diff --git a/README b/README
index 833d5a9..7c75f1d 100644
--- a/README
+++ b/README
@@ -1,72 +1,85 @@
 Current content of the repository
 ---------------------------------
 
 ./bin/console
 
 Console that plugs into a NMEA multiplexer (or any TCP server). It displays the NMEA sentences.
 
 USAGE:
 ./console 39150 localhost
 or (equivalent)
 ./console 39150
 
 ---
 
 ./bin/joiner
 
 Tool that sends the NMEA sentences from one server to another one.
 
 USAGE:
 ./joiner localhost 39150 localhost 39151
 (This would send the traffic from the NMEA server on port 39150 to the server on port 39151)
 
 ---
 
 ./bin/multiplexer
 
 NMEA multiplexer. Each NMEA client that connects to the multiplexer will receive the NMEA traffic from other clients, and its NMEA sentences will be sent to other clients.
 
 USAGE:
 ./multiplexer 39150 localhost
 or (equivalent)
 ./multiplexer 39150
 
 ---
 
 ./bin/pipe
 
 Pipe tool to connect 2 NMEA servers in both directions. Like a joiner but in both directions.
 
 USAGE:
 ./joiner localhost 39150 localhost 39151
 
 ---
 
 ./tools/dpt
 
 Client NMEA client that sends random DPT sentences (with YX talker ID) every second.
 
 USAGE:
 ./dpt 39150
 
 ---
 
 ./tools/boat
 
 Fake boat that waits for a RMB sentence from navigation (like OpenCPN), and sends RMC position sentences.
 When the navigation starts sending RMB messages, the fake boat will jump to the provided way point.
 This wokrs by activation a route in OpenCPN.
 
 USAGE:
 ./boat
 (it connects to server on port 39150 by default)
 
 ---
 
 ./tools/PetitBaigneur.py
 
 Fake AIS ship sending AIS type 5 and type 1 messages.
 
 USAGE:
 ./PetitBaigneur.py
 (it connects to server on port 39150 by default)
+
+---
+
+./tools/MOB.py
+
+Simulate AIS Man Over Board
+
+---
+
+./tools/CardNorth
+
+Simulate AIS Cardinal N
+
diff --git a/lib/aisMsg.py b/lib/aisMsg.py
index 64d9a0d..24083cd 100755
--- a/lib/aisMsg.py
+++ b/lib/aisMsg.py
@@ -1,248 +1,359 @@
 #!/usr/bin/python
 
 from bitBuf import bitBuf
 from nmea import NMEAaddChecksum
 
 #
 #	AIS message
 #
 
 encodingTable = "0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVW`abcdefghijklmnopqrstuvw"
 
 
 class AISmsg :
 
 	def __init__(self) :
 		self.type = 0
 		self.repeat = 0
 		self.mmsi = 0
 		self.bb = bitBuf()
 		self.aisframe = ''
 		self.padding = 0
 
 	def toAscii(self) :
 		out = ''
 		if self.bb.bit == 0 :
 			self.bb.buff.pop()	# delete last element
 
 		for c in self.bb.buff :
 			if c < 64 :
 				out += encodingTable[c]
 		return out
 
 	# Encapsulate AIS frame in multiple NMEA frames
 	def EncapInAIVDM(self) :
 		multi = []
 		count = (len(self.aisframe)-1) / 60		# MAX_AIS=60
 		count += 1
 		segment = 0
 		for i in range(0, count) :
 			subframe = self.aisframe[segment:segment+60]
 			aivdm = "!AIVDM,"+str(count)+","+str(i+1)+",,A,"+subframe
 			segment += 60
 			if i != count-1 :
 				aivdm += ",0"
 			else :
 				aivdm += ","+str(self.padding)
 			aivdm = NMEAaddChecksum(aivdm)
 			multi.append(aivdm)
 		return multi
 
 	def Encode(self) :
 		self._encode()
 		return self.EncapInAIVDM()
 
 
 class AISmsg1(AISmsg) :
 	UNDERWAY = 0
 	ANCHOR = 1
 	NOT_UNDER_COMMAND = 2
 	RESTRICTED_MANOEUVRABILITY = 3
 	CONSTRAINED_DRAUGHT = 4
 	MOORED	= 5
 	AGROUND	= 6
 	FISHING	= 7
 	SAILING = 8
 	SART_ACTIVE = 14
 	SART_TEST = 15
 
 	HDG_NOT_AVAILABLE = 511
 
 	SPECIAL_MANOEUVRE_NOT_AVAIL     = 0
 	SPECIAL_MANOEUVRE_NOT_ENGAGED   = 1
 	SPECIAL_MANOEUVRE_ENGAGED       = 2
 
 	def __init__(self) :
 		AISmsg.__init__(self)
 		self.type = 1
 		self.repeat = 0
 		self.mmsi = 0
 		self.navStatus = AISmsg1.UNDERWAY
 		self.rot = 0.0
 		self.sog = 0.0
 		self.accuracy = 0
 		self.lon = 0.0
 		self.lat = 0.0
 		self.cog = 0.0
 		self.hdg = AISmsg1.HDG_NOT_AVAILABLE
 		self.timeStamp = 0
 		self.specialManoeuvre = AISmsg1.SPECIAL_MANOEUVRE_NOT_AVAIL
 		self.RAIM = 0
 		self.state = 0
 
 	def _encode(self) :
 		self.bb = bitBuf()
 		self.aisframe = ''
 		self.padding = 0
 
 		self.bb.WriteByte (self.type, 6)
 		self.bb.WriteByte (self.repeat, 2)
-		self.bb.WriteByte (self.mmsi, 30)
+		self.bb.WriteInteger (self.mmsi, 30)
 
 		self.bb.WriteByte (self.navStatus, 4)
 		self.bb.WriteByte (128, 8)
 		self.bb.WriteInteger (int(self.sog * 10), 10)
 		self.bb.WriteBit (self.accuracy)
 
 		lon = int((self.lon * 600000) + 0.5)
 		if self.lon < 0 :
 			lon = (lon ^ 0x0fffffff) + 1	# 2-complement
 		self.bb.WriteInteger (lon, 28)
 
 		lat = int((self.lat * 600000) + 0.5)
 		if self.lat < 0 :
 			lat = (lat ^ 0x0fffffff) + 1	# 2-complement
 		self.bb.WriteInteger (lat, 27)
 
 		self.bb.WriteInteger (int(self.cog * 10), 12)
 		self.bb.WriteInteger (int(self.hdg), 9)
 		self.bb.WriteByte (self.timeStamp, 6)
 		self.bb.WriteByte (self.specialManoeuvre, 2)
 		self.bb.WriteByte (0, 3)	# spare
 		self.bb.WriteBit (self.RAIM)
 		self.bb.WriteInteger (self.state, 19)
 
 		#self.bb.info()
 		self.aisframe = self.toAscii()
 		self.padding = self.bb.Padding()
 
 class AISmsg5(AISmsg) :
 
 	VERSION_M1371_1	= 0
 	VERSION_M1371_3	= 1
 
 	FISHING		= 30
 	TOWING		= 31
 	TOWING_200m	= 32
 	DREDGING	= 33
 	DIVING		= 34
 	MILITARY	= 35
 	SAILING		= 36
 	PLEASURE	= 37
 	HIGH_SPEED	= 40
 
 	PILOT_VESSEL	= 50
 	SAR_VESSEL	= 51
 	TUG		= 52
 	PORT_TENDER	= 53
 
 	PASSENGER	= 60
 	CARGO		= 70
 	TANKER		= 80
 	OTHER		= 90
 
 	DEVICE_UNDEFINED = 0
 	DEVICE_GPS	= 1
 	DEVICE_GLONASS	= 2
 	DEVICE_LORANC	= 4
 	DEVICE_GALILEO	= 8
 
 	def __init__(self) :
 		AISmsg.__init__(self)
 		self.type = 5
 		self.version = self.VERSION_M1371_1
 		self.imo = 0
 		self.callSign = ''
 		self.name = ''
 		self.shipType = 0
 		self.to_bow = 0
 		self.to_stern = 0
 		self.to_port = 0
 		self.to_starboard = 0
 		self.deviceType = self.DEVICE_UNDEFINED
 		self.ETAmonth = 0
 		self.ETAday = 0
 		self.ETAhour = 0
 		self.ETAminute = 0
 		self.draught = 0
 		self.destination = ''
 		self.dte = 0
 
 	def _encode(self) :
 		self.bb = bitBuf()
 		self.aisframe = ''
 		self.padding = 0
 
 		self.bb.WriteByte (self.type, 6)
 		self.bb.WriteByte (self.repeat, 2)
-		self.bb.WriteByte (self.mmsi, 30)
+		self.bb.WriteInteger (self.mmsi, 30)
 
 		self.bb.WriteByte (self.version, 2)
 		self.bb.WriteInteger (self.imo, 30)
 		self.bb.WriteString (self.callSign, 7)
 		self.bb.WriteString (self.name, 20)
 		self.bb.WriteByte (self.shipType, 8)
 		self.bb.WriteInteger (self.to_bow, 9)
 		self.bb.WriteInteger (self.to_stern, 9)
 		self.bb.WriteByte (self.to_port, 6)
 		self.bb.WriteByte (self.to_starboard, 6)
 		self.bb.WriteByte (self.deviceType, 4)
 		self.bb.WriteInteger (self.ETAmonth, 4)
 		self.bb.WriteInteger (self.ETAday, 5)
 		self.bb.WriteInteger (self.ETAhour, 5)
 		self.bb.WriteInteger (self.ETAminute, 6)
 		self.bb.WriteByte (self.draught * 10, 8)
 		self.bb.WriteString (self.destination, 20)
 		self.bb.WriteBit (self.dte)
 		self.bb.WriteBit (0)	# spare
 
 		self.aisframe = self.toAscii()
 		self.padding = self.bb.Padding()
 
 
+class AISmsg21(AISmsg) :
+
+	NOT_SPECIFIED		= 0
+	REFERENCE_POINT		= 1
+	RACON			= 2
+	FIXED_STRUCTURE_OFFSHORE = 3
+	LIGHT_WITHOUT_SECTORS	= 5
+	LIGHT_WITH_SECTORS	= 6
+	LEADING_LIGHT_FRONT	= 7
+	LEADING_LIGHT_REAR	= 8
+	BEACON_CARDINAL_N	= 9
+	BEACON_CARDINAL_E	= 10
+	BEACON_CARDINAL_S	= 11
+	BEACON_CARDINAL_W	= 12
+	BEACON_PORT		= 13
+	BEACON_STARBOARD	= 14
+	BEACON_PREF_PORT	= 15
+	BEACON_PREF_STARBOARD	= 16
+	BEACON_ISOLATED		= 17
+	BEACON_SAFE_WATER	= 18
+	BEACON_SPECIAL_MARK	= 19
+	CARDINAL_N		= 20
+	CARDINAL_E		= 21
+	CARDINAL_S		= 22
+	CARDINAL_W		= 23
+	PORT_HAND_MARK		= 24
+	STARBOARD_HAND_MARK	= 25
+	PREF_CHANNEL_PORT	= 26
+	PREF_CHANNEL_STARBOARD	= 27
+	ISOLATED_DANGER		= 28
+	SAFE_WATER		= 29
+	SPECIAL_MARK		= 30
+	LIGHT_VESSEL		= 31
+
+	def __init__(self) :
+		AISmsg.__init__(self)
+		self.type	= 21
+		self.AtoN_type	= self.NOT_SPECIFIED
+		self.name	= ''
+		self.accuracy	= 1
+		self.lon	= 0.0
+		self.lat	= 0.0
+		self.to_bow	= 0
+		self.to_stern	= 0
+		self.to_port	= 0
+		self.to_starboard = 0
+		self.deviceType = 0
+		self.timeStamp = 0
+		self.offPosition = 0
+		self.AtoN_status = 0
+		self.RAIM = 0
+		self.virtual_AtoN = 0
+		self.assigned = 0
+		self.spare = 0
+		self.extension = ''
+
+	def _encode(self) :
+		self.bb = bitBuf()
+		self.aisframe = ''
+		self.padding = 0
+
+		self.bb.WriteByte (self.type, 6)
+		self.bb.WriteByte (self.repeat, 2)
+		self.bb.WriteInteger (self.mmsi, 30)
+
+		self.bb.WriteByte (self.AtoN_type, 5)
+		self.bb.WriteString (self.name, 20)
+		self.bb.WriteBit (self.accuracy)
+
+		lon = int((self.lon * 600000) + 0.5)
+		if self.lon < 0 :
+			lon = (lon ^ 0x0fffffff) + 1	# 2-complement
+		self.bb.WriteInteger (lon, 28)
+
+		lat = int((self.lat * 600000) + 0.5)
+		if self.lat < 0 :
+			lat = (lat ^ 0x0fffffff) + 1	# 2-complement
+		self.bb.WriteInteger (lat, 27)
+
+		self.bb.WriteInteger (self.to_bow, 9)
+		self.bb.WriteInteger (self.to_stern, 9)
+		self.bb.WriteByte (self.to_port, 6)
+		self.bb.WriteByte (self.to_starboard, 6)
+
+		self.bb.WriteByte (self.deviceType, 4)
+		self.bb.WriteByte (self.timeStamp, 6)
+		self.bb.WriteBit (self.offPosition)
+		self.bb.WriteByte (self.AtoN_status, 8)
+		self.bb.WriteBit (self.RAIM)
+		self.bb.WriteBit (self.virtual_AtoN)
+		self.bb.WriteBit (self.assigned)
+		self.bb.WriteBit (self.spare)
+		if len(self.extension) > 0 :
+			self.bb.WriteString (self.extension, len(self.extension))
+			self.bb.WriteInteger (self.spare2, 6)
+
+		self.aisframe = self.toAscii()
+		self.padding = self.bb.Padding()
 
 
 if __name__ == '__main__':
 	obj = AISmsg5()
 	obj.mmsi = 205344990
 	obj.callSign = 'ATC'
 	obj.name = 'PETIT BAIGNEUR'
 	obj.destination = 'MARSEILLE'
-	obj.to_bow = 50;
-	obj.to_stern = 20;
-	obj.to_port = 10;
-	obj.to_starboard = 10;
-	obj.draught = 10;
+	obj.to_bow = 50
+	obj.to_stern = 20
+	obj.to_port = 10
+	obj.to_starboard = 10
+	obj.draught = 10
 
 	multi = obj.Encode()
 	for aivdm in multi :
 		print aivdm
 
 	obj = AISmsg1()
 	obj.mmsi = 205344990
-	obj.navStatus = AISmsg1.UNDERWAY;
-	obj.sog = 20;
-	obj.accuracy = 1;
-	obj.lat = 43.01666;
-	obj.lon = 6.0;
-	obj.cog = 110.7;
-	obj.hdg = AISmsg1.HDG_NOT_AVAILABLE;
-	obj.timeStamp = 40;
-	obj.specialManoeuvre = AISmsg1.SPECIAL_MANOEUVRE_NOT_AVAIL;
-	obj.RAIM = 1;
-	obj.state = 0;
+	obj.navStatus = AISmsg1.UNDERWAY
+	obj.sog = 20
+	obj.accuracy = 1
+	obj.lat = 43.01666
+	obj.lon = 6.0
+	obj.cog = 110.7
+	obj.hdg = AISmsg1.HDG_NOT_AVAILABLE
+	obj.timeStamp = 40
+	obj.specialManoeuvre = AISmsg1.SPECIAL_MANOEUVRE_NOT_AVAIL
+	obj.RAIM = 1
+	obj.state = 0
+
+	multi = obj.Encode()
+	for aivdm in multi :
+		print aivdm
+
+	obj = AISmsg21()
+	obj.mmsi = 101010100
+	obj.AtoN_type = AISmsg21.BEACON_CARDINAL_N
+	obj.name	= 'Nord'
+	obj.accuracy = 1
+	obj.lat = 42.0 + 0.05
+	obj.lon = 6.0
+	obj.virtual_AtoN = 1
 
 	multi = obj.Encode()
 	for aivdm in multi :
 		print aivdm
 
diff --git a/lib/bitBuf.py b/lib/bitBuf.py
index d8f7cd3..483440d 100755
--- a/lib/bitBuf.py
+++ b/lib/bitBuf.py
@@ -1,86 +1,88 @@
 #!/usr/bin/python
 
 #
 #	6-bit buffer
 #
 
 class bitBuf :
 
 	def __init__(self) :
 		self.buff = []
 		self.buff.append(0)
 		self.byte = 0
 		self.bit = 0
 		self.nbbit = 0
 
 	def info(self) :
 		print 'Nbbit : '+str(self.nbbit)
 		print 'Nbbyte : '+str(len(self.buff))
 		for byte in self.buff :
 			#print format(byte, 'b')
 			print "{0:06b}".format(byte)
 
 	def WriteBit(self, bit) :
 		if bit == 1 :
 			self.buff[self.byte] |= (1<<(5-self.bit))
 		else :
 			self.buff[self.byte] &= ~(1<<(5-self.bit))
 		self.nbbit += 1
 		self.bit += 1
 		if self.bit == 6 :
 			self.byte += 1
 			self.buff.append(0)
 			self.bit = 0
 
 	def WriteByte(self, byte, count) :
 		for i in range(0,count) :
 			self.WriteBit ((byte >> (count-i-1)) & 0x1)
 
 	def WriteInteger(self, val, count) :
 		for i in range(0,count) :
 			self.WriteBit ((val >> (count-i-1)) & 0x1)
 
 	def WriteString(self, aString, count) :
 		for c in aString :
 			if count <= 0 :
 				break
 			aByte = ord(c)
 			if aByte < 32:
 				aByte = 32
 			elif aByte < 64 :
 				aByte = aByte
 			elif aByte < 96 :
 				aByte = aByte - 64
+			elif aByte < 128 :
+				aByte = aByte - 32
 			else :
 				aByte = 32
 
                 	self.WriteByte (aByte, 6)
 			count -= 1
 
 		for i in range(0,count) :
                 	self.WriteByte (0, 6)
 
 	def WriteBinary(self, payload, size) :
 		for c in payload :
 			if size <= 0 :
 				break;
 			self.WriteByte(c, 8)
 			size -= 1
 
 	def Padding(self) :
 		padd = self.nbbit % 6
 		if padd != 0 :
 			return 6 - padd
 		else :
 			return padd
 
 
 
 if __name__ == '__main__':
 	obj = bitBuf()
 	obj.WriteBit(1)
 	obj.WriteBit(0)
 	obj.WriteBit(0)
 	obj.WriteBit(1)
 	obj.WriteInteger(7, 3)
 	obj.info()
diff --git a/tools/CardNorth b/tools/CardNorth
new file mode 100755
index 0000000..6396be8
--- /dev/null
+++ b/tools/CardNorth
@@ -0,0 +1,26 @@
+#!/usr/bin/python
+
+import sys, socket
+
+sys.path.append ('../lib')
+from aisMsg import *
+
+# Connect to multiplexer
+client = socket.socket()
+host = socket.gethostname()
+client.connect(('0.0.0.0', 39150))
+
+
+obj		= AISmsg21()
+obj.mmsi	= 101010100
+obj.AtoN_type	= AISmsg21.BEACON_CARDINAL_N
+obj.name	= 'North'
+obj.accuracy	= 1
+obj.lat		= 42.0 + 0.05
+obj.lon		= 6.0
+obj.virtual_AtoN = 1
+
+multi = obj.Encode()
+for aivdm in multi :
+	print aivdm
+	client.send(aivdm)
diff --git a/tools/MOB.py b/tools/MOB.py
index 105f4ae..b7c5761 100755
--- a/tools/MOB.py
+++ b/tools/MOB.py
@@ -1,34 +1,34 @@
 #!/usr/bin/python
 
 import time, math, sys, socket
 
 sys.path.append ('../lib')
 from aisMsg import *
 
 
 # Connect to multiplexer
 client = socket.socket()
 host = socket.gethostname()
 client.connect(('0.0.0.0', 39150))
 
 
 obj = AISmsg1()
 obj.mmsi = 972010001
 obj.navStatus = AISmsg1.SART_ACTIVE
 obj.accuracy = 1
 obj.lat = 43.02
 obj.lon = 6.1
 obj.cog = 0
 obj.hdg = AISmsg1.HDG_NOT_AVAILABLE
 obj.timeStamp = 40
 obj.specialManoeuvre = AISmsg1.SPECIAL_MANOEUVRE_NOT_AVAIL
 obj.RAIM = 1
 obj.state = 0
 multi = obj.Encode()
 
 while True :
 	for aivdm in multi :
 		print aivdm
 		client.send(aivdm)
-	time.sleep(10)
+	time.sleep(4)