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APPENDIX
AP-4
Data sentences
PFECatt- True heading, pitching, rolling
$PFEC,GPatt,xxx.x,+xx.x,-xx.x<CR><LF> (Ver. 1.5)
$PFEC,GPatt,xxx.x,+xx.x,-xx.x*hh<CR><LF> (Ver. 2.0)
Checksum (Ver. 2.0)
Rolling (output to tenths place)
Pitching (output to tenths place)
Heading, true (output to tenths place)
GGA - Global positioning system (GPS) fix data
Time, position and fix related data for a GPS receiver.
Differential reference station ID, 0000-1023
Age of differential GPS data
Units of geoidal separation, m
Geoidal separation
Units of antenna altitude, m
Antenna altitude above/below
mean sea level (geoid)
Horizontal dilution of precision
$GPGGA, hhmmss.ss. 1111.11, a, yyyyy.yy, a, x, xx, x.x, x.x, M, x.x, M, x.x, xxxx*hh<CR><LF>
Number of satellites in use, 11-12, may be
different from the number in view
GPS quality
Longitude - E/W
Latitude - N/S
UTC of position
Note: GPS quality is as follows;
ED1: 0 (No fix), 1 (GPS fix)
ED2: 0 (No fix), 1 (GPS fix), 2 (DGPS fix), 8 (simulator mode)
GLL - Geographic position - latitude/longitude
Latitude and longitude of present vessel position, time of position fix and status.
$--GPGLL, 1111.11, a, yyyyy.yy, a, hhmmss.ss, A, p*hh<CR><LF>
Positioning system indicator*
Status: A = data valid
UTC of position
Longitude, E/W
Latitude, N/S
*A = Autonomous, D = Differential, E = estimated(dead reckoning), M = Manual input, S = Simulator,
N = Data not valid. The Mode indicator field supplements the Status field. The Status field shall be
set to V=invalid for all values of Operating Mode except for A=Autonomous and D=Differential. The
positioning system Mode indicator and Status field shall not be null fields.
Note: Position system indicator with IEC ED2 only.