orP6HIGH)
SEROUT15,32,25,[12,"SMSGPSDATA..."]
I_Modem:InitializeIridiummodem
OUT8 =1ActivityLEDon
PAUSE250
SEROUT1,16416,25,["AT",CR]
SERIN3,16416,2500,Error,[WAIT("OK")]
SEROUT1,16416,25,["AT&F&C1",CR]
SERIN3,16416,2500,Error,[WAIT("OK")]
'SetmodemtoPDUmode
SEROUT1,16416,25,["AT+CMGF=0",CR]
SERIN3,16416,2500,Error,[WAIT("OK")]
SettotallengthofSMSto79octets
SEROUT1,16416,25,["AT+CMGS=79",CR]
'SMSheaderandphonenumberstocall(8octets)
SEROUT1,16416,25,["00110002912a0000AA"]
'NumberofcharactersinmessagetosendHex50=80Dec(1octet)
SEROUT1,16416,25,["50"]
'EmailandIdentifier:track@unis.noSTRK001$13$10'(21octets)
SEROUT1,16416,25,["747978BC06D4DDE9B9CBFD064DA9D22508068B3514"]
Convertrestofmessageto7PDUblocksofdata(497bitsoctets)
Eachblockcontains8septetsshiftedto7bitoctets.
'(1)TimestringtoPDUformat
PDU=(T(1)<<7)+(T(0)>>0)
SEROUT1,16416,25,[HEX2PDU]
PDU=(T(2)<<6)+(T(1)>>1)
SEROUT1,16416,25,[HEX2PDU]
PDU=(T(3)<<5)+(T(2)>>2)
SEROUT1,16416,25,[HEX2PDU]
PDU=("U" <<4)+(T(3)>>3)
SEROUT1,16416,25,[HEX2PDU]
PDU=("T" <<3)+("U" >>4)
SEROUT1,16416,25,[HEX2PDU]
PDU=(13<<2)+("T" >>5)
SEROUT1,16416,25,[HEX2PDU]
PDU=(10<<1)+(13>>6)
SEROUT1,16416,25,[HEX2PDU]
'(2&3)ConvertlatitudetoPDU
PDU=(32<<7)+(DIRLAT>>0)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LATDEGDIG3)+48)<<6)+(32>>1)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LATDEGDIG2)+48)<<5)+(((LATDEGDIG3)+48)>>2)
SEROUT1,16416,25,[HEX2PDU]
PDU=(32<<4)+(((LATDEGDIG2)+48)>>3)
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SEROUT1,16416,25,[HEX2PDU]
PDU=(((LATDEGDIG1)+48)<<3)+(32>>4)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LATDEGDIG0)+48)<<2)+(((LATDEGDIG1)+48)>>5)
SEROUT1,16416,25,[HEX2PDU]
PDU=(32<<1)+(((LATDEGDIG0)+48)>>6)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LATDECDIG2)+48)<<7)+(((LATDECDIG3)+48)>>0)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LATDECDIG1)+48)<<6)+(((LATDECDIG2)+48)>>1)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LATDECDIG0)+48)<<5)+(((LATDECDIG1)+48)>>2)
SEROUT1,16416,25,[HEX2PDU]
PDU=(32<<4)+(((LATDECDIG0)+48)>>3)
SEROUT1,16416,25,[HEX2PDU]
PDU=(32<<3)+(32>>4)
SEROUT1,16416,25,[HEX2PDU]
PDU=(13<<2)+(32>>5)
SEROUT1,16416,25,[HEX2PDU]
PDU=(10<<1)+(13>>6)
SEROUT1,16416,25,[HEX2PDU]
'(4&5)ConvertlongitudetoPDU
PDU=(32<<7)+(DIRLON>>0)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LONDEGDIG4)+48)<<6)+(32>>1)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LONDEGDIG3)+48)<<5)+(((LONDEGDIG4)+48)>>2)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LONDEGDIG2)+48)<<4)+(((LONDEGDIG3)+48)>>3)
SEROUT1,16416,25,[HEX2PDU]
PDU=(32<<3)+(((LONDEGDIG2)+48)>>4)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LONDEGDIG1)+48)<<2)+(32>>5)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LONDEGDIG0)+48)<<1)+(((LONDEGDIG1)+48)>>6)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LONDECDIG3)+48)<<7)+(32>>0)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LONDECDIG2)+48)<<6)+(((LONDECDIG3)+48)>>1)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LONDECDIG1)+48)<<5)+(((LONDECDIG2)+48)>>2)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((LONDECDIG0)+48)<<4)+(((LONDECDIG1)+48)>>3)
SEROUT1,16416,25,[HEX2PDU]
PDU=(32<<3)+(((LONDECDIG0)+48)>>4)
SEROUT1,16416,25,[HEX2PDU]
PDU=(13<<2)+(32>>5)
SEROUT1,16416,25,[HEX2PDU]
PDU=(10<<1)+(13>>6)
SEROUT1,16416,25,[HEX2PDU]

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'(6)SpeedandCoursetoPDU
PDU=(((SPDDIG1)+48)<<7)+(((SPDDIG2)+48)>>0)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((SPDDIG0)+48)<<6)+(((SPDDIG1)+48)>>1)
SEROUT1,16416,25,[HEX2PDU]
PDU=(32<<5)+(((SPDDIG0)+48)>>2)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((CRSDIG2)+48)<<4)+(32>>3)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((CRSDIG1)+48)<<3)+(((CRSDIG2)+48)>>4)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((CRSDIG0)+48)<<2)+(((CRSDIG1)+48)>>5)
SEROUT1,16416,25,[HEX2PDU]
PDU=(32<<1)+(((CRSDIG0)+48)>>6)
SEROUT1,16416,25,[HEX2PDU]
'(7)ConvertaltitudetoPDU
PDU=(((ALTDIG3)+48)<<7)+(((ALTDIG4)+48)>>0)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((ALTDIG2)+48)<<6)+(((ALTDIG3)+48)>>1)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((ALTDIG1)+48)<<5)+(((ALTDIG2)+48)>>2)
SEROUT1,16416,25,[HEX2PDU]
PDU=(((ALTDIG0)+48)<<4)+(((ALTDIG1)+48)>>3)
SEROUT1,16416,25,[HEX2PDU]
PDU=(32<<3)+(((ALTDIG0)+48)>>4)
SEROUT1,16416,25,[HEX2PDU]
PDU=(13<<2)+(32>>5)
SEROUT1,16416,25,[HEX2PDU]
PDU=(10<<1)+(13>>6)
SEROUT1,16416,25,[HEX2PDU]
PAUSE2500
SEROUT1,16416,25,[26]'EquivalenttoCTRL+ZinASCII
AtthispointtheSMSmessagehasbeensentout!
SEROUT15,32,5,[148,"DONE"]
OUT8=0ActivityLEDoff
D=0
C=0
GOTOco
ENDOFSMSMESSAGE
Error:
PAUSE1000
GOTOI_Modem
NoFix:
SEROUT15,32,5,[12,"SMSGPSIRIDIUM!"]
SEROUT15,32,5,[148,"STATUS:NOGPS",STRSAT\1]
co:
IFC<20THENgo
C=0
IFIN6=0THENSK
D=1
SK:
go:
C=C+1
GOTOMAINEND
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F.SigernesandJ.Holmes,TransmittingGPSpositionbyanIridiumphone

TermsandAbbreviations
ATCommands
Agroupofcommandsthatcanbesentbyaterminalorhostcomputertocontrola
modeminCommandmode
GPS
GlobalPositionSystem
NMEA
NationalMarineElectronicsAssociation
PDU
ProtocolDescriptionUnit
SMS
ShortMessageService
SMSC
ShortMessageServiceCenter
Parallax,Inc
599MenloDrive
Suite100
Rocklin,California95765
USA
Web:http://www.parallax.com
Usefullinks
1)LarsPettersson,SMSandthePDUformat,
http://www.dreamfabric.com/sms/
2)SwenPeterEkkebus,SMSPDUConverter,
http://home.student.utwente.nl/s.p.ekkebus/portfolio/resource/sms_pdu.html

3)TheNationalMarineElectronicsAssociation,
http://www.nmea.org/
4)TheBasicATCommandreference,
http://www.phys.unsw.edu.au/~mcba/iridium/Motorola_AT_Command_Set.pdf

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